Study on Fuzzy Adaptive Fractional Order PIλDμ Control for Maglev Guiding System

NASA Astrophysics Data System (ADS)

Hu, Qing; Hu, Yuwei

The mathematical model of the linear elevator maglev guiding system is analyzed in this paper. For the linear elevator needs strong stability and robustness to run, the integer order PID was expanded to the fractional order, in order to improve the steady state precision, rapidity and robustness of the system, enhance the accuracy of the parameter in fractional order PIλDμ controller, the fuzzy control is combined with the fractional order PIλDμ control, using the fuzzy logic achieves the parameters online adjustment. The simulations reveal that the system has faster response speed, higher tracking precision, and has stronger robustness to the disturbance.

Multivariable speed synchronisation for a parallel hybrid electric vehicle drivetrain

NASA Astrophysics Data System (ADS)

Alt, B.; Antritter, F.; Svaricek, F.; Schultalbers, M.

2013-03-01

In this article, a new drivetrain configuration of a parallel hybrid electric vehicle is considered and a novel model-based control design strategy is given. In particular, the control design covers the speed synchronisation task during a restart of the internal combustion engine. The proposed multivariable synchronisation strategy is based on feedforward and decoupled feedback controllers. The performance and the robustness properties of the closed-loop system are illustrated by nonlinear simulation results.

High-Performance AC Power Source by Applying Robust Stability Control Technology for Precision Material Machining

NASA Astrophysics Data System (ADS)

Chang, En-Chih

2018-02-01

This paper presents a high-performance AC power source by applying robust stability control technology for precision material machining (PMM). The proposed technology associates the benefits of finite-time convergent sliding function (FTCSF) and firefly optimization algorithm (FOA). The FTCSF maintains the robustness of conventional sliding mode, and simultaneously speeds up the convergence speed of the system state. Unfortunately, when a highly nonlinear loading is applied, the chatter will occur. The chatter results in high total harmonic distortion (THD) output voltage of AC power source, and even deteriorates the stability of PMM. The FOA is therefore used to remove the chatter, and the FTCSF still preserves finite system-state convergence time. By combining FTCSF with FOA, the AC power source of PMM can yield good steady-state and transient performance. Experimental results are performed in support of the proposed technology.

Speed tracking control of pneumatic motor servo systems using observation-based adaptive dynamic sliding-mode control

NASA Astrophysics Data System (ADS)

Chen, Syuan-Yi; Gong, Sheng-Sian

2017-09-01

This study aims to develop an adaptive high-precision control system for controlling the speed of a vane-type air motor (VAM) pneumatic servo system. In practice, the rotor speed of a VAM depends on the input mass air flow, which can be controlled by the effective orifice area (EOA) of an electronic throttle valve (ETV). As the control variable of a second-order pneumatic system is the integral of the EOA, an observation-based adaptive dynamic sliding-mode control (ADSMC) system is proposed to derive the differential of the control variable, namely, the EOA control signal. In the ADSMC system, a proportional-integral-derivative fuzzy neural network (PIDFNN) observer is used to achieve an ideal dynamic sliding-mode control (DSMC), and a supervisor compensator is designed to eliminate the approximation error. As a result, the ADSMC incorporates the robustness of a DSMC and the online learning ability of a PIDFNN. To ensure the convergence of the tracking error, a Lyapunov-based analytical method is employed to obtain the adaptive algorithms required to tune the control parameters of the online ADSMC system. Finally, our experimental results demonstrate the precision and robustness of the ADSMC system for highly nonlinear and time-varying VAM pneumatic servo systems.

Training attentional control in older adults

PubMed Central

MacKay-Brandt, Anna

2013-01-01

Recent research has demonstrated benefits for older adults from training attentional control using a variable priority strategy, but the construct validity of the training task and the degree to which benefits of training transfer to other contexts are unclear. The goal of this study was to characterize baseline performance on the training task in a sample of 105 healthy older adults and to test for transfer of training in a subset (n = 21). Training gains after 5 days and extent of transfer was compared to another subset (n = 20) that served as a control group. Baseline performance on the training task was characterized by a two-factor model of working memory and processing speed. Processing speed correlated with the training task. Training gains in speed and accuracy were reliable and robust (ps <.001, η2 = .57 to .90). Transfer to an analogous task was observed (ps <.05, η2 = .10 to .17). The beneficial effect of training did not translate to improved performance on related measures of processing speed. This study highlights the robust effect of training and transfer to a similar context using a variable priority training task. Although processing speed is an important aspect of the training task, training benefit is either related to an untested aspect of the training task or transfer of training is limited to the training context. PMID:21728889

Modelling and Control of an Annular Momentum Control Device

NASA Technical Reports Server (NTRS)

Downer, James R.; Johnson, Bruce G.

1988-01-01

The results of a modelling and control study for an advanced momentum storage device supported on magnetic bearings are documented. The control challenge posed by this device lies in its dynamics being such a strong function of flywheel rotational speed. At high rotational speed, this can lead to open loop instabilities, resulting in requirements for minimum and maximum control bandwidths and gains for the stabilizing controllers. Using recently developed analysis tools for systems described by complex coefficient differential equations, the closed properties of the controllers were analyzed and stability properties established. Various feedback controllers are investigated and discussed. Both translational and angular dynamics compensators are developed, and measures of system stability and robustness to plant and operational speed variations are presented.

Control of variable speed variable pitch wind turbine based on a disturbance observer

NASA Astrophysics Data System (ADS)

Ren, Haijun; Lei, Xin

2017-11-01

In this paper, a novel sliding mode controller based on disturbance observer (DOB) to optimize the efficiency of variable speed variable pitch (VSVP) wind turbine is developed and analyzed. Due to the highly nonlinearity of the VSVP system, the model is linearly processed to obtain the state space model of the system. Then, a conventional sliding mode controller is designed and a DOB is added to estimate wind speed. The proposed control strategy can successfully deal with the random nature of wind speed, the nonlinearity of VSVP system, the uncertainty of parameters and external disturbance. Via adding the observer to the sliding mode controller, it can greatly reduce the chattering produced by the sliding mode switching gain. The simulation results show that the proposed control system has the effectiveness and robustness.

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.

A model predictive speed tracking control approach for autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Zhu, Min; Chen, Huiyan; Xiong, Guangming

2017-03-01

This paper presents a novel speed tracking control approach based on a model predictive control (MPC) framework for autonomous ground vehicles. A switching algorithm without calibration is proposed to determine the drive or brake control. Combined with a simple inverse longitudinal vehicle model and adaptive regulation of MPC, this algorithm can make use of the engine brake torque for various driving conditions and avoid high frequency oscillations automatically. A simplified quadratic program (QP) solving algorithm is used to reduce the computational time, and the approach has been applied in a 16-bit microcontroller. The performance of the proposed approach is evaluated via simulations and vehicle tests, which were carried out in a range of speed-profile tracking tasks. With a well-designed system structure, high-precision speed control is achieved. The system can robustly model uncertainty and external disturbances, and yields a faster response with less overshoot than a PI controller.

Training attentional control in older adults.

PubMed

Mackay-Brandt, Anna

2011-07-01

Recent research has demonstrated benefits for older adults from training attentional control using a variable priority strategy, but the construct validity of the training task and the degree to which benefits of training transfer to other contexts are unclear. The goal of this study was to characterize baseline performance on the training task in a sample of 105 healthy older adults and to test for transfer of training in a subset (n = 21). Training gains after 5 days and extent of transfer was compared to another subset (n = 20) that served as a control group. Baseline performance on the training task was characterized by a two-factor model of working memory and processing speed. Processing speed correlated with the training task. Training gains in speed and accuracy were reliable and robust (ps <.001, η(2) = .57 to .90). Transfer to an analogous task was observed (ps <.05, η(2) = .10 to .17). The beneficial effect of training did not translate to improved performance on related measures of processing speed. This study highlights the robust effect of training and transfer to a similar context using a variable priority training task. Although processing speed is an important aspect of the training task, training benefit is either related to an untested aspect of the training task or transfer of training is limited to the training context.

Real time PI-backstepping induction machine drive with efficiency optimization.

PubMed

Farhani, Fethi; Ben Regaya, Chiheb; Zaafouri, Abderrahmen; Chaari, Abdelkader

2017-09-01

This paper describes a robust and efficient speed control of a three phase induction machine (IM) subjected to load disturbances. First, a Multiple-Input Multiple-Output (MIMO) PI-Backstepping controller is proposed for a robust and highly accurate tracking of the mechanical speed and rotor flux. Asymptotic stability of the control scheme is proven by Lyapunov Stability Theory. Second, an active online optimization algorithm is used to optimize the efficiency of the drive system. The efficiency improvement approach consists of adjusting the rotor flux with respect to the load torque in order to minimize total losses in the IM. A dSPACE DS1104 R&D board is used to implement the proposed solution. The experimental results released on 3kW squirrel cage IM, show that the reference speed as well as the rotor flux are rapidly achieved with a fast transient response and without overshoot. A good load disturbances rejection response and IM parameters variation are fairly handled. The improvement of drive system efficiency reaches up to 180% at light load. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Stimulus fear relevance and the speed, magnitude, and robustness of vicariously learned fear.

PubMed

Dunne, Güler; Reynolds, Gemma; Askew, Chris

2017-08-01

Superior learning for fear-relevant stimuli is typically indicated in the laboratory by faster acquisition of fear responses, greater learned fear, and enhanced resistance to extinction. Three experiments investigated the speed, magnitude, and robustness of UK children's (6-10 years; N = 290; 122 boys, 168 girls) vicariously learned fear responses for three types of stimuli. In two experiments, children were presented with pictures of novel animals (Australian marsupials) and flowers (fear-irrelevant stimuli) alone (control) or together with faces expressing fear or happiness. To determine learning speed the number of stimulus-face pairings seen by children was varied (1, 10, or 30 trials). Robustness of learning was examined via repeated extinction procedures over 3 weeks. A third experiment compared the magnitude and robustness of vicarious fear learning for snakes and marsupials. Significant increases in fear responses were found for snakes, marsupials and flowers. There was no indication that vicarious learning for marsupials was faster than for flowers. Moreover, vicariously learned fear was neither greater nor more robust for snakes compared to marsupials, or for marsupials compared to flowers. These findings suggest that for this age group stimulus fear relevance may have little influence on vicarious fear learning. Copyright © 2017 Elsevier Ltd. All rights reserved.

Emotional Learning Based Intelligent Controllers for Rotor Flux Oriented Control of Induction Motor

NASA Astrophysics Data System (ADS)

Abdollahi, Rohollah; Farhangi, Reza; Yarahmadi, Ali

2014-08-01

This paper presents design and evaluation of a novel approach based on emotional learning to improve the speed control system of rotor flux oriented control of induction motor. The controller includes a neuro-fuzzy system with speed error and its derivative as inputs. A fuzzy critic evaluates the present situation, and provides the emotional signal (stress). The controller modifies its characteristics so that the critics stress is reduced. The comparative simulation results show that the proposed controller is more robust and hence found to be a suitable replacement of the conventional PI controller for the high performance industrial drive applications.

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

Effective wind speed estimation: Comparison between Kalman Filter and Takagi-Sugeno observer techniques.

PubMed

Gauterin, Eckhard; Kammerer, Philipp; Kühn, Martin; Schulte, Horst

2016-05-01

Advanced model-based control of wind turbines requires knowledge of the states and the wind speed. This paper benchmarks a nonlinear Takagi-Sugeno observer for wind speed estimation with enhanced Kalman Filter techniques: The performance and robustness towards model-structure uncertainties of the Takagi-Sugeno observer, a Linear, Extended and Unscented Kalman Filter are assessed. Hence the Takagi-Sugeno observer and enhanced Kalman Filter techniques are compared based on reduced-order models of a reference wind turbine with different modelling details. The objective is the systematic comparison with different design assumptions and requirements and the numerical evaluation of the reconstruction quality of the wind speed. Exemplified by a feedforward loop employing the reconstructed wind speed, the benefit of wind speed estimation within wind turbine control is illustrated. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Torque coordinating robust control of shifting process for dry dual clutch transmission equipped in a hybrid car

NASA Astrophysics Data System (ADS)

Zhao, Z.-G.; Chen, H.-J.; Yang, Y.-Y.; He, L.

2015-09-01

For a hybrid car equipped with dual clutch transmission (DCT), the coordination control problems of clutches and power sources are investigated while taking full advantage of the integrated starter generator motor's fast response speed and high accuracy (speed and torque). First, a dynamic model of the shifting process is established, the vehicle acceleration is quantified according to the intentions of the driver, and the torque transmitted by clutches is calculated based on the designed disengaging principle during the torque phase. Next, a robust H∞ controller is designed to ensure speed synchronisation despite the existence of model uncertainties, measurement noise, and engine torque lag. The engine torque lag and measurement noise are used as external disturbances to initially modify the output torque of the power source. Additionally, during the torque switch phase, the torque of the power sources is smoothly transitioned to the driver's demanded torque. Finally, the torque of the power sources is further distributed based on the optimisation of system efficiency, and the throttle opening of the engine is constrained to avoid sharp torque variations. The simulation results verify that the proposed control strategies effectively address the problem of coordinating control of clutches and power sources, establishing a foundation for the application of DCT in hybrid cars.

The Role of Gaze and Road Edge Information during High-Speed Locomotion

ERIC Educational Resources Information Center

Kountouriotis, Georgios K.; Floyd, Rosalind C.; Gardner, Peter H.; Merat, Natasha; Wilkie, Richard M.

2012-01-01

Robust control of skilled actions requires the flexible combination of multiple sources of information. Here we examined the role of gaze during high-speed locomotor steering and in particular the role of feedback from the visible road edges. Participants were required to maintain one of three lateral positions on the road when one or both edges…

Implementation of a sliding-mode-based position sensorless drive for high-speed micro permanent-magnet synchronous motors.

PubMed

Chi, Wen-Chun; Cheng, Ming-Yang

2014-03-01

Due to issues such as limited space, it is difficult if it is not impossible to employ a position sensor in the drive control of high-speed micro PMSMs. In order to alleviate this problem, this paper analyzes and implements a simple and robust position sensorless field-oriented control method of high-speed micro PMSMs based on the sliding-mode observer. In particular, the angular position and velocity of the rotor of the high-speed micro PMSM are estimated using the sliding-mode observer. This observer is able to accurately estimate rotor position in the low speed region and guarantee fast convergence of the observer in the high speed region. The proposed position sensorless control method is suitable for electric dental handpiece motor drives where a wide speed range operation is essential. The proposed sensorless FOC method is implemented using a cost-effective 16-bit microcontroller and tested in a prototype electric dental handpiece motor. Several experiments are performed to verify the effectiveness of the proposed method. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Type-2 fuzzy logic control based MRAS speed estimator for speed sensorless direct torque and flux control of an induction motor drive.

PubMed

Ramesh, Tejavathu; Kumar Panda, Anup; Shiva Kumar, S

2015-07-01

In this research study, a model reference adaptive system (MRAS) speed estimator for speed sensorless direct torque and flux control (DTFC) of an induction motor drive (IMD) using two adaptation mechanism schemes are proposed to replace the conventional proportional integral controller (PIC). The first adaptation mechanism scheme is based on Type-1 fuzzy logic controller (T1FLC), which is used to achieve high performance sensorless drive in both transient as well as steady state conditions. However, the Type-1 fuzzy sets are certain and unable to work effectively when higher degree of uncertainties presents in the system which can be caused by sudden change in speed or different load disturbances, process noise etc. Therefore, a new Type-2 fuzzy logic controller (T2FLC) based adaptation mechanism scheme is proposed to better handle the higher degree of uncertainties and improves the performance and also robust to various load torque and sudden change in speed conditions, respectively. The detailed performances of various adaptation mechanism schemes are carried out in a MATLAB/Simulink environment with a speed sensor and speed sensorless modes of operation when an IMD is operating under different operating conditions, such as, no-load, load and sudden change in speed, respectively. To validate the different control approaches, the system also implemented on real-time system and adequate results are reported for its validation. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

A New Turbo-shaft Engine Control Law during Variable Rotor Speed Transient Process

NASA Astrophysics Data System (ADS)

Hua, Wei; Miao, Lizhen; Zhang, Haibo; Huang, Jinquan

2015-12-01

A closed-loop control law employing compressor guided vanes is firstly investigated to solve unacceptable fuel flow dynamic change in single fuel control for turbo-shaft engine here, especially for rotorcraft in variable rotor speed process. Based on an Augmented Linear Quadratic Regulator (ALQR) algorithm, a dual-input, single-output robust control scheme is proposed for a turbo-shaft engine, involving not only the closed loop adjustment of fuel flow but also that of compressor guided vanes. Furthermore, compared to single fuel control, some digital simulation cases using this new scheme about variable rotor speed have been implemented on the basis of an integrated system of helicopter and engine model. The results depict that the command tracking performance to the free turbine rotor speed can be asymptotically realized. Moreover, the fuel flow transient process has been significantly improved, and the fuel consumption has been dramatically cut down by more than 2% while keeping the helicopter level fight unchanged.

Active control strategy for the running attitude of high-speed train under strong crosswind condition

NASA Astrophysics Data System (ADS)

Li, Decang; Meng, Jianjun; Bai, Huan; Xu, Ruxun

2018-07-01

This paper focuses on the safety of high-speed trains under strong crosswind conditions. A new active control strategy is proposed based on the adaptive predictive control theory. The new control strategy aims at adjusting the attitudes of a train by controlling the new-type intelligent giant magnetostrictive actuator (GMA). It combined adaptive control with dynamic matrix control; parameters of predictive controller was real-time adjusted by online distinguishing to enhance the robustness of the control algorithm. On this basis, a correction control algorithm is also designed to regulate the parameters of predictive controller based on the step response of a controlled objective. Finally, the simulation results show that the proposed control strategy can adjust the running attitudes of high-speed trains under strong crosswind conditions; they also indicate that the new active control strategy is effective and applicable in improving the safety performance of a train based on a host-target computer technology provided by Matlab/Simulink.

Adaptive robust control of a class of non-affine variable-speed variable-pitch wind turbines with unmodeled dynamics.

PubMed

Bagheri, Pedram; Sun, Qiao

2016-07-01

In this paper, a novel synthesis of Nussbaum-type functions, and an adaptive radial-basis function neural network is proposed to design controllers for variable-speed, variable-pitch wind turbines. Dynamic equations of the wind turbine are highly nonlinear, uncertain, and affected by unknown disturbance sources. Furthermore, the dynamic equations are non-affine with respect to the pitch angle, which is a control input. To address these problems, a Nussbaum-type function, along with a dynamic control law are adopted to resolve the non-affine nature of the equations. Moreover, an adaptive radial-basis function neural network is designed to approximate non-parametric uncertainties. Further, the closed-loop system is made robust to unknown disturbance sources, where no prior knowledge of disturbance bound is assumed in advance. Finally, the Lyapunov stability analysis is conducted to show the stability of the entire closed-loop system. In order to verify analytical results, a simulation is presented and the results are compared to both a PI and an existing adaptive controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Speed Sensorless Induction Motor Drives for Electrical Actuators: Schemes, Trends and Tradeoffs

NASA Technical Reports Server (NTRS)

Elbuluk, Malik E.; Kankam, M. David

1997-01-01

For a decade, induction motor drive-based electrical actuators have been under investigation as potential replacement for the conventional hydraulic and pneumatic actuators in aircraft. Advantages of electric actuator include lower weight and size, reduced maintenance and operating costs, improved safety due to the elimination of hazardous fluids and high pressure hydraulic and pneumatic actuators, and increased efficiency. Recently, the emphasis of research on induction motor drives has been on sensorless vector control which eliminates flux and speed sensors mounted on the motor. Also, the development of effective speed and flux estimators has allowed good rotor flux-oriented (RFO) performance at all speeds except those close to zero. Sensorless control has improved the motor performance, compared to the Volts/Hertz (or constant flux) controls. This report evaluates documented schemes for speed sensorless drives, and discusses the trends and tradeoffs involved in selecting a particular scheme. These schemes combine the attributes of the direct and indirect field-oriented control (FOC) or use model adaptive reference systems (MRAS) with a speed-dependent current model for flux estimation which tracks the voltage model-based flux estimator. Many factors are important in comparing the effectiveness of a speed sensorless scheme. Among them are the wide speed range capability, motor parameter insensitivity and noise reduction. Although a number of schemes have been proposed for solving the speed estimation, zero-speed FOC with robustness against parameter variations still remains an area of research for speed sensorless control.

Intelligent control for PMSM based on online PSO considering parameters change

NASA Astrophysics Data System (ADS)

Song, Zhengqiang; Yang, Huiling

2018-03-01

A novel online particle swarm optimization method is proposed to design speed and current controllers of vector controlled interior permanent magnet synchronous motor drives considering stator resistance variation. In the proposed drive system, the space vector modulation technique is employed to generate the switching signals for a two-level voltage-source inverter. The nonlinearity of the inverter is also taken into account due to the dead-time, threshold and voltage drop of the switching devices in order to simulate the system in the practical condition. Speed and PI current controller gains are optimized with PSO online, and the fitness function is changed according to the system dynamic and steady states. The proposed optimization algorithm is compared with conventional PI control method in the condition of step speed change and stator resistance variation, showing that the proposed online optimization method has better robustness and dynamic characteristics compared with conventional PI controller design.

Variable speed wind turbine control by discrete-time sliding mode approach.

PubMed

Torchani, Borhen; Sellami, Anis; Garcia, Germain

2016-05-01

The aim of this paper is to propose a new design variable speed wind turbine control by discrete-time sliding mode approach. This methodology is designed for linear saturated system. The saturation constraint is reported on inputs vector. To this end, the back stepping design procedure is followed to construct a suitable sliding manifold that guarantees the attainment of a stabilization control objective. It is well known that the mechanisms are investigated in term of the most proposed assumptions to deal with the damping, shaft stiffness and inertia effect of the gear. The objectives are to synthesize robust controllers that maximize the energy extracted from wind, while reducing mechanical loads and rotor speed tracking combined with an electromagnetic torque. Simulation results of the proposed scheme are presented. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Vehicle Hybrid Braking Control Using Sliding Mode Control

NASA Astrophysics Data System (ADS)

Kasahara, Misawa; Kanai, Yuki; Shiraki, Ryoko; Mori, Yasuchika

Anti-lock brake system and brake-by-wire are proposed in the vehicle control using a brake, and the braking power is expected to be improved more than ever. The researches such as an application to the ABS of Siliding mode control which considered a actuator dynamics and a hybrid control of the brake using model reference adaptive control are done so far. However, in the former case, speed following that becomes a target exists physically impossible situation by saturation of tire frictional force because only speed following is done. In the latter, the model error is caused because the simulation model and the controller design model are different. Therefore, there is a problem that an accurate follow cannot be done. In this paper, the braking control is performed using the sliding mode control which has high robustness for disturbance that fulfils matching conditions. In so doing, it aims at the achievement of optimal braking control to switch wheel speed following to slip ratio following.

A robust two-way switching control system for remote piloting and stabilization of low-cost quadrotor UAVs

NASA Astrophysics Data System (ADS)

Ripamonti, Francesco; Resta, Ferruccio; Vivani, Andrea

2015-04-01

The aim of this paper is to present two control logics and an attitude estimator for UAV stabilization and remote piloting, that are as robust as possible to physical parameters variation and to other external disturbances. Moreover, they need to be implemented on low-cost micro-controllers, in order to be attractive for commercial drones. As an example, possible applications of the two switching control logics could be area surveillance and facial recognition by means of a camera mounted on the drone: the high computational speed logic is used to reach the target, when the high-stability one is activated, in order to complete the recognition tasks.

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.

A new robust control scheme using second order sliding mode and fuzzy logic of a DFIM supplied by two five-level SVPWM inverters

NASA Astrophysics Data System (ADS)

Boudjema, Zinelaabidine; Taleb, Rachid; Bounadja, Elhadj

2017-02-01

Traditional filed oriented control strategy including proportional-integral (PI) regulator for the speed drive of the doubly fed induction motor (DFIM) have some drawbacks such as parameter tuning complications, mediocre dynamic performances and reduced robustness. Therefore, based on the analysis of the mathematical model of a DFIM supplied by two five-level SVPWM inverters, this paper proposes a new robust control scheme based on super twisting sliding mode and fuzzy logic. The conventional sliding mode control (SMC) has vast chattering effect on the electromagnetic torque developed by the DFIM. In order to resolve this problem, a second order sliding mode technique based on super twisting algorithm and fuzzy logic functions is employed. The validity of the employed approach was tested by using Matlab/Simulink software. Interesting simulation results were obtained and remarkable advantages of the proposed control scheme were exposed including simple design of the control system, reduced chattering as well as the other advantages.

Performance and robustness of optimal fractional fuzzy PID controllers for pitch control of a wind turbine using chaotic optimization algorithms.

PubMed

Asgharnia, Amirhossein; Shahnazi, Reza; Jamali, Ali

2018-05-11

The most studied controller for pitch control of wind turbines is proportional-integral-derivative (PID) controller. However, due to uncertainties in wind turbine modeling and wind speed profiles, the need for more effective controllers is inevitable. On the other hand, the parameters of PID controller usually are unknown and should be selected by the designer which is neither a straightforward task nor optimal. To cope with these drawbacks, in this paper, two advanced controllers called fuzzy PID (FPID) and fractional-order fuzzy PID (FOFPID) are proposed to improve the pitch control performance. Meanwhile, to find the parameters of the controllers the chaotic evolutionary optimization methods are used. Using evolutionary optimization methods not only gives us the unknown parameters of the controllers but also guarantees the optimality based on the chosen objective function. To improve the performance of the evolutionary algorithms chaotic maps are used. All the optimization procedures are applied to the 2-mass model of 5-MW wind turbine model. The proposed optimal controllers are validated using simulator FAST developed by NREL. Simulation results demonstrate that the FOFPID controller can reach to better performance and robustness while guaranteeing fewer fatigue damages in different wind speeds in comparison to FPID, fractional-order PID (FOPID) and gain-scheduling PID (GSPID) controllers. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Preliminary Experiments with a Unified Controller for a Powered Knee-Ankle Prosthetic Leg Across Walking Speeds

PubMed Central

Villarreal, Dario J.; Gregg, Robert D.

2016-01-01

This paper presents the experimental validation of a novel control strategy that unifies the entire gait cycle of a powered knee-ankle prosthetic leg without the need to switch between controllers for different periods of gait. Current control methods divide the gait cycle into several sequential periods each with independent controllers, resulting in many patient-specific control parameters and switching rules that must be tuned for a specific walking speed. The single controller presented is speed-invariant with a minimal number of control parameters to be tuned. A single, periodic virtual constraint is derived that exactly characterizes the desired actuated joint motion as a function of a mechanical phase variable across walking cycles. A single sensor was used to compute a phase variable related to the residual thigh angle’s phase plane, which was recently shown to robustly represent the phase of non-steady human gait. This phase variable allows the prosthesis to synchronize naturally with the human user for intuitive, biomimetic behavior. A custom powered knee-ankle prosthesis was designed and built to implement the control strategy and validate its performance. A human subject experiment was conducted across multiple walking speeds (1 to 3 miles/hour) in a continuous sequence with the single phase-based controller, demonstrating its adaptability to the user’s intended speed. PMID:28392969

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

NASA Astrophysics Data System (ADS)

Fahimi, Farbod

2013-03-01

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

Evaluation of an Outer Loop Retrofit Architecture for Intelligent Turbofan Engine Thrust Control

NASA Technical Reports Server (NTRS)

Litt, Jonathan S.; Sowers, T. Shane

2006-01-01

The thrust control capability of a retrofit architecture for intelligent turbofan engine control and diagnostics is evaluated. The focus of the study is on the portion of the hierarchical architecture that performs thrust estimation and outer loop thrust control. The inner loop controls fan speed so the outer loop automatically adjusts the engine's fan speed command to maintain thrust at the desired level, based on pilot input, even as the engine deteriorates with use. The thrust estimation accuracy is assessed under nominal and deteriorated conditions at multiple operating points, and the closed loop thrust control performance is studied, all in a complex real-time nonlinear turbofan engine simulation test bed. The estimation capability, thrust response, and robustness to uncertainty in the form of engine degradation are evaluated.

Developing Uncertainty Models for Robust Flutter Analysis Using Ground Vibration Test Data

NASA Technical Reports Server (NTRS)

Potter, Starr; Lind, Rick; Kehoe, Michael W. (Technical Monitor)

2001-01-01

A ground vibration test can be used to obtain information about structural dynamics that is important for flutter analysis. Traditionally, this information#such as natural frequencies of modes#is used to update analytical models used to predict flutter speeds. The ground vibration test can also be used to obtain uncertainty models, such as natural frequencies and their associated variations, that can update analytical models for the purpose of predicting robust flutter speeds. Analyzing test data using the -norm, rather than the traditional 2-norm, is shown to lead to a minimum-size uncertainty description and, consequently, a least-conservative robust flutter speed. This approach is demonstrated using ground vibration test data for the Aerostructures Test Wing. Different norms are used to formulate uncertainty models and their associated robust flutter speeds to evaluate which norm is least conservative.

Instantaneous power control of a high speed permanent magnet synchronous generator based on a sliding mode observer and a phase locked loop

NASA Astrophysics Data System (ADS)

Duan, Jiandong; Fan, Shaogui; Wu, Fengjiang; Sun, Li; Wang, Guanglin

2018-06-01

This paper proposes an instantaneous power control method for high speed permanent magnet synchronous generators (PMSG), to realize the decoupled control of active power and reactive power, through vector control based on a sliding mode observer (SMO), and a phase locked loop (PLL). Consequently, the high speed PMSG has a high internal power factor, to ensure efficient operation. Vector control and accurate estimation of the instantaneous power require an accurate estimate of the rotor position. The SMO is able to estimate the back electromotive force (EMF). The rotor position and speed can be obtained using a combination of the PLL technique and the phase compensation method. This method has the advantages of robust operation, and being resistant to noise when estimating the position of the rotor. Using instantaneous power theory, the relationship between the output active power, reactive power, and stator current of the PMSG is deduced, and the power constraint condition is analysed for operation at the unit internal power factor. Finally, the accuracy of the rotor position detection, the instantaneous power detection, and the control methods are verified using simulations and experiments.

Mean deviation coupling synchronous control for multiple motors via second-order adaptive sliding mode control.

PubMed

Li, Lebao; Sun, Lingling; Zhang, Shengzhou

2016-05-01

A new mean deviation coupling synchronization control strategy is developed for multiple motor control systems, which can guarantee the synchronization performance of multiple motor control systems and reduce complexity of the control structure with the increasing number of motors. The mean deviation coupling synchronization control architecture combining second-order adaptive sliding mode control (SOASMC) approach is proposed, which can improve synchronization control precision of multiple motor control systems and make speed tracking errors, mean speed errors of each motor and speed synchronization errors converge to zero rapidly. The proposed control scheme is robustness to parameter variations and random external disturbances and can alleviate the chattering phenomena. Moreover, an adaptive law is employed to estimate the unknown bound of uncertainty, which is obtained in the sense of Lyapunov stability theorem to minimize the control effort. Performance comparisons with master-slave control, relative coupling control, ring coupling control, conventional PI control and SMC are investigated on a four-motor synchronization control system. Extensive comparative results are given to shown the good performance of the proposed control scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Offset Compound Gear Inline Two-Speed Drive

NASA Technical Reports Server (NTRS)

Stevens, Mark A. (Inventor); Handschuh, Robert F. (Inventor); Lewicki, David G. (Inventor)

2012-01-01

A two-speed transmission having an input shaft and an output shaft, the transmission being capable of transitioning between fixed ratios, the high-range ratio being direct 1:1 and the low-range ratio being about 2:1. The transmission is a simple lightweight, yet robust, configuration utilizing only two gear meshes, being comprised of an input gear, a cluster gear, and an output gear. The transmission is controlled with a clutch and a sprag and with the input and output shafts turning in the same direction.

Offset Compound Gear Inline Two-Speed Drive

NASA Technical Reports Server (NTRS)

Stevens, Mark A. (Inventor); Handschuh, Robert F. (Inventor); Lewicki, David G. (Inventor)

2014-01-01

A two-speed transmission having an input shaft and an output shaft, the transmission being capable of transitioning between fixed ratios, the high-range ratio being direct 1:1 and the low-range ratio being about 2:1. The transmission is a simple lightweight, yet robust, configuration utilizing only two gear meshes, being comprised of an input gear, a cluster gear, and an output gear. The transmission is controlled with a clutch and a sprag and with the input and output shafts turning in the same direction.

Modeling and simulation of permanent magnet synchronous motor based on neural network control strategy

NASA Astrophysics Data System (ADS)

Luo, Bingyang; Chi, Shangjie; Fang, Man; Li, Mengchao

2017-03-01

Permanent magnet synchronous motor is used widely in industry, the performance requirements wouldn't be met by adopting traditional PID control in some of the occasions with high requirements. In this paper, a hybrid control strategy - nonlinear neural network PID and traditional PID parallel control are adopted. The high stability and reliability of traditional PID was combined with the strong adaptive ability and robustness of neural network. The permanent magnet synchronous motor will get better control performance when switch different working modes according to different controlled object conditions. As the results showed, the speed response adopting the composite control strategy in this paper was faster than the single control strategy. And in the case of sudden disturbance, the recovery time adopting the composite control strategy designed in this paper was shorter, the recovery ability and the robustness were stronger.

Decoupling control of a five-phase fault-tolerant permanent magnet motor by radial basis function neural network inverse

NASA Astrophysics Data System (ADS)

Chen, Qian; Liu, Guohai; Xu, Dezhi; Xu, Liang; Xu, Gaohong; Aamir, Nazir

2018-05-01

This paper proposes a new decoupled control for a five-phase in-wheel fault-tolerant permanent magnet (IW-FTPM) motor drive, in which radial basis function neural network inverse (RBF-NNI) and internal model control (IMC) are combined. The RBF-NNI system is introduced into original system to construct a pseudo-linear system, and IMC is used as a robust controller. Hence, the newly proposed control system incorporates the merits of the IMC and RBF-NNI methods. In order to verify the proposed strategy, an IW-FTPM motor drive is designed based on dSPACE real-time control platform. Then, the experimental results are offered to verify that the d-axis current and the rotor speed are successfully decoupled. Besides, the proposed motor drive exhibits strong robustness even under load torque disturbance.

Longitudinal Processing Speed Impairments in Males with Autism and the Effects of White Matter Microstructure

PubMed Central

Travers, Brittany G.; Bigler, Erin D.; Tromp, Do P. M.; Adluru, Nagesh; Froehlich, Alyson L.; Ennis, Chad; Lange, Nicholas; Nielsen, Jared A.; Prigge, Molly B. D.; Alexander, Andrew L.; Lainhart, Janet E.

2014-01-01

The present study used an accelerated longitudinal design to examine group differences and age-related changes in processing speed in 81 individuals with Autism Spectrum Disorder (ASD) compared to 56 age-matched individuals with typical development (ages 6–39 years). Processing speed was assessed using the Wechsler Intelligence Scale for Children-3rd edition (WISC-III) and the Wechsler Adult Intelligence Scale-3rd edition (WAIS-III). Follow-up analyses examined processing speed subtest performance and relations between processing speed and white matter microstructure (as measured with diffusion tensor imaging [DTI] in a subset of these participants). After controlling for full scale IQ, the present results show that processing speed index standard scores were on average 12 points lower in the group with ASD compared to the group with typical development. There were, however, no significant group differences in standard score age-related changes within this age range. For subtest raw scores, the group with ASD demonstrated robustly slower processing speeds in the adult versions of the IQ test (i.e., WAIS-III) but not in the child versions (WISC-III), even though age-related changes were similar in both the ASD and typically developing groups. This pattern of results may reflect difficulties that become increasingly evident in ASD on more complex measures of processing speed. Finally, DTI measures of whole-brain white matter microstructure suggested that fractional anisotropy (but not mean diffusivity, radial diffusivity, or axial diffusivity) made significant but small-sized contributions to processing speed standard scores across our entire sample. Taken together, the present findings suggest that robust decreases in processing speed may be present in ASD, more pronounced in adulthood, and partially attributable to white matter microstructural integrity. PMID:24269298

Phase and speed synchronization control of four eccentric rotors driven by induction motors in a linear vibratory feeder with unknown time-varying load torques using adaptive sliding mode control algorithm

NASA Astrophysics Data System (ADS)

Kong, Xiangxi; Zhang, Xueliang; Chen, Xiaozhe; Wen, Bangchun; Wang, Bo

2016-05-01

In this paper, phase and speed synchronization control of four eccentric rotors (ERs) driven by induction motors in a linear vibratory feeder with unknown time-varying load torques is studied. Firstly, the electromechanical coupling model of the linear vibratory feeder is established by associating induction motor's model with the dynamic model of the system, which is a typical under actuated model. According to the characteristics of the linear vibratory feeder, the complex control problem of the under actuated electromechanical coupling model converts to phase and speed synchronization control of four ERs. In order to keep the four ERs operating synchronously with zero phase differences, phase and speed synchronization controllers are designed by employing adaptive sliding mode control (ASMC) algorithm via a modified master-slave structure. The stability of the controllers is proved by Lyapunov stability theorem. The proposed controllers are verified by simulation via Matlab/Simulink program and compared with the conventional sliding mode control (SMC) algorithm. The results show the proposed controllers can reject the time-varying load torques effectively and four ERs can operate synchronously with zero phase differences. Moreover, the control performance is better than the conventional SMC algorithm and the chattering phenomenon is attenuated. Furthermore, the effects of reference speed and parametric perturbations are discussed to show the strong robustness of the proposed controllers. Finally, experiments on a simple vibratory test bench are operated by using the proposed controllers and without control, respectively, to validate the effectiveness of the proposed controllers further.

Optimal Control for Fast and Robust Generation of Entangled States in Anisotropic Heisenberg Chains

NASA Astrophysics Data System (ADS)

Zhang, Xiong-Peng; Shao, Bin; Zou, Jian

2017-05-01

Motivated by some recent results of the optimal control (OC) theory, we study anisotropic XXZ Heisenberg spin-1/2 chains with control fields acting on a single spin, with the aim of exploring how maximally entangled state can be prepared. To achieve the goal, we use a numerical optimization algorithm (e.g., the Krotov algorithm, which was shown to be capable of reaching the quantum speed limit) to search an optimal set of control parameters, and then obtain OC pulses corresponding to the target fidelity. We find that the minimum time for implementing our target state depending on the anisotropy parameter Δ of the model. Finally, we analyze the robustness of the obtained results for the optimal fidelities and the effectiveness of the Krotov method under some realistic conditions.

Continuous manufacturing of extended release tablets via powder mixing and direct compression.

PubMed

Ervasti, Tuomas; Simonaho, Simo-Pekka; Ketolainen, Jarkko; Forsberg, Peter; Fransson, Magnus; Wikström, Håkan; Folestad, Staffan; Lakio, Satu; Tajarobi, Pirjo; Abrahmsén-Alami, Susanna

2015-11-10

The aim of the current work was to explore continuous dry powder mixing and direct compression for manufacturing of extended release (ER) matrix tablets. The study was span out with a challenging formulation design comprising ibuprofen compositions with varying particle size and a relatively low amount of the matrix former hydroxypropyl methylcellulose (HPMC). Standard grade HPMC (CR) was compared to a recently developed direct compressible grade (DC2). The work demonstrate that ER tablets with desired quality attributes could be manufactured via integrated continuous mixing and direct compression. The most robust tablet quality (weight, assay, tensile strength) was obtained using high mixer speed and large particle size ibuprofen and HPMC DC2 due to good powder flow. At low mixer speed it was more difficult to achieve high quality low dose tablets. Notably, with HPMC DC2 the processing conditions had a significant effect on drug release. Longer processing time and/or faster mixer speed was needed to achieve robust release with compositions containing DC2 compared with those containing CR. This work confirms the importance of balancing process parameters and material properties to find consistent product quality. Also, adaptive control is proven a pivotal means for control of continuous manufacturing systems. Copyright © 2015 Elsevier B.V. All rights reserved.

Asymptotic sideslip angle and yaw rate decoupling control in four-wheel steering vehicles

NASA Astrophysics Data System (ADS)

Marino, Riccardo; Scalzi, Stefano

2010-09-01

This paper shows that, for a four-wheel steering vehicle, a proportional-integral (PI) active front steering control and a PI active rear steering control from the yaw rate error together with an additive feedforward reference signal for the vehicle sideslip angle can asymptotically decouple the lateral velocity and the yaw rate dynamics; that is the control can set arbitrary steady state values for lateral speed and yaw rate at any longitudinal speed. Moreover, the PI controls can suppress oscillatory behaviours by assigning real stable eigenvalues to a widely used linearised model of the vehicle steering dynamics for any value of longitudinal speed in understeering vehicles. In particular, the four PI control parameters are explicitly expressed in terms of the three real eigenvalues to be assigned. No lateral acceleration and no lateral speed measurements are required. The controlled system maintains the well-known advantages of both front and rear active steering controls: higher controllability, enlarged bandwidth for the yaw rate dynamics, suppressed resonances, new stable cornering manoeuvres and improved manoeuvrability. In particular, zero lateral speed may be asymptotically achieved while controlling the yaw rate: in this case comfort is improved since the phase lag between lateral acceleration and yaw rate is reduced. Also zero yaw rate can be asymptotically achieved: in this case additional stable manoeuvres are obtained in obstacle avoidance. Several simulations, including step references and moose tests, are carried out on a standard small SUV CarSim model to explore the robustness with respect to unmodelled effects such as combined lateral and longitudinal tyre forces, pitch, roll and driver dynamics. The simulations confirm the decoupling between the lateral velocity and the yaw rate and show the advantages obtained by the proposed control: reduced lateral speed or reduced yaw rate, suppressed oscillations and new stable manoeuvres.

Effect of light intensity on flight control and temporal properties of photoreceptors in bumblebees.

PubMed

Reber, Therese; Vähäkainu, Antti; Baird, Emily; Weckström, Matti; Warrant, Eric; Dacke, Marie

2015-05-01

To control flight, insects rely on the pattern of visual motion generated on the retina as they move through the environment. When light levels fall, vision becomes less reliable and flight control thus becomes more challenging. Here, we investigated the effect of light intensity on flight control by filming the trajectories of free-flying bumblebees (Bombus terrestris, Linnaeus 1758) in an experimental tunnel at different light levels. As light levels fell, flight speed decreased and the flight trajectories became more tortuous but the bees were still remarkably good at centring their flight about the tunnel's midline. To investigate whether this robust flight performance can be explained by visual adaptations in the bumblebee retina, we also examined the response speed of the green-sensitive photoreceptors at the same light intensities. We found that the response speed of the photoreceptors significantly decreased as light levels fell. This indicates that bumblebees have both behavioural (reduction in flight speed) and retinal (reduction in response speed of the photoreceptors) adaptations to allow them to fly in dim light. However, the more tortuous flight paths recorded in dim light suggest that these adaptations do not support flight with the same precision during the twilight hours of the day. © 2015. Published by The Company of Biologists Ltd.

Hunting stability analysis of high-speed train bogie under the frame lateral vibration active control

NASA Astrophysics Data System (ADS)

Yao, Yuan; Wu, Guosong; Sardahi, Yousef; Sun, Jian-Qiao

2018-02-01

In this paper, we study a multi-objective optimal design of three different frame vibration control configurations and compare their performances in improving the lateral stability of a high-speed train bogie. The existence of the time-delay in the control system and its impact on the bogie hunting stability are also investigated. The continuous time approximation method is used to approximate the time-delay system dynamics and then the root locus curves of the system before and after applying control are depicted. The analysis results show that the three control cases could improve the bogie hunting stability effectively. But the root locus of low- frequency hunting mode of bogie which determinates the system critical speed is different, thus affecting the system stability with the increasing of speed. Based on the stability analysis at different bogie dynamics parameters, the robustness of the control case (1) is the strongest. However, the case (2) is more suitable for the dynamic performance requirements of bogie. For the case (1), the time-delay over 10 ms may lead to instability of the control system which will affect the bogie hunting stability seriously. For the case (2) and (3), the increasing time-delay reduces the hunting stability gradually over the high-speed range. At a certain speed, such as 200 km/h, an appropriate time-delay is favourable to the bogie hunting stability. The mechanism is proposed according to the root locus analysis of time-delay system. At last, the nonlinear bifurcation characteristics of the bogie control system are studied by the numerical integration methods to verify the effects of these active control configurations and the delay on the bogie hunting stability.

Robust/optimal temperature profile control of a high-speed aerospace vehicle using neural networks.

PubMed

Yadav, Vivek; Padhi, Radhakant; Balakrishnan, S N

2007-07-01

An approximate dynamic programming (ADP)-based suboptimal neurocontroller to obtain desired temperature for a high-speed aerospace vehicle is synthesized in this paper. A 1-D distributed parameter model of a fin is developed from basic thermal physics principles. "Snapshot" solutions of the dynamics are generated with a simple dynamic inversion-based feedback controller. Empirical basis functions are designed using the "proper orthogonal decomposition" (POD) technique and the snapshot solutions. A low-order nonlinear lumped parameter system to characterize the infinite dimensional system is obtained by carrying out a Galerkin projection. An ADP-based neurocontroller with a dual heuristic programming (DHP) formulation is obtained with a single-network-adaptive-critic (SNAC) controller for this approximate nonlinear model. Actual control in the original domain is calculated with the same POD basis functions through a reverse mapping. Further contribution of this paper includes development of an online robust neurocontroller to account for unmodeled dynamics and parametric uncertainties inherent in such a complex dynamic system. A neural network (NN) weight update rule that guarantees boundedness of the weights and relaxes the need for persistence of excitation (PE) condition is presented. Simulation studies show that in a fairly extensive but compact domain, any desired temperature profile can be achieved starting from any initial temperature profile. Therefore, the ADP and NN-based controllers appear to have the potential to become controller synthesis tools for nonlinear distributed parameter systems.

Robust Control Analysis of Hydraulic Turbine Speed

NASA Astrophysics Data System (ADS)

Jekan, P.; Subramani, C.

2018-04-01

An effective control strategy for the hydro-turbine governor in time scenario is adjective for this paper. Considering the complex dynamic characteristic and the uncertainty of the hydro-turbine governor model and taking the static and dynamic performance of the governing system as the ultimate goal, the designed logic combined the classical PID control theory with artificial intelligence used to obtain the desired output. The used controller will be a variable control techniques, therefore, its parameters can be adaptively adjusted according to the information about the control error signal.

Nonlinear SVM-DTC for induction motor drive using input-output feedback linearization and high order sliding mode control.

PubMed

Ammar, Abdelkarim; Bourek, Amor; Benakcha, Abdelhamid

2017-03-01

This paper presents a nonlinear Direct Torque Control (DTC) strategy with Space Vector Modulation (SVM) for an induction motor. A nonlinear input-output feedback linearization (IOFL) is implemented to achieve a decoupled torque and flux control and the SVM is employed to reduce high torque and flux ripples. Furthermore, the control scheme performance is improved by inserting a super twisting speed controller in the outer loop and a load torque observer to enhance the speed regulation. The combining of dual nonlinear strategies ensures a good dynamic and robustness against parameters variation and disturbance. The system stability has been analyzed using Lyapunov stability theory. The effectiveness of the control algorithm is investigated by simulation and experimental validation using Matlab/Simulink software with real-time interface based on dSpace 1104. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

CNSFV code development, virtual zone Navier-Stokes computations of oscillating control surfaces and computational support of the laminar flow supersonic wind tunnel

NASA Technical Reports Server (NTRS)

Klopfer, Goetz H.

1993-01-01

The work performed during the past year on this cooperative agreement covered two major areas and two lesser ones. The two major items included further development and validation of the Compressible Navier-Stokes Finite Volume (CNSFV) code and providing computational support for the Laminar Flow Supersonic Wind Tunnel (LFSWT). The two lesser items involve a Navier-Stokes simulation of an oscillating control surface at transonic speeds and improving the basic algorithm used in the CNSFV code for faster convergence rates and more robustness. The work done in all four areas is in support of the High Speed Research Program at NASA Ames Research Center.

Quadrupedal galloping control for a wide range of speed via vertical impulse scaling.

PubMed

Park, Hae-Won; Kim, Sangbae

2015-03-25

This paper presents a bio-inspired quadruped controller that allows variable-speed galloping. The controller design is inspired by observations from biological runners. Quadrupedal animals increase the vertical impulse that is generated by ground reaction forces at each stride as running speed increases and the duration of each stance phase reduces, whereas the swing phase stays relatively constant. Inspired by this observation, the presented controller estimates the required vertical impulse at each stride by applying the linear momentum conservation principle in the vertical direction and prescribes the ground reaction forces at each stride. The design process begins with deriving a planar model from the MIT Cheetah 2 robot. A baseline periodic limit cycle is obtained by optimizing ground reaction force profiles and the temporal gait pattern (timing and duration of gait phases). To stabilize the optimized limit cycle, the obtained limit cycle is converted to a state feedback controller by representing the obtained ground reaction force profiles as functions of the state variable, which is monotonically increasing throughout the gait, adding impedance control around the height and pitch trajectories of the obtained limit cycle and introducing a finite state machine and a pattern stabilizer to enforce the optimized gait pattern. The controller that achieves a stable 3 m s(-1) gallop successfully adapts the speed change by scaling the vertical ground reaction force to match the momentum lost by gravity and adding a simple speed controller that controls horizontal speed. Without requiring additional gait optimization processes, the controller achieves galloping at speeds ranging from 3 m s(-1) to 14.9 m s(-1) while respecting the torque limit of the motor used in the MIT Cheetah 2 robot. The robustness of the controller is verified by demonstrating stable running during various disturbances, including 1.49 m step down and 0.18 m step up, as well as random ground height and model parameter variations.

Reducing the stochasticity of crystal nucleation to enable subnanosecond memory writing

NASA Astrophysics Data System (ADS)

Rao, Feng; Ding, Keyuan; Zhou, Yuxing; Zheng, Yonghui; Xia, Mengjiao; Lv, Shilong; Song, Zhitang; Feng, Songlin; Ronneberger, Ider; Mazzarello, Riccardo; Zhang, Wei; Ma, Evan

2017-12-01

Operation speed is a key challenge in phase-change random-access memory (PCRAM) technology, especially for achieving subnanosecond high-speed cache memory. Commercialized PCRAM products are limited by the tens of nanoseconds writing speed, originating from the stochastic crystal nucleation during the crystallization of amorphous germanium antimony telluride (Ge2Sb2Te5). Here, we demonstrate an alloying strategy to speed up the crystallization kinetics. The scandium antimony telluride (Sc0.2Sb2Te3) compound that we designed allows a writing speed of only 700 picoseconds without preprogramming in a large conventional PCRAM device. This ultrafast crystallization stems from the reduced stochasticity of nucleation through geometrically matched and robust scandium telluride (ScTe) chemical bonds that stabilize crystal precursors in the amorphous state. Controlling nucleation through alloy design paves the way for the development of cache-type PCRAM technology to boost the working efficiency of computing systems.

RISK FACTORS FOR SLOW GAIT SPEED: A NESTED CASE-CONTROL SECONDARY ANALYSIS OF THE MEXICAN HEALTH AND AGING STUDY.

PubMed

Pérez-Zepeda, M U; González-Chavero, J G; Salinas-Martinez, R; Gutiérrez-Robledo, L M

2015-01-01

Physical performance tests play a major role in the geriatric assessment. In particular, gait speed has shown to be useful for predicting adverse outcomes. However, risk factors for slow gait speed (slowness) are not clearly described. To determine risk factors associated with slowness in Mexican older adults. A two-step process was adopted for exploring the antecedent risk factors of slow gait speed. First, the cut-off values for gait speed were determined in a representative sample of Mexican older adults. Then, antecedent risk factors of slow gait speed (defined using the identified cut-points) were explored in a nested, cohort case-control study. One representative sample of a cross-sectional survey for the first step and the Mexican Health and Aging Study (a cohort characterized by a 10-year follow-up). A 4-meter usual gait speed test was conducted. Lowest gender and height-stratified groups were considered as defining slow gait speed. Sociodemographic characteristics, comorbidities, psychological and health-care related variables were explored to find those associated with the subsequent development of slow gait speed. Unadjusted and adjusted logistic regression models were performed. In the final model, age, diabetes, hypertension, and history of fractures were associated with the development of slow gait speed. Early identification of subjects at risk of developing slow gait speed may halt the path to disability due to the robust association of this physical performance test with functional decline.

PI controller design of a wind turbine: evaluation of the pole-placement method and tuning using constrained optimization

NASA Astrophysics Data System (ADS)

Mirzaei, Mahmood; Tibaldi, Carlo; Hansen, Morten H.

2016-09-01

PI/PID controllers are the most common wind turbine controllers. Normally a first tuning is obtained using methods such as pole-placement or Ziegler-Nichols and then extensive aeroelastic simulations are used to obtain the best tuning in terms of regulation of the outputs and reduction of the loads. In the traditional tuning approaches, the properties of different open loop and closed loop transfer functions of the system are not normally considered. In this paper, an assessment of the pole-placement tuning method is presented based on robustness measures. Then a constrained optimization setup is suggested to automatically tune the wind turbine controller subject to robustness constraints. The properties of the system such as the maximum sensitivity and complementary sensitivity functions (Ms and Mt ), along with some of the responses of the system, are used to investigate the controller performance and formulate the optimization problem. The cost function is the integral absolute error (IAE) of the rotational speed from a disturbance modeled as a step in wind speed. Linearized model of the DTU 10-MW reference wind turbine is obtained using HAWCStab2. Thereafter, the model is reduced with model order reduction. The trade-off curves are given to assess the tunings of the poles- placement method and a constrained optimization problem is solved to find the best tuning.

Adaptive Control of a Utility-Scale Wind Turbine Operating in Region 3

NASA Technical Reports Server (NTRS)

Frost, Susan A.; Balas, Mark J.; Wright, Alan D.

2009-01-01

Adaptive control techniques are well suited to nonlinear applications, such as wind turbines, which are difficult to accurately model and which have effects from poorly known operating environments. The turbulent and unpredictable conditions in which wind turbines operate create many challenges for their operation. In this paper, we design an adaptive collective pitch controller for a high-fidelity simulation of a utility scale, variable-speed horizontal axis wind turbine. The objective of the adaptive pitch controller in Region 3 is to regulate generator speed and reject step disturbances. The control objective is accomplished by collectively pitching the turbine blades. We use an extension of the Direct Model Reference Adaptive Control (DMRAC) approach to track a reference point and to reject persistent disturbances. The turbine simulation models the Controls Advanced Research Turbine (CART) of the National Renewable Energy Laboratory in Golden, Colorado. The CART is a utility-scale wind turbine which has a well-developed and extensively verified simulator. The adaptive collective pitch controller for Region 3 was compared in simulations with a bas celliansesical Proportional Integrator (PI) collective pitch controller. In the simulations, the adaptive pitch controller showed improved speed regulation in Region 3 when compared with the baseline PI pitch controller and it demonstrated robustness to modeling errors.

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

PubMed Central

Zhou, Zhanmin; Zhang, Bao; Mao, Dapeng

2018-01-01

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

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

PubMed

Zhou, Zhanmin; Zhang, Bao; Mao, Dapeng

2018-03-29

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

Power maximization of variable-speed variable-pitch wind turbines using passive adaptive neural fault tolerant control

NASA Astrophysics Data System (ADS)

Habibi, Hamed; Rahimi Nohooji, Hamed; Howard, Ian

2017-09-01

Power maximization has always been a practical consideration in wind turbines. The question of how to address optimal power capture, especially when the system dynamics are nonlinear and the actuators are subject to unknown faults, is significant. This paper studies the control methodology for variable-speed variable-pitch wind turbines including the effects of uncertain nonlinear dynamics, system fault uncertainties, and unknown external disturbances. The nonlinear model of the wind turbine is presented, and the problem of maximizing extracted energy is formulated by designing the optimal desired states. With the known system, a model-based nonlinear controller is designed; then, to handle uncertainties, the unknown nonlinearities of the wind turbine are estimated by utilizing radial basis function neural networks. The adaptive neural fault tolerant control is designed passively to be robust on model uncertainties, disturbances including wind speed and model noises, and completely unknown actuator faults including generator torque and pitch actuator torque. The Lyapunov direct method is employed to prove that the closed-loop system is uniformly bounded. Simulation studies are performed to verify the effectiveness of the proposed method.

Computations of Aerodynamic Performance Databases Using Output-Based Refinement

NASA Technical Reports Server (NTRS)

Nemec, Marian; Aftosmis, Michael J.

2009-01-01

Objectives: Handle complex geometry problems; Control discretization errors via solution-adaptive mesh refinement; Focus on aerodynamic databases of parametric and optimization studies: 1. Accuracy: satisfy prescribed error bounds 2. Robustness and speed: may require over 105 mesh generations 3. Automation: avoid user supervision Obtain "expert meshes" independent of user skill; and Run every case adaptively in production settings.

Asynchronous machine rotor speed estimation using a tabulated numerical approach

NASA Astrophysics Data System (ADS)

Nguyen, Huu Phuc; De Miras, Jérôme; Charara, Ali; Eltabach, Mario; Bonnet, Stéphane

2017-12-01

This paper proposes a new method to estimate the rotor speed of the asynchronous machine by looking at the estimation problem as a nonlinear optimal control problem. The behavior of the nonlinear plant model is approximated off-line as a prediction map using a numerical one-step time discretization obtained from simulations. At each time-step, the speed of the induction machine is selected satisfying the dynamic fitting problem between the plant output and the predicted output, leading the system to adopt its dynamical behavior. Thanks to the limitation of the prediction horizon to a single time-step, the execution time of the algorithm can be completely bounded. It can thus easily be implemented and embedded into a real-time system to observe the speed of the real induction motor. Simulation results show the performance and robustness of the proposed estimator.

Experimental Verification of Electric Drive Technologies Based on Artificial Intelligence Tools

NASA Technical Reports Server (NTRS)

Rubaai, Ahmed; Kankam, David (Technical Monitor)

2003-01-01

A laboratory implementation of a fuzzy logic-tracking controller using a low cost Motorola MC68HC11E9 microprocessor is described in this report. The objective is to design the most optimal yet practical controller that can be implemented and marketed, and which gives respectable performance, even when the system loads, inertia and parameters are varying. A distinguishing feature of this work is the by-product goal of developing a marketable, simple, functional and low cost controller. Additionally, real-time nonlinearities are not ignored, and a mathematical model is not required. A number of components have been designed, built and tested individually, and in various combinations of hardware and software segments. These components have been integrated with a brushless motor to constitute the drive system. A microprocessor-based FLC is incorporated to provide robust speed and position control. Design objectives that are difficult to express mathematically can be easily incorporated in a fuzzy logic-based controller by linguistic information (in the form of fuzzy IF-THEN rules). The theory and design are tested in the laboratory using a hardware setup. Several test cases have been conducted to confirm the effectiveness of the proposed controller. The results indicate excellent tracking performance for both speed and position trajectories. For the purpose of comparison, a bang-bang controller has been tested. The fuzzy logic controller performs significantly better than the traditional bang-bang controller. The bang-bang controller has been shown to be relatively inaccurate and lacking in robustness. Description of the implementation hardware system is also given.

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

PubMed

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

2016-11-15

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

Fast traffic sign recognition with a rotation invariant binary pattern based feature.

PubMed

Yin, Shouyi; Ouyang, Peng; Liu, Leibo; Guo, Yike; Wei, Shaojun

2015-01-19

Robust and fast traffic sign recognition is very important but difficult for safe driving assistance systems. This study addresses fast and robust traffic sign recognition to enhance driving safety. The proposed method includes three stages. First, a typical Hough transformation is adopted to implement coarse-grained location of the candidate regions of traffic signs. Second, a RIBP (Rotation Invariant Binary Pattern) based feature in the affine and Gaussian space is proposed to reduce the time of traffic sign detection and achieve robust traffic sign detection in terms of scale, rotation, and illumination. Third, the techniques of ANN (Artificial Neutral Network) based feature dimension reduction and classification are designed to reduce the traffic sign recognition time. Compared with the current work, the experimental results in the public datasets show that this work achieves robustness in traffic sign recognition with comparable recognition accuracy and faster processing speed, including training speed and recognition speed.

Fast Traffic Sign Recognition with a Rotation Invariant Binary Pattern Based Feature

PubMed Central

Yin, Shouyi; Ouyang, Peng; Liu, Leibo; Guo, Yike; Wei, Shaojun

2015-01-01

Robust and fast traffic sign recognition is very important but difficult for safe driving assistance systems. This study addresses fast and robust traffic sign recognition to enhance driving safety. The proposed method includes three stages. First, a typical Hough transformation is adopted to implement coarse-grained location of the candidate regions of traffic signs. Second, a RIBP (Rotation Invariant Binary Pattern) based feature in the affine and Gaussian space is proposed to reduce the time of traffic sign detection and achieve robust traffic sign detection in terms of scale, rotation, and illumination. Third, the techniques of ANN (Artificial Neutral Network) based feature dimension reduction and classification are designed to reduce the traffic sign recognition time. Compared with the current work, the experimental results in the public datasets show that this work achieves robustness in traffic sign recognition with comparable recognition accuracy and faster processing speed, including training speed and recognition speed. PMID:25608217

Dual-loop self-optimizing robust control of wind power generation with Doubly-Fed Induction Generator.

PubMed

Chen, Quan; Li, Yaoyu; Seem, John E

2015-09-01

This paper presents a self-optimizing robust control scheme that can maximize the power generation for a variable speed wind turbine with Doubly-Fed Induction Generator (DFIG) operated in Region 2. A dual-loop control structure is proposed to synergize the conversion from aerodynamic power to rotor power and the conversion from rotor power to the electrical power. The outer loop is an Extremum Seeking Control (ESC) based generator torque regulation via the electric power feedback. The ESC can search for the optimal generator torque constant to maximize the rotor power without wind measurement or accurate knowledge of power map. The inner loop is a vector-control based scheme that can both regulate the generator torque requested by the ESC and also maximize the conversion from the rotor power to grid power. An ℋ(∞) controller is synthesized for maximizing, with performance specifications defined based upon the spectrum of the rotor power obtained by the ESC. Also, the controller is designed to be robust against the variations of some generator parameters. The proposed control strategy is validated via simulation study based on the synergy of several software packages including the TurbSim and FAST developed by NREL, Simulink and SimPowerSystems. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Analysis of torque transmitting behavior and wheel slip prevention control during regenerative braking for high speed EMU trains

NASA Astrophysics Data System (ADS)

Xu, Kun; Xu, Guo-Qing; Zheng, Chun-Hua

2016-04-01

The wheel-rail adhesion control for regenerative braking systems of high speed electric multiple unit trains is crucial to maintaining the stability, improving the adhesion utilization, and achieving deep energy recovery. There remain technical challenges mainly because of the nonlinear, uncertain, and varying features of wheel-rail contact conditions. This research analyzes the torque transmitting behavior during regenerative braking, and proposes a novel methodology to detect the wheel-rail adhesion stability. Then, applications to the wheel slip prevention during braking are investigated, and the optimal slip ratio control scheme is proposed, which is based on a novel optimal reference generation of the slip ratio and a robust sliding mode control. The proposed methodology achieves the optimal braking performance without the wheel-rail contact information. Numerical simulation results for uncertain slippery rails verify the effectiveness of the proposed methodology.

Holographic digital microscopy in on-line process control

NASA Astrophysics Data System (ADS)

Osanlou, Ardeshir

2011-09-01

This article investigates the feasibility of real-time three-dimensional imaging of microscopic objects within various emulsions while being produced in specialized production vessels. The study is particularly relevant to on-line process monitoring and control in chemical, pharmaceutical, food, cleaning, and personal hygiene industries. Such processes are often dynamic and the materials cannot be measured once removed from the production vessel. The technique reported here is applicable to three-dimensional characterization analyses on stirred fluids in small reaction vessels. Relatively expensive pulsed lasers have been avoided through the careful control of the speed of the moving fluid in relation to the speed of the camera exposure and the wavelength of the continuous wave laser used. The ultimate aim of the project is to introduce a fully robust and compact digital holographic microscope as a process control tool in a full size specialized production vessel.

Multi-application controls: Robust nonlinear multivariable aerospace controls applications

NASA Technical Reports Server (NTRS)

Enns, Dale F.; Bugajski, Daniel J.; Carter, John; Antoniewicz, Bob

1994-01-01

This viewgraph presentation describes the general methodology used to apply Honywell's Multi-Application Control (MACH) and the specific application to the F-18 High Angle-of-Attack Research Vehicle (HARV) including piloted simulation handling qualities evaluation. The general steps include insertion of modeling data for geometry and mass properties, aerodynamics, propulsion data and assumptions, requirements and specifications, e.g. definition of control variables, handling qualities, stability margins and statements for bandwidth, control power, priorities, position and rate limits. The specific steps include choice of independent variables for least squares fits to aerodynamic and propulsion data, modifications to the management of the controls with regard to integrator windup and actuation limiting and priorities, e.g. pitch priority over roll, and command limiting to prevent departures and/or undesirable inertial coupling or inability to recover to a stable trim condition. The HARV control problem is characterized by significant nonlinearities and multivariable interactions in the low speed, high angle-of-attack, high angular rate flight regime. Systematic approaches to the control of vehicle motions modeled with coupled nonlinear equations of motion have been developed. This paper will discuss the dynamic inversion approach which explicity accounts for nonlinearities in the control design. Multiple control effectors (including aerodynamic control surfaces and thrust vectoring control) and sensors are used to control the motions of the vehicles in several degrees-of-freedom. Several maneuvers will be used to illustrate performance of MACH in the high angle-of-attack flight regime. Analytical methods for assessing the robust performance of the multivariable control system in the presence of math modeling uncertainty, disturbances, and commands have reached a high level of maturity. The structured singular value (mu) frequency response methodology is presented as a method for analyzing robust performance and the mu-synthesis method will be presented as a method for synthesizing a robust control system. The paper concludes with the author's expectations regarding future applications of robust nonlinear multivariable controls.

An Overview of Magnetic Bearing Technology for Gas Turbine Engines

NASA Technical Reports Server (NTRS)

Clark, Daniel J.; Jansen, Mark J.; Montague, Gerald T.

2004-01-01

The idea of the magnetic bearing and its use in exotic applications has been conceptualized for many years, over a century, in fact. Patented, passive systems using permanent magnets date back over 150 years. More recently, scientists of the 1930s began investigating active systems using electromagnets for high-speed ultracentrifuges. However, passive magnetic bearings are physically unstable and active systems only provide proper stiffness and damping through sophisticated controllers and algorithms. This is precisely why, until the last decade, magnetic bearings did not become a practical alternative to rolling element bearings. Today, magnetic bearing technology has become viable because of advances in micro-processing controllers that allow for confident and robust active control. Further advances in the following areas: rotor and stator materials and designs which maximize flux, minimize energy losses, and minimize stress limitations; wire materials and coatings for high temperature operation; high-speed micro processing for advanced controller designs and extremely robust capabilities; back-up bearing technology for providing a viable touchdown surface; and precision sensor technology; have put magnetic bearings on the forefront of advanced, lubrication free support systems. This paper will discuss a specific joint program for the advancement of gas turbine engines and how it implies the vitality of magnetic bearings, a brief comparison between magnetic bearings and other bearing technologies in both their advantages and limitations, and an examination of foreseeable solutions to historically perceived limitations to magnetic bearing.

Transduction in Drosophila olfactory receptor neurons is invariant to air speed

PubMed Central

Zhou, Yi

2012-01-01

In the vertebrate nose, increasing air speed tends to increase the magnitude of odor-evoked activity in olfactory receptor neurons (ORNs), given constant odor concentration and duration. It is often assumed that the same is true of insect olfactory organs, but this has not been directly tested. In this study, we examined the effect of air speed on ORN responses in Drosophila melanogaster. We constructed an odor delivery device that allowed us to independently vary concentration and air speed, and we used a fast photoionization detector to precisely measure the actual odor concentration at the antenna while simultaneously recording spikes from ORNs in vivo. Our results demonstrate that Drosophila ORN odor responses are invariant to air speed, as long as odor concentration is kept constant. This finding was true across a >100-fold range of air speeds. Because odor hydrophobicity has been proposed to affect the air speed dependence of olfactory transduction, we tested a >1,000-fold range of hydrophobicity values and found that ORN responses are invariant to air speed across this full range. These results have implications for the mechanisms of odor delivery to Drosophila ORNs. Our findings are also significant because flies have a limited ability to control air flow across their antennae, unlike terrestrial vertebrates, which can control air flow within their nasal cavity. Thus, for the fly, invariance to air speed may be adaptive because it confers robustness to changing wind conditions. PMID:22815404

Visual regulation of ground speed and headwind compensation in freely flying honey bees (Apis mellifera L.).

PubMed

Barron, Andrew; Srinivasan, Mandyam V

2006-03-01

There is now increasing evidence that honey bees regulate their ground speed in flight by holding constant the speed at which the image of the environment moves across the eye (optic flow). We have investigated the extent to which ground speed is affected by headwinds. Honey bees were trained to enter a tunnel to forage at a sucrose feeder placed at its far end. Ground speeds in the tunnel were recorded while systematically varying the visual texture of the tunnel, and the strength of headwinds experienced by the flying bees. We found that in a flight tunnel bees used visual cues to maintain their ground speed, and adjusted their air speed to maintain a constant rate of optic flow, even against headwinds which were, at their strongest, 50% of a bee's maximum recorded forward velocity. Manipulation of the visual texture revealed that headwind is compensated almost fully even when the optic flow cues are very sparse and subtle, demonstrating the robustness of this visual flight control system. We discuss these findings in the context of field observations of flying bees.

RISK FACTORS FOR SLOW GAIT SPEED: A NESTED CASE-CONTROL SECONDARY ANALYSIS OF THE MEXICAN HEALTH AND AGING STUDY

PubMed Central

Pérez-Zepeda, M.U.; González-Chavero, J.G.; Salinas-Martinez, R.; Gutiérrez-Robledo, L.M.

2016-01-01

Background Physical performance tests play a major role in the geriatric assessment. In particular, gait speed has shown to be useful for predicting adverse outcomes. However, risk factors for slow gait speed (slowness) are not clearly described. Objectives To determine risk factors associated with slowness in Mexican older adults. Design A two-step process was adopted for exploring the antecedent risk factors of slow gait speed. First, the cut-off values for gait speed were determined in a representative sample of Mexican older adults. Then, antecedent risk factors of slow gait speed (defined using the identified cut-points) were explored in a nested, cohort case-control study. Setting, participants One representative sample of a cross-sectional survey for the first step and the Mexican Health and Aging Study (a cohort characterized by a 10-year follow-up). Measurements A 4-meter usual gait speed test was conducted. Lowest gender and height-stratified groups were considered as defining slow gait speed. Sociodemographic characteristics, comorbidities, psychological and health-care related variables were explored to find those associated with the subsequent development of slow gait speed. Unadjusted and adjusted logistic regression models were performed. Results In the final model, age, diabetes, hypertension, and history of fractures were associated with the development of slow gait speed. Conclusions Early identification of subjects at risk of developing slow gait speed may halt the path to disability due to the robust association of this physical performance test with functional decline. PMID:26889463

SUSI 62 A Robust and Safe Parachute Uav with Long Flight Time and Good Payload

NASA Astrophysics Data System (ADS)

Thamm, H. P.

2011-09-01

In many research areas in the geo-sciences (erosion, land use, land cover change, etc.) or applications (e.g. forest management, mining, land management etc.) there is a demand for remote sensing images of a very high spatial and temporal resolution. Due to the high costs of classic aerial photo campaigns, the use of a UAV is a promising option for obtaining the desired remote sensed information at the time it is needed. However, the UAV must be easy to operate, safe, robust and should have a high payload and long flight time. For that purpose, the parachute UAV SUSI 62 was developed. It consists of a steel frame with a powerful 62 cm3 2- stroke engine and a parachute wing. The frame can be easily disassembled for transportation or to replace parts. On the frame there is a gimbal mounted sensor carrier where different sensors, standard SLR cameras and/or multi-spectral and thermal sensors can be mounted. Due to the design of the parachute, the SUSI 62 is very easy to control. Two different parachute sizes are available for different wind speed conditions. The SUSI 62 has a payload of up to 8 kg providing options to use different sensors at the same time or to extend flight duration. The SUSI 62 needs a runway of between 10 m and 50 m, depending on the wind conditions. The maximum flight speed is approximately 50 km/h. It can be operated in a wind speed of up to 6 m/s. The design of the system utilising a parachute UAV makes it comparatively safe as a failure of the electronics or the remote control only results in the UAV coming to the ground at a slow speed. The video signal from the camera, the GPS coordinates and other flight parameters are transmitted to the ground station in real time. An autopilot is available, which guarantees that the area of investigation is covered at the desired resolution and overlap. The robustly designed SUSI 62 has been used successfully in Europe, Africa and Australia for scientific projects and also for agricultural, forestry and industrial applications.

Novel Observer Scheme of Fuzzy-MRAS Sensorless Speed Control of Induction Motor Drive

NASA Astrophysics Data System (ADS)

Chekroun, S.; Zerikat, M.; Mechernene, A.; Benharir, N.

2017-01-01

This paper presents a novel approach Fuzzy-MRAS conception for robust accurate tracking of induction motor drive operating in a high-performance drives environment. Of the different methods for sensorless control of induction motor drive the model reference adaptive system (MRAS) finds lot of attention due to its good performance. The analysis of the sensorless vector control system using MRAS is presented and the resistance parameters variations and speed observer using new Fuzzy Self-Tuning adaptive IP Controller is proposed. In fact, fuzzy logic is reminiscent of human thinking processes and natural language enabling decisions to be made based on vague information. The present approach helps to achieve a good dynamic response, disturbance rejection and low to plant parameter variations of the induction motor. In order to verify the performances of the proposed observer and control algorithms and to test behaviour of the controlled system, numerical simulation is achieved. Simulation results are presented and discussed to shown the validity and the performance of the proposed observer.

Longitudinal Control for Mengshi Autonomous Vehicle via Cloud Model

NASA Astrophysics Data System (ADS)

Gao, H. B.; Zhang, X. Y.; Li, D. Y.; Liu, Y. C.

2018-03-01

Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control method of autonomous is a key technique which has drawn the attention of industry and academe. In this paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. An experiments is applied to test the implementation of the longitudinal control algorithm. Empirical results show that if the longitudinal control algorithm based Gauss cloud model are applied to calculate the acceleration, and the vehicles drive at different speeds, a stable longitudinal control effect is achieved.

Robust Power Management Control for Stand-Alone Hybrid Power Generation System

NASA Astrophysics Data System (ADS)

Kamal, Elkhatib; Adouane, Lounis; Aitouche, Abdel; Mohammed, Walaa

2017-01-01

This paper presents a new robust fuzzy control of energy management strategy for the stand-alone hybrid power systems. It consists of two levels named centralized fuzzy supervisory control which generates the power references for each decentralized robust fuzzy control. Hybrid power systems comprises: a photovoltaic panel and wind turbine as renewable sources, a micro turbine generator and a battery storage system. The proposed control strategy is able to satisfy the load requirements based on a fuzzy supervisor controller and manage power flows between the different energy sources and the storage unit by respecting the state of charge and the variation of wind speed and irradiance. Centralized controller is designed based on If-Then fuzzy rules to manage and optimize the hybrid power system production by generating the reference power for photovoltaic panel and wind turbine. Decentralized controller is based on the Takagi-Sugeno fuzzy model and permits us to stabilize each photovoltaic panel and wind turbine in presence of disturbances and parametric uncertainties and to optimize the tracking reference which is given by the centralized controller level. The sufficient conditions stability are formulated in the format of linear matrix inequalities using the Lyapunov stability theory. The effectiveness of the proposed Strategy is finally demonstrated through a SAHPS (stand-alone hybrid power systems) to illustrate the effectiveness of the overall proposed method.

Optimal integral force feedback for active vibration control

NASA Astrophysics Data System (ADS)

Teo, Yik R.; Fleming, Andrew J.

2015-11-01

This paper proposes an improvement to Integral Force Feedback (IFF), which is a popular method for active vibration control of structures and mechanical systems. Benefits of IFF include robustness, guaranteed stability and simplicity. However, the maximum damping performance is dependent on the stiffness of the system; hence, some systems cannot be adequately controlled. In this paper, an improvement to the classical force feedback control scheme is proposed. The improved method achieves arbitrary damping for any mechanical system by introducing a feed-through term. The proposed improvement is experimentally demonstrated by actively damping an objective lens assembly for a high-speed confocal microscope.

Remote control of molecular motors using light-activated gearshifting

NASA Astrophysics Data System (ADS)

Bryant, Zev

2013-03-01

Engineering molecular motors with dynamically controllable properties will allow selective perturbation of mechanical processes in vivo and provide sophisticated components for directed nanoscale transport in vitro. We previously constructed myosin motors that respond to a change in [Ca++] by reversing their direction of motion along the polarized actin filament. To expand the potential applications of controllable molecular motors, we have now developed myosins that shift gears in response to blue light illumination. Light is a versatile control signal that can be readily modulated in time and space, and is generally orthogonal to cellular signaling. Using structure-guided protein engineering, we have incorporated LOV photoreceptor domains into the lever arms of chimeric myosins, resulting in motors that robustly speed up, slow down, or switch directions upon illumination. These genetically encoded motors should be directly deployable inside living cells. Our successful designs include constructs based on two different myosin classes, and we show that optical velocity control can be implemented in motors that move at microns/sec speeds, enabling practical biological and bioengineering applications.

Real-Time Control of a Video Game Using Eye Movements and Two Temporal EEG Sensors.

PubMed

Belkacem, Abdelkader Nasreddine; Saetia, Supat; Zintus-art, Kalanyu; Shin, Duk; Kambara, Hiroyuki; Yoshimura, Natsue; Berrached, Nasreddine; Koike, Yasuharu

2015-01-01

EEG-controlled gaming applications range widely from strictly medical to completely nonmedical applications. Games can provide not only entertainment but also strong motivation for practicing, thereby achieving better control with rehabilitation system. In this paper we present real-time control of video game with eye movements for asynchronous and noninvasive communication system using two temporal EEG sensors. We used wavelets to detect the instance of eye movement and time-series characteristics to distinguish between six classes of eye movement. A control interface was developed to test the proposed algorithm in real-time experiments with opened and closed eyes. Using visual feedback, a mean classification accuracy of 77.3% was obtained for control with six commands. And a mean classification accuracy of 80.2% was obtained using auditory feedback for control with five commands. The algorithm was then applied for controlling direction and speed of character movement in two-dimensional video game. Results showed that the proposed algorithm had an efficient response speed and timing with a bit rate of 30 bits/min, demonstrating its efficacy and robustness in real-time control.

Real-Time Control of a Video Game Using Eye Movements and Two Temporal EEG Sensors

PubMed Central

Saetia, Supat; Zintus-art, Kalanyu; Shin, Duk; Kambara, Hiroyuki; Yoshimura, Natsue; Berrached, Nasreddine; Koike, Yasuharu

2015-01-01

EEG-controlled gaming applications range widely from strictly medical to completely nonmedical applications. Games can provide not only entertainment but also strong motivation for practicing, thereby achieving better control with rehabilitation system. In this paper we present real-time control of video game with eye movements for asynchronous and noninvasive communication system using two temporal EEG sensors. We used wavelets to detect the instance of eye movement and time-series characteristics to distinguish between six classes of eye movement. A control interface was developed to test the proposed algorithm in real-time experiments with opened and closed eyes. Using visual feedback, a mean classification accuracy of 77.3% was obtained for control with six commands. And a mean classification accuracy of 80.2% was obtained using auditory feedback for control with five commands. The algorithm was then applied for controlling direction and speed of character movement in two-dimensional video game. Results showed that the proposed algorithm had an efficient response speed and timing with a bit rate of 30 bits/min, demonstrating its efficacy and robustness in real-time control. PMID:26690500

An Adaptive Neuromuscular Controller for Assistive Lower-Limb Exoskeletons: A Preliminary Study on Subjects with Spinal Cord Injury

PubMed Central

Wu, Amy R.; Dzeladini, Florin; Brug, Tycho J. H.; Tamburella, Federica; Tagliamonte, Nevio L.; van Asseldonk, Edwin H. F.; van der Kooij, Herman; Ijspeert, Auke J.

2017-01-01

Versatility is important for a wearable exoskeleton controller to be responsive to both the user and the environment. These characteristics are especially important for subjects with spinal cord injury (SCI), where active recruitment of their own neuromuscular system could promote motor recovery. Here we demonstrate the capability of a novel, biologically-inspired neuromuscular controller (NMC) which uses dynamical models of lower limb muscles to assist the gait of SCI subjects. Advantages of this controller include robustness, modularity, and adaptability. The controller requires very few inputs (i.e., joint angles, stance, and swing detection), can be decomposed into relevant control modules (e.g., only knee or hip control), and can generate walking at different speeds and terrains in simulation. We performed a preliminary evaluation of this controller on a lower-limb knee and hip robotic gait trainer with seven subjects (N = 7, four with complete paraplegia, two incomplete, one healthy) to determine if the NMC could enable normal-like walking. During the experiment, SCI subjects walked with body weight support on a treadmill and could use the handrails. With controller assistance, subjects were able to walk at fast walking speeds for ambulatory SCI subjects—from 0.6 to 1.4 m/s. Measured joint angles and NMC-provided joint torques agreed reasonably well with kinematics and biological joint torques of a healthy subject in shod walking. Some differences were found between the torques, such as the lack of knee flexion near mid-stance, but joint angle trajectories did not seem greatly affected. The NMC also adjusted its torque output to provide more joint work at faster speeds and thus greater joint angles and step length. We also found that the optimal speed-step length curve observed in healthy humans emerged for most of the subjects, albeit with relatively longer step length at faster speeds. Therefore, with very few sensors and no predefined settings for multiple walking speeds or adjustments for subjects of differing anthropometry and walking ability, NMC enabled SCI subjects to walk at several speeds, including near healthy speeds, in a healthy-like manner. These preliminary results are promising for future implementation of neuromuscular controllers on wearable prototypes for real-world walking conditions. PMID:28676752

An Adaptive Neuromuscular Controller for Assistive Lower-Limb Exoskeletons: A Preliminary Study on Subjects with Spinal Cord Injury.

PubMed

Wu, Amy R; Dzeladini, Florin; Brug, Tycho J H; Tamburella, Federica; Tagliamonte, Nevio L; van Asseldonk, Edwin H F; van der Kooij, Herman; Ijspeert, Auke J

2017-01-01

Versatility is important for a wearable exoskeleton controller to be responsive to both the user and the environment. These characteristics are especially important for subjects with spinal cord injury (SCI), where active recruitment of their own neuromuscular system could promote motor recovery. Here we demonstrate the capability of a novel, biologically-inspired neuromuscular controller (NMC) which uses dynamical models of lower limb muscles to assist the gait of SCI subjects. Advantages of this controller include robustness, modularity, and adaptability. The controller requires very few inputs (i.e., joint angles, stance, and swing detection), can be decomposed into relevant control modules (e.g., only knee or hip control), and can generate walking at different speeds and terrains in simulation. We performed a preliminary evaluation of this controller on a lower-limb knee and hip robotic gait trainer with seven subjects ( N = 7, four with complete paraplegia, two incomplete, one healthy) to determine if the NMC could enable normal-like walking. During the experiment, SCI subjects walked with body weight support on a treadmill and could use the handrails. With controller assistance, subjects were able to walk at fast walking speeds for ambulatory SCI subjects-from 0.6 to 1.4 m/s. Measured joint angles and NMC-provided joint torques agreed reasonably well with kinematics and biological joint torques of a healthy subject in shod walking. Some differences were found between the torques, such as the lack of knee flexion near mid-stance, but joint angle trajectories did not seem greatly affected. The NMC also adjusted its torque output to provide more joint work at faster speeds and thus greater joint angles and step length. We also found that the optimal speed-step length curve observed in healthy humans emerged for most of the subjects, albeit with relatively longer step length at faster speeds. Therefore, with very few sensors and no predefined settings for multiple walking speeds or adjustments for subjects of differing anthropometry and walking ability, NMC enabled SCI subjects to walk at several speeds, including near healthy speeds, in a healthy-like manner. These preliminary results are promising for future implementation of neuromuscular controllers on wearable prototypes for real-world walking conditions.

Stability and performance of notch filter control for unbalance response

NASA Technical Reports Server (NTRS)

Knospe, C. R.

1992-01-01

Many current applications of magnetic bearings for rotating machinery employ notch filters in the feedback control loop to reduce the synchronous forces transmitted through the bearings. The capabilities and limitations of notch filter control are investigated. First, a rigid rotor is examined with some classical root locus techniques. Notch filter control is shown to result in conditional stability whenever complete synchronous attenuation is required. Next, a nondimensional parametric symmetric flexible three mass rotor model is constructed. An examination of this model for several test cases illustrates the limited attenuation possible with notch filters at and near the system critical speeds when the bearing damping is low. The notch filter's alteration of the feedback loop is shown to cause stability problems which limits performance. Poor transient response may also result. A high speed compressor is then examined as a candidate for notch filter control. A collocated 22 mass station model with lead-lag control is used. The analysis confirms the reduction in stability robustness that can occur with notch filter control. It is concluded that other methods of synchronous vibration control yield greater performance without compromising stability.

Virtual Deformation Control of the X-56A Model with Simulated Fiber Optic Sensors

NASA Technical Reports Server (NTRS)

Suh, Peter M.; Chin, Alexander W.; Mavris, Dimitri N.

2014-01-01

A robust control law design methodology is presented to stabilize the X-56A model and command its wing shape. The X-56A was purposely designed to experience flutter modes in its flight envelope. The methodology introduces three phases: the controller design phase, the modal filter design phase, and the reference signal design phase. A mu-optimal controller is designed and made robust to speed and parameter variations. A conversion technique is presented for generating sensor strain modes from sensor deformation mode shapes. The sensor modes are utilized for modal filtering and simulating fiber optic sensors for feedback to the controller. To generate appropriate virtual deformation reference signals, rigid-body corrections are introduced to the deformation mode shapes. After successful completion of the phases, virtual deformation control is demonstrated. The wing is deformed and it is shown that angle-ofattack changes occur which could potentially be used to an advantage. The X-56A program must demonstrate active flutter suppression. It is shown that the virtual deformation controller can achieve active flutter suppression on the X-56A simulation model.

Virtual Deformation Control of the X-56A Model with Simulated Fiber Optic Sensors

NASA Technical Reports Server (NTRS)

Suh, Peter M.; Chin, Alexander Wong

2013-01-01

A robust control law design methodology is presented to stabilize the X-56A model and command its wing shape. The X-56A was purposely designed to experience flutter modes in its flight envelope. The methodology introduces three phases: the controller design phase, the modal filter design phase, and the reference signal design phase. A mu-optimal controller is designed and made robust to speed and parameter variations. A conversion technique is presented for generating sensor strain modes from sensor deformation mode shapes. The sensor modes are utilized for modal filtering and simulating fiber optic sensors for feedback to the controller. To generate appropriate virtual deformation reference signals, rigid-body corrections are introduced to the deformation mode shapes. After successful completion of the phases, virtual deformation control is demonstrated. The wing is deformed and it is shown that angle-of-attack changes occur which could potentially be used to an advantage. The X-56A program must demonstrate active flutter suppression. It is shown that the virtual deformation controller can achieve active flutter suppression on the X-56A simulation model.

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.

Sparse distributed memory: understanding the speed and robustness of expert memory

PubMed Central

Brogliato, Marcelo S.; Chada, Daniel M.; Linhares, Alexandre

2014-01-01

How can experts, sometimes in exacting detail, almost immediately and very precisely recall memory items from a vast repertoire? The problem in which we will be interested concerns models of theoretical neuroscience that could explain the speed and robustness of an expert's recollection. The approach is based on Sparse Distributed Memory, which has been shown to be plausible, both in a neuroscientific and in a psychological manner, in a number of ways. A crucial characteristic concerns the limits of human recollection, the “tip-of-tongue” memory event—which is found at a non-linearity in the model. We expand the theoretical framework, deriving an optimization formula to solve this non-linearity. Numerical results demonstrate how the higher frequency of rehearsal, through work or study, immediately increases the robustness and speed associated with expert memory. PMID:24808842

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

PubMed

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

2015-08-01

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

A wireless high-speed data acquisition system for geotechnical centrifuge model testing

NASA Astrophysics Data System (ADS)

Gaudin, C.; White, D. J.; Boylan, N.; Breen, J.; Brown, T.; DeCatania, S.; Hortin, P.

2009-09-01

This paper describes a novel high-speed wireless data acquisition system (WDAS) developed at the University of Western Australia for operation onboard a geotechnical centrifuge, in an enhanced gravitational field of up to 300 times Earth's gravity. The WDAS system consists of up to eight separate miniature units distributed around the circumference of a 0.8 m diameter drum centrifuge, communicating with the control room via wireless Ethernet. Each unit is capable of powering and monitoring eight instrument channels at a sampling rate of up to 1 MHz at 16-bit resolution. The data are stored within the logging unit in solid-state memory, but may also be streamed in real-time at low frequency (up to 10 Hz) to the centrifuge control room, via wireless transmission. The high-speed logging runs continuously within a circular memory (buffer), allowing for storage of a pre-trigger segment of data prior to an event. To suit typical geotechnical modelling applications, the system can record low-speed data continuously, until a burst of high-speed acquisition is triggered when an experimental event occurs, after which the system reverts back to low-speed acquisition to monitor the aftermath of the event. Unlike PC-based data acquisition solutions, this system performs the full sequence of amplification, conditioning, digitization and storage on a single circuit board via an independent micro-controller allocated to each pair of instrumented channels. This arrangement is efficient, compact and physically robust to suit the centrifuge environment. This paper details the design specification of the WDAS along with the software interface developed to control the units. Results from a centrifuge test of a submarine landslide are used to illustrate the performance of the new WDAS.

Neuropsychological Profiles on the WAIS-IV of Adults With ADHD.

PubMed

Theiling, Johanna; Petermann, Franz

2016-11-01

The aim of the study was to investigate the pattern of neuropsychological profiles on the Wechsler Adult Intelligence Scale-IV (WAIS-IV) for adults With ADHD relative to randomly matched controls and to assess overall intellectual ability discrepancies of the Full Scale Intelligence Quotient (FSIQ) and the General Ability Index (GAI). In all, 116 adults With ADHD and 116 controls between 16 and 71 years were assessed. Relative to controls, adults With ADHD show significant decrements in subtests with working memory and processing speed demands with moderate to large effect sizes and a higher GAI in comparison with the FSIQ. This suggests first that deficits identified with previous WAIS versions are robust in adults With ADHD and remain deficient when assessed with the WAIS-IV; second that the WAIS-IV reliably differentiates between patients and controls; and third that a reduction of the FSIQ is most likely due to a decrement in working memory and processing speed abilities. The findings have essential implications for the diagnostic process. © The Author(s) 2014.

Robust and real-time control of magnetic bearings for space engines

NASA Technical Reports Server (NTRS)

Sinha, Alok; Wang, Kon-Well; Mease, K.; Lewis, S.

1991-01-01

Currently, NASA Lewis Research Center is developing magnetic bearings for Space Shuttle Main Engine (SSME) turbopumps. The control algorithms which have been used are based on either the proportional-intergral-derivative control (PID) approach or the linear quadratic (LQ) state space approach. These approaches lead to an acceptable performance only when the system model is accurately known, which is seldom true in practice. For example, the rotor eccentricity, which is a major source of vibration at high speeds, cannot be predicted accurately. Furthermore, the dynamics of a rotor shaft, which must be treated as a flexible system to model the elastic rotor shaft, is infinite dimensional in theory and the controller can only be developed on the basis of a finite number of modes. Therefore, the development of the control system is further complicated by the possibility of closed loop system instability because of residual or uncontrolled modes, the so called spillover problem. Consequently, novel control algorithms for magnetic bearings are being developed to be robust to inevitable parametric uncertainties, external disturbances, spillover phenomenon and noise. Also, as pointed out earlier, magnetic bearings must exhibit good performance at a speed over 30,000 rpm. This implies that the sampling period available for the design of a digital control system has to be of the order of 0.5 milli-seconds. Therefore, feedback coefficients and other required controller parameters have to be computed off-line so that the on-line computational burden is extremely small. The development of the robust and real-time control algorithms is based on the sliding mode control theory. In this method, a dynamic system is made to move along a manifold of sliding hyperplanes to the origin of the state space. The number of sliding hyperplanes equals that of actuators. The sliding mode controller has two parts; linear state feedback and nonlinear terms. The nonlinear terms guarantee that the systems would reach the intersection of all sliding hyperplanes and remain on it when bounds on the errors in the system parameters and external disturbances are known. The linear part of the control drives the system to the origin of state space. Another important feature is that the controller parameter can be computed off-line. Consequently, on-line computational burden is small.

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

PubMed

Artemiadis, Panagiotis K; Kyriakopoulos, Kostas J

2010-05-01

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

All-organic superhydrophobic coatings with mechanochemical robustness and liquid impalement resistance

NASA Astrophysics Data System (ADS)

Peng, Chaoyi; Chen, Zhuyang; Tiwari, Manish K.

2018-03-01

Superhydrophobicity is a remarkable evolutionary adaption manifested by several natural surfaces. Artificial superhydrophobic coatings with good mechanical robustness, substrate adhesion and chemical robustness have been achieved separately. However, a simultaneous demonstration of these features along with resistance to liquid impalement via high-speed drop/jet impact is challenging. Here, we describe all-organic, flexible superhydrophobic nanocomposite coatings that demonstrate strong mechanical robustness under cyclic tape peels and Taber abrasion, sustain exposure to highly corrosive media, namely aqua regia and sodium hydroxide solutions, and can be applied to surfaces through scalable techniques such as spraying and brushing. In addition, the mechanical flexibility of our coatings enables impalement resistance to high-speed drops and turbulent jets at least up to 35 m s-1 and a Weber number of 43,000. With multifaceted robustness and scalability, these coatings should find potential usage in harsh chemical engineering as well as infrastructure, transport vehicles and communication equipment.

Optimal shifting control strategy in inertia phase of an automatic transmission for automotive applications

NASA Astrophysics Data System (ADS)

Meng, Fei; Tao, Gang; Zhang, Tao; Hu, Yihuai; Geng, Peng

2015-08-01

Shifting quality is a crucial factor in all parts of the automobile industry. To ensure an optimal gear shifting strategy with best fuel economy for a stepped automatic transmission, the controller should be designed to meet the challenge of lacking of a feedback sensor to measure the relevant variables. This paper focuses on a new kind of automatic transmission using proportional solenoid valve to control the clutch pressure, a speed difference of the clutch based control strategy is designed for the shift control during the inertia phase. First, the mechanical system is shown and the system dynamic model is built. Second, the control strategy is designed based on the characterization analysis of models which are derived from dynamics of the drive line and electro-hydraulic actuator. Then, the controller uses conventional Proportional-Integral-Derivative control theory, and a robust two-degree-of-freedom controller is also carried out to determine the optimal control parameters to further improve the system performance. Finally, the designed control strategy with different controller is implemented on a simulation model. The compared results show that the speed difference of clutch can track the desired trajectory well and improve the shift quality effectively.

Simultaneous gates in frequency-crowded multilevel systems using fast, robust, analytic control shapes

NASA Astrophysics Data System (ADS)

Theis, L. S.; Motzoi, F.; Wilhelm, F. K.

2016-01-01

We present a few-parameter ansatz for pulses to implement a broad set of simultaneous single-qubit rotations in frequency-crowded multilevel systems. Specifically, we consider a system of two qutrits whose working and leakage transitions suffer from spectral crowding (detuned by δ ). In order to achieve precise controllability, we make use of two driving fields (each having two quadratures) at two different tones to simultaneously apply arbitrary combinations of rotations about axes in the X -Y plane to both qubits. Expanding the waveforms in terms of Hanning windows, we show how analytic pulses containing smooth and composite-pulse features can easily achieve gate errors less than 10-4 and considerably outperform known adiabatic techniques. Moreover, we find a generalization of the WAHWAH (Weak AnHarmonicity With Average Hamiltonian) method by Schutjens et al. [R. Schutjens, F. A. Dagga, D. J. Egger, and F. K. Wilhelm, Phys. Rev. A 88, 052330 (2013)], 10.1103/PhysRevA.88.052330 that allows precise separate single-qubit rotations for all gate times beyond a quantum speed limit. We find in all cases a quantum speed limit slightly below 2 π /δ for the gate time and show that our pulses are robust against variations in system parameters and filtering due to transfer functions, making them suitable for experimental implementations.

Applications of fuzzy logic to control and decision making

NASA Technical Reports Server (NTRS)

Lea, Robert N.; Jani, Yashvant

1991-01-01

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

High speed, precision motion strategies for lightweight structures

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1989-01-01

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

Engineering of Fast and Robust Adaptive Control for Fixed-Wing Unmanned Aircraft

DTIC Science & Technology

2017-06-01

12.6volts) lithium polymer batteries wired in parallel. The remaining cargo space was used for accommodating the Pixhawk autopilot. 33 Figure 4.3...was achievable under four hours of build time. 4.4.1 Spear Specifications • weight without battery : 1.45 lbs (658 g) • center of gravity: 3 – 3.5” (76...motor: 425 sized, 1200 kv minimum • prop: 9 x 4.5 CW (reverse) prop • electronic speed control (ESC): 30 amp minimum • battery : (2) 2200 mAH 12.6 volt

Dynamic Dazzle Distorts Speed Perception.

PubMed

Hall, Joanna R; Cuthill, Innes C; Baddeley, Roland; Attwood, Angela S; Munafò, Marcus R; Scott-Samuel, Nicholas E

2016-01-01

Static high contrast ('dazzle') patterns, such as zigzags, have been shown to reduce the perceived speed of an object. It has not escaped our notice that this effect has possible military applications and here we report a series of experiments on humans, designed to establish whether dynamic dazzle patterns can cause distortions of perceived speed sufficient to provide effective defence in the field, and the extent to which these effects are robust to a battery of manipulations. Dynamic stripe patterns moving in the same direction as the target are found to increase the perceived speed of that target, whilst dynamic stripes moving in the opposite direction to the target reduce the perceived speed. We establish the optimum position for such dazzle patches; confirm that reduced contrast and the addition of colour do not affect the performance of the dynamic dazzle, and finally, using the CO2 challenge, show that the effect is robust to stressful conditions.

Reducing the stochasticity of crystal nucleation to enable subnanosecond memory writing.

PubMed

Rao, Feng; Ding, Keyuan; Zhou, Yuxing; Zheng, Yonghui; Xia, Mengjiao; Lv, Shilong; Song, Zhitang; Feng, Songlin; Ronneberger, Ider; Mazzarello, Riccardo; Zhang, Wei; Ma, Evan

2017-12-15

Operation speed is a key challenge in phase-change random-access memory (PCRAM) technology, especially for achieving subnanosecond high-speed cache memory. Commercialized PCRAM products are limited by the tens of nanoseconds writing speed, originating from the stochastic crystal nucleation during the crystallization of amorphous germanium antimony telluride (Ge 2 Sb 2 Te 5 ). Here, we demonstrate an alloying strategy to speed up the crystallization kinetics. The scandium antimony telluride (Sc 0.2 Sb 2 Te 3 ) compound that we designed allows a writing speed of only 700 picoseconds without preprogramming in a large conventional PCRAM device. This ultrafast crystallization stems from the reduced stochasticity of nucleation through geometrically matched and robust scandium telluride (ScTe) chemical bonds that stabilize crystal precursors in the amorphous state. Controlling nucleation through alloy design paves the way for the development of cache-type PCRAM technology to boost the working efficiency of computing systems. Copyright © 2017 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works.

Robust post-stall perching with a simple fixed-wing glider using LQR-Trees.

PubMed

Moore, Joseph; Cory, Rick; Tedrake, Russ

2014-06-01

Birds routinely execute post-stall maneuvers with a speed and precision far beyond the capabilities of our best aircraft control systems. One remarkable example is a bird exploiting post-stall pressure drag in order to rapidly decelerate to land on a perch. Stall is typically associated with a loss of control authority, and it is tempting to attribute this agility of birds to the intricate morphology of the wings and tail, to their precision sensing apparatus, or their ability to perform thrust vectoring. Here we ask whether an extremely simple fixed-wing glider (no propeller) with only a single actuator in the tail is capable of landing precisely on a perch from a large range of initial conditions. To answer this question, we focus on the design of the flight control system; building upon previous work which used linear feedback control design based on quadratic regulators (LQR), we develop nonlinear feedback control based on nonlinear model-predictive control and 'LQR-Trees'. Through simulation using a flat-plate model of the glider, we find that both nonlinear methods are capable of achieving an accurate bird-like perching maneuver from a large range of initial conditions; the 'LQR-Trees' algorithm is particularly useful due to its low computational burden at runtime and its inherent performance guarantees. With this in mind, we then implement the 'LQR-Trees' algorithm on real hardware and demonstrate a 95 percent perching success rate over 147 flights for a wide range of initial speeds. These results suggest that, at least in the absence of significant disturbances like wind gusts, complex wing morphology and sensing are not strictly required to achieve accurate and robust perching even in the post-stall flow regime.

Suction prevention and physiologic control of continuous flow left ventricular assist devices using intrinsic pump parameters.

PubMed

Wang, Yu; Koenig, Steven C; Slaughter, Mark S; Giridharan, Guruprasad A

2015-01-01

The risk for left ventricular (LV) suction during left ventricular assist devices (LVAD) support has been a clinical concern. Current development efforts suggest LVAD suction prevention and physiologic control algorithms may require chronic implantation of pressure or flow sensors, which can be unreliable because of baseline drift and short lifespan. To overcome this limitation, we designed a sensorless suction prevention and physiologic control (eSPPC) algorithm that only requires LVAD intrinsic parameters (pump speed and power). Two gain-scheduled, proportional-integral controllers maintain a differential pump speed (ΔRPM) above a user-defined threshold to prevent LV suction while maintaining an average reference differential pressure (ΔP) between the LV and aorta. ΔRPM is calculated from noisy pump speed measurements that are low-pass filtered, and ΔP is estimated using an extended Kalman filter. Efficacy and robustness of the eSPPC algorithm were evaluated in silico during simulated rest and exercise test conditions for 1) excessive ΔP setpoint (ES); 2) rapid eightfold increase in pulmonary vascular resistance (PVR); and 3) ES and PVR. Simulated hemodynamic waveforms (LV pressure and volume; aortic pressure and flow) using only intrinsic pump parameters showed the feasibility of our proposed eSPPC algorithm in preventing LV suction for all test conditions.

Decomposing decision components in the Stop-signal task: A model-based approach to individual differences in inhibitory control

PubMed Central

White, Corey N.; Congdon, Eliza; Mumford, Jeanette A.; Karlsgodt, Katherine H.; Sabb, Fred W.; Freimer, Nelson B.; London, Edythe D.; Cannon, Tyrone D.; Bilder, Robert M.; Poldrack, Russell A.

2014-01-01

The Stop-signal task (SST), in which participants must inhibit prepotent responses, has been used to identify neural systems that vary with individual differences in inhibitory control. To explore how these differences relate to other aspects of decision-making, a drift diffusion model of simple decisions was fitted to SST data from Go trials to extract measures of caution, motor execution time, and stimulus processing speed for each of 123 participants. These values were used to probe fMRI data to explore individual differences in neural activation. Faster processing of the Go stimulus correlated with greater activation in the right frontal pole for both Go and Stop trials. On Stop trials stimulus processing speed also correlated with regions implicated in inhibitory control, including the right inferior frontal gyrus, medial frontal gyrus, and basal ganglia. Individual differences in motor execution time correlated with activation of the right parietal cortex. These findings suggest a robust relationship between the speed of stimulus processing and inhibitory processing at the neural level. This model-based approach provides novel insight into the interrelationships among decision components involved in inhibitory control, and raises interesting questions about strategic adjustments in performance and inhibitory deficits associated with psychopathology. PMID:24405185

Fuzzy – PI controller to control the velocity parameter of Induction Motor

NASA Astrophysics Data System (ADS)

Malathy, R.; Balaji, V.

2018-04-01

The major application of Induction motor includes the usage of the same in industries because of its high robustness, reliability, low cost, highefficiency and good self-starting capability. Even though it has the above mentioned advantages, it also have some limitations: (1) the standard motor is not a true constant-speed machine, itsfull-load slip varies less than 1 % (in high-horsepower motors).And (2) it is not inherently capable of providing variable-speedoperation. In order to solve the above mentioned problem smart motor controls and variable speed controllers are used. Motor applications involve non linearity features, which can be controlled by Fuzzy logic controller as it is capable of handling those features with high efficiency and it act similar to human operator. This paper presents individuality of the plant modelling. The fuzzy logic controller (FLC)trusts on a set of linguistic if-then rules, a rule-based Mamdani for closed loop Induction Motor model. Themotor model is designed and membership functions are chosenaccording to the parameters of the motor model. Simulation results contains non linearity in induction motor model. A conventional PI controller iscompared practically to fuzzy logic controller using Simulink.

Computationally inexpensive approach for pitch control of offshore wind turbine on barge floating platform.

PubMed

Zuo, Shan; Song, Y D; Wang, Lei; Song, Qing-wang

2013-01-01

Offshore floating wind turbine (OFWT) has gained increasing attention during the past decade because of the offshore high-quality wind power and complex load environment. The control system is a tradeoff between power tracking and fatigue load reduction in the above-rated wind speed area. In allusion to the external disturbances and uncertain system parameters of OFWT due to the proximity to load centers and strong wave coupling, this paper proposes a computationally inexpensive robust adaptive control approach with memory-based compensation for blade pitch control. The method is tested and compared with a baseline controller and a conventional individual blade pitch controller with the "NREL offshore 5 MW baseline wind turbine" being mounted on a barge platform run on FAST and Matlab/Simulink, operating in the above-rated condition. It is shown that the advanced control approach is not only robust to complex wind and wave disturbances but adaptive to varying and uncertain system parameters as well. The simulation results demonstrate that the proposed method performs better in reducing power fluctuations, fatigue loads and platform vibration as compared to the conventional individual blade pitch control.

Computationally Inexpensive Approach for Pitch Control of Offshore Wind Turbine on Barge Floating Platform

PubMed Central

Zuo, Shan; Song, Y. D.; Wang, Lei; Song, Qing-wang

2013-01-01

Offshore floating wind turbine (OFWT) has gained increasing attention during the past decade because of the offshore high-quality wind power and complex load environment. The control system is a tradeoff between power tracking and fatigue load reduction in the above-rated wind speed area. In allusion to the external disturbances and uncertain system parameters of OFWT due to the proximity to load centers and strong wave coupling, this paper proposes a computationally inexpensive robust adaptive control approach with memory-based compensation for blade pitch control. The method is tested and compared with a baseline controller and a conventional individual blade pitch controller with the “NREL offshore 5 MW baseline wind turbine” being mounted on a barge platform run on FAST and Matlab/Simulink, operating in the above-rated condition. It is shown that the advanced control approach is not only robust to complex wind and wave disturbances but adaptive to varying and uncertain system parameters as well. The simulation results demonstrate that the proposed method performs better in reducing power fluctuations, fatigue loads and platform vibration as compared to the conventional individual blade pitch control. PMID:24453834

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

NASA Astrophysics Data System (ADS)

Dong, Gangqi; Zhu, Z. H.

2016-04-01

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

FPGA-Based Efficient Hardware/Software Co-Design for Industrial Systems with Consideration of Output Selection

NASA Astrophysics Data System (ADS)

Deliparaschos, Kyriakos M.; Michail, Konstantinos; Zolotas, Argyrios C.; Tzafestas, Spyros G.

2016-05-01

This work presents a field programmable gate array (FPGA)-based embedded software platform coupled with a software-based plant, forming a hardware-in-the-loop (HIL) that is used to validate a systematic sensor selection framework. The systematic sensor selection framework combines multi-objective optimization, linear-quadratic-Gaussian (LQG)-type control, and the nonlinear model of a maglev suspension. A robustness analysis of the closed-loop is followed (prior to implementation) supporting the appropriateness of the solution under parametric variation. The analysis also shows that quantization is robust under different controller gains. While the LQG controller is implemented on an FPGA, the physical process is realized in a high-level system modeling environment. FPGA technology enables rapid evaluation of the algorithms and test designs under realistic scenarios avoiding heavy time penalty associated with hardware description language (HDL) simulators. The HIL technique facilitates significant speed-up in the required execution time when compared to its software-based counterpart model.

Simulating the dynamic behavior of a vertical axis wind turbine operating in unsteady conditions

NASA Astrophysics Data System (ADS)

Battisti, L.; Benini, E.; Brighenti, A.; Soraperra, G.; Raciti Castelli, M.

2016-09-01

The present work aims at assessing the reliability of a simulation tool capable of computing the unsteady rotational motion and the associated tower oscillations of a variable speed VAWT immersed in a coherent turbulent wind. As a matter of fact, since the dynamic behaviour of a variable speed turbine strongly depends on unsteady wind conditions (wind gusts), a steady state approach can't accurately catch transient correlated issues. The simulation platform proposed here is implemented using a lumped mass approach: the drive train is described by resorting to both the polar inertia and the angular position of rotating parts, also considering their speed and acceleration, while rotor aerodynamic is based on steady experimental curves. The ultimate objective of the presented numerical platform is the simulation of transient phenomena, driven by turbulence, occurring during rotor operation, with the aim of supporting the implementation of efficient and robust control algorithms.

Why do Cross-Flow Turbines Stall?

NASA Astrophysics Data System (ADS)

Cavagnaro, Robert; Strom, Benjamin; Polagye, Brian

2015-11-01

Hydrokinetic turbines are prone to instability and stall near their peak operating points under torque control. Understanding the physics of turbine stall may help to mitigate this undesirable occurrence and improve the robustness of torque controllers. A laboratory-scale two-bladed cross-flow turbine operating at a chord-based Reynolds number ~ 3 ×104 is shown to stall at a critical tip-speed ratio. Experiments are conducting bringing the turbine to this critical speed in a recirculating current flume by increasing resistive torque and allowing the rotor to rapidly decelerate while monitoring inflow velocity, torque, and drag. The turbine stalls probabilistically with a distribution generated from hundreds of such events. A machine learning algorithm identifies stall events and indicates the effectiveness of available measurements or combinations of measurements as predictors. Bubble flow visualization and PIV are utilized to observe fluid conditions during stall events including the formation, separation, and advection of leading-edge vortices involved in the stall process.

Higher Harmonic Control for Tiltrotor Vibration Reduction

NASA Technical Reports Server (NTRS)

Nixon, Mark W.; Kvaternik, Raymond G.; Settle, T. Ben

1997-01-01

The results of a joint NASA/Army/Bell Helicopter Textron wind-tunnel test to assess the potential of higher harmonic control (HHC) for reducing vibrations in tiltrotor aircraft operating in the airplane mode of flight, and to evaluate the effectiveness of a Bell-developed HHC algorithm called MAVSS (Multipoint Adaptive Vibration Suppression System) are presented. The test was conducted in the Langley Transonic Dynamics Tunnel using an unpowered 1/5- scale semispan aeroelastic model of the V-22 which was modified to incorporate an HHC system employing both the rotor swashplate and the wing flaperon. The effectiveness of the swashplate and the flaperon acting either singly or in combination in reducing 1P and 3P wing vibrations over a wide range of tunnel airspeeds and rotor rotational speeds was demonstrated. The MAVSS algorithm was found to be robust to variations in tunnel airspeed and rotor speed, requiring only occasion-al on-line recalculations of the system transfer matrix.

Fuel composition effect on cathode airflow control in fuel cell gas turbine hybrid systems

NASA Astrophysics Data System (ADS)

Zhou, Nana; Zaccaria, Valentina; Tucker, David

2018-04-01

Cathode airflow regulation is considered an effective means for thermal management in solid oxide fuel cell gas turbine (SOFC-GT) hybrid system. However, performance and controllability are observed to vary significantly with different fuel compositions. Because a complete system characterization with any possible fuel composition is not feasible, the need arises for robust controllers. The sufficiency of robust control is dictated by the effective change of operating state given the new composition used. It is possible that controller response could become unstable without a change in the gains from one state to the other. In this paper, cathode airflow transients are analyzed in a SOFC-GT system using syngas as fuel composition, comparing with previous work which used humidified hydrogen. Transfer functions are developed to map the relationship between the airflow bypass and several key variables. The impact of fuel composition on system control is quantified by evaluating the difference between gains and poles in transfer functions. Significant variations in the gains and the poles, more than 20% in most cases, are found in turbine rotational speed and cathode airflow. The results of this work provide a guideline for the development of future control strategies to face fuel composition changes.

Robust multiple cue fusion-based high-speed and nonrigid object tracking algorithm for short track speed skating

NASA Astrophysics Data System (ADS)

Liu, Chenguang; Cheng, Heng-Da; Zhang, Yingtao; Wang, Yuxuan; Xian, Min

2016-01-01

This paper presents a methodology for tracking multiple skaters in short track speed skating competitions. Nonrigid skaters move at high speed with severe occlusions happening frequently among them. The camera is panned quickly in order to capture the skaters in a large and dynamic scene. To automatically track the skaters and precisely output their trajectories becomes a challenging task in object tracking. We employ the global rink information to compensate camera motion and obtain the global spatial information of skaters, utilize random forest to fuse multiple cues and predict the blob of each skater, and finally apply a silhouette- and edge-based template-matching and blob-evolving method to labelling pixels to a skater. The effectiveness and robustness of the proposed method are verified through thorough experiments.

DataComm in Flight Deck Surface Trajectory-Based Operations

NASA Technical Reports Server (NTRS)

Bakowski, Deborah L.; Foyle, David C.; Hooey, Becky L.; Meyer, Glenn R.; Wolter, Cynthia A.

2012-01-01

The purpose of this pilot-in-the-loop aircraft taxi simulation was to evaluate a NextGen concept for surface trajectory-based operations (STBO) in which air traffic control (ATC) issued taxi clearances with a required time of arrival (RTA) by Data Communications (DataComm). Flight deck avionics, driven by an error-nulling algorithm, displayed the speed needed to meet the RTA. To ensure robustness of the algorithm, the ability of 10 two-pilot crews to meet the RTA was tested in nine experimental trials representing a range of realistic conditions including a taxi route change, an RTA change, a departure clearance change, and a crossing traffic hold scenario. In some trials, these DataComm taxi clearances or clearance modifications were accompanied by 'preview' information, in which the airport map display showed a preview of the proposed route changes, including the necessary speed to meet the RTA. Overall, the results of this study show that with the aid of the RTA speed algorithm, pilots were able to meet their RTAs with very little time error in all of the robustness-testing scenarios. Results indicated that when taxi clearance changes were issued by DataComm only, pilots required longer notification distances than with voice communication. However, when the DataComm was accompanied by graphical preview, the notification distance required by pilots was equivalent to that for voice.

DataComm in Flight Deck Surface Trajectory-Based Operations. Chapter 20

NASA Technical Reports Server (NTRS)

Bakowski, Deborah L.; Foyle, David C.; Hooey, Becky L.; Meyer, Glenn R.; Wolter, Cynthia A.

2012-01-01

The purpose of this pilot-in-the-loop aircraft taxi simulation was to evaluate a NextGen concept for surface trajectory-based operations (STBO) in which air traffic control (ATC) issued taxi clearances with a required time of arrival (RTA) by Data Communications (DataComm). Flight deck avionics, driven by an error-nulling algorithm, displayed the speed needed to meet the RTA. To ensure robustness of the algorithm, the ability of 10 two-pilot crews to meet the RTA was tested in nine experimental trials representing a range of realistic conditions including a taxi route change, an RTA change, a departure clearance change, and a crossing traffic hold scenario. In some trials, these DataComm taxi clearances or clearance modifications were accompanied by preview information, in which the airport map display showed a preview of the proposed route changes, including the necessary speed to meet the RTA. Overall, the results of this study show that with the aid of the RTA speed algorithm, pilots were able to meet their RTAs with very little time error in all of the robustness-testing scenarios. Results indicated that when taxi clearance changes were issued by DataComm only, pilots required longer notification distances than with voice communication. However, when the DataComm was accompanied by graphical preview, the notification distance required by pilots was equivalent to that for voice.

Speed-constrained three-axes attitude control using kinematic steering

NASA Astrophysics Data System (ADS)

Schaub, Hanspeter; Piggott, Scott

2018-06-01

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

Control concepts for the alleviation of windshears and gusts

NASA Technical Reports Server (NTRS)

Rynaski, E. G.; Govindaraj, K. S.

1982-01-01

Automatic control system design methods for gust and shear alleviation were studied. It is shown that automatic gust/shear alleviation systems can be quite effective if both throttle and elevator are used in harmony to produce the forces and moments required to counter the effects of the windshear. Regulation with respect to ground speed or airspeed results in very similar system designs. The application of the NASA total energy probe in the detection of windshear and criteria for alleviation is considered. The theory and application of robust output observers is extended. Design examples show how implementation of the control laws can be accomplished using observers, and thereby resulting in less complex control system configurations.

Real time simulation of nonlinear generalized predictive control for wind energy conversion system with nonlinear observer.

PubMed

Ouari, Kamel; Rekioua, Toufik; Ouhrouche, Mohand

2014-01-01

In order to make a wind power generation truly cost-effective and reliable, an advanced control techniques must be used. In this paper, we develop a new control strategy, using nonlinear generalized predictive control (NGPC) approach, for DFIG-based wind turbine. The proposed control law is based on two points: NGPC-based torque-current control loop generating the rotor reference voltage and NGPC-based speed control loop that provides the torque reference. In order to enhance the robustness of the controller, a disturbance observer is designed to estimate the aerodynamic torque which is considered as an unknown perturbation. Finally, a real-time simulation is carried out to illustrate the performance of the proposed controller. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

A computer-vision-based rotating speed estimation method for motor bearing fault diagnosis

NASA Astrophysics Data System (ADS)

Wang, Xiaoxian; Guo, Jie; Lu, Siliang; Shen, Changqing; He, Qingbo

2017-06-01

Diagnosis of motor bearing faults under variable speed is a problem. In this study, a new computer-vision-based order tracking method is proposed to address this problem. First, a video recorded by a high-speed camera is analyzed with the speeded-up robust feature extraction and matching algorithm to obtain the instantaneous rotating speed (IRS) of the motor. Subsequently, an audio signal recorded by a microphone is equi-angle resampled for order tracking in accordance with the IRS curve, through which the frequency-domain signal is transferred to an angular-domain one. The envelope order spectrum is then calculated to determine the fault characteristic order, and finally the bearing fault pattern is determined. The effectiveness and robustness of the proposed method are verified with two brushless direct-current motor test rigs, in which two defective bearings and a healthy bearing are tested separately. This study provides a new noninvasive measurement approach that simultaneously avoids the installation of a tachometer and overcomes the disadvantages of tacholess order tracking methods for motor bearing fault diagnosis under variable speed.

Developments for the Automation and Remote Control of the Radio Telescopes of the Geodetic Observatory Wettzell

NASA Astrophysics Data System (ADS)

Neidhardt, Alexander; Schönberger, Matthias; Plötz, Christian; Kronschnabl, Gerhard

2014-12-01

VGOS is a challenge for all fields of a new radio telescope. For the future software and hardware control mechanisms, it also requires new developments and solutions. More experiments, more data, high-speed data transfers through the Internet, and a real-time monitoring of current system status information must be handled. Additionally, an optimization of the observation shifts is required to reduce work load and costs. Within the framework of the development of the new 13.2-m Twin radio Telescopes Wettzell (TTW) and in combination with upgrades of the 20-m Radio Telescope Wettzell (RTW), some new technical realizations are under development and testing. Besides the activities for the realization of remote control, mainly supported during the project ``Novel EXploration Pushing Robust e-VLBI Services (NEXPReS)'' of the European VLBI Network (EVN), autonomous, automated, and unattended observations are also planned. A basic infrastructure should enable these, e.g., independent monitoring and security systems or additional, local high-speed transfer networks to ship data directly from a telescope to the main control room.

Dual-thread parallel control strategy for ophthalmic adaptive optics.

PubMed

Yu, Yongxin; Zhang, Yuhua

To improve ophthalmic adaptive optics speed and compensate for ocular wavefront aberration of high temporal frequency, the adaptive optics wavefront correction has been implemented with a control scheme including 2 parallel threads; one is dedicated to wavefront detection and the other conducts wavefront reconstruction and compensation. With a custom Shack-Hartmann wavefront sensor that measures the ocular wave aberration with 193 subapertures across the pupil, adaptive optics has achieved a closed loop updating frequency up to 110 Hz, and demonstrated robust compensation for ocular wave aberration up to 50 Hz in an adaptive optics scanning laser ophthalmoscope.

Dual-thread parallel control strategy for ophthalmic adaptive optics

PubMed Central

Yu, Yongxin; Zhang, Yuhua

2015-01-01

To improve ophthalmic adaptive optics speed and compensate for ocular wavefront aberration of high temporal frequency, the adaptive optics wavefront correction has been implemented with a control scheme including 2 parallel threads; one is dedicated to wavefront detection and the other conducts wavefront reconstruction and compensation. With a custom Shack-Hartmann wavefront sensor that measures the ocular wave aberration with 193 subapertures across the pupil, adaptive optics has achieved a closed loop updating frequency up to 110 Hz, and demonstrated robust compensation for ocular wave aberration up to 50 Hz in an adaptive optics scanning laser ophthalmoscope. PMID:25866498

Decoupling suspension controller based on magnetic flux feedback.

PubMed

Zhang, Wenqing; Li, Jie; Zhang, Kun; Cui, Peng

2013-01-01

The suspension module control system model has been established based on MIMO (multiple input and multiple output) state feedback linearization. We have completed decoupling between double suspension points, and the new decoupling method has been applied to CMS04 magnetic suspension vehicle in national mid-low-speed maglev experiment field of Tangshan city in China. Double suspension system model is very accurate for investigating stability property of maglev control system. When magnetic flux signal is taken back to the suspension control system, the suspension module's antijamming capacity for resisting suspension load variety has been proved. Also, the external force interference has been enhanced. As a result, the robustness and stability properties of double-electromagnet suspension control system have been enhanced.

Decoupling Suspension Controller Based on Magnetic Flux Feedback

PubMed Central

Zhang, Wenqing; Li, Jie; Zhang, Kun; Cui, Peng

2013-01-01

The suspension module control system model has been established based on MIMO (multiple input and multiple output) state feedback linearization. We have completed decoupling between double suspension points, and the new decoupling method has been applied to CMS04 magnetic suspension vehicle in national mid-low-speed maglev experiment field of Tangshan city in China. Double suspension system model is very accurate for investigating stability property of maglev control system. When magnetic flux signal is taken back to the suspension control system, the suspension module's antijamming capacity for resisting suspension load variety has been proved. Also, the external force interference has been enhanced. As a result, the robustness and stability properties of double-electromagnet suspension control system have been enhanced. PMID:23844415

Neural network controller development for a magnetically suspended flywheel energy storage system

NASA Technical Reports Server (NTRS)

Fittro, Roger L.; Pang, Da-Chen; Anand, Davinder K.

1994-01-01

A neural network controller has been developed to accommodate disturbances and nonlinearities and improve the robustness of a magnetically suspended flywheel energy storage system. The controller is trained using the back propagation-through-time technique incorporated with a time-averaging scheme. The resulting nonlinear neural network controller improves system performance by adapting flywheel stiffness and damping based on operating speed. In addition, a hybrid multi-layered neural network controller is developed off-line which is capable of improving system performance even further. All of the research presented in this paper was implemented via a magnetic bearing computer simulation. However, careful attention was paid to developing a practical methodology which will make future application to the actual bearing system fairly straightforward.

The Role of Search Speed in the Contextual Cueing of Children's Attention.

PubMed

Darby, Kevin; Burling, Joseph; Yoshida, Hanako

2014-01-01

The contextual cueing effect is a robust phenomenon in which repeated exposure to the same arrangement of random elements guides attention to relevant information by constraining search. The effect is measured using an object search task in which a target (e.g., the letter T) is located within repeated or nonrepeated visual contexts (e.g., configurations of the letter L). Decreasing response times for the repeated configurations indicates that contextual information has facilitated search. Although the effect is robust among adult participants, recent attempts to document the effect in children have yielded mixed results. We examined the effect of search speed on contextual cueing with school-aged children, comparing three types of stimuli that promote different search times in order to observe how speed modulates this effect. Reliable effects of search time were found, suggesting that visual search speed uniquely constrains the role of attention toward contextually cued information.

The Role of Search Speed in the Contextual Cueing of Children’s Attention

PubMed Central

Darby, Kevin; Burling, Joseph; Yoshida, Hanako

2013-01-01

The contextual cueing effect is a robust phenomenon in which repeated exposure to the same arrangement of random elements guides attention to relevant information by constraining search. The effect is measured using an object search task in which a target (e.g., the letter T) is located within repeated or nonrepeated visual contexts (e.g., configurations of the letter L). Decreasing response times for the repeated configurations indicates that contextual information has facilitated search. Although the effect is robust among adult participants, recent attempts to document the effect in children have yielded mixed results. We examined the effect of search speed on contextual cueing with school-aged children, comparing three types of stimuli that promote different search times in order to observe how speed modulates this effect. Reliable effects of search time were found, suggesting that visual search speed uniquely constrains the role of attention toward contextually cued information. PMID:24505167

Predictive functional control for active queue management in congested TCP/IP networks.

PubMed

Bigdeli, N; Haeri, M

2009-01-01

Predictive functional control (PFC) as a new active queue management (AQM) method in dynamic TCP networks supporting explicit congestion notification (ECN) is proposed. The ability of the controller in handling system delay along with its simplicity and low computational load makes PFC a privileged AQM method in the high speed networks. Besides, considering the disturbance term (which represents model/process mismatches, external disturbances, and existing noise) in the control formulation adds some level of robustness into the PFC-AQM controller. This is an important and desired property in the control of dynamically-varying computer networks. In this paper, the controller is designed based on a small signal linearized fluid-flow model of the TCP/AQM networks. Then, closed-loop transfer function representation of the system is derived to analyze the robustness with respect to the network and controller parameters. The analytical as well as the packet-level ns-2 simulation results show the out-performance of the developed controller for both queue regulation and resource utilization. Fast response, low queue fluctuations (and consequently low delay jitter), high link utilization, good disturbance rejection, scalability, and low packet marking probability are other features of the developed method with respect to other well-known AQM methods such as RED, PI, and REM which are also simulated for comparison.

Anti-disturbance rapid vibration suppression of the flexible aerial refueling hose

NASA Astrophysics Data System (ADS)

Su, Zikang; Wang, Honglun; Li, Na

2018-05-01

As an extremely dangerous phenomenon in autonomous aerial refueling (AAR), the flexible refueling hose vibration caused by the receiver aircraft's excessive closure speed should be suppressed once it appears. This paper proposed a permanent magnet synchronous motor (PMSM) based refueling hose servo take-up system for the vibration suppression of the flexible refueling hose. A rapid back-stepping based anti-disturbance nonsingular fast terminal sliding mode (NFTSM) control scheme with a specially established finite-time convergence NFTSM observer is proposed for the PMSM based hose servo take-up system under uncertainties and disturbances. The unmeasured load torque and other disturbances in the PMSM system are reconstituted by the NFTSM observer and to be compensated during the controller design. Then, with the back-stepping technique, a rapid anti-disturbance NFTSM controller is proposed for the PMSM angular tracking to improve the tracking error convergence speed and tracking precision. The proposed vibration suppression scheme is then applied to PMSM based hose servo take-up system for the refueling hose vibration suppression in AAR. Simulation results show the proposed scheme can suppress the hose vibration rapidly and accurately even the system is exposed to strong uncertainties and probe position disturbances, it is more competitive in tracking accuracy, tracking error convergence speed and robustness.

Automation of extrusion of porous cable products based on a digital controller

NASA Astrophysics Data System (ADS)

Chostkovskii, B. K.; Mitroshin, V. N.

2017-07-01

This paper presents a new approach to designing an automated system for monitoring and controlling the process of applying porous insulation material on a conductive cable core, which is based on using structurally and parametrically optimized digital controllers of an arbitrary order instead of calculating typical PID controllers using known methods. The digital controller is clocked by signals from the clock length sensor of a measuring wheel, instead of a timer signal, and this provides the robust properties of the system with respect to the changing insulation speed. Digital controller parameters are tuned to provide the operating parameters of the manufactured cable using a simulation model of stochastic extrusion and are minimized by moving a regular simplex in the parameter space of the tuned controller.

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

NASA Astrophysics Data System (ADS)

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

2016-10-01

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

Optimal Paths in Gliding Flight

NASA Astrophysics Data System (ADS)

Wolek, Artur

Underwater gliders are robust and long endurance ocean sampling platforms that are increasingly being deployed in coastal regions. This new environment is characterized by shallow waters and significant currents that can challenge the mobility of these efficient (but traditionally slow moving) vehicles. This dissertation aims to improve the performance of shallow water underwater gliders through path planning. The path planning problem is formulated for a dynamic particle (or "kinematic car") model. The objective is to identify the path which satisfies specified boundary conditions and minimizes a particular cost. Several cost functions are considered. The problem is addressed using optimal control theory. The length scales of interest for path planning are within a few turn radii. First, an approach is developed for planning minimum-time paths, for a fixed speed glider, that are sub-optimal but are guaranteed to be feasible in the presence of unknown time-varying currents. Next the minimum-time problem for a glider with speed controls, that may vary between the stall speed and the maximum speed, is solved. Last, optimal paths that minimize change in depth (equivalently, maximize range) are investigated. Recognizing that path planning alone cannot overcome all of the challenges associated with significant currents and shallow waters, the design of a novel underwater glider with improved capabilities is explored. A glider with a pneumatic buoyancy engine (allowing large, rapid buoyancy changes) and a cylindrical moving mass mechanism (generating large pitch and roll moments) is designed, manufactured, and tested to demonstrate potential improvements in speed and maneuverability.

Computational Software to Fit Seismic Data Using Epidemic-Type Aftershock Sequence Models and Modeling Performance Comparisons

NASA Astrophysics Data System (ADS)

Chu, A.

2016-12-01

Modern earthquake catalogs are often analyzed using spatial-temporal point process models such as the epidemic-type aftershock sequence (ETAS) models of Ogata (1998). My work implements three of the homogeneous ETAS models described in Ogata (1998). With a model's log-likelihood function, my software finds the Maximum-Likelihood Estimates (MLEs) of the model's parameters to estimate the homogeneous background rate and the temporal and spatial parameters that govern triggering effects. EM-algorithm is employed for its advantages of stability and robustness (Veen and Schoenberg, 2008). My work also presents comparisons among the three models in robustness, convergence speed, and implementations from theory to computing practice. Up-to-date regional seismic data of seismic active areas such as Southern California and Japan are used to demonstrate the comparisons. Data analysis has been done using computer languages Java and R. Java has the advantages of being strong-typed and easiness of controlling memory resources, while R has the advantages of having numerous available functions in statistical computing. Comparisons are also made between the two programming languages in convergence and stability, computational speed, and easiness of implementation. Issues that may affect convergence such as spatial shapes are discussed.

Online Fault Detection of Permanent Magnet Demagnetization for IPMSMs by Nonsingular Fast Terminal-Sliding-Mode Observer

PubMed Central

Zhao, Kai-Hui; Chen, Te-Fang; Zhang, Chang-Fan; He, Jing; Huang, Gang

2014-01-01

To prevent irreversible demagnetization of a permanent magnet (PM) for interior permanent magnet synchronous motors (IPMSMs) by flux-weakening control, a robust PM flux-linkage nonsingular fast terminal-sliding-mode observer (NFTSMO) is proposed to detect demagnetization faults. First, the IPMSM mathematical model of demagnetization is presented. Second, the construction of the NFTSMO to estimate PM demagnetization faults in IPMSM is described, and a proof of observer stability is given. The fault decision criteria and fault-processing method are also presented. Finally, the proposed scheme was simulated using MATLAB/Simulink and implemented on the RT-LAB platform. A number of robustness tests have been carried out. The scheme shows good performance in spite of speed fluctuations, torque ripples and the uncertainties of stator resistance. PMID:25490582

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

PubMed Central

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

2016-01-01

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

Online fault detection of permanent magnet demagnetization for IPMSMs by nonsingular fast terminal-sliding-mode observer.

PubMed

Zhao, Kai-Hui; Chen, Te-Fang; Zhang, Chang-Fan; He, Jing; Huang, Gang

2014-12-05

To prevent irreversible demagnetization of a permanent magnet (PM) for interior permanent magnet synchronous motors (IPMSMs) by flux-weakening control, a robust PM flux-linkage nonsingular fast terminal-sliding-mode observer (NFTSMO) is proposed to detect demagnetization faults. First, the IPMSM mathematical model of demagnetization is presented. Second, the construction of the NFTSMO to estimate PM demagnetization faults in IPMSM is described, and a proof of observer stability is given. The fault decision criteria and fault-processing method are also presented. Finally, the proposed scheme was simulated using MATLAB/Simulink and implemented on the RT-LAB platform. A number of robustness tests have been carried out. The scheme shows good performance in spite of speed fluctuations, torque ripples and the uncertainties of stator resistance.

Feedback from video for virtual reality Navigation

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

Tsap, L V

2000-10-27

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

Grammatical Constraints on Language Switching: Language Control is not Just Executive Control

PubMed Central

Gollan, Tamar H.; Goldrick, Matthew

2016-01-01

The current study investigated the roles of grammaticality and executive control on bilingual language selection by examining production speed and failures of language control, or intrusion errors (e.g., saying el instead of the), in young and aging bilinguals. Production of mixed-language connected speech was elicited by asking Spanish-English bilinguals to read aloud paragraphs that had mostly grammatical (conforming to naturally occurring constraints) or mostly ungrammatical (haphazard mixing) language switches, and low or high switching rate. Mixed-language speech was slower and less accurate when switch-rate was high, but especially (for speed) or only (for intrusion errors) if switches were also ungrammatical. Executive function ability (measured with a variety of tasks in young bilinguals in Experiment 1, and aging bilinguals in Experiment 2), slowed production and increased intrusion rate in a generalized fashion, but with little or no interaction with grammaticality. Aging effects appeared to reflect reduced monitoring ability (evidenced by a lower rate of self-corrected intrusions). These results demonstrate robust effects of grammatical encoding on language selection, and imply that executive control influences bilingual language production only after sentence planning and lexical selection. PMID:27667899

Stimulated Raman adiabatic control of a nuclear spin in diamond

NASA Astrophysics Data System (ADS)

Coto, Raul; Jacques, Vincent; Hétet, Gabriel; Maze, Jerónimo R.

2017-08-01

Coherent manipulation of nuclear spins is a highly desirable tool for both quantum metrology and quantum computation. However, most of the current techniques to control nuclear spins lack fast speed, impairing their robustness against decoherence. Here, based on stimulated Raman adiabatic passage, and its modification including shortcuts to adiabaticity, we present a fast protocol for the coherent manipulation of nuclear spins. Our proposed Λ scheme is implemented in the microwave domain and its excited-state relaxation can be optically controlled through an external laser excitation. These features allow for the initialization of a nuclear spin starting from a thermal state. Moreover we show how to implement Raman control for performing Ramsey spectroscopy to measure the dynamical and geometric phases acquired by nuclear spins.

Control-based method to identify underlying delays of a nonlinear dynamical system.

PubMed

Yu, Dongchuan; Frasca, Mattia; Liu, Fang

2008-10-01

We suggest several stationary state control-based delay identification methods which do not require any structural information about the controlled systems and are applicable to systems described by delayed ordinary differential equations. This proposed technique includes three steps: (i) driving a system to a steady state; (ii) perturbing the control signal for shifting the steady state; and (iii) identifying all delays by detecting the time that the system is abruptly drawn out of stationarity. Some aspects especially important for applications are discussed as well, including interaction delay identification, stationary state convergence speed, performance comparison, and the influence of noise on delay identification. Several examples are presented to illustrate the reliability and robustness of all delay identification methods suggested.

Learning to train neural networks for real-world control problems

NASA Technical Reports Server (NTRS)

Feldkamp, Lee A.; Puskorius, G. V.; Davis, L. I., Jr.; Yuan, F.

1994-01-01

Over the past three years, our group has concentrated on the application of neural network methods to the training of controllers for real-world systems. This presentation describes our approach, surveys what we have found to be important, mentions some contributions to the field, and shows some representative results. Topics discussed include: (1) executing model studies as rehearsal for experimental studies; (2) the importance of correct derivatives; (3) effective training with second-order (DEKF) methods; (4) the efficacy of time-lagged recurrent networks; (5) liberation from the tyranny of the control cycle using asynchronous truncated backpropagation through time; and (6) multistream training for robustness. Results from model studies of automotive idle speed control serve as examples for several of these topics.

Adaptive integral dynamic surface control of a hypersonic flight vehicle

NASA Astrophysics Data System (ADS)

Aslam Butt, Waseem; Yan, Lin; Amezquita S., Kendrick

2015-07-01

In this article, non-linear adaptive dynamic surface air speed and flight path angle control designs are presented for the longitudinal dynamics of a flexible hypersonic flight vehicle. The tracking performance of the control design is enhanced by introducing a novel integral term that caters to avoiding a large initial control signal. To ensure feasibility, the design scheme incorporates magnitude and rate constraints on the actuator commands. The uncertain non-linear functions are approximated by an efficient use of the neural networks to reduce the computational load. A detailed stability analysis shows that all closed-loop signals are uniformly ultimately bounded and the ? tracking performance is guaranteed. The robustness of the design scheme is verified through numerical simulations of the flexible flight vehicle model.

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.

Analysis of a New Rocket-Based Combined-Cycle Engine Concept at Low Speed

NASA Technical Reports Server (NTRS)

Yungster, S.; Trefny, C. J.

1999-01-01

An analysis of the Independent Ramjet Stream (IRS) cycle is presented. The IRS cycle is a variation of the conventional ejector-Ramjet, and is used at low speed in a rocket-based combined-cycle (RBCC) propulsion system. In this new cycle, complete mixing between the rocket and ramjet streams is not required, and a single rocket chamber can be used without a long mixing duct. Furthermore, this concept allows flexibility in controlling the thermal choke process. The resulting propulsion system is intended to be simpler, more robust, and lighter than an ejector-ramjet. The performance characteristics of the IRS cycle are analyzed for a new single-stage-to-orbit (SSTO) launch vehicle concept, known as "Trailblazer." The study is based on a quasi-one-dimensional model of the rocket and air streams at speeds ranging from lift-off to Mach 3. The numerical formulation is described in detail. A performance comparison between the IRS and ejector-ramjet cycles is also presented.

Automatic laser welding and milling with in situ inline coherent imaging.

PubMed

Webster, P J L; Wright, L G; Ji, Y; Galbraith, C M; Kinross, A W; Van Vlack, C; Fraser, J M

2014-11-01

Although new affordable high-power laser technologies enable many processing applications in science and industry, depth control remains a serious technical challenge. In this Letter we show that inline coherent imaging (ICI), with line rates up to 312 kHz and microsecond-duration capture times, is capable of directly measuring laser penetration depth, in a process as violent as kW-class keyhole welding. We exploit ICI's high speed, high dynamic range, and robustness to interference from other optical sources to achieve automatic, adaptive control of laser welding, as well as ablation, achieving 3D micron-scale sculpting in vastly different heterogeneous biological materials.

H Infinity Control of Magnetic Bearings to Ensure Both System and External Periodic Disturbance Robustness

NASA Technical Reports Server (NTRS)

Jiang, Yuhong; Zmood, R. B.

1996-01-01

Both self-excited and forced disturbances often lead to severe rotor vibrations in a magnetic bearing systems with long slender shafts. This problem has been studied using the H-infinity method, and stability with good robustness can be achieved for the linearized model of a magnetic bearing when small transient disturbances are applied. In this paper, the H-infinity control method for self-excited and forced disturbances is first reviewed. It is then applied to the control of a magnetic bearing rotor system. In modelling the system, the shaft is first discretized into 18 finite elements and then three levels of condensation are applied. This leads to a system with three masses and three compliant elements which can be described by six state variable coordinates. Simulation of the resultant system design has been performed at speeds up to 10,000 rpm. Disturbances in terms of different initial displacements, initial impulses, and external periodic inputs have been imposed. The simulation results show that good stability can be achieved under these different transient disturbances using the proposed controller while at the same time reducing the sensitivity to external periodic disturbances.

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

NASA Technical Reports Server (NTRS)

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

2012-01-01

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

Effects of optic flow on spontaneous overground walk-to-run transition.

PubMed

De Smet, Kristof; Malcolm, P; Lenoir, M; Segers, V; De Clercq, D

2009-03-01

Perturbations of optic flow can induce changes in walking speed since subjects modulate their speed with respect to the speed perceived from optic flow. The purpose of this study was to examine the effects of optic flow on steady-state as well as on non steady-state locomotion, i.e. on spontaneous overground walk-to-run transitions (WRT) during which subjects were able to accelerate in their preferred way. In this experiment, while subjects moved along a specially constructed hallway, a series of stripes projected on the side walls and ceiling were made to move backward (against the locomotion direction) at an absolute speed of -2 m s(-1) (condition B), or to move forward at an absolute speed of +2 m s(-1) (condition F), or to remain stationary (condition C). While condition B and condition F entailed a decrease and an increase in preferred walking speed, respectively, the spatiotemporal characteristics of the spontaneous walking acceleration prior to reaching WRT were not influenced by modified visual information. However, backward moving stripes induced a smaller speed increase when making the actual transition to running. As such, running speeds after making the WRT were lower in condition B. These results indicate that the walking acceleration prior to reaching the WRT is more robust against visual perturbations compared to walking at preferred walking speed. This could be due to a higher contribution from spinal control during the walking acceleration phase. However, the finding that subjects started to run at a lower running speed when experiencing an approaching optic flow faster than locomotion speed shows that the actual realization of the WRT is not totally independent of external cues.

Development of an analytical guidance algorithm for lunar descent

NASA Astrophysics Data System (ADS)

Chomel, Christina Tvrdik

In recent years, NASA has indicated a desire to return humans to the moon. With NASA planning manned missions within the next couple of decades, the concept development for these lunar vehicles has begun. The guidance, navigation, and control (GN&C) computer programs that will perform the function of safely landing a spacecraft on the moon are part of that development. The lunar descent guidance algorithm takes the horizontally oriented spacecraft from orbital speeds hundreds of kilometers from the desired landing point to the landing point at an almost vertical orientation and very low speed. Existing lunar descent GN&C algorithms date back to the Apollo era with little work available for implementation since then. Though these algorithms met the criteria of the 1960's, they are cumbersome today. At the basis of the lunar descent phase are two elements: the targeting, which generates a reference trajectory, and the real-time guidance, which forces the spacecraft to fly that trajectory. The Apollo algorithm utilizes a complex, iterative, numerical optimization scheme for developing the reference trajectory. The real-time guidance utilizes this reference trajectory in the form of a quartic rather than a more general format to force the real-time trajectory errors to converge to zero; however, there exist no guarantees under any conditions for this convergence. The proposed algorithm implements a purely analytical targeting algorithm used to generate two-dimensional trajectories "on-the-fly"' or to retarget the spacecraft to another landing site altogether. It is based on the analytical solutions to the equations for speed, downrange, and altitude as a function of flight path angle and assumes two constant thrust acceleration curves. The proposed real-time guidance algorithm has at its basis the three-dimensional non-linear equations of motion and a control law that is proven to converge under certain conditions through Lyapunov analysis to a reference trajectory formatted as a function of downrange, altitude, speed, and flight path angle. The two elements of the guidance algorithm are joined in Monte Carlo analysis to prove their robustness to initial state dispersions and mass and thrust errors. The robustness of the retargeting algorithm is also demonstrated.

Quantum Error Correction: Optimal, Robust, or Adaptive? Or, Where is The Quantum Flyball Governor?

NASA Astrophysics Data System (ADS)

Kosut, Robert; Grace, Matthew

2012-02-01

In The Human Use of Human Beings: Cybernetics and Society (1950), Norbert Wiener introduces feedback control in this way: ``This control of a machine on the basis of its actual performance rather than its expected performance is known as feedback ... It is the function of control ... to produce a temporary and local reversal of the normal direction of entropy.'' The classic classroom example of feedback control is the all-mechanical flyball governor used by James Watt in the 18th century to regulate the speed of rotating steam engines. What is it that is so compelling about this apparatus? First, it is easy to understand how it regulates the speed of a rotating steam engine. Secondly, and perhaps more importantly, it is a part of the device itself. A naive observer would not distinguish this mechanical piece from all the rest. So it is natural to ask, where is the all-quantum device which is self regulating, ie, the Quantum Flyball Governor? Is the goal of quantum error correction (QEC) to design such a device? Devloping the computational and mathematical tools to design this device is the topic of this talk.

Generalized shortcuts to adiabaticity and enhanced robustness against decoherence

NASA Astrophysics Data System (ADS)

Santos, Alan C.; Sarandy, Marcelo S.

2018-01-01

Shortcuts to adiabaticity provide a general approach to mimic adiabatic quantum processes via arbitrarily fast evolutions in Hilbert space. For these counter-diabatic evolutions, higher speed comes at higher energy cost. Here, the counter-diabatic theory is employed as a minimal energy demanding scheme for speeding up adiabatic tasks. As a by-product, we show that this approach can be used to obtain infinite classes of transitionless models, including time-independent Hamiltonians under certain conditions over the eigenstates of the original Hamiltonian. We apply these results to investigate shortcuts to adiabaticity in decohering environments by introducing the requirement of a fixed energy resource. In this scenario, we show that generalized transitionless evolutions can be more robust against decoherence than their adiabatic counterparts. We illustrate this enhanced robustness both for the Landau-Zener model and for quantum gate Hamiltonians.

The fuzzy algorithm in the die casting mould for the application of multi-channel temperature control

NASA Astrophysics Data System (ADS)

Sun, Jin-gen; Chen, Yi; Zhang, Jia-nan

2017-01-01

Mould manufacturing is one of the most basic elements in the production chain of China. The mould manufacturing technology has become an important symbol to measure the level of a country's manufacturing industry. The die-casting mould multichannel intelligent temperature control method is studied by cooling water circulation, which uses fuzzy control to realize, aiming at solving the shortcomings of slow speed and big energy consumption during the cooling process of current die-casting mould. At present, the traditional PID control method is used to control the temperature, but it is difficult to ensure the control precision. While , the fuzzy algorithm is used to realize precise control of mould temperature in cooling process. The design is simple, fast response, strong anti-interference ability and good robustness. Simulation results show that the control method is completely feasible, which has higher control precision.

Energy cost and return for hunting in African wild dogs and cheetahs.

PubMed

Hubel, Tatjana Y; Myatt, Julia P; Jordan, Neil R; Dewhirst, Oliver P; McNutt, J Weldon; Wilson, Alan M

2016-03-29

African wild dogs (Lycaon pictus) are reported to hunt with energetically costly long chase distances. We used high-resolution GPS and inertial technology to record 1,119 high-speed chases of all members of a pack of six adult African wild dogs in northern Botswana. Dogs performed multiple short, high-speed, mostly unsuccessful chases to capture prey, while cheetahs (Acinonyx jubatus) undertook even shorter, higher-speed hunts. We used an energy balance model to show that the energy return from group hunting and feeding substantially outweighs the cost of multiple short chases, which indicates that African wild dogs are more energetically robust than previously believed. Comparison with cheetah illustrates the trade-off between sheer athleticism and high individual kill rate characteristic of cheetahs, and the energetic robustness of frequent opportunistic group hunting and feeding by African wild dogs.

Solution to automatic generation control problem using firefly algorithm optimized I(λ)D(µ) controller.

PubMed

Debbarma, Sanjoy; Saikia, Lalit Chandra; Sinha, Nidul

2014-03-01

Present work focused on automatic generation control (AGC) of a three unequal area thermal systems considering reheat turbines and appropriate generation rate constraints (GRC). A fractional order (FO) controller named as I(λ)D(µ) controller based on crone approximation is proposed for the first time as an appropriate technique to solve the multi-area AGC problem in power systems. A recently developed metaheuristic algorithm known as firefly algorithm (FA) is used for the simultaneous optimization of the gains and other parameters such as order of integrator (λ) and differentiator (μ) of I(λ)D(µ) controller and governor speed regulation parameters (R). The dynamic responses corresponding to optimized I(λ)D(µ) controller gains, λ, μ, and R are compared with that of classical integer order (IO) controllers such as I, PI and PID controllers. Simulation results show that the proposed I(λ)D(µ) controller provides more improved dynamic responses and outperforms the IO based classical controllers. Further, sensitivity analysis confirms the robustness of the so optimized I(λ)D(µ) controller to wide changes in system loading conditions and size and position of SLP. Proposed controller is also found to have performed well as compared to IO based controllers when SLP takes place simultaneously in any two areas or all the areas. Robustness of the proposed I(λ)D(µ) controller is also tested against system parameter variations. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Thermal Stability of Al2O3/Silicone Composites as High-Temperature Encapsulants

NASA Astrophysics Data System (ADS)

Yao, Yiying

Underwater gliders are robust and long endurance ocean sampling platforms that are increasingly being deployed in coastal regions. This new environment is characterized by shallow waters and significant currents that can challenge the mobility of these efficient (but traditionally slow moving) vehicles. This dissertation aims to improve the performance of shallow water underwater gliders through path planning. The path planning problem is formulated for a dynamic particle (or "kinematic car") model. The objective is to identify the path which satisfies specified boundary conditions and minimizes a particular cost. Several cost functions are considered. The problem is addressed using optimal control theory. The length scales of interest for path planning are within a few turn radii. First, an approach is developed for planning minimum-time paths, for a fixed speed glider, that are sub-optimal but are guaranteed to be feasible in the presence of unknown time-varying currents. Next the minimum-time problem for a glider with speed controls, that may vary between the stall speed and the maximum speed, is solved. Last, optimal paths that minimize change in depth (equivalently, maximize range) are investigated. Recognizing that path planning alone cannot overcome all of the challenges associated with significant currents and shallow waters, the design of a novel underwater glider with improved capabilities is explored. A glider with a pneumatic buoyancy engine (allowing large, rapid buoyancy changes) and a cylindrical moving mass mechanism (generating large pitch and roll moments) is designed, manufactured, and tested to demonstrate potential improvements in speed and maneuverability.

Repeatable, accurate, and high speed multi-level programming of memristor 1T1R arrays for power efficient analog computing applications.

PubMed

Merced-Grafals, Emmanuelle J; Dávila, Noraica; Ge, Ning; Williams, R Stanley; Strachan, John Paul

2016-09-09

Beyond use as high density non-volatile memories, memristors have potential as synaptic components of neuromorphic systems. We investigated the suitability of tantalum oxide (TaOx) transistor-memristor (1T1R) arrays for such applications, particularly the ability to accurately, repeatedly, and rapidly reach arbitrary conductance states. Programming is performed by applying an adaptive pulsed algorithm that utilizes the transistor gate voltage to control the SET switching operation and increase programming speed of the 1T1R cells. We show the capability of programming 64 conductance levels with <0.5% average accuracy using 100 ns pulses and studied the trade-offs between programming speed and programming error. The algorithm is also utilized to program 16 conductance levels on a population of cells in the 1T1R array showing robustness to cell-to-cell variability. In general, the proposed algorithm results in approximately 10× improvement in programming speed over standard algorithms that do not use the transistor gate to control memristor switching. In addition, after only two programming pulses (an initialization pulse followed by a programming pulse), the resulting conductance values are within 12% of the target values in all cases. Finally, endurance of more than 10(6) cycles is shown through open-loop (single pulses) programming across multiple conductance levels using the optimized gate voltage of the transistor. These results are relevant for applications that require high speed, accurate, and repeatable programming of the cells such as in neural networks and analog data processing.

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

NASA Technical Reports Server (NTRS)

Kim, Sungwan

1994-01-01

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

Optimal control of fast and high-fidelity quantum state transfer in spin-1/2 chains

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

Zhang, Xiong-Peng; Shao, Bin, E-mail: sbin610@bit.edu.cn; Hu, Shuai

Spin chains are promising candidates for quantum communication and computation. Using quantum optimal control (OC) theory based on the Krotov method, we present a protocol to perform quantum state transfer with fast and high fidelity by only manipulating the boundary spins in a quantum spin-1/2 chain. The achieved speed is about one order of magnitude faster than that is possible in the Lyapunov control case for comparable fidelities. Additionally, it has a fundamental limit for OC beyond which optimization is not possible. The controls are exerted only on the couplings between the boundary spins and their neighbors, so that themore » scheme has good scalability. We also demonstrate that the resulting OC scheme is robust against disorder in the chain.« less

Applied Joint-Space Torque and Stiffness Control of Tendon-Driven Fingers

NASA Technical Reports Server (NTRS)

Abdallah, Muhammad E.; Platt, Robert, Jr.; Wampler, Charles W.; Hargrave, Brian

2010-01-01

Existing tendon-driven fingers have applied force control through independent tension controllers on each tendon, i.e. in the tendon-space. The coupled kinematics of the tendons, however, cause such controllers to exhibit a transient coupling in their response. This problem can be resolved by alternatively framing the controllers in the joint-space of the manipulator. This work presents a joint-space torque control law that demonstrates both a decoupled and significantly faster response than an equivalent tendon-space formulation. The law also demonstrates greater speed and robustness than comparable PI controllers. In addition, a tension distribution algorithm is presented here to allocate forces from the joints to the tendons. It allocates the tensions so that they satisfy both an upper and lower bound, and it does so without requiring linear programming or open-ended iterations. The control law and tension distribution algorithm are implemented on the robotic hand of Robonaut-2.

Real-time economic nonlinear model predictive control for wind turbine control

NASA Astrophysics Data System (ADS)

Gros, Sebastien; Schild, Axel

2017-12-01

Nonlinear model predictive control (NMPC) is a strong candidate to handle the control challenges emerging in the modern wind energy industry. Recent research suggested that wind turbine (WT) control based on economic NMPC (ENMPC) can improve the closed-loop performance and simplify the task of controller design when compared to a classical NMPC approach. This paper establishes a formal relationship between the ENMPC controller and the classic NMPC approach, and compares empirically their closed-loop nominal behaviour and performance. The robustness of the performance is assessed for an inaccurate modelling of the tower fore-aft main frequency. Additionally, though a perfect wind preview is assumed here, the effect of having a limited horizon of preview of the wind speed via the LIght Detection And Ranging (LIDAR) sensor is investigated. Finally, this paper provides new algorithmic solutions for deploying ENMPC for WT control, and report improved computational times.

Separation control in adverse pressure gradients using high-speed microjets

NASA Astrophysics Data System (ADS)

Kumar, Vikas

Inlets to aircraft propulsion systems must supply flow to the compressor with minimal pressure loss, flow distortion or unsteadiness. Flow separation in internal flows such as inlets and ducts in aircraft propulsion systems and external flows such as over aircraft wings, is undesirable as it reduces the overall system performance. The objective of present study is to understand the nature of separation and more importantly, to explore the applicability of high-speed microjets to actively control this flow separation. The geometry used for this experimental study was a generic backward facing "Stratford Ramp" equipped with arrays of high-speed microjets. The incoming flow was examined over a freestream velocity range of 10-65m/s and at ramp angle in range of 0-10°. It was observed that the flow separates at 30m/s and beyond for all angle of attack. The magnitude and extent of separation bubble increases with increasing adverse pressure gradients and/or increase in free-stream velocity. The separated flow for all the examined conditions was completely attached using suitable array of high-speed microjets. The most notable fact was that elimination of reverse velocity regions was accompanied by a reduction in flow unsteadiness and increased two-dimensionality in the flow. In particular, these gains were achieved with a minimal mass flux, less than 0.2% of the primary flow based on 30% Boundary Layer Ingesting duct. Detailed measurements were obtained to understand the flow control dynamics. The control effectiveness was found to be dependent on the actuation location with respect to separation, jet to cross-flow momentum ratio and the angle at which microjets supply the momentum. It was also determined that the control effect of the microjets, in part, is due to creation of strong stream-wise vortices which enhance the mixing between low-momentum fluid closer to the surface and high-momentum fluid further away from the surface. The penetration depth of microjets was found to be much higher than that of a jet exiting in to uniform cross-flow and correlations were developed to predict this. Subsequently, means for identification of the flow conditions were sought to develop a simple, robust, complete control strategy. It was observed that the flow conditions were very well represented in unsteady surface pressure measurements. The unsteady surface pressure and velocity field were correlated to develop a simple scheme to predict the peak unsteadiness location over the surface. The results from this model and knowledge of microjet in cross flow was used to provide guidelines for an active control strategy. A case study was then undertaken to validate the results obtained using the model. The results show that the model is a good first step towards developing a simple, robust, active-adaptive separation control strategy using microjets.

Investigating the Impact of Off-Nominal Events on High-Density "Green" Arrivals

NASA Technical Reports Server (NTRS)

Callatine, Todd J.; Cabrall, Christopher; Kupfer, Michael; Martin, Lynne; Mercer, Joey; Palmer, Everett A.

2012-01-01

Trajectory-based controller tools developed to support a schedule-based terminal-area air traffic management (ATM) concept have been shown effective for enabling green arrivals along Area Navigation (RNAV) routes in moderately high-density traffic conditions. A recent human-in-the-loop simulation investigated the robustness of the concept and tools to off-nominal events events that lead to situations in which runway arrival schedules require adjustments and controllers can no longer use speed control alone to impose the necessary delays. Study participants included a terminal-area Traffic Management Supervisor responsible for adjusting the schedules. Sector-controller participants could issue alternate RNAV transition routes to absorb large delays. The study also included real-time winds/wind-forecast changes. The results indicate that arrival spacing accuracy, schedule conformance, and tool usage and usefulness are similar to that observed in simulations of nominal operations. However, the time and effort required to recover from an off-nominal event is highly context-sensitive, and impacted by the required schedule adjustments and control methods available for managing the evolving situation. The research suggests ways to bolster the off-nominal recovery process, and highlights challenges related to using human-in-the-loop simulation to investigate the safety and robustness of advanced ATM concepts.

Melody Alignment and Similarity Metric for Content-Based Music Retrieval

NASA Astrophysics Data System (ADS)

Zhu, Yongwei; Kankanhalli, Mohan S.

2003-01-01

Music query-by-humming has attracted much research interest recently. It is a challenging problem since the hummed query inevitably contains much variation and inaccuracy. Furthermore, the similarity computation between the query tune and the reference melody is not easy due to the difficulty in ensuring proper alignment. This is because the query tune can be rendered at an unknown speed and it is usually an arbitrary subsequence of the target reference melody. Many of the previous methods, which adopt note segmentation and string matching, suffer drastically from the errors in the note segmentation, which affects retrieval accuracy and efficiency. Some methods solve the alignment issue by controlling the speed of the articulation of queries, which is inconvenient because it forces users to hum along a metronome. Some other techniques introduce arbitrary rescaling in time but this is computationally very inefficient. In this paper, we introduce a melody alignment technique, which addresses the robustness and efficiency issues. We also present a new melody similarity metric, which is performed directly on melody contours of the query data. This approach cleanly separates the alignment and similarity measurement in the search process. We show how to robustly and efficiently align the query melody with the reference melodies and how to measure the similarity subsequently. We have carried out extensive experiments. Our melody alignment method can reduce the matching candidate to 1.7% with 95% correct alignment rate. The overall retrieval system achieved 80% recall in the top 10 rank list. The results demonstrate the robustness and effectiveness the proposed methods.

A Gradient Taguchi Method for Engineering Optimization

NASA Astrophysics Data System (ADS)

Hwang, Shun-Fa; Wu, Jen-Chih; He, Rong-Song

2017-10-01

To balance the robustness and the convergence speed of optimization, a novel hybrid algorithm consisting of Taguchi method and the steepest descent method is proposed in this work. Taguchi method using orthogonal arrays could quickly find the optimum combination of the levels of various factors, even when the number of level and/or factor is quite large. This algorithm is applied to the inverse determination of elastic constants of three composite plates by combining numerical method and vibration testing. For these problems, the proposed algorithm could find better elastic constants in less computation cost. Therefore, the proposed algorithm has nice robustness and fast convergence speed as compared to some hybrid genetic algorithms.

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.

Gaussian process-based surrogate modeling framework for process planning in laser powder-bed fusion additive manufacturing of 316L stainless steel

DOE PAGES

Tapia, Gustavo; Khairallah, Saad A.; Matthews, Manyalibo J.; ...

2017-09-22

Here, Laser Powder-Bed Fusion (L-PBF) metal-based additive manufacturing (AM) is complex and not fully understood. Successful processing for one material, might not necessarily apply to a different material. This paper describes a workflow process that aims at creating a material data sheet standard that describes regimes where the process can be expected to be robust. The procedure consists of building a Gaussian process-based surrogate model of the L-PBF process that predicts melt pool depth in single-track experiments given a laser power, scan speed, and laser beam size combination. The predictions are then mapped onto a power versus scan speed diagrammore » delimiting the conduction from the keyhole melting controlled regimes. This statistical framework is shown to be robust even for cases where experimental training data might be suboptimal in quality, if appropriate physics-based filters are applied. Additionally, it is demonstrated that a high-fidelity simulation model of L-PBF can equally be successfully used for building a surrogate model, which is beneficial since simulations are getting more efficient and are more practical to study the response of different materials, than to re-tool an AM machine for new material powder.« less

A Two-Stage Kalman Filter Approach for Robust and Real-Time Power System State Estimation

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

Zhang, Jinghe; Welch, Greg; Bishop, Gary

2014-04-01

As electricity demand continues to grow and renewable energy increases its penetration in the power grid, realtime state estimation becomes essential for system monitoring and control. Recent development in phasor technology makes it possible with high-speed time-synchronized data provided by Phasor Measurement Units (PMU). In this paper we present a two-stage Kalman filter approach to estimate the static state of voltage magnitudes and phase angles, as well as the dynamic state of generator rotor angles and speeds. Kalman filters achieve optimal performance only when the system noise characteristics have known statistical properties (zero-mean, Gaussian, and spectrally white). However in practicemore » the process and measurement noise models are usually difficult to obtain. Thus we have developed the Adaptive Kalman Filter with Inflatable Noise Variances (AKF with InNoVa), an algorithm that can efficiently identify and reduce the impact of incorrect system modeling and/or erroneous measurements. In stage one, we estimate the static state from raw PMU measurements using the AKF with InNoVa; then in stage two, the estimated static state is fed into an extended Kalman filter to estimate the dynamic state. Simulations demonstrate its robustness to sudden changes of system dynamics and erroneous measurements.« less

Gaussian process-based surrogate modeling framework for process planning in laser powder-bed fusion additive manufacturing of 316L stainless steel

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

Tapia, Gustavo; Khairallah, Saad A.; Matthews, Manyalibo J.

Here, Laser Powder-Bed Fusion (L-PBF) metal-based additive manufacturing (AM) is complex and not fully understood. Successful processing for one material, might not necessarily apply to a different material. This paper describes a workflow process that aims at creating a material data sheet standard that describes regimes where the process can be expected to be robust. The procedure consists of building a Gaussian process-based surrogate model of the L-PBF process that predicts melt pool depth in single-track experiments given a laser power, scan speed, and laser beam size combination. The predictions are then mapped onto a power versus scan speed diagrammore » delimiting the conduction from the keyhole melting controlled regimes. This statistical framework is shown to be robust even for cases where experimental training data might be suboptimal in quality, if appropriate physics-based filters are applied. Additionally, it is demonstrated that a high-fidelity simulation model of L-PBF can equally be successfully used for building a surrogate model, which is beneficial since simulations are getting more efficient and are more practical to study the response of different materials, than to re-tool an AM machine for new material powder.« less

High-speed monodisperse droplet generation by ultrasonically controlled micro-jet breakup

NASA Astrophysics Data System (ADS)

Frommhold, Philipp Erhard; Lippert, Alexander; Holsteyns, Frank Ludwig; Mettin, Robert

2014-04-01

A liquid jet that is ejected from a nozzle into air will disintegrate into drops via the well-known Plateau-Rayleigh instability within a certain range of Ohnesorge and Reynolds numbers. With the focus on the micrometer scale, we investigate the control of this process by superimposing a suitable ultrasonic signal, which causes the jet to break up into a very precise train of monodisperse droplets. The jet leaves a pressurized container of liquid via a small orifice of about 20 μm diameter. The break-up process and the emerging droplets are recorded via high-speed imaging. An extended parameter study of exit speed and ultrasonic frequency is carried out for deionized water to evaluate the jet's state and the subsequent generation of monodisperse droplets. Maximum exit velocities obtained reach almost 120 m s-1, and frequencies have been applied up to 1.8 MHz. Functionality of the method is confirmed for five additional liquids for moderate jet velocities 38 m s-1. For the uncontrolled jet disintegration, the drop size spectra revealed broad distributions and downstream drop growth by collision, while the acoustic control generated monodisperse droplets with a standard deviation less than 0.5 %. By adjustment of the acoustic excitation frequency, drop diameters could be tuned continuously from about 30 to 50 μm for all exit speeds. Good agreement to former experiments and theoretical approaches is found for the relation of overpressure and jet exit speed, and for the observed stability regions of monodisperse droplet generation in the parameter plane of jet speed and acoustic excitation frequency. Fitting of two free parameters of the general theory to the liquids and nozzles used is found to yield an even higher precision. Furthermore, the high-velocity instability limit of regular jet breakup described by von Ohnesorge has been superseded by more than a factor of two without entering the wind-induced instability regime, and monodisperse droplet generation was always achievable. Thus, the reliable and robust realization of tunable high-speed monodisperse micro-droplet trains is demonstrated. Some implication for applications is discussed.

Learning and tuning fuzzy logic controllers through reinforcements.

PubMed

Berenji, H R; Khedkar, P

1992-01-01

A method for learning and tuning a fuzzy logic controller based on reinforcements from a dynamic system is presented. It is shown that: the generalized approximate-reasoning-based intelligent control (GARIC) architecture learns and tunes a fuzzy logic controller even when only weak reinforcement, such as a binary failure signal, is available; introduces a new conjunction operator in computing the rule strengths of fuzzy control rules; introduces a new localized mean of maximum (LMOM) method in combining the conclusions of several firing control rules; and learns to produce real-valued control actions. Learning is achieved by integrating fuzzy inference into a feedforward network, which can then adaptively improve performance by using gradient descent methods. The GARIC architecture is applied to a cart-pole balancing system and demonstrates significant improvements in terms of the speed of learning and robustness to changes in the dynamic system's parameters over previous schemes for cart-pole balancing.

Robust isothermal electric control of exchange bias at room temperature

NASA Astrophysics Data System (ADS)

Binek, Christian

2011-03-01

Voltage-controlled spintronics is of particular importance to continue progress in information technology through reduced power consumption, enhanced processing speed, integration density, and functionality in comparison with present day CMOS electronics. Almost all existing and prototypical solid-state spintronic devices rely on tailored interface magnetism, enabling spin-selective transmission or scattering of electrons. Controlling magnetism at thin-film interfaces, preferably by purely electrical means, is a key challenge to better spintronics. Currently, most attempts to electrically control magnetism focus on potentially large magnetoelectric effects of multiferroics. We report on our interest in magnetoelectric Cr 2 O3 (chromia). Robust isothermal electric control of exchange bias is achieved at room temperature in perpendicular anisotropic Cr 2 O3 (0001)/CoPd exchange bias heterostructures. This discovery promises significant implications for potential spintronics. From the perspective of basic science, our finding serves as macroscopic evidence for roughness-insensitive and electrically controllable equilibrium boundary magnetization in magnetoelectric antiferromagnets. The latter evolves at chromia (0001) surfaces and interfaces when chromia is in one of its two degenerate antiferromagnetic single domain states selected via magnetoelectric annealing. Theoretical insight into the boundary magnetization and its role in electrically controlled exchange bias is gained from first-principles calculations and general symmetry arguments. Measurements of spin-resolved ultraviolet photoemission, magnetometry at Cr 2 O3 (0001) surfaces, and detailed investigations of the unique exchange bias properties of Cr 2 O3 (0001)/CoPd including its electric controllability provide macroscopically averaged information about the boundary magnetization of chromia. Laterally resolved X-ray PEEM and temperature dependent MFM reveal detailed microscopic information of the chromia (0001) surface magnetization and provide a coherent interpretation of our results on robust isothermal electric control of exchange bias. The latter promise a new route towards purely voltage-controlled spintronics and an exciting way to electrically control magnetism. Financial support by NSF through Nebraska MRSEC, SRC/NSF Supplement to Nebraska MRSEC, CAREER DMR-0547887, NRI, and Cottrell Research Corporation.

Quantitative polymerase chain reaction (PCR) for detection of aquatic animal pathogens in a diagnostic laboratory setting

USGS Publications Warehouse

Purcell, Maureen K.; Getchell, Rodman G.; McClure, Carol A.; Weber, S.E.; Garver, Kyle A.

2011-01-01

Real-time, or quantitative, polymerase chain reaction (qPCR) is quickly supplanting other molecular methods for detecting the nucleic acids of human and other animal pathogens owing to the speed and robustness of the technology. As the aquatic animal health community moves toward implementing national diagnostic testing schemes, it will need to evaluate how qPCR technology should be employed. This review outlines the basic principles of qPCR technology, considerations for assay development, standards and controls, assay performance, diagnostic validation, implementation in the diagnostic laboratory, and quality assurance and control measures. These factors are fundamental for ensuring the validity of qPCR assay results obtained in the diagnostic laboratory setting.

Energy cost and return for hunting in African wild dogs and cheetahs

PubMed Central

Hubel, Tatjana Y.; Myatt, Julia P.; Jordan, Neil R.; Dewhirst, Oliver P.; McNutt, J. Weldon; Wilson, Alan M.

2016-01-01

African wild dogs (Lycaon pictus) are reported to hunt with energetically costly long chase distances. We used high-resolution GPS and inertial technology to record 1,119 high-speed chases of all members of a pack of six adult African wild dogs in northern Botswana. Dogs performed multiple short, high-speed, mostly unsuccessful chases to capture prey, while cheetahs (Acinonyx jubatus) undertook even shorter, higher-speed hunts. We used an energy balance model to show that the energy return from group hunting and feeding substantially outweighs the cost of multiple short chases, which indicates that African wild dogs are more energetically robust than previously believed. Comparison with cheetah illustrates the trade-off between sheer athleticism and high individual kill rate characteristic of cheetahs, and the energetic robustness of frequent opportunistic group hunting and feeding by African wild dogs. PMID:27023457

On the appropriate feature for general SAR image registration

NASA Astrophysics Data System (ADS)

Li, Dong; Zhang, Yunhua

2012-09-01

An investigation to the appropriate feature for SAR image registration is conducted. The commonly-used features such as tie points, Harris corner, the scale invariant feature transform (SIFT), and the speeded up robust feature (SURF) are comprehensively evaluated in terms of several criteria such as the geometrical invariance of feature, the extraction speed, the localization accuracy, the geometrical invariance of descriptor, the matching speed, the robustness to decorrelation, and the flexibility to image speckling. It is shown that SURF outperforms others. It is particularly indicated that SURF has good flexibility to image speckling because the Fast-Hessian detector of SURF has a potential relation with the refined Lee filter. It is recommended to perform SURF on the oversampled image with unaltered sampling step so as to improve the subpixel registration accuracy and speckle immunity. Thus SURF is more appropriate and competent for general SAR image registration.

Bio-inspired control of joint torque and knee stiffness in a robotic lower limb exoskeleton using a central pattern generator.

PubMed

Schrade, Stefan O; Nager, Yannik; Wu, Amy R; Gassert, Roger; Ijspeert, Auke

2017-07-01

Robotic lower limb exoskeletons are becoming increasingly popular in therapy and recreational use. However, most exoskeletons are still rather limited in their locomotion speed and the activities of daily live they can perform. Furthermore, they typically do not allow for a dynamic adaptation to the environment, as they are often controlled with predefined reference trajectories. Inspired by human leg stiffness modulation during walking, variable stiffness actuators increase flexibility without the need for more complex controllers. Actuation with adaptable stiffness is inspired by the human leg stiffness modulation during walking. However, this actuation principle also introduces the stiffness setpoint as an additional degree of freedom that needs to be coordinated with the joint trajectories. As a potential solution to this issue a bio-inspired controller based on a central pattern generator (CPG) is presented in this work. It generates coordinated joint torques and knee stiffness modulations to produce flexible and dynamic gait patterns for an exoskeleton with variable knee stiffness actuation. The CPG controller is evaluated and optimized in simulation using a model of the exoskeleton. The CPG controller produced stable and smooth gait for walking speeds from 0.4 m/s up to 1.57 m/s with a torso stabilizing force that simulated the use of crutches, which are commonly needed by exoskeleton users. Through the CPG, the knee stiffness intrinsically adapted to the frequency and phase of the gait, when the speed was changed. Additionally, it adjusted to changes in the environment in the form of uneven terrain by reacting to ground contact forces. This could allow future exoskeletons to be more adaptive to various environments, thus making ambulation more robust.

Station Keeping of Small Outboard-Powered Boats

NASA Technical Reports Server (NTRS)

Fisher, A. D.; VanZwieten, J. H., Jr.; VanZwieten, T. S.

2010-01-01

Three station keeping controllers have been developed which work to minimize displacement of a small outboard-powered vessel from a desired location. Each of these three controllers has a common initial layer that uses fixed-gain feedback control to calculate the desired heading of the vessel. A second control layer uses a common fixed-gain feedback controller to calculate the net forward thrust, one of two algorithms for controlling engine angle (Fixed-Gain Proportional-integral-derivative (PID) or PID with Adaptively Augmented Gains), and one of two algorithms for differential throttle control (Fixed-Gain PID and PID with Adaptive Differential Throttle gains), which work together to eliminate heading error. The three selected controllers are evaluated using a numerical simulation of a 33-foot center console vessel with twin outboards that is subject to wave, wind, and current disturbances. Each controller is tested for its ability to maintain position in the presence of three sets of environmental disturbances. These algorithms were tested with current velocity of 1.5 m/s, significant wave height of 0.5 m, and wind speeds of 2, 5, and 10 m/s. These values were chosen to model conditions a small vessel may experience in the Gulf Stream off of Fort Lauderdale. The Fixed-gain PID controller progressively got worse as wind speeds increased, while the controllers using adaptive methodologies showed consistent performance over all weather conditions and decreased heading error by as much as 20%. Thus, enhanced robustness to environmental changes has been gained by using an adaptive algorithm.

Fuzzy logic feedback control for fed-batch enzymatic hydrolysis of lignocellulosic biomass.

PubMed

Tai, Chao; Voltan, Diego S; Keshwani, Deepak R; Meyer, George E; Kuhar, Pankaj S

2016-06-01

A fuzzy logic feedback control system was developed for process monitoring and feeding control in fed-batch enzymatic hydrolysis of a lignocellulosic biomass, dilute acid-pretreated corn stover. Digested glucose from hydrolysis reaction was assigned as input while doser feeding time and speed of pretreated biomass were responses from fuzzy logic control system. Membership functions for these three variables and rule-base were created based on batch hydrolysis data. The system response was first tested in LabVIEW environment then the performance was evaluated through real-time hydrolysis reaction. The feeding operations were determined timely by fuzzy logic control system and efficient responses were shown to plateau phases during hydrolysis. Feeding of proper amount of cellulose and maintaining solids content was well balanced. Fuzzy logic proved to be a robust and effective online feeding control tool for fed-batch enzymatic hydrolysis.

Switching LPV Control with Double-Layer LPV Model for Aero-Engines

NASA Astrophysics Data System (ADS)

Tang, Lili; Huang, Jinquan; Pan, Muxuan

2017-11-01

To cover the whole range of operating conditions of aero-engine, a double-layer LPV model is built so as to take into account of the variability due to the flight altitude, Mach number and the rotational speed. With this framework, the problem of designing LPV state-feedback robust controller that guarantees desired bounds on both H_∞ and H_2 performances is considered. Besides this, to reduce the conservativeness caused by a single LPV controller of the whole flight envelope and the common Lyapunov function method, a new method is proposed to design a family of LPV switching controllers. The switching LPV controllers can ensure that the closed-loop system remains stable in the sense of Lyapunov under arbitrary switching logic. Meanwhile, the switching LPV controllers can ensure the parameters change smoothly. The validity and performance of the theoretical results are demonstrated through a numerical example.

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

NASA Astrophysics Data System (ADS)

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

2014-07-01

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

Kinematic strategies for mitigating gust perturbations in insects.

PubMed

Vance, J T; Faruque, I; Humbert, J S

2013-03-01

Insects are attractive models for the development of micro-aerial vehicles (MAVs) due to their relatively simple sensing, actuation and control architectures as compared to vertebrates, and because of their robust flight ability in dynamic and heterogeneous environments, characterized by turbulence and gusts of wind. How do insects respond to gust perturbations? We investigated this question by perturbing freely-flying honey bees and stalk-eye flies with low-pressure bursts of compressed air to simulate a wind gust. Body and wing kinematics were analyzed from flight sequences, recorded using three high-speed digital video cameras. Bees quickly responded to body rotations caused by gusts through bilateral asymmetry in stroke amplitude, whereas stalk-eye flies used a combination of asymmetric stroke amplitude and wing rotation angle. Both insects coordinated asymmetric and symmetric kinematics in response to gusts, which provides model strategies for simple yet robust flight characteristics for MAVs.

Color sensor and neural processor on one chip

NASA Astrophysics Data System (ADS)

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

1998-10-01

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

Robust synthesis of epoxy resin-filled microcapsules for application to self-healing materials.

PubMed

Bolimowski, Patryk A; Bond, Ian P; Wass, Duncan F

2016-02-28

Mechanically and thermally robust microcapsules containing diglycidyl ether bisphenol A-based epoxy resin and a high-boiling-point organic solvent were synthesized in high yield using in situ polymerization of urea and formaldehyde in an oil-in-water emulsion. Microcapsules were characterized in terms of their size and size distribution, shell surface morphology and thermal resistance to the curing cycles of commercially used epoxy polymers. The size distribution of the capsules and characteristics such as shell thickness can be controlled by the specific parameters of microencapsulation, including concentrations of reagents, stirrer speed and sonication. Selected microcapsules, and separated core and shell materials, were analysed using thermogravimetric analysis and differential scanning calorimetry. It is demonstrated that capsules lose minimal 2.5 wt% at temperatures no higher than 120°C. These microcapsules can be applied to self-healing carbon fibre composite structural materials, with preliminary results showing promising performance. © 2016 The Author(s).

Global optimization for quantum dynamics of few-fermion systems

NASA Astrophysics Data System (ADS)

Li, Xikun; Pecak, Daniel; Sowiński, Tomasz; Sherson, Jacob; Nielsen, Anne E. B.

2018-03-01

Quantum state preparation is vital to quantum computation and quantum information processing tasks. In adiabatic state preparation, the target state is theoretically obtained with nearly perfect fidelity if the control parameter is tuned slowly enough. As this, however, leads to slow dynamics, it is often desirable to be able to carry out processes more rapidly. In this work, we employ two global optimization methods to estimate the quantum speed limit for few-fermion systems confined in a one-dimensional harmonic trap. Such systems can be produced experimentally in a well-controlled manner. We determine the optimized control fields and achieve a reduction in the ramping time of more than a factor of four compared to linear ramping. We also investigate how robust the fidelity is to small variations of the control fields away from the optimized shapes.

New Polyazine-Bridged RuII,RhIII and RuII,RhI Supramolecular Photocatalysts for Water Reduction to Hydrogen Applicable for Solar Energy Conversion and Mechanistic Investigation of the Photocatalytic Cycle

NASA Astrophysics Data System (ADS)

Zhou, Rongwei

Underwater gliders are robust and long endurance ocean sampling platforms that are increasingly being deployed in coastal regions. This new environment is characterized by shallow waters and significant currents that can challenge the mobility of these efficient (but traditionally slow moving) vehicles. This dissertation aims to improve the performance of shallow water underwater gliders through path planning. The path planning problem is formulated for a dynamic particle (or "kinematic car") model. The objective is to identify the path which satisfies specified boundary conditions and minimizes a particular cost. Several cost functions are considered. The problem is addressed using optimal control theory. The length scales of interest for path planning are within a few turn radii. First, an approach is developed for planning minimum-time paths, for a fixed speed glider, that are sub-optimal but are guaranteed to be feasible in the presence of unknown time-varying currents. Next the minimum-time problem for a glider with speed controls, that may vary between the stall speed and the maximum speed, is solved. Last, optimal paths that minimize change in depth (equivalently, maximize range) are investigated. Recognizing that path planning alone cannot overcome all of the challenges associated with significant currents and shallow waters, the design of a novel underwater glider with improved capabilities is explored. A glider with a pneumatic buoyancy engine (allowing large, rapid buoyancy changes) and a cylindrical moving mass mechanism (generating large pitch and roll moments) is designed, manufactured, and tested to demonstrate potential improvements in speed and maneuverability.

Control concepts for active magnetic bearings

NASA Technical Reports Server (NTRS)

Siegwart, Roland; Vischer, D.; Larsonneur, R.; Herzog, R.; Traxler, Alfons; Bleuler, H.; Schweitzer, G.

1992-01-01

Active Magnetic Bearings (AMB) are becoming increasingly significant for various industrial applications. Examples are turbo-compressors, centrifuges, high speed milling and grinding spindles, vibration isolation, linear guides, magnetically levitated trains, vacuum and space applications. Thanks to the rapid progress and drastic cost reduction in power- and micro-electronics, the number of AMB applications is growing very rapidly. Industrial uses of AMBs leads to new requirements for AMB-actuators, sensor systems, and rotor dynamics. Especially desirable are new and better control concepts to meet demand such as low cost AMB, high stiffness, high performance, high robustness, high damping up to several kHz, vibration isolation, force-free rotation, and unbalance cancellation. This paper surveys various control concepts for AMBs and discusses their advantages and disadvantages. Theoretical and experimental results are presented.

Design and implementation of a vision-based hovering and feature tracking algorithm for a quadrotor

NASA Astrophysics Data System (ADS)

Lee, Y. H.; Chahl, J. S.

2016-10-01

This paper demonstrates an approach to the vision-based control of the unmanned quadrotors for hover and object tracking. The algorithms used the Speed Up Robust Features (SURF) algorithm to detect objects. The pose of the object in the image was then calculated in order to pass the pose information to the flight controller. Finally, the flight controller steered the quadrotor to approach the object based on the calculated pose data. The above processes was run using standard onboard resources found in the 3DR Solo quadrotor in an embedded computing environment. The obtained results showed that the algorithm behaved well during its missions, tracking and hovering, although there were significant latencies due to low CPU performance of the onboard image processing system.

Simulated wind-generated inertial oscillations compared to current measurements in the northern North Sea

NASA Astrophysics Data System (ADS)

Bruserud, Kjersti; Haver, Sverre; Myrhaug, Dag

2018-06-01

Measured current speed data show that episodes of wind-generated inertial oscillations dominate the current conditions in parts of the northern North Sea. In order to acquire current data of sufficient duration for robust estimation of joint metocean design conditions, such as wind, waves, and currents, a simple model for episodes of wind-generated inertial oscillations is adapted for the northern North Sea. The model is validated with and compared against measured current data at one location in the northern North Sea and found to reproduce the measured maximum current speed in each episode with considerable accuracy. The comparison is further improved when a small general background current is added to the simulated maximum current speeds. Extreme values of measured and simulated current speed are estimated and found to compare well. To assess the robustness of the model and the sensitivity of current conditions from location to location, the validated model is applied at three other locations in the northern North Sea. In general, the simulated maximum current speeds are smaller than the measured, suggesting that wind-generated inertial oscillations are not as prominent at these locations and that other current conditions may be governing. Further analysis of the simulated current speed and joint distribution of wind, waves, and currents for design of offshore structures will be presented in a separate paper.

Simulated wind-generated inertial oscillations compared to current measurements in the northern North Sea

NASA Astrophysics Data System (ADS)

Bruserud, Kjersti; Haver, Sverre; Myrhaug, Dag

2018-04-01

Measured current speed data show that episodes of wind-generated inertial oscillations dominate the current conditions in parts of the northern North Sea. In order to acquire current data of sufficient duration for robust estimation of joint metocean design conditions, such as wind, waves, and currents, a simple model for episodes of wind-generated inertial oscillations is adapted for the northern North Sea. The model is validated with and compared against measured current data at one location in the northern North Sea and found to reproduce the measured maximum current speed in each episode with considerable accuracy. The comparison is further improved when a small general background current is added to the simulated maximum current speeds. Extreme values of measured and simulated current speed are estimated and found to compare well. To assess the robustness of the model and the sensitivity of current conditions from location to location, the validated model is applied at three other locations in the northern North Sea. In general, the simulated maximum current speeds are smaller than the measured, suggesting that wind-generated inertial oscillations are not as prominent at these locations and that other current conditions may be governing. Further analysis of the simulated current speed and joint distribution of wind, waves, and currents for design of offshore structures will be presented in a separate paper.

Characterizing challenged Minnesota ballots

NASA Astrophysics Data System (ADS)

Nagy, George; Lopresti, Daniel; Barney Smith, Elisa H.; Wu, Ziyan

2011-01-01

Photocopies of the ballots challenged in the 2008 Minnesota elections, which constitute a public record, were scanned on a high-speed scanner and made available on a public radio website. The PDF files were downloaded, converted to TIF images, and posted on the PERFECT website. Based on a review of relevant image-processing aspects of paper-based election machinery and on additional statistics and observations on the posted sample data, robust tools were developed for determining the underlying grid of the targets on these ballots regardless of skew, clipping, and other degradations caused by high-speed copying and digitization. The accuracy and robustness of a method based on both index-marks and oval targets are demonstrated on 13,435 challenged ballot page images.

Information processing characteristics in subtypes of multiple sclerosis.

PubMed

De Sonneville, L M J; Boringa, J B; Reuling, I E W; Lazeron, R H C; Adèr, H J; Polman, C H

2002-01-01

The purpose of this study was to evaluate information processing characteristics in patients with multiple sclerosis (MS). We selected 53 patients with MS and 58 matched healthy controls. Using computerized tests, we investigated focused, divided, sustained attention, and executive function, and attempted to pinpoint deficits in attentional control to peripheral or central processing stages. The results substantiate the hypothesis that the slowing of attention-demanding (controlled) information processing underlying more complex cognitive skills is general, i.e. irrespective of type of controlled processing, with MS patients being 40% slower than controls. MS patients may suffer from focused, and divided and sustained attention deficits, as well as from compromised central processing stages, with secondary progressive (SP) patients showing the most extensive range of deficits, closely followed by primary progressive (PP) patients, while relapsing-remitting (RR) patients appear to be much less affected. General slowing appears to be highest in PP and SP type MS patients (50% slower) versus relapsing-remitting MS (24% slower). In contrast to most previous results, (complex) processing speed appeared to be robustly correlated with severity of MS as measured by the expanded disability status scale and with disease duration. Patients did much less differ in accuracy of processing from controls, suggesting the importance of using time strategies in planning everyday life and job activities to compensate for or alleviate MS-related speed handicaps. Copyright 2002 Elsevier Science Ltd.

Three-tier rough superhydrophobic surfaces

NASA Astrophysics Data System (ADS)

Cao, Yuanzhi; Yuan, Longyan; Hu, Bin; Zhou, Jun

2015-08-01

A three-tier rough superhydrophobic surface was fabricated by growing hydrophobic modified (fluorinated silane) zinc oxide (ZnO)/copper oxide (CuO) hetero-hierarchical structures on silicon (Si) micro-pillar arrays. Compared with the other three control samples with a less rough tier, the three-tier surface exhibits the best water repellency with the largest contact angle 161° and the lowest sliding angle 0.5°. It also shows a robust Cassie state which enables the water to flow with a speed over 2 m s-1. In addition, it could prevent itself from being wetted by the droplet with low surface tension (mixed water and ethanol 1:1 in volume) which reveals a flow speed of 0.6 m s-1 (dropped from the height of 2 cm). All these features prove that adding another rough tier on a two-tier rough surface could futher improve its water-repellent properties.

Polya's bees: A model of decentralized decision-making.

PubMed

Golman, Russell; Hagmann, David; Miller, John H

2015-09-01

How do social systems make decisions with no single individual in control? We observe that a variety of natural systems, including colonies of ants and bees and perhaps even neurons in the human brain, make decentralized decisions using common processes involving information search with positive feedback and consensus choice through quorum sensing. We model this process with an urn scheme that runs until hitting a threshold, and we characterize an inherent tradeoff between the speed and the accuracy of a decision. The proposed common mechanism provides a robust and effective means by which a decentralized system can navigate the speed-accuracy tradeoff and make reasonably good, quick decisions in a variety of environments. Additionally, consensus choice exhibits systemic risk aversion even while individuals are idiosyncratically risk-neutral. This too is adaptive. The model illustrates how natural systems make decentralized decisions, illuminating a mechanism that engineers of social and artificial systems could imitate.

Continuous high speed coherent one-way quantum key distribution.

PubMed

Stucki, Damien; Barreiro, Claudio; Fasel, Sylvain; Gautier, Jean-Daniel; Gay, Olivier; Gisin, Nicolas; Thew, Rob; Thoma, Yann; Trinkler, Patrick; Vannel, Fabien; Zbinden, Hugo

2009-08-03

Quantum key distribution (QKD) is the first commercial quantum technology operating at the level of single quanta and is a leading light for quantum-enabled photonic technologies. However, controlling these quantum optical systems in real world environments presents significant challenges. For the first time, we have brought together three key concepts for future QKD systems: a simple high-speed protocol; high performance detection; and integration both, at the component level and for standard fibre network connectivity. The QKD system is capable of continuous and autonomous operation, generating secret keys in real time. Laboratory and field tests were performed and comparisons made with robust InGaAs avalanche photodiodes and superconducting detectors. We report the first real world implementation of a fully functional QKD system over a 43 dB-loss (150 km) transmission line in the Swisscom fibre optic network where we obtained average real-time distribution rates over 3 hours of 2.5 bps.

Polya’s bees: A model of decentralized decision-making

PubMed Central

Golman, Russell; Hagmann, David; Miller, John H.

2015-01-01

How do social systems make decisions with no single individual in control? We observe that a variety of natural systems, including colonies of ants and bees and perhaps even neurons in the human brain, make decentralized decisions using common processes involving information search with positive feedback and consensus choice through quorum sensing. We model this process with an urn scheme that runs until hitting a threshold, and we characterize an inherent tradeoff between the speed and the accuracy of a decision. The proposed common mechanism provides a robust and effective means by which a decentralized system can navigate the speed-accuracy tradeoff and make reasonably good, quick decisions in a variety of environments. Additionally, consensus choice exhibits systemic risk aversion even while individuals are idiosyncratically risk-neutral. This too is adaptive. The model illustrates how natural systems make decentralized decisions, illuminating a mechanism that engineers of social and artificial systems could imitate. PMID:26601255

Three-tier rough superhydrophobic surfaces.

PubMed

Cao, Yuanzhi; Yuan, Longyan; Hu, Bin; Zhou, Jun

2015-08-07

A three-tier rough superhydrophobic surface was fabricated by growing hydrophobic modified (fluorinated silane) zinc oxide (ZnO)/copper oxide (CuO) hetero-hierarchical structures on silicon (Si) micro-pillar arrays. Compared with the other three control samples with a less rough tier, the three-tier surface exhibits the best water repellency with the largest contact angle 161° and the lowest sliding angle 0.5°. It also shows a robust Cassie state which enables the water to flow with a speed over 2 m s(-1). In addition, it could prevent itself from being wetted by the droplet with low surface tension (mixed water and ethanol 1:1 in volume) which reveals a flow speed of 0.6 m s(-1) (dropped from the height of 2 cm). All these features prove that adding another rough tier on a two-tier rough surface could futher improve its water-repellent properties.

Tiltrotor Vibration Reduction Through Higher Harmonic Control

NASA Technical Reports Server (NTRS)

Nixon, Mark W.; Kvaternik, Raymond G.; Settle, T. Ben

1997-01-01

The results of a joint NASA/Army/Bell Helicopter Textron wind-tunnel test to assess the potential of higher harmonic control (HHC) for reducing vibrations in tiltrotor aircraft operating in the airplane mode of flight, and to evaluate the effectiveness of a Bell-developed HHC algorithm called MAVSS (Multipoint Adaptive Vibration Suppression System) are presented. The test was conducted in the Langley Transonic Dynamics Tunnel using an unpowered 1/5-scale semispan aeroelastic model of the V-22 which was modified to incorporate an HHC system employing both the rotor swashplate and the wing flaperon. The effectiveness of the swashplate and the flaperon acting either singly or in combination in reducing IP and 3P wing vibrations over a wide range of tunnel airspeeds and rotor rotational speeds was demonstrated. The MAVSS algorithm was found to be robust to variations in tunnel airspeed and rotor speed, requiring only occasional on-line recalculations of the system transfer matrix. HHC had only a small (usually beneficial) effect on blade loads but increased pitch link loads by 25%. No degradation in aeroelastic stability was noted for any of the conditions tested.

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

Real-time laser cladding control with variable spot size

NASA Astrophysics Data System (ADS)

Arias, J. L.; Montealegre, M. A.; Vidal, F.; Rodríguez, J.; Mann, S.; Abels, P.; Motmans, F.

2014-03-01

Laser cladding processing has been used in different industries to improve the surface properties or to reconstruct damaged pieces. In order to cover areas considerably larger than the diameter of the laser beam, successive partially overlapping tracks are deposited. With no control over the process variables this conduces to an increase of the temperature, which could decrease mechanical properties of the laser cladded material. Commonly, the process is monitored and controlled by a PC using cameras, but this control suffers from a lack of speed caused by the image processing step. The aim of this work is to design and develop a FPGA-based laser cladding control system. This system is intended to modify the laser beam power according to the melt pool width, which is measured using a CMOS camera. All the control and monitoring tasks are carried out by a FPGA, taking advantage of its abundance of resources and speed of operation. The robustness of the image processing algorithm is assessed, as well as the control system performance. Laser power is decreased as substrate temperature increases, thus maintaining a constant clad width. This FPGA-based control system is integrated in an adaptive laser cladding system, which also includes an adaptive optical system that will control the laser focus distance on the fly. The whole system will constitute an efficient instrument for part repair with complex geometries and coating selective surfaces. This will be a significant step forward into the total industrial implementation of an automated industrial laser cladding process.

A time-accurate implicit method for chemical non-equilibrium flows at all speeds

NASA Technical Reports Server (NTRS)

Shuen, Jian-Shun

1992-01-01

A new time accurate coupled solution procedure for solving the chemical non-equilibrium Navier-Stokes equations over a wide range of Mach numbers is described. The scheme is shown to be very efficient and robust for flows with velocities ranging from M less than or equal to 10(exp -10) to supersonic speeds.

Behavior analysis of CMOS D flip-flops

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

Chao, H.J.; Johnston, C.A.

1989-10-01

In this paper, the authors analyze two {ital D} flip-flops (DFF's) generally considered to be the fastest (and most widely used), and compare their speed performance and their robustness against clock skew when a two-phase clocking scheme is applied. The effect of clock skew on their speed and proper logic operation is analyzed and verified with SPICE simulation.

Patents and the Global Diffusion of New Drugs.

PubMed

Cockburn, Iain M; Lanjouw, Jean O; Schankerman, Mark

2016-01-01

Analysis of the timing of launches of 642 new drugs in 76 countries during 1983–2002 shows that patent and price regulation regimes strongly affect how quickly new drugs become commercially available in different countries. Price regulation delays launch, while longer and more extensive patent rights accelerate it. Health policy institutions and economic and demographic factors that make markets more profitable also speed up diffusion. The estimated effects are generally robust to controlling for endogeneity of policy regimes with country fixed effects and instrumental variables. The results highlight the important role of policy choices in driving the diffusion of new innovations.

Statistical evidence of strain induced breaking of metallic point contacts

NASA Astrophysics Data System (ADS)

Alwan, Monzer; Candoni, Nadine; Dumas, Philippe; Klein, Hubert R.

2013-06-01

A scanning tunneling microscopy in break junction regime and a mechanically controllable break junction are used to acquire thousands of conductance-elongation curves by stretching until breaking and re-connecting Au junctions. From a robust statistical analysis performed on large sets of experiments, parameters such as lifetime, elongation and occurrence probabilities are extracted. The analysis of results obtained for different stretching speeds of the electrodes indicates that the breaking mechanism of di- and mono-atomic junction is identical, and that the junctions undergo atomic rearrangement during their stretching and at the moment of breaking.

A novel architecture of recovered data comparison for high speed clock and data recovery

NASA Astrophysics Data System (ADS)

Gao, Susan; Li, Fei; Wang, Zhigong; Cui, Hongliang

2005-05-01

A clock and data recovery (CDR) circuit is one of the crucial blocks in high-speed serial link communication systems. The data received in these systems are asynchronous and noisy, requiring that a clock be extracted to allow synchronous operations. Furthermore, the data must be "retimed" so that the jitter accumulated during transmission is removed. This paper presents a novel architecture of CDR, which is very tolerant to long sequences of serial ones or zeros and also robust to occasional long absence of transitions. The design is based on the fact that a basic clock recovery having a clock recovery circuit (CRC) and a data decision circuit separately would generate a high jitter clock when the received non-return-to-zero (NRZ) data with long sequences of ones or zeros. To eliminate this drawback, the proposed architecture incorporates a data circuit decision circuit within the phase-locked loop (PLL) CRC. Other than this, a new phase detector (PD) is also proposed, which was easy to accomplish and robust at high speed. This PD is functional with a random input and automatically turns to disable during both the locked state and long absence of transitions. The voltage-controlled oscillator (VCO) is also designed delicately to suppress the jitter. Due to the high stability, the jitter is highly reduced when the loop is locked. The simulation results of such CDR working at 1.25Gb/s particularly for 1000BASE-X Gigabit Ethernet by using TSMC 0.25μm technology are presented to prove the feasibility of this architecture. One more CDR based on edge detection architecture is also built in the circuit for performance comparisons.

An inductance Fourier decomposition-based current-hysteresis control strategy for switched reluctance motors

NASA Astrophysics Data System (ADS)

Hua, Wei; Qi, Ji; Jia, Meng

2017-05-01

Switched reluctance machines (SRMs) have attracted extensive attentions due to the inherent advantages, including simple and robust structure, low cost, excellent fault-tolerance and wide speed range, etc. However, one of the bottlenecks limiting the SRMs for further applications is its unfavorable torque ripple, and consequently noise and vibration due to the unique doubly-salient structure and pulse-current-based power supply method. In this paper, an inductance Fourier decomposition-based current-hysteresis-control (IFD-CHC) strategy is proposed to reduce torque ripple of SRMs. After obtaining a nonlinear inductance-current-position model based Fourier decomposition, reference currents can be calculated by reference torque and the derived inductance model. Both the simulations and experimental results confirm the effectiveness of the proposed strategy.

Multi-energy x-ray imaging and sensing for diagnostic and control of the burning plasma.

PubMed

Stutman, D; Tritz, K; Finkenthal, M

2012-10-01

New diagnostic and sensor designs are needed for future burning plasma (BP) fusion experiments, having good space and time resolution and capable of prolonged operation in the harsh BP environment. We evaluate the potential of multi-energy x-ray imaging with filtered detector arrays for BP diagnostic and control. Experimental studies show that this simple and robust technique enables measuring with good accuracy, speed, and spatial resolution the T(e) profile, impurity content, and MHD activity in a tokamak. Applied to the BP this diagnostic could also serve for non-magnetic sensing of the plasma position, centroid, ELM, and RWM instability. BP compatible x-ray sensors are proposed using "optical array" or "bi-cell" detectors.

Integration of uniform design and quantum-behaved particle swarm optimization to the robust design for a railway vehicle suspension system under different wheel conicities and wheel rolling radii

NASA Astrophysics Data System (ADS)

Cheng, Yung-Chang; Lee, Cheng-Kang

2017-10-01

This paper proposes a systematic method, integrating the uniform design (UD) of experiments and quantum-behaved particle swarm optimization (QPSO), to solve the problem of a robust design for a railway vehicle suspension system. Based on the new nonlinear creep model derived from combining Hertz contact theory, Kalker's linear theory and a heuristic nonlinear creep model, the modeling and dynamic analysis of a 24 degree-of-freedom railway vehicle system were investigated. The Lyapunov indirect method was used to examine the effects of suspension parameters, wheel conicities and wheel rolling radii on critical hunting speeds. Generally, the critical hunting speeds of a vehicle system resulting from worn wheels with different wheel rolling radii are lower than those of a vehicle system having original wheels without different wheel rolling radii. Because of worn wheels, the critical hunting speed of a running railway vehicle substantially declines over the long term. For safety reasons, it is necessary to design the suspension system parameters to increase the robustness of the system and decrease the sensitive of wheel noises. By applying UD and QPSO, the nominal-the-best signal-to-noise ratio of the system was increased from -48.17 to -34.05 dB. The rate of improvement was 29.31%. This study has demonstrated that the integration of UD and QPSO can successfully reveal the optimal solution of suspension parameters for solving the robust design problem of a railway vehicle suspension system.

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.

Online monitoring of dynamic tip clearance of turbine blades in high temperature environments

NASA Astrophysics Data System (ADS)

Han, Yu; Zhong, Chong; Zhu, Xiaoliang; Zhe, Jiang

2018-04-01

Minimized tip clearance reduces the gas leakage over turbine blade tips and improves the thrust and efficiency of turbomachinery. An accurate tip clearance sensor, measuring the dynamic clearances between blade tips and the turbine case, is a critical component for tip clearance control. This paper presents a robust inductive tip clearance sensor capable of monitoring dynamic tip clearances of turbine machines in high-temperature environments and at high rotational speeds. The sensor can also self-sense the temperature at a blade tip in situ such that temperature effect on tip clearance measurement can be estimated and compensated. To evaluate the sensor’s performance, the sensor was tested for measuring the tip clearances of turbine blades under various working temperatures ranging from 700 K to 1300 K and at turbine rotational speeds ranging from 3000 to 10 000 rpm. The blade tip clearance was varied from 50 to 2000 µm. The experiment results proved that the sensor can accurately measure the blade tip clearances with a temporal resolution of 10 µm. The capability of accurately measuring the tip clearances at high temperatures (~1300 K) and high turbine rotation speeds (~30 000 rpm), along with its compact size, makes it promising for online monitoring and active control of blade tip clearances of high-temperature turbomachinery.

A real-time 3D range image sensor based on a novel tip-tilt-piston micromirror and dual frequency phase shifting

NASA Astrophysics Data System (ADS)

Skotheim, Øystein; Schumann-Olsen, Henrik; Thorstensen, Jostein; Kim, Anna N.; Lacolle, Matthieu; Haugholt, Karl-Henrik; Bakke, Thor

2015-03-01

Structured light is a robust and accurate method for 3D range imaging in which one or more light patterns are projected onto the scene and observed with an off-axis camera. Commercial sensors typically utilize DMD- or LCD-based LED projectors, which produce good results but have a number of drawbacks, e.g. limited speed, limited depth of focus, large sensitivity to ambient light and somewhat low light efficiency. We present a 3D imaging system based on a laser light source and a novel tip-tilt-piston micro-mirror. Optical interference is utilized to create sinusoidal fringe patterns. The setup allows fast and easy control of both the frequency and the phase of the fringe patterns by altering the axes of the micro-mirror. For 3D reconstruction we have adapted a Dual Frequency Phase Shifting method which gives robust range measurements with sub-millimeter accuracy. The use of interference for generating sine patterns provides high light efficiency and good focusing properties. The use of a laser and a bandpass filter allows easy removal of ambient light. The fast response of the micro-mirror in combination with a high-speed camera and real-time processing on the GPU allows highly accurate 3D range image acquisition at video rates.

Air Traffic Controllers' Control Strategies in the Terminal Area Under Off-Nominal Conditions

NASA Technical Reports Server (NTRS)

Martin, Lynne; Mercer, Joey; Callantine, Todd; Kupfer, Michael; Cabrall, Christopher

2012-01-01

A human-in-the-loop simulation investigated the robustness of a schedule-based terminal-area air traffic management concept, and its supporting controller tools, to off-nominal events - events that led to situations in which runway arrival schedules required adjustments and controllers could no longer use speed control alone to impose the necessary delays. The main research question was exploratory: to assess whether controllers could safely resolve and control the traffic during off-nominal events. A focus was the role of the supervisor - how he managed the schedules, how he assisted the controllers, what strategies he used, and which combinations of tools he used. Observations and questionnaire responses revealed supervisor strategies for resolving events followed a similar pattern: a standard approach specific to each type of event often resolved to a smooth conclusion. However, due to the range of factors influencing the event (e.g., environmental conditions, aircraft density on the schedule, etc.), sometimes the plan required revision and actions had a wide-ranging effect.

Learning and tuning fuzzy logic controllers through reinforcements

NASA Technical Reports Server (NTRS)

Berenji, Hamid R.; Khedkar, Pratap

1992-01-01

A new method for learning and tuning a fuzzy logic controller based on reinforcements from a dynamic system is presented. In particular, our Generalized Approximate Reasoning-based Intelligent Control (GARIC) architecture: (1) learns and tunes a fuzzy logic controller even when only weak reinforcements, such as a binary failure signal, is available; (2) introduces a new conjunction operator in computing the rule strengths of fuzzy control rules; (3) introduces a new localized mean of maximum (LMOM) method in combining the conclusions of several firing control rules; and (4) learns to produce real-valued control actions. Learning is achieved by integrating fuzzy inference into a feedforward network, which can then adaptively improve performance by using gradient descent methods. We extend the AHC algorithm of Barto, Sutton, and Anderson to include the prior control knowledge of human operators. The GARIC architecture is applied to a cart-pole balancing system and has demonstrated significant improvements in terms of the speed of learning and robustness to changes in the dynamic system's parameters over previous schemes for cart-pole balancing.

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

NASA Technical Reports Server (NTRS)

Yuan, Bau-San

1989-01-01

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

Multivariable Robust Control of a Simulated Hybrid Solid Oxide Fuel Cell Gas Turbine Plant

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

Tsai, Alex; Banta, Larry; Tucker, David

2010-08-01

This work presents a systematic approach to the multivariable robust control of a hybrid fuel cell gas turbine plant. The hybrid configuration under investigation built by the National Energy Technology Laboratory comprises a physical simulation of a 300kW fuel cell coupled to a 120kW auxiliary power unit single spool gas turbine. The public facility provides for the testing and simulation of different fuel cell models that in turn help identify the key difficulties encountered in the transient operation of such systems. An empirical model of the built facility comprising a simulated fuel cell cathode volume and balance of plant componentsmore » is derived via frequency response data. Through the modulation of various airflow bypass valves within the hybrid configuration, Bode plots are used to derive key input/output interactions in transfer function format. A multivariate system is then built from individual transfer functions, creating a matrix that serves as the nominal plant in an H{sub {infinity}} robust control algorithm. The controller’s main objective is to track and maintain hybrid operational constraints in the fuel cell’s cathode airflow, and the turbo machinery states of temperature and speed, under transient disturbances. This algorithm is then tested on a Simulink/MatLab platform for various perturbations of load and fuel cell heat effluence. As a complementary tool to the aforementioned empirical plant, a nonlinear analytical model faithful to the existing process and instrumentation arrangement is evaluated and designed in the Simulink environment. This parallel task intends to serve as a building block to scalable hybrid configurations that might require a more detailed nonlinear representation for a wide variety of controller schemes and hardware implementations.« less

Robust analysis method for acoustic properties of biological specimens measured by acoustic microscopy

NASA Astrophysics Data System (ADS)

Arakawa, Mototaka; Mori, Shohei; Kanai, Hiroshi; Nagaoka, Ryo; Horie, Miki; Kobayashi, Kazuto; Saijo, Yoshifumi

2018-07-01

We proposed a robust analysis method for the acoustic properties of biological specimens measured by acoustic microscopy. Reflected pulse signals from the substrate and specimen were converted into frequency domains to obtain sound speed and thickness. To obtain the average acoustic properties of the specimen, parabolic approximation was performed to determine the frequency at which the amplitude of the normalized spectrum became maximum or minimum, considering the sound speed and thickness of the specimens and the operating frequency of the ultrasonic device used. The proposed method was demonstrated for a specimen of malignant melanoma of the skin by using acoustic microscopy attaching a concave transducer with a center frequency of 80 MHz. The variations in sound speed and thickness analyzed by the proposed method were markedly smaller than those analyzed by the method based on an autoregressive model. The proposed method is useful for the analysis of the acoustic properties of bilogical tissues or cells.

a Variant of Lsd-Slam Capable of Processing High-Speed Low-Framerate Monocular Datasets

NASA Astrophysics Data System (ADS)

Schmid, S.; Fritsch, D.

2017-11-01

We develop a new variant of LSD-SLAM, called C-LSD-SLAM, which is capable of performing monocular tracking and mapping in high-speed low-framerate situations such as those of the KITTI datasets. The methods used here are robust against the influence of erronously triangulated points near the epipolar direction, which otherwise causes tracking divergence.

A Robust Step Detection Algorithm and Walking Distance Estimation Based on Daily Wrist Activity Recognition Using a Smart Band.

PubMed

Trong Bui, Duong; Nguyen, Nhan Duc; Jeong, Gu-Min

2018-06-25

Human activity recognition and pedestrian dead reckoning are an interesting field because of their importance utilities in daily life healthcare. Currently, these fields are facing many challenges, one of which is the lack of a robust algorithm with high performance. This paper proposes a new method to implement a robust step detection and adaptive distance estimation algorithm based on the classification of five daily wrist activities during walking at various speeds using a smart band. The key idea is that the non-parametric adaptive distance estimator is performed after two activity classifiers and a robust step detector. In this study, two classifiers perform two phases of recognizing five wrist activities during walking. Then, a robust step detection algorithm, which is integrated with an adaptive threshold, peak and valley correction algorithm, is applied to the classified activities to detect the walking steps. In addition, the misclassification activities are fed back to the previous layer. Finally, three adaptive distance estimators, which are based on a non-parametric model of the average walking speed, calculate the length of each strike. The experimental results show that the average classification accuracy is about 99%, and the accuracy of the step detection is 98.7%. The error of the estimated distance is 2.2⁻4.2% depending on the type of wrist activities.

The Accuracy and Correction of Fuel Consumption from Controller Area Network Broadcast

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

Wang, Lijuan; Gonder, Jeffrey D; Wood, Eric W

Fuel consumption (FC) has always been an important factor in vehicle cost. With the advent of electronically controlled engines, the controller area network (CAN) broadcasts information about engine and vehicle performance, including fuel use. However, the accuracy of the FC estimates is uncertain. In this study, the researchers first compared CAN-broadcasted FC against physically measured fuel use for three different types of trucks, which revealed the inaccuracies of CAN-broadcast fueling estimates. To match precise gravimetric fuel-scale measurements, polynomial models were developed to correct the CAN-broadcasted FC. Lastly, the robustness testing of the correction models was performed. The training cycles inmore » this section included a variety of drive characteristics, such as high speed, acceleration, idling, and deceleration. The mean relative differences were reduced noticeably.« less

Intracycle angular velocity control of cross-flow turbines

NASA Astrophysics Data System (ADS)

Strom, Benjamin; Brunton, Steven L.; Polagye, Brian

2017-08-01

Cross-flow turbines, also known as vertical-axis turbines, are attractive for power generation from wind and water currents. Some cross-flow turbine designs optimize unsteady fluid forces and maximize power output by controlling blade kinematics within one rotation. One established method is to dynamically pitch the blades. Here we introduce a mechanically simpler alternative: optimize the turbine rotation rate as a function of angular blade position. We demonstrate experimentally that this approach results in a 59% increase in power output over standard control methods. Analysis of fluid forcing and blade kinematics suggest that power increase is achieved through modification of the local flow conditions and alignment of fluid force and rotation rate extrema. The result is a low-speed, structurally robust turbine that achieves high efficiency and could enable a new generation of environmentally benign turbines for renewable power generation.

Refined Synthesis and Characterization of Controlled Diameter, Narrow Size Distribution Microparticles for Aerospace Research Applications

NASA Technical Reports Server (NTRS)

Tiemsin, Pacita I.; Wohl, Christopher J.

2012-01-01

Flow visualization using polystyrene microspheres (PSL)s has enabled researchers to learn a tremendous amount of information via particle based diagnostic techniques. To better accommodate wind tunnel researchers needs, PSL synthesis via dispersion polymerization has been carried out at NASA Langley Research Center since the late 1980s. When utilizing seed material for flow visualization, size and size distribution are of paramount importance. Therefore, the work described here focused on further refinement of PSL synthesis and characterization. Through controlled variation of synthetic conditions (chemical concentrations, solution stirring speed, temperature, etc.) a robust, controllable procedure was developed. The relationship between particle size and salt concentration, MgSO4, was identified enabling the determination of PSL diameters a priori. Suggestions of future topics related to PSL synthesis, stability, and size variation are also described.

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.

Using an Improved SIFT Algorithm and Fuzzy Closed-Loop Control Strategy for Object Recognition in Cluttered Scenes

PubMed Central

Nie, Haitao; Long, Kehui; Ma, Jun; Yue, Dan; Liu, Jinguo

2015-01-01

Partial occlusions, large pose variations, and extreme ambient illumination conditions generally cause the performance degradation of object recognition systems. Therefore, this paper presents a novel approach for fast and robust object recognition in cluttered scenes based on an improved scale invariant feature transform (SIFT) algorithm and a fuzzy closed-loop control method. First, a fast SIFT algorithm is proposed by classifying SIFT features into several clusters based on several attributes computed from the sub-orientation histogram (SOH), in the feature matching phase only features that share nearly the same corresponding attributes are compared. Second, a feature matching step is performed following a prioritized order based on the scale factor, which is calculated between the object image and the target object image, guaranteeing robust feature matching. Finally, a fuzzy closed-loop control strategy is applied to increase the accuracy of the object recognition and is essential for autonomous object manipulation process. Compared to the original SIFT algorithm for object recognition, the result of the proposed method shows that the number of SIFT features extracted from an object has a significant increase, and the computing speed of the object recognition processes increases by more than 40%. The experimental results confirmed that the proposed method performs effectively and accurately in cluttered scenes. PMID:25714094

Sensorless Modeling of Varying Pulse Width Modulator Resolutions in Three-Phase Induction Motors

PubMed Central

Marko, Matthew David; Shevach, Glenn

2017-01-01

A sensorless algorithm was developed to predict rotor speeds in an electric three-phase induction motor. This sensorless model requires a measurement of the stator currents and voltages, and the rotor speed is predicted accurately without any mechanical measurement of the rotor speed. A model of an electric vehicle undergoing acceleration was built, and the sensorless prediction of the simulation rotor speed was determined to be robust even in the presence of fluctuating motor parameters and significant sensor errors. Studies were conducted for varying pulse width modulator resolutions, and the sensorless model was accurate for all resolutions of sinusoidal voltage functions. PMID:28076418

Sensorless Modeling of Varying Pulse Width Modulator Resolutions in Three-Phase Induction Motors.

PubMed

Marko, Matthew David; Shevach, Glenn

2017-01-01

A sensorless algorithm was developed to predict rotor speeds in an electric three-phase induction motor. This sensorless model requires a measurement of the stator currents and voltages, and the rotor speed is predicted accurately without any mechanical measurement of the rotor speed. A model of an electric vehicle undergoing acceleration was built, and the sensorless prediction of the simulation rotor speed was determined to be robust even in the presence of fluctuating motor parameters and significant sensor errors. Studies were conducted for varying pulse width modulator resolutions, and the sensorless model was accurate for all resolutions of sinusoidal voltage functions.

Cognitive Associates of Current and More Intensive Control of Hypertension: Findings From the Hispanic Community Health Study/Study of Latinos.

PubMed

Lamar, Melissa; Wu, Donghong; Durazo-Arvizu, Ramon A; Brickman, Adam M; Gonzalez, Hector M; Tarraf, Wassim; Daviglus, Martha L

2017-06-01

Hypertension control in Hispanics/Latinos lag behind general US trends by 10-15%. Intensive systolic blood pressure (SBP) management <120 mm Hg may significantly reduce morbidity/mortality risk in adults with hypertension; less is known about cognition. We investigated cross-sectional associations of cognition with observed hypertension control at currently recommended (SBP < 140 mm Hg) and more intensive (SBP < 120 mm Hg) levels using baseline data from the Hispanic Community Health Study/Study of Latinos. From this multicenter cohort study, we focused on 1,735 Hispanic/Latino men and women ages 45-74 years with hypertension and verified antihypertensive use. Verbal fluency, information processing speed, learning, and memory were tested in Spanish or English. Separate linear regressions revealed that being on 1 vs. >1 antihypertensive medication was not associated with cognition; however, individuals with SBP controlled to currently recommended levels outperformed individuals with uncontrolled SBP on verbal fluency [Beta = 1.44 (0.52), P < 0.01] and information processing speed [Beta = 3.01 (0.89), P < 0.001] in age-adjusted regression analyses; only information processing speed remained significant (P < 0.05) after additional adjustments including acculturation, health insurance, and other cardiovascular disease risk factors. When regrouping individuals based on more intensive SBP control, individuals with levels <120 mm Hg outperformed individuals with higher SBP on verbal fluency regardless of adjustments (P < 0.01). More intensive rather than currently recommended levels of control associated with higher verbal fluency performance regardless of adjustments (P < 0.05). Individual cognitive test scores related to distinct SBP management with more intensive management appearing more robust against confounders. While cognitive associations with hypertension in Hispanics/Latinos may be multifactorial, different levels of SBP control should be considered in future prospective intervention studies. © American Journal of Hypertension, Ltd 2017. All rights reserved. For Permissions, please email: journals.permissions@oup.com

LiveWire interactive boundary extraction algorithm based on Haar wavelet transform and control point set direction search

NASA Astrophysics Data System (ADS)

Cheng, Jun; Zhang, Jun; Tian, Jinwen

2015-12-01

Based on deep analysis of the LiveWire interactive boundary extraction algorithm, a new algorithm focusing on improving the speed of LiveWire algorithm is proposed in this paper. Firstly, the Haar wavelet transform is carried on the input image, and the boundary is extracted on the low resolution image obtained by the wavelet transform of the input image. Secondly, calculating LiveWire shortest path is based on the control point set direction search by utilizing the spatial relationship between the two control points users provide in real time. Thirdly, the search order of the adjacent points of the starting node is set in advance. An ordinary queue instead of a priority queue is taken as the storage pool of the points when optimizing their shortest path value, thus reducing the complexity of the algorithm from O[n2] to O[n]. Finally, A region iterative backward projection method based on neighborhood pixel polling has been used to convert dual-pixel boundary of the reconstructed image to single-pixel boundary after Haar wavelet inverse transform. The algorithm proposed in this paper combines the advantage of the Haar wavelet transform and the advantage of the optimal path searching method based on control point set direction search. The former has fast speed of image decomposition and reconstruction and is more consistent with the texture features of the image and the latter can reduce the time complexity of the original algorithm. So that the algorithm can improve the speed in interactive boundary extraction as well as reflect the boundary information of the image more comprehensively. All methods mentioned above have a big role in improving the execution efficiency and the robustness of the algorithm.

Vision based speed breaker detection for autonomous vehicle

NASA Astrophysics Data System (ADS)

C. S., Arvind; Mishra, Ritesh; Vishal, Kumar; Gundimeda, Venugopal

2018-04-01

In this paper, we are presenting a robust and real-time, vision-based approach to detect speed breaker in urban environments for autonomous vehicle. Our method is designed to detect the speed breaker using visual inputs obtained from a camera mounted on top of a vehicle. The method performs inverse perspective mapping to generate top view of the road and segment out region of interest based on difference of Gaussian and median filter images. Furthermore, the algorithm performs RANSAC line fitting to identify the possible speed breaker candidate region. This initial guessed region via RANSAC, is validated using support vector machine. Our algorithm can detect different categories of speed breakers on cement, asphalt and interlock roads at various conditions and have achieved a recall of 0.98.

Robust Stacking-Independent Ultrafast Charge Transfer in MoS2/WS2 Bilayers.

PubMed

Ji, Ziheng; Hong, Hao; Zhang, Jin; Zhang, Qi; Huang, Wei; Cao, Ting; Qiao, Ruixi; Liu, Can; Liang, Jing; Jin, Chuanhong; Jiao, Liying; Shi, Kebin; Meng, Sheng; Liu, Kaihui

2017-12-26

Van der Waals-coupled two-dimensional (2D) heterostructures have attracted great attention recently due to their high potential in the next-generation photodetectors and solar cells. The understanding of charge-transfer process between adjacent atomic layers is the key to design optimal devices as it directly determines the fundamental response speed and photon-electron conversion efficiency. However, general belief and theoretical studies have shown that the charge transfer behavior depends sensitively on interlayer configurations, which is difficult to control accurately, bringing great uncertainties in device designing. Here we investigate the ultrafast dynamics of interlayer charge transfer in a prototype heterostructure, the MoS 2 /WS 2 bilayer with various stacking configurations, by optical two-color ultrafast pump-probe spectroscopy. Surprisingly, we found that the charge transfer is robust against varying interlayer twist angles and interlayer coupling strength, in time scale of ∼90 fs. Our observation, together with atomic-resolved transmission electron characterization and time-dependent density functional theory simulations, reveals that the robust ultrafast charge transfer is attributed to the heterogeneous interlayer stretching/sliding, which provides additional channels for efficient charge transfer previously unknown. Our results elucidate the origin of transfer rate robustness against interlayer stacking configurations in optical devices based on 2D heterostructures, facilitating their applications in ultrafast and high-efficient optoelectronic and photovoltaic devices in the near future.

Transition by head-on collision: mechanically mediated manoeuvres in cockroaches and small robots.

PubMed

Jayaram, Kaushik; Mongeau, Jean-Michel; Mohapatra, Anand; Birkmeyer, Paul; Fearing, Ronald S; Full, Robert J

2018-02-01

Exceptional performance is often considered to be elegant and free of 'errors' or missteps. During the most extreme escape behaviours, neural control can approach or exceed its operating limits in response time and bandwidth. Here we show that small, rapid running cockroaches with robust exoskeletons select head-on collisions with obstacles to maintain the fastest escape speeds possible to transition up a vertical wall. Instead of avoidance, animals use their passive body shape and compliance to negotiate challenging environments. Cockroaches running at over 1 m or 50 body lengths per second transition from the floor to a vertical wall within 75 ms by using their head like an automobile bumper, mechanically mediating the manoeuvre. Inspired by the animal's behaviour, we demonstrate a passive, high-speed, mechanically mediated vertical transitions with a small, palm-sized legged robot. By creating a collision model for animal and human materials, we suggest a size dependence favouring mechanical mediation below 1 kg that we term the 'Haldane limit'. Relying on the mechanical control offered by soft exoskeletons represents a paradigm shift for understanding the control of small animals and the next generation of running, climbing and flying robots where the use of the body can off-load the demand for rapid sensing and actuation. © 2018 The Authors.

Transition by head-on collision: mechanically mediated manoeuvres in cockroaches and small robots

PubMed Central

Mongeau, Jean-Michel; Mohapatra, Anand; Birkmeyer, Paul; Fearing, Ronald S.; Full, Robert J.

2018-01-01

Exceptional performance is often considered to be elegant and free of ‘errors’ or missteps. During the most extreme escape behaviours, neural control can approach or exceed its operating limits in response time and bandwidth. Here we show that small, rapid running cockroaches with robust exoskeletons select head-on collisions with obstacles to maintain the fastest escape speeds possible to transition up a vertical wall. Instead of avoidance, animals use their passive body shape and compliance to negotiate challenging environments. Cockroaches running at over 1 m or 50 body lengths per second transition from the floor to a vertical wall within 75 ms by using their head like an automobile bumper, mechanically mediating the manoeuvre. Inspired by the animal's behaviour, we demonstrate a passive, high-speed, mechanically mediated vertical transitions with a small, palm-sized legged robot. By creating a collision model for animal and human materials, we suggest a size dependence favouring mechanical mediation below 1 kg that we term the ‘Haldane limit’. Relying on the mechanical control offered by soft exoskeletons represents a paradigm shift for understanding the control of small animals and the next generation of running, climbing and flying robots where the use of the body can off-load the demand for rapid sensing and actuation. PMID:29445036

Filtered Mass Density Function for Design Simulation of High Speed Airbreathing Propulsion Systems

NASA Technical Reports Server (NTRS)

Givi, P.; Madnia, C. K.; Gicquel, L. Y. M.; Sheikhi, M. R. H.; Drozda, T. G.

2002-01-01

The objective of this research is to improve and implement the filtered mass density function (FDF) methodology for large eddy simulation (LES) of high speed reacting turbulent flows. NASA is interested in the design of various components involved in air breathing propulsion systems such as the scramjet. There is a demand for development of robust tools that can aid in the design procedure. The physics of high speed reactive flows is rich with many complexities. LES is regarded as one of the most promising means of simulating turbulent reacting flows.

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.

Universal non-adiabatic geometric manipulation of pseudo-spin charge qubits

NASA Astrophysics Data System (ADS)

Azimi Mousolou, Vahid

2017-01-01

Reliable quantum information processing requires high-fidelity universal manipulation of quantum systems within the characteristic coherence times. Non-adiabatic holonomic quantum computation offers a promising approach to implement fast, universal, and robust quantum logic gates particularly useful in nano-fabricated solid-state architectures, which typically have short coherence times. Here, we propose an experimentally feasible scheme to realize high-speed universal geometric quantum gates in nano-engineered pseudo-spin charge qubits. We use a system of three coupled quantum dots containing a single electron, where two computational states of a double quantum dot charge qubit interact through an intermediate quantum dot. The additional degree of freedom introduced into the qubit makes it possible to create a geometric model system, which allows robust and efficient single-qubit rotations through careful control of the inter-dot tunneling parameters. We demonstrate that a capacitive coupling between two charge qubits permits a family of non-adiabatic holonomic controlled two-qubit entangling gates, and thus provides a promising procedure to maintain entanglement in charge qubits and a pathway toward fault-tolerant universal quantum computation. We estimate the feasibility of the proposed structure by analyzing the gate fidelities to some extent.

Accelerated quantum control using superadiabatic dynamics in a solid-state lambda system

DOE PAGES

Zhou, Brian B.; Baksic, Alexandre; Ribeiro, Hugo; ...

2016-11-28

Adiabatic evolutions find widespread utility in applications to quantum state engineering1 , geometric quantum computation2 , and quantum simulation3 . Although offering desirable robustness to experimental imperfections, adiabatic techniques are susceptible to decoherence during their long operation time. A recent strategy termed ‘shortcuts to adiabaticity’ 4–10 (STA) aims to circumvent this trade-off by designing fast dynamics to reproduce the results of infinitely slow, adiabatic processes. Here, as a realization of this strategy, we implement ‘superadiabatic’ transitionless driving11 (SATD) to speed up stimulated Raman adiabatic passage1,12–15 (STIRAP) in a solid-state lambda (Λ) system. Utilizing optical transitions to a dissipative excited statemore » in the nitrogen vacancy (NV) center in diamond, we demonstrate the accelerated performance of different shortcut trajectories for population transfer and for the transfer and initialization of coherent superpositions. We reveal that SATD protocols exhibit robustness to dissipation and experimental uncertainty, and can be optimized when these effects are present. These results motivate STA as a promising tool for controlling open quantum systems comprising individual or hybrid nanomechanical, superconducting, and photonic elements in the solid state12–17.« less

Palmprint Based Verification System Using SURF Features

NASA Astrophysics Data System (ADS)

Srinivas, Badrinath G.; Gupta, Phalguni

This paper describes the design and development of a prototype of robust biometric system for verification. The system uses features extracted using Speeded Up Robust Features (SURF) operator of human hand. The hand image for features is acquired using a low cost scanner. The palmprint region extracted is robust to hand translation and rotation on the scanner. The system is tested on IITK database of 200 images and PolyU database of 7751 images. The system is found to be robust with respect to translation and rotation. It has FAR 0.02%, FRR 0.01% and accuracy of 99.98% and can be a suitable system for civilian applications and high-security environments.

A Novel Speed Compensation Method for ISAR Imaging with Low SNR

PubMed Central

Liu, Yongxiang; Zhang, Shuanghui; Zhu, Dekang; Li, Xiang

2015-01-01

In this paper, two novel speed compensation algorithms for ISAR imaging under a low signal-to-noise ratio (SNR) condition have been proposed, which are based on the cubic phase function (CPF) and the integrated cubic phase function (ICPF), respectively. These two algorithms can estimate the speed of the target from the wideband radar echo directly, which breaks the limitation of speed measuring in a radar system. With the utilization of non-coherent accumulation, the ICPF-based speed compensation algorithm is robust to noise and can meet the requirement of speed compensation for ISAR imaging under a low SNR condition. Moreover, a fast searching implementation strategy, which consists of coarse search and precise search, has been introduced to decrease the computational burden of speed compensation based on CPF and ICPF. Experimental results based on radar data validate the effectiveness of the proposed algorithms. PMID:26225980

Delayed Majority Game with Heterogeneous Learning Speeds for Financial Markets

NASA Astrophysics Data System (ADS)

Yoshimura, Yushi; Yamada, Kenta

There are two famous statistical laws, so-called stylized facts, in financial markets. One is fat tail where the tail of price returns obeys a power law. The other is volatility clustering in which the autocorrelation function of absolute price returns decays with a power law. In order to understand relationships between the stylized facts and dealers' behaviors, we constructed a new agent-based model based on the grand canonical minority game (GCMG) and the Giardina-Bouchaud (GB) model. The recovery of stylized facts by GCMG and GB lacks of robustness. Therefore, based on the GCMG and GB model, we develop a new model that can reproduce stylized facts robustly. Furthermore, we find that heterogeneity of learning speeds of agents is important to reproduce the stylized facts.

Modeling and Validation of Performance Limitations for the Optimal Design of Interferometric and Intensity-Modulated Fiber Optic Displacement Sensors

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

Moro, Erik A.

Optical fiber sensors offer advantages over traditional electromechanical sensors, making them particularly well-suited for certain measurement applications. Generally speaking, optical fiber sensors respond to a desired measurand through modulation of an optical signal's intensity, phase, or wavelength. Practically, non-contacting fiber optic displacement sensors are limited to intensity-modulated and interferometric (or phase-modulated) methodologies. Intensity-modulated fiber optic displacement sensors relate target displacement to a power measurement. The simplest intensity-modulated sensor architectures are not robust to environmental and hardware fluctuations, since such variability may cause changes in the measured power level that falsely indicate target displacement. Differential intensity-modulated sensors have been implemented, offeringmore » robustness to such intensity fluctuations, and the speed of these sensors is limited only by the combined speed of the photodetection hardware and the data acquisition system (kHz-MHz). The primary disadvantages of intensity-modulated sensing are the relatively low accuracy (?m-mm for low-power sensors) and the lack of robustness, which consequently must be designed, often with great difficulty, into the sensor's architecture. White light interferometric displacement sensors, on the other hand, offer increased accuracy and robustness. Unlike their monochromatic-interferometer counterparts, white light interferometric sensors offer absolute, unambiguous displacement measurements over large displacement ranges (cm for low-power, 5 mW, sources), necessitating no initial calibration, and requiring no environmental or feedback control. The primary disadvantage of white light interferometric displacement sensors is that their utility in dynamic testing scenarios is limited, both by hardware bandwidth and by their inherent high-sensitivity to Doppler-effects. The decision of whether to use either an intensity-modulated interferometric sensor depends on an appropriate performance function (e.g., desired displacement range, accuracy, robustness, etc.). In this dissertation, the performance limitations of a bundled differential intensity-modulated displacement sensor are analyzed, where the bundling configuration has been designed to optimize performance. The performance limitations of a white light Fabry-Perot displacement sensor are also analyzed. Both these sensors are non-contacting, but they have access to different regions of the performance-space. Further, both these sensors have different degrees of sensitivity to experimental uncertainty. Made in conjunction with careful analysis, the decision of which sensor to deploy need not be an uninformed one.« less

A multi-rate DPSK modem for free-space laser communications

NASA Astrophysics Data System (ADS)

Spellmeyer, N. W.; Browne, C. A.; Caplan, D. O.; Carney, J. J.; Chavez, M. L.; Fletcher, A. S.; Fitzgerald, J. J.; Kaminsky, R. D.; Lund, G.; Hamilton, S. A.; Magliocco, R. J.; Mikulina, O. V.; Murphy, R. J.; Rao, H. G.; Scheinbart, M. S.; Seaver, M. M.; Wang, J. P.

2014-03-01

The multi-rate DPSK format, which enables efficient free-space laser communications over a wide range of data rates, is finding applications in NASA's Laser Communications Relay Demonstration. We discuss the design and testing of an efficient and robust multi-rate DPSK modem, including aspects of the electrical, mechanical, thermal, and optical design. The modem includes an optically preamplified receiver, an 0.5-W average power transmitter, a LEON3 rad-hard microcontroller that provides the command and telemetry interface and supervisory control, and a Xilinx Virtex-5 radhard reprogrammable FPGA that both supports the high-speed data flow to and from the modem and controls the modem's analog and digital subsystems. For additional flexibility, the transmitter and receiver can be configured to support operation with multi-rate PPM waveforms.

Longitudinal Associations between Executive Control and Developing Mathematical Competence in Preschool Boys and Girls

PubMed Central

Clark, Caron A.C.; Sheffield, Tiffany D.; Wiebe, Sandra A.; Espy, Kimberly Andrews

2012-01-01

Executive control (EC) is related to mathematics performance in middle childhood. However, little is known regarding how EC and informal numeracy differentially support mathematics skill acquisition in preschoolers. A sample of preschoolers (115 girls, 113 boys), stratified by social risk, completed an EC task battery at 3 years, informal numeracy assessments at 3.75 and 4.5 years, and a broad mathematics assessment during kindergarten. Strong associations were observed between latent EC at 3 and mathematics achievement in kindergarten, which remained robust after accounting for earlier informal numeracy, socio-economic status, language and processing speed. Relations between EC and mathematics achievement were stronger in girls than boys. Findings highlight the unique role of EC in predicting which children may have difficulty transitioning to formal mathematics instruction. PMID:23006040

Cognition and depression in a cohort of aging men: results from the Western Collaborative Group Study.

PubMed

La Rue, A; Swan, G E; Carmelli, D

1995-03-01

Relationships between cognitive performance and self-ratings of depression on the Center for Epidemiologic Studies Depression scale (CES-D; L.S. Radloff, 1977) were examined for 1,217 older men. After controlling for demographic variables and both objective and subjective measures of health, significant associations were observed between several CES-D variables and measures of cognitive mental status, memory, and psychomotor speed. The Well-Being factor of the CES-D was the most robust predictor of cognitive scores. Therefore, for older adults with generally favorable health and socioeconomic resources, there may be a link between positive affect and maintenance of cognitive effectiveness.

Instantaneous speed jitter detection via encoder signal and its application for the diagnosis of planetary gearbox

NASA Astrophysics Data System (ADS)

Zhao, Ming; Jia, Xiaodong; Lin, Jing; Lei, Yaguo; Lee, Jay

2018-01-01

In modern rotating machinery, rotary encoders have been widely used for the purpose of positioning and dynamic control. The study in this paper indicates that, the encoder signal, after proper processing, can be also effectively used for the health monitoring of rotating machines. In this work, a Kurtosis-guided local polynomial differentiator (KLPD) is proposed to estimate the instantaneous angular speed (IAS) of rotating machines based on the encoder signal. Compared with the central difference method, the KLPD is more robust to noise and it is able to precisely capture the weak speed jitters introduced by mechanical defects. The fault diagnosis of planetary gearbox has proven to be a challenging issue in both industry and academia. Based on the proposed KLPD, a systematic method for the fault diagnosis of planetary gearbox is proposed. In this method, residual time synchronous time averaging (RTSA) is first employed to remove the operation-related IAS components that come from normal gear meshing and non-stationary load variations, KLPD is then utilized to detect and enhance the speed jitter from the IAS residual in a data-driven manner. The effectiveness of proposed method has been validated by both simulated data and experimental data. The results demonstrate that the proposed KLPD-RTSA could not only detect fault signatures but also identify defective components, thus providing a promising tool for the health monitoring of planetary gearbox.

Evolving force balance at Columbia Glacier, Alaska, during its rapid retreat

USGS Publications Warehouse

O'Neel, S.; Pfeffer, W.T.; Krimmel, R.; Meier, M.

2005-01-01

Changes in driving and resistive stresses play an essential role in governing the buoyancy forces that are important controls on the speed and irreversibility of tidewater glacier retreats. We describe changes in geometry, velocity, and strain rate and present a top-down force balance analysis performed over the lower reach of Columbia Glacier. Our analysis uses new measurements and estimates of basal topography and photogrammetric surface velocity measurements made between 1977 and 2001, while assuming depth-independent strain. Sensitivity tests show that the method is robust and insensitive to small changes in the calculation parameters. Spatial distributions of ice speed show little correspondence with driving stress. Instead, spatial patterns of ice speed exhibit a nonlinear correspondence with basal drag. Primary resistance to flow comes from basal drag, but lateral drag becomes increasingly more important throughout the retreat, which may account for observed increases in speed. Maximum basal drag is always located in a prominent constriction located ~12 km upstream from the preretreat terminus. Once the terminus retreated into deep water off the terminal moraine marking the modern maximum extent, the upstream location of this maximum basal drag helped to promote thinning and decrease effective pressure in the lower region by limiting replenishing ice flow from upstream. An increase in both ice velocity and calving resulted, initiating what appears to be an irreversible retreat. Copyright 2005 by the American Geophysical Union.

Physical frailty in late-life depression is associated with deficits in speed-dependent executive functions

PubMed Central

Potter, Guy G.; McQuoid, Douglas R.; Whitson, Heather E.; Steffens, David C.

2015-01-01

Objective To examine the association between physical frailty and neurocognitive performance in late-life depression (LLD). Methods Cross-sectional design using baseline data from a treatment study of late-life depression. Individuals aged 60 and older diagnosed with Major Depressive Disorder at time of assessment (N = 173). All participants received clinical assessment of depression and completed neuropsychological testing during a depressive episode. Physical frailty was assessed using an adaptation of the FRAIL scale. Neuropsychological domains were derived from a factor analysis that yielded three factors: 1) Speeded Executive and Fluency, Episodic Memory, and Working Memory. Associations were examined with bivariate tests and multivariate models. Results Depressed individuals with a FRAIL score >1 had worse performance than nonfrail depressed across all three factors; however, Speeded Executive and Fluency was the only factor that remained significant after controlling for depression symptom severity and demographic characteristics. Conclusions Although physical frailty is associated with broad neurocognitive deficits in LLD, it is most robustly associated with deficits in speeded executive functions and verbal fluency. Causal inferences are limited by the cross-sectional design, and future research would benefit from a comparison group of nondepressed older adults with similar levels of frailty. Research is needed to understand the mechanisms underlying associations among depression symptoms, physical frailty, and executive dysfunction, and how they are related to the cognitive and symptomatic course of LLD. PMID:26313370

Discriminative Dissolution Method for Benzoyl Metronidazole Oral Suspension.

PubMed

da Silva, Aline Santos; da Rosa Silva, Carlos Eduardo; Paula, Fávero Reisdorfer; da Silva, Fabiana Ernestina Barcellos

2016-06-01

A dissolution method for benzoyl metronidazole (BMZ) oral suspensions was developed and validated using a high-performance liquid chromatography (HPLC) method. After determination of sink conditions, dissolution profiles were evaluated using different dissolution media and agitation speeds. The sample insertion mode in dissolution media was also evaluated. The best conditions were obtained using a paddle, 50 rpm stirring speed, simulated gastric fluid (without pepsin) as the dissolution medium, and sample insertion by a syringe. These conditions were suitable for providing sink conditions and discriminatory power between different formulations. Through the tested conditions, the results can be considered specific, linear, precise, accurate, and robust. The dissolution profiles of five samples were compared using the similarity factor (f 2) and dissolution efficiency. The dissolution kinetics were evaluated and described by the Weibull model. Whereas there is no monograph for this pharmaceutical formulation, the dissolution method proposed can be considered suitable for quality control and dissolution profile comparison of different commercial formulations.

Fiber optic interferometry for industrial process monitoring and control applications

NASA Astrophysics Data System (ADS)

Marcus, Michael A.

2002-02-01

Over the past few years we have been developing applications for a high-resolution (sub-micron accuracy) fiber optic coupled dual Michelson interferometer-based instrument. It is being utilized in a variety of applications including monitoring liquid layer thickness uniformity on coating hoppers, film base thickness uniformity measurement, digital camera focus assessment, optical cell path length assessment and imager and wafer surface profile mapping. The instrument includes both coherent and non-coherent light sources, custom application dependent optical probes and sample interfaces, a Michelson interferometer, custom electronics, a Pentium-based PC with data acquisition cards and LabWindows CVI or LabView based application specific software. This paper describes the development evolution of this instrument platform and applications highlighting robust instrument design, hardware, software, and user interfaces development. The talk concludes with a discussion of a new high-speed instrument configuration, which can be utilized for high speed surface profiling and as an on-line web thickness gauge.

A genetic framework controlling the differentiation of intestinal stem cells during regeneration in Drosophila

PubMed Central

Boquete, Jean-Philippe

2017-01-01

The speed of stem cell differentiation has to be properly coupled with self-renewal, both under basal conditions for tissue maintenance and during regeneration for tissue repair. Using the Drosophila midgut model, we analyze at the cellular and molecular levels the differentiation program required for robust regeneration. We observe that the intestinal stem cell (ISC) and its differentiating daughter, the enteroblast (EB), form extended cell-cell contacts in regenerating intestines. The contact between progenitors is stabilized by cell adhesion molecules, and can be dynamically remodeled to elicit optimal juxtacrine Notch signaling to determine the speed of progenitor differentiation. Notably, increasing the adhesion property of progenitors by expressing Connectin is sufficient to induce rapid progenitor differentiation. We further demonstrate that JAK/STAT signaling, Sox21a and GATAe form a functional relay to orchestrate EB differentiation. Thus, our study provides new insights into the complex and sequential events that are required for rapid differentiation following stem cell division during tissue replenishment. PMID:28662029

Ground-based telescope pointing and tracking optimization using a neural controller.

PubMed

Mancini, D; Brescia, M; Schipani, P

2003-01-01

Neural network models (NN) have emerged as important components for applications of adaptive control theories. Their basic generalization capability, based on acquired knowledge, together with execution rapidity and correlation ability between input stimula, are basic attributes to consider NN as an extremely powerful tool for on-line control of complex systems. By a control system point of view, not only accuracy and speed, but also, in some cases, a high level of adaptation capability is required in order to match all working phases of the whole system during its lifetime. This is particularly remarkable for a new generation ground-based telescope control system. Infact, strong changes in terms of system speed and instantaneous position error tolerance are necessary, especially in case of trajectory disturb induced by wind shake. The classical control scheme adopted in such a system is based on the proportional integral (PI) filter, already applied and implemented on a large amount of new generation telescopes, considered as a standard in this technological environment. In this paper we introduce the concept of a new approach, the neural variable structure proportional integral, (NVSPI), related to the implementation of a standard multi layer perceptron network in new generation ground-based Alt-Az telescope control systems. Its main purpose is to improve adaptive capability of the Variable structure proportional integral model, an already innovative control scheme recently introduced by authors [Proc SPIE (1997)], based on a modified version of classical PI control model, in terms of flexibility and accuracy of the dynamic response range also in presence of wind noise effects. The realization of a powerful well tested and validated telescope model simulation system allowed the possibility to directly compare performances of the two control schemes on simulated tracking trajectories, revealing extremely encouraging results in terms of NVSPI control robustness and reliability.

A data acquisition and control system for high-speed gamma-ray tomography

NASA Astrophysics Data System (ADS)

Hjertaker, B. T.; Maad, R.; Schuster, E.; Almås, O. A.; Johansen, G. A.

2008-09-01

A data acquisition and control system (DACS) for high-speed gamma-ray tomography based on the USB (Universal Serial Bus) and Ethernet communication protocols has been designed and implemented. The high-speed gamma-ray tomograph comprises five 500 mCi 241Am gamma-ray sources, each at a principal energy of 59.5 keV, which corresponds to five detector modules, each consisting of 17 CdZnTe detectors. The DACS design is based on Microchip's PIC18F4550 and PIC18F4620 microcontrollers, which facilitates an USB 2.0 interface protocol and an Ethernet (IEEE 802.3) interface protocol, respectively. By implementing the USB- and Ethernet-based DACS, a sufficiently high data acquisition rate is obtained and no dedicated hardware installation is required for the data acquisition computer, assuming that it is already equipped with a standard USB and/or Ethernet port. The API (Application Programming Interface) for the DACS is founded on the National Instrument's LabVIEW® graphical development tool, which provides a simple and robust foundation for further application software developments for the tomograph. The data acquisition interval, i.e. the integration time, of the high-speed gamma-ray tomograph is user selectable and is a function of the statistical measurement accuracy required for the specific application. The bandwidth of the DACS is 85 kBytes s-1 for the USB communication protocol and 28 kBytes s-1 for the Ethernet protocol. When using the iterative least square technique reconstruction algorithm with a 1 ms integration time, the USB-based DACS provides an online image update rate of 38 Hz, i.e. 38 frames per second, whereas 31 Hz for the Ethernet-based DACS. The off-line image update rate (storage to disk) for the USB-based DACS is 278 Hz using a 1 ms integration time. Initial characterization of the high-speed gamma-ray tomograph using the DACS on polypropylene phantoms is presented in the paper.

Effect of Different Movement Speed Modes on Human Action Observation: An EEG Study.

PubMed

Luo, Tian-Jian; Lv, Jitu; Chao, Fei; Zhou, Changle

2018-01-01

Action observation (AO) generates event-related desynchronization (ERD) suppressions in the human brain by activating partial regions of the human mirror neuron system (hMNS). The activation of the hMNS response to AO remains controversial for several reasons. Therefore, this study investigated the activation of the hMNS response to a speed factor of AO by controlling the movement speed modes of a humanoid robot's arm movements. Since hMNS activation is reflected by ERD suppressions, electroencephalography (EEG) with BCI analysis methods for ERD suppressions were used as the recording and analysis modalities. Six healthy individuals were asked to participate in experiments comprising five different conditions. Four incremental-speed AO tasks and a motor imagery (MI) task involving imaging of the same movement were presented to the individuals. Occipital and sensorimotor regions were selected for BCI analyses. The experimental results showed that hMNS activation was higher in the occipital region but more robust in the sensorimotor region. Since the attended information impacts the activations of the hMNS during AO, the pattern of hMNS activations first rises and subsequently falls to a stable level during incremental-speed modes of AO. The discipline curves suggested that a moderate speed within a decent inter-stimulus interval (ISI) range produced the highest hMNS activations. Since a brain computer/machine interface (BCI) builds a path-way between human and computer/mahcine, the discipline curves will help to construct BCIs made by patterns of action observation (AO-BCI). Furthermore, a new method for constructing non-invasive brain machine brain interfaces (BMBIs) with moderate AO-BCI and motor imagery BCI (MI-BCI) was inspired by this paper.

An Optimal Control Method for Maximizing the Efficiency of Direct Drive Ocean Wave Energy Extraction System

PubMed Central

Chen, Zhongxian; Yu, Haitao; Wen, Cheng

2014-01-01

The goal of direct drive ocean wave energy extraction system is to convert ocean wave energy into electricity. The problem explored in this paper is the design and optimal control for the direct drive ocean wave energy extraction system. An optimal control method based on internal model proportion integration differentiation (IM-PID) is proposed in this paper though most of ocean wave energy extraction systems are optimized by the structure, weight, and material. With this control method, the heavy speed of outer heavy buoy of the energy extraction system is in resonance with incident wave, and the system efficiency is largely improved. Validity of the proposed optimal control method is verified in both regular and irregular ocean waves, and it is shown that IM-PID control method is optimal in that it maximizes the energy conversion efficiency. In addition, the anti-interference ability of IM-PID control method has been assessed, and the results show that the IM-PID control method has good robustness, high precision, and strong anti-interference ability. PMID:25152913

An Experimental Evaluation of Generalized Predictive Control for Tiltrotor Aeroelastic Stability Augmentation in Airplane Mode of Flight

NASA Technical Reports Server (NTRS)

Kvaternik, Raymond G.; Piatak, David J.; Nixon, Mark W.; Langston, Chester W.; Singleton, Jeffrey D.; Bennett, Richard L.; Brown, Ross K.

2001-01-01

The results of a joint NASA/Army/Bell Helicopter Textron wind-tunnel test to assess the potential of Generalized Predictive Control (GPC) for actively controlling the swashplate of tiltrotor aircraft to enhance aeroelastic stability in the airplane mode of flight are presented. GPC is an adaptive time-domain predictive control method that uses a linear difference equation to describe the input-output relationship of the system and to design the controller. The test was conducted in the Langley Transonic Dynamics Tunnel using an unpowered 1/5-scale semispan aeroelastic model of the V-22 that was modified to incorporate a GPC-based multi-input multi-output control algorithm to individually control each of the three swashplate actuators. Wing responses were used for feedback. The GPC-based control system was highly effective in increasing the stability of the critical wing mode for all of the conditions tested, without measurable degradation of the damping in the other modes. The algorithm was also robust with respect to its performance in adjusting to rapid changes in both the rotor speed and the tunnel airspeed.

Digital control analysis and design of a field-sensed magnetic suspension system.

PubMed

Li, Jen-Hsing; Chiou, Juing-Shian

2015-03-13

Magnetic suspension systems are mechatronic systems and crucial in several engineering applications, such as the levitation of high-speed trains, frictionless bearings, and wind tunnels. Magnetic suspension systems are nonlinear and unstable systems; therefore, they are suitable educational benchmarks for testing various modeling and control methods. This paper presents the digital modeling and control of magnetic suspension systems. First, the magnetic suspension system is stabilized using a digital proportional-derivative controller. Subsequently, the digital model is identified using recursive algorithms. Finally, a digital mixed linear quadratic regulator (LQR)/H∞ control is adopted to stabilize the magnetic suspension system robustly. Simulation examples and a real-world example are provided to demonstrate the practicality of the study results. In this study, a digital magnetic suspension system model was developed and reviewed. In addition, equivalent state and output feedback controls for magnetic suspension systems were developed. Using this method, the controller design for magnetic suspension systems was simplified, which is the novel contribution of this study. In addition, this paper proposes a complete digital controller design procedure for magnetic suspension systems.

Learning and tuning fuzzy logic controllers through reinforcements

NASA Technical Reports Server (NTRS)

Berenji, Hamid R.; Khedkar, Pratap

1992-01-01

This paper presents a new method for learning and tuning a fuzzy logic controller based on reinforcements from a dynamic system. In particular, our generalized approximate reasoning-based intelligent control (GARIC) architecture (1) learns and tunes a fuzzy logic controller even when only weak reinforcement, such as a binary failure signal, is available; (2) introduces a new conjunction operator in computing the rule strengths of fuzzy control rules; (3) introduces a new localized mean of maximum (LMOM) method in combining the conclusions of several firing control rules; and (4) learns to produce real-valued control actions. Learning is achieved by integrating fuzzy inference into a feedforward neural network, which can then adaptively improve performance by using gradient descent methods. We extend the AHC algorithm of Barto et al. (1983) to include the prior control knowledge of human operators. The GARIC architecture is applied to a cart-pole balancing system and demonstrates significant improvements in terms of the speed of learning and robustness to changes in the dynamic system's parameters over previous schemes for cart-pole balancing.

An optimal control method for maximizing the efficiency of direct drive ocean wave energy extraction system.

PubMed

Chen, Zhongxian; Yu, Haitao; Wen, Cheng

2014-01-01

The goal of direct drive ocean wave energy extraction system is to convert ocean wave energy into electricity. The problem explored in this paper is the design and optimal control for the direct drive ocean wave energy extraction system. An optimal control method based on internal model proportion integration differentiation (IM-PID) is proposed in this paper though most of ocean wave energy extraction systems are optimized by the structure, weight, and material. With this control method, the heavy speed of outer heavy buoy of the energy extraction system is in resonance with incident wave, and the system efficiency is largely improved. Validity of the proposed optimal control method is verified in both regular and irregular ocean waves, and it is shown that IM-PID control method is optimal in that it maximizes the energy conversion efficiency. In addition, the anti-interference ability of IM-PID control method has been assessed, and the results show that the IM-PID control method has good robustness, high precision, and strong anti-interference ability.

Encoding Speed, Rehearsal, and Probed Recall of Dyslexic Boys

ERIC Educational Resources Information Center

Spring, Carl; Capps, Carolyn

1974-01-01

The interaction of reading ability with serial position indicates that short-term storage is equally robust for dyslexics and normals but that long-term storage is impaired for dyslexics. (Author/BJG)

Human Evoked Cortical Activity to Silent Gaps in Noise: Effects of Age, Attention, and Cortical Processing Speed

PubMed Central

Harris, Kelly C.; Wilson, Sara; Eckert, Mark A.; Dubno, Judy R.

2011-01-01

Objectives The goal of this study was to examine the degree to which age-related differences in early or automatic levels of auditory processing and attention-related processes explain age-related differences in auditory temporal processing. We hypothesized that age-related differences in attention and cognition compound age-related differences at automatic levels of processing, contributing to the robust age effects observed during challenging listening tasks. Design We examined age-related and individual differences in cortical event-related potential (ERP) amplitudes and latencies, processing speed, and gap detection from twenty-five younger and twenty-five older adults with normal hearing. ERPs were elicited by brief silent periods (gaps) in an otherwise continuous broadband noise and were measured under two listening conditions, passive and active. During passive listening, participants ignored the stimulus and read quietly. During active listening, participants button pressed each time they detected a gap. Gap detection (percent detected) was calculated for each gap duration during active listening (3, 6, 9, 12 and 15 ms). Processing speed was assessed using the Purdue Pegboard test and the Connections Test. Repeated measures ANOVAs assessed effects of age on gap detection, processing speed, and ERP amplitudes and latencies. An “attention modulation” construct was created using linear regression to examine the effects of attention while controlling for age-related differences in auditory processing. Pearson correlation analyses assessed the extent to which attention modulation, ERPs, and processing speed predicted behavioral gap detection. Results: Older adults had significantly poorer gap detection and slower processing speed than younger adults. Even after adjusting for poorer gap detection, the neurophysiological response to gap onset was atypical in older adults with reduced P2 amplitudes and virtually absent N2 responses. Moreover, individual differences in attention modulation of P2 response latencies and N2 amplitudes predicted gap detection and processing speed in older adults. That is, older adults with P2 latencies that decreased and N2 amplitudes that increased with active listening had faster processing speed and better gap detection than those older adults whose P2 latencies increased and N2 amplitudes decreased with attention Conclusions Results from the current study are broadly consistent with previous findings that older adults exhibit significantly poorer gap detection than younger adults in challenging tasks. Even after adjusting for poorer gap detection, older and younger adults showed robust differences in their electrophysiological responses to sound offset. Furthermore, the degree to which attention modulated the ERP was associated with individual variation in measures of processing speed and gap detection. Taken together, these results suggests an age-related deficit in early or automatic levels of auditory temporal processing and that some older adults may be less able to compensate for declines in processing by attending to the stimulus. These results extend our previous findings and support the hypothesis that age-related differences in cognitive or attention-related processing, including processing speed, contribute to an age-related decrease in gap detection. PMID:22374321

Real-time 2D spatially selective MRI experiments: Comparative analysis of optimal control design methods

NASA Astrophysics Data System (ADS)

Maximov, Ivan I.; Vinding, Mads S.; Tse, Desmond H. Y.; Nielsen, Niels Chr.; Shah, N. Jon

2015-05-01

There is an increasing need for development of advanced radio-frequency (RF) pulse techniques in modern magnetic resonance imaging (MRI) systems driven by recent advancements in ultra-high magnetic field systems, new parallel transmit/receive coil designs, and accessible powerful computational facilities. 2D spatially selective RF pulses are an example of advanced pulses that have many applications of clinical relevance, e.g., reduced field of view imaging, and MR spectroscopy. The 2D spatially selective RF pulses are mostly generated and optimised with numerical methods that can handle vast controls and multiple constraints. With this study we aim at demonstrating that numerical, optimal control (OC) algorithms are efficient for the design of 2D spatially selective MRI experiments, when robustness towards e.g. field inhomogeneity is in focus. We have chosen three popular OC algorithms; two which are gradient-based, concurrent methods using first- and second-order derivatives, respectively; and a third that belongs to the sequential, monotonically convergent family. We used two experimental models: a water phantom, and an in vivo human head. Taking into consideration the challenging experimental setup, our analysis suggests the use of the sequential, monotonic approach and the second-order gradient-based approach as computational speed, experimental robustness, and image quality is key. All algorithms used in this work were implemented in the MATLAB environment and are freely available to the MRI community.

Structure and Correlates of Cognitive Aging in a Narrow Age Cohort

PubMed Central

2014-01-01

Aging-related changes occur for multiple domains of cognitive functioning. An accumulating body of research indicates that, rather than representing statistically independent phenomena, aging-related cognitive changes are moderately to strongly correlated across domains. However, previous studies have typically been conducted in age-heterogeneous samples over longitudinal time lags of 6 or more years, and have failed to consider whether results are robust to a comprehensive set of controls. Capitalizing on 3-year longitudinal data from the Lothian Birth Cohort of 1936, we took a longitudinal narrow age cohort approach to examine cross-domain cognitive change interrelations from ages 70 to 73 years. We fit multivariate latent difference score models to factors representing visuospatial ability, processing speed, memory, and crystallized ability. Changes were moderately interrelated, with a general factor of change accounting for 47% of the variance in changes across domains. Change interrelations persisted at close to full strength after controlling for a comprehensive set of demographic, physical, and medical factors including educational attainment, childhood intelligence, physical function, APOE genotype, smoking status, diagnosis of hypertension, diagnosis of cardiovascular disease, and diagnosis of diabetes. Thus, the positive manifold of aging-related cognitive changes is highly robust in that it can be detected in a narrow age cohort followed over a relatively brief longitudinal period, and persists even after controlling for many potential confounders. PMID:24955992

Structure and correlates of cognitive aging in a narrow age cohort.

PubMed

Tucker-Drob, Elliot M; Briley, Daniel A; Starr, John M; Deary, Ian J

2014-06-01

Aging-related changes occur for multiple domains of cognitive functioning. An accumulating body of research indicates that, rather than representing statistically independent phenomena, aging-related cognitive changes are moderately to strongly correlated across domains. However, previous studies have typically been conducted in age-heterogeneous samples over longitudinal time lags of 6 or more years, and have failed to consider whether results are robust to a comprehensive set of controls. Capitalizing on 3-year longitudinal data from the Lothian Birth Cohort of 1936, we took a longitudinal narrow age cohort approach to examine cross-domain cognitive change interrelations from ages 70 to 73 years. We fit multivariate latent difference score models to factors representing visuospatial ability, processing speed, memory, and crystallized ability. Changes were moderately interrelated, with a general factor of change accounting for 47% of the variance in changes across domains. Change interrelations persisted at close to full strength after controlling for a comprehensive set of demographic, physical, and medical factors including educational attainment, childhood intelligence, physical function, APOE genotype, smoking status, diagnosis of hypertension, diagnosis of cardiovascular disease, and diagnosis of diabetes. Thus, the positive manifold of aging-related cognitive changes is highly robust in that it can be detected in a narrow age cohort followed over a relatively brief longitudinal period, and persists even after controlling for many potential confounders. PsycINFO Database Record (c) 2014 APA, all rights reserved.

Inspiration for wing design: how forelimb specialization enables active flight in modern vertebrates

PubMed Central

2017-01-01

Harnessing flight strategies refined by millions of years of evolution can help expedite the design of more efficient, manoeuvrable and robust flying robots. This review synthesizes recent advances and highlights remaining gaps in our understanding of how bird and bat wing adaptations enable effective flight. Included in this discussion is an evaluation of how current robotic analogues measure up to their biological sources of inspiration. Studies of vertebrate wings have revealed skeletal systems well suited for enduring the loads required during flight, but the mechanisms that drive coordinated motions between bones and connected integuments remain ill-described. Similarly, vertebrate flight muscles have adapted to sustain increased wing loading, but a lack of in vivo studies limits our understanding of specific muscular functions. Forelimb adaptations diverge at the integument level, but both bird feathers and bat membranes yield aerodynamic surfaces with a level of robustness unparalleled by engineered wings. These morphological adaptations enable a diverse range of kinematics tuned for different flight speeds and manoeuvres. By integrating vertebrate flight specializations—particularly those that enable greater robustness and adaptability—into the design and control of robotic wings, engineers can begin narrowing the wide margin that currently exists between flying robots and vertebrates. In turn, these robotic wings can help biologists create experiments that would be impossible in vivo. PMID:28592663

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.

Impact of industrial hammer mill rotor speed on extraction efficiency and quality of extra virgin olive oil.

PubMed

Polari, Juan J; Garcí-Aguirre, David; Olmo-García, Lucía; Carrasco-Pancorbo, Alegría; Wang, Selina C

2018-03-01

Crushing is a key step during olive oil extraction. Among commercial crushers, the hammer mill is the most widely used due to its robustness and high throughput. In the present work, the impact of hammer mill rotor speed on extraction yield and overall quality of super-high-density Arbosana olive oils were assessed in an industrial facility. Our results show that increasing the rotor speed from 2400rpm to 3600rpm led to a rise in oil yield of 1.2%, while conserving quality parameters. Sensory analysis showed more pungency with increased rotation speed, while others attributes were unaffected. Volatile compounds showed little variation with the differences in crusher speed; however, total phenols content, two relevant secoiridoids, and triterpenoids levels increased with rotor speed. Hammer mill rotor speed is a processing variable that can be tuned to increase the extraction efficiency and modulate the chemical composition of extra virgin olive oil. Copyright © 2017 Elsevier Ltd. All rights reserved.

Dynamics of flow control in an emulated boundary layer-ingesting offset diffuser

NASA Astrophysics Data System (ADS)

Gissen, A. N.; Vukasinovic, B.; Glezer, A.

2014-08-01

Dynamics of flow control comprised of arrays of active (synthetic jets) and passive (vanes) control elements , and its effectiveness for suppression of total-pressure distortion is investigated experimentally in an offset diffuser, in the absence of internal flow separation. The experiments are conducted in a wind tunnel inlet model at speeds up to M = 0.55 using approach flow conditioning that mimics boundary layer ingestion on a Blended-Wing-Body platform. Time-dependent distortion of the dynamic total-pressure field at the `engine face' is measured using an array of forty total-pressure probes, and the control-induced distortion changes are analyzed using triple decomposition and proper orthogonal decomposition (POD). These data indicate that an array of the flow control small-scale synthetic jet vortices merge into two large-scale, counter-rotating streamwise vortices that exert significant changes in the flow distortion. The two most energetic POD modes appear to govern the distortion dynamics in either active or hybrid flow control approaches. Finally, it is shown that the present control approach is sufficiently robust to reduce distortion with different inlet conditions of the baseline flow.

Sensored Field Oriented Control of a Robust Induction Motor Drive Using a Novel Boundary Layer Fuzzy Controller

PubMed Central

Saghafinia, Ali; Ping, Hew Wooi; Uddin, Mohammad Nasir

2013-01-01

Physical sensors have a key role in implementation of real-time vector control for an induction motor (IM) drive. This paper presents a novel boundary layer fuzzy controller (NBLFC) based on the boundary layer approach for speed control of an indirect field-oriented control (IFOC) of an induction motor (IM) drive using physical sensors. The boundary layer approach leads to a trade-off between control performances and chattering elimination. For the NBLFC, a fuzzy system is used to adjust the boundary layer thickness to improve the tracking performance and eliminate the chattering problem under small uncertainties. Also, to eliminate the chattering under the possibility of large uncertainties, the integral filter is proposed inside the variable boundary layer. In addition, the stability of the system is analyzed through the Lyapunov stability theorem. The proposed NBLFC based IM drive is implemented in real-time using digital signal processor (DSP) board TI TMS320F28335. The experimental and simulation results show the effectiveness of the proposed NBLFC based IM drive at different operating conditions.

Optimal control of complex atomic quantum systems

PubMed Central

van Frank, S.; Bonneau, M.; Schmiedmayer, J.; Hild, S.; Gross, C.; Cheneau, M.; Bloch, I.; Pichler, T.; Negretti, A.; Calarco, T.; Montangero, S.

2016-01-01

Quantum technologies will ultimately require manipulating many-body quantum systems with high precision. Cold atom experiments represent a stepping stone in that direction: a high degree of control has been achieved on systems of increasing complexity. However, this control is still sub-optimal. In many scenarios, achieving a fast transformation is crucial to fight against decoherence and imperfection effects. Optimal control theory is believed to be the ideal candidate to bridge the gap between early stage proof-of-principle demonstrations and experimental protocols suitable for practical applications. Indeed, it can engineer protocols at the quantum speed limit – the fastest achievable timescale of the transformation. Here, we demonstrate such potential by computing theoretically and verifying experimentally the optimal transformations in two very different interacting systems: the coherent manipulation of motional states of an atomic Bose-Einstein condensate and the crossing of a quantum phase transition in small systems of cold atoms in optical lattices. We also show that such processes are robust with respect to perturbations, including temperature and atom number fluctuations. PMID:27725688

Optimal control of complex atomic quantum systems.

PubMed

van Frank, S; Bonneau, M; Schmiedmayer, J; Hild, S; Gross, C; Cheneau, M; Bloch, I; Pichler, T; Negretti, A; Calarco, T; Montangero, S

2016-10-11

Quantum technologies will ultimately require manipulating many-body quantum systems with high precision. Cold atom experiments represent a stepping stone in that direction: a high degree of control has been achieved on systems of increasing complexity. However, this control is still sub-optimal. In many scenarios, achieving a fast transformation is crucial to fight against decoherence and imperfection effects. Optimal control theory is believed to be the ideal candidate to bridge the gap between early stage proof-of-principle demonstrations and experimental protocols suitable for practical applications. Indeed, it can engineer protocols at the quantum speed limit - the fastest achievable timescale of the transformation. Here, we demonstrate such potential by computing theoretically and verifying experimentally the optimal transformations in two very different interacting systems: the coherent manipulation of motional states of an atomic Bose-Einstein condensate and the crossing of a quantum phase transition in small systems of cold atoms in optical lattices. We also show that such processes are robust with respect to perturbations, including temperature and atom number fluctuations.

A grid generation system for multi-disciplinary design optimization

NASA Technical Reports Server (NTRS)

Jones, William T.; Samareh-Abolhassani, Jamshid

1995-01-01

A general multi-block three-dimensional volume grid generator is presented which is suitable for Multi-Disciplinary Design Optimization. The code is timely, robust, highly automated, and written in ANSI 'C' for platform independence. Algebraic techniques are used to generate and/or modify block face and volume grids to reflect geometric changes resulting from design optimization. Volume grids are generated/modified in a batch environment and controlled via an ASCII user input deck. This allows the code to be incorporated directly into the design loop. Generated volume grids are presented for a High Speed Civil Transport (HSCT) Wing/Body geometry as well a complex HSCT configuration including horizontal and vertical tails, engine nacelles and pylons, and canard surfaces.

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

Stutman, D.; Tritz, K.; Finkenthal, M.

New diagnostic and sensor designs are needed for future burning plasma (BP) fusion experiments, having good space and time resolution and capable of prolonged operation in the harsh BP environment. We evaluate the potential of multi-energy x-ray imaging with filtered detector arrays for BP diagnostic and control. Experimental studies show that this simple and robust technique enables measuring with good accuracy, speed, and spatial resolution the T{sub e} profile, impurity content, and MHD activity in a tokamak. Applied to the BP this diagnostic could also serve for non-magnetic sensing of the plasma position, centroid, ELM, and RWM instability. BP compatiblemore » x-ray sensors are proposed using 'optical array' or 'bi-cell' detectors.« less

An Improved Vision-based Algorithm for Unmanned Aerial Vehicles Autonomous Landing

NASA Astrophysics Data System (ADS)

Zhao, Yunji; Pei, Hailong

In vision-based autonomous landing system of UAV, the efficiency of target detecting and tracking will directly affect the control system. The improved algorithm of SURF(Speed Up Robust Features) will resolve the problem which is the inefficiency of the SURF algorithm in the autonomous landing system. The improved algorithm is composed of three steps: first, detect the region of the target using the Camshift; second, detect the feature points in the region of the above acquired using the SURF algorithm; third, do the matching between the template target and the region of target in frame. The results of experiment and theoretical analysis testify the efficiency of the algorithm.

Prefrontal cortex activity during response selection predicts processing speed impairment in schizophrenia

PubMed Central

Woodward, Neil D.; Duffy-Alberto, Brittney; Karbasforoushan, Haleh

2014-01-01

Processing speed is the most impaired neuropsychological domain in schizophrenia and a robust predictor of functional outcome. Determining the specific cognitive operations underlying processing speed dysfunction and indentifying their neural correlates may assist in developing pro-cognitive interventions. Response selection, the process of mapping stimuli onto motor responses, correlates with neuropsychological tests of processing speed and may contribute to processing speed impairment in schizophrenia. This study investigated the relationship between behavioral and neural measures of response selection, and a neuropsychological index of processing speed in schizophrenia. 26 patients with schizophrenia and 21 healthy subjects underwent fMRI scanning during performance of 2 and 4-choice-reaction time (RT) tasks and completed the Wechsler Adult Intelligence Scale-III (WAIS) Processing Speed Index (PSI). Response selection, defined as RT slowing between 2 and 4-choice RT, was impaired in schizophrenia and correlated with psychometric processing speed. Greater activation of the dorsolateral prefrontal cortex (PFC) was observed in schizophrenia and correlated with poorer WAIS PSI scores. Deficient response selection and abnormal recruitment of the dorsolateral PFC during response selection contribute to processing speed impairment in schizophrenia. Interventions that improve response selection and normalize dorsolateral PFC function may improve processing speed in schizophrenia. PMID:23816240

Effect of simulation conditions on friction in polytetrafluoroethylene (PTFE)

NASA Astrophysics Data System (ADS)

Barry, Peter R.; Jang, Inkook; Perry, Scott S.; Sawyer, W. Gregory; Sinnott, Susan B.; Phillpot, Simon R.

2007-12-01

We report the results of molecular-dynamics simulations of friction at polytetrafluoroethylene (PTFE) interfaces and show that the calculated tribological properties are robust against significant changes in the sliding speed and the morphology of the polymer.

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.

Stability in skipping gaits

NASA Astrophysics Data System (ADS)

Andrada, Emanuel; Müller, Roy; Blickhan, Reinhard

2016-11-01

As an alternative to walking and running, humans are able to skip. However, adult humans avoid it. This fact seems to be related to the higher energetic costs associated with skipping. Still, children, some birds, lemurs and lizards use skipping gaits during daily locomotion. We combined experimental data on humans with numerical simulations to test whether stability and robustness motivate this choice. Parameters for modelling were obtained from 10 male subjects. They locomoted using unilateral skipping along a 12 m runway. We used a bipedal spring loaded inverted pendulum to model and to describe the dynamics of skipping. The subjects displayed higher peak ground reaction forces and leg stiffness in the first landing leg (trailing leg) compared to the second landing leg (leading leg). In numerical simulations, we found that skipping is stable across an amazing speed range from skipping on the spot to fast running speeds. Higher leg stiffness in the trailing leg permits longer strides at same system energy. However, this strategy is at the same time less robust to sudden drop perturbations than skipping with a stiffer leading leg. A slightly higher stiffness in the leading leg is most robust, but might be costlier.

Examining Changes to the Madden-Julian Oscillation in a Warmer Climate Using CMIP5 Models

NASA Astrophysics Data System (ADS)

Rushley, Stephanie

Five models from the Coupled Model Intercomparison Project Phase 5 (CMIP5) that reasonably represent the Madden-Julian Oscillation (MJO) are used to examine the response of the MJO to greenhouse gas induced warming. Changes in the MJO's amplitude, zonal scale, and phase speed are examined using daily-mean precipitation during boreal winter (November to April) when the MJO is strongest. The MJO precipitation variance increases with tropics mean surface temperature. However, the westward moving waves of the same temporal and spatial scales increase at about the same rate, suggesting that the maintenance mechanism for the MJO does not change with warming. On the other hand, a robust increase in phase speed of the MJO is found with a rate of 5-12% per degree of surface warming. The robust increase in the MJO phase speed are examined using the linear moisture wave theory of Adames and Kim (2016). In this theory, the MJO phase speed is determined by the horizontal moisture gradient in the lower troposphere, the gross dry stability, the convective moisture adjustment timescale, and zonal wavenumber of the MJO. All CMIP5 models examined show an increase in the horizontal humidity gradient, the gross dry stability and the convective moisture adjustment timescale, while exhibiting a decrease in the zonal wavenumber of the MJO. The increase in the horizontal humidity gradient and zonal scale of the MJO act to increase the speed of the MJO by enhancing horizontal moisture advection associated with the MJO, while the gross dry stability and convective moisture adjustment timescale act to slow down the MJO by dampening the horizontal moisture advection process. In all the models, the combined effects of the four key parameters act to speed up the MJO, matching the calculated phase speed changes with warming in the models.

Evaluation of a five-year Bloomberg Global Road Safety Program in Turkey.

PubMed

Gupta, S; Hoe, C; Özkan, T; Lajunen, T J; Vursavas, F; Sener, S; Hyder, A A

2017-03-01

Turkey was included in the Bloomberg Philanthropies funded Global Road Safety Program (2010-14) with Ankara and Afyonkarahisar (Afyon) selected for interventions to manage speed and encourage seat-belt use. The objectives of this study are to present the monitoring and evaluation findings of seat-belt use and speed in Afyon and Ankara over the five years and to assess overall impact of the program on road traffic injury, and death rates in Turkey. Quasi-experimental before after without comparison. In collaboration with the Middle East Technical University, roadside observations and interviews were coupled with secondary data to monitor changes in risk factors and outcomes at the two intervention sites. The percentage of seat-belt use among drivers and front-seat passengers in Afyon and Ankara increased significantly between 2010 and 2014 with increased self-reported use and preceded by an increase in tickets (fines) for not using seat belts. There were uneven improvements in speed reduction. In Afyon, the average speed increased significantly from 46.3 km/h in 2012 to about 52.7 km/h in 2014 on roads where the speed limits were 50 km/h. In Ankara, the average speed remained less than 55 km/h during the program period (range: 50-54 km/h; P < 0.005) for roads where the speed limits were 50 km/h; however, the average speed on roads with speed limits of 70 km/h decreased significantly from 80.6 km/h in 2012 to 68.44 km/h in 2014 (P < 0.005). The program contributed to increase in seat-belt use in Afyon and Ankara and by drawing political attention to the issue can contribute to improvements in road safety. We are optimistic that the visible motivation within Turkey to substantially reduce road traffic injuries will lead to increased program implementation matched with a robust evaluation program, with suitable controls. Copyright © 2017 The Authors. Published by Elsevier Ltd.. All rights reserved.

Coordination of contractility, adhesion and flow in migrating Physarum amoebae.

PubMed

Lewis, Owen L; Zhang, Shun; Guy, Robert D; del Álamo, Juan C

2015-05-06

This work examines the relationship between spatio-temporal coordination of intracellular flow and traction stress and the speed of amoeboid locomotion of microplasmodia of Physarum polycephalum. We simultaneously perform particle image velocimetry and traction stress microscopy to measure the velocity of cytoplasmic flow and the stresses applied to the substrate by migrating Physarum microamoebae. In parallel, we develop a mathematical model of a motile cell which includes forces from the viscous cytosol, a poro-elastic, contractile cytoskeleton and adhesive interactions with the substrate. Our experiments show that flow and traction stress exhibit back-to-front-directed waves with a distinct phase difference. The model demonstrates that the direction and speed of locomotion are determined by this coordination between contraction, flow and adhesion. Using the model, we identify forms of coordination that generate model predictions consistent with experiments. We demonstrate that this coordination produces near optimal migration speed and is insensitive to heterogeneity in substrate adhesiveness. While it is generally thought that amoeboid motility is robust to changes in extracellular geometry and the nature of extracellular adhesion, our results demonstrate that coordination of adhesive forces is essential to producing robust migration. © 2015 The Author(s) Published by the Royal Society. All rights reserved.

Manipulations of the features of standard video lottery terminal (VLT) games: effects in pathological and non-pathological gamblers.

PubMed

Loba, P; Stewart, S H; Klein, R M; Blackburn, J R

2001-01-01

The present study was conducted to identify game parameters that would reduce the risk of abuse of video lottery terminals (VLTs) by pathological gamblers, while exerting minimal effects on the behavior of non-pathological gamblers. Three manipulations of standard VLT game features were explored. Participants were exposed to: a counter which displayed a running total of money spent; a VLT spinning reels game where participants could no longer "stop" the reels by touching the screen; and sensory feature manipulations. In control conditions, participants were exposed to standard settings for either a spinning reels or a video poker game. Dependent variables were self-ratings of reactions to each set of parameters. A set of 2(3) x 2 x 2 (game manipulation [experimental condition(s) vs. control condition] x game [spinning reels vs. video poker] x gambler status [pathological vs. non-pathological]) repeated measures ANOVAs were conducted on all dependent variables. The findings suggest that the sensory manipulations (i.e., fast speed/sound or slow speed/no sound manipulations) produced the most robust reaction differences. Before advocating harm reduction policies such as lowering sensory features of VLT games to reduce potential harm to pathological gamblers, it is important to replicate findings in a more naturalistic setting, such as a real bar.

Coordinated path following of multiple underacutated marine surface vehicles along one curve.

PubMed

Liu, Lu; Wang, Dan; Peng, Zhouhua

2016-09-01

This paper investigates the coordinated path following problem for a fleet of underactuated marine surface vehicles (MSVs) along one curve. The dedicated control design is divided into two tasks. One is to steer individual underactuated MSV to track the given spatial path, and the other is to force the vehicles dispersed on a parameterized path subject to the constraints of a communication network. Specifically, a robust individual path following controller is developed based on a line-of-sight (LOS) guidance law and a reduced-order extended state observer (ESO). The vehicle sideslip angle due to environmental disturbances can be exactly identified. Then, the vehicle coordination is achieved by a path variable containment approach, under which the path variables are evenly dispersed between two virtual leaders. Another reduced-order ESO is developed to identify the composite disturbance related to the speed of virtual leaders and neighboring vehicles. The proposed coordination design is distributed since the reference speed does not need to be known by all vehicles as a priori. The input-to-state stability of the closed-loop network system is established via cascade theory. Simulation results demonstrate the effectiveness of the proposed design method. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Aeroelastic Stability of a Four-Bladed Semi-Articulated Soft-Inplane Tiltrotor Model

NASA Technical Reports Server (NTRS)

Nixon, Mark W.; Langston, Chester W.; Singleton, Jeffrey D.; Piatak, David J.; Kvaternik, Raymond G.; Corso, Lawrence M.; Brown, Ross K.

2003-01-01

A new four-bladed, semi-articulated, soft-inplane rotor system, designed as a candidate for future heavy-lift rotorcraft, was tested at model scale on the Wing and Rotor Aeroelastic Testing System (WRATS), a 1/5-size aeroelastic wind-tunnel model based on the V-22. The experimental investigation included a hover test with the model in helicopter mode subject to ground resonance conditions, and a forward flight test with the model in airplane mode subject to whirl-flutter conditions. An active control system designed to augment system damping was also tested as part of this investigation. Results of this study indicate that the new four-bladed, soft-inplane rotor system in hover has adequate damping characteristics and is stable throughout its rotor-speed envelope. However, in airplane mode it produces very low damping in the key wing beam-bending mode, and has a low whirl-flutter stability boundary with respect to airspeed. The active control system was successful in augmenting the damping of the fundamental system modes, and was found to be robust with respect to changes in rotor speed and airspeed. Finally, conversion-mode dynamic loads were measured on the rotor and these were found to be signi.cantly lower for the new soft-inplane hub than for the previous baseline stiff - inplane hub.

Aeroelastic Stability of a Four-Bladed Semi-Articulated Soft-Inplane Tiltrotor Model

NASA Technical Reports Server (NTRS)

Nixon, Mark W.; Langston, Chester W.; Singleton, Jeffrey D.; Piatak, David J.; Kvaternik, Raymond G.; Corso, Lawrence M.; Brown, Ross

2003-01-01

A new four-bladed, semi-articulated, soft-inplane rotor system, designed as a candidate for future heavy-lift rotorcraft, was tested at model scale on the Wing and Rotor Aeroelastic Testing System (WRATS), a 1/5-size aeroelastic wind-tunnel model based on the V-22. The experimental investigation included a hover test with the model in helicopter mode subject to ground resonance conditions, and a forward flight test with the model in airplane mode subject to whirl-flutter conditions. An active control system designed to augment system damping was also tested as part of this investigation. Results of this study indicate that the new four-bladed, soft-inplane rotor system in hover has adequate damping characteristics and is stable throughout its rotor-speed envelope. However, in airplane mode it produces very low damping in the key wing beam-bending mode, and has a low whirl-flutter stability boundary with respect to airspeed. The active control system was successful in augmenting the damping of the fundamental system modes, and was found to be robust with respect to changes in rotor-speed and airspeed. Finally, conversion-mode dynamic loads were measured on the rotor and these were found to be significantly lower for the new soft-inplane hub than for the previous baseline stiff-inplane hub.

Short-term wind speed prediction based on the wavelet transformation and Adaboost neural network

NASA Astrophysics Data System (ADS)

Hai, Zhou; Xiang, Zhu; Haijian, Shao; Ji, Wu

2018-03-01

The operation of the power grid will be affected inevitably with the increasing scale of wind farm due to the inherent randomness and uncertainty, so the accurate wind speed forecasting is critical for the stability of the grid operation. Typically, the traditional forecasting method does not take into account the frequency characteristics of wind speed, which cannot reflect the nature of the wind speed signal changes result from the low generality ability of the model structure. AdaBoost neural network in combination with the multi-resolution and multi-scale decomposition of wind speed is proposed to design the model structure in order to improve the forecasting accuracy and generality ability. The experimental evaluation using the data from a real wind farm in Jiangsu province is given to demonstrate the proposed strategy can improve the robust and accuracy of the forecasted variable.

Determination of feature generation methods for PTZ camera object tracking

NASA Astrophysics Data System (ADS)

Doyle, Daniel D.; Black, Jonathan T.

2012-06-01

Object detection and tracking using computer vision (CV) techniques have been widely applied to sensor fusion applications. Many papers continue to be written that speed up performance and increase learning of artificially intelligent systems through improved algorithms, workload distribution, and information fusion. Military application of real-time tracking systems is becoming more and more complex with an ever increasing need of fusion and CV techniques to actively track and control dynamic systems. Examples include the use of metrology systems for tracking and measuring micro air vehicles (MAVs) and autonomous navigation systems for controlling MAVs. This paper seeks to contribute to the determination of select tracking algorithms that best track a moving object using a pan/tilt/zoom (PTZ) camera applicable to both of the examples presented. The select feature generation algorithms compared in this paper are the trained Scale-Invariant Feature Transform (SIFT) and Speeded Up Robust Features (SURF), the Mixture of Gaussians (MoG) background subtraction method, the Lucas- Kanade optical flow method (2000) and the Farneback optical flow method (2003). The matching algorithm used in this paper for the trained feature generation algorithms is the Fast Library for Approximate Nearest Neighbors (FLANN). The BSD licensed OpenCV library is used extensively to demonstrate the viability of each algorithm and its performance. Initial testing is performed on a sequence of images using a stationary camera. Further testing is performed on a sequence of images such that the PTZ camera is moving in order to capture the moving object. Comparisons are made based upon accuracy, speed and memory.

Improved Continuous-Time Higher Harmonic Control Using Hinfinity Methods

NASA Astrophysics Data System (ADS)

Fan, Frank H.

The helicopter is a versatile aircraft that can take-off and land vertically, hover efficiently, and maneuver in confined space. This versatility is enabled by the main rotor, which also causes undesired harmonic vibration during operation. This unwanted vibration has a negative impact on the practicality of the helicopter and also increases its operational cost. Passive control techniques have been applied to helicopter vibration suppression, but these methods are generally heavy and are not robust to changes in operating conditions. Feedback control offers the advantages of robustness and potentially higher performance over passive control techniques, and amongst the various feedback schemes, Shaw's higher harmonic control algorithm has been shown to be an effective method for attenuating harmonic disturbance in helicopters. In this thesis, the higher harmonic disturbance algorithm is further developed to achieve improved performance. One goal in this thesis is to determine the importance of periodicity in the helicopter rotor dynamics for control synthesis. Based on the analysis of wind tunnel data and simulation results, we conclude the helicopter rotor can be modeled reasonably well as linear and time-invariant for control design purposes. Modeling the helicopter rotor as linear time-invariant allows us to apply linear control theory concepts to the higher harmonic control problem. Another goal in this thesis is to find the limits of performance in harmonic disturbance rejection. To achieve this goal, we first define the metrics to measure the performance of the controller in terms of response speed and robustness to changes in the plant dynamics. The performance metrics are incorporated into an Hinfinity control problem. For a given plant, the resulting Hinfinity controller achieves the maximum performance, thus allowing us to identify the performance limitation in harmonic disturbance rejection. However, the Hinfinity controllers are of high order, and may have unstable poles, leading us to develop a design method to generate stable, fixed-order, and high performance controllers. Both the Hinfinity and the fixed-order controllers are designed for constant flight conditions. A gain-scheduled control law is used to reduce the vibration throughout the flight envelope. The gain-scheduling is accomplished by blending the outputs from fixed-order controllers designed for different flight conditions. The structure of the fixed-order controller allows the usage of a previously developed anti-windup scheme, and the blending function results in a bumpless full flight envelope control law. (Copies available exclusively from MIT Libraries, libraries.mit.edu/docs - docs mit.edu)

Deriving neural network controllers from neuro-biological data: implementation of a single-leg stick insect controller.

PubMed

von Twickel, Arndt; Büschges, Ansgar; Pasemann, Frank

2011-02-01

This article presents modular recurrent neural network controllers for single legs of a biomimetic six-legged robot equipped with standard DC motors. Following arguments of Ekeberg et al. (Arthropod Struct Dev 33:287-300, 2004), completely decentralized and sensori-driven neuro-controllers were derived from neuro-biological data of stick-insects. Parameters of the controllers were either hand-tuned or optimized by an evolutionary algorithm. Employing identical controller structures, qualitatively similar behaviors were achieved for robot and for stick insect simulations. For a wide range of perturbing conditions, as for instance changing ground height or up- and downhill walking, swing as well as stance control were shown to be robust. Behavioral adaptations, like varying locomotion speeds, could be achieved by changes in neural parameters as well as by a mechanical coupling to the environment. To a large extent the simulated walking behavior matched biological data. For example, this was the case for body support force profiles and swing trajectories under varying ground heights. The results suggest that the single-leg controllers are suitable as modules for hexapod controllers, and they might therefore bridge morphological- and behavioral-based approaches to stick insect locomotion control.

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

NASA Astrophysics Data System (ADS)

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

2017-06-01

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

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

PubMed

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

2007-09-18

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

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.

Ultrasound tomography imaging with waveform sound speed: parenchymal changes in women undergoing tamoxifen therapy

NASA Astrophysics Data System (ADS)

Sak, Mark; Duric, Neb; Littrup, Peter; Sherman, Mark; Gierach, Gretchen

2017-03-01

Ultrasound tomography (UST) is an emerging modality that can offer quantitative measurements of breast density. Recent breakthroughs in UST image reconstruction involve the use of a waveform reconstruction as opposed to a raybased reconstruction. The sound speed (SS) images that are created using the waveform reconstruction have a much higher image quality. These waveform images offer improved resolution and contrasts between regions of dense and fatty tissues. As part of a study that was designed to assess breast density changes using UST sound speed imaging among women undergoing tamoxifen therapy, UST waveform sound speed images were then reconstructed for a subset of participants. These initial results show that changes to the parenchymal tissue can more clearly be visualized when using the waveform sound speed images. Additional quantitative testing of the waveform images was also started to test the hypothesis that waveform sound speed images are a more robust measure of breast density than ray-based reconstructions. Further analysis is still needed to better understand how tamoxifen affects breast tissue.

Periodic fluctuations in correlation-based connectivity density time series: Application to wind speed-monitoring network in Switzerland

NASA Astrophysics Data System (ADS)

Laib, Mohamed; Telesca, Luciano; Kanevski, Mikhail

2018-02-01

In this paper, we study the periodic fluctuations of connectivity density time series of a wind speed-monitoring network in Switzerland. By using the correlogram-based robust periodogram annual periodic oscillations were found in the correlation-based network. The intensity of such annual periodic oscillations is larger for lower correlation thresholds and smaller for higher. The annual periodicity in the connectivity density seems reasonably consistent with the seasonal meteo-climatic cycle.

Large Crater Repair at Silver Flag Exercise Site, Tyndall Air Force Base, Florida

DTIC Science & Technology

2015-08-01

fiberglass mat ( FFM ) survived medium-speed braking events and was deemed suitable for use on taxiways and aprons. 2. The current USAF FFM system failed...braking events due to failure of the connector bushings. After replacement with more robust connector bushings from the FFM system, the FRP system...withstood the high-speed taxi events that caused the FFM to fail. ERDC/GSL TR-15-27 2 4. AM2 aluminum matting was successfully tested as a suitable

Passive Double-Sensory Evoked Coherence Correlates with Long-Term Memory Capacity.

PubMed

Horwitz, Anna; Mortensen, Erik L; Osler, Merete; Fagerlund, Birgitte; Lauritzen, Martin; Benedek, Krisztina

2017-01-01

HIGHLIGHTS Memory correlates with the difference between single and double-sensory evoked steady-state coherence in the gamma range (Δ C ).The correlation is most pronounced for the anterior brain region (Δ C A ).The correlation is not driven by birth size, education, speed of processing, or intelligence.The sensitivity of Δ C A for detecting low memory capacity is 90%. Cerebral rhythmic activity and oscillations are important pathways of communication between cortical cell assemblies and may be key factors in memory. We asked whether memory performance is related to gamma coherence in a non-task sensory steady-state stimulation. We investigated 40 healthy males born in 1953 who were part of a Danish birth cohort study. Coherence was measured in the gamma range in response to a single-sensory visual stimulation (36 Hz) and a double-sensory combined audiovisual stimulation (auditive: 40 Hz; visual: 36 Hz). The individual difference in coherence (Δ C ) between the bimodal and monomodal stimulation was calculated for each subject and used as the main explanatory variable. Δ C in total brain were significantly negatively correlated with long-term verbal recall. This correlation was pronounced for the anterior region. In addition, the correlation between Δ C and long-term memory was robust when controlling for working memory, as well as a wide range of potentially confounding factors, including intelligence, length of education, speed of processing, visual attention and executive function. Moreover, we found that the difference in anterior coherence (Δ C A ) is a better predictor of memory than power in multivariate models. The sensitivity of Δ C A for detecting low memory capacity is 92%. Finally, Δ C A was also associated with other types of memory: verbal learning, visual recognition, and spatial memory, and these additional correlations were also robust enough to control for a range of potentially confounding factors. Thus, the Δ C is a predictor of memory performance may be useful in cognitive neuropsychological testing.

Process design and control of a twin screw hot melt extrusion for continuous pharmaceutical tamper-resistant tablet production.

PubMed

Baronsky-Probst, J; Möltgen, C-V; Kessler, W; Kessler, R W

2016-05-25

Hot melt extrusion (HME) is a well-known process within the plastic and food industries that has been utilized for the past several decades and is increasingly accepted by the pharmaceutical industry for continuous manufacturing. For tamper-resistant formulations of e.g. opioids, HME is the most efficient production technique. The focus of this study is thus to evaluate the manufacturability of the HME process for tamper-resistant formulations. Parameters such as the specific mechanical energy (SME), as well as the melt pressure and its standard deviation, are important and will be discussed in this study. In the first step, the existing process data are analyzed by means of multivariate data analysis. Key critical process parameters such as feed rate, screw speed, and the concentration of the API in the polymers are identified, and critical quality parameters of the tablet are defined. In the second step, a relationship between the critical material, product and process quality attributes are established by means of Design of Experiments (DoEs). The resulting SME and the temperature at the die are essential data points needed to indirectly qualify the degradation of the API, which should be minimal. NIR-spectroscopy is used to monitor the material during the extrusion process. In contrast to most applications in which the probe is directly integrated into the die, the optical sensor is integrated into the cooling line of the strands. This saves costs in the probe design and maintenance and increases the robustness of the chemometric models. Finally, a process measurement system is installed to monitor and control all of the critical attributes in real-time by means of first principles, DoE models, soft sensor models, and spectroscopic information. Overall, the process is very robust as long as the screw speed is kept low. Copyright © 2015 Elsevier B.V. All rights reserved.

Passive Double-Sensory Evoked Coherence Correlates with Long-Term Memory Capacity

PubMed Central

Horwitz, Anna; Mortensen, Erik L.; Osler, Merete; Fagerlund, Birgitte; Lauritzen, Martin; Benedek, Krisztina

2017-01-01

HIGHLIGHTS Memory correlates with the difference between single and double-sensory evoked steady-state coherence in the gamma range (ΔC).The correlation is most pronounced for the anterior brain region (ΔCA).The correlation is not driven by birth size, education, speed of processing, or intelligence.The sensitivity of ΔCA for detecting low memory capacity is 90%. Cerebral rhythmic activity and oscillations are important pathways of communication between cortical cell assemblies and may be key factors in memory. We asked whether memory performance is related to gamma coherence in a non-task sensory steady-state stimulation. We investigated 40 healthy males born in 1953 who were part of a Danish birth cohort study. Coherence was measured in the gamma range in response to a single-sensory visual stimulation (36 Hz) and a double-sensory combined audiovisual stimulation (auditive: 40 Hz; visual: 36 Hz). The individual difference in coherence (ΔC) between the bimodal and monomodal stimulation was calculated for each subject and used as the main explanatory variable. ΔC in total brain were significantly negatively correlated with long-term verbal recall. This correlation was pronounced for the anterior region. In addition, the correlation between ΔC and long-term memory was robust when controlling for working memory, as well as a wide range of potentially confounding factors, including intelligence, length of education, speed of processing, visual attention and executive function. Moreover, we found that the difference in anterior coherence (ΔCA) is a better predictor of memory than power in multivariate models. The sensitivity of ΔCA for detecting low memory capacity is 92%. Finally, ΔCA was also associated with other types of memory: verbal learning, visual recognition, and spatial memory, and these additional correlations were also robust enough to control for a range of potentially confounding factors. Thus, the ΔC is a predictor of memory performance may be useful in cognitive neuropsychological testing. PMID:29311868

Relation of sortable silt grain-size to deep-sea current speeds: Calibration of the 'Mud Current Meter'

NASA Astrophysics Data System (ADS)

McCave, I. N.; Thornalley, D. J. R.; Hall, I. R.

2017-09-01

Fine grain-size parameters have been used for inference of palaeoflow speeds of near-bottom currents in the deep-sea. The basic idea stems from observations of varying sediment size parameters on a continental margin with a gradient from slower flow speeds at shallower depths to faster at deeper. In the deep-sea, size-sorting occurs during deposition after benthic storm resuspension events. At flow speeds below 10-15 cm s-1 mean grain-size in the terrigenous non-cohesive 'sortable silt' range (denoted by SS bar , mean of 10-63 μm) is controlled by selective deposition, whereas above that range removal of finer material by winnowing is also argued to play a role. A calibration of the SS bar grain-size flow speed proxy based on sediment samples taken adjacent to sites of long-term current meters set within 100 m of the sea bed for more than a year is presented here. Grain-size has been measured by either Sedigraph or Coulter Counter, in some cases both, between which there is an excellent correlation for SS bar (r = 0.96). Size-speed data indicate calibration relationships with an overall sensitivity of 1.36 ± 0.19 cm s-1/μm. A calibration line comprising 12 points including 9 from the Iceland overflow region is well defined, but at least two other smaller groups (Weddell/Scotia Sea and NW Atlantic continental rise/Rockall Trough) are fitted by sub-parallel lines with a smaller constant. This suggests a possible influence of the calibre of material supplied to the site of deposition (not the initial source supply) which, if depleted in very coarse silt (31-63 μm), would limit SS bar to smaller values for a given speed than with a broader size-spectrum supply. Local calibrations, or a core-top grain-size and local flow speed, are thus necessary to infer absolute speeds from grain-size. The trend of the calibrations diverges markedly from the slope of experimental critical erosion and deposition flow speeds versus grain-size, making it unlikely that the SS bar (or any deposit size for that matter) is simply predicted by the deposition threshold. A more probable control is the rate of deposition of the different size fractions under changing flows over several tens of years (the typical averaging period of a centimetre of deposited sediment). This suggestion is supported by a simple depositional model for which the deposited SS bar is calculated from measured currents with a size-varying depositional threshold. More surficial sediment samples taken near long-term current meter sites are needed to make calibrations more robust and explore regional differences.

Speed Biases With Real-Life Video Clips

PubMed Central

Rossi, Federica; Montanaro, Elisa; de’Sperati, Claudio

2018-01-01

We live almost literally immersed in an artificial visual world, especially motion pictures. In this exploratory study, we asked whether the best speed for reproducing a video is its original, shooting speed. By using adjustment and double staircase methods, we examined speed biases in viewing real-life video clips in three experiments, and assessed their robustness by manipulating visual and auditory factors. With the tested stimuli (short clips of human motion, mixed human-physical motion, physical motion and ego-motion), speed underestimation was the rule rather than the exception, although it depended largely on clip content, ranging on average from 2% (ego-motion) to 32% (physical motion). Manipulating display size or adding arbitrary soundtracks did not modify these speed biases. Estimated speed was not correlated with estimated duration of these same video clips. These results indicate that the sense of speed for real-life video clips can be systematically biased, independently of the impression of elapsed time. Measuring subjective visual tempo may integrate traditional methods that assess time perception: speed biases may be exploited to develop a simple, objective test of reality flow, to be used for example in clinical and developmental contexts. From the perspective of video media, measuring speed biases may help to optimize video reproduction speed and validate “natural” video compression techniques based on sub-threshold temporal squeezing. PMID:29615875

Speed Biases With Real-Life Video Clips.

PubMed

Rossi, Federica; Montanaro, Elisa; de'Sperati, Claudio

2018-01-01

We live almost literally immersed in an artificial visual world, especially motion pictures. In this exploratory study, we asked whether the best speed for reproducing a video is its original, shooting speed. By using adjustment and double staircase methods, we examined speed biases in viewing real-life video clips in three experiments, and assessed their robustness by manipulating visual and auditory factors. With the tested stimuli (short clips of human motion, mixed human-physical motion, physical motion and ego-motion), speed underestimation was the rule rather than the exception, although it depended largely on clip content, ranging on average from 2% (ego-motion) to 32% (physical motion). Manipulating display size or adding arbitrary soundtracks did not modify these speed biases. Estimated speed was not correlated with estimated duration of these same video clips. These results indicate that the sense of speed for real-life video clips can be systematically biased, independently of the impression of elapsed time. Measuring subjective visual tempo may integrate traditional methods that assess time perception: speed biases may be exploited to develop a simple, objective test of reality flow, to be used for example in clinical and developmental contexts. From the perspective of video media, measuring speed biases may help to optimize video reproduction speed and validate "natural" video compression techniques based on sub-threshold temporal squeezing.

14 CFR 23.373 - Speed control devices.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Speed control devices. 23.373 Section 23....373 Speed control devices. If speed control devices (such as spoilers and drag flaps) are incorporated....441 and 23.443, with the device extended at speeds up to the placard device extended speed; and (b) If...

14 CFR 23.373 - Speed control devices.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Speed control devices. 23.373 Section 23....373 Speed control devices. If speed control devices (such as spoilers and drag flaps) are incorporated....441 and 23.443, with the device extended at speeds up to the placard device extended speed; and (b) If...

A Robust Cooperated Control Method with Reinforcement Learning and Adaptive H∞ Control

NASA Astrophysics Data System (ADS)

Obayashi, Masanao; Uchiyama, Shogo; Kuremoto, Takashi; Kobayashi, Kunikazu

This study proposes a robust cooperated control method combining reinforcement learning with robust control to control the system. A remarkable characteristic of the reinforcement learning is that it doesn't require model formula, however, it doesn't guarantee the stability of the system. On the other hand, robust control system guarantees stability and robustness, however, it requires model formula. We employ both the actor-critic method which is a kind of reinforcement learning with minimal amount of computation to control continuous valued actions and the traditional robust control, that is, H∞ control. The proposed system was compared method with the conventional control method, that is, the actor-critic only used, through the computer simulation of controlling the angle and the position of a crane system, and the simulation result showed the effectiveness of the proposed method.

21 CFR 870.4380 - Cardiopulmonary bypass pump speed control.

Code of Federal Regulations, 2010 CFR

2010-04-01

... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Cardiopulmonary bypass pump speed control. 870... Cardiopulmonary bypass pump speed control. (a) Identification. A cardiopulmonary bypass pump speed control is a... control the speed of blood pumps used in cardiopulmonary bypass surgery. (b) Classification. Class II...

21 CFR 870.4380 - Cardiopulmonary bypass pump speed control.

Code of Federal Regulations, 2011 CFR

2011-04-01

... 21 Food and Drugs 8 2011-04-01 2011-04-01 false Cardiopulmonary bypass pump speed control. 870... Cardiopulmonary bypass pump speed control. (a) Identification. A cardiopulmonary bypass pump speed control is a... control the speed of blood pumps used in cardiopulmonary bypass surgery. (b) Classification. Class II...

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.

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

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

Ding, Xuanfeng, E-mail: Xuanfeng.ding@beaumont.org; Li, Xiaoqiang; Zhang, J. Michele

Purpose: To present a novel robust and delivery-efficient spot-scanning proton arc (SPArc) therapy technique. Methods and Materials: A SPArc optimization algorithm was developed that integrates control point resampling, energy layer redistribution, energy layer filtration, and energy layer resampling. The feasibility of such a technique was evaluated using sample patients: 1 patient with locally advanced head and neck oropharyngeal cancer with bilateral lymph node coverage, and 1 with a nonmobile lung cancer. Plan quality, robustness, and total estimated delivery time were compared with the robust optimized multifield step-and-shoot arc plan without SPArc optimization (Arc{sub multi-field}) and the standard robust optimized intensity modulatedmore » proton therapy (IMPT) plan. Dose-volume histograms of target and organs at risk were analyzed, taking into account the setup and range uncertainties. Total delivery time was calculated on the basis of a 360° gantry room with 1 revolutions per minute gantry rotation speed, 2-millisecond spot switching time, 1-nA beam current, 0.01 minimum spot monitor unit, and energy layer switching time of 0.5 to 4 seconds. Results: The SPArc plan showed potential dosimetric advantages for both clinical sample cases. Compared with IMPT, SPArc delivered 8% and 14% less integral dose for oropharyngeal and lung cancer cases, respectively. Furthermore, evaluating the lung cancer plan compared with IMPT, it was evident that the maximum skin dose, the mean lung dose, and the maximum dose to ribs were reduced by 60%, 15%, and 35%, respectively, whereas the conformity index was improved from 7.6 (IMPT) to 4.0 (SPArc). The total treatment delivery time for lung and oropharyngeal cancer patients was reduced by 55% to 60% and 56% to 67%, respectively, when compared with Arc{sub multi-field} plans. Conclusion: The SPArc plan is the first robust and delivery-efficient proton spot-scanning arc therapy technique, which could potentially be implemented into routine clinical practice.« less

Efficient Computation of Closed-loop Frequency Response for Large Order Flexible Systems

NASA Technical Reports Server (NTRS)

Maghami, Peiman G.; Giesy, Daniel P.

1997-01-01

An efficient and robust computational scheme is given for the calculation of the frequency response function of a large order, flexible system implemented with a linear, time invariant control system. Advantage is taken of the highly structured sparsity of the system matrix of the plant based on a model of the structure using normal mode coordinates. The computational time per frequency point of the new computational scheme is a linear function of system size, a significant improvement over traditional, full-matrix techniques whose computational times per frequency point range from quadratic to cubic functions of system size. This permits the practical frequency domain analysis of systems of much larger order than by traditional, full-matrix techniques. Formulations are given for both open and closed loop loop systems. Numerical examples are presented showing the advantages of the present formulation over traditional approaches, both in speed and in accuracy. Using a model with 703 structural modes, a speed-up of almost two orders of magnitude was observed while accuracy improved by up to 5 decimal places.

The speed-curvature power law in Drosophila larval locomotion.

PubMed

Zago, Myrka; Lacquaniti, Francesco; Gomez-Marin, Alex

2016-10-01

We report the discovery that the locomotor trajectories of Drosophila larvae follow the power-law relationship between speed and curvature previously found in the movements of human and non-human primates. Using high-resolution behavioural tracking in controlled but naturalistic sensory environments, we tested the law in maggots tracing different trajectory types, from reaching-like movements to scribbles. For most but not all flies, we found that the law holds robustly, with an exponent close to three-quarters rather than to the usual two-thirds found in almost all human situations, suggesting dynamic effects adding on purely kinematic constraints. There are different hypotheses for the origin of the law in primates, one invoking cortical computations, another viscoelastic muscle properties coupled with central pattern generators. Our findings are consistent with the latter view and demonstrate that the law is possible in animals with nervous systems orders of magnitude simpler than in primates. Scaling laws might exist because natural selection favours processes that remain behaviourally efficient across a wide range of neural and body architectures in distantly related species. © 2016 The Authors.

Aircraft High-Lift Aerodynamic Analysis Using a Surface-Vorticity Solver

NASA Technical Reports Server (NTRS)

Olson, Erik D.; Albertson, Cindy W.

2016-01-01

This study extends an existing semi-empirical approach to high-lift analysis by examining its effectiveness for use with a three-dimensional aerodynamic analysis method. The aircraft high-lift geometry is modeled in Vehicle Sketch Pad (OpenVSP) using a newly-developed set of techniques for building a three-dimensional model of the high-lift geometry, and for controlling flap deflections using scripted parameter linking. Analysis of the low-speed aerodynamics is performed in FlightStream, a novel surface-vorticity solver that is expected to be substantially more robust and stable compared to pressure-based potential-flow solvers and less sensitive to surface perturbations. The calculated lift curve and drag polar are modified by an empirical lift-effectiveness factor that takes into account the effects of viscosity that are not captured in the potential-flow solution. Analysis results are validated against wind-tunnel data for The Energy-Efficient Transport AR12 low-speed wind-tunnel model, a 12-foot, full-span aircraft configuration with a supercritical wing, full-span slats, and part-span double-slotted flaps.

Effect of interaction strength on robustness of controlling edge dynamics in complex networks

NASA Astrophysics Data System (ADS)

Pang, Shao-Peng; Hao, Fei

2018-05-01

Robustness plays a critical role in the controllability of complex networks to withstand failures and perturbations. Recent advances in the edge controllability show that the interaction strength among edges plays a more important role than network structure. Therefore, we focus on the effect of interaction strength on the robustness of edge controllability. Using three categories of all edges to quantify the robustness, we develop a universal framework to evaluate and analyze the robustness in complex networks with arbitrary structures and interaction strengths. Applying our framework to a large number of model and real-world networks, we find that the interaction strength is a dominant factor for the robustness in undirected networks. Meanwhile, the strongest robustness and the optimal edge controllability in undirected networks can be achieved simultaneously. Different from the case of undirected networks, the robustness in directed networks is determined jointly by the interaction strength and the network's degree distribution. Moreover, a stronger robustness is usually associated with a larger number of driver nodes required to maintain full control in directed networks. This prompts us to provide an optimization method by adjusting the interaction strength to optimize the robustness of edge controllability.

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.

The Origin of Time in the Songbird Motor Pathway

NASA Astrophysics Data System (ADS)

Long, Michael

2010-03-01

Many complex behaviors, like speech or music, have a hierarchical organization with structure on many timescales. How does the brain control the timing and ordering of behavioral sequences? Do different circuits control different timescales of the behavior? To begin answering these questions, we use temperature to manipulate the biophysical dynamics in different regions of the songbird forebrain involved in song production. We found that cooling premotor nucleus HVC (high vocal center) uniformly slows song speed by up to 40% while only slightly altering the acoustic structure, whereas cooling downstream motor nucleus RA (robust nucleus of the arcopallium) has no observable effect on song timing, despite a marked affect of RA spiking activity. To better understand the circuit mechanisms of precise premotor timing, we perform intracellular recordings in RA-projecting HVC neurons during singing. Our observations suggest highly ordered dynamics within HVC which are consistent with a synfire-like neuronal architecture.

Vision and air flow combine to streamline flying honeybees

PubMed Central

Taylor, Gavin J.; Luu, Tien; Ball, David; Srinivasan, Mandyam V.

2013-01-01

Insects face the challenge of integrating multi-sensory information to control their flight. Here we study a ‘streamlining' response in honeybees, whereby honeybees raise their abdomen to reduce drag. We find that this response, which was recently reported to be mediated by optic flow, is also strongly modulated by the presence of air flow simulating a head wind. The Johnston's organs in the antennae were found to play a role in the measurement of the air speed that is used to control the streamlining response. The response to a combination of visual motion and wind is complex and can be explained by a model that incorporates a non-linear combination of the two stimuli. The use of visual and mechanosensory cues increases the strength of the streamlining response when the stimuli are present concurrently. We propose this multisensory integration will make the response more robust to transient disturbances in either modality. PMID:24019053

Controlled fabrication of luminescent and magnetic nanocomposites

NASA Astrophysics Data System (ADS)

Ma, Yingxin; Zhong, Yucheng; Fan, Jing; Huang, Weiren

2018-03-01

Luminescent and magnetic multifunctional nanocomposite is in high demand and widely used in many scales, such as drug delivery, bioseparation, chemical/biosensors, and so on. Although lots of strategies have been successfully developed for the demand of multifunctional nanocomposites, it is not easy to prepare multifunctional nanocomposites by using a simple method, and satisfy all kinds of demands simultaneously. In this work, via a facile and versatile method, luminescent nanocrystals and magnetic nanoparticles were successfully synthesized through self-assembly under vigorous stirring and ultrasonic treatment. These multifunctional nanocomposites are not only water stable but also find wide application such as magnetic separation and concentration with a series of moderate speed, multicolor fluorescence at different emission wavelength, high efficiency of the excitation and emission, and so on. By changing different kinds of luminescent nanocrystals and controlling the amount of luminescent and magnetic nanoparticles, a train of multifunctional nanocomposites was successfully fabricated via a versatile and robust method.

Adaptive, fast walking in a biped robot under neuronal control and learning.

PubMed

Manoonpong, Poramate; Geng, Tao; Kulvicius, Tomas; Porr, Bernd; Wörgötter, Florentin

2007-07-01

Human walking is a dynamic, partly self-stabilizing process relying on the interaction of the biomechanical design with its neuronal control. The coordination of this process is a very difficult problem, and it has been suggested that it involves a hierarchy of levels, where the lower ones, e.g., interactions between muscles and the spinal cord, are largely autonomous, and where higher level control (e.g., cortical) arises only pointwise, as needed. This requires an architecture of several nested, sensori-motor loops where the walking process provides feedback signals to the walker's sensory systems, which can be used to coordinate its movements. To complicate the situation, at a maximal walking speed of more than four leg-lengths per second, the cycle period available to coordinate all these loops is rather short. In this study we present a planar biped robot, which uses the design principle of nested loops to combine the self-stabilizing properties of its biomechanical design with several levels of neuronal control. Specifically, we show how to adapt control by including online learning mechanisms based on simulated synaptic plasticity. This robot can walk with a high speed (>3.0 leg length/s), self-adapting to minor disturbances, and reacting in a robust way to abruptly induced gait changes. At the same time, it can learn walking on different terrains, requiring only few learning experiences. This study shows that the tight coupling of physical with neuronal control, guided by sensory feedback from the walking pattern itself, combined with synaptic learning may be a way forward to better understand and solve coordination problems in other complex motor tasks.

14 CFR 25.149 - Minimum control speed.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Minimum control speed. 25.149 Section 25... Minimum control speed. (a) In establishing the minimum control speeds required by this section, the method... prevent a heading change of more than 20 degrees. (e) VMCG, the minimum control speed on the ground, is...

14 CFR 25.149 - Minimum control speed.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Minimum control speed. 25.149 Section 25... Minimum control speed. (a) In establishing the minimum control speeds required by this section, the method... prevent a heading change of more than 20 degrees. (e) VMCG, the minimum control speed on the ground, is...

Learning Optimized Local Difference Binaries for Scalable Augmented Reality on Mobile Devices.

PubMed

Xin Yang; Kwang-Ting Cheng

2014-06-01

The efficiency, robustness and distinctiveness of a feature descriptor are critical to the user experience and scalability of a mobile augmented reality (AR) system. However, existing descriptors are either too computationally expensive to achieve real-time performance on a mobile device such as a smartphone or tablet, or not sufficiently robust and distinctive to identify correct matches from a large database. As a result, current mobile AR systems still only have limited capabilities, which greatly restrict their deployment in practice. In this paper, we propose a highly efficient, robust and distinctive binary descriptor, called Learning-based Local Difference Binary (LLDB). LLDB directly computes a binary string for an image patch using simple intensity and gradient difference tests on pairwise grid cells within the patch. To select an optimized set of grid cell pairs, we densely sample grid cells from an image patch and then leverage a modified AdaBoost algorithm to automatically extract a small set of critical ones with the goal of maximizing the Hamming distance between mismatches while minimizing it between matches. Experimental results demonstrate that LLDB is extremely fast to compute and to match against a large database due to its high robustness and distinctiveness. Compared to the state-of-the-art binary descriptors, primarily designed for speed, LLDB has similar efficiency for descriptor construction, while achieving a greater accuracy and faster matching speed when matching over a large database with 2.3M descriptors on mobile devices.

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

PubMed

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

2016-12-01

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

Indirect adaptive soft computing based wavelet-embedded control paradigms for WT/PV/SOFC in a grid/charging station connected hybrid power system.

PubMed

Mumtaz, Sidra; Khan, Laiq; Ahmed, Saghir; Bader, Rabiah

2017-01-01

This paper focuses on the indirect adaptive tracking control of renewable energy sources in a grid-connected hybrid power system. The renewable energy systems have low efficiency and intermittent nature due to unpredictable meteorological conditions. The domestic load and the conventional charging stations behave in an uncertain manner. To operate the renewable energy sources efficiently for harvesting maximum power, instantaneous nonlinear dynamics should be captured online. A Chebyshev-wavelet embedded NeuroFuzzy indirect adaptive MPPT (maximum power point tracking) control paradigm is proposed for variable speed wind turbine-permanent synchronous generator (VSWT-PMSG). A Hermite-wavelet incorporated NeuroFuzzy indirect adaptive MPPT control strategy for photovoltaic (PV) system to extract maximum power and indirect adaptive tracking control scheme for Solid Oxide Fuel Cell (SOFC) is developed. A comprehensive simulation test-bed for a grid-connected hybrid power system is developed in Matlab/Simulink. The robustness of the suggested indirect adaptive control paradigms are evaluated through simulation results in a grid-connected hybrid power system test-bed by comparison with conventional and intelligent control techniques. The simulation results validate the effectiveness of the proposed control paradigms.

Fault-tolerant nonlinear adaptive flight control using sliding mode online learning.

PubMed

Krüger, Thomas; Schnetter, Philipp; Placzek, Robin; Vörsmann, Peter

2012-08-01

An expanded nonlinear model inversion flight control strategy using sliding mode online learning for neural networks is presented. The proposed control strategy is implemented for a small unmanned aircraft system (UAS). This class of aircraft is very susceptible towards nonlinearities like atmospheric turbulence, model uncertainties and of course system failures. Therefore, these systems mark a sensible testbed to evaluate fault-tolerant, adaptive flight control strategies. Within this work the concept of feedback linearization is combined with feed forward neural networks to compensate for inversion errors and other nonlinear effects. Backpropagation-based adaption laws of the network weights are used for online training. Within these adaption laws the standard gradient descent backpropagation algorithm is augmented with the concept of sliding mode control (SMC). Implemented as a learning algorithm, this nonlinear control strategy treats the neural network as a controlled system and allows a stable, dynamic calculation of the learning rates. While considering the system's stability, this robust online learning method therefore offers a higher speed of convergence, especially in the presence of external disturbances. The SMC-based flight controller is tested and compared with the standard gradient descent backpropagation algorithm in the presence of system failures. Copyright © 2012 Elsevier Ltd. All rights reserved.

Indirect adaptive soft computing based wavelet-embedded control paradigms for WT/PV/SOFC in a grid/charging station connected hybrid power system

PubMed Central

Khan, Laiq; Ahmed, Saghir; Bader, Rabiah

2017-01-01

This paper focuses on the indirect adaptive tracking control of renewable energy sources in a grid-connected hybrid power system. The renewable energy systems have low efficiency and intermittent nature due to unpredictable meteorological conditions. The domestic load and the conventional charging stations behave in an uncertain manner. To operate the renewable energy sources efficiently for harvesting maximum power, instantaneous nonlinear dynamics should be captured online. A Chebyshev-wavelet embedded NeuroFuzzy indirect adaptive MPPT (maximum power point tracking) control paradigm is proposed for variable speed wind turbine-permanent synchronous generator (VSWT-PMSG). A Hermite-wavelet incorporated NeuroFuzzy indirect adaptive MPPT control strategy for photovoltaic (PV) system to extract maximum power and indirect adaptive tracking control scheme for Solid Oxide Fuel Cell (SOFC) is developed. A comprehensive simulation test-bed for a grid-connected hybrid power system is developed in Matlab/Simulink. The robustness of the suggested indirect adaptive control paradigms are evaluated through simulation results in a grid-connected hybrid power system test-bed by comparison with conventional and intelligent control techniques. The simulation results validate the effectiveness of the proposed control paradigms. PMID:28877191

Real-time 2D spatially selective MRI experiments: Comparative analysis of optimal control design methods.

PubMed

Maximov, Ivan I; Vinding, Mads S; Tse, Desmond H Y; Nielsen, Niels Chr; Shah, N Jon

2015-05-01

There is an increasing need for development of advanced radio-frequency (RF) pulse techniques in modern magnetic resonance imaging (MRI) systems driven by recent advancements in ultra-high magnetic field systems, new parallel transmit/receive coil designs, and accessible powerful computational facilities. 2D spatially selective RF pulses are an example of advanced pulses that have many applications of clinical relevance, e.g., reduced field of view imaging, and MR spectroscopy. The 2D spatially selective RF pulses are mostly generated and optimised with numerical methods that can handle vast controls and multiple constraints. With this study we aim at demonstrating that numerical, optimal control (OC) algorithms are efficient for the design of 2D spatially selective MRI experiments, when robustness towards e.g. field inhomogeneity is in focus. We have chosen three popular OC algorithms; two which are gradient-based, concurrent methods using first- and second-order derivatives, respectively; and a third that belongs to the sequential, monotonically convergent family. We used two experimental models: a water phantom, and an in vivo human head. Taking into consideration the challenging experimental setup, our analysis suggests the use of the sequential, monotonic approach and the second-order gradient-based approach as computational speed, experimental robustness, and image quality is key. All algorithms used in this work were implemented in the MATLAB environment and are freely available to the MRI community. Copyright © 2015 Elsevier Inc. All rights reserved.

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.

Inspiration for wing design: how forelimb specialization enables active flight in modern vertebrates.

PubMed

Chin, Diana D; Matloff, Laura Y; Stowers, Amanda Kay; Tucci, Emily R; Lentink, David

2017-06-01

Harnessing flight strategies refined by millions of years of evolution can help expedite the design of more efficient, manoeuvrable and robust flying robots. This review synthesizes recent advances and highlights remaining gaps in our understanding of how bird and bat wing adaptations enable effective flight. Included in this discussion is an evaluation of how current robotic analogues measure up to their biological sources of inspiration. Studies of vertebrate wings have revealed skeletal systems well suited for enduring the loads required during flight, but the mechanisms that drive coordinated motions between bones and connected integuments remain ill-described. Similarly, vertebrate flight muscles have adapted to sustain increased wing loading, but a lack of in vivo studies limits our understanding of specific muscular functions. Forelimb adaptations diverge at the integument level, but both bird feathers and bat membranes yield aerodynamic surfaces with a level of robustness unparalleled by engineered wings. These morphological adaptations enable a diverse range of kinematics tuned for different flight speeds and manoeuvres. By integrating vertebrate flight specializations-particularly those that enable greater robustness and adaptability-into the design and control of robotic wings, engineers can begin narrowing the wide margin that currently exists between flying robots and vertebrates. In turn, these robotic wings can help biologists create experiments that would be impossible in vivo . © 2017 The Author(s).

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

NASA Astrophysics Data System (ADS)

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

2017-07-01

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

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.

Data Assimilation in a Solar Dynamo Model Using Ensemble Kalman Filters: Sensitivity and Robustness in Reconstruction of Meridional Flow Speed

NASA Astrophysics Data System (ADS)

Dikpati, Mausumi; Anderson, Jeffrey L.; Mitra, Dhrubaditya

2016-09-01

We implement an Ensemble Kalman Filter procedure using the Data Assimilation Research Testbed for assimilating “synthetic” meridional flow-speed data in a Babcock-Leighton-type flux-transport solar dynamo model. By performing several “observing system simulation experiments,” we reconstruct time variation in meridional flow speed and analyze sensitivity and robustness of reconstruction. Using 192 ensemble members including 10 observations, each with 4% error, we find that flow speed is reconstructed best if observations of near-surface poloidal fields from low latitudes and tachocline toroidal fields from midlatitudes are assimilated. If observations include a mixture of poloidal and toroidal fields from different latitude locations, reconstruction is reasonably good for ≤slant 40 % error in low-latitude data, even if observational error in polar region data becomes 200%, but deteriorates when observational error increases in low- and midlatitude data. Solar polar region observations are known to contain larger errors than those in low latitudes; our forward operator (a flux-transport dynamo model here) can sustain larger errors in polar region data, but is more sensitive to errors in low-latitude data. An optimal reconstruction is obtained if an assimilation interval of 15 days is used; 10- and 20-day assimilation intervals also give reasonably good results. Assimilation intervals \\lt 5 days do not produce faithful reconstructions of flow speed, because the system requires a minimum time to develop dynamics to respond to flow variations. Reconstruction also deteriorates if an assimilation interval \\gt 45 days is used, because the system’s inherent memory interferes with its short-term dynamics during a substantially long run without updating.

Lunar Entry Downmode Options for Orion

NASA Technical Reports Server (NTRS)

Smith, Kelly M.; Rea, Jeremy

2016-01-01

For Exploration Missions 1 and 2, the Orion capsules will be entering the Earth's atmosphere with speeds in excess of 11 km/s. In the event of a degraded Guidance, Navigation, and Control system, attempting the nominal guided entry may be inadvisable due to the potential for failures that result in a loss of vehicle (or crew, when crew are aboard). In such a case, a method of assuring Earth capture, water landing, and observence of trajectory constraints (heating, loads) is desired. Such a method should also be robust to large state uncertainty and variations in entry interface states. This document will explore four approaches evaluated and their performance in ensuring a safe return of the Orion capsule in the event of onboard system degradation.

Nike Facility Diagnostics and Data Acquisition System

NASA Astrophysics Data System (ADS)

Chan, Yung; Aglitskiy, Yefim; Karasik, Max; Kehne, David; Obenschain, Steve; Oh, Jaechul; Serlin, Victor; Weaver, Jim

2013-10-01

The Nike laser-target facility is a 56-beam krypton fluoride system that can deliver 2 to 3 kJ of laser energy at 248 nm onto targets inside a two meter diameter vacuum chamber. Nike is used to study physics and technology issues related to laser direct-drive ICF fusion, including hydrodynamic and laser-plasma instabilities, material behavior at extreme pressures, and optical and x-ray diagnostics for laser-heated targets. A suite of laser and target diagnostics are fielded on the Nike facility, including high-speed, high-resolution x-ray and visible imaging cameras, spectrometers and photo-detectors. A centrally-controlled, distributed computerized data acquisition system provides robust data management and near real-time analysis feedback capability during target shots. Work supported by DOE/NNSA.

Wireless sensing and vibration control with increased redundancy and robustness design.

PubMed

Li, Peng; Li, Luyu; Song, Gangbing; Yu, Yan

2014-11-01

Control systems with long distance sensor and actuator wiring have the problem of high system cost and increased sensor noise. Wireless sensor network (WSN)-based control systems are an alternative solution involving lower setup and maintenance costs and reduced sensor noise. However, WSN-based control systems also encounter problems such as possible data loss, irregular sampling periods (due to the uncertainty of the wireless channel), and the possibility of sensor breakdown (due to the increased complexity of the overall control system). In this paper, a wireless microcontroller-based control system is designed and implemented to wirelessly perform vibration control. The wireless microcontroller-based system is quite different from regular control systems due to its limited speed and computational power. Hardware, software, and control algorithm design are described in detail to demonstrate this prototype. Model and system state compensation is used in the wireless control system to solve the problems of data loss and sensor breakdown. A positive position feedback controller is used as the control law for the task of active vibration suppression. Both wired and wireless controllers are implemented. The results show that the WSN-based control system can be successfully used to suppress the vibration and produces resilient results in the presence of sensor failure.

High-Risk Driving Behaviors among Adolescent Binge-Drinkers

PubMed Central

Marcotte, Thomas D.; Bekman, Nicole M.; Meyer, Rachel A.; Brown, Sandra A.

2013-01-01

Background Binge drinking is common among adolescents. Alcohol use, and binge-drinking in particular, has been associated with neurocognitive deficits as well as risk-taking behaviors, which may contribute to negative driving outcomes among adolescents even while sober. Objectives To examine differences in self-reported driving behaviors between adolescent binge-drinkers and a matched sample of controls, including (a) compliance with graduated licensing laws, (b) high risk driving behaviors, and (c) driving outcomes (crashes, traffic tickets). Methods The present study examined driving behaviors and outcomes in adolescent recent binge drinkers (n=21) and demographically and driving history matched controls (n=17), ages 16-18. Results Binge drinkers more frequently violated graduated licensing laws (e.g., driving late at night), and engaged in more “high risk” driving behaviors, such as speeding and using a cell-phone while driving. Binge drinkers had more traffic tickets, crashes and “near crashes” than the control group. In a multivariate analysis, binge drinker status and speeding were the most robust predictors of a crash. Conclusion Binge drinking teens consistently engage in more dangerous driving behaviors and experience more frequent crashes and traffic tickets. They are also less compliant with preventative restrictions placed on youth while they are learning critical safe driving skills. Scientific Significance These findings highlight a need to examine the contribution of underlying traits (such as sensation seeking) and binge-related cognitive changes to these high-risk driving behaviors, which may assist researchers in establishing alternative prevention and policy efforts targeting this population. PMID:22324748

Variable current speed controller for eddy current motors

DOEpatents

Gerth, H.L.; Bailey, J.M.; Casstevens, J.M.; Dixon, J.H.; Griffith, B.O.; Igou, R.E.

1982-03-12

A speed control system for eddy current motors is provided in which the current to the motor from a constant frequency power source is varied by comparing the actual motor speed signal with a setpoint speed signal to control the motor speed according to the selected setpoint speed. A three-phase variable voltage autotransformer is provided for controlling the voltage from a three-phase power supply. A corresponding plurality of current control resistors is provided in series with each phase of the autotransformer output connected to inputs of a three-phase motor. Each resistor is connected in parallel with a set of normally closed contacts of plurality of relays which are operated by control logic. A logic circuit compares the selected speed with the actual motor speed obtained from a digital tachometer monitoring the motor spindle speed and operated the relays to add or substract resistance equally in each phase of the motor input to vary the motor current to control the motor at the selected speed.

Compensation of significant parametric uncertainties using sliding mode online learning

NASA Astrophysics Data System (ADS)

Schnetter, Philipp; Kruger, Thomas

An augmented nonlinear inverse dynamics (NID) flight control strategy using sliding mode online learning for a small unmanned aircraft system (UAS) is presented. Because parameter identification for this class of aircraft often is not valid throughout the complete flight envelope, aerodynamic parameters used for model based control strategies may show significant deviations. For the concept of feedback linearization this leads to inversion errors that in combination with the distinctive susceptibility of small UAS towards atmospheric turbulence pose a demanding control task for these systems. In this work an adaptive flight control strategy using feedforward neural networks for counteracting such nonlinear effects is augmented with the concept of sliding mode control (SMC). SMC-learning is derived from variable structure theory. It considers a neural network and its training as a control problem. It is shown that by the dynamic calculation of the learning rates, stability can be guaranteed and thus increase the robustness against external disturbances and system failures. With the resulting higher speed of convergence a wide range of simultaneously occurring disturbances can be compensated. The SMC-based flight controller is tested and compared to the standard gradient descent (GD) backpropagation algorithm under the influence of significant model uncertainties and system failures.

Analytical design of a parasitic-loading digital speed controller for a 400-hertz turbine driven alternator

NASA Technical Reports Server (NTRS)

Ingle, B. D.; Ryan, J. P.

1972-01-01

A design for a solid-state parasitic speed controller using digital logic was analyzed. Parasitic speed controllers are used in space power electrical generating systems to control the speed of turbine-driven alternators within specified limits. The analysis included the performance characteristics of the speed controller and the generation of timing functions. The speed controller using digital logic applies step loads to the alternator. The step loads conduct for a full half wave starting at either zero or 180 electrical degrees.

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.

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.

Effect of Position- and Velocity-Dependent Forces on Reaching Movements at Different Speeds

PubMed Central

Summa, Susanna; Casadio, Maura; Sanguineti, Vittorio

2016-01-01

The speed of voluntary movements is determined by the conflicting needs of maximizing accuracy and minimizing mechanical effort. Dynamic perturbations, e.g., force fields, may be used to manipulate movements in order to investigate these mechanisms. Here, we focus on how the presence of position- and velocity-dependent force fields affects the relation between speed and accuracy during hand reaching movements. Participants were instructed to perform reaching movements under visual control in two directions, corresponding to either low or high arm inertia. The subjects were required to maintain four different movement durations (very slow, slow, fast, very fast). The experimental protocol included three phases: (i) familiarization—the robot generated no force; (ii) force field—the robot generated a force; and (iii) after-effect—again, no force. Participants were randomly assigned to four groups, depending on the type of force that was applied during the “force field” phase. The robot was programmed to generate position-dependent forces—with positive (K+) or negative stiffness (K−)—or velocity-dependent forces, with either positive (B+) or negative viscosity (B−). We focused on path curvature, smoothness, and endpoint error; in the latter we distinguished between bias and variability components. Movements in the high-inertia direction are smoother and less curved; smoothness also increases with movement speed. Endpoint bias and variability are greater in, respectively, the high and low inertia directions. A robust dependence on movement speed was only observed in the longitudinal components of both bias and variability. The strongest and more consistent effects of perturbation were observed with negative viscosity (B−), which resulted in increased variability during force field adaptation and in a reduction of the endpoint bias, which was retained in the subsequent after-effect phase. These findings confirm that training with negative viscosity produces lasting effects in movement accuracy at all speeds. PMID:27965559

A Mathematical Model of Marine Diesel Engine Speed Control System

NASA Astrophysics Data System (ADS)

Sinha, Rajendra Prasad; Balaji, Rajoo

2018-02-01

Diesel engine is inherently an unstable machine and requires a reliable control system to regulate its speed for safe and efficient operation. Also, the diesel engine may operate at fixed or variable speeds depending upon user's needs and accordingly the speed control system should have essential features to fulfil these requirements. This paper proposes a mathematical model of a marine diesel engine speed control system with droop governing function. The mathematical model includes static and dynamic characteristics of the control loop components. Model of static characteristic of the rotating fly weights speed sensing element provides an insight into the speed droop features of the speed controller. Because of big size and large time delay, the turbo charged diesel engine is represented as a first order system or sometimes even simplified to a pure integrator with constant gain which is considered acceptable in control literature. The proposed model is mathematically less complex and quick to use for preliminary analysis of the diesel engine speed controller performance.

VisNAV 100: a robust, compact imaging sensor for enabling autonomous air-to-air refueling of aircraft and unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Katake, Anup; Choi, Heeyoul

2010-01-01

To enable autonomous air-to-refueling of manned and unmanned vehicles a robust high speed relative navigation sensor capable of proving high accuracy 3DOF information in diverse operating conditions is required. To help address this problem, StarVision Technologies Inc. has been developing a compact, high update rate (100Hz), wide field-of-view (90deg) direction and range estimation imaging sensor called VisNAV 100. The sensor is fully autonomous requiring no communication from the tanker aircraft and contains high reliability embedded avionics to provide range, azimuth, elevation (3 degrees of freedom solution 3DOF) and closing speed relative to the tanker aircraft. The sensor is capable of providing 3DOF with an error of 1% in range and 0.1deg in azimuth/elevation up to a range of 30m and 1 deg error in direction for ranges up to 200m at 100Hz update rates. In this paper we will discuss the algorithms that were developed in-house to enable robust beacon pattern detection, outlier rejection and 3DOF estimation in adverse conditions and present the results of several outdoor tests. Results from the long range single beacon detection tests will also be discussed.

A Novel Image Retrieval Based on Visual Words Integration of SIFT and SURF

PubMed Central

Ali, Nouman; Bajwa, Khalid Bashir; Sablatnig, Robert; Chatzichristofis, Savvas A.; Iqbal, Zeshan; Rashid, Muhammad; Habib, Hafiz Adnan

2016-01-01

With the recent evolution of technology, the number of image archives has increased exponentially. In Content-Based Image Retrieval (CBIR), high-level visual information is represented in the form of low-level features. The semantic gap between the low-level features and the high-level image concepts is an open research problem. In this paper, we present a novel visual words integration of Scale Invariant Feature Transform (SIFT) and Speeded-Up Robust Features (SURF). The two local features representations are selected for image retrieval because SIFT is more robust to the change in scale and rotation, while SURF is robust to changes in illumination. The visual words integration of SIFT and SURF adds the robustness of both features to image retrieval. The qualitative and quantitative comparisons conducted on Corel-1000, Corel-1500, Corel-2000, Oliva and Torralba and Ground Truth image benchmarks demonstrate the effectiveness of the proposed visual words integration. PMID:27315101

Impact of an implanted neuroprosthesis on community ambulation in incomplete SCI.

PubMed

Lombardo, Lisa M; Kobetic, Rudolf; Pinault, Gilles; Foglyano, Kevin M; Bailey, Stephanie N; Selkirk, Stephen; Triolo, Ronald J

2018-03-01

Test the effect of a multi-joint control with implanted electrical stimulation on walking after spinal cord injury (SCI). Single subject research design with repeated measures. Hospital-based biomechanics laboratory and user assessment of community use. Female with C6 AIS C SCI 30 years post injury. Lower extremity muscle activation with an implanted pulse generator and gait training. Walking speed, maximum distance, oxygen consumption, upper extremity (UE) forces, kinematics and self-assessment of technology. Short distance walking speed at one-year follow up with or without stimulation was not significantly different from baseline. However, average walking speed was significantly faster (0.22 m/s) with stimulation over longer distances than volitional walking (0.12 m/s). In addition, there was a 413% increase in walking distance from 95 m volitionally to 488 m with stimulation while oxygen consumption and maximum upper extremity forces decreased by 22 and 16%, respectively. Stimulation also produced significant (P ≤ 0.001) improvements in peak hip and knee flexion, ankle angle at foot off and at mid-swing. An implanted neuroprosthesis enabled a subject with incomplete SCI to walk longer distances with improved hip and knee flexion and ankle dorsiflexion resulting in decreased oxygen consumption and UE support. Further research is required to determine the robustness, generalizability and functional implications of implanted neuroprostheses for community ambulation after incomplete SCI.

Pulsed dynamical decoupling for fast and robust two-qubit gates on trapped ions

NASA Astrophysics Data System (ADS)

Arrazola, I.; Casanova, J.; Pedernales, J. S.; Wang, Z.-Y.; Solano, E.; Plenio, M. B.

2018-05-01

We propose a pulsed dynamical decoupling protocol as the generator of tunable, fast, and robust quantum phase gates between two microwave-driven trapped-ion hyperfine qubits. The protocol consists of sequences of π pulses acting on ions that are oriented along an externally applied magnetic-field gradient. In contrast to existing approaches, in our design the two vibrational modes of the ion chain cooperate under the influence of the external microwave driving to achieve significantly increased gate speeds. Our scheme is robust against the dominant noise sources, which are errors on the magnetic-field and microwave pulse intensities, as well as motional heating, predicting two-qubit gates with fidelities above 99.9% in tens of microseconds.

LPV control for the full region operation of a wind turbine integrated with synchronous generator.

PubMed

Cao, Guoyan; Grigoriadis, Karolos M; Nyanteh, Yaw D

2015-01-01

Wind turbine conversion systems require feedback control to achieve reliable wind turbine operation and stable current supply. A robust linear parameter varying (LPV) controller is proposed to reduce the structural loads and improve the power extraction of a horizontal axis wind turbine operating in both the partial load and the full load regions. The LPV model is derived from the wind turbine state space models extracted by FAST (fatigue, aerodynamics, structural, and turbulence) code linearization at different operating points. In order to assure a smooth transition between the two regions, appropriate frequency-dependent varying scaling parametric weighting functions are designed in the LPV control structure. The solution of a set of linear matrix inequalities (LMIs) leads to the LPV controller. A synchronous generator model is connected with the closed LPV control loop for examining the electrical subsystem performance obtained by an inner speed control loop. Simulation results of a 1.5 MW horizontal axis wind turbine model on the FAST platform illustrates the benefit of the LPV control and demonstrates the advantages of this proposed LPV controller, when compared with a traditional gain scheduling PI control and prior LPV control configurations. Enhanced structural load mitigation, improved power extraction, and good current performance were obtained from the proposed LPV control.

LPV Control for the Full Region Operation of a Wind Turbine Integrated with Synchronous Generator

PubMed Central

Grigoriadis, Karolos M.; Nyanteh, Yaw D.

2015-01-01

Wind turbine conversion systems require feedback control to achieve reliable wind turbine operation and stable current supply. A robust linear parameter varying (LPV) controller is proposed to reduce the structural loads and improve the power extraction of a horizontal axis wind turbine operating in both the partial load and the full load regions. The LPV model is derived from the wind turbine state space models extracted by FAST (fatigue, aerodynamics, structural, and turbulence) code linearization at different operating points. In order to assure a smooth transition between the two regions, appropriate frequency-dependent varying scaling parametric weighting functions are designed in the LPV control structure. The solution of a set of linear matrix inequalities (LMIs) leads to the LPV controller. A synchronous generator model is connected with the closed LPV control loop for examining the electrical subsystem performance obtained by an inner speed control loop. Simulation results of a 1.5 MW horizontal axis wind turbine model on the FAST platform illustrates the benefit of the LPV control and demonstrates the advantages of this proposed LPV controller, when compared with a traditional gain scheduling PI control and prior LPV control configurations. Enhanced structural load mitigation, improved power extraction, and good current performance were obtained from the proposed LPV control. PMID:25884036

14 CFR 23.1149 - Propeller speed and pitch controls.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Propeller speed and pitch controls. 23.1149... Powerplant Controls and Accessories § 23.1149 Propeller speed and pitch controls. (a) If there are propeller speed or pitch controls, they must be grouped and arranged to allow— (1) Separate control of each...

14 CFR 23.1149 - Propeller speed and pitch controls.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Propeller speed and pitch controls. 23.1149... Powerplant Controls and Accessories § 23.1149 Propeller speed and pitch controls. (a) If there are propeller speed or pitch controls, they must be grouped and arranged to allow— (1) Separate control of each...

Aerial manoeuvrability in wingless gliding ants (Cephalotes atratus)

PubMed Central

Yanoviak, Stephen P.; Munk, Yonatan; Kaspari, Mike; Dudley, Robert

2010-01-01

In contrast to the patagial membranes of gliding vertebrates, the aerodynamic surfaces used by falling wingless ants to direct their aerial descent are unknown. We conducted ablation experiments to assess the relative contributions of the hindlegs, midlegs and gaster to gliding success in workers of the Neotropical arboreal ant Cephalotes atratus (Hymenoptera: Formicidae). Removal of hindlegs significantly reduced the success rate of directed aerial descent as well as the glide index for successful flights. Removal of the gaster alone did not significantly alter performance relative to controls. Equilibrium glide angles during successful targeting to vertical columns were statistically equivalent between control ants and ants with either the gaster or the hindlegs removed. High-speed video recordings suggested possible use of bilaterally asymmetric motions of the hindlegs to effect body rotations about the vertical axis during targeting manoeuvre. Overall, the control of gliding flight was remarkably robust to dramatic anatomical perturbations, suggesting effective control mechanisms in the face of adverse initial conditions (e.g. falling upside down), variable targeting decisions and turbulent wind gusts during flight. PMID:20236974

Applications of near-infrared spectroscopy in food safety evaluation and control: a review of recent research advances.

PubMed

Qu, Jia-Huan; Liu, Dan; Cheng, Jun-Hu; Sun, Da-Wen; Ma, Ji; Pu, Hongbin; Zeng, Xin-An

2015-01-01

Food safety is a critical public concern, and has drawn great attention in society. Consequently, developments of rapid, robust, and accurate methods and techniques for food safety evaluation and control are required. As a nondestructive and convenient tool, near-infrared spectroscopy (NIRS) has been widely shown to be a promising technique for food safety inspection and control due to its huge advantages of speed, noninvasive measurement, ease of use, and minimal sample preparation requirement. This review presents the fundamentals of NIRS and focuses on recent advances in its applications, during the last 10 years of food safety control, in meat, fish and fishery products, edible oils, milk and dairy products, grains and grain products, fruits and vegetables, and others. Based upon these applications, it can be demonstrated that NIRS, combined with chemometric methods, is a powerful tool for food safety surveillance and for the elimination of the occurrence of food safety problems. Some disadvantages that need to be solved or investigated with regard to the further development of NIRS are also discussed.

Fast vision-based catheter 3D reconstruction

NASA Astrophysics Data System (ADS)

Moradi Dalvand, Mohsen; Nahavandi, Saeid; Howe, Robert D.

2016-07-01

Continuum robots offer better maneuverability and inherent compliance and are well-suited for surgical applications as catheters, where gentle interaction with the environment is desired. However, sensing their shape and tip position is a challenge as traditional sensors can not be employed in the way they are in rigid robotic manipulators. In this paper, a high speed vision-based shape sensing algorithm for real-time 3D reconstruction of continuum robots based on the views of two arbitrary positioned cameras is presented. The algorithm is based on the closed-form analytical solution of the reconstruction of quadratic curves in 3D space from two arbitrary perspective projections. High-speed image processing algorithms are developed for the segmentation and feature extraction from the images. The proposed algorithms are experimentally validated for accuracy by measuring the tip position, length and bending and orientation angles for known circular and elliptical catheter shaped tubes. Sensitivity analysis is also carried out to evaluate the robustness of the algorithm. Experimental results demonstrate good accuracy (maximum errors of  ±0.6 mm and  ±0.5 deg), performance (200 Hz), and robustness (maximum absolute error of 1.74 mm, 3.64 deg for the added noises) of the proposed high speed algorithms.

Tough Hydrogel Robots: High-Speed, High-Force and Opto-sonically Invisible in Water

NASA Astrophysics Data System (ADS)

Zhao, Xuanhe

Sea animals such as leptocephali develop tissues and organs composed of active transparent hydrogels to achieve agile motions and natural camouflage in water. Hydrogel-based actuators that can imitate the capabilities of leptocephali will enable new applications in diverse fields. However, existing hydrogel actuators, mostly osmotic-driven, are intrinsically low-speed and/or low-force; and their camouflage capabilities have not been explored. Here we show that hydraulic actuations of tough hydrogels with designed structures and properties can give soft actuators and robots that are high-speed, high-force, and optically and sonically camouflaged in water. We invent a simple method capable of assembling physically-crosslinked hydrogel parts followed by covalent crosslinking to fabricate large-scale hydraulic hydrogel actuators and robots with robust bodies and interfaces. The hydrogel actuators and robots can maintain their robustness and functionality over multiple cycles of actuations, owning to the anti-fatigue property of the hydrogel under moderate stresses. A multiscale theoretical framework has been developed to guide the design and optimization of the hydrogel robots. We further demonstrate that the agile and transparent hydrogel actuators and robots perform extraordinary functions including swimming, kicking rubber-balls and catching a live fish in water. The work was supported by NSF(No. CMMI- 1253495) and ONR (No. N00014-14-1-0528).

Grey Wolf based control for speed ripple reduction at low speed operation of PMSM drives.

PubMed

Djerioui, Ali; Houari, Azeddine; Ait-Ahmed, Mourad; Benkhoris, Mohamed-Fouad; Chouder, Aissa; Machmoum, Mohamed

2018-03-01

Speed ripple at low speed-high torque operation of Permanent Magnet Synchronous Machine (PMSM) drives is considered as one of the major issues to be treated. The presented work proposes an efficient PMSM speed controller based on Grey Wolf (GW) algorithm to ensure a high-performance control for speed ripple reduction at low speed operation. The main idea of the proposed control algorithm is to propose a specific objective function in order to incorporate the advantage of fast optimization process of the GW optimizer. The role of GW optimizer is to find the optimal input controls that satisfy the speed tracking requirements. The synthesis methodology of the proposed control algorithm is detailed and the feasibility and performances of the proposed speed controller is confirmed by simulation and experimental results. The GW algorithm is a model-free controller and the parameters of its objective function are easy to be tuned. The GW controller is compared to PI one on real test bench. Then, the superiority of the first algorithm is highlighted. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Teacher Pupil Control Ideology and Behavior as Predictors of Classroom Robustness.

ERIC Educational Resources Information Center

Estep, Linda E.; And Others

1980-01-01

It was hypothesized that confrontations between a strict teacher and misbehaving students would add drama and robustness to the classroom. In 88 secondary classrooms, robustness and teacher's control ideology and behavior were measured. The hypothesis was rejected; humanistic control behavior related to high robustness. A companion elementary…

DC motor speed control using fuzzy logic controller

NASA Astrophysics Data System (ADS)

Ismail, N. L.; Zakaria, K. A.; Nazar, N. S. Moh; Syaripuddin, M.; Mokhtar, A. S. N.; Thanakodi, S.

2018-02-01

The automatic control has played a vital role in the advance of engineering and science. Nowadays in industries, the control of direct current (DC) motor is a common practice thus the implementation of DC motor controller speed is important. The main purpose of motor speed control is to keep the rotation of the motor at the present speed and to drive a system at the demand speed. The main purpose of this project is to control speed of DC Series Wound Motor using Fuzzy Logic Controller (FLC). The expectation of this project is the Fuzzy Logic Controller will get the best performance compared to dc motor without controller in terms of settling time (Ts), rise time (Tr), peak time (Tp) and percent overshoot (%OS).

14 CFR 25.1149 - Propeller speed and pitch controls.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Propeller speed and pitch controls. 25.1149... Accessories § 25.1149 Propeller speed and pitch controls. (a) There must be a separate propeller speed and... synchronization of all propellers. (d) The propeller speed and pitch controls must be to the right of, and at...

14 CFR 25.1149 - Propeller speed and pitch controls.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Propeller speed and pitch controls. 25.1149... Accessories § 25.1149 Propeller speed and pitch controls. (a) There must be a separate propeller speed and... synchronization of all propellers. (d) The propeller speed and pitch controls must be to the right of, and at...

Model and controller reduction of large-scale structures based on projection methods

NASA Astrophysics Data System (ADS)

Gildin, Eduardo

The design of low-order controllers for high-order plants is a challenging problem theoretically as well as from a computational point of view. Frequently, robust controller design techniques result in high-order controllers. It is then interesting to achieve reduced-order models and controllers while maintaining robustness properties. Controller designed for large structures based on models obtained by finite element techniques yield large state-space dimensions. In this case, problems related to storage, accuracy and computational speed may arise. Thus, model reduction methods capable of addressing controller reduction problems are of primary importance to allow the practical applicability of advanced controller design methods for high-order systems. A challenging large-scale control problem that has emerged recently is the protection of civil structures, such as high-rise buildings and long-span bridges, from dynamic loadings such as earthquakes, high wind, heavy traffic, and deliberate attacks. Even though significant effort has been spent in the application of control theory to the design of civil structures in order increase their safety and reliability, several challenging issues are open problems for real-time implementation. This dissertation addresses with the development of methodologies for controller reduction for real-time implementation in seismic protection of civil structures using projection methods. Three classes of schemes are analyzed for model and controller reduction: nodal truncation, singular value decomposition methods and Krylov-based methods. A family of benchmark problems for structural control are used as a framework for a comparative study of model and controller reduction techniques. It is shown that classical model and controller reduction techniques, such as balanced truncation, modal truncation and moment matching by Krylov techniques, yield reduced-order controllers that do not guarantee stability of the closed-loop system, that is, the reduced-order controller implemented with the full-order plant. A controller reduction approach is proposed such that to guarantee closed-loop stability. It is based on the concept of dissipativity (or positivity) of linear dynamical systems. Utilizing passivity preserving model reduction together with dissipative-LQG controllers, effective low-order optimal controllers are obtained. Results are shown through simulations.

The comparison of robust partial least squares regression with robust principal component regression on a real

NASA Astrophysics Data System (ADS)

Polat, Esra; Gunay, Suleyman

2013-10-01

One of the problems encountered in Multiple Linear Regression (MLR) is multicollinearity, which causes the overestimation of the regression parameters and increase of the variance of these parameters. Hence, in case of multicollinearity presents, biased estimation procedures such as classical Principal Component Regression (CPCR) and Partial Least Squares Regression (PLSR) are then performed. SIMPLS algorithm is the leading PLSR algorithm because of its speed, efficiency and results are easier to interpret. However, both of the CPCR and SIMPLS yield very unreliable results when the data set contains outlying observations. Therefore, Hubert and Vanden Branden (2003) have been presented a robust PCR (RPCR) method and a robust PLSR (RPLSR) method called RSIMPLS. In RPCR, firstly, a robust Principal Component Analysis (PCA) method for high-dimensional data on the independent variables is applied, then, the dependent variables are regressed on the scores using a robust regression method. RSIMPLS has been constructed from a robust covariance matrix for high-dimensional data and robust linear regression. The purpose of this study is to show the usage of RPCR and RSIMPLS methods on an econometric data set, hence, making a comparison of two methods on an inflation model of Turkey. The considered methods have been compared in terms of predictive ability and goodness of fit by using a robust Root Mean Squared Error of Cross-validation (R-RMSECV), a robust R2 value and Robust Component Selection (RCS) statistic.

Optimization of Tape Winding Process Parameters to Enhance the Performance of Solid Rocket Nozzle Throat Back Up Liners using Taguchi's Robust Design Methodology

NASA Astrophysics Data System (ADS)

Nath, Nayani Kishore

2017-08-01

The throat back up liners is used to protect the nozzle structural members from the severe thermal environment in solid rocket nozzles. The throat back up liners is made with E-glass phenolic prepregs by tape winding process. The objective of this work is to demonstrate the optimization of process parameters of tape winding process to achieve better insulative resistance using Taguchi's robust design methodology. In this method four control factors machine speed, roller pressure, tape tension, tape temperature that were investigated for the tape winding process. The presented work was to study the cogency and acceptability of Taguchi's methodology in manufacturing of throat back up liners. The quality characteristic identified was Back wall temperature. Experiments carried out using L 9 ' (34) orthogonal array with three levels of four different control factors. The test results were analyzed using smaller the better criteria for Signal to Noise ratio in order to optimize the process. The experimental results were analyzed conformed and successfully used to achieve the minimum back wall temperature of the throat back up liners. The enhancement in performance of the throat back up liners was observed by carrying out the oxy-acetylene tests. The influence of back wall temperature on the performance of throat back up liners was verified by ground firing test.

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.

Idling speed control system of an internal combustion engine

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

Miyazaki, M.; Ishii, M.; Kako, H.

1986-09-16

This patent describes an idling speed control system of an internal combustion engine comprising: a valve device which controls the amount of intake air for the engine; an actuator which includes an electric motor for variably controlling the opening of the value device; rotation speed detector means for detecting the rotation speed of the engine; idling condition detector means for detecting the idling condition of the engine; feedback control means responsive to the detected output of the idling condition detector means for generating feedback control pulses to intermittently drive the electric motor so that the detected rotation speed of themore » engine under the idling condition may converge into a target idling rotation speed; and control means responsive to the output of detector means that detects an abnormally low rotation speed of the engine detected by the rotation speed detector means for generating control pulses that do not overlap the feedback control pulses to drive the electric motor in a predetermined direction.« less

Scott Horowitz | NREL

Science.gov Websites

area, which includes work on whole building energy modeling, cost-based optimization, model accuracy optimization tool used to provide support for the Building America program's teams and energy efficiency goals Colorado graduate student exploring enhancements to building optimization in terms of robustness and speed

Universality and robustness of revivals in the transverse field XY model

NASA Astrophysics Data System (ADS)

Häppölä, Juho; Halász, Gábor B.; Hamma, Alioscia

2012-03-01

We study the structure of the revivals in an integrable quantum many-body system, the transverse field XY spin chain, after a quantum quench. The time evolutions of the Loschmidt echo, the magnetization, and the single-spin entanglement entropy are calculated. We find that the revival times for all of these observables are given by integer multiples of Trev≃L/vmax, where L is the linear size of the system and vmax is the maximal group velocity of quasiparticles. This revival structure is universal in the sense that it does not depend on the initial state and the size of the quench. Applying nonintegrable perturbations to the XY model, we observe that the revivals are robust against such perturbations: they are still visible at time scales much larger than the quasiparticle lifetime. We therefore propose a generic connection between the revival structure and the locality of the dynamics, where the quasiparticle speed vmax generalizes into the Lieb-Robinson speed vLR.

Long-term scale adaptive tracking with kernel correlation filters

NASA Astrophysics Data System (ADS)

Wang, Yueren; Zhang, Hong; Zhang, Lei; Yang, Yifan; Sun, Mingui

2018-04-01

Object tracking in video sequences has broad applications in both military and civilian domains. However, as the length of input video sequence increases, a number of problems arise, such as severe object occlusion, object appearance variation, and object out-of-view (some portion or the entire object leaves the image space). To deal with these problems and identify the object being tracked from cluttered background, we present a robust appearance model using Speeded Up Robust Features (SURF) and advanced integrated features consisting of the Felzenszwalb's Histogram of Oriented Gradients (FHOG) and color attributes. Since re-detection is essential in long-term tracking, we develop an effective object re-detection strategy based on moving area detection. We employ the popular kernel correlation filters in our algorithm design, which facilitates high-speed object tracking. Our evaluation using the CVPR2013 Object Tracking Benchmark (OTB2013) dataset illustrates that the proposed algorithm outperforms reference state-of-the-art trackers in various challenging scenarios.

Robust Multivariable Estimation of the Relevant Information Coming from a Wheel Speed Sensor and an Accelerometer Embedded in a Car under Performance Tests

PubMed Central

Hernandez, Wilmar

2005-01-01

In the present paper, in order to estimate the response of both a wheel speed sensor and an accelerometer placed in a car under performance tests, robust and optimal multivariable estimation techniques are used. In this case, the disturbances and noises corrupting the relevant information coming from the sensors' outputs are so dangerous that their negative influence on the electrical systems impoverish the general performance of the car. In short, the solution to this problem is a safety related problem that deserves our full attention. Therefore, in order to diminish the negative effects of the disturbances and noises on the car's electrical and electromechanical systems, an optimum observer is used. The experimental results show a satisfactory improvement in the signal-to-noise ratio of the relevant signals and demonstrate the importance of the fusion of several intelligent sensor design techniques when designing the intelligent sensors that today's cars need.

Comparative analysis of feature extraction methods in satellite imagery

NASA Astrophysics Data System (ADS)

Karim, Shahid; Zhang, Ye; Asif, Muhammad Rizwan; Ali, Saad

2017-10-01

Feature extraction techniques are extensively being used in satellite imagery and getting impressive attention for remote sensing applications. The state-of-the-art feature extraction methods are appropriate according to the categories and structures of the objects to be detected. Based on distinctive computations of each feature extraction method, different types of images are selected to evaluate the performance of the methods, such as binary robust invariant scalable keypoints (BRISK), scale-invariant feature transform, speeded-up robust features (SURF), features from accelerated segment test (FAST), histogram of oriented gradients, and local binary patterns. Total computational time is calculated to evaluate the speed of each feature extraction method. The extracted features are counted under shadow regions and preprocessed shadow regions to compare the functioning of each method. We have studied the combination of SURF with FAST and BRISK individually and found very promising results with an increased number of features and less computational time. Finally, feature matching is conferred for all methods.

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.

Study on fault diagnosis and load feedback control system of combine harvester

NASA Astrophysics Data System (ADS)

Li, Ying; Wang, Kun

2017-01-01

In order to timely gain working status parameters of operating parts in combine harvester and improve its operating efficiency, fault diagnosis and load feedback control system is designed. In the system, rotation speed sensors were used to gather these signals of forward speed and rotation speeds of intermediate shaft, conveying trough, tangential and longitudinal flow threshing rotors, grain conveying auger. Using C8051 single chip microcomputer (SCM) as processor for main control unit, faults diagnosis and forward speed control were carried through by rotation speed ratio analysis of each channel rotation speed and intermediate shaft rotation speed by use of multi-sensor fused fuzzy control algorithm, and these processing results would be sent to touch screen and display work status of combine harvester. Field trials manifest that fault monitoring and load feedback control system has good man-machine interaction and the fault diagnosis method based on rotation speed ratios has low false alarm rate, and the system can realize automation control of forward speed for combine harvester.

Systems and methods for vehicle speed management

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

Sujan, Vivek Anand; Vajapeyazula, Phani; Follen, Kenneth

Controlling a speed of a vehicle based on at least a portion of a route grade and a route distance divided into a plurality of route sections, each including at least one of a section grade and section length. Controlling the speed of the vehicle is further based on determining a cruise control speed mode for the vehicle for each of the plurality of route sections and determining a speed reference command of the vehicle based on at least one of the cruise control speed mode, the section length, the section grade, and a current speed.

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

PubMed

Zhang, Bitao; Pi, YouGuo

2013-07-01

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

Speed control for a mobile robot

NASA Astrophysics Data System (ADS)

Kolli, Kaylan C.; Mallikarjun, Sreeram; Kola, Krishnamohan; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a speed control for a modular autonomous mobile robot controller. The speed control of the traction motor is essential for safe operation of a mobile robot. The challenges of autonomous operation of a vehicle require safe, runaway and collision free operation. A mobile robot test-bed has been constructed using a golf cart base. The computer controlled speed control has been implemented and works with guidance provided by vision system and obstacle avoidance using ultrasonic sensors systems. A 486 computer through a 3- axis motion controller supervises the speed control. The traction motor is controlled via the computer by an EV-1 speed control. Testing of the system was done both in the lab and on an outside course with positive results. This design is a prototype and suggestions for improvements are also given. The autonomous speed controller is applicable for any computer controlled electric drive mobile vehicle.

Design and simulation of permanent magnet synchronous motor control system

NASA Astrophysics Data System (ADS)

Li, Li; Liu, Yongqiu

2018-06-01

In recent years, with the development of power electronics, microelectronics, new motor control theory and rare earth permanent magnet materials, permanent magnet synchronous motors have been rapidly applied. Permanent magnet synchronous motors have the advantages of small size, low loss and high efficiency. Today, energy conservation and environmental protection are increasingly valued. It is very necessary to study them. Permanent magnet synchronous motor control system has a wide range of application prospects in the fields of electric vehicles, ships and other transportation. Using the simulation function of MATLAB/SIMULINK, a modular design structure was used to simulate the whole system model of speed loop adjustment, current PI modulation, SVPWM (Space Vector Pulse Width Module) wave generation and double closed loop. The results show that this control method has good robustness, and this method can improve the design efficiency and shorten the system design time. In this article, the analysis of the control principle of modern permanent magnet synchronous motor and the various processes of MATLAB simulation application will be analyzed in detail. The basic theory, basic method and application technology of the permanent magnet synchronous motor control system are systematically introduced.

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

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.

Nonlinear robust control of hypersonic aircrafts with interactions between flight dynamics and propulsion systems.

PubMed

Li, Zhaoying; Zhou, Wenjie; Liu, Hao

2016-09-01

This paper addresses the nonlinear robust tracking controller design problem for hypersonic vehicles. This problem is challenging due to strong coupling between the aerodynamics and the propulsion system, and the uncertainties involved in the vehicle dynamics including parametric uncertainties, unmodeled model uncertainties, and external disturbances. By utilizing the feedback linearization technique, a linear tracking error system is established with prescribed references. For the linear model, a robust controller is proposed based on the signal compensation theory to guarantee that the tracking error dynamics is robustly stable. Numerical simulation results are given to show the advantages of the proposed nonlinear robust control method, compared to the robust loop-shaping control approach. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Digital phase-locked loop speed control for a brushless dc motor

NASA Astrophysics Data System (ADS)

Wise, M. G.

1985-06-01

Speed control of d.c. motors by phase-locked loops (PLL) is becoming increasingly popular. Primary interest has been in employing PLL for constant speed control. This thesis investigates the theory and techniques of digital PLL to speed control of a brushless d.c. motor with a variable speed of operation. Addition of logic controlled count enable/disable to a synchronous up/down counter, used as a phase-frequency detector, is shown to improve the performance of previously proposed PLL control schemes.

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.

High-accuracy and robust face recognition system based on optical parallel correlator using a temporal image sequence

NASA Astrophysics Data System (ADS)

Watanabe, Eriko; Ishikawa, Mami; Ohta, Maiko; Kodate, Kashiko

2005-09-01

Face recognition is used in a wide range of security systems, such as monitoring credit card use, searching for individuals with street cameras via Internet and maintaining immigration control. There are still many technical subjects under study. For instance, the number of images that can be stored is limited under the current system, and the rate of recognition must be improved to account for photo shots taken at different angles under various conditions. We implemented a fully automatic Fast Face Recognition Optical Correlator (FARCO) system by using a 1000 frame/s optical parallel correlator designed and assembled by us. Operational speed for the 1: N (i.e. matching a pair of images among N, where N refers to the number of images in the database) identification experiment (4000 face images) amounts to less than 1.5 seconds, including the pre/post processing. From trial 1: N identification experiments using FARCO, we acquired low error rates of 2.6% False Reject Rate and 1.3% False Accept Rate. By making the most of the high-speed data-processing capability of this system, much more robustness can be achieved for various recognition conditions when large-category data are registered for a single person. We propose a face recognition algorithm for the FARCO while employing a temporal image sequence of moving images. Applying this algorithm to a natural posture, a two times higher recognition rate scored compared with our conventional system. The system has high potential for future use in a variety of purposes such as search for criminal suspects by use of street and airport video cameras, registration of babies at hospitals or handling of an immeasurable number of images in a database.

An FPGA-Based High-Speed Error Resilient Data Aggregation and Control for High Energy Physics Experiment

NASA Astrophysics Data System (ADS)

Mandal, Swagata; Saini, Jogender; Zabołotny, Wojciech M.; Sau, Suman; Chakrabarti, Amlan; Chattopadhyay, Subhasis

2017-03-01

Due to the dramatic increase of data volume in modern high energy physics (HEP) experiments, a robust high-speed data acquisition (DAQ) system is very much needed to gather the data generated during different nuclear interactions. As the DAQ works under harsh radiation environment, there is a fair chance of data corruption due to various energetic particles like alpha, beta, or neutron. Hence, a major challenge in the development of DAQ in the HEP experiment is to establish an error resilient communication system between front-end sensors or detectors and back-end data processing computing nodes. Here, we have implemented the DAQ using field-programmable gate array (FPGA) due to some of its inherent advantages over the application-specific integrated circuit. A novel orthogonal concatenated code and cyclic redundancy check (CRC) have been used to mitigate the effects of data corruption in the user data. Scrubbing with a 32-b CRC has been used against error in the configuration memory of FPGA. Data from front-end sensors will reach to the back-end processing nodes through multiple stages that may add an uncertain amount of delay to the different data packets. We have also proposed a novel memory management algorithm that helps to process the data at the back-end computing nodes removing the added path delays. To the best of our knowledge, the proposed FPGA-based DAQ utilizing optical link with channel coding and efficient memory management modules can be considered as first of its kind. Performance estimation of the implemented DAQ system is done based on resource utilization, bit error rate, efficiency, and robustness to radiation.

Robust H(∞) positional control of 2-DOF robotic arm driven by electro-hydraulic servo system.

PubMed

Guo, Qing; Yu, Tian; Jiang, Dan

2015-11-01

In this paper an H∞ positional feedback controller is developed to improve the robust performance under structural and parametric uncertainty disturbance in electro-hydraulic servo system (EHSS). The robust control model is described as the linear state-space equation by upper linear fractional transformation. According to the solution of H∞ sub-optimal control problem, the robust controller is designed and simplified to lower order linear model which is easily realized in EHSS. The simulation and experimental results can validate the robustness of this proposed method. The comparison result with PI control shows that the robust controller is suitable for this EHSS under the critical condition where the desired system bandwidth is higher and the external load of the hydraulic actuator is closed to its limited capability. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Panaceas, uncertainty, and the robust control framework in sustainability science

PubMed Central

Anderies, John M.; Rodriguez, Armando A.; Janssen, Marco A.; Cifdaloz, Oguzhan

2007-01-01

A critical challenge faced by sustainability science is to develop strategies to cope with highly uncertain social and ecological dynamics. This article explores the use of the robust control framework toward this end. After briefly outlining the robust control framework, we apply it to the traditional Gordon–Schaefer fishery model to explore fundamental performance–robustness and robustness–vulnerability trade-offs in natural resource management. We find that the classic optimal control policy can be very sensitive to parametric uncertainty. By exploring a large class of alternative strategies, we show that there are no panaceas: even mild robustness properties are difficult to achieve, and increasing robustness to some parameters (e.g., biological parameters) results in decreased robustness with respect to others (e.g., economic parameters). On the basis of this example, we extract some broader themes for better management of resources under uncertainty and for sustainability science in general. Specifically, we focus attention on the importance of a continual learning process and the use of robust control to inform this process. PMID:17881574

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.

14 CFR 25.1149 - Propeller speed and pitch controls.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Propeller speed and pitch controls. 25.1149... Accessories § 25.1149 Propeller speed and pitch controls. (a) There must be a separate propeller speed and pitch control for each propeller. (b) The controls must be grouped and arranged to allow— (1) Separate...

14 CFR 25.1149 - Propeller speed and pitch controls.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Propeller speed and pitch controls. 25.1149... Accessories § 25.1149 Propeller speed and pitch controls. (a) There must be a separate propeller speed and pitch control for each propeller. (b) The controls must be grouped and arranged to allow— (1) Separate...

14 CFR 25.1149 - Propeller speed and pitch controls.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Propeller speed and pitch controls. 25.1149... Accessories § 25.1149 Propeller speed and pitch controls. (a) There must be a separate propeller speed and pitch control for each propeller. (b) The controls must be grouped and arranged to allow— (1) Separate...

Multivariable control of vapor compression systems

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

He, X.D.; Liu, S.; Asada, H.H.

1999-07-01

This paper presents the results of a study of multi-input multi-output (MIMO) control of vapor compression cycles that have multiple actuators and sensors for regulating multiple outputs, e.g., superheat and evaporating temperature. The conventional single-input single-output (SISO) control was shown to have very limited performance. A low order lumped-parameter model was developed to describe the significant dynamics of vapor compression cycles. Dynamic modes were analyzed based on the low order model to provide physical insight of system dynamic behavior. To synthesize a MIMO control system, the Linear-Quadratic Gaussian (LQG) technique was applied to coordinate compressor speed and expansion valve openingmore » with guaranteed stability robustness in the design. Furthermore, to control a vapor compression cycle over a wide range of operating conditions where system nonlinearities become evident, a gain scheduling scheme was used so that the MIMO controller could adapt to changing operating conditions. Both analytical studies and experimental tests showed that the MIMO control could significantly improve the transient behavior of vapor compression cycles compared to the conventional SISO control scheme. The MIMO control proposed in this paper could be extended to the control of vapor compression cycles in a variety of HVAC and refrigeration applications to improve system performance and energy efficiency.« less

Hybrid Active/Passive Control of Sound Radiation from Panels with Constrained Layer Damping and Model Predictive Feedback Control

NASA Technical Reports Server (NTRS)

Cabell, Randolph H.; Gibbs, Gary P.

2000-01-01

There has been considerable interest over the past several years in applying feedback control methods to problems of structural acoustics. One problem of particular interest is the control of sound radiation from aircraft panels excited on one side by a turbulent boundary layer (TBL). TBL excitation appears as many uncorrelated sources acting on the panel, which makes it difficult to find a single reference signal that is coherent with the excitation. Feedback methods have no need for a reference signal, and are thus suited to this problem. Some important considerations for the structural acoustics problem include the fact that the required controller bandwidth can easily extend to several hundred Hertz, so a digital controller would have to operate at a few kilohertz. In addition, aircraft panel structures have a reasonably high modal density over this frequency range. A model based controller must therefore handle the modally dense system, or have some way to reduce the bandwidth of the problem. Further complicating the problem is the fact that the stiffness and dynamic properties of an aircraft panel can vary considerably during flight due to altitude changes resulting in significant resonant frequency shifts. These considerations make the tradeoff between robustness to changes in the system being controlled and controller performance especially important. Recent papers concerning the design and implementation of robust controllers for structural acoustic problems highlight the need to consider both performance and robustness when designing the controller. While robust control methods such as H1 can be used to balance performance and robustness, their implementation is not easy and requires assumptions about the types of uncertainties in the plant being controlled. Achieving a useful controller design may require many tradeoff studies of different types of parametric uncertainties in the system. Another approach to achieving robustness to plant changes is to make the controller adaptive. For example, a mathematical model of the plant could be periodically updated as the plant changes, and the feedback gains recomputed from the updated model. To be practical, this approach requires a simple plant model that can be updated quickly with reasonable computational requirements. A recent paper by the authors discussed one way to simplify a feedback controller, by reducing the number of actuators and sensors needed for good performance. The work was done on a tensioned aircraft-style panel excited on one side by TBL flow in a low speed wind tunnel. Actuation was provided by a piezoelectric (PZT) actuator mounted on the center of the panel. For sensing, the responses of four accelerometers, positioned to approximate the response of the first radiation mode of the panel, were summed and fed back through the controller. This single input-single output topology was found to have nearly the same noise reduction performance as a controller with fifteen accelerometers and three PZT patches. This paper extends the previous results by looking at how constrained layer damping (CLD) on a panel can be used to enhance the performance of the feedback controller thus providing a more robust and efficient hybrid active/passive system. The eventual goal is to use the CLD to reduce sound radiation at high frequencies, then implement a very simple, reduced order, low sample rate adaptive controller to attenuate sound radiation at low frequencies. Additionally this added damping smoothes phase transitions over the bandwidth which promotes robustness to natural frequency shifts. Experiments were conducted in a transmission loss facility on a clamped-clamped aluminum panel driven on one side by a loudspeaker. A generalized predictive control (GPC) algorithm, which is suited to online adaptation of its parameters, was used in single input-single output and multiple input-single output configurations. Because this was a preliminary look at the potential constrained layer damping for adaptive control, static feedback control with no online adaptation was used. Two configurations of CLD in addition to a bare panel configuration were studied. For each CLD configuration, two sensor arrangements for the feedback controller were compared. The first arrangement used fifteen accelerometers on the panel to estimate the responses of the first six radiation modes of the panel. The second sensor arrangement was simpler, using the summed responses of only four accelerometers to approximate the response of the first radiation mode of the panel. In all cases a PZT patch was mounted at the center of the panel for control input. The performance of the controller was quantified using the responses of the fifteen accelerometers on the panel to estimate radiated sound power. The paper begins with a brief discussion of the GPC algorithm and the experimental setup. The experimental results are discussed next, comparing the CLD and sensor configurations, followed by discussion and conclusions.

Robust adaptive vibration control of a flexible structure.

PubMed

Khoshnood, A M; Moradi, H M

2014-07-01

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

49 CFR 236.501 - Forestalling device and speed control.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 49 Transportation 4 2010-10-01 2010-10-01 false Forestalling device and speed control. 236.501... Train Stop, Train Control and Cab Signal Systems Standards § 236.501 Forestalling device and speed... the following features: (1) Low-speed restriction, requiring the train to proceed under slow speed...

49 CFR 236.501 - Forestalling device and speed control.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 49 Transportation 4 2011-10-01 2011-10-01 false Forestalling device and speed control. 236.501... Train Stop, Train Control and Cab Signal Systems Standards § 236.501 Forestalling device and speed... the following features: (1) Low-speed restriction, requiring the train to proceed under slow speed...

Derivation of atmospheric extinction profiles and wind speed over the ocean from a satellite-borne lidar.

PubMed

Weinman, J A

1988-10-01

A simulated analysis is presented that shows that returns from a single-frequency space-borne lidar can be combined with data from conventional visible satellite imagery to yield profiles of aerosol extinction coefficients and the wind speed at the ocean surface. The optical thickness of the aerosols in the atmosphere can be derived from visible imagery. That measurement of the total optical thickness can constrain the solution to the lidar equation to yield a robust estimate of the extinction profile. The specular reflection of the lidar beam from the ocean can be used to determine the wind speed at the sea surface once the transmission of the atmosphere is known. The impact on the retrieved aerosol profiles and surface wind speed produced by errors in the input parameters and noise in the lidar measurements is also considered.

An integrated Gaussian process regression for prediction of remaining useful life of slow speed bearings based on acoustic emission

NASA Astrophysics Data System (ADS)

Aye, S. A.; Heyns, P. S.

2017-02-01

This paper proposes an optimal Gaussian process regression (GPR) for the prediction of remaining useful life (RUL) of slow speed bearings based on a novel degradation assessment index obtained from acoustic emission signal. The optimal GPR is obtained from an integration or combination of existing simple mean and covariance functions in order to capture the observed trend of the bearing degradation as well the irregularities in the data. The resulting integrated GPR model provides an excellent fit to the data and improves over the simple GPR models that are based on simple mean and covariance functions. In addition, it achieves a low percentage error prediction of the remaining useful life of slow speed bearings. These findings are robust under varying operating conditions such as loading and speed and can be applied to nonlinear and nonstationary machine response signals useful for effective preventive machine maintenance purposes.

Effects of phonological awareness and naming speed on mathematics skills in children with mild intellectual disabilities.

PubMed

Foster, Matthew E; Sevcik, Rose A; Romski, Maryann; Morris, Robin D

2015-01-01

Both phonological awareness (PA) and naming speed have been identified as two skills related to the development of mathematics skills for children with and without learning disabilities. The purpose of the present study was to investigate the relationships between PA and colour naming speed for 265 elementary school students with mild intellectual disabilities (MID). Participants were assessed using the Comprehensive Test of Phonological Processes and the KeyMath Revised Diagnostic Inventory of Essential Mathematics. Hierarchical regression analyses accounting for the effects of age indicated that children with MID rely on both PA and naming speed when solving mathematics problems, although PA was the more robust indicator of the two. As a whole, these results suggest that children with intellectual disabilities evidence the same types of reading and math relationships as shown for other populations of children.

Flight metabolism in relation to speed in Chiroptera: testing the U-shape paradigm in the short-tailed fruit bat Carollia perspicillata.

PubMed

von Busse, Rhea; Swartz, Sharon M; Voigt, Christian C

2013-06-01

Aerodynamic theory predicts that flight for fixed-wing aircraft requires more energy at low and high speeds compared with intermediate speeds, and this theory has often been extended to predict speed-dependent metabolic rates and optimal flight speeds for flying animals. However, the theoretical U-shaped flight power curve has not been robustly tested for Chiroptera, the only mammals capable of flapping flight. We examined the metabolic rate of seven Seba's short-tailed fruit bats (Carollia perspicillata) during unrestrained flight in a wind tunnel at air speeds from 1 to 7 m s(-1). Following intra-peritoneal administration of (13)C-labeled Na-bicarbonate, we measured the enrichment in (13)C of exhaled breath before and after flight. We converted fractional turnover of (13)C into metabolic rate and power, based on the assumption that bats oxidized glycogen during short flights. Power requirements of flight varied with air speed in a U-shaped manner in five out of seven individuals, whereas energy turnover was not related to air speed in two individuals. Power requirements of flight were close to values predicted by Pennycuick's aerodynamic model for minimum power speed, but differed for maximum range speed. The results of our experiment support the theoretical expectation of a U-shaped power curve for flight metabolism in a bat.

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.

The effectiveness of robust RMCD control chart as outliers’ detector

NASA Astrophysics Data System (ADS)

Darmanto; Astutik, Suci

2017-12-01

A well-known control chart to monitor a multivariate process is Hotelling’s T 2 which its parameters are estimated classically, very sensitive and also marred by masking and swamping of outliers data effect. To overcome these situation, robust estimators are strongly recommended. One of robust estimators is re-weighted minimum covariance determinant (RMCD) which has robust characteristics as same as MCD. In this paper, the effectiveness term is accuracy of the RMCD control chart in detecting outliers as real outliers. In other word, how effectively this control chart can identify and remove masking and swamping effects of outliers. We assessed the effectiveness the robust control chart based on simulation by considering different scenarios: n sample sizes, proportion of outliers, number of p quality characteristics. We found that in some scenarios, this RMCD robust control chart works effectively.

Robust Fault Diagnosis in Electric Drives Using Machine Learning

DTIC Science & Technology

2004-09-08

detection of fault conditions of the inverter. A machine learning framework is developed to systematically select torque-speed domain operation points...were used to generate various fault condition data for machine learning . The technique is viable for accurate, reliable and fast fault detection in electric drives.

Why Does Rapid Naming Predict Chinese Word Reading?

ERIC Educational Resources Information Center

Shum, Kathy Kar-man; Au, Terry Kit-fong

2017-01-01

Rapid automatized naming (RAN) robustly predicts early reading abilities across languages, but its underlying mechanism remains unclear. This study found that RAN associated significantly with processing speed but not with phonological awareness or orthographic knowledge in 89 Hong Kong Chinese second-graders. RAN overlaps more with processing…

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

Direct Torque Control of a Small Wind Turbine with a Sliding-Mode Speed Controller

NASA Astrophysics Data System (ADS)

Sri Lal Senanayaka, Jagath; Karimi, Hamid Reza; Robbersmyr, Kjell G.

2016-09-01

In this paper. the method of direct torque control in the presence of a sliding-mode speed controller is proposed for a small wind turbine being used in water heating applications. This concept and control system design can be expanded to grid connected or off-grid applications. Direct torque control of electrical machines has shown several advantages including very fast dynamics torque control over field-oriented control. Moreover. the torque and flux controllers in the direct torque control algorithms are based on hvsteretic controllers which are nonlinear. In the presence of a sliding-mode speed control. a nonlinear control system can be constructed which is matched for AC/DC conversion of the converter that gives fast responses with low overshoots. The main control objectives of the proposed small wind turbine can be maximum power point tracking and soft-stall power control. This small wind turbine consists of permanent magnet synchronous generator and external wind speed. and rotor speed measurements are not required for the system. However. a sensor is needed to detect the rated wind speed overpass events to activate proper speed references for the wind turbine. Based on the low-cost design requirement of small wind turbines. an available wind speed sensor can be modified. or a new sensor can be designed to get the required measurement. The simulation results will be provided to illustrate the excellent performance of the closed-loop control system in entire wind speed range (4-25 m/s).

A Multi-Band Uncertainty Set Based Robust SCUC With Spatial and Temporal Budget Constraints

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

Dai, Chenxi; Wu, Lei; Wu, Hongyu

2016-11-01

The dramatic increase of renewable energy resources in recent years, together with the long-existing load forecast errors and increasingly involved price sensitive demands, has introduced significant uncertainties into power systems operation. In order to guarantee the operational security of power systems with such uncertainties, robust optimization has been extensively studied in security-constrained unit commitment (SCUC) problems, for immunizing the system against worst uncertainty realizations. However, traditional robust SCUC models with single-band uncertainty sets may yield over-conservative solutions in most cases. This paper proposes a multi-band robust model to accurately formulate various uncertainties with higher resolution. By properly tuning band intervalsmore » and weight coefficients of individual bands, the proposed multi-band robust model can rigorously and realistically reflect spatial/temporal relationships and asymmetric characteristics of various uncertainties, and in turn could effectively leverage the tradeoff between robustness and economics of robust SCUC solutions. The proposed multi-band robust SCUC model is solved by Benders decomposition (BD) and outer approximation (OA), while taking the advantage of integral property of the proposed multi-band uncertainty set. In addition, several accelerating techniques are developed for enhancing the computational performance and the convergence speed. Numerical studies on a 6-bus system and the modified IEEE 118-bus system verify the effectiveness of the proposed robust SCUC approach for enhancing uncertainty modeling capabilities and mitigating conservativeness of the robust SCUC solution.« less

Embodied linearity of speed control in Drosophila melanogaster.

PubMed

Medici, V; Fry, S N

2012-12-07

Fruitflies regulate flight speed by adjusting their body angle. To understand how low-level posture control serves an overall linear visual speed control strategy, we visually induced free-flight acceleration responses in a wind tunnel and measured the body kinematics using high-speed videography. Subsequently, we reverse engineered the transfer function mapping body pitch angle onto flight speed. A linear model is able to reproduce the behavioural data with good accuracy. Our results show that linearity in speed control is realized already at the level of body posture-mediated speed control and is therefore embodied at the level of the complex aerodynamic mechanisms of body and wings. Together with previous results, this study reveals the existence of a linear hierarchical control strategy, which can provide relevant control principles for biomimetic implementations, such as autonomous flying micro air vehicles.

Embodied linearity of speed control in Drosophila melanogaster

PubMed Central

Medici, V.; Fry, S. N.

2012-01-01

Fruitflies regulate flight speed by adjusting their body angle. To understand how low-level posture control serves an overall linear visual speed control strategy, we visually induced free-flight acceleration responses in a wind tunnel and measured the body kinematics using high-speed videography. Subsequently, we reverse engineered the transfer function mapping body pitch angle onto flight speed. A linear model is able to reproduce the behavioural data with good accuracy. Our results show that linearity in speed control is realized already at the level of body posture-mediated speed control and is therefore embodied at the level of the complex aerodynamic mechanisms of body and wings. Together with previous results, this study reveals the existence of a linear hierarchical control strategy, which can provide relevant control principles for biomimetic implementations, such as autonomous flying micro air vehicles. PMID:22933185

Nonlinear engine model for idle speed control

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

Livshiz, M.; Sanvido, D.J.; Stiles, S.D.

1994-12-31

This paper describes a nonlinear model of an engine used for the design of idle speed control and prediction in a broad range of idle speeds and operational conditions. Idle speed control systems make use of both spark advance and the idle air actuator to control engine speed for improved response relative to variations in the target idle speed due to load disturbances. The control system at idle can be presented by a multiple input multiple output (MIMO) nonlinear model. Information of nonlinearities helps to improve performance of the system over the whole range of engine speeds. A proposed simplemore » nonlinear model of the engine at idle was applied for design of optimal controllers and predictors for improved steady state, load rejection and transition from and to idle. This paper describes vehicle results of engine speed prediction based on the described model.« less

Robust sound speed estimation for ultrasound-based hepatic steatosis assessment

NASA Astrophysics Data System (ADS)

Imbault, Marion; Faccinetto, Alex; Osmanski, Bruno-Félix; Tissier, Antoine; Deffieux, Thomas; Gennisson, Jean-Luc; Vilgrain, Valérie; Tanter, Mickaël

2017-05-01

Hepatic steatosis is a common condition, the prevalence of which is increasing along with non-alcoholic fatty liver disease (NAFLD). Currently, the most accurate noninvasive imaging method for diagnosing and quantifying hepatic steatosis is MRI, which estimates the proton-density fat fraction (PDFF) as a measure of fractional fat content. However, MRI suffers several limitations including cost, contra-indications and poor availability. Although conventional ultrasound is widely used by radiologists for hepatic steatosis assessment, it remains qualitative and operator dependent. Interestingly, the speed of sound within soft tissues is known to vary slightly from muscle (1.575 mm · µs-1) to fat (1.450 mm · µs-1). Building upon this fact, steatosis could affect liver sound speed when the fat content increases. The main objectives of this study are to propose a robust method for sound speed estimation (SSE) locally in the liver and to assess its accuracy for steatosis detection and staging. This technique was first validated on two phantoms and SSE was assessed with a precision of 0.006 and 0.003 mm · µs-1 respectively for the two phantoms. Then a preliminary clinical trial (N  =  17 patients) was performed. SSE results was found to be highly correlated with MRI proton density fat fraction (R 2  =  0.69) and biopsy (AUROC  =  0.952) results. This new method based on the assessment of spatio-temporal properties of the local speckle noise for SSE provides an efficient way to diagnose and stage hepatic steatosis.

Eigenvalue assignment strategies in rotor systems

NASA Technical Reports Server (NTRS)

Youngblood, J. N.; Welzyn, K. J.

1986-01-01

The work done to establish the control and direction of effective eigenvalue excursions of lightly damped, speed dependent rotor systems using passive control is discussed. Both second order and sixth order bi-axis, quasi-linear, speed dependent generic models were investigated. In every case a single, bi-directional control bearing was used in a passive feedback stabilization loop to resist modal destabilization above the rotor critical speed. Assuming incomplete state measurement, sub-optimal control strategies were used to define the preferred location of the control bearing, the most effective measurement locations, and the best set of control gains to extend the speed range of stable operation. Speed dependent control gains were found by Powell's method to maximize the minimum modal damping ratio for the speed dependent linear model. An increase of 300 percent in stable speed operation was obtained for the sixth order linear system using passive control. Simulations were run to examine the effectiveness of the linear control law on nonlinear rotor models with bearing deadband. The maximum level of control effort (force) required by the control bearing to stabilize the rotor at speeds above the critical was determined for the models with bearing deadband.

14 CFR 25.373 - Speed control devices.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Speed control devices. 25.373 Section 25... AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY AIRPLANES Structure Supplementary Conditions § 25.373 Speed control devices. If speed control devices (such as spoilers and drag flaps) are installed for use in en route...

14 CFR 23.1513 - Minimum control speed.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Minimum control speed. 23.1513 Section 23.1513 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT... Information § 23.1513 Minimum control speed. The minimum control speed V MC, determined under § 23.149, must...

14 CFR 25.373 - Speed control devices.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Speed control devices. 25.373 Section 25... AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY AIRPLANES Structure Supplementary Conditions § 25.373 Speed control devices. If speed control devices (such as spoilers and drag flaps) are installed for use in en route...

14 CFR 23.1513 - Minimum control speed.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Minimum control speed. 23.1513 Section 23.1513 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT... Information § 23.1513 Minimum control speed. The minimum control speed V MC, determined under § 23.149, must...

14 CFR 25.1513 - Minimum control speed.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Minimum control speed. 25.1513 Section 25.1513 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT... Limitations § 25.1513 Minimum control speed. The minimum control speed V MC determined under § 25.149 must be...

14 CFR 25.1513 - Minimum control speed.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Minimum control speed. 25.1513 Section 25.1513 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT... Limitations § 25.1513 Minimum control speed. The minimum control speed V MC determined under § 25.149 must be...

Speed isn’t everything: Complex processing speed measures mask individual differences and developmental changes in executive control

PubMed Central

Cepeda, Nicholas J.; Blackwell, Katharine A.; Munakata, Yuko

2012-01-01

The rate at which people process information appears to influence many aspects of cognition across the lifespan. However, many commonly accepted measures of “processing speed” may require goal maintenance, manipulation of information in working memory, and decision-making, blurring the distinction between processing speed and executive control and resulting in overestimation of processing-speed contributions to cognition. This concern may apply particularly to studies of developmental change, as even seemingly simple processing speed measures may require executive processes to keep children and older adults on task. We report two new studies and a re-analysis of a published study, testing predictions about how different processing speed measures influence conclusions about executive control across the life span. We find that the choice of processing speed measure affects the relationship observed between processing speed and executive control, in a manner that changes with age, and that choice of processing speed measure affects conclusions about development and the relationship among executive control measures. Implications for understanding processing speed, executive control, and their development are discussed. PMID:23432836

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.

Measurement of whole-body vibration exposure from speed control humps

NASA Astrophysics Data System (ADS)

Khorshid, E.; Alkalby, F.; Kamal, H.

2007-07-01

The main objective of speed control humps is to introduce shocks and high vibration levels when a car passes over them if its speed is higher than the allowable limit. Hump geometry is a major factor in altering the level of these shocks and specifying the speed limit. However, there is no study of the relationship between whole body vibration due to passing over a speed control hump and lower back pain or occupational diseases. In this study, an experimental investigation is conducted to evaluate health risks associated with different geometry speed control humps. Vibration levels and shocks are measured by a seat pad accelerometer placed under the driver's seat to evaluate hazard risks on the human body's lower back. The assessment is based on two standard methods of measuring whole body vibration: the British standard BS 6841 and the new ISO/DIS standard 2631-5. These methods are used to assess the effects of vehicle type, passenger location in the vehicle, vehicle speed, and speed control hump geometry. It was found that circular speed control humps currently installed on many public roads should be modified in order to eliminate hazards. Two newly designed speed humps were proved to be less hazardous than circular speed control humps.

Gait Event Detection in Real-World Environment for Long-Term Applications: Incorporating Domain Knowledge Into Time-Frequency Analysis.

PubMed

Khandelwal, Siddhartha; Wickstrom, Nicholas

2016-12-01

Detecting gait events is the key to many gait analysis applications that would benefit from continuous monitoring or long-term analysis. Most gait event detection algorithms using wearable sensors that offer a potential for use in daily living have been developed from data collected in controlled indoor experiments. However, for real-word applications, it is essential that the analysis is carried out in humans' natural environment; that involves different gait speeds, changing walking terrains, varying surface inclinations and regular turns among other factors. Existing domain knowledge in the form of principles or underlying fundamental gait relationships can be utilized to drive and support the data analysis in order to develop robust algorithms that can tackle real-world challenges in gait analysis. This paper presents a novel approach that exhibits how domain knowledge about human gait can be incorporated into time-frequency analysis to detect gait events from long-term accelerometer signals. The accuracy and robustness of the proposed algorithm are validated by experiments done in indoor and outdoor environments with approximately 93 600 gait events in total. The proposed algorithm exhibits consistently high performance scores across all datasets in both, indoor and outdoor environments.

Distinct retinal pathways drive spatial orientation behaviors in zebrafish navigation.

PubMed

Burgess, Harold A; Schoch, Hannah; Granato, Michael

2010-02-23

Navigation requires animals to adjust ongoing movements in response to pertinent features of the environment and select between competing target cues. The neurobiological basis of navigational behavior in vertebrates is hard to analyze, partly because underlying neural circuits are experience dependent. Phototaxis in zebrafish is a hardwired navigational behavior, performed at a stage when larvae swim by using a small repertoire of stereotyped movements. We established conditions to elicit robust phototaxis behavior and found that zebrafish larvae deploy directional orienting maneuvers and regulate forward swimming speed to navigate toward a target light. Using genetic analysis and targeted laser ablations, we show that retinal ON and OFF pathways play distinct roles during phototaxis. The retinal OFF pathway controls turn movements via retinotectal projections and establishes correct orientation by causing larvae to turn away from nontarget areas. In contrast, the retinal ON pathway activates the serotonergic system to trigger rapid forward swimming toward the target. Computational simulation of phototaxis with an OFF-turn, ON-approach algorithm verifies that our model accounts for key features of phototaxis and provides a simple and robust mechanism for behavioral choice between competing targets. Copyright 2010 Elsevier Ltd. All rights reserved.

The interface between forensic science and technology: how technology could cause a paradigm shift in the role of forensic institutes in the criminal justice system

PubMed Central

Kloosterman, Ate; Mapes, Anna; Geradts, Zeno; van Eijk, Erwin; Koper, Carola; van den Berg, Jorrit; Verheij, Saskia; van der Steen, Marcel; van Asten, Arian

2015-01-01

In this paper, the importance of modern technology in forensic investigations is discussed. Recent technological developments are creating new possibilities to perform robust scientific measurements and studies outside the controlled laboratory environment. The benefits of real-time, on-site forensic investigations are manifold and such technology has the potential to strongly increase the speed and efficacy of the criminal justice system. However, such benefits are only realized when quality can be guaranteed at all times and findings can be used as forensic evidence in court. At the Netherlands Forensic Institute, innovation efforts are currently undertaken to develop integrated forensic platform solutions that allow for the forensic investigation of human biological traces, the chemical identification of illicit drugs and the study of large amounts of digital evidence. These platforms enable field investigations, yield robust and validated evidence and allow for forensic intelligence and targeted use of expert capacity at the forensic institutes. This technological revolution in forensic science could ultimately lead to a paradigm shift in which a new role of the forensic expert emerges as developer and custodian of integrated forensic platforms. PMID:26101289

Repetitive readout of a single electronic spin via quantum logic with nuclear spin ancillae.

PubMed

Jiang, L; Hodges, J S; Maze, J R; Maurer, P; Taylor, J M; Cory, D G; Hemmer, P R; Walsworth, R L; Yacoby, A; Zibrov, A S; Lukin, M D

2009-10-09

Robust measurement of single quantum bits plays a key role in the realization of quantum computation and communication as well as in quantum metrology and sensing. We have implemented a method for the improved readout of single electronic spin qubits in solid-state systems. The method makes use of quantum logic operations on a system consisting of a single electronic spin and several proximal nuclear spin ancillae in order to repetitively readout the state of the electronic spin. Using coherent manipulation of a single nitrogen vacancy center in room-temperature diamond, full quantum control of an electronic-nuclear system consisting of up to three spins was achieved. We took advantage of a single nuclear-spin memory in order to obtain a 10-fold enhancement in the signal amplitude of the electronic spin readout. We also present a two-level, concatenated procedure to improve the readout by use of a pair of nuclear spin ancillae, an important step toward the realization of robust quantum information processors using electronic- and nuclear-spin qubits. Our technique can be used to improve the sensitivity and speed of spin-based nanoscale diamond magnetometers.

Ranking of stopping criteria for log domain diffeomorphic demons application in clinical radiation therapy.

PubMed

Peroni, M; Golland, P; Sharp, G C; Baroni, G

2011-01-01

Deformable Image Registration is a complex optimization algorithm with the goal of modeling a non-rigid transformation between two images. A crucial issue in this field is guaranteeing the user a robust but computationally reasonable algorithm. We rank the performances of four stopping criteria and six stopping value computation strategies for a log domain deformable registration. The stopping criteria we test are: (a) velocity field update magnitude, (b) vector field Jacobian, (c) mean squared error, and (d) harmonic energy. Experiments demonstrate that comparing the metric value over the last three iterations with the metric minimum of between four and six previous iterations is a robust and appropriate strategy. The harmonic energy and vector field update magnitude metrics give the best results in terms of robustness and speed of convergence.

Low cost and efficient kurtosis-based deflationary ICA method: application to MRS sources separation problem.

PubMed

Saleh, M; Karfoul, A; Kachenoura, A; Senhadji, L; Albera, L

2016-08-01

Improving the execution time and the numerical complexity of the well-known kurtosis-based maximization method, the RobustICA, is investigated in this paper. A Newton-based scheme is proposed and compared to the conventional RobustICA method. A new implementation using the nonlinear Conjugate Gradient one is investigated also. Regarding the Newton approach, an exact computation of the Hessian of the considered cost function is provided. The proposed approaches and the considered implementations inherit the global plane search of the initial RobustICA method for which a better convergence speed for a given direction is still guaranteed. Numerical results on Magnetic Resonance Spectroscopy (MRS) source separation show the efficiency of the proposed approaches notably the quasi-Newton one using the BFGS method.

H∞ Robust Control of a Large-Piston MEMS Micromirror for Compact Fourier Transform Spectrometer Systems.

PubMed

Chen, Huipeng; Li, Mengyuan; Zhang, Yi; Xie, Huikai; Chen, Chang; Peng, Zhangming; Su, Shaohui

2018-02-08

Incorporating linear-scanning micro-electro-mechanical systems (MEMS) micromirrors into Fourier transform spectral acquisition systems can greatly reduce the size of the spectrometer equipment, making portable Fourier transform spectrometers (FTS) possible. How to minimize the tilting of the MEMS mirror plate during its large linear scan is a major problem in this application. In this work, an FTS system has been constructed based on a biaxial MEMS micromirror with a large-piston displacement of 180 μm, and a biaxial H∞ robust controller is designed. Compared with open-loop control and proportional-integral-derivative (PID) closed-loop control, H∞ robust control has good stability and robustness. The experimental results show that the stable scanning displacement reaches 110.9 μm under the H∞ robust control, and the tilting angle of the MEMS mirror plate in that full scanning range falls within ±0.0014°. Without control, the FTS system cannot generate meaningful spectra. In contrast, the FTS yields a clean spectrum with a full width at half maximum (FWHM) spectral linewidth of 96 cm -1 under the H∞ robust control. Moreover, the FTS system can maintain good stability and robustness under various driving conditions.

H∞ Robust Control of a Large-Piston MEMS Micromirror for Compact Fourier Transform Spectrometer Systems

PubMed Central

Li, Mengyuan; Zhang, Yi; Chen, Chang; Peng, Zhangming; Su, Shaohui

2018-01-01

Incorporating linear-scanning micro-electro-mechanical systems (MEMS) micromirrors into Fourier transform spectral acquisition systems can greatly reduce the size of the spectrometer equipment, making portable Fourier transform spectrometers (FTS) possible. How to minimize the tilting of the MEMS mirror plate during its large linear scan is a major problem in this application. In this work, an FTS system has been constructed based on a biaxial MEMS micromirror with a large-piston displacement of 180 μm, and a biaxial H∞ robust controller is designed. Compared with open-loop control and proportional-integral-derivative (PID) closed-loop control, H∞ robust control has good stability and robustness. The experimental results show that the stable scanning displacement reaches 110.9 μm under the H∞ robust control, and the tilting angle of the MEMS mirror plate in that full scanning range falls within ±0.0014°. Without control, the FTS system cannot generate meaningful spectra. In contrast, the FTS yields a clean spectrum with a full width at half maximum (FWHM) spectral linewidth of 96 cm−1 under the H∞ robust control. Moreover, the FTS system can maintain good stability and robustness under various driving conditions. PMID:29419765

Digital phase-locked-loop speed sensor for accuracy improvement in analog speed controls. [feedback control and integrated circuits

NASA Technical Reports Server (NTRS)

Birchenough, A. G.

1975-01-01

A digital speed control that can be combined with a proportional analog controller is described. The stability and transient response of the analog controller were retained and combined with the long-term accuracy of a crystal-controlled integral controller. A relatively simple circuit was developed by using phase-locked-loop techniques and total error storage. The integral digital controller will maintain speed control accuracy equal to that of the crystal reference oscillator.

Design and implementation of robust controllers for a gait trainer.

PubMed

Wang, F C; Yu, C H; Chou, T Y

2009-08-01

This paper applies robust algorithms to control an active gait trainer for children with walking disabilities. Compared with traditional rehabilitation procedures, in which two or three trainers are required to assist the patient, a motor-driven mechanism was constructed to improve the efficiency of the procedures. First, a six-bar mechanism was designed and constructed to mimic the trajectory of children's ankles in walking. Second, system identification techniques were applied to obtain system transfer functions at different operating points by experiments. Third, robust control algorithms were used to design Hinfinity robust controllers for the system. Finally, the designed controllers were implemented to verify experimentally the system performance. From the results, the proposed robust control strategies are shown to be effective.

Commercial motor vehicle speed control devices

DOT National Transportation Integrated Search

This report reviews the problem of heavy vehicle speeding (in particular, speeding at greater than 65 mph) : and speeding-related crash involvements. The report describes and assesses devices available to control : truck speed, and addresses the ques...

Using Multiple Robust Parameter Design Techniques to Improve Hyperspectral Anomaly Detection Algorithm Performance

DTIC Science & Technology

2009-03-01

Set negative pixel values = 0 (remove bad pixels) -------------- [m,n] = size(data_matrix_new); for i =1:m for j= 1:n if...everything from packaging toothpaste to high speed fluid dynamics. While future engagements will continue to require the development of specialized

Broadband for Public Libraries: Importance, Issues, and Research Needs

ERIC Educational Resources Information Center

Mandel, Lauren H.; Bishop, Bradley Wade; McClure, Charles R.; Bertot, John Carlo; Jaeger, Paul T.

2010-01-01

U.S. public libraries provide free public internet services to the communities that they serve, but require robust, high-speed broadband internet connections to continue meeting public demands. The 2008-2009 "Public Library Funding & Technology Access Study" ("PLFTAS") illustrates challenges that public libraries encounter in achieving broadband…

A Riccati solution for the ideal MHD plasma response with applications to real-time stability control

NASA Astrophysics Data System (ADS)

Glasser, Alexander; Kolemen, Egemen; Glasser, A. H.

2018-03-01

Active feedback control of ideal MHD stability in a tokamak requires rapid plasma stability analysis. Toward this end, we reformulate the δW stability method with a Hamilton-Jacobi theory, elucidating analytical and numerical features of the generic tokamak ideal MHD stability problem. The plasma response matrix is demonstrated to be the solution of an ideal MHD matrix Riccati differential equation. Since Riccati equations are prevalent in the control theory literature, such a shift in perspective brings to bear a range of numerical methods that are well-suited to the robust, fast solution of control problems. We discuss the usefulness of Riccati techniques in solving the stiff ordinary differential equations often encountered in ideal MHD stability analyses—for example, in tokamak edge and stellarator physics. We demonstrate the applicability of such methods to an existing 2D ideal MHD stability code—DCON [A. H. Glasser, Phys. Plasmas 23, 072505 (2016)]—enabling its parallel operation in near real-time, with wall-clock time ≪1 s . Such speed may help enable active feedback ideal MHD stability control, especially in tokamak plasmas whose ideal MHD equilibria evolve with inductive timescale τ≳ 1s—as in ITER.

Design of a feedback-feedforward steering controller for accurate path tracking and stability at the limits of handling

NASA Astrophysics Data System (ADS)

Kapania, Nitin R.; Gerdes, J. Christian

2015-12-01

This paper presents a feedback-feedforward steering controller that simultaneously maintains vehicle stability at the limits of handling while minimising lateral path tracking deviation. The design begins by considering the performance of a baseline controller with a lookahead feedback scheme and a feedforward algorithm based on a nonlinear vehicle handling diagram. While this initial design exhibits desirable stability properties at the limits of handling, the steady-state path deviation increases significantly at highway speeds. Results from both linear and nonlinear analyses indicate that lateral path tracking deviations are minimised when vehicle sideslip is held tangent to the desired path at all times. Analytical results show that directly incorporating this sideslip tangency condition into the steering feedback dramatically improves lateral path tracking, but at the expense of poor closed-loop stability margins. However, incorporating the desired sideslip behaviour into the feedforward loop creates a robust steering controller capable of accurate path tracking and oversteer correction at the physical limits of tyre friction. Experimental data collected from an Audi TTS test vehicle driving at the handling limits on a full length race circuit demonstrates the improved performance of the final controller design.

A vision-based system for fast and accurate laser scanning in robot-assisted phonomicrosurgery.

PubMed

Dagnino, Giulio; Mattos, Leonardo S; Caldwell, Darwin G

2015-02-01

Surgical quality in phonomicrosurgery can be improved by open-loop laser control (e.g., high-speed scanning capabilities) with a robust and accurate closed-loop visual servoing systems. A new vision-based system for laser scanning control during robot-assisted phonomicrosurgery was developed and tested. Laser scanning was accomplished with a dual control strategy, which adds a vision-based trajectory correction phase to a fast open-loop laser controller. The system is designed to eliminate open-loop aiming errors caused by system calibration limitations and by the unpredictable topology of real targets. Evaluation of the new system was performed using CO(2) laser cutting trials on artificial targets and ex-vivo tissue. This system produced accuracy values corresponding to pixel resolution even when smoke created by the laser-target interaction clutters the camera view. In realistic test scenarios, trajectory following RMS errors were reduced by almost 80 % with respect to open-loop system performances, reaching mean error values around 30 μ m and maximum observed errors in the order of 60 μ m. A new vision-based laser microsurgical control system was shown to be effective and promising with significant positive potential impact on the safety and quality of laser microsurgeries.

Method for hyperspectral imagery exploitation and pixel spectral unmixing

NASA Technical Reports Server (NTRS)

Lin, Ching-Fang (Inventor)

2003-01-01

An efficiently hybrid approach to exploit hyperspectral imagery and unmix spectral pixels. This hybrid approach uses a genetic algorithm to solve the abundance vector for the first pixel of a hyperspectral image cube. This abundance vector is used as initial state in a robust filter to derive the abundance estimate for the next pixel. By using Kalman filter, the abundance estimate for a pixel can be obtained in one iteration procedure which is much fast than genetic algorithm. The output of the robust filter is fed to genetic algorithm again to derive accurate abundance estimate for the current pixel. The using of robust filter solution as starting point of the genetic algorithm speeds up the evolution of the genetic algorithm. After obtaining the accurate abundance estimate, the procedure goes to next pixel, and uses the output of genetic algorithm as the previous state estimate to derive abundance estimate for this pixel using robust filter. And again use the genetic algorithm to derive accurate abundance estimate efficiently based on the robust filter solution. This iteration continues until pixels in a hyperspectral image cube end.

Effective Visual Tracking Using Multi-Block and Scale Space Based on Kernelized Correlation Filters

PubMed Central

Jeong, Soowoong; Kim, Guisik; Lee, Sangkeun

2017-01-01

Accurate scale estimation and occlusion handling is a challenging problem in visual tracking. Recently, correlation filter-based trackers have shown impressive results in terms of accuracy, robustness, and speed. However, the model is not robust to scale variation and occlusion. In this paper, we address the problems associated with scale variation and occlusion by employing a scale space filter and multi-block scheme based on a kernelized correlation filter (KCF) tracker. Furthermore, we develop a more robust algorithm using an appearance update model that approximates the change of state of occlusion and deformation. In particular, an adaptive update scheme is presented to make each process robust. The experimental results demonstrate that the proposed method outperformed 29 state-of-the-art trackers on 100 challenging sequences. Specifically, the results obtained with the proposed scheme were improved by 8% and 18% compared to those of the KCF tracker for 49 occlusion and 64 scale variation sequences, respectively. Therefore, the proposed tracker can be a robust and useful tool for object tracking when occlusion and scale variation are involved. PMID:28241475

Effective Visual Tracking Using Multi-Block and Scale Space Based on Kernelized Correlation Filters.

PubMed

Jeong, Soowoong; Kim, Guisik; Lee, Sangkeun

2017-02-23

Accurate scale estimation and occlusion handling is a challenging problem in visual tracking. Recently, correlation filter-based trackers have shown impressive results in terms of accuracy, robustness, and speed. However, the model is not robust to scale variation and occlusion. In this paper, we address the problems associated with scale variation and occlusion by employing a scale space filter and multi-block scheme based on a kernelized correlation filter (KCF) tracker. Furthermore, we develop a more robust algorithm using an appearance update model that approximates the change of state of occlusion and deformation. In particular, an adaptive update scheme is presented to make each process robust. The experimental results demonstrate that the proposed method outperformed 29 state-of-the-art trackers on 100 challenging sequences. Specifically, the results obtained with the proposed scheme were improved by 8% and 18% compared to those of the KCF tracker for 49 occlusion and 64 scale variation sequences, respectively. Therefore, the proposed tracker can be a robust and useful tool for object tracking when occlusion and scale variation are involved.

An Efficient Fuzzy Controller Design for Parallel Connected Induction Motor Drives

NASA Astrophysics Data System (ADS)

Usha, S.; Subramani, C.

2018-04-01

Generally, an induction motors are highly non-linear and has a complex time varying dynamics. This makes the speed control of an induction motor a challenging issue in the industries. But, due to the recent trends in the power electronic devices and intelligent controllers, the speed control of the induction motor is achieved by including non-linear characteristics also. Conventionally a single inverter is used to run one induction motor in industries. In the traction applications, two or more inductions motors are operated in parallel to reduce the size and cost of induction motors. In this application, the parallel connected induction motors can be driven by a single inverter unit. The stability problems may introduce in the parallel operation under low speed operating conditions. Hence, the speed deviations should be reduce with help of suitable controllers. The speed control of the parallel connected system is performed by PID controller and fuzzy logic controller. In this paper the speed response of the induction motor for the rating of IHP, 1440 rpm, and 50Hz with these controller are compared in time domain specifications. The stability analysis of the system also performed under low speed using matlab platform. The hardware model is developed for speed control using fuzzy logic controller which exhibited superior performances over the other controller.

Robust control of combustion instabilities

NASA Astrophysics Data System (ADS)

Hong, Boe-Shong

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

STEM Educators' Integration of Formative Assessment in Teaching and Lesson Design

NASA Astrophysics Data System (ADS)

Moreno, Kimberly A.

Air-breathing hypersonic vehicles, when fully developed, will offer travel in the atmosphere at unprecendented speeds. Capturing their physical behavior by analytical / numerical models is still a major challenge, still limiting the development of controls technology for such vehicles. To study, in an exploratory manner, active control of air-breathing hypersonic vehicles, an analtical, simplified, model of a generic hypersonic air-breathing vehicle in flight was developed by researchers at the Air Force Research Labs in Dayton, Ohio, along with control laws. Elevator deflection and fuel-to-air ratio were used as inputs. However, that model is very approximate, and the field of hypersonics still faces many unknowns. This thesis contributes to the study of control of air-breating hypersonic vehicles in a number of ways: First, regarding control laws synthesis, optimal gains are chosen for the previously developed control law alongside an alternate control law modified from existing literature by minimizing the Lyapunov function derivative using Monte Carlo simulation. This is followed by analysis of the robustness of the control laws in the face of system parametric uncertainties using Monte Carlo simulations. The resulting statistical distributions of the commanded response are analyzed, and linear regression is used to determine, via sensitivity analysis, which uncertain parameters have the largest impact on the desired outcome.

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

PubMed

Wang, Yanyan; Hu, Xiaodong; Xu, Linyan

2016-01-01

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

Application of numerical grid generation for improved CFD analysis of multiphase screw machines

NASA Astrophysics Data System (ADS)

Rane, S.; Kovačević, A.

2017-08-01

Algebraic grid generation is widely used for discretization of the working domain of twin screw machines. Algebraic grid generation is fast and has good control over the placement of grid nodes. However, the desired qualities of grid which should be able to handle multiphase flows such as oil injection, may be difficult to achieve at times. In order to obtain fast solution of multiphase screw machines, it is important to further improve the quality and robustness of the computational grid. In this paper, a deforming grid of a twin screw machine is generated using algebraic transfinite interpolation to produce initial mesh upon which an elliptic partial differential equations (PDE) of the Poisson’s form is solved numerically to produce smooth final computational mesh. The quality of numerical cells and their distribution obtained by the differential method is greatly improved. In addition, a similar procedure was introduced to fully smoothen the transition of the partitioning rack curve between the rotors thus improving continuous movement of grid nodes and in turn improve robustness and speed of the Computational Fluid Dynamic (CFD) solver. Analysis of an oil injected twin screw compressor is presented to compare the improvements in grid quality factors in the regions of importance such as interlobe space, radial tip and the core of the rotor. The proposed method that combines algebraic and differential grid generation offer significant improvement in grid quality and robustness of numerical solution.

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.

Secure and Robust Transmission and Verification of Unknown Quantum States in Minkowski Space

PubMed Central

Kent, Adrian; Massar, Serge; Silman, Jonathan

2014-01-01

An important class of cryptographic applications of relativistic quantum information work as follows. B generates a random qudit and supplies it to A at point P. A is supposed to transmit it at near light speed c to to one of a number of possible pairwise spacelike separated points Q1, …, Qn. A's transmission is supposed to be secure, in the sense that B cannot tell in advance which Qj will be chosen. This poses significant practical challenges, since secure reliable long-range transmission of quantum data at speeds near to c is presently not easy. Here we propose different techniques to overcome these diffculties. We introduce protocols that allow secure long-range implementations even when both parties control only widely separated laboratories of small size. In particular we introduce a protocol in which A needs send the qudit only over a short distance, and securely transmits classical information (for instance using a one time pad) over the remaining distance. We further show that by using parallel implementations of the protocols security can be maintained in the presence of moderate amounts of losses and errors. PMID:24469425

High-speed manufacturing of highly regular femtosecond laser-induced periodic surface structures: physical origin of regularity.

PubMed

Gnilitskyi, Iaroslav; Derrien, Thibault J-Y; Levy, Yoann; Bulgakova, Nadezhda M; Mocek, Tomáš; Orazi, Leonardo

2017-08-16

Highly regular laser-induced periodic surface structures (HR-LIPSS) have been fabricated on surfaces of Mo, steel alloy and Ti at a record processing speed on large areas and with a record regularity in the obtained sub-wavelength structures. The physical mechanisms governing LIPSS regularity are identified and linked with the decay length (i.e. the mean free path) of the excited surface electromagnetic waves (SEWs). The dispersion of the LIPSS orientation angle well correlates with the SEWs decay length: the shorter this length, the more regular are the LIPSS. A material dependent criterion for obtaining HR-LIPSS is proposed for a large variety of metallic materials. It has been found that decreasing the spot size close to the SEW decay length is a key for covering several cm 2 of material surface by HR-LIPSS in a few seconds. Theoretical predictions suggest that reducing the laser wavelength can provide the possibility of HR-LIPSS production on principally any metal. This new achievement in the unprecedented level of control over the laser-induced periodic structure formation makes this laser-writing technology to be flexible, robust and, hence, highly competitive for advanced industrial applications based on surface nanostructuring.

Generalized internal model robust control for active front steering intervention

NASA Astrophysics Data System (ADS)

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

2015-03-01

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

Speed control variable rate irrigation

USDA-ARS?s Scientific Manuscript database

Speed control variable rate irrigation (VRI) is used to address within field variability by controlling a moving sprinkler’s travel speed to vary the application depth. Changes in speed are commonly practiced over areas that slope, pond or where soil texture is predominantly different. Dynamic presc...

Effect of intermittent feedback control on robustness of human-like postural control system

NASA Astrophysics Data System (ADS)

Tanabe, Hiroko; Fujii, Keisuke; Suzuki, Yasuyuki; Kouzaki, Motoki

2016-03-01

Humans have to acquire postural robustness to maintain stability against internal and external perturbations. Human standing has been recently modelled using an intermittent feedback control. However, the causality inside of the closed-loop postural control system associated with the neural control strategy is still unknown. Here, we examined the effect of intermittent feedback control on postural robustness and of changes in active/passive components on joint coordinative structure. We implemented computer simulation of a quadruple inverted pendulum that is mechanically close to human tiptoe standing. We simulated three pairs of joint viscoelasticity and three choices of neural control strategies for each joint: intermittent, continuous, or passive control. We examined postural robustness for each parameter set by analysing the region of active feedback gain. We found intermittent control at the hip joint was necessary for model stabilisation and model parameters affected the robustness of the pendulum. Joint sways of the pendulum model were partially smaller than or similar to those of experimental data. In conclusion, intermittent feedback control was necessary for the stabilisation of the quadruple inverted pendulum. Also, postural robustness of human-like multi-link standing would be achieved by both passive joint viscoelasticity and neural joint control strategies.

Effect of intermittent feedback control on robustness of human-like postural control system.

PubMed

Tanabe, Hiroko; Fujii, Keisuke; Suzuki, Yasuyuki; Kouzaki, Motoki

2016-03-02

Humans have to acquire postural robustness to maintain stability against internal and external perturbations. Human standing has been recently modelled using an intermittent feedback control. However, the causality inside of the closed-loop postural control system associated with the neural control strategy is still unknown. Here, we examined the effect of intermittent feedback control on postural robustness and of changes in active/passive components on joint coordinative structure. We implemented computer simulation of a quadruple inverted pendulum that is mechanically close to human tiptoe standing. We simulated three pairs of joint viscoelasticity and three choices of neural control strategies for each joint: intermittent, continuous, or passive control. We examined postural robustness for each parameter set by analysing the region of active feedback gain. We found intermittent control at the hip joint was necessary for model stabilisation and model parameters affected the robustness of the pendulum. Joint sways of the pendulum model were partially smaller than or similar to those of experimental data. In conclusion, intermittent feedback control was necessary for the stabilisation of the quadruple inverted pendulum. Also, postural robustness of human-like multi-link standing would be achieved by both passive joint viscoelasticity and neural joint control strategies.

Effect of intermittent feedback control on robustness of human-like postural control system

PubMed Central

Tanabe, Hiroko; Fujii, Keisuke; Suzuki, Yasuyuki; Kouzaki, Motoki

2016-01-01

Humans have to acquire postural robustness to maintain stability against internal and external perturbations. Human standing has been recently modelled using an intermittent feedback control. However, the causality inside of the closed-loop postural control system associated with the neural control strategy is still unknown. Here, we examined the effect of intermittent feedback control on postural robustness and of changes in active/passive components on joint coordinative structure. We implemented computer simulation of a quadruple inverted pendulum that is mechanically close to human tiptoe standing. We simulated three pairs of joint viscoelasticity and three choices of neural control strategies for each joint: intermittent, continuous, or passive control. We examined postural robustness for each parameter set by analysing the region of active feedback gain. We found intermittent control at the hip joint was necessary for model stabilisation and model parameters affected the robustness of the pendulum. Joint sways of the pendulum model were partially smaller than or similar to those of experimental data. In conclusion, intermittent feedback control was necessary for the stabilisation of the quadruple inverted pendulum. Also, postural robustness of human-like multi-link standing would be achieved by both passive joint viscoelasticity and neural joint control strategies. PMID:26931281

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.

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

NASA Astrophysics Data System (ADS)

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

2016-03-01

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

Spool-type control valve assembly with reduced spool stroke for hydraulic belt-and-pulley type continuously variable transmission

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

Itoh, H.; Akashi, T.; Takada, M.

1987-03-31

This patent describes a hydraulic control system for controlling a speed ratio of a hydraulically-operated continuously variable transmission of belt-and-pulley type having a variable-diameter pulley and a hydraulic cylinder for changing an effective diameter of the variable diameter-pulley of the transmission. The hydraulic control system includes a speed-ratio control valve assembly for controlling the supply and discharge of a pressurized fluid to and from the hydraulic cylinder to thereby change the speed ratio of the transmission. The speed-ratio control valve assembly comprises: a shift-direction switching valve unit disposed in fluid supply and discharge conduits communicating with the hydraulic cylinder, formore » controlling a direction in which the speed ratio of the transmission is varied; a shift-speed control valve unit of spool-valve type connected to the shift-direction switching valve unit. The shift-speed control valve unit is selectively placed in a first state in which the fluid supply and discharge flows to and from the hydraulic cylinder through the conduits are permitted, or in a second state in which the fluid supply flow is restricted while the fluid discharge flow is inhibited; an actuator means for placing the shift speed control valve unit alternately in the first and second states to control a rate of variation in the speed ratio of the transmission in the direction established by the shift-direction switching valve unit.« less

Charge control microcomputer device for vehicles

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

Morishita, M.; Kouge, S.

1986-10-14

This patent describes a charge control microcomputer device for a vehicle, comprising: speed changing means for transmitting the output torque of an engine. The speed changing means includes a slip clutch means having an output with a variable slippage amount with respect to its input and controlled in accordance with an operating instruction. The speed changing means further includes a speed change gear for changing the rotational speed input thereto at an output thereto, the speed change gear receiving the output of the slip clutch means; a charging generator driven by the output of the speed change gear; a batterymore » charged by an output voltage of the charging generator; a voltage regulator for controlling the output voltage of the charging generator to a predetermined value; an engine controlling microcomputer for receiving data from the engine, to control the engine, the engine data comprising at least an engine speed signal; a charge control microcomputer for processing engine data from the engine controlling microcomputer and charge system data including terminal voltage data from the battery and generated voltage data from the changing generator; and a display unit for displaying detection data, including fault detection data, form the charge control microcomputer.« less

Simulation of load traffic and steeped speed control of conveyor

NASA Astrophysics Data System (ADS)

Reutov, A. A.

2017-10-01

The article examines the possibilities of the step control simulation of conveyor speed within Mathcad, Simulink, Stateflow software. To check the efficiency of the control algorithms and to more accurately determine the characteristics of the control system, it is necessary to simulate the process of speed control with real values of traffic for a work shift or for a day. For evaluating the belt workload and absence of spillage it is necessary to use empirical values of load flow in a shorter period of time. The analytical formulas for optimal speed step values were received using empirical values of load. The simulation checks acceptability of an algorithm, determines optimal parameters of regulation corresponding to load flow characteristics. The average speed and the number of speed switching during simulation are admitted as criteria of regulation efficiency. The simulation example within Mathcad software is implemented. The average conveyor speed decreases essentially by two-step and three-step control. A further increase in the number of regulatory steps decreases average speed insignificantly but considerably increases the intensity of the speed switching. Incremental algorithm of speed regulation uses different number of stages for growing and reducing load traffic. This algorithm allows smooth control of the conveyor speed changes with monotonic variation of the load flow. The load flow oscillation leads to an unjustified increase or decrease of speed. Work results can be applied at the design of belt conveyors with adjustable drives.

Experimental Comparison of Speed : Fuel-flow and Speed-area Controls on a Turbojet Engine for Small Step Disturbances

NASA Technical Reports Server (NTRS)

Wenzel, L M; Hart, C E; Craig, R T

1957-01-01

Optimum proportional-plus-integral control settings for speed - fuel-flow control, determined by minimization of integral criteria, correlated well with analytically predicted optimum settings. Engine response data are given for a range of control settings around the optimum. An inherent nonlinearity in the speed-area loop necessitated the use of nonlinear controls. Response data for two such nonlinear control schemes are presented.

Geometrically Flexible and Efficient Flow Analysis of High Speed Vehicles Via Domain Decomposition, Part 1: Unstructured-Grid Solver for High Speed Flows

NASA Technical Reports Server (NTRS)

White, Jeffery A.; Baurle, Robert A.; Passe, Bradley J.; Spiegel, Seth C.; Nishikawa, Hiroaki

2017-01-01

The ability to solve the equations governing the hypersonic turbulent flow of a real gas on unstructured grids using a spatially-elliptic, 2nd-order accurate, cell-centered, finite-volume method has been recently implemented in the VULCAN-CFD code. This paper describes the key numerical methods and techniques that were found to be required to robustly obtain accurate solutions to hypersonic flows on non-hex-dominant unstructured grids. The methods and techniques described include: an augmented stencil, weighted linear least squares, cell-average gradient method, a robust multidimensional cell-average gradient-limiter process that is consistent with the augmented stencil of the cell-average gradient method and a cell-face gradient method that contains a cell skewness sensitive damping term derived using hyperbolic diffusion based concepts. A data-parallel matrix-based symmetric Gauss-Seidel point-implicit scheme, used to solve the governing equations, is described and shown to be more robust and efficient than a matrix-free alternative. In addition, a y+ adaptive turbulent wall boundary condition methodology is presented. This boundary condition methodology is deigned to automatically switch between a solve-to-the-wall and a wall-matching-function boundary condition based on the local y+ of the 1st cell center off the wall. The aforementioned methods and techniques are then applied to a series of hypersonic and supersonic turbulent flat plate unit tests to examine the efficiency, robustness and convergence behavior of the implicit scheme and to determine the ability of the solve-to-the-wall and y+ adaptive turbulent wall boundary conditions to reproduce the turbulent law-of-the-wall. Finally, the thermally perfect, chemically frozen, Mach 7.8 turbulent flow of air through a scramjet flow-path is computed and compared with experimental data to demonstrate the robustness, accuracy and convergence behavior of the unstructured-grid solver for a realistic 3-D geometry on a non-hex-dominant grid.

Robustness of a distributed neural network controller for locomotion in a hexapod robot

NASA Technical Reports Server (NTRS)

Chiel, Hillel J.; Beer, Randall D.; Quinn, Roger D.; Espenschied, Kenneth S.

1992-01-01

A distributed neural-network controller for locomotion, based on insect neurobiology, has been used to control a hexapod robot. How robust is this controller? Disabling any single sensor, effector, or central component did not prevent the robot from walking. Furthermore, statically stable gaits could be established using either sensor input or central connections. Thus, a complex interplay between central neural elements and sensor inputs is responsible for the robustness of the controller and its ability to generate a continuous range of gaits. These results suggest that biologically inspired neural-network controllers may be a robust method for robotic control.

Regional foot pressure during running, cutting, jumping, and landing.

PubMed

Orendurff, Michael S; Rohr, Eric S; Segal, Ava D; Medley, Jonathan W; Green, John R; Kadel, Nancy J

2008-03-01

Evaluating shoes during sport-related movements may provide a better assessment of plantar loads associated with repetitive injury and provide more specific data for comparing shoe cushioning characteristics. Accelerating, cutting, and jumping pressures will be higher than in straight running, differentiating regional shoe cushioning performance in sport-specific movements. Controlled laboratory study. Peak pressures on seven anatomic regions of the foot were assessed in 10 male college athletes during running straight ahead, accelerating, cutting left, cutting right, jump take-off, and jump landing wearing Speed TD and Air Pro Turf Low shoes (Nike, Beaverton, Ore). Pedar insoles (Novel, Munich, Germany) were sampled at 99 Hz during the 6 movements. Cutting and jumping movements demonstrated more than double the pressure at the heel compared with running straight, regardless of shoe type. The Air Pro Turf showed overall lower pressure for all movement types (P<.0377). Cutting to the left, the Air Pro Turf shoe had lower heel pressures (36.6 +/- 12.5 N/cm(2)) than the Speed TD (50.3 +/- 11.2 N/cm(2)) (P<.0001), and the Air Pro Turf had lower great toe pressures than the Speed TD (44.8 +/- 8.1 N/cm(2) vs 54.4 +/- 8.4 N/cm(2); P= .0002). The Air Pro Turf also had significantly lower pressures than the Speed TD at the central forefoot during acceleration (38.2 +/- 8.3 N/cm(2) vs 50.8 +/- 7.4 N/cm(2); P<.0001). Sport-related movements load the plantar surface of the foot more than running straight. Shoe cushioning characteristics were more robustly assessed during sport-related movements (4 significant results detected) compared with running straight (1 significant result detected). There is an interaction between shoe cushioning characteristics and sport-related movements that may influence plantar pressure and repetitive stress injuries.

Robust nonlinear control of vectored thrust aircraft

NASA Technical Reports Server (NTRS)

Doyle, John C.; Murray, Richard; Morris, John

1993-01-01

An interdisciplinary program in robust control for nonlinear systems with applications to a variety of engineering problems is outlined. Major emphasis will be placed on flight control, with both experimental and analytical studies. This program builds on recent new results in control theory for stability, stabilization, robust stability, robust performance, synthesis, and model reduction in a unified framework using Linear Fractional Transformations (LFT's), Linear Matrix Inequalities (LMI's), and the structured singular value micron. Most of these new advances have been accomplished by the Caltech controls group independently or in collaboration with researchers in other institutions. These recent results offer a new and remarkably unified framework for all aspects of robust control, but what is particularly important for this program is that they also have important implications for system identification and control of nonlinear systems. This combines well with Caltech's expertise in nonlinear control theory, both in geometric methods and methods for systems with constraints and saturations.

Evaluation and correction of laser-scanned point clouds

NASA Astrophysics Data System (ADS)

Teutsch, Christian; Isenberg, Tobias; Trostmann, Erik; Weber, Michael; Berndt, Dirk; Strothotte, Thomas

2005-01-01

The digitalization of real-world objects is of great importance in various application domains. E.g. in industrial processes quality assurance is very important. Geometric properties of workpieces have to be measured. Traditionally, this is done with gauges which is somewhat subjective and time-consuming. We developed a robust optical laser scanner for the digitalization of arbitrary objects, primary, industrial workpieces. As measuring principle we use triangulation with structured lighting and a multi-axis locomotor system. Measurements on the generated data leads to incorrect results if the contained error is too high. Therefore, processes for geometric inspection under non-laboratory conditions are needed that are robust in permanent use and provide high accuracy as well as high operation speed. The many existing methods for polygonal mesh optimization produce very esthetic 3D models but often require user interaction and are limited in processing speed and/or accuracy. Furthermore, operations on optimized meshes consider the entire model and pay only little attention to individual measurements. However, many measurements contribute to parts or single scans with possibly strong differences between neighboring scans being lost during mesh construction. Also, most algorithms consider unsorted point clouds although the scanned data is structured through device properties and measuring principles. We use this underlying structure to achieve high processing speeds and extract intrinsic system parameters and use them for fast pre-processing.

Nouns slow down speech across structurally and culturally diverse languages

PubMed Central

Danielsen, Swintha; Hartmann, Iren; Pakendorf, Brigitte; Witzlack-Makarevich, Alena; de Jong, Nivja H.

2018-01-01

By force of nature, every bit of spoken language is produced at a particular speed. However, this speed is not constant—speakers regularly speed up and slow down. Variation in speech rate is influenced by a complex combination of factors, including the frequency and predictability of words, their information status, and their position within an utterance. Here, we use speech rate as an index of word-planning effort and focus on the time window during which speakers prepare the production of words from the two major lexical classes, nouns and verbs. We show that, when naturalistic speech is sampled from languages all over the world, there is a robust cross-linguistic tendency for slower speech before nouns compared with verbs, both in terms of slower articulation and more pauses. We attribute this slowdown effect to the increased amount of planning that nouns require compared with verbs. Unlike verbs, nouns can typically only be used when they represent new or unexpected information; otherwise, they have to be replaced by pronouns or be omitted. These conditions on noun use appear to outweigh potential advantages stemming from differences in internal complexity between nouns and verbs. Our findings suggest that, beneath the staggering diversity of grammatical structures and cultural settings, there are robust universals of language processing that are intimately tied to how speakers manage referential information when they communicate with one another. PMID:29760059

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.

Robust on-off pulse control of flexible space vehicles

NASA Technical Reports Server (NTRS)

Wie, Bong; Sinha, Ravi

1993-01-01

The on-off reaction jet control system is often used for attitude and orbital maneuvering of various spacecraft. Future space vehicles such as the orbital transfer vehicles, orbital maneuvering vehicles, and space station will extensively use reaction jets for orbital maneuvering and attitude stabilization. The proposed robust fuel- and time-optimal control algorithm is used for a three-mass spacing model of flexible spacecraft. A fuel-efficient on-off control logic is developed for robust rest-to-rest maneuver of a flexible vehicle with minimum excitation of structural modes. The first part of this report is concerned with the problem of selecting a proper pair of jets for practical trade-offs among the maneuvering time, fuel consumption, structural mode excitation, and performance robustness. A time-optimal control problem subject to parameter robustness constraints is formulated and solved. The second part of this report deals with obtaining parameter insensitive fuel- and time- optimal control inputs by solving a constrained optimization problem subject to robustness constraints. It is shown that sensitivity to modeling errors can be significantly reduced by the proposed, robustified open-loop control approach. The final part of this report deals with sliding mode control design for uncertain flexible structures. The benchmark problem of a flexible structure is used as an example for the feedback sliding mode controller design with bounded control inputs and robustness to parameter variations is investigated.

A novel adaptive control method for induction motor based on Backstepping approach using dSpace DS 1104 control board

NASA Astrophysics Data System (ADS)

Ben Regaya, Chiheb; Farhani, Fethi; Zaafouri, Abderrahmen; Chaari, Abdelkader

2018-02-01

This paper presents a new adaptive Backstepping technique to handle the induction motor (IM) rotor resistance tracking problem. The proposed solution leads to improve the robustness of the control system. Given the presence of static error when estimating the rotor resistance with classical methods, and the sensitivity to the load torque variation at low speed, a new Backstepping observer enhanced with an integral action of the tracking errors is presented, which can be established in two steps. The first one consists to estimate the rotor flux using a Backstepping observer. The second step, defines the adaptation mechanism of the rotor resistance based on the estimated rotor-flux. The asymptotic stability of the observer is proven by Lyapunov theory. To validate the proposed solution, a simulation and experimental benchmarking of a 3 kW induction motor are presented and analyzed. The obtained results show the effectiveness of the proposed solution compared to the model reference adaptive system (MRAS) rotor resistance observer presented in other recent works.

Relative association of processing speed, short-term memory and sustained attention with task on gait speed: a study of community-dwelling people 50 years and older.

PubMed

Killane, Isabelle; Donoghue, Orna A; Savva, George M; Cronin, Hilary; Kenny, Rose Anne; Reilly, Richard B

2014-11-01

For single gait tasks, associations have been reported between gait speed and cognitive domains. However, few studies have evaluated if this association is altered in dual gait tasks given gait speed changes with complexity and nature of task. We evaluated relative contributions of specific elements of cognitive function (including sustained attention and processing speed) to dual task gait speed in a nationally representative population of community-dwelling adults over 50 years. Gait speed was obtained using the GaitRite walkway during three gait tasks: single, cognitive (alternate letters), and motor (carrying a filled glass). Linear regression models, adjusted for covariates, were constructed to predict the relative contributions of seven neuropsychological tests to gait speed differences and to investigate gait task effects. The mean age and gait speed of the population (n = 4,431, 55% women) was 62.4 years (SD = 8.2) and 135.85 cm/s (SD = 20.20, single task), respectively. Poorer processing speed, short-term memory, and sustained attention were major cognitive contributors to slower gait speed for all gait tasks. Both dual gait tasks were robust to covariate adjustment and had a significant additional executive function element not found for the single gait task. For community-dwelling older adults processing speed, short-term memory and sustained attention were independently associated with gait speed for all gait tasks. Dual gait tasks were found to highlight specific executive function elements. This result forms a baseline value for dual task gait speed. © The Author 2014. Published by Oxford University Press on behalf of The Gerontological Society of America. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com.

A robust and scalable neuromorphic communication system by combining synaptic time multiplexing and MIMO-OFDM.

PubMed

Srinivasa, Narayan; Zhang, Deying; Grigorian, Beayna

2014-03-01

This paper describes a novel architecture for enabling robust and efficient neuromorphic communication. The architecture combines two concepts: 1) synaptic time multiplexing (STM) that trades space for speed of processing to create an intragroup communication approach that is firing rate independent and offers more flexibility in connectivity than cross-bar architectures and 2) a wired multiple input multiple output (MIMO) communication with orthogonal frequency division multiplexing (OFDM) techniques to enable a robust and efficient intergroup communication for neuromorphic systems. The MIMO-OFDM concept for the proposed architecture was analyzed by simulating large-scale spiking neural network architecture. Analysis shows that the neuromorphic system with MIMO-OFDM exhibits robust and efficient communication while operating in real time with a high bit rate. Through combining STM with MIMO-OFDM techniques, the resulting system offers a flexible and scalable connectivity as well as a power and area efficient solution for the implementation of very large-scale spiking neural architectures in hardware.

Cloud-based shaft torque estimation for electric vehicle equipped with integrated motor-transmission system

NASA Astrophysics Data System (ADS)

Zhu, Xiaoyuan; Zhang, Hui; Yang, Bo; Zhang, Guichen

2018-01-01

In order to improve oscillation damping control performance as well as gear shift quality of electric vehicle equipped with integrated motor-transmission system, a cloud-based shaft torque estimation scheme is proposed in this paper by using measurable motor and wheel speed signals transmitted by wireless network. It can help reduce computational burden of onboard controllers and also relief network bandwidth requirement of individual vehicle. Considering possible delays during signal wireless transmission, delay-dependent full-order observer design is proposed to estimate the shaft torque in cloud server. With these random delays modeled by using homogenous Markov chain, robust H∞ performance is adopted to minimize the effect of wireless network-induced delays, signal measurement noise as well as system modeling uncertainties on shaft torque estimation error. Observer parameters are derived by solving linear matrix inequalities, and simulation results using acceleration test and tip-in, tip-out test demonstrate the effectiveness of proposed shaft torque observer design.

Terrain interaction with the quarter scale beam walker

NASA Technical Reports Server (NTRS)

Chun, Wendell H.; Price, S.; Spiessbach, A.

1990-01-01

Frame walkers are a class of mobile robots that are robust and capable mobility platforms. Variations of the frame walker robot are in commercial use today. Komatsu Ltd. of Japan developed the Remotely Controlled Underwater Surveyor (ReCUS) and Normed Shipyards of France developed the Marine Robot (RM3). Both applications of the frame walker concept satisfied robotic mobility requirements that could not be met by a wheeled or tracked design. One vehicle design concept that falls within this class of mobile robots is the walking beam. A one-quarter scale prototype of the walking beam was built by Martin Marietta to evaluate the potential merits of utilizing the vehicle as a planetary rover. The initial phase of prototype rover testing was structured to evaluate the mobility performance aspects of the vehicle. Performance parameters such as vehicle power, speed, and attitude control were evaluated as a function of the environment in which the prototype vehicle was tested. Subsequent testing phases will address the integrated performance of the vehicle and a local navigation system.

Overview of the joint services lightweight standoff chemical agent detector (JSLSCAD)

NASA Astrophysics Data System (ADS)

Hammond, Barney; Popa, Mirela

2005-05-01

This paper presents a system-level description of the Joint Services Lightweight Standoff Chemical Agent Detector (JSLSCAD). JSLSCAD is a passive Fourier Transform InfraRed (FTIR) based remote sensing system for detecting chemical warfare agents. Unlike predecessor systems, JSLSCAD is capable of operating while on the move to accomplish reconnaissance, surveillance, and contamination avoidance missions. Additionally, the system is designed to meet the needs for application on air and sea as well as ground mobile and fixed site platforms. The core of the system is a rugged Michelson interferometer with a flexure spring bearing mechanism and bi-directional data acquisition capability. The sensor is interfaced to a small, high performance spatial scanner that provides high-speed, two-axis area coverage. Command, control, and processing electronics have been coupled with real time control software and robust detection/discrimination algorithms. Operator interfaces include local and remote options in addition to interfaces to external communications networks. The modular system design facilitates interfacing to the many platforms targeted for JSLSCAD.

Terrain Interaction With The Quarter Scale Beam Walker

NASA Astrophysics Data System (ADS)

Chun, Wendell H.; Price, R. S.; Spiessbach, Andrew J.

1990-03-01

Frame walkers are a class of mobile robots that are robust and capable mobility platforms. Variations of the frame walker robot are in commercial use today. Komatsu Ltd. of Japan developed the Remotely Controlled Underwater Surveyor (ReCUS) and Normed Shipyards of France developed the Marine Robot (RM3). Both applications of the frame walker concept satisfied robotic mobility requirements that could not be met by a wheeled or tracked design. One vehicle design concept that falls within this class of mobile robots is the walking beam. A one-quarter scale prototype of the walking beam was built by Martin Marietta to evaluate the potential merits of utilizing the vehicle as a planetary rover. The initial phase of prototype rover testing was structured to evaluate the mobility performance aspects of the vehicle. Performance parameters such as vehicle power, speed, and attitude control were evaluated as a function of the environment in which the prototype vehicle was tested. Subsequent testing phases will address the integrated performance of the vehicle and a local navigation system.

Guidance to Achieve Accurate Aggregate Quantitation in Biopharmaceuticals by SV-AUC.

PubMed

Arthur, Kelly K; Kendrick, Brent S; Gabrielson, John P

2015-01-01

The levels and types of aggregates present in protein biopharmaceuticals must be assessed during all stages of product development, manufacturing, and storage of the finished product. Routine monitoring of aggregate levels in biopharmaceuticals is typically achieved by size exclusion chromatography (SEC) due to its high precision, speed, robustness, and simplicity to operate. However, SEC is error prone and requires careful method development to ensure accuracy of reported aggregate levels. Sedimentation velocity analytical ultracentrifugation (SV-AUC) is an orthogonal technique that can be used to measure protein aggregation without many of the potential inaccuracies of SEC. In this chapter, we discuss applications of SV-AUC during biopharmaceutical development and how characteristics of the technique make it better suited for some applications than others. We then discuss the elements of a comprehensive analytical control strategy for SV-AUC. Successful implementation of these analytical control elements ensures that SV-AUC provides continued value over the long time frames necessary to bring biopharmaceuticals to market. © 2015 Elsevier Inc. All rights reserved.

75 FR 37453 - Notice of Issuance of Final Determination Concerning Dimmer and Fan Speed Switch Controls

Federal Register 2010, 2011, 2012, 2013, 2014

2010-06-29

... Determination Concerning Dimmer and Fan Speed Switch Controls AGENCY: U.S. Customs and Border Protection... country of origin of certain dimmer and fan speed switch controls which may be offered to the United... determination CBP concluded that Mexico is the country of origin of the dimmer and fan speed switch controls for...

Improved FastICA algorithm in fMRI data analysis using the sparsity property of the sources.

PubMed

Ge, Ruiyang; Wang, Yubao; Zhang, Jipeng; Yao, Li; Zhang, Hang; Long, Zhiying

2016-04-01

As a blind source separation technique, independent component analysis (ICA) has many applications in functional magnetic resonance imaging (fMRI). Although either temporal or spatial prior information has been introduced into the constrained ICA and semi-blind ICA methods to improve the performance of ICA in fMRI data analysis, certain types of additional prior information, such as the sparsity, has seldom been added to the ICA algorithms as constraints. In this study, we proposed a SparseFastICA method by adding the source sparsity as a constraint to the FastICA algorithm to improve the performance of the widely used FastICA. The source sparsity is estimated through a smoothed ℓ0 norm method. We performed experimental tests on both simulated data and real fMRI data to investigate the feasibility and robustness of SparseFastICA and made a performance comparison between SparseFastICA, FastICA and Infomax ICA. Results of the simulated and real fMRI data demonstrated the feasibility and robustness of SparseFastICA for the source separation in fMRI data. Both the simulated and real fMRI experimental results showed that SparseFastICA has better robustness to noise and better spatial detection power than FastICA. Although the spatial detection power of SparseFastICA and Infomax did not show significant difference, SparseFastICA had faster computation speed than Infomax. SparseFastICA was comparable to the Infomax algorithm with a faster computation speed. More importantly, SparseFastICA outperformed FastICA in robustness and spatial detection power and can be used to identify more accurate brain networks than FastICA algorithm. Copyright © 2016 Elsevier B.V. All rights reserved.

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.

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.

30 CFR 56.9101 - Operating speeds and control of equipment.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 30 Mineral Resources 1 2011-07-01 2011-07-01 false Operating speeds and control of equipment. 56... Loading, Hauling, and Dumping Traffic Safety § 56.9101 Operating speeds and control of equipment.... Operating speeds shall be consistent with conditions of roadways, tracks, grades, clearance, visibility, and...

30 CFR 56.9101 - Operating speeds and control of equipment.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Operating speeds and control of equipment. 56... Loading, Hauling, and Dumping Traffic Safety § 56.9101 Operating speeds and control of equipment.... Operating speeds shall be consistent with conditions of roadways, tracks, grades, clearance, visibility, and...

30 CFR 57.9101 - Operating speeds and control of equipment.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Operating speeds and control of equipment. 57... Loading, Hauling, and Dumping Traffic Safety § 57.9101 Operating speeds and control of equipment.... Operating speeds shall be consistent with conditions of roadways, tracks, grades, clearance, visibility, and...

30 CFR 57.9101 - Operating speeds and control of equipment.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 30 Mineral Resources 1 2011-07-01 2011-07-01 false Operating speeds and control of equipment. 57... Loading, Hauling, and Dumping Traffic Safety § 57.9101 Operating speeds and control of equipment.... Operating speeds shall be consistent with conditions of roadways, tracks, grades, clearance, visibility, and...

Dynamic Projection Mapping onto Deforming Non-Rigid Surface Using Deformable Dot Cluster Marker.

PubMed

Narita, Gaku; Watanabe, Yoshihiro; Ishikawa, Masatoshi

2017-03-01

Dynamic projection mapping for moving objects has attracted much attention in recent years. However, conventional approaches have faced some issues, such as the target objects being limited to rigid objects, and the limited moving speed of the targets. In this paper, we focus on dynamic projection mapping onto rapidly deforming non-rigid surfaces with a speed sufficiently high that a human does not perceive any misalignment between the target object and the projected images. In order to achieve such projection mapping, we need a high-speed technique for tracking non-rigid surfaces, which is still a challenging problem in the field of computer vision. We propose the Deformable Dot Cluster Marker (DDCM), a novel fiducial marker for high-speed tracking of non-rigid surfaces using a high-frame-rate camera. The DDCM has three performance advantages. First, it can be detected even when it is strongly deformed. Second, it realizes robust tracking even in the presence of external and self occlusions. Third, it allows millisecond-order computational speed. Using DDCM and a high-speed projector, we realized dynamic projection mapping onto a deformed sheet of paper and a T-shirt with a speed sufficiently high that the projected images appeared to be printed on the objects.

Closed-loop and robust control of quantum systems.

PubMed

Chen, Chunlin; Wang, Lin-Cheng; Wang, Yuanlong

2013-01-01

For most practical quantum control systems, it is important and difficult to attain robustness and reliability due to unavoidable uncertainties in the system dynamics or models. Three kinds of typical approaches (e.g., closed-loop learning control, feedback control, and robust control) have been proved to be effective to solve these problems. This work presents a self-contained survey on the closed-loop and robust control of quantum systems, as well as a brief introduction to a selection of basic theories and methods in this research area, to provide interested readers with a general idea for further studies. In the area of closed-loop learning control of quantum systems, we survey and introduce such learning control methods as gradient-based methods, genetic algorithms (GA), and reinforcement learning (RL) methods from a unified point of view of exploring the quantum control landscapes. For the feedback control approach, the paper surveys three control strategies including Lyapunov control, measurement-based control, and coherent-feedback control. Then such topics in the field of quantum robust control as H(∞) control, sliding mode control, quantum risk-sensitive control, and quantum ensemble control are reviewed. The paper concludes with a perspective of future research directions that are likely to attract more attention.

Power Smoothing and MPPT for Grid-connected Wind Power Generation with Doubly Fed Induction Generator

NASA Astrophysics Data System (ADS)

Kai, Takaaki; Tanaka, Yuji; Kaneda, Hirotoshi; Kobayashi, Daichi; Tanaka, Akio

Recently, doubly fed induction generator (DFIG) and synchronous generator are mostly applied for wind power generation, and variable speed control and power factor control are executed for high efficiently for wind energy capture and high quality for power system voltage. In variable speed control, a wind speed or a generator speed is used for maximum power point tracking. However, performances of a wind generation power fluctuation due to wind speed variation have not yet investigated for those controls. The authors discuss power smoothing by those controls for the DFIG inter-connected to 6.6kV distribution line. The performances are verified using power system simulation software PSCAD/EMTDC for actual wind speed data and are examined from an approximate equation of wind generation power fluctuation for wind speed variation.

Implementation of Temperature Sequential Controller on Variable Speed Drive

NASA Astrophysics Data System (ADS)

Cheong, Z. X.; Barsoum, N. N.

2008-10-01

There are many pump and motor installations with quite extensive speed variation, such as Sago conveyor, heating, ventilation and air conditioning (HVAC) and water pumping system. A common solution for these applications is to run several fixed speed motors in parallel, with flow control accomplish by turning the motors on and off. This type of control method causes high in-rush current, and adds a risk of damage caused by pressure transients. This paper explains the design and implementation of a temperature speed control system for use in industrial and commercial sectors. Advanced temperature speed control can be achieved by using ABB ACS800 variable speed drive-direct torque sequential control macro, programmable logic controller and temperature transmitter. The principle of direct torque sequential control macro (DTC-SC) is based on the control of torque and flux utilizing the stator flux field orientation over seven preset constant speed. As a result of continuous comparison of ambient temperature to the references temperatures; electromagnetic torque response is particularly fast to the motor state and it is able maintain constant speeds. Experimental tests have been carried out by using ABB ACS800-U1-0003-2, to validate the effectiveness and dynamic respond of ABB ACS800 against temperature variation, loads, and mechanical shocks.

Robust Control for The G-Limit Microgravity Vibration Isolation System

NASA Technical Reports Server (NTRS)

Whorton, Mark S.

2004-01-01

Many microgravity science experiments need an active isolation system to provide a sufficiently quiescent acceleration environment. The g-LIMIT vibration isolation system will provide isolation for Microgravity Science Glovebox experiments in the International Space Station. While standard control system technologies have been demonstrated for these applications, modern control methods have the potential for meeting performance requirements while providing 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/mu 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.