Presentation of flight control design and handling quality commonality by separate surface stability augmentation for the family of commuter airplanes

NASA Technical Reports Server (NTRS)

Hensley, Douglas; Creighton, Thomas; Haddad, Raphael; Hendrich, Louis; Morgan, Louise; Russell, Mark; Swift, Gerald

1987-01-01

The methodology and results for a flight control design and implementation for common handling qualities by Separate Surface Stability Augmentation (SSSA) for the family of commuter airplanes are contained. The open and closed loop dynamics and the design results of augmenting for common handling qualities are presented. The physical and technology requirements are presented for implementing the SSSA system. The conclusion of this report and recommendations for changes or improvement are discussed.

Metal Oxide Silicon /MOS/ transistors protected from destructive damage by wire

NASA Technical Reports Server (NTRS)

Deboo, G. J.; Devine, E. J.

1966-01-01

Loop of flexible, small diameter, nickel wire protects metal oxide silicon /MOS/ transistors from a damaging electrostatic potential. The wire is attached to a music-wire spring, slipped over the MOS transistor case, and released so the spring tensions the wire loop around all the transistor leads, shorting them together. This allows handling without danger of damage.

Criteria for Handling Qualities of Military Aircraft.

DTIC Science & Technology

1982-06-01

loop precognitive manner. The pilot is able to apply discrete, step-like inputs which more or less exactly produce the desired aircraft response. Some...While closed loop operation depends upon the frequency domain response characteristics, successful precognitive control requires the time domain...represents the other extreme of the pilot task from the precognitive time response situation. Mich work was done in attempting to predict pilot opinion from

Investigation of Multi-Input Multi-Output Robust Control Methods to Handle Parametric Uncertainties in Autopilot Design.

PubMed

Kasnakoğlu, Coşku

2016-01-01

Some level of uncertainty is unavoidable in acquiring the mass, geometry parameters and stability derivatives of an aerial vehicle. In certain instances tiny perturbations of these could potentially cause considerable variations in flight characteristics. This research considers the impact of varying these parameters altogether. This is a generalization of examining the effects of particular parameters on selected modes present in existing literature. Conventional autopilot designs commonly assume that each flight channel is independent and develop single-input single-output (SISO) controllers for every one, that are utilized in parallel for actual flight. It is demonstrated that an attitude controller built like this can function flawlessly on separate nominal cases, but can become unstable with a perturbation no more than 2%. Two robust multi-input multi-output (MIMO) design strategies, specifically loop-shaping and μ-synthesis are outlined as potential substitutes and are observed to handle large parametric changes of 30% while preserving decent performance. Duplicating the loop-shaping procedure for the outer loop, a complete flight control system is formed. It is confirmed through software-in-the-loop (SIL) verifications utilizing blade element theory (BET) that the autopilot is capable of navigation and landing exposed to high parametric variations and powerful winds.

Investigation of Multi-Input Multi-Output Robust Control Methods to Handle Parametric Uncertainties in Autopilot Design

PubMed Central

Kasnakoğlu, Coşku

2016-01-01

Some level of uncertainty is unavoidable in acquiring the mass, geometry parameters and stability derivatives of an aerial vehicle. In certain instances tiny perturbations of these could potentially cause considerable variations in flight characteristics. This research considers the impact of varying these parameters altogether. This is a generalization of examining the effects of particular parameters on selected modes present in existing literature. Conventional autopilot designs commonly assume that each flight channel is independent and develop single-input single-output (SISO) controllers for every one, that are utilized in parallel for actual flight. It is demonstrated that an attitude controller built like this can function flawlessly on separate nominal cases, but can become unstable with a perturbation no more than 2%. Two robust multi-input multi-output (MIMO) design strategies, specifically loop-shaping and μ-synthesis are outlined as potential substitutes and are observed to handle large parametric changes of 30% while preserving decent performance. Duplicating the loop-shaping procedure for the outer loop, a complete flight control system is formed. It is confirmed through software-in-the-loop (SIL) verifications utilizing blade element theory (BET) that the autopilot is capable of navigation and landing exposed to high parametric variations and powerful winds. PMID:27783706

Closed-loop, pilot/vehicle analysis of the approach and landing task

NASA Technical Reports Server (NTRS)

Schmidt, D. K.; Anderson, M. R.

1985-01-01

Optimal-control-theoretic modeling and frequency-domain analysis is the methodology proposed to evaluate analytically the handling qualities of higher-order manually controlled dynamic systems. Fundamental to the methodology is evaluating the interplay between pilot workload and closed-loop pilot/vehicle performance and stability robustness. The model-based metric for pilot workload is the required pilot phase compensation. Pilot/vehicle performance and loop stability is then evaluated using frequency-domain techniques. When these techniques were applied to the flight-test data for thirty-two highly-augmented fighter configurations, strong correlation was obtained between the analytical and experimental results.

Study on real-time force feedback for a master-slave interventional surgical robotic system.

PubMed

Guo, Shuxiang; Wang, Yuan; Xiao, Nan; Li, Youxiang; Jiang, Yuhua

2018-04-13

In robot-assisted catheterization, haptic feedback is important, but is currently lacking. In addition, conventional interventional surgical robotic systems typically employ a master-slave architecture with an open-loop force feedback, which results in inaccurate control. We develop herein a novel real-time master-slave (RTMS) interventional surgical robotic system with a closed-loop force feedback that allows a surgeon to sense the true force during remote operation, provide adequate haptic feedback, and improve control accuracy in robot-assisted catheterization. As part of this system, we also design a unique master control handle that measures the true force felt by a surgeon, providing the basis for the closed-loop control of the entire system. We use theoretical and empirical methods to demonstrate that the proposed RTMS system provides a surgeon (using the master control handle) with a more accurate and realistic force sensation, which subsequently improves the precision of the master-slave manipulation. The experimental results show a substantial increase in the control accuracy of the force feedback and an increase in operational efficiency during surgery.

Coverage criteria for test case generation using UML state chart diagram

NASA Astrophysics Data System (ADS)

Salman, Yasir Dawood; Hashim, Nor Laily; Rejab, Mawarny Md; Romli, Rohaida; Mohd, Haslina

2017-10-01

To improve the effectiveness of test data generation during the software test, many studies have focused on the automation of test data generation from UML diagrams. One of these diagrams is the UML state chart diagram. Test cases are generally evaluated according to coverage criteria. However, combinations of multiple criteria are required to achieve better coverage. Different studies used various number and types of coverage criteria in their methods and approaches. The objective of this paper to propose suitable coverage criteria for test case generation using UML state chart diagram especially in handling loops. In order to achieve this objective, this work reviewed previous studies to present the most practical coverage criteria combinations, including all-states, all-transitions, all-transition-pairs, and all-loop-free-paths coverage. Calculation to determine the coverage percentage of the proposed coverage criteria were presented together with an example has they are applied on a UML state chart diagram. This finding would be beneficial in the area of test case generating especially in handling loops in UML state chart diagram.

29 CFR 1926.908 - Use of detonating cord.

Code of Federal Regulations, 2010 CFR

2010-07-01

... be handled and used with the same respect and care given other explosives. (c) The line of detonating... explosive core is dry. (f) All detonating cord trunklines and branchlines shall be free of loops, sharp...

Circuit breaker lock out assembly

DOEpatents

Gordy, W.T.

1983-05-18

A lock out assembly for a circuit breaker which consists of a generally step-shaped unitary base with an aperture in the small portion of the step-shaped base and a roughly S shaped retaining pin which loops through the large portion of the step-shaped base. The lock out assembly is adapted to fit over a circuit breaker with the handle switch projecting through the aperture, and the retaining pin projecting into an opening of the handle switch, preventing removal.

Circuit breaker lock out assembly

DOEpatents

Gordy, Wade T.

1984-01-01

A lock out assembly for a circuit breaker which consists of a generally step-shaped unitary base with an aperture in the small portion of the step-shaped base and a roughly "S" shaped retaining pin which loops through the large portion of the step-shaped base. The lock out assembly is adapted to fit over a circuit breaker with the handle switch projecting through the aperture, and the retaining pin projecting into an opening of the handle switch, preventing removal.

Biochip for Real-Time Monitoring of Hepatitis B Virus (HBV) by Combined Loop-Mediated Isothermal Amplification and Solution-Phase Electrochemical Detection

NASA Astrophysics Data System (ADS)

Tien, Bui Quang; Ngoc, Nguyen Thy; Loc, Nguyen Thai; Thu, Vu Thi; Lam, Tran Dai

2017-06-01

Accurate in situ diagnostic tests play a key role in patient management and control of most infectious diseases. To achieve this, use of handheld biochips that implement sample handling, sample analysis, and result readout together is an ideal approach. We present herein a fluid-handling biochip for real-time electrochemical monitoring of nucleic acid amplification based on loop-mediated isothermal amplification and real-time electrochemical detection on a microfluidic platform. Intercalation between amplifying DNA and free redox probe in solution phase was used to monitor the number of DNA copies. The whole diagnostic process is completed within 70 min. Our platform offers a fast and easy tool for quantification of viral pathogens in shorter time and with limited risk of all potential forms of cross-contamination. Such diagnostic tools have potential to make a huge difference to the lives of millions of people worldwide.

Application of frequency domain handling qualities criteria to the longitudinal landing task

NASA Technical Reports Server (NTRS)

Sarrafian, S. K.; Powers, B. G.

1985-01-01

Under NASA sponsorship, an in-flight simulation of the longitudinal handling qualities of several configurations for the approach and landing tasks was performed on the USAF/AFWAL Total In-Flight Simulator by the Calspan Corporation. The basic configuration was a generic transport airplane with static instability. The control laws included proportional plus integral gain loops to produce pitch-rate and angle-of-attack feedback loops. The evaluation task was a conventional visual approach to a flared touchdown at a designated spot on the runway with a lateral offset. The general conclusions were that the existing criteria are based on pitch-attitude response and that these characteristics do not adequately discriminate between the good and bad configurations of this study. This paper describes the work that has been done to further develop frequency-based criteria in an effort to provide better correlation with the observed data.

La-CTP: Loop-Aware Routing for Energy-Harvesting Wireless Sensor Networks.

PubMed

Sun, Guodong; Shang, Xinna; Zuo, Yan

2018-02-02

In emerging energy-harvesting wireless sensor networks (EH-WSN), the sensor nodes can harvest environmental energy to drive their operation, releasing the user's burden in terms of frequent battery replacement, and even enabling perpetual sensing systems. In EH-WSN applications, usually, the node in energy-harvesting or recharging state has to stop working until it completes the energy replenishment. However, such temporary departures of recharging nodes severely impact the packet routing, and one immediate result is the routing loop problem. Controlling loops in connectivity-intermittent EH-WSN in an efficient way is a big challenge in practice, and so far, users still lack of effective and practicable routing protocols with loop handling. Based on the Collection Tree Protocol (CTP) widely used in traditional wireless sensor networks, this paper proposes a loop-aware routing protocol for real-world EH-WSNs, called La-CTP, which involves a new parent updating metric and a proactive, adaptive beaconing scheme to effectively suppress the occurrence of loops and unlock unavoidable loops, respectively. We constructed a 100-node testbed to evaluate La-CTP, and the experimental results showed its efficacy and efficiency.

Addendum: Development of a preprototype times wastewater recovery subsystem

NASA Technical Reports Server (NTRS)

Dehner, G. F.

1984-01-01

The results of the second generation operational improvements and the TIMES (Thermoelectric Integrated Membrane Evaporation Subsystem) 2 study are covered. Areas covered in the second generation operational improvements are improved temperature control, water quality improvements, subsytem operational improvements, solid handling improvements, wastewater pretreatment optimization, and membrane rejuvenation concepts. The task for the TIMES 2 study are thermoelectric regenerator improvement, recycle loop pH operational criteria, recycle loop component optimization, and hollow fiber membrane evaporator improvement. Results are presented and conclusions are drawn from both studies.

Motion Coordination and Adaptation Using Deception and Human Interactions

DTIC Science & Technology

2016-11-18

evolves an interface (front) by embedding it as a hyper - surface in a higher dimension, where time is the augmented dimension. Automatic handling of...the open- loop system trajectories. The results are depicted in Fig. 32. From the shape of the value function in Fig. 32(b) it is seen that the value is...estimate of the value function only over the area of the state space visited by the sampled (open- loop ) trajectories. In that sense, the areas not

Modal control theory and application to aircraft lateral handling qualities design

NASA Technical Reports Server (NTRS)

Srinathkumar, S.

1978-01-01

A multivariable synthesis procedure based on eigenvalue/eigenvector assignment is reviewed and is employed to develop a systematic design procedure to meet the lateral handling qualities design objectives of a fighter aircraft over a wide range of flight conditions. The closed loop modal characterization developed provides significant insight into the design process and plays a pivotal role in the synthesis of robust feedback systems. The simplicity of the synthesis algorithm yields an efficient computer aided interactive design tool for flight control system synthesis.

Development of a statewide online system for traffic data quality control and sharing.

DOT National Transportation Integrated Search

2009-12-01

The Washington State Department of Transportation (WSDOT) operates thousands of Inductive Loop : Detectors (ILDs) on the freeways and highways of Washington State. The collection and disbursement of : this data is handled at the regional level, which...

Constraint Embedding for Multibody System Dynamics

NASA Technical Reports Server (NTRS)

Jain, Abhinandan

2009-01-01

This paper describes a constraint embedding approach for the handling of local closure constraints in multibody system dynamics. The approach uses spatial operator techniques to eliminate local-loop constraints from the system and effectively convert the system into tree-topology systems. This approach allows the direct derivation of recursive O(N) techniques for solving the system dynamics and avoiding the expensive steps that would otherwise be required for handling the closedchain dynamics. The approach is very effective for systems where the constraints are confined to small-subgraphs within the system topology. The paper provides background on the spatial operator O(N) algorithms, the extensions for handling embedded constraints, and concludes with some examples of such constraints.

La-CTP: Loop-Aware Routing for Energy-Harvesting Wireless Sensor Networks

PubMed Central

Sun, Guodong; Shang, Xinna; Zuo, Yan

2018-01-01

In emerging energy-harvesting wireless sensor networks (EH-WSN), the sensor nodes can harvest environmental energy to drive their operation, releasing the user’s burden in terms of frequent battery replacement, and even enabling perpetual sensing systems. In EH-WSN applications, usually, the node in energy-harvesting or recharging state has to stop working until it completes the energy replenishment. However, such temporary departures of recharging nodes severely impact the packet routing, and one immediate result is the routing loop problem. Controlling loops in connectivity-intermittent EH-WSN in an efficient way is a big challenge in practice, and so far, users still lack of effective and practicable routing protocols with loop handling. Based on the Collection Tree Protocol (CTP) widely used in traditional wireless sensor networks, this paper proposes a loop-aware routing protocol for real-world EH-WSNs, called La-CTP, which involves a new parent updating metric and a proactive, adaptive beaconing scheme to effectively suppress the occurrence of loops and unlock unavoidable loops, respectively. We constructed a 100-node testbed to evaluate La-CTP, and the experimental results showed its efficacy and efficiency. PMID:29393876

Microbiology--Safety Considerations.

ERIC Educational Resources Information Center

Hoffmann, Sheryl K.

This paper discusses the risk assessment associated with microbiology instruction based on grade level, general control measures, appropriate activities for middle school and high school students, the preparation and sterilization of equipment, and safe handling techniques. Appended are instructions and figures on making wire loops and the…

Entry flight control system downmoding evaluation

NASA Technical Reports Server (NTRS)

Barnes, H. A.

1978-01-01

A method to desensitize the entry flight control system to structural vibration feedback which might induce an oscillatory instability is described. Trends in vehicle response and handling characteristics as a function of gain combinations in the FCS forward and rate feedback loops were described as observed in a man-in-the-loop simulation. Among the flight conditions considered are the effects of downmoding with APU failures, off-nominal trajectory conditions, sensed angle of attack errors, the impact on RCS fuel consumption, performance in the presence of aero variations, recovery from large FCS upsets, and default gains.

Commanding Constellations (Pipeline Architecture)

NASA Technical Reports Server (NTRS)

Ray, Tim; Condron, Jeff

2003-01-01

Providing ground command software for constellations of spacecraft is a challenging problem. Reliable command delivery requires a feedback loop; for a constellation there will likely be an independent feedback loop for each constellation member. Each command must be sent via the proper Ground Station, which may change from one contact to the next (and may be different for different members). Dynamic configuration of the ground command software is usually required (e.g. directives to configure each member's feedback loop and assign the appropriate Ground Station). For testing purposes, there must be a way to insert command data at any level in the protocol stack. The Pipeline architecture described in this paper can support all these capabilities with a sequence of software modules (the pipeline), and a single self-identifying message format (for all types of command data and configuration directives). The Pipeline architecture is quite simple, yet it can solve some complex problems. The resulting solutions are conceptually simple, and therefore, reliable. They are also modular, and therefore, easy to distribute and extend. We first used the Pipeline architecture to design a CCSDS (Consultative Committee for Space Data Systems) Ground Telecommand system (to command one spacecraft at a time with a fixed Ground Station interface). This pipeline was later extended to include gateways to any of several Ground Stations. The resulting pipeline was then extended to handle a small constellation of spacecraft. The use of the Pipeline architecture allowed us to easily handle the increasing complexity. This paper will describe the Pipeline architecture, show how it was used to solve each of the above commanding situations, and how it can easily be extended to handle larger constellations.

Lessons Learned and Flight Results from the F15 Intelligent Flight Control System Project

NASA Technical Reports Server (NTRS)

Bosworth, John

2006-01-01

A viewgraph presentation on the lessons learned and flight results from the F15 Intelligent Flight Control System (IFCS) project is shown. The topics include: 1) F-15 IFCS Project Goals; 2) Motivation; 3) IFCS Approach; 4) NASA F-15 #837 Aircraft Description; 5) Flight Envelope; 6) Limited Authority System; 7) NN Floating Limiter; 8) Flight Experiment; 9) Adaptation Goals; 10) Handling Qualities Performance Metric; 11) Project Phases; 12) Indirect Adaptive Control Architecture; 13) Indirect Adaptive Experience and Lessons Learned; 14) Gen II Direct Adaptive Control Architecture; 15) Current Status; 16) Effect of Canard Multiplier; 17) Simulated Canard Failure Stab Open Loop; 18) Canard Multiplier Effect Closed Loop Freq. Resp.; 19) Simulated Canard Failure Stab Open Loop with Adaptation; 20) Canard Multiplier Effect Closed Loop with Adaptation; 21) Gen 2 NN Wts from Simulation; 22) Direct Adaptive Experience and Lessons Learned; and 23) Conclusions

Analysis of Carbon Nanotubes and Graphene Nanoribbons with Folded Racket Shapes

NASA Astrophysics Data System (ADS)

Borum, Andy; Plaut, Raymond; Dillard, David

2011-10-01

When carbon nanotubes and graphene nanoribbons become long, they may self-fold and form tennis racket-like shapes. This phenomenon is analyzed in two ways by treating a nanotube or nanoribbon as an elastica. First, an approach from adhesion science is used, in which the two sides of the racket handle are assumed to be straight and bonded together with constant or no separation. New analytical results are obtained involving the shape, bending energy, and adhesion energy of the self-folded structures. These relations show that the dimensions of the racket loop are proportional to the square root of the flexural rigidity. The second analysis uses the Lennard-Jones potential to model the van der Waals forces between the two sides of the racket. A nanoribbon is considered, and the interatomic forces are integrated along the length and across the width of the nanoribbon. The resulting integro-differential equations are solved using the finite difference method. The racket handle is found to be in compression and the separation between the two sides of the racket handle decreases in the direction of the racket loop. The results for the Lennard-Jones model approximately satisfy the relationship between the dimensions and the flexural rigidity found using the adhesion model.

Flight simulator fidelity assessment in a rotorcraft lateral translation maneuver

NASA Technical Reports Server (NTRS)

Hess, R. A.; Malsbury, T.; Atencio, A., Jr.

1992-01-01

A model-based methodology for assessing flight simulator fidelity in closed-loop fashion is exercised in analyzing a rotorcraft low-altitude maneuver for which flight test and simulation results were available. The addition of a handling qualities sensitivity function to a previously developed model-based assessment criteria allows an analytical comparison of both performance and handling qualities between simulation and flight test. Model predictions regarding the existence of simulator fidelity problems are corroborated by experiment. The modeling approach is used to assess analytically the effects of modifying simulator characteristics on simulator fidelity.

A method for paraplegic upper-body posture estimation during standing: a pilot study for rehabilitation purposes.

PubMed

Pages, Gaël; Ramdani, Nacim; Fraisse, Philippe; Guiraud, David

2009-06-01

This paper presents a contribution for restoring standing in paraplegia while using functional electrical stimulation (FES). Movement generation induced by FES remains mostly open looped and stimulus intensities are tuned empirically. To design an efficient closed-loop control, a preliminary study has been carried out to investigate the relationship between body posture and voluntary upper body movements. A methodology is proposed to estimate body posture in the sagittal plane using force measurements exerted on supporting handles during standing. This is done by setting up constraints related to the geometric equations of a two-dimensional closed chain model and the hand-handle interactions. All measured quantities are subject to an uncertainty assumed unknown but bounded. The set membership estimation problem is solved via interval analysis. Guaranteed uncertainty bounds are computed for the estimated postures. In order to test the feasibility of our methodology, experiments were carried out with complete spinal cord injured patients.

An analytical study of aircraft lateral-directional handling qualities using pilot models

NASA Technical Reports Server (NTRS)

Adams, J. J.; Moore, F. L.

1976-01-01

A procedure for predicting lateral-directional pilot ratings on the basis of the characteristics of the pilot model and the closed-loop system characteristics is demonstrated. A correlation is shown to exist between experimentally obtained pilot ratings and the computed pilot ratings.

Advantages of cryopumping with liquid hydrogen instead of helium refrigerators

NASA Technical Reports Server (NTRS)

Anderson, J. W.; Tueller, J. E.

1972-01-01

Open loop hydrogen vaporizers and helium refrigerators are compared for operational complexity, installation and operating cost, and safety requirements. Data from two vacuum chambers using helium refrigerators are used to provide comparative data. In general, the use of hydrogen is attractive in the larger systems, even when extra safety precautions are taken. Emotional resistance to the use of hydrogen because of safety requirements is considered great. However, the experience gained in the handling of large quantities of cryogenics, particularly hydrogen and liquefied natural gases, should be considered in the design of open loop hydrogen cooling systems.

An expert system to perform on-line controller restructuring for abrupt model changes

NASA Technical Reports Server (NTRS)

Litt, Jonathan S.

1990-01-01

Work in progress on an expert system used to reconfigure and tune airframe/engine control systems on-line in real time in response to battle damage or structural failures is presented. The closed loop system is monitored constantly for changes in structure and performance, the detection of which prompts the expert system to choose and apply a particular control restructuring algorithm based on the type and severity of the damage. Each algorithm is designed to handle specific types of failures and each is applicable only in certain situations. The expert system uses information about the system model to identify the failure and to select the technique best suited to compensate for it. A depth-first search is used to find a solution. Once a new controller is designed and implemented it must be tuned to recover the original closed-loop handling qualities and responsiveness from the degraded system. Ideally, the pilot should not be able to tell the difference between the original and redesigned systems. The key is that the system must have inherent redundancy so that degraded or missing capabilities can be restored by creative use of alternate functionalities. With enough redundancy in the control system, minor battle damage affecting individual control surfaces or actuators, compressor efficiency, etc., can be compensated for such that the closed-loop performance in not noticeably altered. The work is applied to a Black Hawk/T700 system.

Analytical and simulator study of advanced transport

NASA Technical Reports Server (NTRS)

Levison, W. H.; Rickard, W. W.

1982-01-01

An analytic methodology, based on the optimal-control pilot model, was demonstrated for assessing longitidunal-axis handling qualities of transport aircraft in final approach. Calibration of the methodology is largely in terms of closed-loop performance requirements, rather than specific vehicle response characteristics, and is based on a combination of published criteria, pilot preferences, physical limitations, and engineering judgment. Six longitudinal-axis approach configurations were studied covering a range of handling qualities problems, including the presence of flexible aircraft modes. The analytical procedure was used to obtain predictions of Cooper-Harper ratings, a solar quadratic performance index, and rms excursions of important system variables.

Initial Investigation of Reaction Control System Design on Spacecraft Handling Qualities for Earth Orbit Docking

NASA Technical Reports Server (NTRS)

Bailey, Randall E.; Jackson, E. Bruce; Goodrich, Kenneth H.; Ragsdale, W. Al; Neuhaus, Jason; Barnes, Jim

2008-01-01

A program of research, development, test, and evaluation is planned for the development of Spacecraft Handling Qualities guidelines. In this first experiment, the effects of Reaction Control System design characteristics and rotational control laws were evaluated during simulated proximity operations and docking. Also, the influence of piloting demands resulting from varying closure rates was assessed. The pilot-in-the-loop simulation results showed that significantly different spacecraft handling qualities result from the design of the Reaction Control System. In particular, cross-coupling between translational and rotational motions significantly affected handling qualities as reflected by Cooper-Harper pilot ratings and pilot workload, as reflected by Task-Load Index ratings. This influence is masked but only slightly by the rotational control system mode. While rotational control augmentation using Rate Command Attitude Hold can reduce the workload (principally, physical workload) created by cross-coupling, the handling qualities are not significantly improved. The attitude and rate deadbands of the RCAH introduced significant mental workload and control compensation to evaluate when deadband firings would occur, assess their impact on docking performance, and apply control inputs to mitigate that impact.

Helicopter roll control effectiveness criteria program summary

NASA Technical Reports Server (NTRS)

Heffley, Robert K.; Bourne, Simon M.; Mnich, Marc A.

1988-01-01

A study of helicopter roll control effectiveness is summarized for the purpose of defining military helicopter handling qualities requirements. The study is based on an analysis of pilot-in-the-loop task performance of several basic maneuvers. This is extended by a series of piloted simulations using the NASA Ames Vertical Motion Simulator and selected flight data. The main results cover roll control power and short-term response characteristics. In general the handling qualities requirements recommended are set in conjunction with desired levels of flight task and maneuver response which can be directly observed in actual flight. An important aspect of this, however, is that vehicle handling qualities need to be set with regard to some quantitative aspect of mission performance. Specific examples of how this can be accomplished include a lateral unmask/remask maneuver in the presence of a threat and an air tracking maneuver which recognizes the kill probability enhancement connected with decreasing the range to the target. Conclusions and recommendations address not only the handling qualities recommendations, but also the general use of flight simulators and the dependence of mission performance on handling qualities.

An Investigation of Large Aircraft Handling Qualities

NASA Astrophysics Data System (ADS)

Joyce, Richard D.

An analytical technique for investigating transport aircraft handling qualities is exercised in a study using models of two such vehicles, a Boeing 747 and Lockheed C-5A. Two flight conditions are employed for climb and directional tasks, and a third included for a flare task. The analysis technique is based upon a "structural model" of the human pilot developed by Hess. The associated analysis procedure has been discussed previously in the literature, but centered almost exclusively on the characteristics of high-performance fighter aircraft. The handling qualities rating level (HQRL) and pilot induced oscillation tendencies rating level (PIORL) are predicted for nominal configurations of the aircraft and for "damaged" configurations where actuator rate limits are introduced as nonlinearites. It is demonstrated that the analysis can accommodate nonlinear pilot/vehicle behavior and do so in the context of specific flight tasks, yielding estimates of handling qualities, pilot-induced oscillation tendencies and upper limits of task performance. A brief human-in-the-loop tracking study was performed to provide a limited validation of the pilot model employed.

The role of calbindin-D28k on renal calcium and magnesium handling during treatment with loop and thiazide diuretics

PubMed Central

Lee, Chien-Te; Ng, Hwee-Yeong; Lee, Yueh-Ting; Lai, Li-Wen

2015-01-01

Calbindin-D28k (CBD-28k) is a calcium binding protein located in the distal convoluted tubule (DCT) and plays an important role in active calcium transport in the kidney. Loop and thiazide diuretics affect renal Ca and Mg handling: both cause Mg wasting, but have opposite effects on Ca excretion as loop diuretics increase, but thiazides decrease, Ca excretion. To understand the role of CBD-28k in renal Ca and Mg handling in response to diuretics treatment, we investigated renal Ca and Mg excretion and gene expression of DCT Ca and Mg transport molecules in wild-type (WT) and CBD-28k knockout (KO) mice. Mice were treated with chlorothiazide (CTZ; 50 mg·kg−1·day−1) or furosemide (FSM; 30 mg·kg−1·day−1) for 3 days. To avoid volume depletion, salt was supplemented in the drinking water. Urine Ca excretion was reduced in WT, but not in KO mice, by CTZ. FSM induced similar hypercalciuria in both groups. DCT Ca transport molecules, including transient receptor potential vanilloid 5 (TRPV5), TRPV6, and CBD-9k, were upregulated by CTZ and FSM in WT, but not in KO mice. Urine Mg excretion was increased and transient receptor potential subfamily M, member 6 (TRPM6) was upregulated by both CTZ and FSM in WT and KO mice. In conclusion, CBD-28k plays an important role in gene expression of DCT Ca, but not Mg, transport molecules, which may be related to its being a Ca, but not a Mg, intracellular sensor. The lack of upregulation of DCT Ca transport molecules by thiazides in the KO mice indicates that the DCT Ca transport system is critical for Ca conservation by thiazides. PMID:26582761

NNLO computational techniques: The cases H→γγ and H→gg

NASA Astrophysics Data System (ADS)

Actis, Stefano; Passarino, Giampiero; Sturm, Christian; Uccirati, Sandro

2009-04-01

A large set of techniques needed to compute decay rates at the two-loop level are derived and systematized. The main emphasis of the paper is on the two Standard Model decays H→γγ and H→gg. The techniques, however, have a much wider range of application: they give practical examples of general rules for two-loop renormalization; they introduce simple recipes for handling internal unstable particles in two-loop processes; they illustrate simple procedures for the extraction of collinear logarithms from the amplitude. The latter is particularly relevant to show cancellations, e.g. cancellation of collinear divergencies. Furthermore, the paper deals with the proper treatment of non-enhanced two-loop QCD and electroweak contributions to different physical (pseudo-)observables, showing how they can be transformed in a way that allows for a stable numerical integration. Numerical results for the two-loop percentage corrections to H→γγ,gg are presented and discussed. When applied to the process pp→gg+X→H+X, the results show that the electroweak scaling factor for the cross section is between -4% and +6% in the range 100 GeV

Testing of active heat sink for advanced high-power laser diodes

NASA Astrophysics Data System (ADS)

Vetrovec, John; Copeland, Drew A.; Feeler, Ryan; Junghans, Jeremy

2011-03-01

We report on the development of a novel active heat sink for high-power laser diodes offering unparalleled capacity in high-heat flux handling and temperature control. The heat sink employs convective heat transfer by a liquid metal flowing at high speed inside a miniature sealed flow loop. Liquid metal flow in the loop is maintained electromagnetically without any moving parts. Thermal conductance of the heat sink is electronically adjustable, allowing for precise control of diode temperature and the laser light wavelength. This paper presents the principles and challenges of liquid metal cooling, and data from testing at high heat flux and high heat loads.

Cascade generalized predictive control strategy for boiler drum level.

PubMed

Xu, Min; Li, Shaoyuan; Cai, Wenjian

2005-07-01

This paper proposes a cascade model predictive control scheme for boiler drum level control. By employing generalized predictive control structures for both inner and outer loops, measured and unmeasured disturbances can be effectively rejected, and drum level at constant load is maintained. In addition, nonminimum phase characteristic and system constraints in both loops can be handled effectively by generalized predictive control algorithms. Simulation results are provided to show that cascade generalized predictive control results in better performance than that of well tuned cascade proportional integral differential controllers. The algorithm has also been implemented to control a 75-MW boiler plant, and the results show an improvement over conventional control schemes.

Incorporating Handling Qualities Analysis into Rotorcraft Conceptual Design

NASA Technical Reports Server (NTRS)

Lawrence, Ben

2014-01-01

This paper describes the initial development of a framework to incorporate handling qualities analyses into a rotorcraft conceptual design process. In particular, the paper describes how rotorcraft conceptual design level data can be used to generate flight dynamics models for handling qualities analyses. Also, methods are described that couple a basic stability augmentation system to the rotorcraft flight dynamics model to extend analysis to beyond that of the bare airframe. A methodology for calculating the handling qualities characteristics of the flight dynamics models and for comparing the results to ADS-33E criteria is described. Preliminary results from the application of the handling qualities analysis for variations in key rotorcraft design parameters of main rotor radius, blade chord, hub stiffness and flap moment of inertia are shown. Varying relationships, with counteracting trends for different handling qualities criteria and different flight speeds are exhibited, with the action of the control system playing a complex part in the outcomes. Overall, the paper demonstrates how a broad array of technical issues across flight dynamics stability and control, simulation and modeling, control law design and handling qualities testing and evaluation had to be confronted to implement even a moderately comprehensive handling qualities analysis of relatively low fidelity models. A key outstanding issue is to how to 'close the loop' with an overall design process, and options for the exploration of how to feedback handling qualities results to a conceptual design process are proposed for future work.

Improved reproducibility of unit-cell parameters in macromolecular cryocrystallography by limiting dehydration during crystal mounting.

PubMed

Farley, Christopher; Burks, Geoffry; Siegert, Thomas; Juers, Douglas H

2014-08-01

In macromolecular cryocrystallography unit-cell parameters can have low reproducibility, limiting the effectiveness of combining data sets from multiple crystals and inhibiting the development of defined repeatable cooling protocols. Here, potential sources of unit-cell variation are investigated and crystal dehydration during loop-mounting is found to be an important factor. The amount of water lost by the unit cell depends on the crystal size, the loop size, the ambient relative humidity and the transfer distance to the cooling medium. To limit water loss during crystal mounting, a threefold strategy has been implemented. Firstly, crystal manipulations are performed in a humid environment similar to the humidity of the crystal-growth or soaking solution. Secondly, the looped crystal is transferred to a vial containing a small amount of the crystal soaking solution. Upon loop transfer, the vial is sealed, which allows transport of the crystal at its equilibrated humidity. Thirdly, the crystal loop is directly mounted from the vial into the cold gas stream. This strategy minimizes the exposure of the crystal to relatively low humidity ambient air, improves the reproducibility of low-temperature unit-cell parameters and offers some new approaches to crystal handling and cryoprotection.

Improved reproducibility of unit-cell parameters in macromolecular cryocrystallography by limiting dehydration during crystal mounting

PubMed Central

Farley, Christopher; Burks, Geoffry; Siegert, Thomas; Juers, Douglas H.

2014-01-01

In macromolecular cryocrystallography unit-cell parameters can have low reproducibility, limiting the effectiveness of combining data sets from multiple crystals and inhibiting the development of defined repeatable cooling protocols. Here, potential sources of unit-cell variation are investigated and crystal dehydration during loop-mounting is found to be an important factor. The amount of water lost by the unit cell depends on the crystal size, the loop size, the ambient relative humidity and the transfer distance to the cooling medium. To limit water loss during crystal mounting, a threefold strategy has been implemented. Firstly, crystal manipulations are performed in a humid environment similar to the humidity of the crystal-growth or soaking solution. Secondly, the looped crystal is transferred to a vial containing a small amount of the crystal soaking solution. Upon loop transfer, the vial is sealed, which allows transport of the crystal at its equilibrated humidity. Thirdly, the crystal loop is directly mounted from the vial into the cold gas stream. This strategy minimizes the exposure of the crystal to relatively low humidity ambient air, improves the reproducibility of low-temperature unit-cell parameters and offers some new approaches to crystal handling and cryoprotection. PMID:25084331

Improved-Bandwidth Transimpedance Amplifier

NASA Technical Reports Server (NTRS)

Chapsky, Jacob

2009-01-01

The widest available operational amplifier, with the best voltage and current noise characteristics, is considered for transimpedance amplifier (TIA) applications where wide bandwidth is required to handle fast rising input signals (as for time-of-flight measurement cases). The added amplifier inside the TIA feedback loop can be configured to have slightly lower voltage gain than the bandwidth reduction factor.

Before Smith’s Mill: Archaeological and Geological Investigations, Smithville Lake, Missouri. Volume 1. Text.

DTIC Science & Technology

1982-06-01

undecorated, plain surfaced utilitarian vessel, with loop handles on some specimens. The exceptions to this stereotype are few. A rare example of lip...latter. All are mammalian remains but none are classifiable as to family or genus . Falk describes the samples from both 23 CL 274 and 276 as consisting

A High-Order, Linear Time-Invariant Model for Application to Higher Harmonic Control and Flight Control System Interaction

NASA Technical Reports Server (NTRS)

Cheng, Rendy P.; Tischler, Mark B.; Celi, Roberto

2006-01-01

This research describes a new methodology for the extraction of a high-order, linear time invariant model, which allows the periodicity of the helicopter response to be accurately captured. This model provides the needed level of dynamic fidelity to permit an analysis and optimization of the AFCS and HHC algorithms. The key results of this study indicate that the closed-loop HHC system has little influence on the AFCS or on the vehicle handling qualities, which indicates that the AFCS does not need modification to work with the HHC system. However, the results show that the vibration response to maneuvers must be considered during the HHC design process, and this leads to much higher required HHC loop crossover frequencies. This research also demonstrates that the transient vibration responses during maneuvers can be reduced by optimizing the closed-loop higher harmonic control algorithm using conventional control system analyses.

A High-Order, Time Invariant, Linearized Model for Application to HHCIAFCS Interaction Studies

NASA Technical Reports Server (NTRS)

Cheng, Rendy P.; Tischler, Mark B.; Celi, Roberto

2003-01-01

This paper describes a methodology for the extraction of a linear time invariant model from a nonlinear helicopter model, and followed by an examination of the interactions of the Higher Harmonic Control (HHC) and the Automatic Flight Control System (AFCS). This new method includes an embedded harmonic analyzer inside a linear time invariant model, which allows the periodicity of the helicopter response to be captured. The: coupled high-order model provides the needed level of dynamic fidelity to permit an analysis and optimization of the AFCS and HHC loops. Results of this study indicate that the closed-loop HHC system has little influence on the AFCS or on the vehicle handling qualities, which indicates that the AFCS does not need modification to work with the HHC system. The results also show that the vibration response to maneuvers must be considered during the HHC design process, which leads to much higher required HHC loop crossover frequencies. This research also demonstrates that the transient vibration response during maneuvers can be reduced by optimizing the closed-loop higher harmonic control laws using conventional control system analyses.

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

NASA Astrophysics Data System (ADS)

Tang, Jifei; Xia, Lanhua; Mahapatra, Rabi

2018-06-01

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

Verification of Java Programs using Symbolic Execution and Invariant Generation

NASA Technical Reports Server (NTRS)

Pasareanu, Corina; Visser, Willem

2004-01-01

Software verification is recognized as an important and difficult problem. We present a norel framework, based on symbolic execution, for the automated verification of software. The framework uses annotations in the form of method specifications an3 loop invariants. We present a novel iterative technique that uses invariant strengthening and approximation for discovering these loop invariants automatically. The technique handles different types of data (e.g. boolean and numeric constraints, dynamically allocated structures and arrays) and it allows for checking universally quantified formulas. Our framework is built on top of the Java PathFinder model checking toolset and it was used for the verification of several non-trivial Java programs.

The Inverse Optimal Control Problem for a Three-Loop Missile Autopilot

NASA Astrophysics Data System (ADS)

Hwang, Donghyeok; Tahk, Min-Jea

2018-04-01

The performance characteristics of the autopilot must have a fast response to intercept a maneuvering target and reasonable robustness for system stability under the effect of un-modeled dynamics and noise. By the conventional approach, the three-loop autopilot design is handled by time constant, damping factor and open-loop crossover frequency to achieve the desired performance requirements. Note that the general optimal theory can be also used to obtain the same gain as obtained from the conventional approach. The key idea of using optimal control technique for feedback gain design revolves around appropriate selection and interpretation of the performance index for which the control is optimal. This paper derives an explicit expression, which relates the weight parameters appearing in the quadratic performance index to the design parameters such as open-loop crossover frequency, phase margin, damping factor, or time constant, etc. Since all set of selection of design parameters do not guarantee existence of optimal control law, explicit inequalities, which are named the optimality criteria for the three-loop autopilot (OC3L), are derived to find out all set of design parameters for which the control law is optimal. Finally, based on OC3L, an efficient gain selection procedure is developed, where time constant is set to design objective and open-loop crossover frequency and phase margin as design constraints. The effectiveness of the proposed technique is illustrated through numerical simulations.

Metaphors for the Nature of Human-Computer Interaction in an Empowering Environment: Interaction Style Influences the Manner of Human Accomplishment.

ERIC Educational Resources Information Center

Weller, Herman G.; Hartson, H. Rex

1992-01-01

Describes human-computer interface needs for empowering environments in computer usage in which the machine handles the routine mechanics of problem solving while the user concentrates on its higher order meanings. A closed-loop model of interaction is described, interface as illusion is discussed, and metaphors for human-computer interaction are…

Handling Qualities Implications for Crewed Spacecraft Operations

NASA Technical Reports Server (NTRS)

Bailey, Randall E.; Jackson, E. Bruce; Arthur, J. J.

2012-01-01

Abstract Handling qualities embody those qualities or characteristics of an aircraft that govern the ease and precision with which a pilot is able to perform the tasks required in support of an aircraft role. These same qualities are as critical, if not more so, in the operation of spacecraft. A research, development, test, and evaluation process was put into effect to identify, understand, and interpret the engineering and human factors principles which govern the pilot-vehicle dynamic system as they pertain to space exploration missions and tasks. Toward this objective, piloted simulations were conducted at the NASA Langley Research Center and Ames Research Center for earth-orbit proximity operations and docking and lunar landing. These works provide broad guidelines for the design of spacecraft to exhibit excellent handling characteristics. In particular, this work demonstrates how handling qualities include much more than just stability and control characteristics of a spacecraft or aircraft. Handling qualities are affected by all aspects of the pilot-vehicle dynamic system, including the motion, visual and aural cues of the vehicle response as the pilot performs the required operation or task. A holistic approach to spacecraft design, including the use of manual control, automatic control, and pilot intervention/supervision is described. The handling qualities implications of design decisions are demonstrated using these pilot-in-the-loop evaluations of docking operations and lunar landings.

All-loop Mondrian diagrammatics and 4-particle amplituhedron

NASA Astrophysics Data System (ADS)

An, Yang; Li, Yi; Li, Zhinan; Rao, Junjie

2018-06-01

Based on 1712.09990 which handles the 4-particle amplituhedron at 3-loop, we have found an extremely simple pattern, yet far more non-trivial than one might naturally expect: the all-loop Mondrian diagrammatics. By further simplifying and rephrasing the key relation of positivity in the amplituhedron setting, remarkably, we find a completeness relation unifying all diagrams of the Mondrian types for the 4-particle integrand of planar N = 4 SYM to all loop orders, each of which can be mapped to a simple product following a few plain rules designed for this relation. The explicit examples we investigate span from 3-loop to 7-loop order, and based on them, we classify the basic patterns of Mondrian diagrams into four types: the ladder, cross, brick-wall and spiral patterns. Interestingly, for some special combinations of ordered subspaces (a concept defined in the previous work), we find failed exceptions of the completeness relation which are called "anomalies", nevertheless, they substantially give hints on the all-loop recursive proof of this relation. These investigations are closely related to the combinatoric knowledge of separable permutations and Schröder numbers, and go even further from a diagrammatic perspective. For physical relevance, we need to further consider dual conformal invariance for two basic diagrammatic patterns to correct the numerator for a local integrand involving one or both of such patterns, while the denominator encoding its pole structure and also the sign factor, are already fixed by rules of the completeness relation. With this extra treatment to ensure the integrals are dual conformally invariant, each Mondrian diagram can be exactly translated to its corresponding physical loop integrand after being summed over all ordered subspaces that admit it.

Hybrid thrusters and reaction wheels strategy for large angle rapid reorientation with high precision

NASA Astrophysics Data System (ADS)

Ye, Dong; Sun, Zhaowei; Wu, Shunan

2012-08-01

The quaternion-based, high precision, large angle rapid reorientation of rigid spacecraft is the main problem investigated in this study. The operation is accomplished via a hybrid thrusters and reaction wheels strategy where thrusters are engaged in providing a primary maneuver torque in open loop, while reaction wheels provide fine control torque to achieve high precision in closed-loop control. The inaccuracy of thrusters is handled by a variable structure control (VSC). In addition, a signum function is mixed in the switching surface in VSC to produce a maneuver to the reference attitude trajectory in a shortest distance. Detailed proofs and numerical simulation examples are presented to illustrate all the technical aspects of this work.

A performance comparison of the IBM RS/6000 and the Astronautics ZS-1

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

Smith, W.M.; Abraham, S.G.; Davidson, E.S.

1991-01-01

Concurrent uniprocessor architectures, of which vector and superscalar are two examples, are designed to capitalize on fine-grain parallelism. The authors have developed a performance evaluation method for comparing and improving these architectures, and in this article they present the methodology and a detailed case study of two machines. The runtime of many programs is dominated by time spent in loop constructs - for example, Fortran Do-loops. Loops generally comprise two logical processes: The access process generates addresses for memory operations while the execute process operates on floating-point data. Memory access patterns typically can be generated independently of the data inmore » the execute process. This independence allows the access process to slip ahead, thereby hiding memory latency. The IBM 360/91 was designed in 1967 to achieve slip dynamically, at runtime. One CPU unit executes integer operations while another handles floating-point operations. Other machines, including the VAX 9000 and the IBM RS/6000, use a similar approach.« less

Computing black hole partition functions from quasinormal modes

DOE PAGES

Arnold, Peter; Szepietowski, Phillip; Vaman, Diana

2016-07-07

We propose a method of computing one-loop determinants in black hole space-times (with emphasis on asymptotically anti-de Sitter black holes) that may be used for numerics when completely-analytic results are unattainable. The method utilizes the expression for one-loop determinants in terms of quasinormal frequencies determined by Denef, Hartnoll and Sachdev in [1]. A numerical evaluation must face the fact that the sum over the quasinormal modes, indexed by momentum and overtone numbers, is divergent. A necessary ingredient is then a regularization scheme to handle the divergent contributions of individual fixed-momentum sectors to the partition function. To this end, we formulatemore » an effective two-dimensional problem in which a natural refinement of standard heat kernel techniques can be used to account for contributions to the partition function at fixed momentum. We test our method in a concrete case by reproducing the scalar one-loop determinant in the BTZ black hole background. Furthermore, we then discuss the application of such techniques to more complicated spacetimes.« less

Closed-loop recycling of construction and demolition waste in Germany in view of stricter environmental threshold values.

PubMed

Weil, Marcel; Jeske, Udo; Schebek, Liselotte

2006-06-01

Recycling of construction and demolition waste contributes decisively to the saving of natural mineral resources. In Germany, processed mineral construction and demolition waste from structural engineering is used nearly exclusively in civil engineering (earthwork and road construction sector) as open-loop recycling. Due to the planned stricter limit values for the protection of soil and water, however, this recycling path in civil engineering may no longer be applicable in the future. According to some new guidelines and standards adopted recently, recycled aggregates may also be used for concrete production in the structural engineering sector (closed-loop recycling). Wastes from the structural engineering sector can thus be kept in a closed cycle, and their disposal on a landfill can be avoided. The present report focuses on the determination of maximum waste volumes that may be handled by this new recycling option. Potential adverse effects on the saving of resources and climate protection have been analysed. For this purpose, materials flow analysis and ecobalancing methods have been used.

TSTA Piping and Flame Arrestor Operating Experience Data

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

Cadwallader, Lee C.; Willms, R. Scott

The Tritium Systems Test Assembly (TSTA) was a facility dedicated to tritium handling technology and experiment research at the Los Alamos National Laboratory. The facility operated from 1984 to 2001, running a prototype fusion fuel processing loop with ~100 grams of tritium as well as small experiments. There have been several operating experience reports written on this facility’s operation and maintenance experience. This paper describes analysis of two additional components from TSTA, small diameter gas piping that handled small amounts of tritium in a nitrogen carrier gas, and the flame arrestor used in this piping system. The operating experiences andmore » the component failure rates for these components are discussed in this paper. Comparison data from other applications are also presented.« less

An adaptive human response mechanism controlling the V/STOL aircraft. Appendix 3: The adaptive control model of a pilot in V/STOL aircraft control loops. M.S. Thesis. Final Report

NASA Technical Reports Server (NTRS)

Kucuk, Senol

1988-01-01

Importance of the role of human operator in control systems has led to the particular area of manual control theory. Human describing functions were developed to model human behavior for manual control studies to take advantage of the successful and safe human operations. A single variable approach is presented that can be extended for multi-variable tasks where a low order human response model is used together with its rules, to adapt the model on-line, being capable of responding to the changes in the controlled element dynamics. Basic control theory concepts are used to combine the model, constrained with the physical observations, particularly, for the case of aircraft control. Pilot experience is represented as the initial model parameters. An adaptive root-locus method is presented as the adaptation law of the model where the closed loop bandwidth of the system is to be preserved in a stable manner with the adjustments of the pilot handling qualities which relate the latter to the closed loop bandwidth and damping of the closed loop pilot aircraft combination. A Kalman filter parameter estimator is presented as the controlled element identifier of the adaptive model where any discrepancies of the open loop dynamics from the presented one, are sensed to be compensated.

Flying Quality Analysis of a JAS 39 Gripen Ministick Controller in an F/A-18 Aircraft

NASA Technical Reports Server (NTRS)

Carter, John F.; Stoliker, P. C.

2000-01-01

NASA Dryden conducted a handling qualities experiment using a small displacement centerstick controller that Saab-Scania developed for the JAS 39 Gripen aircraft. The centerstick, or ministick, was mounted in the rear cockpit of an F/A-18 aircraft. Production support flight control computers (PSFCC) provided a pilot-selectable research control system. The objectives for this experiment included determining whether the mechanical characteristics of the centerstick controller had any significant effect on the handling qualities of the F/A-18, and determining the usefulness of the PSFCCs for this kind of experiment. Five pilots evaluated closed-loop tracking tasks, including echelon and column formation flight and target following. Cooper-Harper ratings and pilot comments were collected for each maneuver. This paper describes the test system, including the PSFCCs, the Gripen centerstick, and the flight test experiment. The paper presents results of longitudinal handling qualities maneuvers, including low order equivalent systems, Neal-Smith, and controls anticipation parameter analyses. The experiment showed that, while the centerstick controller provided a different aircraft feel, few handling qualities deficiencies resulted. It also demonstrated that the PSFCCs were useful for this kind of investigation.

Evaluation of tantalum-alloy-clad uranium mononitride fuel specimens from 7500-hour, 1040 C pumped-lithium-loop test

NASA Technical Reports Server (NTRS)

Watson, G. K.

1974-01-01

Simulated nuclear fuel element specimens, consisting of uranium mononitride (UN) fuel cylinders clad with tungsten-lined T-111, were exposed for up to 7500 hr at 1040 C (1900 F) in a pumped-lithium loop. The lithium flow velocity was 1.5 m/sec (5 ft/sec) in the specimen test section. No evidence of any compatibility problems between the specimens and the flowing lithium was found based on appearance, weight change, chemistry, and metallography. Direct exposure of the UN to the lithium through a simulated cladding crack resulted in some erosion of the UN in the area of the defect. The T-111 cladding was ductile after lithium exposure, but it was sensitive to hydrogen embrittlement during post-test handling.

All two-loop maximally helicity-violating amplitudes in multi-Regge kinematics from applied symbology

NASA Astrophysics Data System (ADS)

Prygarin, Alexander; Spradlin, Marcus; Vergu, Cristian; Volovich, Anastasia

2012-04-01

Recent progress on scattering amplitudes has benefited from the mathematical technology of symbols for efficiently handling the types of polylogarithm functions which frequently appear in multiloop computations. The symbol for all two-loop maximally helicity violating amplitudes in planar supersymmetric Yang-Mills theory is known, but explicit analytic formulas for the amplitudes are hard to come by except in special limits where things simplify, such as multi-Regge kinematics. By applying symbology we obtain a formula for the leading behavior of the imaginary part (the Mandelstam cut contribution) of this amplitude in multi-Regge kinematics for any number of gluons. Our result predicts a simple recursive structure which agrees with a direct Balitsky-Fadin-Kuraev-Lipatov computation carried out in a parallel publication.

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.

Data reduction programs for a laser radar system

NASA Technical Reports Server (NTRS)

Badavi, F. F.; Copeland, G. E.

1984-01-01

The listing and description of software routines which were used to analyze the analog data obtained from LIDAR - system are given. All routines are written in FORTRAN - IV on a HP - 1000/F minicomputer which serves as the heart of the data acquisition system for the LIDAR program. This particular system has 128 kilobytes of highspeed memory and is equipped with a Vector Instruction Set (VIS) firmware package, which is used in all the routines, to handle quick execution of different long loops. The system handles floating point arithmetic in hardware in order to enhance the speed of execution. This computer is a 2177 C/F series version of HP - 1000 RTE-IVB data acquisition computer system which is designed for real time data capture/analysis and disk/tape mass storage environment.

Electromechanical actuator for the tongs of a servomanipulator

DOEpatents

Martin, H. Lee; Killough, Stephen M.

1986-01-01

Computer-augmented electromechanical system is provided for controlling the tongs of a servomanipulator. The mechanical tongs are motor-driven through the remote slave arm of the manipulator, and the motor control current is supplied by a position sensor which senses the position of a spring-loaded trigger in the master arm handle on the manipulator. The actuator for the tongs provides the operator with artificial force reflection in a unilateral force-force control loop.

A preliminary look at an optimal multivariable design for propulsion-only flight control of jet-transport aircraft

NASA Technical Reports Server (NTRS)

Azzano, Christopher P.

1992-01-01

Control of a large jet transport aircraft without the use of conventional control surfaces was studied. Engine commands were used to attempt to recreate the forces and moments typically provided by the elevator, ailerons, and rudder. Necessary conditions for aircraft controllability were developed pertaining to aircraft configuration such as the number of engines and engine placement. An optimal linear quadratic regulator controller was developed for the Boeing 707-720, in particular, for regulation of its natural dynamic modes. The design used a method of assigning relative weights to the natural modes, i.e., phugoid and dutch roll, for a more intuitive selection of the cost function. A prototype pilot command interface was then integrated into the loop based on pseudorate command of both pitch and roll. Closed loop dynamics were evaluated first with a batch linear simulation and then with a real time high fidelity piloted simulation. The NASA research pilots assisted in evaluation of closed loop handling qualities for typical cruise and landing tasks. Recommendations for improvement on this preliminary study of optimal propulsion only flight control are provided.

Automatic calculation of supersymmetric renormalization group equations and loop corrections

NASA Astrophysics Data System (ADS)

Staub, Florian

2011-03-01

SARAH is a Mathematica package for studying supersymmetric models. It calculates for a given model the masses, tadpole equations and all vertices at tree-level. This information can be used by SARAH to write model files for CalcHep/ CompHep or FeynArts/ FormCalc. In addition, the second version of SARAH can derive the renormalization group equations for the gauge couplings, parameters of the superpotential and soft-breaking parameters at one- and two-loop level. Furthermore, it calculates the one-loop self-energies and the one-loop corrections to the tadpoles. SARAH can handle all N=1 SUSY models whose gauge sector is a direct product of SU(N) and U(1) gauge groups. The particle content of the model can be an arbitrary number of chiral superfields transforming as any irreducible representation with respect to the gauge groups. To implement a new model, the user has just to define the gauge sector, the particle, the superpotential and the field rotations to mass eigenstates. Program summaryProgram title: SARAH Catalogue identifier: AEIB_v1_0 Program summary URL:http://cpc.cs.qub.ac.uk/summaries/AEIB_v1_0.html Program obtainable from: CPC Program Library, Queen's University, Belfast, N. Ireland Licensing provisions: Standard CPC licence, http://cpc.cs.qub.ac.uk/licence/licence.html No. of lines in distributed program, including test data, etc.: 97 577 No. of bytes in distributed program, including test data, etc.: 2 009 769 Distribution format: tar.gz Programming language: Mathematica Computer: All systems that Mathematica is available for Operating system: All systems that Mathematica is available for Classification: 11.1, 11.6 Nature of problem: A supersymmetric model is usually characterized by the particle content, the gauge sector and the superpotential. It is a time consuming process to obtain all necessary information for phenomenological studies from these basic ingredients. Solution method: SARAH calculates the complete Lagrangian for a given model whose gauge sector can be any direct product of SU(N) gauge groups. The chiral superfields can transform as any, irreducible representation with respect to these gauge groups and it is possible to handle an arbitrary number of symmetry breakings or particle rotations. Also the gauge fixing terms can be specified. Using this information, SARAH derives the mass matrices and Feynman rules at tree-level and generates model files for CalcHep/CompHep and FeynArts/FormCalc. In addition, it can calculate the renormalization group equations at one- and two-loop level and the one-loop corrections to the one- and two-point functions. Unusual features: SARAH just needs the superpotential and gauge sector as input and not the complete Lagrangian. Therefore, the complete implementation of new models is done in some minutes. Running time: Measured CPU time for the evaluation of the MSSM on an Intel Q8200 with 2.33 GHz. Calculating the complete Lagrangian: 12 seconds. Calculating all vertices: 75 seconds. Calculating the one- and two-loop RGEs: 50 seconds. Calculating the one-loop corrections: 7 seconds. Writing a FeynArts file: 1 second. Writing a CalcHep/CompHep file: 6 seconds. Writing the LaTeX output: 1 second.

Numerical evaluation of multi-loop integrals for arbitrary kinematics with SecDec 2.0

NASA Astrophysics Data System (ADS)

Borowka, Sophia; Carter, Jonathon; Heinrich, Gudrun

2013-02-01

We present the program SecDec 2.0, which contains various new features. First, it allows the numerical evaluation of multi-loop integrals with no restriction on the kinematics. Dimensionally regulated ultraviolet and infrared singularities are isolated via sector decomposition, while threshold singularities are handled by a deformation of the integration contour in the complex plane. As an application, we present numerical results for various massive two-loop four-point diagrams. SecDec 2.0 also contains new useful features for the calculation of more general parameter integrals, related for example to phase space integrals. Program summaryProgram title: SecDec 2.0 Catalogue identifier: AEIR_v2_0 Program summary URL:http://cpc.cs.qub.ac.uk/summaries/AEIR_v2_0.html Program obtainable from: CPC Program Library, Queen's University, Belfast, N. Ireland Licensing provisions: Standard CPC licence, http://cpc.cs.qub.ac.uk/licence/licence.html No. of lines in distributed program, including test data, etc.: 156829 No. of bytes in distributed program, including test data, etc.: 2137907 Distribution format: tar.gz Programming language: Wolfram Mathematica, Perl, Fortran/C++. Computer: From a single PC to a cluster, depending on the problem. Operating system: Unix, Linux. RAM: Depending on the complexity of the problem Classification: 4.4, 5, 11.1. Catalogue identifier of previous version: AEIR_v1_0 Journal reference of previous version: Comput. Phys. Comm. 182(2011)1566 Does the new version supersede the previous version?: Yes Nature of problem: Extraction of ultraviolet and infrared singularities from parametric integrals appearing in higher order perturbative calculations in gauge theories. Numerical integration in the presence of integrable singularities (e.g., kinematic thresholds). Solution method: Algebraic extraction of singularities in dimensional regularization using iterated sector decomposition. This leads to a Laurent series in the dimensional regularization parameter ɛ, where the coefficients are finite integrals over the unit hypercube. Those integrals are evaluated numerically by Monte Carlo integration. The integrable singularities are handled by choosing a suitable integration contour in the complex plane, in an automated way. Reasons for new version: In the previous version the calculation of multi-scale integrals was restricted to the Euclidean region. Now multi-loop integrals with arbitrary physical kinematics can be evaluated. Another major improvement is the possibility of full parallelization. Summary of revisions: No restriction on the kinematics for multi-loop integrals. The integrand can be constructed from the topological cuts of the diagram. Possibility of full parallelization. Numerical integration of multi-loop integrals written in C++ rather than Fortran. Possibility to loop over ranges of parameters. Restrictions: Depending on the complexity of the problem, limited by memory and CPU time. The restriction that multi-scale integrals could only be evaluated at Euclidean points is superseded in version 2.0. Running time: Between a few minutes and several days, depending on the complexity of the problem. Test runs provided take only seconds.

Mining protein loops using a structural alphabet and statistical exceptionality

PubMed Central

2010-01-01

Background Protein loops encompass 50% of protein residues in available three-dimensional structures. These regions are often involved in protein functions, e.g. binding site, catalytic pocket... However, the description of protein loops with conventional tools is an uneasy task. Regular secondary structures, helices and strands, have been widely studied whereas loops, because they are highly variable in terms of sequence and structure, are difficult to analyze. Due to data sparsity, long loops have rarely been systematically studied. Results We developed a simple and accurate method that allows the description and analysis of the structures of short and long loops using structural motifs without restriction on loop length. This method is based on the structural alphabet HMM-SA. HMM-SA allows the simplification of a three-dimensional protein structure into a one-dimensional string of states, where each state is a four-residue prototype fragment, called structural letter. The difficult task of the structural grouping of huge data sets is thus easily accomplished by handling structural letter strings as in conventional protein sequence analysis. We systematically extracted all seven-residue fragments in a bank of 93000 protein loops and grouped them according to the structural-letter sequence, named structural word. This approach permits a systematic analysis of loops of all sizes since we consider the structural motifs of seven residues rather than complete loops. We focused the analysis on highly recurrent words of loops (observed more than 30 times). Our study reveals that 73% of loop-lengths are covered by only 3310 highly recurrent structural words out of 28274 observed words). These structural words have low structural variability (mean RMSd of 0.85 Å). As expected, half of these motifs display a flanking-region preference but interestingly, two thirds are shared by short (less than 12 residues) and long loops. Moreover, half of recurrent motifs exhibit a significant level of amino-acid conservation with at least four significant positions and 87% of long loops contain at least one such word. We complement our analysis with the detection of statistically over-represented patterns of structural letters as in conventional DNA sequence analysis. About 30% (930) of structural words are over-represented, and cover about 40% of loop lengths. Interestingly, these words exhibit lower structural variability and higher sequential specificity, suggesting structural or functional constraints. Conclusions We developed a method to systematically decompose and study protein loops using recurrent structural motifs. This method is based on the structural alphabet HMM-SA and not on structural alignment and geometrical parameters. We extracted meaningful structural motifs that are found in both short and long loops. To our knowledge, it is the first time that pattern mining helps to increase the signal-to-noise ratio in protein loops. This finding helps to better describe protein loops and might permit to decrease the complexity of long-loop analysis. Detailed results are available at http://www.mti.univ-paris-diderot.fr/publication/supplementary/2009/ACCLoop/. PMID:20132552

Mining protein loops using a structural alphabet and statistical exceptionality.

PubMed

Regad, Leslie; Martin, Juliette; Nuel, Gregory; Camproux, Anne-Claude

2010-02-04

Protein loops encompass 50% of protein residues in available three-dimensional structures. These regions are often involved in protein functions, e.g. binding site, catalytic pocket... However, the description of protein loops with conventional tools is an uneasy task. Regular secondary structures, helices and strands, have been widely studied whereas loops, because they are highly variable in terms of sequence and structure, are difficult to analyze. Due to data sparsity, long loops have rarely been systematically studied. We developed a simple and accurate method that allows the description and analysis of the structures of short and long loops using structural motifs without restriction on loop length. This method is based on the structural alphabet HMM-SA. HMM-SA allows the simplification of a three-dimensional protein structure into a one-dimensional string of states, where each state is a four-residue prototype fragment, called structural letter. The difficult task of the structural grouping of huge data sets is thus easily accomplished by handling structural letter strings as in conventional protein sequence analysis. We systematically extracted all seven-residue fragments in a bank of 93000 protein loops and grouped them according to the structural-letter sequence, named structural word. This approach permits a systematic analysis of loops of all sizes since we consider the structural motifs of seven residues rather than complete loops. We focused the analysis on highly recurrent words of loops (observed more than 30 times). Our study reveals that 73% of loop-lengths are covered by only 3310 highly recurrent structural words out of 28274 observed words). These structural words have low structural variability (mean RMSd of 0.85 A). As expected, half of these motifs display a flanking-region preference but interestingly, two thirds are shared by short (less than 12 residues) and long loops. Moreover, half of recurrent motifs exhibit a significant level of amino-acid conservation with at least four significant positions and 87% of long loops contain at least one such word. We complement our analysis with the detection of statistically over-represented patterns of structural letters as in conventional DNA sequence analysis. About 30% (930) of structural words are over-represented, and cover about 40% of loop lengths. Interestingly, these words exhibit lower structural variability and higher sequential specificity, suggesting structural or functional constraints. We developed a method to systematically decompose and study protein loops using recurrent structural motifs. This method is based on the structural alphabet HMM-SA and not on structural alignment and geometrical parameters. We extracted meaningful structural motifs that are found in both short and long loops. To our knowledge, it is the first time that pattern mining helps to increase the signal-to-noise ratio in protein loops. This finding helps to better describe protein loops and might permit to decrease the complexity of long-loop analysis. Detailed results are available at http://www.mti.univ-paris-diderot.fr/publication/supplementary/2009/ACCLoop/.

Fixed-base simulator study of the effect of time delays in visual cues on pilot tracking performance

NASA Technical Reports Server (NTRS)

Queijo, M. J.; Riley, D. R.

1975-01-01

Factors were examined which determine the amount of time delay acceptable in the visual feedback loop in flight simulators. Acceptable time delays are defined as delays which significantly affect neither the results nor the manner in which the subject 'flies' the simulator. The subject tracked a target aircraft as it oscillated sinusoidally in a vertical plane only. The pursuing aircraft was permitted five degrees of freedom. Time delays of from 0.047 to 0.297 second were inserted in the visual feedback loop. A side task was employed to maintain the workload constant and to insure that the pilot was fully occupied during the experiment. Tracking results were obtained for 17 aircraft configurations having different longitudinal short-period characteristics. Results show a positive correlation between improved handling qualities and a longer acceptable time delay.

Research developing closed loop roll control for magnetic balance systems

NASA Technical Reports Server (NTRS)

Covert, E. E.; Haldeman, C. W.

1981-01-01

Computer inputs were interfaced to the magnetic balance outputs to provide computer position control and data acquisition. The use of parameter identification of a means of determining dynamic characteristics was investigated. The thyraton and motor generator power supplies for the pitch and yaw degrees of freedom were repaired. Topics covered include: choice of a method for handling dynamic system data; applications to the magnetic balance; the computer interface; and wind tunnel tests, results, and error analysis.

Circulation system for flowing uranium hexafluoride cavity reactor experiments

NASA Technical Reports Server (NTRS)

Jaminet, J. F.; Kendall, J. S.

1976-01-01

Research related to determining the feasibility of producing continuous power from fissile fuel in the gaseous state is presented. The development of three laboratory-scale flow systems for handling gaseous UF6 at temperatures up to 500 K, pressure up to approximately 40 atm, and continuous flow rates up to approximately 50g/s is presented. A UF6 handling system fabricated for static critical tests currently being conducted is described. The system was designed to supply UF6 to a double-walled aluminum core canister assembly at temperatures between 300 K and 400 K and pressure up to 4 atm. A second UF6 handling system designed to provide a circulating flow of up to 50g/s of gaseous UF6 in a closed-loop through a double-walled aluminum core canister with controlled temperature and pressure is described. Data from flow tests using UF6 and UF6/He mixtures with this system at flow rates up to approximately 12g/s and pressure up to 4 atm are presented. A third UF6 handling system fabricated to provide a continuous flow of UF6 at flow rates up to 5g/s and at pressures up to 40 atm for use in rf-heated, uranium plasma confinement experiments is described.

Effect of lift-to-drag ratio in pilot rating of the HL-20 landing task

NASA Technical Reports Server (NTRS)

Jackson, E. B.; Rivers, Robert A.; Bailey, Melvin L.

1993-01-01

A man-in-the-loop simulation study of the handling qualities of the HL-20 lifting-body vehicle was made in a fixed-base simulation cockpit at NASA Langley Research Center. The purpose of the study was to identify and substantiate opportunities for improving the original design of the vehicle from a handling qualities and landing performance perspective. Using preliminary wind-tunnel data, a subsonic aerodynamic model of the HL-20 was developed. This model was adequate to simulate the last 75-90 s of the approach and landing. A simple flight-control system was designed and implemented. Using this aerodynamic model as a baseline, visual approaches and landings were made at several vehicle lift-to-drag ratios. Pilots rated the handling characteristics of each configuration using a conventional numerical pilot-rating scale. Results from the study showed a high degree of correlation between the lift-to-drag ratio and pilot rating. Level 1 pilot ratings were obtained when the L/D ratio was approximately 3.8 or higher.

Effect of lift-to-drag ratio in pilot rating of the HL-20 landing task

NASA Astrophysics Data System (ADS)

Jackson, E. B.; Rivers, Robert A.; Bailey, Melvin L.

1993-10-01

A man-in-the-loop simulation study of the handling qualities of the HL-20 lifting-body vehicle was made in a fixed-base simulation cockpit at NASA Langley Research Center. The purpose of the study was to identify and substantiate opportunities for improving the original design of the vehicle from a handling qualities and landing performance perspective. Using preliminary wind-tunnel data, a subsonic aerodynamic model of the HL-20 was developed. This model was adequate to simulate the last 75-90 s of the approach and landing. A simple flight-control system was designed and implemented. Using this aerodynamic model as a baseline, visual approaches and landings were made at several vehicle lift-to-drag ratios. Pilots rated the handling characteristics of each configuration using a conventional numerical pilot-rating scale. Results from the study showed a high degree of correlation between the lift-to-drag ratio and pilot rating. Level 1 pilot ratings were obtained when the L/D ratio was approximately 3.8 or higher.

Effect of handling characteristics on minimum time cornering with torque vectoring

NASA Astrophysics Data System (ADS)

Smith, E. N.; Velenis, E.; Tavernini, D.; Cao, D.

2018-02-01

In this paper, the effect of both passive and actively-modified vehicle handling characteristics on minimum time manoeuvring for vehicles with 4-wheel torque vectoring (TV) capability is studied. First, a baseline optimal TV strategy is sought, independent of any causal control law. An optimal control problem (OCP) is initially formulated considering 4 independent wheel torque inputs, together with the steering angle rate, as the control variables. Using this formulation, the performance benefit using TV against an electric drive train with a fixed torque distribution, is demonstrated. The sensitivity of TV-controlled manoeuvre time to the passive understeer gradient of the vehicle is then studied. A second formulation of the OCP is introduced where a closed-loop TV controller is incorporated into the system dynamics of the OCP. This formulation allows the effect of actively modifying a vehicle's handling characteristic via TV on its minimum time cornering performance of the vehicle to be assessed. In particular, the effect of the target understeer gradient as the key tuning parameter of the literature-standard steady-state linear single-track model yaw rate reference is analysed.

Compensation for time delay in flight simulator visual-display systems

NASA Technical Reports Server (NTRS)

Crane, D. F.

1983-01-01

A piloted aircraft can be viewed as a closed-loop, man-machine control system. When a simulator pilot is performing a precision maneuver, a delay in the visual display of aircraft response to pilot-control input decreases the stability of the pilot-aircraft system. The less stable system is more difficult to control precisely. Pilot dynamic response and performance change as the pilot attempts to compensate for the decrease in system stability, and these changes bias the simulation results by influencing the pilot's rating of the handling qualities of the simulated aircraft. Delay compensation, designed to restore pilot-aircraft system stability, was evaluated in several studies which are reported here. The studies range from single-axis, tracking-task experiments (with sufficient subjects and trials to establish statistical significance of the results) to a brief evaluation of compensation of a computer-generated-imagery (CGI) visual display system in a full six-degree-of-freedom simulation. The compensation was effective - improvements in pilot performance and workload or aircraft handling-qualities rating (HQR) were observed. Results from recent aircraft handling-qualities research literature which support the compensation design approach are also reviewed.

Controls design with crossfeeds for hovering rotorcraft using quantitative feedback theory

NASA Technical Reports Server (NTRS)

Tischler, Mark B.; Biezad, Daniel J.; Cheng, Rendy

1996-01-01

A multi-input, multi-output controls design with dynamic crossfeed pre-compensation is presented for rotorcraft in near-hovering flight using Quantitative Feedback Theory (QFT). The resulting closed-loop control system bandwidth allows the rotorcraft to be considered for use as an inflight simulator. The use of dynamic, robust crossfeeds prior to the QFT design reduces the magnitude of required feedback gain and results in performance that meets most handling qualities specifications relative to the decoupling of off-axis responses. Handling qualities are Level 1 for both low-gain tasks and high-gain tasks in the roll, pitch, and yaw axes except for the 10 deg/sec moderate-amplitude yaw command where the rotorcraft exhibits Level 2 handling qualities in the yaw axis caused by phase lag. The combined effect of the QFT feedback design following the implementation of low-order, dynamic crossfeed compensators successfully decouples ten of twelve off-axis channels. For the other two channels it was not possible to find a single, low-order crossfeed that was effective. This is an area to be investigated in future research.

A novel integrated chassis controller for full drive-by-wire vehicles

NASA Astrophysics Data System (ADS)

Song, Pan; Tomizuka, Masayoshi; Zong, Changfu

2015-02-01

In this paper, a systematic design with multiple hierarchical layers is adopted in the integrated chassis controller for full drive-by-wire vehicles. A reference model and the optimal preview acceleration driver model are utilised in the driver control layer to describe and realise the driver's anticipation of the vehicle's handling characteristics, respectively. Both the sliding mode control and terminal sliding mode control techniques are employed in the vehicle motion control (MC) layer to determine the MC efforts such that better tracking performance can be attained. In the tyre force allocation layer, a polygonal simplification method is proposed to deal with the constraints of the tyre adhesive limits efficiently and effectively, whereby the load transfer due to both roll and pitch is also taken into account which directly affects the constraints. By calculating the motor torque and steering angle of each wheel in the executive layer, the total workload of four wheels is minimised during normal driving, whereas the MC efforts are maximised in extreme handling conditions. The proposed controller is validated through simulation to improve vehicle stability and handling performance in both open- and closed-loop manoeuvres.

Experiment Needs and Facilities Study Appendix A Transient Reactor Test Facility (TREAT) Upgrade

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

None

The TREAT Upgrade effort is designed to provide significant new capabilities to satisfy experiment requirements associated with key LMFBR Safety Issues. The upgrade consists of reactor-core modifications to supply the physics performance needed for the new experiments, an Advanced TREAT loop with size and thermal-hydraulics capabilities needed for the experiments, associated interface equipment for loop operations and handling, and facility modifications necessary to accommodate operations with the Loop. The costs and schedules of the tasks to be accomplished under the TREAT Upgrade project are summarized. Cost, including contingency, is about 10 million dollars (1976 dollars). A schedule for execution ofmore » 36 months has been established to provide the new capabilities in order to provide timely support of the LMFBR national effort. A key requirement for the facility modifications is that the reactor availability will not be interrupted for more than 12 weeks during the upgrade. The Advanced TREAT loop is the prototype for the STF small-bundle package loop. Modified TREAT fuel elements contain segments of graphite-matrix fuel with graded uranium loadings similar to those of STF. In addition, the TREAT upgrade provides for use of STF-like stainless steel-UO{sub 2} TREAT fuel for tests of fully enriched fuel bundles. This report will introduce the Upgrade study by presenting a brief description of the scope, performance capability, safety considerations, cost schedule, and development requirements. This work is followed by a "Design Description". Because greatly upgraded loop performance is central to the upgrade, a description is given of Advanced TREAT loop requirements prior to description of the loop concept. Performance requirements of the upgraded reactor system are given. An extensive discussion of the reactor physics calculations performed for the Upgrade concept study is provided. Adequate physics performance is essential for performance of experiments with the Advanced TREAT loop, and the stress placed on these calculations reflects this. Additional material on performance and safety is provided. Backup calculations on calculations of plutonium-release limits are described. Cost and schedule information for the Upgrade are presented.« less

UH-60A Black Hawk engineering simulation program. Volume 1: Mathematical model

NASA Technical Reports Server (NTRS)

Howlett, J. J.

1981-01-01

A nonlinear mathematical model of the UR-60A Black Hawk helicopter was developed. This mathematical model, which was based on the Sikorsky General Helicopter (Gen Hel) Flight Dynamics Simulation, provides NASA with an engineering simulation for performance and handling qualities evaluations. This mathematical model is total systems definition of the Black Hawk helicopter represented at a uniform level of sophistication considered necessary for handling qualities evaluations. The model is a total force, large angle representation in six rigid body degrees of freedom. Rotor blade flapping, lagging, and hub rotational degrees of freedom are also represented. In addition to the basic helicopter modules, supportive modules were defined for the landing interface, power unit, ground effects, and gust penetration. Information defining the cockpit environment relevant to pilot in the loop simulation is presented.

The integrated manual and automatic control of complex flight systems

NASA Technical Reports Server (NTRS)

Schmidt, David K.

1991-01-01

Research dealt with the general area of optimal flight control synthesis for manned flight vehicles. The work was generic; no specific vehicle was the focus of study. However, the class of vehicles generally considered were those for which high authority, multivariable control systems might be considered, for the purpose of stabilization and the achievement of optimal handling characteristics. Within this scope, the topics of study included several optimal control synthesis techniques, control-theoretic modeling of the human operator in flight control tasks, and the development of possible handling qualities metrics and/or measures of merit. Basic contributions were made in all these topics, including human operator (pilot) models for multi-loop tasks, optimal output feedback flight control synthesis techniques; experimental validations of the methods developed, and fundamental modeling studies of the air-to-air tracking and flared landing tasks.

Integrated Aerodynamic and Control System Design of Oblique Wing Aircraft. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Morris, Stephen James

1990-01-01

An efficient high speed aircraft design must achieve a high lift to drag ratio at transonic and supersonic speeds. In 1952 Dr. R. T. Jones proved that for any flight Mach number minimum drag at a fixed lift is achieved by an elliptic wing planform with an appropriate oblique sweep angle. Since then, wind tunnel tests and numerical flow models have confirmed that the compressibility drag of oblique wing aircraft is lower than similar symmetrical sweep designs. At oblique sweep angles above thirty degrees the highly asymmetric planform gives rise to aerodynamic and inertia couplings which affect stability and degrade the aircraft's handling qualities. In the case of the NASA-Rockwell Oblique Wing Research Aircraft, attempts to improve the handling qualities by implementing a stability augmentation system have produced unsatisfactory results because of an inherent lack of controllability in the proposed design. The present work focuses on improving the handling qualities of oblique wing aircraft by including aerodynamic configuration parameters as variables in the control system synthesis to provide additional degrees of freedom with which to further decouple the aircraft's response. Handling qualities are measured using a quadratic cost function identical to that considered in optimal control problems, but the controller architecture is not restricted to full state feedback. An optimization procedure is used to simultaneously solve for the aircraft configuration and control gains which maximize a handling qualities measure, while meeting imposed constraints on trim. In some designs wing flexibility is also modeled and reduced order controllers are implemented. Oblique wing aircraft synthesized by this integrated design method show significant improvement in handling qualities when compared to the originally proposed closed loop aircraft. The integrated design synthesis method is then extended to show how handling qualities may be traded for other types of mission performance (drag, weight, etc.). Examples are presented which show how performance can be maximized while maintaining a desired level of handling quality.

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

Distributed memory compiler methods for irregular problems: Data copy reuse and runtime partitioning

NASA Technical Reports Server (NTRS)

Das, Raja; Ponnusamy, Ravi; Saltz, Joel; Mavriplis, Dimitri

1991-01-01

Outlined here are two methods which we believe will play an important role in any distributed memory compiler able to handle sparse and unstructured problems. We describe how to link runtime partitioners to distributed memory compilers. In our scheme, programmers can implicitly specify how data and loop iterations are to be distributed between processors. This insulates users from having to deal explicitly with potentially complex algorithms that carry out work and data partitioning. We also describe a viable mechanism for tracking and reusing copies of off-processor data. In many programs, several loops access the same off-processor memory locations. As long as it can be verified that the values assigned to off-processor memory locations remain unmodified, we show that we can effectively reuse stored off-processor data. We present experimental data from a 3-D unstructured Euler solver run on iPSC/860 to demonstrate the usefulness of our methods.

A fast and accurate dihedral interpolation loop subdivision scheme

NASA Astrophysics Data System (ADS)

Shi, Zhuo; An, Yalei; Wang, Zhongshuai; Yu, Ke; Zhong, Si; Lan, Rushi; Luo, Xiaonan

2018-04-01

In this paper, we propose a fast and accurate dihedral interpolation Loop subdivision scheme for subdivision surfaces based on triangular meshes. In order to solve the problem of surface shrinkage, we keep the limit condition unchanged, which is important. Extraordinary vertices are handled using modified Butterfly rules. Subdivision schemes are computationally costly as the number of faces grows exponentially at higher levels of subdivision. To address this problem, our approach is to use local surface information to adaptively refine the model. This is achieved simply by changing the threshold value of the dihedral angle parameter, i.e., the angle between the normals of a triangular face and its adjacent faces. We then demonstrate the effectiveness of the proposed method for various 3D graphic triangular meshes, and extensive experimental results show that it can match or exceed the expected results at lower computational cost.

Evaluation of peristaltic micromixers for highly integrated microfluidic systems

PubMed Central

Kim, Duckjong; Rho, Hoon Suk; Jambovane, Sachin; Shin, Soojeong; Hong, Jong Wook

2016-01-01

Microfluidic devices based on the multilayer soft lithography allow accurate manipulation of liquids, handling reagents at the sub-nanoliter level, and performing multiple reactions in parallel processors by adapting micromixers. Here, we have experimentally evaluated and compared several designs of micromixers and operating conditions to find design guidelines for the micromixers. We tested circular, triangular, and rectangular mixing loops and measured mixing performance according to the position and the width of the valves that drive nanoliters of fluids in the micrometer scale mixing loop. We found that the rectangular mixer is best for the applications of highly integrated microfluidic platforms in terms of the mixing performance and the space utilization. This study provides an improved understanding of the flow behaviors inside micromixers and design guidelines for micromixers that are critical to build higher order fluidic systems for the complicated parallel bio/chemical processes on a chip. PMID:27036809

A Reconfiguration Scheme for Accommodating Actuator Failures in Multi-Input, Multi-Output Flight Control Systems

NASA Technical Reports Server (NTRS)

Siwakosit, W.; Hess, R. A.; Bacon, Bart (Technical Monitor); Burken, John (Technical Monitor)

2000-01-01

A multi-input, multi-output reconfigurable flight control system design utilizing a robust controller and an adaptive filter is presented. The robust control design consists of a reduced-order, linear dynamic inversion controller with an outer-loop compensation matrix derived from Quantitative Feedback Theory (QFT). A principle feature of the scheme is placement of the adaptive filter in series with the QFT compensator thus exploiting the inherent robustness of the nominal flight control system in the presence of plant uncertainties. An example of the scheme is presented in a pilot-in-the-loop computer simulation using a simplified model of the lateral-directional dynamics of the NASA F18 High Angle of Attack Research Vehicle (HARV) that included nonlinear anti-wind up logic and actuator limitations. Prediction of handling qualities and pilot-induced oscillation tendencies in the presence of these nonlinearities is included in the example.

Theoretical linear approach to the combined man-manipulator system in manual control of an aircraft

NASA Technical Reports Server (NTRS)

Brauser, K.

1981-01-01

An approach to the calculation of the dynamic characteristics of the combined man manipulator system in manual aircraft control was derived from a model of the neuromuscular system. This model combines the neuromuscular properties of man with the physical properties of the manipulator system which is introduced as pilot manipulator model into the manual aircraft control. The assumption of man as a quasilinear and time invariant control operator adapted to operating states, depending on the flight phases, of the control system gives rise to interesting solutions of the frequency domain transfer functions of both the man manipulator system and the closed loop pilot aircraft control system. It is shown that it is necessary to introduce the complete precision pilot manipulator model into the closed loop pilot aircraft transfer function in order to understand the well known handling quality criteria, and to derive these criteria directly from human operator properties.

Evaluation of peristaltic micromixers for highly integrated microfluidic systems

NASA Astrophysics Data System (ADS)

Kim, Duckjong; Rho, Hoon Suk; Jambovane, Sachin; Shin, Soojeong; Hong, Jong Wook

2016-03-01

Microfluidic devices based on the multilayer soft lithography allow accurate manipulation of liquids, handling reagents at the sub-nanoliter level, and performing multiple reactions in parallel processors by adapting micromixers. Here, we have experimentally evaluated and compared several designs of micromixers and operating conditions to find design guidelines for the micromixers. We tested circular, triangular, and rectangular mixing loops and measured mixing performance according to the position and the width of the valves that drive nanoliters of fluids in the micrometer scale mixing loop. We found that the rectangular mixer is best for the applications of highly integrated microfluidic platforms in terms of the mixing performance and the space utilization. This study provides an improved understanding of the flow behaviors inside micromixers and design guidelines for micromixers that are critical to build higher order fluidic systems for the complicated parallel bio/chemical processes on a chip.

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

NASA Astrophysics Data System (ADS)

Gros, Sebastien; Schild, Axel

2017-12-01

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

Fabrication and testing of microchannel heat exchangers

NASA Astrophysics Data System (ADS)

Cuta, Judith M.; Bennett, Wendy D.; McDonald, Carolyn E.; Ravigururajan, T. S.

1995-09-01

Micro-channel heat-exchanger test articles were fabricated and performance tested. The heat exchangers are being developed for innovative applications, and have been shown to be capable of handling heat loads of up to 100 W/cm2. The test articles were fabricated to represent two different designs for the micro-channel portion of the heat exchanger. One design consists of 166 micro-channels etched in silicon substrate, and a second design consists of 54 micro-channels machined in copper substrate. The devices were tested in an experimental loop designed for performance testing in single- and two-phase flow with water and R124. Pressure and liquid subcooling can be regulated over the range of interest, and a secondary heat removal loop provides stable loop performance for steady-state tests. The selected operating pressures are approximately 0.344 MPa for distilled water and 0.689 MPa for R124. The temperature ranges are 15.5 to 138 C for distilled water and 15.5 to 46 C for R-124. The mass flow range 7.6 X 10-8 to 7.6 X 10MIN5 kg/min for both distilled water and R124.

Sampling-based real-time motion planning under state uncertainty for autonomous micro-aerial vehicles in GPS-denied environments.

PubMed

Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

2014-11-18

This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints.

Sampling-Based Real-Time Motion Planning under State Uncertainty for Autonomous Micro-Aerial Vehicles in GPS-Denied Environments

PubMed Central

Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

2014-01-01

This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints. PMID:25412217

Human Factors in Streaming Data Analysis: Challenges and Opportunities for Information Visualization: Human Factors in Streaming Data Analysis

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

Dasgupta, Aritra; Arendt, Dustin L.; Franklin, Lyndsey R.

Real-world systems change continuously and across domains like traffic monitoring, cyber security, etc., such changes occur within short time scales. This leads to a streaming data problem and produces unique challenges for the human in the loop, as analysts have to ingest and make sense of dynamic patterns in real time. In this paper, our goal is to study how the state-of-the-art in streaming data visualization handles these challenges and reflect on the gaps and opportunities. To this end, we have three contributions: i) problem characterization for identifying domain-specific goals and challenges for handling streaming data, ii) a survey andmore » analysis of the state-of-the-art in streaming data visualization research with a focus on the visualization design space, and iii) reflections on the perceptually motivated design challenges and potential research directions for addressing them.« less

Multi-objective LQR with optimum weight selection to design FOPID controllers for delayed fractional order processes.

PubMed

Das, Saptarshi; Pan, Indranil; Das, Shantanu

2015-09-01

An optimal trade-off design for fractional order (FO)-PID controller is proposed with a Linear Quadratic Regulator (LQR) based technique using two conflicting time domain objectives. A class of delayed FO systems with single non-integer order element, exhibiting both sluggish and oscillatory open loop responses, have been controlled here. The FO time delay processes are handled within a multi-objective optimization (MOO) formalism of LQR based FOPID design. A comparison is made between two contemporary approaches of stabilizing time-delay systems withinLQR. The MOO control design methodology yields the Pareto optimal trade-off solutions between the tracking performance and total variation (TV) of the control signal. Tuning rules are formed for the optimal LQR-FOPID controller parameters, using median of the non-dominated Pareto solutions to handle delayed FO processes. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Some Properties of Topological Geons

NASA Astrophysics Data System (ADS)

Bugajska, Krystyna

1987-07-01

We investigate the Finkelstein-Misner geons for a non-simply-connected space-time manifold ( M, g 0). We use relations between different Lorentzian structures unequivalent to g 0 and topological properties of M given by the Morse theory. It implies that to some pieces of geons we have to associate Wheeler's “worm-holes.” Geons that correspond to time-orientable Lorentz structures are related to g 0 by Morse functions that describe the attaching of a handle of index one. In the case of geons associated to time-nonorientable Lorentzian structures, appropriate handles are related to loops along which the notion of time reverses. If we assume electromagnetic properties of geons, then only four species, “ v”, “ e”, “ p”, “ m”, of different geons can exist and geon “ m” has to decay according to “ m”→“ v”+“ p”+“ e”.

Handling properties of diverse automobiles and correlation with full scale response data. [driver/vehicle response to aerodynamic disturbances

NASA Technical Reports Server (NTRS)

Hoh, R. H.; Weir, D. H.

1973-01-01

Driver/vehicle response and performance of a variety of vehicles in the presence of aerodynamic disturbances are discussed. Steering control is emphasized. The vehicles include full size station wagon, sedan, compact sedan, van, pickup truck/camper, and wagon towing trailer. Driver/vehicle analyses are used to estimate response and performance. These estimates are correlated with full scale data with test drivers and the results are used to refine the driver/vehicle models, control structure, and loop closure criteria. The analyses and data indicate that the driver adjusts his steering control properties (when he can) to achieve roughly the same level of performance despite vehicle variations. For the more disturbance susceptible vehicles, such as the van, the driver tightens up his control. Other vehicles have handling dynamics which cause him to loosen his control response, even though performance degrades.

Performance comparison of optimal fractional order hybrid fuzzy PID controllers for handling oscillatory fractional order processes with dead time.

PubMed

Das, Saptarshi; Pan, Indranil; Das, Shantanu

2013-07-01

Fuzzy logic based PID controllers have been studied in this paper, considering several combinations of hybrid controllers by grouping the proportional, integral and derivative actions with fuzzy inferencing in different forms. Fractional order (FO) rate of error signal and FO integral of control signal have been used in the design of a family of decomposed hybrid FO fuzzy PID controllers. The input and output scaling factors (SF) along with the integro-differential operators are tuned with real coded genetic algorithm (GA) to produce optimum closed loop performance by simultaneous consideration of the control loop error index and the control signal. Three different classes of fractional order oscillatory processes with various levels of relative dominance between time constant and time delay have been used to test the comparative merits of the proposed family of hybrid fractional order fuzzy PID controllers. Performance comparison of the different FO fuzzy PID controller structures has been done in terms of optimal set-point tracking, load disturbance rejection and minimal variation of manipulated variable or smaller actuator requirement etc. In addition, multi-objective Non-dominated Sorting Genetic Algorithm (NSGA-II) has been used to study the Pareto optimal trade-offs between the set point tracking and control signal, and the set point tracking and load disturbance performance for each of the controller structure to handle the three different types of processes. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Analysis of the longitudinal handling qualities and pilot-induced-oscillation tendencies of the High-Angle-of-Attack Research Vehicle (HARV)

NASA Technical Reports Server (NTRS)

Hess, Ronald A.

1994-01-01

The NASA High-Angle-of Attack Research Vehicle (HARV), a modified F-18 aircraft, experienced handling qualities problems in recent flight tests at NASA Dryden Research Center. Foremost in these problems was the tendency of the pilot-aircraft system to exhibit a potentially dangerous phenomenon known as a pilot-induced oscillation (PIO). When they occur, PIO's can severely restrict performance, sharply dimish mission capabilities, and can even result in aircraft loss. A pilot/vehicle analysis was undertaken with the goal of reducing these PIO tendencies and improving the overall vehicle handling qualities with as few changes as possible to the existing feedback/feedforward flight control laws. Utilizing a pair of analytical pilot models developed by the author, a pilot/vehicle analysis of the existing longitudinal flight control system was undertaken. The analysis included prediction of overall handling qualities levels and PIO susceptability. The analysis indicated that improvement in the flight control system was warranted and led to the formulation of a simple control stick command shaping filter. Analysis of the pilot/vehicle system with the shaping filter indicated significant improvements in handling qualities and PIO tendencies could be achieved. A non-real time simulation of the modified control system was undertaken with a realistic, nonlinear model of the current HARV. Special emphasis was placed upon those details of the command filter implementation which could effect safety of flight. The modified system is currently awaiting evaluation in the real-time, pilot-in-the-loop, Dual-Maneuvering-Simulator (DMS) facility at Langley.

Evaluation of Honeywell Recoverable Computer System (RCS) in Presence of Electromagnetic Effects

NASA Technical Reports Server (NTRS)

Malekpour, Mahyar

1997-01-01

The design and development of a Closed-Loop System to study and evaluate the performance of the Honeywell Recoverable Computer System (RCS) in electromagnetic environments (EME) is presented. The development of a Windows-based software package to handle the time critical communication of data and commands between the RCS and flight simulation code in real-time, while meeting the stringent hard deadlines is also presented. The performance results of the RCS while exercising flight control laws under ideal conditions as well as in the presence of electromagnetic fields is also discussed.

Apparatus for the Calibration/Certification of Direct Reading Tritium in Air Monitors

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

Otlet, R.L.; Mather, I.D.; Pottinger, M

2005-07-15

Direct reading tritium-in-air-monitors are widely used for immediate observation of discharges or working area levels where significant sources of tritium are held. These monitors require initial and periodic calibration certification at the levels likely to be encountered. We describe a purpose built gas handling apparatus which enables various activity levels of tritiated gas ({sup 3}H + N{sub 2}) to be precisely metered and circulated in a closed loop through the monitor under calibration at a wide range of activity levels.

Closed Loop Real-Time Evaluation of Missile Guidance and Control Components: Simulator Hardware/Software Characteristics and Use

DTIC Science & Technology

1974-08-01

Node Control Logic 2-27 2.16 Pitch Channel Frequence Response 2-36 2.17 Yaw Channel Frequency Response 2-37 K 4 2.18 Analog Computer Mechanlzation of...8217S 0 121 £l1:c IL-I. TABLE I Elements of the Slgma 5 Digital Computer System Xerox Model- Performance MIOP Channel Description Number Characteristics...transfer control signals to or from the CPU. The MIOP can handle up to 32 I/0 channels each operating simultaneously, provided the overall data

Design of a right ventricular mock circulation loop as a test bench for right ventricular assist devices.

PubMed

Mueller, Indra; Jansen-Park, So-Hyun; Neidlin, Michael; Steinseifer, Ulrich; Abel, Dirk; Autschbach, Rüdiger; Rossaint, Rolf; Schmitz-Rode, Thomas; Sonntag, Simon Johannes

2017-04-01

Right heart failure (RHF), e.g. due to pulmonary hypertension (PH), is a serious health issue with growing occurrence and high mortality rate. Limited efficacy of medication in advanced stages of the disease constitutes the need for mechanical circulatory support of the right ventricle (RV). An essential contribution to the process of developing right ventricular assist devices (RVADs) is the in vitro test bench, which simulates the hemodynamic behavior of the native circulatory system. To model healthy and diseased arterial-pulmonary hemodynamics in adults (mild and severe PH and RHF), a right heart mock circulation loop (MCL) was developed. Incorporating an anatomically shaped silicone RV and a silicone atrium, it not only enables investigations of hemodynamic values but also suction events or the handling of minimal invasive RVADs in an anatomical test environment. Ventricular pressure-volume loops of all simulated conditions as well as pressure and volume waveforms were recorded and compared to literature data. In an exemplary test, an RVAD was connected to the apex to further test the feasibility of studying such devices with the developed MCL. In conclusion, the hemodynamic behavior of the native system was well reproduced by the developed MCL, which is a useful basis for future RVAD tests.

Recycling Pricing and Coordination of WEEE Dual-Channel Closed-Loop Supply Chain Considering Consumers' Bargaining.

PubMed

Zhu, Xiaodong; Wang, Jing; Tang, Juan

2017-12-15

Environmentally friendly handling and efficient recycling of waste electrical on Waste Electrical and Electronic Equipment (WEEE) have grown to be a global social problem. As holders of WEEE, consumers have a significant effect on the recycling process. A consideration of and attention to the influence of consumer behavior in the recycling process can help achieve more effective recycling of WEEE. In this paper, we built a dual-channel closed-loop supply chain model composed of manufacturers, retailers, and network recycling platforms. Based on the influence of customer bargaining behavior, we studied several different scenarios of centralized decision-making, decentralized decision-making, and contract coordination, using the Stackelberg game theory. The results show that retailers and network recycling platforms will reduce the direct recovery prices to maintain their own profit when considering the impact of consumer bargaining behavior, while remanufacturers will improve the transfer payment price for surrendering part of the profit under revenue and the expense sharing contract. Using this contract, we can achieve supply chain coordination and eliminate the effect of consumer bargaining behavior on supply chain performance. It can be viewed from the parameter sensitivity analysis that when we select the appropriate sharing coefficient, the closed-loop supply chain can achieve the same system performance under a centralized decision.

Recycling Pricing and Coordination of WEEE Dual-Channel Closed-Loop Supply Chain Considering Consumers’ Bargaining

PubMed Central

Zhu, Xiaodong; Wang, Jing; Tang, Juan

2017-01-01

Environmentally friendly handling and efficient recycling of waste electrical on Waste Electrical and Electronic Equipment (WEEE) have grown to be a global social problem. As holders of WEEE, consumers have a significant effect on the recycling process. A consideration of and attention to the influence of consumer behavior in the recycling process can help achieve more effective recycling of WEEE. In this paper, we built a dual-channel closed-loop supply chain model composed of manufacturers, retailers, and network recycling platforms. Based on the influence of customer bargaining behavior, we studied several different scenarios of centralized decision-making, decentralized decision-making, and contract coordination, using the Stackelberg game theory. The results show that retailers and network recycling platforms will reduce the direct recovery prices to maintain their own profit when considering the impact of consumer bargaining behavior, while remanufacturers will improve the transfer payment price for surrendering part of the profit under revenue and the expense sharing contract. Using this contract, we can achieve supply chain coordination and eliminate the effect of consumer bargaining behavior on supply chain performance. It can be viewed from the parameter sensitivity analysis that when we select the appropriate sharing coefficient, the closed-loop supply chain can achieve the same system performance under a centralized decision. PMID:29244778

High Level Information Fusion (HLIF) with nested fusion loops

NASA Astrophysics Data System (ADS)

Woodley, Robert; Gosnell, Michael; Fischer, Amber

2013-05-01

Situation modeling and threat prediction require higher levels of data fusion in order to provide actionable information. Beyond the sensor data and sources the analyst has access to, the use of out-sourced and re-sourced data is becoming common. Through the years, some common frameworks have emerged for dealing with information fusion—perhaps the most ubiquitous being the JDL Data Fusion Group and their initial 4-level data fusion model. Since these initial developments, numerous models of information fusion have emerged, hoping to better capture the human-centric process of data analyses within a machine-centric framework. 21st Century Systems, Inc. has developed Fusion with Uncertainty Reasoning using Nested Assessment Characterizer Elements (FURNACE) to address challenges of high level information fusion and handle bias, ambiguity, and uncertainty (BAU) for Situation Modeling, Threat Modeling, and Threat Prediction. It combines JDL fusion levels with nested fusion loops and state-of-the-art data reasoning. Initial research has shown that FURNACE is able to reduce BAU and improve the fusion process by allowing high level information fusion (HLIF) to affect lower levels without the double counting of information or other biasing issues. The initial FURNACE project was focused on the underlying algorithms to produce a fusion system able to handle BAU and repurposed data in a cohesive manner. FURNACE supports analyst's efforts to develop situation models, threat models, and threat predictions to increase situational awareness of the battlespace. FURNACE will not only revolutionize the military intelligence realm, but also benefit the larger homeland defense, law enforcement, and business intelligence markets.

A Comparison of Coolant Options for Brayton Power Conversion Heat Rejection Systems

NASA Technical Reports Server (NTRS)

Mason, Lee S.; Siamidis, John

2006-01-01

This paper describes potential heat rejection design concepts for Brayton power conversion systems. Brayton conversion systems are currently under study by NASA for Nuclear Electric Propulsion (NEP) and surface power applications. The Brayton Heat Rejection Subsystem (HRS) must dissipate waste heat generated by the power conversion system due to inefficiencies in the thermal-to-electric conversion process. Sodium potassium (NaK) and H2O are two coolant working fluids that have been investigated in the design of a pumped loop and heat pipe space HRS. In general NaK systems are high temperature (300 to 1000 K) low pressure systems, and H2O systems are low temperature (300 to 600 K) high pressure systems. NaK is an alkali metal with health and safety hazards that require special handling procedures. On the other hand, H2O is a common fluid, with no health hazards and no special handling procedures. This paper compares NaK and H20 for the HRS pumped loop coolant working fluid. A detailed Microsoft Excel (Microsoft Corporation, Redmond, WA) analytical model, HRS_Opt, was developed to evaluate the various HRS design parameters. It is capable of analyzing NaK or H2O coolant, parallel or series flow configurations, and numerous combinations of other key parameters (heat pipe spacing, diameter and radial flux, radiator facesheet thickness, fluid duct system pressure drop, system rejected power, etc.) of the HRS. This paper compares NaK against water for the HRS coolant working fluid with respect to the relative mass, performance, design and implementation issues between the two fluids.

A Comparison of Coolant Options for Brayton Power Conversion Heat Rejection Systems

NASA Technical Reports Server (NTRS)

Siamidis, John; Mason, Lee S.

2006-01-01

This paper describes potential heat rejection design concepts for Brayton power conversion systems. Brayton conversion systems are currently under study by NASA for Nuclear Electric Propulsion (NEP) and surface power applications. The Brayton Heat Rejection Subsystem (HRS) must dissipate waste heat generated by the power conversion system due to inefficiencies in the thermal-to-electric conversion process. Sodium potassium (NaK) and H2O are two coolant working fluids that have been investigated in the design of a pumped loop and heat pipe space HRS. In general NaK systems are high temperature (300 to 1000 K) low pressure systems, and H2O systems are low temperature (300 to 600 K) high pressure systems. NaK is an alkali metal with health and safety hazards that require special handling procedures. On the other hand, H2O is a common fluid, with no health hazards and no special handling procedures. This paper compares NaK and H2O for the HRS pumped loop coolant working fluid. A detailed Microsoft Excel (Microsoft Corporation, Redmond, WA) analytical model, HRS_Opt, was developed to evaluate the various HRS design parameters. It is capable of analyzing NaK or H2O coolant, parallel or series flow configurations, and numerous combinations of other key parameters (heat pipe spacing, diameter and radial flux, radiator facesheet thickness, fluid duct system pressure drop, system rejected power, etc.) of the HRS. This paper compares NaK against water for the HRS coolant working fluid with respect to the relative mass, performance, design and implementation issues between the two fluids.

A Comparison of Coolant Options for Brayton Power Conversion Heat Rejection Systems

NASA Astrophysics Data System (ADS)

Siamidis, John; Mason, Lee

2006-01-01

This paper describes potential heat rejection design concepts for Brayton power conversion systems. Brayton conversion systems are currently under study by NASA for Nuclear Electric Propulsion (NEP) and surface power applications. The Brayton Heat Rejection Subsystem (HRS) must dissipate waste heat generated by the power conversion system due to inefficiencies in the thermal-to-electric conversion process. Sodium potassium (NaK) and H2O are two coolant working fluids that have been investigated in the design of a pumped loop and heat pipe space HRS. In general NaK systems are high temperature (300 to 1000 K) low pressure systems, and H2O systems are low temperature (300 to 600 K) high pressure systems. NaK is an alkali metal with health and safety hazards that require special handling procedures. On the other hand, H2O is a common fluid, with no health hazards and no special handling procedures. This paper compares NaK and H2O for the HRS pumped loop coolant working fluid. A detailed excel analytical model, HRS_Opt, was developed to evaluate the various HRS design parameters. It is capable of analyzing NaK or H2O coolant, parallel or series flow configurations, and numerous combinations of other key parameters (heat pipe spacing, diameter and radial flux, radiator facesheet thickness, fluid duct system pressure drop, system rejected power, etc.) of the HRS. This paper compares NaK against water for the HRS coolant working fluid with respect to the relative mass, performance, design and implementation issues between the two fluids.

Phase-locked-loop interferometry applied to aspheric testing with a computer-stored compensator.

PubMed

Servin, M; Malacara, D; Rodriguez-Vera, R

1994-05-01

A recently developed technique for continuous-phase determination of interferograms with a digital phase-locked loop (PLL) is applied to the null testing of aspheres. Although this PLL demodulating scheme is also a synchronous or direct interferometric technique, the separate unwrapping process is not explicitly required. The unwrapping and the phase-detection processes are achieved simultaneously within the PLL. The proposed method uses a computer-generated holographic compensator. The holographic compensator does not need to be printed out by any means; it is calculated and used from the computer. This computer-stored compensator is used as the reference signal to phase demodulate a sample interferogram obtained from the asphere being tested. Consequently the demodulated phase contains information about the wave-front departures from the ideal computer-stored aspheric interferogram. Wave-front differences of ~ 1 λ are handled easily by the proposed PLL scheme. The maximum recorded frequency in the template's interferogram as well as in the sampled interferogram are assumed to be below the Nyquist frequency.

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

Sharma, Vishal C.; Gopalakrishnan, Ganesh; Krishnamoorthy, Sriram

The systems resilience research community has developed methods to manually insert additional source-program level assertions to trap errors, and also devised tools to conduct fault injection studies for scalar program codes. In this work, we contribute the first vector oriented LLVM-level fault injector VULFI to help study the effects of faults in vector architectures that are of growing importance, especially for vectorizing loops. Using VULFI, we conduct a resiliency study of nine real-world vector benchmarks using Intel’s AVX and SSE extensions as the target vector instruction sets, and offer the first reported understanding of how faults affect vector instruction sets.more » We take this work further toward automating the insertion of resilience assertions during compilation. This is based on our observation that during intermediate (e.g., LLVM-level) code generation to handle full and partial vectorization, modern compilers exploit (and explicate in their code-documentation) critical invariants. These invariants are turned into error-checking code. We confirm the efficacy of these automatically inserted low-overhead error detectors for vectorized for-loops.« less

Inherently Safe Fission Power System for Lunar Outposts

NASA Astrophysics Data System (ADS)

Schriener, Timothy M.; El-Genk, Mohamed S.

2013-09-01

This paper presents the Solid Core-Sectored Compact Reactor (SC-SCoRe) and power system for future lunar outposts. The power system nominally provides 38 kWe continuously for 21 years, employs static components and has no single point failures in reactor cooling or power generation. The reactor core has six sectors, each has a separate pair of primary and secondary loops with liquid NaK-56 working fluid, thermoelectric (TE) power conversion and heat-pipes radiator panels. The electromagnetic (EM) pumps in the primary and secondary loops, powered with separate TE power units, ensure operation reliability and passive decay heat removal from the reactor after shutdown. The reactor poses no radiological concerns during launch, and remains sufficiently subcritical, with the radial reflector dissembled, when submerged in wet sand and the core flooded with seawater, following a launch abort accident. After 300 years of storage below grade on the Moon, the total radioactivity in the post-operation reactor drops below 164 Ci, a low enough radioactivity for a recovery and safe handling of the reactor.

Sliding mode disturbance observer-based control of a twin rotor MIMO system.

PubMed

Rashad, Ramy; El-Badawy, Ayman; Aboudonia, Ahmed

2017-07-01

This work proposes a robust tracking controller for a helicopter laboratory setup known as the twin rotor MIMO system (TRMS) using an integral sliding mode controller. To eliminate the discontinuity in the control signal, the controller is augmented by a sliding mode disturbance observer. The actuator dynamics is handled using a backstepping approach which is applicable due to the continuous chattering-free nature of the command signals generated using the disturbance observer based controller. To avoid the complexity of analytically differentiating the command signals, a first order sliding mode differentiator is used. Stability analysis of the closed loop system and the ultimate boundedness of the tracking error is proved using Lyapunov stability arguments. The proposed controller is validated by several simulation studies and is compared to other schemes in the literature. Experimental results using a hardware-in-the-loop system validate the robustness and effectiveness of the proposed controller. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Kernel Temporal Differences for Neural Decoding

PubMed Central

Bae, Jihye; Sanchez Giraldo, Luis G.; Pohlmeyer, Eric A.; Francis, Joseph T.; Sanchez, Justin C.; Príncipe, José C.

2015-01-01

We study the feasibility and capability of the kernel temporal difference (KTD)(λ) algorithm for neural decoding. KTD(λ) is an online, kernel-based learning algorithm, which has been introduced to estimate value functions in reinforcement learning. This algorithm combines kernel-based representations with the temporal difference approach to learning. One of our key observations is that by using strictly positive definite kernels, algorithm's convergence can be guaranteed for policy evaluation. The algorithm's nonlinear functional approximation capabilities are shown in both simulations of policy evaluation and neural decoding problems (policy improvement). KTD can handle high-dimensional neural states containing spatial-temporal information at a reasonable computational complexity allowing real-time applications. When the algorithm seeks a proper mapping between a monkey's neural states and desired positions of a computer cursor or a robot arm, in both open-loop and closed-loop experiments, it can effectively learn the neural state to action mapping. Finally, a visualization of the coadaptation process between the decoder and the subject shows the algorithm's capabilities in reinforcement learning brain machine interfaces. PMID:25866504

WMAP C&DH Software

NASA Technical Reports Server (NTRS)

Cudmore, Alan; Leath, Tim; Ferrer, Art; Miller, Todd; Walters, Mark; Savadkin, Bruce; Wu, Ji-Wei; Slegel, Steve; Stagmer, Emory

2007-01-01

The command-and-data-handling (C&DH) software of the Wilkinson Microwave Anisotropy Probe (WMAP) spacecraft functions as the sole interface between (1) the spacecraft and its instrument subsystem and (2) ground operations equipment. This software includes a command-decoding and -distribution system, a telemetry/data-handling system, and a data-storage-and-playback system. This software performs onboard processing of attitude sensor data and generates commands for attitude-control actuators in a closed-loop fashion. It also processes stored commands and monitors health and safety functions for the spacecraft and its instrument subsystems. The basic functionality of this software is the same of that of the older C&DH software of the Rossi X-Ray Timing Explorer (RXTE) spacecraft, the main difference being the addition of the attitude-control functionality. Previously, the C&DH and attitude-control computations were performed by different processors because a single RXTE processor did not have enough processing power. The WMAP spacecraft includes a more-powerful processor capable of performing both computations.

CONDUIT: A New Multidisciplinary Integration Environment for Flight Control Development

NASA Technical Reports Server (NTRS)

Tischler, Mark B.; Colbourne, Jason D.; Morel, Mark R.; Biezad, Daniel J.; Levine, William S.; Moldoveanu, Veronica

1997-01-01

A state-of-the-art computational facility for aircraft flight control design, evaluation, and integration called CONDUIT (Control Designer's Unified Interface) has been developed. This paper describes the CONDUIT tool and case study applications to complex rotary- and fixed-wing fly-by-wire flight control problems. Control system analysis and design optimization methods are presented, including definition of design specifications and system models within CONDUIT, and the multi-objective function optimization (CONSOL-OPTCAD) used to tune the selected design parameters. Design examples are based on flight test programs for which extensive data are available for validation. CONDUIT is used to analyze baseline control laws against pertinent military handling qualities and control system specifications. In both case studies, CONDUIT successfully exploits trade-offs between forward loop and feedback dynamics to significantly improve the expected handling, qualities and minimize the required actuator authority. The CONDUIT system provides a new environment for integrated control system analysis and design, and has potential for significantly reducing the time and cost of control system flight test optimization.

Structator: fast index-based search for RNA sequence-structure patterns

PubMed Central

2011-01-01

Background The secondary structure of RNA molecules is intimately related to their function and often more conserved than the sequence. Hence, the important task of searching databases for RNAs requires to match sequence-structure patterns. Unfortunately, current tools for this task have, in the best case, a running time that is only linear in the size of sequence databases. Furthermore, established index data structures for fast sequence matching, like suffix trees or arrays, cannot benefit from the complementarity constraints introduced by the secondary structure of RNAs. Results We present a novel method and readily applicable software for time efficient matching of RNA sequence-structure patterns in sequence databases. Our approach is based on affix arrays, a recently introduced index data structure, preprocessed from the target database. Affix arrays support bidirectional pattern search, which is required for efficiently handling the structural constraints of the pattern. Structural patterns like stem-loops can be matched inside out, such that the loop region is matched first and then the pairing bases on the boundaries are matched consecutively. This allows to exploit base pairing information for search space reduction and leads to an expected running time that is sublinear in the size of the sequence database. The incorporation of a new chaining approach in the search of RNA sequence-structure patterns enables the description of molecules folding into complex secondary structures with multiple ordered patterns. The chaining approach removes spurious matches from the set of intermediate results, in particular of patterns with little specificity. In benchmark experiments on the Rfam database, our method runs up to two orders of magnitude faster than previous methods. Conclusions The presented method's sublinear expected running time makes it well suited for RNA sequence-structure pattern matching in large sequence databases. RNA molecules containing several stem-loop substructures can be described by multiple sequence-structure patterns and their matches are efficiently handled by a novel chaining method. Beyond our algorithmic contributions, we provide with Structator a complete and robust open-source software solution for index-based search of RNA sequence-structure patterns. The Structator software is available at http://www.zbh.uni-hamburg.de/Structator. PMID:21619640

One-Loop One-Point Functions in Gauge-Gravity Dualities with Defects.

PubMed

Buhl-Mortensen, Isak; de Leeuw, Marius; Ipsen, Asger C; Kristjansen, Charlotte; Wilhelm, Matthias

2016-12-02

We initiate the calculation of loop corrections to correlation functions in 4D defect conformal field theories (dCFTs). More precisely, we consider N=4 SYM theory with a codimension-one defect separating two regions of space, x_{3}>0 and x_{3}<0, where the gauge group is SU(N) and SU(N-k), respectively. This setup is made possible by some of the real scalar fields acquiring a nonvanishing and x_{3}-dependent vacuum expectation value for x_{3}>0. The holographic dual is the D3-D5 probe brane system where the D5-brane geometry is AdS_{4}×S^{2} and a background gauge field has k units of flux through the S^{2}. We diagonalize the mass matrix of the dCFT making use of fuzzy-sphere coordinates and we handle the x_{3} dependence of the mass terms in the 4D Minkowski space propagators by reformulating these as standard massive AdS_{4} propagators. Furthermore, we show that only two Feynman diagrams contribute to the one-loop correction to the one-point function of any single-trace operator and we explicitly calculate this correction in the planar limit for the simplest chiral primary. The result of this calculation is compared to an earlier string-theory computation in a certain double scaling limit and perfect agreement is found. Finally, we discuss how to generalize our calculation to any single-trace operator, to finite N, and to other types of observables such as Wilson loops.

Adaptive envelope protection methods for aircraft

NASA Astrophysics Data System (ADS)

Unnikrishnan, Suraj

Carefree handling refers to the ability of a pilot to operate an aircraft without the need to continuously monitor aircraft operating limits. At the heart of all carefree handling or maneuvering systems, also referred to as envelope protection systems, are algorithms and methods for predicting future limit violations. Recently, envelope protection methods that have gained more acceptance, translate limit proximity information to its equivalent in the control channel. Envelope protection algorithms either use very small prediction horizon or are static methods with no capability to adapt to changes in system configurations. Adaptive approaches maximizing prediction horizon such as dynamic trim, are only applicable to steady-state-response critical limit parameters. In this thesis, a new adaptive envelope protection method is developed that is applicable to steady-state and transient response critical limit parameters. The approach is based upon devising the most aggressive optimal control profile to the limit boundary and using it to compute control limits. Pilot-in-the-loop evaluations of the proposed approach are conducted at the Georgia Tech Carefree Maneuver lab for transient longitudinal hub moment limit protection. Carefree maneuvering is the dual of carefree handling in the realm of autonomous Uninhabited Aerial Vehicles (UAVs). Designing a flight control system to fully and effectively utilize the operational flight envelope is very difficult. With the increasing role and demands for extreme maneuverability there is a need for developing envelope protection methods for autonomous UAVs. In this thesis, a full-authority automatic envelope protection method is proposed for limit protection in UAVs. The approach uses adaptive estimate of limit parameter dynamics and finite-time horizon predictions to detect impending limit boundary violations. Limit violations are prevented by treating the limit boundary as an obstacle and by correcting nominal control/command inputs to track a limit parameter safe-response profile near the limit boundary. The method is evaluated using software-in-the-loop and flight evaluations on the Georgia Tech unmanned rotorcraft platform---GTMax. The thesis also develops and evaluates an extension for calculating control margins based on restricting limit parameter response aggressiveness near the limit boundary.

Characterization of a Recoverable Flight Control Computer System

NASA Technical Reports Server (NTRS)

Malekpour, Mahyar; Torres, Wilfredo

1999-01-01

The design and development of a Closed-Loop System to study and evaluate the performance of the Honeywell Recoverable Computer System (RCS) in electromagnetic environments (EME) is presented. The development of a Windows-based software package to handle the time-critical communication of data and commands between the RCS and flight simulation code in real-time while meeting the stringent hard deadlines is also submitted. The performance results of the RCS and characteristics of its upset recovery scheme while exercising flight control laws under ideal conditions as well as in the presence of electromagnetic fields are also discussed.

Quasi-passive heat sink for high-power laser diodes

NASA Astrophysics Data System (ADS)

Vetrovec, John

2009-02-01

We report on a novel heat sink for high-power laser diodes offering unparalleled capacity in high-heat flux handling and temperature control. The heat sink uses a liquid coolant flowing at high speed in a miniature closed and sealed loop. Diode waste heat is received at high flux and transferred to environment, coolant fluid, heat pipe, or structure at a reduced flux. When pumping solid-state or alkali vapor lasers, diode wavelength can be electronically tuned to the absorption features of the laser gain medium. This paper presents the heat sink physics, engineering design, performance modeling, and configurations.

X-29A flight control system performance during flight test

NASA Technical Reports Server (NTRS)

Chin, J.; Chacon, V.; Gera, J.

1987-01-01

An account is given of flight control system performance results for the X-29A forward-swept wing 'Advanced Technology Demonstrator' fighter aircraft, with attention to its software and hardware components' achievement of the requisite levels of system stability and desirable aircraft handling qualities. The Automatic Camber Control Logic is found to be well integrated with the stability loop of the aircraft. A number of flight test support software programs developed by NASA facilitated monitoring of the X-29A's stability in real time, and allowed the test team to clear the envelope with confidence.

Application of active controls technology to aircraft bide smoothing systems

NASA Technical Reports Server (NTRS)

Lapins, M.; Jacobson, I. D.

1975-01-01

A critical review of past efforts in the design and testing of ride smoothing and gust alleviation systems is presented. Design trade offs involving sensor types, choice of feedback loops, human comfort, and aircraft handling-qualities criteria are discussed. Synthesis of a system designed to employ direct-lift and side-force producing surfaces is reported. Two STOL aircraft and an executive transport are considered. Theoretically predicted system performance is compared with hybrid simulation and flight test data. Pilot opinion rating, pilot workload, and passenger comfort rating data for the basic and augmented aircraft are included.

Application of Active Controls Technology to Aircraft Ride Smoothing Systems

NASA Technical Reports Server (NTRS)

Lapins, Maris; Jacobson, Ira D.

1975-01-01

A critical review of past efforts in the design and testing of ride smoothing and gust alleviation systems is presented. Design trade-offs involving sensor types, choice of feedback loops, human comfort and aircraft handling-qualities criteria are discussed. Synthesis of a system designed to employ direct-lift and side-force producing surfaces is reported. Two STOL-class aircraft and an executive transport are considered. Theoretically-predicted system performance is compared with hybrid simulation and flight test data. Pilot opinion rating, pilot workload, and passenger comfort rating data for the basic and augmented aircraft are included.

Bridging FPGA and GPU technologies for AO real-time control

NASA Astrophysics Data System (ADS)

Perret, Denis; Lainé, Maxime; Bernard, Julien; Gratadour, Damien; Sevin, Arnaud

2016-07-01

Our team has developed a common environment for high performance simulations and real-time control of AO systems based on the use of Graphics Processors Units in the context of the COMPASS project. Such a solution, based on the ability of the real time core in the simulation to provide adequate computing performance, limits the cost of developing AO RTC systems and makes them more scalable. A code developed and validated in the context of the simulation may be injected directly into the system and tested on sky. Furthermore, the use of relatively low cost components also offers significant advantages for the system hardware platform. However, the use of GPUs in an AO loop comes with drawbacks: the traditional way of offloading computation from CPU to GPUs - involving multiple copies and unacceptable overhead in kernel launching - is not well suited in a real time context. This last application requires the implementation of a solution enabling direct memory access (DMA) to the GPU memory from a third party device, bypassing the operating system. This allows this device to communicate directly with the real-time core of the simulation feeding it with the WFS camera pixel stream. We show that DMA between a custom FPGA-based frame-grabber and a computation unit (GPU, FPGA, or Coprocessor such as Xeon-phi) across PCIe allows us to get latencies compatible with what will be needed on ELTs. As a fine-grained synchronization mechanism is not yet made available by GPU vendors, we propose the use of memory polling to avoid interrupts handling and involvement of a CPU. Network and Vision protocols are handled by the FPGA-based Network Interface Card (NIC). We present the results we obtained on a complete AO loop using camera and deformable mirror simulators.

Feasibility of Turing-Style Tests for Autonomous Aerial Vehicle "Intelligence"

NASA Technical Reports Server (NTRS)

Young, Larry A.

2007-01-01

A new approach is suggested to define and evaluate key metrics as to autonomous aerial vehicle performance. This approach entails the conceptual definition of a "Turing Test" for UAVs. Such a "UAV Turing test" would be conducted by means of mission simulations and/or tailored flight demonstrations of vehicles under the guidance of their autonomous system software. These autonomous vehicle mission simulations and flight demonstrations would also have to be benchmarked against missions "flown" with pilots/human-operators in the loop. In turn, scoring criteria for such testing could be based upon both quantitative mission success metrics (unique to each mission) and by turning to analog "handling quality" metrics similar to the well-known Cooper-Harper pilot ratings used for manned aircraft. Autonomous aerial vehicles would be considered to have successfully passed this "UAV Turing Test" if the aggregate mission success metrics and handling qualities for the autonomous aerial vehicle matched or exceeded the equivalent metrics for missions conducted with pilots/human-operators in the loop. Alternatively, an independent, knowledgeable observer could provide the "UAV Turing Test" ratings of whether a vehicle is autonomous or "piloted." This observer ideally would, in the more sophisticated mission simulations, also have the enhanced capability of being able to override the scripted mission scenario and instigate failure modes and change of flight profile/plans. If a majority of mission tasks are rated as "piloted" by the observer, when in reality the vehicle/simulation is fully- or semi- autonomously controlled, then the vehicle/simulation "passes" the "UAV Turing Test." In this regards, this second "UAV Turing Test" approach is more consistent with Turing s original "imitation game" proposal. The overall feasibility, and important considerations and limitations, of such an approach for judging/evaluating autonomous aerial vehicle "intelligence" will be discussed from a theoretical perspective.

Specific corrosion product on interior surface of a bronze wine vessel with loop-handle and its growth mechanism, Shang Dynasty, China

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

Li Yang; Bao Zhirong; Wu Taotao

In this paper, a kind of specific stalactitic product was found on the interior surface of a covered bronze wine vessel with loop-handle (Chinese name is you), which was fabricated in Shang Dynasty (1700 B.C.-1100 B.C.) and now is collected in Xiaogan Museum, Hubei province of China. The microstructures of the product were characterized systematically by using optical microscopy, scanning electron microscope, transmission electron microscope, X-ray diffraction, and Raman microscopy. The experimental results revealed that the product belonged to a kind of malachite with high purity and high crystallinity. The growth of the product was considered to be a possiblemore » reason that the vessel was overly airtight within a museum display cabinet besides a lid of the vessel, which made the excess of H{sub 2}O and CO{sub 2} gas concentrations inside the vessel during long-term storage. This corrosion product is very harmful to bronze cultural relics, because of a large amount of copper consumption from the matrix which will reduce its life. The growth mechanism of the specific stalactitic product and the suggestions for preservation of the similar bronze relics in museum were proposed. - Highlights: Black-Right-Pointing-Pointer The stalactitic product was the high purity and good crystallinity malachite. Black-Right-Pointing-Pointer Its growth was related to the excess of H{sub 2}O and CO{sub 2} gas concentrations in museum. Black-Right-Pointing-Pointer It is harmful to the bronzes, because copper will be consumed from the matrix. Black-Right-Pointing-Pointer The suggestions for preservation of the similar bronzes in museum were proposed.« less

A laboratory breadboard system for dual-arm teleoperation

NASA Technical Reports Server (NTRS)

Bejczy, A. K.; Szakaly, Z.; Kim, W. S.

1990-01-01

The computing architecture of a novel dual-arm teleoperation system is described. The novelty of this system is that: (1) the master arm is not a replica of the slave arm; it is unspecific to any manipulator and can be used for the control of various robot arms with software modifications; and (2) the force feedback to the general purpose master arm is derived from force-torque sensor data originating from the slave hand. The computing architecture of this breadboard system is a fully synchronized pipeline with unique methods for data handling, communication and mathematical transformations. The computing system is modular, thus inherently extendable. The local control loops at both sites operate at 100 Hz rate, and the end-to-end bilateral (force-reflecting) control loop operates at 200 Hz rate, each loop without interpolation. This provides high-fidelity control. This end-to-end system elevates teleoperation to a new level of capabilities via the use of sensors, microprocessors, novel electronics, and real-time graphics displays. A description is given of a graphic simulation system connected to the dual-arm teleoperation breadboard system. High-fidelity graphic simulation of a telerobot (called Phantom Robot) is used for preview and predictive displays for planning and for real-time control under several seconds communication time delay conditions. High fidelity graphic simulation is obtained by using appropriate calibration techniques.

Effect of using ethanol and methanol on thermal performance of a closed loop pulsating heat pipe (CLPHP) with different filling ratios

NASA Astrophysics Data System (ADS)

Rahman, Md. Lutfor; Salsabil, Zaimaa; Yasmin, Nusrat; Nourin, Farah Nazifa; Ali, Mohammad

2016-07-01

This paper presents an experimental study of a closed loop Pulsating Heat Pipe (CLPHP) as the demand of smaller and effective heat transfer devices is increasing day by day. PHP is a two phase heat transfer device suited for heat transfer applications, especially suited for handling moderate to high heat fluxes in different applications. A copper made Pulsating Heat Pipe (PHP) of 250 mm length is used in this experimental work with 2 mm ID and 3 mm OD, closed end-to-end in 8 looped, evacuated and then partially filled with working fluids. The evaporation section is 50 mm, adiabatic section is 120 mm and condensation section is 80 mm. The performance characterization is done for two working fluids at Vertical (0°) orientations. The working fluids are Methanol and Ethanol and the filling ratios are 40%, 50%, 60% & 70% based on total volume, respectively. The results show that the influence of various parameters, the heat input flux, and different filling ratios on a heat transfer performance of CLPHP. Methanol shows better performance as working fluid in PHP than ethanol at present orientation for a wide range of heat inputs and can be used at high heat input conditions. Ethanol is better choice to be used in low heat input conditions.

Multi-dimensional Rankings, Program Termination, and Complexity Bounds of Flowchart Programs

NASA Astrophysics Data System (ADS)

Alias, Christophe; Darte, Alain; Feautrier, Paul; Gonnord, Laure

Proving the termination of a flowchart program can be done by exhibiting a ranking function, i.e., a function from the program states to a well-founded set, which strictly decreases at each program step. A standard method to automatically generate such a function is to compute invariants for each program point and to search for a ranking in a restricted class of functions that can be handled with linear programming techniques. Previous algorithms based on affine rankings either are applicable only to simple loops (i.e., single-node flowcharts) and rely on enumeration, or are not complete in the sense that they are not guaranteed to find a ranking in the class of functions they consider, if one exists. Our first contribution is to propose an efficient algorithm to compute ranking functions: It can handle flowcharts of arbitrary structure, the class of candidate rankings it explores is larger, and our method, although greedy, is provably complete. Our second contribution is to show how to use the ranking functions we generate to get upper bounds for the computational complexity (number of transitions) of the source program. This estimate is a polynomial, which means that we can handle programs with more than linear complexity. We applied the method on a collection of test cases from the literature. We also show the links and differences with previous techniques based on the insertion of counters.

Effects of Automation Types on Air Traffic Controller Situation Awareness and Performance

NASA Technical Reports Server (NTRS)

Sethumadhavan, A.

2009-01-01

The Joint Planning and Development Office has proposed the introduction of automated systems to help air traffic controllers handle the increasing volume of air traffic in the next two decades (JPDO, 2007). Because fully automated systems leave operators out of the decision-making loop (e.g., Billings, 1991), it is important to determine the right level and type of automation that will keep air traffic controllers in the loop. This study examined the differences in the situation awareness (SA) and collision detection performance of individuals when they worked with information acquisition, information analysis, decision and action selection and action implementation automation to control air traffic (Parasuraman, Sheridan, & Wickens, 2000). When the automation was unreliable, the time taken to detect an upcoming collision was significantly longer for all the automation types compared with the information acquisition automation. This poor performance following automation failure was mediated by SA, with lower SA yielding poor performance. Thus, the costs associated with automation failure are greater when automation is applied to higher order stages of information processing. Results have practical implications for automation design and development of SA training programs.

Triangular Quantum Loop Topography for Machine Learning

NASA Astrophysics Data System (ADS)

Zhang, Yi; Kim, Eun-Ah

Despite rapidly growing interest in harnessing machine learning in the study of quantum many-body systems there has been little success in training neural networks to identify topological phases. The key challenge is in efficiently extracting essential information from the many-body Hamiltonian or wave function and turning the information into an image that can be fed into a neural network. When targeting topological phases, this task becomes particularly challenging as topological phases are defined in terms of non-local properties. Here we introduce triangular quantum loop (TQL) topography: a procedure of constructing a multi-dimensional image from the ''sample'' Hamiltonian or wave function using two-point functions that form triangles. Feeding the TQL topography to a fully-connected neural network with a single hidden layer, we demonstrate that the architecture can be effectively trained to distinguish Chern insulator and fractional Chern insulator from trivial insulators with high fidelity. Given the versatility of the TQL topography procedure that can handle different lattice geometries, disorder, interaction and even degeneracy our work paves the route towards powerful applications of machine learning in the study of topological quantum matters.

Application of an integrated flight/propulsion control design methodology to a STOVL aircraft

NASA Technical Reports Server (NTRS)

Garg, Sanjay; Mattern, Duane L.

1991-01-01

Results are presented from the application of an emerging Integrated Flight/Propulsion Control (IFPC) design methodology to a Short Take Off and Vertical Landing (STOVL) aircraft in transition flight. The steps in the methodology consist of designing command shaping prefilters to provide the overall desired response to pilot command inputs. A previously designed centralized controller is first validated for the integrated airframe/engine plant used. This integrated plant is derived from a different model of the engine subsystem than the one used for the centralized controller design. The centralized controller is then partitioned in a decentralized, hierarchical structure comprising of airframe lateral and longitudinal subcontrollers and an engine subcontroller. Command shaping prefilters from the pilot control effector inputs are then designed and time histories of the closed loop IFPC system response to simulated pilot commands are compared to desired responses based on handling qualities requirements. Finally, the propulsion system safety and nonlinear limited protection logic is wrapped around the engine subcontroller and the response of the closed loop integrated system is evaluated for transients that encounter the propulsion surge margin limit.

Application of a modified harness design for attachment of radio transmitters to shorebirds

USGS Publications Warehouse

Sanzenbacher, Peter M.; Haig, Susan M.; Oring, Lewis W.

2000-01-01

Radio transmitter attachment methodology is important to the design of radio telemetry studies. In 1998, we attached 5 transmitters to a captive population of Western Sandpipers (Calidris mauri) and 7 transmitters to wild Killdeer (Charadriusv ociferus) using a modified version of the Rappole and Tipton (1991) figure-8 leg-loop harness. Captive birds fitted with harnesses did not exhibit quantifiable differences in behavior relative to control birds. Based on initial success in using the leg-loop harnesses, we used harnesses to attach transmitters in the wild to 30 Killdeer and 49 Dunlin (Calidris alpina) during the winters of 1998-1999 and 1999-2000. This was part of a study on movements of wintering shorebirds in the Willamette Valley of Oregon, USA. Wild birds showed no adverse effects of the harnesses.Thus, the described harness is a practical method for attachment of transmitters to shorebirds. Advantages of this harness method include a reduction in handling time at capture, elimination of the need to clip feathers for attachment, and increased transmitter retention time.

The effect of visual-motion time-delays on pilot performance in a simulated pursuit tracking task

NASA Technical Reports Server (NTRS)

Miller, G. K., Jr.; Riley, D. R.

1977-01-01

An experimental study was made to determine the effect on pilot performance of time delays in the visual and motion feedback loops of a simulated pursuit tracking task. Three major interrelated factors were identified: task difficulty either in the form of airplane handling qualities or target frequency, the amount and type of motion cues, and time delay itself. In general, the greater the task difficulty, the smaller the time delay that could exist without degrading pilot performance. Conversely, the greater the motion fidelity, the greater the time delay that could be tolerated. The effect of motion was, however, pilot dependent.

Experimental evaluation of a wind shear alert and energy management display

NASA Technical Reports Server (NTRS)

Kraiss, K.-F.; Baty, D. L.

1978-01-01

A method is proposed for onboard measurement and display of specific windshear and energy management data derived from an air data computer. An open-loop simulation study is described which was carried out to verify the feasibility of this display concept, and whose results were used as a basis to develop the respective cockpit instrumentation. The task was to fly a three-degree landing approach under various shear conditions with and without specific information on the shear. Improved performance due to augmented cockpit information was observed. Critical shears with increasing tailwinds could be handled more consistently and with less deviation from the glide path.

Apparatus and methods for a human extender

DOEpatents

Jansen, John F.

2001-01-01

A human extender controller for interface between a human operator and a physical object through a physical plant. The human extender controller uses an inner-feedback loop to increase the equivalent damping of the operating system to stabilize the system when it contacts with the environment and reduces the impact of the environment variation by utilizing a high feedback gain, determined by a root locus sketch. Because the stability of the human extender controller of the present invention is greatly enhanced over that of the prior art, the present invention is able to achieve a force reflection ratio 500 to 1 and capable of handling loads above the two (2) ton range.

A Systematic Methodology for Verifying Superscalar Microprocessors

NASA Technical Reports Server (NTRS)

Srivas, Mandayam; Hosabettu, Ravi; Gopalakrishnan, Ganesh

1999-01-01

We present a systematic approach to decompose and incrementally build the proof of correctness of pipelined microprocessors. The central idea is to construct the abstraction function by using completion functions, one per unfinished instruction, each of which specifies the effect (on the observables) of completing the instruction. In addition to avoiding the term size and case explosion problem that limits the pure flushing approach, our method helps localize errors, and also handles stages with interactive loops. The technique is illustrated on pipelined and superscalar pipelined implementations of a subset of the DLX architecture. It has also been applied to a processor with out-of-order execution.

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.

Membrane thickening aerobic digestion processes.

PubMed

Woo, Bryen

2014-01-01

Sludge management accounts for approximately 60% of the total wastewater treatment plant expenditure and laws for sludge disposal are becoming increasingly stringent, therefore much consideration is required when designing a solids handling process. A membrane thickening aerobic digestion process integrates a controlled aerobic digestion process with pre-thickening waste activated sludge using membrane technology. This process typically features an anoxic tank, an aerated membrane thickener operating in loop with a first-stage digester followed by second-stage digestion. Membrane thickening aerobic digestion processes can handle sludge from any liquid treatment process and is best for facilities obligated to meet low total phosphorus and nitrogen discharge limits. Membrane thickening aerobic digestion processes offer many advantages including: producing a reusable quality permeate with minimal levels of total phosphorus and nitrogen that can be recycled to the head works of a plant, protecting the performance of a biological nutrient removal liquid treatment process without requiring chemical addition, providing reliable thickening up to 4% solids concentration without the use of polymers or attention to decanting, increasing sludge storage capacities in existing tanks, minimizing the footprint of new tanks, reducing disposal costs, and providing Class B stabilization.

Recent advances in automatic alignment system for the National Ignition Facility

NASA Astrophysics Data System (ADS)

Wilhelmsen, Karl; Awwal, Abdul A. S.; Kalantar, Dan; Leach, Richard; Lowe-Webb, Roger; McGuigan, David; Miller Kamm, Vicki

2011-03-01

The automatic alignment system for the National Ignition Facility (NIF) is a large-scale parallel system that directs all 192 laser beams along the 300-m optical path to a 50-micron focus at target chamber in less than 50 minutes. The system automatically commands 9,000 stepping motors to adjust mirrors and other optics based upon images acquired from high-resolution digital cameras viewing beams at various locations. Forty-five control loops per beamline request image processing services running on a LINUX cluster to analyze these images of the beams and references, and automatically steer the beams toward the target. This paper discusses the upgrades to the NIF automatic alignment system to handle new alignment needs and evolving requirements as related to various types of experiments performed. As NIF becomes a continuously-operated system and more experiments are performed, performance monitoring is increasingly important for maintenance and commissioning work. Data, collected during operations, is analyzed for tuning of the laser and targeting maintenance work. Handling evolving alignment and maintenance needs is expected for the planned 30-year operational life of NIF.

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.

Effect of diuretics on renal tubular transport of calcium and magnesium.

PubMed

Alexander, R Todd; Dimke, Henrik

2017-06-01

Calcium (Ca 2+ ) and Magnesium (Mg 2+ ) reabsorption along the renal tubule is dependent on distinct trans- and paracellular pathways. Our understanding of the molecular machinery involved is increasing. Ca 2+ and Mg 2+ reclamation in kidney is dependent on a diverse array of proteins, which are important for both forming divalent cation-permeable pores and channels, but also for generating the necessary driving forces for Ca 2+ and Mg 2+ transport. Alterations in these molecular constituents can have profound effects on tubular Ca 2+ and Mg 2+ handling. Diuretics are used to treat a large range of clinical conditions, but most commonly for the management of blood pressure and fluid balance. The pharmacological targets of diuretics generally directly facilitate sodium (Na + ) transport, but also indirectly affect renal Ca 2+ and Mg 2+ handling, i.e., by establishing a prerequisite electrochemical gradient. It is therefore not surprising that substantial alterations in divalent cation handling can be observed following diuretic treatment. The effects of diuretics on renal Ca 2+ and Mg 2+ handling are reviewed in the context of the present understanding of basal molecular mechanisms of Ca 2+ and Mg 2+ transport. Acetazolamide, osmotic diuretics, Na + /H + exchanger (NHE3) inhibitors, and antidiabetic Na + /glucose cotransporter type 2 (SGLT) blocking compounds, target the proximal tubule, where paracellular Ca 2+ transport predominates. Loop diuretics and renal outer medullary K + (ROMK) inhibitors block thick ascending limb transport, a segment with significant paracellular Ca 2+ and Mg 2+ transport. Thiazides target the distal convoluted tubule; however, their effect on divalent cation transport is not limited to that segment. Finally, potassium-sparing diuretics, which inhibit electrogenic Na + transport at distal sites, can also affect divalent cation transport. Copyright © 2017 the American Physiological Society.

Process technology and effects of spallation products: Circuit components, maintenance, and handling

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

Sigg, B.; Haines, S.J.; Dressler, R.

1996-06-01

Working Session D included an assessment of the status of the technology and components required to: (1) remove impurities from the liquid metal (mercury or Pb-Bi) target flow loop including the effects of spallation products, (2) provide the flow parameters necessary for target operations, and (3) maintain the target system. A series of brief presentations were made to focus the discussion on these issues. The subjects of these presentations, and presenters were: (1) Spallation products and solubilities - R. Dressler; (2) Spallation products for Pb-Bi - Y. Orlov; (3) Clean/up/impurity removal components - B. Sigg; (4) {open_quotes}Road-Map{close_quotes} and remote handlingmore » needs - T. McManamy; (5) Remote handling issues and development - M. Holding. The overall conclusion of this session was that, with the exception of (i) spallation product related processing issues, (ii) helium injection and clean-up, and (iii) specialized remote handling equipment, the technology for all other circuit components (excluding the target itself) exists. Operating systems at the Institute of Physics in Riga, Latvia (O. Lielausis) and at Ben-Gurion University in Beer Shiva, Israel (S. Lesin) have demonstrated that other liquid metal circuit components including pumps, heat exchangers, valves, seals, and piping are readily available and have been reliably used for many years. In the three areas listed above, the designs and analysis are not judged to be mature enough to determine whether and what types of technology development are required. Further design and analysis of the liquid metal target system is therefore needed to define flow circuit processing and remote handling equipment requirements and thereby identify any development needs.« less

A robust adaptive denoising framework for real-time artifact removal in scalp EEG measurements

NASA Astrophysics Data System (ADS)

Kilicarslan, Atilla; Grossman, Robert G.; Contreras-Vidal, Jose Luis

2016-04-01

Objective. Non-invasive measurement of human neural activity based on the scalp electroencephalogram (EEG) allows for the development of biomedical devices that interface with the nervous system for scientific, diagnostic, therapeutic, or restorative purposes. However, EEG recordings are often considered as prone to physiological and non-physiological artifacts of different types and frequency characteristics. Among them, ocular artifacts and signal drifts represent major sources of EEG contamination, particularly in real-time closed-loop brain-machine interface (BMI) applications, which require effective handling of these artifacts across sessions and in natural settings. Approach. We extend the usage of a robust adaptive noise cancelling (ANC) scheme ({H}∞ filtering) for removal of eye blinks, eye motions, amplitude drifts and recording biases simultaneously. We also characterize the volume conduction, by estimating the signal propagation levels across all EEG scalp recording areas due to ocular artifact generators. We find that the amplitude and spatial distribution of ocular artifacts vary greatly depending on the electrode location. Therefore, fixed filtering parameters for all recording areas would naturally hinder the true overall performance of an ANC scheme for artifact removal. We treat each electrode as a separate sub-system to be filtered, and without the loss of generality, they are assumed to be uncorrelated and uncoupled. Main results. Our results show over 95-99.9% correlation between the raw and processed signals at non-ocular artifact regions, and depending on the contamination profile, 40-70% correlation when ocular artifacts are dominant. We also compare our results with the offline independent component analysis and artifact subspace reconstruction methods, and show that some local quantities are handled better by our sample-adaptive real-time framework. Decoding performance is also compared with multi-day experimental data from 2 subjects, totaling 19 sessions, with and without {H}∞ filtering of the raw data. Significance. The proposed method allows real-time adaptive artifact removal for EEG-based closed-loop BMI applications and mobile EEG studies in general, thereby increasing the range of tasks that can be studied in action and context while reducing the need for discarding data due to artifacts. Significant increase in decoding performances also justify the effectiveness of the method to be used in real-time closed-loop BMI applications.

Electrostatic correlations in inhomogeneous charged fluids beyond loop expansion

NASA Astrophysics Data System (ADS)

Buyukdagli, Sahin; Achim, C. V.; Ala-Nissila, T.

2012-09-01

Electrostatic correlation effects in inhomogeneous symmetric electrolytes are investigated within a previously developed electrostatic self-consistent theory [R. R. Netz and H. Orland, Eur. Phys. J. E 11, 301 (2003)], 10.1140/epje/i2002-10159-0. To this aim, we introduce two computational approaches that allow to solve the self-consistent equations beyond the loop expansion. The first method is based on a perturbative Green's function technique, and the second one is an extension of a previously introduced semiclassical approximation for single dielectric interfaces to the case of slit nanopores. Both approaches can handle the case of dielectrically discontinuous boundaries where the one-loop theory is known to fail. By comparing the theoretical results obtained from these schemes with the results of the Monte Carlo simulations that we ran for ions at neutral single dielectric interfaces, we first show that the weak coupling Debye-Huckel theory remains quantitatively accurate up to the bulk ion density ρb ≃ 0.01 M, whereas the self-consistent theory exhibits a good quantitative accuracy up to ρb ≃ 0.2 M, thus improving the accuracy of the Debye-Huckel theory by one order of magnitude in ionic strength. Furthermore, we compare the predictions of the self-consistent theory with previous Monte Carlo simulation data for charged dielectric interfaces and show that the proposed approaches can also accurately handle the correlation effects induced by the surface charge in a parameter regime where the mean-field result significantly deviates from the Monte Carlo data. Then, we derive from the perturbative self-consistent scheme the one-loop theory of asymmetrically partitioned salt systems around a dielectrically homogeneous charged surface. It is shown that correlation effects originate in these systems from a competition between the salt screening loss at the interface driving the ions to the bulk region, and the interfacial counterion screening excess attracting them towards the surface. This competition can be quantified in terms of the characteristic surface charge σ _s^*=√{2ρ _b/(π ℓ _B)}, where ℓB = 7 Å is the Bjerrum length. In the case of weak surface charges σ _s≪ σ _s^* where counterions form a diffuse layer, the interfacial salt screening loss is the dominant effect. As a result, correlation effects decrease the mean-field density of both coions and counterions. With an increase of the surface charge towards σ _s^*, the surface-attractive counterion screening excess starts to dominate, and correlation effects amplify in this regime the mean-field density of both type of ions. However, in the regime σ _s>σ _s^*, the same counterion screening excess also results in a significant decrease of the electrostatic mean-field potential. This reduces in turn the mean-field counterion density far from the charged surface. We also show that for σ _s≫ σ _s^*, electrostatic correlations result in a charge inversion effect. However, the electrostatic coupling regime where this phenomenon takes place should be verified with Monte Carlo simulations since this parameter regime is located beyond the validity range of the one-loop theory.

Electrostatic correlations in inhomogeneous charged fluids beyond loop expansion.

PubMed

Buyukdagli, Sahin; Achim, C V; Ala-Nissila, T

2012-09-14

Electrostatic correlation effects in inhomogeneous symmetric electrolytes are investigated within a previously developed electrostatic self-consistent theory [R. R. Netz and H. Orland, Eur. Phys. J. E 11, 301 (2003)]. To this aim, we introduce two computational approaches that allow to solve the self-consistent equations beyond the loop expansion. The first method is based on a perturbative Green's function technique, and the second one is an extension of a previously introduced semiclassical approximation for single dielectric interfaces to the case of slit nanopores. Both approaches can handle the case of dielectrically discontinuous boundaries where the one-loop theory is known to fail. By comparing the theoretical results obtained from these schemes with the results of the Monte Carlo simulations that we ran for ions at neutral single dielectric interfaces, we first show that the weak coupling Debye-Huckel theory remains quantitatively accurate up to the bulk ion density ρ(b) ≃ 0.01 M, whereas the self-consistent theory exhibits a good quantitative accuracy up to ρ(b) ≃ 0.2 M, thus improving the accuracy of the Debye-Huckel theory by one order of magnitude in ionic strength. Furthermore, we compare the predictions of the self-consistent theory with previous Monte Carlo simulation data for charged dielectric interfaces and show that the proposed approaches can also accurately handle the correlation effects induced by the surface charge in a parameter regime where the mean-field result significantly deviates from the Monte Carlo data. Then, we derive from the perturbative self-consistent scheme the one-loop theory of asymmetrically partitioned salt systems around a dielectrically homogeneous charged surface. It is shown that correlation effects originate in these systems from a competition between the salt screening loss at the interface driving the ions to the bulk region, and the interfacial counterion screening excess attracting them towards the surface. This competition can be quantified in terms of the characteristic surface charge σ(s)*=√(2ρ(b)/(πl(B)), where l(B) = 7 Å is the Bjerrum length. In the case of weak surface charges σ(s)≪σ(s)* where counterions form a diffuse layer, the interfacial salt screening loss is the dominant effect. As a result, correlation effects decrease the mean-field density of both coions and counterions. With an increase of the surface charge towards σ(s)*, the surface-attractive counterion screening excess starts to dominate, and correlation effects amplify in this regime the mean-field density of both type of ions. However, in the regime σ(s)>σ(s)*, the same counterion screening excess also results in a significant decrease of the electrostatic mean-field potential. This reduces in turn the mean-field counterion density far from the charged surface. We also show that for σ(s)≫σ(s)*, electrostatic correlations result in a charge inversion effect. However, the electrostatic coupling regime where this phenomenon takes place should be verified with Monte Carlo simulations since this parameter regime is located beyond the validity range of the one-loop theory.

Survey of flue gas desulfurization systems: Dickerson Station, Potomac Electric Power Co. Final report, Feb--Aug 1975

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

Isaacs, G.A.

1975-09-01

Results are given of a survey of a flue gas desulfurization system, utilizing the Chemico/Basic MgO-SO2 removal/recovery process, that has been retrofitted to handle approximately half of the exhaust gas from the 190 MW unit 3 at Potomac Electric Power Company's Dickerson Station. The system was installed at a cost of SO.5 million. The boiler burns 2% sulfur coal and is equipped with a 94% efficient electrostatic precipitator. A single two-stage scrubber/absorber is used. The liquor streams for the two stages are separate, both operating in a closed-loop mode. Magnesium oxide (MgO) is regenerated off-site. (GRA)

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

Fathi, Nima; McDaniel, Patrick; Vorobieff, Peter

The aim of this paper is evaluating the efficiency of a novel combined solar-nuclear cycle. CFD-Thermal analysis is performed to apply the available surplus heat from the nuclear cycle and measure the available kinetic energy of air for the turbine of a solar chimney power plant system (SCPPS). The presented idea helps to decrease the thermal pollution and handle the water shortage supply for water plant by replacing the cooling tower by solar chimney power plant to get the surplus heat from the available warm air in the secondary loop of the reactor. By applying this idea to a typicalmore » 1000 MW nuclear power plant with a 0.33 thermal efficiency, we can increase it to 0.39.« less

A Novel Switching-Based Control Framework for Improved Task Performance in Teleoperation System With Asymmetric Time-Varying Delays.

PubMed

Zhai, Di-Hua; Xia, Yuanqing

2018-02-01

This paper addresses the adaptive control for task-space teleoperation systems with constrained predefined synchronization error, where a novel switched control framework is investigated. Based on multiple Lyapunov-Krasovskii functionals method, the stability of the resulting closed-loop system is established in the sense of state-independent input-to-output stability. Compared with previous work, the developed method can simultaneously handle the unknown kinematics/dynamics, asymmetric varying time delays, and prescribed performance control in a unified framework. It is shown that the developed controller can guarantee the prescribed transient-state and steady-state synchronization performances between the master and slave robots, which is demonstrated by the simulation study.

Creatinine, urea, uric acid, water and electrolytes renal handling in the healthy oldest old

PubMed Central

Musso, Carlos Guido; Álvarez Gregori, Joaquín; Jauregui, José Ricardo; Macías Núñez, Juan Florencio

2012-01-01

Renal physiology in the healthy oldest old has the following characteristics, in comparison with the renal physiology in the young: a reduced creatinine clearance, tubular pattern of creatinine back-filtration, preserved proximal tubule sodium reabsorption and uric acid secretion, reduced sodium reabsorption in the thick ascending loop of Henle, reduced free water clearance, increased urea excretion, presence of medulla hypotonicity, reduced urinary dilution and concentration capabilities, and finally a reduced collecting tubules response to furosemide which expresses a reduced potassium excretion in this segment due to a sort of aldosterone resistance. All physiological changes of the aged kidney are the same in both genders. PMID:24175249

Automation effects in a stereotypical multiloop manual control system. [for aircraft

NASA Technical Reports Server (NTRS)

Hess, R. A.; Mcnally, B. D.

1984-01-01

The increasing reliance of state-of-the art, high performance aircraft on high authority stability and command augmentation systems, in order to obtain satisfactory performance and handling qualities, has made critical the achievement of a better understanding of human capabilities, limitations, and preferences during interactions with complex dynamic systems that involve task allocation between man and machine. An analytical and experimental study has been undertaken to investigate human interaction with a simple, multiloop dynamic system in which human activity was systematically varied by changing the levels of automation. Task definition has led to a control loop structure which parallels that for any multiloop manual control system, and may therefore be considered a stereotype.

Energy consumption program: A computer model simulating energy loads in buildings

NASA Technical Reports Server (NTRS)

Stoller, F. W.; Lansing, F. L.; Chai, V. W.; Higgins, S.

1978-01-01

The JPL energy consumption computer program developed as a useful tool in the on-going building modification studies in the DSN energy conservation project is described. The program simulates building heating and cooling loads and computes thermal and electric energy consumption and cost. The accuracy of computations are not sacrificed, however, since the results lie within + or - 10 percent margin compared to those read from energy meters. The program is carefully structured to reduce both user's time and running cost by asking minimum information from the user and reducing many internal time-consuming computational loops. Many unique features were added to handle two-level electronics control rooms not found in any other program.

Verification and Validation of Adaptive and Intelligent Systems with Flight Test Results

NASA Technical Reports Server (NTRS)

Burken, John J.; Larson, Richard R.

2009-01-01

F-15 IFCS project goals are: a) Demonstrate Control Approaches that can Efficiently Optimize Aircraft Performance in both Normal and Failure Conditions [A] & [B] failures. b) Advance Neural Network-Based Flight Control Technology for New Aerospace Systems Designs with a Pilot in the Loop. Gen II objectives include; a) Implement and Fly a Direct Adaptive Neural Network Based Flight Controller; b) Demonstrate the Ability of the System to Adapt to Simulated System Failures: 1) Suppress Transients Associated with Failure; 2) Re-Establish Sufficient Control and Handling of Vehicle for Safe Recovery. c) Provide Flight Experience for Development of Verification and Validation Processes for Flight Critical Neural Network Software.

Estimating power capability of aged lithium-ion batteries in presence of communication delays

NASA Astrophysics Data System (ADS)

Fridholm, Björn; Wik, Torsten; Kuusisto, Hannes; Klintberg, Anton

2018-04-01

Efficient control of electrified powertrains requires accurate estimation of the power capability of the battery for the next few seconds into the future. When implemented in a vehicle, the power estimation is part of a control loop that may contain several networked controllers which introduces time delays that may jeopardize stability. In this article, we present and evaluate an adaptive power estimation method that robustly can handle uncertain health status and time delays. A theoretical analysis shows that stability of the closed loop system can be lost if the resistance of the model is under-estimated. Stability can, however, be restored by filtering the estimated power at the expense of slightly reduced bandwidth of the signal. The adaptive algorithm is experimentally validated in lab tests using an aged lithium-ion cell subject to a high power load profile in temperatures from -20 to +25 °C. The upper voltage limit was set to 4.15 V and the lower voltage limit to 2.6 V, where significant non-linearities are occurring and the validity of the model is limited. After an initial transient when the model parameters are adapted, the prediction accuracy is within ± 2 % of the actually available power.

Vibration nullification of MEMS device using input shaping

NASA Astrophysics Data System (ADS)

Jordan, Scott; Lawrence, Eric M.

2003-07-01

The active silicon microstructures known as Micro-Electromechanical Systems (MEMS) are improving many existing technologies through simplification and cost reduction. Many industries have already capitalized on MEMS technology such as those in fields as diverse as telecommunications, computing, projection displays, automotive safety, defense and biotechnology. As they grow in sophistication and complexity, the familiar pressures to further reduce costs and increase performance grow for those who design and manufacture MEMS devices and the engineers who specify them for their end applications. One example is MEMS optical switches that have evolved from simple, bistable on/off elements to microscopic, freelypositionable beam steering optics. These can be actuated to discrete angular positions or to continuously-variable angular states through applied command signals. Unfortunately, elaborate closed-loop actuation schemes are often necessitated in order to stabilize the actuation. Furthermore, preventing one actuated micro-element from vibrationally cross-coupling with its neighbors is another reason costly closed-loop approaches are thought to be necessary. The Laser Doppler Vibrometer (LDV) is a valuable tool for MEMS characterization that provides non-contact, real-time measurements of velocity and/or displacement response. The LDV is a proven technology for production metrology to determine dynamical behaviors of MEMS elements, which can be a sensitive indicator of manufacturing variables such as film thickness, etch depth, feature tolerances, handling damage and particulate contamination. They are also important for characterizing the actuation dynamics of MEMS elements for implementation of a patented controls technique called Input Shaping«, which we show here can virtually eliminate the vibratory resonant response of MEMS elements even when subjected to the most severe actuation profiles. In this paper, we will demonstrate the use of the LDV to determine how the application of this compact, efficient algorithm can improve the performance of both open- and closed-loop MEMS devices, eliminating the need for costly closed-loop approaches. This can greatly reduce the complexity, cost and yield of MEMS design and manufacture.

Revisiting control establishments for emerging energy hubs

NASA Astrophysics Data System (ADS)

Nasirian, Vahidreza

Emerging small-scale energy systems, i.e., microgrids and smartgrids, rely on centralized controllers for voltage regulation, load sharing, and economic dispatch. However, the central controller is a single-point-of-failure in such a design as either the controller or attached communication links failure can render the entire system inoperable. This work seeks for alternative distributed control structures to improve system reliability and help to the scalability of the system. A cooperative distributed controller is proposed that uses a noise-resilient voltage estimator and handles global voltage regulation and load sharing across a DC microgrid. Distributed adaptive droop control is also investigated as an alternative solution. A droop-free distributed control is offered to handle voltage/frequency regulation and load sharing in AC systems. This solution does not require frequency measurement and, thus, features a fast frequency regulation. Distributed economic dispatch is also studied, where a distributed protocol is designed that controls generation units to merge their incremental costs into a consensus and, thus, push the entire system to generate with the minimum cost. Experimental verifications and Hardware-in-the-Loop (HIL) simulations are used to study efficacy of the proposed control protocols.

Effects of cockpit lateral stick characteristics on handling qualities and pilot dynamics

NASA Technical Reports Server (NTRS)

Mitchell, David G.; Aponso, Bimal L.; Klyde, David H.

1992-01-01

This report presents the results of analysis of cockpit lateral control feel-system studies. Variations in feel-system natural frequency, damping, and command sensing reference (force and position) were investigated, in combination with variations in the aircraft response characteristics. The primary data for the report were obtained from a flight investigation conducted with a variable-stability airplane, with additional information taken from other flight experiments and ground-based simulations for both airplanes and helicopters . The study consisted of analysis of handling qualities ratings and extraction of open-loop, pilot-vehicle describing functions from sum-of-sines tracking data, including, for a limited subset of these data, the development of pilot models. The study confirms the findings of other investigators that the effects on pilot opinion of cockpit feel-system dynamics are not equivalent to a comparable level of added time delay, and until a more comprehensive set of criteria are developed, it is recommended that feel-system dynamics be considered a delay-inducing element in the aircraft response. The best correlation with time-delay requirements was found when the feel-system dynamics were included in the delay measurements, regardless of the command reference. This is a radical departure from past approaches.

Bayesian nonparametric adaptive control using Gaussian processes.

PubMed

Chowdhary, Girish; Kingravi, Hassan A; How, Jonathan P; Vela, Patricio A

2015-03-01

Most current model reference adaptive control (MRAC) methods rely on parametric adaptive elements, in which the number of parameters of the adaptive element are fixed a priori, often through expert judgment. An example of such an adaptive element is radial basis function networks (RBFNs), with RBF centers preallocated based on the expected operating domain. If the system operates outside of the expected operating domain, this adaptive element can become noneffective in capturing and canceling the uncertainty, thus rendering the adaptive controller only semiglobal in nature. This paper investigates a Gaussian process-based Bayesian MRAC architecture (GP-MRAC), which leverages the power and flexibility of GP Bayesian nonparametric models of uncertainty. The GP-MRAC does not require the centers to be preallocated, can inherently handle measurement noise, and enables MRAC to handle a broader set of uncertainties, including those that are defined as distributions over functions. We use stochastic stability arguments to show that GP-MRAC guarantees good closed-loop performance with no prior domain knowledge of the uncertainty. Online implementable GP inference methods are compared in numerical simulations against RBFN-MRAC with preallocated centers and are shown to provide better tracking and improved long-term learning.

A Compact Self-Driven Liquid Lithium Loop for Industrial Neutron Generation

NASA Astrophysics Data System (ADS)

Stemmley, Steven; Szott, Matt; Kalathiparambil, Kishor; Ahn, Chisung; Jurczyk, Brian; Ruzic, David

2017-10-01

A compact, closed liquid lithium loop has been developed at the University of Illinois to test and utilize the Li-7(d,n) reaction. The liquid metal loop is housed in a stainless steel trench module with embedded heating and cooling. The system was designed to handle large heat and particle fluxes for use in neutron generators as well as fusion devices, solely operating via thermo-electric MHD. The objectives of this project are two-fold, 1) produce a high energy, MeV-level, neutron source and 2) provide a self-healing, low Z, low recycling plasma facing component. The flowing volume will keep a fresh, clean, lithium surface allowing Li-7(d,n) reactions to occur as well as deuterium adsorption in the fluid, increasing the overall neutron output. Expected yields of this system are 107 n/s for 13.5 MeV neutrons and 108 n/s for 2.45 MeV neutrons. Previous work has shown that using a tapered trench design prevents dry out and allows for an increase in velocity of the fluid at the particle strike point. For heat fluxes on the order of 10's MW/m2, COMSOL models have shown that high enough velocities ( 70 cm/s) are attainable to prevent significant lithium evaporation. Future work will be aimed at addressing wettability issues of lithium in the trenches, experimentally determine the velocities required to prevent dry out, and determine the neutron output of the system. The preliminary results and discussion will be presented. DOE SBIR project DE-SC0013861.

LIQUID TARGET

DOEpatents

Martin, M.D.; Salsig, W.W. Jr.

1959-01-13

A liquid handling apparatus is presented for a liquid material which is to be irradiated. The apparatus consists essentially of a reservoir for the liquid, a target element, a drain tank and a drain lock chamber. The target is in the form of a looped tube, the upper end of which is adapted to be disposed in a beam of atomic particles. The lower end of the target tube is in communication with the liquid in the reservoir and a means is provided to continuously circulate the liquid material to be irradiated through the target tube. Means to heat the reservoir tank is provided in the event that a metal is to be used as the target material. The apparatus is provided with suitable valves and shielding to provide maximum safety in operation.

Magnonic crystal as a delay line for low-noise auto-oscillators

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

Bankowski, Elena; Meitzler, Thomas; Khymyn, Roman S., E-mail: khiminr@gmail.com

2015-09-21

It is demonstrated that a delay line based on a one-dimensional magnonic crystal used in a feedback loop of a microwave auto-oscillator can substantially reduce the phase noise figure and improve other vital performance characteristics of the auto-oscillator. The advantage is achieved due to the increase of the effective delay time in the magnonic crystal, compared to the case of an un-patterned yttrium iron garnet (YIG) film, and improvement of the power-handling characteristics due to the now possible increase of the YIG film thickness. The internal modes of a magnonic crystal caused by the periodic energy exchange between the incidentmore » and reflected spin waves play the dominant role in the described effect.« less

Deconvolution of time series in the laboratory

NASA Astrophysics Data System (ADS)

John, Thomas; Pietschmann, Dirk; Becker, Volker; Wagner, Christian

2016-10-01

In this study, we present two practical applications of the deconvolution of time series in Fourier space. First, we reconstruct a filtered input signal of sound cards that has been heavily distorted by a built-in high-pass filter using a software approach. Using deconvolution, we can partially bypass the filter and extend the dynamic frequency range by two orders of magnitude. Second, we construct required input signals for a mechanical shaker in order to obtain arbitrary acceleration waveforms, referred to as feedforward control. For both situations, experimental and theoretical approaches are discussed to determine the system-dependent frequency response. Moreover, for the shaker, we propose a simple feedback loop as an extension to the feedforward control in order to handle nonlinearities of the system.

A Theory for the Roll-Ratchet Phenomenon in High Performance Aircraft

NASA Technical Reports Server (NTRS)

Hess, Ronald A.

1997-01-01

Roll-ratchet refers to a high frequency oscillation which can occur in pilot-in-the-loop control of roll attitude in high performance aircraft. The frequencies of oscillation are typically well beyond those associated with the more familiar pilot-induced oscillation. A structural model of the human pilot which has been employed to provide a unified theory for aircraft handling qualities and pilot-induced oscillations is employed here to provide a theory for the existence of roll-ratchet. It is hypothesized and demonstrated using the structural model that the pilot's inappropriate use of vestibular acceleration feedback can cause this phenomenon, a possibility which has been discussed previously by other researchers. The possible influence of biodynamic feedback on roll ratchet is also discussed.

The accomplishments of lithium target and test facility validation activities in the IFMIF/EVEDA phase

NASA Astrophysics Data System (ADS)

Arbeiter, Frederik; Baluc, Nadine; Favuzza, Paolo; Gröschel, Friedrich; Heidinger, Roland; Ibarra, Angel; Knaster, Juan; Kanemura, Takuji; Kondo, Hiroo; Massaut, Vincent; Saverio Nitti, Francesco; Miccichè, Gioacchino; O'hira, Shigeru; Rapisarda, David; Sugimoto, Masayoshi; Wakai, Eiichi; Yokomine, Takehiko

2018-01-01

As part of the engineering validation and engineering design activities (EVEDA) phase for the international fusion materials irradiation facility IFMIF, major elements of a lithium target facility and the test facility were designed, prototyped and validated. For the lithium target facility, the EVEDA lithium test loop was built at JAEA and used to test the stability (waves and long term) of the lithium flow in the target, work out the startup procedures, and test lithium purification and analysis. It was confirmed by experiments in the Lifus 6 plant at ENEA that lithium corrosion on ferritic martensitic steels is acceptably low. Furthermore, complex remote handling procedures for the remote maintenance of the target in the test cell environment were successfully practiced. For the test facility, two variants of a high flux test module were prototyped and tested in helium loops, demonstrating their good capabilities of maintaining the material specimens at the desired temperature with a low temperature spread. Irradiation tests were performed for heated specimen capsules and irradiation instrumentation in the BR2 reactor at SCK-CEN. The small specimen test technique, essential for obtaining material test results with limited irradiation volume, was advanced by evaluating specimen shape and test technique influences.

PID tuning rules for SOPDT systems: review and some new results.

PubMed

Panda, Rames C; Yu, Cheng-Ching; Huang, Hsiao-Ping

2004-04-01

PID controllers are widely used in industries and so many tuning rules have been proposed over the past 50 years that users are often lost in the jungle of tuning formulas. Moreover, unlike PI control, different control laws and structures of implementation further complicate the use of the PID controller. In this work, five different tuning rules are taken for study to control second-order plus dead time systems with wide ranges of damping coefficients and dead time to time constant ratios (D/tau). Four of them are based on IMC design with different types of approximations on dead time and the other on desired closed-loop specifications (i.e., specified forward transfer function). The method of handling dead time in the IMC type of design is important especially for systems with large D/tau ratios. A systematic approach was followed to evaluate the performance of controllers. The regions of applicability of suitable tuning rules are highlighted and recommendations are also given. It turns out that IMC designed with the Maclaurin series expansion type PID is a better choice for both set point and load changes for systems with D/tau greater than 1. For systems with D/tau less than 1, the desired closed-loop specification approach is favored.

A Controller-in-the Loop Simulation of Ground-Based Automated Separation Assurance in a NextGen Environment

NASA Technical Reports Server (NTRS)

Homola, J.; Prevot, Thomas; Mercer, Joey S.; Brasil, Connie L.; Martin, Lynne Hazel; Cabrall, C.

2010-01-01

A controller-in-the-loop simulation was conducted in the Airspace Operations Laboratory (AOL) at the NASA Ames Research Center to investigate the functional allocation aspects associated with ground-based automated separation assurance in a far-term NextGen environment. In this concept, ground-based automation handled the detection and resolution of strategic and tactical conflicts and alerted the controller to deferred situations. The controller was responsible for monitoring the automation and managing situations by exception. This was done in conditions both with and without arrival time constraints across two levels of traffic density. Results showed that although workload increased with an increase in traffic density, it was still manageable in most situations. The number of conflicts increased similarly with a related increase in the issuance of resolution clearances. Although over 99% of conflicts were resolved, operational errors did occur but were tied to local sector complexities. Feedback from the participants revealed that they thought they maintained reasonable situation awareness in this environment, felt that operations were highly acceptable at the lower traffic density level but were less so as it increased, and felt overall that the concept as it was introduced here was a positive step forward to accommodating the more complex environment envisioned as part of NextGen.

A lab-on-a-chip system with integrated sample preparation and loop-mediated isothermal amplification for rapid and quantitative detection of Salmonella spp. in food samples.

PubMed

Sun, Yi; Quyen, Than Linh; Hung, Tran Quang; Chin, Wai Hoe; Wolff, Anders; Bang, Dang Duong

2015-04-21

Foodborne disease is a major public health threat worldwide. Salmonellosis, an infectious disease caused by Salmonella spp., is one of the most common foodborne diseases. Isolation and identification of Salmonella by conventional bacterial culture or molecular-based methods are time consuming and usually take a few hours to days to complete. In response to the demand for rapid on line or on site detection of pathogens, in this study, we describe for the first time an eight-chamber lab-on-a-chip (LOC) system with integrated magnetic bead-based sample preparation and loop-mediated isothermal amplification (LAMP) for rapid and quantitative detection of Salmonella spp. in food samples. The whole diagnostic procedures including DNA isolation, isothermal amplification, and real-time detection were accomplished in a single chamber. Up to eight samples could be handled simultaneously and the system was capable to detect Salmonella at concentration of 50 cells per test within 40 min. The simple design, together with high level of integration, isothermal amplification, and quantitative analysis of multiple samples in short time, will greatly enhance the practical applicability of the LOC system for rapid on-site screening of Salmonella for applications in food safety control, environmental surveillance, and clinical diagnostics.

Role of thin descending limb urea transport in renal urea handling and the urine concentrating mechanism

PubMed Central

Lei, Tianluo; Zhou, Lei; Layton, Anita T.; Zhou, Hong; Zhao, Xuejian; Bankir, Lise

2011-01-01

Urea transporters UT-A2 and UT-B are expressed in epithelia of thin descending limb of Henle's loop and in descending vasa recta, respectively. To study their role and possible interaction in the context of the urine concentration mechanism, a UT-A2 and UT-B double knockout (UT-A2/B knockout) mouse model was generated by targeted deletion of the UT-A2 promoter in embryonic stem cells with UT-B gene knockout. The UT-A2/B knockout mice lacked detectable UT-A2 and UT-B transcripts and proteins and showed normal survival and growth. Daily urine output was significantly higher in UT-A2/B knockout mice than that in wild-type mice and lower than that in UT-B knockout mice. Urine osmolality in UT-A2/B knockout mice was intermediate between that in UT-B knockout and wild-type mice. The changes in urine osmolality and flow rate, plasma and urine urea concentration, as well as non-urea solute concentration after an acute urea load or chronic changes in protein intake suggested that UT-A2 plays a role in the progressive accumulation of urea in the inner medulla. These results suggest that in wild-type mice UT-A2 facilitates urea absorption by urea efflux from the thin descending limb of short loops of Henle. Moreover, UT-A2 deletion in UT-B knockout mice partially remedies the urine concentrating defect caused by UT-B deletion, by reducing urea loss from the descending limbs to the peripheral circulation; instead, urea is returned to the inner medulla through the loops of Henle and the collecting ducts. PMID:21849488

Role of thin descending limb urea transport in renal urea handling and the urine concentrating mechanism.

PubMed

Lei, Tianluo; Zhou, Lei; Layton, Anita T; Zhou, Hong; Zhao, Xuejian; Bankir, Lise; Yang, Baoxue

2011-12-01

Urea transporters UT-A2 and UT-B are expressed in epithelia of thin descending limb of Henle's loop and in descending vasa recta, respectively. To study their role and possible interaction in the context of the urine concentration mechanism, a UT-A2 and UT-B double knockout (UT-A2/B knockout) mouse model was generated by targeted deletion of the UT-A2 promoter in embryonic stem cells with UT-B gene knockout. The UT-A2/B knockout mice lacked detectable UT-A2 and UT-B transcripts and proteins and showed normal survival and growth. Daily urine output was significantly higher in UT-A2/B knockout mice than that in wild-type mice and lower than that in UT-B knockout mice. Urine osmolality in UT-A2/B knockout mice was intermediate between that in UT-B knockout and wild-type mice. The changes in urine osmolality and flow rate, plasma and urine urea concentration, as well as non-urea solute concentration after an acute urea load or chronic changes in protein intake suggested that UT-A2 plays a role in the progressive accumulation of urea in the inner medulla. These results suggest that in wild-type mice UT-A2 facilitates urea absorption by urea efflux from the thin descending limb of short loops of Henle. Moreover, UT-A2 deletion in UT-B knockout mice partially remedies the urine concentrating defect caused by UT-B deletion, by reducing urea loss from the descending limbs to the peripheral circulation; instead, urea is returned to the inner medulla through the loops of Henle and the collecting ducts.

Modeling Transients and Designing a Passive Safety System for a Nuclear Thermal Rocket Using Relap5

NASA Astrophysics Data System (ADS)

Khatry, Jivan

Long-term high payload missions necessitate the need for nuclear space propulsion. Several nuclear reactor types were investigated by the Nuclear Engine for Rocket Vehicle Application (NERVA) program of National Aeronautics and Space Administration (NASA). Study of planned/unplanned transients on nuclear thermal rockets is important due to the need for long-term missions. A NERVA design known as the Pewee I was selected for this purpose. The following transients were run: (i) modeling of corrosion-induced blockages on the peripheral fuel element coolant channels and their impact on radiation heat transfer in the core, and (ii) modeling of loss-of-flow-accidents (LOFAs) and their impact on radiation heat transfer in the core. For part (i), the radiation heat transfer rate of blocked channels increases while their neighbors' decreases. For part (ii), the core radiation heat transfer rate increases while the flow rate through the rocket system is decreased. However, the radiation heat transfer decreased while there was a complete LOFA. In this situation, the peripheral fuel element coolant channels handle the majority of the radiation heat transfer. Recognizing the LOFA as the most severe design basis accident, a passive safety system was designed in order to respond to such a transient. This design utilizes the already existing tie rod tubes and connects them to a radiator in a closed loop. Hence, this is basically a secondary loop. The size of the core is unchanged. During normal steady-state operation, this secondary loop keeps the moderator cool. Results show that the safety system is able to remove the decay heat and prevent the fuel elements from melting, in response to a LOFA and subsequent SCRAM.

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

PubMed

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

2017-09-01

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

Hardware-in-the-loop environment facility to address pilot-vehicle-interface issues of a fighter aircraft

NASA Astrophysics Data System (ADS)

Pandurangareddy, Meenige

2002-07-01

The evolution of Pilot-Vehicle-Interface (PVI) of a fighter aircraft is a complex task. The PVI design involves both static and dynamic issues. Static issues involve the study of reach of controls and switches, ejection path clearance, readability of indicators and display symbols, etc. Dynamic issues involve the study of the effect of aircraft motion on display symbols, pilot emergency handling, situation awareness, weapon aiming, etc. This paper describes a method of addressing the above issues by building a facility with cockpit, which is ergonomically similar to the fighter cockpit. The cockpit is also fitted with actual displays, controls and switches. The cockpit is interfaced with various simulation models of aircraft and outside-window-image generators. The architecture of the facility is designed to represent the latencies of the aircraft and facilitates replacement of simulation models with actual units. A parameter injection facility could be used to induce faults in a comprehensive manner. Pilots could use the facility right from familiarising themselves with procedures to start the engine, take-off, navigate, aim the weapons, handling of emergencies and landing. This approach is being followed and further being enhanced on Cockpit-Environment-Facility (CEF) at Aeronautical Development Agency (ADA), Bangalore, India.

Architectural elements of hybrid navigation systems for future space transportation

NASA Astrophysics Data System (ADS)

Trigo, Guilherme F.; Theil, Stephan

2018-06-01

The fundamental limitations of inertial navigation, currently employed by most launchers, have raised interest for GNSS-aided solutions. Combination of inertial measurements and GNSS outputs allows inertial calibration online, solving the issue of inertial drift. However, many challenges and design options unfold. In this work we analyse several architectural elements and design aspects of a hybrid GNSS/INS navigation system conceived for space transportation. The most fundamental architectural features such as coupling depth, modularity between filter and inertial propagation, and open-/closed-loop nature of the configuration, are discussed in the light of the envisaged application. Importance of the inertial propagation algorithm and sensor class in the overall system are investigated, being the handling of sensor errors and uncertainties that arise with lower grade sensory also considered. In terms of GNSS outputs we consider receiver solutions (position and velocity) and raw measurements (pseudorange, pseudorange-rate and time-difference carrier phase). Receiver clock error handling options and atmospheric error correction schemes for these measurements are analysed under flight conditions. System performance with different GNSS measurements is estimated through covariance analysis, being the differences between loose and tight coupling emphasized through partial outage simulation. Finally, we discuss options for filter algorithm robustness against non-linearities and system/measurement errors. A possible scheme for fault detection, isolation and recovery is also proposed.

A Survey of New Trends in Symbolic Execution for Software Testing and Analysis

NASA Technical Reports Server (NTRS)

Pasareanu, Corina S.; Visser, Willem

2009-01-01

Symbolic execution is a well-known program analysis technique which represents values of program inputs with symbolic values instead of concrete (initialized) data and executes the program by manipulating program expressions involving the symbolic values. Symbolic execution has been proposed over three decades ago but recently it has found renewed interest in the research community, due in part to the progress in decision procedures, availability of powerful computers and new algorithmic developments. We provide a survey of some of the new research trends in symbolic execution, with particular emphasis on applications to test generation and program analysis. We first describe an approach that handles complex programming constructs such as input data structures, arrays, as well as multi-threading. We follow with a discussion of abstraction techniques that can be used to limit the (possibly infinite) number of symbolic configurations that need to be analyzed for the symbolic execution of looping programs. Furthermore, we describe recent hybrid techniques that combine concrete and symbolic execution to overcome some of the inherent limitations of symbolic execution, such as handling native code or availability of decision procedures for the application domain. Finally, we give a short survey of interesting new applications, such as predictive testing, invariant inference, program repair, analysis of parallel numerical programs and differential symbolic execution.

Rotation-Induced Macromolecular Spooling of DNA

NASA Astrophysics Data System (ADS)

Shendruk, Tyler N.; Sean, David; Berard, Daniel J.; Wolf, Julian; Dragoman, Justin; Battat, Sophie; Slater, Gary W.; Leslie, Sabrina R.

2017-07-01

Genetic information is stored in a linear sequence of base pairs; however, thermal fluctuations and complex DNA conformations such as folds and loops make it challenging to order genomic material for in vitro analysis. In this work, we discover that rotation-induced macromolecular spooling of DNA around a rotating microwire can monotonically order genomic bases, overcoming this challenge. We use single-molecule fluorescence microscopy to directly visualize long DNA strands deforming and elongating in shear flow near a rotating microwire, in agreement with numerical simulations. While untethered DNA is observed to elongate substantially, in agreement with our theory and numerical simulations, strong extension of DNA becomes possible by introducing tethering. For the case of tethered polymers, we show that increasing the rotation rate can deterministically spool a substantial portion of the chain into a fully stretched, single-file conformation. When applied to DNA, the fraction of genetic information sequentially ordered on the microwire surface will increase with the contour length, despite the increased entropy. This ability to handle long strands of DNA is in contrast to modern DNA sample preparation technologies for sequencing and mapping, which are typically restricted to comparatively short strands, resulting in challenges in reconstructing the genome. Thus, in addition to discovering new rotation-induced macromolecular dynamics, this work inspires new approaches to handling genomic-length DNA strands.

Proposal of experimental setup on boiling two-phase flow on-orbit experiments onboard Japanese experiment module "KIBO"

NASA Astrophysics Data System (ADS)

Baba, S.; Sakai, T.; Sawada, K.; Kubota, C.; Wada, Y.; Shinmoto, Y.; Ohta, H.; Asano, H.; Kawanami, O.; Suzuki, K.; Imai, R.; Kawasaki, H.; Fujii, K.; Takayanagi, M.; Yoda, S.

2011-12-01

Boiling is one of the efficient modes of heat transfer due to phase change, and is regarded as promising means to be applied for the thermal management systems handling a large amount of waste heat under high heat flux. However, gravity effects on the two-phase flow phenomena and corresponding heat transfer characteristics have not been clarified in detail. The experiments onboard Japanese Experiment Module "KIBO" in International Space Station on boiling two-phase flow under microgravity conditions are proposed to clarify both of heat transfer and flow characteristics under microgravity conditions. To verify the feasibility of ISS experiments on boiling two-phase flow, the Bread Board Model is assembled and its performance and the function of components installed in a test loop are examined.

Velocity-free attitude coordinated tracking control for spacecraft formation flying.

PubMed

Hu, Qinglei; Zhang, Jian; Zhang, Youmin

2018-02-01

This article investigates the velocity-free attitude coordinated tracking control scheme for a group of spacecraft with the assumption that the angular velocities of the formation members are not available in control feedback. Initially, an angular velocity observer is constructed based on each individual's attitude quarternion. Then, the distributed attitude coordinated control law is designed by using the observed states, in which adaptive control method is adopted to handle the external disturbances. Stability of the overall closed-loop system is analyzed theoretically, which shows the system trajectory converges to a small set around origin with fast convergence rate. Numerical simulations are performed to demonstrate fast convergence and improved tracking performance of the proposed control strategy. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

The atomic simulation environment-a Python library for working with atoms.

PubMed

Hjorth Larsen, Ask; Jørgen Mortensen, Jens; Blomqvist, Jakob; Castelli, Ivano E; Christensen, Rune; Dułak, Marcin; Friis, Jesper; Groves, Michael N; Hammer, Bjørk; Hargus, Cory; Hermes, Eric D; Jennings, Paul C; Bjerre Jensen, Peter; Kermode, James; Kitchin, John R; Leonhard Kolsbjerg, Esben; Kubal, Joseph; Kaasbjerg, Kristen; Lysgaard, Steen; Bergmann Maronsson, Jón; Maxson, Tristan; Olsen, Thomas; Pastewka, Lars; Peterson, Andrew; Rostgaard, Carsten; Schiøtz, Jakob; Schütt, Ole; Strange, Mikkel; Thygesen, Kristian S; Vegge, Tejs; Vilhelmsen, Lasse; Walter, Michael; Zeng, Zhenhua; Jacobsen, Karsten W

2017-07-12

The atomic simulation environment (ASE) is a software package written in the Python programming language with the aim of setting up, steering, and analyzing atomistic simulations. In ASE, tasks are fully scripted in Python. The powerful syntax of Python combined with the NumPy array library make it possible to perform very complex simulation tasks. For example, a sequence of calculations may be performed with the use of a simple 'for-loop' construction. Calculations of energy, forces, stresses and other quantities are performed through interfaces to many external electronic structure codes or force fields using a uniform interface. On top of this calculator interface, ASE provides modules for performing many standard simulation tasks such as structure optimization, molecular dynamics, handling of constraints and performing nudged elastic band calculations.

The N/Rev phenomenon in simulating a blade-element rotor system

NASA Technical Reports Server (NTRS)

Mcfarland, R. E.

1983-01-01

When a simulation model produces frequencies that are beyond the bandwidth of a discrete implementation, anomalous frequencies appear within the bandwidth. Such is the case with blade element models of rotor systems, which are used in the real time, man in the loop simulation environment. Steady state, high frequency harmonics generated by these models, whether aliased or not, obscure piloted helicopter simulation responses. Since these harmonics are attenuated in actual rotorcraft (e.g., because of structural damping), a faithful environment representation for handling qualities purposes may be created from the original model by using certain filtering techniques, as outlined here. These include harmonic consideration, conventional filtering, and decontamination. The process of decontamination is of special interest because frequencies of importance to simulation operation are not attenuated, whereas superimposed aliased harmonics are.

A review of supersonic cruise flight path control experience with the YF-12 aircraft

NASA Technical Reports Server (NTRS)

Berry, D. T.; Gilyard, G. B.

1976-01-01

Flight research with the YF-12 aircraft indicates that solutions to many handling qualities problems of supersonic cruise are at hand. Airframe/propulsion system interactions in the Dutch roll mode can be alleviated by the use of passive filters or additional feedback loops in the propulsion and flight control systems. Mach and altitude excursions due to atmospheric temperature fluctuations can be minimized by the use of a cruise autothrottle. Autopilot instabilities in the altitude hold mode have been traced to angle of attack-sensitive static ports on the compensated nose boom. For the YF-12, the feedback of high-passed pitch rate to the autopilot resolves this problem. Manual flight path control is significantly improved by the use of an inertial rate of climb display in the cockpit.

Charge dissipative dielectric for cryogenic devices

NASA Technical Reports Server (NTRS)

Cantor, Robin Harold (Inventor); Hall, John Addison (Inventor)

2007-01-01

A Superconducting Quantum Interference Device (SQUID) is disclosed comprising a pair of resistively shunted Josephson junctions connected in parallel within a superconducting loop and biased by an external direct current (dc) source. The SQUID comprises a semiconductor substrate and at least one superconducting layer. The metal layer(s) are separated by or covered with a semiconductor material layer having the properties of a conductor at room temperature and the properties of an insulator at operating temperatures (generally less than 100 Kelvins). The properties of the semiconductor material layer greatly reduces the risk of electrostatic discharge that can damage the device during normal handling of the device at room temperature, while still providing the insulating properties desired to allow normal functioning of the device at its operating temperature. A method of manufacturing the SQUID device is also disclosed.

Diuretics, calciuria and secondary hyperparathyroidism in the Chronic Renal Insufficiency Cohort.

PubMed

Isakova, Tamara; Anderson, Cheryl A M; Leonard, Mary B; Xie, Dawei; Gutiérrez, Orlando M; Rosen, Leigh K; Theurer, Jacquie; Bellovich, Keith; Steigerwalt, Susan P; Tang, Ignatius; Anderson, Amanda Hyre; Townsend, Raymond R; He, Jiang; Feldman, Harold I; Wolf, Myles

2011-04-01

Secondary hyperparathyroidism is a common complication of chronic kidney disease (CKD) that is associated with bone disease, cardiovascular disease and death. Pathophysiological factors that maintain secondary hyperparathyroidism in advanced CKD are well-known, but early mechanisms of the disease that can be targeted for its primary prevention are poorly understood. Diuretics are widely used to control volume status and blood pressure in CKD patients but are also known to have important effects on renal calcium handling, which we hypothesized could alter the risk of secondary hyperparathyroidism. We examined the relationship of diuretic treatment with urinary calcium excretion, parathyroid hormone (PTH) levels and prevalence of secondary hyperparathyroidism (PTH ≥ 65 pg/mL) in a cross-sectional study of 3616 CKD patients in the Chronic Renal Insufficiency Cohort. Compared with no diuretics, treatment with loop diuretics was independently associated with higher adjusted urinary calcium (55.0 versus 39.6 mg/day; P < 0.001), higher adjusted PTH [67.9, 95% confidence interval (CI) 65.2-70.7 pg/mL, versus 52.8, 95% CI 51.1-54.6 pg/mL, P < 0.001] and greater odds of secondary hyperparathyroidism (odds ratio 2.1; 95% CI 1.7-2.6). Thiazide monotherapy was associated with lower calciuria (25.5 versus 39.6 mg/day; P < 0.001) but only modestly lower PTH levels (50.0, 95% CI 47.8-52.3, versus 520.8, 95% CI 51.1-54.6 pg/mL, P = 0.04) compared with no diuretics. However, coadministration of thiazide and loop diuretics was associated with blunted urinary calcium (30.3 versus 55.0 mg/day; P <0.001) and odds of hyperparathyroidism (odds ratio 1.3 versus 2.1; P for interaction = 0.05) compared with loop diuretics alone. Loop diuretic use was associated with greater calciuria, PTH levels and odds of secondary hyperparathyroidism compared to no treatment. These associations were attenuated in patients who were coadministered thiazides. Diuretic choice is a potentially modifiable determinant of secondary hyperparathyroidism in CKD.

Diuretics, calciuria and secondary hyperparathyroidism in the Chronic Renal Insufficiency Cohort

PubMed Central

Isakova, Tamara; Anderson, Cheryl A. M.; Leonard, Mary B.; Xie, Dawei; Gutiérrez, Orlando M.; Rosen, Leigh K.; Theurer, Jacquie; Bellovich, Keith; Steigerwalt, Susan P.; Tang, Ignatius; Anderson, Amanda Hyre; Townsend, Raymond R.; He, Jiang; Feldman, Harold I.; Wolf, Myles

2011-01-01

Background. Secondary hyperparathyroidism is a common complication of chronic kidney disease (CKD) that is associated with bone disease, cardiovascular disease and death. Pathophysiological factors that maintain secondary hyperparathyroidism in advanced CKD are well-known, but early mechanisms of the disease that can be targeted for its primary prevention are poorly understood. Diuretics are widely used to control volume status and blood pressure in CKD patients but are also known to have important effects on renal calcium handling, which we hypothesized could alter the risk of secondary hyperparathyroidism. Methods. We examined the relationship of diuretic treatment with urinary calcium excretion, parathyroid hormone (PTH) levels and prevalence of secondary hyperparathyroidism (PTH ≥ 65 pg/mL) in a cross-sectional study of 3616 CKD patients in the Chronic Renal Insufficiency Cohort. Results. Compared with no diuretics, treatment with loop diuretics was independently associated with higher adjusted urinary calcium (55.0 versus 39.6 mg/day; P < 0.001), higher adjusted PTH [67.9, 95% confidence interval (CI) 65.2–70.7 pg/mL, versus 52.8, 95% CI 51.1–54.6 pg/mL, P < 0.001] and greater odds of secondary hyperparathyroidism (odds ratio 2.1; 95% CI 1.7–2.6). Thiazide monotherapy was associated with lower calciuria (25.5 versus 39.6 mg/day; P < 0.001) but only modestly lower PTH levels (50.0, 95% CI 47.8–52.3, versus 520.8, 95% CI 51.1–54.6 pg/mL, P = 0.04) compared with no diuretics. However, coadministration of thiazide and loop diuretics was associated with blunted urinary calcium (30.3 versus 55.0 mg/day; P <0.001) and odds of hyperparathyroidism (odds ratio 1.3 versus 2.1; P for interaction = 0.05) compared with loop diuretics alone. Conclusions. Loop diuretic use was associated with greater calciuria, PTH levels and odds of secondary hyperparathyroidism compared to no treatment. These associations were attenuated in patients who were coadministered thiazides. Diuretic choice is a potentially modifiable determinant of secondary hyperparathyroidism in CKD. PMID:21382989

Porting Gravitational Wave Signal Extraction to Parallel Virtual Machine (PVM)

NASA Technical Reports Server (NTRS)

Thirumalainambi, Rajkumar; Thompson, David E.; Redmon, Jeffery

2009-01-01

Laser Interferometer Space Antenna (LISA) is a planned NASA-ESA mission to be launched around 2012. The Gravitational Wave detection is fundamentally the determination of frequency, source parameters, and waveform amplitude derived in a specific order from the interferometric time-series of the rotating LISA spacecrafts. The LISA Science Team has developed a Mock LISA Data Challenge intended to promote the testing of complicated nested search algorithms to detect the 100-1 millihertz frequency signals at amplitudes of 10E-21. However, it has become clear that, sequential search of the parameters is very time consuming and ultra-sensitive; hence, a new strategy has been developed. Parallelization of existing sequential search algorithms of Gravitational Wave signal identification consists of decomposing sequential search loops, beginning with outermost loops and working inward. In this process, the main challenge is to detect interdependencies among loops and partitioning the loops so as to preserve concurrency. Existing parallel programs are based upon either shared memory or distributed memory paradigms. In PVM, master and node programs are used to execute parallelization and process spawning. The PVM can handle process management and process addressing schemes using a virtual machine configuration. The task scheduling and the messaging and signaling can be implemented efficiently for the LISA Gravitational Wave search process using a master and 6 nodes. This approach is accomplished using a server that is available at NASA Ames Research Center, and has been dedicated to the LISA Data Challenge Competition. Historically, gravitational wave and source identification parameters have taken around 7 days in this dedicated single thread Linux based server. Using PVM approach, the parameter extraction problem can be reduced to within a day. The low frequency computation and a proxy signal-to-noise ratio are calculated in separate nodes that are controlled by the master using message and vector of data passing. The message passing among nodes follows a pattern of synchronous and asynchronous send-and-receive protocols. The communication model and the message buffers are allocated dynamically to address rapid search of gravitational wave source information in the Mock LISA data sets.

Fourth-order self-energy contribution to the two loop Lamb shift

NASA Astrophysics Data System (ADS)

Palur Mallampalli, Subrahmanyam

1998-11-01

The calculation of the two loop Lamb shift in hydrogenic ions involves the numerical evaluation of ten Feynman diagrams. In this thesis, four fourth-order Feynman diagrams including the pure self-energy contributions are evaluated using exact Dirac-Coulomb propagators, so that higher order binding corrections can be extracted by comparing with the known terms in the Z/alpha expansion. The entire calculation is performed in Feynman gauge. One of the vacuum polarization diagrams is evaluated in the Uehling approximation. At low Z, it is seen to be perturbative in Z/alpha, while new predictions for high Z are made. The calculation of the three self-energy diagrams is reorganized into four terms, which we call the PO, M, F and P terms. The PO term is separately gauge invariant while the latter three form a gauge invariant set. The PO term is shown to exhibit the most non-perturbative behavior yet encountered in QED at low Z, so much so that even at Z = 1, the complete result is of the opposite sign as that of the leading term in its Z/alpha expansion. At high Z, we agree with an earlier calculation. The analysis of ultraviolet divergences in the two loop self-energy is complicated by the presence of sub- divergences. All divergences except the self-mass are shown to cancel. The self-mass is then removed by a self- mass counterterm. Parts of the calculation are shown to contain reference state singularities, that finally cancel. A numerical regulator to handle these singularities is described. The M term, an ultraviolet finite quantity, is defined through a subtraction scheme in coordinate space. Being computationally intensive, it is evaluated only at high Z, specifically Z = 83 and 92. The F term involves the evaluation of several Feynman diagrams with free electron propagators. These are computed for a range of values of Z. The P term, also ultraviolet finite, involves Dirac- Coulomb propagators that are best defined in coordinate space, as well as functions associated with the one loop self-energy that are best defined in momentum space. Possible methods of evaluating the P term are discussed.

SPARX, a new environment for Cryo-EM image processing.

PubMed

Hohn, Michael; Tang, Grant; Goodyear, Grant; Baldwin, P R; Huang, Zhong; Penczek, Pawel A; Yang, Chao; Glaeser, Robert M; Adams, Paul D; Ludtke, Steven J

2007-01-01

SPARX (single particle analysis for resolution extension) is a new image processing environment with a particular emphasis on transmission electron microscopy (TEM) structure determination. It includes a graphical user interface that provides a complete graphical programming environment with a novel data/process-flow infrastructure, an extensive library of Python scripts that perform specific TEM-related computational tasks, and a core library of fundamental C++ image processing functions. In addition, SPARX relies on the EMAN2 library and cctbx, the open-source computational crystallography library from PHENIX. The design of the system is such that future inclusion of other image processing libraries is a straightforward task. The SPARX infrastructure intelligently handles retention of intermediate values, even those inside programming structures such as loops and function calls. SPARX and all dependencies are free for academic use and available with complete source.

Distributed Adaptive Neural Control for Stochastic Nonlinear Multiagent Systems.

PubMed

Wang, Fang; Chen, Bing; Lin, Chong; Li, Xuehua

2016-11-14

In this paper, a consensus tracking problem of nonlinear multiagent systems is investigated under a directed communication topology. All the followers are modeled by stochastic nonlinear systems in nonstrict feedback form, where nonlinearities and stochastic disturbance terms are totally unknown. Based on the structural characteristic of neural networks (in Lemma 4), a novel distributed adaptive neural control scheme is put forward. The raised control method not only effectively handles unknown nonlinearities in nonstrict feedback systems, but also copes with the interactions among agents and coupling terms. Based on the stochastic Lyapunov functional method, it is indicated that all the signals of the closed-loop system are bounded in probability and all followers' outputs are convergent to a neighborhood of the output of leader. At last, the efficiency of the control method is testified by a numerical example.

Apollo(R) Thin Film Process Development; Phase 2 Technical Report; May 1999--April 2000

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

Cunningham, D. W.; Skinner, D. E.

2000-09-17

In this report, the results are presented and discussed from the following areas: CdS and CdTe optimization. In this section, semiconductor properties, optical properties and device optimization are discussed. Crystallographic characteristics were determined under collaborative work with the Institute of Energy Conversion, (University of Delaware) and NREL. In addition to this, module performance results are presented to illustrate the efficiency improvements gained as a result of this research. In the Reliability and testing section, both indoor stress testing and outdoor long term test systems are described. Detailed design, set up and initial results are presented. In the Health, Safety andmore » Environment section are described the handling of waste treatment systems at the Fairfield plant, reclaimed cadmium metal recycling and closed loop/zero discharge studies.« less

Embryo Sexing and Sex Chromosomal Chimerism Analysis by Loop-Mediated Isothermal Amplification in Cattle and Water Buffaloes

PubMed Central

HIRAYAMA, Hiroki; KAGEYAMA, Soichi; MORIYASU, Satoru; SAWAI, Ken; MINAMIHASHI, Akira

2013-01-01

Abstract In domestic animals of the family Bovidae, sex preselection of offspring has been demanded for convenience of milk/beef production and animal breeding. Development of the nonsurgical embryo transfer technique and sexing methods of preimplantation embryos made it possible. Sexing based on detection of Y chromosome-specific DNA sequences is considered the most reliable method to date. PCR enables amplification of a target sequence from a small number of blastomeres. However, it requires technical skill and is time consuming. Furthermore, PCR has the risk of false positives because of DNA contamination during handling of the PCR products in duplicate PCR procedures and/or electrophoresis. Therefore, for embryo sexing to become widely used in the cattle embryo transfer industry, a simple, rapid and precise sexing method needs to be developed. Loop-mediated isothermal amplification (LAMP) is a novel DNA amplification method, and the reaction is carried out under isothermal conditions (range, 60 to 65 C) using DNA polymerase with strand displacement activity. When the target DNA is amplified by LAMP, a white precipitate derived from magnesium pyrophosphate (a by-product of the LAMP reaction) is observed. It is noteworthy that LAMP does not need special reagents or electrophoresis to detect the amplified DNA. This review describes the development and application of an embryo sexing method using LAMP in cattle and water buffaloes. PMID:23965599

Computerized design of controllers using data models

NASA Technical Reports Server (NTRS)

Irwin, Dennis; Mitchell, Jerrel; Medina, Enrique; Allwine, Dan; Frazier, Garth; Duncan, Mark

1995-01-01

The major contributions of the grant effort have been the enhancement of the Compensator Improvement Program (CIP), which resulted in the Ohio University CIP (OUCIP) package, and the development of the Model and Data-Oriented Computer Aided Design System (MADCADS). Incorporation of direct z-domain designs into CIP was tested and determined to be numerically ill-conditioned for the type of lightly damped problems for which the development was intended. Therefore, it was decided to pursue the development of z-plane designs in the w-plane, and to make this conversion transparent to the user. The analytical development needed for this feature, as well as that needed for including compensator damping ratios and DC gain specifications, closed loop stability requirements, and closed loop disturbance rejection specifications into OUCIP are all contained in Section 3. OUCIP was successfully tested with several example systems to verify proper operation of existing and new features. The extension of the CIP philosophy and algorithmic approach to handle modern multivariable controller design criteria was implemented and tested. Several new algorithms for implementing the search approach to modern multivariable control system design were developed and tested. This analytical development, most of which was incorporated into the MADCADS software package, is described in Section 4, which also includes results of the application of MADCADS to the MSFC ACES facility and the Hubble Space Telescope.

[Regulation of hypnosis in Propofol anesthesia administration based on non-linear control strategy].

PubMed

Ilyas, Muhammad; Khaqan, Ali; Iqbal, Jamshed; Riaz, Raja Ali

Continuous adjustment of Propofol in manual delivery of anesthesia for conducting a surgical procedure overburdens the workload of an anesthetist who is working in a multi-tasking scenario. Going beyond manual administration and Target Controlled Infusion, closed-loop control of Propofol infusion has the potential to offer several benefits in terms of handling perturbations and reducing the effect of inter-patient variability. This paper proposes a closed-loop automated drug administration approach to control Depth Of Hypnosis in anesthesia. In contrast with most of the existing research on anesthesia control which makes use of linear control strategies or their improved variants, the novelty of the present research lies in applying robust control strategy i.e. Sliding Mode Control to accurately control drug infusion. Based on the derived patient's model, the designed controller uses measurements from EEG to regulate DOH on Bispectral Index by controlling infusion rate of Propofol. The performance of the controller is investigated and characterized with real dataset of 8 patients undergoing surgery. Results of this in silico study indicate that for all the patients, with 0% overshoot observed, the steady state error lies in between ±5. Clinically, this implies that in all the cases, without any overdose, the controller maintains the desired DOH level for smooth conduction of surgical procedures. Copyright © 2016 Sociedade Brasileira de Anestesiologia. Publicado por Elsevier Editora Ltda. All rights reserved.

Regulation of hypnosis in Propofol anesthesia administration based on non-linear control strategy.

PubMed

Ilyas, Muhammad; Khaqan, Ali; Iqbal, Jamshed; Riaz, Raja Ali

Continuous adjustment of Propofol in manual delivery of anesthesia for conducting a surgical procedure overburdens the workload of an anesthetist who is working in a multi-tasking scenario. Going beyond manual administration and Target Controlled Infusion, closed-loop control of Propofol infusion has the potential to offer several benefits in terms of handling perturbations and reducing the effect of inter-patient variability. This paper proposes a closed-loop automated drug administration approach to control Depth Of Hypnosis in anesthesia. In contrast with most of the existing research on anesthesia control which makes use of linear control strategies or their improved variants, the novelty of the present research lies in applying robust control strategy i.e. Sliding Mode Control to accurately control drug infusion. Based on the derived patient's model, the designed controller uses measurements from EEG to regulate DOH on Bispectral Index by controlling infusion rate of Propofol. The performance of the controller is investigated and characterized with real dataset of 8 patients undergoing surgery. Results of this in silico study indicate that for all the patients, with 0% overshoot observed, the steady state error lies in between ±5. Clinically, this implies that in all the cases, without any overdose, the controller maintains the desired DOH level for smooth conduction of surgical procedures. Copyright © 2016 Sociedade Brasileira de Anestesiologia. Published by Elsevier Editora Ltda. All rights reserved.

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy.

PubMed

Zhang, Libo; Zhu, Junjie; Ren, Hao; Liu, Dongdong; Meng, Dan; Wu, Yanjun; Luo, Tiejian

2017-10-14

Intelligent robots are part of a new generation of robots that are able to sense the surrounding environment, plan their own actions and eventually reach their targets. In recent years, reliance upon robots in both daily life and industry has increased. The protocol proposed in this paper describes the design and production of a handling robot with an intelligent search algorithm and an autonomous identification function. First, the various working modules are mechanically assembled to complete the construction of the work platform and the installation of the robotic manipulator. Then, we design a closed-loop control system and a four-quadrant motor control strategy, with the aid of debugging software, as well as set steering gear identity (ID), baud rate and other working parameters to ensure that the robot achieves the desired dynamic performance and low energy consumption. Next, we debug the sensor to achieve multi-sensor fusion to accurately acquire environmental information. Finally, we implement the relevant algorithm, which can recognize the success of the robot's function for a given application. The advantage of this approach is its reliability and flexibility, as the users can develop a variety of hardware construction programs and utilize the comprehensive debugger to implement an intelligent control strategy. This allows users to set personalized requirements based on their needs with high efficiency and robustness.

Three-dimensional printed sample load/inject valves enabling online monitoring of extracellular calcium and zinc ions in living rat brains.

PubMed

Su, Cheng-Kuan; Hsia, Sheng-Chieh; Sun, Yuh-Chang

2014-08-01

We have developed a simple and low-cost flow injection system coupled to a quadruple ICP-MS for the direct and continuous determination of multi-element in microdialysates. To interface microdialysis sampling to an inductively coupled plasma mass spectrometer (ICP-MS), we employed 3D printing to manufacture an as-designed sample load/inject valve featuring an in-valve sample loop for precise handling of microliter samples with a dissolved solids content of 0.9% NaCl (w/v). To demonstrate the practicality of our developed on-line system, we applied the 3D printed valve equipped a 5-μL sample loop to minimize the occurrence of salt matrix effects and facilitate an online dynamic monitoring of extracellular calcium and zinc ions in living rat brains. Under the practical condition (temporal resolution: 10h(-1)), dynamic profiling of these two metal ions in living rat brain extracellular fluid after probe implantation (the basal values for Ca and Zn were 12.11±0.10mg L(-1) and 1.87±0.05μg L(-1), respectively) and real-time monitoring of the physiological response to excitotoxic stress elicited upon perfusing a solution of 2.5mM N-methyl-d-aspartate were performed. Copyright © 2014 Elsevier B.V. All rights reserved.

Mathematical Model of Ammonia Handling in the Rat Renal Medulla

PubMed Central

Noiret, Lorette; Baigent, Stephen; Jalan, Rajiv; Thomas, S. Randall

2015-01-01

The kidney is one of the main organs that produces ammonia and release it into the circulation. Under normal conditions, between 30 and 50% of the ammonia produced in the kidney is excreted in the urine, the rest being absorbed into the systemic circulation via the renal vein. In acidosis and in some pathological conditions, the proportion of urinary excretion can increase to 70% of the ammonia produced in the kidney. Mechanisms regulating the balance between urinary excretion and renal vein release are not fully understood. We developed a mathematical model that reflects current thinking about renal ammonia handling in order to investigate the role of each tubular segment and identify some of the components which might control this balance. The model treats the movements of water, sodium chloride, urea, NH3 and NH4+, and non-reabsorbable solute in an idealized renal medulla of the rat at steady state. A parameter study was performed to identify the transport parameters and microenvironmental conditions that most affect the rate of urinary ammonia excretion. Our results suggest that urinary ammonia excretion is mainly determined by those parameters that affect ammonia recycling in the loops of Henle. In particular, our results suggest a critical role for interstitial pH in the outer medulla and for luminal pH along the inner medullary collecting ducts. PMID:26280830

Force-reflective teleoperated system with shared and compliant control capabilities

NASA Technical Reports Server (NTRS)

Szakaly, Z.; Kim, W. S.; Bejczy, A. K.

1989-01-01

The force-reflecting teleoperator breadboard is described. It is the first system among available Research and Development systems with the following combined capabilities: (1) The master input device is not a replica of the slave arm. It is a general purpose device which can be applied to the control of different robot arms through proper mathematical transformations. (2) Force reflection generated in the master hand controller is referenced to forces and moments measured by a six DOF force-moment sensor at the base of the robot hand. (3) The system permits a smooth spectrum of operations between full manual, shared manual and automatic, and full automatic (called traded) control. (4) The system can be operated with variable compliance or stiffness in force-reflecting control. Some of the key points of the system are the data handling and computing architecture, the communication method, and the handling of mathematical transformations. The architecture is a fully synchronized pipeline. The communication method achieves optimal use of a parallel communication channel between the local and remote computing nodes. A time delay box is also implemented in this communication channel permitting experiments with up to 8 sec time delay. The mathematical transformations are computed faster than 1 msec so that control at each node can be operated at 1 kHz servo rate without interpolation. This results in an overall force-reflecting loop rate of 200 Hz.

Mission Data System Java Edition Version 7

NASA Technical Reports Server (NTRS)

Reinholtz, William K.; Wagner, David A.

2013-01-01

The Mission Data System framework defines closed-loop control system abstractions from State Analysis including interfaces for state variables, goals, estimators, and controllers that can be adapted to implement a goal-oriented control system. The framework further provides an execution environment that includes a goal scheduler, execution engine, and fault monitor that support the expression of goal network activity plans. Using these frameworks, adapters can build a goal-oriented control system where activity coordination is verified before execution begins (plan time), and continually during execution. Plan failures including violations of safety constraints expressed in the plan can be handled through automatic re-planning. This version optimizes a number of key interfaces and features to minimize dependencies, performance overhead, and improve reliability. Fault diagnosis and real-time projection capabilities are incorporated. This version enhances earlier versions primarily through optimizations and quality improvements that raise the technology readiness level. Goals explicitly constrain system states over explicit time intervals to eliminate ambiguity about intent, as compared to command-oriented control that only implies persistent intent until another command is sent. A goal network scheduling and verification process ensures that all goals in the plan are achievable before starting execution. Goal failures at runtime can be detected (including predicted failures) and handled by adapted response logic. Responses can include plan repairs (try an alternate tactic to achieve the same goal), goal shedding, ignoring the fault, cancelling the plan, or safing the system.

Design and Optimization of an EEG-Based Brain Machine Interface (BMI) to an Upper-Limb Exoskeleton for Stroke Survivors

PubMed Central

Bhagat, Nikunj A.; Venkatakrishnan, Anusha; Abibullaev, Berdakh; Artz, Edward J.; Yozbatiran, Nuray; Blank, Amy A.; French, James; Karmonik, Christof; Grossman, Robert G.; O'Malley, Marcia K.; Francisco, Gerard E.; Contreras-Vidal, Jose L.

2016-01-01

This study demonstrates the feasibility of detecting motor intent from brain activity of chronic stroke patients using an asynchronous electroencephalography (EEG)-based brain machine interface (BMI). Intent was inferred from movement related cortical potentials (MRCPs) measured over an optimized set of EEG electrodes. Successful intent detection triggered the motion of an upper-limb exoskeleton (MAHI Exo-II), to guide movement and to encourage active user participation by providing instantaneous sensory feedback. Several BMI design features were optimized to increase system performance in the presence of single-trial variability of MRCPs in the injured brain: (1) an adaptive time window was used for extracting features during BMI calibration; (2) training data from two consecutive days were pooled for BMI calibration to increase robustness to handle the day-to-day variations typical of EEG, and (3) BMI predictions were gated by residual electromyography (EMG) activity from the impaired arm, to reduce the number of false positives. This patient-specific BMI calibration approach can accommodate a broad spectrum of stroke patients with diverse motor capabilities. Following BMI optimization on day 3, testing of the closed-loop BMI-MAHI exoskeleton, on 4th and 5th days of the study, showed consistent BMI performance with overall mean true positive rate (TPR) = 62.7 ± 21.4% on day 4 and 67.1 ± 14.6% on day 5. The overall false positive rate (FPR) across subjects was 27.74 ± 37.46% on day 4 and 27.5 ± 35.64% on day 5; however for two subjects who had residual motor function and could benefit from the EMG-gated BMI, the mean FPR was quite low (< 10%). On average, motor intent was detected −367 ± 328 ms before movement onset during closed-loop operation. These findings provide evidence that closed-loop EEG-based BMI for stroke patients can be designed and optimized to perform well across multiple days without system recalibration. PMID:27065787

Mars Science Laboratory Drill

NASA Technical Reports Server (NTRS)

Okon, Avi B.

2010-01-01

The Drill for the Mars Science Laboratory mission is a rotary-percussive sample acquisition device with an emphasis on toughness and robustness to handle the harsh environment on Mars. The unique challenges associated with autonomous drilling from a mobile robot are addressed. A highly compressed development schedule dictated a modular design architecture that satisfies the functional and load requirements while allowing independent development and testing of the Drill subassemblies. The Drill consists of four actuated mechanisms: a spindle that rotates the bit, a chuck that releases and engages bits, a novel voice-coil-based percussion mechanism that hammers the bit, and a linear translation mechanism. The Drill has three passive mechanisms: a replaceable bit assembly that acquires and collects sample, a contact sensor / stabilizer mechanism, and, lastly a flex harness service loop. This paper describes the various mechanisms that makeup the Drill and discusses the solutions to their unique design and development challenges.

Flight Simulator Visual-Display Delay Compensation

NASA Technical Reports Server (NTRS)

Crane, D. Francis

1981-01-01

A piloted aircraft can be viewed as a closed-loop man-machine control system. When a simulator pilot is performing a precision maneuver, a delay in the visual display of aircraft response to pilot-control input decreases the stability of the pilot-aircraft system. The less stable system is more difficult to control precisely. Pilot dynamic response and performance change as the pilot attempts to compensate for the decrease in system stability. The changes in pilot dynamic response and performance bias the simulation results by influencing the pilot's rating of the handling qualities of the simulated aircraft. The study reported here evaluated an approach to visual-display delay compensation. The objective of the compensation was to minimize delay-induced change in pilot performance and workload, The compensation was effective. Because the compensation design approach is based on well-established control-system design principles, prospects are favorable for successful application of the approach in other simulations.

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.

Rotor-state feedback in the design of flight control laws for a hovering helicopter

NASA Technical Reports Server (NTRS)

Takahashi, Marc D.

1994-01-01

The use of rigid-body and rotor-state feedback gains in the design of helicopter flight control laws was investigated analytically on a blade element, articulated rotor, helicopter model. The study was conducted while designing a control law to meet an existing military rotorcraft handling qualities design specification (ADS-33C) in low-speed flight. A systematic approach to meet this specification was developed along with an assessment of the function of these gains in the feedback loops. Using the results of this assessment, the pitch and roll crossover behavior was easily modified by adjusting the body attitude and rotor-flap feedback gains. Critical to understanding the feedback gains is that the roll and pitch rate dynamics each have second-order behavior, not the classic first-order behavior, which arises from a quasi-static rotor, six degree-of-freedom model.

Wormholes or gravastars?

NASA Astrophysics Data System (ADS)

Garattini, Remo

2013-09-01

The one loop effective action in a Schwarzschild background is here used to compute the Zero Point Energy (ZPE) which is compared to the same one generated by an existing gravastar. We find that only when we set up a difference between ZPE in these different background we can have an indication on which configuration is favored. Such a ZPE difference represents the Casimir energy. Such an energy, being negative, can be considered as a part of the Dark Energy necessary for the topology change. It is also shown that the expression of the ZPE is equivalent to the one computed by means of a variational approach. To handle with ZPE divergences, we use the zeta function regularization. A renormalization procedure to remove the infinities together with a renormalization group equation is introduced. We find that the final configuration is dependent on the ratio between the radius of the wormhole augmented by the "brick wall" and the radius of the gravastar.

High-Intensity Radiated Field Fault-Injection Experiment for a Fault-Tolerant Distributed Communication System

NASA Technical Reports Server (NTRS)

Yates, Amy M.; Torres-Pomales, Wilfredo; Malekpour, Mahyar R.; Gonzalez, Oscar R.; Gray, W. Steven

2010-01-01

Safety-critical distributed flight control systems require robustness in the presence of faults. In general, these systems consist of a number of input/output (I/O) and computation nodes interacting through a fault-tolerant data communication system. The communication system transfers sensor data and control commands and can handle most faults under typical operating conditions. However, the performance of the closed-loop system can be adversely affected as a result of operating in harsh environments. In particular, High-Intensity Radiated Field (HIRF) environments have the potential to cause random fault manifestations in individual avionic components and to generate simultaneous system-wide communication faults that overwhelm existing fault management mechanisms. This paper presents the design of an experiment conducted at the NASA Langley Research Center's HIRF Laboratory to statistically characterize the faults that a HIRF environment can trigger on a single node of a distributed flight control system.

An approach to the determination of aircraft handling qualities using pilot transfer functions

NASA Technical Reports Server (NTRS)

Adams, J. J.; Hatch, H. G., Jr.

1978-01-01

It was shown that a correlation exists between pilot-aircraft system closed-loop characteristics, determined by using analytical expressions for pilot response along with the analytical expression for the aircraft response, and pilot ratings obtained in many previous flight and simulation studies. Two different levels of preferred pilot response were used. These levels were: (1) a static gain and a second-order lag function with a lag time constant of 0.2 second; and (2) a static gain, a lead time constant of 1 second, and a 0.2-second lag time constant. If a system response with a pitch-angle time constant of 2.6 seconds and a stable oscillatory mode of motion with a period of 2.5 seconds could be achieved with the first-level pilot model, it was shown that the pilot rating will be satisfactory for that vehicle.

E-learning and blended learning in textile engineering education: a closed feedback loop approach

NASA Astrophysics Data System (ADS)

Charitopoulos, A.; Vassiliadis, S.; Rangoussi, M.; Koulouriotis, D.

2017-10-01

E-learning has gained a significant role in typical education and in professional training, thanks to the flexibility it offers to the time and location parameters of the education event framework. Purely e-learning scenarios are mostly limited either to Open University-type higher education institutions or to graduate level or professional degrees; blended learning scenarios are progressively becoming popular thanks to their balanced approach. The aim of the present work is to propose approaches that exploit the e-learning and the blended-learning scenarios for Textile Engineering education programmes, especially for multi-institutional ones. The “E-Team” European MSc degree programme organized by AUTEX is used as a case study. The proposed solution is based on (i) a free and open-source e-learning platform (moodle) and (ii) blended learning educational scenarios. Educational challenges addressed include student engagement, student error / failure handling, as well as collaborative learning promotion and support.

Demonstration of frequency-sweep testing technique using a Bell 214-ST helicopter

NASA Technical Reports Server (NTRS)

Tischler, Mark B.; Fletcher, Jay W.; Diekmann, Vernon L.; Williams, Robert A.; Cason, Randall W.

1987-01-01

A demonstration of frequency-sweep testing using a Bell-214ST single-rotor helicopter was completed in support of the Army's development of an updated MIL-H-8501A, and an LHX (ADS-33) handling-qualities specification. Hover and level-flight (V sub a = 0 knots and V sub a = 90 knots) tests were conducted in 3 flight hours by Army test pilots at the Army Aviation Engineering Flight Activity (AEFA) at Edwards AFB, Calif. Bandwidth and phase-delay parameters were determined from the flight-extracted frequency responses as required by the proposed specifications. Transfer function modeling and verification demonstrates the validity of the frequency-response concept for characterizing closed-loop flight dynamics of single-rotor helicopters -- even in hover. This report documents the frequency-sweep flight-testing technique and data-analysis procedures. Special emphasis is given to piloting and analysis considerations which are important for demonstrating frequency-domain specification compliance.

High-channel-count, high-density microelectrode array for closed-loop investigation of neuronal networks.

PubMed

Tsai, David; John, Esha; Chari, Tarun; Yuste, Rafael; Shepard, Kenneth

2015-01-01

We present a system for large-scale electrophysiological recording and stimulation of neural tissue with a planar topology. The recording system has 65,536 electrodes arranged in a 256 × 256 grid, with 25.5 μm pitch, and covering an area approximately 42.6 mm(2). The recording chain has 8.66 μV rms input-referred noise over a 100 ~ 10k Hz bandwidth while providing up to 66 dB of voltage gain. When recording from all electrodes in the array, it is capable of 10-kHz sampling per electrode. All electrodes can also perform patterned electrical microstimulation. The system produces ~ 1 GB/s of data when recording from the full array. To handle, store, and perform nearly real-time analyses of this large data stream, we developed a framework based around Xilinx FPGAs, Intel x86 CPUs and the NVIDIA Streaming Multiprocessors to interface with the electrode array.

System Engineering Infrastructure Evolution Galileo IOV and the Steps Beyond

NASA Astrophysics Data System (ADS)

Eickhoff, J.; Herpel, H.-J.; Steinle, T.; Birn, R.; Steiner, W.-D.; Eisenmann, H.; Ludwig, T.

2009-05-01

The trends to more and more constrained financial budgets in satellite engineering require a permanent optimization of the S/C system engineering processes and infrastructure. Astrium in the recent years already has built up a system simulation infrastructure - the "Model-based Development & Verification Environment" - which meanwhile is well known all over Europe and is established as Astrium's standard approach for ESA, DLR projects and now even the EU/ESA-Project Galileo IOV. The key feature of the MDVE / FVE approach is to provide entire S/C simulation (with full featured OBC simulation) already in early phases to start OBSW code tests on a simulated S/C and to later add hardware in the loop step by step up to an entire "Engineering Functional Model (EFM)" or "FlatSat". The subsequent enhancements to this simulator infrastructure w.r.t. spacecraft design data handling are reported in the following sections.

Exploring the potential of a multi-level approach to improve capability for continuous organizational improvement and learning in a Swedish healthcare region.

PubMed

Nyström, M E; Höög, E; Garvare, R; Andersson Bäck, M; Terris, D D; Hansson, J

2018-05-24

Eldercare and care of people with functional impairments is organized by the municipalities in Sweden. Improving care in these areas is complex, with multiple stakeholders and organizations. Appropriate strategies to develop capability for continuing organizational improvement and learning (COIL) are needed. The purpose of our study was to develop and pilot-test a flexible, multilevel approach for COIL capability building and to identify what it takes to achieve changes in key actors' approaches to COIL. The approach, named "Sustainable Improvement and Development through Strategic and Systematic Approaches" (SIDSSA), was applied through an action-research and action-learning intervention. The SIDSSA approach was tested in a regional research and development (R&D) unit, and in two municipalities handling care of the elderly and people with functional impairments. Our approach included a multilevel strategy, development loops of five flexible phases, and an action-learning loop. The approach was designed to support systems understanding, strategic focus, methodological practices, and change process knowledge - all of which required double-loop learning. Multiple qualitative methods, i.e., repeated interviews, process diaries, and documents, provided data for conventional content analyses. The new approach was successfully tested on all cases and adopted and sustained by the R&D unit. Participants reported new insights and skills. The development loop facilitated a sense of coherence and control during uncertainty, improved planning and problem analysis, enhanced mapping of context and conditions, and supported problem-solving at both the individual and unit levels. The systems-level view and structured approach helped participants to explain, motivate, and implement change initiatives, especially after working more systematically with mapping, analyses, and goal setting. An easily understood and generalizable model internalized by key organizational actors is an important step before more complex development models can be implemented. SIDSSA facilitated individual and group learning through action-learning and supported systems-level views and structured approaches across multiple organizational levels. Active involvement of diverse organizational functions and levels in the learning process was facilitated. However, the time frame was too short to fully test all aspects of the approach, specifically in reaching beyond the involved managers to front-line staff and patients.

Minimizing marker mass and handling time when attaching radio-transmitters and geolocators to small songbirds

USGS Publications Warehouse

Streby, Henry M.; McAllister, Tara L.; Peterson, Sean M.; Kramer, Gunnar R.; Lehman, Justin A.; Andersen, David E.

2015-01-01

Radio-transmitters and light-level geolocators are currently small enough for use on songbirds weighing <15 g. Various methods are used to attach these markers to larger songbirds, but with small birds it becomes especially important to minimize marker mass and bird handling time. Here, we offer modifications to harness materials and marker preparation for transmitters and geolocators, and we describe deployment methods that can be safely completed in 20–60 s per bird. We describe a 0.5-mm elastic sewing thread harness for radio-transmitters that allows nestlings, fledglings, and adults to be marked with the same harness size and reliably falls off to avoid poststudy effects. We also describe a 0.5-mm jewelry cord harness for geolocators that provides a firm fit for >1 yr. Neither harness type requires plastic or metal tubes, rings, or other attachment fixtures on the marker, nor do they require crimping beads, epoxy, scissors, or tying knots while handling birds. Both harnesses add 0.03 g to the mass of markers for small wood-warblers (Parulidae). This minimal additional mass is offset by trimming transmitter antennas or geolocator connection nodes, resulting in no net mass gain for transmitters and 0.02 g added for geolocators compared with conventional harness methods that add >0.40 g. We and others have used this transmitter attachment method with several small songbird species, with no effects on adult and fledgling behavior and survival. We have used this geolocator attachment method on 9-g wood-warblers with no effects on return rates, return dates, territory fidelity, and body mass. We hope that these improvements to the design and deployment of the leg-loop harness method will enable the safe and successful use of these markers, and eventually GPS and other tags, on similarly small songbirds.

PSF reconstruction validated using on-sky CANARY data in MOAO mode

NASA Astrophysics Data System (ADS)

Martin, O. A.; Correia, C. M.; Gendron, E.; Rousset, G.; Gratadour, D.; Vidal, F.; Morris, T. J.; Basden, A. G.; Myers, R. M.; Neichel, B.; Fusco, T.

2016-07-01

CANARY is an open-loop tomographic adaptive optics (AO) demonstrator that was designed for use at the 4.2m William Herschel Telescope (WHT) in La Palma. Gearing up to extensive statistical studies of high redshifted galaxies surveyed with Multi-Object Spectrographs (MOS), the demonstrator CANARY has been designed to tackle technical challenges related to open-loop Adaptive-Optics (AO) control with mixed Natural Guide Star (NGS) and Laser Guide Star (LGS) tomography. We have developed a Point Spread Function (PSF)-Reconstruction algorithm dedicated to MOAO systems using system telemetry to estimate the PSF potentially anywhere in the observed field, a prerequisite to deconvolve AO-corrected science observations in Integral Field Spectroscopy (IFS). Additionally the ability to accurately reconstruct the PSF is the materialization of the broad and fine-detailed understanding of the residual error contributors, both atmospheric and opto-mechanical. In this paper we compare the classical PSF-r approach from Véran (1) that we take as reference on-axis using the truth-sensor telemetry to one tailored to atmospheric tomography by handling the off-axis data only. We've post-processed over 450 on-sky CANARY data sets with which we observe 92% and 88% of correlation on respectively the reconstructed Strehl Ratio (SR)/Full Width at Half Maximum (FWHM) compared to the sky values. The reference method achieves 95% and 92.5% exploiting directly the measurements of the residual phase from the Canary Truth Sensor (TS).

Predictive and Neural Predictive Control of Uncertain Systems

NASA Technical Reports Server (NTRS)

Kelkar, Atul G.

2000-01-01

Accomplishments and future work are:(1) Stability analysis: the work completed includes characterization of stability of receding horizon-based MPC in the setting of LQ paradigm. The current work-in-progress includes analyzing local as well as global stability of the closed-loop system under various nonlinearities; for example, actuator nonlinearities; sensor nonlinearities, and other plant nonlinearities. Actuator nonlinearities include three major types of nonlineaxities: saturation, dead-zone, and (0, 00) sector. (2) Robustness analysis: It is shown that receding horizon parameters such as input and output horizon lengths have direct effect on the robustness of the system. (3) Code development: A matlab code has been developed which can simulate various MPC formulations. The current effort is to generalize the code to include ability to handle all plant types and all MPC types. (4) Improved predictor: It is shown that MPC design using better predictors that can minimize prediction errors. It is shown analytically and numerically that Smith predictor can provide closed-loop stability under GPC operation for plants with dead times where standard optimal predictor fails. (5) Neural network predictors: When neural network is used as predictor it can be shown that neural network predicts the plant output within some finite error bound under certain conditions. Our preliminary study shows that with proper choice of update laws and network architectures such bound can be obtained. However, much work needs to be done to obtain a similar result in general case.

A compact self-flowing lithium system for use in an industrial neutron source

NASA Astrophysics Data System (ADS)

Kalathiparambil, Kishor Kumar; Szott, Matthew; Jurczyk, Brian; Ahn, Chisung; Ruzic, David

2016-10-01

A compact trench module to flow liquid lithium in closed loops for handling high heat and particle flux have been fabricated and tested at UIUC. The module was designed to demonstrate the proof of concept in utilizing liquid metals for two principal objectives: i) as self-healing low Z plasma facing components, which is expected to solve the issues facing the current high Z components and ii) using flowing lithium as an MeV-level neutron source. A continuously flowing lithium loop ensures a fresh lithium interface and also accommodate a higher concentration of D, enabling advanced D-Li reactions without using any radioactive tritium. Such a system is expected to have a base yield of 10e7 n/s. For both the applications, the key success factor of the module is attaining the necessary high flow velocity of the lithium especially over the impact area, which will be the disruptive plasma events in fusion reactors and the incident ion beam for the neutron beam source. This was achieved by the efficient shaping of the trenches to exploit the nozzle effect in liquid flow. The compactness of the module, which can also be scaled as desired, was fulfilled by the use of high Tc permanent magnets and air cooled channels attained the necessary temperature gradient for driving the lithium. The design considerations and parameters, experimental arrangements involving lithium filling and attaining flow, data and results obtained will be elaborated. DOE SBIR project DE-SC0013861.

Three Degree of Freedom Parallel Mechanical Linkage

NASA Technical Reports Server (NTRS)

Adelstein, Bernard D. (Inventor)

1998-01-01

A three degree of freedom parallel mechanism or linkage that couples three degree of freedom translational displacements at an endpoint, such as a handle, a hand grip, or a robot tool, to link rotations about three axes that are fixed with respect to a common base or ground link. The mechanism includes a three degree of freedom spherical linkage formed of two closed loops, and a planar linkage connected to the endpoint. The closed loops are rotatably interconnected, and made of eight rigid links connected by a plurality of single degree of freedom revolute joints. Three of these revolute joints are base joints and are connected to a common ground. such that the axis lines passing through the revolute joints intersect at a common fixed center point K forming the center of a spherical work volume in which the endpoint is capable of moving. 'Me three degrees of freedom correspond to the spatial displacement of the endpoint, for instance. The mechanism provides a new overall spatial kinematic linkage composed of a minimal number of rigid links and rotary joints. The mechanism has improved mechanical stiffness, and conveys mechanical power bidirectionally between the human operator and the electromechanical actuators. It does not require gears, belts. cable, screw or other types of transmission elements, and is useful in applications requiring full backdrivability. Thus, this invention can serve as the mechanical linkage for actively powered devices such as compliant robotic manipulators and force-reflecting hand controllers, and passive devices such as manual input devices for computers and other systems.

Verification and Tuning of an 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 focuses on the analysis and tuning of a controller based on the Adaptive Control Technology for Safe Flight (ACTS) architecture. The ACTS architecture consists of a nominal, non-adaptive controller that provides satisfactory performance under nominal flying conditions, and an adaptive controller that provides robustness under off-nominal ones. A framework unifying control verification and gain tuning is used to make the controller s ability to satisfy the closed-loop requirements more robust to uncertainty. In this paper we tune the gains of both controllers using this approach. Some advantages and drawbacks of adaptation are identified by performing a global robustness assessment of both the adaptive controller and its non-adaptive counterpart. The analyses used to determine these characteristics are based on evaluating the degradation in closed-loop performance resulting from uncertainties having increasing levels of severity. The specific adverse conditions considered can be grouped into three categories: aerodynamic uncertainties, structural damage, and actuator failures. These failures include partial and total loss of control effectiveness, locked-in-place control surface deflections, and engine out conditions. The requirements considered are the peak structural loading, the ability of the controller to track pilot commands, the ability of the controller to keep the aircraft s state within the reliable flight envelope, and the handling/riding qualities of the aircraft. The nominal controller resulting from these tuning strategies was successfully validated using the NASA GTM Flight Test Vehicle.

The need for command and control instant message adaptive interfaces: lessons learned from Tactical Tomahawk human-in-the-loop simulations.

PubMed

Cummings, M L

2004-12-01

In the recent development of a human-in-the-loop simulation test bed designed to examine human performance issues for supervisory control of the Navy's new Tactical Tomahawk missile, measurements of operator situation awareness (SA) and workload through secondary tasking were taken through an embedded instant messaging program. Instant message interfaces (otherwise known as "chat"), already a means of communication between Navy ships, allow researchers to query users in real-time in a natural, ecologic setting, and thus provide more realistic and unobtrusive measurements. However, in the course of this testing, results revealed that some subjects fixated on the real-time instant messaging secondary task instead of the primary task of missile control, leading to the overall degradation of mission performance as well as a loss of SA. While this research effort was the first to quantify command and control performance degradation as a result of instant messaging, the military has recognized that in its network centric warfare quest, instant messaging is a critical informal communication tool, but has associated problems. Recently, a military spokesman said that managing chat in current military operations was sometimes a "nightmare," because military personnel have difficulty in handling large amounts of information through chat, and then synthesizing knowledge from this information. This research highlights the need for further investigation of the role of instant messaging interfaces both on task performance and situation awareness, and how the associated problems could be ameliorated through adaptive display design.

A disturbance based control/structure design algorithm

NASA Technical Reports Server (NTRS)

Mclaren, Mark D.; Slater, Gary L.

1989-01-01

Some authors take a classical approach to the simultaneous structure/control optimization by attempting to simultaneously minimize the weighted sum of the total mass and a quadratic form, subject to all of the structural and control constraints. Here, the optimization will be based on the dynamic response of a structure to an external unknown stochastic disturbance environment. Such a response to excitation approach is common to both the structural and control design phases, and hence represents a more natural control/structure optimization strategy than relying on artificial and vague control penalties. The design objective is to find the structure and controller of minimum mass such that all the prescribed constraints are satisfied. Two alternative solution algorithms are presented which have been applied to this problem. Each algorithm handles the optimization strategy and the imposition of the nonlinear constraints in a different manner. Two controller methodologies, and their effect on the solution algorithm, will be considered. These are full state feedback and direct output feedback, although the problem formulation is not restricted solely to these forms of controller. In fact, although full state feedback is a popular choice among researchers in this field (for reasons that will become apparent), its practical application is severely limited. The controller/structure interaction is inserted by the imposition of appropriate closed-loop constraints, such as closed-loop output response and control effort constraints. Numerical results will be obtained for a representative flexible structure model to illustrate the effectiveness of the solution algorithms.

A Framework for Integrated Component and System Analyses of Instabilities

NASA Technical Reports Server (NTRS)

Ahuja, Vineet; Erwin, James; Arunajatesan, Srinivasan; Cattafesta, Lou; Liu, Fei

2010-01-01

Instabilities associated with fluid handling and operation in liquid rocket propulsion systems and test facilities usually manifest themselves as structural vibrations or some form of structural damage. While the source of the instability is directly related to the performance of a component such as a turbopump, valve or a flow control element, the associated pressure fluctuations as they propagate through the system have the potential to amplify and resonate with natural modes of the structural elements and components of the system. In this paper, the authors have developed an innovative multi-level approach that involves analysis at the component and systems level. The primary source of the unsteadiness is modeled with a high-fidelity hybrid RANS/LES based CFD methodology that has been previously used to study instabilities in feed systems. This high fidelity approach is used to quantify the instability and understand the physics associated with the instability. System response to the driving instability is determined through a transfer matrix approach wherein the incoming and outgoing pressure and velocity fluctuations are related through a transfer (or transmission) matrix. The coefficients of the transfer matrix for each component (i.e. valve, pipe, orifice etc.) are individually derived from the flow physics associated with the component. A demonstration case representing a test loop/test facility comprised of a network of elements is constructed with the transfer matrix approach and the amplification of modes analyzed as the instability propagates through the test loop.

An Inverse Neural Controller Based on the Applicability Domain of RBF Network Models

PubMed Central

Alexandridis, Alex; Stogiannos, Marios; Papaioannou, Nikolaos; Zois, Elias; Sarimveis, Haralambos

2018-01-01

This paper presents a novel methodology of generic nature for controlling nonlinear systems, using inverse radial basis function neural network models, which may combine diverse data originating from various sources. The algorithm starts by applying the particle swarm optimization-based non-symmetric variant of the fuzzy means (PSO-NSFM) algorithm so that an approximation of the inverse system dynamics is obtained. PSO-NSFM offers models of high accuracy combined with small network structures. Next, the applicability domain concept is suitably tailored and embedded into the proposed control structure in order to ensure that extrapolation is avoided in the controller predictions. Finally, an error correction term, estimating the error produced by the unmodeled dynamics and/or unmeasured external disturbances, is included to the control scheme to increase robustness. The resulting controller guarantees bounded input-bounded state (BIBS) stability for the closed loop system when the open loop system is BIBS stable. The proposed methodology is evaluated on two different control problems, namely, the control of an experimental armature-controlled direct current (DC) motor and the stabilization of a highly nonlinear simulated inverted pendulum. For each one of these problems, appropriate case studies are tested, in which a conventional neural controller employing inverse models and a PID controller are also applied. The results reveal the ability of the proposed control scheme to handle and manipulate diverse data through a data fusion approach and illustrate the superiority of the method in terms of faster and less oscillatory responses. PMID:29361781

Dynamic whole-body robotic manipulation

NASA Astrophysics Data System (ADS)

Abe, Yeuhi; Stephens, Benjamin; Murphy, Michael P.; Rizzi, Alfred A.

2013-05-01

The creation of dynamic manipulation behaviors for high degree of freedom, mobile robots will allow them to accomplish increasingly difficult tasks in the field. We are investigating how the coordinated use of the body, legs, and integrated manipulator, on a mobile robot, can improve the strength, velocity, and workspace when handling heavy objects. We envision that such a capability would aid in a search and rescue scenario when clearing obstacles from a path or searching a rubble pile quickly. Manipulating heavy objects is especially challenging because the dynamic forces are high and a legged system must coordinate all its degrees of freedom to accomplish tasks while maintaining balance. To accomplish these types of manipulation tasks, we use trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning trajectories in a 13 dimensional space. We apply the Covariance Matrix Adaptation (CMA) algorithm to solve for trajectories that optimize task performance while also obeying important constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate desired feed-forward body forces and foot step locations, which enable tracking on the robot. Some hardware results for cinderblock throwing are demonstrated on the BigDog quadruped platform augmented with a human-arm-like manipulator. The results are analogous to how a human athlete maximizes distance in the discus event by performing a precise sequence of choreographed steps.

Efficacy and safety of the C-Qur™ Film Adhesion Barrier for the prevention of surgical adhesions (CLIPEUS Trial): study protocol for a randomized controlled trial.

PubMed

Stommel, Martijn W J; Strik, Chema; ten Broek, Richard P G; van Goor, Harry

2014-09-26

Adhesions develop in over 90% of patients after intra-abdominal surgery. Adhesion barriers are rarely used despite the high morbidity caused by intra-abdominal adhesions. Only one of the currently available adhesion barriers has demonstrated consistent evidence for reducing adhesions in visceral surgery. This agent has limitations through poor handling characteristics because it is sticky on both sides. C-Qur™ Film is a novel thin film adhesion barrier and it is sticky on only one side, resulting in better handling characteristics. The objective of this study is to assess efficacy and safety of C-Qur™ Film to decrease the incidence of adhesions after colorectal surgery. This is a prospective, investigator initiated, randomized, double-blinded, multicenter trial. Eligible patients undergoing colorectal resection requiring temporary loop ileostomy or loop/split colostomy by laparotomy or hand assisted laparoscopy will be included in the trial. Before closure, patients are randomized 1:1 to either the treatment arm (C-Qur™ Film) or control arm (no adhesion barrier). Patients will return 8 to 16 weeks post-colorectal resection for take down of their ostomy. During ostomy takedown, adhesions will be evaluated for incidence, extent, and severity. The primary outcome evaluation will be assessment of adhesions to the incision site. It is hypothesized that the use of C-Qur™ Film underneath the primary incision reduces the incidence of adhesion at the incision by 30%. To demonstrate 30% reduction in the incidence of adhesions, a sample size of 84 patients (32 + 10 per group (25% drop out)) is required (two-sided test, α = 0.05, 80% power). Results of this study add to the evidence on the use of anti-adhesive barriers in open and laparoscopic 'hand-assisted' colorectal surgery. We chose incidence of adhesions to the incision site as primary outcome measure since clinical outcomes such as small bowel obstruction, secondary infertility and adhesiolysis related complications are considered multifactorial and difficult to interpret. Incidence of adhesions at repeat surgery is believed to be the most valuable surrogate endpoint for clinically relevant adhesion prevention, since small bowel obstruction and adhesiolysis at repeat surgery are not likely to occur when complete adhesion reduction in a patient is accomplished. ClinicalTrials.gov Identifier NCT01872650, registration date 6 June 2013.

Hemolytic anemia repressed hepcidin level without hepatocyte iron overload: lesson from Günther disease model

PubMed Central

Millot, Sarah; Delaby, Constance; Moulouel, Boualem; Lefebvre, Thibaud; Pilard, Nathalie; Ducrot, Nicolas; Ged, Cécile; Lettéron, Philippe; de Franceschi, Lucia; Deybach, Jean Charles; Beaumont, Carole; Gouya, Laurent; De Verneuil, Hubert; Lyoumi, Saïd; Puy, Hervé; Karim, Zoubida

2017-01-01

Hemolysis occurring in hematologic diseases is often associated with an iron loading anemia. This iron overload is the result of a massive outflow of hemoglobin into the bloodstream, but the mechanism of hemoglobin handling has not been fully elucidated. Here, in a congenital erythropoietic porphyria mouse model, we evaluate the impact of hemolysis and regenerative anemia on hepcidin synthesis and iron metabolism. Hemolysis was confirmed by a complete drop in haptoglobin, hemopexin and increased plasma lactate dehydrogenase, an increased red blood cell distribution width and osmotic fragility, a reduced half-life of red blood cells, and increased expression of heme oxygenase 1. The erythropoiesis-induced Fam132b was increased, hepcidin mRNA repressed, and transepithelial iron transport in isolated duodenal loops increased. Iron was mostly accumulated in liver and spleen macrophages but transferrin saturation remained within the normal range. The expression levels of hemoglobin-haptoglobin receptor CD163 and hemopexin receptor CD91 were drastically reduced in both liver and spleen, resulting in heme- and hemoglobin-derived iron elimination in urine. In the kidney, the megalin/cubilin endocytic complex, heme oxygenase 1 and the iron exporter ferroportin were induced, which is reminiscent of significant renal handling of hemoglobin-derived iron. Our results highlight ironbound hemoglobin urinary clearance mechanism and strongly suggest that, in addition to the sequestration of iron in macrophages, kidney may play a major role in protecting hepatocytes from iron overload in chronic hemolysis. PMID:28143953

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

Bradley, E.C.; Killough, S.M.; Rowe, J.C.

The purpose of the Smart Crane Ammunition Transfer System (SCATS) project is to demonstrate robotic/telerobotic controls technology for a mobile articulated crane for missile/ munitions handling, delivery, and reload. Missile resupply and reload have been manually intensive operations up to this time. Currently, reload missiles are delivered by truck to the site of the launcher. A crew of four to five personnel reloads the missiles from the truck to the launcher using a hydraulic-powered crane. The missiles are handled carefully for the safety of the missiles and personnel. Numerous steps are required in the reload process and the entire reloadmore » operation can take over 1 h for some missile systems. Recent U.S. Army directives require the entire operation to be accomplished in a fraction of that time. Current requirements for the development of SCATS are being based primarily on reloading Patriot missiles. The planned development approach will integrate robotic control and sensor technology with a commercially available hydraulic articulated crane. SCATS is being developed with commercially available hardware as much as possible. Development plans include adding a 3-D.F. end effector with a grapple to the articulating crane; closed-loop position control for the crane and end effector; digital microprocessor control of crane functions; simplified operator interface; and operating modes which include rectilinear movement, obstacle avoidance, and partial automated operation. The planned development will include progressive technology demonstrations. Ultimate plans are for this technology to be transferred and utilized in the military fielding process.« less

Hemolytic anemia repressed hepcidin level without hepatocyte iron overload: lesson from Günther disease model.

PubMed

Millot, Sarah; Delaby, Constance; Moulouel, Boualem; Lefebvre, Thibaud; Pilard, Nathalie; Ducrot, Nicolas; Ged, Cécile; Lettéron, Philippe; de Franceschi, Lucia; Deybach, Jean Charles; Beaumont, Carole; Gouya, Laurent; De Verneuil, Hubert; Lyoumi, Saïd; Puy, Hervé; Karim, Zoubida

2017-02-01

Hemolysis occurring in hematologic diseases is often associated with an iron loading anemia. This iron overload is the result of a massive outflow of hemoglobin into the bloodstream, but the mechanism of hemoglobin handling has not been fully elucidated. Here, in a congenital erythropoietic porphyria mouse model, we evaluate the impact of hemolysis and regenerative anemia on hepcidin synthesis and iron metabolism. Hemolysis was confirmed by a complete drop in haptoglobin, hemopexin and increased plasma lactate dehydrogenase, an increased red blood cell distribution width and osmotic fragility, a reduced half-life of red blood cells, and increased expression of heme oxygenase 1. The erythropoiesis-induced Fam132b was increased, hepcidin mRNA repressed, and transepithelial iron transport in isolated duodenal loops increased. Iron was mostly accumulated in liver and spleen macrophages but transferrin saturation remained within the normal range. The expression levels of hemoglobin-haptoglobin receptor CD163 and hemopexin receptor CD91 were drastically reduced in both liver and spleen, resulting in heme- and hemoglobin-derived iron elimination in urine. In the kidney, the megalin/cubilin endocytic complex, heme oxygenase 1 and the iron exporter ferroportin were induced, which is reminiscent of significant renal handling of hemoglobin-derived iron. Our results highlight ironbound hemoglobin urinary clearance mechanism and strongly suggest that, in addition to the sequestration of iron in macrophages, kidney may play a major role in protecting hepatocytes from iron overload in chronic hemolysis. Copyright© Ferrata Storti Foundation.

A Piloted Evaluation of Damage Accommodating Flight Control Using a Remotely Piloted Vehicle

NASA Technical Reports Server (NTRS)

Cunningham, Kevin; Cox, David E.; Murri, Daniel G.; Riddick, Stephen E.

2011-01-01

Toward the goal of reducing the fatal accident rate of large transport airplanes due to loss of control, the NASA Aviation Safety Program has conducted research into flight control technologies that can provide resilient control of airplanes under adverse flight conditions, including damage and failure. As part of the safety program s Integrated Resilient Aircraft Control Project, the NASA Airborne Subscale Transport Aircraft Research system was designed to address the challenges associated with the safe and efficient subscale flight testing of research control laws under adverse flight conditions. This paper presents the results of a series of pilot evaluations of several flight control algorithms used during an offset-to-landing task conducted at altitude. The purpose of this investigation was to assess the ability of various flight control technologies to prevent loss of control as stability and control characteristics were degraded. During the course of 8 research flights, data were recorded while one task was repeatedly executed by a single evaluation pilot. Two generic failures, which degraded stability and control characteristics, were simulated inflight for each of the 9 different flight control laws that were tested. The flight control laws included three different adaptive control methodologies, several linear multivariable designs, a linear robust design, a linear stability augmentation system, and a direct open-loop control mode. Based on pilot Cooper-Harper Ratings obtained for this test, the adaptive flight control laws provided the greatest overall benefit for the stability and control degradation scenarios that were considered. Also, all controllers tested provided a significant improvement in handling qualities over the direct open-loop control mode.

Real-time visual target tracking: two implementations of velocity-based smooth pursuit

NASA Astrophysics Data System (ADS)

Etienne-Cummings, Ralph; Longo, Paul; Van der Spiegel, Jan; Mueller, Paul

1995-06-01

Two systems for velocity-based visual target tracking are presented. The first two computational layers of both implementations are composed of VLSI photoreceptors (logarithmic compression) and edge detection (difference-of-Gaussians) arrays that mimic the outer-plexiform layer of mammalian retinas. The subsequent processing layers for measuring the target velocity and to realize smooth pursuit tracking are implemented in software and at the focal plane in the two versions, respectively. One implentation uses a hybrid of a PC and a silicon retina (39 X 38 pixels) operating at 333 frames/second. The software implementation of a real-time optical flow measurement algorithm is used to determine the target velocity, and a closed-loop control system zeroes the relative velocity of the target and retina. The second implementation is a single VLSI chip, which contains a linear array of photoreceptors, edge detectors and motion detectors at the focal plane. The closed-loop control system is also included on chip. This chip realizes all the computational properties of the hybrid system. The effects of background motion, target occlusion, and disappearance are studied as a function of retinal size and spatial distribution of the measured motion vectors (i.e. foveal/peripheral and diverging/converging measurement schemes). The hybrid system, which tested successfully, tracks targets moving as fast as 3 m/s at 1.3 meters from the camera and it can compensate for external arbitrary movements in its mounting platform. The single chip version, whose circuits tested successfully, can handle targets moving at 10 m/s.

CDGPS-Based Relative Navigation for Multiple Spacecraft

NASA Technical Reports Server (NTRS)

Mitchell, Megan Leigh

2004-01-01

This thesis investigates the use of Carrier-phase Differential GPS (CDGPS) in relative navigation filters for formation flying spacecraft. This work analyzes the relationship between the Extended Kalman Filter (EKF) design parameters and the resulting estimation accuracies, and in particular, the effect of the process and measurement noises on the semimajor axis error. This analysis clearly demonstrates that CDGPS-based relative navigation Kalman filters yield good estimation performance without satisfying the strong correlation property that previous work had associated with "good" navigation filters. Several examples are presented to show that the Kalman filter can be forced to create solutions with stronger correlations, but these always result in larger semimajor axis errors. These linear and nonlinear simulations also demonstrated the crucial role of the process noise in determining the semimajor axis knowledge. More sophisticated nonlinear models were included to reduce the propagation error in the estimator, but for long time steps and large separations, the EKF, which only uses a linearized covariance propagation, yielded very poor performance. In contrast, the CDGPS-based Unscented Kalman relative navigation Filter (UKF) handled the dynamic and measurement nonlinearities much better and yielded far superior performance than the EKF. The UKF produced good estimates for scenarios with long baselines and time steps for which the EKF would diverge rapidly. A hardware-in-the-loop testbed that is compatible with the Spirent Simulator at NASA GSFC was developed to provide a very flexible and robust capability for demonstrating CDGPS technologies in closed-loop. This extended previous work to implement the decentralized relative navigation algorithms in real time.

Core Design Characteristics of the Fluoride Salt-Cooled High Temperature Demonstration Reactor

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

Brown, Nicholas R; Qualls, A L; Betzler, Benjamin R

2016-01-01

Fluoride salt-cooled high temperature reactors (FHRs) are a promising reactor technology option with significant knowledge gaps to implementation. One potential approach to address those technology gaps is via a small-scale demonstration reactor with the goal of increasing the technology readiness level (TRL) of the overall system for the longer term. The objective of this paper is to outline a notional concept for such a system, and to address how the proposed concept would advance the TRL of FHR concepts. Development of the proposed FHR Demonstration Reactor (DR) will enable commercial FHR deployment through disruptive and rapid technology development and demonstration.more » The FHR DR will close remaining gaps to commercial viability. Lower risk technologies are included in the initial FHR DR design to ensure that the reactor can be built, licensed, and operated within an acceptable budget and schedule. Important capabilities that will be demonstrated by building and operating the FHR DR include core design methodologies; fabrication and operation of high temperature reactors; salt procurement, handling, maintenance, and ultimate disposal; salt chemistry control to maximize vessel life; tritium management; heat exchanger performance; pump performance; and reactivity control. The FHR DR is considered part of a broader set of FHR technology development and demonstration efforts, some of which are already underway. Nonreactor test efforts (e.g., heated salt loops or loops using simulant fluids) can demonstrate many technologies necessary for commercial deployment of FHRs. The FHR DR, however, fulfills a crucial role in FHR technology development by advancing the technical maturity and readiness level of the system as a whole.« less

Preconceptual design of a fluoride high temperature salt-cooled engineering demonstration reactor: Motivation and overview

DOE PAGES

Qualls, A. Louis; Betzler, Benjamin R.; Brown, Nicholas R.; ...

2016-12-21

Engineering demonstration reactors are nuclear reactors built to establish proof of concept for technology options that have never been built. Examples of engineering demonstration reactors include Peach Bottom 1 for high temperature gas-cooled reactors (HTGRs) and Experimental Breeder Reactor-II (EBR-II) for sodium-cooled fast reactors. Historically, engineering demonstrations have played a vital role in advancing the technology readiness level of reactor technologies. Our paper details a preconceptual design for a fluoride salt-cooled engineering demonstration reactor. The fluoride salt-cooled high-temperature reactor (FHR) demonstration reactor (DR) is a concept for a salt-cooled reactor with 100 megawatts of thermal output (MWt). It would usemore » tristructural-isotropic (TRISO) particle fuel within prismatic graphite blocks. FLiBe (2 7LiF-BeF2) is the reference primary coolant. The FHR DR is designed to be small, simple, and affordable. Development of the FHR DR is a necessary intermediate step to enable near-term commercial FHRs. The design philosophy of the FHR DR was focused on safety, near-term deployment, and flexibility. Lower risk technologies are purposely included in the initial FHR DR design to ensure that the reactor can be built, licensed, and operated as an engineering demonstration with minimal risk and cost. These technologies include TRISO particle fuel, replaceable core structures, and consistent structural material selection for core structures and the primary and intermediate loops, and tube-and-shell primary-to-intermediate heat exchangers. Important capabilities to be demonstrated by building and operating the FHR DR include fabrication and operation of high temperature reactors; heat exchanger performance (including passive decay heat removal); pump performance; and reactivity control; salt chemistry control to maximize vessel life; tritium management; core design methodologies; salt procurement, handling, maintenance and ultimate disposal. It is recognized that non-nuclear separate and integral test efforts (e.g., heated salt loops or loops using simulant fluids) are necessary to develop the technologies that will be demonstrated in the FHR DR.« less

Real-Time Monitoring and Prediction of the Pilot Vehicle System (PVS) Closed-Loop Stability

NASA Astrophysics Data System (ADS)

Mandal, Tanmay Kumar

Understanding human control behavior is an important step for improving the safety of future aircraft. Considerable resources are invested during the design phase of an aircraft to ensure that the aircraft has desirable handling qualities. However, human pilots exhibit a wide range of control behaviors that are a function of external stimulus, aircraft dynamics, and human psychological properties (such as workload, stress factor, confidence, and sense of urgency factor). This variability is difficult to address comprehensively during the design phase and may lead to undesirable pilot-aircraft interaction, such as pilot-induced oscillations (PIO). This creates the need to keep track of human pilot performance in real-time to monitor the pilot vehicle system (PVS) stability. This work focused on studying human pilot behavior for the longitudinal axis of a remotely controlled research aircraft and using human-in-the-loop (HuIL) simulations to obtain information about the human controlled system (HCS) stability. The work in this dissertation is divided into two main parts: PIO analysis and human control model parameters estimation. To replicate different flight conditions, this study included time delay and elevator rate limiting phenomena, typical of actuator dynamics during the experiments. To study human control behavior, this study employed the McRuer model for single-input single-output manual compensatory tasks. McRuer model is a lead-lag controller with time delay which has been shown to adequately model manual compensatory tasks. This dissertation presents a novel technique to estimate McRuer model parameters in real-time and associated validation using HuIL simulations to correctly predict HCS stability. The McRuer model parameters were estimated in real-time using a Kalman filter approach. The estimated parameters were then used to analyze the stability of the closed-loop HCS and verify them against the experimental data. Therefore, the main contribution of this dissertation is the design of an unscented Kalman filter-based algorithm to estimate McRuer model parameters in real time, and a framework to validate this algorithm for single-input single-output manual compensatory tasks to predict instabilities.

Preconceptual design of a fluoride high temperature salt-cooled engineering demonstration reactor: Motivation and overview

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

Qualls, A. Louis; Betzler, Benjamin R.; Brown, Nicholas R.

Engineering demonstration reactors are nuclear reactors built to establish proof of concept for technology options that have never been built. Examples of engineering demonstration reactors include Peach Bottom 1 for high temperature gas-cooled reactors (HTGRs) and Experimental Breeder Reactor-II (EBR-II) for sodium-cooled fast reactors. Historically, engineering demonstrations have played a vital role in advancing the technology readiness level of reactor technologies. Our paper details a preconceptual design for a fluoride salt-cooled engineering demonstration reactor. The fluoride salt-cooled high-temperature reactor (FHR) demonstration reactor (DR) is a concept for a salt-cooled reactor with 100 megawatts of thermal output (MWt). It would usemore » tristructural-isotropic (TRISO) particle fuel within prismatic graphite blocks. FLiBe (2 7LiF-BeF2) is the reference primary coolant. The FHR DR is designed to be small, simple, and affordable. Development of the FHR DR is a necessary intermediate step to enable near-term commercial FHRs. The design philosophy of the FHR DR was focused on safety, near-term deployment, and flexibility. Lower risk technologies are purposely included in the initial FHR DR design to ensure that the reactor can be built, licensed, and operated as an engineering demonstration with minimal risk and cost. These technologies include TRISO particle fuel, replaceable core structures, and consistent structural material selection for core structures and the primary and intermediate loops, and tube-and-shell primary-to-intermediate heat exchangers. Important capabilities to be demonstrated by building and operating the FHR DR include fabrication and operation of high temperature reactors; heat exchanger performance (including passive decay heat removal); pump performance; and reactivity control; salt chemistry control to maximize vessel life; tritium management; core design methodologies; salt procurement, handling, maintenance and ultimate disposal. It is recognized that non-nuclear separate and integral test efforts (e.g., heated salt loops or loops using simulant fluids) are necessary to develop the technologies that will be demonstrated in the FHR DR.« less

Self-adaptive Fault-Tolerance of HLA-Based Simulations in the Grid Environment

NASA Astrophysics Data System (ADS)

Huang, Jijie; Chai, Xudong; Zhang, Lin; Li, Bo Hu

The objects of a HLA-based simulation can access model services to update their attributes. However, the grid server may be overloaded and refuse the model service to handle objects accesses. Because these objects have been accessed this model service during last simulation loop and their medium state are stored in this server, this may terminate the simulation. A fault-tolerance mechanism must be introduced into simulations. But the traditional fault-tolerance methods cannot meet the above needs because the transmission latency between a federate and the RTI in grid environment varies from several hundred milliseconds to several seconds. By adding model service URLs to the OMT and expanding the HLA services and model services with some interfaces, this paper proposes a self-adaptive fault-tolerance mechanism of simulations according to the characteristics of federates accessing model services. Benchmark experiments indicate that the expanded HLA/RTI can make simulations self-adaptively run in the grid environment.

Metabolic complications associated with use of diuretics.

PubMed

Palmer, Biff F

2011-11-01

Diuretics are commonly used therapeutic agents that act to inhibit sodium transport systems along the length of the renal tubule. The most effective diuretics are inhibitors of sodium chloride transport in the thick ascending limb of Henle. Loop diuretics mobilize large amounts of sodium chloride and water and produce a copious diuresis with a sharp reduction of extracellular fluid volume. As the site of action of diuretics moves downstream (thiazide and potassium-sparing diuretics), their effectiveness declines because the transport systems they inhibit have low transport capacity. Depending on the site of action diuretics can influence the renal handling of electrolyte-free water, calcium, potassium, protons, sodium bicarbonate, and uric acid. As a result, electrolyte and acid-base disorders commonly accompany diuretic use. Glucose and lipid abnormalities also can occur, particularly with the use of thiazide diuretics. This review focuses on the biochemical complications associated with the use of diuretics. The development of these complications can be minimized with careful monitoring, dosage adjustment, and replacement of electrolyte losses. Copyright © 2011 Elsevier Inc. All rights reserved.

SARAH 4: A tool for (not only SUSY) model builders

NASA Astrophysics Data System (ADS)

Staub, Florian

2014-06-01

We present the new version of the Mathematica package SARAH which provides the same features for a non-supersymmetric model as previous versions for supersymmetric models. This includes an easy and straightforward definition of the model, the calculation of all vertices, mass matrices, tadpole equations, and self-energies. Also the two-loop renormalization group equations for a general gauge theory are now included and have been validated with the independent Python code PyR@TE. Model files for FeynArts, CalcHep/CompHep, WHIZARD and in the UFO format can be written, and source code for SPheno for the calculation of the mass spectrum, a set of precision observables, and the decay widths and branching ratios of all states can be generated. Furthermore, the new version includes routines to output model files for Vevacious for both, supersymmetric and non-supersymmetric, models. Global symmetries are also supported with this version and by linking Susyno the handling of Lie groups has been improved and extended.

Control of a free-flying robot manipulator system

NASA Technical Reports Server (NTRS)

Alexander, H.; Cannon, R. H., Jr.

1985-01-01

The goal of the research is to develop and test control strategies for a self-contained, free flying space robot. Such a robot would perform operations in space similar to those currently handled by astronauts during extravehicular activity (EVA). The focus of the work is to develop and carry out a program of research with a series of physical Satellite Robot Simulator Vehicles (SRSV's), two-dimensionally freely mobile laboratory models of autonomous free-flying space robots such as might perform extravehicular functions associated with operation of a space station or repair of orbiting satellites. The development of the SRSV and of some of the controller subsystems are discribed. The two-link arm was fitted to the SRSV base, and researchers explored the open-loop characteristics of the arm and thruster actuators. Work began on building the software foundation necessary for use of the on-board computer, as well as hardware and software for a local vision system for target identification and tracking.

Dynamics control of autonomous vehicle at driving limits and experiment on an autonomous formula racing car

NASA Astrophysics Data System (ADS)

Ni, Jun; Hu, Jibin

2017-06-01

In this paper, a novel dynamics controller for autonomous vehicle to simultaneously control it to the driving limits and follow the desired path is proposed. The dynamics controller consists of longitudinal and lateral controllers. In longitudinal controller, the G-G diagram is utilized to describe the driving and handling limits of the vehicle. The accurate G-G diagram is obtained based on phase plane approach and a nonlinear vehicle dynamic model with accurate tyre model. In lateral controller, the tyre cornering stiffness is estimated to improve the robustness of the controller. The stability analysis of the closed-looped error dynamics shows that the controller remains stable against parameters uncertainties in extreme condition such as tyre saturation. Finally, an electric autonomous Formula race car developed by the authors is used to validate the proposed controller. The autonomous driving experiment on an oval race track shows the efficiency and robustness of the proposed controller.

Investigation of Desiccants and CO2 Sorbents for Advanced Exploration Systems 2015-2016

NASA Technical Reports Server (NTRS)

Cmarik, Gregory E.; Knox, Jim

2016-01-01

Advanced Environmental Control and Life Support System (ECLSS) design is critical for human space flight beyond Earth. Current systems enable extended missions in low-Earth orbit, but for deep-space missions, not only will astronauts be outside the reach of resupply operations from Earth but they will also need to handle malfunctions and compensate for the degradation of materials. These two daunting challenges must be overcome for long-term independent space flight. In order to solve the first, separation and reuse of onboard atmosphere components is required. Current systems utilize space vacuum to fully regenerate adsorbent beds, but this is not sustainable thus necessitating a closed-loop system. The second challenge stems from material and performance degradation due to operational cycling and on-board contaminants. This report will review the recent work by the ECLSS team at Marshall Space Flight Center towards overcoming these challenges by characterizing materials via novel methods for use in future systems.

Study of dynamics of X-14B VTOL aircraft

NASA Technical Reports Server (NTRS)

Loscutoff, W. V.; Mitchiner, J. L.; Roesener, R. A.; Seevers, J. A.

1973-01-01

Research was initiated to investigate certain facets of modern control theory and their integration with a digital computer to provide a tractable flight control system for a VTOL aircraft. Since the hover mode is the most demanding phase in the operation of a VTOL aircraft, the research efforts were concentrated in this mode of aircraft operation. Research work on three different aspects of the operation of the X-14B VTOL aircraft is discussed. A general theory for optimal, prespecified, closed-loop control is developed. The ultimate goal was optimal decoupling of the modes of the VTOL aircraft to simplify the pilot's task of handling the aircraft. Modern control theory is used to design deterministic state estimators which provide state variables not measured directly, but which are needed for state variable feedback control. The effect of atmospheric turbulence on the X-14B is investigated. A maximum magnitude gust envelope within which the aircraft could operate stably with the available control power is determined.

STITCHER: A web resource for high-throughput design of primers for overlapping PCR applications.

PubMed

O'Halloran, Damien M

2015-06-01

Overlapping PCR is routinely used in a wide number of molecular applications. These include stitching PCR fragments together, generating fluorescent transcriptional and translational fusions, inserting mutations, making deletions, and PCR cloning. Overlapping PCR is also used for genotyping by traditional PCR techniques and in detection experiments using techniques such as loop-mediated isothermal amplification (LAMP). STITCHER is a web tool providing a central resource for researchers conducting all types of overlapping PCR experiments with an intuitive interface for automated primer design that's fast, easy to use, and freely available online (http://ohalloranlab.net/STITCHER.html). STITCHER can handle both single sequence and multi-sequence input, and specific features facilitate numerous other PCR applications, including assembly PCR, adapter PCR, and primer walking. Field PCR, and in particular, LAMP, offers promise as an on site tool for pathogen detection in underdeveloped areas, and STITCHER includes off-target detection features for pathogens commonly targeted using LAMP technology.

Damped-Dynamics Flexible Fitting

PubMed Central

Kovacs, Julio A.; Yeager, Mark; Abagyan, Ruben

2008-01-01

In fitting atomic structures into EM maps, it often happens that the map corresponds to a different conformation of the structure. We have developed a new methodology to handle these situations that preserves the covalent geometry of the structure and allows the modeling of large deformations. The first goal is achieved by working in generalized coordinates (positional and internal coordinates), and the second by avoiding harmonic potentials. Instead, we use dampers (shock absorbers) between every pair of atoms, combined with a force field that attracts the atomic structure toward incompletely occupied regions of the EM map. The trajectory obtained by integrating the resulting equations of motion converges to a conformation that, in our validation cases, was very close to the target atomic structure. Compared to current methods, our approach is more efficient and robust against wrong solutions and to overfitting, and does not require user intervention or subjective decisions. Applications to the computation of transition pathways between known conformers, homology and loop modeling, as well as protein docking, are also discussed. PMID:18586844

Damped-dynamics flexible fitting.

PubMed

Kovacs, Julio A; Yeager, Mark; Abagyan, Ruben

2008-10-01

In fitting atomic structures into EM maps, it often happens that the map corresponds to a different conformation of the structure. We have developed a new methodology to handle these situations that preserves the covalent geometry of the structure and allows the modeling of large deformations. The first goal is achieved by working in generalized coordinates (positional and internal coordinates), and the second by avoiding harmonic potentials. Instead, we use dampers (shock absorbers) between every pair of atoms, combined with a force field that attracts the atomic structure toward incompletely occupied regions of the EM map. The trajectory obtained by integrating the resulting equations of motion converges to a conformation that, in our validation cases, was very close to the target atomic structure. Compared to current methods, our approach is more efficient and robust against wrong solutions and to overfitting, and does not require user intervention or subjective decisions. Applications to the computation of transition pathways between known conformers, homology and loop modeling, as well as protein docking, are also discussed.

Isolated Power Generation System Using Permanent Magnet Synchronous Generator with Improved Power Quality

NASA Astrophysics Data System (ADS)

Arya, Sabha Raj; Patel, Ashish; Giri, Ashutosh

2018-06-01

This paper deals wind energy based power generation system using Permanent Magnet Synchronous Generator (PMSG). It is controlled using advanced enhanced phase-lock loop for power quality features using distribution static compensator to eliminate the harmonics and to provide KVAR compensation as well as load balancing. It also manages rated potential at the point of common interface under linear and non-linear loads. In order to have better efficiency and reliable operation of PMSG driven by wind turbine, it is necessary to analyze the governing equation of wind based turbine and PMSG under fixed and variable wind speed. For handling power quality problems, power electronics based shunt connected custom power device is used in three wire system. The simulations in MATLAB/Simulink environment have been carried out in order to demonstrate this model and control approach used for the power quality enhancement. The performance results show the adequate performance of PMSG based power generation system and control algorithm.

Tracking control of air-breathing hypersonic vehicles with non-affine dynamics via improved neural back-stepping design.

PubMed

Bu, Xiangwei; He, Guangjun; Wang, Ke

2018-04-01

This study considers the design of a new back-stepping control approach for air-breathing hypersonic vehicle (AHV) non-affine models via neural approximation. The AHV's non-affine dynamics is decomposed into velocity subsystem and altitude subsystem to be controlled separately, and robust adaptive tracking control laws are developed using improved back-stepping designs. Neural networks are applied to estimate the unknown non-affine dynamics, which guarantees the addressed controllers with satisfactory robustness against uncertainties. In comparison with the existing control methodologies, the special contributions are that the non-affine issue is handled by constructing two low-pass filters based on model transformations, and virtual controllers are treated as intermediate variables such that they aren't needed for back-stepping designs any more. Lyapunov techniques are employed to show the uniformly ultimately boundedness of all closed-loop signals. Finally, simulation results are presented to verify the tracking performance and superiorities of the investigated control strategy. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive control of a quadrotor aerial vehicle with input constraints and uncertain parameters

NASA Astrophysics Data System (ADS)

Tran, Trong-Toan; Ge, Shuzhi Sam; He, Wei

2018-05-01

In this paper, we address the problem of adaptive bounded control for the trajectory tracking of a Quadrotor Aerial Vehicle (QAV) while the input saturations and uncertain parameters with the known bounds are simultaneously taken into account. First, to deal with the underactuated property of the QAV model, we decouple and construct the QAV model as a cascaded structure which consists of two fully actuated subsystems. Second, to handle the input constraints and uncertain parameters, we use a combination of the smooth saturation function and smooth projection operator in the control design. Third, to ensure the stability of the overall system of the QAV, we develop the technique for the cascaded system in the presence of both the input constraints and uncertain parameters. Finally, the region of stability of the closed-loop system is constructed explicitly, and our design ensures the asymptotic convergence of the tracking errors to the origin. The simulation results are provided to illustrate the effectiveness of the proposed method.

Minimal-Approximation-Based Distributed Consensus Tracking of a Class of Uncertain Nonlinear Multiagent Systems With Unknown Control Directions.

PubMed

Choi, Yun Ho; Yoo, Sung Jin

2017-03-28

A minimal-approximation-based distributed adaptive consensus tracking approach is presented for strict-feedback multiagent systems with unknown heterogeneous nonlinearities and control directions under a directed network. Existing approximation-based consensus results for uncertain nonlinear multiagent systems in lower-triangular form have used multiple function approximators in each local controller to approximate unmatched nonlinearities of each follower. Thus, as the follower's order increases, the number of the approximators used in its local controller increases. However, the proposed approach employs only one function approximator to construct the local controller of each follower regardless of the order of the follower. The recursive design methodology using a new error transformation is derived for the proposed minimal-approximation-based design. Furthermore, a bounding lemma on parameters of Nussbaum functions is presented to handle the unknown control direction problem in the minimal-approximation-based distributed consensus tracking framework and the stability of the overall closed-loop system is rigorously analyzed in the Lyapunov sense.

Multivariable model predictive control design of reactive distillation column for Dimethyl Ether production

NASA Astrophysics Data System (ADS)

Wahid, A.; Putra, I. G. E. P.

2018-03-01

Dimethyl ether (DME) as an alternative clean energy has attracted a growing attention in the recent years. DME production via reactive distillation has potential for capital cost and energy requirement savings. However, combination of reaction and distillation on a single column makes reactive distillation process a very complex multivariable system with high non-linearity of process and strong interaction between process variables. This study investigates a multivariable model predictive control (MPC) based on two-point temperature control strategy for the DME reactive distillation column to maintain the purities of both product streams. The process model is estimated by a first order plus dead time model. The DME and water purity is maintained by controlling a stage temperature in rectifying and stripping section, respectively. The result shows that the model predictive controller performed faster responses compared to conventional PI controller that are showed by the smaller ISE values. In addition, the MPC controller is able to handle the loop interactions well.

Isolated Power Generation System Using Permanent Magnet Synchronous Generator with Improved Power Quality

NASA Astrophysics Data System (ADS)

Arya, Sabha Raj; Patel, Ashish; Giri, Ashutosh

2018-03-01

This paper deals wind energy based power generation system using Permanent Magnet Synchronous Generator (PMSG). It is controlled using advanced enhanced phase-lock loop for power quality features using distribution static compensator to eliminate the harmonics and to provide KVAR compensation as well as load balancing. It also manages rated potential at the point of common interface under linear and non-linear loads. In order to have better efficiency and reliable operation of PMSG driven by wind turbine, it is necessary to analyze the governing equation of wind based turbine and PMSG under fixed and variable wind speed. For handling power quality problems, power electronics based shunt connected custom power device is used in three wire system. The simulations in MATLAB/Simulink environment have been carried out in order to demonstrate this model and control approach used for the power quality enhancement. The performance results show the adequate performance of PMSG based power generation system and control algorithm.

BICMOS power detector for pulsed Rf power amplifiers

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

Bridge, Clayton D.

2016-10-01

A BiCMOS power detector for pulsed radio-frequency power amplifiers is proposed. Given the pulse waveform and a fraction of the power amplifier's input or output signal, the detector utilizes a low-frequency feedback loop to perform a successive approximation of the amplitude of the input signal. Upon completion of the successive approximation, the detector returns 9-bits representing the amplitude of the RF input signal. Using the pulse waveform from the power amplifier, the detector can dynamically adjust the rate of the binary search operation in order to return the updated amplitude information of the RF input signal at least every 1ms.more » The detector can handle pulse waveform frequencies from 50kHz to 10MHz with duty cycles in the range of 5- 50% and peak power levels of -10 to 10dBm. The signal amplitude measurement can be converted to a peak power measurement accurate to within ±0.6dB of the input RF power.« less

Feedback control laws for highly maneuverable aircraft

NASA Technical Reports Server (NTRS)

Garrard, William L.; Balas, Gary J.

1992-01-01

The results of a study of the application of H infinity and mu synthesis techniques to the design of feedback control laws for the longitudinal dynamics of the High Angle of Attack Research Vehicle (HARV) are presented. The objective of this study is to develop methods for the design of feedback control laws which cause the closed loop longitudinal dynamics of the HARV to meet handling quality specifications over the entire flight envelope. Control law designs are based on models of the HARV linearized at various flight conditions. The control laws are evaluated by both linear and nonlinear simulations of typical maneuvers. The fixed gain control laws resulting from both the H infinity and mu synthesis techniques result in excellent performance even when the aircraft performs maneuvers in which the system states vary significantly from their equilibrium design values. Both the H infinity and mu synthesis control laws result in performance which compares favorably with an existing baseline longitudinal control law.

Adaptively Adjusted Event-Triggering Mechanism on Fault Detection for Networked Control Systems.

PubMed

Wang, Yu-Long; Lim, Cheng-Chew; Shi, Peng

2016-12-08

This paper studies the problem of adaptively adjusted event-triggering mechanism-based fault detection for a class of discrete-time networked control system (NCS) with applications to aircraft dynamics. By taking into account the fault occurrence detection progress and the fault occurrence probability, and introducing an adaptively adjusted event-triggering parameter, a novel event-triggering mechanism is proposed to achieve the efficient utilization of the communication network bandwidth. Both the sensor-to-control station and the control station-to-actuator network-induced delays are taken into account. The event-triggered sensor and the event-triggered control station are utilized simultaneously to establish new network-based closed-loop models for the NCS subject to faults. Based on the established models, the event-triggered simultaneous design of fault detection filter (FDF) and controller is presented. A new algorithm for handling the adaptively adjusted event-triggering parameter is proposed. Performance analysis verifies the effectiveness of the adaptively adjusted event-triggering mechanism, and the simultaneous design of FDF and controller.

Present status of the liquid lithium target facility in the international fusion materials irradiation facility (IFMIF)

NASA Astrophysics Data System (ADS)

Nakamura, Hiroo; Riccardi, B.; Loginov, N.; Ara, K.; Burgazzi, L.; Cevolani, S.; Dell'Orco, G.; Fazio, C.; Giusti, D.; Horiike, H.; Ida, M.; Ise, H.; Kakui, H.; Matsui, H.; Micciche, G.; Muroga, T.; Nakamura, Hideo; Shimizu, K.; Sugimoto, M.; Suzuki, A.; Takeuchi, H.; Tanaka, S.; Yoneoka, T.

2004-08-01

During the three year key element technology phase of the International Fusion Materials Irradiation Facility (IFMIF) project, completed at the end of 2002, key technologies have been validated. In this paper, these results are summarized. A water jet experiment simulating Li flow validated stable flow up to 20 m/s with a double reducer nozzle. In addition, a small Li loop experiment validated stable Li flow up to 14 m/s. To control the nitrogen content in Li below 10 wppm will require surface area of a V-Ti alloy getter of 135 m 2. Conceptual designs of diagnostics have been carried out. Moreover, the concept of a remote handling system to replace the back wall based on `cut and reweld' and `bayonet' options has been established. Analysis by FMEA showed safe operation of the target system. Recent activities in the transition phase, started in 2003, and plan for the next phase are also described.

Three-phase Four-leg Inverter LabVIEW FPGA Control Code

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

In the area of power electronics control, Field Programmable Gate Arrays (FPGAs) have the capability to outperform their Digital Signal Processor (DSP) counterparts due to the FPGA’s ability to implement true parallel processing and therefore facilitate higher switching frequencies, higher control bandwidth, and/or enhanced functionality. National Instruments (NI) has developed two platforms, Compact RIO (cRIO) and Single Board RIO (sbRIO), which combine a real-time processor with an FPGA. The FPGA can be programmed with a subset of the well-known LabVIEW graphical programming language. The use of cRIO and sbRIO for power electronics control has developed over the last few yearsmore » to include control of three-phase inverters. Most three-phase inverter topologies include three switching legs. The addition of a fourth-leg to natively generate the neutral connection allows the inverter to serve single-phase loads in a microgrid or stand-alone power system and to balance the three-phase voltages in the presence of significant load imbalance. However, the control of a four-leg inverter is much more complex. In particular, instead of standard two-dimensional space vector modulation (SVM), the inverter requires three-dimensional space vector modulation (3D-SVM). The candidate software implements complete control algorithms in LabVIEW FPGA for a three-phase four-leg inverter. The software includes feedback control loops, three-dimensional space vector modulation gate-drive algorithms, advanced alarm handling capabilities, contactor control, power measurements, and debugging and tuning tools. The feedback control loops allow inverter operation in AC voltage control, AC current control, or DC bus voltage control modes based on external mode selection by a user or supervisory controller. The software includes the ability to synchronize its AC output to the grid or other voltage-source before connection. The software also includes provisions to allow inverter operation in parallel with other voltage regulating devices on the AC or DC buses. This flexibility allows the Inverter to operate as a stand-alone voltage source, connected to the grid, or in parallel with other controllable voltage sources as part of a microgrid or remote power system. In addition, as the inverter is expected to operate under severe unbalanced conditions, the software includes algorithms to accurately compute real and reactive power for each phase based on definitions provided in the IEEE Standard 1459: IEEE Standard Definitions for the Measurement of Electric Power Quantities Under Sinusoidal, Nonsinusoidal, Balanced, or Unbalanced Conditions. Finally, the software includes code to output analog signals for debugging and for tuning of control loops. The software fits on the Xilinx Virtex V LX110 FPGA embedded in the NI cRIO-9118 FPGA chassis, and with a 40 MHz base clock, supports a modulation update rate of 40 MHz, user-settable switching frequencies and synchronized control loop update rates of tens of kHz, and reference waveform generation, including Phase Lock Loop (PLL), update rate of 100 kHz.« less

The ClC-K2 Chloride Channel Is Critical for Salt Handling in the Distal Nephron.

PubMed

Hennings, J Christopher; Andrini, Olga; Picard, Nicolas; Paulais, Marc; Huebner, Antje K; Cayuqueo, Irma Karen Lopez; Bignon, Yohan; Keck, Mathilde; Cornière, Nicolas; Böhm, David; Jentsch, Thomas J; Chambrey, Régine; Teulon, Jacques; Hübner, Christian A; Eladari, Dominique

2017-01-01

Chloride transport by the renal tubule is critical for blood pressure (BP), acid-base, and potassium homeostasis. Chloride uptake from the urinary fluid is mediated by various apical transporters, whereas basolateral chloride exit is thought to be mediated by ClC-Ka/K1 and ClC-Kb/K2, two chloride channels from the ClC family, or by KCl cotransporters from the SLC12 gene family. Nevertheless, the localization and role of ClC-K channels is not fully resolved. Because inactivating mutations in ClC-Kb/K2 cause Bartter syndrome, a disease that mimics the effects of the loop diuretic furosemide, ClC-Kb/K2 is assumed to have a critical role in salt handling by the thick ascending limb. To dissect the role of this channel in detail, we generated a mouse model with a targeted disruption of the murine ortholog ClC-K2. Mutant mice developed a Bartter syndrome phenotype, characterized by renal salt loss, marked hypokalemia, and metabolic alkalosis. Patch-clamp analysis of tubules isolated from knockout (KO) mice suggested that ClC-K2 is the main basolateral chloride channel in the thick ascending limb and in the aldosterone-sensitive distal nephron. Accordingly, ClC-K2 KO mice did not exhibit the natriuretic response to furosemide and exhibited a severely blunted response to thiazide. We conclude that ClC-Kb/K2 is critical for salt absorption not only by the thick ascending limb, but also by the distal convoluted tubule. Copyright © 2016 by the American Society of Nephrology.

The ClC-K2 Chloride Channel Is Critical for Salt Handling in the Distal Nephron

PubMed Central

Hennings, J. Christopher; Andrini, Olga; Picard, Nicolas; Paulais, Marc; Huebner, Antje K.; Cayuqueo, Irma Karen Lopez; Bignon, Yohan; Keck, Mathilde; Cornière, Nicolas; Böhm, David; Jentsch, Thomas J.; Chambrey, Régine; Hübner, Christian A.

2017-01-01

Chloride transport by the renal tubule is critical for blood pressure (BP), acid-base, and potassium homeostasis. Chloride uptake from the urinary fluid is mediated by various apical transporters, whereas basolateral chloride exit is thought to be mediated by ClC-Ka/K1 and ClC-Kb/K2, two chloride channels from the ClC family, or by KCl cotransporters from the SLC12 gene family. Nevertheless, the localization and role of ClC-K channels is not fully resolved. Because inactivating mutations in ClC-Kb/K2 cause Bartter syndrome, a disease that mimics the effects of the loop diuretic furosemide, ClC-Kb/K2 is assumed to have a critical role in salt handling by the thick ascending limb. To dissect the role of this channel in detail, we generated a mouse model with a targeted disruption of the murine ortholog ClC-K2. Mutant mice developed a Bartter syndrome phenotype, characterized by renal salt loss, marked hypokalemia, and metabolic alkalosis. Patch-clamp analysis of tubules isolated from knockout (KO) mice suggested that ClC-K2 is the main basolateral chloride channel in the thick ascending limb and in the aldosterone-sensitive distal nephron. Accordingly, ClC-K2 KO mice did not exhibit the natriuretic response to furosemide and exhibited a severely blunted response to thiazide. We conclude that ClC-Kb/K2 is critical for salt absorption not only by the thick ascending limb, but also by the distal convoluted tubule. PMID:27335120

Comparing performance of centerline algorithms for quantitative assessment of brain vascular anatomy.

PubMed

Diedrich, Karl T; Roberts, John A; Schmidt, Richard H; Parker, Dennis L

2012-12-01

Attributes like length, diameter, and tortuosity of tubular anatomical structures such as blood vessels in medical images can be measured from centerlines. This study develops methods for comparing the accuracy and stability of centerline algorithms. Sample data included numeric phantoms simulating arteries and clinical human brain artery images. Centerlines were calculated from segmented phantoms and arteries with shortest paths centerline algorithms developed with different cost functions. The cost functions were the inverse modified distance from edge (MDFE(i) ), the center of mass (COM), the binary-thinned (BT)-MDFE(i) , and the BT-COM. The accuracy of the centerline algorithms were measured by the root mean square error from known centerlines of phantoms. The stability of the centerlines was measured by starting the centerline tree from different points and measuring the differences between trees. The accuracy and stability of the centerlines were visualized by overlaying centerlines on vasculature images. The BT-COM cost function centerline was the most stable in numeric phantoms and human brain arteries. The MDFE(i) -based centerline was most accurate in the numeric phantoms. The COM-based centerline correctly handled the "kissing" artery in 16 of 16 arteries in eight subjects whereas the BT-COM was correct in 10 of 16 and MDFE(i) was correct in 6 of 16. The COM-based centerline algorithm was selected for future use based on the ability to handle arteries where the initial binary vessels segmentation exhibits closed loops. The selected COM centerline was found to measure numerical phantoms to within 2% of the known length. Copyright © 2012 Wiley Periodicals, Inc.

Improvement of logistics education from the point of view environmental management

NASA Astrophysics Data System (ADS)

Bányai, Á.

2009-04-01

The paper briefly presents the influence of environmental management on the improvement of the logistics education and research structure of the Department of Materials Handling and Logistics at the University of Miskolc, Hungary. The logistics, as an integrated science offers a very good possibility to demonstrate the effect of new innovative knowledge on the migration of the priorities of education and research of sciences. The importance of logistics in the field of recycling (or in wider sense in the field of environmental management) can be justified by the high proportion of logistic costs (as investment and operation costs) and these costs show that optimum logistic solutions are able to decrease the financial outcomes and lead to the establishment of a profitable system. Technological change constantly creates new demands on both education and research. The most important objective of the department is to create a unique logistics education in the country. For this reason the department offered up-to-date integrated knowledge at all level: undergraduate, master degree and PhD education. The integration of logistics means traditionally the joint use of technology of material handling, method of material flow, technology method of traffic, information technology, management sciences, production technology, marketing, market research, technology of services, mathematics and optimization, communication technology, system engineering, electronics and automation, mechatronics [1, 3]. The education and research portfolio of the department followed this tradition till 1993. The new lectures in the field of sustainability (logistics of recycling, logistics of quality management and recycling, closed loop economy, EU logistics or global logistics) became more and more important in the logistics education. The results of fast developments in closed loop economy, recycling, waste management, environmental protection are more and more used in the industry and this effected a revolutionary change in the education and research structure of logistics [2]. The European Community policy in the environment sectors aims at a high level of protection. Four principles were defined: the precautionary principle, the principle that preventive action should be taken, that environmental damages should as a priority be rectified at source and that the polluter should pay. All of these four principles have a very strong logistics background, especially in the field of import/export operations, traffic/transportation, inventory control, materials handling, fleet operations, customer service, supply chain management, distribution, strategic planning, warehousing, information systems of logistics, purchasing. These facts effect the development of different topics of logistics in each field of the education of the department: collection logistics of used products (especially WEEE), optimization of collection systems, design and control of disassembly systems, distribution of fractions of disassembled used products, design and control of recycling parks, possibilities of virtual networks in the field of recycling logistics, integration of logistics, recycling and total quality management, identification systems and recycling, etc. Within the framework of different supports our department has the opportunity to take part in European networks and research projects in the field of sustainability, environmental protection, recycling and closed loop economy. One of the biggest networks was developed within the framework of a Brite-Euram project entitled ‘Closing the loop from the product design to the end of life technologies'. The importance of logistics is certified by the fact, that this network defined the milestones of the improvement of an economically beneficial closed loop economy as quality aspects, communication and marketing, logistics and qualification. Within the frame of this project the logistics focused on the improvement of technologies (disassembly, reuse, refurbishment, remanufacturing and recycling), collection systems, and development of the concept for collection logistics and pre-disassembly, market survey in waste management. The Regional Knowledge Centre of Mechatronics and Logistics Systems was established in 2005. The overall objective of Knowledge Centre is to develop knowledge-intensive mechatronics and logistics systems in the leading edge of the world and to integrate the results in the economy and society through utilising the knowledge. The realisation of the objective requires the establishment and operation of a networking system of relations between those involved in sciences, the economy and society. The knowledge centre is a "knowledge integration tool" of the university in the field of mechanical engineering, and plays an important part in the intensification of the integration of the philosophy of sustainability into the related sciences. The program of the knowledge centre is focused on three well definable strategic fields, which are the vertical elements of the model. These are the R&D programs: world of products, materials and technologies, and integrated systems. The programs cover the implementation of seven, internationally competitive, application-oriented part tasks. These seven part tasks and the sustainability are closely related. The realisation of the part tasks through networking offers considerable results and economical-ecological benefits, forth for the participants and the region. The activities include basic and applied research, experimental development, technology transfer, as well as education and training and preparing the new scientific generation. The horizontal elements of the model are given by the utilisation of knowledge that can be interpreted in different dimensions: technical/engineering, legal, sustainability, economic, and social. The program relies on the continuation of existing relations in networks, and its regional nature is embodied in the cooperation of the higher education institutes and companies of the three counties. This publication was supported by the National Office for Research and Technology within the frame of Pázmány Péter programme. Any opinions, findings and conclusions or recommendations expressed in this material are those of the author and do not necessarily reflect the views of the National Office for Research and Technology. Literature: [1] J. Cselényi, Gy. Fischer, J. Murvai, B. Mang: Typical models of the recycling logistics of worn out product. Proceedings of XIV. International Conference on Material Handling and Warehousing in Belgrade, 1996. pp. 138-143. [2] R. Knoth, M. Hoffmann, B. Kopacek, P. Kopacek: A logistic concept to improve the re-usability of electric and electronic equipment, Electronics and the Environment, 2001. Proceedings of the 2001 IEEE International Symposium. 2001. pp. 115 - 118. [3] L. Cser, B. Mang: Cleaner Technologies and Recycling in Hungary. Proceedings of Int. Workshop on Environmental Conscious Manufacturing in Hertogenbosch, The Netherlands, 1997. pp. 48-56.

Modular, Autonomous Command and Data Handling Software with Built-In Simulation and Test

NASA Technical Reports Server (NTRS)

Cuseo, John

2012-01-01

The spacecraft system that plays the greatest role throughout the program lifecycle is the Command and Data Handling System (C&DH), along with the associated algorithms and software. The C&DH takes on this role as cost driver because it is the brains of the spacecraft and is the element of the system that is primarily responsible for the integration and interoperability of all spacecraft subsystems. During design and development, many activities associated with mission design, system engineering, and subsystem development result in products that are directly supported by the C&DH, such as interfaces, algorithms, flight software (FSW), and parameter sets. A modular system architecture has been developed that provides a means for rapid spacecraft assembly, test, and integration. This modular C&DH software architecture, which can be targeted and adapted to a wide variety of spacecraft architectures, payloads, and mission requirements, eliminates the current practice of rewriting the spacecraft software and test environment for every mission. This software allows missionspecific software and algorithms to be rapidly integrated and tested, significantly decreasing time involved in the software development cycle. Additionally, the FSW includes an Onboard Dynamic Simulation System (ODySSy) that allows the C&DH software to support rapid integration and test. With this solution, the C&DH software capabilities will encompass all phases of the spacecraft lifecycle. ODySSy is an on-board simulation capability built directly into the FSW that provides dynamic built-in test capabilities as soon as the FSW image is loaded onto the processor. It includes a six-degrees- of-freedom, high-fidelity simulation that allows complete closed-loop and hardware-in-the-loop testing of a spacecraft in a ground processing environment without any additional external stimuli. ODySSy can intercept and modify sensor inputs using mathematical sensor models, and can intercept and respond to actuator commands. ODySSy integration is unique in that it allows testing of actual mission sequences on the flight vehicle while the spacecraft is in various stages of assembly, test, and launch operations all without any external support equipment or simulators. The ODySSy component of the FSW significantly decreases the time required for integration and test by providing an automated, standardized, and modular approach to integrated avionics and component interface and functional verification. ODySSy further provides the capability for on-orbit support in the form of autonomous mission planning and fault protection.

Misuse of booster cushions among children and adults in Shanghai-an observational and attitude study during buckling up.

PubMed

Bohman, Katarina; Jorlöv, Sofia; Zhou, Shengqi; Zhao, Cloud; Sui, Bo; Ding, Chengkai

2016-10-02

Traffic crashes are one of the leading causes of fatalities among Chinese children. Booster cushion usage in China is low, and there are no studies showing how a population with limited experience handles booster cushions during buckling up. The purpose of this study was to evaluate the handling of and explore the attitudes toward booster cushions among children, parents, and grandparents in Shanghai. An observational study including a convenience sample of 254 children aged 4-12 years was conducted in 2 passenger cars at a shopping center in Shanghai. Parents, grandparents, or the children themselves buckled up the child on 2 types of booster cushions, a 2-stage integrated booster cushion (IBC) and an aftermarket booster cushion (BC). The test participants were observed during buckling up, first without and then with instructions. The test leaders conducted structured interviews. Ninety-eight percent of the uninstructed participants failed to buckle up without identified misuse on the aftermarket booster cushion and 31% of those uninstructed on the integrated booster cushion. The majority of misuse was severe, including placing the belt behind the arm and the lap belt routing above the guiding loops. Instruction reduced misuse to 58% (BC) and 12% (IBC), respectively, and, in particular, severe misuse. Some misuse was related to limited knowledge of how to buckle up on the booster cushion, and some misuse was intentional in order to reduce discomfort. The participants, both children and adults, reported that they preferred the IBC due to good comfort and convenience. Safety was reported as the main reason for adults using booster cushions in general, whereas children reported comfort as the most important motivation. Education is needed to ensure frequent and correct use of booster cushions in China and to raise safety awareness among children and adults. Furthermore, it is important that the booster cushions offer intuitively correct usage to a population with limited experience of booster cushions. This is the first study published on the handling of and attitude toward booster cushions after child restraints laws were introduced in Shanghai 2014.

Behaviour of fractional loop delay zero crossing digital phase locked loop (FR-ZCDPLL)

NASA Astrophysics Data System (ADS)

Nasir, Qassim

2018-01-01

This article analyses the performance of the first-order zero crossing digital phase locked loops (FR-ZCDPLL) when fractional loop delay is added to loop. The non-linear dynamics of the loop is presented, analysed and examined through bifurcation behaviour. Numerical simulation of the loop is conducted to proof the mathematical analysis of the loop operation. The results of the loop simulation show that the proposed FR-ZCDPLL has enhanced the performance compared to the conventional zero crossing DPLL in terms of wider lock range, captured range and stable operation region. In addition, extensive experimental simulation was conducted to find the optimum loop parameters for different loop environmental conditions. The addition of the fractional loop delay network in the conventional loop also reduces the phase jitter and its variance especially when the signal-to-noise ratio is low.

Livermore Compiler Analysis Loop Suite

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

Hornung, R. D.

2013-03-01

LCALS is designed to evaluate compiler optimizations and performance of a variety of loop kernels and loop traversal software constructs. Some of the loop kernels are pulled directly from "Livermore Loops Coded in C", developed at LLNL (see item 11 below for details of earlier code versions). The older suites were used to evaluate floating-point performances of hardware platforms prior to porting larger application codes. The LCALS suite is geared toward assissing C++ compiler optimizations and platform performance related to SIMD vectorization, OpenMP threading, and advanced C++ language features. LCALS contains 20 of 24 loop kernels from the older Livermoremore » Loop suites, plus various others representative of loops found in current production appkication codes at LLNL. The latter loops emphasize more diverse loop constructs and data access patterns than the others, such as multi-dimensional difference stencils. The loops are included in a configurable framework, which allows control of compilation, loop sampling for execution timing, which loops are run and their lengths. It generates timing statistics for analysis and comparing variants of individual loops. Also, it is easy to add loops to the suite as desired.« less

System identification from closed-loop data with known output feedback dynamics

NASA Technical Reports Server (NTRS)

Phan, Minh; Juang, Jer-Nan; Horta, Lucas G.; Longman, Richard W.

1992-01-01

This paper presents a procedure to identify the open loop systems when it is operating under closed loop conditions. First, closed loop excitation data are used to compute the system open loop and closed loop Markov parameters. The Markov parameters, which are the pulse response samples, are then used to compute a state space representation of the open loop system. Two closed loop configurations are considered in this paper. The closed loop system can have either a linear output feedback controller or a dynamic output feedback controller. Numerical examples are provided to illustrate the proposed closed loop identification method.

High Torque-to-Inertia Servo System for Stabilizing Sensor Systems. Candidate Systems Include Missile Guidance, Surveillance, and Tracking

DTIC Science & Technology

1980-04-01

specifications ... 3-10 25. Typical isolation curve ... 3-12 26. Servo amp/motor/load frequency response (inner gimbal) ... 4-3 27. Slave loop ( open loop...slave loop ( open loop) frequency response (inner gimbal) . . . 4-4 30. Slave loop (closed loop) frequency response (inner gimbal) ... 4-5 3 . Slave...loop inner gimbal time response ... 4-5 32. Servo amp/motor/load frequency response (outer gimbal) ... 4-6 33. Slave loop ( open loop) uncompensated

Coronal Loops: Observations and Modeling of Confined Plasma.

PubMed

Reale, Fabio

Coronal loops are the building blocks of the X-ray bright solar corona. They owe their brightness to the dense confined plasma, and this review focuses on loops mostly as structures confining plasma. After a brief historical overview, the review is divided into two separate but not independent parts: the first illustrates the observational framework, the second reviews the theoretical knowledge. Quiescent loops and their confined plasma are considered and, therefore, topics such as loop oscillations and flaring loops (except for non-solar ones, which provide information on stellar loops) are not specifically addressed here. The observational section discusses the classification, populations, and the morphology of coronal loops, its relationship with the magnetic field, and the loop stranded structure. The section continues with the thermal properties and diagnostics of the loop plasma, according to the classification into hot, warm, and cool loops. Then, temporal analyses of loops and the observations of plasma dynamics, hot and cool flows, and waves are illustrated. In the modeling section, some basics of loop physics are provided, supplying fundamental scaling laws and timescales, a useful tool for consultation. The concept of loop modeling is introduced and models are divided into those treating loops as monolithic and static, and those resolving loops into thin and dynamic strands. More specific discussions address modeling the loop fine structure and the plasma flowing along the loops. Special attention is devoted to the question of loop heating, with separate discussion of wave (AC) and impulsive (DC) heating. Large-scale models including atmosphere boxes and the magnetic field are also discussed. Finally, a brief discussion about stellar coronal loops is followed by highlights and open questions.

Coupled dual loop absorption heat pump

DOEpatents

Sarkisian, Paul H.; Reimann, Robert C.; Biermann, Wendell J.

1985-01-01

A coupled dual loop absorption system which utilizes two separate complete loops. Each individual loop operates at three temperatures and two pressures. This low temperature loop absorber and condenser are thermally coupled to the high temperature loop evaporator, and the high temperature loop condenser and absorber are thermally coupled to the low temperature generator.

Introduction to Loop Heat Pipes

NASA Technical Reports Server (NTRS)

Ku, Jentung

2015-01-01

This is the presentation file for the short course Introduction to Loop Heat Pipes, to be conducted at the 2015 Thermal Fluids and Analysis Workshop, August 3-7, 2015, Silver Spring, Maryland. This course will discuss operating principles and performance characteristics of a loop heat pipe. Topics include: 1) pressure profiles in the loop; 2) loop operating temperature; 3) operating temperature control; 4) loop startup; 4) loop shutdown; 5) loop transient behaviors; 6) sizing of loop components and determination of fluid inventory; 7) analytical modeling; 8) examples of flight applications; and 9) recent LHP developments.

An autonomous robot inspired by insect neurophysiology pursues moving features in natural environments

NASA Astrophysics Data System (ADS)

Bagheri, Zahra M.; Cazzolato, Benjamin S.; Grainger, Steven; O'Carroll, David C.; Wiederman, Steven D.

2017-08-01

Objective. Many computer vision and robotic applications require the implementation of robust and efficient target-tracking algorithms on a moving platform. However, deployment of a real-time system is challenging, even with the computational power of modern hardware. Lightweight and low-powered flying insects, such as dragonflies, track prey or conspecifics within cluttered natural environments, illustrating an efficient biological solution to the target-tracking problem. Approach. We used our recent recordings from ‘small target motion detector’ neurons in the dragonfly brain to inspire the development of a closed-loop target detection and tracking algorithm. This model exploits facilitation, a slow build-up of response to targets which move along long, continuous trajectories, as seen in our electrophysiological data. To test performance in real-world conditions, we implemented this model on a robotic platform that uses active pursuit strategies based on insect behaviour. Main results. Our robot performs robustly in closed-loop pursuit of targets, despite a range of challenging conditions used in our experiments; low contrast targets, heavily cluttered environments and the presence of distracters. We show that the facilitation stage boosts responses to targets moving along continuous trajectories, improving contrast sensitivity and detection of small moving targets against textured backgrounds. Moreover, the temporal properties of facilitation play a useful role in handling vibration of the robotic platform. We also show that the adoption of feed-forward models which predict the sensory consequences of self-movement can significantly improve target detection during saccadic movements. Significance. Our results provide insight into the neuronal mechanisms that underlie biological target detection and selection (from a moving platform), as well as highlight the effectiveness of our bio-inspired algorithm in an artificial visual system.

The Na+-phosphate cotransport system (NaPi-II) with a cleaved protein backbone: implications on function and membrane insertion

PubMed Central

Kohl, Beate; Wagner, Carsten A; Huelseweh, Birgit; Busch, Andreas E; Werner, Andreas

1998-01-01

Renal handling of inorganic phosphate (Pi) involves a Na+-Pi cotransport system which is well conserved between vertebrates. The members of this protein family, denoted NaPi-II, share a topology with, it is thought, eight transmembrane domains. The transporter is proposed to be proteolytically cleaved within a large hydrophilic loop in vivo. The consequences of an interrupted backbone were tested by constructing cDNA clones encoding different N- (1-3 and 1-5) and C-terminal (4-8 and 6-8) complementary fragments of NaPi-II from winter flounder. When the cognate fragments were used in combination (1-3 plus 4-8; 1-5 plus 6-8) they comprised the full complement of the putative transporter domains. None of the four individual fragments or the 1-5 plus 6-8 combination when expressed in Xenopus oocytes increased Pi flux. Coexpression of fragments 1-3 plus 4-8 stimulated transport activity identical to that for expressed wild-type NaPi-II with regard to pH dependency and Km for Na+ and Pi binding; however, the maximal transport rate (vmax) was lower. Immunohistochemistry on cryosections confined the functionally active 1-3 plus 4-8 combination to the oocyte membrane. This was not the case for the 1-5 plus 6-8 combination or any of the individual fragments, all of which failed to induce fluorescence. A second immunohistochemical approach using intact oocytes allowed determination of the extracellular regions of the protein. Epitopes within the loop between transmembrane domains 3 and 4 enhanced fluorescence. Neither N- nor C-terminal tags induced fluorescence. PMID:9508800

Trend of different molecular markers in the last decades for studying human migrations.

PubMed

Kundu, Sharbadeb; Ghosh, Sankar Kumar

2015-02-10

Anatomically modern humans are known to have widely migrated throughout history. Different scientific evidences suggest that the entire human population descended from just several thousand African migrants. About 85,000 years ago, the first wave of human migration was out of Africa, that followed the coasts through the Middle East, into Southern Asia via Sri Lanka, and in due course around Indonesia and into Australia. Another wave of migration between 40,000 and 12,000 years ago brought humans northward into Europe. However, the frozen north limited human expansion in Europe, and created a land bridge, "Bering land bridge", connecting Asia with North America about 25,000 years ago. Although fossil data give the most direct information about our past, it has certain anomalies. So, molecular archeologists are now using different molecular markers to trace the "most recent common ancestor" and also the migration pattern of modern humans. In this study, we have studied the trend of molecular markers and also the methodologies implemented in the last decades (2003-2014). From our observation, we can say that D-loop region of mtDNA and Y chromosome based markers are predominant. Nevertheless, mtDNA, especially the D-loop region, has some unique features, which makes it a more effective marker for tracing prehistoric footprints of modern human populations. Although, natural selection should also be taken into account in studying mtDNA based human migration. As per technology is concerned, Sanger sequencing is the major technique that is being used in almost all studies. But, the emergence of different cost-effective-and-easy-to-handle NGS platforms has increased its popularity over Sanger sequencing in studying human migration. Copyright © 2014. Published by Elsevier B.V.

Redesign of the Human Metabolic Simulator

NASA Technical Reports Server (NTRS)

Duffield, Bruce; Jeng, Frank; Lange, Kevin

2004-01-01

The National Aeronautics and Space Administration (NASA) is currently building a Human Metabolic Simulator (HMS) at the Johnson Space Center as part of the Advanced Life Support Air Revitalization Technology Evaluation Facility (ARTEF). The purpose of ARTEF is to evaluate Environmental Control and Life Support System Technologies for Advanced Missions. The HMS is needed to reproduce the primary metabolic effects of human respiration on an enclosed atmosphere when humans cannot be present and the impact of human presence on the system is required. A HMS was designed, built and successfully operated in 2000 but larger crew size requirements and the expense of upgrade of the current system necessitate redesign. This paper addresses the redesign. Several concepts were considered, ranging from chemical oxidation of a hydrocarbon like ethanol or ethyl acetate to carbon dioxide and water, oxidation of an iron-containing compound, or by using a fuel cell. For reasons of cost, simplicity, safety and other factors, the concept chosen includes: a molecular sieve packaged as an industrial oxygen concentrator to remove oxygen from the atmosphere, with direct carbon dioxide, water and heat injection. The water injection is done via heating water to steam with a heat exchanger and thermal effects are handled by directly adding heat to the air stream with a second heat exchanger. Both heat exchangers are supplied by a hot oil loop. The amount of oxygen removal, carbon dioxide addition, water addition and heat addition were calculated using metabolic profiles for respiration and heat, calculated using a series of empirical equations developed for International Space Station (ISS). Sketches of the Human Metabolic Simulator and the hot oil bath loop used to supply heat to the heat exchangers are included

Direct Fault Tolerant RLV Altitude Control: A Singular Perturbation Approach

NASA Technical Reports Server (NTRS)

Zhu, J. J.; Lawrence, D. A.; Fisher, J.; Shtessel, Y. B.; Hodel, A. S.; Lu, P.; Jackson, Scott (Technical Monitor)

2002-01-01

In this paper, we present a direct fault tolerant control (DFTC) technique, where by "direct" we mean that no explicit fault identification is used. The technique will be presented for the attitude controller (autopilot) for a reusable launch vehicle (RLV), although in principle it can be applied to many other applications. Any partial or complete failure of control actuators and effectors will be inferred from saturation of one or more commanded control signals generated by the controller. The saturation causes a reduction in the effective gain, or bandwidth of the feedback loop, which can be modeled as an increase in singular perturbation in the loop. In order to maintain stability, the bandwidth of the nominal (reduced-order) system will be reduced proportionally according to the singular perturbation theory. The presented DFTC technique automatically handles momentary saturations and integrator windup caused by excessive disturbances, guidance command or dispersions under normal vehicle conditions. For multi-input, multi-output (MIMO) systems with redundant control effectors, such as the RLV attitude control system, an algorithm is presented for determining the direction of bandwidth cutback using the method of minimum-time optimal control with constrained control in order to maintain the best performance that is possible with the reduced control authority. Other bandwidth cutback logic, such as one that preserves the commanded direction of the bandwidth or favors a preferred direction when the commanded direction cannot be achieved, is also discussed. In this extended abstract, a simplistic example is proved to demonstrate the idea. In the final paper, test results on the high fidelity 6-DOF X-33 model with severe dispersions will be presented.

Dual Active Bridge based DC Transformer LabVIEW FPGA Control Code

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

In the area of power electronics control, Field Programmable Gate Arrays (FPGAs) have the capability to outperform their Digital Signal Processor (DSP) counterparts due to the FPGA’s ability to implement true parallel processing and therefore facilitate higher switching frequencies, higher control bandwidth, and/or enhanced functionality. National Instruments (NI) has developed two platforms, Compact RIO (cRIO) and Single Board RIO (sbRIO), which combine a real-time processor with an FPGA. The FPGA can be programmed with a subset of the well-known LabVIEW graphical programming language. The candidate software implements complete control algorithms in LabVIEW FPGA for a DC Transformer (DCX) based onmore » a dual active bridge (DAB). A DCX is an isolated bi-directional DC-DC converter designed to operate at unity conversion ratio, M, defined by where Vin is the primary-side DC bus voltage, Vout is the secondary-side DC bus voltage, and n is the turns ratio of the embedded high frequency transformer (HFX). The DCX based on a DAB incorporates two H-bridges, a resonant inductor, and an HFX to provide this functionality. The candidate software employs phase-shift modulation of the two H-bridges and a feedback loop to regulate the conversion ratio at unity. The software also includes alarm-handling capabilities as well as debugging and tuning tools. The software fits on the Xilinx Virtex V LX110 FPGA embedded in the NI cRIO-9118 FPGA chassis, and with a 40 MHz base clock, supports a modulation update rate of 40 MHz, and user-settable switching frequencies and synchronized control loop update rates of tens of kHz.« less

An optimal open/closed-loop control method with application to a pre-stressed thin duralumin plate

NASA Astrophysics Data System (ADS)

Nadimpalli, Sruthi Raju

The excessive vibrations of a pre-stressed duralumin plate, suppressed by a combination of open-loop and closed-loop controls, also known as open/closed-loop control, is studied in this thesis. The two primary steps involved in this process are: Step (I) with an assumption that the closed-loop control law is proportional, obtain the optimal open-loop control by direct minimization of the performance measure consisting of energy at terminal time and a penalty on open-loop control force via calculus of variations. If the performance measure also involves a penalty on closed-loop control effort then a Fourier based method is utilized. Step (II) the energy at terminal time is minimized numerically to obtain optimal values of feedback gains. The optimal closed-loop control gains obtained are used to describe the displacement and the velocity of open-loop, closed-loop and open/closed-loop controlled duralumin plate.

Regulative Loops, Step Loops and Task Loops

ERIC Educational Resources Information Center

VanLehn, Kurt

2016-01-01

This commentary suggests a generalization of the conception of the behavior of tutoring systems, which the target article characterized as having an outer loop that was executed once per task and an inner loop that was executed once per step of the task. A more general conception sees these two loops as instances of regulative loops, which…

Closed-Loop Control Better than Open-Loop Control of Profofol TCI Guided by BIS: A Randomized, Controlled, Multicenter Clinical Trial to Evaluate the CONCERT-CL Closed-Loop System

PubMed Central

Zhang, Xuena; Wu, Anshi; Yao, Shanglong; Xue, Zhanggang; Yue, Yun

2015-01-01

Background The CONCERT-CL closed-loop infusion system designed by VERYARK Technology Co., Ltd. (Guangxi, China) is an innovation using TCI combined with closed-loop controlled intravenous anesthesia under the guide of BIS. In this study we performed a randomized, controlled, multicenter study to compare closed-loop control and open-loop control of propofol by using the CONCERT-CL closed-loop infusion system. Methods 180 surgical patients from three medical centers undergone TCI intravenous anesthesia with propofol and remifentanil were randomly assigned to propofol closed-loop group and propofol opened-loop groups. Primary outcome was global score (GS, GS = (MDAPE+Wobble)/% of time of bispectral index (BIS) 40-60). Secondary outcomes were doses of the anesthetics and emergence time from anesthesia, such as, time to tracheal extubation. Results There were 89 and 86 patients in the closed-loop and opened-loop groups, respectively. GS in the closed-loop groups (22.21±8.50) were lower than that in the opened-loop group (27.19±15.26) (p=0.009). The higher proportion of time of BIS between 40 and 60 was also observed in the closed-loop group (84.11±9.50%), while that was 79.92±13.17% in the opened-loop group, (p=0.016). No significant differences in propofol dose and time of tracheal extubation were observed. The frequency of propofol regulation in the closed-loop group (31.55±9.46 times/hr) was obverse higher than that in the opened-loop group (6.84±6.21 times/hr) (p=0.000). Conclusion The CONCERT-CL closed-loop infusion system can automatically regulate the TCI of propofol, maintain the BIS value in an adequate range and reduce the workload of anesthesiologists better than open-loop system. Trial Registration ChiCTR ChiCTR-OOR-14005551 PMID:25886041

Suppressing Transients In Digital Phase-Locked Loops

NASA Technical Reports Server (NTRS)

Thomas, J. B.

1993-01-01

Loop of arbitrary order starts in steady-state lock. Method for initializing variables of digital phase-locked loop reduces or eliminates transients in phase and frequency typically occurring during acquisition of lock on signal or when changes made in values of loop-filter parameters called "loop constants". Enables direct acquisition by third-order loop without prior acquisition by second-order loop of greater bandwidth, and eliminates those perturbations in phase and frequency lock occurring when loop constants changed by arbitrarily large amounts.

HSE (CASHES) management in Niger Delta seismic operations

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

Adepoju, O.J.

3-D seismic acquisition surveys in the Niger Delta of Nigeria, are carried out under extremely arduous field conditions due to difficult terrain, dense vegetation, semi-manual mode of operation, wildlife and volatile communities. The vegetation is a combination of evergreen tropical rain forest in the land areas and mangrove in the swamp areas. Some parts of the delta are prone to high seasonal flooding. Seismic lines are laid out by manual cutting of brush using machetes and shot holes drilled semi-manually with pumps. In order to effectively carry out the operations with due regard to the people and environment, a Communitymore » Affairs, Safety, Health, Environment and Security (CASHES) Polio and management System which ensures that a hazards are identified, assessed. controlled, with an effective loop feedback mechanism was introduced and implemented. CASHES critical activities are community relations, field security, explosives handling, water transport/journey management, river crossings. weather, shallow gas blow-out, waste management, seasonal flooding and floating-seaweed (water hyacinth)/timber logs. Environmental Impact Assessment (EIA) studies arc essential at the initial planning stages. About 41 Hazard Registers and 177 Activity Specification Sheets are developed in a typical survey. About 85% of the labor workforce are recruited from the host communities to promote cordial relations. Extensive training is carried out to raise the standards of the new recruits. The implementation of the management system is cascaded down using simplified documentation (procedures, work tasks, checklists etc.) adapted to local conditions. Integrated CASHES audits (Premob, Minor, Major. Follow up) arc conducted to check the efficiency of the system with documents getting reviewed regularly to keep the system alive and capable of handling changes. With these in place, high potential incidents are reduced/eliminated.« less

The role of ensemble-based statistics in variational assimilation of cloud-affected observations from infrared imagers

NASA Astrophysics Data System (ADS)

Hacker, Joshua; Vandenberghe, Francois; Jung, Byoung-Jo; Snyder, Chris

2017-04-01

Effective assimilation of cloud-affected radiance observations from space-borne imagers, with the aim of improving cloud analysis and forecasting, has proven to be difficult. Large observation biases, nonlinear observation operators, and non-Gaussian innovation statistics present many challenges. Ensemble-variational data assimilation (EnVar) systems offer the benefits of flow-dependent background error statistics from an ensemble, and the ability of variational minimization to handle nonlinearity. The specific benefits of ensemble statistics, relative to static background errors more commonly used in variational systems, have not been quantified for the problem of assimilating cloudy radiances. A simple experiment framework is constructed with a regional NWP model and operational variational data assimilation system, to provide the basis understanding the importance of ensemble statistics in cloudy radiance assimilation. Restricting the observations to those corresponding to clouds in the background forecast leads to innovations that are more Gaussian. The number of large innovations is reduced compared to the more general case of all observations, but not eliminated. The Huber norm is investigated to handle the fat tails of the distributions, and allow more observations to be assimilated without the need for strict background checks that eliminate them. Comparing assimilation using only ensemble background error statistics with assimilation using only static background error statistics elucidates the importance of the ensemble statistics. Although the cost functions in both experiments converge to similar values after sufficient outer-loop iterations, the resulting cloud water, ice, and snow content are greater in the ensemble-based analysis. The subsequent forecasts from the ensemble-based analysis also retain more condensed water species, indicating that the local environment is more supportive of clouds. In this presentation we provide details that explain the apparent benefit from using ensembles for cloudy radiance assimilation in an EnVar context.

Balancing extensive ambition and a context overflowing with opportunities and demands: A grounded theory on stress and recovery among highly educated working young women entering male-dominated occupational areas

PubMed Central

Löve, Jesper; Hagberg, Mats; Dellve, Lotta

2011-01-01

Several factors underline the issue of stress-related health among young highly educated women. Major societal changes might provide more new challenges with considerably changed and expanded roles than were expected by earlier generations, especially among women. The quantity of young women with higher education has also increased threefold in Sweden in less than two decades and there are a growing number of young women that hereby break with traditional gender positions and enter new occupational areas traditionally dominated by men. The research questions in the present study were: “What is the main concern, regarding stress and recovery, among young highly educated working women breaking with traditional gender positions and entering male-dominated occupational areas?” and “How do they handle this concern?” We conducted open-ended interviews with 20 informants, aged 23-29 years. The results showed that the synergy between highly ambitious individuals and a context overflowing with opportunities and demands ended up in the informants’ constantly striving to find a balance in daily life (main concern). This concern refers to the respondents experiencing a constant overload of ambiguity and that they easily became entangled in a loop of stress and dysfunctional coping behavior, threatening the balance between stress and sufficient recovery. In order to handle this concern, the respondents used different strategies in balancing extensive ambition and a context overflowing with opportunities and demands (core category). This preliminary theoretical model deepens our understanding of how the increasing numbers of highly educated young women face complex living conditions endangering their possibility of maintaining health and work ability. PMID:21909337

Equilibrium models of coronal loops that involve curvature and buoyancy

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

Hindman, Bradley W.; Jain, Rekha, E-mail: hindman@solarz.colorado.edu

2013-12-01

We construct magnetostatic models of coronal loops in which the thermodynamics of the loop is fully consistent with the shape and geometry of the loop. This is achieved by treating the loop as a thin, compact, magnetic fibril that is a small departure from a force-free state. The density along the loop is related to the loop's curvature by requiring that the Lorentz force arising from this deviation is balanced by buoyancy. This equilibrium, coupled with hydrostatic balance and the ideal gas law, then connects the temperature of the loop with the curvature of the loop without resorting to amore » detailed treatment of heating and cooling. We present two example solutions: one with a spatially invariant magnetic Bond number (the dimensionless ratio of buoyancy to Lorentz forces) and the other with a constant radius of the curvature of the loop's axis. We find that the density and temperature profiles are quite sensitive to curvature variations along the loop, even for loops with similar aspect ratios.« less

Observations of simultaneous coronal loop shrinkage and expansion during the decay phase of a solar flare

NASA Astrophysics Data System (ADS)

Khan, J. I.; Fletcher, L.; Nitta, N. V.

2006-07-01

We report what we believe are the first direct and unambiguous observations of simultaneous coronal magnetic flux loop shrinkage and expansion during the decay phase of a solar flare. The retracting and expanding loops were observed nearly face-on (i.e., with the loop major axis approximately orthogonal to the line of sight) in emission in imaging data from the Yohkoh Soft X-ray Telescope (SXT). The retracting loop is observed to shrink with a speed of 118 ± 66 km s-1. The faint outward moving loop-like feature occurred ~200´´ above the shrinking loop during the time of the shrinking loop. We estimate the speed of the outward moving loop was ~129 ± 74 km s-1. We interpret the shrinking loop and simultaneous outward moving loop as direct evidence for reconnected magnetic field lines during a flare.

Molecular dynamics simulations of electrostatics and hydration distributions around RNA and DNA motifs

NASA Astrophysics Data System (ADS)

Marlowe, Ashley E.; Singh, Abhishek; Semichaevsky, Andrey V.; Yingling, Yaroslava G.

2009-03-01

Nucleic acid nanoparticles can self-assembly through the formation of complementary loop-loop interactions or stem-stem interactions. Presence and concentration of ions can significantly affect the self-assembly process and the stability of the nanostructure. In this presentation we use explicit molecular dynamics simulations to examine the variations in cationic distributions and hydration environment around DNA and RNA helices and loop-loop interactions. Our simulations show that the potassium and sodium ionic distributions are different around RNA and DNA motifs which could be indicative of ion mediated relative stability of loop-loop complexes. Moreover in RNA loop-loop motifs ions are consistently present and exchanged through a distinct electronegative channel. We will also show how we used the specific RNA loop-loop motif to design a RNA hexagonal nanoparticle.

LoopX: A Graphical User Interface-Based Database for Comprehensive Analysis and Comparative Evaluation of Loops from Protein Structures.

PubMed

Kadumuri, Rajashekar Varma; Vadrevu, Ramakrishna

2017-10-01

Due to their crucial role in function, folding, and stability, protein loops are being targeted for grafting/designing to create novel or alter existing functionality and improve stability and foldability. With a view to facilitate a thorough analysis and effectual search options for extracting and comparing loops for sequence and structural compatibility, we developed, LoopX a comprehensively compiled library of sequence and conformational features of ∼700,000 loops from protein structures. The database equipped with a graphical user interface is empowered with diverse query tools and search algorithms, with various rendering options to visualize the sequence- and structural-level information along with hydrogen bonding patterns, backbone φ, ψ dihedral angles of both the target and candidate loops. Two new features (i) conservation of the polar/nonpolar environment and (ii) conservation of sequence and conformation of specific residues within the loops have also been incorporated in the search and retrieval of compatible loops for a chosen target loop. Thus, the LoopX server not only serves as a database and visualization tool for sequence and structural analysis of protein loops but also aids in extracting and comparing candidate loops for a given target loop based on user-defined search options.

Top3-Rmi1 dissolve Rad51-mediated D-loops by a topoisomerase-based mechanism

PubMed Central

Fasching, Clare L.; Cejka, Petr; Kowalczykowski, Stephen C.; Heyer, Wolf-Dietrich

2015-01-01

Summary The displacement loop (D-loop) is the DNA strand invasion product formed during homologous recombination. Disruption of nascent D-loops represents a mechanism of anti-recombination. During Synthesis-Dependent Strand Annealing D-loop disruption after extension of the invading strand is an integral step of the pathway and ensures a non-crossover outcome. The proteins implicated in D-loop disruption are DNA motor proteins/helicases acting by migrating DNA junctions. Here we report an unanticipated mechanism of D-loop dissolution mediated by DNA topoisomerase 3 (Top3) and dependent on its catalytic activity. D-loop dissolution catalyzed by yeast Top3 is highly specific for yeast Rad51/Rad54-mediated D-loops, whereas protein-free D-loops or D-loop mediated by bacterial RecA protein or human RAD51/RAD54 resist dissolution. Also the human Topoisomerase IIIα-RMI1–RMI2 complex is capable of dissolving D-loops. Consistent with genetic data, we suggest that the extreme growth defect and hyper-recombination phenotype of Top3-deficient yeast cells is in part a result of unprocessed D-loops. PMID:25699708

Advancing viral RNA structure prediction: measuring the thermodynamics of pyrimidine-rich internal loops

PubMed Central

Phan, Andy; Mailey, Katherine; Saeki, Jessica; Gu, Xiaobo

2017-01-01

Accurate thermodynamic parameters improve RNA structure predictions and thus accelerate understanding of RNA function and the identification of RNA drug binding sites. Many viral RNA structures, such as internal ribosome entry sites, have internal loops and bulges that are potential drug target sites. Current models used to predict internal loops are biased toward small, symmetric purine loops, and thus poorly predict asymmetric, pyrimidine-rich loops with >6 nucleotides (nt) that occur frequently in viral RNA. This article presents new thermodynamic data for 40 pyrimidine loops, many of which can form UU or protonated CC base pairs. Uracil and protonated cytosine base pairs stabilize asymmetric internal loops. Accurate prediction rules are presented that account for all thermodynamic measurements of RNA asymmetric internal loops. New loop initiation terms for loops with >6 nt are presented that do not follow previous assumptions that increasing asymmetry destabilizes loops. Since the last 2004 update, 126 new loops with asymmetry or sizes greater than 2 × 2 have been measured. These new measurements significantly deepen and diversify the thermodynamic database for RNA. These results will help better predict internal loops that are larger, pyrimidine-rich, and occur within viral structures such as internal ribosome entry sites. PMID:28213527

Current systems of coronal loops in 3D MHD simulations

NASA Astrophysics Data System (ADS)

Warnecke, J.; Chen, F.; Bingert, S.; Peter, H.

2017-11-01

Aims: We study the magnetic field and current structure associated with a coronal loop. Through this we investigate to what extent the assumptions of a force-free magnetic field break down and where they might be justified. Methods: We analyze a three-dimensional (3D) magnetohydrodynamic (MHD) model of the solar corona in an emerging active region with the focus on the structure of the forming coronal loops. The lower boundary of this simulation is taken from a model of an emerging active region. As a consequence of the emerging magnetic flux and the horizontal motions at the surface a coronal loop forms self-consistently. We investigate the current density along magnetic field lines inside (and outside) this loop and study the magnetic and plasma properties in and around this loop. The loop is defined as the bundle of field lines that coincides with enhanced emission in extreme UV. Results: We find that the total current along the emerging loop changes its sign from being antiparallel to parallel to the magnetic field. This is caused by the inclination of the loop together with the footpoint motion. Around the loop, the currents form a complex non-force-free helical structure. This is directly related to a bipolar current structure at the loop footpoints at the base of the corona and a local reduction of the background magnetic field (I.e., outside the loop) caused by the plasma flow into and along the loop. Furthermore, the locally reduced magnetic pressure in the loop allows the loop to sustain a higher density, which is crucial for the emission in extreme UV. The action of the flow on the magnetic field hosting the loop turns out to also be responsible for the observed squashing of the loop. Conclusions: The complex magnetic field and current system surrounding it can only be modeled in 3D MHD models where the magnetic field has to balance the plasma pressure. A one-dimensional coronal loop model or a force-free extrapolation cannot capture the current system and the complex interaction of the plasma and the magnetic field in the coronal loop, despite the fact that the loop is under low-β conditions.

THE CORONAL LOOP INVENTORY PROJECT: EXPANDED ANALYSIS AND RESULTS

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

Schmelz, J. T.; Christian, G. M.; Chastain, R. A., E-mail: jschmelz@usra.edu

We have expanded upon earlier work that investigates the relative importance of coronal loops with isothermal versus multithermal cross-field temperature distributions. These results are important for determining if loops have substructure in the form of unresolved magnetic strands. We have increased the number of loops targeted for temperature analysis from 19 to 207 with the addition of 188 new loops from multiple regions. We selected all loop segments visible in the 171 Å images of the Atmospheric Imaging Assembly (AIA) that had a clean background. Eighty-six of the new loops were rejected because they could not be reliably separated frommore » the background in other AIA filters. Sixty-one loops required multithermal models to reproduce the observations. Twenty-eight loops were effectively isothermal, that is, the plasma emission to which AIA is sensitive could not be distinguished from isothermal emission, within uncertainties. Ten loops were isothermal. Also, part of our inventory was one small flaring loop, one very cool loop whose temperature distribution could not be constrained by the AIA data, and one loop with inconclusive results. Our survey can confirm an unexpected result from the pilot study: we found no isothermal loop segments where we could properly use the 171-to-193 ratio method, which would be similar to the analysis done for many loops observed with TRACE and EIT. We recommend caution to observers who assume the loop plasma is isothermal, and hope that these results will influence the direction of coronal heating models and the effort modelers spend on various heating scenarios.« less

Top3-Rmi1 dissolve Rad51-mediated D loops by a topoisomerase-based mechanism.

PubMed

Fasching, Clare L; Cejka, Petr; Kowalczykowski, Stephen C; Heyer, Wolf-Dietrich

2015-02-19

The displacement loop (D loop) is a DNA strand invasion product formed during homologous recombination. Disruption of nascent D loops prevents recombination, and during synthesis-dependent strand annealing (SDSA), disruption of D loops extended by DNA polymerase ensures a non-crossover outcome. The proteins implicated in D loop disruption are DNA motor proteins/helicases that act by moving DNA junctions. Here we report that D loops can also be disrupted by DNA topoisomerase 3 (Top3), and this disruption depends on Top3's catalytic activity. Yeast Top3 specifically disrupts D loops mediated by yeast Rad51/Rad54; protein-free D loops or D loop mediated by bacterial RecA protein or human RAD51/RAD54 resist dissolution. Also, the human Topoisomerase IIIa-RMI1-RMI2 complex is capable of dissolving D loops. Consistent with genetic data, we suggest that the extreme growth defect and hyper-recombination phenotype of Top3-deficient yeast cells is partially a result of unprocessed D loops. Copyright © 2015 Elsevier Inc. All rights reserved.

On the nature of fast sausage waves in coronal loops

NASA Astrophysics Data System (ADS)

Bahari, Karam

2018-05-01

The effect of the parameters of coronal loops on the nature of fast sausage waves are investigated. To do this three models of the coronal loop considered, a simple loop model, a current-carrying loop model and a model with radially structured density called "Inner μ" profile. For all the models the Magnetohydrodynamic (MHD) equations solved analytically in the linear approximation and the restoring forces of oscillations obtained. The ratio of the magnetic tension force to the pressure gradient force obtained as a function of the distance from the axis of the loop. In the simple loop model for all values of the loop parameters the fast sausages wave have a mixed nature of Alfvénic and fast MHD waves, in the current-carrying loop model with thick annulus and low density contrast the fast sausage waves can be considered as purely Alfvénic wave in the core region of the loop, and in the "Inner μ" profile for each set of the parameters of the loop the wave can be considered as a purely Alfvénic wave in some regions of the loop.

NOAA GOES Geostationary Satellite Server

Science.gov Websites

Size West CONUS IR Image MPEG | Loop Visible Full Size West CONUS VIS Image MPEG | Loop Water Vapor Full Size West Conus WV Image MPEG | Loop Alaska Infrared Full Size Alaska IR Image Loop | Color Infrared Full Size Hawaii IR Image Loop | Color Visible Full Size Hawaii VIS Image Loop Water Vapor Full

Fault tolerant control laws

NASA Technical Reports Server (NTRS)

Ly, U. L.; Ho, J. K.

1986-01-01

A systematic procedure for the synthesis of fault tolerant control laws to actuator failure has been presented. Two design methods were used to synthesize fault tolerant controllers: the conventional LQ design method and a direct feedback controller design method SANDY. The latter method is used primarily to streamline the full-state Q feedback design into a practical implementable output feedback controller structure. To achieve robustness to control actuator failure, the redundant surfaces are properly balanced according to their control effectiveness. A simple gain schedule based on the landing gear up/down logic involving only three gains was developed to handle three design flight conditions: Mach .25 and Mach .60 at 5000 ft and Mach .90 at 20,000 ft. The fault tolerant control law developed in this study provides good stability augmentation and performance for the relaxed static stability aircraft. The augmented aircraft responses are found to be invariant to the presence of a failure. Furthermore, single-loop stability margins of +6 dB in gain and +30 deg in phase were achieved along with -40 dB/decade rolloff at high frequency.

Advances in containment methods and plutonium recovery strategies that led to the structural characterization of plutonium(IV) tetrachloride tris-diphenylsulfoxide, PuCl 4(OSPh 2) 3

DOE PAGES

Schrell, Samantha K.; Boland, Kevin Sean; Cross, Justin Neil; ...

2017-01-18

In an attempt to further advance the understanding of plutonium coordination chemistry, we report a robust method for recycling and obtaining plutonium aqueous stock solutions that can be used as a convenient starting material in plutonium synthesis. This approach was used to prepare and characterize plutonium(IV) tetrachloride tris-diphenylsulfoxide, PuCl 4(OSPh 2) 3, by single crystal X-ray diffraction. The PuCl 4(OSPh 2) 3 compound represents a rare example of a 7-coordinate plutonium(IV) complex. Structural characterization of PuCl 4(OSPh 2) 3 by X-ray diffraction utilized a new containment method for radioactive crystals. The procedure makes use of epoxy, polyimide loops, and amore » polyester sheath to provide a robust method for safely containing and easily handling radioactive samples. Lastly, the described procedure is more user friendly than traditional containment methods that employ fragile quartz capillary tubes. Additionally, moving to polyester, instead of quartz, lowers the background scattering from the heavier silicon atoms.« less

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

Klein, Steven Karl; Day, Christy M.; Determan, John C.

LANL has developed a process to generate a progressive family of system models for a fissile solution system. This family includes a dynamic system simulation comprised of coupled nonlinear differential equations describing the time evolution of the system. Neutron kinetics, radiolytic gas generation and transport, and core thermal hydraulics are included in the DSS. Extensions to explicit operation of cooling loops and radiolytic gas handling are embedded in these systems as is a stability model. The DSS may then be converted to an implementation in Visual Studio to provide a design team the ability to rapidly estimate system performance impactsmore » from a variety of design decisions. This provides a method to assist in optimization of the system design. Once design has been generated in some detail the C++ version of the system model may then be implemented in a LabVIEW user interface to evaluate operator controls and instrumentation and operator recognition and response to off-normal events. Taken as a set of system models the DSS, Visual Studio, and LabVIEW progression provides a comprehensive set of design support tools.« less

An Incremental Weighted Least Squares Approach to Surface Lights Fields

NASA Astrophysics Data System (ADS)

Coombe, Greg; Lastra, Anselmo

An Image-Based Rendering (IBR) approach to appearance modelling enables the capture of a wide variety of real physical surfaces with complex reflectance behaviour. The challenges with this approach are handling the large amount of data, rendering the data efficiently, and previewing the model as it is being constructed. In this paper, we introduce the Incremental Weighted Least Squares approach to the representation and rendering of spatially and directionally varying illumination. Each surface patch consists of a set of Weighted Least Squares (WLS) node centers, which are low-degree polynomial representations of the anisotropic exitant radiance. During rendering, the representations are combined in a non-linear fashion to generate a full reconstruction of the exitant radiance. The rendering algorithm is fast, efficient, and implemented entirely on the GPU. The construction algorithm is incremental, which means that images are processed as they arrive instead of in the traditional batch fashion. This human-in-the-loop process enables the user to preview the model as it is being constructed and to adapt to over-sampling and under-sampling of the surface appearance.

Thermal Analysis of Magnetically-Coupled Pump for Cryogenic Applications

NASA Technical Reports Server (NTRS)

Senocak, Inanc; Udaykumar, H. S.; Ndri, Narcisse; Francois, Marianne; Shyy, Wei

1999-01-01

Magnetically-coupled pump is under evaluation at Kennedy Space Center for possible cryogenic applications. A major concern is the impact of low temperature fluid flows on the pump performance. As a first step toward addressing this and related issues, a computational fluid dynamics and heat transfer tool has been adopted in a pump geometry. The computational tool includes (i) a commercial grid generator to handle multiple grid blocks and complicated geometric definitions, and (ii) an in-house computational fluid dynamics and heat transfer software developed in the Principal Investigator's group at the University of Florida. Both pure-conduction and combined convection-conduction computations have been conducted. A pure-conduction analysis gives insufficient information about the overall thermal distribution. Combined convection-conduction analysis indicates the significant influence of the coolant over the entire flow path. Since 2-D simulation is of limited help, future work on full 3-D modeling of the pump using multi-materials is needed. A comprehensive and accurate model can be developed to take into account the effect of multi-phase flow in the cooling flow loop, and the magnetic interactions.

A Hybrid Procedural/Deductive Executive for Autonomous Spacecraft

NASA Technical Reports Server (NTRS)

Pell, Barney; Gamble, Edward B.; Gat, Erann; Kessing, Ron; Kurien, James; Millar, William; Nayak, P. Pandurang; Plaunt, Christian; Williams, Brian C.; Lau, Sonie (Technical Monitor)

1998-01-01

The New Millennium Remote Agent (NMRA) will be the first AI system to control an actual spacecraft. The spacecraft domain places a strong premium on autonomy and requires dynamic recoveries and robust concurrent execution, all in the presence of tight real-time deadlines, changing goals, scarce resource constraints, and a wide variety of possible failures. To achieve this level of execution robustness, we have integrated a procedural executive based on generic procedures with a deductive model-based executive. A procedural executive provides sophisticated control constructs such as loops, parallel activity, locks, and synchronization which are used for robust schedule execution, hierarchical task decomposition, and routine configuration management. A deductive executive provides algorithms for sophisticated state inference and optimal failure recover), planning. The integrated executive enables designers to code knowledge via a combination of procedures and declarative models, yielding a rich modeling capability suitable to the challenges of real spacecraft control. The interface between the two executives ensures both that recovery sequences are smoothly merged into high-level schedule execution and that a high degree of reactivity is retained to effectively handle additional failures during recovery.

PLL application research of a broadband MEMS phase detector: Theory, measurement and modeling

NASA Astrophysics Data System (ADS)

Han, Juzheng; Liao, Xiaoping

2017-06-01

This paper evaluates the capability of a broadband MEMS phase detector in the application of phase locked loops (PLLs) through the aspect of theory, measurement and modeling. For the first time, it demonstrates how broadband property and optimized structure are realized through cascaded transmission lines and ANSYS simulations. The broadband MEMS phase detector shows potential in PLL application for its dc voltage output and large power handling ability which is important for munition applications. S-parameters of the power combiner in the MEMS phase detector are measured with S11 better than -15 dB and S23 better than -10 dB over the whole X-band. Compared to our previous works, developed phase detection measurements are performed and focused on signals at larger power levels up to 1 W. Cosine tendencies are revealed between the output voltage and the phase difference for both small and large signals. Simulation approach through equivalent circuit modeling is proposed to study the PLL application of the broadband MEMS phase detector. Synchronization and tracking properties are revealed.

Linked-List-Based Multibody Dynamics (MBDyn) Engine

NASA Technical Reports Server (NTRS)

MacLean, John; Brain, Thomas; Wuiocho, Leslie; Huynh, An; Ghosh, Tushar

2012-01-01

This new release of MBDyn is a software engine that calculates the dynamics states of kinematic, rigid, or flexible multibody systems. An MBDyn multibody system may consist of multiple groups of articulated chains, trees, or closed-loop topologies. Transient topologies are handled through conservation of energy and momentum. The solution for rigid-body systems is exact, and several configurable levels of nonlinear term fidelity are available for flexible dynamics systems. The algorithms have been optimized for efficiency and can be used for both non-real-time (NRT) and real-time (RT) simulations. Interfaces are currently compatible with NASA's Trick Simulation Environment. This new release represents a significant advance in capability and ease of use. The two most significant new additions are an application programming interface (API) that clarifies and simplifies use of MBDyn, and a link-list infrastructure that allows a single MBDyn instance to propagate an arbitrary number of interacting groups of multibody top ologies. MBDyn calculates state and state derivative vectors for integration using an external integration routine. A Trickcompatible interface is provided for initialization, data logging, integration, and input/output.

The application of active side arm controllers in helicopters

NASA Technical Reports Server (NTRS)

Knorr, R.; Melz, C.; Faulkner, A.; Obermayer, M.

1993-01-01

Eurocopter Deutschland (ECD) started simulation trials to investigate the particular problems of Side Arm Controllers (SAC) applied to helicopters. Two simulation trials have been performed. In the first trial, the handling characteristics of a 'passive' SAC and the basic requirements for the application of an 'active' SAC were evaluated in pilot-in-the-loop simulations, performing the tasks in a realistic scenario representing typical phases of a transport mission. The second simulation trial investigated the general control characteristics of the 'active' in comparison to the 'passive' control principle. A description of the SACs developed by ECD and the principle of the 'passive' and 'active' control concept is given, as well as specific ratings for the investigated dynamic and ergonomic parameters effecting SAC characteristics. The experimental arrangements, as well as the trials procedures of both simulation phases, are described and the results achieved are discussed emphasizing the advantages of the 'active' as opposed to the 'passive' SAC concept. This also includes the presentation of some critical aspects still to be improved and proposals to solve them.

Kinetic Activation-Relaxation Technique and Self-Evolving Atomistic Kinetic Monte Carlo: Comparison of on-the-fly kinetic Monte Carlo algorithms

DOE PAGES

Beland, Laurent Karim; Osetskiy, Yury N.; Stoller, Roger E.; ...

2015-02-07

Here, we present a comparison of the Kinetic Activation–Relaxation Technique (k-ART) and the Self-Evolving Atomistic Kinetic Monte Carlo (SEAKMC), two off-lattice, on-the-fly Kinetic Monte Carlo (KMC) techniques that were recently used to solve several materials science problems. We show that if the initial displacements are localized the dimer method and the Activation–Relaxation Technique nouveau provide similar performance. We also show that k-ART and SEAKMC, although based on different approximations, are in agreement with each other, as demonstrated by the examples of 50 vacancies in a 1950-atom Fe box and of interstitial loops in 16,000-atom boxes. Generally speaking, k-ART’s treatment ofmore » geometry and flickers is more flexible, e.g. it can handle amorphous systems, and rigorous than SEAKMC’s, while the later’s concept of active volumes permits a significant speedup of simulations for the systems under consideration and therefore allows investigations of processes requiring large systems that are not accessible if not localizing calculations.« less

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

NASA Astrophysics Data System (ADS)

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

2017-09-01

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

Improving the Critic Learning for Event-Based Nonlinear $H_{\\infty }$ Control Design.

PubMed

Wang, Ding; He, Haibo; Liu, Derong

2017-10-01

In this paper, we aim at improving the critic learning criterion to cope with the event-based nonlinear H ∞ state feedback control design. First of all, the H ∞ control problem is regarded as a two-player zero-sum game and the adaptive critic mechanism is used to achieve the minimax optimization under event-based environment. Then, based on an improved updating rule, the event-based optimal control law and the time-based worst-case disturbance law are obtained approximately by training a single critic neural network. The initial stabilizing control is no longer required during the implementation process of the new algorithm. Next, the closed-loop system is formulated as an impulsive model and its stability issue is handled by incorporating the improved learning criterion. The infamous Zeno behavior of the present event-based design is also avoided through theoretical analysis on the lower bound of the minimal intersample time. Finally, the applications to an aircraft dynamics and a robot arm plant are carried out to verify the efficient performance of the present novel design method.

Electromagnetic Pumps for Conductive-Propellant Feed Systems

NASA Technical Reports Server (NTRS)

Markusic, Thomas E.; Polzin, Kurt A.; Dehoyos, Amado

2005-01-01

Prototype electromagnetic pumps for use with lithium and bismuth propellants were constructed and tested. Such pumps may be used to pressurize future electric propulsion liquid metal feed systems, with the primary advantages being the compactness and simplicity versus alternative pressurization technologies. Design details for two different pumps are described: the first was designed to withstand (highly corrosive) lithium propellant, and t he second was designed to tolerate the high temperature required to pump liquid bismuth. Both qualitative and quantitative test results are presented. Open-loop tests demonstrated the capability of each device to electromagnetically pump its design propellant (lithium or bismuth). A second set of tests accurately quantified the pump pressure developed as a function of current. These experiments, which utilized a more easily handled material (gallium), demonstrated continuously-adjustable pump pressure levels ranging from 0-100 Torr for corresponding input current levels of 0-75 A. While the analysis and testing in this study specifically targeted lithium and bismuth propellants, the underlying design principles should be useful in implementing liquid metal pumps in any conductive-propellant feed system.

Compact high voltage, high peak power, high frequency transformer for converter type modulator applications.

PubMed

Reghu, T; Mandloi, V; Shrivastava, Purushottam

2016-04-01

The design and development of a compact high voltage, high peak power, high frequency transformer for a converter type modulator of klystron amplifiers is presented. The transformer has been designed to operate at a frequency of 20 kHz and at a flux swing of ±0.6 T. Iron (Fe) based nanocrystalline material has been selected as a core for the construction of the transformer. The transformer employs a specially designed solid Teflon bobbin having 120 kV insulation for winding the high voltage secondary windings. The flux swing of the core has been experimentally found by plotting the hysteresis loop at actual operating conditions. Based on the design, a prototype transformer has been built which is per se a unique combination of high voltage, high frequency, and peak power specifications. The transformer was able to provide 58 kV (pk-pk) at the secondary with a peak power handling capability of 700 kVA. The transformation ratio was 1:17. The performance of the transformer is also presented and discussed.

Stratified Turbulence Measurements in Complex Terrain Using Hot-film Probes and a Collocated Sonic Anemometer

NASA Astrophysics Data System (ADS)

Hocut, C.; Kit, E.; Liberzon, D.; Fernando, H. J. S.; Materhorn Team

2014-11-01

In the fall of 2012 and spring 2013, the Mountain Terrain Atmospheric Modeling and Observations Program (MATERHORN) conducted extensive field experiments at the Granite Mountain Atmospheric Science Testbed (GMAST), US Army Dugway Proving Grounds (DPG), Utah. This provided a unique opportunity to deploy tower mounted three-dimensional hot-film combo probes, consisting of sonic anemometers collocated with hot-film anemometers able to respond to the wind direction. The combo probes follow mean winds using a feedback control loop and use a Neural Network to calibrate the hot-films in-situ. Once calibrated, these probes can handle a vast range of background flow conditions and scales from mesoscale flow down to the Kolmogorov scale. Of particular interest are the observed variation in velocity spectra during the evenings. Sometimes the velocity spectra shows the turbulence is Kolmogorov and is isotropic at small scales while in other spectra there is evidence of turbulence production at finer scales. An explanation on different spectral shapes will be presented as well as the relevant length/time scales of the production events. Funded by ONR Grant N00014-11-1-0709.

Conflict Resolution Automation and Pilot Situation Awareness

NASA Technical Reports Server (NTRS)

Dao, Arik-Quang V.; Brandt, Summer L.; Bacon, Paige; Kraut, Josh; Nguyen, Jimmy; Minakata, Katsumi; Raza, Hamzah; Rozovski, David; Johnson, Walter W.

2010-01-01

This study compared pilot situation awareness across three traffic management concepts. The Concepts varied in terms of the allocation of traffic avoidance responsibility between the pilot on the flight deck, the air traffic controllers, and a conflict resolution automation system. In Concept 1, the flight deck was equipped with conflict resolution tools that enable them to fully handle the responsibility of weather avoidance and maintaining separation between ownship and surrounding traffic. In Concept 2, pilots were not responsible for traffic separation, but were provided tools for weather and traffic avoidance. In Concept 3, flight deck tools allowed pilots to deviate for weather, but conflict detection tools were disabled. In this concept pilots were dependent on ground based automation for conflict detection and resolution. Situation awareness of the pilots was measured using online probes. Results showed that individual situation awareness was highest in Concept 1, where the pilots were most engaged, and lowest in Concept 3, where automation was heavily used. These findings suggest that for conflict resolution tasks, situation awareness is improved when pilots remain in the decision-making loop.

Results of the second flight test of the Loran-C receiver/data collection system

NASA Technical Reports Server (NTRS)

Fischer, J. P.

1979-01-01

The components of the Loran-C navigation system which were developed thus far are a phase-locked-loop receiver and a microcomputer development system. The microcomputer is being used as a means of testing and implementing software to handle sensor control and navigation calculations. Currently, the microcomputer is being used to collect and record data from the receiver in addition to development work. With these components, it was possible to record receiver data over a period of time and then reduce this data to obtain statistical information. It was particularly interesting to load the equipment developed in the laboratory into an aircraft and collect data while in flight. For initial flight tests, some important considerations were how well the entire system will perform in the field, signal strength levels while on the ground and in the air, the amount of noise present, changing of signal-to-noise ratio for various aircraft configurations and maneuvers, receiver overloading due to other equipment and antennas, and the overall usefulness of Loran-C as a navigation aid.

Safer one-pot synthesis of the ‘SHAPE’ reagent 1-methyl-7-nitroisatoic anhydride (1m7)

PubMed Central

Turner, Rushia; Shefer, Kinneret; Ares, Manuel

2013-01-01

Estimating the reactivity of 2′-hydroxyl groups along an RNA chain of interest aids in the modeling of the folded RNA structure; flexible loops tend to be reactive, whereas duplex regions are generally not. Among the most useful reagents for probing 2′-hydroxyl reactivity is 1-methyl-7-nitroisatoic anhydride (1m7), but the absence of a reliable, inexpensive source has prevented widespread adoption. An existing protocol for the conversion of an inexpensive precursor 4-nitroisatoic anhydride (4NIA) recommends the use of NaH in dimethylformamide (DMF), a reagent combination that most molecular biology labs are not equipped to handle, and that does not scale safely in any case. Here we describe a safer, one-pot method for bulk conversion of 4NIA to 1m7 that reduces costs and bypasses the use of NaH. We show that 1m7 produced by this method is free of side products and can be used to probe RNA structure in vitro. PMID:24141619

Based on interval type-2 fuzzy-neural network direct adaptive sliding mode control for SISO nonlinear systems

NASA Astrophysics Data System (ADS)

Lin, Tsung-Chih

2010-12-01

In this paper, a novel direct adaptive interval type-2 fuzzy-neural tracking control equipped with sliding mode and Lyapunov synthesis approach is proposed to handle the training data corrupted by noise or rule uncertainties for nonlinear SISO nonlinear systems involving external disturbances. By employing adaptive fuzzy-neural control theory, the update laws will be derived for approximating the uncertain nonlinear dynamical system. In the meantime, the sliding mode control method and the Lyapunov stability criterion are incorporated into the adaptive fuzzy-neural control scheme such that the derived controller is robust with respect to unmodeled dynamics, external disturbance and approximation errors. In comparison with conventional methods, the advocated approach not only guarantees closed-loop stability but also the output tracking error of the overall system will converge to zero asymptotically without prior knowledge on the upper bound of the lumped uncertainty. Furthermore, chattering effect of the control input will be substantially reduced by the proposed technique. To illustrate the performance of the proposed method, finally simulation example will be given.

Adaptive Fault-Tolerant Control of Uncertain Nonlinear Large-Scale Systems With Unknown Dead Zone.

PubMed

Chen, Mou; Tao, Gang

2016-08-01

In this paper, an adaptive neural fault-tolerant control scheme is proposed and analyzed for a class of uncertain nonlinear large-scale systems with unknown dead zone and external disturbances. To tackle the unknown nonlinear interaction functions in the large-scale system, the radial basis function neural network (RBFNN) is employed to approximate them. To further handle the unknown approximation errors and the effects of the unknown dead zone and external disturbances, integrated as the compounded disturbances, the corresponding disturbance observers are developed for their estimations. Based on the outputs of the RBFNN and the disturbance observer, the adaptive neural fault-tolerant control scheme is designed for uncertain nonlinear large-scale systems by using a decentralized backstepping technique. The closed-loop stability of the adaptive control system is rigorously proved via Lyapunov analysis and the satisfactory tracking performance is achieved under the integrated effects of unknown dead zone, actuator fault, and unknown external disturbances. Simulation results of a mass-spring-damper system are given to illustrate the effectiveness of the proposed adaptive neural fault-tolerant control scheme for uncertain nonlinear large-scale systems.

Pushing the Limits of Cubesat Attitude Control: A Ground Demonstration

NASA Technical Reports Server (NTRS)

Sanders, Devon S.; Heater, Daniel L.; Peeples, Steven R.; Sules. James K.; Huang, Po-Hao Adam

2013-01-01

A cubesat attitude control system (ACS) was designed at the NASA Marshall Space Flight Center (MSFC) to provide sub-degree pointing capabilities using low cost, COTS attitude sensors, COTS miniature reaction wheels, and a developmental micro-propulsion system. The ACS sensors and actuators were integrated onto a 3D-printed plastic 3U cubesat breadboard (10 cm x 10 cm x 30 cm) with a custom designed instrument board and typical cubesat COTS hardware for the electrical, power, and data handling and processing systems. In addition to the cubesat development, a low-cost air bearing was designed and 3D printed in order to float the cubesat in the test environment. Systems integration and verification were performed at the MSFC Small Projects Rapid Integration & Test Environment laboratory. Using a combination of both the miniature reaction wheels and the micro-propulsion system, the open and closed loop control capabilities of the ACS were tested in the Flight Robotics Laboratory. The testing demonstrated the desired sub-degree pointing capability of the ACS and also revealed the challenges of creating a relevant environment for development testin

Advancing viral RNA structure prediction: measuring the thermodynamics of pyrimidine-rich internal loops.

PubMed

Phan, Andy; Mailey, Katherine; Saeki, Jessica; Gu, Xiaobo; Schroeder, Susan J

2017-05-01

Accurate thermodynamic parameters improve RNA structure predictions and thus accelerate understanding of RNA function and the identification of RNA drug binding sites. Many viral RNA structures, such as internal ribosome entry sites, have internal loops and bulges that are potential drug target sites. Current models used to predict internal loops are biased toward small, symmetric purine loops, and thus poorly predict asymmetric, pyrimidine-rich loops with >6 nucleotides (nt) that occur frequently in viral RNA. This article presents new thermodynamic data for 40 pyrimidine loops, many of which can form UU or protonated CC base pairs. Uracil and protonated cytosine base pairs stabilize asymmetric internal loops. Accurate prediction rules are presented that account for all thermodynamic measurements of RNA asymmetric internal loops. New loop initiation terms for loops with >6 nt are presented that do not follow previous assumptions that increasing asymmetry destabilizes loops. Since the last 2004 update, 126 new loops with asymmetry or sizes greater than 2 × 2 have been measured. These new measurements significantly deepen and diversify the thermodynamic database for RNA. These results will help better predict internal loops that are larger, pyrimidine-rich, and occur within viral structures such as internal ribosome entry sites. © 2017 Phan et al.; Published by Cold Spring Harbor Laboratory Press for the RNA Society.

Sequence-structure relationships in RNA loops: establishing the basis for loop homology modeling.

PubMed

Schudoma, Christian; May, Patrick; Nikiforova, Viktoria; Walther, Dirk

2010-01-01

The specific function of RNA molecules frequently resides in their seemingly unstructured loop regions. We performed a systematic analysis of RNA loops extracted from experimentally determined three-dimensional structures of RNA molecules. A comprehensive loop-structure data set was created and organized into distinct clusters based on structural and sequence similarity. We detected clear evidence of the hallmark of homology present in the sequence-structure relationships in loops. Loops differing by <25% in sequence identity fold into very similar structures. Thus, our results support the application of homology modeling for RNA loop model building. We established a threshold that may guide the sequence divergence-based selection of template structures for RNA loop homology modeling. Of all possible sequences that are, under the assumption of isosteric relationships, theoretically compatible with actual sequences observed in RNA structures, only a small fraction is contained in the Rfam database of RNA sequences and classes implying that the actual RNA loop space may consist of a limited number of unique loop structures and conserved sequences. The loop-structure data sets are made available via an online database, RLooM. RLooM also offers functionalities for the modeling of RNA loop structures in support of RNA engineering and design efforts.

Radiation Enhanced Absorption of Frank Loops by Nanovoids in Cu

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

Chen, Youxing; Zhang, Xinghang; Wang, Jian

Neutron and heavy ion irradiation generally induces voids in metallic materials, and continuous radiations typically result in void swelling and mechanical failure of the irradiated materials. Recent experiments showed that nanovoids in nanotwinned copper could act as sinks for radiation-induced Frank loops, significantly mitigating radiation damage [Y. Chen et al., Nat. Commun. 6:7036 (2015)]. In this paper, we report on structural evolution of Frank loops under cascades and address the role of nanovoids in absorbing Frank loops in detail by using molecular dynamics simulations. Results show that a stand-alone Frank loop is stable under cascades. When Frank loops are adjacentmore » to nanovoids, the diffusion of a group of atoms from the loop into nanovoids is accomplished via the formation and propagation of dislocation loops. The loop-nanovoid interactions result in the shrinkage of the nanovoids and the Frank loops.« less

Radiation Enhanced Absorption of Frank Loops by Nanovoids in Cu

DOE PAGES

Chen, Youxing; Zhang, Xinghang; Wang, Jian

2016-11-01

Neutron and heavy ion irradiation generally induces voids in metallic materials, and continuous radiations typically result in void swelling and mechanical failure of the irradiated materials. Recent experiments showed that nanovoids in nanotwinned copper could act as sinks for radiation-induced Frank loops, significantly mitigating radiation damage [Y. Chen et al., Nat. Commun. 6:7036 (2015)]. In this paper, we report on structural evolution of Frank loops under cascades and address the role of nanovoids in absorbing Frank loops in detail by using molecular dynamics simulations. Results show that a stand-alone Frank loop is stable under cascades. When Frank loops are adjacentmore » to nanovoids, the diffusion of a group of atoms from the loop into nanovoids is accomplished via the formation and propagation of dislocation loops. The loop-nanovoid interactions result in the shrinkage of the nanovoids and the Frank loops.« less

Conformational Sampling in Template-Free Protein Loop Structure Modeling: An Overview

PubMed Central

Li, Yaohang

2013-01-01

Accurately modeling protein loops is an important step to predict three-dimensional structures as well as to understand functions of many proteins. Because of their high flexibility, modeling the three-dimensional structures of loops is difficult and is usually treated as a “mini protein folding problem” under geometric constraints. In the past decade, there has been remarkable progress in template-free loop structure modeling due to advances of computational methods as well as stably increasing number of known structures available in PDB. This mini review provides an overview on the recent computational approaches for loop structure modeling. In particular, we focus on the approaches of sampling loop conformation space, which is a critical step to obtain high resolution models in template-free methods. We review the potential energy functions for loop modeling, loop buildup mechanisms to satisfy geometric constraints, and loop conformation sampling algorithms. The recent loop modeling results are also summarized. PMID:24688696

Conformational sampling in template-free protein loop structure modeling: an overview.

PubMed

Li, Yaohang

2013-01-01

Accurately modeling protein loops is an important step to predict three-dimensional structures as well as to understand functions of many proteins. Because of their high flexibility, modeling the three-dimensional structures of loops is difficult and is usually treated as a "mini protein folding problem" under geometric constraints. In the past decade, there has been remarkable progress in template-free loop structure modeling due to advances of computational methods as well as stably increasing number of known structures available in PDB. This mini review provides an overview on the recent computational approaches for loop structure modeling. In particular, we focus on the approaches of sampling loop conformation space, which is a critical step to obtain high resolution models in template-free methods. We review the potential energy functions for loop modeling, loop buildup mechanisms to satisfy geometric constraints, and loop conformation sampling algorithms. The recent loop modeling results are also summarized.

Run-time parallelization and scheduling of loops

NASA Technical Reports Server (NTRS)

Saltz, Joel H.; Mirchandaney, Ravi; Crowley, Kay

1990-01-01

Run time methods are studied to automatically parallelize and schedule iterations of a do loop in certain cases, where compile-time information is inadequate. The methods presented involve execution time preprocessing of the loop. At compile-time, these methods set up the framework for performing a loop dependency analysis. At run time, wave fronts of concurrently executable loop iterations are identified. Using this wavefront information, loop iterations are reordered for increased parallelism. Symbolic transformation rules are used to produce: inspector procedures that perform execution time preprocessing and executors or transformed versions of source code loop structures. These transformed loop structures carry out the calculations planned in the inspector procedures. Performance results are presented from experiments conducted on the Encore Multimax. These results illustrate that run time reordering of loop indices can have a significant impact on performance. Furthermore, the overheads associated with this type of reordering are amortized when the loop is executed several times with the same dependency structure.

On higher order discrete phase-locked loops.

NASA Technical Reports Server (NTRS)

Gill, G. S.; Gupta, S. C.

1972-01-01

An exact mathematical model is developed for a discrete loop of a general order particularly suitable for digital computation. The deterministic response of the loop to the phase step and the frequency step is investigated. The design of the digital filter for the second-order loop is considered. Use is made of the incremental phase plane to study the phase error behavior of the loop. The model of the noisy loop is derived and the optimization of the loop filter for minimum mean-square error is considered.

Bandwidth controller for phase-locked-loop

NASA Technical Reports Server (NTRS)

Brockman, Milton H. (Inventor)

1992-01-01

A phase locked loop utilizing digital techniques to control the closed loop bandwidth of the RF carrier phase locked loop in a receiver provides high sensitivity and a wide dynamic range for signal reception. After analog to digital conversion, a digital phase locked loop bandwidth controller provides phase error detection with automatic RF carrier closed loop tracking bandwidth control to accommodate several modes of transmission.

Hardware in the Loop at Megawatt-Scale Power | Energy Systems Integration

Science.gov Websites

Facility | NREL Hardware in the Loop at Megawatt-Scale Power Hardware in the Loop at Megawatt -Scale Power Hardware-in-the-loop simulation is not new, but the Energy System Integration Facility's -in-the-loop co-simulation. For more information, read the power hardware-in-the-loop factsheet. Text

Charged string loops in Reissner-Nordström black hole background

NASA Astrophysics Data System (ADS)

Oteev, Tursinbay; Kološ, Martin; Stuchlík, Zdeněk

2018-03-01

We study the motion of current carrying charged string loops in the Reissner-Nordström black hole background combining the gravitational and electromagnetic field. Introducing new electromagnetic interaction between central charge and charged string loop makes the string loop equations of motion to be non-integrable even in the flat spacetime limit, but it can be governed by an effective potential even in the black hole background. We classify different types of the string loop trajectories using effective potential approach, and we compare the innermost stable string loop positions with loci of the charged particle innermost stable orbits. We examine string loop small oscillations around minima of the string loop effective potential, and we plot radial profiles of the string loop oscillation frequencies for both the radial and vertical modes. We construct charged string loop quasi-periodic oscillations model and we compare it with observed data from microquasars GRO 1655-40, XTE 1550-564, and GRS 1915+105. We also study the acceleration of current carrying string loops along the vertical axis and the string loop ejection from RN black hole neighbourhood, taking also into account the electromagnetic interaction.

Effect of orientation of prismatic dislocation loops on interaction with free surfaces in BCC iron

NASA Astrophysics Data System (ADS)

Fikar, Jan; Gröger, Roman; Schäublin, Robin

2017-12-01

The prismatic loops appear in metals as a result of high-energy irradiation. Understanding their formation and interaction is important for quantification of irradiation-induced deterioration of mechanical properties. Characterization of dislocation loops in thin foils is commonly made using transmission electron microscopy (TEM), but the results are inevitably influenced by the proximity of free surfaces. The prismatic loops are attracted to free surfaces by image forces. Depending on the type, shape, size, orientation and depth of the loop in the foil, they can escape to the free surface creating denuded loop-free zones and thus invalidating TEM observations. In our previous studies we described a simple general method to determine the critical depth and the critical stress to move prismatic dislocation loops. The critical depths can be further used to correct measurements of the loop density by TEM. Here, we use this procedure to compare 〈100〉 loops and 1/2 〈111〉 loops in body-centered cubic (BCC) iron. The influences of the interatomic potential and the loop orientation are studied in detail. The difference between interstitial and vacancy type loop is also investigated.

Evidence for Nonuniform Heating of Coronal Loops Inferred from Multithread Modeling of TRACE Data

NASA Astrophysics Data System (ADS)

Aschwanden, Markus J.; Nightingale, Richard W.; Alexander, David

2000-10-01

The temperature Te(s) and density structure ne(s) of active region loops in EUV observed with TRACE is modeled with a multithread model, synthesized from the summed emission of many loop threads that have a distribution of maximum temperatures and that satisfy the steady state Rosner-Tucker-Vaiana (RTV) scaling law, modified by Serio et al. for gravitational stratification (called RTVSp in the following). In a recent Letter, Reale & Peres demonstrated that this method can explain the almost isothermal appearance of TRACE loops (observed by Lenz et al.) as derived from the filter-ratio method. From model-fitting of the 171 and 195 Å fluxes of 41 loops, which have loop half-lengths in the range of L=4-320 Mm, we find that (1) the EUV loops consist of near-isothermal loop threads with substantially smaller temperature gradients than are predicted by the RTVSp model; (2) the loop base pressure, p0~0.3+/-0.1 dynes cm-2, is independent of the loop length L, and it agrees with the RTVSp model for the shortest loops but exceeds the RTVSp model up to a factor of 35 for the largest loops; and (3) the pressure scale height is consistent with hydrostatic equilibrium for the shortest loops but exceeds the temperature scale height up to a factor of ~3 for the largest loops. The data indicate that cool EUV loops in the temperature range of Te~0.8-1.6 MK cannot be explained with the static steady state RTVSp model in terms of uniform heating but are fully consistent with Serio's model in the case of nonuniform heating (RTVSph), with heating scale heights in the range of sH=17+/-6 Mm. This heating function provides almost uniform heating for small loops (L<~20 Mm), but restricts heating to the footpoints of large loops (L~50-300 Mm).

Run-time parallelization and scheduling of loops

NASA Technical Reports Server (NTRS)

Saltz, Joel H.; Mirchandaney, Ravi; Crowley, Kay

1991-01-01

Run-time methods are studied to automatically parallelize and schedule iterations of a do loop in certain cases where compile-time information is inadequate. The methods presented involve execution time preprocessing of the loop. At compile-time, these methods set up the framework for performing a loop dependency analysis. At run-time, wavefronts of concurrently executable loop iterations are identified. Using this wavefront information, loop iterations are reordered for increased parallelism. Symbolic transformation rules are used to produce: inspector procedures that perform execution time preprocessing, and executors or transformed versions of source code loop structures. These transformed loop structures carry out the calculations planned in the inspector procedures. Performance results are presented from experiments conducted on the Encore Multimax. These results illustrate that run-time reordering of loop indexes can have a significant impact on performance.

Processing of double-R-loops in (CAG)·(CTG) and C9orf72 (GGGGCC)·(GGCCCC) repeats causes instability

PubMed Central

Reddy, Kaalak; Schmidt, Monika H.M.; Geist, Jaimie M.; Thakkar, Neha P.; Panigrahi, Gagan B.; Wang, Yuh-Hwa; Pearson, Christopher E.

2014-01-01

R-loops, transcriptionally-induced RNA:DNA hybrids, occurring at repeat tracts (CTG)n, (CAG)n, (CGG)n, (CCG)n and (GAA)n, are associated with diseases including myotonic dystrophy, Huntington's disease, fragile X and Friedreich's ataxia. Many of these repeats are bidirectionally transcribed, allowing for single- and double-R-loop configurations, where either or both DNA strands may be RNA-bound. R-loops can trigger repeat instability at (CTG)·(CAG) repeats, but the mechanism of this is unclear. We demonstrate R-loop-mediated instability through processing of R-loops by HeLa and human neuron-like cell extracts. Double-R-loops induced greater instability than single-R-loops. Pre-treatment with RNase H only partially suppressed instability, supporting a model in which R-loops directly generate instability by aberrant processing, or via slipped-DNA formation upon RNA removal and its subsequent aberrant processing. Slipped-DNAs were observed to form following removal of the RNA from R-loops. Since transcriptionally-induced R-loops can occur in the absence of DNA replication, R-loop processing may be a source of repeat instability in the brain. Double-R-loop formation and processing to instability was extended to the expanded C9orf72 (GGGGCC)·(GGCCCC) repeats, known to cause amyotrophic lateral sclerosis and frontotemporal dementia, providing the first suggestion through which these repeats may become unstable. These findings provide a mechanistic basis for R-loop-mediated instability at disease-associated repeats. PMID:25147206

Numerical Analysis of Combined Well and Open-Closed Loops Geothermal (CWG) Systems

NASA Astrophysics Data System (ADS)

Park, Yu-Chul

2016-04-01

Open-loop geothermal heat pump (GHP) system and closed-loop heat pump systems have been used in Korea to reduce emission of greenhouse gases such as carbon dioxide (CO2). The GHP systems have the pros and cons, for example, the open-loop GHP system is good energy-efficient and the closed-loop GHP system requires minimum maintenance costs. The open-loop GHP system can be used practically only with large amount of groundwater supply. The closed-loop GHP system can be used with high costs of initial installation. The performance and efficiency of the GHP system depend on the characteristics of the GHP system itself in addition to the geologic conditions. To overcome the cons of open-loop or closed-loop GHP system, the combined well and open-closed loops geothermal (CWG) system was designed. The open-loop GHP system is surrounded with closed-loop GHP systems in the CWG system. The geothermal energy in closed-loop GHP systems is supplied by the groundwater pumped by the open-loop GHP system. In this study, 2 different types of the CWG systems (small aperture hybrid CWG system and large aperture CWG system) are estimated using numerical simulation models in the aspect of energy efficiency. This work was supported by the New & Renewable Energy Core Technology Program of the Korea Institute of Energy Technology Evaluation and Planning (KETEP), granted financial resource from the Ministry of Trade, Industry & Energy, Republic of Korea. (No.20153030111120).

Simulating nanostorm heating in coronal loops using hydrodynamics and non-thermal particle evolution

NASA Astrophysics Data System (ADS)

Migliore, Christina; Winter, Henry; Murphy, Nicholas

2018-01-01

The solar corona is filled with loop-like structures that appear bright against the background when observed in the extreme ultraviolet (EUV). These loops have several remarkable properties that are not yet well understood. Warm loops (∼ 1 MK) appear to be ∼ 2 ‑ 9 times as dense at their apex as the predictions of hydrostatic atmosphere models. These loops also appear to be of constant cross-section despite the fact that the field strength in a potential magnetic field should decrease in the corona, causing the loops to expand. It is not clear why many active region loops appear to be of constant cross-section. Theories range from an internal twist of the magnetic field to observational effects. In this work we simulate active region loops heated by nanoflare storms using a dipolar magnetic field. We calculate the hydrodynamic properties for each loop using advanced hydrodynamics codes to simulate the corona and chromospheric response and basic dipole models to represent the magnetic fields of the loops. We show that even modest variations of the magnetic field strength along the loop can lead to drastic changes in the density profiles of active region loops, and they can also explain the overpressure at the apex of these loops. Synthetic AIA images of each loop are made to show the observable consequences of varying magnetic field strengths along the loop’s axis of symmetry. We also show how this work can lead to improved modeling of larger solar and stellar flares.

Fine flow structures in the transition region small-scale loops

NASA Astrophysics Data System (ADS)

Yan, L.; Peter, H.; He, J.; Wei, Y.

2016-12-01

The observation and model have suggested that the transition region EUV emission from the quiet sun region is contributed by very small scale loops which have not been resolved. Recently, the observation from IRIS has revealed that this kind of small scale loops. Based on the high resolution spectral and imaging observation from IRIS, much more detail work needs to be done to reveal the fine flow features in this kind of loop to help us understand the loop heating. Here, we present a detail statistical study of the spatial and temporal evolution of Si IV line profiles of small scale loops and report the spectral features: there is a transition from blue (red) wing enhancement dominant to red (blue) wing enhancement dominant along the cross-section of the loop, which is independent of time. This feature appears as the loop appear and disappear as the loop un-visible. This is probably the signature of helical flow along the loop. The result suggests that the brightening of this kind of loop is probably due to the current dissipation heating in the twisted magnetic field flux tube.

A dynamic flare with anomalously dense flare loops

NASA Technical Reports Server (NTRS)

Svestka, Z.; Fontenla, J. M.; Machado, M. E.; Martin, S. F.; Neidig, D. F.

1986-01-01

The dynamic flare of November 6, 1980 developed a rich system of growing loops which could be followed in H-alpha for 1.5 hours. Throughout the flare, these loops, near the limb, were seen in emission against the disk. Theoretical computations of b-values for a hydrogen atom reveal that this requires electron densities in the loops to be close to 10 to the 12th per cu cm. From measured widths of higher Balmer lines the density at the tops of the loops was found to be 4 x 10 to the 12th per cu cm if no nonthermal motions were present. It is now general knowledge that flare loops are initially observed in X-rays and become visible in H-alpha only after cooling. For such a high density a loop would cool through radiation from 10 to the 7th K to 10 to the 4th K within a few minutes so that the dense H-alpha loops should have heights very close to the heights of the X-ray loops. This, however, contradicts the observations obtained by the HXIS and FCS instruments on board SMM which show the X-ray loops at much higher altitudes than the loops in H-alpha. Therefore, the density must have been significantly smaller when the loops were formed and the flare loops were apparently both shrinking and becoming denser while cooling.

OSCILLATION OF NEWLY FORMED LOOPS AFTER MAGNETIC RECONNECTION IN THE SOLAR CHROMOSPHERE

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

Yang, Shuhong; Xiang, Yongyuan, E-mail: shuhongyang@nao.cas.cn

With the high spatial and temporal resolution Hα images from the New Vacuum Solar Telescope, we focus on two groups of loops with an X-shaped configuration in the dynamic chromosphere. We find that the anti-directed loops approach each other and reconnect continually. The connectivity of the loops is changed and new loops are formed and stack together. The stacked loops are sharply bent, implying that they are greatly impacted by the magnetic tension force. When another reconnection process takes place, one new loop is formed and stacks with the previously formed ones. Meanwhile, the stacked loops retract suddenly and movemore » toward the balance position, performing an overshoot movement, which led to an oscillation with an average period of about 45 s. The oscillation of newly formed loops after magnetic reconnection in the chromosphere is observed for the first time. We suggest that the stability of the stacked loops is destroyed due to the attachment of the last new loop and then suddenly retract under the effect of magnetic tension. Because of the retraction, another lower loop is pushed outward and performs an oscillation with a period of about 25 s. The different oscillation periods may be due to their difference in three parameters, i.e., loop length, plasma density, and magnetic field strength.« less

Control of polymer network topology in semi-batch systems

NASA Astrophysics Data System (ADS)

Wang, Rui; Olsen, Bradley; Johnson, Jeremiah

Polymer networks invariably possess topological defects: loops of different orders. Since small loops (primary loops and secondary loops) both lower the modulus of network and lead to stress concentration that causes material failure at low deformation, it is desirable to greatly reduce the loop fraction. We have shown that achieving loop fraction close to zero is extremely difficult in the batch process due to the slow decay of loop fraction with the polymer concentration and chain length. Here, we develop a modified kinetic graph theory that can model network formation reactions in semi-batch systems. We demonstrate that the loop fraction is not sensitive to the feeding policy if the reaction volume maintains constant during the network formation. However, if we initially put concentrated solution of small junction molecules in the reactor and continuously adding polymer solutions, the fractions of both primary loop and higher-order loops will be significantly reduced. There is a limiting value (nonzero) of loop fraction that can be achieved in the semi-batch system in condition of extremely slow feeding rate. This minimum loop fraction only depends on a single dimensionless variable, the product of concentration and with single chain pervaded volume, and defines an operating zone in which the loop fraction of polymer networks can be controlled through adjusting the feeding rate of the semi-batch process.

Operations-Focused Optimized Theater Weather Sensing Strategies Using Preemptive Binary Integer Programming

DTIC Science & Technology

2009-03-01

8217 Clear old problem data Do While Trim(Sheets("Campaign").Range("AF" & CStr (LOOP_COUNTER))) <> "" LOOP_COUNTER = LOOP_COUNTER + 1 Loop Do While...Trim(Sheets("Campaign").Range("A" & CStr (LOOP_COUNTER))) <> "" ’ Loop through all problem instances Sheets("Campaign").Range("R1:AF1").Rows...total number of locations M = Sheets("Campaign").Range("F" & CStr (LOOP_COUNTER)) ’ Record total number of sensor types N

Cascade debris overlap mechanism of 〈100〉 dislocation loop formation in Fe and FeCr

NASA Astrophysics Data System (ADS)

Granberg, F.; Byggmästar, J.; Sand, A. E.; Nordlund, K.

2017-09-01

Two types of dislocation loops are observed in irradiated α-Fe, the 1/2〈111〉 loop and the 〈100〉 loop. Atomistic simulations consistently predict that only the energetically more favourable 1/2〈111〉 loops are formed directly in cascades, leaving the formation mechanism of 〈100〉 loops an unsolved question. We show how 〈100〉 loops can be formed when cascades overlap with random pre-existing primary radiation damage in Fe and FeCr. This indicates that there are no specific constraints involved in the formation of 〈100〉 loops, and can explain their common occurrence.

Hyperstaticity and loops in frictional granular packings

NASA Astrophysics Data System (ADS)

Tordesillas, Antoinette; Lam, Edward; Metzger, Philip T.

2009-06-01

The hyperstatic nature of granular packings of perfectly rigid disks is analyzed algebraically and through numerical simulation. The elementary loops of grains emerge as a fundamental element in addressing hyperstaticity. Loops consisting of an odd number of grains behave differently than those with an even number. For odd loops, the latent stresses are exterior and are characterized by the sum of frictional forces around each loop. For even loops, the latent stresses are interior and are characterized by the alternating sum of frictional forces around each loop. The statistics of these two types of loop sums are found to be Gibbsian with a "temperature" that is linear with the friction coefficient μ when μ<1.

Impact of alloy composition on one-dimensional glide of small dislocation loops in concentrated solid solution alloys

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

Shi, Shi; Bei, Hongbin; Robertson, Ian M.

2017-06-08

One-dimensional glide of loops during ion irradiation at 773 K in a series of Ni-containing concentrated solid solution alloys has been observed directly during experiments conducted inside a transmission electron microscope. It was found that the frequency of the oscillatory motion of the loop, the loop glide velocity as well as the loop jump distance were dependent on the composition of the alloy and the size of the loop. Loop glide was most common for small loops and occurred more frequently in the less complex alloys, being highest in Ni, then NiCo, NiFe and NiCoFeCr. As a result, no measurablemore » loop glide occurred in the NiCoCr, NiCoFeCrMn and NiCoFeCrPd alloys.« less

The diversity of H3 loops determines the antigen-binding tendencies of antibody CDR loops.

PubMed

Tsuchiya, Yuko; Mizuguchi, Kenji

2016-04-01

Of the complementarity-determining regions (CDRs) of antibodies, H3 loops, with varying amino acid sequences and loop lengths, adopt particularly diverse loop conformations. The diversity of H3 conformations produces an array of antigen recognition patterns involving all the CDRs, in which the residue positions actually in contact with the antigen vary considerably. Therefore, for a deeper understanding of antigen recognition, it is necessary to relate the sequence and structural properties of each residue position in each CDR loop to its ability to bind antigens. In this study, we proposed a new method for characterizing the structural features of the CDR loops and obtained the antigen-binding ability of each residue position in each CDR loop. This analysis led to a simple set of rules for identifying probable antigen-binding residues. We also found that the diversity of H3 loop lengths and conformations affects the antigen-binding tendencies of all the CDR loops. © 2016 The Protein Society.

Fast flux locked loop

DOEpatents

Ganther, Jr., Kenneth R.; Snapp, Lowell D.

2002-09-10

A flux locked loop for providing an electrical feedback signal, the flux locked loop employing radio-frequency components and technology to extend the flux modulation frequency and tracking loop bandwidth. The flux locked loop of the present invention has particularly useful application in read-out electronics for DC SQUID magnetic measurement systems, in which case the electrical signal output by the flux locked loop represents an unknown magnetic flux applied to the DC SQUID.

Kinetics of Internal-Loop Formation in Polypeptide Chains: A Simulation Study

PubMed Central

Doucet, Dana; Roitberg, Adrian; Hagen, Stephen J.

2007-01-01

The speed of simple diffusional motions, such as the formation of loops in the polypeptide chain, places one physical limit on the speed of protein folding. Many experimental studies have explored the kinetics of formation of end-to-end loops in polypeptide chains; however, protein folding more often requires the formation of contacts between interior points on the chain. One expects that, for loops of fixed contour length, interior loops will form more slowly than end-to-end loops, owing to the additional excluded volume associated with the “tails”. We estimate the magnitude of this effect by generating ensembles of randomly coiled, freely jointed chains, and then using the theory of Szabo, Schulten, and Schulten to calculate the corresponding contact formation rates for these ensembles. Adding just a few residues, to convert an end-to-end loop to an internal loop, sharply decreases the contact rate. Surprisingly, the relative change in rate increases for a longer loop; sufficiently long tails, however, actually reverse the effect and accelerate loop formation slightly. Our results show that excluded volume effects in real, full-length polypeptides may cause the rates of loop formation during folding to depart significantly from the values derived from recent loop-formation experiments on short peptides. PMID:17208979

Stabilization of self-mode-locked quantum dash lasers by symmetric dual-loop optical feedback

NASA Astrophysics Data System (ADS)

Asghar, Haroon; Wei, Wei; Kumar, Pramod; Sooudi, Ehsan; McInerney, John. G.

2018-02-01

We report experimental studies of the influence of symmetric dual-loop optical feedback on the RF linewidth and timing jitter of self-mode-locked two-section quantum dash lasers emitting at 1550 nm. Various feedback schemes were investigated and optimum levels determined for narrowest RF linewidth and low timing jitter, for single-loop and symmetric dual-loop feedback. Two symmetric dual-loop configurations, with balanced and unbalanced feedback ratios, were studied. We demonstrate that unbalanced symmetric dual loop feedback, with the inner cavity resonant and fine delay tuning of the outer loop, gives narrowest RF linewidth and reduced timing jitter over a wide range of delay, unlike single and balanced symmetric dual-loop configurations. This configuration with feedback lengths 80 and 140 m narrows the RF linewidth by 4-67x and 10-100x, respectively, across the widest delay range, compared to free-running. For symmetric dual-loop feedback, the influence of different power split ratios through the feedback loops was determined. Our results show that symmetric dual-loop feedback is markedly more effective than single-loop feedback in reducing RF linewidth and timing jitter, and is much less sensitive to delay phase, making this technique ideal for applications where robustness and alignment tolerance are essential.

Comparative assessment of the efficacy of closed helical loop and T-loop for space closure in lingual orthodontics-a finite element study.

PubMed

Chacko, Ajay; Tikku, Tripti; Khanna, Rohit; Maurya, Rana Pratap; Srivastava, Kamna

2018-05-28

Retraction in lingual orthodontics has biomechanical differences when compared to labial orthodontics, which is not yet established. Thus, we have intended to compare the biomechanical characteristics of closed helical loop and T-loop on 1 mm activation with 30° of compensatory curvatures during retraction in lingual orthodontics. STb lingual brackets were indirectly bonded to maxillary typhodont model that was scanned to obtain FEM model. Closed helical loop (2 × 7 mm) and T-loop (6 × 2 × 7 mm) of 0.016″ × 0.016″ TMA wire were modeled without preactivation bends. Preactivation bends at 30° were given in the software. Boundary conditions were set. The force (F) and moment (M) of both the loops were determined on 1 mm activation, using ANSYS software. M/F ratio was also calculated for both the loops. T-loop exerted less force, thus increased M/F ratio as compared to closed helical loop on 1 mm activation. When torque has to be preserved in the anterior segment during retraction in lingual orthodontics, T-loop can be preferred over closed helical loop.

Development of an Effective System Identification and Control Capability for Quad-copter UAVs

NASA Astrophysics Data System (ADS)

Wei, Wei

In recent years, with the promise of extensive commercial applications, the popularity of Unmanned Aerial Vehicles (UAVs) has dramatically increased as witnessed by publications and mushrooming research and educational programs. Over the years, multi-copter aircraft have been chosen as a viable configuration for small-scale VTOL UAVs in the form of quad-copters, hexa-copters and octo-copters. Compared to the single main rotor configuration such as the conventional helicopter, multi-copter airframes require a simpler feedback control system and fewer mechanical parts. These characteristics make these UAV platforms, such as quad-copter which is the main emphasis in this dissertation, a rugged and competitive candidate for many applications in both military and civil areas. Because of its configuration and relative size, the small-scale quad-copter UAV system is inherently very unstable. In order to develop an effective control system through simulation techniques, obtaining an accurate dynamic model of a given quad-copter is imperative. Moreover, given the anticipated stringent safety requirements, fault tolerance will be a crucial component of UAV certification. Accurate dynamic modeling and control of this class of UAV is an enabling technology and is imperative for future commercial applications. In this work, the dynamic model of a quad-copter system in hover flight was identified using frequency-domain system identification techniques. A new and unique experimental system, data acquisition and processing procedure was developed catering specifically to the class of electric powered multi-copter UAV systems. The Comprehensive Identification from FrEquency Responses (CIFER RTM) software package, developed by US Army Aviation Development Directorate -- AFDD, was utilized along with flight tests to develop dynamic models of the quad-copter system. A new set of flight tests were conducted and the predictive capability of the dynamic models were successfully validated. A PID controller and two fuzzy logic controllers were developed based on the validated dynamic models. The controller performances were evaluated and compared in both simulation environment and flight testing. Flight controllers were optimized to comply with US Aeronautical Design Standard Performance Specification Handling Quality Requirements for Military Rotorcraft (ADS-33E-PRF). Results showed a substantial improvement for developed controllers when compared to the nominal controllers based on hand tuning. The scope of this research involves experimental system hardware and software development, flight instrumentation, flight testing, dynamics modeling, system identification, dynamic model validation, control system modeling using PID and fuzzy logic, analysis of handling qualities, flight control optimization and validation. Both closed-loop and open-loop dynamics of the quad-copter system were analyzed. A cost-effective and high quality system identification procedure was applied and results proved in simulations as well as in flight tests.

Translating MAPGEN to ASPEN for MER

NASA Technical Reports Server (NTRS)

Rabideau, Gregg R.; Knight, Russell L.; Lenda, Matthew; Maldague, Pierre F.

2013-01-01

This software translates MAPGEN (Europa and APGEN) domains to ASPEN, and the resulting domain can be used to perform planning for the Mars Exploration Rover (MER). In other words, this is a conversion of two distinct planning languages (both declarative and procedural) to a third (declarative) planning language in order to solve the problem of faithful translation from mixed-domain representations into the ASPEN Modeling Language. The MAPGEN planning system is an example of a hybrid procedural/declarative system where the advantages of each are leveraged to produce an effective planner/scheduler for MER tactical planning. The adaptation of the planning system (ASPEN) was investigated, and, with some translation, much of the procedural knowledge encoding is amenable to declarative knowledge encoding. The approach was to compose translators from the core languages used for adapting MAGPEN, which consists of Europa and APGEN. Europa is a constraint- based planner/scheduler where domains are encoded using a declarative model. APGEN is also constraint-based, in that it tracks constraints on resources and states and other variables. Domains are encoded in both constraints and code snippets that execute according to a forward sweep through the plan. Europa and APGEN communicate to each other using proxy activities in APGEN that represent constraints and/or tokens in Europa. The composition of a translator from Europa to ASPEN was fairly straightforward, as ASPEN is also a declarative planning system, and the specific uses of Europa for the MER domain matched ASPEN s native encoding fairly closely. On the other hand, translating from APGEN to ASPEN was considerably more involved. On the surface, the types of activities and resources one encodes in APGEN appear to match oneto- one to the activities, state variables, and resources in ASPEN. But, when looking into the definitions of how resources are profiled and activities are expanded, one sees code snippets that access various information available during planning for the moment in time being planned to decide at the time what the appropriate profile or expansion is. APGEN is actually a forward (in time) sweeping discrete event simulator, where the model is composed of code snippets that are artfully interleaved by the engine to produce a plan/schedule. To solve this problem, representative code is simulated as a declarative series of task expansions. Predominantly, three types of procedural models were translated: loops, if statements, and code blocks. Loops and if statements were handled using controlled task expansion, and code blocks were handled using constraint networks that maintained the generation of results based on what the order of execution would be for a procedural representation. One advantage with respect to performance for MAPGEN is the use of APGEN s GUI. This GUI is written in C++ and Motif, and performs very well for large plans.

Filter for third order phase locked loops

NASA Technical Reports Server (NTRS)

Crow, R. B.; Tausworthe, R. C. (Inventor)

1973-01-01

Filters for third-order phase-locked loops are used in receivers to acquire and track carrier signals, particularly signals subject to high doppler-rate changes in frequency. A loop filter with an open-loop transfer function and set of loop constants, setting the damping factor equal to unity are provided.

Phase-lock loop frequency control and the dropout problem

NASA Technical Reports Server (NTRS)

Attwood, S.; Kline, A. J.

1968-01-01

Technique automatically sets the frequency of narrow band phase-lock loops within automatic lock-in-range. It presets a phase-lock loop to a desired center frequency with a closed loop electronic frequency discriminator and holds the phase-lock loop to that center frequency until lock is achieved.

Dressed Wilson loops as dual condensates in response to magnetic and electric fields

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

Bruckmann, Falk; Endroedi, Gergely

2011-10-01

We introduce dressed Wilson loops as a novel confinement observable. It consists of closed planar loops of arbitrary geometry but fixed area, and its expectation values decay with the latter. The construction of dressed Wilson loops is based on chiral condensates in response to magnetic and electric fields, thus linking different physical concepts. We present results for generalized condensates and dressed Wilson loops on dynamical lattice configurations and confirm the agreement with conventional Wilson loops in the limit of large probe mass. We comment on the renormalization of dressed Wilson loops.

Loop Evolution Observed with AIA and Hi-C

NASA Technical Reports Server (NTRS)

Mulu-Moore, Fana; Winebarger, Amy R.; Cirtain, Jonathan W.; Kobayashi, Ken; Korreck, Kelly E.; Golub, Leon; Kuzin, Sergei; Walsh, Robert William; DeForest, Craig E.; De Pontieu, Bart;

Loop technique.

PubMed

Seeburger, Joerg; Noack, Thilo; Winkfein, Michael; Ender, Joerg; Mohr, Friedrich Wilhelm

2010-01-01

The loop technique facilitates mitral valve repair for leaflet prolapse by implantation of Gore-Tex neo-chordae. The key feature of the technique is a premade bundle of four loops made out of one suture. The loops are available in different lengths ranging from 10 to 26 mm. After assessment of the ideal length of neo-chordae with a caliper the loops are then secured to the body of the papillary muscle over an additional felt pledget. In the following step, the free ends of the loops are distributed along the free margin of the prolapsing segment using one additional suture for each loop.

Method of implementing digital phase-locked loops

NASA Technical Reports Server (NTRS)

Stephens, Scott A. (Inventor); Thomas, Jess Brooks, Jr. (Inventor)

1993-01-01

In a new formulation for digital phase-locked loops, loop-filter constants are determined from loop roots that can each be selectively placed in the s-plane on the basis of a new set of parameters, each with simple and direct physical meaning in terms of loop noise bandwidth, root-specific decay rate, or root-specific damping. Loops of first to fourth order are treated in the continuous-update approximation (BLT yields 0) and in a discrete-update formulation with arbitrary BLT. Deficiencies of the continuous-update approximation in large-BLT applications are avoided in the new discrete-update formulation. A new method for direct, transient-free acquisition with third- and fourth-order loops can improve the versatility and reliability of acquisition with such loops.

Stability analysis and compensation of a boost regulator with two-loop control

NASA Technical Reports Server (NTRS)

Wester, G. W.

1974-01-01

A useful stability measure has been demonstrated by Wester (1973) for switching regulators with a single feedback loop by applying the Nyquist criterion to the approximate loop gain determined by a time-averaging technique. This approach is extended and applied to the characterization, stability analysis, and compensation design of a switching regulator with two-loop control. The role and relative significance of each control loop is clarified on the basis of a description of circuit operation, and the major and minor loops are identified. In view of the inapplicability of linear feedback theory, describing functions of the feedback loops and power stage are derived, using small-signal analysis. Several phenomena revealed from an analysis of the major loop gain are discussed.

Cosmological perturbation theory using the FFTLog: formalism and connection to QFT loop integrals

NASA Astrophysics Data System (ADS)

Simonović, Marko; Baldauf, Tobias; Zaldarriaga, Matias; Carrasco, John Joseph; Kollmeier, Juna A.

2018-04-01

We present a new method for calculating loops in cosmological perturbation theory. This method is based on approximating a ΛCDM-like cosmology as a finite sum of complex power-law universes. The decomposition is naturally achieved using an FFTLog algorithm. For power-law cosmologies, all loop integrals are formally equivalent to loop integrals of massless quantum field theory. These integrals have analytic solutions in terms of generalized hypergeometric functions. We provide explicit formulae for the one-loop and the two-loop power spectrum and the one-loop bispectrum. A chief advantage of our approach is that the difficult part of the calculation is cosmology independent, need be done only once, and can be recycled for any relevant predictions. Evaluation of standard loop diagrams then boils down to a simple matrix multiplication. We demonstrate the promise of this method for applications to higher multiplicity/loop correlation functions.

Relationships between Perron-Frobenius eigenvalue and measurements of loops in networks

NASA Astrophysics Data System (ADS)

Chen, Lei; Kou, Yingxin; Li, Zhanwu; Xu, An; Chang, Yizhe

2018-07-01

The Perron-Frobenius eigenvalue (PFE) is widely used as measurement of the number of loops in networks, but what exactly the relationship between the PFE and the number of loops in networks is has not been researched yet, is it strictly monotonically increasing? And what are the relationships between the PFE and other measurements of loops in networks? Such as the average loop degree of nodes, and the distribution of loop ranks. We make researches on these questions based on samples of ER random network, NW small-world network and BA scale-free network, and the results confirm that, both the number of loops in network and the average loop degree of nodes of all samples do increase with the increase of the PFE in general trend, but neither of them are strictly monotonically increasing, so the PFE is capable to be used as a rough estimative measurement of the number of loops in networks and the average loop degree of nodes. Furthermore, we find that a majority of the loop ranks of all samples obey Weibull distribution, of which the scale parameter A and the shape parameter B have approximate power-law relationships with the PFE of the samples.

Accumulation of dislocation loops in the α phase of Zr Excel alloy under heavy ion irradiation

NASA Astrophysics Data System (ADS)

Yu, Hongbing; Yao, Zhongwen; Idrees, Yasir; Zhang, He K.; Kirk, Mark A.; Daymond, Mark R.

2017-08-01

In-situ heavy ion irradiations were performed on the high Sn content Zr alloy 'Excel', measuring type dislocation loop accumulation up to irradiation damage doses of 10 dpa at a range of temperatures. The high content of Sn, which diffuses slowly, and the thin foil geometry of the sample provide a unique opportunity to study an extreme case where displacement cascades dominate the loop formation and evolution. The dynamic observation of dislocation loop evolution under irradiation at 200 °C reveals that type dislocation loops can form at very low dose (0.0025 dpa). The size of the dislocation loops increases slightly with irradiation damage dose. The mechanism controlling loop growth in this study is different from that in neutron irradiation; in this study, larger dislocation loops can condense directly from the interaction of displacement cascades and the high concentration of point defects in the matrix. The size of the dislocation loop is dependent on the point defect concentration in the matrix. A negative correlation between the irradiation temperature and the dislocation loop size was observed. A comparison between cascade dominated loop evolution (this study), diffusion dominated loop evolution (electron irradiation) and neutron irradiation suggests that heavy ion irradiation alone may not be enough to accurately reproduce neutron irradiation induced loop structures. An alternative method is proposed in this paper. The effects of Sn on the displacement cascades, defect yield, and the diffusion behavior of point defects are established.

The growth pattern of the human intestine and its mesentery.

PubMed

Soffers, Jelly H M; Hikspoors, Jill P J M; Mekonen, Hayelom K; Koehler, S Eleonore; Lamers, Wouter H

2015-08-22

It remains unclear to what extent midgut rotation determines human intestinal topography and pathology. We reinvestigated the midgut during its looping and herniation phases of development, using novel 3D visualization techniques. We distinguished 3 generations of midgut loops. The topography of primary and secondary loops was constant, but that of tertiary loops not. The orientation of the primary loop changed from sagittal to transverse due to the descent of ventral structures in a body with a still helical body axis. The 1st secondary loop (duodenum, proximal jejunum) developed intraabdominally towards a left-sided position. The 2nd secondary loop (distal jejunum) assumed a left-sided position inside the hernia before returning, while the 3rd and 4th secondary loops retained near-midline positions. Intestinal return into the abdomen resembled a backward sliding movement. Only after return, the 4th secondary loop (distal ileum, cecum) rapidly "slid" into the right lower abdomen. The seemingly random position of the tertiary small-intestinal loops may have a biomechanical origin. The interpretation of "intestinal rotation" as a mechanistic rather than a descriptive concept underlies much of the confusion accompanying the physiological herniation. We argue, instead, that the concept of "en-bloc rotation" of the developing midgut is a fallacy of schematic drawings. Primary, secondary and tertiary loops arise in a hierarchical fashion. The predictable position and growth of secondary loops is pre-patterned and determines adult intestinal topography. We hypothesize based on published accounts that malrotations result from stunted development of secondary loops.

On the Loop Current Penetration into the Gulf of Mexico

NASA Astrophysics Data System (ADS)

Weisberg, Robert H.; Liu, Yonggang

2017-12-01

The Gulf of Mexico Loop Current generally intrudes some distance into the Gulf of Mexico before shedding an anticyclonic eddy and retreating back to its more direct entry to exit pathway. The control of this aperiodic process remains only partially known. Here we describe the evolution of the Loop Current throughout the era of satellite altimetry, and offer a mechanistic hypothesis on Loop Current intrusion. As a complement to the known effects of Loop Current forcing on the west Florida shelf circulation, we argue that the west Florida shelf, in turn, impacts the Loop Current evolution. A Self-Organizing Map analysis shows that anomalous northward penetrations of the Loop Current into the Gulf of Mexico occur when the eastern side of Loop Current is positioned west from the southwest corner of the west Florida shelf, whereas the more direct inflow to outflow route occurs when the eastern side of the Loop Current comes in contact with the southwest corner of the west Florida shelf. In essence, we argue that the west Florida shelf anchors the Loop Current in its direct path configuration and that farther northward penetration into the Gulf of Mexico occurs when such anchoring is released. To test of this hypothesis heuristically, we estimate that the dissipation and buoyancy work due to known Loop Current forcing of the west Florida shelf circulation (when in contact with the southwest corner) may exceed the pressure work required for the Loop Current to advance against the ambient Gulf of Mexico fluid.