Adaptive nonlinear control for autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Black, William S.

We present the background and motivation for ground vehicle autonomy, and focus on uses for space-exploration. Using a simple design example of an autonomous ground vehicle we derive the equations of motion. After providing the mathematical background for nonlinear systems and control we present two common methods for exactly linearizing nonlinear systems, feedback linearization and backstepping. We use these in combination with three adaptive control methods: model reference adaptive control, adaptive sliding mode control, and extremum-seeking model reference adaptive control. We show the performances of each combination through several simulation results. We then consider disturbances in the system, and design nonlinear disturbance observers for both single-input-single-output and multi-input-multi-output systems. Finally, we show the performance of these observers with simulation results.

Criticality of Adaptive Control Dynamics

NASA Astrophysics Data System (ADS)

Patzelt, Felix; Pawelzik, Klaus

2011-12-01

We show, that stabilization of a dynamical system can annihilate observable information about its structure. This mechanism induces critical points as attractors in locally adaptive control. It also reveals, that previously reported criticality in simple controllers is caused by adaptation and not by other controller details. We apply these results to a real-system example: human balancing behavior. A model of predictive adaptive closed-loop control subject to some realistic constraints is introduced and shown to reproduce experimental observations in unprecedented detail. Our results suggests, that observed error distributions in between the Lévy and Gaussian regimes may reflect a nearly optimal compromise between the elimination of random local trends and rare large errors.

Periodic activations of behaviours and emotional adaptation in behaviour-based robotics

NASA Astrophysics Data System (ADS)

Burattini, Ernesto; Rossi, Silvia

2010-09-01

The possible modulatory influence of motivations and emotions is of great interest in designing robotic adaptive systems. In this paper, an attempt is made to connect the concept of periodic behaviour activations to emotional modulation, in order to link the variability of behaviours to the circumstances in which they are activated. The impact of emotion is studied, described as timed controlled structures, on simple but conflicting reactive behaviours. Through this approach it is shown that the introduction of such asynchronies in the robot control system may lead to an adaptation in the emergent behaviour without having an explicit action selection mechanism. The emergent behaviours of a simple robot designed with both a parallel and a hierarchical architecture are evaluated and compared.

Design of Low Complexity Model Reference Adaptive Controllers

NASA Technical Reports Server (NTRS)

Hanson, Curt; Schaefer, Jacob; Johnson, Marcus; Nguyen, Nhan

2012-01-01

Flight research experiments have demonstrated that adaptive flight controls can be an effective technology for improving aircraft safety in the event of failures or damage. However, the nonlinear, timevarying nature of adaptive algorithms continues to challenge traditional methods for the verification and validation testing of safety-critical flight control systems. Increasingly complex adaptive control theories and designs are emerging, but only make testing challenges more difficult. A potential first step toward the acceptance of adaptive flight controllers by aircraft manufacturers, operators, and certification authorities is a very simple design that operates as an augmentation to a non-adaptive baseline controller. Three such controllers were developed as part of a National Aeronautics and Space Administration flight research experiment to determine the appropriate level of complexity required to restore acceptable handling qualities to an aircraft that has suffered failures or damage. The controllers consist of the same basic design, but incorporate incrementally-increasing levels of complexity. Derivations of the controllers and their adaptive parameter update laws are presented along with details of the controllers implementations.

Adaptive Control of Linear Modal Systems Using Residual Mode Filters and a Simple Disturbance Estimator

NASA Technical Reports Server (NTRS)

Balas, Mark; Frost, Susan

2012-01-01

Flexible structures containing a large number of modes can benefit from adaptive control techniques which are well suited to applications that have unknown modeling parameters and poorly known operating conditions. In this paper, we focus on a direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend our adaptive control theory to accommodate troublesome modal subsystems of a plant that might inhibit the adaptive controller. In some cases the plant does not satisfy the requirements of Almost Strict Positive Realness. Instead, there maybe be a modal subsystem that inhibits this property. This section will present new results for our adaptive control theory. We will modify the adaptive controller with a Residual Mode Filter (RMF) to compensate for the troublesome modal subsystem, or the Q modes. Here we present the theory for adaptive controllers modified by RMFs, with attention to the issue of disturbances propagating through the Q modes. We apply the theoretical results to a flexible structure example to illustrate the behavior with and without the residual mode filter.

Online adaptation and over-trial learning in macaque visuomotor control.

PubMed

Braun, Daniel A; Aertsen, Ad; Paz, Rony; Vaadia, Eilon; Rotter, Stefan; Mehring, Carsten

2011-01-01

When faced with unpredictable environments, the human motor system has been shown to develop optimized adaptation strategies that allow for online adaptation during the control process. Such online adaptation is to be contrasted to slower over-trial learning that corresponds to a trial-by-trial update of the movement plan. Here we investigate the interplay of both processes, i.e., online adaptation and over-trial learning, in a visuomotor experiment performed by macaques. We show that simple non-adaptive control schemes fail to perform in this task, but that a previously suggested adaptive optimal feedback control model can explain the observed behavior. We also show that over-trial learning as seen in learning and aftereffect curves can be explained by learning in a radial basis function network. Our results suggest that both the process of over-trial learning and the process of online adaptation are crucial to understand visuomotor learning.

Online Adaptation and Over-Trial Learning in Macaque Visuomotor Control

PubMed Central

Braun, Daniel A.; Aertsen, Ad; Paz, Rony; Vaadia, Eilon; Rotter, Stefan; Mehring, Carsten

2011-01-01

When faced with unpredictable environments, the human motor system has been shown to develop optimized adaptation strategies that allow for online adaptation during the control process. Such online adaptation is to be contrasted to slower over-trial learning that corresponds to a trial-by-trial update of the movement plan. Here we investigate the interplay of both processes, i.e., online adaptation and over-trial learning, in a visuomotor experiment performed by macaques. We show that simple non-adaptive control schemes fail to perform in this task, but that a previously suggested adaptive optimal feedback control model can explain the observed behavior. We also show that over-trial learning as seen in learning and aftereffect curves can be explained by learning in a radial basis function network. Our results suggest that both the process of over-trial learning and the process of online adaptation are crucial to understand visuomotor learning. PMID:21720526

Adaptive control with an expert system based supervisory level. Thesis

NASA Technical Reports Server (NTRS)

Sullivan, Gerald A.

1991-01-01

Adaptive control is presently one of the methods available which may be used to control plants with poorly modelled dynamics or time varying dynamics. Although many variations of adaptive controllers exist, a common characteristic of all adaptive control schemes, is that input/output measurements from the plant are used to adjust a control law in an on-line fashion. Ideally the adjustment mechanism of the adaptive controller is able to learn enough about the dynamics of the plant from input/output measurements to effectively control the plant. In practice, problems such as measurement noise, controller saturation, and incorrect model order, to name a few, may prevent proper adjustment of the controller and poor performance or instability result. In this work we set out to avoid the inadequacies of procedurally implemented safety nets, by introducing a two level control scheme in which an expert system based 'supervisor' at the upper level provides all the safety net functions for an adaptive controller at the lower level. The expert system is based on a shell called IPEX, (Interactive Process EXpert), that we developed specifically for the diagnosis and treatment of dynamic systems. Some of the more important functions that the IPEX system provides are: (1) temporal reasoning; (2) planning of diagnostic activities; and (3) interactive diagnosis. Also, because knowledge and control logic are separate, the incorporation of new diagnostic and treatment knowledge is relatively simple. We note that the flexibility available in the system to express diagnostic and treatment knowledge, allows much greater functionality than could ever be reasonably expected from procedural implementations of safety nets. The remainder of this chapter is divided into three sections. In section 1.1 we give a detailed review of the literature in the area of supervisory systems for adaptive controllers. In particular, we describe the evolution of safety nets from simple ad hoc techniques, up to the use of expert systems for more advanced supervision capabilities.

Adaptive control of dual-arm robots

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

Three strategies for adaptive control of cooperative dual-arm robots are described. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through the load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions, while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are rejected by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. The controllers have simple structures and are computationally fast for on-line implementation with high sampling rates.

New class of control laws for robotic manipulators. I - Nonadaptive case. II - Adaptive case

NASA Technical Reports Server (NTRS)

Wen, John T.; Bayard, David S.

1988-01-01

A new class of exponentially stabilizing control laws for joint level control of robot arms is discussed. Closed-loop exponential stability has been demonstrated for both the set point and tracking control problems by a slight modification of the energy Lyapunov function and the use of a lemma which handles third-order terms in the Lyapunov function derivatives. In the second part, these control laws are adapted in a simple fashion to achieve asymptotically stable adaptive control. The analysis addresses the nonlinear dynamics directly without approximation, linearization, or ad hoc assumptions, and uses a parameterization based on physical (time-invariant) quantities.

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

NASA Technical Reports Server (NTRS)

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

1987-01-01

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

Nonlinear Dynamic Inversion Baseline Control Law: Flight-Test Results for the Full-scale Advanced Systems Testbed F/A-18 Airplane

NASA Technical Reports Server (NTRS)

Miller, Christopher J.

2011-01-01

A model reference nonlinear dynamic inversion control law has been developed to provide a baseline controller for research into simple adaptive elements for advanced flight control laws. This controller has been implemented and tested in a hardware-in-the-loop simulation and in flight. The flight results agree well with the simulation predictions and show good handling qualities throughout the tested flight envelope with some noteworthy deficiencies highlighted both by handling qualities metrics and pilot comments. Many design choices and implementation details reflect the requirements placed on the system by the nonlinear flight environment and the desire to keep the system as simple as possible to easily allow the addition of the adaptive elements. The flight-test results and how they compare to the simulation predictions are discussed, along with a discussion about how each element affected pilot opinions. Additionally, aspects of the design that performed better than expected are presented, as well as some simple improvements that will be suggested for follow-on work.

Nonlinear Dynamic Inversion Baseline Control Law: Architecture and Performance Predictions

NASA Technical Reports Server (NTRS)

Miller, Christopher J.

2011-01-01

A model reference dynamic inversion control law has been developed to provide a baseline control law for research into adaptive elements and other advanced flight control law components. This controller has been implemented and tested in a hardware-in-the-loop simulation; the simulation results show excellent handling qualities throughout the limited flight envelope. A simple angular momentum formulation was chosen because it can be included in the stability proofs for many basic adaptive theories, such as model reference adaptive control. Many design choices and implementation details reflect the requirements placed on the system by the nonlinear flight environment and the desire to keep the system as basic as possible to simplify the addition of the adaptive elements. Those design choices are explained, along with their predicted impact on the handling qualities.

Adaptive Control of Non-Minimum Phase Modal Systems Using Residual Mode Filters2. Parts 1 and 2

NASA Technical Reports Server (NTRS)

Balas, Mark J.; Frost, Susan

2011-01-01

Many dynamic systems containing a large number of modes can benefit from adaptive control techniques, which are well suited to applications that have unknown parameters and poorly known operating conditions. In this paper, we focus on a direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend this adaptive control theory to accommodate problematic modal subsystems of a plant that inhibit the adaptive controller by causing the open-loop plant to be non-minimum phase. We will modify the adaptive controller with a Residual Mode Filter (RMF) to compensate for problematic modal subsystems, thereby allowing the system to satisfy the requirements for the adaptive controller to have guaranteed convergence and bounded gains. This paper will be divided into two parts. Here in Part I we will review the basic adaptive control approach and introduce the primary ideas. In Part II, we will present the RMF methodology and complete the proofs of all our results. Also, we will apply the above theoretical results to a simple flexible structure example to illustrate the behavior with and without the residual mode filter.

Multi Car Elevator Control by using Learning Automaton

NASA Astrophysics Data System (ADS)

Shiraishi, Kazuaki; Hamagami, Tomoki; Hirata, Hironori

We study an adaptive control technique for multi car elevators (MCEs) by adopting learning automatons (LAs.) The MCE is a high performance and a near-future elevator system with multi shafts and multi cars. A strong point of the system is that realizing a large carrying capacity in small shaft area. However, since the operation is too complicated, realizing an efficient MCE control is difficult for top-down approaches. For example, “bunching up together" is one of the typical phenomenon in a simple traffic environment like the MCE. Furthermore, an adapting to varying environment in configuration requirement is a serious issue in a real elevator service. In order to resolve these issues, having an autonomous behavior is required to the control system of each car in MCE system, so that the learning automaton, as the solutions for this requirement, is supposed to be appropriate for the simple traffic control. First, we assign a stochastic automaton (SA) to each car control system. Then, each SA varies its stochastic behavior distributions for adapting to environment in which its policy is evaluated with each passenger waiting times. That is LA which learns the environment autonomously. Using the LA based control technique, the MCE operation efficiency is evaluated through simulation experiments. Results show the technique enables reducing waiting times efficiently, and we confirm the system can adapt to the dynamic environment.

An investigation of adaptive controllers for helicopter vibration and the development of a new dual controller

NASA Technical Reports Server (NTRS)

Mookerjee, P.; Molusis, J. A.; Bar-Shalom, Y.

1985-01-01

An investigation of the properties important for the design of stochastic adaptive controllers for the higher harmonic control of helicopter vibration is presented. Three different model types are considered for the transfer relationship between the helicopter higher harmonic control input and the vibration output: (1) nonlinear; (2) linear with slow time varying coefficients; and (3) linear with constant coefficients. The stochastic controller formulations and solutions are presented for a dual, cautious, and deterministic controller for both linear and nonlinear transfer models. Extensive simulations are performed with the various models and controllers. It is shown that the cautious adaptive controller can sometimes result in unacceptable vibration control. A new second order dual controller is developed which is shown to modify the cautious adaptive controller by adding numerator and denominator correction terms to the cautious control algorithm. The new dual controller is simulated on a simple single-control vibration example and is found to achieve excellent vibration reduction and significantly improves upon the cautious controller.

Adaptive parallel logic networks

NASA Technical Reports Server (NTRS)

Martinez, Tony R.; Vidal, Jacques J.

1988-01-01

Adaptive, self-organizing concurrent systems (ASOCS) that combine self-organization with massive parallelism for such applications as adaptive logic devices, robotics, process control, and system malfunction management, are presently discussed. In ASOCS, an adaptive network composed of many simple computing elements operating in combinational and asynchronous fashion is used and problems are specified by presenting if-then rules to the system in the form of Boolean conjunctions. During data processing, which is a different operational phase from adaptation, the network acts as a parallel hardware circuit.

Towards autonomous neuroprosthetic control using Hebbian reinforcement learning.

PubMed

Mahmoudi, Babak; Pohlmeyer, Eric A; Prins, Noeline W; Geng, Shijia; Sanchez, Justin C

2013-12-01

Our goal was to design an adaptive neuroprosthetic controller that could learn the mapping from neural states to prosthetic actions and automatically adjust adaptation using only a binary evaluative feedback as a measure of desirability/undesirability of performance. Hebbian reinforcement learning (HRL) in a connectionist network was used for the design of the adaptive controller. The method combines the efficiency of supervised learning with the generality of reinforcement learning. The convergence properties of this approach were studied using both closed-loop control simulations and open-loop simulations that used primate neural data from robot-assisted reaching tasks. The HRL controller was able to perform classification and regression tasks using its episodic and sequential learning modes, respectively. In our experiments, the HRL controller quickly achieved convergence to an effective control policy, followed by robust performance. The controller also automatically stopped adapting the parameters after converging to a satisfactory control policy. Additionally, when the input neural vector was reorganized, the controller resumed adaptation to maintain performance. By estimating an evaluative feedback directly from the user, the HRL control algorithm may provide an efficient method for autonomous adaptation of neuroprosthetic systems. This method may enable the user to teach the controller the desired behavior using only a simple feedback signal.

The experimental results of a self tuning adaptive controller using online frequency identification. [for Galileo spacecraft

NASA Technical Reports Server (NTRS)

Chiang, W.-W.; Cannon, R. H., Jr.

1985-01-01

A fourth-order laboratory dynamic system featuring very low structural damping and a noncolocated actuator-sensor pair has been used to test a novel real-time adaptive controller, implemented in a minicomputer, which consists of a state estimator, a set of state feedback gains, and a frequency-locked loop for real-time parameter identification. The adaptation algorithm employed can correct controller error and stabilize the system for more than 50 percent variation in the plant's natural frequency, compared with a 10 percent stability margin in frequency variation for a fixed gain controller having the same performance as the nominal plant condition. The very rapid convergence achievable by this adaptive system is demonstrated experimentally, and proven with simple, root-locus methods.

Decentralized adaptive control of robot manipulators with robust stabilization design

NASA Technical Reports Server (NTRS)

Yuan, Bau-San; Book, Wayne J.

1988-01-01

Due to geometric nonlinearities and complex dynamics, a decentralized technique for adaptive control for multilink robot arms is attractive. Lyapunov-function theory for stability analysis provides an approach to robust stabilization. Each joint of the arm is treated as a component subsystem. The adaptive controller is made locally stable with servo signals including proportional and integral gains. This results in the bound on the dynamical interactions with other subsystems. A nonlinear controller which stabilizes the system with uniform boundedness is used to improve the robustness properties of the overall system. As a result, the robot tracks the reference trajectories with convergence. This strategy makes computation simple and therefore facilitates real-time implementation.

Autonomous atmospheric entry on mars: Performance improvement using a novel adaptive control algorithm

NASA Astrophysics Data System (ADS)

Ulrich, Steve; de Lafontaine, Jean

2007-12-01

Upcoming landing missions to Mars will require on-board guidance and control systems in order to meet the scientific requirement of landing safely within hundreds of meters to the target of interest. More specifically, in the longitudinal plane, the first objective of the entry guidance and control system is to bring the vehicle to its specified velocity at the specified altitude (as required for safe parachute deployment), while the second objective is to reach the target position in the longitudinal plane. This paper proposes an improvement to the robustness of the constant flight path angle guidance law for achieving the first objective. The improvement consists of combining this guidance law with a novel adaptive control scheme, derived from the so-called Simple Adaptive Control (SAC) technique. Monte-Carlo simulation results are shown to demonstrate the accuracy and the robustness of the proposed guidance and adaptive control system.

Adaptive Identification and Control of Flow-Induced Cavity Oscillations

NASA Technical Reports Server (NTRS)

Kegerise, M. A.; Cattafesta, L. N.; Ha, C.

2002-01-01

Progress towards an adaptive self-tuning regulator (STR) for the cavity tone problem is discussed in this paper. Adaptive system identification algorithms were applied to an experimental cavity-flow tested as a prerequisite to control. In addition, a simple digital controller and a piezoelectric bimorph actuator were used to demonstrate multiple tone suppression. The control tests at Mach numbers of 0.275, 0.40, and 0.60 indicated approx. = 7dB tone reductions at multiple frequencies. Several different adaptive system identification algorithms were applied at a single freestream Mach number of 0.275. Adaptive finite-impulse response (FIR) filters of orders up to N = 100 were found to be unsuitable for modeling the cavity flow dynamics. Adaptive infinite-impulse response (IIR) filters of comparable order better captured the system dynamics. Two recursive algorithms, the least-mean square (LMS) and the recursive-least square (RLS), were utilized to update the adaptive filter coefficients. Given the sample-time requirements imposed by the cavity flow dynamics, the computational simplicity of the least mean squares (LMS) algorithm is advantageous for real-time control.

The adaptive observer. [liapunov synthesis, single-input single-output, and reduced observers

NASA Technical Reports Server (NTRS)

Carroll, R. L.

1973-01-01

The simple generation of state from available measurements, for use in systems for which the criteria defining the acceptable state behavior mandates a control that is dependent upon unavailable measurement is described as an adaptive means for determining the state of a linear time invariant differential system having unknown parameters. A single input output adaptive observer and the reduced adaptive observer is developed. The basic ideas for both the adaptive observer and the nonadaptive observer are examined. A survey of the Liapunov synthesis technique is taken, and the technique is applied to adaptive algorithm for the adaptive observer.

Decentralized adaptive control of manipulators - Theory, simulation, and experimentation

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

The author presents a simple decentralized adaptive-control scheme for multijoint robot manipulators based on the independent joint control concept. The control objective is to achieve accurate tracking of desired joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simply by a PID (proportional-integral-derivative) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. Simulation results are given for a two-link direct-drive manipulator under adaptive independent joint control. The results illustrate trajectory tracking under coupled dynamics and varying payload. The proposed scheme is implemented on a MicroVAX II computer for motion control of the three major joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite coupled nonlinear joint dynamics.

Self-Tuning Adaptive-Controller Using Online Frequency Identification

NASA Technical Reports Server (NTRS)

Chiang, W. W.; Cannon, R. H., Jr.

1985-01-01

A real time adaptive controller was designed and tested successfully on a fourth order laboratory dynamic system which features very low structural damping and a noncolocated actuator sensor pair. The controller, implemented in a digital minicomputer, consists of a state estimator, a set of state feedback gains, and a frequency locked loop (FLL) for real time parameter identification. The FLL can detect the closed loop natural frequency of the system being controlled, calculate the mismatch between a plant parameter and its counterpart in the state estimator, and correct the estimator parameter in real time. The adaptation algorithm can correct the controller error and stabilize the system for more than 50% variation in the plant natural frequency, compared with a 10% stability margin in frequency variation for a fixed gain controller having the same performance at the nominal plant condition. After it has locked to the correct plant frequency, the adaptive controller works as well as the fixed gain controller does when there is no parameter mismatch. The very rapid convergence of this adaptive system is demonstrated experimentally, and can also be proven with simple root locus methods.

Adaptation to a cortex controlled robot attached at the pelvis and engaged during locomotion in rats

PubMed Central

Song, Weiguo; Giszter, Simon F.

2011-01-01

Brain Machine Interfaces (BMIs) should ideally show robust adaptation of the BMI across different tasks and daily activities. Most BMIs have used over-practiced tasks. Little is known about BMIs in dynamic environments. How are mechanically body-coupled BMIs integrated into ongoing rhythmic dynamics, e.g., in locomotion? To examine this we designed a novel BMI using neural discharge in the hindlimb/trunk motor cortex in rats during locomotion to control a robot attached at the pelvis. We tested neural adaptation when rats experienced (a) control locomotion, (b) ‘simple elastic load’ (a robot load on locomotion without any BMI neural control) and (c) ‘BMI with elastic load’ (in which the robot loaded locomotion and a BMI neural control could counter this load). Rats significantly offset applied loads with the BMI while preserving more normal pelvic height compared to load alone. Adaptation occurred over about 100–200 step cycles in a trial. Firing rates increased in both the loaded conditions compared to baseline. Mean phases of cells’ discharge in the step cycle shifted significantly between BMI and the simple load condition. Over time more BMI cells became positively correlated with the external force and modulated more deeply, and neurons’ network correlations on a 100ms timescale increased. Loading alone showed none of these effects. The BMI neural changes of rate and force correlations persisted or increased over repeated trials. Our results show that rats have the capacity to use motor adaptation and motor learning to fairly rapidly engage hindlimb/trunk coupled BMIs in their locomotion. PMID:21414932

Commande optimale minimisant la consommation d'energie d'un drone utilise comme relai de communication

NASA Astrophysics Data System (ADS)

Mechirgui, Monia

The purpose of this project is to implement an optimal control regulator, particularly the linear quadratic regulator in order to control the position of an unmanned aerial vehicle known as a quadrotor. This type of UAV has a symmetrical and simple structure. Thus, its control is relatively easy compared to conventional helicopters. Optimal control can be proven to be an ideal controller to reconcile between the tracking performance and energy consumption. In practice, the linearity requirements are not met, but some elaborations of the linear quadratic regulator have been used in many nonlinear applications with good results. The linear quadratic controller used in this thesis is presented in two forms: simple and adapted to the state of charge of the battery. Based on the traditional structure of the linear quadratic regulator, we introduced a new criterion which relies on the state of charge of the battery, in order to optimize energy consumption. This command is intended to be used to monitor and maintain the desired trajectory during several maneuvers while minimizing energy consumption. Both simple and adapted, linear quadratic controller are implemented in Simulink in discrete time. The model simulates the dynamics and control of a quadrotor. Performance and stability of the system are analyzed with several tests, from the simply hover to the complex trajectories in closed loop.

Application of real-time machine learning to myoelectric prosthesis control: A case series in adaptive switching.

PubMed

Edwards, Ann L; Dawson, Michael R; Hebert, Jacqueline S; Sherstan, Craig; Sutton, Richard S; Chan, K Ming; Pilarski, Patrick M

2016-10-01

Myoelectric prostheses currently used by amputees can be difficult to control. Machine learning, and in particular learned predictions about user intent, could help to reduce the time and cognitive load required by amputees while operating their prosthetic device. The goal of this study was to compare two switching-based methods of controlling a myoelectric arm: non-adaptive (or conventional) control and adaptive control (involving real-time prediction learning). Case series study. We compared non-adaptive and adaptive control in two different experiments. In the first, one amputee and one non-amputee subject controlled a robotic arm to perform a simple task; in the second, three able-bodied subjects controlled a robotic arm to perform a more complex task. For both tasks, we calculated the mean time and total number of switches between robotic arm functions over three trials. Adaptive control significantly decreased the number of switches and total switching time for both tasks compared with the conventional control method. Real-time prediction learning was successfully used to improve the control interface of a myoelectric robotic arm during uninterrupted use by an amputee subject and able-bodied subjects. Adaptive control using real-time prediction learning has the potential to help decrease both the time and the cognitive load required by amputees in real-world functional situations when using myoelectric prostheses. © The International Society for Prosthetics and Orthotics 2015.

A Simple Microsoft Excel Method to Predict Antibiotic Outbreaks and Underutilization.

PubMed

Miglis, Cristina; Rhodes, Nathaniel J; Avedissian, Sean N; Zembower, Teresa R; Postelnick, Michael; Wunderink, Richard G; Sutton, Sarah H; Scheetz, Marc H

2017-07-01

Benchmarking strategies are needed to promote the appropriate use of antibiotics. We have adapted a simple regressive method in Microsoft Excel that is easily implementable and creates predictive indices. This method trends consumption over time and can identify periods of over- and underuse at the hospital level. Infect Control Hosp Epidemiol 2017;38:860-862.

Correlations in state space can cause sub-optimal adaptation of optimal feedback control models.

PubMed

Aprasoff, Jonathan; Donchin, Opher

2012-04-01

Control of our movements is apparently facilitated by an adaptive internal model in the cerebellum. It was long thought that this internal model implemented an adaptive inverse model and generated motor commands, but recently many reject that idea in favor of a forward model hypothesis. In theory, the forward model predicts upcoming state during reaching movements so the motor cortex can generate appropriate motor commands. Recent computational models of this process rely on the optimal feedback control (OFC) framework of control theory. OFC is a powerful tool for describing motor control, it does not describe adaptation. Some assume that adaptation of the forward model alone could explain motor adaptation, but this is widely understood to be overly simplistic. However, an adaptive optimal controller is difficult to implement. A reasonable alternative is to allow forward model adaptation to 're-tune' the controller. Our simulations show that, as expected, forward model adaptation alone does not produce optimal trajectories during reaching movements perturbed by force fields. However, they also show that re-optimizing the controller from the forward model can be sub-optimal. This is because, in a system with state correlations or redundancies, accurate prediction requires different information than optimal control. We find that adding noise to the movements that matches noise found in human data is enough to overcome this problem. However, since the state space for control of real movements is far more complex than in our simple simulations, the effects of correlations on re-adaptation of the controller from the forward model cannot be overlooked.

Robust master-slave synchronization for general uncertain delayed dynamical model based on adaptive control scheme.

PubMed

Wang, Tianbo; Zhou, Wuneng; Zhao, Shouwei; Yu, Weiqin

2014-03-01

In this paper, the robust exponential synchronization problem for a class of uncertain delayed master-slave dynamical system is investigated by using the adaptive control method. Different from some existing master-slave models, the considered master-slave system includes bounded unmodeled dynamics. In order to compensate the effect of unmodeled dynamics and effectively achieve synchronization, a novel adaptive controller with simple updated laws is proposed. Moreover, the results are given in terms of LMIs, which can be easily solved by LMI Toolbox in Matlab. A numerical example is given to illustrate the effectiveness of the method. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

A Simple X-Y Scanner.

ERIC Educational Resources Information Center

Halse, M. R.; Hudson, W. J.

1986-01-01

Describes an X-Y scanner used to create acoustic holograms. Scanner is computer controlled and can be adapted to digitize pictures. Scanner geometry is discussed. An appendix gives equipment details. The control program in ATOM BASIC and 6502 machine code is available from the authors. (JM)

Simple method for production of internal control DNA for Mycobacterium tuberculosis polymerase chain reaction assays.

PubMed Central

deWit, D; Wootton, M; Allan, B; Steyn, L

1993-01-01

A simple method for the production of internal control DNA for two well-established Mycobacterium tuberculosis polymerase chain reaction assays is described. The internal controls were produced from Mycobacterium kansasii DNA with the same primers but at a lower annealing temperature than that used in the standard assays. In both assays, therefore, the internal control DNA has the same primer-binding sequences at the target DNA. One-microgram quantities of internal control DNA which was not contaminated with target DNA could easily be produced by this method. The inclusion of the internal control in the reaction mixture did not affect the efficiency of amplification of the target DNA. The method is simple and rapid and should be adaptable to most M. tuberculosis polymerase chain reaction assays. Images PMID:8370752

Bounded Linear Stability Analysis - A Time Delay Margin Estimation Approach for Adaptive Control

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.; Ishihara, Abraham K.; Krishnakumar, Kalmanje Srinlvas; Bakhtiari-Nejad, Maryam

2009-01-01

This paper presents a method for estimating time delay margin for model-reference adaptive control of systems with almost linear structured uncertainty. The bounded linear stability analysis method seeks to represent the conventional model-reference adaptive law by a locally bounded linear approximation within a small time window using the comparison lemma. The locally bounded linear approximation of the combined adaptive system is cast in a form of an input-time-delay differential equation over a small time window. The time delay margin of this system represents a local stability measure and is computed analytically by a matrix measure method, which provides a simple analytical technique for estimating an upper bound of time delay margin. Based on simulation results for a scalar model-reference adaptive control system, both the bounded linear stability method and the matrix measure method are seen to provide a reasonably accurate and yet not too conservative time delay margin estimation.

Comparative system identification of flower tracking performance in three hawkmoth species reveals adaptations for dim light vision.

PubMed

Stöckl, Anna L; Kihlström, Klara; Chandler, Steven; Sponberg, Simon

2017-04-05

Flight control in insects is heavily dependent on vision. Thus, in dim light, the decreased reliability of visual signal detection also prompts consequences for insect flight. We have an emerging understanding of the neural mechanisms that different species employ to adapt the visual system to low light. However, much less explored are comparative analyses of how low light affects the flight behaviour of insect species, and the corresponding links between physiological adaptations and behaviour. We investigated whether the flower tracking behaviour of three hawkmoth species with different diel activity patterns revealed luminance-dependent adaptations, using a system identification approach. We found clear luminance-dependent differences in flower tracking in all three species, which were explained by a simple luminance-dependent delay model, which generalized across species. We discuss physiological and anatomical explanations for the variance in tracking responses, which could not be explained by such simple models. Differences between species could not be explained by the simple delay model. However, in several cases, they could be explained through the addition on a second model parameter, a simple scaling term, that captures the responsiveness of each species to flower movements. Thus, we demonstrate here that much of the variance in the luminance-dependent flower tracking responses of hawkmoths with different diel activity patterns can be captured by simple models of neural processing.This article is part of the themed issue 'Vision in dim light'. © 2017 The Author(s).

Adaptive control of a millimeter-scale flapping-wing robot.

PubMed

Chirarattananon, Pakpong; Ma, Kevin Y; Wood, Robert J

2014-06-01

Challenges for the controlled flight of a robotic insect are due to the inherent instability of the system, complex fluid-structure interactions, and the general lack of a complete system model. In this paper, we propose theoretical models of the system based on the limited information available from previous work and a comprehensive flight controller. The modular flight controller is derived from Lyapunov function candidates with proven stability over a large region of attraction. Moreover, it comprises adaptive components that are capable of coping with uncertainties in the system that arise from manufacturing imperfections. We have demonstrated that the proposed methods enable the robot to achieve sustained hovering flights with relatively small errors compared to a non-adaptive approach. Simple lateral maneuvers and vertical takeoff and landing flights are also shown to illustrate the fidelity of the flight controller. The analysis suggests that the adaptive scheme is crucial in order to achieve millimeter-scale precision in flight control as observed in natural insect flight.

The Simulation of Magnetorheological Elastomers Adaptive Tuned Dynamic Vibration Absorber for Automobile Engine Vibration Control

NASA Astrophysics Data System (ADS)

Zhang, X. C.; Zhang, X. Z.; Li, W. H.; Liu, B.; Gong, X. L.; Zhang, P. Q.

The aim of this article is to investigate the use of a Dynamic Vibration Absorber to control vibration of engine by using simulation. Traditional means of vibration control have involved the use of passive and more recently, active methods. This study is different in that it involves an adaptive component in the design of vibration absorber using magnetorheological elastomers (MREs) as the adaptive spring. MREs are kind of novel smart material whose shear modulus can be controlled by applied magnetic field. In this paper, the vibration mode of a simple model of automobile engine is simulated by Finite Element Method (FEM) analysis. Based on the analysis, the MREs Adaptive Tuned Dynamic Vibration Absorber (ATDVA) is presented to reduce the vibration of the engine. Simulation result indicate that the control frequency of ATDVA can be changed by modifing the shear modulus of MREs and the vibraion reduction efficiency of ATDVA are also evaluated by FEM analysis.

Design and implementation of adaptive PI control schemes for web tension control in roll-to-roll (R2R) manufacturing.

PubMed

Raul, Pramod R; Pagilla, Prabhakar R

2015-05-01

In this paper, two adaptive Proportional-Integral (PI) control schemes are designed and discussed for control of web tension in Roll-to-Roll (R2R) manufacturing systems. R2R systems are used to transport continuous materials (called webs) on rollers from the unwind roll to the rewind roll. Maintaining web tension at the desired value is critical to many R2R processes such as printing, coating, lamination, etc. Existing fixed gain PI tension control schemes currently used in industrial practice require extensive tuning and do not provide the desired performance for changing operating conditions and material properties. The first adaptive PI scheme utilizes the model reference approach where the controller gains are estimated based on matching of the actual closed-loop tension control systems with an appropriately chosen reference model. The second adaptive PI scheme utilizes the indirect adaptive control approach together with relay feedback technique to automatically initialize the adaptive PI gains. These adaptive tension control schemes can be implemented on any R2R manufacturing system. The key features of the two adaptive schemes is that their designs are simple for practicing engineers, easy to implement in real-time, and automate the tuning process. Extensive experiments are conducted on a large experimental R2R machine which mimics many features of an industrial R2R machine. These experiments include trials with two different polymer webs and a variety of operating conditions. Implementation guidelines are provided for both adaptive schemes. Experimental results comparing the two adaptive schemes and a fixed gain PI tension control scheme used in industrial practice are provided and discussed. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Towards Validation of an Adaptive Flight Control Simulation Using Statistical Emulation

NASA Technical Reports Server (NTRS)

He, Yuning; Lee, Herbert K. H.; Davies, Misty D.

2012-01-01

Traditional validation of flight control systems is based primarily upon empirical testing. Empirical testing is sufficient for simple systems in which a.) the behavior is approximately linear and b.) humans are in-the-loop and responsible for off-nominal flight regimes. A different possible concept of operation is to use adaptive flight control systems with online learning neural networks (OLNNs) in combination with a human pilot for off-nominal flight behavior (such as when a plane has been damaged). Validating these systems is difficult because the controller is changing during the flight in a nonlinear way, and because the pilot and the control system have the potential to co-adapt in adverse ways traditional empirical methods are unlikely to provide any guarantees in this case. Additionally, the time it takes to find unsafe regions within the flight envelope using empirical testing means that the time between adaptive controller design iterations is large. This paper describes a new concept for validating adaptive control systems using methods based on Bayesian statistics. This validation framework allows the analyst to build nonlinear models with modal behavior, and to have an uncertainty estimate for the difference between the behaviors of the model and system under test.

Mechanisms in adaptive feedback control: photoisomerization in a liquid.

PubMed

Hoki, Kunihito; Brumer, Paul

2005-10-14

The underlying mechanism for Adaptive Feedback Control in the experimental photoisomerization of 3,3'-diethyl-2,2'-thiacyanine iodide (NK88) in methanol is exposed theoretically. With given laboratory limitations on laser output, the complicated electric fields are shown to achieve their targets in qualitatively simple ways. Further, control over the cis population without laser limitations reveals an incoherent pump-dump scenario as the optimal isomerization strategy. In neither case are there substantial contributions from quantum multiple-path interference or from nuclear wave packet coherence. Environmentally induced decoherence is shown to justify the use of a simplified theoretical model.

Exponentially Stabilizing Robot Control Laws

NASA Technical Reports Server (NTRS)

Wen, John T.; Bayard, David S.

1990-01-01

New class of exponentially stabilizing laws for joint-level control of robotic manipulators introduced. In case of set-point control, approach offers simplicity of proportion/derivative control architecture. In case of tracking control, approach provides several important alternatives to completed-torque method, as far as computational requirements and convergence. New control laws modified in simple fashion to obtain asymptotically stable adaptive control, when robot model and/or payload mass properties unknown.

Adaptive quaternion tracking with nonlinear extended state observer

NASA Astrophysics Data System (ADS)

Bai, Yu-liang; Wang, Xiao-gang; Xu, Jiang-tao; Cui, Nai-gang

2017-10-01

This paper addresses the problem of attitude tracking for spacecraft in the presence of uncertainties in moments of inertia and environmental disturbances. An adaptive quaternion tracking control is combined with a nonlinear extended state observer and the disturbances compensated for in each sampling period. The tracking controller is proved to asymptotically track a prescribed motion in the presence of these uncertainties. Simulations of a nano-spacecraft demonstrate a significant improvement in pointing accuracy and tracking error when compared to a conventional attitude controller. The proposed tracking control is completely deterministic, simple to implement, does not require knowledge of the uncertainties and does not suffer from chattering.

Integrating Artificial Immune, Neural and Endrocine Systems in Autonomous Sailing Robots

DTIC Science & Technology

2010-09-24

system - Development of an adaptive hormone system capable of changing operation and control of the neural network depending on changing enviromental ...and control of the neural network depending on changing enviromental conditions • First basic design of the MOOP and a simple neural-endocrine based

Robust high-performance control for robotic manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1991-01-01

Model-based and performance-based control techniques are combined for an electrical robotic control system. Thus, two distinct and separate design philosophies have been merged into a single control system having a control law formulation including two distinct and separate components, each of which yields a respective signal component that is combined into a total command signal for the system. Those two separate system components include a feedforward controller and a feedback controller. The feedforward controller is model-based and contains any known part of the manipulator dynamics that can be used for on-line control to produce a nominal feedforward component of the system's control signal. The feedback controller is performance-based and consists of a simple adaptive PID controller which generates an adaptive control signal to complement the nominal feedforward signal.

Robust high-performance control for robotic manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1989-01-01

Model-based and performance-based control techniques are combined for an electrical robotic control system. Thus, two distinct and separate design philosophies were merged into a single control system having a control law formulation including two distinct and separate components, each of which yields a respective signal componet that is combined into a total command signal for the system. Those two separate system components include a feedforward controller and feedback controller. The feedforward controller is model-based and contains any known part of the manipulator dynamics that can be used for on-line control to produce a nominal feedforward component of the system's control signal. The feedback controller is performance-based and consists of a simple adaptive PID controller which generates an adaptive control signal to complement the nomical feedforward signal.

Aircraft cybernetics

NASA Technical Reports Server (NTRS)

1977-01-01

The use of computers for aircraft control, flight simulation, and inertial navigation is explored. The man-machine relation problem in aviation is addressed. Simple and self-adapting autopilots are described and the assets and liabilities of digital navigation techniques are assessed.

Finite-time hybrid projective synchronization of the drive-response complex networks with distributed-delay via adaptive intermittent control

NASA Astrophysics Data System (ADS)

Cheng, Lin; Yang, Yongqing; Li, Li; Sui, Xin

2018-06-01

This paper studies the finite-time hybrid projective synchronization of the drive-response complex networks. In the model, general transmission delays and distributed delays are also considered. By designing the adaptive intermittent controllers, the response network can achieve hybrid projective synchronization with the drive system in finite time. Based on finite-time stability theory and several differential inequalities, some simple finite-time hybrid projective synchronization criteria are derived. Two numerical examples are given to illustrate the effectiveness of the proposed method.

Adaptive Control with Reference Model Modification

NASA Technical Reports Server (NTRS)

Stepanyan, Vahram; Krishnakumar, Kalmanje

2012-01-01

This paper presents a modification of the conventional model reference adaptive control (MRAC) architecture in order to improve transient performance of the input and output signals of uncertain systems. A simple modification of the reference model is proposed by feeding back the tracking error signal. It is shown that the proposed approach guarantees tracking of the given reference command and the reference control signal (one that would be designed if the system were known) not only asymptotically but also in transient. Moreover, it prevents generation of high frequency oscillations, which are unavoidable in conventional MRAC systems for large adaptation rates. The provided design guideline makes it possible to track a reference commands of any magnitude from any initial position without re-tuning. The benefits of the method are demonstrated with a simulation example

Stochastic Adaptive Particle Beam Tracker Using Meer Filter Feedback.

DTIC Science & Technology

1986-12-01

breakthrough required in controlling the beam location. In 1983, Zicker (27] conducted a feasibility study of a simple proportional gain controller... Zicker synthesized his stochastic controller designs from a deterministic optimal LQ controller assuming full state feedback. An LQ controller is a...34Merge" Method 2.5 Simlifying the eer Filter a Zicker ran a performance analysis on the Meer filter and found the Meer filter virtually insensitive to

Changes in Purkinje cell simple spike encoding of reach kinematics during adaption to a mechanical perturbation.

PubMed

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

2015-01-21

The cerebellum is essential in motor learning. At the cellular level, changes occur in both the simple spike and complex spike firing of Purkinje cells. Because simple spike discharge reflects the main output of the cerebellar cortex, changes in simple spike firing likely reflect the contribution of the cerebellum to the adapted behavior. Therefore, we investigated in Rhesus monkeys how the representation of arm kinematics in Purkinje cell simple spike discharge changed during adaptation to mechanical perturbations of reach movements. Monkeys rapidly adapted to a novel assistive or resistive perturbation along the direction of the reach. Adaptation consisted of matching the amplitude and timing of the perturbation to minimize its effect on the reach. In a majority of Purkinje cells, simple spike firing recorded before and during adaptation demonstrated significant changes in position, velocity, and acceleration sensitivity. The timing of the simple spike representations change within individual cells, including shifts in predictive versus feedback signals. At the population level, feedback-based encoding of position increases early in learning and velocity decreases. Both timing changes reverse later in learning. The complex spike discharge was only weakly modulated by the perturbations, demonstrating that the changes in simple spike firing can be independent of climbing fiber input. In summary, we observed extensive alterations in individual Purkinje cell encoding of reach kinematics, although the movements were nearly identical in the baseline and adapted states. Therefore, adaption to mechanical perturbation of a reaching movement is accompanied by widespread modifications in the simple spike encoding. Copyright © 2015 the authors 0270-6474/15/351106-19$15.00/0.

Changes in Purkinje Cell Simple Spike Encoding of Reach Kinematics during Adaption to a Mechanical Perturbation

PubMed Central

Hewitt, Angela L.; Popa, Laurentiu S.

2015-01-01

The cerebellum is essential in motor learning. At the cellular level, changes occur in both the simple spike and complex spike firing of Purkinje cells. Because simple spike discharge reflects the main output of the cerebellar cortex, changes in simple spike firing likely reflect the contribution of the cerebellum to the adapted behavior. Therefore, we investigated in Rhesus monkeys how the representation of arm kinematics in Purkinje cell simple spike discharge changed during adaptation to mechanical perturbations of reach movements. Monkeys rapidly adapted to a novel assistive or resistive perturbation along the direction of the reach. Adaptation consisted of matching the amplitude and timing of the perturbation to minimize its effect on the reach. In a majority of Purkinje cells, simple spike firing recorded before and during adaptation demonstrated significant changes in position, velocity, and acceleration sensitivity. The timing of the simple spike representations change within individual cells, including shifts in predictive versus feedback signals. At the population level, feedback-based encoding of position increases early in learning and velocity decreases. Both timing changes reverse later in learning. The complex spike discharge was only weakly modulated by the perturbations, demonstrating that the changes in simple spike firing can be independent of climbing fiber input. In summary, we observed extensive alterations in individual Purkinje cell encoding of reach kinematics, although the movements were nearly identical in the baseline and adapted states. Therefore, adaption to mechanical perturbation of a reaching movement is accompanied by widespread modifications in the simple spike encoding. PMID:25609626

The evolutions of medical building network structure for emerging infectious disease protection and control.

PubMed

Liu, Nan; Zhang, Hongzhe; Zhang, Shanshan

2014-12-01

Emerging infectious disease is one of the most minatory threats in modern society. A perfect medical building network system need to be established to protect and control emerging infectious disease. Although in China a preliminary medical building network is already set up with disease control center, the infectious disease hospital, infectious diseases department in general hospital and basic medical institutions, there are still many defects in this system, such as simple structural model, weak interoperability among subsystems, and poor capability of the medical building to adapt to outbreaks of infectious disease. Based on the characteristics of infectious diseases, the whole process of its prevention and control and the comprehensive influence factors, three-dimensional medical architecture network system is proposed as an inevitable trend. In this conception of medical architecture network structure, the evolutions are mentioned, such as from simple network system to multilayer space network system, from static network to dynamic network, and from mechanical network to sustainable network. Ultimately, a more adaptable and corresponsive medical building network system will be established and argued in this paper.

Direct adaptive control of a PUMA 560 industrial robot

NASA Technical Reports Server (NTRS)

Seraji, Homayoun; Lee, Thomas; Delpech, Michel

1989-01-01

The implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot is described. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the Robot Control C Library software. The control algorithm is implemented on the MicroVAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the MicroVAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain Proportional plus Integral plus Derivative (PID) controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the inter-joint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.

Decentralized Adaptive Control For Robots

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

Precise knowledge of dynamics not required. Proposed scheme for control of multijointed robotic manipulator calls for independent control subsystem for each joint, consisting of proportional/integral/derivative feedback controller and position/velocity/acceleration feedforward controller, both with adjustable gains. Independent joint controller compensates for unpredictable effects, gravitation, and dynamic coupling between motions of joints, while forcing joints to track reference trajectories. Scheme amenable to parallel processing in distributed computing system wherein each joint controlled by relatively simple algorithm on dedicated microprocessor.

Stability analysis of automobile driver steering control

NASA Technical Reports Server (NTRS)

Allen, R. W.

1981-01-01

In steering an automobile, the driver must basically control the direction of the car's trajectory (heading angle) and the lateral deviation of the car relative to a delineated pathway. A previously published linear control model of driver steering behavior which is analyzed from a stability point of view is considered. A simple approximate expression for a stability parameter, phase margin, is derived in terms of various driver and vehicle control parameters, and boundaries for stability are discussed. A field test study is reviewed that includes the measurement of driver steering control parameters. Phase margins derived for a range of vehicle characteristics are found to be generally consistent with known adaptive properties of the human operator. The implications of these results are discussed in terms of driver adaptive behavior.

Rapid feedback responses correlate with reach adaptation and properties of novel upper limb loads.

PubMed

Cluff, Tyler; Scott, Stephen H

2013-10-02

A hallmark of voluntary motor control is the ability to adjust motor patterns for novel mechanical or visuomotor contexts. Recent work has also highlighted the importance of feedback for voluntary control, leading to the hypothesis that feedback responses should adapt when we learn new motor skills. We tested this prediction with a novel paradigm requiring that human subjects adapt to a viscous elbow load while reaching to three targets. Target 1 required combined shoulder and elbow motion, target 2 required only elbow motion, and target 3 (probe target) required shoulder but no elbow motion. This simple approach controlled muscle activity at the probe target before, during, and after the application of novel elbow loads. Our paradigm allowed us to perturb the elbow during reaching movements to the probe target and identify several key properties of adapted stretch responses. Adapted long-latency responses expressed (de-) adaptation similar to reaching errors observed when we introduced (removed) the elbow load. Moreover, reaching errors during learning correlated with changes in the long-latency response, showing subjects who adapted more to the elbow load displayed greater modulation of their stretch responses. These adapted responses were sensitive to the size and direction of the viscous training load. Our results highlight an important link between the adaptation of feedforward and feedback control and suggest a key part of motor adaptation is to adjust feedback responses to the requirements of novel motor skills.

Adaptive vibration suppression system: an iterative control law for a piezoelectric actuator shunted by a negative capacitor.

PubMed

Kodejska, Milos; Mokry, Pavel; Linhart, Vaclav; Vaclavik, Jan; Sluka, Tomas

2012-12-01

An adaptive system for the suppression of vibration transmission using a single piezoelectric actuator shunted by a negative capacitance circuit is presented. It is known that by using a negative-capacitance shunt, the spring constant of a piezoelectric actuator can be controlled to extreme values of zero or infinity. Because the value of spring constant controls a force transmitted through an elastic element, it is possible to achieve a reduction of transmissibility of vibrations through the use of a piezoelectric actuator by reducing its effective spring constant. Narrow frequency range and broad frequency range vibration isolation systems are analyzed, modeled, and experimentally investigated. The problem of high sensitivity of the vibration control system to varying operational conditions is resolved by applying an adaptive control to the circuit parameters of the negative capacitor. A control law that is based on the estimation of the value of the effective spring constant of a shunted piezoelectric actuator is presented. An adaptive system which achieves a self-adjustment of the negative capacitor parameters is presented. It is shown that such an arrangement allows the design of a simple electronic system which offers a great vibration isolation efficiency under variable vibration conditions.

Spontaneous Centralization of Control in a Network of Company Ownerships

PubMed Central

Krause, Sebastian M.; Peixoto, Tiago P.; Bornholdt, Stefan

2013-01-01

We introduce a model for the adaptive evolution of a network of company ownerships. In a recent work it has been shown that the empirical global network of corporate control is marked by a central, tightly connected “core” made of a small number of large companies which control a significant part of the global economy. Here we show how a simple, adaptive “rich get richer” dynamics can account for this characteristic, which incorporates the increased buying power of more influential companies, and in turn results in even higher control. We conclude that this kind of centralized structure can emerge without it being an explicit goal of these companies, or as a result of a well-organized strategy. PMID:24324594

Encoder-Decoder Optimization for Brain-Computer Interfaces

PubMed Central

Merel, Josh; Pianto, Donald M.; Cunningham, John P.; Paninski, Liam

2015-01-01

Neuroprosthetic brain-computer interfaces are systems that decode neural activity into useful control signals for effectors, such as a cursor on a computer screen. It has long been recognized that both the user and decoding system can adapt to increase the accuracy of the end effector. Co-adaptation is the process whereby a user learns to control the system in conjunction with the decoder adapting to learn the user's neural patterns. We provide a mathematical framework for co-adaptation and relate co-adaptation to the joint optimization of the user's control scheme ("encoding model") and the decoding algorithm's parameters. When the assumptions of that framework are respected, co-adaptation cannot yield better performance than that obtainable by an optimal initial choice of fixed decoder, coupled with optimal user learning. For a specific case, we provide numerical methods to obtain such an optimized decoder. We demonstrate our approach in a model brain-computer interface system using an online prosthesis simulator, a simple human-in-the-loop pyschophysics setup which provides a non-invasive simulation of the BCI setting. These experiments support two claims: that users can learn encoders matched to fixed, optimal decoders and that, once learned, our approach yields expected performance advantages. PMID:26029919

Encoder-decoder optimization for brain-computer interfaces.

PubMed

Merel, Josh; Pianto, Donald M; Cunningham, John P; Paninski, Liam

2015-06-01

Neuroprosthetic brain-computer interfaces are systems that decode neural activity into useful control signals for effectors, such as a cursor on a computer screen. It has long been recognized that both the user and decoding system can adapt to increase the accuracy of the end effector. Co-adaptation is the process whereby a user learns to control the system in conjunction with the decoder adapting to learn the user's neural patterns. We provide a mathematical framework for co-adaptation and relate co-adaptation to the joint optimization of the user's control scheme ("encoding model") and the decoding algorithm's parameters. When the assumptions of that framework are respected, co-adaptation cannot yield better performance than that obtainable by an optimal initial choice of fixed decoder, coupled with optimal user learning. For a specific case, we provide numerical methods to obtain such an optimized decoder. We demonstrate our approach in a model brain-computer interface system using an online prosthesis simulator, a simple human-in-the-loop pyschophysics setup which provides a non-invasive simulation of the BCI setting. These experiments support two claims: that users can learn encoders matched to fixed, optimal decoders and that, once learned, our approach yields expected performance advantages.

Concurrent enhancement of percolation and synchronization in adaptive networks

PubMed Central

Eom, Young-Ho; Boccaletti, Stefano; Caldarelli, Guido

2016-01-01

Co-evolutionary adaptive mechanisms are not only ubiquitous in nature, but also beneficial for the functioning of a variety of systems. We here consider an adaptive network of oscillators with a stochastic, fitness-based, rule of connectivity, and show that it self-organizes from fragmented and incoherent states to connected and synchronized ones. The synchronization and percolation are associated to abrupt transitions, and they are concurrently (and significantly) enhanced as compared to the non-adaptive case. Finally we provide evidence that only partial adaptation is sufficient to determine these enhancements. Our study, therefore, indicates that inclusion of simple adaptive mechanisms can efficiently describe some emergent features of networked systems’ collective behaviors, and suggests also self-organized ways to control synchronization and percolation in natural and social systems. PMID:27251577

Simple and versatile modifications allowing time gated spectral acquisition, imaging and lifetime profiling on conventional wide-field microscopes

NASA Astrophysics Data System (ADS)

Pal, Robert; Beeby, Andrew

2014-09-01

An inverted microscope has been adapted to allow time-gated imaging and spectroscopy to be carried out on samples containing responsive lanthanide probes. The adaptation employs readily available components, including a pulsed light source, time-gated camera, spectrometer and photon counting detector, allowing imaging, emission spectroscopy and lifetime measurements. Each component is controlled by a suite of software written in LabVIEW and is powered via conventional USB ports.

Robust LS-SVM-based adaptive constrained control for a class of uncertain nonlinear systems with time-varying predefined performance

NASA Astrophysics Data System (ADS)

Luo, Jianjun; Wei, Caisheng; Dai, Honghua; Yuan, Jianping

2018-03-01

This paper focuses on robust adaptive control for a class of uncertain nonlinear systems subject to input saturation and external disturbance with guaranteed predefined tracking performance. To reduce the limitations of classical predefined performance control method in the presence of unknown initial tracking errors, a novel predefined performance function with time-varying design parameters is first proposed. Then, aiming at reducing the complexity of nonlinear approximations, only two least-square-support-vector-machine-based (LS-SVM-based) approximators with two design parameters are required through norm form transformation of the original system. Further, a novel LS-SVM-based adaptive constrained control scheme is developed under the time-vary predefined performance using backstepping technique. Wherein, to avoid the tedious analysis and repeated differentiations of virtual control laws in the backstepping technique, a simple and robust finite-time-convergent differentiator is devised to only extract its first-order derivative at each step in the presence of external disturbance. In this sense, the inherent demerit of backstepping technique-;explosion of terms; brought by the recursive virtual controller design is conquered. Moreover, an auxiliary system is designed to compensate the control saturation. Finally, three groups of numerical simulations are employed to validate the effectiveness of the newly developed differentiator and the proposed adaptive constrained control scheme.

Adaptive method for electron bunch profile prediction

DOE PAGES

Scheinker, Alexander; Gessner, Spencer

2015-10-15

We report on an experiment performed at the Facility for Advanced Accelerator Experimental Tests (FACET) at SLAC National Accelerator Laboratory, in which a new adaptive control algorithm, one with known, bounded update rates, despite operating on analytically unknown cost functions, was utilized in order to provide quasi-real-time bunch property estimates of the electron beam. Multiple parameters, such as arbitrary rf phase settings and other time-varying accelerator properties, were simultaneously tuned in order to match a simulated bunch energy spectrum with a measured energy spectrum. Thus, the simple adaptive scheme was digitally implemented using matlab and the experimental physics and industrialmore » control system. Finally, the main result is a nonintrusive, nondestructive, real-time diagnostic scheme for prediction of bunch profiles, as well as other beam parameters, the precise control of which are important for the plasma wakefield acceleration experiments being explored at FACET.« less

An Adaptive Buddy Check for Observational Quality Control

NASA Technical Reports Server (NTRS)

Dee, Dick P.; Rukhovets, Leonid; Todling, Ricardo; DaSilva, Arlindo M.; Larson, Jay W.; Einaudi, Franco (Technical Monitor)

2000-01-01

An adaptive buddy check algorithm is presented that adjusts tolerances for outlier observations based on the variability of surrounding data. The algorithm derives from a statistical hypothesis test combined with maximum-likelihood covariance estimation. Its stability is shown to depend on the initial identification of outliers by a simple background check. The adaptive feature ensures that the final quality control decisions are not very sensitive to prescribed statistics of first-guess and observation errors, nor on other approximations introduced into the algorithm. The implementation of the algorithm in a global atmospheric data assimilation is described. Its performance is contrasted with that of a non-adaptive buddy check, for the surface analysis of an extreme storm that took place in Europe on 27 December 1999. The adaptive algorithm allowed the inclusion of many important observations that differed greatly from the first guess and that would have been excluded on the basis of prescribed statistics. The analysis of the storm development was much improved as a result of these additional observations.

An EMG-Based Control for an Upper-Limb Power-Assist Exoskeleton Robot.

PubMed

Kiguchi, K; Hayashi, Y

2012-08-01

Many kinds of power-assist robots have been developed in order to assist self-rehabilitation and/or daily life motions of physically weak persons. Several kinds of control methods have been proposed to control the power-assist robots according to user's motion intention. In this paper, an electromyogram (EMG)-based impedance control method for an upper-limb power-assist exoskeleton robot is proposed to control the robot in accordance with the user's motion intention. The proposed method is simple, easy to design, humanlike, and adaptable to any user. A neurofuzzy matrix modifier is applied to make the controller adaptable to any users. Not only the characteristics of EMG signals but also the characteristics of human body are taken into account in the proposed method. The effectiveness of the proposed method was evaluated by the experiments.

Epidemic spreading on preferred degree adaptive networks.

PubMed

Jolad, Shivakumar; Liu, Wenjia; Schmittmann, B; Zia, R K P

2012-01-01

We study the standard SIS model of epidemic spreading on networks where individuals have a fluctuating number of connections around a preferred degree κ. Using very simple rules for forming such preferred degree networks, we find some unusual statistical properties not found in familiar Erdös-Rényi or scale free networks. By letting κ depend on the fraction of infected individuals, we model the behavioral changes in response to how the extent of the epidemic is perceived. In our models, the behavioral adaptations can be either 'blind' or 'selective'--depending on whether a node adapts by cutting or adding links to randomly chosen partners or selectively, based on the state of the partner. For a frozen preferred network, we find that the infection threshold follows the heterogeneous mean field result λ(c)/μ = <κ>/<κ2> and the phase diagram matches the predictions of the annealed adjacency matrix (AAM) approach. With 'blind' adaptations, although the epidemic threshold remains unchanged, the infection level is substantially affected, depending on the details of the adaptation. The 'selective' adaptive SIS models are most interesting. Both the threshold and the level of infection changes, controlled not only by how the adaptations are implemented but also how often the nodes cut/add links (compared to the time scales of the epidemic spreading). A simple mean field theory is presented for the selective adaptations which capture the qualitative and some of the quantitative features of the infection phase diagram.

Bio-inspired adaptive feedback error learning architecture for motor control.

PubMed

Tolu, Silvia; Vanegas, Mauricio; Luque, Niceto R; Garrido, Jesús A; Ros, Eduardo

2012-10-01

This study proposes an adaptive control architecture based on an accurate regression method called Locally Weighted Projection Regression (LWPR) and on a bio-inspired module, such as a cerebellar-like engine. This hybrid architecture takes full advantage of the machine learning module (LWPR kernel) to abstract an optimized representation of the sensorimotor space while the cerebellar component integrates this to generate corrective terms in the framework of a control task. Furthermore, we illustrate how the use of a simple adaptive error feedback term allows to use the proposed architecture even in the absence of an accurate analytic reference model. The presented approach achieves an accurate control with low gain corrective terms (for compliant control schemes). We evaluate the contribution of the different components of the proposed scheme comparing the obtained performance with alternative approaches. Then, we show that the presented architecture can be used for accurate manipulation of different objects when their physical properties are not directly known by the controller. We evaluate how the scheme scales for simulated plants of high Degrees of Freedom (7-DOFs).

A university teaching simulation facility

NASA Technical Reports Server (NTRS)

Stark, Lawrence; Kim, Won-Soo; Tendick, Frank; Tyler, Mitchell; Hannaford, Blake; Barakat, Wissam; Bergengruen, Olaf; Braddi, Louis; Eisenberg, Joseph; Ellis, Stephen

1987-01-01

An experimental telerobotics (TR) simulation is described suitable for studying human operator (HO) performance. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. A number of control modes could be compared in this TR simulation, including displacement, rate, and acceleratory control using position and force joysticks. A homeomorphic controller turned out to be no better than joysticks; the adaptive properties of the HO can apparently permit quite good control over a variety of controller configurations and control modes. Training by optimal control example seemed helpful in preliminary experiments.

Self-teaching neural network learns difficult reactor control problem

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

Jouse, W.C.

1989-01-01

A self-teaching neural network used as an adaptive controller quickly learns to control an unstable reactor configuration. The network models the behavior of a human operator. It is trained by allowing it to operate the reactivity control impulsively. It is punished whenever either the power or fuel temperature stray outside technical limits. Using a simple paradigm, the network constructs an internal representation of the punishment and of the reactor system. The reactor is constrained to small power orbits.

Simple and Effective Algorithms: Computer-Adaptive Testing.

ERIC Educational Resources Information Center

Linacre, John Michael

Computer-adaptive testing (CAT) allows improved security, greater scoring accuracy, shorter testing periods, quicker availability of results, and reduced guessing and other undesirable test behavior. Simple approaches can be applied by the classroom teacher, or other content specialist, who possesses simple computer equipment and elementary…

Discovering Biofilms: Inquiry-Based Activities for the Classroom

ERIC Educational Resources Information Center

Redelman, Carly V.; Marrs, Kathleen; Anderson, Gregory G.

2012-01-01

In nature, bacteria exist in and adapt to different environments by forming microbial communities called "biofilms." We propose simple, inquiry-based laboratory exercises utilizing a biofilm formation assay, which allows controlled biofilm growth. Students will be able to qualitatively assess biofilm growth via staining. Recently, we developed a…

Adaptive control of base-isolated buildings using piezoelectric friction dampers against near-field earthquakes

NASA Astrophysics Data System (ADS)

Bitaraf, Maryam; Ozbulut, Osman E.; Hurlebaus, Stefan

2010-04-01

This paper investigates the effectiveness of two adaptive control strategies for modulating control force of piezoelectric friction dampers (PFDs) that are employed as semi-active devices in combination with laminated rubber bearings for seismic protection of buildings. The first controller developed in this study is a direct adaptive fuzzy logic controller. It consists of an upper-level and a sub-level direct fuzzy controller. In the hierarchical control scheme, higher-level controller modifies universe of discourse of both premise and consequent variables of the sub-level controller using scaling factors in order to determine command voltage of the damper according to current level of ground motion. The sub-level fuzzy controller employs isolation displacement and velocity as its premise variables and command voltage as its consequent variable. The second controller is based on the simple adaptive control (SAC) method, which is a type of direct adaptive control approach. The objective of the SAC method is to make the plant, the controlled system, track the behavior of the structure with the optimum performance. By using SAC strategy, any change in the characteristics of the structure or uncertainties in the modeling of the structure and in the external excitation would be considered because it continuously monitors its own performance to modify its parameters. Here, SAC methodology is employed to obtain the required force which results in the optimum performance of the structure. Then, the command voltage of the PFD is determined to generate the desired force. For comparison purposes, an optimal controller is also developed and considered in the simulations together with maximum passive operation of the friction damper. Time-history analyses of a base-isolated five-story building are performed to evaluate the performance of the controllers. Results reveal that developed adaptive controllers can successfully improve seismic response of the base-isolated buildings against various types of earthquakes.

Decentralized control scheme for myriapod robot inspired by adaptive and resilient centipede locomotion.

PubMed

Yasui, Kotaro; Sakai, Kazuhiko; Kano, Takeshi; Owaki, Dai; Ishiguro, Akio

2017-01-01

Recently, myriapods have attracted the attention of engineers because mobile robots that mimic them potentially have the capability of producing highly stable, adaptive, and resilient behaviors. The major challenge here is to develop a control scheme that can coordinate their numerous legs in real time, and an autonomous decentralized control could be the key to solve this problem. Therefore, we focus on real centipedes and aim to design a decentralized control scheme for myriapod robots by drawing inspiration from behavioral experiments on centipede locomotion under unusual conditions. In the behavioral experiments, we observed the response to the removal of a part of the terrain and to amputation of several legs. Further, we determined that the ground reaction force is significant for generating rhythmic leg movements; the motion of each leg is likely affected by a sensory input from its neighboring legs. Thus, we constructed a two-dimensional model wherein a simple local reflexive mechanism was implemented in each leg. We performed simulations by using this model and demonstrated that the myriapod robot could move adaptively to changes in the environment and body properties. Our findings will shed new light on designing adaptive and resilient myriapod robots that can function under various circumstances.

Analysis and design of a standardized control module for switching regulators

NASA Astrophysics Data System (ADS)

Lee, F. C.; Mahmoud, M. F.; Yu, Y.; Kolecki, J. C.

1982-07-01

Three basic switching regulators: buck, boost, and buck/boost, employing a multiloop standardized control module (SCM) were characterized by a common small signal block diagram. Employing the unified model, regulator performances such as stability, audiosusceptibility, output impedance, and step load transient are analyzed and key performance indexes are expressed in simple analytical forms. More importantly, the performance characteristics of all three regulators are shown to enjoy common properties due to the unique SCM control scheme which nullifies the positive zero and provides adaptive compensation to the moving poles of the boost and buck/boost converters. This allows a simple unified design procedure to be devised for selecting the key SCM control parameters for an arbitrarily given power stage configuration and parameter values, such that all regulator performance specifications can be met and optimized concurrently in a single design attempt.

A new approach to global control of redundant manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

A new and simple approach to configuration control of redundant manipulators is presented. In this approach, the redundancy is utilized to control the manipulator configuration directly in task space, where the task will be performed. A number of kinematic functions are defined to reflect the desirable configuration that will be achieved for a given end-effector position. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. An adaptive scheme is then utilized to globally control the configuration variables so as to achieve tracking of some desired reference trajectories. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The control law is simple and computationally very fast, and does not require the complex manipulator dynamic model.

Adaptive mechanical-wetting lens actuated by ferrofluids

NASA Astrophysics Data System (ADS)

Cheng, Hui-Chuan; Xu, Su; Liu, Yifan; Levi, Shoshana; Wu, Shin-Tson

2011-04-01

We report an adaptive mechanical-wetting lens actuated by ferrofluids. The ferrofluids works like a piston to pump liquids in and out from the lens chamber, which in turn reshapes the lens curvature and changes the focal length. Both positive and negative lenses are demonstrated experimentally. The ferrofluid-actuated mechanical-wetting lens exhibits some attractive features, such as high resolution, fast response time, low power consumption, simple structure and electronic control, weak gravity effect, and low cost. Its potential applications in medical imaging, surveillance, and commercial electronics are foreseeable.

Adaptive tracking control for active suspension systems with non-ideal actuators

NASA Astrophysics Data System (ADS)

Pan, Huihui; Sun, Weichao; Jing, Xingjian; Gao, Huijun; Yao, Jianyong

2017-07-01

As a critical component of transportation vehicles, active suspension systems are instrumental in the improvement of ride comfort and maneuverability. However, practical active suspensions commonly suffer from parameter uncertainties (e.g., the variations of payload mass and suspension component parameters), external disturbances and especially the unknown non-ideal actuators (i.e., dead-zone and hysteresis nonlinearities), which always significantly deteriorate the control performance in practice. To overcome these issues, this paper synthesizes an adaptive tracking control strategy for vehicle suspension systems to achieve suspension performance improvements. The proposed control algorithm is formulated by developing a unified framework of non-ideal actuators rather than a separate way, which is a simple yet effective approach to remove the unexpected nonlinear effects. From the perspective of practical implementation, the advantages of the presented controller for active suspensions include that the assumptions on the measurable actuator outputs, the prior knowledge of nonlinear actuator parameters and the uncertain parameters within a known compact set are not required. Furthermore, the stability of the closed-loop suspension system is theoretically guaranteed by rigorous mathematical analysis. Finally, the effectiveness of the presented adaptive control scheme is confirmed using comparative numerical simulation validations.

Adaptive method for electron bunch profile prediction

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

Scheinker, Alexander; Gessner, Spencer

2015-10-01

We report on an experiment performed at the Facility for Advanced Accelerator Experimental Tests (FACET) at SLAC National Accelerator Laboratory, in which a new adaptive control algorithm, one with known, bounded update rates, despite operating on analytically unknown cost functions, was utilized in order to provide quasi-real-time bunch property estimates of the electron beam. Multiple parameters, such as arbitrary rf phase settings and other time-varying accelerator properties, were simultaneously tuned in order to match a simulated bunch energy spectrum with a measured energy spectrum. The simple adaptive scheme was digitally implemented using matlab and the experimental physics and industrial controlmore » system. The main result is a nonintrusive, nondestructive, real-time diagnostic scheme for prediction of bunch profiles, as well as other beam parameters, the precise control of which are important for the plasma wakefield acceleration experiments being explored at FACET. © 2015 authors. Published by the American Physical Society.« less

Analysis of convergence of an evolutionary algorithm with self-adaptation using a stochastic Lyapunov function.

PubMed

Semenov, Mikhail A; Terkel, Dmitri A

2003-01-01

This paper analyses the convergence of evolutionary algorithms using a technique which is based on a stochastic Lyapunov function and developed within the martingale theory. This technique is used to investigate the convergence of a simple evolutionary algorithm with self-adaptation, which contains two types of parameters: fitness parameters, belonging to the domain of the objective function; and control parameters, responsible for the variation of fitness parameters. Although both parameters mutate randomly and independently, they converge to the "optimum" due to the direct (for fitness parameters) and indirect (for control parameters) selection. We show that the convergence velocity of the evolutionary algorithm with self-adaptation is asymptotically exponential, similar to the velocity of the optimal deterministic algorithm on the class of unimodal functions. Although some martingale inequalities have not be proved analytically, they have been numerically validated with 0.999 confidence using Monte-Carlo simulations.

BK channels are required for multisensory plasticity in the oculomotor system

PubMed Central

Nelson, Alexandra; Faulstich, Michael; Moghadam, Setareh; Onori, Kimberly; Meredith, Andrea; du Lac, Sascha

2017-01-01

SUMMARY Neural circuits are endowed with several forms of intrinsic and synaptic plasticity that could contribute to adaptive changes in behavior, but circuit complexities have hindered linking specific cellular mechanisms with their behavioral consequences. Eye movements generated by simple brainstem circuits provide a means for relating cellular plasticity to behavioral gain control. Here we show that firing rate potentiation, a form of intrinsic plasticity mediated by reductions in BK-type calcium activated potassium currents in spontaneously firing neurons, is engaged during optokinetic reflex compensation for inner ear dysfunction. Vestibular loss triggers transient increases in postsynaptic excitability, occlusion of firing rate potentiation, and reductions in BK currents in vestibular nucleus neurons. Concurrently, adaptive increases in visually-evoked eye movements rapidly restore oculomotor function in wildtype mice but are profoundly impaired in BK channel null mice. Activity-dependent regulation of intrinsic excitability may be a general mechanism for adaptive control of behavioral output in multisensory circuits. PMID:27989457

Kalman filter based control for Adaptive Optics

NASA Astrophysics Data System (ADS)

Petit, Cyril; Quiros-Pacheco, Fernando; Conan, Jean-Marc; Kulcsár, Caroline; Raynaud, Henri-François; Fusco, Thierry

2004-12-01

Classical Adaptive Optics suffer from a limitation of the corrected Field Of View. This drawback has lead to the development of MultiConjugated Adaptive Optics. While the first MCAO experimental set-ups are presently under construction, little attention has been paid to the control loop. This is however a key element in the optimization process especially for MCAO systems. Different approaches have been proposed in recent articles for astronomical applications : simple integrator, Optimized Modal Gain Integrator and Kalman filtering. We study here Kalman filtering which seems a very promising solution. Following the work of Brice Leroux, we focus on a frequential characterization of kalman filters, computing a transfer matrix. The result brings much information about their behaviour and allows comparisons with classical controllers. It also appears that straightforward improvements of the system models can lead to static aberrations and vibrations filtering. Simulation results are proposed and analysed thanks to our frequential characterization. Related problems such as model errors, aliasing effect reduction or experimental implementation and testing of Kalman filter control loop on a simplified MCAO experimental set-up could be then discussed.

Intelligent control of robotic arm/hand systems for the NASA EVA retriever using neural networks

NASA Technical Reports Server (NTRS)

Mclauchlan, Robert A.

1989-01-01

Adaptive/general learning algorithms using varying neural network models are considered for the intelligent control of robotic arm plus dextrous hand/manipulator systems. Results are summarized and discussed for the use of the Barto/Sutton/Anderson neuronlike, unsupervised learning controller as applied to the stabilization of an inverted pendulum on a cart system. Recommendations are made for the application of the controller and a kinematic analysis for trajectory planning to simple object retrieval (chase/approach and capture/grasp) scenarios in two dimensions.

In silico design of ligand triggered RNA switches.

PubMed

Findeiß, Sven; Hammer, Stefan; Wolfinger, Michael T; Kühnl, Felix; Flamm, Christoph; Hofacker, Ivo L

2018-04-13

This contribution sketches a work flow to design an RNA switch that is able to adapt two structural conformations in a ligand-dependent way. A well characterized RNA aptamer, i.,e., knowing its K d and adaptive structural features, is an essential ingredient of the described design process. We exemplify the principles using the well-known theophylline aptamer throughout this work. The aptamer in its ligand-binding competent structure represents one structural conformation of the switch while an alternative fold that disrupts the binding-competent structure forms the other conformation. To keep it simple we do not incorporate any regulatory mechanism to control transcription or translation. We elucidate a commonly used design process by explicitly dissecting and explaining the necessary steps in detail. We developed a novel objective function which specifies the mechanistics of this simple, ligand-triggered riboswitch and describe an extensive in silico analysis pipeline to evaluate important kinetic properties of the designed sequences. This protocol and the developed software can be easily extended or adapted to fit novel design scenarios and thus can serve as a template for future needs. Copyright © 2018. Published by Elsevier Inc.

A theory of cerebellar cortex and adaptive motor control based on two types of universal function approximation capability.

PubMed

Fujita, Masahiko

2016-03-01

Lesions of the cerebellum result in large errors in movements. The cerebellum adaptively controls the strength and timing of motor command signals depending on the internal and external environments of movements. The present theory describes how the cerebellar cortex can control signals for accurate and timed movements. A model network of the cerebellar Golgi and granule cells is shown to be equivalent to a multiple-input (from mossy fibers) hierarchical neural network with a single hidden layer of threshold units (granule cells) that receive a common recurrent inhibition (from a Golgi cell). The weighted sum of the hidden unit signals (Purkinje cell output) is theoretically analyzed regarding the capability of the network to perform two types of universal function approximation. The hidden units begin firing as the excitatory inputs exceed the recurrent inhibition. This simple threshold feature leads to the first approximation theory, and the network final output can be any continuous function of the multiple inputs. When the input is constant, this output becomes stationary. However, when the recurrent unit activity is triggered to decrease or the recurrent inhibition is triggered to increase through a certain mechanism (metabotropic modulation or extrasynaptic spillover), the network can generate any continuous signals for a prolonged period of change in the activity of recurrent signals, as the second approximation theory shows. By incorporating the cerebellar capability of two such types of approximations to a motor system, in which learning proceeds through repeated movement trials with accompanying corrections, accurate and timed responses for reaching the target can be adaptively acquired. Simple models of motor control can solve the motor error vs. sensory error problem, as well as the structural aspects of credit (or error) assignment problem. Two physiological experiments are proposed for examining the delay and trace conditioning of eyelid responses, as well as saccade adaptation, to investigate this novel idea of cerebellar processing. Copyright © 2015 Elsevier Ltd. All rights reserved.

Adaptive fuzzy system for 3-D vision

NASA Technical Reports Server (NTRS)

Mitra, Sunanda

1993-01-01

An adaptive fuzzy system using the concept of the Adaptive Resonance Theory (ART) type neural network architecture and incorporating fuzzy c-means (FCM) system equations for reclassification of cluster centers was developed. The Adaptive Fuzzy Leader Clustering (AFLC) architecture is a hybrid neural-fuzzy system which learns on-line in a stable and efficient manner. The system uses a control structure similar to that found in the Adaptive Resonance Theory (ART-1) network to identify the cluster centers initially. The initial classification of an input takes place in a two stage process; a simple competitive stage and a distance metric comparison stage. The cluster prototypes are then incrementally updated by relocating the centroid positions from Fuzzy c-Means (FCM) system equations for the centroids and the membership values. The operational characteristics of AFLC and the critical parameters involved in its operation are discussed. The performance of the AFLC algorithm is presented through application of the algorithm to the Anderson Iris data, and laser-luminescent fingerprint image data. The AFLC algorithm successfully classifies features extracted from real data, discrete or continuous, indicating the potential strength of this new clustering algorithm in analyzing complex data sets. The hybrid neuro-fuzzy AFLC algorithm will enhance analysis of a number of difficult recognition and control problems involved with Tethered Satellite Systems and on-orbit space shuttle attitude controller.

Paper-based microfluidic approach for surface-enhanced raman spectroscopy and highly reproducible detection of proteins beyond picomolar concentration.

PubMed

Saha, Arindam; Jana, Nikhil R

2015-01-14

Although microfluidic approach is widely used in various point of care diagnostics, its implementation in surface enhanced Raman spectroscopy (SERS)-based detection is challenging. This is because SERS signal depends on plasmonic nanoparticle aggregation induced generation of stable electromagnetic hot spots and in currently available microfluidic platform this condition is difficult to adapt. Here we show that SERS can be adapted using simple paper based microfluidic system where both the plasmonic nanomaterials and analyte are used in mobile phase. This approach allows analyte induced controlled particle aggregation and electromagnetic hot spot generation inside the microfluidic channel with the resultant SERS signal, which is highly reproducible and sensitive. This approach has been used for reproducible detection of protein in the pico to femtomolar concentration. Presented approach is simple, rapid, and cost-effective, and requires low sample volume. Method can be extended for SERS-based detection of other biomolecules.

Estimating Position of Mobile Robots From Omnidirectional Vision Using an Adaptive Algorithm.

PubMed

Li, Luyang; Liu, Yun-Hui; Wang, Kai; Fang, Mu

2015-08-01

This paper presents a novel and simple adaptive algorithm for estimating the position of a mobile robot with high accuracy in an unknown and unstructured environment by fusing images of an omnidirectional vision system with measurements of odometry and inertial sensors. Based on a new derivation where the omnidirectional projection can be linearly parameterized by the positions of the robot and natural feature points, we propose a novel adaptive algorithm, which is similar to the Slotine-Li algorithm in model-based adaptive control, to estimate the robot's position by using the tracked feature points in image sequence, the robot's velocity, and orientation angles measured by odometry and inertial sensors. It is proved that the adaptive algorithm leads to global exponential convergence of the position estimation errors to zero. Simulations and real-world experiments are performed to demonstrate the performance of the proposed algorithm.

Incoherent feedforward control governs adaptation of activated ras in a eukaryotic chemotaxis pathway.

PubMed

Takeda, Kosuke; Shao, Danying; Adler, Micha; Charest, Pascale G; Loomis, William F; Levine, Herbert; Groisman, Alex; Rappel, Wouter-Jan; Firtel, Richard A

2012-01-03

Adaptation in signaling systems, during which the output returns to a fixed baseline after a change in the input, often involves negative feedback loops and plays a crucial role in eukaryotic chemotaxis. We determined the dynamical response to a uniform change in chemoattractant concentration of a eukaryotic chemotaxis pathway immediately downstream from G protein-coupled receptors. The response of an activated Ras showed near-perfect adaptation, leading us to attempt to fit the results using mathematical models for the two possible simple network topologies that can provide perfect adaptation. Only the incoherent feedforward network accurately described the experimental results. This analysis revealed that adaptation in this Ras pathway is achieved through the proportional activation of upstream components and not through negative feedback loops. Furthermore, these results are consistent with a local excitation, global inhibition mechanism for gradient sensing, possibly with a Ras guanosine triphosphatase-activating protein acting as a global inhibitor.

Smart Swarms of Bacteria-Inspired Agents with Performance Adaptable Interactions

PubMed Central

Shklarsh, Adi; Ariel, Gil; Schneidman, Elad; Ben-Jacob, Eshel

2011-01-01

Collective navigation and swarming have been studied in animal groups, such as fish schools, bird flocks, bacteria, and slime molds. Computer modeling has shown that collective behavior of simple agents can result from simple interactions between the agents, which include short range repulsion, intermediate range alignment, and long range attraction. Here we study collective navigation of bacteria-inspired smart agents in complex terrains, with adaptive interactions that depend on performance. More specifically, each agent adjusts its interactions with the other agents according to its local environment – by decreasing the peers' influence while navigating in a beneficial direction, and increasing it otherwise. We show that inclusion of such performance dependent adaptable interactions significantly improves the collective swarming performance, leading to highly efficient navigation, especially in complex terrains. Notably, to afford such adaptable interactions, each modeled agent requires only simple computational capabilities with short-term memory, which can easily be implemented in simple swarming robots. PMID:21980274

Firing patterns in the adaptive exponential integrate-and-fire model.

PubMed

Naud, Richard; Marcille, Nicolas; Clopath, Claudia; Gerstner, Wulfram

2008-11-01

For simulations of large spiking neuron networks, an accurate, simple and versatile single-neuron modeling framework is required. Here we explore the versatility of a simple two-equation model: the adaptive exponential integrate-and-fire neuron. We show that this model generates multiple firing patterns depending on the choice of parameter values, and present a phase diagram describing the transition from one firing type to another. We give an analytical criterion to distinguish between continuous adaption, initial bursting, regular bursting and two types of tonic spiking. Also, we report that the deterministic model is capable of producing irregular spiking when stimulated with constant current, indicating low-dimensional chaos. Lastly, the simple model is fitted to real experiments of cortical neurons under step current stimulation. The results provide support for the suitability of simple models such as the adaptive exponential integrate-and-fire neuron for large network simulations.

Smart swarms of bacteria-inspired agents with performance adaptable interactions.

PubMed

Shklarsh, Adi; Ariel, Gil; Schneidman, Elad; Ben-Jacob, Eshel

2011-09-01

Collective navigation and swarming have been studied in animal groups, such as fish schools, bird flocks, bacteria, and slime molds. Computer modeling has shown that collective behavior of simple agents can result from simple interactions between the agents, which include short range repulsion, intermediate range alignment, and long range attraction. Here we study collective navigation of bacteria-inspired smart agents in complex terrains, with adaptive interactions that depend on performance. More specifically, each agent adjusts its interactions with the other agents according to its local environment--by decreasing the peers' influence while navigating in a beneficial direction, and increasing it otherwise. We show that inclusion of such performance dependent adaptable interactions significantly improves the collective swarming performance, leading to highly efficient navigation, especially in complex terrains. Notably, to afford such adaptable interactions, each modeled agent requires only simple computational capabilities with short-term memory, which can easily be implemented in simple swarming robots.

Adaptive Critic-based Neurofuzzy Controller for the Steam Generator Water Level

NASA Astrophysics Data System (ADS)

Fakhrazari, Amin; Boroushaki, Mehrdad

2008-06-01

In this paper, an adaptive critic-based neurofuzzy controller is presented for water level regulation of nuclear steam generators. The problem has been of great concern for many years as the steam generator is a highly nonlinear system showing inverse response dynamics especially at low operating power levels. Fuzzy critic-based learning is a reinforcement learning method based on dynamic programming. The only information available for the critic agent is the system feedback which is interpreted as the last action the controller has performed in the previous state. The signal produced by the critic agent is used alongside the backpropagation of error algorithm to tune online conclusion parts of the fuzzy inference rules. The critic agent here has a proportional-derivative structure and the fuzzy rule base has nine rules. The proposed controller shows satisfactory transient responses, disturbance rejection and robustness to model uncertainty. Its simple design procedure and structure, nominates it as one of the suitable controller designs for the steam generator water level control in nuclear power plant industry.

A model-based exploration of the role of pattern generating circuits during locomotor adaptation.

PubMed

Marjaninejad, Ali; Finley, James M

2016-08-01

In this study, we used a model-based approach to explore the potential contributions of central pattern generating circuits (CPGs) during adaptation to external perturbations during locomotion. We constructed a neuromechanical modeled of locomotion using a reduced-phase CPG controller and an inverted pendulum mechanical model. Two different forms of locomotor adaptation were examined in this study: split-belt treadmill adaptation and adaptation to a unilateral, elastic force field. For each simulation, we first examined the effects of phase resetting and varying the model's initial conditions on the resulting adaptation. After evaluating the effect of phase resetting on the adaptation of step length symmetry, we examined the extent to which the results from these simple models could explain previous experimental observations. We found that adaptation of step length symmetry during split-belt treadmill walking could be reproduced using our model, but this model failed to replicate patterns of adaptation observed in response to force field perturbations. Given that spinal animal models can adapt to both of these types of perturbations, our findings suggest that there may be distinct features of pattern generating circuits that mediate each form of adaptation.

Macro-evolutionary studies of cultural diversity: a review of empirical studies of cultural transmission and cultural adaptation.

PubMed

Mace, Ruth; Jordan, Fiona M

2011-02-12

A growing body of theoretical and empirical research has examined cultural transmission and adaptive cultural behaviour at the individual, within-group level. However, relatively few studies have tried to examine proximate transmission or test ultimate adaptive hypotheses about behavioural or cultural diversity at a between-societies macro-level. In both the history of anthropology and in present-day work, a common approach to examining adaptive behaviour at the macro-level has been through correlating various cultural traits with features of ecology. We discuss some difficulties with simple ecological associations, and then review cultural phylogenetic studies that have attempted to go beyond correlations to understand the underlying cultural evolutionary processes. We conclude with an example of a phylogenetically controlled approach to understanding proximate transmission pathways in Austronesian cultural diversity.

Macro-evolutionary studies of cultural diversity: a review of empirical studies of cultural transmission and cultural adaptation

PubMed Central

Mace, Ruth; Jordan, Fiona M.

2011-01-01

A growing body of theoretical and empirical research has examined cultural transmission and adaptive cultural behaviour at the individual, within-group level. However, relatively few studies have tried to examine proximate transmission or test ultimate adaptive hypotheses about behavioural or cultural diversity at a between-societies macro-level. In both the history of anthropology and in present-day work, a common approach to examining adaptive behaviour at the macro-level has been through correlating various cultural traits with features of ecology. We discuss some difficulties with simple ecological associations, and then review cultural phylogenetic studies that have attempted to go beyond correlations to understand the underlying cultural evolutionary processes. We conclude with an example of a phylogenetically controlled approach to understanding proximate transmission pathways in Austronesian cultural diversity. PMID:21199844

High efficiency and simple technique for controlling mechanisms by EMG signals

NASA Astrophysics Data System (ADS)

Dugarte, N.; Álvarez, A.; Balacco, J.; Mercado, G.; Gonzalez, A.; Dugarte, E.; Javier, F.; Ceballos, G.; Olivares, A.

2016-04-01

This article reports the development of a simple and efficient system that allows control of mechanisms through electromyography (EMG) signals. The novelty about this instrument is focused on individual control of each motion vector mechanism through independent electronic circuits. Each of electronic circuit does positions a motor according to intensity of EMG signal captured. This action defines movement in one mechanical axis considered from an initial point, based on increased muscle tension. The final displacement of mechanism depends on individual’s ability to handle the levels of muscle tension at different body parts. This is the design of a robotic arm where each degree of freedom is handled with a specific microcontroller that responds to signals taken from a defined muscle. The biophysical interaction between the person and the final positioning of the robotic arm is used as feedback. Preliminary tests showed that the control operates with minimal positioning error margins. The constant use of system with the same operator showed that the person adapts and progressively improves at control technique.

Adaptation and visual salience

PubMed Central

McDermott, Kyle C.; Malkoc, Gokhan; Mulligan, Jeffrey B.; Webster, Michael A.

2011-01-01

We examined how the salience of color is affected by adaptation to different color distributions. Observers searched for a color target on a dense background of distractors varying along different directions in color space. Prior adaptation to the backgrounds enhanced search on the same background while adaptation to orthogonal background directions slowed detection. Advantages of adaptation were seen for both contrast adaptation (to different color axes) and chromatic adaptation (to different mean chromaticities). Control experiments, including analyses of eye movements during the search, suggest that these aftereffects are unlikely to reflect simple learning or changes in search strategies on familiar backgrounds, and instead result from how adaptation alters the relative salience of the target and background colors. Comparable effects were observed along different axes in the chromatic plane or for axes defined by different combinations of luminance and chromatic contrast, consistent with visual search and adaptation mediated by multiple color mechanisms. Similar effects also occurred for color distributions characteristic of natural environments with strongly selective color gamuts. Our results are consistent with the hypothesis that adaptation may play an important functional role in highlighting the salience of novel stimuli by discounting ambient properties of the visual environment. PMID:21106682

Modular experimental platform for science and applications

NASA Technical Reports Server (NTRS)

Hill, A. S.

1984-01-01

A modularized, standardized spacecraft bus, known as MESA, suitable for a variety of science and applications missions is discussed. The basic bus consists of a simple structural arrangement housing attitude control, telemetry/command, electrical power, propulsion and thermal control subsystems. The general arrangement allows extensive subsystem adaptation to mission needs. Kits provide for the addition of tape recorders, increased power levels and propulsion growth. Both 3-axis and spin stabilized flight proven attitude control subsystems are available. The MESA bus can be launched on Ariane, as a secondary payload for low cost, or on the STS with a PAM-D or other suitable upper stage. Multi-spacecraft launches are possible with either booster. Launch vehicle integration is simple and cost-effective. The low cost of the MESA bus is achieved by the extensive utilization of existing subsystem design concepts and equipment, and efficient program management and test integration techniques.

Simple robot suggests physical interlimb communication is essential for quadruped walking

PubMed Central

Owaki, Dai; Kano, Takeshi; Nagasawa, Ko; Tero, Atsushi; Ishiguro, Akio

2013-01-01

Quadrupeds have versatile gait patterns, depending on the locomotion speed, environmental conditions and animal species. These locomotor patterns are generated via the coordination between limbs and are partly controlled by an intraspinal neural network called the central pattern generator (CPG). Although this forms the basis for current control paradigms of interlimb coordination, the mechanism responsible for interlimb coordination remains elusive. By using a minimalistic approach, we have developed a simple-structured quadruped robot, with the help of which we propose an unconventional CPG model that consists of four decoupled oscillators with only local force feedback in each leg. Our robot exhibits good adaptability to changes in weight distribution and walking speed simply by responding to local feedback, and it can mimic the walking patterns of actual quadrupeds. Our proposed CPG-based control method suggests that physical interaction between legs during movements is essential for interlimb coordination in quadruped walking. PMID:23097501

Simple robot suggests physical interlimb communication is essential for quadruped walking.

PubMed

Owaki, Dai; Kano, Takeshi; Nagasawa, Ko; Tero, Atsushi; Ishiguro, Akio

2013-01-06

Quadrupeds have versatile gait patterns, depending on the locomotion speed, environmental conditions and animal species. These locomotor patterns are generated via the coordination between limbs and are partly controlled by an intraspinal neural network called the central pattern generator (CPG). Although this forms the basis for current control paradigms of interlimb coordination, the mechanism responsible for interlimb coordination remains elusive. By using a minimalistic approach, we have developed a simple-structured quadruped robot, with the help of which we propose an unconventional CPG model that consists of four decoupled oscillators with only local force feedback in each leg. Our robot exhibits good adaptability to changes in weight distribution and walking speed simply by responding to local feedback, and it can mimic the walking patterns of actual quadrupeds. Our proposed CPG-based control method suggests that physical interaction between legs during movements is essential for interlimb coordination in quadruped walking.

Left-Deviating Prism Adaptation in Left Neglect Patient: Reflexions on a Negative Result

PubMed Central

Luauté, Jacques; Jacquin-Courtois, Sophie; O'Shea, Jacinta; Christophe, Laure; Rode, Gilles; Boisson, Dominique; Rossetti, Yves

2012-01-01

Adaptation to right-deviating prisms is a promising intervention for the rehabilitation of patients with left spatial neglect. In order to test the lateral specificity of prism adaptation on left neglect, the present study evaluated the effect of left-deviating prism on straight-ahead pointing movements and on several classical neuropsychological tests in a group of five right brain-damaged patients with left spatial neglect. A group of healthy subjects was also included for comparison purposes. After a single session of exposing simple manual pointing to left-deviating prisms, contrary to healthy controls, none of the patients showed a reliable change of the straight-ahead pointing movement in the dark. No significant modification of attentional paper-and-pencil tasks was either observed immediately or 2 hours after prism adaptation. These results suggest that the therapeutic effect of prism adaptation on left spatial neglect relies on a specific lateralized mechanism. Evidence for a directional effect for prism adaptation both in terms of the side of the visuomanual adaptation and therefore possibly in terms of the side of brain affected by the stimulation is discussed. PMID:23050168

Ophiuroid robot that self-organizes periodic and non-periodic arm movements.

PubMed

Kano, Takeshi; Suzuki, Shota; Watanabe, Wataru; Ishiguro, Akio

2012-09-01

Autonomous decentralized control is a key concept for understanding the mechanism underlying adaptive and versatile locomotion of animals. Although the design of an autonomous decentralized control system that ensures adaptability by using coupled oscillators has been proposed previously, it cannot comprehensively reproduce the versatility of animal behaviour. To tackle this problem, we focus on using ophiuroids as a simple model that exhibits versatile locomotion including periodic and non-periodic arm movements. Our existing model for ophiuroid locomotion uses an active rotator model that describes both oscillatory and excitatory properties. In this communication, we develop an ophiuroid robot to confirm the validity of this proposed model in the real world. We show that the robot travels by successfully coordinating periodic and non-periodic arm movements in response to external stimuli.

Vibration Control of Deployable Astromast Boom: Preliminary Experiments

NASA Technical Reports Server (NTRS)

Swaminadham, M.; Hamilton, David A.

1994-01-01

This paper deals with the dynamic characterization of a flexible aerospace solar boom. The modeling issues and sine dwell vibration testing to determine natural frequencies and mode shapes of a continuous-longer on deployable ASTROMAST lattice boom are discussed. The details of the proof-of-concept piezoelectric active vibration experiments on a simple cantilever beam to control its vibrations are presented. The control parameters like voltage to the controller crystal and its location are investigated, to determine the effectiveness of control element to suppress selected resonant vibrations of the test specimen. Details of this experiment and plans for its future adaptation to the prototype structure are also discussed.

BK Channels Are Required for Multisensory Plasticity in the Oculomotor System.

PubMed

Nelson, Alexandra B; Faulstich, Michael; Moghadam, Setareh; Onori, Kimberly; Meredith, Andrea; du Lac, Sascha

2017-01-04

Neural circuits are endowed with several forms of intrinsic and synaptic plasticity that could contribute to adaptive changes in behavior, but circuit complexities have hindered linking specific cellular mechanisms with their behavioral consequences. Eye movements generated by simple brainstem circuits provide a means for relating cellular plasticity to behavioral gain control. Here we show that firing rate potentiation, a form of intrinsic plasticity mediated by reductions in BK-type calcium-activated potassium currents in spontaneously firing neurons, is engaged during optokinetic reflex compensation for inner ear dysfunction. Vestibular loss triggers transient increases in postsynaptic excitability, occlusion of firing rate potentiation, and reductions in BK currents in vestibular nucleus neurons. Concurrently, adaptive increases in visually evoked eye movements rapidly restore oculomotor function in wild-type mice but are profoundly impaired in BK channel-null mice. Activity-dependent regulation of intrinsic excitability may be a general mechanism for adaptive control of behavioral output in multisensory circuits. Copyright © 2017 Elsevier Inc. All rights reserved.

An auto-adaptive optimization approach for targeting nonpoint source pollution control practices.

PubMed

Chen, Lei; Wei, Guoyuan; Shen, Zhenyao

2015-10-21

To solve computationally intensive and technically complex control of nonpoint source pollution, the traditional genetic algorithm was modified into an auto-adaptive pattern, and a new framework was proposed by integrating this new algorithm with a watershed model and an economic module. Although conceptually simple and comprehensive, the proposed algorithm would search automatically for those Pareto-optimality solutions without a complex calibration of optimization parameters. The model was applied in a case study in a typical watershed of the Three Gorges Reservoir area, China. The results indicated that the evolutionary process of optimization was improved due to the incorporation of auto-adaptive parameters. In addition, the proposed algorithm outperformed the state-of-the-art existing algorithms in terms of convergence ability and computational efficiency. At the same cost level, solutions with greater pollutant reductions could be identified. From a scientific viewpoint, the proposed algorithm could be extended to other watersheds to provide cost-effective configurations of BMPs.

Network support for turn-taking in multimedia collaboration

NASA Astrophysics Data System (ADS)

Dommel, Hans-Peter; Garcia-Luna-Aceves, Jose J.

1997-01-01

The effectiveness of collaborative multimedia systems depends on the regulation of access to their shared resources, such as continuous media or instruments used concurrently by multiple parties. Existing applications use only simple protocols to mediate such resource contention. Their cooperative rules follow a strict agenda and are largely application-specific. The inherent problem of floor control lacks a systematic methodology. This paper presents a general model on floor control for correct, scalable, fine-grained and fair resource sharing that integrates user interaction with network conditions, and adaptation to various media types. The motion of turn-taking known from psycholinguistics in studies on discourse structure is adapted for this framework. Viewed as a computational analogy to speech communication, online collaboration revolves around dynamically allocated access permissions called floors. The control semantics of floors derives from concurrently control methodology. An explicit specification and verification of a novel distributed Floor Control Protocol are presented. Hosts assume sharing roles that allow for efficient dissemination of control information, agreeing on a floor holder which is granted mutually exclusive access to a resource. Performance analytic aspects of floor control protocols are also briefly discussed.

Case studies in configuration control for redundant robots

NASA Technical Reports Server (NTRS)

Seraji, H.; Lee, T.; Colbaugh, R.; Glass, K.

1989-01-01

A simple approach to configuration control of redundant robots is presented. The redundancy is utilized to control the robot configuration directly in task space, where the task will be performed. A number of task-related kinematic functions are defined and combined with the end-effector coordinates to form a set of configuration variables. An adaptive control scheme is then utilized to ensure that the configuration variables track the desired reference trajectories as closely as possible. Simulation results are presented to illustrate the control scheme. The scheme has also been implemented for direct online control of a PUMA industrial robot, and experimental results are presented. The simulation and experimental results validate the configuration control scheme for performing various realistic tasks.

Adaptive walking of a quadrupedal robot based on layered biological reflexes

NASA Astrophysics Data System (ADS)

Zhang, Xiuli; Mingcheng, E.; Zeng, Xiangyu; Zheng, Haojun

2012-07-01

A multiple-legged robot is traditionally controlled by using its dynamic model. But the dynamic-model-based approach fails to acquire satisfactory performances when the robot faces rough terrains and unknown environments. Referring animals' neural control mechanisms, a control model is built for a quadruped robot walking adaptively. The basic rhythmic motion of the robot is controlled by a well-designed rhythmic motion controller(RMC) comprising a central pattern generator(CPG) for hip joints and a rhythmic coupler (RC) for knee joints. CPG and RC have relationships of motion-mapping and rhythmic couple. Multiple sensory-motor models, abstracted from the neural reflexes of a cat, are employed. These reflex models are organized and thus interact with the CPG in three layers, to meet different requirements of complexity and response time to the tasks. On the basis of the RMC and layered biological reflexes, a quadruped robot is constructed, which can clear obstacles and walk uphill and downhill autonomously, and make a turn voluntarily in uncertain environments, interacting with the environment in a way similar to that of an animal. The paper provides a biologically inspired architecture, with which a robot can walk adaptively in uncertain environments in a simple and effective way, and achieve better performances.

Geometry Modeling and Adaptive Control of Air-Breathing Hypersonic Vehicles

NASA Astrophysics Data System (ADS)

Vick, Tyler Joseph

Air-breathing hypersonic vehicles have the potential to provide global reach and affordable access to space. Recent technological advancements have made scramjet-powered flight achievable, as evidenced by the successes of the X-43A and X-51A flight test programs over the last decade. Air-breathing hypersonic vehicles present unique modeling and control challenges in large part due to the fact that scramjet propulsion systems are highly integrated into the airframe, resulting in strongly coupled and often unstable dynamics. Additionally, the extreme flight conditions and inability to test fully integrated vehicle systems larger than X-51 before flight leads to inherent uncertainty in hypersonic flight. This thesis presents a means to design vehicle geometries, simulate vehicle dynamics, and develop and analyze control systems for hypersonic vehicles. First, a software tool for generating three-dimensional watertight vehicle surface meshes from simple design parameters is developed. These surface meshes are compatible with existing vehicle analysis tools, with which databases of aerodynamic and propulsive forces and moments can be constructed. A six-degree-of-freedom nonlinear dynamics simulation model which incorporates this data is presented. Inner-loop longitudinal and lateral control systems are designed and analyzed utilizing the simulation model. The first is an output feedback proportional-integral linear controller designed using linear quadratic regulator techniques. The second is a model reference adaptive controller (MRAC) which augments this baseline linear controller with an adaptive element. The performance and robustness of each controller are analyzed through simulated time responses to angle-of-attack and bank angle commands, while various uncertainties are introduced. The MRAC architecture enables the controller to adapt in a nonlinear fashion to deviations from the desired response, allowing for improved tracking performance, stability, and robustness.

Minimal-Approximation-Based Decentralized Backstepping Control of Interconnected Time-Delay Systems.

PubMed

Choi, Yun Ho; Yoo, Sung Jin

2016-12-01

A decentralized adaptive backstepping control design using minimal function approximators is proposed for nonlinear large-scale systems with unknown unmatched time-varying delayed interactions and unknown backlash-like hysteresis nonlinearities. Compared with existing decentralized backstepping methods, the contribution of this paper is to design a simple local control law for each subsystem, consisting of an actual control with one adaptive function approximator, without requiring the use of multiple function approximators and regardless of the order of each subsystem. The virtual controllers for each subsystem are used as intermediate signals for designing a local actual control at the last step. For each subsystem, a lumped unknown function including the unknown nonlinear terms and the hysteresis nonlinearities is derived at the last step and is estimated by one function approximator. Thus, the proposed approach only uses one function approximator to implement each local controller, while existing decentralized backstepping control methods require the number of function approximators equal to the order of each subsystem and a calculation of virtual controllers to implement each local actual controller. The stability of the total controlled closed-loop system is analyzed using the Lyapunov stability theorem.

Massively parallel algorithms for real-time wavefront control of a dense adaptive optics system

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

Fijany, A.; Milman, M.; Redding, D.

1994-12-31

In this paper massively parallel algorithms and architectures for real-time wavefront control of a dense adaptive optic system (SELENE) are presented. The authors have already shown that the computation of a near optimal control algorithm for SELENE can be reduced to the solution of a discrete Poisson equation on a regular domain. Although, this represents an optimal computation, due the large size of the system and the high sampling rate requirement, the implementation of this control algorithm poses a computationally challenging problem since it demands a sustained computational throughput of the order of 10 GFlops. They develop a novel algorithm,more » designated as Fast Invariant Imbedding algorithm, which offers a massive degree of parallelism with simple communication and synchronization requirements. Due to these features, this algorithm is significantly more efficient than other Fast Poisson Solvers for implementation on massively parallel architectures. The authors also discuss two massively parallel, algorithmically specialized, architectures for low-cost and optimal implementation of the Fast Invariant Imbedding algorithm.« less

Curating the Web: Building a Google Custom Search Engine for the Arts

ERIC Educational Resources Information Center

Hennesy, Cody; Bowman, John

2008-01-01

Google's first foray onto the web made search simple and results relevant. With its Co-op platform, Google has taken another step toward dramatically increasing the relevancy of search results, further adapting the World Wide Web to local needs. Google Custom Search Engine, a tool on the Co-op platform, puts one in control of his or her own search…

Simple adaptive sparse representation based classification schemes for EEG based brain-computer interface applications.

PubMed

Shin, Younghak; Lee, Seungchan; Ahn, Minkyu; Cho, Hohyun; Jun, Sung Chan; Lee, Heung-No

2015-11-01

One of the main problems related to electroencephalogram (EEG) based brain-computer interface (BCI) systems is the non-stationarity of the underlying EEG signals. This results in the deterioration of the classification performance during experimental sessions. Therefore, adaptive classification techniques are required for EEG based BCI applications. In this paper, we propose simple adaptive sparse representation based classification (SRC) schemes. Supervised and unsupervised dictionary update techniques for new test data and a dictionary modification method by using the incoherence measure of the training data are investigated. The proposed methods are very simple and additional computation for the re-training of the classifier is not needed. The proposed adaptive SRC schemes are evaluated using two BCI experimental datasets. The proposed methods are assessed by comparing classification results with the conventional SRC and other adaptive classification methods. On the basis of the results, we find that the proposed adaptive schemes show relatively improved classification accuracy as compared to conventional methods without requiring additional computation. Copyright © 2015 Elsevier Ltd. All rights reserved.

The adaptive nature of eye movements in linguistic tasks: how payoff and architecture shape speed-accuracy trade-offs.

PubMed

Lewis, Richard L; Shvartsman, Michael; Singh, Satinder

2013-07-01

We explore the idea that eye-movement strategies in reading are precisely adapted to the joint constraints of task structure, task payoff, and processing architecture. We present a model of saccadic control that separates a parametric control policy space from a parametric machine architecture, the latter based on a small set of assumptions derived from research on eye movements in reading (Engbert, Nuthmann, Richter, & Kliegl, 2005; Reichle, Warren, & McConnell, 2009). The eye-control model is embedded in a decision architecture (a machine and policy space) that is capable of performing a simple linguistic task integrating information across saccades. Model predictions are derived by jointly optimizing the control of eye movements and task decisions under payoffs that quantitatively express different desired speed-accuracy trade-offs. The model yields distinct eye-movement predictions for the same task under different payoffs, including single-fixation durations, frequency effects, accuracy effects, and list position effects, and their modulation by task payoff. The predictions are compared to-and found to accord with-eye-movement data obtained from human participants performing the same task under the same payoffs, but they are found not to accord as well when the assumptions concerning payoff optimization and processing architecture are varied. These results extend work on rational analysis of oculomotor control and adaptation of reading strategy (Bicknell & Levy, ; McConkie, Rayner, & Wilson, 1973; Norris, 2009; Wotschack, 2009) by providing evidence for adaptation at low levels of saccadic control that is shaped by quantitatively varying task demands and the dynamics of processing architecture. Copyright © 2013 Cognitive Science Society, Inc.

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

PubMed

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

2016-01-01

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

Neuroendocrine control of seasonal plasticity in the auditory and vocal systems of fish

PubMed Central

Forlano, Paul M.; Sisneros, Joseph A.; Rohmann, Kevin N.; Bass, Andrew H.

2014-01-01

Seasonal changes in reproductive-related vocal behavior are widespread among fishes. This review highlights recent studies of the vocal plainfin midshipman fish, Porichthys notatus, a neuroethological model system used for the past two decades to explore neural and endocrine mechanisms of vocal-acoustic social behaviors shared with tetrapods. Integrative approaches combining behavior, neurophysiology, neuropharmacology, neuroanatomy, and gene expression methodologies have taken advantage of simple, stereotyped and easily quantifiable behaviors controlled by discrete neural networks in this model system to enable discoveries such as the first demonstration of adaptive seasonal plasticity in the auditory periphery of a vertebrate as well as rapid steroid and neuropeptide effects on vocal physiology and behavior. This simple model system has now revealed cellular and molecular mechanisms underlying seasonal and steroid-driven auditory and vocal plasticity in the vertebrate brain. PMID:25168757

Application of gain scheduling to the control of batch bioreactors

NASA Technical Reports Server (NTRS)

Cardello, Ralph; San, Ka-Yiu

1987-01-01

The implementation of control algorithms to batch bioreactors is often complicated by the inherent variations in process dynamics during the course of fermentation. Such a wide operating range may render the performance of fixed gain PID controllers unsatisfactory. In this work, a detailed study on the control of batch fermentation is performed. Furthermore, a simple batch controller design is proposed which incorporates the concept of gain-scheduling, a subclass of adaptive control, with oxygen uptake rate as an auxiliary variable. The control of oxygen tension in the biorector is used as a vehicle to convey the proposed idea, analysis and results. Simulation experiments indicate significant improvement in controller performance can be achieved by the proposed approach even in the presence of measurement noise.

Characteristics of Behavior of Robots with Emotion Model

NASA Astrophysics Data System (ADS)

Sato, Shigehiko; Nozawa, Akio; Ide, Hideto

Cooperated multi robots system has much dominance in comparison with single robot system. It is able to adapt to various circumstances and has a flexibility for variation of tasks. However it has still problems to control each robot, though methods for control multi robots system have been studied. Recently, the robots have been coming into real scene. And emotion and sensitivity of the robots have been widely studied. In this study, human emotion model based on psychological interaction was adapt to multi robots system to achieve methods for organization of multi robots. The characteristics of behavior of multi robots system achieved through computer simulation were analyzed. As a result, very complexed and interesting behavior was emerged even though it has rather simple configuration. And it has flexiblity in various circumstances. Additional experiment with actual robots will be conducted based on the emotion model.

Biomimetic Materials by Freeze Casting

NASA Astrophysics Data System (ADS)

Porter, Michael M.; Mckittrick, Joanna; Meyers, Marc A.

2013-06-01

Natural materials, such as bone and abalone nacre, exhibit exceptional mechanical properties, a product of their intricate microstructural organization. Freeze casting is a relatively simple, inexpensive, and adaptable materials processing method to form porous ceramic scaffolds with controllable microstructural features. After infiltration of a second polymeric phase, hybrid ceramic-polymer composites can be fabricated that closely resemble the architecture and mechanical performance of natural bone and nacre. Inspired by the narwhal tusk, magnetic fields applied during freeze casting can be used to further control architectural alignment, resulting in freeze-cast materials with enhanced mechanical properties.

Tracking and Control of a Neutral Particle Beam Using Multiple Model Adaptive Meer Filter.

DTIC Science & Technology

1987-12-01

34 method incorporated by Zicker in 1983 [32]. Once the beam estimation problem had been solved, the problem of beam control was examined. Zicker conducted a...filter. Then, the methods applied by Meer, and later Zicker , to reduce the computational load of a simple Meer filter, will be presented. 2.5.1 Basic...number of possible methods to prune the hypothesis tree and chose the "Best Half Method" as the most viable (21). Zicker [323, applied the work of Weiss

IIR filtering based adaptive active vibration control methodology with online secondary path modeling using PZT actuators

NASA Astrophysics Data System (ADS)

Boz, Utku; Basdogan, Ipek

2015-12-01

Structural vibrations is a major cause for noise problems, discomfort and mechanical failures in aerospace, automotive and marine systems, which are mainly composed of plate-like structures. In order to reduce structural vibrations on these structures, active vibration control (AVC) is an effective approach. Adaptive filtering methodologies are preferred in AVC due to their ability to adjust themselves for varying dynamics of the structure during the operation. The filtered-X LMS (FXLMS) algorithm is a simple adaptive filtering algorithm widely implemented in active control applications. Proper implementation of FXLMS requires availability of a reference signal to mimic the disturbance and model of the dynamics between the control actuator and the error sensor, namely the secondary path. However, the controller output could interfere with the reference signal and the secondary path dynamics may change during the operation. This interference problem can be resolved by using an infinite impulse response (IIR) filter which considers feedback of the one or more previous control signals to the controller output and the changing secondary path dynamics can be updated using an online modeling technique. In this paper, IIR filtering based filtered-U LMS (FULMS) controller is combined with online secondary path modeling algorithm to suppress the vibrations of a plate-like structure. The results are validated through numerical and experimental studies. The results show that the FULMS with online secondary path modeling approach has more vibration rejection capabilities with higher convergence rate than the FXLMS counterpart.

Influence of Vibrotactile Feedback on Controlling Tilt Motion After Spaceflight

NASA Technical Reports Server (NTRS)

Wood, S. J.; Rupert, A. H.; Vanya, R. D.; Esteves, J. T.; Clement, G.

2011-01-01

We hypothesize that adaptive changes in how inertial cues from the vestibular system are integrated with other sensory information leads to perceptual disturbances and impaired manual control following transitions between gravity environments. The primary goals of this ongoing post-flight investigation are to quantify decrements in manual control of tilt motion following short-duration spaceflight and to evaluate vibrotactile feedback of tilt as a sensorimotor countermeasure. METHODS. Data is currently being collected on 9 astronaut subjects during 3 preflight sessions and during the first 8 days after Shuttle landings. Variable radius centrifugation (216 deg/s, <20 cm radius) in a darkened room is utilized to elicit otolith reflexes in the lateral plane without concordant canal or visual cues. A Tilt-Translation Sled (TTS) is capable of synchronizing pitch tilt with fore-aft translation to align the resultant gravitoinertial vector with the longitudinal body axis, thereby eliciting canal reflexes without concordant otolith or visual cues. A simple 4 tactor system was implemented to provide feedback when tilt position exceeded predetermined levels in either device. Closed-loop nulling tasks are performed during random tilt steps or sum-of-sines (TTS only) with and without vibrotactile feedback of chair position. RESULTS. On landing day the manual control performance without vibrotactile feedback was reduced by >30% based on the gain or the amount of tilt disturbance successfully nulled. Manual control performance tended to return to baseline levels within 1-2 days following landing. Root-mean-square position error and tilt velocity were significantly reduced with vibrotactile feedback. CONCLUSIONS. These preliminary results are consistent with our hypothesis that adaptive changes in vestibular processing corresponds to reduced manual control performance following G-transitions. A simple vibrotactile prosthesis improves the ability to null out tilt motion within a limited range of motion disturbances.

Distributed Control Architecture for Gas Turbine Engine. Chapter 4

NASA Technical Reports Server (NTRS)

Culley, Dennis; Garg, Sanjay

2009-01-01

The transformation of engine control systems from centralized to distributed architecture is both necessary and enabling for future aeropropulsion applications. The continued growth of adaptive control applications and the trend to smaller, light weight cores is a counter influence on the weight and volume of control system hardware. A distributed engine control system using high temperature electronics and open systems communications will reverse the growing trend of control system weight ratio to total engine weight and also be a major factor in decreasing overall cost of ownership for aeropropulsion systems. The implementation of distributed engine control is not without significant challenges. There are the needs for high temperature electronics, development of simple, robust communications, and power supply for the on-board electronics.

Adaptive piezoelectric sensoriactuators for active structural acoustic control

NASA Astrophysics Data System (ADS)

Vipperman, Jeffrey Stuart

1997-09-01

A new transducer technology with application to active control systems, modal analysis, and autonomous system health monitoring, is brought to fruition in this work. It has the advantages of being lightweight, potentially cost-effective, self-tuning, has negligible dynamics, and most importantly (from a robustness perspective), it provides a colocated sensor/actuator pair. The transducer consists of a piezoceramic element which serves as both an actuator and a sensor and will be referred to in this work as a sensoriactuator. Simple, adaptive signal processing in conjunction with a voltage controlled amplifier, reference capacitor, and a common-mode rejection circuit extract the mechanical response from the total response of the piezoelectric sensoriactuator for sensing. The digital portion of the adaptive piezoelectric sensoriactuator merely serves to tune the circuit, avoiding the potentially destabilizing effects of introducing a digital delay in the signal path, when used for feedback control applications. Adaptive compensation of the sensoriactuator is necessary since the signal to noise ratio is typically greater than 40 dB, making it prohibitive to tune the circuit manually. In addition, the constitutive properties of piezoceramics vary with time and environment, necessitating that the circuit be periodically re-tuned. The analog portion of the hardware is based upon op-amp circuits and an AD632 analog multiplier chip, which serves as both a voltage controlled amplifier (VCA) and a common mode rejection (CMR) circuit. A single coefficient least-mean square (LMS) adaptive filter continuously adjusts the gain of the VCA circuit as necessary. Nonideal behavior of piezoceramics is discussed along with methods to counter the consequential deterioration in circuit performance. A multiple input multiple output (MIMO) implementation of the adaptive piezoelectric sensoriactuator is developed using orthogonal white noise training signals for each sensoriactuator. Two piezostructures were used to demonstrate and verify the adaptive piezoelectric sensoriactuator, a cantilevered beam and a simply-supported plate. The experimental open- loop results compare well with theory. A preliminary closed-loop rate controller applied to the cantilevered beam demonstrates simultaneous control and adaptation of the piezoelectric sensoriactuator. Lastly, [/cal H]2 optimal feedback Active Structural Acoustic Control (ASAC) is demonstrated using the adaptive piezoelectric sensoriactuators and the simply- supported plate test bed. A cost function is formulated based upon control effort and predicted radiated acoustic power. Radiation filters are created to predict acoustic power based on the self and mutual radiation efficiencies of the plate modes to be controlled. Both static output feedback and state-feedback compensation as well as dynamic (Linear Quadratic Gaussian) compensation are investigated and compared analytically. The importance of choosing an appropriate spatial aperture for the piezoceramic transducer for static compensation is discussed. Finally, multivariable Active Vibration Control (AVC) and ASAC are implemented experimentally on a simply-supported plate test bed using an array of four Adaptive Piezoelectric Sensoriactuators as the control sensors and actuators. Unfavorable high-frequency response from the given piezoceramic transducers required that dynamic, Linear Quadratic Gaussian (LQG) compensation be used to achieve good control performance.

Orthonormal filters for identification in active control systems

NASA Astrophysics Data System (ADS)

Mayer, Dirk

2015-12-01

Many active noise and vibration control systems require models of the control paths. When the controlled system changes slightly over time, adaptive digital filters for the identification of the models are useful. This paper aims at the investigation of a special class of adaptive digital filters: orthonormal filter banks possess the robust and simple adaptation of the widely applied finite impulse response (FIR) filters, but at a lower model order, which is important when considering implementation on embedded systems. However, the filter banks require prior knowledge about the resonance frequencies and damping of the structure. This knowledge can be supposed to be of limited precision, since in many practical systems, uncertainties in the structural parameters exist. In this work, a procedure using a number of training systems to find the fixed parameters for the filter banks is applied. The effect of uncertainties in the prior knowledge on the model error is examined both with a basic example and in an experiment. Furthermore, the possibilities to compensate for the imprecise prior knowledge by a higher filter order are investigated. Also comparisons with FIR filters are implemented in order to assess the possible advantages of the orthonormal filter banks. Numerical and experimental investigations show that significantly lower computational effort can be reached by the filter banks under certain conditions.

ICPL: Intelligent Cooperative Planning and Learning for Multi-agent Systems

DTIC Science & Technology

2012-02-29

objective was to develop a new planning approach for teams!of multiple UAVs that tightly integrates learning and cooperative!control algorithms at... algorithms at multiple levels of the planning architecture. The research results enabled a team of mobile agents to learn to adapt and react to uncertainty in...expressive representation that incorporates feature conjunctions. Our algorithm is simple to implement, fast to execute, and can be combined with any

Should We Turn the Robots Loose?

DTIC Science & Technology

2010-05-02

interference. Potential sources of electromagnetic interference include everyday signals such as cell phones and Wifi , intentional friendly jamming of IED...might even attempt to hack or hijack our robotic warriors. Our current enemies have proven to be very adaptable and have developed simple counters to our...demonstrates the ease with which robot command and control might be hacked . It is reasonable to suspect that a future threat with a more robust

A Simple Method to Reduce both Lactic Acid and Ammonium Production in Industrial Animal Cell Culture

PubMed Central

Freund, Nathaniel W.; Croughan, Matthew S.

2018-01-01

Fed-batch animal cell culture is the most common method for commercial production of recombinant proteins. However, higher cell densities in these platforms are still limited due to factors such as excessive ammonium production, lactic acid production, nutrient limitation, and/or hyperosmotic stress related to nutrient feeds and base additions to control pH. To partly overcome these factors, we investigated a simple method to reduce both ammonium and lactic acid production—termed Lactate Supplementation and Adaptation (LSA) technology—through the use of CHO cells adapted to a lactate-supplemented medium. Using this simple method, we achieved a reduction of nearly 100% in lactic acid production with a simultaneous 50% reduction in ammonium production in batch shaker flasks cultures. In subsequent fed-batch bioreactor cultures, lactic acid production and base addition were both reduced eight-fold. Viable cell densities of 35 million cells per mL and integral viable cell days of 273 million cell-days per mL were achieved, both among the highest currently reported for a fed-batch animal cell culture. Investigating the benefits of LSA technology in animal cell culture is worthy of further consideration and may lead to process conditions more favorable for advanced industrial applications. PMID:29382079

A Simple Method to Reduce both Lactic Acid and Ammonium Production in Industrial Animal Cell Culture.

PubMed

Freund, Nathaniel W; Croughan, Matthew S

2018-01-28

Fed-batch animal cell culture is the most common method for commercial production of recombinant proteins. However, higher cell densities in these platforms are still limited due to factors such as excessive ammonium production, lactic acid production, nutrient limitation, and/or hyperosmotic stress related to nutrient feeds and base additions to control pH. To partly overcome these factors, we investigated a simple method to reduce both ammonium and lactic acid production-termed Lactate Supplementation and Adaptation (LSA) technology-through the use of CHO cells adapted to a lactate-supplemented medium. Using this simple method, we achieved a reduction of nearly 100% in lactic acid production with a simultaneous 50% reduction in ammonium production in batch shaker flasks cultures. In subsequent fed-batch bioreactor cultures, lactic acid production and base addition were both reduced eight-fold. Viable cell densities of 35 million cells per mL and integral viable cell days of 273 million cell-days per mL were achieved, both among the highest currently reported for a fed-batch animal cell culture. Investigating the benefits of LSA technology in animal cell culture is worthy of further consideration and may lead to process conditions more favorable for advanced industrial applications.

Lysosomal Adaptation: How the Lysosome Responds to External Cues

PubMed Central

Settembre, Carmine; Ballabio, Andrea

2014-01-01

Recent evidence indicates that the importance of the lysosome in cell metabolism and organism physiology goes far beyond the simple disposal of cellular garbage. This dynamic organelle is situated at the crossroad of the most important cellular pathways and is involved in sensing, signaling, and transcriptional mechanisms that respond to environmental cues, such as nutrients. Two main mediators of these lysosomal adaptation mechanisms are the mTORC1 kinase complex and the transcription factor EB (TFEB). These two factors are linked in a lysosome-to-nucleus signaling pathway that provides the lysosome with the ability to adapt to extracellular cues and control its own biogenesis. Modulation of lysosomal function by acting on TFEB has a profound impact on cellular clearance and energy metabolism and is a promising therapeutic target for a large variety of disease conditions. PMID:24799353

Active vibration suppression of self-excited structures using an adaptive LMS algorithm

NASA Astrophysics Data System (ADS)

Danda Roy, Indranil

The purpose of this investigation is to study the feasibility of an adaptive feedforward controller for active flutter suppression in representative linear wing models. The ability of the controller to suppress limit-cycle oscillations in wing models having root springs with freeplay nonlinearities has also been studied. For the purposes of numerical simulation, mathematical models of a rigid and a flexible wing structure have been developed. The rigid wing model is represented by a simple three-degree-of-freedom airfoil while the flexible wing is modelled by a multi-degree-of-freedom finite element representation with beam elements for bending and rod elements for torsion. Control action is provided by one or more flaps attached to the trailing edge and extending along the entire wing span for the rigid model and a fraction of the wing span for the flexible model. Both two-dimensional quasi-steady aerodynamics and time-domain unsteady aerodynamics have been used to generate the airforces in the wing models. An adaptive feedforward controller has been designed based on the filtered-X Least Mean Squares (LMS) algorithm. The control configuration for the rigid wing model is single-input single-output (SISO) while both SISO and multi-input multi-output (MIMO) configurations have been applied on the flexible wing model. The controller includes an on-line adaptive system identification scheme which provides the LMS controller with a reasonably accurate model of the plant. This enables the adaptive controller to track time-varying parameters in the plant and provide effective control. The wing models in closed-loop exhibit highly damped responses at airspeeds where the open-loop responses are destructive. Simulations with the rigid and the flexible wing models in a time-varying airstream show a 63% and 53% increase, respectively, over their corresponding open-loop flutter airspeeds. The ability of the LMS controller to suppress wing store flutter in the two models has also been investigated. With 10% measurement noise introduced in the flexible wing model, the controller demonstrated good robustness to the extraneous disturbances. In the examples studied it is found that adaptation is rapid enough to successfully control flutter at accelerations in the airstream of up to 15 ft/sec2 for the rigid wing model and 9 ft/sec2 for the flexible wing model.

Origami acoustics: using principles of folding structural acoustics for simple and large focusing of sound energy

NASA Astrophysics Data System (ADS)

Harne, Ryan L.; Lynd, Danielle T.

2016-08-01

Fixed in spatial distribution, arrays of planar, electromechanical acoustic transducers cannot adapt their wave energy focusing abilities unless each transducer is externally controlled, creating challenges for the implementation and portability of such beamforming systems. Recently, planar, origami-based structural tessellations are found to facilitate great versatility in system function and properties through kinematic folding. In this research we bridge the physics of acoustics and origami-based design to discover that the simple topological reconfigurations of a Miura-ori-based acoustic array yield many orders of magnitude worth of reversible change in wave energy focusing: a potential for acoustic field morphing easily obtained through deployable, tessellated architectures. Our experimental and theoretical studies directly translate the roles of folding the tessellated array to the adaptations in spectral and spatial wave propagation sensitivities for far field energy transmission. It is shown that kinematic folding rules and flat-foldable tessellated arrays collectively provide novel solutions to the long-standing challenges of conventional, electronically-steered acoustic beamformers. While our examples consider sound radiation from the foldable array in air, linear acoustic reciprocity dictates that the findings may inspire new innovations for acoustic receivers, e.g. adaptive sound absorbers and microphone arrays, as well as concepts that include water-borne waves.

An Adaptive Intelligent Integrated Lighting Control Approach for High-Performance Office Buildings

NASA Astrophysics Data System (ADS)

Karizi, Nasim

An acute and crucial societal problem is the energy consumed in existing commercial buildings. There are 1.5 million commercial buildings in the U.S. with only about 3% being built each year. Hence, existing buildings need to be properly operated and maintained for several decades. Application of integrated centralized control systems in buildings could lead to more than 50% energy savings. This research work demonstrates an innovative adaptive integrated lighting control approach which could achieve significant energy savings and increase indoor comfort in high performance office buildings. In the first phase of the study, a predictive algorithm was developed and validated through experiments in an actual test room. The objective was to regulate daylight on a specified work plane by controlling the blind slat angles. Furthermore, a sensor-based integrated adaptive lighting controller was designed in Simulink which included an innovative sensor optimization approach based on genetic algorithm to minimize the number of sensors and efficiently place them in the office. The controller was designed based on simple integral controllers. The objective of developed control algorithm was to improve the illuminance situation in the office through controlling the daylight and electrical lighting. To evaluate the performance of the system, the controller was applied on experimental office model in Lee et al.'s research study in 1998. The result of the developed control approach indicate a significantly improvement in lighting situation and 1-23% and 50-78% monthly electrical energy savings in the office model, compared to two static strategies when the blinds were left open and closed during the whole year respectively.

Feasibility of Decentralized Linear-Quadratic-Gaussian Control of Autonomous Distributed Spacecraft

NASA Technical Reports Server (NTRS)

Carpenter, J. Russell

1999-01-01

A distributed satellite formation, modeled as an arbitrary number of fully connected nodes in a network, could be controlled using a decentralized controller framework that distributes operations in parallel over the network. For such problems, a solution that minimizes data transmission requirements, in the context of linear-quadratic-Gaussian (LQG) control theory, was given by Speyer. This approach is advantageous because it is non-hierarchical, detected failures gracefully degrade system performance, fewer local computations are required than for a centralized controller, and it is optimal with respect to the standard LQG cost function. Disadvantages of the approach are the need for a fully connected communications network, the total operations performed over all the nodes are greater than for a centralized controller, and the approach is formulated for linear time-invariant systems. To investigate the feasibility of the decentralized approach to satellite formation flying, a simple centralized LQG design for a spacecraft orbit control problem is adapted to the decentralized framework. The simple design uses a fixed reference trajectory (an equatorial, Keplerian, circular orbit), and by appropriate choice of coordinates and measurements is formulated as a linear time-invariant system.

Piezoelectric self-sensing actuator for active vibration control of motorized spindle based on adaptive signal separation

NASA Astrophysics Data System (ADS)

He, Ye; Chen, Xiaoan; Liu, Zhi; Qin, Yi

2018-06-01

The motorized spindle is the core component of CNC machine tools, and the vibration of it reduces the machining precision and service life of the machine tools. Owing to the fast response, large output force, and displacement of the piezoelectric stack, it is often used as the actuator in the active vibration control of the spindle. A piezoelectric self-sensing actuator (SSA) can reduce the cost of the active vibration control system and simplify the structure by eliminating the use of a sensor, because a SSA can have both actuating and sensing functions at the same time. The signal separation method of a SSA based on a bridge circuit is widely applied because of its simple principle and easy implementation. However, it is difficult to maintain dynamic balance of the circuit. Prior research has used adaptive algorithm to balance of the bridge circuit on the flexible beam dynamically, but those algorithms need no correlation between sensing and control voltage, which limit the applications of SSA in the vibration control of the rotor-bearing system. Here, the electromechanical coupling model of the piezoelectric stack is established, followed by establishment of the dynamic model of the spindle system. Next, a new adaptive signal separation method based on the bridge circuit is proposed, which can separate relative small sensing voltage from related mixed voltage adaptively. The experimental results show that when the self-sensing signal obtained from the proposed method is used as a displacement signal, the vibration of the motorized spindle can be suppressed effectively through a linear quadratic Gaussian (LQG) algorithm.

Exploring the neural bases of goal-directed motor behavior using fully resolved simulations

NASA Astrophysics Data System (ADS)

Patel, Namu; Patankar, Neelesh A.

2016-11-01

Undulatory swimming is an ideal problem for understanding the neural architecture for motor control and movement; a vertebrate's robust morphology and adaptive locomotive gait allows the swimmer to navigate complex environments. Simple mathematical models for neurally activated muscle contractions have been incorporated into a swimmer immersed in fluid. Muscle contractions produce bending moments which determine the swimming kinematics. The neurobiology of goal-directed locomotion is explored using fast, efficient, and fully resolved constraint-based immersed boundary simulations. Hierarchical control systems tune the strength, frequency, and duty cycle for neural activation waves to produce multifarious swimming gaits or synergies. Simulation results are used to investigate why the basal ganglia and other control systems may command a particular neural pattern to accomplish a task. Using simple neural models, the effect of proprioceptive feedback on refining the body motion is demonstrated. Lastly, the ability for a learned swimmer to successfully navigate a complex environment is tested. This work is supported by NSF CBET 1066575 and NSF CMMI 0941674.

Learning algorithms for human-machine interfaces.

PubMed

Danziger, Zachary; Fishbach, Alon; Mussa-Ivaldi, Ferdinando A

2009-05-01

The goal of this study is to create and examine machine learning algorithms that adapt in a controlled and cadenced way to foster a harmonious learning environment between the user and the controlled device. To evaluate these algorithms, we have developed a simple experimental framework. Subjects wear an instrumented data glove that records finger motions. The high-dimensional glove signals remotely control the joint angles of a simulated planar two-link arm on a computer screen, which is used to acquire targets. A machine learning algorithm was applied to adaptively change the transformation between finger motion and the simulated robot arm. This algorithm was either LMS gradient descent or the Moore-Penrose (MP) pseudoinverse transformation. Both algorithms modified the glove-to-joint angle map so as to reduce the endpoint errors measured in past performance. The MP group performed worse than the control group (subjects not exposed to any machine learning), while the LMS group outperformed the control subjects. However, the LMS subjects failed to achieve better generalization than the control subjects, and after extensive training converged to the same level of performance as the control subjects. These results highlight the limitations of coadaptive learning using only endpoint error reduction.

Learning Algorithms for Human–Machine Interfaces

PubMed Central

Fishbach, Alon; Mussa-Ivaldi, Ferdinando A.

2012-01-01

The goal of this study is to create and examine machine learning algorithms that adapt in a controlled and cadenced way to foster a harmonious learning environment between the user and the controlled device. To evaluate these algorithms, we have developed a simple experimental framework. Subjects wear an instrumented data glove that records finger motions. The high-dimensional glove signals remotely control the joint angles of a simulated planar two-link arm on a computer screen, which is used to acquire targets. A machine learning algorithm was applied to adaptively change the transformation between finger motion and the simulated robot arm. This algorithm was either LMS gradient descent or the Moore–Penrose (MP) pseudoinverse transformation. Both algorithms modified the glove-to-joint angle map so as to reduce the endpoint errors measured in past performance. The MP group performed worse than the control group (subjects not exposed to any machine learning), while the LMS group outperformed the control subjects. However, the LMS subjects failed to achieve better generalization than the control subjects, and after extensive training converged to the same level of performance as the control subjects. These results highlight the limitations of coadaptive learning using only endpoint error reduction. PMID:19203886

Adaptive fuzzy-neural-network control for maglev transportation system.

PubMed

Wai, Rong-Jong; Lee, Jeng-Dao

2008-01-01

A magnetic-levitation (maglev) transportation system including levitation and propulsion control is a subject of considerable scientific interest because of highly nonlinear and unstable behaviors. In this paper, the dynamic model of a maglev transportation system including levitated electromagnets and a propulsive linear induction motor (LIM) based on the concepts of mechanical geometry and motion dynamics is developed first. Then, a model-based sliding-mode control (SMC) strategy is introduced. In order to alleviate chattering phenomena caused by the inappropriate selection of uncertainty bound, a simple bound estimation algorithm is embedded in the SMC strategy to form an adaptive sliding-mode control (ASMC) scheme. However, this estimation algorithm is always a positive value so that tracking errors introduced by any uncertainty will cause the estimated bound increase even to infinity with time. Therefore, it further designs an adaptive fuzzy-neural-network control (AFNNC) scheme by imitating the SMC strategy for the maglev transportation system. In the model-free AFNNC, online learning algorithms are designed to cope with the problem of chattering phenomena caused by the sign action in SMC design, and to ensure the stability of the controlled system without the requirement of auxiliary compensated controllers despite the existence of uncertainties. The outputs of the AFNNC scheme can be directly supplied to the electromagnets and LIM without complicated control transformations for relaxing strict constrains in conventional model-based control methodologies. The effectiveness of the proposed control schemes for the maglev transportation system is verified by numerical simulations, and the superiority of the AFNNC scheme is indicated in comparison with the SMC and ASMC strategies.

Is Cycloxygenase-2 (COX-2) a Major Component of the Mechanism Responsible for Microvascular Remodeling in the Brain?

NASA Astrophysics Data System (ADS)

LaManna, Joseph C.; Sun, Xiaoyan; Ivy, Andre D.; Ward, Nicole L.

We have used a relatively simple model of hypoxia that triggers adaptive structural changes in the cerebral microvasculature to study the process of physiological angiogenesis. This model can be used to obtain mechanistic data for the processes that probably underlie the dynamic structural changes that occur in learning and the control of oxygen availability to the neurovascular unit. These mechanisms are broadly involved in a wide variety of pathophysiological processes. This is the vascular component to CNS functional plasticity, supporting learning and adaptation. The angiogenic process may wane with age, contributing to the decreasing ability to survive metabolic stress and the diminution of neuronal plasticity.

Adaptation of postural responses during different standing perturbation conditions in individuals with incomplete spinal cord injury.

PubMed

Thigpen, Mary T; Cauraugh, James; Creel, Gwen; Day, Kristin; Flynn, Sheryl; Fritz, Stacy; Frost, Shirley; Respess, Robert; Gardner-Smith, Portia; Brack, Mia; Behrman, Andrea

2009-01-01

Incomplete spinal cord injury (ISCI) frequently disrupts afferent and efferent neural pathways underlying co-requisite voluntary and involuntary muscle activation required for functional standing and walking. To understand involuntary postural control mechanisms necessary for standing, we compared eight individuals with ISCI to eight controls with no impairment. The aim of this study was to investigate anticipatory and reactive balance responses in individuals with ISCI. The ability to adapt to changes in balance conditions was assessed by monitoring automatic postural responses (APRs) during a series of expected and unexpected changes in perturbation direction (backward translation versus toes-up rotation). Both groups were able to modulate appropriately within one or two trials following an unexpected change in condition. Onset times of anterior tibialis and medial gastrocnemius (MG) were significantly slower in the ISCI group during expected and unexpected conditions. These findings demonstrate that persons with mild to moderate lower extremity sensorimotor deficits are able to generate and adapt APRs to a rapid and unexpected contextual change during a simple standing balance task.

Human ecology and behaviour in malaria control in tropical Africa

PubMed Central

MacCormack, C. P.

1984-01-01

Since about 250 BC, human modification of African environments has created increasingly favourable breeding conditions for Anopheles gambiae. Subsequent adaptations to the increased malaria risk are briefly described and reference is made to Macdonald's mathematical model for the disease. Since values for the variables in that model are high in tropical Africa, there is little possibility that simple, inexpensive, self-help primary health care initiatives can control malaria in the region. However, in combination with more substantial public health initiatives, simple primary health care activities might be done by communities to (1) prevent mosquitos from feeding on people, (2) prevent or reduce mosquito breeding, (3) destroy adult mosquitos, and (4) eliminate malaria parasites from human hosts. Lay methods of protection and self-care are examined and some topics for further research are indicated. Culturally appropriate health education methods are also suggested. PMID:6335685

A design of LED adaptive dimming lighting system based on incremental PID controller

NASA Astrophysics Data System (ADS)

He, Xiangyan; Xiao, Zexin; He, Shaojia

2010-11-01

As a new generation energy-saving lighting source, LED is applied widely in various technology and industry fields. The requirement of its adaptive lighting technology is more and more rigorous, especially in the automatic on-line detecting system. In this paper, a closed loop feedback LED adaptive dimming lighting system based on incremental PID controller is designed, which consists of MEGA16 chip as a Micro-controller Unit (MCU), the ambient light sensor BH1750 chip with Inter-Integrated Circuit (I2C), and constant-current driving circuit. A given value of light intensity required for the on-line detecting environment need to be saved to the register of MCU. The optical intensity, detected by BH1750 chip in real time, is converted to digital signal by AD converter of the BH1750 chip, and then transmitted to MEGA16 chip through I2C serial bus. Since the variation law of light intensity in the on-line detecting environment is usually not easy to be established, incremental Proportional-Integral-Differential (PID) algorithm is applied in this system. Control variable obtained by the incremental PID determines duty cycle of Pulse-Width Modulation (PWM). Consequently, LED's forward current is adjusted by PWM, and the luminous intensity of the detection environment is stabilized by self-adaptation. The coefficients of incremental PID are obtained respectively after experiments. Compared with the traditional LED dimming system, it has advantages of anti-interference, simple construction, fast response, and high stability by the use of incremental PID algorithm and BH1750 chip with I2C serial bus. Therefore, it is suitable for the adaptive on-line detecting applications.

A Numerical Study of Mesh Adaptivity in Multiphase Flows with Non-Newtonian Fluids

NASA Astrophysics Data System (ADS)

Percival, James; Pavlidis, Dimitrios; Xie, Zhihua; Alberini, Federico; Simmons, Mark; Pain, Christopher; Matar, Omar

2014-11-01

We present an investigation into the computational efficiency benefits of dynamic mesh adaptivity in the numerical simulation of transient multiphase fluid flow problems involving Non-Newtonian fluids. Such fluids appear in a range of industrial applications, from printing inks to toothpastes and introduce new challenges for mesh adaptivity due to the additional ``memory'' of viscoelastic fluids. Nevertheless, the multiscale nature of these flows implies huge potential benefits for a successful implementation. The study is performed using the open source package Fluidity, which couples an unstructured mesh control volume finite element solver for the multiphase Navier-Stokes equations to a dynamic anisotropic mesh adaptivity algorithm, based on estimated solution interpolation error criteria, and conservative mesh-to-mesh interpolation routine. The code is applied to problems involving rheologies ranging from simple Newtonian to shear-thinning to viscoelastic materials and verified against experimental data for various industrial and microfluidic flows. This work was undertaken as part of the EPSRC MEMPHIS programme grant EP/K003976/1.

Evolutionary Dynamics and Diversity in Microbial Populations

NASA Astrophysics Data System (ADS)

Thompson, Joel; Fisher, Daniel

2013-03-01

Diseases such as flu and cancer adapt at an astonishing rate. In large part, viruses and cancers are so difficult to prevent because they are continually evolving. Controlling such ``evolutionary diseases'' requires a better understanding of the underlying evolutionary dynamics. It is conventionally assumed that adaptive mutations are rare and therefore will occur and sweep through the population in succession. Recent experiments using modern sequencing technologies have illuminated the many ways in which real population sequence data does not conform to the predictions of conventional theory. We consider a very simple model of asexual evolution and perform simulations in a range of parameters thought to be relevant for microbes and cancer. Simulation results reveal complex evolutionary dynamics typified by competition between lineages with different sets of adaptive mutations. This dynamical process leads to a distribution of mutant gene frequencies different than expected under the conventional assumption that adaptive mutations are rare. Simulated gene frequencies share several conspicuous features with data collected from laboratory-evolved yeast and the worldwide population of influenza.

Outer synchronization of complex networks with internal delay and coupling delay via aperiodically intermittent pinning control

NASA Astrophysics Data System (ADS)

Zhang, Chuan; Wang, Xingyuan; Wang, Chunpeng; Xia, Zhiqiu

This paper concerns the outer synchronization problem between two complex delayed networks via the method of aperiodically intermittent pinning control. Apart from previous works, internal delay and coupling delay are both involved in this model, and the designed intermittent controllers can be aperiodic. The main work in this paper can be summarized as follows: First, two cases of aperiodically intermittent control with constant gain and adaptive gain are implemented, respectively. The intermittent control and pinning control are combined to reduce consumptions further. Then, based on the Lyapunov stability theory, synchronization protocols are given by strict derivation. Especially, the designed controllers are indeed simple and valid in application of theory to practice. Finally, numerical examples put the proposed control methods to the test.

Iterative inversion of deformation vector fields with feedback control.

PubMed

Dubey, Abhishek; Iliopoulos, Alexandros-Stavros; Sun, Xiaobai; Yin, Fang-Fang; Ren, Lei

2018-05-14

Often, the inverse deformation vector field (DVF) is needed together with the corresponding forward DVF in four-dimesional (4D) reconstruction and dose calculation, adaptive radiation therapy, and simultaneous deformable registration. This study aims at improving both accuracy and efficiency of iterative algorithms for DVF inversion, and advancing our understanding of divergence and latency conditions. We introduce a framework of fixed-point iteration algorithms with active feedback control for DVF inversion. Based on rigorous convergence analysis, we design control mechanisms for modulating the inverse consistency (IC) residual of the current iterate, to be used as feedback into the next iterate. The control is designed adaptively to the input DVF with the objective to enlarge the convergence area and expedite convergence. Three particular settings of feedback control are introduced: constant value over the domain throughout the iteration; alternating values between iteration steps; and spatially variant values. We also introduce three spectral measures of the displacement Jacobian for characterizing a DVF. These measures reveal the critical role of what we term the nontranslational displacement component (NTDC) of the DVF. We carry out inversion experiments with an analytical DVF pair, and with DVFs associated with thoracic CT images of six patients at end of expiration and end of inspiration. The NTDC-adaptive iterations are shown to attain a larger convergence region at a faster pace compared to previous nonadaptive DVF inversion iteration algorithms. By our numerical experiments, alternating control yields smaller IC residuals and inversion errors than constant control. Spatially variant control renders smaller residuals and errors by at least an order of magnitude, compared to other schemes, in no more than 10 steps. Inversion results also show remarkable quantitative agreement with analysis-based predictions. Our analysis captures properties of DVF data associated with clinical CT images, and provides new understanding of iterative DVF inversion algorithms with a simple residual feedback control. Adaptive control is necessary and highly effective in the presence of nonsmall NTDCs. The adaptive iterations or the spectral measures, or both, may potentially be incorporated into deformable image registration methods. © 2018 American Association of Physicists in Medicine.

Pattern Adaptation and Normalization Reweighting.

PubMed

Westrick, Zachary M; Heeger, David J; Landy, Michael S

2016-09-21

Adaptation to an oriented stimulus changes both the gain and preferred orientation of neural responses in V1. Neurons tuned near the adapted orientation are suppressed, and their preferred orientations shift away from the adapter. We propose a model in which weights of divisive normalization are dynamically adjusted to homeostatically maintain response products between pairs of neurons. We demonstrate that this adjustment can be performed by a very simple learning rule. Simulations of this model closely match existing data from visual adaptation experiments. We consider several alternative models, including variants based on homeostatic maintenance of response correlations or covariance, as well as feedforward gain-control models with multiple layers, and we demonstrate that homeostatic maintenance of response products provides the best account of the physiological data. Adaptation is a phenomenon throughout the nervous system in which neural tuning properties change in response to changes in environmental statistics. We developed a model of adaptation that combines normalization (in which a neuron's gain is reduced by the summed responses of its neighbors) and Hebbian learning (in which synaptic strength, in this case divisive normalization, is increased by correlated firing). The model is shown to account for several properties of adaptation in primary visual cortex in response to changes in the statistics of contour orientation. Copyright © 2016 the authors 0270-6474/16/369805-12$15.00/0.

Disturbance observer-based adaptive sliding mode hybrid projective synchronisation of identical fractional-order financial systems

NASA Astrophysics Data System (ADS)

Khan, Ayub; Tyagi, Arti

2018-05-01

In this paper, we have studied the hybrid projective synchronisation for incommensurate, integer and commensurate fractional-order financial systems with unknown disturbance. To tackle the problem of unknown bounded disturbance, fractional-order disturbance observer is designed to approximate the unknown disturbance. Further, we have introduced simple sliding mode surface and designed adaptive sliding mode controllers incorporating with the designed fractional-order disturbance observer to achieve a bounded hybrid projective synchronisation between two identical fractional-order financial model with different initial conditions. It is shown that the slave system with disturbance can be synchronised with the projection of the master system generated through state transformation. Simulation results are presented to ensure the validity and effectiveness of the proposed sliding mode control scheme in the presence of external bounded unknown disturbance. Also, synchronisation error for commensurate, integer and incommensurate fractional-order financial systems is studied in numerical simulation.

Helping Clients Feel Welcome: Principles of Adapting Treatment Cross-Culturally

PubMed Central

Venner, Kamilla L.; Feldstein, Sarah W.; Tafoya, Nadine

2010-01-01

Empirically supported interventions (ESIs) for treating substance problems have seldom been made available to or tested with minority populations. Dissemination of ESIs may help reduce the disproportionate health disparities that exist. However, ESIs may require some adaptation to be effective with minority populations. One ESI, motivational interviewing (MI), appears to be particularly culturally congruent for Native American communities. We worked with Native American community members and treatment providers to adapt MI for Native communities. Reflecting their feedback and suggested amendments, we created and disseminated an intervention manual to improve the accessibility of MI within Native communities. To help guide practitioners working with Native American clients, we used focus-group methodology to explore communication patterns for negotiating change. Native American treatment providers expressed comfort with and enthusiasm for integrating MI into their current practices. Recommendations for adaptations ranged from simple to complex changes. The unique value and challenges of collaboration between academic and community members are presented from each author's perspective. This culturally adapted MI manual will likely improve the accessibility and adoption of MI practices as well as encourage controlled, clinical trials with Native communities. PMID:20671813

On the Application of Different Event-Based Sampling Strategies to the Control of a Simple Industrial Process

PubMed Central

Sánchez, José; Guarnes, Miguel Ángel; Dormido, Sebastián

2009-01-01

This paper is an experimental study of the utilization of different event-based strategies for the automatic control of a simple but very representative industrial process: the level control of a tank. In an event-based control approach it is the triggering of a specific event, and not the time, that instructs the sensor to send the current state of the process to the controller, and the controller to compute a new control action and send it to the actuator. In the document, five control strategies based on different event-based sampling techniques are described, compared, and contrasted with a classical time-based control approach and a hybrid one. The common denominator in the time, the hybrid, and the event-based control approaches is the controller: a proportional-integral algorithm with adaptations depending on the selected control approach. To compare and contrast each one of the hybrid and the pure event-based control algorithms with the time-based counterpart, the two tasks that a control strategy must achieve (set-point following and disturbance rejection) are independently analyzed. The experimental study provides new proof concerning the ability of event-based control strategies to minimize the data exchange among the control agents (sensors, controllers, actuators) when an error-free control of the process is not a hard requirement. PMID:22399975

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.

Translation, Cultural Adaptation and Validation of the Simple Shoulder Test to Spanish

PubMed Central

Arcuri, Francisco; Barclay, Fernando; Nacul, Ivan

2015-01-01

Background: The validation of widely used scales facilitates the comparison across international patient samples. Objective: The objective was to translate, culturally adapt and validate the Simple Shoulder Test into Argentinian Spanish. Methods: The Simple Shoulder Test was translated from English into Argentinian Spanish by two independent translators, translated back into English and evaluated for accuracy by an expert committee to correct the possible discrepancies. It was then administered to 50 patients with different shoulder conditions.Psycometric properties were analyzed including internal consistency, measured with Cronbach´s Alpha, test-retest reliability at 15 days with the interclass correlation coefficient. Results: The internal consistency, validation, was an Alpha of 0,808, evaluated as good. The test-retest reliability index as measured by intra-class correlation coefficient (ICC) was 0.835, evaluated as excellent. Conclusion: The Simple Shoulder Test translation and it´s cultural adaptation to Argentinian-Spanish demonstrated adequate internal reliability and validity, ultimately allowing for its use in the comparison with international patient samples.

High density flux of Co nanoparticles produced by a simple gas aggregation apparatus.

PubMed

Landi, G T; Romero, S A; Santos, A D

2010-03-01

Gas aggregation is a well known method used to produce clusters of different materials with good size control, reduced dispersion, and precise stoichiometry. The cost of these systems is relatively high and they are generally dedicated apparatuses. Furthermore, the usual sample production speed of these systems is not as fast as physical vapor deposition devices posing a problem when thick samples are needed. In this paper we describe the development of a multipurpose gas aggregation system constructed as an adaptation to a magnetron sputtering system. The cost of this adaptation is negligible and its installation and operation are both remarkably simple. The gas flow for flux in the range of 60-130 SCCM (SCCM denotes cubic centimeter per minute at STP) is able to completely collimate all the sputtered material, producing spherical nanoparticles. Co nanoparticles were produced and characterized using electron microscopy techniques and Rutherford back-scattering analysis. The size of the particles is around 10 nm with around 75 nm/min of deposition rate at the center of a Gaussian profile nanoparticle beam.

Controls for space structures

NASA Astrophysics Data System (ADS)

Balas, Mark

1991-11-01

Assembly and operation of large space structures (LSS) in orbit will require robot-assisted docking and berthing of partially-assembled structures. These operations require new solutions to the problems of controls. This is true because of large transient and persistent disturbances, controller-structure interaction with unmodeled modes, poorly known structure parameters, slow actuator/sensor dynamical behavior, and excitation of nonlinear structure vibrations during control and assembly. For on-orbit assembly, controllers must start with finite element models of LSS and adapt on line to the best operating points, without compromising stability. This is not easy to do, since there are often unmodeled dynamic interactions between the controller and the structure. The indirect adaptive controllers are based on parameter estimation. Due to the large number of modes in LSS, this approach leads to very high-order control schemes with consequent poor stability and performance. In contrast, direct model reference adaptive controllers operate to force the LSS to track the desirable behavior of a chosen model. These schemes produce simple control algorithms which are easy to implement on line. One problem with their use for LSS has been that the model must be the same dimension as the LSS - i.e., quite large. A control theory based on the command generator tracker (CGT) ideas of Sobel, Mabins, Kaufman and Wen, Balas to obtain very low-order models based on adaptive algorithms was developed. Closed-loop stability for both finite element models and distributed parameter models of LSS was proved. In addition, successful numerical simulations on several LSS databases were obtained. An adaptive controller based on our theory was also implemented on a flexible robotic manipulator at Martin Marietta Astronautics. Computation schemes for controller-structure interaction with unmodeled modes, the residual mode filters or RMF, were developed. The RMF theory was modified to compensate slow actuator/sensor dynamics. These new ideas are being applied to LSS simulations to demonstrate the ease with which one can incorporate slow actuator/sensor effects into our design. It was also shown that residual mode filter compensation can be modified for small nonlinearities to produce exponentially stable closed-loop control.

Controls for space structures

NASA Technical Reports Server (NTRS)

Balas, Mark

1991-01-01

Assembly and operation of large space structures (LSS) in orbit will require robot-assisted docking and berthing of partially-assembled structures. These operations require new solutions to the problems of controls. This is true because of large transient and persistent disturbances, controller-structure interaction with unmodeled modes, poorly known structure parameters, slow actuator/sensor dynamical behavior, and excitation of nonlinear structure vibrations during control and assembly. For on-orbit assembly, controllers must start with finite element models of LSS and adapt on line to the best operating points, without compromising stability. This is not easy to do, since there are often unmodeled dynamic interactions between the controller and the structure. The indirect adaptive controllers are based on parameter estimation. Due to the large number of modes in LSS, this approach leads to very high-order control schemes with consequent poor stability and performance. In contrast, direct model reference adaptive controllers operate to force the LSS to track the desirable behavior of a chosen model. These schemes produce simple control algorithms which are easy to implement on line. One problem with their use for LSS has been that the model must be the same dimension as the LSS - i.e., quite large. A control theory based on the command generator tracker (CGT) ideas of Sobel, Mabins, Kaufman and Wen, Balas to obtain very low-order models based on adaptive algorithms was developed. Closed-loop stability for both finite element models and distributed parameter models of LSS was proved. In addition, successful numerical simulations on several LSS databases were obtained. An adaptive controller based on our theory was also implemented on a flexible robotic manipulator at Martin Marietta Astronautics. Computation schemes for controller-structure interaction with unmodeled modes, the residual mode filters or RMF, were developed. The RMF theory was modified to compensate slow actuator/sensor dynamics. These new ideas are being applied to LSS simulations to demonstrate the ease with which one can incorporate slow actuator/sensor effects into our design. It was also shown that residual mode filter compensation can be modified for small nonlinearities to produce exponentially stable closed-loop control. A theory for disturbance accommodating controllers based on reduced order models of structures was developed, and stability results for these controllers in closed-loop with large-scale finite element models of structures were obtained.

Computational alternatives to obtain time optimal jet engine control. M.S. Thesis

NASA Technical Reports Server (NTRS)

Basso, R. J.; Leake, R. J.

1976-01-01

Two computational methods to determine an open loop time optimal control sequence for a simple single spool turbojet engine are described by a set of nonlinear differential equations. Both methods are modifications of widely accepted algorithms which can solve fixed time unconstrained optimal control problems with a free right end. Constrained problems to be considered have fixed right ends and free time. Dynamic programming is defined on a standard problem and it yields a successive approximation solution to the time optimal problem of interest. A feedback control law is obtained and it is then used to determine the corresponding open loop control sequence. The Fletcher-Reeves conjugate gradient method has been selected for adaptation to solve a nonlinear optimal control problem with state variable and control constraints.

Improved Convergence and Robustness of USM3D Solutions on Mixed-Element Grids

NASA Technical Reports Server (NTRS)

Pandya, Mohagna J.; Diskin, Boris; Thomas, James L.; Frink, Neal T.

2016-01-01

Several improvements to the mixed-element USM3D discretization and defect-correction schemes have been made. A new methodology for nonlinear iterations, called the Hierarchical Adaptive Nonlinear Iteration Method, has been developed and implemented. The Hierarchical Adaptive Nonlinear Iteration Method provides two additional hierarchies around a simple and approximate preconditioner of USM3D. The hierarchies are a matrix-free linear solver for the exact linearization of Reynolds-averaged Navier-Stokes equations and a nonlinear control of the solution update. Two variants of the Hierarchical Adaptive Nonlinear Iteration Method are assessed on four benchmark cases, namely, a zero-pressure-gradient flat plate, a bump-in-channel configuration, the NACA 0012 airfoil, and a NASA Common Research Model configuration. The new methodology provides a convergence acceleration factor of 1.4 to 13 over the preconditioner-alone method representing the baseline solver technology.

Improved Convergence and Robustness of USM3D Solutions on Mixed-Element Grids

NASA Technical Reports Server (NTRS)

Pandya, Mohagna J.; Diskin, Boris; Thomas, James L.; Frinks, Neal T.

2016-01-01

Several improvements to the mixed-elementUSM3Ddiscretization and defect-correction schemes have been made. A new methodology for nonlinear iterations, called the Hierarchical Adaptive Nonlinear Iteration Method, has been developed and implemented. The Hierarchical Adaptive Nonlinear Iteration Method provides two additional hierarchies around a simple and approximate preconditioner of USM3D. The hierarchies are a matrix-free linear solver for the exact linearization of Reynolds-averaged Navier-Stokes equations and a nonlinear control of the solution update. Two variants of the Hierarchical Adaptive Nonlinear Iteration Method are assessed on four benchmark cases, namely, a zero-pressure-gradient flat plate, a bump-in-channel configuration, the NACA 0012 airfoil, and a NASA Common Research Model configuration. The new methodology provides a convergence acceleration factor of 1.4 to 13 over the preconditioner-alone method representing the baseline solver technology.

Experimental Evolution as a High-Throughput Screen for Genetic Adaptations.

PubMed

Cooper, Vaughn S

2018-06-27

Experimental evolution is a method in which populations of organisms, often microbes, are founded by one or more ancestors of known genotype and then propagated under controlled conditions to study the evolutionary process. These evolving populations are influenced by all population genetic forces, including selection, mutation, drift, and recombination, and the relative contributions of these forces may be seen as mysterious. Here, I describe why the outcomes of experimental evolution should be viewed with greater certainty because the force of selection typically dominates. Importantly, any mutant rising rapidly to high frequency in large populations must have acquired adaptive traits in the selective environment. Sequencing the genomes of these mutants can identify genes or pathways that contribute to an adaptation. I review the logic and simple mathematics why this evolve-and-resequence approach is a powerful way to find the mutations or mutation combinations that best increase fitness in any new environment. Copyright © 2018 Cooper.

Self-entrainment to optimal gaits of an underactuated biomimetic swimming robot using adaptive frequency oscillators.

PubMed

Alessi, Alessio; Accoto, Dino; Guglielmelli, Eugenio

2015-08-01

Underactuated compliant swimming robots are characterized by a simple mechanical structure, capable to mimic the body undulation of many fish species. One of the design issue for these robots is the generation and control of best performing swimming gaits. In this paper we propose a new controller, based on AFO oscillators, to address this issue. After analyzing the effects of the motion on the robot natural frequencies, we show that the closed loop system is able to generate self-sustained oscillations, at a characteristic frequency, while maximizing swimming velocity.

Ground-based adaptive optics coronagraphic performance under closed-loop predictive control

NASA Astrophysics Data System (ADS)

Males, Jared R.; Guyon, Olivier

2018-01-01

The discovery of the exoplanet Proxima b highlights the potential for the coming generation of giant segmented mirror telescopes (GSMTs) to characterize terrestrial-potentially habitable-planets orbiting nearby stars with direct imaging. This will require continued development and implementation of optimized adaptive optics systems feeding coronagraphs on the GSMTs. Such development should proceed with an understanding of the fundamental limits imposed by atmospheric turbulence. Here, we seek to address this question with a semianalytic framework for calculating the postcoronagraph contrast in a closed-loop adaptive optics system. We do this starting with the temporal power spectra of the Fourier basis calculated assuming frozen flow turbulence, and then apply closed-loop transfer functions. We include the benefits of a simple predictive controller, which we show could provide over a factor of 1400 gain in raw point spread function contrast at 1 λ/D on bright stars, and more than a factor of 30 gain on an I=7.5 mag star such as Proxima. More sophisticated predictive control can be expected to improve this even further. Assuming a photon-noise limited observing technique such as high-dispersion coronagraphy, these gains in raw contrast will decrease integration times by the same large factors. Predictive control of atmospheric turbulence should therefore be seen as one of the key technologies that will enable ground-based telescopes to characterize terrestrial planets.

Adaptive AFM scan speed control for high aspect ratio fast structure tracking

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

Ahmad, Ahmad; Schuh, Andreas; Rangelow, Ivo W.

2014-10-15

Improved imaging rates in Atomic Force Microscopes (AFM) are of high interest for disciplines such as life sciences and failure analysis of semiconductor wafers, where the sample topology shows high aspect ratios. Also, fast imaging is necessary to cover a large surface under investigation in reasonable times. Since AFMs are composed of mechanical components, they are associated with comparably low resonance frequencies that undermine the effort to increase the acquisition rates. In particular, high and steep structures are difficult to follow, which causes the cantilever to temporarily loose contact to or crash into the sample. Here, we report on amore » novel approach that does not affect the scanner dynamics, but adapts the lateral scanning speed of the scanner. The controller monitors the control error signal and, only when necessary, decreases the scan speed to allow the z-piezo more time to react to changes in the sample's topography. In this case, the overall imaging rate can be significantly increased, because a general scan speed trade-off decision is not needed and smooth areas are scanned fast. In contrast to methods trying to increase the z-piezo bandwidth, our method is a comparably simple approach that can be easily adapted to standard systems.« less

Performance benefits of adaptive, multimicrophone, interference-canceling systems in everyday environments

NASA Astrophysics Data System (ADS)

Desloge, Joseph G.; Zimmer, Martin J.; Zurek, Patrick M.

2004-05-01

Adaptive multimicrophone systems are currently used for a variety of noise-cancellation applications (such as hearing aids) to preserve signals arriving from a particular (target) direction while canceling other (jammer) signals in the environment. Although the performance of these systems is known to degrade with increasing reverberation, there are few measurements of adaptive performance in everyday reverberant environments. In this study, adaptive performance was compared to that of a simple, nonadaptive cardioid microphone to determine a measure of adaptive benefit. Both systems used recordings (at an Fs of 22050 Hz) from the same two omnidirectional microphones, which were separated by 1 cm. Four classes of environment were considered: outdoors, household, parking garage, and public establishment. Sources were either environmental noises (e.g., household appliances, restaurant noise) or a controlled noise source. In all situations, no target was present (i.e., all signals were jammers) to obtain maximal jammer cancellation. Adaptive processing was based upon the Griffiths-Jim generalized sidelobe canceller using filter lengths up to 400 points. Average intelligibility-weighted adaptive benefit levels at a source distance of 1 m were, at most, 1.5 dB for public establishments, 2 dB for household rooms and the parking garage, and 3 dB outdoors. [Work supported by NIOSH.

Adaptive behaviors in multi-agent source localization using passive sensing.

PubMed

Shaukat, Mansoor; Chitre, Mandar

2016-12-01

In this paper, the role of adaptive group cohesion in a cooperative multi-agent source localization problem is investigated. A distributed source localization algorithm is presented for a homogeneous team of simple agents. An agent uses a single sensor to sense the gradient and two sensors to sense its neighbors. The algorithm is a set of individualistic and social behaviors where the individualistic behavior is as simple as an agent keeping its previous heading and is not self-sufficient in localizing the source. Source localization is achieved as an emergent property through agent's adaptive interactions with the neighbors and the environment. Given a single agent is incapable of localizing the source, maintaining team connectivity at all times is crucial. Two simple temporal sampling behaviors, intensity-based-adaptation and connectivity-based-adaptation, ensure an efficient localization strategy with minimal agent breakaways. The agent behaviors are simultaneously optimized using a two phase evolutionary optimization process. The optimized behaviors are estimated with analytical models and the resulting collective behavior is validated against the agent's sensor and actuator noise, strong multi-path interference due to environment variability, initialization distance sensitivity and loss of source signal.

A model for simulating adaptive, dynamic flows on networks: Application to petroleum infrastructure

DOE PAGES

Corbet, Thomas F.; Beyeler, Walt; Wilson, Michael L.; ...

2017-10-03

Simulation models can greatly improve decisions meant to control the consequences of disruptions to critical infrastructures. We describe a dynamic flow model on networks purposed to inform analyses by those concerned about consequences of disruptions to infrastructures and to help policy makers design robust mitigations. We conceptualize the adaptive responses of infrastructure networks to perturbations as market transactions and business decisions of operators. We approximate commodity flows in these networks by a diffusion equation, with nonlinearities introduced to model capacity limits. To illustrate the behavior and scalability of the model, we show its application first on two simple networks, thenmore » on petroleum infrastructure in the United States, where we analyze the effects of a hypothesized earthquake.« less

A model for simulating adaptive, dynamic flows on networks: Application to petroleum infrastructure

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

Corbet, Thomas F.; Beyeler, Walt; Wilson, Michael L.

Simulation models can greatly improve decisions meant to control the consequences of disruptions to critical infrastructures. We describe a dynamic flow model on networks purposed to inform analyses by those concerned about consequences of disruptions to infrastructures and to help policy makers design robust mitigations. We conceptualize the adaptive responses of infrastructure networks to perturbations as market transactions and business decisions of operators. We approximate commodity flows in these networks by a diffusion equation, with nonlinearities introduced to model capacity limits. To illustrate the behavior and scalability of the model, we show its application first on two simple networks, thenmore » on petroleum infrastructure in the United States, where we analyze the effects of a hypothesized earthquake.« less

Beyond adaptive-critic creative learning for intelligent mobile robots

NASA Astrophysics Data System (ADS)

Liao, Xiaoqun; Cao, Ming; Hall, Ernest L.

2001-10-01

Intelligent industrial and mobile robots may be considered proven technology in structured environments. Teach programming and supervised learning methods permit solutions to a variety of applications. However, we believe that to extend the operation of these machines to more unstructured environments requires a new learning method. Both unsupervised learning and reinforcement learning are potential candidates for these new tasks. The adaptive critic method has been shown to provide useful approximations or even optimal control policies to non-linear systems. The purpose of this paper is to explore the use of new learning methods that goes beyond the adaptive critic method for unstructured environments. The adaptive critic is a form of reinforcement learning. A critic element provides only high level grading corrections to a cognition module that controls the action module. In the proposed system the critic's grades are modeled and forecasted, so that an anticipated set of sub-grades are available to the cognition model. The forecasting grades are interpolated and are available on the time scale needed by the action model. The success of the system is highly dependent on the accuracy of the forecasted grades and adaptability of the action module. Examples from the guidance of a mobile robot are provided to illustrate the method for simple line following and for the more complex navigation and control in an unstructured environment. The theory presented that is beyond the adaptive critic may be called creative theory. Creative theory is a form of learning that models the highest level of human learning - imagination. The application of the creative theory appears to not only be to mobile robots but also to many other forms of human endeavor such as educational learning and business forecasting. Reinforcement learning such as the adaptive critic may be applied to known problems to aid in the discovery of their solutions. The significance of creative theory is that it permits the discovery of the unknown problems, ones that are not yet recognized but may be critical to survival or success.

Adapting to the 30-degree visual perspective by emulating the angled laparoscope: a simple and low-cost solution for basic surgical training.

PubMed

Daniel, Lorias Espinoza; Tapia, Fernando Montes; Arturo, Minor Martínez; Ricardo, Ordorica Flores

2014-12-01

The ability to handle and adapt to the visual perspectives generated by angled laparoscopes is crucial for skilled laparoscopic surgery. However, the control of the visual work space depends on the ability of the operator of the camera, who is often not the most experienced member of the surgical team. Here, we present a simple, low-cost option for surgical training that challenges the learner with static and dynamic visual perspectives at 30 degrees using a system that emulates the angled laparoscope. A system was developed using a low-cost camera and readily available materials to emulate the angled laparoscope. Nine participants undertook 3 tasks to test spatial adaptation to the static and dynamic visual perspectives at 30 degrees. Completing each task to a predefined satisfactory level ensured precision of execution of the tasks. Associated metrics (time and error rate) were recorded, and the performance of participants were determined. A total of 450 repetitions were performed by 9 residents at various stages of training. All the tasks were performed with a visual perspective of 30 degrees using the system. Junior residents were more proficient than senior residents. This system is a viable and low-cost alternative for developing the basic psychomotor skills necessary for the handling and adaptation to visual perspectives of 30 degrees, without depending on a laparoscopic tower, in junior residents. More advanced skills may then be acquired by other means, such as in the operating theater or through clinical experience.

The importance of training strategy adaptation: a learner-oriented approach for improving older adults' memory and transfer.

PubMed

Bottiroli, Sara; Cavallini, Elena; Dunlosky, John; Vecchi, Tomaso; Hertzog, Christopher

2013-09-01

We investigated the benefits of strategy-adaptation training for promoting transfer effects. This learner-oriented approach--which directly encourages the learner to generalize strategic behavior to new tasks--helps older adults appraise new tasks and adapt trained strategies to them. In Experiment 1, older adults in a strategy-adaptation training group used 2 strategies (imagery and sentence generation) while practicing 2 tasks (list and associative learning); they were then instructed on how to do a simple task analysis to help them adapt the trained strategies for 2 different unpracticed tasks (place learning and text learning) that were discussed during training. Two additional criterion tasks (name-face associative learning and grocery-list learning) were never mentioned during training. Two other groups were included: A strategy training group (who received strategy training and transfer instructions but not strategy-adaptation training) and a waiting-list control group. Both training procedures enhanced older adults' performance on the trained tasks and those tasks that were discussed during training, but transfer was greatest after strategy-adaptation training. Experiment 2 found that strategy-adaptation training conducted via a manual that older adults used at home also promoted transfer. These findings demonstrate the importance of adopting a learner-oriented approach to promote transfer of strategy training. PsycINFO Database Record (c) 2013 APA, all rights reserved.

Validation of the Simple Shoulder Test in a Portuguese-Brazilian population. Is the latent variable structure and validation of the Simple Shoulder Test Stable across cultures?

PubMed

Neto, Jose Osni Bruggemann; Gesser, Rafael Lehmkuhl; Steglich, Valdir; Bonilauri Ferreira, Ana Paula; Gandhi, Mihir; Vissoci, João Ricardo Nickenig; Pietrobon, Ricardo

2013-01-01

The validation of widely used scales facilitates the comparison across international patient samples. The objective of this study was to translate, culturally adapt and validate the Simple Shoulder Test into Brazilian Portuguese. Also we test the stability of factor analysis across different cultures. The objective of this study was to translate, culturally adapt and validate the Simple Shoulder Test into Brazilian Portuguese. Also we test the stability of factor analysis across different cultures. The Simple Shoulder Test was translated from English into Brazilian Portuguese, translated back into English, and evaluated for accuracy by an expert committee. It was then administered to 100 patients with shoulder conditions. Psychometric properties were analyzed including factor analysis, internal reliability, test-retest reliability at seven days, and construct validity in relation to the Short Form 36 health survey (SF-36). Factor analysis demonstrated a three factor solution. Cronbach's alpha was 0.82. Test-retest reliability index as measured by intra-class correlation coefficient (ICC) was 0.84. Associations were observed in the hypothesized direction with all subscales of SF-36 questionnaire. The Simple Shoulder Test translation and cultural adaptation to Brazilian-Portuguese demonstrated adequate factor structure, internal reliability, and validity, ultimately allowing for its use in the comparison with international patient samples.

Validation of the Simple Shoulder Test in a Portuguese-Brazilian Population. Is the Latent Variable Structure and Validation of the Simple Shoulder Test Stable across Cultures?

PubMed Central

Neto, Jose Osni Bruggemann; Gesser, Rafael Lehmkuhl; Steglich, Valdir; Bonilauri Ferreira, Ana Paula; Gandhi, Mihir; Vissoci, João Ricardo Nickenig; Pietrobon, Ricardo

2013-01-01

Background The validation of widely used scales facilitates the comparison across international patient samples. The objective of this study was to translate, culturally adapt and validate the Simple Shoulder Test into Brazilian Portuguese. Also we test the stability of factor analysis across different cultures. Objective The objective of this study was to translate, culturally adapt and validate the Simple Shoulder Test into Brazilian Portuguese. Also we test the stability of factor analysis across different cultures. Methods The Simple Shoulder Test was translated from English into Brazilian Portuguese, translated back into English, and evaluated for accuracy by an expert committee. It was then administered to 100 patients with shoulder conditions. Psychometric properties were analyzed including factor analysis, internal reliability, test-retest reliability at seven days, and construct validity in relation to the Short Form 36 health survey (SF-36). Results Factor analysis demonstrated a three factor solution. Cronbach’s alpha was 0.82. Test-retest reliability index as measured by intra-class correlation coefficient (ICC) was 0.84. Associations were observed in the hypothesized direction with all subscales of SF-36 questionnaire. Conclusion The Simple Shoulder Test translation and cultural adaptation to Brazilian-Portuguese demonstrated adequate factor structure, internal reliability, and validity, ultimately allowing for its use in the comparison with international patient samples. PMID:23675436

Online automatic tuning and control for fed-batch cultivation

PubMed Central

van Straten, Gerrit; van der Pol, Leo A.; van Boxtel, Anton J. B.

2007-01-01

Performance of controllers applied in biotechnological production is often below expectation. Online automatic tuning has the capability to improve control performance by adjusting control parameters. This work presents automatic tuning approaches for model reference specific growth rate control during fed-batch cultivation. The approaches are direct methods that use the error between observed specific growth rate and its set point; systematic perturbations of the cultivation are not necessary. Two automatic tuning methods proved to be efficient, in which the adaptation rate is based on a combination of the error, squared error and integral error. These methods are relatively simple and robust against disturbances, parameter uncertainties, and initialization errors. Application of the specific growth rate controller yields a stable system. The controller and automatic tuning methods are qualified by simulations and laboratory experiments with Bordetella pertussis. PMID:18157554

Probabilistic co-adaptive brain-computer interfacing

NASA Astrophysics Data System (ADS)

Bryan, Matthew J.; Martin, Stefan A.; Cheung, Willy; Rao, Rajesh P. N.

2013-12-01

Objective. Brain-computer interfaces (BCIs) are confronted with two fundamental challenges: (a) the uncertainty associated with decoding noisy brain signals, and (b) the need for co-adaptation between the brain and the interface so as to cooperatively achieve a common goal in a task. We seek to mitigate these challenges. Approach. We introduce a new approach to brain-computer interfacing based on partially observable Markov decision processes (POMDPs). POMDPs provide a principled approach to handling uncertainty and achieving co-adaptation in the following manner: (1) Bayesian inference is used to compute posterior probability distributions (‘beliefs’) over brain and environment state, and (2) actions are selected based on entire belief distributions in order to maximize total expected reward; by employing methods from reinforcement learning, the POMDP’s reward function can be updated over time to allow for co-adaptive behaviour. Main results. We illustrate our approach using a simple non-invasive BCI which optimizes the speed-accuracy trade-off for individual subjects based on the signal-to-noise characteristics of their brain signals. We additionally demonstrate that the POMDP BCI can automatically detect changes in the user’s control strategy and can co-adaptively switch control strategies on-the-fly to maximize expected reward. Significance. Our results suggest that the framework of POMDPs offers a promising approach for designing BCIs that can handle uncertainty in neural signals and co-adapt with the user on an ongoing basis. The fact that the POMDP BCI maintains a probability distribution over the user’s brain state allows a much more powerful form of decision making than traditional BCI approaches, which have typically been based on the output of classifiers or regression techniques. Furthermore, the co-adaptation of the system allows the BCI to make online improvements to its behaviour, adjusting itself automatically to the user’s changing circumstances.

Modification of saccadic gain by reinforcement

PubMed Central

Paeye, Céline; Wallman, Josh

2011-01-01

Control of saccadic gain is often viewed as a simple compensatory process in which gain is adjusted over many trials by the postsaccadic retinal error, thereby maintaining saccadic accuracy. Here, we propose that gain might also be changed by a reinforcement process not requiring a visual error. To test this hypothesis, we used experimental paradigms in which retinal error was removed by extinguishing the target at the start of each saccade and either an auditory tone or the vision of the target on the fovea was provided as reinforcement after those saccades that met an amplitude criterion. These reinforcement procedures caused a progressive change in saccade amplitude in nearly all subjects, although the rate of adaptation differed greatly among subjects. When we reversed the contingencies and reinforced those saccades landing closer to the original target location, saccade gain changed back toward normal gain in most subjects. When subjects had saccades adapted first by reinforcement and a week later by conventional intrasaccadic step adaptation, both paradigms yielded similar degrees of gain changes and similar transfer to new amplitudes and to new starting positions of the target step as well as comparable rates of recovery. We interpret these changes in saccadic gain in the absence of postsaccadic retinal error as showing that saccade adaptation is not controlled by a single error signal. More generally, our findings suggest that normal saccade adaptation might involve general learning mechanisms rather than only specialized mechanisms for motor calibration. PMID:21525366

How the Dynamics of a Supramolecular Polymer Determines Its Dynamic Adaptivity and Stimuli-Responsiveness: Structure-Dynamics-Property Relationships From Coarse-Grained Simulations.

PubMed

Torchi, Andrea; Bochicchio, Davide; Pavan, Giovanni M

2018-04-12

The rational design of supramolecular polymers that can adapt or respond in time to specific stimuli in a controlled way is interesting for many applications, but this requires understanding the molecular factors that make the material faster or slower in responding to the stimulus. To this end, it is necessary to study the dynamic adaptive properties at submolecular resolution, which is difficult at an experimental level. Here we show coarse-grained molecular dynamics simulations (<5 Å resolution) demonstrating how the dynamic adaptivity and stimuli responsiveness of a supramolecular polymer is controlled by the intrinsic dynamics of the assembly, which is in turn determined by the structure of the monomers. As a representative case, we focus on a water-soluble 1,3,5-benzenetricarboxamide (BTA) supramolecular polymer incorporating (charged) receptor monomers, experimentally seen to undergo dynamic clustering following the superselective binding to a multivalent recruiter. Our simulations show that the dynamic reorganization of the supramolecular structure proceeds via monomer diffusion on the dynamic fiber surface (exchange within the fiber). Rationally changing the structure of the monomers to make the fiber surface more or less dynamic allows tuning the rate of response to the stimulus and of supramolecular reconfiguration. Simple in silico experiments draw a structure-dynamics-property relationship revealing the key factors underpinning the dynamic adaptivity and stimuli-responsiveness of these supramolecular polymers. We come out with clear evidence that to master the bioinspired properties of these fibers, it is necessary to control their intrinsic dynamics, while the high-resolution of our molecular models permits us to show how.

Mathematical toy model inspired by the problem of the adaptive origins of the sexual orientation continuum

NASA Astrophysics Data System (ADS)

Skinner, Brian

2016-09-01

Same-sex sexual behaviour is ubiquitous in the animal kingdom, but its adaptive origins remain a prominent puzzle. Here, I suggest the possibility that same-sex sexual behaviour arises as a consequence of the competition between an evolutionary drive for a wide diversity in traits, which improves the adaptability of a population, and a drive for sexual dichotomization of traits, which promotes opposite-sex attraction and increases the rate of reproduction. This trade-off is explored via a simple mathematical `toy model'. The model exhibits a number of interesting features and suggests a simple mathematical form for describing the sexual orientation continuum.

Mathematical toy model inspired by the problem of the adaptive origins of the sexual orientation continuum.

PubMed

Skinner, Brian

2016-09-01

Same-sex sexual behaviour is ubiquitous in the animal kingdom, but its adaptive origins remain a prominent puzzle. Here, I suggest the possibility that same-sex sexual behaviour arises as a consequence of the competition between an evolutionary drive for a wide diversity in traits, which improves the adaptability of a population, and a drive for sexual dichotomization of traits, which promotes opposite-sex attraction and increases the rate of reproduction. This trade-off is explored via a simple mathematical 'toy model'. The model exhibits a number of interesting features and suggests a simple mathematical form for describing the sexual orientation continuum.

A calcium-channel homologue required for adaptation to dopamine and serotonin in Caenorhabditis elegans.

PubMed

Schafer, W R; Kenyon, C J

1995-05-04

Processing and storage of information by the nervous system requires the ability to modulate the response of excitable cells to neurotransmitter. A simple process of this type, known as adaptation or desensitization, occurs when prolonged stimulation triggers processes that attenuate the response to neurotransmitter. Here we report that the Caenorhabditis elegans gene unc-2 is required for adaptation to two neurotransmitters, dopamine and serotonin. A loss-of-function mutation in unc-2 resulted in failure to adapt either to paralysis by dopamine or to stimulation of egg laying by serotonin. In addition, unc-2 mutants displayed behaviours similar to those induced by serotonin treatment. We found that unc-2 encodes a homologue of a voltage-sensitive calcium-channel alpha-1 subunit. Expression of unc-2 occurs in two types of neurons implicated in the control of egg laying, a behaviour regulated by serotonin. Unc-2 appears to be required in modulatory neurons to downregulate the response of the egg-laying muscles to serotonin. We propose that adaptation to serotonin occurs through activation of an Unc-2-dependent calcium influx, which modulates the postsynaptic response to serotonin, perhaps by inhibiting the release of a potentiating neuropeptide.

A Simple Algebraic Grid Adaptation Scheme with Applications to Two- and Three-dimensional Flow Problems

NASA Technical Reports Server (NTRS)

Hsu, Andrew T.; Lytle, John K.

1989-01-01

An algebraic adaptive grid scheme based on the concept of arc equidistribution is presented. The scheme locally adjusts the grid density based on gradients of selected flow variables from either finite difference or finite volume calculations. A user-prescribed grid stretching can be specified such that control of the grid spacing can be maintained in areas of known flowfield behavior. For example, the grid can be clustered near a wall for boundary layer resolution and made coarse near the outer boundary of an external flow. A grid smoothing technique is incorporated into the adaptive grid routine, which is found to be more robust and efficient than the weight function filtering technique employed by other researchers. Since the present algebraic scheme requires no iteration or solution of differential equations, the computer time needed for grid adaptation is trivial, making the scheme useful for three-dimensional flow problems. Applications to two- and three-dimensional flow problems show that a considerable improvement in flowfield resolution can be achieved by using the proposed adaptive grid scheme. Although the scheme was developed with steady flow in mind, it is a good candidate for unsteady flow computations because of its efficiency.

Demodulation of messages received with low signal to noise ratio

NASA Astrophysics Data System (ADS)

Marguinaud, A.; Quignon, T.; Romann, B.

The implementation of this all-digital demodulator is derived from maximum likelihood considerations applied to an analytical representation of the received signal. Traditional adapted filters and phase lock loops are replaced by minimum variance estimators and hypothesis tests. These statistical tests become very simple when working on phase signal. These methods, combined with rigorous control data representation allow significant computation savings as compared to conventional realizations. Nominal operation has been verified down to energetic signal over noise of -3 dB upon a QPSK demodulator.

Development of an Adaptive Kalman Target Tracking Filter and Predictor for Fire Control Applications

DTIC Science & Technology

1977-03-01

future work in lite area of prefiltering. the author believcs that an even greater amount of data compression can be achieced by using simple data...TT~ KII~ OT’ WHE~ -TCAPNS1 7 TCKt4 ATQIx - lP.TKKI C F(N) - rTE-1jIl-rIC CO-OCING Vrf ’-Or - 1.FUT(K-1* C P(494E) - ERROP C0VT,’-C~ "ATTX - I’JPU1t-z/K

Adaptive neural output-feedback control for nonstrict-feedback time-delay fractional-order systems with output constraints and actuator nonlinearities.

PubMed

Zouari, Farouk; Ibeas, Asier; Boulkroune, Abdesselem; Cao, Jinde; Mehdi Arefi, Mohammad

2018-06-01

This study addresses the issue of the adaptive output tracking control for a category of uncertain nonstrict-feedback delayed incommensurate fractional-order systems in the presence of nonaffine structures, unmeasured pseudo-states, unknown control directions, unknown actuator nonlinearities and output constraints. Firstly, the mean value theorem and the Gaussian error function are introduced to eliminate the difficulties that arise from the nonaffine structures and the unknown actuator nonlinearities, respectively. Secondly, the immeasurable tracking error variables are suitably estimated by constructing a fractional-order linear observer. Thirdly, the neural network, the Razumikhin Lemma, the variable separation approach, and the smooth Nussbaum-type function are used to deal with the uncertain nonlinear dynamics, the unknown time-varying delays, the nonstrict feedback and the unknown control directions, respectively. Fourthly, asymmetric barrier Lyapunov functions are employed to overcome the violation of the output constraints and to tune online the parameters of the adaptive neural controller. Through rigorous analysis, it is proved that the boundedness of all variables in the closed-loop system and the semi global asymptotic tracking are ensured without transgression of the constraints. The principal contributions of this study can be summarized as follows: (1) based on Caputo's definitions and new lemmas, methods concerning the controllability, observability and stability analysis of integer-order systems are extended to fractional-order ones, (2) the output tracking objective for a relatively large class of uncertain systems is achieved with a simple controller and less tuning parameters. Finally, computer-simulation studies from the robotic field are given to demonstrate the effectiveness of the proposed controller. Copyright © 2018 Elsevier Ltd. All rights reserved.

Exploiting co-adaptation for the design of symbiotic neuroprosthetic assistants.

PubMed

Sanchez, Justin C; Mahmoudi, Babak; DiGiovanna, Jack; Principe, Jose C

2009-04-01

The success of brain-machine interfaces (BMI) is enabled by the remarkable ability of the brain to incorporate the artificial neuroprosthetic 'tool' into its own cognitive space and use it as an extension of the user's body. Unlike other tools, neuroprosthetics create a shared space that seamlessly spans the user's internal goal representation of the world and the external physical environment enabling a much deeper human-tool symbiosis. A key factor in the transformation of 'simple tools' into 'intelligent tools' is the concept of co-adaptation where the tool becomes functionally involved in the extraction and definition of the user's goals. Recent advancements in the neuroscience and engineering of neuroprosthetics are providing a blueprint for how new co-adaptive designs based on reinforcement learning change the nature of a user's ability to accomplish tasks that were not possible using conventional methodologies. By designing adaptive controls and artificial intelligence into the neural interface, tools can become active assistants in goal-directed behavior and further enhance human performance in particular for the disabled population. This paper presents recent advances in computational and neural systems supporting the development of symbiotic neuroprosthetic assistants.

An experimental study of an adaptive-wall wind tunnel

NASA Technical Reports Server (NTRS)

Celik, Zeki; Roberts, Leonard

1988-01-01

A series of adaptive wall ventilated wind tunnel experiments was carried out to demonstrate the feasibility of using the side wall pressure distribution as the flow variable for the assessment of compatibility with free air conditions. Iterative and one step convergence methods were applied using the streamwise velocity component, the side wall pressure distribution and the normal velocity component in order to investigate their relative merits. The advantage of using the side wall pressure as the flow variable is to reduce the data taking time which is one the major contributors to the total testing time. In ventilated adaptive wall wind tunnel testing, side wall pressure measurements require simple instrumentation as opposed to the Laser Doppler Velocimetry used to measure the velocity components. In ventilated adaptive wall tunnel testing, influence coefficients are required to determine the pressure corrections in the plenum compartment. Experiments were carried out to evaluate the influence coefficients from side wall pressure distributions, and from streamwise and normal velocity distributions at two control levels. Velocity measurements were made using a two component Laser Doppler Velocimeter system.

Sliding Mode Control (SMC) of Robot Manipulator via Intelligent Controllers

NASA Astrophysics Data System (ADS)

Kapoor, Neha; Ohri, Jyoti

2017-02-01

Inspite of so much research, key technical problem, naming chattering of conventional, simple and robust SMC is still a challenge to the researchers and hence limits its practical application. However, newly developed soft computing based techniques can provide solution. In order to have advantages of conventional and heuristic soft computing based control techniques, in this paper various commonly used intelligent techniques, neural network, fuzzy logic and adaptive neuro fuzzy inference system (ANFIS) have been combined with sliding mode controller (SMC). For validation, proposed hybrid control schemes have been implemented for tracking a predefined trajectory by robotic manipulator, incorporating structured and unstructured uncertainties in the system. After reviewing numerous papers, all the commonly occurring uncertainties like continuous disturbance, uniform random white noise, static friction like coulomb friction and viscous friction, dynamic friction like Dhal friction and LuGre friction have been inserted in the system. Various performance indices like norm of tracking error, chattering in control input, norm of input torque, disturbance rejection, chattering rejection have been used. Comparative results show that with almost eliminated chattering the intelligent SMC controllers are found to be more efficient over simple SMC. It has also been observed from results that ANFIS based controller has the best tracking performance with the reduced burden on the system. No paper in the literature has found to have all these structured and unstructured uncertainties together for motion control of robotic manipulator.

V1 orientation plasticity is explained by broadly tuned feedforward inputs and intracortical sharpening.

PubMed

Teich, Andrew F; Qian, Ning

2010-03-01

Orientation adaptation and perceptual learning change orientation tuning curves of V1 cells. Adaptation shifts tuning curve peaks away from the adapted orientation, reduces tuning curve slopes near the adapted orientation, and increases the responses on the far flank of tuning curves. Learning an orientation discrimination task increases tuning curve slopes near the trained orientation. These changes have been explained previously in a recurrent model (RM) of orientation selectivity. However, the RM generates only complex cells when they are well tuned, so that there is currently no model of orientation plasticity for simple cells. In addition, some feedforward models, such as the modified feedforward model (MFM), also contain recurrent cortical excitation, and it is unknown whether they can explain plasticity. Here, we compare plasticity in the MFM, which simulates simple cells, and a recent modification of the RM (MRM), which displays a continuum of simple-to-complex characteristics. Both pre- and postsynaptic-based modifications of the recurrent and feedforward connections in the models are investigated. The MRM can account for all the learning- and adaptation-induced plasticity, for both simple and complex cells, while the MFM cannot. The key features from the MRM required for explaining plasticity are broadly tuned feedforward inputs and sharpening by a Mexican hat intracortical interaction profile. The mere presence of recurrent cortical interactions in feedforward models like the MFM is insufficient; such models have more rigid tuning curves. We predict that the plastic properties must be absent for cells whose orientation tuning arises from a feedforward mechanism.

Development of control systems for solar water and solar space heating equipment. Choice of heat conducting fluid. Testing

NASA Astrophysics Data System (ADS)

Meyer, H.

1981-11-01

Flat plate collector systems suitable for hot water supply, swimming pool heating, and auxiliary space heating were developed. A control and ready made packaged pipe assembly, adapted to synthetic fluid, was developed. A heat transfer fluid was selected, pumps, safety devices, armatures and seals were tested for their long term performance. External heat exchangers for simple and cascade arrangement of the hot water tanks were tested. It is found that the channel design of a roll bonded absorber has only limited effect on collector performance if the channel width approximates the space between the plates. Systems already installed work satisfactorily.

A new diode laser acupuncture therapy apparatus

NASA Astrophysics Data System (ADS)

Li, Chengwei; Huang, Zhen; Li, Dongyu; Zhang, Xiaoyuan

2006-06-01

Since the first laser-needles acupuncture apparatus was introduced in therapy, this kind of apparatus has been well used in laser biomedicine as its non-invasive, pain- free, non-bacterium, and safetool. The laser acupuncture apparatus in this paper is based on single-chip microcomputer and associated by semiconductor laser technology. The function like traditional moxibustion including reinforcing and reducing is implemented by applying chaos method to control the duty cycle of moxibustion signal, and the traditional lifting and thrusting of acupuncture is implemented by changing power output of the diode laser. The radiator element of diode laser is made and the drive circuit is designed. And chaos mathematic model is used to produce deterministic class stochastic signal to avoid the body adaptability. This function covers the shortages of continuous irradiation or that of simple disciplinary stimulate signal, which is controlled by some simple electronic circuit and become easily adjusted by human body. The realization of reinforcing and reducing of moxibustion is technological innovation in traditional acupuncture coming true in engineering.

Effects of dynamic-demand-control appliances on the power grid frequency.

PubMed

Tchuisseu, E B Tchawou; Gomila, D; Brunner, D; Colet, P

2017-08-01

Power grid frequency control is a demanding task requiring expensive idle power plants to adapt the supply to the fluctuating demand. An alternative approach is controlling the demand side in such a way that certain appliances modify their operation to adapt to the power availability. This is especially important to achieve a high penetration of renewable energy sources. A number of methods to manage the demand side have been proposed. In this work we focus on dynamic demand control (DDC), where smart appliances can delay their switchings depending on the frequency of the system. We introduce a simple model to study the effects of DDC on the frequency of the power grid. The model includes the power plant equations, a stochastic model for the demand that reproduces, adjusting a single parameter, the statistical properties of frequency fluctuations measured experimentally, and a generic DDC protocol. We find that DDC can reduce small and medium-size fluctuations but it can also increase the probability of observing large frequency peaks due to the necessity of recovering pending task. We also conclude that a deployment of DDC around 30-40% already allows a significant reduction of the fluctuations while keeping the number of pending tasks low.

Effects of dynamic-demand-control appliances on the power grid frequency

NASA Astrophysics Data System (ADS)

Tchuisseu, E. B. Tchawou; Gomila, D.; Brunner, D.; Colet, P.

2017-08-01

Power grid frequency control is a demanding task requiring expensive idle power plants to adapt the supply to the fluctuating demand. An alternative approach is controlling the demand side in such a way that certain appliances modify their operation to adapt to the power availability. This is especially important to achieve a high penetration of renewable energy sources. A number of methods to manage the demand side have been proposed. In this work we focus on dynamic demand control (DDC), where smart appliances can delay their switchings depending on the frequency of the system. We introduce a simple model to study the effects of DDC on the frequency of the power grid. The model includes the power plant equations, a stochastic model for the demand that reproduces, adjusting a single parameter, the statistical properties of frequency fluctuations measured experimentally, and a generic DDC protocol. We find that DDC can reduce small and medium-size fluctuations but it can also increase the probability of observing large frequency peaks due to the necessity of recovering pending task. We also conclude that a deployment of DDC around 30-40% already allows a significant reduction of the fluctuations while keeping the number of pending tasks low.

Congestion control for a fair packet delivery in WSN: from a complex system perspective.

PubMed

Aguirre-Guerrero, Daniela; Marcelín-Jiménez, Ricardo; Rodriguez-Colina, Enrique; Pascoe-Chalke, Michael

2014-01-01

In this work, we propose that packets travelling across a wireless sensor network (WSN) can be seen as the active agents that make up a complex system, just like a bird flock or a fish school, for instance. From this perspective, the tools and models that have been developed to study this kind of systems have been applied. This is in order to create a distributed congestion control based on a set of simple rules programmed at the nodes of the WSN. Our results show that it is possible to adapt the carried traffic to the network capacity, even under stressing conditions. Also, the network performance shows a smooth degradation when the traffic goes beyond a threshold which is settled by the proposed self-organized control. In contrast, without any control, the network collapses before this threshold. The use of the proposed solution provides an effective strategy to address some of the common problems found in WSN deployment by providing a fair packet delivery. In addition, the network congestion is mitigated using adaptive traffic mechanisms based on a satisfaction parameter assessed by each packet which has impact on the global satisfaction of the traffic carried by the WSN.

Possible Explanation of the Different Temporal Behaviors of Various Classes of Sunspot Groups

NASA Astrophysics Data System (ADS)

Gao, Peng-Xin; Li, Ke-Jun; Li, Fu-Yu

2017-09-01

In order to investigate the periodicity and long-term trends of various classes of sunspot groups (SGs), we separated SGs into two categories: simple SGs (A/U ≤ 4.5, where A represents the total corrected whole spot area of the group in millionths of the solar hemisphere (msh), and U represents the total corrected umbral area of the group in msh); and complex SGs (A/U > 6.2). Based on the revised version of the Greenwich Photoheliographic Results sunspot catalogue, we investigated the periodic behaviors and long-term trends of simple and complex SGs from 1875 to 1976 using the Hilbert-Huang Transform method, and we confirm that the temporal behaviors of simple and complex SGs are quite different. Our main findings are as follows. i) For simple and complex SGs, the values of the Schwabe cycle wax and wane, following the solar activity cycle. ii) There are significant phase differences (almost antiphase) between the periodicity of 53.50 ± 3.79 years extracted from yearly simple SG numbers and the periodicity of 56.21 ± 2.92 years extracted from yearly complex SG numbers. iii) The adaptive trends of yearly simple and complex SG numbers are also quite different: for simple SGs, the values of the adaptive trend gradually increase during the time period of 1875 - 1949, then they decrease gradually from 1949 to 1976, similar to the rise and the maximum phase of a sine curve; for complex SGs, the values of the adaptive trend first slowly increase and then quickly increase, similar to the minimum and rise phase of a sine curve.

A predictive model to inform adaptive management of double-crested cormorants and fisheries in Michigan

USGS Publications Warehouse

Tsehaye, Iyob; Jones, Michael L.; Irwin, Brian J.; Fielder, David G.; Breck, James E.; Luukkonen, David R.

2015-01-01

The proliferation of double-crested cormorants (DCCOs; Phalacrocorax auritus) in North America has raised concerns over their potential negative impacts on game, cultured and forage fishes, island and terrestrial resources, and other colonial water birds, leading to increased public demands to reduce their abundance. By combining fish surplus production and bird functional feeding response models, we developed a deterministic predictive model representing bird–fish interactions to inform an adaptive management process for the control of DCCOs in multiple colonies in Michigan. Comparisons of model predictions with observations of changes in DCCO numbers under management measures implemented from 2004 to 2012 suggested that our relatively simple model was able to accurately reconstruct past DCCO population dynamics. These comparisons helped discriminate among alternative parameterizations of demographic processes that were poorly known, especially site fidelity. Using sensitivity analysis, we also identified remaining critical uncertainties (mainly in the spatial distributions of fish vs. DCCO feeding areas) that can be used to prioritize future research and monitoring needs. Model forecasts suggested that continuation of existing control efforts would be sufficient to achieve long-term DCCO control targets in Michigan and that DCCO control may be necessary to achieve management goals for some DCCO-impacted fisheries in the state. Finally, our model can be extended by accounting for parametric or ecological uncertainty and including more complex assumptions on DCCO–fish interactions as part of the adaptive management process.

Piezoelectric translator. A simple and inexpensive device to move microelectrodes and micropipettes small distances rapidly.

PubMed

Lederer, W J

1983-09-01

A device is described that is capable of rapidly moving microelectrodes and micropipettes over distances up to 15 mu. This piezoelectric transLator uses the diaphragm from virtually any available piezoelectric buzzer in combination with simple physical support and drive electronics. All of the necessary details for the construction of this small device are presented. Each finished unit is about 2 cm long with a diameter of 2 cm and can be readily adapted to existing manipulators. The translator has been found useful in aiding the independent penetration by one or more microelectrodes of single cells or of more complicated multicellular preparations (including those that lie behind a connective tissue layer). This new device offers fine control of microelectrode motion that cannot be obtained by the other methods used to aid microelectrode and micropipette penetration of cell membranes (e.g. capacitance overcompensation--"ringing in"' or "tickling"--or tapping the manipulator base). Finally, the device described in this paper is extremely simple and inexpensive to build.

Development of a Design Methodology for Reconfigurable Flight Control Systems

NASA Technical Reports Server (NTRS)

Hess, Ronald A.; McLean, C.

2000-01-01

A methodology is presented for the design of flight control systems that exhibit stability and performance-robustness in the presence of actuator failures. The design is based upon two elements. The first element consists of a control law that will ensure at least stability in the presence of a class of actuator failures. This law is created by inner-loop, reduced-order, linear dynamic inversion, and outer-loop compensation based upon Quantitative Feedback Theory. The second element consists of adaptive compensators obtained from simple and approximate time-domain identification of the dynamics of the 'effective vehicle' with failed actuator(s). An example involving the lateral-directional control of a fighter aircraft is employed both to introduce the proposed methodology and to demonstrate its effectiveness and limitations.

High-precision control of LSRM based X-Y table for industrial applications.

PubMed

Pan, J F; Cheung, Norbert C; Zou, Yu

2013-01-01

The design of an X-Y table applying direct-drive linear switched reluctance motor (LSRM) principle is proposed in this paper. The proposed X-Y table has the characteristics of low cost, simple and stable mechanical structure. After the design procedure is introduced, an adaptive position control method based on online parameter identification and pole-placement regulation scheme is developed for the X-Y table. Experimental results prove the feasibility and its priority over a traditional PID controller with better dynamic response, static performance and robustness to disturbances. It is expected that the novel two-dimensional direct-drive system find its applications in high-precision manufacture area. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Fuel-injection control of S.I. engines

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

Choi, S.B.; Won, M.; Hedrick, J.K.

1994-12-31

It is known that about 50% of air pollutants comes from automotive engine exhaust, and mostly in a transient state operation. However, the wide operating range, the inherent nonlinearities of the induction process and the large modeling uncertainties make the design of the fuel-injection controller very difficult. Also, the unavoidable large time-delay between control action and measurement causes the problem of chattering. In this paper, an observer-based control algorithm based on sliding mode control technique is suggested for fast response and small amplitude chattering of the air-to-fuel ratio. A direct adaptive control using Gaussian networks is applied to the compensationmore » of transient fueling dynamics. The proposed controller is simple enough for on-line computation and is implemented on an automotive engine using a PC-386. The simulation and the experimental results show that this algorithm reduces the chattering magnitude considerably and is robust to modeling errors.« less

Wireless optical network for a home network

NASA Astrophysics Data System (ADS)

Bouchet, Olivier; Porcon, Pascal; Walewski, Joachim W.; Nerreter, Stefan; Langer, Klaus-Dieter; Fernández, Luz; Vucic, Jelena; Kamalakis, Thomas; Ntogari, Georgia; Neokosmidis, Ioannis; Gueutier, Eric

2010-08-01

During the European collaborative project OMEGA, two optical-wireless prototypes have been developed. The first prototype operates in the near-infrared spectral region and features Giga Ethernet connectivity, a simple transceiver architecture due to the use of on-off keying, a multi-sector transceiver, and an ultra-fast switch for sector-to-sector hand over. This full-duplex system, composed by one base station and one module, transmits data on three meters. The second prototype is a visible-light-communications system based on DMT signal processing and an adapted MAC sublayer. Data rates around to 100 Mb/s at the physical layer are achieved. This broadcast system, composed also by one base station and one module, transmits data up to two meters. In this paper we present the adapted optical wireless media-access-control sublayer protocol for visible-light communications. This protocol accommodates link adaptation from 128 Mb/s to 1024 Mb/s with multi-sector coverage, and half-duplex or full-duplex transmission.

Supercomputer use in orthopaedic biomechanics research: focus on functional adaptation of bone.

PubMed

Hart, R T; Thongpreda, N; Van Buskirk, W C

1988-01-01

The authors describe two biomechanical analyses carried out using numerical methods. One is an analysis of the stress and strain in a human mandible, and the other analysis involves modeling the adaptive response of a sheep bone to mechanical loading. The computing environment required for the two types of analyses is discussed. It is shown that a simple stress analysis of a geometrically complex mandible can be accomplished using a minicomputer. However, more sophisticated analyses of the same model with dynamic loading or nonlinear materials would require supercomputer capabilities. A supercomputer is also required for modeling the adaptive response of living bone, even when simple geometric and material models are use.

Postreceptoral chromatic-adaptation mechanisms in the red-green and blue-yellow systems using simple reaction times

NASA Astrophysics Data System (ADS)

Medina, José M.; Díaz, José A.

2006-05-01

Simple visual-reaction times (VRT) were measured for a variety of stimuli selected along red-green (L-M axis) and blue-yellow [S-(L+M) axis] directions in the isoluminant plane under different adaptation stimuli. Data were plotted in terms of the RMS cone contrast in contrast-threshold units. For each opponent system, a modified Piéron function was fitted in each experimental configuration and on all adaptation stimuli. A single function did not account for all the data, confirming the existence of separate postreceptoral adaptation mechanisms in each opponent system under suprathreshold conditions. The analysis of the VRT-hazard functions suggested that both color-opponent mechanisms present a well-defined, transient-sustained structure at marked suprathreshold conditions. The influence of signal polarity and chromatic adaptation on each color axis proves the existence of asymmetries in the integrated hazard functions, suggesting separate detection mechanisms for each pole (red, green, blue, and yellow detectors).

Water reuse systems: A review of the principal components

USGS Publications Warehouse

Lucchetti, G.; Gray, G.A.

1988-01-01

Principal components of water reuse systems include ammonia removal, disease control, temperature control, aeration, and particulate filtration. Effective ammonia removal techniques include air stripping, ion exchange, and biofiltration. Selection of a particular technique largely depends on site-specific requirements (e.g., space, existing water quality, and fish densities). Disease control, although often overlooked, is a major problem in reuse systems. Pathogens can be controlled most effectively with ultraviolet radiation, ozone, or chlorine. Simple and inexpensive methods are available to increase oxygen concentration and eliminate gas supersaturation, these include commercial aerators, air injectors, and packed columns. Temperature control is a major advantage of reuse systems, but the equipment required can be expensive, particularly if water temperature must be rigidly controlled and ambient air temperature fluctuates. Filtration can be readily accomplished with a hydrocyclone or sand filter that increases overall system efficiency. Based on criteria of adaptability, efficiency, and reasonable cost, we recommend components for a small water reuse system.

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.

Précis of Simple heuristics that make us smart.

PubMed

Todd, P M; Gigerenzer, G

2000-10-01

How can anyone be rational in a world where knowledge is limited, time is pressing, and deep thought is often an unattainable luxury? Traditional models of unbounded rationality and optimization in cognitive science, economics, and animal behavior have tended to view decision-makers as possessing supernatural powers of reason, limitless knowledge, and endless time. But understanding decisions in the real world requires a more psychologically plausible notion of bounded rationality. In Simple heuristics that make us smart (Gigerenzer et al. 1999), we explore fast and frugal heuristics--simple rules in the mind's adaptive toolbox for making decisions with realistic mental resources. These heuristics can enable both living organisms and artificial systems to make smart choices quickly and with a minimum of information by exploiting the way that information is structured in particular environments. In this précis, we show how simple building blocks that control information search, stop search, and make decisions can be put together to form classes of heuristics, including: ignorance-based and one-reason decision making for choice, elimination models for categorization, and satisficing heuristics for sequential search. These simple heuristics perform comparably to more complex algorithms, particularly when generalizing to new data--that is, simplicity leads to robustness. We present evidence regarding when people use simple heuristics and describe the challenges to be addressed by this research program.

Variable practice with lenses improves visuo-motor plasticity

NASA Technical Reports Server (NTRS)

Roller, C. A.; Cohen, H. S.; Kimball, K. T.; Bloomberg, J. J.

2001-01-01

Novel sensorimotor situations present a unique challenge to an individual's adaptive ability. Using the simple and easily measured paradigm of visual-motor rearrangement created by the use of visual displacement lenses, we sought to determine whether an individual's ability to adapt to visuo-motor discordance could be improved through training. Subjects threw small balls at a stationary target during a 3-week practice regimen involving repeated exposure to one set of lenses in block practice (x 2.0 magnifying lenses), multiple sets of lenses in variable practice (x 2.0 magnifying, x 0.5 minifying and up-down reversing lenses) or sham lenses. At the end of training, adaptation to a novel visuo-motor situation (20-degree right shift lenses) was tested. We found that (1) training with variable practice can increase adaptability to a novel visuo-motor situation, (2) increased adaptability is retained for at least 1 month and is transferable to further novel visuo-motor permutations and (3) variable practice improves performance of a simple motor task even in the undisturbed state. These results have implications for the design of clinical rehabilitation programs and countermeasures to enhance astronaut adaptability, facilitating adaptive transitions between gravitational environments.

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 wavefront control for adaptive segmented mirrors

NASA Technical Reports Server (NTRS)

Downie, John D.; Goodman, Joseph W.

1989-01-01

A ground-based astronomical telescope with a segmented primary mirror will suffer image-degrading wavefront aberrations from at least two sources: (1) atmospheric turbulence and (2) segment misalignment or figure errors of the mirror itself. This paper describes the derivation of a mirror control feedback matrix that assumes the presence of both types of aberration and is optimum in the sense that it minimizes the mean-squared residual wavefront error. Assumptions of the statistical nature of the wavefront measurement errors, atmospheric phase aberrations, and segment misalignment errors are made in the process of derivation. Examples of the degree of correlation are presented for three different types of wavefront measurement data and compared to results of simple corrections.

Adaptive Process Controls and Ultrasonics for High Temperature PEM MEA Manufacture

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

Walczyk, Daniel F.

2015-08-26

The purpose of this 5-year DOE-sponsored project was to address major process bottlenecks associated with fuel cell manufacturing. New technologies were developed to significantly reduce pressing cycle time for high temperature PEM membrane electrode assembly (MEA) through the use of novel, robust ultrasonic (U/S) bonding processes along with low temperature (<100°C) PEM MEAs. In addition, greater manufacturing uniformity and performance was achieved through (a) an investigation into the causes of excessive variation in ultrasonically and thermally bonded MEAs using more diagnostics applied during the entire fabrication and cell build process, and (b) development of rapid, yet simple quality control measurementmore » techniques for use by industry.« less

Simple heuristics and rules of thumb: where psychologists and behavioural biologists might meet.

PubMed

Hutchinson, John M C; Gigerenzer, Gerd

2005-05-31

The Centre for Adaptive Behaviour and Cognition (ABC) has hypothesised that much human decision-making can be described by simple algorithmic process models (heuristics). This paper explains this approach and relates it to research in biology on rules of thumb, which we also review. As an example of a simple heuristic, consider the lexicographic strategy of Take The Best for choosing between two alternatives: cues are searched in turn until one discriminates, then search stops and all other cues are ignored. Heuristics consist of building blocks, and building blocks exploit evolved or learned abilities such as recognition memory; it is the complexity of these abilities that allows the heuristics to be simple. Simple heuristics have an advantage in making decisions fast and with little information, and in avoiding overfitting. Furthermore, humans are observed to use simple heuristics. Simulations show that the statistical structures of different environments affect which heuristics perform better, a relationship referred to as ecological rationality. We contrast ecological rationality with the stronger claim of adaptation. Rules of thumb from biology provide clearer examples of adaptation because animals can be studied in the environments in which they evolved. The range of examples is also much more diverse. To investigate them, biologists have sometimes used similar simulation techniques to ABC, but many examples depend on empirically driven approaches. ABC's theoretical framework can be useful in connecting some of these examples, particularly the scattered literature on how information from different cues is integrated. Optimality modelling is usually used to explain less detailed aspects of behaviour but might more often be redirected to investigate rules of thumb.

Nanocrystal synthesis in microfluidic reactors: where next?

PubMed

Phillips, Thomas W; Lignos, Ioannis G; Maceiczyk, Richard M; deMello, Andrew J; deMello, John C

2014-09-07

The past decade has seen a steady rise in the use of microfluidic reactors for nanocrystal synthesis, with numerous studies reporting improved reaction control relative to conventional batch chemistry. However, flow synthesis procedures continue to lag behind batch methods in terms of chemical sophistication and the range of accessible materials, with most reports having involved simple one- or two-step chemical procedures directly adapted from proven batch protocols. Here we examine the current status of microscale methods for nanocrystal synthesis, and consider what role microreactors might ultimately play in laboratory-scale research and industrial production.

Adapting to the effects of climate change [Chapter 14

Treesearch

Jessica E. Halofsky

2018-01-01

Adapting to climate change, or adjusting to current or future climate and its effects (Noble et al. 2014), is critical to minimizing the risks associated with climate change impacts. Adaptation actions can vary from passive (e.g., a "wait and see" approach), to relatively simple (e.g., increasing harvest rotation age), to complex (e.g., managing forest...

Experiences in the creation of an electromyography database to help hand amputated persons.

PubMed

Atzori, Manfredo; Gijsberts, Arjan; Heynen, Simone; Hager, Anne-Gabrielle Mittaz; Castellimi, Claudio; Caputo, Barbara; Müller, Henning

2012-01-01

Currently, trans-radial amputees can only perform a few simple movements with prosthetic hands. This is mainly due to low control capabilities and the long training time that is required to learn controlling them with surface electromyography (sEMG). This is in contrast with recent advances in mechatronics, thanks to which mechanical hands have multiple degrees of freedom and in some cases force control. To help improve the situation, we are building the NinaPro (Non-Invasive Adaptive Prosthetics) database, a database of about 50 hand and wrist movements recorded from several healthy and currently very few amputated persons that will help the community to test and improve sEMG-based natural control systems for prosthetic hands. In this paper we describe the experimental experiences and practical aspects related to the data acquisition.

Instrument Remote Control Application Framework

NASA Technical Reports Server (NTRS)

Ames, Troy; Hostetter, Carl F.

2006-01-01

The Instrument Remote Control (IRC) architecture is a flexible, platform-independent application framework that is well suited for the control and monitoring of remote devices and sensors. IRC enables significant savings in development costs by utilizing extensible Markup Language (XML) descriptions to configure the framework for a specific application. The Instrument Markup Language (IML) is used to describe the commands used by an instrument, the data streams produced, the rules for formatting commands and parsing the data, and the method of communication. Often no custom code is needed to communicate with a new instrument or device. An IRC instance can advertise and publish a description about a device or subscribe to another device's description on a network. This simple capability of dynamically publishing and subscribing to interfaces enables a very flexible, self-adapting architecture for monitoring and control of complex instruments in diverse environments.

Maximizing the productivity of the microalgae Scenedesmus AMDD cultivated in a continuous photobioreactor using an online flow rate control.

PubMed

McGinn, Patrick J; MacQuarrie, Scott P; Choi, Jerome; Tartakovsky, Boris

2017-01-01

In this study, production of the microalga Scenedesmus AMDD in a 300 L continuous flow photobioreactor was maximized using an online flow (dilution rate) control algorithm. To enable online control, biomass concentration was estimated in real time by measuring chlorophyll-related culture fluorescence. A simple microalgae growth model was developed and used to solve the optimization problem aimed at maximizing the photobioreactor productivity. When optimally controlled, Scenedesmus AMDD culture demonstrated an average volumetric biomass productivity of 0.11 g L -1  d -1 over a 25 day cultivation period, equivalent to a 70 % performance improvement compared to the same photobioreactor operated as a turbidostat. The proposed approach for optimizing photobioreactor flow can be adapted to a broad range of microalgae cultivation systems.

Telerobotics: A simulation facility for university research

NASA Technical Reports Server (NTRS)

Stark, L.; Kim, W.; Tendick, F.; Tyler, M.; Hannaford, B.; Barakat, W.; Bergengruen, O.; Braddi, L.; Eisenberg, J.; Ellis, S.

1987-01-01

An experimental telerobotics (TR) simulation suitable for studying human operator (H.O.) performance is described. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. A number of control modes could be compared in this TR simulation, including displacement, rate and acceleratory control using position and force joysticks. A homeomorphic controller turned out to be no better than joysticks; the adaptive properties of the H.O. can apparently permit quite good control over a variety of controller configurations and control modes. Training by optimal control example seemed helpful in preliminary experiments. An introduced communication delay was found to produce decrease in performance. In considerable part, this difficulty could be compensated for by preview control information. That neurological control of normal human movement contains a data period of 0.2 second may relate to this robustness of H.O. control to delay. The Ames-Berkeley enhanced perspective display was utilized in conjunction with an experimental helmet mounted display system (HMD) that provided stereoscopic enhanced views.

An adaptive vector quantization scheme

NASA Technical Reports Server (NTRS)

Cheung, K.-M.

1990-01-01

Vector quantization is known to be an effective compression scheme to achieve a low bit rate so as to minimize communication channel bandwidth and also to reduce digital memory storage while maintaining the necessary fidelity of the data. However, the large number of computations required in vector quantizers has been a handicap in using vector quantization for low-rate source coding. An adaptive vector quantization algorithm is introduced that is inherently suitable for simple hardware implementation because it has a simple architecture. It allows fast encoding and decoding because it requires only addition and subtraction operations.

Precision control of eluted activity from a Sr/Rb generator for cardiac positron emission tomography.

PubMed

Klein, R; Adler, A; Beanlands, R S; deKemp, R A

2004-01-01

A rubidium-82 (/sup 82/Rb) elution system is described for use with clinical positron emission tomography. The system is self-calibrating with 1.4% repeatability, independent of generator activity and elution flow rate. Saline flow is switched between a /sup 82/Sr//sup 82/Rb generator and a bypass line to achieve a constant activity elution of /sup 82/Rb. In the present study, pulse width modulation (PWM) of a solenoid valve is compared to simple threshold control as a means to simulate a proportional valve. A predictive-corrective control algorithm is developed which produces a constant activity elution within the constraints of long feedback delay and short elution time. Accurate constant-activity elutions of 10-70% of the total generator activity were demonstrated using the threshold comparison control. The adaptive-corrective control of the PWM valve provided a substantial improvement in precision of the steady-state output.

Digital multi-channel high resolution phase locked loop for surveillance radar systems

NASA Astrophysics Data System (ADS)

Rizk, Mohamed; Shaaban, Shawky; Abou-El-Nadar, Usama M.; Hafez, Alaa El-Din Sayed

This paper present a multi-channel, high resolution, fast lock phase locked loop (PLL) for surveillance radar applications. Phase detector based PLLs are simple to design, suffer no systematic phase error, and can run at the highest speed. Reducing loop gain can proportionally improve jitter performance, but also reduces locking time and pull-in range. The proposed system is based on digital process and control the error signal to the voltage controlled oscillator (VCO) adaptively to control its gain in order to achieve fast lock times while improving in lock jitter performance. Under certain circumstances the design also improves the frequency agility capability of the radar system. The results show a fast lock, high resolution PLL with transient time less than 10 µ sec which is suitable to radar applications.

Mini All-purpose Satellite Control Center (MASCC)

NASA Technical Reports Server (NTRS)

Zaouche, Gerard

1994-01-01

A new generation of Mini All-purpose Satellite Control Centers (MASCC) has been developed by CNES (F). They turn out to be easily adaptable to different kinds of satellites, both Low Earth Orbital or Geostationary. The features of MASCC allow both standard satellite control activities, and checking of passengers experiments hosted on a space platform. In the different environments in which it may be used, MASCC provides standard broadcasting of telemetry parameters on animated synoptics (curves, bar graphs, alphanumeric displays, ...), which turns out to be a very useful and ergonomic medium for operational teams or satellite specialists. Special care has been taken during the MASCC development about two points: - automation of all routine tasks, allowing automated operation, and limiting human commitment to system supervision and decision making, - software adaptability. To reach these two main objectives, the MASCC design provides:(1) a simple, robust and flexible hardware architecture, based on powerful distributed workstations; and (2) a table-driven software architecture, easily adapted to various operational needs. Satellite characteristics are described in a central Data Base. Hence, the processing of telemetry and commands is largely independent from the satellite itself. In order to validate these capabilities, the MASCC has been customized to several types of satellites and orbital platforms: (1) SPOT4, the French new generation of remote sensing satellites; (2) TELECOM2, the French geostationary TV and telecommunication satellite; and (3) MIR, the Russian orbital platform. MASCC development has been completed by the third quarter of 1993. This paper will provide first a description of the MASCC basic functions, of its hardware and software design. It will then detail the increased automation capability, along with the easy adaptation of the MASCC to new satellites with minimal software modifications.

Stall Flutter Control of a Smart Blade Section Undergoing Asymmetric Limit Oscillations

DOE PAGES

Li, Nailu; Balas, Mark J.; Nikoueeyan, Pourya; ...

2016-01-01

Stall flutter is an aeroelastic phenomenon resulting in unwanted oscillatory loads on the blade, such as wind turbine blade, helicopter rotor blade, and other flexible wing blades. While the stall flutter and related aeroelastic control have been studied theoretically and experimentally, microtab control of asymmetric limit cycle oscillations (LCOs) in stall flutter cases has not been generally investigated. This paper presents an aeroservoelastic model to study the microtab control of the blade section undergoing moderate stall flutter and deep stall flutter separately. The effects of different dynamic stall conditions and the consequent asymmetric LCOs for both stall cases are simulatedmore » and analyzed. Then, for the design of the stall flutter controller, the potential sensor signal for the stall flutter, the microtab control capability of the stall flutter, and the control algorithm for the stall flutter are studied. Lastly, the improvement and the superiority of the proposed adaptive stall flutter controller are shown by comparison with a simple stall flutter controller.« less

Control surface hinge moment prediction using computational fluid dynamics

NASA Astrophysics Data System (ADS)

Simpson, Christopher David

The following research determines the feasibility of predicting control surface hinge moments using various computational methods. A detailed analysis is conducted using a 2D GA(W)-1 airfoil with a 20% plain flap. Simple hinge moment prediction methods are tested, including empirical Datcom relations and XFOIL. Steady-state and time-accurate turbulent, viscous, Navier-Stokes solutions are computed using Fun3D. Hinge moment coefficients are computed. Mesh construction techniques are discussed. An adjoint-based mesh adaptation case is also evaluated. An NACA 0012 45-degree swept horizontal stabilizer with a 25% elevator is also evaluated using Fun3D. Results are compared with experimental wind-tunnel data obtained from references. Finally, the costs of various solution methods are estimated. Results indicate that while a steady-state Navier-Stokes solution can accurately predict control surface hinge moments for small angles of attack and deflection angles, a time-accurate solution is necessary to accurately predict hinge moments in the presence of flow separation. The ability to capture the unsteady vortex shedding behavior present in moderate to large control surface deflections is found to be critical to hinge moment prediction accuracy. Adjoint-based mesh adaptation is shown to give hinge moment predictions similar to a globally-refined mesh for a steady-state 2D simulation.

High-reliability release mechanism

NASA Technical Reports Server (NTRS)

Paradise, J. J.

1971-01-01

Release mechanism employing simple clevis fitting in combination with two pin-pullers achieves high reliability degree through active mechanical redundancy. Mechanism releases solar arrays. It is simple and inexpensive and performs effectively. It adapts to other release-system applications with variety of pin-puller devices.

Experimental Verification of Electric Drive Technologies Based on Artificial Intelligence Tools

NASA Technical Reports Server (NTRS)

Rubaai, Ahmed; Ricketts, Daniel; Kotaru, Raj; Thomas, Robert; Noga, Donald F. (Technical Monitor); Kankam, Mark D. (Technical Monitor)

2000-01-01

In this report, a fully integrated prototype of a flight servo control system is successfully developed and implemented using brushless dc motors. The control system is developed by the fuzzy logic theory, and implemented with a multilayer neural network. First, a neural network-based architecture is introduced for fuzzy logic control. The characteristic rules and their membership functions of fuzzy systems are represented as the processing nodes in the neural network structure. The network structure and the parameter learning are performed simultaneously and online in the fuzzy-neural network system. The structure learning is based on the partition of input space. The parameter learning is based on the supervised gradient decent method, using a delta adaptation law. Using experimental setup, the performance of the proposed control system is evaluated under various operating conditions. Test results are presented and discussed in the report. The proposed learning control system has several advantages, namely, simple structure and learning capability, robustness and high tracking performance and few nodes at hidden layers. In comparison with the PI controller, the proposed fuzzy-neural network system can yield a better dynamic performance with shorter settling time, and without overshoot. Experimental results have shown that the proposed control system is adaptive and robust in responding to a wide range of operating conditions. In summary, the goal of this study is to design and implement-advanced servosystems to actuate control surfaces for flight vehicles, namely, aircraft and helicopters, missiles and interceptors, and mini- and micro-air vehicles.

Load Adaptability in Patients With Pulmonary Arterial Hypertension.

PubMed

Amsallem, Myriam; Boulate, David; Aymami, Marie; Guihaire, Julien; Selej, Mona; Huo, Jennie; Denault, Andre Y; McConnell, Michael V; Schnittger, Ingela; Fadel, Elie; Mercier, Olaf; Zamanian, Roham T; Haddad, Francois

2017-09-01

Right ventricular (RV) adaptation to pressure overload is a major prognostic factor in patients with pulmonary arterial hypertension (PAH). The objectives were first to define the relation between RV adaptation and load using allometric modeling, then to compare the prognostic value of different indices of load adaptability in PAH. Both a derivation (n = 85) and a validation cohort (n = 200) were included. Load adaptability was assessed using 3 approaches: (1) surrogates of ventriculo-arterial coupling (e.g., RV area change/end-systolic area), (2) simple ratio of function and load (e.g., tricuspid annular plane systolic excursion/right ventricular systolic pressure), and (3) indices assessing the proportionality of adaptation using allometric pressure-function or size modeling. Proportional hazard modeling was used to compare the hazard ratio for the outcome of death or lung transplantation. The mean age of the derivation cohort was 44 ± 11 years, with 80% female and 74% in New York Heart Association class III or IV. Mean pulmonary vascular resistance index (PVRI) was 24 ± 11 with a wide distribution (1.6 to 57.5 WU/m 2 ). Allometric relations were observed between PVRI and RV fractional area change (R 2  = 0.53, p < 0.001) and RV end-systolic area indexed to body surface area right ventricular end-systolic area index (RVESAI) (R 2  = 0.29, p < 0.001), allowing the derivation of simple ratiometric load-specific indices of RV adaptation. In right heart parameters, RVESAI was the strongest predictor of outcomes (hazard ratio per SD = 1.93, 95% confidence interval 1.37 to 2.75, p < 0.001). Although RVESAI/PVRI 0.35 provided small incremental discrimination on multivariate modeling, none of the load-adaptability indices provided stronger discrimination of outcome than simple RV adaptation metrics in either the derivation or the validation cohort. In conclusion, allometric modeling enables quantification of the proportionality of RV load adaptation but offers small incremental prognostic value to RV end-systolic dimension in PAH. Copyright © 2017 Elsevier Inc. All rights reserved.

Can emergency medicine research benefit from adaptive design clinical trials?

PubMed

Flight, Laura; Julious, Steven A; Goodacre, Steve

2017-04-01

Adaptive design clinical trials use preplanned interim analyses to determine whether studies should be stopped or modified before recruitment is complete. Emergency medicine trials are well suited to these designs as many have a short time to primary outcome relative to the length of recruitment. We hypothesised that the majority of published emergency medicine trials have the potential to use a simple adaptive trial design. We reviewed clinical trials published in three emergency medicine journals between January 2003 and December 2013. We determined the proportion that used an adaptive design as well as the proportion that could have used a simple adaptive design based on the time to primary outcome and length of recruitment. Only 19 of 188 trials included in the review were considered to have used an adaptive trial design. A total of 154/165 trials that were fixed in design had the potential to use an adaptive design. Currently, there seems to be limited uptake in the use of adaptive trial designs in emergency medicine despite their potential benefits to save time and resources. Failing to take advantage of adaptive designs could be costly to patients and research. It is recommended that where practical and logistical considerations allow, adaptive designs should be used for all emergency medicine clinical trials. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://www.bmj.com/company/products-services/rights-and-licensing/.

Satellite DNA and cytogenetic evolution: molecular aspects and implications for man. [Kangaroo rats

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

Hatch, F.T.; Mazrimas, J.

1977-02-28

Simple, highly reiterated DNA sequences, often observed in density gradients as satellite DNAs, exist in condensed heterochromatin. This material is predominantly located at chromosomal centromeres, occasionally at telomeres, or intercalated within arms; in a few species it occupies entire chromosome arms. Satellite DNAs are a highly variable component of the genome of most higher eukaryotes, but their functions have remained speculative. The genus of kangaroo rats (Dipodomys) exhibits remarkable interspecies variations in content of three satellite DNAs, consisting of simple sequences 3 to 10 base pairs long, and in species karyotypes. A broad range of diploid-DNA content is correlated withmore » satellite-DNA content. The latter is correlated positively with predominance of biarmed over uniarmed chromosomes (high fundamental number FN) and inversely with two anatomical indices (leg-bone-length ratios) of specialization for the jumping gait. Karyotypic variation is achieved via chromosomal rearrangements, e.g., Robertsonian fusion, C-band heteromorphism, and pericentric inversion. Environmental adaptation is achieved, in part, by reassortment of gene-linkage groups and regulatory controls as a result of the chromosomal rearrangements. The foregoing relationships led to the postulation that highly reiterated DNA sequences play a supragenic, global role in environmental adaptation and the evolution of new species.« less

Trick-or-Treat Candy-Getters and Hornet Scare Devices: Second Graders Make Creative Inventions Related to Animal Adaptations

ERIC Educational Resources Information Center

Rule, Audrey C.; Baldwin, Samantha; Schell, Robert

2009-01-01

This repeated measures study examined second graders' (n = 21) performance in creating inventions related to animal adaptations for simple products under two conditions that alternated each week for a six-week period. In the analogy condition, students used form and function analogy object boxes to learn about animal adaptations, applying these…

ArControl: An Arduino-Based Comprehensive Behavioral Platform with Real-Time Performance.

PubMed

Chen, Xinfeng; Li, Haohong

2017-01-01

Studying animal behavior in the lab requires reliable delivering stimulations and monitoring responses. We constructed a comprehensive behavioral platform (ArControl: Arduino Control Platform) that was an affordable, easy-to-use, high-performance solution combined software and hardware components. The hardware component was consisted of an Arduino UNO board and a simple drive circuit. As for software, the ArControl provided a stand-alone and intuitive GUI (graphical user interface) application that did not require users to master scripts. The experiment data were automatically recorded with the built in DAQ (data acquisition) function. The ArControl also allowed the behavioral schedule to be entirely stored in and operated on the Arduino chip. This made the ArControl a genuine, real-time system with high temporal resolution (<1 ms). We tested the ArControl, based on strict performance measurements and two mice behavioral experiments. The results showed that the ArControl was an adaptive and reliable system suitable for behavioral research.

ArControl: An Arduino-Based Comprehensive Behavioral Platform with Real-Time Performance

PubMed Central

Chen, Xinfeng; Li, Haohong

2017-01-01

Studying animal behavior in the lab requires reliable delivering stimulations and monitoring responses. We constructed a comprehensive behavioral platform (ArControl: Arduino Control Platform) that was an affordable, easy-to-use, high-performance solution combined software and hardware components. The hardware component was consisted of an Arduino UNO board and a simple drive circuit. As for software, the ArControl provided a stand-alone and intuitive GUI (graphical user interface) application that did not require users to master scripts. The experiment data were automatically recorded with the built in DAQ (data acquisition) function. The ArControl also allowed the behavioral schedule to be entirely stored in and operated on the Arduino chip. This made the ArControl a genuine, real-time system with high temporal resolution (<1 ms). We tested the ArControl, based on strict performance measurements and two mice behavioral experiments. The results showed that the ArControl was an adaptive and reliable system suitable for behavioral research. PMID:29321735

Generating Adaptive Behaviour within a Memory-Prediction Framework

PubMed Central

Rawlinson, David; Kowadlo, Gideon

2012-01-01

The Memory-Prediction Framework (MPF) and its Hierarchical-Temporal Memory implementation (HTM) have been widely applied to unsupervised learning problems, for both classification and prediction. To date, there has been no attempt to incorporate MPF/HTM in reinforcement learning or other adaptive systems; that is, to use knowledge embodied within the hierarchy to control a system, or to generate behaviour for an agent. This problem is interesting because the human neocortex is believed to play a vital role in the generation of behaviour, and the MPF is a model of the human neocortex. We propose some simple and biologically-plausible enhancements to the Memory-Prediction Framework. These cause it to explore and interact with an external world, while trying to maximize a continuous, time-varying reward function. All behaviour is generated and controlled within the MPF hierarchy. The hierarchy develops from a random initial configuration by interaction with the world and reinforcement learning only. Among other demonstrations, we show that a 2-node hierarchy can learn to successfully play “rocks, paper, scissors” against a predictable opponent. PMID:22272231

An Ultralightweight and Living Legged Robot.

PubMed

Vo Doan, Tat Thang; Tan, Melvin Y W; Bui, Xuan Hien; Sato, Hirotaka

2018-02-01

In this study, we describe the most ultralightweight living legged robot to date that makes it a strong candidate for a search and rescue mission. The robot is a living beetle with a wireless electronic backpack stimulator mounted on its thorax. Inheriting from the living insect, the robot employs a compliant body made of soft actuators, rigid exoskeletons, and flexure hinges. Such structure would allow the robot to easily adapt to any complex terrain due to the benefit of soft interface, self-balance, and self-adaptation of the insect without any complex controller. The antenna stimulation enables the robot to perform not only left/right turning but also backward walking and even cessation of walking. We were also able to grade the turning and backward walking speeds by changing the stimulation frequency. The power required to drive the robot is low as the power consumption of the antenna stimulation is in the order of hundreds of microwatts. In contrast to the traditional legged robots, this robot is of low cost, easy to construct, simple to control, and has ultralow power consumption.

Autonomous biomorphic robots as platforms for sensors

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

Tilden, M.; Hasslacher, B.; Mainieri, R.

1996-10-01

The idea of building autonomous robots that can carry out complex and nonrepetitive tasks is an old one, so far unrealized in any meaningful hardware. Tilden has shown recently that there are simple, processor-free solutions to building autonomous mobile machines that continuously adapt to unknown and hostile environments, are designed primarily to survive, and are extremely resistant to damage. These devices use smart mechanics and simple (low component count) electronic neuron control structures having the functionality of biological organisms from simple invertebrates to sophisticated members of the insect and crab family. These devices are paradigms for the development of autonomousmore » machines that can carry out directed goals. The machine then becomes a robust survivalist platform that can carry sensors or instruments. These autonomous roving machines, now in an early stage of development (several proof-of-concept prototype walkers have been built), can be developed so that they are inexpensive, robust, and versatile carriers for a variety of instrument packages. Applications are immediate and many, in areas as diverse as prosthetics, medicine, space, construction, nanoscience, defense, remote sensing, environmental cleanup, and biotechnology.« less

Chromosomal rearrangements maintain a polymorphic supergene controlling butterfly mimicry

PubMed Central

Joron, Mathieu; Frezal, Lise; Jones, Robert T.; Chamberlain, Nicola L.; Lee, Siu F.; Haag, Christoph R.; Whibley, Annabel; Becuwe, Michel; Baxter, Simon W.; Ferguson, Laura; Wilkinson, Paul A.; Salazar, Camilo; Davidson, Claire; Clark, Richard; Quail, Michael A.; Beasley, Helen; Glithero, Rebecca; Lloyd, Christine; Sims, Sarah; Jones, Matthew C.; Rogers, Jane; Jiggins, Chris D.; ffrench-Constant, Richard H.

2013-01-01

Supergenes are tight clusters of loci that facilitate the co-segregation of adaptive variation, providing integrated control of complex adaptive phenotypes1. Polymorphic supergenes, in which specific combinations of traits are maintained within a single population, were first described for ‘pin’ and ‘thrum’ floral types in Primula1 and Fagopyrum2, but classic examples are also found in insect mimicry3–5 and snail morphology6. Understanding the evolutionary mechanisms that generate these co-adapted gene sets, as well as the mode of limiting the production of unfit recombinant forms, remains a substantial challenge7–10. Here we show that individual wing-pattern morphs in the polymorphic mimetic butterfly Heliconius numata are associated with different genomic rearrangements at the supergene locus P. These rearrangements tighten the genetic linkage between at least two colour-pattern loci that are known to recombine in closely related species9–11, with complete suppression of recombination being observed in experimental crosses across a 400-kilobase interval containing at least 18 genes. In natural populations, notable patterns of linkage disequilibrium (LD) are observed across the entire P region. The resulting divergent haplotype clades and inversion breakpoints are found in complete association with wing-pattern morphs. Our results indicate that allelic combinations at known wing-patterning loci have become locked together in a polymorphic rearrangement at the Plocus, forming a supergene that acts as a simple switch between complex adaptive phenotypes found in sympatry. These findings highlight how genomic rearrangements can have a central role in the coexistence of adaptive phenotypes involving several genes acting in concert, by locally limiting recombination and gene flow. PMID:21841803

Adaptive management of social-ecological systems: the path forward

USGS Publications Warehouse

Allen, Craig R.

2015-01-01

Adaptive management remains at the forefront of environmental management nearly 40 years after its original conception, largely because we have yet to develop other methodologies that offer the same promise. Despite the criticisms of adaptive management and the numerous failed attempts to implement it, adaptive management has yet to be replaced with a better alternative. The concept persists because it is simple, allows action despite uncertainty, and fosters learning. Moving forward, adaptive management of social-ecological systems provides policymakers, managers and scientists a powerful tool for managing for resilience in the face of uncertainty.

Adaptive management for a turbulent future

USGS Publications Warehouse

Allen, Craig R.; Fontaine, J.J.; Pope, K.L.; Garmestani, A.S.

2011-01-01

The challenges that face humanity today differ from the past because as the scale of human influence has increased, our biggest challenges have become global in nature, and formerly local problems that could be addressed by shifting populations or switching resources, now aggregate (i.e., "scale up") limiting potential management options. Adaptive management is an approach to natural resource management that emphasizes learning through management based on the philosophy that knowledge is incomplete and much of what we think we know is actually wrong. Adaptive management has explicit structure, including careful elucidation of goals, identification of alternative management objectives and hypotheses of causation, and procedures for the collection of data followed by evaluation and reiteration. It is evident that adaptive management has matured, but it has also reached a crossroads. Practitioners and scientists have developed adaptive management and structured decision making techniques, and mathematicians have developed methods to reduce the uncertainties encountered in resource management, yet there continues to be misapplication of the method and misunderstanding of its purpose. Ironically, the confusion over the term "adaptive management" may stem from the flexibility inherent in the approach, which has resulted in multiple interpretations of "adaptive management" that fall along a continuum of complexity and a priori design. Adaptive management is not a panacea for the navigation of 'wicked problems' as it does not produce easy answers, and is only appropriate in a subset of natural resource management problems where both uncertainty and controllability are high. Nonetheless, the conceptual underpinnings of adaptive management are simple; there will always be inherent uncertainty and unpredictability in the dynamics and behavior of complex social-ecological systems, but management decisions must still be made, and whenever possible, we should incorporate learning into management. ?? 2010 .

Adaptive Management for a Turbulent Future

USGS Publications Warehouse

Allen, Craig R.; Fontaine, Joseph J.; Pope, Kevin L.; Garmestani, Ahjond S.

2011-01-01

The challenges that face humanity today differ from the past because as the scale of human influence has increased, our biggest challenges have become global in nature, and formerly local problems that could be addressed by shifting populations or switching resources, now aggregate (i.e., "scale up") limiting potential management options. Adaptive management is an approach to natural resource management that emphasizes learning through management based on the philosophy that knowledge is incomplete and much of what we think we know is actually wrong. Adaptive management has explicit structure, including careful elucidation of goals, identification of alternative management objectives and hypotheses of causation, and procedures for the collection of data followed by evaluation and reiteration. It is evident that adaptive management has matured, but it has also reached a crossroads. Practitioners and scientists have developed adaptive management and structured decision making techniques, and mathematicians have developed methods to reduce the uncertainties encountered in resource management, yet there continues to be misapplication of the method and misunderstanding of its purpose. Ironically, the confusion over the term "adaptive management" may stem from the flexibility inherent in the approach, which has resulted in multiple interpretations of "adaptive management" that fall along a continuum of complexity and a priori design. Adaptive management is not a panacea for the navigation of 'wicked problems' as it does not produce easy answers, and is only appropriate in a subset of natural resource management problems where both uncertainty and controllability are high. Nonetheless, the conceptual underpinnings of adaptive management are simple; there will always be inherent uncertainty and unpredictability in the dynamics and behavior of complex social-ecological systems, but management decisions must still be made, and whenever possible, we should incorporate learning into management. Published by Elsevier Ltd.

Lack of power enhances visual perceptual discrimination.

PubMed

Weick, Mario; Guinote, Ana; Wilkinson, David

2011-09-01

Powerless individuals face much challenge and uncertainty. As a consequence, they are highly vigilant and closely scrutinize their social environments. The aim of the present research was to determine whether these qualities enhance performance in more basic cognitive tasks involving simple visual feature discrimination. To test this hypothesis, participants performed a series of perceptual matching and search tasks involving colour, texture, and size discrimination. As predicted, those primed with powerlessness generated shorter reaction times and made fewer eye movements than either powerful or control participants. The results indicate that the heightened vigilance shown by powerless individuals is associated with an advantage in performing simple types of psychophysical discrimination. These findings highlight, for the first time, an underlying competency in perceptual cognition that sets powerless individuals above their powerful counterparts, an advantage that may reflect functional adaptation to the environmental challenge and uncertainty that they face. © 2011 Canadian Psychological Association

Mutation particle swarm optimization of the BP-PID controller for piezoelectric ceramics

NASA Astrophysics Data System (ADS)

Zheng, Huaqing; Jiang, Minlan

2016-01-01

PID control is the most common used method in industrial control because its structure is simple and it is easy to implement. PID controller has good control effect, now it has been widely used. However, PID method has a few limitations. The overshoot of the PID controller is very big. The adjustment time is long. When the parameters of controlled plant are changing over time, the parameters of controller could hardly change automatically to adjust to changing environment. Thus, it can't meet the demand of control quality in the process of controlling piezoelectric ceramic. In order to effectively control the piezoelectric ceramic and improve the control accuracy, this paper replaced the learning algorithm of the BP with the mutation particle swarm optimization algorithm(MPSO) on the process of the parameters setting of BP-PID. That designed a better self-adaptive controller which is combing the BP neural network based on mutation particle swarm optimization with the conventional PID control theory. This combination is called the MPSO-BP-PID. In the mechanism of the MPSO, the mutation operation is carried out with the fitness variance and the global best fitness value as the standard. That can overcome the precocious of the PSO and strengthen its global search ability. As a result, the MPSO-BP-PID can complete controlling the controlled plant with higher speed and accuracy. Therefore, the MPSO-BP-PID is applied to the piezoelectric ceramic. It can effectively overcome the hysteresis, nonlinearity of the piezoelectric ceramic. In the experiment, compared with BP-PID and PSO-BP-PID, it proved that MPSO is effective and the MPSO-BP-PID has stronger adaptability and robustness.

Modeling the stylized facts in finance through simple nonlinear adaptive systems

PubMed Central

Hommes, Cars H.

2002-01-01

Recent work on adaptive systems for modeling financial markets is discussed. Financial markets are viewed as evolutionary systems between different, competing trading strategies. Agents are boundedly rational in the sense that they tend to follow strategies that have performed well, according to realized profits or accumulated wealth, in the recent past. Simple technical trading rules may survive evolutionary competition in a heterogeneous world where prices and beliefs co-evolve over time. Evolutionary models can explain important stylized facts, such as fat tails, clustered volatility, and long memory, of real financial series. PMID:12011401

Belowground Controls on the Dynamics of Plant Communities

NASA Astrophysics Data System (ADS)

Sivandran, G.

2013-12-01

Arid regions are characterized by high variability in the arrival of rainfall, and species found in these areas have adapted mechanisms to ensure the capture of this scarce resource. In particular, the rooting strategies employed by vegetation can be critical to their survival. These rooting strategies also dictate the competitive outcomes within plant communities. A dynamic rooting scheme was incorporated into tRIBS+VEGGIE (a physically-based, distributed ecohydrologic model). The dynamic rooting scheme allows vegetation the freedom to alter its rooting profile in response to changes in rainfall and soil conditions, in a way that more closely mimics observed phenotypic plasticity. A simple competition-colonization model was combined with the new dynamic root scheme to explore the role of root adaptability in plant competition and landscape evolution in semi-arid environments. The influence of model representation of rooting strategy on the long term plant community composition

Adaptive identifier for uncertain complex nonlinear systems based on continuous neural networks.

PubMed

Alfaro-Ponce, Mariel; Cruz, Amadeo Argüelles; Chairez, Isaac

2014-03-01

This paper presents the design of a complex-valued differential neural network identifier for uncertain nonlinear systems defined in the complex domain. This design includes the construction of an adaptive algorithm to adjust the parameters included in the identifier. The algorithm is obtained based on a special class of controlled Lyapunov functions. The quality of the identification process is characterized using the practical stability framework. Indeed, the region where the identification error converges is derived by the same Lyapunov method. This zone is defined by the power of uncertainties and perturbations affecting the complex-valued uncertain dynamics. Moreover, this convergence zone is reduced to its lowest possible value using ideas related to the so-called ellipsoid methodology. Two simple but informative numerical examples are developed to show how the identifier proposed in this paper can be used to approximate uncertain nonlinear systems valued in the complex domain.

Sensor fusion V; Proceedings of the Meeting, Boston, MA, Nov. 15-17, 1992

NASA Technical Reports Server (NTRS)

Schenker, Paul S. (Editor)

1992-01-01

Topics addressed include 3D object perception, human-machine interface in multisensor systems, sensor fusion architecture, fusion of multiple and distributed sensors, interface and decision models for sensor fusion, computational networks, simple sensing for complex action, multisensor-based control, and metrology and calibration of multisensor systems. Particular attention is given to controlling 3D objects by sketching 2D views, the graphical simulation and animation environment for flexible structure robots, designing robotic systems from sensorimotor modules, cylindrical object reconstruction from a sequence of images, an accurate estimation of surface properties by integrating information using Bayesian networks, an adaptive fusion model for a distributed detection system, multiple concurrent object descriptions in support of autonomous navigation, robot control with multiple sensors and heuristic knowledge, and optical array detectors for image sensors calibration. (No individual items are abstracted in this volume)

Positive Inclusion Experiences.

ERIC Educational Resources Information Center

Ensign, Arselia, Ed.

1996-01-01

This guide focuses on the use of low-end technology to make education more inclusive for children and adolescents with disabilities. The definition of "assistive technology" is discussed, and low-end technology is defined as simple modification/adaptation of toys and games, design and construction of simple switching devices, and the…

Simple and robust image-based autofocusing for digital microscopy.

PubMed

Yazdanfar, Siavash; Kenny, Kevin B; Tasimi, Krenar; Corwin, Alex D; Dixon, Elizabeth L; Filkins, Robert J

2008-06-09

A simple image-based autofocusing scheme for digital microscopy is demonstrated that uses as few as two intermediate images to bring the sample into focus. The algorithm is adapted to a commercial inverted microscope and used to automate brightfield and fluorescence imaging of histopathology tissue sections.

Adaptive exponential integrate-and-fire model as an effective description of neuronal activity.

PubMed

Brette, Romain; Gerstner, Wulfram

2005-11-01

We introduce a two-dimensional integrate-and-fire model that combines an exponential spike mechanism with an adaptation equation, based on recent theoretical findings. We describe a systematic method to estimate its parameters with simple electrophysiological protocols (current-clamp injection of pulses and ramps) and apply it to a detailed conductance-based model of a regular spiking neuron. Our simple model predicts correctly the timing of 96% of the spikes (+/-2 ms) of the detailed model in response to injection of noisy synaptic conductances. The model is especially reliable in high-conductance states, typical of cortical activity in vivo, in which intrinsic conductances were found to have a reduced role in shaping spike trains. These results are promising because this simple model has enough expressive power to reproduce qualitatively several electrophysiological classes described in vitro.

Full Scale Advanced Systems Testbed (FAST): Capabilities and Recent Flight Research

NASA Technical Reports Server (NTRS)

Miller, Christopher

2014-01-01

At the NASA Armstrong Flight Research Center research is being conducted into flight control technologies that will enable the next generation of air and space vehicles. The Full Scale Advanced Systems Testbed (FAST) aircraft provides a laboratory for flight exploration of these technologies. In recent years novel but simple adaptive architectures for aircraft and rockets have been researched along with control technologies for improving aircraft fuel efficiency and control structural interaction. This presentation outlines the FAST capabilities and provides a snapshot of the research accomplishments to date. Flight experimentation allows a researcher to substantiate or invalidate their assumptions and intuition about a new technology or innovative approach Data early in a development cycle is invaluable for determining which technology barriers are real and which ones are imagined Data for a technology at a low TRL can be used to steer and focus the exploration and fuel rapid advances based on real world lessons learned It is important to identify technologies that are mature enough to benefit from flight research data and not be tempted to wait until we have solved all the potential issues prior to getting some data Sometimes a stagnated technology just needs a little real world data to get it going One trick to getting data for low TRL technologies is finding an environment where it is okay to take risks, where occasional failure is an expected outcome Learning how things fail is often as valuable as showing that they work FAST has been architected to facilitate this type of testing for control system technologies, specifically novel algorithms and sensors Rapid prototyping with a quick turnaround in a fly-fix-fly paradigm Sometimes it's easier and cheaper to just go fly it than to analyze the problem to death The goal is to find and test control technologies that would benefit from flight data and find solutions to the real barriers to innovation. The FAST vehicle is a flexible laboratory for nascent technologies that would benefit from early life cycle flight research data It provides a robust and safe environment where innovative techniques can be explored in a fly-fix-fly rapid prototyping paradigm IRAC Simple adaptive control technologies can provide real benefits without undo complexity Adverse pilot/adaptive system interactions can be mitigated and tools have been developed to evaluate those interactions ICP Substantial fuel savings can be achieved over a broad range of vehicles and configurations with intelligent control solutions LVAC The AAC design is robust and effective for the SLS mission, and promises to provide benefits to other platforms as well OCLA Hopefully will show that structural feedback can be seamlessly integrated with performance and stability objectives All of these control technologies have been implemented into the same baseline control law and could be combined into one control solution that answers many pressing questions for modern vehicle configurations

[Artistic anatomy of the nose: proposals for a simplified project of rhinoplasty].

PubMed

Polselli, R; Saban, Y

2007-01-01

The authors developed an original and simple method of evaluation of the aesthetic lines of the nose adapted to the harmony of the face. Initially based on their experience, the authors propose an evaluation of the nose in 2 stages and 5 sequencies based on the construction of single circuit lines according to various incidences. They checked thereafter the validity of this method on the operative project and on the appreciation of the results of the rhinoplasties. Controlled on several types of faces, the method suggested by the authors proved to be reliable, simple, reproducible. The authors proposed a method of evaluation of the aesthetic lines of the nose integrated to the harmony of the face. This method relies on the construction, in 5 stages, of single circuit lines not requiring any particular material. The artistic method of evaluation of the nose proposed by the authors is very simple. Rapid and immediately usable, it makes it possible to schedule a rhinoplasty in a few minutes. The evaluation of the aesthetic results of the rhinoplasties is also very simple and reproducible. It has moreover the merit to propose a model of teaching making it possible to the rhinoplastician to criticize his results and thus to progress in its technical training and its operational indications.

Adaptive control system having hedge unit and related apparatus and methods

NASA Technical Reports Server (NTRS)

Johnson, Eric Norman (Inventor); Calise, Anthony J. (Inventor)

2003-01-01

The invention includes an adaptive control system used to control a plant. The adaptive control system includes a hedge unit that receives at least one control signal and a plant state signal. The hedge unit generates a hedge signal based on the control signal, the plant state signal, and a hedge model including a first model having one or more characteristics to which the adaptive control system is not to adapt, and a second model not having the characteristic(s) to which the adaptive control system is not to adapt. The hedge signal is used in the adaptive control system to remove the effect of the characteristic from a signal supplied to an adaptation law unit of the adaptive control system so that the adaptive control system does not adapt to the characteristic in controlling the plant.

A novel method of the image processing on irregular triangular meshes

NASA Astrophysics Data System (ADS)

Vishnyakov, Sergey; Pekhterev, Vitaliy; Sokolova, Elizaveta

2018-04-01

The paper describes a novel method of the image processing based on irregular triangular meshes implementation. The triangular mesh is adaptive to the image content, least mean square linear approximation is proposed for the basic interpolation within the triangle. It is proposed to use triangular numbers to simplify using of the local (barycentric) coordinates for the further analysis - triangular element of the initial irregular mesh is to be represented through the set of the four equilateral triangles. This allows to use fast and simple pixels indexing in local coordinates, e.g. "for" or "while" loops for access to the pixels. Moreover, representation proposed allows to use discrete cosine transform of the simple "rectangular" symmetric form without additional pixels reordering (as it is used for shape-adaptive DCT forms). Furthermore, this approach leads to the simple form of the wavelet transform on triangular mesh. The results of the method application are presented. It is shown that advantage of the method proposed is a combination of the flexibility of the image-adaptive irregular meshes with the simple form of the pixel indexing in local triangular coordinates and the using of the common forms of the discrete transforms for triangular meshes. Method described is proposed for the image compression, pattern recognition, image quality improvement, image search and indexing. It also may be used as a part of video coding (intra-frame or inter-frame coding, motion detection).

A simple transferable adaptive potential to study phase separation in large-scale xMgO-(1-x)SiO2 binary glasses.

PubMed

Bidault, Xavier; Chaussedent, Stéphane; Blanc, Wilfried

2015-10-21

A simple transferable adaptive model is developed and it allows for the first time to simulate by molecular dynamics the separation of large phases in the MgO-SiO2 binary system, as experimentally observed and as predicted by the phase diagram, meaning that separated phases have various compositions. This is a real improvement over fixed-charge models, which are often limited to an interpretation involving the formation of pure clusters, or involving the modified random network model. Our adaptive model, efficient to reproduce known crystalline and glassy structures, allows us to track the formation of large amorphous Mg-rich Si-poor nanoparticles in an Mg-poor Si-rich matrix from a 0.1MgO-0.9SiO2 melt.

3000 Years of Breeding for Drought Tolerance in Soybean

USDA-ARS?s Scientific Manuscript database

Plants and animals have both suffered through extreme environments over the long evolutionary history of life. Amazing adaptations such as camels and cactus have occurred. On the whole however, evolutionary adaptation to stress has been greater in plants than in animals. The simple difference betwe...

Hybrid Adaptive Flight Control with Model Inversion Adaptation

NASA Technical Reports Server (NTRS)

Nguyen, Nhan

2011-01-01

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

Toward increased autonomy in the surgical OR: needs, requests, and expectations.

PubMed

Kranzfelder, Michael; Staub, Christoph; Fiolka, Adam; Schneider, Armin; Gillen, Sonja; Wilhelm, Dirk; Friess, Helmut; Knoll, Alois; Feussner, Hubertus

2013-05-01

The current trend in surgery toward further trauma reduction inevitably leads to increased technological complexity. It must be assumed that this situation will not stay under the sole control of surgeons; mechanical systems will assist them. Certain segments of the work flow will likely have to be taken over by a machine in an automatized or autonomous mode. In addition to the analysis of our own surgical practice, a literature search of the Medline database was performed to identify important aspects, methods, and technologies for increased operating room (OR) autonomy. Robotic surgical systems can help to increase OR autonomy by camera control, application of intelligent instruments, and even accomplishment of automated surgical procedures. However, the important step from simple task execution to autonomous decision making is difficult to realize. Another important aspect is the adaption of the general technical OR environment. This includes adaptive OR setting and context-adaptive interfaces, automated tool arrangement, and optimal visualization. Finally, integration of peri- and intraoperative data consisting of electronic patient record, OR documentation and logistics, medical imaging, and patient surveillance data could increase autonomy. To gain autonomy in the OR, a variety of assistance systems and methodologies need to be incorporated that endorse the surgeon autonomously as a first step toward the vision of cognitive surgery. Thus, we require establishment of model-based surgery and integration of procedural tasks. Structured knowledge is therefore indispensable.

Neural-tree call admission controller for ATM networks

NASA Astrophysics Data System (ADS)

Rughooputh, Harry C. S.

1999-03-01

Asynchronous Transfer Mode (ATM) has been recommended by ITU-T as the transport method for broadband integrated services digital networks. In high-speed ATM networks different types of multimedia traffic streams with widely varying traffic characteristics and Quality of Service (QoS) are asynchronously multiplexed on transmission links and switched without window flow control as found in X.25. In such an environment, a traffic control scheme is required to manage the required QoS of each class individually. To meet the QoS requirements, Bandwidth Allocation and Call Admission Control (CAC) in ATM networks must be able to adapt gracefully to the dynamic behavior of traffic and the time-varying nature of the network condition. In this paper, a Neural Network approach for CAC is proposed. The call admission problem is addressed by designing controllers based on Neural Tree Networks. Simulations reveal that the proposed scheme is not only simple but it also offers faster response than conventional neural/neuro-fuzzy controllers.

Adaptive Controller Effects on Pilot Behavior

NASA Technical Reports Server (NTRS)

Trujillo, Anna C.; Gregory, Irene M.; Hempley, Lucas E.

2014-01-01

Adaptive control provides robustness and resilience for highly uncertain, and potentially unpredictable, flight dynamics characteristic. Some of the recent flight experiences of pilot-in-the-loop with an adaptive controller have exhibited unpredicted interactions. In retrospect, this is not surprising once it is realized that there are now two adaptive controllers interacting, the software adaptive control system and the pilot. An experiment was conducted to categorize these interactions on the pilot with an adaptive controller during control surface failures. One of the objectives of this experiment was to determine how the adaptation time of the controller affects pilots. The pitch and roll errors, and stick input increased for increasing adaptation time and during the segment when the adaptive controller was adapting. Not surprisingly, altitude, cross track and angle deviations, and vertical velocity also increase during the failure and then slowly return to pre-failure levels. Subjects may change their behavior even as an adaptive controller is adapting with additional stick inputs. Therefore, the adaptive controller should adapt as fast as possible to minimize flight track errors. This will minimize undesirable interactions between the pilot and the adaptive controller and maintain maneuvering precision.

DNA as Genetic Material: Revisiting Classic Experiments through a Simple, Practical Class

ERIC Educational Resources Information Center

Malago, Wilson, Jr.; Soares-Costa, Andrea; Henrique-Silva, Flavio

2009-01-01

In 1928, Frederick Griffith demonstrated a transmission process of genetic information by transforming "Pneumococcus". In 1944, Avery et al. demonstrated that Griffith's transforming principle was DNA. We revisited these classic experiments in a practical class for undergraduate students. Both experiments were reproduced in simple, adapted forms.…

Effects of adaptive servo-ventilation therapy on cardiac function and remodeling in patients with chronic heart failure (SAVIOR-C): study protocol for a randomized controlled trial.

PubMed

Seino, Yoshihiko; Momomura, Shin-Ichi; Kihara, Yasuki; Adachi, Hitoshi; Yasumura, Yoshio; Yokoyama, Hiroyuki

2015-01-16

Adaptive servo-ventilation (ASV) therapy, which is a form of noninvasive positive pressure ventilation therapy and uses an innovative ventilator that has simple operability and provides good patient adherence, potentially has therapeutic benefits-suppression of the deterioration and progression of chronic heart failure (CHF) and a reduction in the number of repeated hospitalizations. Therefore, ASV therapy draws attention as a novel, noninvasive nonpharmacotherapy for patients with CHF owing to its hemodynamics-improving effect, and it is currently being accepted in real-world clinical settings in Japan. However, clinical evidence sufficient for treatment recommendation is lacking because a multicenter, randomized, controlled study of ASV therapy has never been conducted. The present study is a confirmatory, prospective, multicenter, collaborative, open-label, blinded-endpoint, parallel-group, randomized, controlled study. At 40 medical institutions in Japan, 200 Japanese outpatients with mild to severe CHF (age: ≥ 20 years; New York Heart Association classification: greater than or equal to class II) will be randomly assigned to either of the following two study groups: the ASV group, in which 100 outpatients undergo guideline-directed medical therapy and ASV therapy for 24 weeks; and the control group, in which 100 outpatients undergo only guideline-directed medical therapy for 24 weeks. The objective of the present study is to confirm whether the ASV group is superior to the control group concerning the improvement of left ventricular contractility and remodeling, both assessed by two-dimensional echocardiography. Furthermore, the present study will also secondarily examine the effects of ASV therapy on the prognosis and quality of life of patients with CHF. ASV therapy using the device has the potential to provide therapeutic benefits based on its simple operability and good patient adherence and possesses the potential to improve left ventricular contractility and remodeling. Therefore, the present study is expected to afford more solid scientific evidence regarding ASV therapy as a novel, noninvasive, nonpharmacological, in-home, long-term ventilation therapy for patients with mild to severe CHF. UMIN identifier: UMIN000006549 , registered on 17 October, 2011.

A brittle star-like robot capable of immediately adapting to unexpected physical damage.

PubMed

Kano, Takeshi; Sato, Eiki; Ono, Tatsuya; Aonuma, Hitoshi; Matsuzaka, Yoshiya; Ishiguro, Akio

2017-12-01

A major challenge in robotic design is enabling robots to immediately adapt to unexpected physical damage. However, conventional robots require considerable time (more than several tens of seconds) for adaptation because the process entails high computational costs. To overcome this problem, we focus on a brittle star-a primitive creature with expendable body parts. Brittle stars, most of which have five flexible arms, occasionally lose some of them and promptly coordinate the remaining arms to escape from predators. We adopted a synthetic approach to elucidate the essential mechanism underlying this resilient locomotion. Specifically, based on behavioural experiments involving brittle stars whose arms were amputated in various ways, we inferred the decentralized control mechanism that self-coordinates the arm motions by constructing a simple mathematical model. We implemented this mechanism in a brittle star-like robot and demonstrated that it adapts to unexpected physical damage within a few seconds by automatically coordinating its undamaged arms similar to brittle stars. Through the above-mentioned process, we found that physical interaction between arms plays an essential role for the resilient inter-arm coordination of brittle stars. This finding will help develop resilient robots that can work in inhospitable environments. Further, it provides insights into the essential mechanism of resilient coordinated motions characteristic of animal locomotion.

A brittle star-like robot capable of immediately adapting to unexpected physical damage

PubMed Central

Sato, Eiki; Ono, Tatsuya; Aonuma, Hitoshi; Matsuzaka, Yoshiya; Ishiguro, Akio

2017-01-01

A major challenge in robotic design is enabling robots to immediately adapt to unexpected physical damage. However, conventional robots require considerable time (more than several tens of seconds) for adaptation because the process entails high computational costs. To overcome this problem, we focus on a brittle star—a primitive creature with expendable body parts. Brittle stars, most of which have five flexible arms, occasionally lose some of them and promptly coordinate the remaining arms to escape from predators. We adopted a synthetic approach to elucidate the essential mechanism underlying this resilient locomotion. Specifically, based on behavioural experiments involving brittle stars whose arms were amputated in various ways, we inferred the decentralized control mechanism that self-coordinates the arm motions by constructing a simple mathematical model. We implemented this mechanism in a brittle star-like robot and demonstrated that it adapts to unexpected physical damage within a few seconds by automatically coordinating its undamaged arms similar to brittle stars. Through the above-mentioned process, we found that physical interaction between arms plays an essential role for the resilient inter-arm coordination of brittle stars. This finding will help develop resilient robots that can work in inhospitable environments. Further, it provides insights into the essential mechanism of resilient coordinated motions characteristic of animal locomotion. PMID:29308250

Overview: Mechanism and Control of a Prosthetic Arm.

PubMed

Kulkarni, Tushar; Uddanwadiker, Rashmi

2015-09-01

Continuous growth in industrialization and lack of awareness in safety parameters the cases of amputations are growing. The search of safer, simpler and automated prosthetic arms for managing upper limbs is expected. Continuous efforts have been made to design and develop prosthetic arms ranging from simple harness actuated to automated mechanisms with various control options. However due the cost constraints, the automated prosthetic arms are still out of the reach of needy people. Recent data have shown that there is a wide scope to develop a low cost and light weight upper limb prosthesis. This review summarizes the various designs methodologies, mechanisms and control system developed by the researchers and the advances therein. Educating the patient to develop acceptability to prosthesis and using the same for the most basic desired functions of human hand, post amputation care and to improve patient's independent life is equally important. In conclusion it can be interpreted that there is a wide scope in design in an adaptive mechanism for opening and closing of the fingers using other methods of path and position synthesis. Simple mechanisms and less parts may optimize the cost factor. Reduction in the weight of the prosthesis may be achieved using polymers used for engineering applications. Control system will remain never ending challenge for the researchers, but it is essential to maintain the simplicity from the patients perspective.

Dual Extended Kalman Filter for the Identification of Time-Varying Human Manual Control Behavior

NASA Technical Reports Server (NTRS)

Popovici, Alexandru; Zaal, Peter M. T.; Pool, Daan M.

2017-01-01

A Dual Extended Kalman Filter was implemented for the identification of time-varying human manual control behavior. Two filters that run concurrently were used, a state filter that estimates the equalization dynamics, and a parameter filter that estimates the neuromuscular parameters and time delay. Time-varying parameters were modeled as a random walk. The filter successfully estimated time-varying human control behavior in both simulated and experimental data. Simple guidelines are proposed for the tuning of the process and measurement covariance matrices and the initial parameter estimates. The tuning was performed on simulation data, and when applied on experimental data, only an increase in measurement process noise power was required in order for the filter to converge and estimate all parameters. A sensitivity analysis to initial parameter estimates showed that the filter is more sensitive to poor initial choices of neuromuscular parameters than equalization parameters, and bad choices for initial parameters can result in divergence, slow convergence, or parameter estimates that do not have a real physical interpretation. The promising results when applied to experimental data, together with its simple tuning and low dimension of the state-space, make the use of the Dual Extended Kalman Filter a viable option for identifying time-varying human control parameters in manual tracking tasks, which could be used in real-time human state monitoring and adaptive human-vehicle haptic interfaces.

Waterless Condensers for the Teaching Laboratory: An Adaptation of Traditional Glassware

ERIC Educational Resources Information Center

Baum, Erich W.; Esteb, John J.; Wilson, Anne M.

2014-01-01

A simple adaptation of traditional "chemistry kit" condensers for the organic chemistry teaching laboratory is described. These waterless condensers have been employed safely with most solvents. They can be easily fabricated, stored, and used in the same manner as water-cooled condensers. These condensers were utilized in several…

A novel bit-wise adaptable entropy coding technique

NASA Technical Reports Server (NTRS)

Kiely, A.; Klimesh, M.

2001-01-01

We present a novel entropy coding technique which is adaptable in that each bit to be encoded may have an associated probability esitmate which depends on previously encoded bits. The technique may have advantages over arithmetic coding. The technique can achieve arbitrarily small redundancy and admits a simple and fast decoder.

Gradient Index Optics at DARPA

DTIC Science & Technology

2013-11-01

four efforts were selected for further development and demonstration: fluidic adaptive zoom lenses, foveated imaging, photon sieves, and nanolayer...2-4 1. Fluidic Adaptive Zoom Lenses... gastropod mollusks. In simple optical systems such as the fish lens, the focal length is a function of the wavelength of light. This distortion is called

Neonates in Ahmedabad, India, during the 2010 heat wave: a climate change adaptation study.

PubMed

Kakkad, Khyati; Barzaga, Michelle L; Wallenstein, Sylvan; Azhar, Gulrez Shah; Sheffield, Perry E

2014-01-01

Health effects from climate change are an international concern with urban areas at particular risk due to urban heat island effects. The burden of disease on vulnerable populations in non-climate-controlled settings has not been well studied. This study compared neonatal morbidity in a non-air-conditioned hospital during the 2010 heat wave in Ahmedabad to morbidity in the prior and subsequent years. The outcome of interest was neonatal intensive care unit (NICU) admissions for heat. During the months of April, May, and June of 2010, 24 NICU admissions were for heat versus 8 and 4 in 2009 and 2011, respectively. Both the effect of moving the maternity ward and the effect of high temperatures were statistically significant, controlling for each other. Above 42 degrees Celsius, each daily maximum temperature increase of a degree was associated with 43% increase in heat-related admissions (95% CI 9.2-88%). Lower floor location of the maternity ward within hospital which occurred after the 2010 heat wave showed a protective effect. These findings demonstrate the importance of simple surveillance measures in motivating a hospital policy change for climate change adaptation-here relocating one ward-and the potential increasing health burden of heat in non-climate-controlled institutions on vulnerable populations.

A spiking neural integrator model of the adaptive control of action by the medial prefrontal cortex.

PubMed

Bekolay, Trevor; Laubach, Mark; Eliasmith, Chris

2014-01-29

Subjects performing simple reaction-time tasks can improve reaction times by learning the expected timing of action-imperative stimuli and preparing movements in advance. Success or failure on the previous trial is often an important factor for determining whether a subject will attempt to time the stimulus or wait for it to occur before initiating action. The medial prefrontal cortex (mPFC) has been implicated in enabling the top-down control of action depending on the outcome of the previous trial. Analysis of spike activity from the rat mPFC suggests that neural integration is a key mechanism for adaptive control in precisely timed tasks. We show through simulation that a spiking neural network consisting of coupled neural integrators captures the neural dynamics of the experimentally recorded mPFC. Errors lead to deviations in the normal dynamics of the system, a process that could enable learning from past mistakes. We expand on this coupled integrator network to construct a spiking neural network that performs a reaction-time task by following either a cue-response or timing strategy, and show that it performs the task with similar reaction times as experimental subjects while maintaining the same spiking dynamics as the experimentally recorded mPFC.

Learning from ISS-modular adaptive NN control of nonlinear strict-feedback systems.

PubMed

Wang, Cong; Wang, Min; Liu, Tengfei; Hill, David J

2012-10-01

This paper studies learning from adaptive neural control (ANC) for a class of nonlinear strict-feedback systems with unknown affine terms. To achieve the purpose of learning, a simple input-to-state stability (ISS) modular ANC method is first presented to ensure the boundedness of all the signals in the closed-loop system and the convergence of tracking errors in finite time. Subsequently, it is proven that learning with the proposed stable ISS-modular ANC can be achieved. The cascade structure and unknown affine terms of the considered systems make it very difficult to achieve learning using existing methods. To overcome these difficulties, the stable closed-loop system in the control process is decomposed into a series of linear time-varying (LTV) perturbed subsystems with the appropriate state transformation. Using a recursive design, the partial persistent excitation condition for the radial basis function neural network (NN) is established, which guarantees exponential stability of LTV perturbed subsystems. Consequently, accurate approximation of the closed-loop system dynamics is achieved in a local region along recurrent orbits of closed-loop signals, and learning is implemented during a closed-loop feedback control process. The learned knowledge is reused to achieve stability and an improved performance, thereby avoiding the tremendous repeated training process of NNs. Simulation studies are given to demonstrate the effectiveness of the proposed method.

Interplanetary Overlay Network Bundle Protocol Implementation

NASA Technical Reports Server (NTRS)

Burleigh, Scott C.

2011-01-01

The Interplanetary Overlay Network (ION) system's BP package, an implementation of the Delay-Tolerant Networking (DTN) Bundle Protocol (BP) and supporting services, has been specifically designed to be suitable for use on deep-space robotic vehicles. Although the ION BP implementation is unique in its use of zero-copy objects for high performance, and in its use of resource-sensitive rate control, it is fully interoperable with other implementations of the BP specification (Internet RFC 5050). The ION BP implementation is built using the same software infrastructure that underlies the implementation of the CCSDS (Consultative Committee for Space Data Systems) File Delivery Protocol (CFDP) built into the flight software of Deep Impact. It is designed to minimize resource consumption, while maximizing operational robustness. For example, no dynamic allocation of system memory is required. Like all the other ION packages, ION's BP implementation is designed to port readily between Linux and Solaris (for easy development and for ground system operations) and VxWorks (for flight systems operations). The exact same source code is exercised in both environments. Initially included in the ION BP implementations are the following: libraries of functions used in constructing bundle forwarders and convergence-layer (CL) input and output adapters; a simple prototype bundle forwarder and associated CL adapters designed to run over an IPbased local area network; administrative tools for managing a simple DTN infrastructure built from these components; a background daemon process that silently destroys bundles whose time-to-live intervals have expired; a library of functions exposed to applications, enabling them to issue and receive data encapsulated in DTN bundles; and some simple applications that can be used for system checkout and benchmarking.

Adaptations in bacterial catabolic enzyme activity and community structure in membrane-coupled bioreactors fed simple synthetic wastewater.

PubMed

LaPara, Timothy M; Klatt, Christian G; Chen, Ruoyu

2006-02-10

Membrane-coupled bioreactors (MBRs) offer substantial benefits compared to conventional reactor designs for biological wastewater treatment. MBR treatment efficiency, however, has not been optimized because the effects of the MBR on process microbiology are poorly understood. In this study, the structure and function of the microbial communities growing in MBRs fed simple synthetic wastewater were investigated. In four starch-fed MBRs, the bacterial community substantially increased its alpha-glucosidase affinity (>1000-fold), while the leucine aminopeptidase and heptanoate esterase affinities increased slightly (<40-fold) or remained relatively constant. Concomitant to these physiological adaptations, shifts in the bacterial community structure in two of the starch-fed MBRs were detected by PCR-DGGE. Four of the bacterial populations detected by PCR-DGGE were isolated and exhibited specific growth rates in batch culture ranging from 0.009 to 0.22 h(-1). Our results suggest that bacterial communities growing under increasingly stringent nutrient limitation adapt their enzyme activities primarily for the nutrients provided, but that there is also a more subtle response not linked to the substrates included in the feed medium. Our research also demonstrates that MBRs can support relatively complex bacterial communities even on simple feed media.

Changes in Simple Spike Activity of some Purkinje cells in the Oculomotor Vermis during Saccade Adaptation are Appropriate to Participate in Motor Learning

PubMed Central

Kojima, Yoshiko; Soetedjo, Robijanto; Fuchs, Albert F.

2010-01-01

Adaptation of saccadic eye movements provides an excellent motor learning model to study theories of neuronal plasticity. When primates make saccades to a jumping target, a backward step of the target during the saccade can make it appear to overshoot. If this deception continues for many trials, saccades gradually decrease in amplitude to go directly to the back-stepped target location. We used this adaptation paradigm to evaluate the Marr-Albus hypothesis that such motor learning occurs at the Purkinje (P-) cell of the cerebellum. We recorded the activity of identified P-cells in the oculomotor vermis, lobules VIc and VII. After determining the on and off error directions of a P-cell’s complex spike activity, we determined whether its saccade-related simple spike (SS) activity changed during saccade adaptation in those two directions. Before adaptation, 57 of 61 P-cells exhibited a clear burst, pause or a combination of both for saccades in one or both directions. Sixty-two percent of all cells, including 2 of the 4 initially unresponsive ones, behaved differently for saccades whose size changed because of adaptation than for saccades of similar sizes gathered before adaptation. In at least 42% of these, the changes were appropriate to decrease saccade amplitude based on our current knowledge of cerebellum and brain stem saccade circuitry. Changes in activity during adaptation were not compensating for the potential fatigue associated with performing many saccades. Therefore, many P-cells in the oculomotor vermis exhibit changes in SS activity specific to adapted saccades and therefore appropriate to induce adaptation. PMID:20220005

Integrating the automatic and the controlled: Strategies in Semantic Priming in an Attractor Network with Latching Dynamics

PubMed Central

Lerner, Itamar; Bentin, Shlomo; Shriki, Oren

2014-01-01

Semantic priming has long been recognized to reflect, along with automatic semantic mechanisms, the contribution of controlled strategies. However, previous theories of controlled priming were mostly qualitative, lacking common grounds with modern mathematical models of automatic priming based on neural networks. Recently, we have introduced a novel attractor network model of automatic semantic priming with latching dynamics. Here, we extend this work to show how the same model can also account for important findings regarding controlled processes. Assuming the rate of semantic transitions in the network can be adapted using simple reinforcement learning, we show how basic findings attributed to controlled processes in priming can be achieved, including their dependency on stimulus onset asynchrony and relatedness proportion and their unique effect on associative, category-exemplar, mediated and backward prime-target relations. We discuss how our mechanism relates to the classic expectancy theory and how it can be further extended in future developments of the model. PMID:24890261

Robust Optimal Adaptive Control Method with Large Adaptive Gain

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.

2009-01-01

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

Simple adaptation of the Bridgman high pressure technique for use with liquid media

NASA Astrophysics Data System (ADS)

Colombier, E.; Braithwaite, D.

2007-09-01

We present a simple novel technique to adapt a standard Bridgman cell for the use of a liquid pressure transmitting medium. The technique has been implemented in a compact cell, able to fit in a commercial Quantum Design PPMS system, and would also be easily adaptable to extreme conditions of very low temperatures or high magnetic fields. Several media have been tested and a mix of fluorinert FC84:FC87 has been shown to produce a considerable improvement over the pressure conditions in the standard steatite solid medium, while allowing a relatively easy setup procedure. For optimized hydrostatic conditions, the success rate is about 80% and the maximum pressure achieved so far is 7.1GPa. Results are shown for the heavy fermion system YbAl3 and for NaV6O15, an insulator showing charge order.

Passive and active adaptive management: Approaches and an example

USGS Publications Warehouse

Williams, B.K.

2011-01-01

Adaptive management is a framework for resource conservation that promotes iterative learning-based decision making. Yet there remains considerable confusion about what adaptive management entails, and how to actually make resource decisions adaptively. A key but somewhat ambiguous distinction in adaptive management is between active and passive forms of adaptive decision making. The objective of this paper is to illustrate some approaches to active and passive adaptive management with a simple example involving the drawdown of water impoundments on a wildlife refuge. The approaches are illustrated for the drawdown example, and contrasted in terms of objectives, costs, and potential learning rates. Some key challenges to the actual practice of AM are discussed, and tradeoffs between implementation costs and long-term benefits are highlighted. ?? 2010 Elsevier Ltd.

SUSTAIN: A Network Model of Category Learning

ERIC Educational Resources Information Center

Love, Bradley C.; Medin, Douglas L.; Gureckis, Todd M.

2004-01-01

SUSTAIN (Supervised and Unsupervised STratified Adaptive Incremental Network) is a model of how humans learn categories from examples. SUSTAIN initially assumes a simple category structure. If simple solutions prove inadequate and SUSTAIN is confronted with a surprising event (e.g., it is told that a bat is a mammal instead of a bird), SUSTAIN…

A "Simple Query Interface" Adapter for the Discovery and Exchange of Learning Resources

ERIC Educational Resources Information Center

Massart, David

2006-01-01

Developed as part of CEN/ISSS Workshop on Learning Technology efforts to improve interoperability between learning resource repositories, the Simple Query Interface (SQI) is an Application Program Interface (API) for querying heterogeneous repositories of learning resource metadata. In the context of the ProLearn Network of Excellence, SQI is used…

Adaptive Controller Adaptation Time and Available Control Authority Effects on Piloting

NASA Technical Reports Server (NTRS)

Trujillo, Anna; Gregory, Irene

2013-01-01

Adaptive control is considered for highly uncertain, and potentially unpredictable, flight dynamics characteristic of adverse conditions. This experiment looked at how adaptive controller adaptation time to recover nominal aircraft dynamics affects pilots and how pilots want information about available control authority transmitted. Results indicate that an adaptive controller that takes three seconds to adapt helped pilots when looking at lateral and longitudinal errors. The controllability ratings improved with the adaptive controller, again the most for the three seconds adaptation time while workload decreased with the adaptive controller. The effects of the displays showing the percentage amount of available safe flight envelope used in the maneuver were dominated by the adaptation time. With the displays, the altitude error increased, controllability slightly decreased, and mental demand increased. Therefore, the displays did require some of the subjects resources but these negatives may be outweighed by pilots having more situation awareness of their aircraft.

Nutrient controls on biocomplexity of mangrove ecosystems

USGS Publications Warehouse

McKee, Karen L.

2004-01-01

Mangrove forests are important coastal ecosystems that provide a variety of ecological and societal services. These intertidal, tree-dominated communities along tropical coastlines are often described as “simple systems,” compared to other tropical forests with larger numbers of plant species and multiple understory strata; however, mangrove ecosystems have complex trophic structures, and organisms exhibit unique physiological, morphological, and behavioral adaptations to environmental conditions characteristic of the land-sea interface. Biogeochemical functioning of mangrove forests is also controlled by interactions among the microbial, plant, and animal communities and feedback linkages mediated by hydrology and other forcing functions. Scientists with the U.S. Geological Survey (USGS) at the National Wetlands Research Center are working to understand more fully the impact of nutrient variability on these delicate and important ecosystems.

Tracking of electrochemical impedance of batteries

NASA Astrophysics Data System (ADS)

Piret, H.; Granjon, P.; Guillet, N.; Cattin, V.

2016-04-01

This paper presents an evolutionary battery impedance estimation method, which can be easily embedded in vehicles or nomad devices. The proposed method not only allows an accurate frequency impedance estimation, but also a tracking of its temporal evolution contrary to classical electrochemical impedance spectroscopy methods. Taking into account constraints of cost and complexity, we propose to use the existing electronics of current control to perform a frequency evolutionary estimation of the electrochemical impedance. The developed method uses a simple wideband input signal, and relies on a recursive local average of Fourier transforms. The averaging is controlled by a single parameter, managing a trade-off between tracking and estimation performance. This normalized parameter allows to correctly adapt the behavior of the proposed estimator to the variations of the impedance. The advantage of the proposed method is twofold: the method is easy to embed into a simple electronic circuit, and the battery impedance estimator is evolutionary. The ability of the method to monitor the impedance over time is demonstrated on a simulator, and on a real Lithium ion battery, on which a repeatability study is carried out. The experiments reveal good tracking results, and estimation performance as accurate as the usual laboratory approaches.

Reversible and Precisely Controllable p/n-Type Doping of MoTe2 Transistors through Electrothermal Doping.

PubMed

Chang, Yuan-Ming; Yang, Shih-Hsien; Lin, Che-Yi; Chen, Chang-Hung; Lien, Chen-Hsin; Jian, Wen-Bin; Ueno, Keiji; Suen, Yuen-Wuu; Tsukagoshi, Kazuhito; Lin, Yen-Fu

2018-03-01

Precisely controllable and reversible p/n-type electronic doping of molybdenum ditelluride (MoTe 2 ) transistors is achieved by electrothermal doping (E-doping) processes. E-doping includes electrothermal annealing induced by an electric field in a vacuum chamber, which results in electron (n-type) doping and exposure to air, which induces hole (p-type) doping. The doping arises from the interaction between oxygen molecules or water vapor and defects of tellurium at the MoTe 2 surface, and allows the accurate manipulation of p/n-type electrical doping of MoTe 2 transistors. Because no dopant or special gas is used in the E-doping processes of MoTe 2 , E-doping is a simple and efficient method. Moreover, through exact manipulation of p/n-type doping of MoTe 2 transistors, quasi-complementary metal oxide semiconductor adaptive logic circuits, such as an inverter, not or gate, and not and gate, are successfully fabricated. The simple method, E-doping, adopted in obtaining p/n-type doping of MoTe 2 transistors undoubtedly has provided an approach to create the electronic devices with desired performance. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

An Optimal Control Modification to Model-Reference Adaptive Control for Fast Adaptation

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.; Krishnakumar, Kalmanje; Boskovic, Jovan

2008-01-01

This paper presents a method that can achieve fast adaptation for a class of model-reference adaptive control. It is well-known that standard model-reference adaptive control exhibits high-gain control behaviors when a large adaptive gain is used to achieve fast adaptation in order to reduce tracking error rapidly. High gain control creates high-frequency oscillations that can excite unmodeled dynamics and can lead to instability. The fast adaptation approach is based on the minimization of the squares of the tracking error, which is formulated as an optimal control problem. The necessary condition of optimality is used to derive an adaptive law using the gradient method. This adaptive law is shown to result in uniform boundedness of the tracking error by means of the Lyapunov s direct method. Furthermore, this adaptive law allows a large adaptive gain to be used without causing undesired high-gain control effects. The method is shown to be more robust than standard model-reference adaptive control. Simulations demonstrate the effectiveness of the proposed method.

Design of a self-tuning regulator for temperature control of a polymerization reactor.

PubMed

Vasanthi, D; Pranavamoorthy, B; Pappa, N

2012-01-01

The temperature control of a polymerization reactor described by Chylla and Haase, a control engineering benchmark problem, is used to illustrate the potential of adaptive control design by employing a self-tuning regulator concept. In the benchmark scenario, the operation of the reactor must be guaranteed under various disturbing influences, e.g., changing ambient temperatures or impurity of the monomer. The conventional cascade control provides a robust operation, but often lacks in control performance concerning the required strict temperature tolerances. The self-tuning control concept presented in this contribution solves the problem. This design calculates a trajectory for the cooling jacket temperature in order to follow a predefined trajectory of the reactor temperature. The reaction heat and the heat transfer coefficient in the energy balance are estimated online by using an unscented Kalman filter (UKF). Two simple physically motivated relations are employed, which allow the non-delayed estimation of both quantities. Simulation results under model uncertainties show the effectiveness of the self-tuning control concept. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

Optimal control of the strong-field ionization of silver clusters in helium droplets

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

Truong, N. X.; Goede, S.; Przystawik, A.

Optimal control techniques combined with femtosecond laser pulse shaping are applied to steer and enhance the strong-field induced emission of highly charged atomic ions from silver clusters embedded in helium nanodroplets. With light fields shaped in amplitude and phase we observe a substantial increase of the Ag{sup q+} yield for q>10 when compared to bandwidth-limited and optimally stretched pulses. A remarkably simple double-pulse structure, containing a low-intensity prepulse and a stronger main pulse, turns out to produce the highest atomic charge states up to Ag{sup 20+}. A negative chirp during the main pulse hints at dynamic frequency locking to themore » cluster plasmon. A numerical optimal control study on pure silver clusters with a nanoplasma model converges to a similar pulse structure and corroborates that the optimal light field adapts to the resonant excitation of cluster surface plasmons for efficient ionization.« less

AHA! Version 2.0: More Adaptation Flexibility for Authors.

ERIC Educational Resources Information Center

De Bra, Paul; Aerts, Ad; Smits, David; Stash, Natalia

AHA! is a simple Web-based adaptive hypermedia system. Because of this simplicity it has been studied and experimented with in several research groups. This paper identifies shortcomings in AHA! and presents AHA! version 2.0 which tries to overcome the known problems with AHA! while maintaining its biggest asset: simplicity. The paper illustrates…

Modeling Students' Memory for Application in Adaptive Educational Systems

ERIC Educational Resources Information Center

Pelánek, Radek

2015-01-01

Human memory has been thoroughly studied and modeled in psychology, but mainly in laboratory setting under simplified conditions. For application in practical adaptive educational systems we need simple and robust models which can cope with aspects like varied prior knowledge or multiple-choice questions. We discuss and evaluate several models of…

Cultural Challenges in Adapting Lesson Study to a Philippines Setting

ERIC Educational Resources Information Center

Ebaeguin, Marlon; Stephens, Max

2014-01-01

Promising improved student and teacher learning, Japanese lesson study has attracted many international educators to try to implement it in their own contexts. However, a simple transference model of implementation is likely to meet difficulties. Key determinants of any adaptation will be differences between existing conventions of pedagogy and of…

Real time on-chip sequential adaptive principal component analysis for data feature extraction and image compression

NASA Technical Reports Server (NTRS)

Duong, T. A.

2004-01-01

In this paper, we present a new, simple, and optimized hardware architecture sequential learning technique for adaptive Principle Component Analysis (PCA) which will help optimize the hardware implementation in VLSI and to overcome the difficulties of the traditional gradient descent in learning convergence and hardware implementation.

On the adaptivity and complexity embedded into differential evolution

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

Senkerik, Roman; Pluhacek, Michal; Jasek, Roman

2016-06-08

This research deals with the comparison of the two modern approaches for evolutionary algorithms, which are the adaptivity and complex chaotic dynamics. This paper aims on the investigations on the chaos-driven Differential Evolution (DE) concept. This paper is aimed at the embedding of discrete dissipative chaotic systems in the form of chaotic pseudo random number generators for the DE and comparing the influence to the performance with the state of the art adaptive representative jDE. This research is focused mainly on the possible disadvantages and advantages of both compared approaches. Repeated simulations for Lozi map driving chaotic systems were performedmore » on the simple benchmark functions set, which are more close to the real optimization problems. Obtained results are compared with the canonical not-chaotic and not adaptive DE. Results show that with used simple test functions, the performance of ChaosDE is better in the most cases than jDE and Canonical DE, furthermore due to the unique sequencing in CPRNG given by the hidden chaotic dynamics, thus better and faster selection of unique individuals from population, ChaosDE is faster.« less

Adaptive Peer Sampling with Newscast

NASA Astrophysics Data System (ADS)

Tölgyesi, Norbert; Jelasity, Márk

The peer sampling service is a middleware service that provides random samples from a large decentralized network to support gossip-based applications such as multicast, data aggregation and overlay topology management. Lightweight gossip-based implementations of the peer sampling service have been shown to provide good quality random sampling while also being extremely robust to many failure scenarios, including node churn and catastrophic failure. We identify two problems with these approaches. The first problem is related to message drop failures: if a node experiences a higher-than-average message drop rate then the probability of sampling this node in the network will decrease. The second problem is that the application layer at different nodes might request random samples at very different rates which can result in very poor random sampling especially at nodes with high request rates. We propose solutions for both problems. We focus on Newscast, a robust implementation of the peer sampling service. Our solution is based on simple extensions of the protocol and an adaptive self-control mechanism for its parameters, namely—without involving failure detectors—nodes passively monitor local protocol events using them as feedback for a local control loop for self-tuning the protocol parameters. The proposed solution is evaluated by simulation experiments.

GENERAL EARTHQUAKE-OBSERVATION SYSTEM (GEOS).

USGS Publications Warehouse

Borcherdt, R.D.; Fletcher, Joe B.; Jensen, E.G.; Maxwell, G.L.; VanSchaack, J.R.; Warrick, R.E.; Cranswick, E.; Johnston, M.J.S.; McClearn, R.

1985-01-01

Microprocessor technology has permitted the development of a General Earthquake-Observation System (GEOS) useful for most seismic applications. Central-processing-unit control via robust software of system functions that are isolated on hardware modules permits field adaptability of the system to a wide variety of active and passive seismic experiments and straightforward modification for incorporation of improvements in technology. Various laboratory tests and numerous deployments of a set of the systems in the field have confirmed design goals, including: wide linear dynamic range (16 bit/96 dB); broad bandwidth (36 hr to 600 Hz; greater than 36 hr available); selectable sensor-type (accelerometer, seismometer, dilatometer); selectable channels (1 to 6); selectable record mode (continuous, preset, trigger); large data capacity (1. 4 to 60 Mbytes); selectable time standard (WWVB, master, manual); automatic self-calibration; simple field operation; full capability to adapt system in the field to a wide variety of experiments; low power; portability; and modest costs. System design goals for a microcomputer-controlled system with modular software and hardware components as implemented on the GEOS are presented. The systems have been deployed for 15 experiments, including: studies of near-source strong motion; high-frequency microearthquakes; crustal structure; down-hole wave propagation; teleseismicity; and earth-tidal strains.

Adaptive Flight Control for Aircraft Safety Enhancements

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.; Gregory, Irene M.; Joshi, Suresh M.

2008-01-01

This poster presents the current adaptive control research being conducted at NASA ARC and LaRC in support of the Integrated Resilient Aircraft Control (IRAC) project. The technique "Approximate Stability Margin Analysis of Hybrid Direct-Indirect Adaptive Control" has been developed at NASA ARC to address the needs for stability margin metrics for adaptive control that potentially enables future V&V of adaptive systems. The technique "Direct Adaptive Control With Unknown Actuator Failures" is developed at NASA LaRC to deal with unknown actuator failures. The technique "Adaptive Control with Adaptive Pilot Element" is being researched at NASA LaRC to investigate the effects of pilot interactions with adaptive flight control that can have implications of stability and performance.

Isolation and characterization of Escherichia coli K-12 mutants unable to induce the adaptive response to simple alkylating agents.

PubMed Central

Jeggo, P

1979-01-01

When Esherichia coli cells are exposed to a low level of simple alkylating agents, they induce the adaptive response which renders them more resistant to the killing and the mutagenic effects of the same or other alkylating agents. This paper describes the isolation of one strain that was deficient in mutagenic adaptation and five that were deficient in both mutagenic and killing adaptation, confirming previous suggestions that killing and mutagenic adaptation are, at least to some extent, separable. These six strains have been called Ada mutants. They were more sensitive to the killing and mutagenic effects of N-methy-N'-nitro-N-nitrosoguanidine (MNNG) than the unadapted Ada+ parent. Thus, the adaptation pathway is responsible for circumventing some alkylation-induced damage even in cells that are preinduced. The increase in mutation frequency seen in Ada cells treated with MNNG was the same whether the cells were lexA+ or lexA, showing that the extra mutations found in Ada- strains do not depend upon the SOS pathway. Ada strains accumulated more O6-methyl guanine lesions than the Ada+ parent on prolonged exposure to MNNG, and this supports the idea that O6-methyl guanine is the most important lesion for MNNG-induced mutagenesis. The ada mutations have been shown to map in the 47 to 53-min region of the E. coli chromosome. PMID:383692

Verification and Validation Challenges for Adaptive Flight Control of Complex Autonomous Systems

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.

2018-01-01

Autonomy of aerospace systems requires the ability for flight control systems to be able to adapt to complex uncertain dynamic environment. In spite of the five decades of research in adaptive control, the fact still remains that currently no adaptive control system has ever been deployed on any safety-critical or human-rated production systems such as passenger transport aircraft. The problem lies in the difficulty with the certification of adaptive control systems since existing certification methods cannot readily be used for nonlinear adaptive control systems. Research to address the notion of metrics for adaptive control began to appear in the recent years. These metrics, if accepted, could pave a path towards certification that would potentially lead to the adoption of adaptive control as a future control technology for safety-critical and human-rated production systems. Development of certifiable adaptive control systems represents a major challenge to overcome. Adaptive control systems with learning algorithms will never become part of the future unless it can be proven that they are highly safe and reliable. Rigorous methods for adaptive control software verification and validation must therefore be developed to ensure that adaptive control system software failures will not occur, to verify that the adaptive control system functions as required, to eliminate unintended functionality, and to demonstrate that certification requirements imposed by regulatory bodies such as the Federal Aviation Administration (FAA) can be satisfied. This presentation will discuss some of the technical issues with adaptive flight control and related V&V challenges.

Method and apparatus for adaptive force and position control of manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1989-01-01

The present invention discloses systematic methods and apparatus for the design of real time controllers. Real-time control employs adaptive force/position by use of feedforward and feedback controllers, with the feedforward controller being the inverse of the linearized model of robot dynamics and containing only proportional-double-derivative terms is disclosed. The feedback controller, of the proportional-integral-derivative type, ensures that manipulator joints follow reference trajectories and the feedback controller achieves robust tracking of step-plus-exponential trajectories, all in real time. The adaptive controller includes adaptive force and position control within a hybrid control architecture. The adaptive controller, for force control, achieves tracking of desired force setpoints, and the adaptive position controller accomplishes tracking of desired position trajectories. Circuits in the adaptive feedback and feedforward controllers are varied by adaptation laws.

Adaptive Flight Control Design with Optimal Control Modification on an F-18 Aircraft Model

NASA Technical Reports Server (NTRS)

Burken, John J.; Nguyen, Nhan T.; Griffin, Brian J.

2010-01-01

In the presence of large uncertainties, a control system needs to be able to adapt rapidly to regain performance. Fast adaptation is referred to as the implementation of adaptive control with a large adaptive gain to reduce the tracking error rapidly; however, a large adaptive gain can lead to high-frequency oscillations which can adversely affect the robustness of an adaptive control law. A new adaptive control modification is presented that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. The modification is based on the minimization of the Y2 norm of the tracking error, which is formulated as an optimal control problem. The optimality condition is used to derive the modification using the gradient method. The optimal control modification results in a stable adaptation and allows a large adaptive gain to be used for better tracking while providing sufficient robustness. A damping term (v) is added in the modification to increase damping as needed. Simulations were conducted on a damaged F-18 aircraft (McDonnell Douglas, now The Boeing Company, Chicago, Illinois) with both the standard baseline dynamic inversion controller and the adaptive optimal control modification technique. The results demonstrate the effectiveness of the proposed modification in tracking a reference model.

Biomimetic micromechanical adaptive flow-sensor arrays

NASA Astrophysics Data System (ADS)

Krijnen, Gijs; Floris, Arjan; Dijkstra, Marcel; Lammerink, Theo; Wiegerink, Remco

2007-05-01

We report current developments in biomimetic flow-sensors based on flow sensitive mechano-sensors of crickets. Crickets have one form of acoustic sensing evolved in the form of mechanoreceptive sensory hairs. These filiform hairs are highly perceptive to low-frequency sound with energy sensitivities close to thermal threshold. In this work we describe hair-sensors fabricated by a combination of sacrificial poly-silicon technology, to form silicon-nitride suspended membranes, and SU8 polymer processing for fabrication of hairs with diameters of about 50 μm and up to 1 mm length. The membranes have thin chromium electrodes on top forming variable capacitors with the substrate that allow for capacitive read-out. Previously these sensors have been shown to exhibit acoustic sensitivity. Like for the crickets, the MEMS hair-sensors are positioned on elongated structures, resembling the cercus of crickets. In this work we present optical measurements on acoustically and electrostatically excited hair-sensors. We present adaptive control of flow-sensitivity and resonance frequency by electrostatic spring stiffness softening. Experimental data and simple analytical models derived from transduction theory are shown to exhibit good correspondence, both confirming theory and the applicability of the presented approach towards adaptation.

Direct adaptive performance optimization of subsonic transports: A periodic perturbation technique

NASA Technical Reports Server (NTRS)

Espana, Martin D.; Gilyard, Glenn

1995-01-01

Aircraft performance can be optimized at the flight condition by using available redundancy among actuators. Effective use of this potential allows improved performance beyond limits imposed by design compromises. Optimization based on nominal models does not result in the best performance of the actual aircraft at the actual flight condition. An adaptive algorithm for optimizing performance parameters, such as speed or fuel flow, in flight based exclusively on flight data is proposed. The algorithm is inherently insensitive to model inaccuracies and measurement noise and biases and can optimize several decision variables at the same time. An adaptive constraint controller integrated into the algorithm regulates the optimization constraints, such as altitude or speed, without requiring and prior knowledge of the autopilot design. The algorithm has a modular structure which allows easy incorporation (or removal) of optimization constraints or decision variables to the optimization problem. An important part of the contribution is the development of analytical tools enabling convergence analysis of the algorithm and the establishment of simple design rules. The fuel-flow minimization and velocity maximization modes of the algorithm are demonstrated on the NASA Dryden B-720 nonlinear flight simulator for the single- and multi-effector optimization cases.

A generalized leaky FxLMS algorithm for tuning the waterbed effect of feedback active noise control systems

NASA Astrophysics Data System (ADS)

Wu, Lifu; Qiu, Xiaojun; Guo, Yecai

2018-06-01

To tune the noise amplification in the feedback system caused by the waterbed effect effectively, an adaptive algorithm is proposed in this paper by replacing the scalar leaky factor of the leaky FxLMS algorithm with a real symmetric Toeplitz matrix. The elements in the matrix are calculated explicitly according to the noise amplification constraints, which are defined based on a simple but efficient method. Simulations in an ANC headphone application demonstrate that the proposed algorithm can adjust the frequency band of noise amplification more effectively than the FxLMS algorithm and the leaky FxLMS algorithm.

A group sequential adaptive treatment assignment design for proof of concept and dose selection in headache trials.

PubMed

Hall, David B; Meier, Ulrich; Diener, Hans-Cristoph

2005-06-01

The trial objective was to test whether a new mechanism of action would effectively treat migraine headaches and to select a dose range for further investigation. The motivation for a group sequential, adaptive, placebo-controlled trial design was (1) limited information about where across the range of seven doses to focus attention, (2) a need to limit sample size for a complicated inpatient treatment and (3) a desire to reduce exposure of patients to ineffective treatment. A design based on group sequential and up and down designs was developed and operational characteristics were explored by trial simulation. The primary outcome was headache response at 2 h after treatment. Groups of four treated and two placebo patients were assigned to one dose. Adaptive dose selection was based on response rates of 60% seen with other migraine treatments. If more than 60% of treated patients responded, then the next dose was the next lower dose; otherwise, the dose was increased. A stopping rule of at least five groups at the target dose and at least four groups at that dose with more than 60% response was developed to ensure that a selected dose would be statistically significantly (p=0.05) superior to placebo. Simulations indicated good characteristics in terms of control of type 1 error, sufficient power, modest expected sample size and modest bias in estimation. The trial design is attractive for phase 2 clinical trials when response is acute and simple, ideally binary, placebo comparator is required, and patient accrual is relatively slow allowing for the collection and processing of results as a basis for the adaptive assignment of patients to dose groups. The acute migraine trial based on this design was successful in both proof of concept and dose range selection.

On-line, adaptive state estimator for active noise control

NASA Technical Reports Server (NTRS)

Lim, Tae W.

1994-01-01

Dynamic characteristics of airframe structures are expected to vary as aircraft flight conditions change. Accurate knowledge of the changing dynamic characteristics is crucial to enhancing the performance of the active noise control system using feedback control. This research investigates the development of an adaptive, on-line state estimator using a neural network concept to conduct active noise control. In this research, an algorithm has been developed that can be used to estimate displacement and velocity responses at any locations on the structure from a limited number of acceleration measurements and input force information. The algorithm employs band-pass filters to extract from the measurement signal the frequency contents corresponding to a desired mode. The filtered signal is then used to train a neural network which consists of a linear neuron with three weights. The structure of the neural network is designed as simple as possible to increase the sampling frequency as much as possible. The weights obtained through neural network training are then used to construct the transfer function of a mode in z-domain and to identify modal properties of each mode. By using the identified transfer function and interpolating the mode shape obtained at sensor locations, the displacement and velocity responses are estimated with reasonable accuracy at any locations on the structure. The accuracy of the response estimates depends on the number of modes incorporated in the estimates and the number of sensors employed to conduct mode shape interpolation. Computer simulation demonstrates that the algorithm is capable of adapting to the varying dynamic characteristics of structural properties. Experimental implementation of the algorithm on a DSP (digital signal processing) board for a plate structure is underway. The algorithm is expected to reach the sampling frequency range of about 10 kHz to 20 kHz which needs to be maintained for a typical active noise control application.

Experimental Validation of L1 Adaptive Control: Rohrs' Counterexample in Flight

NASA Technical Reports Server (NTRS)

Xargay, Enric; Hovakimyan, Naira; Dobrokhodov, Vladimir; Kaminer, Issac; Kitsios, Ioannis; Cao, Chengyu; Gregory, Irene M.; Valavani, Lena

2010-01-01

The paper presents new results on the verification and in-flight validation of an L1 adaptive flight control system, and proposes a general methodology for verification and validation of adaptive flight control algorithms. The proposed framework is based on Rohrs counterexample, a benchmark problem presented in the early 80s to show the limitations of adaptive controllers developed at that time. In this paper, the framework is used to evaluate the performance and robustness characteristics of an L1 adaptive control augmentation loop implemented onboard a small unmanned aerial vehicle. Hardware-in-the-loop simulations and flight test results confirm the ability of the L1 adaptive controller to maintain stability and predictable performance of the closed loop adaptive system in the presence of general (artificially injected) unmodeled dynamics. The results demonstrate the advantages of L1 adaptive control as a verifiable robust adaptive control architecture with the potential of reducing flight control design costs and facilitating the transition of adaptive control into advanced flight control systems.

Development of longitudinally excited CO2 laser

NASA Astrophysics Data System (ADS)

Masroon, N. S.; Tanaka, M.; Tei, M.; Uno, K.; Tsuyama, M.; Nakano, H.

2018-05-01

Simple, compact, and affordable discharged-pumped CO2 laser controlled by a fast high voltage solid state switch has been developed. In this study, longitudinal excitation scheme has been adapted for simple configuration. In the longitudinal excitation scheme, the discharge is produced along the direction of the laser axis, and the electrodes are well separated with a small discharge cross-section. Triggered spark gap switch is usually used to switch out the high voltage because of simple and low cost. However, the triggered spark gap operates in the arc mode and suffer from recovery problem causing a short life time and low efficiency for high repetition rate operation. As a result, there is now considerable interest in replacing triggered spark gap switch with solid state switches. Solid state switches have significant advantages compared to triggered spark gap switch which include longer service lifetime, low cost and stable high trigger pulse. We have developed simple and low cost fast high voltage solid state switch that consists of series connected-MOSFETs. It has been installed to the longitudinally excited CO2 laser to realize the gap switch less operation. Characteristics of laser oscillation by varying the discharge length, charging voltage, capacitance and gas pressure have been evaluated. Longer discharge length produce high power of laser oscillation. Optimum charging voltage and gas pressure were existed for longitudinally excited CO2 laser.

Hybrid Computerized Adaptive Testing: From Group Sequential Design to Fully Sequential Design

ERIC Educational Resources Information Center

Wang, Shiyu; Lin, Haiyan; Chang, Hua-Hua; Douglas, Jeff

2016-01-01

Computerized adaptive testing (CAT) and multistage testing (MST) have become two of the most popular modes in large-scale computer-based sequential testing. Though most designs of CAT and MST exhibit strength and weakness in recent large-scale implementations, there is no simple answer to the question of which design is better because different…

QUEST - A Bayesian adaptive psychometric method

NASA Technical Reports Server (NTRS)

Watson, A. B.; Pelli, D. G.

1983-01-01

An adaptive psychometric procedure that places each trial at the current most probable Bayesian estimate of threshold is described. The procedure takes advantage of the common finding that the human psychometric function is invariant in form when expressed as a function of log intensity. The procedure is simple, fast, and efficient, and may be easily implemented on any computer.

Dynamic Adaptive Neural Network Arrays: A Neuromorphic Architecture

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

Disney, Adam; Reynolds, John

2015-01-01

Dynamic Adaptive Neural Network Array (DANNA) is a neuromorphic hardware implementation. It differs from most other neuromorphic projects in that it allows for programmability of structure, and it is trained or designed using evolutionary optimization. This paper describes the DANNA structure, how DANNA is trained using evolutionary optimization, and an application of DANNA to a very simple classification task.

Modeling Speed-Accuracy Tradeoff in Adaptive System for Practicing Estimation

ERIC Educational Resources Information Center

Nižnan, Juraj

2015-01-01

Estimation is useful in situations where an exact answer is not as important as a quick answer that is good enough. A web-based adaptive system for practicing estimates is currently being developed. We propose a simple model for estimating student's latent skill of estimation. This model combines a continuous measure of correctness and response…

Understanding the Clausius-Clapeyron Equation by Employing an Easily Adaptable Pressure Cooker

ERIC Educational Resources Information Center

Galleano, Monica; Boveris, Alberto; Puntarulo, Susana

2008-01-01

This article describes a simple and inexpensive laboratory exercise developed to understand the effect of pressure on phase equilibrium as described by the Clausius-Clapeyron equation. The only piece of equipment required is a pressure cooker adapted with a pressure gauge and a thermometer in the lid, allowing the measurement of the pressure and…

Constitutive modeling and control of 1D smart composite structures

NASA Astrophysics Data System (ADS)

Briggs, Jonathan P.; Ostrowski, James P.; Ponte-Castaneda, Pedro

1998-07-01

Homogenization techniques for determining effective properties of composite materials may provide advantages for control of stiffness and strain in systems using hysteretic smart actuators embedded in a soft matrix. In this paper, a homogenized model of a 1D composite structure comprised of shape memory alloys and a rubber-like matrix is presented. With proportional and proportional/integral feedback, using current as the input state and global strain as an error state, implementation scenarios include the use of tractions on the boundaries and a nonlinear constitutive law for the matrix. The result is a simple model which captures the nonlinear behavior of the smart composite material system and is amenable to experiments with various control paradigms. The success of this approach in the context of the 1D model suggests that the homogenization method may prove useful in investigating control of more general smart structures. Applications of such materials could include active rehabilitation aids, e.g. wrist braces, as well as swimming/undulating robots, or adaptive molds for manufacturing processes.

Adaptation to Skew Distortions of Natural Scenes and Retinal Specificity of Its Aftereffects

PubMed Central

Habtegiorgis, Selam W.; Rifai, Katharina; Lappe, Markus; Wahl, Siegfried

2017-01-01

Image skew is one of the prominent distortions that exist in optical elements, such as in spectacle lenses. The present study evaluates adaptation to image skew in dynamic natural images. Moreover, the cortical levels involved in skew coding were probed using retinal specificity of skew adaptation aftereffects. Left and right skewed natural image sequences were shown to observers as adapting stimuli. The point of subjective equality (PSE), i.e., the skew amplitude in simple geometrical patterns that is perceived to be unskewed, was used to quantify the aftereffect of each adapting skew direction. The PSE, in a two-alternative forced choice paradigm, shifted toward the adapting skew direction. Moreover, significant adaptation aftereffects were obtained not only at adapted, but also at non-adapted retinal locations during fixation. Skew adaptation information was transferred partially to non-adapted retinal locations. Thus, adaptation to skewed natural scenes induces coordinated plasticity in lower and higher cortical areas of the visual pathway. PMID:28751870

Adaptive reduction of constitutive model-form error using a posteriori error estimation techniques

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

Bishop, Joseph E.; Brown, Judith Alice

In engineering practice, models are typically kept as simple as possible for ease of setup and use, computational efficiency, maintenance, and overall reduced complexity to achieve robustness. In solid mechanics, a simple and efficient constitutive model may be favored over one that is more predictive, but is difficult to parameterize, is computationally expensive, or is simply not available within a simulation tool. In order to quantify the modeling error due to the choice of a relatively simple and less predictive constitutive model, we adopt the use of a posteriori model-form error-estimation techniques. Based on local error indicators in the energymore » norm, an algorithm is developed for reducing the modeling error by spatially adapting the material parameters in the simpler constitutive model. The resulting material parameters are not material properties per se, but depend on the given boundary-value problem. As a first step to the more general nonlinear case, we focus here on linear elasticity in which the “complex” constitutive model is general anisotropic elasticity and the chosen simpler model is isotropic elasticity. As a result, the algorithm for adaptive error reduction is demonstrated using two examples: (1) A transversely-isotropic plate with hole subjected to tension, and (2) a transversely-isotropic tube with two side holes subjected to torsion.« less

Adaptive reduction of constitutive model-form error using a posteriori error estimation techniques

DOE PAGES

Bishop, Joseph E.; Brown, Judith Alice

2018-06-15

In engineering practice, models are typically kept as simple as possible for ease of setup and use, computational efficiency, maintenance, and overall reduced complexity to achieve robustness. In solid mechanics, a simple and efficient constitutive model may be favored over one that is more predictive, but is difficult to parameterize, is computationally expensive, or is simply not available within a simulation tool. In order to quantify the modeling error due to the choice of a relatively simple and less predictive constitutive model, we adopt the use of a posteriori model-form error-estimation techniques. Based on local error indicators in the energymore » norm, an algorithm is developed for reducing the modeling error by spatially adapting the material parameters in the simpler constitutive model. The resulting material parameters are not material properties per se, but depend on the given boundary-value problem. As a first step to the more general nonlinear case, we focus here on linear elasticity in which the “complex” constitutive model is general anisotropic elasticity and the chosen simpler model is isotropic elasticity. As a result, the algorithm for adaptive error reduction is demonstrated using two examples: (1) A transversely-isotropic plate with hole subjected to tension, and (2) a transversely-isotropic tube with two side holes subjected to torsion.« less

Adaptive control applied to Space Station attitude control system

NASA Technical Reports Server (NTRS)

Lam, Quang M.; Chipman, Richard; Hu, Tsay-Hsin G.; Holmes, Eric B.; Sunkel, John

1992-01-01

This paper presents an adaptive control approach to enhance the performance of current attitude control system used by the Space Station Freedom. The proposed control law was developed based on the direct adaptive control or model reference adaptive control scheme. Performance comparisons, subject to inertia variation, of the adaptive controller and the fixed-gain linear quadratic regulator currently implemented for the Space Station are conducted. Both the fixed-gain and the adaptive gain controllers are able to maintain the Station stability for inertia variations of up to 35 percent. However, when a 50 percent inertia variation is applied to the Station, only the adaptive controller is able to maintain the Station attitude.

Bounded Linear Stability Margin Analysis of Nonlinear Hybrid Adaptive Control

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.; Boskovic, Jovan D.

2008-01-01

This paper presents a bounded linear stability analysis for a hybrid adaptive control that blends both direct and indirect adaptive control. Stability and convergence of nonlinear adaptive control are analyzed using an approximate linear equivalent system. A stability margin analysis shows that a large adaptive gain can lead to a reduced phase margin. This method can enable metrics-driven adaptive control whereby the adaptive gain is adjusted to meet stability margin requirements.

Operant Conditioning of Primate Prefrontal Neurons

PubMed Central

Schultz, Wolfram; Sakagami, Masamichi

2010-01-01

An operant is a behavioral act that has an impact on the environment to produce an outcome, constituting an important component of voluntary behavior. Because the environment can be volatile, the same action may cause different consequences. Thus to obtain an optimal outcome, it is crucial to detect action–outcome relationships and adapt the behavior accordingly. Although prefrontal neurons are known to change activity depending on expected reward, it remains unknown whether prefrontal activity contributes to obtaining reward. We investigated this issue by setting variable relationships between levels of single-neuron activity and rewarding outcomes. Lateral prefrontal neurons changed their spiking activity according to the specific requirements for gaining reward, without the animals making a motor response. Thus spiking activity constituted an operant response. Data from a control task suggested that these changes were unlikely to reflect simple reward predictions. These data demonstrate a remarkable capacity of prefrontal neurons to adapt to specific operant requirements at the single-neuron level. PMID:20107129

The complex interplay of sex allocation and sexual selection.

PubMed

Booksmythe, Isobel; Schwanz, Lisa E; Kokko, Hanna

2013-03-01

It is well recognized that sex allocation strategies can be influenced by sexual selection, when females adjust offspring sex ratios in response to their mates' attractiveness. Yet the reciprocal influence of strategic sex allocation on processes of sexual selection has only recently been revealed. Recent theoretical work demonstrates that sex allocation weakens selection for female preferences, leading to the decline of male traits. However, these results have been derived assuming that females have perfect knowledge of mate attractiveness and precise control over cost-free allocation. Relaxing these assumptions highlights the importance of another feedback: that adaptive sex allocation must become difficult to maintain as traits and preferences decline. When sex allocation strategies erode not only traits and preferences but also their own selective advantage, predictions can no longer be expressed as a simple linear correlation between ornament exaggeration and adaptive sex allocation. Instead, strongest sex ratio biases may be found at intermediate trait levels. © 2012 The Author(s). Evolution© 2012 The Society for the Study of Evolution.

Reinforcement learning or active inference?

PubMed

Friston, Karl J; Daunizeau, Jean; Kiebel, Stefan J

2009-07-29

This paper questions the need for reinforcement learning or control theory when optimising behaviour. We show that it is fairly simple to teach an agent complicated and adaptive behaviours using a free-energy formulation of perception. In this formulation, agents adjust their internal states and sampling of the environment to minimize their free-energy. Such agents learn causal structure in the environment and sample it in an adaptive and self-supervised fashion. This results in behavioural policies that reproduce those optimised by reinforcement learning and dynamic programming. Critically, we do not need to invoke the notion of reward, value or utility. We illustrate these points by solving a benchmark problem in dynamic programming; namely the mountain-car problem, using active perception or inference under the free-energy principle. The ensuing proof-of-concept may be important because the free-energy formulation furnishes a unified account of both action and perception and may speak to a reappraisal of the role of dopamine in the brain.

Approaching neuropsychological tasks through adaptive neurorobots

NASA Astrophysics Data System (ADS)

Gigliotta, Onofrio; Bartolomeo, Paolo; Miglino, Orazio

2015-04-01

Neuropsychological phenomena have been modelized mainly, by the mainstream approach, by attempting to reproduce their neural substrate whereas sensory-motor contingencies have attracted less attention. In this work, we introduce a simulator based on the evolutionary robotics platform Evorobot* in order to setting up in silico neuropsychological tasks. Moreover, in this study we trained artificial embodied neurorobotic agents equipped with a pan/tilt camera, provided with different neural and motor capabilities, to solve a well-known neuropsychological test: the cancellation task in which an individual is asked to cancel target stimuli surrounded by distractors. Results showed that embodied agents provided with additional motor capabilities (a zooming/attentional actuator) outperformed simple pan/tilt agents, even those equipped with more complex neural controllers and that the zooming ability is exploited to correctly categorising presented stimuli. We conclude that since the sole neural computational power cannot explain the (artificial) cognition which emerged throughout the adaptive process, such kind of modelling approach can be fruitful in neuropsychological modelling where the importance of having a body is often neglected.

Emergence of robust growth laws from optimal regulation of ribosome synthesis.

PubMed

Scott, Matthew; Klumpp, Stefan; Mateescu, Eduard M; Hwa, Terence

2014-08-22

Bacteria must constantly adapt their growth to changes in nutrient availability; yet despite large-scale changes in protein expression associated with sensing, adaptation, and processing different environmental nutrients, simple growth laws connect the ribosome abundance and the growth rate. Here, we investigate the origin of these growth laws by analyzing the features of ribosomal regulation that coordinate proteome-wide expression changes with cell growth in a variety of nutrient conditions in the model organism Escherichia coli. We identify supply-driven feedforward activation of ribosomal protein synthesis as the key regulatory motif maximizing amino acid flux, and autonomously guiding a cell to achieve optimal growth in different environments. The growth laws emerge naturally from the robust regulatory strategy underlying growth rate control, irrespective of the details of the molecular implementation. The study highlights the interplay between phenomenological modeling and molecular mechanisms in uncovering fundamental operating constraints, with implications for endogenous and synthetic design of microorganisms. © 2014 The Authors. Published under the terms of the CC BY 4.0 license.

Adaptable bioinspired special wetting surface for multifunctional oil/water separation

NASA Astrophysics Data System (ADS)

Kavalenka, Maryna N.; Vüllers, Felix; Kumberg, Jana; Zeiger, Claudia; Trouillet, Vanessa; Stein, Sebastian; Ava, Tanzila T.; Li, Chunyan; Worgull, Matthias; Hölscher, Hendrik

2017-01-01

Inspired by the multifunctionality of biological surfaces necessary for the survival of an organism in its specific environment, we developed an artificial special wetting nanofur surface which can be adapted to perform different functionalities necessary to efficiently separate oil and water for cleaning accidental oil spills or separating industrial oily wastewater. Initial superhydrophobic nanofur surface is fabricated using a hot pulling method, in which nano- and microhairs are drawn out of the polymer surface during separation from a heated sandblasted steel plate. By using a set of simple modification techniques, which include microperforation, plasma treatment and subsequent control of storage environment, we achieved selective separation of either water or oil, variable oil absorption and continuous gravity driven separation of oil/water mixtures by filtration. Furthermore, these functions can be performed using special wetting nanofur made from various thermoplastics, including biodegradable and recyclable polymers. Additionally, nanofur can be reused after washing it with organic solvents, thus, further helping to reduce the environmental impacts of oil/water separation processes.

Adaptable bioinspired special wetting surface for multifunctional oil/water separation

PubMed Central

Kavalenka, Maryna N.; Vüllers, Felix; Kumberg, Jana; Zeiger, Claudia; Trouillet, Vanessa; Stein, Sebastian; Ava, Tanzila T.; Li, Chunyan; Worgull, Matthias; Hölscher, Hendrik

2017-01-01

Inspired by the multifunctionality of biological surfaces necessary for the survival of an organism in its specific environment, we developed an artificial special wetting nanofur surface which can be adapted to perform different functionalities necessary to efficiently separate oil and water for cleaning accidental oil spills or separating industrial oily wastewater. Initial superhydrophobic nanofur surface is fabricated using a hot pulling method, in which nano- and microhairs are drawn out of the polymer surface during separation from a heated sandblasted steel plate. By using a set of simple modification techniques, which include microperforation, plasma treatment and subsequent control of storage environment, we achieved selective separation of either water or oil, variable oil absorption and continuous gravity driven separation of oil/water mixtures by filtration. Furthermore, these functions can be performed using special wetting nanofur made from various thermoplastics, including biodegradable and recyclable polymers. Additionally, nanofur can be reused after washing it with organic solvents, thus, further helping to reduce the environmental impacts of oil/water separation processes. PMID:28051163

Reactive recruitment of attentional control in math anxiety: an ERP study of numeric conflict monitoring and adaptation.

PubMed

Suárez-Pellicioni, Macarena; Núñez-Peña, María Isabel; Colomé, Àngels

2014-01-01

This study uses event-related brain potentials (ERPs) to investigate the electrophysiological correlates of numeric conflict monitoring in math-anxious individuals, by analyzing whether math anxiety is related to abnormal processing in early conflict detection (as shown by the N450 component) and/or in a later, response-related stage of processing (as shown by the conflict sustained potential; Conflict-SP). Conflict adaptation effects were also studied by analyzing the effect of the previous trial's congruence in current interference. To this end, 17 low math-anxious (LMA) and 17 high math-anxious (HMA) individuals were presented with a numerical Stroop task. Groups were extreme in math anxiety but did not differ in trait or state anxiety or in simple math ability. The interference effect of the current trial (incongruent-congruent) and the interference effect preceded by congruence and by incongruity were analyzed both for behavioral measures and for ERPs. A greater interference effect was found for response times in the HMA group than in the LMA one. Regarding ERPs, the LMA group showed a greater N450 component for the interference effect preceded by congruence than when preceded by incongruity, while the HMA group showed greater Conflict-SP amplitude for the interference effect preceded by congruence than when preceded by incongruity. Our study showed that the electrophysiological correlates of numeric interference in HMA individuals comprise the absence of a conflict adaptation effect in the first stage of conflict processing (N450) and an abnormal subsequent up-regulation of cognitive control in order to overcome the conflict (Conflict-SP). More concretely, our study shows that math anxiety is related to a reactive and compensatory recruitment of control resources that is implemented only when previously exposed to a stimuli presenting conflicting information.

Reactive Recruitment of Attentional Control in Math Anxiety: An ERP Study of Numeric Conflict Monitoring and Adaptation

PubMed Central

Suárez-Pellicioni, Macarena; Núñez-Peña, María Isabel; Colomé, Àngels

2014-01-01

This study uses event-related brain potentials (ERPs) to investigate the electrophysiological correlates of numeric conflict monitoring in math-anxious individuals, by analyzing whether math anxiety is related to abnormal processing in early conflict detection (as shown by the N450 component) and/or in a later, response-related stage of processing (as shown by the conflict sustained potential; Conflict-SP). Conflict adaptation effects were also studied by analyzing the effect of the previous trial’s congruence in current interference. To this end, 17 low math-anxious (LMA) and 17 high math-anxious (HMA) individuals were presented with a numerical Stroop task. Groups were extreme in math anxiety but did not differ in trait or state anxiety or in simple math ability. The interference effect of the current trial (incongruent-congruent) and the interference effect preceded by congruence and by incongruity were analyzed both for behavioral measures and for ERPs. A greater interference effect was found for response times in the HMA group than in the LMA one. Regarding ERPs, the LMA group showed a greater N450 component for the interference effect preceded by congruence than when preceded by incongruity, while the HMA group showed greater Conflict-SP amplitude for the interference effect preceded by congruence than when preceded by incongruity. Our study showed that the electrophysiological correlates of numeric interference in HMA individuals comprise the absence of a conflict adaptation effect in the first stage of conflict processing (N450) and an abnormal subsequent up-regulation of cognitive control in order to overcome the conflict (Conflict-SP). More concretely, our study shows that math anxiety is related to a reactive and compensatory recruitment of control resources that is implemented only when previously exposed to a stimuli presenting conflicting information. PMID:24918584

A shock-capturing SPH scheme based on adaptive kernel estimation

NASA Astrophysics Data System (ADS)

Sigalotti, Leonardo Di G.; López, Hender; Donoso, Arnaldo; Sira, Eloy; Klapp, Jaime

2006-02-01

Here we report a method that converts standard smoothed particle hydrodynamics (SPH) into a working shock-capturing scheme without relying on solutions to the Riemann problem. Unlike existing adaptive SPH simulations, the present scheme is based on an adaptive kernel estimation of the density, which combines intrinsic features of both the kernel and nearest neighbor approaches in a way that the amount of smoothing required in low-density regions is effectively controlled. Symmetrized SPH representations of the gas dynamic equations along with the usual kernel summation for the density are used to guarantee variational consistency. Implementation of the adaptive kernel estimation involves a very simple procedure and allows for a unique scheme that handles strong shocks and rarefactions the same way. Since it represents a general improvement of the integral interpolation on scattered data, it is also applicable to other fluid-dynamic models. When the method is applied to supersonic compressible flows with sharp discontinuities, as in the classical one-dimensional shock-tube problem and its variants, the accuracy of the results is comparable, and in most cases superior, to that obtained from high quality Godunov-type methods and SPH formulations based on Riemann solutions. The extension of the method to two- and three-space dimensions is straightforward. In particular, for the two-dimensional cylindrical Noh's shock implosion and Sedov point explosion problems the present scheme produces much better results than those obtained with conventional SPH codes.

Compensation for loads during arm movements using equilibrium-point control.

PubMed

Gribble, P L; Ostry, D J

2000-12-01

A significant problem in motor control is how information about movement error is used to modify control signals to achieve desired performance. A potential source of movement error and one that is readily controllable experimentally relates to limb dynamics and associated movement-dependent loads. In this paper, we have used a position control model to examine changes to control signals for arm movements in the context of movement-dependent loads. In the model, based on the equilibrium-point hypothesis, equilibrium shifts are adjusted directly in proportion to the positional error between desired and actual movements. The model is used to simulate multi-joint movements in the presence of both "internal" loads due to joint interaction torques, and externally applied loads resulting from velocity-dependent force fields. In both cases it is shown that the model can achieve close correspondence to empirical data using a simple linear adaptation procedure. An important feature of the model is that it achieves compensation for loads during movement without the need for either coordinate transformations between positional error and associated corrective forces, or inverse dynamics calculations.

Advances in Adaptive Control Methods

NASA Technical Reports Server (NTRS)

Nguyen, Nhan

2009-01-01

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

Pilot Evaluation of Adaptive Control in Motion-Based Flight Simulator

NASA Technical Reports Server (NTRS)

Kaneshige, John T.; Campbell, Stefan Forrest

2009-01-01

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

Effect of Newborn Resuscitation Training on Health Worker Practices in Pumwani Hospital, Kenya

PubMed Central

Opiyo, Newton; Were, Fred; Govedi, Fridah; Fegan, Greg; Wasunna, Aggrey; English, Mike

2008-01-01

Background Birth asphyxia kills 0.7 to 1.6 million newborns a year globally with 99% of deaths in developing countries. Effective newborn resuscitation could reduce this burden of disease but the training of health-care providers in low income settings is often outdated. Our aim was to determine if a simple one day newborn resuscitation training (NRT) alters health worker resuscitation practices in a public hospital setting in Kenya. Methods/Principal Findings We conducted a randomised, controlled trial with health workers receiving early training with NRT (n = 28) or late training (the control group, n = 55). The training was adapted locally from the approach of the UK Resuscitation Council. The primary outcome was the proportion of appropriate initial resuscitation steps with the frequency of inappropriate practices as a secondary outcome. Data were collected on 97 and 115 resuscitation episodes over 7 weeks after early training in the intervention and control groups respectively. Trained providers demonstrated a higher proportion of adequate initial resuscitation steps compared to the control group (trained 66% vs control 27%; risk ratio 2.45, [95% CI 1.75–3.42], p<0.001, adjusted for clustering). In addition, there was a statistically significant reduction in the frequency of inappropriate and potentially harmful practices per resuscitation in the trained group (trained 0.53 vs control 0.92; mean difference 0.40, [95% CI 0.13–0.66], p = 0.004). Conclusions/Significance Implementation of a simple, one day newborn resuscitation training can be followed immediately by significant improvement in health workers' practices. However, evidence of the effects on long term performance or clinical outcomes can only be established by larger cluster randomised trials. Trial Registration Controlled-Trials.com ISRCTN92218092 PMID:18270586

Adaptive control of a Stewart platform-based manipulator

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.; Zhou, Zhen-Lei; Campbell, Charles E., Jr.

1993-01-01

A joint-space adaptive control scheme for controlling noncompliant motion of a Stewart platform-based manipulator (SPBM) was implemented in the Hardware Real-Time Emulator at Goddard Space Flight Center. The six-degrees of freedom SPBM uses two platforms and six linear actuators driven by dc motors. The adaptive control scheme is based on proportional-derivative controllers whose gains are adjusted by an adaptation law based on model reference adaptive control and Liapunov direct method. It is concluded that the adaptive control scheme provides superior tracking capability as compared to fixed-gain controllers.

Auxin fluxes in the root apex co-regulate gravitropism and lateral root initiation.

PubMed

Lucas, M; Godin, C; Jay-Allemand, C; Laplaze, L

2008-01-01

Root architecture plays an important role in water and nutrient acquisition and in the ability of the plant to adapt to the soil. Lateral root development is the main determinant of the shape of the root system and is controlled by external factors such as nutrient concentration. Here it is shown that lateral root initiation and root gravitropism, two processes that are regulated by auxin, are co-regulated in Arabidopsis. A mathematical model was generated that can predict the effects of gravistimulations on lateral root initiation density and suggests that lateral root initiation is controlled by an inhibitory fields mechanism. Moreover, gene transactivation experiments suggest a mechanism involving a single auxin transport route for both responses. Finally, co-regulation may offer a selective advantage by optimizing soil exploration as supported by a simple quantitative analysis.

Dual-arm manipulators with adaptive control

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1991-01-01

The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.

Method and apparatus for adaptive force and position control of manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1995-01-01

The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.

How Simple Is Reading in Arabic? A Cross-Sectional Investigation of Reading Comprehension from First to Sixth Grade

ERIC Educational Resources Information Center

Asadi, Ibrahim A.; Khateb, Asaid; Shany, Michal

2017-01-01

This study aimed to examine, from a cross-sectional perspective, the extent to which the simple view of reading (SVR) model can be adapted to the Arabic language. This was carried out by verifying, in both beginning and more skilled readers, whether the unique orthographical and morphological characteristics of Arabic contribute to reading…

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

Hewett, D.W.; Yu-Jiuan Chen

The authors describe how they hold onto orthogonal mesh discretization when dealing with curved boundaries. Special difference operators were constructed to approximate numerical zones split by the domain boundary; the operators are particularly simple for this rectangular mesh. The authors demonstrated that this simple numerical approach, termed Dynamic Alternating Direction Implicit, turned out to be considerably more efficient than more complex grid-adaptive algorithms that were tried previously.

Simple broadband implementation of a phase contrast wavefront sensor for adaptive optics

NASA Technical Reports Server (NTRS)

Bloemhof, E. E.; Wallace, J. K.

2004-01-01

The most critical element of an adaptive optics system is its wavefront sensor, which must measure the closed-loop difference between the corrected wavefront and an ideal template at high speed, in real time, over a dense sampling of the pupil. Most high-order systems have used Shack-Hartmann wavefront sensors, but a novel approach based on Zernike's phase contrast principle appears promising. In this paper we discuss a simple way to achromatize such a phase contrast wavefront sensor, using the pi/2 phase difference between reflected and transmitted rays in a thin, symmetric beam splitter. We further model the response at a range of wavelengths to show that the required transverse dimension of the focal-plane phase-shifting spot, nominally lambda/D, may not be very sensitive to wavelength, and so in practice additional optics to introduce wavelength-dependent transverse magnification achromatizing this spot diameter may not be required. A very simple broadband implementation of the phase contrast wavefront sensor results.

A spatially adaptive spectral re-ordering technique for lossless coding of hyper-spectral images

NASA Technical Reports Server (NTRS)

Memon, Nasir D.; Galatsanos, Nikolas

1995-01-01

In this paper, we propose a new approach, applicable to lossless compression of hyper-spectral images, that alleviates some limitations of linear prediction as applied to this problem. According to this approach, an adaptive re-ordering of the spectral components of each pixel is performed prior to prediction and encoding. This re-ordering adaptively exploits, on a pixel-by pixel basis, the presence of inter-band correlations for prediction. Furthermore, the proposed approach takes advantage of spatial correlations, and does not introduce any coding overhead to transmit the order of the spectral bands. This is accomplished by using the assumption that two spatially adjacent pixels are expected to have similar spectral relationships. We thus have a simple technique to exploit spectral and spatial correlations in hyper-spectral data sets, leading to compression performance improvements as compared to our previously reported techniques for lossless compression. We also look at some simple error modeling techniques for further exploiting any structure that remains in the prediction residuals prior to entropy coding.

An Adaptive Supervisory Sliding Fuzzy Cerebellar Model Articulation Controller for Sensorless Vector-Controlled Induction Motor Drive Systems

PubMed Central

Wang, Shun-Yuan; Tseng, Chwan-Lu; Lin, Shou-Chuang; Chiu, Chun-Jung; Chou, Jen-Hsiang

2015-01-01

This paper presents the implementation of an adaptive supervisory sliding fuzzy cerebellar model articulation controller (FCMAC) in the speed sensorless vector control of an induction motor (IM) drive system. The proposed adaptive supervisory sliding FCMAC comprised a supervisory controller, integral sliding surface, and an adaptive FCMAC. The integral sliding surface was employed to eliminate steady-state errors and enhance the responsiveness of the system. The adaptive FCMAC incorporated an FCMAC with a compensating controller to perform a desired control action. The proposed controller was derived using the Lyapunov approach, which guarantees learning-error convergence. The implementation of three intelligent control schemes—the adaptive supervisory sliding FCMAC, adaptive sliding FCMAC, and adaptive sliding CMAC—were experimentally investigated under various conditions in a realistic sensorless vector-controlled IM drive system. The root mean square error (RMSE) was used as a performance index to evaluate the experimental results of each control scheme. The analysis results indicated that the proposed adaptive supervisory sliding FCMAC substantially improved the system performance compared with the other control schemes. PMID:25815450

An adaptive supervisory sliding fuzzy cerebellar model articulation controller for sensorless vector-controlled induction motor drive systems.

PubMed

Wang, Shun-Yuan; Tseng, Chwan-Lu; Lin, Shou-Chuang; Chiu, Chun-Jung; Chou, Jen-Hsiang

2015-03-25

This paper presents the implementation of an adaptive supervisory sliding fuzzy cerebellar model articulation controller (FCMAC) in the speed sensorless vector control of an induction motor (IM) drive system. The proposed adaptive supervisory sliding FCMAC comprised a supervisory controller, integral sliding surface, and an adaptive FCMAC. The integral sliding surface was employed to eliminate steady-state errors and enhance the responsiveness of the system. The adaptive FCMAC incorporated an FCMAC with a compensating controller to perform a desired control action. The proposed controller was derived using the Lyapunov approach, which guarantees learning-error convergence. The implementation of three intelligent control schemes--the adaptive supervisory sliding FCMAC, adaptive sliding FCMAC, and adaptive sliding CMAC--were experimentally investigated under various conditions in a realistic sensorless vector-controlled IM drive system. The root mean square error (RMSE) was used as a performance index to evaluate the experimental results of each control scheme. The analysis results indicated that the proposed adaptive supervisory sliding FCMAC substantially improved the system performance compared with the other control schemes.

Adaptive Control Using Residual Mode Filters Applied to Wind Turbines

NASA Technical Reports Server (NTRS)

Frost, Susan A.; Balas, Mark J.

2011-01-01

Many dynamic systems containing a large number of modes can benefit from adaptive control techniques, which are well suited to applications that have unknown parameters and poorly known operating conditions. In this paper, we focus on a model reference direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend this adaptive control theory to accommodate problematic modal subsystems of a plant that inhibit the adaptive controller by causing the open-loop plant to be non-minimum phase. We will augment the adaptive controller using a Residual Mode Filter (RMF) to compensate for problematic modal subsystems, thereby allowing the system to satisfy the requirements for the adaptive controller to have guaranteed convergence and bounded gains. We apply these theoretical results to design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed wind turbine that has minimum phase zeros.

Parallel Anisotropic Tetrahedral Adaptation

NASA Technical Reports Server (NTRS)

Park, Michael A.; Darmofal, David L.

2008-01-01

An adaptive method that robustly produces high aspect ratio tetrahedra to a general 3D metric specification without introducing hybrid semi-structured regions is presented. The elemental operators and higher-level logic is described with their respective domain-decomposed parallelizations. An anisotropic tetrahedral grid adaptation scheme is demonstrated for 1000-1 stretching for a simple cube geometry. This form of adaptation is applicable to more complex domain boundaries via a cut-cell approach as demonstrated by a parallel 3D supersonic simulation of a complex fighter aircraft. To avoid the assumptions and approximations required to form a metric to specify adaptation, an approach is introduced that directly evaluates interpolation error. The grid is adapted to reduce and equidistribute this interpolation error calculation without the use of an intervening anisotropic metric. Direct interpolation error adaptation is illustrated for 1D and 3D domains.

Adaptive Control Allocation in the Presence of Actuator Failures

NASA Technical Reports Server (NTRS)

Liu, Yu; Crespo, Luis G.

2010-01-01

In this paper, a novel adaptive control allocation framework is proposed. In the adaptive control allocation structure, cooperative actuators are grouped and treated as an equivalent control effector. A state feedback adaptive control signal is designed for the equivalent effector and allocated to the member actuators adaptively. Two adaptive control allocation algorithms are proposed, which guarantee closed-loop stability and asymptotic state tracking in the presence of uncertain loss of effectiveness and constant-magnitude actuator failures. The proposed algorithms can be shown to reduce the controller complexity with proper grouping of the actuators. The proposed adaptive control allocation schemes are applied to two linearized aircraft models, and the simulation results demonstrate the performance of the proposed algorithms.

The development and reliability of a simple field based screening tool to assess core stability in athletes.

PubMed

O'Connor, S; McCaffrey, N; Whyte, E; Moran, K

2016-07-01

To adapt the trunk stability test to facilitate further sub-classification of higher levels of core stability in athletes for use as a screening tool. To establish the inter-tester and intra-tester reliability of this adapted core stability test. Reliability study. Collegiate athletic therapy facilities. Fifteen physically active male subjects (19.46 ± 0.63) free from any orthopaedic or neurological disorders were recruited from a convenience sample of collegiate students. The intraclass correlation coefficients (ICC) and 95% Confidence Intervals (CI) were computed to establish inter-tester and intra-tester reliability. Excellent ICC values were observed in the adapted core stability test for inter-tester reliability (0.97) and good to excellent intra-tester reliability (0.73-0.90). While the 95% CI were narrow for inter-tester reliability, Tester A and C 95% CI's were widely distributed compared to Tester B. The adapted core stability test developed in this study is a quick and simple field based test to administer that can further subdivide athletes with high levels of core stability. The test demonstrated high inter-tester and intra-tester reliability. Copyright © 2015 Elsevier Ltd. All rights reserved.

Mental models for cognitive control

NASA Astrophysics Data System (ADS)

Schilling, Malte; Cruse, Holk; Schmitz, Josef

2007-05-01

Even so called "simple" organisms as insects are able to fastly adapt to changing conditions of their environment. Their behaviour is affected by many external influences and only its variability and adaptivity permits their survival. An intensively studied example concerns hexapod walking. 1,2 Complex walking behaviours in stick insects have been analysed and the results were used to construct a reactive model that controls walking in a robot. This model is now extended by higher levels of control: as a bottom-up approach the low-level reactive behaviours are modulated and activated through a medium level. In addition, the system grows up to an upper level for cognitive control of the robot: Cognition - as the ability to plan ahead - and cognitive skills involve internal representations of the subject itself and its environment. These representations are used for mental simulations: In difficult situations, for which neither motor primitives, nor whole sequences of these exist, available behaviours are varied and applied in the internal model while the body itself is decoupled from the controlling modules. The result of the internal simulation is evaluated. Successful actions are learned and applied to the robot. This constitutes a level for planning. Its elements (movements, behaviours) are embodied in the lower levels, whereby their meaning arises directly from these levels. The motor primitives are situation models represented as neural networks. The focus of this work concerns the general architecture of the framework as well as the reactive basic layer of the bottom-up architecture and its connection to higher level functions and its application on an internal model.

SU-D-BRB-05: Quantum Learning for Knowledge-Based Response-Adaptive Radiotherapy

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

El Naqa, I; Ten, R

Purpose: There is tremendous excitement in radiotherapy about applying data-driven methods to develop personalized clinical decisions for real-time response-based adaptation. However, classical statistical learning methods lack in terms of efficiency and ability to predict outcomes under conditions of uncertainty and incomplete information. Therefore, we are investigating physics-inspired machine learning approaches by utilizing quantum principles for developing a robust framework to dynamically adapt treatments to individual patient’s characteristics and optimize outcomes. Methods: We studied 88 liver SBRT patients with 35 on non-adaptive and 53 on adaptive protocols. Adaptation was based on liver function using a split-course of 3+2 fractions with amore » month break. The radiotherapy environment was modeled as a Markov decision process (MDP) of baseline and one month into treatment states. The patient environment was modeled by a 5-variable state represented by patient’s clinical and dosimetric covariates. For comparison of classical and quantum learning methods, decision-making to adapt at one month was considered. The MDP objective was defined by the complication-free tumor control (P{sup +}=TCPx(1-NTCP)). A simple regression model represented state-action mapping. Single bit in classical MDP and a qubit of 2-superimposed states in quantum MDP represented the decision actions. Classical decision selection was done using reinforcement Q-learning and quantum searching was performed using Grover’s algorithm, which applies uniform superposition over possible states and yields quadratic speed-up. Results: Classical/quantum MDPs suggested adaptation (probability amplitude ≥0.5) 79% of the time for splitcourses and 100% for continuous-courses. However, the classical MDP had an average adaptation probability of 0.5±0.22 while the quantum algorithm reached 0.76±0.28. In cases where adaptation failed, classical MDP yielded 0.31±0.26 average amplitude while the quantum approach averaged a more optimistic 0.57±0.4, but with high phase fluctuations. Conclusion: Our results demonstrate that quantum machine learning approaches provide a feasible and promising framework for real-time and sequential clinical decision-making in adaptive radiotherapy.« less

Neural network based adaptive control for nonlinear dynamic regimes

NASA Astrophysics Data System (ADS)

Shin, Yoonghyun

Adaptive control designs using neural networks (NNs) based on dynamic inversion are investigated for aerospace vehicles which are operated at highly nonlinear dynamic regimes. NNs play a key role as the principal element of adaptation to approximately cancel the effect of inversion error, which subsequently improves robustness to parametric uncertainty and unmodeled dynamics in nonlinear regimes. An adaptive control scheme previously named 'composite model reference adaptive control' is further developed so that it can be applied to multi-input multi-output output feedback dynamic inversion. It can have adaptive elements in both the dynamic compensator (linear controller) part and/or in the conventional adaptive controller part, also utilizing state estimation information for NN adaptation. This methodology has more flexibility and thus hopefully greater potential than conventional adaptive designs for adaptive flight control in highly nonlinear flight regimes. The stability of the control system is proved through Lyapunov theorems, and validated with simulations. The control designs in this thesis also include the use of 'pseudo-control hedging' techniques which are introduced to prevent the NNs from attempting to adapt to various actuation nonlinearities such as actuator position and rate saturations. Control allocation is introduced for the case of redundant control effectors including thrust vectoring nozzles. A thorough comparison study of conventional and NN-based adaptive designs for a system under a limit cycle, wing-rock, is included in this research, and the NN-based adaptive control designs demonstrate their performances for two highly maneuverable aerial vehicles, NASA F-15 ACTIVE and FQM-117B unmanned aerial vehicle (UAV), operated under various nonlinearities and uncertainties.

Note: A simple sample transfer alignment for ultra-high vacuum systems.

PubMed

Tamtögl, A; Carter, E A; Ward, D J; Avidor, N; Kole, P R; Jardine, A P; Allison, W

2016-06-01

The alignment of ultra-high-vacuum sample transfer systems can be problematic when there is no direct line of sight to assist the user. We present the design of a simple and cheap system which greatly simplifies the alignment of sample transfer devices. Our method is based on the adaptation of a commercial digital camera which provides live views from within the vacuum chamber. The images of the camera are further processed using an image recognition and processing code which determines any misalignments and reports them to the user. Installation has proven to be extremely useful in order to align the sample with respect to the transfer mechanism. Furthermore, the alignment software can be easily adapted for other systems.

A simple smoothness indicator for the WENO scheme with adaptive order

NASA Astrophysics Data System (ADS)

Huang, Cong; Chen, Li Li

2018-01-01

The fifth order WENO scheme with adaptive order is competent for solving hyperbolic conservation laws, its reconstruction is a convex combination of a fifth order linear reconstruction and three third order linear reconstructions. Note that, on uniform mesh, the computational cost of smoothness indicator for fifth order linear reconstruction is comparable with the sum of ones for three third order linear reconstructions, thus it is too heavy; on non-uniform mesh, the explicit form of smoothness indicator for fifth order linear reconstruction is difficult to be obtained, and its computational cost is much heavier than the one on uniform mesh. In order to overcome these problems, a simple smoothness indicator for fifth order linear reconstruction is proposed in this paper.

Conifer ovulate cones accumulate pollen principally by simple impaction.

PubMed

Cresswell, James E; Henning, Kevin; Pennel, Christophe; Lahoubi, Mohamed; Patrick, Michael A; Young, Phillipe G; Tabor, Gavin R

2007-11-13

In many pine species (Family Pinaceae), ovulate cones structurally resemble a turbine, which has been widely interpreted as an adaptation for improving pollination by producing complex aerodynamic effects. We tested the turbine interpretation by quantifying patterns of pollen accumulation on ovulate cones in a wind tunnel and by using simulation models based on computational fluid dynamics. We used computer-aided design and computed tomography to create computational fluid dynamics model cones. We studied three species: Pinus radiata, Pinus sylvestris, and Cedrus libani. Irrespective of the approach or species studied, we found no evidence that turbine-like aerodynamics made a significant contribution to pollen accumulation, which instead occurred primarily by simple impaction. Consequently, we suggest alternative adaptive interpretations for the structure of ovulate cones.

Conifer ovulate cones accumulate pollen principally by simple impaction

PubMed Central

Cresswell, James E.; Henning, Kevin; Pennel, Christophe; Lahoubi, Mohamed; Patrick, Michael A.; Young, Phillipe G.; Tabor, Gavin R.

2007-01-01

In many pine species (Family Pinaceae), ovulate cones structurally resemble a turbine, which has been widely interpreted as an adaptation for improving pollination by producing complex aerodynamic effects. We tested the turbine interpretation by quantifying patterns of pollen accumulation on ovulate cones in a wind tunnel and by using simulation models based on computational fluid dynamics. We used computer-aided design and computed tomography to create computational fluid dynamics model cones. We studied three species: Pinus radiata, Pinus sylvestris, and Cedrus libani. Irrespective of the approach or species studied, we found no evidence that turbine-like aerodynamics made a significant contribution to pollen accumulation, which instead occurred primarily by simple impaction. Consequently, we suggest alternative adaptive interpretations for the structure of ovulate cones. PMID:17986613

The role of noise in self-organized decision making by the true slime mold Physarum polycephalum.

PubMed

Meyer, Bernd; Ansorge, Cedrick; Nakagaki, Toshiyuki

2017-01-01

Self-organized mechanisms are frequently encountered in nature and known to achieve flexible, adaptive control and decision-making. Noise plays a crucial role in such systems: It can enable a self-organized system to reliably adapt to short-term changes in the environment while maintaining a generally stable behavior. This is fundamental in biological systems because they must strike a delicate balance between stable and flexible behavior. In the present paper we analyse the role of noise in the decision-making of the true slime mold Physarum polycephalum, an important model species for the investigation of computational abilities in simple organisms. We propose a simple biological experiment to investigate the reaction of P. polycephalum to time-variant risk factors and present a stochastic extension of an established mathematical model for P. polycephalum to analyze this experiment. It predicts that-due to the mechanism of stochastic resonance-noise can enable P. polycephalum to correctly assess time-variant risk factors, while the corresponding noise-free system fails to do so. Beyond the study of P. polycephalum we demonstrate that the influence of noise on self-organized decision-making is not tied to a specific organism. Rather it is a general property of the underlying process dynamics, which appears to be universal across a wide range of systems. Our study thus provides further evidence that stochastic resonance is a fundamental component of the decision-making in self-organized macroscopic and microscopic groups and organisms.

The role of noise in self-organized decision making by the true slime mold Physarum polycephalum

PubMed Central

Ansorge, Cedrick; Nakagaki, Toshiyuki

2017-01-01

Self-organized mechanisms are frequently encountered in nature and known to achieve flexible, adaptive control and decision-making. Noise plays a crucial role in such systems: It can enable a self-organized system to reliably adapt to short-term changes in the environment while maintaining a generally stable behavior. This is fundamental in biological systems because they must strike a delicate balance between stable and flexible behavior. In the present paper we analyse the role of noise in the decision-making of the true slime mold Physarum polycephalum, an important model species for the investigation of computational abilities in simple organisms. We propose a simple biological experiment to investigate the reaction of P. polycephalum to time-variant risk factors and present a stochastic extension of an established mathematical model for P. polycephalum to analyze this experiment. It predicts that—due to the mechanism of stochastic resonance—noise can enable P. polycephalum to correctly assess time-variant risk factors, while the corresponding noise-free system fails to do so. Beyond the study of P. polycephalum we demonstrate that the influence of noise on self-organized decision-making is not tied to a specific organism. Rather it is a general property of the underlying process dynamics, which appears to be universal across a wide range of systems. Our study thus provides further evidence that stochastic resonance is a fundamental component of the decision-making in self-organized macroscopic and microscopic groups and organisms. PMID:28355213

Cognitive niches: an ecological model of strategy selection.

PubMed

Marewski, Julian N; Schooler, Lael J

2011-07-01

How do people select among different strategies to accomplish a given task? Across disciplines, the strategy selection problem represents a major challenge. We propose a quantitative model that predicts how selection emerges through the interplay among strategies, cognitive capacities, and the environment. This interplay carves out for each strategy a cognitive niche, that is, a limited number of situations in which the strategy can be applied, simplifying strategy selection. To illustrate our proposal, we consider selection in the context of 2 theories: the simple heuristics framework and the ACT-R (adaptive control of thought-rational) architecture of cognition. From the heuristics framework, we adopt the thesis that people make decisions by selecting from a repertoire of simple decision strategies that exploit regularities in the environment and draw on cognitive capacities, such as memory and time perception. ACT-R provides a quantitative theory of how these capacities adapt to the environment. In 14 simulations and 10 experiments, we consider the choice between strategies that operate on the accessibility of memories and those that depend on elaborate knowledge about the world. Based on Internet statistics, our model quantitatively predicts people's familiarity with and knowledge of real-world objects, the distributional characteristics of the associated speed of memory retrieval, and the cognitive niches of classic decision strategies, including those of the fluency, recognition, integration, lexicographic, and sequential-sampling heuristics. In doing so, the model specifies when people will be able to apply different strategies and how accurate, fast, and effortless people's decisions will be.

Real-time performance assessment and adaptive control for a water chiller unit in an HVAC system

NASA Astrophysics Data System (ADS)

Bai, Jianbo; Li, Yang; Chen, Jianhao

2018-02-01

The paper proposes an adaptive control method for a water chiller unit in a HVAC system. Based on the minimum variance evaluation, the adaptive control method was used to realize better control of the water chiller unit. To verify the performance of the adaptive control method, the proposed method was compared with an a conventional PID controller, the simulation results showed that adaptive control method had superior control performance to that of the conventional PID controller.

Adjustment of Adaptive Gain with Bounded Linear Stability Analysis to Improve Time-Delay Margin for Metrics-Driven Adaptive Control

NASA Technical Reports Server (NTRS)

Bakhtiari-Nejad, Maryam; Nguyen, Nhan T.; Krishnakumar, Kalmanje Srinvas

2009-01-01

This paper presents the application of Bounded Linear Stability Analysis (BLSA) method for metrics driven adaptive control. The bounded linear stability analysis method is used for analyzing stability of adaptive control models, without linearizing the adaptive laws. Metrics-driven adaptive control introduces a notion that adaptation should be driven by some stability metrics to achieve robustness. By the application of bounded linear stability analysis method the adaptive gain is adjusted during the adaptation in order to meet certain phase margin requirements. Analysis of metrics-driven adaptive control is evaluated for a linear damaged twin-engine generic transport model of aircraft. The analysis shows that the system with the adjusted adaptive gain becomes more robust to unmodeled dynamics or time delay.

Enhanced attention amplifies face adaptation.

PubMed

Rhodes, Gillian; Jeffery, Linda; Evangelista, Emma; Ewing, Louise; Peters, Marianne; Taylor, Libby

2011-08-15

Perceptual adaptation not only produces striking perceptual aftereffects, but also enhances coding efficiency and discrimination by calibrating coding mechanisms to prevailing inputs. Attention to simple stimuli increases adaptation, potentially enhancing its functional benefits. Here we show that attention also increases adaptation to faces. In Experiment 1, face identity aftereffects increased when attention to adapting faces was increased using a change detection task. In Experiment 2, figural (distortion) face aftereffects increased when attention was increased using a snap game (detecting immediate repeats) during adaptation. Both were large effects. Contributions of low-level adaptation were reduced using free viewing (both experiments) and a size change between adapt and test faces (Experiment 2). We suggest that attention may enhance adaptation throughout the entire cortical visual pathway, with functional benefits well beyond the immediate advantages of selective processing of potentially important stimuli. These results highlight the potential to facilitate adaptive updating of face-coding mechanisms by strategic deployment of attentional resources. Copyright © 2011 Elsevier Ltd. All rights reserved.

Adaptive optics plug-and-play setup for high-resolution microscopes with multi-actuator adaptive lens

NASA Astrophysics Data System (ADS)

Quintavalla, M.; Pozzi, P.; Verhaegen, Michelle; Bijlsma, Hielke; Verstraete, Hans; Bonora, S.

2018-02-01

Adaptive Optics (AO) has revealed as a very promising technique for high-resolution microscopy, where the presence of optical aberrations can easily compromise the image quality. Typical AO systems however, are almost impossible to implement on commercial microscopes. We propose a simple approach by using a Multi-actuator Adaptive Lens (MAL) that can be inserted right after the objective and works in conjunction with an image optimization software allowing for a wavefront sensorless correction. We presented the results obtained on several commercial microscopes among which a confocal microscope, a fluorescence microscope, a light sheet microscope and a multiphoton microscope.

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.

SPOT4 Operational Control Center (CMP)

NASA Technical Reports Server (NTRS)

Zaouche, G.

1993-01-01

CNES(F) is responsible for the development of a new generation of Operational Control Center (CMP) which will operate the new heliosynchronous remote sensing satellite (SPOT4). This Operational Control Center takes large benefit from the experience of the first generation of control center and from the recent advances in computer technology and standards. The CMP is designed for operating two satellites all the same time with a reduced pool of controllers. The architecture of this CMP is simple, robust, and flexible, since it is based on powerful distributed workstations interconnected through an Ethernet LAN. The application software uses modern and formal software engineering methods, in order to improve quality and reliability, and facilitate maintenance. This software is table driven so it can be easily adapted to other operational needs. Operation tasks are automated to the maximum extent, so that it could be possible to operate the CMP automatically with very limited human interference for supervision and decision making. This paper provides an overview of the SPOTS mission and associated ground segment. It also details the CMP, its functions, and its software and hardware architecture.

Dynamic control of nutrient-removal from industrial wastewater in a sequencing batch reactor, using common and low-cost online sensors.

PubMed

Dries, Jan

2016-01-01

On-line control of the biological treatment process is an innovative tool to cope with variable concentrations of chemical oxygen demand and nutrients in industrial wastewater. In the present study we implemented a simple dynamic control strategy for nutrient-removal in a sequencing batch reactor (SBR) treating variable tank truck cleaning wastewater. The control system was based on derived signals from two low-cost and robust sensors that are very common in activated sludge plants, i.e. oxidation reduction potential (ORP) and dissolved oxygen. The amount of wastewater fed during anoxic filling phases, and the number of filling phases in the SBR cycle, were determined by the appearance of the 'nitrate knee' in the profile of the ORP. The phase length of the subsequent aerobic phases was controlled by the oxygen uptake rate measured online in the reactor. As a result, the sludge loading rate (F/M ratio), the volume exchange rate and the SBR cycle length adapted dynamically to the activity of the activated sludge and the actual characteristics of the wastewater, without affecting the final effluent quality.

A multicentre phase III randomised controlled single-masked clinical trial evaluating the clinical efficacy and safety of light-masks at preventing dark-adaptation in the treatment of early diabetic macular oedema (CLEOPATRA): study protocol for a randomised controlled trial.

PubMed

Sivaprasad, Sobha; Arden, Geoffrey; Prevost, A Toby; Crosby-Nwaobi, Roxanne; Holmes, Helen; Kelly, Joanna; Murphy, Caroline; Rubin, Gary; Vasconcelos, Joanna; Hykin, Philip

2014-11-22

This study will evaluate hypoxia, as a novel concept in the pathogenesis of diabetic macular oedema (DMO). As the oxygen demand of the eye is maximum during dark-adaptation, we hypothesize that wearing light-masks during sleep will cause regression and prevent the development and progression of DMO. The study protocol comprises both an efficacy and mechanistic evaluation to test this hypothesis. This is a phase III randomised controlled single-masked multicentre clinical trial to test the clinical efficacy of light-masks at preventing dark-adaptation in the treatment of non-central DMO. Three hundred patients with non-centre-involving DMO in at least one eye will be randomised 1:1 to light-masks and control masks (with no light) to be used during sleep at night for a period of 24 months. The primary outcome is regression of non-central oedema by assessing change in the zone of maximal retinal thickness at baseline on optical coherence tomography (SD-OCT). Secondary outcomes will evaluate the prevention of development and progression of DMO by assessing changes in retinal thickness in different regions of the macula, macular volume, refracted visual acuity and level of retinopathy. Safety parameters will include sleep disturbance. Adverse events and measures of compliance will be assessed over 24 months. Participants recruited to the mechanistic sub-study will have additional retinal oximetry, multifocal electroretinography (ERG) and microperimetry to evaluate the role of hypoxia by assessing and comparing changes induced by supplemental oxygen and the light-masks at 12 months. The outcomes of this study will provide insight into the pathogenesis of DMO and provide evidence on whether a simple, non-invasive device in the form of a light-mask can help prevent the progression to centre-involving DMO and visual impairment in people with diabetes.

A theoretical stochastic control framework for adapting radiotherapy to hypoxia

NASA Astrophysics Data System (ADS)

Saberian, Fatemeh; Ghate, Archis; Kim, Minsun

2016-10-01

Hypoxia, that is, insufficient oxygen partial pressure, is a known cause of reduced radiosensitivity in solid tumors, and especially in head-and-neck tumors. It is thus believed to adversely affect the outcome of fractionated radiotherapy. Oxygen partial pressure varies spatially and temporally over the treatment course and exhibits inter-patient and intra-tumor variation. Emerging advances in non-invasive functional imaging offer the future possibility of adapting radiotherapy plans to this uncertain spatiotemporal evolution of hypoxia over the treatment course. We study the potential benefits of such adaptive planning via a theoretical stochastic control framework using computer-simulated evolution of hypoxia on computer-generated test cases in head-and-neck cancer. The exact solution of the resulting control problem is computationally intractable. We develop an approximation algorithm, called certainty equivalent control, that calls for the solution of a sequence of convex programs over the treatment course; dose-volume constraints are handled using a simple constraint generation method. These convex programs are solved using an interior point algorithm with a logarithmic barrier via Newton’s method and backtracking line search. Convexity of various formulations in this paper is guaranteed by a sufficient condition on radiobiological tumor-response parameters. This condition is expected to hold for head-and-neck tumors and for other similarly responding tumors where the linear dose-response parameter is larger than the quadratic dose-response parameter. We perform numerical experiments on four test cases by using a first-order vector autoregressive process with exponential and rational-quadratic covariance functions from the spatiotemporal statistics literature to simulate the evolution of hypoxia. Our results suggest that dynamic planning could lead to a considerable improvement in the number of tumor cells remaining at the end of the treatment course. Through these simulations, we also gain insights into when and why dynamic planning is likely to yield the largest benefits.

Raw and real: an innovative communication approach to smokeless tobacco control messaging in low and middle-income countries.

PubMed

Turk, Tahir; Chaturvedi, Pankaj; Murukutla, Nandita; Mallik, Vaishakhi; Sinha, Praveen; Mullin, Sandra

2017-07-01

The evidence on the efficacy of tobacco control messages in low and middle-income country (LMIC) settings is limited but growing. Low message salience and disengagement, in the face of tobacco control messages, are possible barriers to self-efficacy and cessation-related behaviours of tobacco users. Although adaptations of existing pretested graphic and emotional appeals have been found to impact on behaviours, more personalised, culturally relevant and compelling appeals may more fully engage message receivers to elicit optimal behavioural responses. The objective of these case studies is to use lessons learnt from high-income country tobacco control communication programmes, and adapt practical approaches to provide cost-effective, culturally nuanced, graphic and personalised messages from tobacco victims to achieve the optimal behavioural impact for population-level communication campaigns in the resource-constrained settings of LMICs. The 'raw and real' messaging approach, which emanated from message pretesting in India, outlines creative and production processes for the production of tobacco victim testimonials, given the need to source patients, facing life-threatening conditions. This cost-efficient approach uses real tobacco victims, doctors and family members in a cinéma vérité style approach to achieve more personalised and culturally resonant messages. The methodological approach, used for the development of a number of patient testimonial messages initially in India, and later adapted for tobacco cessation, smoke-free and graphic health warning communication campaigns in other countries, is outlined. Findings from campaigns evaluated to date are encouraging as a result of the simple fact that true stories of local people's suffering are simply too difficult to ignore. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://www.bmj.com/company/products-services/rights-and-licensing/.

Optimal Control Modification for Robust Adaptation of Singularly Perturbed Systems with Slow Actuators

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.; Ishihara, Abraham; Stepanyan, Vahram; Boskovic, Jovan

2009-01-01

Recently a new optimal control modification has been introduced that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. This modification is based on an optimal control formulation to minimize the L2 norm of the tracking error. The optimal control modification adaptive law results in a stable adaptation in the presence of a large adaptive gain. This study examines the optimal control modification adaptive law in the context of a system with a time scale separation resulting from a fast plant with a slow actuator. A singular perturbation analysis is performed to derive a modification to the adaptive law by transforming the original system into a reduced-order system in slow time. The model matching conditions in the transformed time coordinate results in increase in the feedback gain and modification of the adaptive law.

Application of Bounded Linear Stability Analysis Method for Metrics-Driven Adaptive Control

NASA Technical Reports Server (NTRS)

Bakhtiari-Nejad, Maryam; Nguyen, Nhan T.; Krishnakumar, Kalmanje

2009-01-01

This paper presents the application of Bounded Linear Stability Analysis (BLSA) method for metrics-driven adaptive control. The bounded linear stability analysis method is used for analyzing stability of adaptive control models, without linearizing the adaptive laws. Metrics-driven adaptive control introduces a notion that adaptation should be driven by some stability metrics to achieve robustness. By the application of bounded linear stability analysis method the adaptive gain is adjusted during the adaptation in order to meet certain phase margin requirements. Analysis of metrics-driven adaptive control is evaluated for a second order system that represents a pitch attitude control of a generic transport aircraft. The analysis shows that the system with the metrics-conforming variable adaptive gain becomes more robust to unmodeled dynamics or time delay. The effect of analysis time-window for BLSA is also evaluated in order to meet the stability margin criteria.

A novel body frame based approach to aerospacecraft attitude tracking.

PubMed

Ma, Carlos; Chen, Michael Z Q; Lam, James; Cheung, Kie Chung

2017-09-01

In the common practice of designing an attitude tracker for an aerospacecraft, one transforms the Newton-Euler rotation equations to obtain the dynamic equations of some chosen inertial frame based attitude metrics, such as Euler angles and unit quaternions. A Lyapunov approach is then used to design a controller which ensures asymptotic convergence of the attitude to the desired orientation. Although this design methodology is pretty standard, it usually involves singularity-prone coordinate transformations which complicates the analysis process and controller design. A new, singularity free error feedback method is proposed in the paper to provide simple and intuitive stability analysis and controller synthesis. This new body frame based method utilizes the concept of Euleraxis and angles to generate the smallest error angles from a body frame perspective, without coordinate transformations. Global tracking convergence is illustrated with the use of a feedback linearizing PD tracker, a sliding mode controller, and a model reference adaptive controller. Experimental results are also obtained on a quadrotor platform with unknown system parameters and disturbances, using a boundary layer approximated sliding mode controller, a PIDD controller, and a unit sliding mode controller. Significant tracking quality is attained. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

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

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.

2012-01-01

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

Adaptive neural network motion control for aircraft under uncertainty conditions

NASA Astrophysics Data System (ADS)

Efremov, A. V.; Tiaglik, M. S.; Tiumentsev, Yu V.

2018-02-01

We need to provide motion control of modern and advanced aircraft under diverse uncertainty conditions. This problem can be solved by using adaptive control laws. We carry out an analysis of the capabilities of these laws for such adaptive systems as MRAC (Model Reference Adaptive Control) and MPC (Model Predictive Control). In the case of a nonlinear control object, the most efficient solution to the adaptive control problem is the use of neural network technologies. These technologies are suitable for the development of both a control object model and a control law for the object. The approximate nature of the ANN model was taken into account by introducing additional compensating feedback into the control system. The capabilities of adaptive control laws under uncertainty in the source data are considered. We also conduct simulations to assess the contribution of adaptivity to the behavior of the system.

Mechanics of pressure-adaptive honeycomb and its application to wing morphing

NASA Astrophysics Data System (ADS)

Vos, Roelof; Barrett, Ron

2011-09-01

Current, highly active classes of adaptive materials have been considered for use in many different aerospace applications. From adaptive flight control surfaces to wing surfaces, shape-memory alloy (SMA), piezoelectric and electrorheological fluids are making their way into wings, stabilizers and rotor blades. Despite the benefits which can be seen in many classes of aircraft, some profound challenges are ever present, including low power and energy density, high power consumption, high development and installation costs and outright programmatic blockages due to a lack of a materials certification database on FAR 23/25 and 27/29 certified aircraft. Three years ago, a class of adaptive structure was developed to skirt these daunting challenges. This pressure-adaptive honeycomb (PAH) is capable of extremely high performance and is FAA/EASA certifiable because it employs well characterized materials arranged in ways that lend a high level of adaptivity to the structure. This study is centered on laying out the mechanics, analytical models and experimental test data describing this new form of adaptive material. A directionally biased PAH system using an external (spring) force acting on the PAH bending structure was examined. The paper discusses the mechanics of pressure adaptive honeycomb and describes a simple reduced order model that can be used to simplify the geometric model in a finite element environment. The model assumes that a variable stiffness honeycomb results in an overall deformation of the honeycomb. Strains in excess of 50% can be generated through this mechanism without encountering local material (yield) limits. It was also shown that the energy density of pressure-adaptive honeycomb is akin to that of shape-memory alloy, while exhibiting strains that are an order of magnitude greater with an energy efficiency close to 100%. Excellent correlation between theory and experiment is demonstrated in a number of tests. A proof-of-concept wing section test was conducted on a 12% thick wing section representative of a modern commercial aircraft winglet or flight control surface with a 35% PAH trailing edge. It was shown that camber variations in excess of 5% can be generated by a pressure differential of 40 kPa. Results of subsequent wind tunnel test show an increase in lift coefficient of 0.3 at 23 m s - 1 through an angle of attack from - 6° to + 20°. This paper was originally presented at the 2010 ASME SMASIS conference, as paper 'SMASIS 2010-3634'. Despite the substantial changes that have been made to the paper, there are still various figures and text stemming from the original.

Novel method to form adaptive internal impedance profiles in walkers.

PubMed

Escudero Morland, Maximilano F; Althoefer, Kaspar; Nanayakkara, Thrishantha

2015-01-01

This paper proposes a novel approach to improve walking in prosthetics, orthotics and robotics without closed loop controllers. The approach requires impedance profiles to be formed in a walker and uses state feedback to update the profiles in real-time via a simple policy. This approach is open loop and inherently copes with the challenge of uncertain environment. In application it could be used either online for a walker to adjust its impedance profiles in real-time to compensate for environmental changes, or offline to learn suitable profiles for specific environments. So far we have conducted simulations and experiments to investigate the transient and steady state gaits obtained using two simple update policies to form damping profiles in a passive dynamic walker known as the rimless wheel (RW). The damping profiles are formed in the motor that moves the RW vertically along a rail, analogous to a knee joint, and the two update equations were designed to a) control the angular velocity profile and b) minimise peak collision forces. Simulation results show that the velocity update equation works within limits and can cope with varying ground conditions. Experiment results show the angular velocity average reaching the target as well as the peak force update equation reducing peak collision forces in real-time.

Time-delayed chameleon: Analysis, synchronization and FPGA implementation

NASA Astrophysics Data System (ADS)

Rajagopal, Karthikeyan; Jafari, Sajad; Laarem, Guessas

2017-12-01

In this paper we report a time-delayed chameleon-like chaotic system which can belong to different families of chaotic attractors depending on the choices of parameters. Such a characteristic of self-excited and hidden chaotic flows in a simple 3D system with time delay has not been reported earlier. Dynamic analysis of the proposed time-delayed systems are analysed in time-delay space and parameter space. A novel adaptive modified functional projective lag synchronization algorithm is derived for synchronizing identical time-delayed chameleon systems with uncertain parameters. The proposed time-delayed systems and the synchronization algorithm with controllers and parameter estimates are then implemented in FPGA using hardware-software co-simulation and the results are presented.

Reliable transfer of data from ground to space

NASA Technical Reports Server (NTRS)

Brosi, Fred

1993-01-01

This paper describes the problems involved in uplink of data from control centers on the ground to spacecraft, and explores the solutions to those problems, past. present. and future. The evolution of this process, from simple commanding to transfer of large volumes of data and commands is traced. The need for reliable end-to-end protocols for commanding and file transfer is demonstrated, and the shortcomings of both existing telecommand protocols and commercial products to meet this need are discussed. Recent developments in commercial protocols that may be adaptable to the mentioned operations environment are surveyed, and current efforts to develop a suite of protocols for reliable transfer in this environment are presented.

Adaptive powertrain control for plugin hybrid electric vehicles

DOEpatents

Kedar-Dongarkar, Gurunath; Weslati, Feisel

2013-10-15

A powertrain control system for a plugin hybrid electric vehicle. The system comprises an adaptive charge sustaining controller; at least one internal data source connected to the adaptive charge sustaining controller; and a memory connected to the adaptive charge sustaining controller for storing data generated by the at least one internal data source. The adaptive charge sustaining controller is operable to select an operating mode of the vehicle's powertrain along a given route based on programming generated from data stored in the memory associated with that route. Further described is a method of adaptively controlling operation of a plugin hybrid electric vehicle powertrain comprising identifying a route being traveled, activating stored adaptive charge sustaining mode programming for the identified route and controlling operation of the powertrain along the identified route by selecting from a plurality of operational modes based on the stored adaptive charge sustaining mode programming.

L(sub 1) Adaptive Flight Control System: Flight Evaluation and Technology Transition

NASA Technical Reports Server (NTRS)

Xargay, Enric; Hovakimyan, Naira; Dobrokhodov, Vladimir; Kaminer, Isaac; Gregory, Irene M.; Cao, Chengyu

2010-01-01

Certification of adaptive control technologies for both manned and unmanned aircraft represent a major challenge for current Verification and Validation techniques. A (missing) key step towards flight certification of adaptive flight control systems is the definition and development of analysis tools and methods to support Verification and Validation for nonlinear systems, similar to the procedures currently used for linear systems. In this paper, we describe and demonstrate the advantages of L(sub l) adaptive control architectures for closing some of the gaps in certification of adaptive flight control systems, which may facilitate the transition of adaptive control into military and commercial aerospace applications. As illustrative examples, we present the results of a piloted simulation evaluation on the NASA AirSTAR flight test vehicle, and results of an extensive flight test program conducted by the Naval Postgraduate School to demonstrate the advantages of L(sub l) adaptive control as a verifiable robust adaptive flight control system.

Genome-wide analysis of protein disorder in Arabidopsis thaliana: implications for plant environmental adaptation.

PubMed

Pietrosemoli, Natalia; García-Martín, Juan A; Solano, Roberto; Pazos, Florencio

2013-01-01

Intrinsically disordered proteins/regions (IDPs/IDRs) are currently recognized as a widespread phenomenon having key cellular functions. Still, many aspects of the function of these proteins need to be unveiled. IDPs conformational flexibility allows them to recognize and interact with multiple partners, and confers them larger interaction surfaces that may increase interaction speed. For this reason, molecular interactions mediated by IDPs/IDRs are particularly abundant in certain types of protein interactions, such as those of signaling and cell cycle control. We present the first large-scale study of IDPs in Arabidopsis thaliana, the most widely used model organism in plant biology, in order to get insight into the biological roles of these proteins in plants. The work includes a comparative analysis with the human proteome to highlight the differential use of disorder in both species. Results show that while human proteins are in general more disordered, certain functional classes, mainly related to environmental response, are significantly more enriched in disorder in Arabidopsis. We propose that because plants cannot escape from environmental conditions as animals do, they use disorder as a simple and fast mechanism, independent of transcriptional control, for introducing versatility in the interaction networks underlying these biological processes so that they can quickly adapt and respond to challenging environmental conditions.

Regulation of Muscle Glycogen Metabolism during Exercise: Implications for Endurance Performance and Training Adaptations

PubMed Central

Hearris, Mark A.; Hammond, Kelly M.; Fell, J. Marc; Morton, James P.

2018-01-01

Since the introduction of the muscle biopsy technique in the late 1960s, our understanding of the regulation of muscle glycogen storage and metabolism has advanced considerably. Muscle glycogenolysis and rates of carbohydrate (CHO) oxidation are affected by factors such as exercise intensity, duration, training status and substrate availability. Such changes to the global exercise stimulus exert regulatory effects on key enzymes and transport proteins via both hormonal control and local allosteric regulation. Given the well-documented effects of high CHO availability on promoting exercise performance, elite endurance athletes are typically advised to ensure high CHO availability before, during and after high-intensity training sessions or competition. Nonetheless, in recognition that the glycogen granule is more than a simple fuel store, it is now also accepted that glycogen is a potent regulator of the molecular cell signaling pathways that regulate the oxidative phenotype. Accordingly, the concept of deliberately training with low CHO availability has now gained increased popularity amongst athletic circles. In this review, we present an overview of the regulatory control of CHO metabolism during exercise (with a specific emphasis on muscle glycogen utilization) in order to discuss the effects of both high and low CHO availability on modulating exercise performance and training adaptations, respectively. PMID:29498691

Development and evaluation of a data-adaptive alerting algorithm for univariate temporal biosurveillance data.

PubMed

Elbert, Yevgeniy; Burkom, Howard S

2009-11-20

This paper discusses further advances in making robust predictions with the Holt-Winters forecasts for a variety of syndromic time series behaviors and introduces a control-chart detection approach based on these forecasts. Using three collections of time series data, we compare biosurveillance alerting methods with quantified measures of forecast agreement, signal sensitivity, and time-to-detect. The study presents practical rules for initialization and parameterization of biosurveillance time series. Several outbreak scenarios are used for detection comparison. We derive an alerting algorithm from forecasts using Holt-Winters-generalized smoothing for prospective application to daily syndromic time series. The derived algorithm is compared with simple control-chart adaptations and to more computationally intensive regression modeling methods. The comparisons are conducted on background data from both authentic and simulated data streams. Both types of background data include time series that vary widely by both mean value and cyclic or seasonal behavior. Plausible, simulated signals are added to the background data for detection performance testing at signal strengths calculated to be neither too easy nor too hard to separate the compared methods. Results show that both the sensitivity and the timeliness of the Holt-Winters-based algorithm proved to be comparable or superior to that of the more traditional prediction methods used for syndromic surveillance.

Autoresonant control of nonlinear mode in ultrasonic transducer for machining applications.

PubMed

Babitsky, V I; Astashev, V K; Kalashnikov, A N

2004-04-01

Experiments conducted in several countries have shown that the improvement of machining quality can be promoted through conversion of the cutting process into one involving controllable high-frequency vibration at the cutting zone. This is achieved through the generation and maintenance of ultrasonic vibration of the cutting tool to alter the fracture process of work-piece material cutting to one in which loading of the materials at the tool tip is incremental, repetitive and controlled. It was shown that excitation of the high-frequency vibro-impact mode of the tool-workpiece interaction is the most effective way of ultrasonic influence on the dynamic characteristics of machining. The exploitation of this nonlinear mode needs a new method of adaptive control for excitation and stabilisation of ultrasonic vibration known as autoresonance. An approach has been developed to design an autoresonant ultrasonic cutting unit as an oscillating system with an intelligent electronic feedback controlling self-excitation in the entire mechatronic system. The feedback produces the exciting force by means of transformation and amplification of the motion signal. This allows realisation for robust control of fine resonant tuning to bring the nonlinear high Q-factor systems into technological application. The autoresonant control provides the possibility of self-tuning and self-adaptation mechanisms for the system to keep the nonlinear resonant mode of oscillation under unpredictable variation of load, structure and parameters. This allows simple regulation of intensity of the process whilst keeping maximum efficiency at all times. An autoresonant system with supervisory computer control was developed, tested and used for the control of the piezoelectric transducer during ultrasonically assisted cutting. The system has been developed as combined analog-digital, where analog devices process the control signal, and parameters of the devices are controlled digitally by computer. The system was applied for advanced machining of aviation materials.

An adaptable chromosome preparation methodology for use in invertebrate research organisms.

PubMed

Guo, Longhua; Accorsi, Alice; He, Shuonan; Guerrero-Hernández, Carlos; Sivagnanam, Shamilene; McKinney, Sean; Gibson, Matthew; Sánchez Alvarado, Alejandro

2018-02-26

The ability to efficiently visualize and manipulate chromosomes is fundamental to understanding the genome architecture of organisms. Conventional chromosome preparation protocols developed for mammalian cells and those relying on species-specific conditions are not suitable for many invertebrates. Hence, a simple and inexpensive chromosome preparation protocol, adaptable to multiple invertebrate species, is needed. We optimized a chromosome preparation protocol and applied it to several planarian species (phylum Platyhelminthes), the freshwater apple snail Pomacea canaliculata (phylum Mollusca), and the starlet sea anemone Nematostella vectensis (phylum Cnidaria). We demonstrated that both mitotically active adult tissues and embryos can be used as sources of metaphase chromosomes, expanding the potential use of this technique to invertebrates lacking cell lines and/or with limited access to the complete life cycle. Simple hypotonic treatment with deionized water was sufficient for karyotyping; growing cells in culture was not necessary. The obtained karyotypes allowed the identification of differences in ploidy and chromosome architecture among otherwise morphologically indistinguishable organisms, as in the case of a mixed population of planarians collected in the wild. Furthermore, we showed that in all tested organisms representing three different phyla this protocol could be effectively coupled with downstream applications, such as chromosome fluorescent in situ hybridization. Our simple and inexpensive chromosome preparation protocol can be readily adapted to new invertebrate research organisms to accelerate the discovery of novel genomic patterns across the branches of the tree of life.

A novel composite adaptive flap controller design by a high-efficient modified differential evolution identification approach.

PubMed

Li, Nailu; Mu, Anle; Yang, Xiyun; Magar, Kaman T; Liu, Chao

2018-05-01

The optimal tuning of adaptive flap controller can improve adaptive flap control performance on uncertain operating environments, but the optimization process is usually time-consuming and it is difficult to design proper optimal tuning strategy for the flap control system (FCS). To solve this problem, a novel adaptive flap controller is designed based on a high-efficient differential evolution (DE) identification technique and composite adaptive internal model control (CAIMC) strategy. The optimal tuning can be easily obtained by DE identified inverse of the FCS via CAIMC structure. To achieve fast tuning, a high-efficient modified adaptive DE algorithm is proposed with new mutant operator and varying range adaptive mechanism for the FCS identification. A tradeoff between optimized adaptive flap control and low computation cost is successfully achieved by proposed controller. Simulation results show the robustness of proposed method and its superiority to conventional adaptive IMC (AIMC) flap controller and the CAIMC flap controllers using other DE algorithms on various uncertain operating conditions. The high computation efficiency of proposed controller is also verified based on the computation time on those operating cases. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

An adaptive tracking observer for failure-detection systems

NASA Technical Reports Server (NTRS)

Sidar, M.

1982-01-01

The design problem of adaptive observers applied to linear, constant and variable parameters, multi-input, multi-output systems, is considered. It is shown that, in order to keep the observer's (or Kalman filter) false-alarm rate (FAR) under a certain specified value, it is necessary to have an acceptable proper matching between the observer (or KF) model and the system parameters. An adaptive observer algorithm is introduced in order to maintain desired system-observer model matching, despite initial mismatching and/or system parameter variations. Only a properly designed adaptive observer is able to detect abrupt changes in the system (actuator, sensor failures, etc.) with adequate reliability and FAR. Conditions for convergence for the adaptive process were obtained, leading to a simple adaptive law (algorithm) with the possibility of an a priori choice of fixed adaptive gains. Simulation results show good tracking performance with small observer output errors and accurate and fast parameter identification, in both deterministic and stochastic cases.

Flight Validation of a Metrics Driven L(sub 1) Adaptive Control

NASA Technical Reports Server (NTRS)

Dobrokhodov, Vladimir; Kitsios, Ioannis; Kaminer, Isaac; Jones, Kevin D.; Xargay, Enric; Hovakimyan, Naira; Cao, Chengyu; Lizarraga, Mariano I.; Gregory, Irene M.

2008-01-01

The paper addresses initial steps involved in the development and flight implementation of new metrics driven L1 adaptive flight control system. The work concentrates on (i) definition of appropriate control driven metrics that account for the control surface failures; (ii) tailoring recently developed L1 adaptive controller to the design of adaptive flight control systems that explicitly address these metrics in the presence of control surface failures and dynamic changes under adverse flight conditions; (iii) development of a flight control system for implementation of the resulting algorithms onboard of small UAV; and (iv) conducting a comprehensive flight test program that demonstrates performance of the developed adaptive control algorithms in the presence of failures. As the initial milestone the paper concentrates on the adaptive flight system setup and initial efforts addressing the ability of a commercial off-the-shelf AP with and without adaptive augmentation to recover from control surface failures.

Adaptive Importance Sampling for Control and Inference

NASA Astrophysics Data System (ADS)

Kappen, H. J.; Ruiz, H. C.

2016-03-01

Path integral (PI) control problems are a restricted class of non-linear control problems that can be solved formally as a Feynman-Kac PI and can be estimated using Monte Carlo sampling. In this contribution we review PI control theory in the finite horizon case. We subsequently focus on the problem how to compute and represent control solutions. We review the most commonly used methods in robotics and control. Within the PI theory, the question of how to compute becomes the question of importance sampling. Efficient importance samplers are state feedback controllers and the use of these requires an efficient representation. Learning and representing effective state-feedback controllers for non-linear stochastic control problems is a very challenging, and largely unsolved, problem. We show how to learn and represent such controllers using ideas from the cross entropy method. We derive a gradient descent method that allows to learn feed-back controllers using an arbitrary parametrisation. We refer to this method as the path integral cross entropy method or PICE. We illustrate this method for some simple examples. The PI control methods can be used to estimate the posterior distribution in latent state models. In neuroscience these problems arise when estimating connectivity from neural recording data using EM. We demonstrate the PI control method as an accurate alternative to particle filtering.

Efficient control schemes with limited computation complexity for Tomographic AO systems on VLTs and ELTs

NASA Astrophysics Data System (ADS)

Petit, C.; Le Louarn, M.; Fusco, T.; Madec, P.-Y.

2011-09-01

Various tomographic control solutions have been proposed during the last decades to ensure efficient or even optimal closed-loop correction to tomographic Adaptive Optics (AO) concepts such as Laser Tomographic AO (LTAO), Multi-Conjugate AO (MCAO). The optimal solution, based on Linear Quadratic Gaussian (LQG) approach, as well as suboptimal but efficient solutions such as Pseudo-Open Loop Control (POLC) require multiple Matrix Vector Multiplications (MVM). Disregarding their respective performance, these efficient control solutions thus exhibit strong increase of on-line complexity and their implementation may become difficult in demanding cases. Among them, two cases are of particular interest. First, the system Real-Time Computer architecture and implementation is derived from past or present solutions and does not support multiple MVM. This is the case of the AO Facility which RTC architecture is derived from the SPARTA platform and inherits its simple MVM architecture, which does not fit with LTAO control solutions for instance. Second, considering future systems such as Extremely Large Telescopes, the number of degrees of freedom is twenty to one hundred times bigger than present systems. In these conditions, tomographic control solutions can hardly be used in their standard form and optimized implementation shall be considered. Single MVM tomographic control solutions represent a potential solution, and straightforward solutions such as Virtual Deformable Mirrors have been already proposed for LTAO but with tuning issues. We investigate in this paper the possibility to derive from tomographic control solutions, such as POLC or LQG, simplified control solutions ensuring simple MVM architecture and that could be thus implemented on nowadays systems or future complex systems. We theoretically derive various solutions and analyze their respective performance on various systems thanks to numerical simulation. We discuss the optimization of their performance and stability issues with respect to classic control solutions. We finally discuss off-line computation and implementation constraints.

Correction of respiratory motion for IMRT using aperture adaptive technique and visual guidance: A feasibility study

NASA Astrophysics Data System (ADS)

Chen, Ho-Hsing; Wu, Jay; Chuang, Keh-Shih; Kuo, Hsiang-Chi

2007-07-01

Intensity-modulated radiation therapy (IMRT) utilizes nonuniform beam profile to deliver precise radiation doses to a tumor while minimizing radiation exposure to surrounding normal tissues. However, the problem of intrafraction organ motion distorts the dose distribution and leads to significant dosimetric errors. In this research, we applied an aperture adaptive technique with a visual guiding system to toggle the problem of respiratory motion. A homemade computer program showing a cyclic moving pattern was projected onto the ceiling to visually help patients adjust their respiratory patterns. Once the respiratory motion becomes regular, the leaf sequence can be synchronized with the target motion. An oscillator was employed to simulate the patient's breathing pattern. Two simple fields and one IMRT field were measured to verify the accuracy. Preliminary results showed that after appropriate training, the amplitude and duration of volunteer's breathing can be well controlled by the visual guiding system. The sharp dose gradient at the edge of the radiation fields was successfully restored. The maximum dosimetric error in the IMRT field was significantly decreased from 63% to 3%. We conclude that the aperture adaptive technique with the visual guiding system can be an inexpensive and feasible alternative without compromising delivery efficiency in clinical practice.

Short-Term Local Adaptation of Historical Common Bean (Phaseolus vulgaris L.) Varieties and Implications for In Situ Management of Bean Diversity.

PubMed

Klaedtke, Stephanie M; Caproni, Leonardo; Klauck, Julia; de la Grandville, Paul; Dutartre, Martin; Stassart, Pierre M; Chable, Véronique; Negri, Valeria; Raggi, Lorenzo

2017-02-28

Recognizing both the stakes of traditional European common bean diversity and the role farmers' and gardeners' networks play in maintaining this diversity, the present study examines the role that local adaptation plays for the management of common bean diversity in situ. To the purpose, four historical bean varieties and one modern control were multiplied on two organic farms for three growing seasons. The fifteen resulting populations, the initial ones and two populations of each variety obtained after the three years of multiplication, were then grown in a common garden. Twenty-two Simple Sequence Repeat (SSR) markers and 13 phenotypic traits were assessed. In total, 68.2% of tested markers were polymorphic and a total of 66 different alleles were identified. F ST analysis showed that the genetic composition of two varieties multiplied in different environments changed. At the phenotypic level, differences were observed in flowering date and leaf length. Results indicate that three years of multiplication suffice for local adaptation to occur. The spatial dynamics of genetic and phenotypic bean diversity imply that the maintenance of diversity should be considered at the scale of the network, rather than individual farms and gardens. The microevolution of bean populations within networks of gardens and farms emerges as a research perspective.

Adaptive Sequential Monte Carlo for Multiple Changepoint Analysis

DOE PAGES

Heard, Nicholas A.; Turcotte, Melissa J. M.

2016-05-21

Process monitoring and control requires detection of structural changes in a data stream in real time. This paper introduces an efficient sequential Monte Carlo algorithm designed for learning unknown changepoints in continuous time. The method is intuitively simple: new changepoints for the latest window of data are proposed by conditioning only on data observed since the most recent estimated changepoint, as these observations carry most of the information about the current state of the process. The proposed method shows improved performance over the current state of the art. Another advantage of the proposed algorithm is that it can be mademore » adaptive, varying the number of particles according to the apparent local complexity of the target changepoint probability distribution. This saves valuable computing time when changes in the changepoint distribution are negligible, and enables re-balancing of the importance weights of existing particles when a significant change in the target distribution is encountered. The plain and adaptive versions of the method are illustrated using the canonical continuous time changepoint problem of inferring the intensity of an inhomogeneous Poisson process, although the method is generally applicable to any changepoint problem. Performance is demonstrated using both conjugate and non-conjugate Bayesian models for the intensity. Lastly, appendices to the article are available online, illustrating the method on other models and applications.« less

Real-time stylistic prediction for whole-body human motions.

PubMed

Matsubara, Takamitsu; Hyon, Sang-Ho; Morimoto, Jun

2012-01-01

The ability to predict human motion is crucial in several contexts such as human tracking by computer vision and the synthesis of human-like computer graphics. Previous work has focused on off-line processes with well-segmented data; however, many applications such as robotics require real-time control with efficient computation. In this paper, we propose a novel approach called real-time stylistic prediction for whole-body human motions to satisfy these requirements. This approach uses a novel generative model to represent a whole-body human motion including rhythmic motion (e.g., walking) and discrete motion (e.g., jumping). The generative model is composed of a low-dimensional state (phase) dynamics and a two-factor observation model, allowing it to capture the diversity of motion styles in humans. A real-time adaptation algorithm was derived to estimate both state variables and style parameter of the model from non-stationary unlabeled sequential observations. Moreover, with a simple modification, the algorithm allows real-time adaptation even from incomplete (partial) observations. Based on the estimated state and style, a future motion sequence can be accurately predicted. In our implementation, it takes less than 15 ms for both adaptation and prediction at each observation. Our real-time stylistic prediction was evaluated for human walking, running, and jumping behaviors. Copyright © 2011 Elsevier Ltd. All rights reserved.

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.

Human performance under two different command and control paradigms.

PubMed

Walker, Guy H; Stanton, Neville A; Salmon, Paul M; Jenkins, Daniel P

2014-05-01

The paradoxical behaviour of a new command and control concept called Network Enabled Capability (NEC) provides the motivation for this paper. In it, a traditional hierarchical command and control organisation was pitted against a network centric alternative on a common task, played thirty times, by two teams. Multiple regression was used to undertake a simple form of time series analysis. It revealed that whilst the NEC condition ended up being slightly slower than its hierarchical counterpart, it was able to balance and optimise all three of the performance variables measured (task time, enemies neutralised and attrition). From this it is argued that a useful conceptual response is not to consider NEC as an end product comprised of networked computers and standard operating procedures, nor to regard the human system interaction as inherently stable, but rather to view it as a set of initial conditions from which the most adaptable component of all can be harnessed: the human. Copyright © 2013 Elsevier Ltd and The Ergonomics Society. All rights reserved.

Pneumatic Valve Operated by Multiplex Pneumatic Transmission

NASA Astrophysics Data System (ADS)

Nishioka, Yasutaka; Suzumori, Koichi; Kanda, Takefumi; Wakimoto, Shuichi

A pneumatic system has several advantages, which are cheapness, lightweight, and reliability to human and environment. These advantages are adapted to some research areas, such as industrial lines, medical and nursing cares, and rehabilitation tools. However, the pneumatic system needs several devices; compressor, air tube, and control valve. This research aim to downsize pneumatic system. In this paper, a new method of multiplex pneumatic transmission for multi-pneumatic servo system is proposed. The valve for this system consists of two vibrators supported by springs, which was designed with simple and cheap structure. The working principle of the valve is vibrators resonance from multiplex pneumatic transmission and it is possible to work as ON/OFF valves without electric wire. Dynamic simulation was used to confirm the working principle of the resonance driving system. A prototype device confirming the principle was designed and developed based on the simulation. The experiments show that this new control system works very well to control two separated valves through single pneumatic tube.

Adapting End Host Congestion Control for Mobility

NASA Technical Reports Server (NTRS)

Eddy, Wesley M.; Swami, Yogesh P.

2005-01-01

Network layer mobility allows transport protocols to maintain connection state, despite changes in a node's physical location and point of network connectivity. However, some congestion-controlled transport protocols are not designed to deal with these rapid and potentially significant path changes. In this paper we demonstrate several distinct problems that mobility-induced path changes can create for TCP performance. Our premise is that mobility events indicate path changes that require re-initialization of congestion control state at both connection end points. We present the application of this idea to TCP in the form of a simple solution (the Lightweight Mobility Detection and Response algorithm, that has been proposed in the IETF), and examine its effectiveness. In general, we find that the deficiencies presented are both relatively easily and painlessly fixed using this solution. We also find that this solution has the counter-intuitive property of being both more friendly to competing traffic, and simultaneously more aggressive in utilizing newly available capacity than unmodified TCP.

Arduino control of a pulsatile flow rig.

PubMed

Drost, S; de Kruif, B J; Newport, D

2018-01-01

This note describes the design and testing of a programmable pulsatile flow pump using an Arduino micro-controller. The goal of this work is to build a compact and affordable system that can relatively easily be programmed to generate physiological waveforms. The system described here was designed to be used in an in-vitro set-up for vascular access hemodynamics research, and hence incorporates a gear pump that delivers a mean flow of 900 ml/min in a test flow loop, and a peak flow of 1106 ml/min. After a number of simple identification experiments to assess the dynamic behaviour of the system, a feed-forward control routine was implemented. The resulting system was shown to be able to produce the targeted representative waveform with less than 3.6% error. Finally, we outline how to further increase the accuracy of the system, and how to adapt it to specific user needs. Copyright © 2017 IPEM. Published by Elsevier Ltd. All rights reserved.

Regulation of two motor patterns enables the gradual adjustment of locomotion strategy in Caenorhabditis elegans

PubMed Central

Hums, Ingrid; Riedl, Julia; Mende, Fanny; Kato, Saul; Kaplan, Harris S; Latham, Richard; Sonntag, Michael; Traunmüller, Lisa; Zimmer, Manuel

2016-01-01

In animal locomotion a tradeoff exists between stereotypy and flexibility: fast long-distance travelling (LDT) requires coherent regular motions, while local sampling and area-restricted search (ARS) rely on flexible movements. We report here on a posture control system in C. elegans that coordinates these needs. Using quantitative posture analysis we explain worm locomotion as a composite of two modes: regular undulations versus flexible turning. Graded reciprocal regulation of both modes allows animals to flexibly adapt their locomotion strategy under sensory stimulation along a spectrum ranging from LDT to ARS. Using genetics and functional imaging of neural activity we characterize the counteracting interneurons AVK and DVA that utilize FLP-1 and NLP-12 neuropeptides to control both motor modes. Gradual regulation of behaviors via this system is required for spatial navigation during chemotaxis. This work shows how a nervous system controls simple elementary features of posture to generate complex movements for goal-directed locomotion strategies. DOI: http://dx.doi.org/10.7554/eLife.14116.001 PMID:27222228

Optimal Control Modification Adaptive Law for Time-Scale Separated Systems

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.

2010-01-01

Recently a new optimal control modification has been introduced that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. This modification is based on an optimal control formulation to minimize the L2 norm of the tracking error. The optimal control modification adaptive law results in a stable adaptation in the presence of a large adaptive gain. This study examines the optimal control modification adaptive law in the context of a system with a time scale separation resulting from a fast plant with a slow actuator. A singular perturbation analysis is performed to derive a modification to the adaptive law by transforming the original system into a reduced-order system in slow time. A model matching conditions in the transformed time coordinate results in an increase in the actuator command that effectively compensate for the slow actuator dynamics. Simulations demonstrate effectiveness of the method.

Fast spacecraft adaptive attitude tracking control through immersion and invariance design

NASA Astrophysics Data System (ADS)

Wen, Haowei; Yue, Xiaokui; Li, Peng; Yuan, Jianping

2017-10-01

This paper presents a novel non-certainty-equivalence adaptive control method for the attitude tracking control problem of spacecraft with inertia uncertainties. The proposed immersion and invariance (I&I) based adaptation law provides a more direct and flexible approach to circumvent the limitations of the basic I&I method without employing any filter signal. By virtue of the adaptation high-gain equivalence property derived from the proposed adaptive method, the closed-loop adaptive system with a low adaptation gain could recover the high adaptation gain performance of the filter-based I&I method, and the resulting control torque demands during the initial transient has been significantly reduced. A special feature of this method is that the convergence of the parameter estimation error has been observably improved by utilizing an adaptation gain matrix instead of a single adaptation gain value. Numerical simulations are presented to highlight the various benefits of the proposed method compared with the certainty-equivalence-based control method and filter-based I&I control schemes.

Decentralized adaptive control

NASA Technical Reports Server (NTRS)

Oh, B. J.; Jamshidi, M.; Seraji, H.

1988-01-01

A decentralized adaptive control is proposed to stabilize and track the nonlinear, interconnected subsystems with unknown parameters. The adaptation of the controller gain is derived by using model reference adaptive control theory based on Lyapunov's direct method. The adaptive gains consist of sigma, proportional, and integral combination of the measured and reference values of the corresponding subsystem. The proposed control is applied to the joint control of a two-link robot manipulator, and the performance in computer simulation corresponds with what is expected in theoretical development.

Admixture enhanced controlled low-strength material for direct underwater injection with minimal cross-contamination

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

Hepworth, H.K.; Davidson, J.S.; Hooyman, J.L.

1997-03-01

Commercially available admixtures have been developed for placing traditional concrete products under water. This paper evaluates adapting anti-washout admixture (AWA) and high range water reducing admixture (HRWRA) products to enhance controlled low-strength materials (CLSMs) for underwater placement. A simple experimental scale model (based on dynamic and geometric similitude) of typical grout pump emplacement equipment has been developed to determine the percentage of cementing material washed out. The objective of this study was to identify proportions of admixtures and underwater CLSM emplacement procedures which would minimize the cross-contamination of the displaced water while maintaining the advantages of CLSM. Since the displacedmore » water from radioactively contaminated systems must be subsequently treated prior to release to the environment, the amount of cross-contamination is important for cases in which cementing material could form hard sludges in a water treatment facility and contaminate the in-place CLSM stabilization medium.« less

A Driving Behaviour Model of Electrical Wheelchair Users

PubMed Central

Hamam, Y.; Djouani, K.; Daachi, B.; Steyn, N.

2016-01-01

In spite of the presence of powered wheelchairs, some of the users still experience steering challenges and manoeuvring difficulties that limit their capacity of navigating effectively. For such users, steering support and assistive systems may be very necessary. To appreciate the assistance, there is need that the assistive control is adaptable to the user's steering behaviour. This paper contributes to wheelchair steering improvement by modelling the steering behaviour of powered wheelchair users, for integration into the control system. More precisely, the modelling is based on the improved Directed Potential Field (DPF) method for trajectory planning. The method has facilitated the formulation of a simple behaviour model that is also linear in parameters. To obtain the steering data for parameter identification, seven individuals participated in driving the wheelchair in different virtual worlds on the augmented platform. The obtained data facilitated the estimation of user parameters, using the ordinary least square method, with satisfactory regression analysis results. PMID:27148362

Magnetically Controllable Polymer Nanotubes from a Cyclized Crosslinker for Site-Specific Delivery of Doxorubicin

NASA Astrophysics Data System (ADS)

Newland, Ben; Leupelt, Daniel; Zheng, Yu; Thomas, Laurent S. V.; Werner, Carsten; Steinhart, Martin; Wang, Wenxin

2015-12-01

Externally controlled site specific drug delivery could potentially provide a means of reducing drug related side effects whilst maintaining, or perhaps increasing therapeutic efficiency. The aim of this work was to develop a nanoscale drug carrier, which could be loaded with an anti-cancer drug and be directed by an external magnetic field. Using a single, commercially available monomer and a simple one-pot reaction process, a polymer was synthesized and crosslinked within the pores of an anodized aluminum oxide template. These polymer nanotubes (PNT) could be functionalized with iron oxide nanoparticles for magnetic manipulation, without affecting the large internal pore, or inherent low toxicity. Using an external magnetic field the nanotubes could be regionally concentrated, leaving areas devoid of nanotubes. Lastly, doxorubicin could be loaded to the PNTs, causing increased toxicity towards neuroblastoma cells, rendering a platform technology now ready for adaptation with different nanoparticles, degradable pre-polymers, and various therapeutics.

Dynamically variable negative stiffness structures.

PubMed

Churchill, Christopher B; Shahan, David W; Smith, Sloan P; Keefe, Andrew C; McKnight, Geoffrey P

2016-02-01

Variable stiffness structures that enable a wide range of efficient load-bearing and dexterous activity are ubiquitous in mammalian musculoskeletal systems but are rare in engineered systems because of their complexity, power, and cost. We present a new negative stiffness-based load-bearing structure with dynamically tunable stiffness. Negative stiffness, traditionally used to achieve novel response from passive structures, is a powerful tool to achieve dynamic stiffness changes when configured with an active component. Using relatively simple hardware and low-power, low-frequency actuation, we show an assembly capable of fast (<10 ms) and useful (>100×) dynamic stiffness control. This approach mitigates limitations of conventional tunable stiffness structures that exhibit either small (<30%) stiffness change, high friction, poor load/torque transmission at low stiffness, or high power active control at the frequencies of interest. We experimentally demonstrate actively tunable vibration isolation and stiffness tuning independent of supported loads, enhancing applications such as humanoid robotic limbs and lightweight adaptive vibration isolators.

Techniques for optimal crop selection in a controlled ecological life support system

NASA Technical Reports Server (NTRS)

Mccormack, Ann; Finn, Cory; Dunsky, Betsy

1993-01-01

A Controlled Ecological Life Support System (CELSS) utilizes a plant's natural ability to regenerate air and water while being grown as a food source in a closed life support system. Current plant research is directed toward obtaining quantitative empirical data on the regenerative ability of each species of plant and the system volume and power requirements. Two techniques were adapted to optimize crop species selection while at the same time minimizing the system volume and power requirements. Each allows the level of life support supplied by the plants to be selected, as well as other system parameters. The first technique uses decision analysis in the form of a spreadsheet. The second method, which is used as a comparison with and validation of the first, utilizes standard design optimization techniques. Simple models of plant processes are used in the development of these methods.

Techniques for optimal crop selection in a controlled ecological life support system

NASA Technical Reports Server (NTRS)

Mccormack, Ann; Finn, Cory; Dunsky, Betsy

1992-01-01

A Controlled Ecological Life Support System (CELSS) utilizes a plant's natural ability to regenerate air and water while being grown as a food source in a closed life support system. Current plant research is directed toward obtaining quantitative empirical data on the regenerative ability of each species of plant and the system volume and power requirements. Two techniques were adapted to optimize crop species selection while at the same time minimizing the system volume and power requirements. Each allows the level of life support supplied by the plants to be selected, as well as other system parameters. The first technique uses decision analysis in the form of a spreadsheet. The second method, which is used as a comparison with and validation of the first, utilizes standard design optimization techniques. Simple models of plant processes are used in the development of these methods.

Selective tuning of the right inferior frontal gyrus during target detection

PubMed Central

Hampshire, Adam; Thompson, Russell; Duncan, John; Owen, Adrian M.

2010-01-01

In the human brain, a network of frontal and parietal regions is commonly recruited during tasks that demand the deliberate, focused control of thought and action. Previously, using a simple target detection task, we reported striking differences in the selectivity of the BOLD response in anatomically distinct subregions of this network. In particular, it was observed that the right inferior frontal gyrus (IFG) followed a tightly tuned function, selectively responding only to the current target object. Here, we examine this functional specialization further, using adapted versions of our original task. Our results demonstrate that the response of the right IFG to targets is a strong and replicable phenomenon. It occurs under increased attentional load, when targets and distractors are equally frequent, and when controlling for inhibitory processes. These findings support the hypothesis that the right IFG responds selectively to those items that are of the most relevance to the currently intended task schema. PMID:19246331

Introductory Physics Experiments Using the Wiimote

NASA Astrophysics Data System (ADS)

Somers, William; Rooney, Frank; Ochoa, Romulo

2009-03-01

The Wii, a video game console, is a very popular device with millions of units sold worldwide over the past two years. Although computationally it is not a powerful machine, to a physics educator its most important components can be its controllers. The Wiimote (or remote) controller contains three accelerometers, an infrared detector, and Bluetooth connectivity at a relatively low price. Thanks to available open source code, any PC with Bluetooth capability can detect the information sent out by the Wiimote. We have designed several experiments for introductory physics courses that make use of the accelerometers and Bluetooth connectivity. We have adapted the Wiimote to measure the: variable acceleration in simple harmonic motion, centripetal and tangential accelerations in circular motion, and the accelerations generated when students lift weights. We present the results of our experiments and compare them with those obtained when using motion and/or force sensors.

Research on Self-Reconfigurable Modular Robot System

NASA Astrophysics Data System (ADS)

Kamimura, Akiya; Murata, Satoshi; Yoshida, Eiichi; Kurokawa, Haruhisa; Tomita, Kohji; Kokaji, Shigeru

Growing complexity of artificial systems arises reliability and flexibility issues of large system design. Robots are not exception of this, and many attempts have been made to realize reliable and flexible robot systems. Distributed modular composition of robot is one of the most effective approaches to attain such abilities and has a potential to adapt to its surroundings by changing its configuration autonomously according to information of surroundings. In this paper, we propose a novel three-dimensional self-reconfigurable robotic module. Each module has a very simple structure that consists of two semi-cylindrical parts connected by a link. The modular system is capable of not only building static structure but also generating dynamic robotic motion. We present details of the mechanical/electrical design of the developed module and its control system architecture. Experiments using ten modules with centralized control demonstrate robotic configuration change, crawling locomotion and three types of quadruped locomotion.

QuickStrike ASOC Battlefield Simulation: Preparing the War Fighter to Win

NASA Technical Reports Server (NTRS)

Jones, Richard L.

2010-01-01

The QuickStrike ASOC (Air Support Operations Center) Battlefield Simulation fills a crucial gap in USAF and United Kingdom Close Air Support (CAS) and airspace manager training. The system now provides six squadrons with the capability to conduct total-mission training events whenever the personnel and time are available. When the 111th ASOC returned from their first deployment to Afghanistan they realized the training available prior to deployment was inadequate. They sought an organic training capability focused on the ASOC mission that was low cost, simple to use, adaptable, and available now. Using a commercial off-the-shelf simulation, they developed a complete training system by adapting the simulation to their training needs. Through more than two years of spiral development, incorporating lessons learned, the system has matured, and can now realistically replicate the Tactical Operations Center (TOC) in Kabul, Afghanistan, the TOC supporting the mission in Iraq, or can expand to support a major conflict scenario. The training system provides a collaborative workspace for the training audience and exercise control group via integrated software and workstations that can easily adapt to new mission reqUirements and TOC configurations. The system continues to mature. Based on inputs from the war fighter, new capabilities have been incorporated to add realism and simplify the scenario development process. The QuickStrike simulation can now import TBMCS Air Tasking Order air mission data and can provide air and ground tracks to a common operating picture; presented through either C2PC or JADOCS. This oranic capability to practice team processes and tasks and to conduct mission rehearsals proved its value in the 111 h ASOS's next deployment. The ease of scenario development and the simple to learn and intuitive gamelike interface enables the squadrons to develop and share scenarios incorporating lessons learned from every deployment. These war fighters have now filled the training gap and have the capability they need to train to win.

Adaptive Decentralized Control

DTIC Science & Technology

1985-04-01

and implementation of the decentralized controllers. It raises, however, many difficult questions regarding the conditions under which such a scheme ...adaptive controller, and a general form of the model reference adaptive controller (4]. We believe that this work represents a significant advance in the...Comparing the adaptive system with the tuned system results in the development of a generic adaptive error system. Passivity theory was used to derive

Modeling rate sensitivity of exercise transient responses to limb motion.

PubMed

Yamashiro, Stanley M; Kato, Takahide

2014-10-01

Transient responses of ventilation (V̇e) to limb motion can exhibit predictive characteristics. In response to a change in limb motion, a rapid change in V̇e is commonly observed with characteristics different than during a change in workload. This rapid change has been attributed to a feed-forward or adaptive response. Rate sensitivity was explored as a specific hypothesis to explain predictive V̇e responses to limb motion. A simple model assuming an additive feed-forward summation of V̇e proportional to the rate of change of limb motion was studied. This model was able to successfully account for the adaptive phase correction observed during human sinusoidal changes in limb motion. Adaptation of rate sensitivity might also explain the reduction of the fast component of V̇e responses previously reported following sudden exercise termination. Adaptation of the fast component of V̇e response could occur by reduction of rate sensitivity. Rate sensitivity of limb motion was predicted by the model to reduce the phase delay between limb motion and V̇e response without changing the steady-state response to exercise load. In this way, V̇e can respond more quickly to an exercise change without interfering with overall feedback control. The asymmetry between responses to an incremental and decremental ramp change in exercise can also be accounted for by the proposed model. Rate sensitivity leads to predicted behavior, which resembles responses observed in exercise tied to expiratory reserve volume. Copyright © 2014 the American Physiological Society.

Evaluating sampling designs by computer simulation: A case study with the Missouri bladderpod

USGS Publications Warehouse

Morrison, L.W.; Smith, D.R.; Young, C.; Nichols, D.W.

2008-01-01

To effectively manage rare populations, accurate monitoring data are critical. Yet many monitoring programs are initiated without careful consideration of whether chosen sampling designs will provide accurate estimates of population parameters. Obtaining accurate estimates is especially difficult when natural variability is high, or limited budgets determine that only a small fraction of the population can be sampled. The Missouri bladderpod, Lesquerella filiformis Rollins, is a federally threatened winter annual that has an aggregated distribution pattern and exhibits dramatic interannual population fluctuations. Using the simulation program SAMPLE, we evaluated five candidate sampling designs appropriate for rare populations, based on 4 years of field data: (1) simple random sampling, (2) adaptive simple random sampling, (3) grid-based systematic sampling, (4) adaptive grid-based systematic sampling, and (5) GIS-based adaptive sampling. We compared the designs based on the precision of density estimates for fixed sample size, cost, and distance traveled. Sampling fraction and cost were the most important factors determining precision of density estimates, and relative design performance changed across the range of sampling fractions. Adaptive designs did not provide uniformly more precise estimates than conventional designs, in part because the spatial distribution of L. filiformis was relatively widespread within the study site. Adaptive designs tended to perform better as sampling fraction increased and when sampling costs, particularly distance traveled, were taken into account. The rate that units occupied by L. filiformis were encountered was higher for adaptive than for conventional designs. Overall, grid-based systematic designs were more efficient and practically implemented than the others. ?? 2008 The Society of Population Ecology and Springer.

Self-organizing adaptive map: autonomous learning of curves and surfaces from point samples.

PubMed

Piastra, Marco

2013-05-01

Competitive Hebbian Learning (CHL) (Martinetz, 1993) is a simple and elegant method for estimating the topology of a manifold from point samples. The method has been adopted in a number of self-organizing networks described in the literature and has given rise to related studies in the fields of geometry and computational topology. Recent results from these fields have shown that a faithful reconstruction can be obtained using the CHL method only for curves and surfaces. Within these limitations, these findings constitute a basis for defining a CHL-based, growing self-organizing network that produces a faithful reconstruction of an input manifold. The SOAM (Self-Organizing Adaptive Map) algorithm adapts its local structure autonomously in such a way that it can match the features of the manifold being learned. The adaptation process is driven by the defects arising when the network structure is inadequate, which cause a growth in the density of units. Regions of the network undergo a phase transition and change their behavior whenever a simple, local condition of topological regularity is met. The phase transition is eventually completed across the entire structure and the adaptation process terminates. In specific conditions, the structure thus obtained is homeomorphic to the input manifold. During the adaptation process, the network also has the capability to focus on the acquisition of input point samples in critical regions, with a substantial increase in efficiency. The behavior of the network has been assessed experimentally with typical data sets for surface reconstruction, including suboptimal conditions, e.g. with undersampling and noise. Copyright © 2012 Elsevier Ltd. All rights reserved.

A simple mathematical model of gradual Darwinian evolution: emergence of a Gaussian trait distribution in adaptation along a fitness gradient.

PubMed

Biktashev, Vadim N

2014-04-01

We consider a simple mathematical model of gradual Darwinian evolution in continuous time and continuous trait space, due to intraspecific competition for common resource in an asexually reproducing population in constant environment, while far from evolutionary stable equilibrium. The model admits exact analytical solution. In particular, Gaussian distribution of the trait emerges from generic initial conditions.

Racing to learn: statistical inference and learning in a single spiking neuron with adaptive kernels

PubMed Central

Afshar, Saeed; George, Libin; Tapson, Jonathan; van Schaik, André; Hamilton, Tara J.

2014-01-01

This paper describes the Synapto-dendritic Kernel Adapting Neuron (SKAN), a simple spiking neuron model that performs statistical inference and unsupervised learning of spatiotemporal spike patterns. SKAN is the first proposed neuron model to investigate the effects of dynamic synapto-dendritic kernels and demonstrate their computational power even at the single neuron scale. The rule-set defining the neuron is simple: there are no complex mathematical operations such as normalization, exponentiation or even multiplication. The functionalities of SKAN emerge from the real-time interaction of simple additive and binary processes. Like a biological neuron, SKAN is robust to signal and parameter noise, and can utilize both in its operations. At the network scale neurons are locked in a race with each other with the fastest neuron to spike effectively “hiding” its learnt pattern from its neighbors. The robustness to noise, high speed, and simple building blocks not only make SKAN an interesting neuron model in computational neuroscience, but also make it ideal for implementation in digital and analog neuromorphic systems which is demonstrated through an implementation in a Field Programmable Gate Array (FPGA). Matlab, Python, and Verilog implementations of SKAN are available at: http://www.uws.edu.au/bioelectronics_neuroscience/bens/reproducible_research. PMID:25505378

Racing to learn: statistical inference and learning in a single spiking neuron with adaptive kernels.

PubMed

Afshar, Saeed; George, Libin; Tapson, Jonathan; van Schaik, André; Hamilton, Tara J

2014-01-01

This paper describes the Synapto-dendritic Kernel Adapting Neuron (SKAN), a simple spiking neuron model that performs statistical inference and unsupervised learning of spatiotemporal spike patterns. SKAN is the first proposed neuron model to investigate the effects of dynamic synapto-dendritic kernels and demonstrate their computational power even at the single neuron scale. The rule-set defining the neuron is simple: there are no complex mathematical operations such as normalization, exponentiation or even multiplication. The functionalities of SKAN emerge from the real-time interaction of simple additive and binary processes. Like a biological neuron, SKAN is robust to signal and parameter noise, and can utilize both in its operations. At the network scale neurons are locked in a race with each other with the fastest neuron to spike effectively "hiding" its learnt pattern from its neighbors. The robustness to noise, high speed, and simple building blocks not only make SKAN an interesting neuron model in computational neuroscience, but also make it ideal for implementation in digital and analog neuromorphic systems which is demonstrated through an implementation in a Field Programmable Gate Array (FPGA). Matlab, Python, and Verilog implementations of SKAN are available at: http://www.uws.edu.au/bioelectronics_neuroscience/bens/reproducible_research.

Study of adaptive methods for data compression of scanner data

NASA Technical Reports Server (NTRS)

1977-01-01

The performance of adaptive image compression techniques and the applicability of a variety of techniques to the various steps in the data dissemination process are examined in depth. It is concluded that the bandwidth of imagery generated by scanners can be reduced without introducing significant degradation such that the data can be transmitted over an S-band channel. This corresponds to a compression ratio equivalent to 1.84 bits per pixel. It is also shown that this can be achieved using at least two fairly simple techniques with weight-power requirements well within the constraints of the LANDSAT-D satellite. These are the adaptive 2D DPCM and adaptive hybrid techniques.

Intelligent neural network and fuzzy logic control of industrial and power systems

NASA Astrophysics Data System (ADS)

Kuljaca, Ognjen

The main role played by neural network and fuzzy logic intelligent control algorithms today is to identify and compensate unknown nonlinear system dynamics. There are a number of methods developed, but often the stability analysis of neural network and fuzzy control systems was not provided. This work will meet those problems for the several algorithms. Some more complicated control algorithms included backstepping and adaptive critics will be designed. Nonlinear fuzzy control with nonadaptive fuzzy controllers is also analyzed. An experimental method for determining describing function of SISO fuzzy controller is given. The adaptive neural network tracking controller for an autonomous underwater vehicle is analyzed. A novel stability proof is provided. The implementation of the backstepping neural network controller for the coupled motor drives is described. Analysis and synthesis of adaptive critic neural network control is also provided in the work. Novel tuning laws for the system with action generating neural network and adaptive fuzzy critic are given. Stability proofs are derived for all those control methods. It is shown how these control algorithms and approaches can be used in practical engineering control. Stability proofs are given. Adaptive fuzzy logic control is analyzed. Simulation study is conducted to analyze the behavior of the adaptive fuzzy system on the different environment changes. A novel stability proof for adaptive fuzzy logic systems is given. Also, adaptive elastic fuzzy logic control architecture is described and analyzed. A novel membership function is used for elastic fuzzy logic system. The stability proof is proffered. Adaptive elastic fuzzy logic control is compared with the adaptive nonelastic fuzzy logic control. The work described in this dissertation serves as foundation on which analysis of particular representative industrial systems will be conducted. Also, it gives a good starting point for analysis of learning abilities of adaptive and neural network control systems, as well as for the analysis of the different algorithms such as elastic fuzzy systems.

On mobile wireless ad hoc IP video transports

NASA Astrophysics Data System (ADS)

Kazantzidis, Matheos

2006-05-01

Multimedia transports in wireless, ad-hoc, multi-hop or mobile networks must be capable of obtaining information about the network and adaptively tune sending and encoding parameters to the network response. Obtaining meaningful metrics to guide a stable congestion control mechanism in the transport (i.e. passive, simple, end-to-end and network technology independent) is a complex problem. Equally difficult is obtaining a reliable QoS metrics that agrees with user perception in a client/server or distributed environment. Existing metrics, objective or subjective, are commonly used after or before to test or report on a transmission and require access to both original and transmitted frames. In this paper, we propose that an efficient and successful video delivery and the optimization of overall network QoS requires innovation in a) a direct measurement of available and bottleneck capacity for its congestion control and b) a meaningful subjective QoS metric that is dynamically reported to video sender. Once these are in place, a binomial -stable, fair and TCP friendly- algorithm can be used to determine the sending rate and other packet video parameters. An adaptive mpeg codec can then continually test and fit its parameters and temporal-spatial data-error control balance using the perceived QoS dynamic feedback. We suggest a new measurement based on a packet dispersion technique that is independent of underlying network mechanisms. We then present a binomial control based on direct measurements. We implement a QoS metric that is known to agree with user perception (MPQM) in a client/server, distributed environment by using predetermined table lookups and characterization of video content.

Magnetic-field-controlled reconfigurable semiconductor logic.

PubMed

Joo, Sungjung; Kim, Taeyueb; Shin, Sang Hoon; Lim, Ju Young; Hong, Jinki; Song, Jin Dong; Chang, Joonyeon; Lee, Hyun-Woo; Rhie, Kungwon; Han, Suk Hee; Shin, Kyung-Ho; Johnson, Mark

2013-02-07

Logic devices based on magnetism show promise for increasing computational efficiency while decreasing consumed power. They offer zero quiescent power and yet combine novel functions such as programmable logic operation and non-volatile built-in memory. However, practical efforts to adapt a magnetic device to logic suffer from a low signal-to-noise ratio and other performance attributes that are not adequate for logic gates. Rather than exploiting magnetoresistive effects that result from spin-dependent transport of carriers, we have approached the development of a magnetic logic device in a different way: we use the phenomenon of large magnetoresistance found in non-magnetic semiconductors in high electric fields. Here we report a device showing a strong diode characteristic that is highly sensitive to both the sign and the magnitude of an external magnetic field, offering a reversible change between two different characteristic states by the application of a magnetic field. This feature results from magnetic control of carrier generation and recombination in an InSb p-n bilayer channel. Simple circuits combining such elementary devices are fabricated and tested, and Boolean logic functions including AND, OR, NAND and NOR are performed. They are programmed dynamically by external electric or magnetic signals, demonstrating magnetic-field-controlled semiconductor reconfigurable logic at room temperature. This magnetic technology permits a new kind of spintronic device, characterized as a current switch rather than a voltage switch, and provides a simple and compact platform for non-volatile reconfigurable logic devices.

Adaptive pseudolinear compensators of dynamic characteristics of automatic control systems

NASA Astrophysics Data System (ADS)

Skorospeshkin, M. V.; Sukhodoev, M. S.; Timoshenko, E. A.; Lenskiy, F. V.

2016-04-01

Adaptive pseudolinear gain and phase compensators of dynamic characteristics of automatic control systems are suggested. The automatic control system performance with adaptive compensators has been explored. The efficiency of pseudolinear adaptive compensators in the automatic control systems with time-varying parameters has been demonstrated.

Supporting Marine Corps Enhanced Company Operations: A Quantitative Analysis

DTIC Science & Technology

2010-06-01

by decomposition into simple independent parts. o Agents interact with each other in non-linear ways, and “ adapt ” to their local environment . (p...Center Co Company CoLT Company Landing Team CAS Complex Adaptive Systems CSV Comma-separated Value DO Distributed Operations DODIC Department...SUMMARY The modern irregular warfare environment has dramatically impacted the battle space assignments and mission scope of tactical units that now

A weight-loss program adapted to the menstrual cycle increases weight loss in healthy, overweight, premenopausal women: a 6-mo randomized controlled trial.

PubMed

Geiker, Nina Rw; Ritz, Christian; Pedersen, Sue D; Larsen, Thomas M; Hill, James O; Astrup, Arne

2016-07-01

Hormonal fluctuations during the menstrual cycle influence energy intake and expenditure as well as eating preferences and behavior. We examined the effect in healthy, overweight, premenopausal women of a diet and exercise weight-loss program that was designed to target and moderate the effects of the menstrual cycle compared with the effect of simple energy restriction. A total of 60 healthy, overweight, premenopausal women were included in a 6-mo weight-loss program in which each subject consumed a diet of 1600 kcal/d. Subjects were randomly assigned to either a combined diet and exercise program that was tailored to metabolic changes of the menstrual cycle (Menstralean) or to undergo simple energy restriction (control). Thirty-one women (19 Menstralean and 12 control women) completed the study [mean ± SD body mass index (in kg/m(2)): 32.0 ± 5.2]. Both groups lost weight during the study. In an intention-to-treat analysis, the Menstralean group did not achieve a clinically significant weight loss compared with that of the control group (P = 0.61). In per-protocol analyses, a more-pronounced weight loss of 4.3 ± 1.4 kg (P = 0.002) was shown in adherent Menstralean subjects than in the control group. A differentiated diet and exercise program that is tailored to counteract food cravings and metabolic changes throughout the menstrual cycle may increase weight loss above that achieved with a traditional diet and exercise program in women who can comply with the program. This trial was registered at clinicaltrials.gov as NCT01622114. © 2016 American Society for Nutrition.

Adaptive Online Sequential ELM for Concept Drift Tackling

PubMed Central

Basaruddin, Chan

2016-01-01

A machine learning method needs to adapt to over time changes in the environment. Such changes are known as concept drift. In this paper, we propose concept drift tackling method as an enhancement of Online Sequential Extreme Learning Machine (OS-ELM) and Constructive Enhancement OS-ELM (CEOS-ELM) by adding adaptive capability for classification and regression problem. The scheme is named as adaptive OS-ELM (AOS-ELM). It is a single classifier scheme that works well to handle real drift, virtual drift, and hybrid drift. The AOS-ELM also works well for sudden drift and recurrent context change type. The scheme is a simple unified method implemented in simple lines of code. We evaluated AOS-ELM on regression and classification problem by using concept drift public data set (SEA and STAGGER) and other public data sets such as MNIST, USPS, and IDS. Experiments show that our method gives higher kappa value compared to the multiclassifier ELM ensemble. Even though AOS-ELM in practice does not need hidden nodes increase, we address some issues related to the increasing of the hidden nodes such as error condition and rank values. We propose taking the rank of the pseudoinverse matrix as an indicator parameter to detect “underfitting” condition. PMID:27594879

An assessment of the adaptive unstructured tetrahedral grid, Euler Flow Solver Code FELISA

NASA Technical Reports Server (NTRS)

Djomehri, M. Jahed; Erickson, Larry L.

1994-01-01

A three-dimensional solution-adaptive Euler flow solver for unstructured tetrahedral meshes is assessed, and the accuracy and efficiency of the method for predicting sonic boom pressure signatures about simple generic models are demonstrated. Comparison of computational and wind tunnel data and enhancement of numerical solutions by means of grid adaptivity are discussed. The mesh generation is based on the advancing front technique. The FELISA code consists of two solvers, the Taylor-Galerkin and the Runge-Kutta-Galerkin schemes, both of which are spacially discretized by the usual Galerkin weighted residual finite-element methods but with different explicit time-marching schemes to steady state. The solution-adaptive grid procedure is based on either remeshing or mesh refinement techniques. An alternative geometry adaptive procedure is also incorporated.

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

NASA Astrophysics Data System (ADS)

Kesrarat, Darun; Patanavijit, Vorapoj

2017-02-01

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

Sex-ratio control erodes sexual selection, revealing evolutionary feedback from adaptive plasticity.

PubMed

Fawcett, Tim W; Kuijper, Bram; Weissing, Franz J; Pen, Ido

2011-09-20

Female choice is a powerful selective force, driving the elaboration of conspicuous male ornaments. This process of sexual selection has profound implications for many life-history decisions, including sex allocation. For example, females with attractive partners should produce more sons, because these sons will inherit their father's attractiveness and enjoy high mating success, thereby yielding greater fitness returns than daughters. However, previous research has overlooked the fact that there is a reciprocal feedback from life-history strategies to sexual selection. Here, using a simple mathematical model, we show that if mothers adaptively control offspring sex in relation to their partner's attractiveness, sexual selection is weakened and male ornamentation declines. This weakening occurs because the ability to determine offspring sex reduces the fitness difference between females with attractive and unattractive partners. We use individual-based, evolutionary simulations to show that this result holds under more biologically realistic conditions. Sexual selection and sex allocation thus interact in a dynamic fashion: The evolution of conspicuous male ornaments favors sex-ratio adjustment, but this conditional strategy then undermines the very same process that generated it, eroding sexual selection. We predict that, all else being equal, the most elaborate sexual displays should be seen in species with little or no control over offspring sex. The feedback process we have described points to a more general evolutionary principle, in which a conditional strategy weakens directional selection on another trait by reducing fitness differences.

Merging video coaching and an anthropologic approach to understand health care provider behavior toward hand hygiene protocols.

PubMed

Boudjema, Sophia; Tarantini, Clément; Peretti-Watel, Patrick; Brouqui, Philippe

2017-05-01

We used videorecordings of routine care to analyze health care providers' deviance from protocols and organized follow-up interviews that were conducted by an anthropologist and a nurse. After consent, health care workers were recorded during routine care by an automatic video remote control. Each participant was invited to watch her or his recorded behaviors on 2 different videos showing routine practices and her or his deviance from protocols, and to comment on them. After this step an in-depth interview based on preestablished guidelines was organized and explanations regarding the observed deviance was discussed. This design was intended to reveal the HCWs' subjectivity; that is, how they perceive hand hygiene issues in their daily routine, what concrete difficulties they face, and how they try to resolve them. We selected 43 of 250 videorecordings created during the study, which allowed us to study 15 out of 20 health care professionals. Twenty out of 43 videos showed 1 or more breaches in the hand hygiene protocol. The breaches were frequently linked to glove abuse. Deviance from protocols was explained by the health care workers as the result of an adaptive behavior; that is, facing work constraints that were disconnected from infection control protocols. Professional practices and protocols should be revisited to create simple messages that are adapted to the mandatory needs in a real life clinic environment. Copyright © 2017 Association for Professionals in Infection Control and Epidemiology, Inc. Published by Elsevier Inc. All rights reserved.

Enhanced and effective conformational sampling of protein molecular systems for their free energy landscapes.

PubMed

Higo, Junichi; Ikebe, Jinzen; Kamiya, Narutoshi; Nakamura, Haruki

2012-03-01

Protein folding and protein-ligand docking have long persisted as important subjects in biophysics. Using multicanonical molecular dynamics (McMD) simulations with realistic expressions, i.e., all-atom protein models and an explicit solvent, free-energy landscapes have been computed for several systems, such as the folding of peptides/proteins composed of a few amino acids up to nearly 60 amino-acid residues, protein-ligand interactions, and coupled folding and binding of intrinsically disordered proteins. Recent progress in conformational sampling and its applications to biophysical systems are reviewed in this report, including descriptions of several outstanding studies. In addition, an algorithm and detailed procedures used for multicanonical sampling are presented along with the methodology of adaptive umbrella sampling. Both methods control the simulation so that low-probability regions along a reaction coordinate are sampled frequently. The reaction coordinate is the potential energy for multicanonical sampling and is a structural identifier for adaptive umbrella sampling. One might imagine that this probability control invariably enhances conformational transitions among distinct stable states, but this study examines the enhanced conformational sampling of a simple system and shows that reasonably well-controlled sampling slows the transitions. This slowing is induced by a rapid change of entropy along the reaction coordinate. We then provide a recipe to speed up the sampling by loosening the rapid change of entropy. Finally, we report all-atom McMD simulation results of various biophysical systems in an explicit solvent.

Instilling positive beliefs about disabilities: pilot testing a novel experiential learning activity for rehabilitation students.

PubMed

Silverman, Arielle M; Pitonyak, Jennifer S; Nelson, Ian K; Matsuda, Patricia N; Kartin, Deborah; Molton, Ivan R

2018-05-01

To develop and test a novel impairment simulation activity to teach beginning rehabilitation students how people adapt to physical impairments. Masters of Occupational Therapy students (n = 14) and Doctor of Physical Therapy students (n = 18) completed the study during the first month of their program. Students were randomized to the experimental or control learning activity. Experimental students learned to perform simple tasks while simulating paraplegia and hemiplegia. Control students viewed videos of others completing tasks with these impairments. Before and after the learning activities, all students estimated average self-perceived health, life satisfaction, and depression ratings among people with paraplegia and hemiplegia. Experimental students increased their estimates of self-perceived health, and decreased their estimates of depression rates, among people with paraplegia and hemiplegia after the learning activity. The control activity had no effect on these estimates. Impairment simulation can be an effective way to teach rehabilitation students about the adaptations that people make to physical impairments. Positive impairment simulations should allow students to experience success in completing activities of daily living with impairments. Impairment simulation is complementary to other pedagogical methods, such as simulated clinical encounters using standardized patients. Implication of Rehabilitation It is important for rehabilitation students to learn how people live well with disabilities. Impairment simulations can improve students' assessments of quality of life with disabilities. To be beneficial, impairment simulations must include guided exposure to effective methods for completing daily tasks with disabilities.

Intelligent control of non-linear dynamical system based on the adaptive neurocontroller

NASA Astrophysics Data System (ADS)

Engel, E.; Kovalev, I. V.; Kobezhicov, V.

2015-10-01

This paper presents an adaptive neuro-controller for intelligent control of non-linear dynamical system. The formed as the fuzzy selective neural net the adaptive neuro-controller on the base of system's state, creates the effective control signal under random perturbations. The validity and advantages of the proposed adaptive neuro-controller are demonstrated by numerical simulations. The simulation results show that the proposed controller scheme achieves real-time control speed and the competitive performance, as compared to PID, fuzzy logic controllers.

Isoform switching facilitates period control in the Neurospora crassa circadian clock.

PubMed

Akman, Ozgur E; Locke, James C W; Tang, Sanyi; Carré, Isabelle; Millar, Andrew J; Rand, David A

2008-01-01

A striking and defining feature of circadian clocks is the small variation in period over a physiological range of temperatures. This is referred to as temperature compensation, although recent work has suggested that the variation observed is a specific, adaptive control of period. Moreover, given that many biological rate constants have a Q(10) of around 2, it is remarkable that such clocks remain rhythmic under significant temperature changes. We introduce a new mathematical model for the Neurospora crassa circadian network incorporating experimental work showing that temperature alters the balance of translation between a short and long form of the FREQUENCY (FRQ) protein. This is used to discuss period control and functionality for the Neurospora system. The model reproduces a broad range of key experimental data on temperature dependence and rhythmicity, both in wild-type and mutant strains. We present a simple mechanism utilising the presence of the FRQ isoforms (isoform switching) by which period control could have evolved, and argue that this regulatory structure may also increase the temperature range where the clock is robustly rhythmic.

Peripheral Inflammation Undermines the Plasticity of the Isolated Spinal Cord

PubMed Central

Huie, John R.; Grau, James W.

2009-01-01

Peripheral capsaicin treatment induces molecular changes that sensitize the responses of nociceptive neurons in the spinal dorsal horn. The current studies demonstrate that capsaicin also undermines the adaptive plasticity of the spinal cord, rendering the system incapable of learning a simple instrumental task. In these studies, male rats are transected at the second thoracic vertebra and are tested 24 to 48 hours later. During testing, subjects receive shock to one hindleg when it is extended (controllable stimulation). Rats quickly learn to maintain the leg in a flexed position. Rats that have been injected with capsaicin (1% or 3%) in the hindpaw fail to learn, even when tested on the leg contralateral to the injection. This learning deficit lasts at least 24 hours. Interestingly, training with controllable electrical stimulation prior to capsaicin administration protects the spinal cord against the maladaptive effects. Rats pretrained with controllable stimulation do not display a learning deficit or tactile allodynia. Moreover, controllable stimulation, combined with naltrexone, reverses the capsaicin-induced deficit. These data suggest that peripheral inflammation, accompanying spinal cord injuries, might have an adverse effect on recovery. PMID:18298266

Real-time control of geometry and stiffness in adaptive structures

NASA Technical Reports Server (NTRS)

Ramesh, A. V.; Utku, S.; Wada, B. K.

1991-01-01

The basic theory is presented for the geometry, stiffness, and damping control of adaptive structures, with emphasis on adaptive truss structures. Necessary and sufficient conditions are given for stress-free geometry control in statically determinate and indeterminate adaptive discrete structures. Two criteria for selecting the controls are proposed, and their use in real-time control is illustrated by numerical simulation results. It is shown that the stiffness and damping control of adaptive truss structures for vibration suppression is possible by elongation and elongation rate dependent feedback forces from the active elements.

A Simple Method for Deriving the Confidence Regions for the Penalized Cox’s Model via the Minimand Perturbation†

PubMed Central

Lin, Chen-Yen; Halabi, Susan

2017-01-01

We propose a minimand perturbation method to derive the confidence regions for the regularized estimators for the Cox’s proportional hazards model. Although the regularized estimation procedure produces a more stable point estimate, it remains challenging to provide an interval estimator or an analytic variance estimator for the associated point estimate. Based on the sandwich formula, the current variance estimator provides a simple approximation, but its finite sample performance is not entirely satisfactory. Besides, the sandwich formula can only provide variance estimates for the non-zero coefficients. In this article, we present a generic description for the perturbation method and then introduce a computation algorithm using the adaptive least absolute shrinkage and selection operator (LASSO) penalty. Through simulation studies, we demonstrate that our method can better approximate the limiting distribution of the adaptive LASSO estimator and produces more accurate inference compared with the sandwich formula. The simulation results also indicate the possibility of extending the applications to the adaptive elastic-net penalty. We further demonstrate our method using data from a phase III clinical trial in prostate cancer. PMID:29326496

A Simple Method for Deriving the Confidence Regions for the Penalized Cox's Model via the Minimand Perturbation.

PubMed

Lin, Chen-Yen; Halabi, Susan

2017-01-01

We propose a minimand perturbation method to derive the confidence regions for the regularized estimators for the Cox's proportional hazards model. Although the regularized estimation procedure produces a more stable point estimate, it remains challenging to provide an interval estimator or an analytic variance estimator for the associated point estimate. Based on the sandwich formula, the current variance estimator provides a simple approximation, but its finite sample performance is not entirely satisfactory. Besides, the sandwich formula can only provide variance estimates for the non-zero coefficients. In this article, we present a generic description for the perturbation method and then introduce a computation algorithm using the adaptive least absolute shrinkage and selection operator (LASSO) penalty. Through simulation studies, we demonstrate that our method can better approximate the limiting distribution of the adaptive LASSO estimator and produces more accurate inference compared with the sandwich formula. The simulation results also indicate the possibility of extending the applications to the adaptive elastic-net penalty. We further demonstrate our method using data from a phase III clinical trial in prostate cancer.

A Simple Water Balance Model Adapted for Arctic Hydrology Reveals Glacier and Streamflow Responses to Climate Change in the Copper River, Alaska

NASA Astrophysics Data System (ADS)

Valentin, M. M.; Hay, L.; Van Beusekom, A. E.; Viger, R. J.; Hogue, T. S.

2016-12-01

Forecasting the hydrologic response to climate change in Alaska's glaciated watersheds remains daunting for hydrologists due to sparse field data and few modeling tools, which frustrates efforts to manage and protect critical aquatic habitat. Approximately 20% of the 64,000 square kilometer Copper River watershed is glaciated, and its glacier-fed tributaries support renowned salmon fisheries that are economically, culturally, and nutritionally invaluable to the local communities. This study adapts a simple, yet powerful, conceptual hydrologic model to simulate changes in the timing and volume of streamflow in the Copper River, Alaska as glaciers change under plausible future climate scenarios. The USGS monthly water balance model (MWBM), a hydrologic tool used for two decades to evaluate a broad range of hydrologic questions in the contiguous U.S., was enhanced to include glacier melt simulations and remotely sensed data. In this presentation we summarize the technical details behind our MWBM adaptation and demonstrate its use in the Copper River Basin to evaluate glacier and streamflow responses to climate change.

A flexible architecture for advanced process control solutions

NASA Astrophysics Data System (ADS)

Faron, Kamyar; Iourovitski, Ilia

2005-05-01

Advanced Process Control (APC) is now mainstream practice in the semiconductor manufacturing industry. Over the past decade and a half APC has evolved from a "good idea", and "wouldn"t it be great" concept to mandatory manufacturing practice. APC developments have primarily dealt with two major thrusts, algorithms and infrastructure, and often the line between them has been blurred. The algorithms have evolved from very simple single variable solutions to sophisticated and cutting edge adaptive multivariable (input and output) solutions. Spending patterns in recent times have demanded that the economics of a comprehensive APC infrastructure be completely justified for any and all cost conscious manufacturers. There are studies suggesting integration costs as high as 60% of the total APC solution costs. Such cost prohibitive figures clearly diminish the return on APC investments. This has limited the acceptance and development of pure APC infrastructure solutions for many fabs. Modern APC solution architectures must satisfy the wide array of requirements from very manual R&D environments to very advanced and automated "lights out" manufacturing facilities. A majority of commercially available control solutions and most in house developed solutions lack important attributes of scalability, flexibility, and adaptability and hence require significant resources for integration, deployment, and maintenance. Many APC improvement efforts have been abandoned and delayed due to legacy systems and inadequate architectural design. Recent advancements (Service Oriented Architectures) in the software industry have delivered ideal technologies for delivering scalable, flexible, and reliable solutions that can seamlessly integrate into any fabs" existing system and business practices. In this publication we shall evaluate the various attributes of the architectures required by fabs and illustrate the benefits of a Service Oriented Architecture to satisfy these requirements. Blue Control Technologies has developed an advance service oriented architecture Run to Run Control System which addresses these requirements.

Optimal Control Modification for Time-Scale Separated Systems

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.

2012-01-01

Recently a new optimal control modification has been introduced that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. This modification is based on an optimal control formulation to minimize the L2 norm of the tracking error. The optimal control modification adaptive law results in a stable adaptation in the presence of a large adaptive gain. This study examines the optimal control modification adaptive law in the context of a system with a time scale separation resulting from a fast plant with a slow actuator. A singular perturbation analysis is performed to derive a modification to the adaptive law by transforming the original system into a reduced-order system in slow time. A model matching conditions in the transformed time coordinate results in an increase in the actuator command that effectively compensate for the slow actuator dynamics. Simulations demonstrate effectiveness of the method.

Adaptive control in the presence of unmodeled dynamics. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Rohrs, C. E.

1982-01-01

Stability and robustness properties of a wide class of adaptive control algorithms in the presence of unmodeled dynamics and output disturbances were investigated. The class of adaptive algorithms considered are those commonly referred to as model reference adaptive control algorithms, self-tuning controllers, and dead beat adaptive controllers, developed for both continuous-time systems and discrete-time systems. A unified analytical approach was developed to examine the class of existing adaptive algorithms. It was discovered that all existing algorithms contain an infinite gain operator in the dynamic system that defines command reference errors and parameter errors; it is argued that such an infinite gain operator appears to be generic to all adaptive algorithms, whether they exhibit explicit or implicit parameter identification. It is concluded that none of the adaptive algorithms considered can be used with confidence in a practical control system design, because instability will set in with a high probability.

Effect of simple shear flow on photosynthesis rate and morphology of micro algae

NASA Astrophysics Data System (ADS)

Mitsuhashi, S.; Fujimoto, M.; Muramatsu, H.; Tanishita, K.

The convective motion of micro algal suspension gives an advantageous effect on the photosynthetic rate in the bioreactor, however, the nature of convective effect on the photosynthesis has not been fully understood. The propose of this study concerns the nature of photosynthetic rate in a well-defined hydrodynamic shear flow of Spirulina platensis suspension, generated in a double rotating coaxial cylinders. The double rotating coaxial cylinders was installed in the incubator chamber with the controlled illumination intensity and temperature. Two kind of experiments, short and long term experiments, were performed to evaluate the direct effect of shear flow on the photosynthetic rate. The short term experiment indicates that the simple shear flow enables to augment the photosynthesis of Spirulina suspension and simultaneously causes the cell destruction due to the excessive shear stress. The long term experiment for 100 hours reveals that the growth rate and the morphology of Spirulina is sensitive to the external fluid mechanical stimulus. The long term application of mechanical stress on the algae may result in the adaptation of the photosynthetic function and morphology.

Simple biophysical model of tumor evasion from immune system control

NASA Astrophysics Data System (ADS)

D'Onofrio, Alberto; Ciancio, Armando

2011-09-01

The competitive nonlinear interplay between a tumor and the host's immune system is not only very complex but is also time-changing. A fundamental aspect of this issue is the ability of the tumor to slowly carry out processes that gradually allow it to become less harmed and less susceptible to recognition by the immune system effectors. Here we propose a simple epigenetic escape mechanism that adaptively depends on the interactions per time unit between cells of the two systems. From a biological point of view, our model is based on the concept that a tumor cell that has survived an encounter with a cytotoxic T-lymphocyte (CTL) has an information gain that it transmits to the other cells of the neoplasm. The consequence of this information increase is a decrease in both the probabilities of being killed and of being recognized by a CTL. We show that the mathematical model of this mechanism is formally equal to an evolutionary imitation game dynamics. Numerical simulations of transitory phases complement the theoretical analysis. Implications of the interplay between the above mechanisms and the delivery of immunotherapies are also illustrated.

Closing the Certification Gaps in Adaptive Flight Control Software

NASA Technical Reports Server (NTRS)

Jacklin, Stephen A.

2008-01-01

Over the last five decades, extensive research has been performed to design and develop adaptive control systems for aerospace systems and other applications where the capability to change controller behavior at different operating conditions is highly desirable. Although adaptive flight control has been partially implemented through the use of gain-scheduled control, truly adaptive control systems using learning algorithms and on-line system identification methods have not seen commercial deployment. The reason is that the certification process for adaptive flight control software for use in national air space has not yet been decided. The purpose of this paper is to examine the gaps between the state-of-the-art methodologies used to certify conventional (i.e., non-adaptive) flight control system software and what will likely to be needed to satisfy FAA airworthiness requirements. These gaps include the lack of a certification plan or process guide, the need to develop verification and validation tools and methodologies to analyze adaptive controller stability and convergence, as well as the development of metrics to evaluate adaptive controller performance at off-nominal flight conditions. This paper presents the major certification gap areas, a description of the current state of the verification methodologies, and what further research efforts will likely be needed to close the gaps remaining in current certification practices. It is envisioned that closing the gap will require certain advances in simulation methods, comprehensive methods to determine learning algorithm stability and convergence rates, the development of performance metrics for adaptive controllers, the application of formal software assurance methods, the application of on-line software monitoring tools for adaptive controller health assessment, and the development of a certification case for adaptive system safety of flight.

Anti-windup adaptive PID control design for a class of uncertain chaotic systems with input saturation.

PubMed

Tahoun, A H

2017-01-01

In this paper, the stabilization problem of actuators saturation in uncertain chaotic systems is investigated via an adaptive PID control method. The PID control parameters are auto-tuned adaptively via adaptive control laws. A multi-level augmented error is designed to account for the extra terms appearing due to the use of PID and saturation. The proposed control technique uses both the state-feedback and the output-feedback methodologies. Based on Lyapunov׳s stability theory, new anti-windup adaptive controllers are proposed. Demonstrative examples with MATLAB simulations are studied. The simulation results show the efficiency of the proposed adaptive PID controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

More pain, more gain: Blocking the opioid system boosts adaptive cognitive control.

PubMed

van Steenbergen, Henk; Weissman, Daniel H; Stein, Dan J; Malcolm-Smith, Susan; van Honk, Jack

2017-06-01

The ability to adaptively increase cognitive control in response to cognitive challenges is crucial for goal-directed behavior. Recent findings suggest that aversive arousal triggers adaptive increases of control, but the neurochemical mechanisms underlying these effects remain unclear. Given the known contributions of the opioid system to hedonic states, we investigated whether blocking this system increases adaptive control modulations. To do so, we conducted a double-blind, placebo-controlled psychopharmacological study (n=52 females) involving a Stroop-like task. Specifically, we assessed the effect of naltrexone, an opioid blocker most selective to the mu-opioid system, on two measures of adaptive control that are thought to depend differentially on aversive arousal: post-error slowing and conflict adaptation. Consistent with our hypothesis, relative to placebo, naltrexone increased post-error slowing without influencing conflict adaptation. This finding not only supports the view that aversive arousal triggers adaptive control but also reveals a novel role for the opioid system in modulating such effects. Copyright © 2017 Elsevier Ltd. All rights reserved.

Adaptive triangular mesh generation

NASA Technical Reports Server (NTRS)

Erlebacher, G.; Eiseman, P. R.

1984-01-01

A general adaptive grid algorithm is developed on triangular grids. The adaptivity is provided by a combination of node addition, dynamic node connectivity and a simple node movement strategy. While the local restructuring process and the node addition mechanism take place in the physical plane, the nodes are displaced on a monitor surface, constructed from the salient features of the physical problem. An approximation to mean curvature detects changes in the direction of the monitor surface, and provides the pulling force on the nodes. Solutions to the axisymmetric Grad-Shafranov equation demonstrate the capturing, by triangles, of the plasma-vacuum interface in a free-boundary equilibrium configuration.

A Transfer of Training Study of Control Loader Dynamics

NASA Technical Reports Server (NTRS)

Cardullo, Frank M.; Stanco, Anthony A.; Kelly, Lon C.; Houck, Jacob A.; Grube, Richard C.

2011-01-01

The control inceptor used in a simulated vehicle is an important part in maintaining the fidelity of a simulation. The force feedback provided by the control inceptor gives the operator important cues to maintain adequate performance. The dynamics of a control inceptor are typically based on a second order spring mass damper system with damping, force gradient, breakout force, and natural frequency parameters. Changing these parameters can have a great effect on pilot or driver control of the vehicle. The neuromuscular system has a very important role in manipulating the control inceptor within a vehicle. Many studies by McRuer, Aponso, and Hess have dealt with modeling the neuromuscular system and quantifying the effects of a high fidelity control loader as compared to a low fidelity control loader. Humans are adaptive in nature and their control behavior changes based on different control loader dynamics. Humans will change their control behavior to maintain tracking bandwidth and minimize tracking error. This paper reports on a quasi-transfer of training experiment which was performed at the NASA Langley Research Center. The quasi transfer of training study used a high fidelity control loader and a low fidelity control loader. Subjects trained in both simulations and then were transferred to the high fidelity control loader simulation. The parameters for the high fidelity control loader were determined from the literature. The low fidelity control loader parameters were found through testing of a simple computer joystick. A disturbance compensatory task is employed. The compensatory task involves implementing a simple horizon out the window display. A disturbance consisting of a sum of sines is used. The task consists of the subject compensating for the disturbance on the roll angle of the aircraft. The vehicle dynamics are represented as 1/s and 1/s2. The subject will try to maintain level flight throughout the experiment. The subjects consist of non-pilots to remove any effects of pilot experience. First, this paper discusses the implementation of the disturbance compensation task. Second, the high and low fidelity parameters used within the experiment are presented. Finally, an explanation of results from the experiments is presented.

Community-based adapted tango dancing for individuals with Parkinson's disease and older adults.

PubMed

Hackney, Madeleine E; Hackney, Madeleine; McKee, Kathleen

2014-12-09

Adapted tango dancing improves mobility and balance in older adults and additional populations with balance impairments. It is composed of very simple step elements. Adapted tango involves movement initiation and cessation, multi-directional perturbations, varied speeds and rhythms. Focus on foot placement, whole body coordination, and attention to partner, path of movement, and aesthetics likely underlie adapted tango's demonstrated efficacy for improving mobility and balance. In this paper, we describe the methodology to disseminate the adapted tango teaching methods to dance instructor trainees and to implement the adapted tango by the trainees in the community for older adults and individuals with Parkinson's Disease (PD). Efficacy in improving mobility (measured with the Timed Up and Go, Tandem stance, Berg Balance Scale, Gait Speed and 30 sec chair stand), safety and fidelity of the program is maximized through targeted instructor and volunteer training and a structured detailed syllabus outlining class practices and progression.

Design of a Model Reference Adaptive Controller for an Unmanned Air Vehicle

NASA Technical Reports Server (NTRS)

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

2010-01-01

This paper presents the "Adaptive Control Technology for Safe Flight (ACTS)" architecture, which consists of a non-adaptive controller that provides satisfactory performance under nominal flying conditions, and an adaptive controller that provides robustness under off nominal ones. The design and implementation procedures of both controllers are presented. The aim of these procedures, which encompass both theoretical and practical considerations, is to develop a controller suitable for flight. The ACTS architecture is applied to the Generic Transport Model developed by NASA-Langley Research Center. The GTM is a dynamically scaled test model of a transport aircraft for which a flight-test article and a high-fidelity simulation are available. The nominal controller at the core of the ACTS architecture has a multivariable LQR-PI structure while the adaptive one has a direct, model reference structure. The main control surfaces as well as the throttles are used as control inputs. The inclusion of the latter alleviates the pilot s workload by eliminating the need for cancelling the pitch coupling generated by changes in thrust. Furthermore, the independent usage of the throttles by the adaptive controller enables their use for attitude control. Advantages and potential drawbacks of adaptation are demonstrated by performing high fidelity simulations of a flight-validated controller and of its adaptive augmentation.

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

PubMed

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

2010-09-01

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

Edge-preserving image compression for magnetic-resonance images using dynamic associative neural networks (DANN)-based neural networks

NASA Astrophysics Data System (ADS)

Wan, Tat C.; Kabuka, Mansur R.

1994-05-01

With the tremendous growth in imaging applications and the development of filmless radiology, the need for compression techniques that can achieve high compression ratios with user specified distortion rates becomes necessary. Boundaries and edges in the tissue structures are vital for detection of lesions and tumors, which in turn requires the preservation of edges in the image. The proposed edge preserving image compressor (EPIC) combines lossless compression of edges with neural network compression techniques based on dynamic associative neural networks (DANN), to provide high compression ratios with user specified distortion rates in an adaptive compression system well-suited to parallel implementations. Improvements to DANN-based training through the use of a variance classifier for controlling a bank of neural networks speed convergence and allow the use of higher compression ratios for `simple' patterns. The adaptation and generalization capabilities inherent in EPIC also facilitate progressive transmission of images through varying the number of quantization levels used to represent compressed patterns. Average compression ratios of 7.51:1 with an averaged average mean squared error of 0.0147 were achieved.

The effects of stress on attentional resources

NASA Technical Reports Server (NTRS)

Hancock, P. A.; Chignell, M. H.

1986-01-01

A new perspective is presented from which to view the action of stress on human behavior. At a behavioral level, the action of stress is related to notions of human attention and an indication of an isomorphic relationship between modes of control at a physiological and behavioral level is presented. Examples of this phenomenon are extracted from performance under heat stress, since this is one of the most simple stress circumstances. It is suggested that stress sufficient to overcome adaptive capability, that is efficient homeostasis, acts to drain attentional resources. The manner in which such resources fail approximates that function typical of a positive feedback system, which also characterizes the breakdown of physiological response under severe environmental stress. The end point of this draining sequence is the absence of all attentional resources, which is taken to be unconsciousness, to be rapidly followed by the failure of physiological adaptability upon which life sustaining functions depend. This overall picture preserves the inverted-U shaped relationship between stress and performance, yet is in distinct contrast to the traditional arousal account of such behavior. The theoretical and practical ramifications of these observations are explored.

Adaptive Multi-Agent Systems for Constrained Optimization

NASA Technical Reports Server (NTRS)

Macready, William; Bieniawski, Stefan; Wolpert, David H.

2004-01-01

Product Distribution (PD) theory is a new framework for analyzing and controlling distributed systems. Here we demonstrate its use for distributed stochastic optimization. First we review one motivation of PD theory, as the information-theoretic extension of conventional full-rationality game theory to the case of bounded rational agents. In this extension the equilibrium of the game is the optimizer of a Lagrangian of the (probability distribution of) the joint state of the agents. When the game in question is a team game with constraints, that equilibrium optimizes the expected value of the team game utility, subject to those constraints. The updating of the Lagrange parameters in the Lagrangian can be viewed as a form of automated annealing, that focuses the MAS more and more on the optimal pure strategy. This provides a simple way to map the solution of any constrained optimization problem onto the equilibrium of a Multi-Agent System (MAS). We present computer experiments involving both the Queen s problem and K-SAT validating the predictions of PD theory and its use for off-the-shelf distributed adaptive optimization.

Finite-horizon differential games for missile-target interception system using adaptive dynamic programming with input constraints

NASA Astrophysics Data System (ADS)

Sun, Jingliang; Liu, Chunsheng

2018-01-01

In this paper, the problem of intercepting a manoeuvring target within a fixed final time is posed in a non-linear constrained zero-sum differential game framework. The Nash equilibrium solution is found by solving the finite-horizon constrained differential game problem via adaptive dynamic programming technique. Besides, a suitable non-quadratic functional is utilised to encode the control constraints into a differential game problem. The single critic network with constant weights and time-varying activation functions is constructed to approximate the solution of associated time-varying Hamilton-Jacobi-Isaacs equation online. To properly satisfy the terminal constraint, an additional error term is incorporated in a novel weight-updating law such that the terminal constraint error is also minimised over time. By utilising Lyapunov's direct method, the closed-loop differential game system and the estimation weight error of the critic network are proved to be uniformly ultimately bounded. Finally, the effectiveness of the proposed method is demonstrated by using a simple non-linear system and a non-linear missile-target interception system, assuming first-order dynamics for the interceptor and target.

Is It Really a Matter of Simple Dualism? Corticotropin-Releasing Factor Receptors in Body and Mental Health

PubMed Central

Janssen, Donny; Kozicz, Tamás

2013-01-01

Physiological responses to stress coordinated by the hypothalamo-pituitary-adrenal axis are concerned with maintaining homeostasis in the presence of real or perceived challenges. Regulators of this axis are corticotrophin releasing factor (CRF) and CRF related neuropeptides, including urocortins 1, 2, and 3. They mediate their actions by binding to CRF receptors (CRFR) 1 and 2, which are located in several stress-related brain regions. The prevailing theory has been that the initiation of and the recovery from an elicited stress response is coordinated by two elements, viz. the (mainly) opposing, but well balanced actions of CRFR1 and CRFR2. Such a dualistic view suggests that CRF/CRFR1 controls the initiation of, and urocortins/CRFR2 mediate the recovery from stress to maintain body and mental health. Consequently, failed adaptation to stress can lead to neuropathology, including anxiety and depression. Recent literature, however, challenges such dualistic and complementary actions of CRFR1 and CRFR2, and suggests that stress recruits CRF system components in a brain area and neuron specific manner to promote adaptation as conditions dictate. PMID:23487366

A seismic data compression system using subband coding

NASA Technical Reports Server (NTRS)

Kiely, A. B.; Pollara, F.

1995-01-01

This article presents a study of seismic data compression techniques and a compression algorithm based on subband coding. The algorithm includes three stages: a decorrelation stage, a quantization stage that introduces a controlled amount of distortion to allow for high compression ratios, and a lossless entropy coding stage based on a simple but efficient arithmetic coding method. Subband coding methods are particularly suited to the decorrelation of nonstationary processes such as seismic events. Adaptivity to the nonstationary behavior of the waveform is achieved by dividing the data into separate blocks that are encoded separately with an adaptive arithmetic encoder. This is done with high efficiency due to the low overhead introduced by the arithmetic encoder in specifying its parameters. The technique could be used as a progressive transmission system, where successive refinements of the data can be requested by the user. This allows seismologists to first examine a coarse version of waveforms with minimal usage of the channel and then decide where refinements are required. Rate-distortion performance results are presented and comparisons are made with two block transform methods.

The Two-Dimensional Gabor Function Adapted to Natural Image Statistics: A Model of Simple-Cell Receptive Fields and Sparse Structure in Images.

PubMed

Loxley, P N

2017-10-01

The two-dimensional Gabor function is adapted to natural image statistics, leading to a tractable probabilistic generative model that can be used to model simple cell receptive field profiles, or generate basis functions for sparse coding applications. Learning is found to be most pronounced in three Gabor function parameters representing the size and spatial frequency of the two-dimensional Gabor function and characterized by a nonuniform probability distribution with heavy tails. All three parameters are found to be strongly correlated, resulting in a basis of multiscale Gabor functions with similar aspect ratios and size-dependent spatial frequencies. A key finding is that the distribution of receptive-field sizes is scale invariant over a wide range of values, so there is no characteristic receptive field size selected by natural image statistics. The Gabor function aspect ratio is found to be approximately conserved by the learning rules and is therefore not well determined by natural image statistics. This allows for three distinct solutions: a basis of Gabor functions with sharp orientation resolution at the expense of spatial-frequency resolution, a basis of Gabor functions with sharp spatial-frequency resolution at the expense of orientation resolution, or a basis with unit aspect ratio. Arbitrary mixtures of all three cases are also possible. Two parameters controlling the shape of the marginal distributions in a probabilistic generative model fully account for all three solutions. The best-performing probabilistic generative model for sparse coding applications is found to be a gaussian copula with Pareto marginal probability density functions.

Predictor-Based Model Reference Adaptive Control

NASA Technical Reports Server (NTRS)

Lavretsky, Eugene; Gadient, Ross; Gregory, Irene M.

2010-01-01

This paper is devoted to the design and analysis of a predictor-based model reference adaptive control. Stable adaptive laws are derived using Lyapunov framework. The proposed architecture is compared with the now classical model reference adaptive control. A simulation example is presented in which numerical evidence indicates that the proposed controller yields improved transient characteristics.

A comparison of adaptive and adaptable automation under different levels of environmental stress.

PubMed

Sauer, Juergen; Kao, Chung-Shan; Wastell, David

2012-01-01

The effectiveness of different forms of adaptive and adaptable automation was examined under low- and high-stress conditions, in the form of different levels of noise. Thirty-six participants were assigned to one of the three types of variable automation (adaptive event-based, adaptive performance-based and adaptable serving as a control condition). Participants received 3 h of training on a simulation of a highly automated process control task and were subsequently tested during a 4-h session under noise exposure and quiet conditions. The results for performance suggested no clear benefits of one automation control mode over the other two. However, it emerged that participants under adaptable automation adopted a more active system management strategy and reported higher levels of self-confidence than in the two adaptive control modes. Furthermore, the results showed higher levels of perceived workload, fatigue and anxiety for performance-based adaptive automation control than the other two modes. This study compared two forms of adaptive automation (where the automated system flexibly allocates tasks between human and machine) with adaptable automation (where the human allocates the tasks). The adaptable mode showed marginal advantages. This is of relevance, given that this automation mode may also be easier to design.

Flexible and adaptive water systems operations through more informed and dynamic decisions

NASA Astrophysics Data System (ADS)

Castelletti, A.; Giuliani, M.

2016-12-01

Timely adapting the operations of water systems to be resilient against rapid changes in both hydroclimatic and socioeconomic forcing is generally recommended as a part of planning and managing water resources under uncertain futures. A great opportunity to make the operations more flexible and adaptive is offered by the unprecedented amount of information that is becoming available to water system operators, providing a wide range of data at increasingly higher temporal and spatial resolution. Yet, many water systems are still operated using very simple information systems, typically based on basic statistical analysis and the operator's experience. In this work, we discuss the potential offered by incorporating improved information to enhance water systems operation and increase their ability of adapting to different external conditions and resolving potential conflicts across sectors. In particular, we focus on the use of different variables associated to different dynamics of the system (slow and fast) diversely impacting the operating objectives on the short-, medium- and long-term. The multi-purpose operations of the Hoa Binh reservoir in the Red River Basin (Vietnam) is used to demonstrate our approach. Numerical results show that our procedure is able to automatically select the most valuable information for improving the Hoa Binh operations and mitigating the conflict between short-term objectives, i.e. hydropower production and flood control. Moreover, we also successfully identify low-frequency climate information associated to El-Nino Southern Oscillation for improving the performance in terms of long-term objectives, i.e. water supply. Finally, we assess the value of better informing operational decisions for adapting the system operations to changing conditions by considering different climate change projections.

Adaptable Assignment

DOT National Transportation Integrated Search

1997-01-01

This paper reports on a practical, simple method for adjusting a vehicle trip table so that the resulting assignments more closely match available traffic counts. "Practical" means that this is not purely a research effort - the procedure described h...

Exploring Magnetic Fields with a Compass

NASA Astrophysics Data System (ADS)

Lunk, Brandon; Beichner, Robert

2011-01-01

A compass is an excellent classroom tool for the exploration of magnetic fields. Any student can tell you that a compass is used to determine which direction is north, but when paired with some basic trigonometry, the compass can be used to actually measure the strength of the magnetic field due to a nearby magnet or current-carrying wire. In this paper, we present a series of simple activities adapted from the Matter & Interactions textbook for doing just this. Interestingly, these simple measurements are comparable to predictions made by the Bohr model of the atom. Although antiquated, Bohr's atom can lead the way to a deeper analysis of the atomic properties of magnets. Although originally developed for an introductory calculus-based course, these activities can easily be adapted for use in an algebra-based class or even at the high school level.

Restricted Complexity Framework for Nonlinear Adaptive Control in Complex Systems

NASA Astrophysics Data System (ADS)

Williams, Rube B.

2004-02-01

Control law adaptation that includes implicit or explicit adaptive state estimation, can be a fundamental underpinning for the success of intelligent control in complex systems, particularly during subsystem failures, where vital system states and parameters can be impractical or impossible to measure directly. A practical algorithm is proposed for adaptive state filtering and control in nonlinear dynamic systems when the state equations are unknown or are too complex to model analytically. The state equations and inverse plant model are approximated by using neural networks. A framework for a neural network based nonlinear dynamic inversion control law is proposed, as an extrapolation of prior developed restricted complexity methodology used to formulate the adaptive state filter. Examples of adaptive filter performance are presented for an SSME simulation with high pressure turbine failure to support extrapolations to adaptive control problems.

Strength and coherence of binocular rivalry depends on shared stimulus complexity.

PubMed

Alais, David; Melcher, David

2007-01-01

Presenting incompatible images to the eyes results in alternations of conscious perception, a phenomenon known as binocular rivalry. We examined rivalry using either simple stimuli (oriented gratings) or coherent visual objects (faces, houses etc). Two rivalry characteristics were measured: Depth of rivalry suppression and coherence of alternations. Rivalry between coherent visual objects exhibits deep suppression and coherent rivalry, whereas rivalry between gratings exhibits shallow suppression and piecemeal rivalry. Interestingly, rivalry between a simple and a complex stimulus displays the same characteristics (shallow and piecemeal) as rivalry between two simple stimuli. Thus, complex stimuli fail to rival globally unless the fellow stimulus is also global. We also conducted a face adaptation experiment. Adaptation to rivaling faces improved subsequent face discrimination (as expected), but adaptation to a rivaling face/grating pair did not. To explain this, we suggest rivalry must be an early and local process (at least initially), instigated by the failure of binocular fusion, which can then become globally organized by feedback from higher-level areas when both rivalry stimuli are global, so that rivalry tends to oscillate coherently. These globally assembled images then flow through object processing areas, with the dominant image gaining in relative strength in a form of 'biased competition', therefore accounting for the deeper suppression of global images. In contrast, when only one eye receives a global image, local piecemeal suppression from the fellow eye overrides the organizing effects of global feedback to prevent coherent image formation. This indicates the primacy of local over global processes in rivalry.

Adapting SimpleTreat for simulating behaviour of chemical substances during industrial sewage treatment.

PubMed

Struijs, J; van de Meent, D; Schowanek, D; Buchholz, H; Patoux, R; Wolf, T; Austin, T; Tolls, J; van Leeuwen, K; Galay-Burgos, M

2016-09-01

The multimedia model SimpleTreat, evaluates the distribution and elimination of chemicals by municipal sewage treatment plants (STP). It is applied in the framework of REACH (Registration, Evaluation, Authorization and Restriction of Chemicals). This article describes an adaptation of this model for application to industrial sewage treatment plants (I-STP). The intended use of this re-parametrized model is focused on risk assessment during manufacture and subsequent uses of chemicals, also in the framework of REACH. The results of an inquiry on the operational characteristics of industrial sewage treatment installations were used to re-parameterize the model. It appeared that one property of industrial sewage, i.e. Biological Oxygen Demand (BOD) in combination with one parameter of the activated sludge process, the hydraulic retention time (HRT) is satisfactory to define treatment of industrial wastewater by means of the activated sludge process. The adapted model was compared to the original municipal version, SimpleTreat 4.0, by means of a sensitivity analysis. The consistency of the model output was assessed by computing the emission to water from an I-STP of a set of fictitious chemicals. This set of chemicals exhibit a range of physico-chemical and biodegradability properties occurring in industrial wastewater. Predicted removal rates of a chemical from raw sewage are higher in industrial than in municipal STPs. The latter have typically shorter hydraulic retention times with diminished opportunity for elimination of the chemical due to volatilization and biodegradation. Copyright © 2016 Elsevier Ltd. All rights reserved.

Backstepping Design of Adaptive Neural Fault-Tolerant Control for MIMO Nonlinear Systems.

PubMed

Gao, Hui; Song, Yongduan; Wen, Changyun

In this paper, an adaptive controller is developed for a class of multi-input and multioutput nonlinear systems with neural networks (NNs) used as a modeling tool. It is shown that all the signals in the closed-loop system with the proposed adaptive neural controller are globally uniformly bounded for any external input in . In our control design, the upper bound of the NN modeling error and the gains of external disturbance are characterized by unknown upper bounds, which is more rational to establish the stability in the adaptive NN control. Filter-based modification terms are used in the update laws of unknown parameters to improve the transient performance. Finally, fault-tolerant control is developed to accommodate actuator failure. An illustrative example applying the adaptive controller to control a rigid robot arm shows the validation of the proposed controller.In this paper, an adaptive controller is developed for a class of multi-input and multioutput nonlinear systems with neural networks (NNs) used as a modeling tool. It is shown that all the signals in the closed-loop system with the proposed adaptive neural controller are globally uniformly bounded for any external input in . In our control design, the upper bound of the NN modeling error and the gains of external disturbance are characterized by unknown upper bounds, which is more rational to establish the stability in the adaptive NN control. Filter-based modification terms are used in the update laws of unknown parameters to improve the transient performance. Finally, fault-tolerant control is developed to accommodate actuator failure. An illustrative example applying the adaptive controller to control a rigid robot arm shows the validation of the proposed controller.

Adaptive control of robotic manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

The author presents a novel approach to adaptive control of manipulators to achieve trajectory tracking by the joint angles. The central concept in this approach is the utilization of the manipulator inverse as a feedforward controller. The desired trajectory is applied as an input to the feedforward controller which behaves as the inverse of the manipulator at any operating point; the controller output is used as the driving torque for the manipulator. The controller gains are then updated by an adaptation algorithm derived from MRAC (model reference adaptive control) theory to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal are also used to enhance closed-loop stability and to achieve faster adaptation. The proposed control scheme is computationally fast and does not require a priori knowledge of the complex dynamic model or the parameter values of the manipulator or the payload.

L1 Adaptive Control Law for Flexible Space Launch Vehicle and Proposed Plan for Flight Test Validation

NASA Technical Reports Server (NTRS)

Kharisov, Evgeny; Gregory, Irene M.; Cao, Chengyu; Hovakimyan, Naira

2008-01-01

This paper explores application of the L1 adaptive control architecture to a generic flexible Crew Launch Vehicle (CLV). Adaptive control has the potential to improve performance and enhance safety of space vehicles that often operate in very unforgiving and occasionally highly uncertain environments. NASA s development of the next generation space launch vehicles presents an opportunity for adaptive control to contribute to improved performance of this statically unstable vehicle with low damping and low bending frequency flexible dynamics. In this paper, we consider the L1 adaptive output feedback controller to control the low frequency structural modes and propose steps to validate the adaptive controller performance utilizing one of the experimental test flights for the CLV Ares-I Program.

Adaptive Augmenting Control Flight Characterization Experiment on an F/A-18

NASA Technical Reports Server (NTRS)

VanZwieten, Tannen S.; Orr, Jeb S.; Wall, John H.; Gilligan, Eric T.

2014-01-01

This paper summarizes the Adaptive Augmenting Control (AAC) flight characterization experiments performed using an F/A-18 (TN 853). AAC was designed and developed specifically for launch vehicles, and is currently part of the baseline autopilot design for NASA's Space Launch System (SLS). The scope covered here includes a brief overview of the algorithm (covered in more detail elsewhere), motivation and benefits of flight testing, top-level SLS flight test objectives, applicability of the F/A-18 as a platform for testing a launch vehicle control design, test cases designed to fully vet the AAC algorithm, flight test results, and conclusions regarding the functionality of AAC. The AAC algorithm developed at Marshall Space Flight Center is a forward loop gain multiplicative adaptive algorithm that modifies the total attitude control system gain in response to sensed model errors or undesirable parasitic mode resonances. The AAC algorithm provides the capability to improve or decrease performance by balancing attitude tracking with the mitigation of parasitic dynamics, such as control-structure interaction or servo-actuator limit cycles. In the case of the latter, if unmodeled or mismodeled parasitic dynamics are present that would otherwise result in a closed-loop instability or near instability, the adaptive controller decreases the total loop gain to reduce the interaction between these dynamics and the controller. This is in contrast to traditional adaptive control logic, which focuses on improving performance by increasing gain. The computationally simple AAC attitude control algorithm has stability properties that are reconcilable in the context of classical frequency-domain criteria (i.e., gain and phase margin). The algorithm assumes that the baseline attitude control design is well-tuned for a nominal trajectory and is designed to adapt only when necessary. Furthermore, the adaptation is attracted to the nominal design and adapts only on an as-needed basis (see Figure 1). The MSFC algorithm design was formulated during the Constellation Program and reached a high maturity level during SLS through simulation-based development and internal and external analytical review. The AAC algorithm design has three summary-level objectives: (1) "Do no harm;" return to baseline control design when not needed, (2) Increase performance; respond to error in ability of vehicle to track command, and (3) Regain stability; respond to undesirable control-structure interaction or other parasitic dynamics. AAC has been successfully implemented as part of the Space Launch System baseline design, including extensive testing in high-fidelity 6-DOF simulations the details of which are described in [1]. The Dryden Flight Research Center's F/A-18 Full-Scale Advanced Systems Testbed (FAST) platform is used to conduct an algorithm flight characterization experiment intended to fully vet the aforementioned design objectives. FAST was specifically designed with this type of test program in mind. The onboard flight control system has full-authority experiment control of ten aerodynamic effectors and two throttles. It has production and research sensor inputs and pilot engage/disengage and real-time configuration of up to eight different experiments on a single flight. It has failure detection and automatic reversion to fail-safe mode. The F/A-18 aircraft has an experiment envelope cleared for full-authority control and maneuvering and exhibits characteristics for robust recovery from unusual attitudes and configurations aided by the presence of a qualified test pilot. The F/A-18 aircraft has relatively high mass and inertia with exceptional performance; the F/A-18 also has a large thrust-to-weight ratio, owing to its military heritage. This enables the simulation of a portion of the ascent trajectory with a high degree of dynamic similarity to a launch vehicle, and the research flight control system can simulate unstable longitudinal dynamics. Parasitic dynamics such as slosh and bending modes, as well as atmospheric disturbances, are being produced by the airframe via modification of bending filters and the use of secondary control surfaces, including leading and trailing edge flaps, symmetric ailerons, and symmetric rudders. The platform also has the ability to inject signals in flight to simulate structural mode resonances or other challenging dynamics. This platform also offers more test maneuvers and longer maneuver times than a single rocket or missile test, which provides ample opportunity to fully and repeatedly exercise all aspects of the algorithm. Prior to testing on an F/A-18, AAC was the only component of the SLS autopilot design that had not been flight tested. The testing described in this paper raises the Technology Readiness Level (TRL) early in the SLS Program and is able to demonstrate its capabilities and robustness in a flight environment.

Dry-Enzyme Test For Gaseous Chemicals

NASA Technical Reports Server (NTRS)

Barzana, Eduardo; Karel, Marcus; Klibanov, Alexander

1990-01-01

Simple, dry-chemical test detects ethanol in human breath. Method of test also adapted to detection of such toxic chemicals as formaldehyde in airstreams. Used qualitatively to detect chemical compounds above present level; for example, ethanol above legal level for driving. Also used to indicate quantitatively concentrations of compounds. Involves dry enzyme and color indicator. Adapted to detect any gaseous compound transformed by enzymes to produce change evident to human eye or to instrument.

Adaptive smart simulator for characterization and MPPT construction of PV array

NASA Astrophysics Data System (ADS)

Ouada, Mehdi; Meridjet, Mohamed Salah; Dib, Djalel

2016-07-01

Partial shading conditions are among the most important problems in large photovoltaic array. Many works of literature are interested in modeling, control and optimization of photovoltaic conversion of solar energy under partial shading conditions, The aim of this study is to build a software simulator similar to hard simulator and to produce a shading pattern of the proposed photovoltaic array in order to use the delivered information to obtain an optimal configuration of the PV array and construct MPPT algorithm. Graphical user interfaces (Matlab GUI) are built using a developed script, this tool is easy to use, simple, and has a rapid of responsiveness, the simulator supports large array simulations that can be interfaced with MPPT and power electronic converters.

Laser-assisted nanomaterial deposition, nanomanufacturing, in situ monitoring and associated apparatus

DOEpatents

Mao, Samuel S; Grigoropoulos, Costas P; Hwang, David J; Minor, Andrew M

2013-11-12

Laser-assisted apparatus and methods for performing nanoscale material processing, including nanodeposition of materials, can be controlled very precisely to yield both simple and complex structures with sizes less than 100 nm. Optical or thermal energy in the near field of a photon (laser) pulse is used to fabricate submicron and nanometer structures on a substrate. A wide variety of laser material processing techniques can be adapted for use including, subtractive (e.g., ablation, machining or chemical etching), additive (e.g., chemical vapor deposition, selective self-assembly), and modification (e.g., phase transformation, doping) processes. Additionally, the apparatus can be integrated into imaging instruments, such as SEM and TEM, to allow for real-time imaging of the material processing.

Gradient polymer network liquid crystal with a large refractive index change.

PubMed

Ren, Hongwen; Xu, Su; Wu, Shin-Tson

2012-11-19

A simple approach for preparing gradient polymer network liquid crystal (PNLC) with a large refractive index change is demonstrated. To control the effective refractive index at a given cell position, we applied a voltage to a homogeneous cell containing LC/diacrylate monomer mixture to generate the desired tilt angle and then stabilize the LC orientation with UV-induced polymer network. By varying the applied voltage along with the cells' movement, a PNLC with a gradient refractive index distribution is obtained. In comparison with conventional approaches using patterned photomask or electrode, our method offers following advantages: large refractive index change, freedom to design specific index profile, and large panel capability. Potential applications include tunable-focus lenses, prism gratings, phase modulators, and other adaptive photonic devices.

Investigation of Phase Transition-Based Tethered Systems for Small Body Sample Capture

NASA Technical Reports Server (NTRS)

Quadrelli, Marco; Backes, Paul; Wilkie, Keats; Giersch, Lou; Quijano, Ubaldo; Scharf, Daniel; Mukherjee, Rudranarayan

2009-01-01

This paper summarizes the modeling, simulation, and testing work related to the development of technology to investigate the potential that shape memory actuation has to provide mechanically simple and affordable solutions for delivering assets to a surface and for sample capture and possible return to Earth. We investigate the structural dynamics and controllability aspects of an adaptive beam carrying an end-effector which, by changing equilibrium phases is able to actively decouple the end-effector dynamics from the spacecraft dynamics during the surface contact phase. Asset delivery and sample capture and return are at the heart of several emerging potential missions to small bodies, such as asteroids and comets, and to the surface of large bodies, such as Titan.

Modeling and Testing of Phase Transition-Based Deployable Systems for Small Body Sample Capture

NASA Technical Reports Server (NTRS)

Quadrelli, Marco; Backes, Paul; Wilkie, Keats; Giersch, Lou; Quijano, Ubaldo; Keim, Jason; Mukherjee, Rudranarayan

2009-01-01

This paper summarizes the modeling, simulation, and testing work related to the development of technology to investigate the potential that shape memory actuation has to provide mechanically simple and affordable solutions for delivering assets to a surface and for sample capture and return. We investigate the structural dynamics and controllability aspects of an adaptive beam carrying an end-effector which, by changing equilibrium phases is able to actively decouple the end-effector dynamics from the spacecraft dynamics during the surface contact phase. Asset delivery and sample capture and return are at the heart of several emerging potential missions to small bodies, such as asteroids and comets, and to the surface of large bodies, such as Titan.

An off-the-shelf guider for the Palomar 200-inch telescope: interfacing amateur astronomy software with professional telescopes for an easy life

NASA Astrophysics Data System (ADS)

Clarke, Fraser; Lynn, James; Thatte, Niranjan; Tecza, Matthias

2014-08-01

We have developed a simple but effective guider for use with the Oxford-SWIFT integral field spectrograph on the Palomar 200-inch telescope. The guider uses mainly off-the-shelf components, including commercial amateur astronomy software to interface with the CCD camera, calculating guiding corrections, and send guide commands to the telescope. The only custom piece of software is an driver to provide an interface between the Palomar telescope control system and the industry standard 'ASCOM' system. Using existing commercial software provided a very cheap guider (<$5000) with minimal (<15 minutes) commissioning time. The final system provides sub-arcsecond guiding, and could easily be adapted to any other professional telescope

[Nailfold capillaroscopy].

PubMed

Geyer, M; Vasile, M; Hermann, W

2014-03-01

Capillaroscopy is performed to evaluate the morphology, frequency and blood flow of nailfold capillaries as well as relevant extracapillary changes in rheumatic conditions. The main indication is the differentiation between primary and secondary Raynaud's phenomenon. Various rheumatic conditions show different and partially typical pathognomonic alterations of the microcirculation or capillary patterns. This simple, noninvasive, inexpensive and effective technique is well suited for early diagnosis, especially of connective tissue diseases. The specific significance is highest for systemic sclerosis which is the most frequently evaluated entity. The corresponding microscopic alterations allow stage-adapted conclusions concerning the acuity of inflammation to be formed. That is not the only reason why capillaroscopy represents an important tool in follow-up controls and together with other techniques, such as flow measurement by laser Doppler, further conclusions can be drawn.

Adaptive method with intercessory feedback control for an intelligent agent

DOEpatents

Goldsmith, Steven Y.

2004-06-22

An adaptive architecture method with feedback control for an intelligent agent provides for adaptively integrating reflexive and deliberative responses to a stimulus according to a goal. An adaptive architecture method with feedback control for multiple intelligent agents provides for coordinating and adaptively integrating reflexive and deliberative responses to a stimulus according to a goal. Re-programming of the adaptive architecture is through a nexus which coordinates reflexive and deliberator components.

Robust control for a biaxial servo with time delay system based on adaptive tuning technique.

PubMed

Chen, Tien-Chi; Yu, Chih-Hsien

2009-07-01

A robust control method for synchronizing a biaxial servo system motion is proposed in this paper. A new network based cross-coupled control and adaptive tuning techniques are used together to cancel out the skew error. The conventional fixed gain PID cross-coupled controller (CCC) is replaced with the adaptive cross-coupled controller (ACCC) in the proposed control scheme to maintain biaxial servo system synchronization motion. Adaptive-tuning PID (APID) position and velocity controllers provide the necessary control actions to maintain synchronization while following a variable command trajectory. A delay-time compensator (DTC) with an adaptive controller was augmented to set the time delay element, effectively moving it outside the closed loop, enhancing the stability of the robust controlled system. This scheme provides strong robustness with respect to uncertain dynamics and disturbances. The simulation and experimental results reveal that the proposed control structure adapts to a wide range of operating conditions and provides promising results under parameter variations and load changes.

Sensorimotor aspects of high-speed artificial gravity: I. Sensory conflict in vestibular adaptation

NASA Technical Reports Server (NTRS)

Brown, Erika L.; Hecht, Heiko; Young, Laurence R.

2002-01-01

Short-radius centrifugation offers a promising and affordable countermeasure to the adverse effects of prolonged weightlessness. However, head movements made in a fast rotating environment elicit Coriolis effects, which seriously compromise sensory and motor processes. We found that participants can adapt to these Coriolis effects when exposed intermittently to high rotation rates and, at the same time, can maintain their perceptual-motor coordination in stationary environments. In this paper, we explore the role of inter-sensory conflict in this adaptation process. Different measures (vertical nystagmus, illusory body tilt, motion sickness) react differently to visual-vestibular conflict and adapt differently. In particular, proprioceptive-vestibular conflict sufficed to adapt subjective parameters and the time constant of nystagmus decay, while retinal slip was required for VOR gain adaptation. A simple correlation between the strength of intersensory conflict and the efficacy of adaptation fails to explain the data. Implications of these findings, which differ from existing data for low rotation rates, are discussed.

Study of application of adaptive systems to the exploration of the solar system. Volume 1: Summary

NASA Technical Reports Server (NTRS)

1973-01-01

The field of artificial intelligence to identify practical applications to unmanned spacecraft used to explore the solar system in the decade of the 80s is examined. If an unmanned spacecraft can be made to adjust or adapt to the environment, to make decisions about what it measures and how it uses and reports the data, it can become a much more powerful tool for the science community in unlocking the secrets of the solar system. Within this definition of an adaptive spacecraft or system, there is a broad range of variability. In terms of sophistication, an adaptive system can be extremely simple or as complex as a chess-playing machine that learns from its mistakes.

Cultural ecologies of adaptive vs. maladaptive traits: A simple nonlinear model

NASA Astrophysics Data System (ADS)

Antoci, Angelo; Russu, Paolo; Sacco, Pier Luigi

2018-05-01

In this paper, we generalize a model by Enquist and Ghirlanda [12] to analyze the "macro" dynamics of cumulative culture in a context where there is a coexistence of adaptive and maladaptive cultural traits. In particular, we introduce a different, nonlinear specification of the main processes at work in the cumulative culture dynamics: imperfect transmission of traits, generation of new traits, and switches from adaptive to maladaptive and vice-versa. We find that the system exhibits a variety of dynamic behaviors where the crucial force is the switching between the adaptive and maladaptive nature of a certain trait, with the other processes playing a modulating role. We identify in particular a number of dynamic regimes with distinctive characteristics.

Performance Optimizing Multi-Objective Adaptive Control with Time-Varying Model Reference Modification

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.; Hashemi, Kelley E.; Yucelen, Tansel; Arabi, Ehsan

2017-01-01

This paper presents a new adaptive control approach that involves a performance optimization objective. The problem is cast as a multi-objective optimal control. The control synthesis involves the design of a performance optimizing controller from a subset of control inputs. The effect of the performance optimizing controller is to introduce an uncertainty into the system that can degrade tracking of the reference model. An adaptive controller from the remaining control inputs is designed to reduce the effect of the uncertainty while maintaining a notion of performance optimization in the adaptive control system.