Integrated phased array for wide-angle beam steering.

PubMed

Yaacobi, Ami; Sun, Jie; Moresco, Michele; Leake, Gerald; Coolbaugh, Douglas; Watts, Michael R

2014-08-01

We demonstrate an on-chip optical phased array fabricated in a CMOS compatible process with continuous, fast (100 kHz), wide-angle (51°) beam-steering suitable for applications such as low-cost LIDAR systems. The device demonstrates the largest (51°) beam-steering and beam-spacing to date while providing the ability to steer continuously over the entire range. Continuous steering is enabled by a cascaded phase shifting architecture utilizing, low power and small footprint, thermo-optic phase shifters. We demonstrate these results in the telecom C-band, but the same design can easily be adjusted for any wavelength between 1.2 and 3.5 μm.

Fast wavelength tuning techniques for external cavity lasers

DOEpatents

Wysocki, Gerard [Princeton, NJ; Tittel, Frank K [Houston, TX

2011-01-11

An apparatus comprising a laser source configured to emit a light beam along a first path, an optical beam steering component configured to steer the light beam from the first path to a second path at an angle to the first path, and a diffraction grating configured to reflect back at least a portion of the light beam along the second path, wherein the angle determines an external cavity length. Included is an apparatus comprising a laser source configured to emit a light beam along a first path, a beam steering component configured to redirect the light beam to a second path at an angle to the first path, wherein the optical beam steering component is configured to change the angle at a rate of at least about one Kilohertz, and a diffraction grating configured to reflect back at least a portion of the light beam along the second path.

Steering and collimating ballistic electrons with amphoteric refraction

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

Radu, A.; Dragoman, D.; Iftimie, S.

2012-07-15

We show that amphoteric refraction of ballistic electrons, i.e., positive or negative refraction depending on the incidence angle, occurs at an interface between an isotropic and an anisotropic medium and can be employed to steer and collimate electron beams. The steering angle is determined by the materials' parameters, but the degree of collimation can be tuned in a significant range by changing the energy of ballistic electrons.

Guidance, steering, load relief and control of an asymmetric launch vehicle. M.S. Thesis - MIT

NASA Technical Reports Server (NTRS)

Boelitz, Frederick W.

1989-01-01

A new guidance, steering, and control concept is described and evaluated for the Third Phase of an asymmetrical configuration of the Advanced Launch System (ALS). The study also includes the consideration of trajectory shaping issues and trajectory design as well as the development of angular rate, angular acceleration, angle of attack, and dynamic pressure estimators. The Third Phase guidance, steering and control system is based on controlling the acceleration-direction of the vehicle after an initial launch maneuver. Unlike traditional concepts, the alignment of the estimated and commanded acceleration-directions is unimpaired by an add-on load relief. Instead, the acceleration-direction steering-control system features a control override that limits the product of estimated dynamic pressure and estimated angle of attack. When this product is not being limited, control is based exclusively on the commanded acceleration-direction without load relief. During limiting, control is based on nulling the error between the limited angle of attack and the estimated angle of attack. This limiting feature provides full freedom to the acceleration-direction steering and control to shape the trajectory within the limit, and also gives full priority to the limiting of angle of attack when necessary. The flight software concepts were analyzed on the basis of their effects on pitch plane motion.

Highly sensitive beam steering with plasmonic antenna

PubMed Central

Rui, Guanghao; Zhan, Qiwen

2014-01-01

In this work, we design and study a highly sensitive beam steering device that integrates a spiral plasmonic antenna with a subwavelength metallic waveguide. The short effective wavelength of the surface plasmon polaritons (SPPs) mode supported by the metallic waveguide is exploited to dramatically miniaturize the device and improve the sensitivity of the beam steering. Through introducing a tiny displacement of feed point with respect to the geometrical center of the spiral plasmonic antenna, the direction of the radiation can be steered at considerably high angles. Simulation results show that steering angles of 8°, 17° and 34° are obtainable for a displacement of 50 nm, 100 nm and 200 nm, respectively. Benefiting from the reduced device size and the shorter SPP wavelength, the beam steering sensitivity of the beam steering is improved by 10-fold compared with the case reported previously. This miniature plasmonic beam steering device may find many potential applications in quantum optical information processing and integrated photonic circuits. PMID:25091405

Combining coordination of motion actuators with driver steering interaction.

PubMed

Tagesson, Kristoffer; Laine, Leo; Jacobson, Bengt

2015-01-01

A new method is suggested for coordination of vehicle motion actuators; where driver feedback and capabilities become natural elements in the prioritization. The method is using a weighted least squares control allocation formulation, where driver characteristics can be added as virtual force constraints. The approach is in particular suitable for heavy commercial vehicles that in general are over actuated. The method is applied, in a specific use case, by running a simulation of a truck applying automatic braking on a split friction surface. Here the required driver steering angle, to maintain the intended direction, is limited by a constant threshold. This constant is automatically accounted for when balancing actuator usage in the method. Simulation results show that the actual required driver steering angle can be expected to match the set constant well. Furthermore, the stopping distance is very much affected by this set capability of the driver to handle the lateral disturbance, as expected. In general the capability of the driver to handle disturbances should be estimated in real-time, considering driver mental state. By using the method it will then be possible to estimate e.g. stopping distance implied from this. The setup has the potential of even shortening the stopping distance, when the driver is estimated as active, this compared to currently available systems. The approach is feasible for real-time applications and requires only measurable vehicle quantities for parameterization. Examples of other suitable applications in scope of the method would be electronic stability control, lateral stability control at launch and optimal cornering arbitration.

Remote steering of laser beams by radar- and laser-induced refractive-index gradients in the atmosphere Remote steering of laser beams

NASA Astrophysics Data System (ADS)

Zheltikov, A. M.; Shneider, M. N.; Voronin, A. A.; Sokolov, A. V.; Scully, M. O.

2012-01-01

Refractive-index gradients induced in the atmospheric air by properly tailored laser and microwave fields are shown to enable a remote steering of laser beams. Heating-assisted modulation of the refractive index of the air by microwave radiation is shown to support small-angle laser-beam bending with bending angles on the order of 10-2. Ionization of the atmospheric air by dyads of femto- and nanosecond laser pulses, on the other hand, can provide beam deflection angles in excess of π/5, offering an attractive strategy for radiation transfer, free-space communications, and laser-based standoff detection.

33 CFR 164.25 - Tests before entering or getting underway.

Code of Federal Regulations, 2011 CFR

2011-07-01

... remote steering gear control system. (ii) Each steering position located on the navigating bridge. (iii) The main steering gear from the alternative power supply, if installed. (iv) Each rudder angle indicator in relation to the actual position of the rudder. (v) Each remote steering gear control system...

33 CFR 164.25 - Tests before entering or getting underway.

Code of Federal Regulations, 2010 CFR

2010-07-01

... remote steering gear control system. (ii) Each steering position located on the navigating bridge. (iii) The main steering gear from the alternative power supply, if installed. (iv) Each rudder angle indicator in relation to the actual position of the rudder. (v) Each remote steering gear control system...

Torque command steering law for double-gimbaled control moment gyros applied to rotor energy storage

NASA Technical Reports Server (NTRS)

Kennel, H. F.

1984-01-01

A steering law is presented which has all the features required for space applications, assuming the CMG outer gimbal freedom is unlimited. The reason is the idea of mounting all the outer gimbal axes of the CMGs parallel to each other. This allows the decomposition of the steering law problem into a linear one for the inner gimbal angle rates and a planar one for the outer gimbal angle rates. The inner gimbal angle rates are calculated first, since they are not affected by the outer gimbal angle rates. For the calculation of the outer rates, the inner rates are then known quantities. An outer gimbal angle distribution function (to avoid singularities internal to the total angular momentum envelope) generates distribution rates next, and finally the pseudoinverse method is used to insure that the desired total torque is delivered.

Steering Angle Control of Car for Dubins Path-tracking Using Model Predictive Control

NASA Astrophysics Data System (ADS)

Kusuma Rahma Putri, Dian; Subchan; Asfihani, Tahiyatul

2018-03-01

Car as one of transportation is inseparable from technological developments. About ten years, there are a lot of research and development on lane keeping system(LKS) which is a system that automaticaly controls the steering to keep the vehicle especially car always on track. This system can be developed for unmanned cars. Unmanned system car requires navigation, guidance and control which is able to direct the vehicle to move toward the desired path. The guidance system is represented by using Dubins-Path that will be controlled by using Model Predictive Control. The control objective is to keep the car’s movement that represented by dinamic lateral motion model so car can move according to the path appropriately. The simulation control on the four types of trajectories that generate the value for steering angle and steering angle changes are at the specified interval.

Optical metasurfaces for high angle steering at visible wavelengths

DOE PAGES

Lin, Dianmin; Melli, Mauro; Poliakov, Evgeni; ...

2017-05-23

Metasurfaces have facilitated the replacement of conventional optical elements with ultrathin and planar photonic structures. Previous designs of metasurfaces were limited to small deflection angles and small ranges of the angle of incidence. Here, we have created two types of Si-based metasurfaces to steer visible light to a large deflection angle. These structures exhibit high diffraction efficiencies over a broad range of angles of incidence. We have demonstrated metasurfaces working both in transmission and reflection modes based on conventional thin film silicon processes that are suitable for the large-scale fabrication of high-performance devices.

Distributed Control of Inverter-Based Lossy Microgrids for Power Sharing and Frequency Regulation Under Voltage Constraints

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

Chang, Chin-Yao; Zhang, Wei

This paper presents a new distributed control framework to coordinate inverter-interfaced distributed energy resources (DERs) in island microgrids. We show that under bounded load uncertainties, the proposed control method can steer the microgrid to a desired steady state with synchronized inverter frequency across the network and proportional sharing of both active and reactive powers among the inverters. We also show that such convergence can be achieved while respecting constraints on voltage magnitude and branch angle differences. The controller is robust under various contingency scenarios, including loss of communication links and failures of DERs. The proposed controller is applicable to lossymore » mesh microgrids with heterogeneous R/X distribution lines and reasonable parameter variations. Simulations based on various microgrid operation scenarios are also provided to show the effectiveness of the proposed control method.« less

Demonstration of a directional sonic prism in two dimensions using an air-acoustic leaky wave antenna

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

Naify, Christina J., E-mail: christina.naify@nrl.navy.mil; Rohde, Charles A.; Calvo, David C.

Analysis and experimental demonstration of a two-dimensional acoustic leaky wave antenna is presented for use in air. The antenna is comprised of a two-dimensional waveguide patterned with radiating acoustic shunts. When excited using a single acoustic source within the waveguide, the antenna acts as a sonic prism that exhibits frequency steering. This design allows for control of acoustic steering angle using only a single source transducer and a patterned aperture. Aperture design was determined using transmission line analysis and finite element methods. The designed antenna was fabricated and the steering angle measured. The performance of the measured aperture was withinmore » 9% of predicted angle magnitudes over all examined frequencies.« less

Research on Performance of Wire-controlled Hydraulic Steering System Based on Four-wheel Steering

NASA Astrophysics Data System (ADS)

Tao, P.; Jin, X. H.

2018-05-01

In this paper, the steering stability and control strategy of forklift are put forward. Drive based on yawing moment distribution of rotary torque coordination control method, through analyzing the linear two degree of freedom model of forklift truck, forklift yawing angular velocity and mass center side-slip Angle of expectations, as the control target parameters system, using fuzzy controller output driving forklift steering the yawing moment, to drive rotary torque distribution, make the forklift truck to drive horizontal pendulum angular velocity and side-slip Angle tracking reference model very well. In this paper, the lateral stability control system were designed, the joint simulation in MATLAB/Simulink, the simulation results show that under the different partial load, the control system can effectively to control side forklift lateral stability, enhanced the forklift driving safety, for the side forklift steering stability study provides a theoretical basis.

Feasible Path Generation Using Bezier Curves for Car-Like Vehicle

NASA Astrophysics Data System (ADS)

Latip, Nor Badariyah Abdul; Omar, Rosli

2017-08-01

When planning a collision-free path for an autonomous vehicle, the main criteria that have to be considered are the shortest distance, lower computation time and completeness, i.e. a path can be found if one exists. Besides that, a feasible path for the autonomous vehicle is also crucial to guarantee that the vehicle can reach the target destination considering its kinematic constraints such as non-holonomic and minimum turning radius. In order to address these constraints, Bezier curves is applied. In this paper, Bezier curves are modeled and simulated using Matlab software and the feasibility of the resulting path is analyzed. Bezier curve is derived from a piece-wise linear pre-planned path. It is found that the Bezier curves has the capability of making the planned path feasible and could be embedded in a path planning algorithm for an autonomous vehicle with kinematic constraints. It is concluded that the length of segments of the pre-planned path have to be greater than a nominal value, derived from the vehicle wheelbase, maximum steering angle and maximum speed to ensure the path for the autonomous car is feasible.

Deflection angle detecting system for the large-angle and high-linearity fast steering mirror using quadrant detector

NASA Astrophysics Data System (ADS)

Ni, Yingxue; Wu, Jiabin; San, Xiaogang; Gao, Shijie; Ding, Shaohang; Wang, Jing; Wang, Tao

2018-02-01

A deflection angle detecting system (DADS) using a quadrant detector (QD) is developed to achieve the large deflection angle and high linearity for the fast steering mirror (FSM). The mathematical model of the DADS is established by analyzing the principle of position detecting and error characteristics of the QD. Based on this mathematical model, the method of optimizing deflection angle and linearity of FSM is demonstrated, which is proved feasible by simulation and experimental results. Finally, a QD-based FSM is designed and tested. The results show that it achieves 0.72% nonlinearity, ±2.0 deg deflection angle, and 1.11-μrad resolution. Therefore, the application of this method will be beneficial to design the FSM.

Feasibility of Onboard Processing of Heuristic Path Planning and Navigation Algorithms within SUAS Autopilot Computational Constraints

DTIC Science & Technology

2014-03-01

brake_group > NONE </ brake_group > <retractable>0</retractable> </contact> <contact type="BOGEY" name="RIGHT_MLG...damping_coeff> <max_steer unit="DEG"> 0.0 </max_steer> < brake_group > NONE </ brake_group > <retractable>0</retractable...damping_coeff unit="LBS/FT/SEC"> 100 </damping_coeff> <max_steer unit="DEG"> 360.0 </max_steer> < brake_group > NONE

Multipartite Gaussian steering: Monogamy constraints and quantum cryptography applications

NASA Astrophysics Data System (ADS)

Xiang, Yu; Kogias, Ioannis; Adesso, Gerardo; He, Qiongyi

2017-01-01

We derive laws for the distribution of quantum steering among different parties in multipartite Gaussian states under Gaussian measurements. We prove that a monogamy relation akin to the generalized Coffman-Kundu-Wootters inequality holds quantitatively for a recently introduced measure of Gaussian steering. We then define the residual Gaussian steering, stemming from the monogamy inequality, as an indicator of collective steering-type correlations. For pure three-mode Gaussian states, the residual acts as a quantifier of genuine multipartite steering, and is interpreted operationally in terms of the guaranteed key rate in the task of secure quantum secret sharing. Optimal resource states for the latter protocol are identified, and their possible experimental implementation discussed. Our results pin down the role of multipartite steering for quantum communication.

Research on Precision Tracking on Fast Steering Mirror and Control Strategy

NASA Astrophysics Data System (ADS)

Di, Lin; Yi-ming, Wu; Fan, Zhu

2018-01-01

Fast steering mirror is a device used for controlling the beam direction precisely. Due to the short travel of the push-pull FSM, a compound fast steering mirror system driven by both limited-angle voice coil motor and push-pull FSM together is proposed. In the compound FSM system, limited-angle voice coil motor quickly swings at wide angle, while the push-pull FSM do high frequency movement in a small range, which provides the system with the high bandwidth and long travel. In the control strategy, the method of combining feed-forward control in Kalman filtering with auto-disturbance rejection control is used to improve trajectory tracking accuracy. The simulation result shows that tracking accuracy measured by the compound method can be improved by more than 5 times than that of the conventional PID.

Optimization design of the angle detecting system used in the fast steering mirror

NASA Astrophysics Data System (ADS)

Ni, Ying-xue; Wu, Jia-bin; San, Xiao-gang; Gao, Shi-jie; Ding, Shao-hang; Wang, Jing; Wang, Tao; Wang, Hui-xian

2018-01-01

In this paper, in order to design a fast steering mirror (FSM) with large deflection angle and high linearity, a deflection angle detecting system (DADS) using quadrant detector (QD) is developed. And the mathematical model describing DADS is established by analyzing the principle of position detecting and error characteristics of QD. Based on this mathematical model, the variation tendencies of deflection angle and linearity of FSM are simulated. Then, by changing the parameters of the DADS, the optimization of deflection angle and linearity of FSM is demonstrated. Finally, a QD-based FSM is designed based on this method, which achieves ±2° deflection angle and 0.72% and 0.68% linearity along x and y axis, respectively. Moreover, this method will be beneficial to the design of large deflection angle and high linearity FSM.

Ultra-compact laser beam steering device using holographically formed two dimensional photonic crystal.

PubMed

Dou, Xinyuan; Chen, Xiaonan; Chen, Maggie Yihong; Wang, Alan Xiaolong; Jiang, Wei; Chen, Ray T

2010-03-01

In this paper, we report the theoretical study of polymer-based photonic crystals for laser beam steering which is based on the superprism effect as well as the experiment fabrication of the two dimensional photonic crystals for the laser beam steering. Superprism effect, the principle for beam steering, was separately studied in details through EFC (Equifrequency Contour) analysis. Polymer based photonic crystals were fabricated through double exposure holographic interference method using SU8-2007. The experiment results showed a beam steering angle of 10 degree for 30 nm wavelength variation.

Common Ada (tradename) Missile Package (CAMP) Project. Missile Software Parts. Volume 8. Detail Design Document

DTIC Science & Technology

1988-03-01

PACKAGE BODY ) TLCSC P661 (CATALOG #P106-0) This package contains the CAMP parts required to do the vaypoint steering portion of navigation. The...3.3.4.1.6 PROCESSING The following describes the processing performed by this part: package body WaypointSteering is package body ...Steering_Vector_Operations is separate; package body Steering_Vector_Operations_with_Arcsin is separate; procedure Compute Turn_Angle_and Direction (UnitNormal C

Optimization Under Uncertainty for Wake Steering Strategies

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

Quick, Julian; Annoni, Jennifer; King, Ryan N.

Here, wind turbines in a wind power plant experience significant power losses because of aerodynamic interactions between turbines. One control strategy to reduce these losses is known as 'wake steering,' in which upstream turbines are yawed to direct wakes away from downstream turbines. Previous wake steering research has assumed perfect information, however, there can be significant uncertainty in many aspects of the problem, including wind inflow and various turbine measurements. Uncertainty has significant implications for performance of wake steering strategies. Consequently, the authors formulate and solve an optimization under uncertainty (OUU) problem for finding optimal wake steering strategies in themore » presence of yaw angle uncertainty. The OUU wake steering strategy is demonstrated on a two-turbine test case and on the utility-scale, offshore Princess Amalia Wind Farm. When we accounted for yaw angle uncertainty in the Princess Amalia Wind Farm case, inflow-direction-specific OUU solutions produced between 0% and 1.4% more power than the deterministically optimized steering strategies, resulting in an overall annual average improvement of 0.2%. More importantly, the deterministic optimization is expected to perform worse and with more downside risk than the OUU result when realistic uncertainty is taken into account. Additionally, the OUU solution produces fewer extreme yaw situations than the deterministic solution.« less

Optimization Under Uncertainty for Wake Steering Strategies: Preprint

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

Quick, Julian; Annoni, Jennifer; King, Ryan N

Wind turbines in a wind power plant experience significant power losses because of aerodynamic interactions between turbines. One control strategy to reduce these losses is known as 'wake steering,' in which upstream turbines are yawed to direct wakes away from downstream turbines. Previous wake steering research has assumed perfect information, however, there can be significant uncertainty in many aspects of the problem, including wind inflow and various turbine measurements. Uncertainty has significant implications for performance of wake steering strategies. Consequently, the authors formulate and solve an optimization under uncertainty (OUU) problem for finding optimal wake steering strategies in the presencemore » of yaw angle uncertainty. The OUU wake steering strategy is demonstrated on a two-turbine test case and on the utility-scale, offshore Princess Amalia Wind Farm. When we accounted for yaw angle uncertainty in the Princess Amalia Wind Farm case, inflow-direction-specific OUU solutions produced between 0% and 1.4% more power than the deterministically optimized steering strategies, resulting in an overall annual average improvement of 0.2%. More importantly, the deterministic optimization is expected to perform worse and with more downside risk than the OUU result when realistic uncertainty is taken into account. Additionally, the OUU solution produces fewer extreme yaw situations than the deterministic solution.« less

Optimization Under Uncertainty for Wake Steering Strategies

NASA Astrophysics Data System (ADS)

Quick, Julian; Annoni, Jennifer; King, Ryan; Dykes, Katherine; Fleming, Paul; Ning, Andrew

2017-05-01

Wind turbines in a wind power plant experience significant power losses because of aerodynamic interactions between turbines. One control strategy to reduce these losses is known as “wake steering,” in which upstream turbines are yawed to direct wakes away from downstream turbines. Previous wake steering research has assumed perfect information, however, there can be significant uncertainty in many aspects of the problem, including wind inflow and various turbine measurements. Uncertainty has significant implications for performance of wake steering strategies. Consequently, the authors formulate and solve an optimization under uncertainty (OUU) problem for finding optimal wake steering strategies in the presence of yaw angle uncertainty. The OUU wake steering strategy is demonstrated on a two-turbine test case and on the utility-scale, offshore Princess Amalia Wind Farm. When we accounted for yaw angle uncertainty in the Princess Amalia Wind Farm case, inflow-direction-specific OUU solutions produced between 0% and 1.4% more power than the deterministically optimized steering strategies, resulting in an overall annual average improvement of 0.2%. More importantly, the deterministic optimization is expected to perform worse and with more downside risk than the OUU result when realistic uncertainty is taken into account. Additionally, the OUU solution produces fewer extreme yaw situations than the deterministic solution.

Optimization Under Uncertainty for Wake Steering Strategies

DOE PAGES

Quick, Julian; Annoni, Jennifer; King, Ryan N.; ...

2017-06-13

Here, wind turbines in a wind power plant experience significant power losses because of aerodynamic interactions between turbines. One control strategy to reduce these losses is known as 'wake steering,' in which upstream turbines are yawed to direct wakes away from downstream turbines. Previous wake steering research has assumed perfect information, however, there can be significant uncertainty in many aspects of the problem, including wind inflow and various turbine measurements. Uncertainty has significant implications for performance of wake steering strategies. Consequently, the authors formulate and solve an optimization under uncertainty (OUU) problem for finding optimal wake steering strategies in themore » presence of yaw angle uncertainty. The OUU wake steering strategy is demonstrated on a two-turbine test case and on the utility-scale, offshore Princess Amalia Wind Farm. When we accounted for yaw angle uncertainty in the Princess Amalia Wind Farm case, inflow-direction-specific OUU solutions produced between 0% and 1.4% more power than the deterministically optimized steering strategies, resulting in an overall annual average improvement of 0.2%. More importantly, the deterministic optimization is expected to perform worse and with more downside risk than the OUU result when realistic uncertainty is taken into account. Additionally, the OUU solution produces fewer extreme yaw situations than the deterministic solution.« less

Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems.

PubMed

Ma, Xinbo; Wong, Pak Kin; Zhao, Jing; Xie, Zhengchao

2016-12-28

Active front steering (AFS) is an emerging technology to improve the vehicle cornering stability by introducing an additional small steering angle to the driver's input. This paper proposes an AFS system with a variable gear ratio steering (VGRS) actuator which is controlled by using the sliding mode control (SMC) strategy to improve the cornering stability of vehicles. In the design of an AFS system, different sensors are considered to measure the vehicle state, and the mechanism of the AFS system is also modelled in detail. Moreover, in order to improve the cornering stability of vehicles, two dependent objectives, namely sideslip angle and yaw rate, are considered together in the design of SMC strategy. By evaluating the cornering performance, Sine with Dwell and accident avoidance tests are conducted, and the simulation results indicate that the proposed SMC strategy is capable of improving the cornering stability of vehicles in practice.

Adaptive beam tracking and steering via electrowetting-controlled liquid prism

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

Cheng, JT; Chen, CL

2011-11-07

We report an electrowetting-controlled optofluidic system for adaptive beam tracking and agile steering. With two immiscible fluids in a transparent cell, we can actively control the contact angle along the fluid-fluid-solid tri-junction line and hence the orientation of the fluid-fluid interface via electrowetting. The naturally formed meniscus between the two liquids can function as an optical prism. We have fabricated a liquid prism module with an aperture size of 10 mm -10mm. With 1 wt.% KCl and 1 wt.% Sodium Dodecyl Sulfate added into deionized water, the orientation of the water-silicone oil interface has been modulated between -26 degrees andmore » 26 degrees that can deflect and steer beam within the incidence angle of 0 degrees-15 degrees. The wide-range beam tracking and steering enables the liquid prism work as an electrowetting solar cell. (C) 2011 American Institute of Physics. [doi: 10.1063/1.3660578]« less

Adaptive beam tracking and steering via electrowetting-controlled liquid prism

NASA Astrophysics Data System (ADS)

Cheng, Jiangtao; Chen, Chung-Lung

2011-11-01

We report an electrowetting-controlled optofluidic system for adaptive beam tracking and agile steering. With two immiscible fluids in a transparent cell, we can actively control the contact angle along the fluid-fluid-solid tri-junction line and hence the orientation of the fluid-fluid interface via electrowetting. The naturally formed meniscus between the two liquids can function as an optical prism. We have fabricated a liquid prism module with an aperture size of 10 mm × 10mm. With 1 wt. % KCl and 1 wt. % Sodium Dodecyl Sulfate added into deionized water, the orientation of the water-silicone oil interface has been modulated between -26° and 26° that can deflect and steer beam within the incidence angle of 0°-15°. The wide-range beam tracking and steering enables the liquid prism work as an electrowetting solar cell.

A Waveguide Antenna with an Extended Angular Range for Remote Steering of Wave-Beam Direction

NASA Astrophysics Data System (ADS)

Sobolev, D. I.; Denisov, G. G.

2018-03-01

A new method for increasing the angular range of a waveguide antenna for remote steering of the wave-beam direction in thermonuclear-fusion experimental setups with plasma magnetic confinement is proposed. Characteristics for large beam inclination angles can be improved using the synthesized nonuniform waveguide profile. For small angles, the characteristics remain invariable, the waveguide profile differs only slightly from the regular shape, and can be fit to limited waveguide-channel sizes.

Online Detection of Driver Fatigue Using Steering Wheel Angles for Real Driving Conditions

PubMed Central

Li, Zuojin; Li, Shengbo Eben; Li, Renjie; Cheng, Bo; Shi, Jinliang

2017-01-01

This paper presents a drowsiness on-line detection system for monitoring driver fatigue level under real driving conditions, based on the data of steering wheel angles (SWA) collected from sensors mounted on the steering lever. The proposed system firstly extracts approximate entropy (ApEn) features from fixed sliding windows on real-time steering wheel angles time series. After that, this system linearizes the ApEn features series through an adaptive piecewise linear fitting using a given deviation. Then, the detection system calculates the warping distance between the linear features series of the sample data. Finally, this system uses the warping distance to determine the drowsiness state of the driver according to a designed binary decision classifier. The experimental data were collected from 14.68 h driving under real road conditions, including two fatigue levels: “wake” and “drowsy”. The results show that the proposed system is capable of working online with an average 78.01% accuracy, 29.35% false detections of the “awake” state, and 15.15% false detections of the “drowsy” state. The results also confirm that the proposed method based on SWA signal is valuable for applications in preventing traffic accidents caused by driver fatigue. PMID:28257094

New approaches to enhance active steering system functionalities: preliminary results

NASA Astrophysics Data System (ADS)

Serarslan, Benan

2014-09-01

An important development of the steering systems in general is active steering systems like active front steering and steer-by-wire systems. In this paper the current functional possibilities in application of active steering systems are explored. A new approach and additional functionalities are presented that can be implemented to the active steering systems without additional hardware such as new sensors and electronic control units. Commercial active steering systems are controlling the steering angle depending on the driving situation only. This paper introduce methods for enhancing active steering system functionalities depending not only on the driving situation but also vehicle parameters like vehicle mass, tyre and road condition. In this regard, adaptation of the steering ratio as a function of above mentioned vehicle parameters is presented with examples. With some selected vehicle parameter changes, the reduction of the undesired influences on vehicle dynamics of these parameter changes has been demonstrated theoretically with simulations and with real-time driving measurements.

Demonstration of Monogamy Relations for Einstein-Podolsky-Rosen Steering in Gaussian Cluster States.

PubMed

Deng, Xiaowei; Xiang, Yu; Tian, Caixing; Adesso, Gerardo; He, Qiongyi; Gong, Qihuang; Su, Xiaolong; Xie, Changde; Peng, Kunchi

2017-06-09

Understanding how quantum resources can be quantified and distributed over many parties has profound applications in quantum communication. As one of the most intriguing features of quantum mechanics, Einstein-Podolsky-Rosen (EPR) steering is a useful resource for secure quantum networks. By reconstructing the covariance matrix of a continuous variable four-mode square Gaussian cluster state subject to asymmetric loss, we quantify the amount of bipartite steering with a variable number of modes per party, and verify recently introduced monogamy relations for Gaussian steerability, which establish quantitative constraints on the security of information shared among different parties. We observe a very rich structure for the steering distribution, and demonstrate one-way EPR steering of the cluster state under Gaussian measurements, as well as one-to-multimode steering. Our experiment paves the way for exploiting EPR steering in Gaussian cluster states as a valuable resource for multiparty quantum information tasks.

Demonstration of Monogamy Relations for Einstein-Podolsky-Rosen Steering in Gaussian Cluster States

NASA Astrophysics Data System (ADS)

Deng, Xiaowei; Xiang, Yu; Tian, Caixing; Adesso, Gerardo; He, Qiongyi; Gong, Qihuang; Su, Xiaolong; Xie, Changde; Peng, Kunchi

2017-06-01

Understanding how quantum resources can be quantified and distributed over many parties has profound applications in quantum communication. As one of the most intriguing features of quantum mechanics, Einstein-Podolsky-Rosen (EPR) steering is a useful resource for secure quantum networks. By reconstructing the covariance matrix of a continuous variable four-mode square Gaussian cluster state subject to asymmetric loss, we quantify the amount of bipartite steering with a variable number of modes per party, and verify recently introduced monogamy relations for Gaussian steerability, which establish quantitative constraints on the security of information shared among different parties. We observe a very rich structure for the steering distribution, and demonstrate one-way EPR steering of the cluster state under Gaussian measurements, as well as one-to-multimode steering. Our experiment paves the way for exploiting EPR steering in Gaussian cluster states as a valuable resource for multiparty quantum information tasks.

UAVSAR Active Electronically-Scanned Array

NASA Technical Reports Server (NTRS)

Sadowy, Gregory; Brown, Kyle; Chamberlain, Neil; Figueroa, Harry; Fisher, Charlie; Grando, Maurio; Hamilton, Gary; Vorperian, Vatche; Zawadzki, Mark

2010-01-01

The Uninhabited Airborne Vehicle Synthetic Aperture Radar (UAVSAR) L-band (1.2-1.3 GHz) repeat pass, interferometric synthetic aperture radar (InSAR) used for Earth science applications. Using complex radar images collected during separate passes on time scales of hours to years, changes in surface topography can be measured. The repeat-pass InSAR technique requires that the radar look angle be approximately the same on successive passes. Due to variations in aircraft attitude between passes, antenna beam steering is required to replicate the radar look angle. This paper describes an active, electronically steered array (AESA) that provides beam steering capability in the antenna azimuth plane. The array contains 24 transmit/receive modules generating 2800 W of radiated power and is capable of pulse-to-pulse beam steering and polarization agility. Designed for high reliability as well as serviceability, all array electronics are contained in single 178cm x 62cm x 12 cm air-cooled panel suitable for operation up 60,000 ft altitude.

Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems

PubMed Central

Ma, Xinbo; Wong, Pak Kin; Zhao, Jing; Xie, Zhengchao

2016-01-01

Active front steering (AFS) is an emerging technology to improve the vehicle cornering stability by introducing an additional small steering angle to the driver’s input. This paper proposes an AFS system with a variable gear ratio steering (VGRS) actuator which is controlled by using the sliding mode control (SMC) strategy to improve the cornering stability of vehicles. In the design of an AFS system, different sensors are considered to measure the vehicle state, and the mechanism of the AFS system is also modelled in detail. Moreover, in order to improve the cornering stability of vehicles, two dependent objectives, namely sideslip angle and yaw rate, are considered together in the design of SMC strategy. By evaluating the cornering performance, Sine with Dwell and accident avoidance tests are conducted, and the simulation results indicate that the proposed SMC strategy is capable of improving the cornering stability of vehicles in practice. PMID:28036037

33 CFR 164.25 - Tests before entering or getting underway.

Code of Federal Regulations, 2014 CFR

2014-07-01

... emergency lighting and power systems in vessel control and propulsion machinery spaces. (5) Main propulsion...) The main steering gear from the alternative power supply, if installed. (iv) Each rudder angle... power failure alarm. (vi) Each remote steering gear power unit failure alarm. (vii) The full movement of...

33 CFR 164.25 - Tests before entering or getting underway.

Code of Federal Regulations, 2012 CFR

2012-07-01

... emergency lighting and power systems in vessel control and propulsion machinery spaces. (5) Main propulsion...) The main steering gear from the alternative power supply, if installed. (iv) Each rudder angle... power failure alarm. (vi) Each remote steering gear power unit failure alarm. (vii) The full movement of...

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.

46 CFR 169.622 - Rudder angle indicators.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 7 2011-10-01 2011-10-01 false Rudder angle indicators. 169.622 Section 169.622 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS SAILING SCHOOL VESSELS Machinery and Electrical Steering Systems § 169.622 Rudder angle indicators. Each vessel must have a rudder...

46 CFR 169.622 - Rudder angle indicators.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Rudder angle indicators. 169.622 Section 169.622 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS SAILING SCHOOL VESSELS Machinery and Electrical Steering Systems § 169.622 Rudder angle indicators. Each vessel must have a rudder...

Augmented Cognition - Phase 4 Cognitive Assessment and Task Management (CAT-M)

DTIC Science & Technology

2008-12-01

Angle Brake Pedal Force Accelerator Pedal ...Wheel Angle • Brake Pedal Force • Accelerator Pedal Deflection Note that we are using the controls as input to the prediction system. This means... Angle . At time >2.5 seconds, the Accelerator Pedal and Brake Pedal become statistically significantly easier to predict than Steering Wheel Angle .

Laser-phased-array beam steering based on crystal fiber

NASA Astrophysics Data System (ADS)

Yang, Deng-cai; Zhao, Si-si; Wang, Da-yong; Wang, Zhi-yong; Zhang, Xiao-fei

2011-06-01

Laser-phased-array system provides an elegant means for achieving the inertial-free, high-resolution, rapid and random beam steering. In laser-phased-array system, phase controlling is the most important factor that impacts the system performance. A novel scheme is provided in this paper, the beam steering is accomplished by using crystal fiber array, the difference length between adjacent fiber is fixed. The phase difference between adjacent fiber decides the direction of the output beam. When the wavelength of the input fiber laser is tuned, the phase difference between the adjacent elements has changed. Therefore, the laser beam direction has changed and the beam steering has been accomplished. In this article, based on the proposed scheme, the steering angle of the laser beam is calculated and analyzed theoretically. Moreover, the far-field steering beam quality is discussed.

On the Fringe Field of Wide Angle LC Optical Phased Array

NASA Technical Reports Server (NTRS)

Wang, Xighua; Wang, Bin; Bos, Philip J.; Anderson, James E.; Pouch, John; Miranda, Felix; McManamon, Paul F.

2004-01-01

For free space laser communication, light weighted large deployable optics is a critical component for the transmitter. However, such an optical element will introduce large aberrations due to the fact that the surface figure of the large optics is susceptable to deformation in the space environment. We propose to use a high-resolution liquid crystal spatial light modulator to correct for wavefront aberrations introduced by the primary optical element, and to achieve very fine beam steering and shaping at the same time. A 2-D optical phased array (OPA) antenna based on a Liquid Crystal on Silicon (LCOS) spatial light modulator is described. This device offers a combination of low cost, high resolution, high accuracy, high diffraction efficiency at video speed. To quantitatively understand the influence factor of the different design parameters, a computer simulation of the device is given by the 2-D director simulation and the Finite Difference Time domain (FDTD) simulation. For the 1-D OPA, we define the maximum steering angle to have a grating period of 8 pixel/reset scheme; as for larger steering angles than this criterion, the diffraction efficiency drops dramatically. In this case, the diffraction efficiency of 0.86 and the Strehl ratio of 0.9 are obtained in the simulation. The performance of the device in achieving high resolution wavefront correction and beam steering is also characterized experimentally.

20 MHz Forward-imaging Single-element Beam Steering with an Internal Rotating Variable-Angle Reflecting Surface: Wire phantom and Ex vivo pilot study

PubMed Central

Raphael, David T.; Li, Xiang; Park, Jinhyoung; Chen, Ruimin; Chabok, Hamid; Barukh, Arthur; Zhou, Qifa; Elgazery, Mahmoud; Shung, K. Kirk

2012-01-01

Feasibility is demonstrated for a forward-imaging beam steering system involving a single-element 20 MHz angled-face acoustic transducer combined with an internal rotating variable-angle reflecting surface (VARS). Rotation of the VARS structure, for a fixed position of the transducer, generates a 2-D angular sector scan. If these VARS revolutions were to be accompanied by successive rotations of the single-element transducer, 3-D imaging would be achieved. In the design of this device, a single-element 20 MHz PMN-PT press-focused angled-face transducer is focused on the circle of midpoints of a micro-machined VARS within the distal end of an endoscope. The 2-D imaging system was tested in water bath experiments with phantom wire structures at a depth of 10 mm, and exhibited an axial resolution of 66 μm and a lateral resolution of 520 μm. Chirp coded excitation was used to enhance the signal-to-noise ratio, and to increase the depth of penetration. Images of an ex vivo cow eye were obtained. This VARS-based approach offers a novel forward-looking beam-steering method, which could be useful in intra-cavity imaging. PMID:23122968

20 MHz forward-imaging single-element beam steering with an internal rotating variable-angle reflecting surface: Wire phantom and ex vivo pilot study.

PubMed

Raphael, David T; Li, Xiang; Park, Jinhyoung; Chen, Ruimin; Chabok, Hamid; Barukh, Arthur; Zhou, Qifa; Elgazery, Mahmoud; Shung, K Kirk

2013-02-01

Feasibility is demonstrated for a forward-imaging beam steering system involving a single-element 20MHz angled-face acoustic transducer combined with an internal rotating variable-angle reflecting surface (VARS). Rotation of the VARS structure, for a fixed position of the transducer, generates a 2-D angular sector scan. If these VARS revolutions were to be accompanied by successive rotations of the single-element transducer, 3-D imaging would be achieved. In the design of this device, a single-element 20MHz PMN-PT press-focused angled-face transducer is focused on the circle of midpoints of a micro-machined VARS within the distal end of an endoscope. The 2-D imaging system was tested in water bath experiments with phantom wire structures at a depth of 10mm, and exhibited an axial resolution of 66μm and a lateral resolution of 520μm. Chirp coded excitation was used to enhance the signal-to-noise ratio, and to increase the depth of penetration. Images of an ex vivo cow eye were obtained. This VARS-based approach offers a novel forward-looking beam-steering method, which could be useful in intra-cavity imaging. Copyright © 2012 Elsevier B.V. All rights reserved.

An improved lateral control wheel steering law for the Transport Systems Research Vehicle (TSRV)

NASA Technical Reports Server (NTRS)

Ragsdale, W. A.

1992-01-01

A lateral control wheel steering law with improved performance was developed for the Transport Systems Research Vehicle (TSRV) simulation and used in the Microwave Landing System research project. The control law converted rotational hand controller inputs into roll rate commands, manipulated ailerons, spoilers, and the rudder to achieve the desired roll rates. The system included automatic turn coordination, track angle hold, and autopilot/autoland modes. The resulting control law produced faster roll rates (15 degrees/sec), quicker response to command reversals, and safer bank angle limits, while using a more concise program code.

Determination of Steering Wheel Angles during CAR Alignment by Image Analysis Methods

NASA Astrophysics Data System (ADS)

Mueller, M.; Voegtle, T.

2016-06-01

Optical systems for automatic visual inspections are of increasing importance in the field of automation in the industrial domain. A new application is the determination of steering wheel angles during wheel track setting of the final inspection of car manufacturing. The camera has to be positioned outside the car to avoid interruptions of the processes and therefore, oblique images of the steering wheel must be acquired. Three different approaches of computer vision are considered in this paper, i.e. a 2D shape-based matching (by means of a plane to plane rectification of the oblique images and detection of a shape model with a particular rotation), a 3D shape-based matching approach (by means of a series of different perspectives of the spatial shape of the steering wheel derived from a CAD design model) and a point-to-point matching (by means of the extraction of significant elements (e.g. multifunctional buttons) of a steering wheel and a pairwise connection of these points to straight lines). The HALCON system (HALCON, 2016) was used for all software developments and necessary adaptions. As reference a mechanical balance with an accuracy of 0.1° was used. The quality assessment was based on two different approaches, a laboratory test and a test during production process. In the laboratory a standard deviation of ±0.035° (2D shape-based matching), ±0.12° (3D approach) and ±0.029° (point-to-point matching) could be obtained. The field test of 291 measurements (27 cars with varying poses and angles of the steering wheel) results in a detection rate of 100% and ±0.48° (2D matching) and ±0.24° (point-to-point matching). Both methods also fulfil the request of real time processing (three measurements per second).

Fatal accident cause and conclusion.

PubMed

Tsach, Tsadok; Cohen, Aviva; Finegold, George

2009-01-01

The Toolmarks Laboratory prepared a report concerning a traffic accident involving the death of a road workman. The driver of the vehicle that hit the workman claimed that the wheels had failed to respond when turning left at a roundabout. A traffic investigator photographed the rack and pinion assembly of the steering system, which was subsequently removed and brought to the Toolmarks Laboratory. The rack and pinion assembly of the steering system was rebuilt, and examination showed that the system functioned properly. Specifically, the front wheels responded correctly to the steering input. Laboratory photographs of the steering system were taken in two different positions, from the same angles as the investigator's photographs at the scene of the accident. It was clear that the steering system had not been assembled properly in the garage.

Three dimensional modeling and dynamic analysis of four-wheel-steering vehicles

NASA Astrophysics Data System (ADS)

Hu, Haiyan; Han, Qiang

2003-02-01

The paper presents a nonlinear dynamic model of 9 degrees of freedom for four-wheel-steering vehicles. Compared with those in previous studies, this model includes the pitch and roll of the vehicle body, the motion of 4 wheels in the accelerating or braking process, the nonlinear coupling of vehicle body and unsprung part, as well as the air drag and wind effect. As a result, the model can be used for the analysis of various maneuvers of the four-wheel-steering vehicles. In addition, the previous models can be considered as a special case of this model. The paper gives some case studies for the dynamic performance of a four-wheel-steering vehicle under step input and saw-tooth input of steering angle applied on the front wheels, respectively.

Objectification of steering feel around straight-line driving for vehicle/tyre design

NASA Astrophysics Data System (ADS)

Kim, Jungsik; Yoon, Yong-San

2015-02-01

This paper presents the objectification techniques for the assessment of steering feel including {on-centre} feel and steering response by measurement data. Here, new objective parameters are developed by considering not only the process by which the steering feel is evaluated subjectively but also by the ergonomic perceptive sensitivity of the driver. In order to validate such objective parameters, subjective tests are carried out by professional drivers. Objective measurements are also performed for several cars at a proving ground. The linear correlation coefficients between the subjective ratings and the objective parameters are calculated. As one of new objective parameters, steering wheel angle defined by ergonomic perception sensitivity shows high correlation with the subjective questionnaires of on-center responses. Newly defined steering torque curvature also shows high correlation with the subjective questionnaires of on-center effort. These correlation results conclude that the subjective assessment of steering feel can be successfully explained and objectified by means of the suggested objective parameters.

Steering Dynamics of Tilting Narrow Track Vehicle with Passive Front Wheel Design

NASA Astrophysics Data System (ADS)

TAN, Jeffrey Too Chuan; ARAKAWA, Hiroki; SUDA, Yoshihiro

2016-09-01

In recent years, narrow track vehicle has been emerged as a potential candidate for the next generation of urban transportation system, which is greener and space effective. Vehicle body tilting has been a symbolic characteristic of such vehicle, with the purpose to maintain its stability with the narrow track body. However, the coordination between active steering and vehicle tilting requires considerable driving skill in order to achieve effective stability. In this work, we propose an alternative steering method with a passive front wheel that mechanically follows the vehicle body tilting. The objective of this paper is to investigate the steering dynamics of the vehicle under various design parameters of the passive front wheel. Modeling of a three-wheel tilting narrow track vehicle and multibody dynamics simulations were conducted to study the effects of two important front wheel design parameters, i.e. caster angle and trail toward the vehicle steering dynamics in steering response time, turning radius, steering stability and resiliency towards external disturbance. From the results of the simulation studies, we have verified the relationships of these two front wheel design parameters toward the vehicle steering dynamics.

Knowledge-based versus experimentally acquired distance and angle constraints for NMR structure refinement.

PubMed

Cui, Feng; Jernigan, Robert; Wu, Zhijun

2008-04-01

Nuclear Overhauser effects (NOE) distance constraints and torsion angle constraints are major conformational constraints for nuclear magnetic resonance (NMR) structure refinement. In particular, the number of NOE constraints has been considered as an important determinant for the quality of NMR structures. Of course, the availability of torsion angle constraints is also critical for the formation of correct local conformations. In our recent work, we have shown how a set of knowledge-based short-range distance constraints can also be utilized for NMR structure refinement, as a complementary set of conformational constraints to the NOE and torsion angle constraints. In this paper, we show the results from a series of structure refinement experiments by using different types of conformational constraints--NOE, torsion angle, or knowledge-based constraints--or their combinations, and make a quantitative assessment on how the experimentally acquired constraints contribute to the quality of structural models and whether or not they can be combined with or substituted by the knowledge-based constraints. We have carried out the experiments on a small set of NMR structures. Our preliminary calculations have revealed that the torsion angle constraints contribute substantially to the quality of the structures, but require to be combined with the NOE constraints to be fully effective. The knowledge-based constraints can be functionally as crucial as the torsion angle constraints, although they are statistical constraints after all and are not meant to be able to replace the latter.

Broadband beam steering using chalcogenide-based Risley prisms

NASA Astrophysics Data System (ADS)

Florea, Catalin; Sanghera, Jasbinder; Aggarwal, Ishwar

2011-03-01

In this paper, we propose using chalcogenide glasses for improved, large-angle, beam steering of infrared radiation, with minimal spectral dispersion and improved thermal performance over wavelength intervals covering the 2 to 12-μm range. For example, we evaluate that full-angle dispersion in the 2 to 5 μm region for LiF/As2S3 combination should be three times smaller than in the case of LiF/ZnS combination. We also evaluate that using the ZnSe/As2Se3 combination will provide twice as small thermal walk-off than a similar ZnS/Ge system in the 8 to 12-μm region.

Free-space transmission with passive 2D beam steering for multi-gigabit-per-second per-beam indoor optical wireless networks.

PubMed

Oh, Chin Wan; Cao, Zizheng; Tangdiongga, Eduward; Koonen, Ton

2016-08-22

In order to circumvent radio spectrum congestion, we propose an innovative system which can provide multiple infrared optical wireless beams simultaneously where each beam supports multi-gigabit-per-second communication. Scalable two-dimensional beam steering by means of wavelength tuning is proposed. A passive beam-steering module constructed with cascaded reflection gratings is designed for simultaneous multi-user coverage. We experimentally characterized the beam-steered system and thoroughly evaluated the performance of steered channels using the spectrally efficient and robust discrete multitone modulation in a bandwidth-limited system deploying 10 GHz telecom transceivers. This study reports the achievement of at least 37 Gbps free-space transmission per beam over a distance of up to 2 m over 5.61° × 12.66° scanning angles.

Stability analysis of automobile driver steering control

NASA Technical Reports Server (NTRS)

Allen, R. W.

1981-01-01

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

Levels of steering control: Reproduction of steering-wheel movements

NASA Technical Reports Server (NTRS)

Godthelp, H.

1982-01-01

A schematic description of the steering control process is presented. It is shown that this process can be described in terms of levels of control. Level of control will depend on driver's skill in making use of 'clever' strategies which may be related to knowledge about the path to follow (input) and/or the vehicle under control. This knowledge may be referred to as an internal model of a particular task element. Internal information, as derived from these internal models will probably be used together with proprioceptive feedback. It is hypothesized that the efficiency of the higher levels of control will be dependent on the accuracy of both the internal and proprioceptive information. Based on this research philosophy a series of experiments is carried out. Two primary experiments were done in order to analyse subjects' ability to reproduce steering-wheel positions and movements without visual feedback. Steering-wheel angle amplitude, steering force and movement frequency were involved as independent variables.

A comparison of CMG steering laws for High Energy Astronomy Observatories (HEAOs)

NASA Technical Reports Server (NTRS)

Davis, B. G.

1972-01-01

A comparison of six selected control moment gyro steering laws for use on the HEAO spacecraft is reported. Basic equations are developed to project the momentum and torque of four skewed, single gimbal CMGs into vehicle coordinates. In response to the spacecraft attitude error signal, six algorithms are derived for controlling the CMG gimbal movements. HEAO performance data are obtained using each steering law and compared on the basis of such factors as accuracy, complexity, singularities, gyro hang-up and failure adaption. Moreover, each law is simulated with and without a magnetic momentum management system. The performance of any steering law is enhanced by the magnetic system. Without magnetics, the gimbal angles get large and there are significant differences in steering law performances due to cross coupling and nonlinearities. The performance of the pseudo inverse law is recommended for HEAO.

77 FR 47552 - Event Data Recorders

Federal Register 2010, 2011, 2012, 2013, 2014

2012-08-09

... uncertainties in multiple event crashes; Revised certain sensor ranges and accuracies to reflect current state... resolution specification of 5 degrees. In its petition the Alliance stated that steering wheel angle sensors... angle sensors. Both Nissan and GAM submitted comments in support of the Alliance and Honda petitions to...

Influence of different shoulder-elbow configurations on steering precision and steering velocity in automotive context.

PubMed

Schmidt, Susanne; Seiberl, Wolfgang; Schwirtz, Ansgar

2015-01-01

Ergonomic design requirements are needed to develop optimum vehicle interfaces for the driver. The majority of the current specifications consider only anthropometric conditions and subjective evaluations of comfort. This paper examines specific biomechanical aspects to improve the current ergonomic requirements. Therefore, a research which involved 40 subjects was carried out to obtain more knowledge in the field of steering movement while driving a car. Five different shoulder-elbow joint configurations were analyzed using a driving simulator to find optimum posture for driving in respect of steering precision and steering velocity. Therefore, a 20 s precision test and a test to assess maximum steering velocity over a range of 90° steering motion have been conducted. The results show that driving precision, as well as maximum steering velocity, are significantly increased in mid-positions (elbow angles of 95° and 120°) compared to more flexed (70°) or extended (145° and 160°) postures. We conclude that driver safety can be enhanced by implementing these data in the automotive design process because faster and highly precise steering can be important during evasive actions and in accident situations. In addition, subjective comfort rating, analyzed with questionnaires, confirmed experimental results. Copyright © 2014 Elsevier Ltd and The Ergonomics Society. All rights reserved.

Vehicle handling and stability control by the cooperative control of 4WS and DYC

NASA Astrophysics Data System (ADS)

Shen, Huan; Tan, Yun-Sheng

2017-07-01

This paper proposes an integrated control system that cooperates with the four-wheel steering (4WS) and direct yaw moment control (DYC) to improve the vehicle handling and stability. The design works of the four-wheel steering and DYC control are based on sliding mode control. The integration control system produces the suitable 4WS angle and corrective yaw moment so that the vehicle tracks the desired yaw rate and sideslip angle. Considering the change of the vehicle longitudinal velocity that means the comfort of driving conditions, both the driving torque and braking torque are used to generate the corrective yaw moment. Simulation results show the effectiveness of the proposed control algorithm.

Assessing Constraints on Soldier Cognitive and Perceptual Motor Performance During Vehicle Motion

DTIC Science & Technology

2008-05-01

vehicle systems are biomechanical (Sirouspour & Salcudean, 2003; Sövényi & Gillespie, 2007), cognitive (Parasuraman & Riley, 1997), and psychomotor...vs. velocity), pedals for braking/acceleration Environmental constraints associated with the support surface (Seat): Damping, inclination...steering and secondarily, performance differences between a joystick and pedals for throttle and brake control. Eleven participants com- pleted three

Fast steering and quick positioning of large field-of-regard, two-axis, four-gimbaled sight

NASA Astrophysics Data System (ADS)

Ansari, Zahir Ahmed; Nigam, Madhav Ji; Kumar, Avnish

2017-07-01

Fast steering and quick positioning are prime requirements of the current electro-optical tracking system to achieve quick target acquisition. A scheme has been proposed for realizing these features using two-axis, four-gimbaled sight. For steering the line of sight in the stabilization mode, outer gimbal is slaved to the gyro stabilized inner gimbal. Typically, the inner gimbals have direct drives and outer gimbals have geared drives, which result in a mismatch in the acceleration capability of their servo loops. This limits the allowable control bandwidth for the inner gimbal. However, to achieve high stabilization accuracy, high bandwidth control loops are essential. This contradictory requirement has been addressed by designing a suitable command conditioning module for the inner gimbals. Also, large line-of-sight freedom in pitch axis is required to provide a wide area surveillance capacity for airborne application. This leads to a loss of freedom along the yaw axis as the pitch angle goes beyond 70 deg or so. This is addressed by making the outer gimbal master after certain pitch angle. Moreover, a mounting scheme for gyro has been proposed to accomplish yaw axis stabilization for 110-deg pitch angle movement with a single two-axis gyro.

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

NASA Astrophysics Data System (ADS)

Marino, Riccardo; Scalzi, Stefano

2010-09-01

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

The Role of Visual and Nonvisual Information in the Control of Locomotion

ERIC Educational Resources Information Center

Wilkie, Richard M.; Wann, John P.

2005-01-01

During locomotion, retinal flow, gaze angle, and vestibular information can contribute to one's perception of self-motion. Their respective roles were investigated during active steering: Retinal flow and gaze angle were biased by altering the visual information during computer-simulated locomotion, and vestibular information was controlled…

UAVSAR Active Electronically Scanned Array

NASA Technical Reports Server (NTRS)

Sadowy, Gregory, A.; Chamberlain, Neil F.; Zawadzki, Mark S.; Brown, Kyle M.; Fisher, Charles D.; Figueroa, Harry S.; Hamilton, Gary A.; Jones, Cathleen E.; Vorperian, Vatche; Grando, Maurio B.

2011-01-01

The Uninhabited Airborne Vehicle Synthetic Aperture Radar (UAVSAR) is a pod-based, L-band (1.26 GHz), repeatpass, interferometric, synthetic aperture radar (InSAR) used for Earth science applications. Repeat-pass interferometric radar measurements from an airborne platform require an antenna that can be steered to maintain the same angle with respect to the flight track over a wide range of aircraft yaw angles. In order to be able to collect repeat-pass InSAR data over a wide range of wind conditions, UAVSAR employs an active electronically scanned array (AESA). During data collection, the UAVSAR flight software continuously reads the aircraft attitude state measured by the Embedded GPS/INS system (EGI) and electronically steers the beam so that it remains perpendicular to the flight track throughout the data collection

TARDEC Ground Vehicle Robotics: Vehicle Dynamic Characterization and Research

DTIC Science & Technology

2015-09-01

inferred roll angles that are found with the IMU . This is usually done with UNCLASSIFIED UNCLASSIFIED linear potentiometers, which have an electrical...wire electric, Electric traction control. Suspension Styles: Suspension is what keeps the vehicle off the ground and mechanically isolated from the...lot” maneuvers. Because of this, they roll with no slip angles. This means that the steering angles of the front wheels must be calibrated perfectly

New Integrated Testing System for the Validation of Vehicle-Snow Interaction Models

DTIC Science & Technology

2010-08-06

are individual wheel speeds, accelerator pedal position, vehicle speed, yaw rate, lateral acceleration, steering wheel angle and brake ...forces and moments at each wheel center, vehicle body slip angle , speed, acceleration, yaw rate, roll, and pitch. The profilometer has a 3-D scanning...Stability Program. The test vehicle provides measurements that include three forces and moments at each wheel center, vehicle body slip angle , speed

Vertical flight path steering system for aircraft

NASA Technical Reports Server (NTRS)

Lambregts, Antonius A. (Inventor)

1983-01-01

Disclosed is a vertical flight path angle steering system for aircraft, utilizing a digital flight control computer which processes pilot control inputs and aircraft response parameters into suitable elevator commands and control information for display to the pilot on a cathode ray tube. The system yields desirable airplane control handling qualities and responses as well as improvements in pilot workload and safety during airplane operation in the terminal area and under windshear conditions.

Experimental study of the vehicle dynamics behavior during lane changing in different speeds

NASA Astrophysics Data System (ADS)

Heerwan, P. M.; Asyraf, S. M.; Efistein, A. N.; Seah, C. H.; Zikri, J. M.; Syawahieda, J. N.

2017-10-01

During lane changing, the speed of the vehicle is related to the stability of the vehicle. If the driver changes the lane at a high speed, the vehicle will lose its stability and it can increase the possibility of an accident. In this study, the experiment has been developed to analyse how the speed of the vehicle can affect the vehicle dynamics behavior. To achieve this objective, the UMP Test Car which employed with global positioning system (GPS), steering torque and angle sensor, displacement sensor and gyro sensor is used in the experiment. The experiment is run at the UMP test track and the track has 2 lanes which can allows the vehicle to change the position from the left to the right. In the experiment, when the GPS monitor shows 30 km/h, the driver will maintain the speed and start to turn the steering just after the test car reaches to the first skittle. Then, the driver will turn again the steering when the test car reaches to the second skittle. This method is repeated two times and the same methods is used for the speed 50 km/h. The data from the sensors is recorded in the Dewetron software and the graph is plotted. From the experimental results, the steering angle, steering torque, yaw rate and displacement for the speed 30 km/h is smaller than 50 km/h. It means that during lane changing, the speed 30 km/h is more stable compared with 50 km/h.

Piezo-based, high dynamic range, wide bandwidth steering system for optical applications

NASA Astrophysics Data System (ADS)

Karasikov, Nir; Peled, Gal; Yasinov, Roman; Feinstein, Alan

2017-05-01

Piezoelectric motors and actuators are characterized by direct drive, fast response, high positioning resolution and high mechanical power density. These properties are beneficial for optical devices such as gimbals, optical image stabilizers and mirror angular positioners. The range of applications includes sensor pointing systems, image stabilization, laser steering and more. This paper reports on the construction, properties and operation of three types of piezo based building blocks for optical steering applications: a small gimbal and a two-axis OIS (Optical Image Stabilization) mechanism, both based on piezoelectric motors, and a flexure-assisted piezoelectric actuator for mirror angular positioning. The gimbal weighs less than 190 grams, has a wide angular span (solid angle of > 2π) and allows for a 80 micro-radian stabilization with a stabilization frequency up to 25 Hz. The OIS is an X-Y, closed loop, platform having a lateral positioning resolution better than 1 μm, a stabilization frequency up to 25 Hz and a travel of +/-2 mm. It is used for laser steering or positioning of the image sensor, based on signals from a MEMS Gyro sensor. The actuator mirror positioner is based on three piezoelectric actuation axes for tip tilt (each providing a 50 μm motion range), has a positioning resolution of 10 nm and is capable of a 1000 Hz response. A combination of the gimbal with the mirror positioner or the OIS stage is explored by simulations, indicating a <10 micro-radian stabilization capability under substantial perturbation. Simulations and experimental results are presented for a combined device facilitating both wide steering angle range and bandwidth.

Autonomous vehicle navigation utilizing fuzzy controls concepts for a next generation wheelchair.

PubMed

Hansen, J D; Barrett, S F; Wright, C H G; Wilcox, M

2008-01-01

Three different positioning techniques were investigated to create an autonomous vehicle that could accurately navigate towards a goal: Global Positioning System (GPS), compass dead reckoning, and Ackerman steering. Each technique utilized a fuzzy logic controller that maneuvered a four-wheel car towards a target. The reliability and the accuracy of the navigation methods were investigated by modeling the algorithms in software and implementing them in hardware. To implement the techniques in hardware, positioning sensors were interfaced to a remote control car and a microprocessor. The microprocessor utilized the sensor measurements to orient the car with respect to the target. Next, a fuzzy logic control algorithm adjusted the front wheel steering angle to minimize the difference between the heading and bearing. After minimizing the heading error, the car maintained a straight steering angle along its path to the final destination. The results of this research can be used to develop applications that require precise navigation. The design techniques can also be implemented on alternate platforms such as a wheelchair to assist with autonomous navigation.

Wideband plasmonic beam steering in metal gratings.

PubMed

de Ceglia, Domenico; Vincenti, Maria Antonietta; Scalora, Michael

2012-01-15

We demonstrate controllable light deflection in thick metal gratings with periodic subwavelength slits filled with an active material. Under specific illumination conditions, the grating becomes nearly transparent and acts as a uniform optical phased-array antenna where the phase of the radiating elements is controlled by modifying the index of refraction of the material that fills each slit. The beam-steering operational regime occurs in a wide wavelength band, and it is relatively insensitive to the input angle.

Dynamic Curvature Steering Control for Autonomous Vehicle: Performance Analysis

NASA Astrophysics Data System (ADS)

Aizzat Zakaria, Muhammad; Zamzuri, Hairi; Amri Mazlan, Saiful

2016-02-01

This paper discusses the design of dynamic curvature steering control for autonomous vehicle. The lateral control and longitudinal control are discussed in this paper. The controller is designed based on the dynamic curvature calculation to estimate the path condition and modify the vehicle speed and steering wheel angle accordingly. In this paper, the simulation results are presented to show the capability of the controller to track the reference path. The controller is able to predict the path and modify the vehicle speed to suit the path condition. The effectiveness of the controller is shown in this paper whereby identical performance is achieved with the benchmark but with extra curvature adaptation capabilites.

Simulation comparison of a decoupled longitudinal control system and a velocity vector control wheel steering system during landings in wind shear

NASA Technical Reports Server (NTRS)

Kimball, G., Jr.

1980-01-01

A simulator comparison of the velocity vector control wheel steering (VCWS) system and a decoupled longitudinal control system is presented. The piloting task was to use the electronic attitude direction indicator (EADI) to capture and maintain a 3 degree glide slope in the presence of wind shear and to complete the landing using the perspective runway included on the EADI. The decoupled control system used constant prefilter and feedback gains to provide steady state decoupling of flight path angle, pitch angle, and forward velocity. The decoupled control system improved the pilots' ability to control airspeed and flight path angle during the final stages of an approach made in severe wind shear. The system also improved their ability to complete safe landings. The pilots preferred the decoupled control system in severe winds and, on a pilot rating scale, rated the approach and landing task with the decoupled control system as much as 3 to 4 increments better than use of the VCWS system.

Integrated feeds for electronically reconfigurable apertures

NASA Astrophysics Data System (ADS)

Nicholls, Jeffrey Grant

With the increasing ubiquity of wireless technology, the need for lower-profile, electronically reconfigurable, highly-directive beam-steering antennas is increasing. This thesis proposes a new electronic beam-steering antenna architecture which combines the full-space beam-steering properties of reflectarrays and transmitarrays with the low-profile feeding characteristics of leaky-wave antennas. Two designs are developed: an integrated feed reflectarray and an integrated feed transmitarray, both of which integrate a leaky-wave feed directly next to the reconfigurable aperture itself. The integrated feed transmitarray proved to be the better architecture due to its simpler design and better performance. A 6-by-6 element array was fabricated and experimentally verified, and full-space (both azimuth and elevation) beam-steering was demonstrated at angles up to 45 degrees off broadside. In addition to the reduction in profile, the integrated feed design enables robust fixed control of the amplitude distribution across the aperture, a characteristic not as easily attained in typical reflectarrays/transmitarrays.

Research on motor braking-based DYC strategy for distributed electric vehicle

NASA Astrophysics Data System (ADS)

Zhang, Jingming; Liao, Weijie; Chen, Lei; Cui, Shumei

2017-08-01

In order to bring into full play the advantages of motor braking and enhance the handling stability of distributed electric vehicle, a motor braking-based direct yaw moment control (DYC) strategy was proposed. This strategy could identify whether a vehicle has under-steered or overs-steered, to calculate the direct yaw moment required for vehicle steering correction by taking the corrected yaw velocity deviation and slip-angle deviation as control variables, and exert motor braking moment on the target wheels to perform correction in the manner of differential braking. For validation of the results, a combined simulation platform was set up finally to simulate the motor braking control strategy proposed. As shown by the results, the motor braking-based DYC strategy timely adjusted the motor braking moment and hydraulic braking moment on the target wheels, and corrected the steering deviation and sideslip of the vehicle in unstable state, improving the handling stability.

Modeling and Control of Needles with Torsional Friction

PubMed Central

Reed, Kyle B.; Okamura, Allison M.; Cowan, Noah J.

2010-01-01

A flexible needle can be accurately steered by robotically controlling the bevel tip orientation as the needle is inserted into tissue. Friction between the long, flexible needle shaft and the tissue can cause a significant discrepancy between the orientation of the needle tip and the orientation of the base where the needle angle is controlled. Our experiments show that several common phantom tissues used in needle steering experiments impart substantial friction forces to the needle shaft, resulting in a lag of over 45° for a 10 cm insertion depth in some phantoms; clinical studies report torques large enough to cause similar errors during needle insertions. Such angle discrepancies will result in poor performance or failure of path planners and image-guided controllers, since the needles used in percutaneous procedures are too small for state-of-the-art imaging to accurately measure the tip angle. To compensate for the angle discrepancy, we develop an estimator using a mechanics-based model of the rotational dynamics of a needle being inserted into tissue. Compared to controllers that assume a rigid needle in a frictionless environment, our estimator-based controller improves the tip angle convergence time by nearly 50% and reduces the path deviation of the needle by 70%. PMID:19695979

Method and apparatus for optimizing the efficiency and quality of laser material processing

DOEpatents

Susemihl, Ingo

1990-01-01

The efficiency of laser welding and other laser material processing is optimized according to this invention by rotating the plane of polarization of a linearly polarized laser beam in relation to a work piece of the material being processed simultaneously and in synchronization with steering the laser beam over the work piece so as to keep the plane of polarization parallel to either the plane of incidence or the direction of travel of the beam in relation to the work piece. Also, depending to some extent on the particular processing being accomplished, such as welding or fusing, the angle of incidence of the laser beam on the work piece is kept at or near the polarizing or Brewster's angle. The combination of maintaining the plane of polarization parallel to plane of incidence while also maintaining the angle of incidence at or near the polarizing or Brewster's angle results in only minimal, if any, reflection losses during laser welding. Also, coordinating rotation of the plane of polarization with the translation or steering of a work piece under a laser cutting beam maximizes efficiency and kerf geometry, regardless of the direction of cut.

Method and apparatus for optimizing the efficiency and quality of laser material processing

DOEpatents

Susemihl, I.

1990-03-13

The efficiency of laser welding and other laser material processing is optimized according to this invention by rotating the plane of polarization of a linearly polarized laser beam in relation to a work piece of the material being processed simultaneously and in synchronization with steering the laser beam over the work piece so as to keep the plane of polarization parallel to either the plane of incidence or the direction of travel of the beam in relation to the work piece. Also, depending to some extent on the particular processing being accomplished, such as welding or fusing, the angle of incidence of the laser beam on the work piece is kept at or near the polarizing or Brewster's angle. The combination of maintaining the plane of polarization parallel to plane of incidence while also maintaining the angle of incidence at or near the polarizing or Brewster's angle results in only minimal, if any, reflection losses during laser welding. Also, coordinating rotation of the plane of polarization with the translation or steering of a work piece under a laser cutting beam maximizes efficiency and kerf geometry, regardless of the direction of cut. 7 figs.

Sidecut radius and the mechanics of turning—equipment designed to reduce risk of severe traumatic knee injuries in alpine giant slalom ski racing

PubMed Central

Spörri, Jörg; Kröll, Josef; Gilgien, Matthias; Müller, Erich

2016-01-01

Background There is limited empirical knowledge about the effect of ski geometry, particularly in the context of injury prevention in alpine ski racing. We investigated the effect of sidecut radius on biomechanical variables related to the mechanics of turning. Methods During a field experiment, six European Cup level athletes skied on three different pairs of giant slalom (GS) skis varying in sidecut radii (30 m, 35 m and 40 m). Using a video-based three-dimensional (3D) kinematic system, a 22-point body segment model of the athletes was reconstructed in 3D, and the variables ground reaction force, centre of mass (COM) speed, COM turn radius, ski turn radius, edge angle, fore/aft position and skid angle were calculated. Results While steering out of the fall line after gate passage, ground reaction force significantly differed between the 30 m and 40 m skis and between the 35 m and 40 m skis. These differences were mainly explainable by larger COM turn radii when skiing on the 40 m ski. During the same turn phase, significant differences in ski turn radius also were found, but there were no differences in edge angle, fore/aft position and skid angle. Summary The sidecut-induced reduction in ground reaction force and the sidecut-induced increase in centre of mass and ski turn radius observed in this study provides indirect evidence of reduced self-steering of the ski. Self-steering plays a central role in the mechanism of anterior cruciate ligament rupture in alpine ski racing. PMID:26702014

Steering disturbance rejection using a physics-based neuromusculoskeletal driver model

NASA Astrophysics Data System (ADS)

Mehrabi, Naser; Sharif Razavian, Reza; McPhee, John

2015-10-01

The aim of this work is to develop a comprehensive yet practical driver model to be used in studying driver-vehicle interactions. Drivers interact with their vehicle and the road through the steering wheel. This interaction forms a closed-loop coupled human-machine system, which influences the driver's steering feel and control performance. A hierarchical approach is proposed here to capture the complexity of the driver's neuromuscular dynamics and the central nervous system in the coordination of the driver's upper extremity activities, especially in the presence of external disturbance. The proposed motor control framework has three layers: the first (or the path planning) plans a desired vehicle trajectory and the required steering angles to perform the desired trajectory; the second (or the musculoskeletal controller) actuates the musculoskeletal arm to rotate the steering wheel accordingly; and the final layer ensures the precision control and disturbance rejection of the motor control units. The physics-based driver model presented here can also provide insights into vehicle control in relaxed and tensed driving conditions, which are simulated by adjusting the driver model parameters such as cognition delay and muscle co-contraction dynamics.

Single chip lidar with discrete beam steering by digital micromirror device.

PubMed

Smith, Braden; Hellman, Brandon; Gin, Adley; Espinoza, Alonzo; Takashima, Yuzuru

2017-06-26

A novel method of beam steering enables a large field of view and reliable single chip light detection and ranging (lidar) by utilizing a mass-produced digital micromirror device (DMD). Using a short pulsed laser, the micromirrors' rotation is frozen in mid-transition, which forms a programmable blazed grating. The blazed grating efficiently redistributes the light to a single diffraction order, among several. We demonstrated time of flight measurements for five discrete angles using this beam steering method with a nano second 905nm laser and Si avalanche diode. A distance accuracy of < 1 cm over a 1 m distance range, a 48° full field of view, and a measurement rate of 3.34k points/s is demonstrated.

ADDJUST - An automated system for steering Centaur launch vehicles in measured winds

NASA Technical Reports Server (NTRS)

Swanson, D. C.

1977-01-01

ADDJUST (Automatic Determination and Dissemination of Just-Updated Steering Terms) is an automated computer and communication system designed to provide Atlas/Centaur and Titan/Centaur launch vehicles with booster-phase steering data on launch day. Wind soundings are first obtained, from which a smoothed wind velocity vs altitude relationship is established. Design for conditions at the end of the boost phase with initial pitch and yaw maneuvers, followed by zero total angle of attack through the filtered wind establishes the required vehicle attitude as a function of altitude. Polynomial coefficients for pitch and yaw attitude vs altitude are determined and are transmitted for validation and loading into the Centaur airborne computer. The system has enabled 14 consecutive launches without a flight wind delay.

Identifying cognitive distraction using steering wheel reversal rates.

PubMed

Kountouriotis, Georgios K; Spyridakos, Panagiotis; Carsten, Oliver M J; Merat, Natasha

2016-11-01

The influence of driver distraction on driving performance is not yet well understood, but it can have detrimental effects on road safety. In this study, we examined the effects of visual and non-visual distractions during driving, using a high-fidelity driving simulator. The visual task was presented either at an offset angle on an in-vehicle screen, or on the back of a moving lead vehicle. Similar to results from previous studies in this area, non-visual (cognitive) distraction resulted in improved lane keeping performance and increased gaze concentration towards the centre of the road, compared to baseline driving, and further examination of the steering control metrics indicated an increase in steering wheel reversal rates, steering wheel acceleration, and steering entropy. We show, for the first time, that when the visual task is presented centrally, drivers' lane deviation reduces (similar to non-visual distraction), whilst measures of steering control, overall, indicated more steering activity, compared to baseline. When using a visual task that required the diversion of gaze to an in-vehicle display, but without a manual element, lane keeping performance was similar to baseline driving. Steering wheel reversal rates were found to adequately tease apart the effects of non-visual distraction (increase of 0.5° reversals) and visual distraction with offset gaze direction (increase of 2.5° reversals). These findings are discussed in terms of steering control during different types of in-vehicle distraction, and the possible role of manual interference by distracting secondary tasks. Copyright © 2016 Elsevier Ltd. All rights reserved.

ICESat-2 ATLAS Beam Steering Mechanism (BSM)

NASA Technical Reports Server (NTRS)

Hinkle, Matthew

2015-01-01

This work covers the design and test of a beam steering mechanism (BSM) used to accurately guide a laser on the Advanced Topographic Laser Altimeter System (ATLAS) down to Earth in order to measure elevation. It describes the main components in the BSM that allows it to perform and meet stringent requirements. Requirements of the BSM include two-axis steering of the transmitted laser beam, +-5000 uRad mechanical motion in each axis, and 1.5 uRad RMS pointing stability among many other requirements. The BSM uses four voice coil actuators in order to locate the mirror at the angle we need. There are four Differential Position Sensors that determine the position and angle of the mirror at all times. These sensors were verified through optical testing in both ambient and thermal conditions. Testing and extensive analyses were performed on the two-axis flexure throughout the program to check flexure thickness, positive margins, and infinite life. The mirror mount design has been modified to eliminate radial preload, while incorporating a titanium wave spring to provide an axial preload of 10.8N. The BSM underwent multiple tests in order to verify all components work as required under various conditions.

Integrated control design for driver assistance systems based on LPV methods

NASA Astrophysics Data System (ADS)

Gáspár, Péter; Németh, Balázs

2016-12-01

The paper proposes a control design method for a driver assistance system. In the operation of the system, a predefined trajectory required by the driver with a steering command is followed. During manoeuvres the control system generates differential brake moment and the auxiliary front-wheel steering angle and changes the camber angles of the wheels in order to improve the tracking of the road trajectory. The performance specifications are guaranteed by the local controllers, i.e. the brake, the steering, and the suspension systems, while the coordination of these components is provided by the supervisor. The advantage of this architecture is that local controllers are designed independently, which is ensured by the fact that the monitoring signals are taken into consideration in the formalisation of their performance specifications. The fault-tolerant control can be achieved by incorporating the detected fault signals in their performance specifications. The control system also uses a driver model, with which the reference signal can be generated. In the control design, the parameter-dependent linear parameter-varyingmethod, which meets the performance specifications, is used. The operation of the control system is illustrated through different normal and emergency vehicle manoeuvres with a high-accuracy simulation software.

Online Detection of Driver Fatigue Using Steering Wheel Angles for Real Driving Conditions.

PubMed

Li, Zuojin; Li, Shengbo Eben; Li, Renjie; Cheng, Bo; Shi, Jinliang

2017-03-02

This paper presents a drowsiness on-line detection system for monitoring driver fatigue level under real driving conditions, based on the data of steering wheel angles (SWA) collected from sensors mounted on the steering lever. The proposed system firstly extracts approximate entropy (ApEn)featuresfromfixedslidingwindowsonreal-timesteeringwheelanglestimeseries. Afterthat, this system linearizes the ApEn features series through an adaptive piecewise linear fitting using a given deviation. Then, the detection system calculates the warping distance between the linear features series of the sample data. Finally, this system uses the warping distance to determine the drowsiness state of the driver according to a designed binary decision classifier. The experimental data were collected from 14.68 h driving under real road conditions, including two fatigue levels: "wake" and "drowsy". The results show that the proposed system is capable of working online with an average 78.01% accuracy, 29.35% false detections of the "awake" state, and 15.15% false detections of the "drowsy" state. The results also confirm that the proposed method based on SWA signal is valuable for applications in preventing traffic accidents caused by driver fatigue.

Optimal run-and-tumble-based transportation of a Janus particle with active steering

NASA Astrophysics Data System (ADS)

Mano, Tomoyuki; Delfau, Jean-Baptiste; Iwasawa, Junichiro; Sano, Masaki

2017-03-01

Although making artificial micrometric swimmers has been made possible by using various propulsion mechanisms, guiding their motion in the presence of thermal fluctuations still remains a great challenge. Such a task is essential in biological systems, which present a number of intriguing solutions that are robust against noisy environmental conditions as well as variability in individual genetic makeup. Using synthetic Janus particles driven by an electric field, we present a feedback-based particle-guiding method quite analogous to the “run-and-tumbling” behavior of Escherichia coli but with a deterministic steering in the tumbling phase: the particle is set to the run state when its orientation vector aligns with the target, whereas the transition to the “steering” state is triggered when it exceeds a tolerance angle αα. The active and deterministic reorientation of the particle is achieved by a characteristic rotational motion that can be switched on and off by modulating the ac frequency of the electric field, which is reported in this work. Relying on numerical simulations and analytical results, we show that this feedback algorithm can be optimized by tuning the tolerance angle αα. The optimal resetting angle depends on signal to noise ratio in the steering state, and it is shown in the experiment. The proposed method is simple and robust for targeting, despite variability in self-propelling speeds and angular velocities of individual particles.

Biomechanical effects of mobile computer location in a vehicle cab.

PubMed

Saginus, Kyle A; Marklin, Richard W; Seeley, Patricia; Simoneau, Guy G; Freier, Stephen

2011-10-01

The objective of this research is to determine the best location to place a conventional mobile computer supported by a commercially available mount in a light truck cab. U.S. and Canadian electric utility companies are in the process of integrating mobile computers into their fleet vehicle cabs. There are no publications on the effect of mobile computer location in a vehicle cab on biomechanical loading, performance, and subjective assessment. The authors tested four locations of mobile computers in a light truck cab in a laboratory study to determine how location affected muscle activity of the lower back and shoulders; joint angles of the shoulders, elbows, and wrist; user performance; and subjective assessment. A total of 22 participants were tested in this study. Placing the mobile computer closer to the steering wheel reduced low back and shoulder muscle activity. Joint angles of the shoulders, elbows, and wrists were also closer to neutral angle. Biomechanical modeling revealed substantially less spinal compression and trunk muscle force. In general, there were no practical differences in performance between the locations. Subjective assessment indicated that users preferred the mobile computer to be as close as possible to the steering wheel. Locating the mobile computer close to the steering wheel reduces risk of injuries, such as low back pain and shoulder tendonitis. Results from the study can guide electric utility companies in the installation of mobile computers into vehicle cabs. Results may also be generalized to other industries that use trucklike vehicles, such as construction.

Endpoint Accuracy in Manual Control of a Steerable Needle.

PubMed

van de Berg, Nick J; Dankelman, Jenny; van den Dobbelsteen, John J

2017-02-01

To study the ability of a human operator to manually correct for errors in the needle insertion path without partial withdrawal of the needle by means of an active, tip-articulated steerable needle. The needle is composed of a 1.32-mm outer-diameter cannula, with a flexure joint near the tip, and a retractable stylet. The bending stiffness of the needle resembles that of a 20-gauge hypodermic needle. The needle functionality was evaluated in manual insertions by steering to predefined targets and a lateral displacement of 20 mm from the straight insertion line. Steering tasks were conducted in 5 directions and 2 tissue simulants under image guidance from a camera. The repeatability in instrument actuations was assessed during 100 mm deep automated insertions with a linear motor. In addition to tip position, tip angles were tracked during the insertions. The targeting error (mean absolute error ± standard deviation) during manual steering to 5 different targets in stiff tissue was 0.5 mm ± 1.1. This variability in manual tip placement (1.1 mm) was less than the variability among automated insertions (1.4 mm) in the same tissue type. An increased tissue stiffness resulted in an increased lateral tip displacement. The tip angle was directly controlled by the user interface, and remained unaffected by the tissue stiffness. This study demonstrates the ability to manually steer needles to predefined target locations under image guidance. Copyright © 2016 SIR. Published by Elsevier Inc. All rights reserved.

Needle-like instruments for steering through solid organs: A review of the scientific and patent literature.

PubMed

Scali, Marta; Pusch, Tim P; Breedveld, Paul; Dodou, Dimitra

2017-03-01

High accuracy and precision in reaching target locations inside the human body is necessary for the success of percutaneous procedures, such as tissue sample removal (biopsy), brachytherapy, and localized drug delivery. Flexible steerable needles may allow the surgeon to reach targets deep inside solid organs while avoiding sensitive structures (e.g. blood vessels). This article provides a systematic classification of possible mechanical solutions for three-dimensional steering through solid organs. A scientific and patent literature search of steerable instrument designs was conducted using Scopus and Web of Science Derwent Innovations Index patent database, respectively. First, we distinguished between mechanisms in which deflection is induced by the pre-defined shape of the instrument versus mechanisms in which an actuator changes the deflection angle of the instrument on demand. Second, we distinguished between mechanisms deflecting in one versus two planes. The combination of deflection method and number of deflection planes led to eight logically derived mechanical solutions for three-dimensional steering, of which one was dismissed because it was considered meaningless. Next, we classified the instrument designs retrieved from the scientific and patent literature into the identified solutions. We found papers and patents describing instrument designs for six of the seven solutions. We did not find papers or patents describing instruments that steer in one-plane on-demand via an actuator and in a perpendicular plane with a pre-defined deflection angle via a bevel tip or a pre-curved configuration.

Measurement of Sub Degree Angular Carbon Fiber Tow Misalignment

NASA Technical Reports Server (NTRS)

Wilson, William C.; Moore, Jason P.; McCraw, Hunter

2017-01-01

NASA is investigating the use of carbon fiber tow steering to tune aeroelastic characteristics in advanced composite structures. In support of that effort, NASA is also investigating methods of measuring the angle of carbon fiber tows as they are placed. This work presents the results of using microwave reflectometry in the approximately 2 GHz region to measure carbon fiber tow angles at 0.1deg resolution.

Extending the scanning angle of a phased array antenna by using a null-space medium.

PubMed

Sun, Fei; He, Sailing

2014-10-30

By introducing a columnar null-space region as the reference space, we design a radome that can extend the scanning angle of a phased array antenna (PAA) by a predetermined relationship (e.g. a linear relationship between the incident angle and steered output angle can be achieved). After some approximation, we only need two homogeneous materials to construct the proposed radome layer by layer. This kind of medium is called a null-space medium, which has been studied and fabricated for realizing hyper-lenses and some other devices. Numerical simulations verify the performance of our radome.

High-performance beam steering using electrowetting-driven liquid prism fabricated by a simple dip-coating method

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

Enrico Clement, Carlos; Park, Sung-Yong, E-mail: mpeps@nus.edu.sg

2016-05-09

A high degree of beam steering is demonstrated using an electrowetting-driven liquid prism. While prism devices have typically relied on complex and expensive laboratory setups, such as high-vacuum facilities for fabrication of dielectric layers, this work utilizes a simple dip-coating method to provide an ion gel layer as a dielectric, offering 2 or 3 orders higher specific capacitance (c ≈ 10 μF/cm{sup 2}) than that of conventional dielectrics. Analytical studies present the effects of liquid selection and arrangement on overall prism performance. For experimental demonstrations of high-performance beam steering, we not only selected two immiscible liquids of water and 1-bromonaphthalene (1-BN)more » oil which provide the large refractive index difference (n{sub water} = 1.33 and n{sub 1-BN} = 1.65 at λ = 532 nm) between them, but also utilized a double-stacked prism configuration which increases the number of interfaces for incoming light to be steered. At a prism apex angle of φ = 27°, we were able to achieve significantly large beam steering of up to β = 19.06°, which is the highest beam steering performance ever demonstrated using electrowetting technology.« less

Comparison of Curvilinear Stiffeners and Tow Steered Composites for Aeroelastic Tailoring of Transports

NASA Technical Reports Server (NTRS)

Stanford, Bret K.; Jutte, Christine V.

2016-01-01

A series of aeroelastic optimization problems are solved on a high aspect ratio wingbox of the Common Research Model, in an effort to minimize structural mass under coupled stress, buckling, and flutter constraints. Two technologies are of particular interest: tow steered composite laminate skins and curvilinear stiffeners. Both methods are found to afford feasible reductions in mass over their non-curvilinear structural counterparts, through both distinct and shared mechanisms for passively controlling aeroelastic performance. Some degree of diminishing returns are seen when curvilinear stiffeners and curvilinear fiber tow paths are used simultaneously.

Bilateral buphthalmia in a 4-month-old Texas longhorn steer.

PubMed

Jones, M L; Beck, A P; Dubielzig, R R

2013-01-01

Congenital ocular disease occurs uncommonly in cattle, with multiple abnormalities reported only sporadically in the literature. This report describes a case of anterior segment dysgenesis resulting in glaucoma in a 4-month-old Texas Longhorn steer. On clinical exam, bilateral buphthalmia was present and intraocular pressures exceeded 47 mm Hg in both eyes. On histopathologic examination, the iridocorneal angle and filtration apparatus were distorted due to collapse of the ciliary cleft and anterior displacement of the anterior portion of the ciliary body. No evidence of inflammation or other causes of glaucoma were recognized.

Radial microstrip slotline feed network for circular mobile communications array

NASA Technical Reports Server (NTRS)

Simons, Rainee N.; Kelly, Eron S.; Lee, Richard Q.; Taub, Susan R.

1994-01-01

In mobile and satellite communications there is a need for low cost and low profile antennas which have a toroidal pattern. Antennas that have been developed for mobile communications include a L-Band electronically steered stripline phased array, a Ka-Band mechanically steered elliptical reflector antenna and a Ka-Band printed dipole. In addition, a L-Band mechanically steered microstrip array, a L-Band microstrip phased array tracking antenna for mounting on a car roof and an X-Band radial line slotted waveguide antenna have been demonstrated. In the above electronically scanned printed arrays, the individual element radiates normally to the plane of the array and hence require a phase shifter to scan the beam towards the horizon. Scanning in the azimuth is by mechanical or electronic steering. An alternate approach is to mount microstrip patch radiators on the surface of a cone to achieve the required elevation angle. The array then scans in the azimuth by beam switching.

Double wedge prism based beam deflector for precise laser beam steering

NASA Astrophysics Data System (ADS)

Tyszka, Krzysztof; Dobosz, Marek; Bilaszewski, Tomasz

2018-02-01

Aiming to increase laser beam pointing stability required in interferometric measurements, we designed a laser beam deflector intended for active laser beam stabilization systems. The design is based on two wedge-prisms: the deflecting wedge driven by a tilting piezo-platform and the fixed wedge to compensate initial beam deflection. Our design allows linear beam steering, independently in the horizontal or vertical direction, with resolution of less than 1 μrad in a range of more than 100 μrad, and no initial deflection of the beam. Moreover, the ratio of the output beam deflection angle and the wedge tilt angle is less than 0.1; therefore, the noise influence is significantly reduced in comparison to standard mirror-based deflectors. The theoretical analyses support the designing process and can serve as a guide to wedge-prism selection. The experimental results are in agreement with theory and confirm the advantages of the presented double wedge system.

Beam steering for virtual/augmented reality displays with a cycloidal diffractive waveplate.

PubMed

Chen, Haiwei; Weng, Yishi; Xu, Daming; Tabiryan, Nelson V; Wu, Shin-Tson

2016-04-04

We proposed a switchable beam steering device with cycloidal diffractive waveplate (CDW) for eye tracking in a virtual reality (VR) or augmented reality (AR) display system. Such a CDW diffracts the incident circularly polarized light to the first order with over 95% efficiency. To convert the input linearly polarized light to right-handed or left-handed circular polarization, we developed a broadband polarization switch consisting of a twisted nematic liquid crystal cell and an achromatic quarter-wave retardation film. By cascading 2-3 CDWs together, multiple diffraction angles can be achieved. To suppress the color dispersion, we proposed two approaches to obtain the same diffraction angle for red, green, and blue LEDs-based full color displays. Our device exhibits several advantages, such as high diffraction efficiency, fast response time, low power consumption, and low cost. It holds promise for the emerging VR/AR displays.

Strong field acceleration and steering of ultrafast electron pulses from a sharp metallic nanotip.

PubMed

Park, Doo Jae; Piglosiewicz, Bjoern; Schmidt, Slawa; Kollmann, Heiko; Mascheck, Manfred; Lienau, Christoph

2012-12-14

We report a strong, laser-field induced modification of the propagation direction of ultrashort electron pulses emitted from nanometer-sized gold tapers. Angle-resolved kinetic energy spectra of electrons emitted from such tips are recorded using ultrafast near-infrared light pulses of variable wavelength and intensity for excitation. For sufficiently long wavelengths, we observe a pronounced strong-field acceleration of electrons within the field gradient at the taper apex. We find a distinct narrowing of the emission cone angle of the fastest electrons. We ascribe this to the field-induced steering of subcycle electrons as opposed to the diverging emission of quiver electrons. Our findings are corroborated by simulations based on a modified Simpleman model incorporating the curved, vectorial field gradient in the vicinity of the tip. Our results indicate new pathways for designing highly directional nanometer-sized ultrafast electron sources.

Sun-Relative Pointing for Dual-Axis Solar Trackers Employing Azimuth and Elevation Rotations

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

Riley, Daniel; Hansen, Clifford W.

Dual axis trackers employing azimuth and elevation rotations are common in the field of photovoltaic (PV) energy generation. Accurate sun-tracking algorithms are widely available. However, a steering algorithm has not been available to accurately point the tracker away from the sun such that a vector projection of the sun beam onto the tracker face falls along a desired path relative to the tracker face. We have developed an algorithm which produces the appropriate azimuth and elevation angles for a dual axis tracker when given the sun position, desired angle of incidence, and the desired projection of the sun beam ontomore » the tracker face. Development of this algorithm was inspired by the need to accurately steer a tracker to desired sun-relative positions in order to better characterize the electro-optical properties of PV and CPV modules.« less

Fast-steering solutions for cubesat-scale optical communications

NASA Astrophysics Data System (ADS)

Kingsbury, R. W.; Nguyen, T.; Riesing, K.; Cahoy, K.

2017-11-01

We describe the design of a compact free-space optical communications module for use on a nanosatellite and present results from a detailed trade study to select an optical fine steering mechanism compatible with our stringent size, weight and power (SWaP) constraints. This mechanism is an integral component of the compact free-space optical communications system that is under development at the MIT Space Systems Laboratory [1]. The overall goal of this project is to develop a laser communications (lasercom) payload that fits within the SWaP constraints of a typical ``3U'' CubeSat. The SWaP constraints for the entire lasercom payload are 5 cm × 10 cm × 10 cm, 600 g and 10W. Although other efforts are underway to qualify MEMS deformable mirrors for use in CubeSats [2], there has been very little work towards qualifying tip-tilt MEMS mirrors [3]. Sec. II provides additional information on how the fast steering mechanism is used in our lasercom system. Performance requirements and desirable traits of the mechanism are given. In Sec. III we describe the various types of compact tip-tilt mirrors that are commercially available as well as the justification for selecting a MEMS-based device for our application. Sec. IV presents an analysis of the device's transfer function characteristics and ways of predicting this behavior that are suitable for use in the control processor. This analysis is based upon manufacturer-provided test data which was collected at standard room conditions. In the final section, we describe on-going work to build a testbed that will be used to measure device performance in a thermal chamber.

Differential equations in airplane mechanics

NASA Technical Reports Server (NTRS)

Carleman, M T

1922-01-01

In the following report, we will first draw some conclusions of purely theoretical interest, from the general equations of motion. At the end, we will consider the motion of an airplane, with the engine dead and with the assumption that the angle of attack remains constant. Thus we arrive at a simple result, which can be rendered practically utilizable for determining the trajectory of an airplane descending at a constant steering angle.

Ultrasound beam steering of oxygen nanobubbles for enhanced bladder cancer therapy.

PubMed

Bhandari, Pushpak; Novikova, Gloriia; Goergen, Craig J; Irudayaraj, Joseph

2018-02-15

New intravesical treatment approaches for bladder cancer are needed as currently approved treatments show several side effects and high tumor recurrence rate. Our study used MB49 murine urothelial carcinoma model to evaluate oxygen encapsulated cellulosic nanobubbles as a novel agent for imaging and ultrasound guided drug delivery. In this study, we show that oxygen nanobubbles (ONB) can be propelled (up to 40 mm/s) and precisely guided in vivo to the tumor by an ultrasound beam. Nanobubble velocity can be controlled by altering the power of the ultrasound Doppler beam, while nanobubble direction can be adjusted to different desired angles by altering the angle of the beam. Precise ultrasound beam steering of oxygen nanobubbles was shown to enhance the efficacy of mitomycin-C, resulting in significantly lower tumor progression rates while using a 50% lower concentration of chemotherapeutic drug. Further, dark field imaging was utilized to visualize and quantify the ONB ex vivo. ONBs were found to localize up to 500 µm inside the tumor using beam steering. These results demonstrate the potential of an oxygen nanobubble drug encapsulated system to become a promising strategy for targeted drug delivery because of its multimodal (imaging and oxygen delivery) and multifunctional (targeting and hypoxia programming) properties.

Design and Manufacturing of Tow-Steered Composite Shells Using Fiber Placement

NASA Technical Reports Server (NTRS)

Wu, K. Chauncey; Tatting, Brian F.; Smith, Brett H.; Stevens, Randy S.; Occhipiniti, Gina P.; Swift, Jonathan B.; Achary, David C.; Thornburgh, Robert P.

2009-01-01

Advanced composite shells that may offer the potential to improve the structural performance of future aircraft fuselage structures were developed under this joint NASA-industry collaborative effort. Two cylindrical shells with tailored, tow-steered layups and continuously varying fiber angle orientations were designed and built at the National Center for Advanced Manufacturing - Louisiana Partnership. The shells were fabricated from unidirectional IM7/8552 graphite-epoxy pre-preg slit tape material fiber-placed on a constant-diameter mandrel. Each shell had the same nominal 8-ply [plus or minus 45/plus or minus Theta]s layup, where the nominal fiber angle in the tow-steered plies varied continuously from 10 degrees along the crown to 45 degrees on each side, then back to 10 degrees on the keel. One shell was fabricated with all 24 tows placed during each pass of the fiber placement machine, resulting in many tow overlaps on the shell surface. The fiber placement machine's individual tow cut/restart capability was also used to manufacture a second shell with tow drops and a more uniform laminate thickness. This paper presents an overview of the detailed design and manufacturing processes for these shells, and discusses issues encountered during their fabrication and post-cure evaluation. Future plans for structural testing and analyses of the shells are also discussed.

Extending the scanning angle of a phased array antenna by using a null-space medium

PubMed Central

Sun, Fei; He, Sailing

2014-01-01

By introducing a columnar null-space region as the reference space, we design a radome that can extend the scanning angle of a phased array antenna (PAA) by a predetermined relationship (e.g. a linear relationship between the incident angle and steered output angle can be achieved). After some approximation, we only need two homogeneous materials to construct the proposed radome layer by layer. This kind of medium is called a null-space medium, which has been studied and fabricated for realizing hyper-lenses and some other devices. Numerical simulations verify the performance of our radome. PMID:25355198

Optimized coordination of brakes and active steering for a 4WS passenger car.

PubMed

Tavasoli, Ali; Naraghi, Mahyar; Shakeri, Heman

2012-09-01

Optimum coordination of individual brakes and front/rear steering subsystems is presented. The integrated control strategy consists of three modules. A coordinated high-level control determines the body forces/moment required to achieve vehicle motion objectives. The body forces/moment are allocated to braking and steering subsystems through an intermediate unit, which integrates available subsystems based on phase plane notion in an optimal manner. To this end, an optimization problem including several equality and inequality constraints is defined and solved analytically, such that a real-time implementation can be realized without the use of numeric optimization software. A low-level slip-ratio controller works to generate the desired longitudinal forces at small longitudinal slip-ratios, while averting wheel locking at large slip-ratios. The efficiency of the suggested approach is demonstrated through computer simulations. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

SPS Beam Steering for LHC Extraction

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

Gianfelice-Wendt, Eliana; Bartosik, Hannes; Cornelis, Karel

2014-07-01

The CERN Super Proton Synchrotron accelerates beams for the Large Hadron Collider to 450 GeV. In addition it produces beams for fixed target facilities which adds complexity to the SPS operation. During the run 2012-2013 drifts of the extracted beam trajectories have been observed and lengthy optimizations in the transfer lines were performed to reduce particle losses in the LHC. The observed trajectory drifts are consistent with the measured SPS orbit drifts at extraction. While extensive studies are going on to understand, and possibly suppress, the source of such SPS orbit drifts the feasibility of an automatic beam steering towardsmore » a “golden” orbit at the extraction septa, by means of the interlocked correctors, is also being investigated. The challenges and constraints related to the implementation of such a correction in the SPS are described. Simulation results are presented and a possible operational steering strategy is proposed.« less

Aeroelastic Tailoring of Transport Wings Including Transonic Flutter Constraints

NASA Technical Reports Server (NTRS)

Stanford, Bret K.; Wieseman, Carol D.; Jutte, Christine V.

2015-01-01

Several minimum-mass optimization problems are solved to evaluate the effectiveness of a variety of novel tailoring schemes for subsonic transport wings. Aeroelastic stress and panel buckling constraints are imposed across several trimmed static maneuver loads, in addition to a transonic flutter margin constraint, captured with aerodynamic influence coefficient-based tools. Tailoring with metallic thickness variations, functionally graded materials, balanced or unbalanced composite laminates, curvilinear tow steering, and distributed trailing edge control effectors are all found to provide reductions in structural wing mass with varying degrees of success. The question as to whether this wing mass reduction will offset the increased manufacturing cost is left unresolved for each case.

Through the eyes of a bird: modelling visually guided obstacle flight

PubMed Central

Lin, Huai-Ti; Ros, Ivo G.; Biewener, Andrew A.

2014-01-01

Various flight navigation strategies for birds have been identified at the large spatial scales of migratory and homing behaviours. However, relatively little is known about close-range obstacle negotiation through cluttered environments. To examine obstacle flight guidance, we tracked pigeons (Columba livia) flying through an artificial forest of vertical poles. Interestingly, pigeons adjusted their flight path only approximately 1.5 m from the forest entry, suggesting a reactive mode of path planning. Combining flight trajectories with obstacle pole positions, we reconstructed the visual experience of the pigeons throughout obstacle flights. Assuming proportional–derivative control with a constant delay, we searched the relevant parameter space of steering gains and visuomotor delays that best explained the observed steering. We found that a pigeon's steering resembles proportional control driven by the error angle between the flight direction and the desired opening, or gap, between obstacles. Using this pigeon steering controller, we simulated obstacle flights and showed that pigeons do not simply steer to the nearest opening in the direction of flight or destination. Pigeons bias their flight direction towards larger visual gaps when making fast steering decisions. The proposed behavioural modelling method converts the obstacle avoidance behaviour into a (piecewise) target-aiming behaviour, which is better defined and understood. This study demonstrates how such an approach decomposes open-loop free-flight behaviours into components that can be independently evaluated. PMID:24812052

Through the eyes of a bird: modelling visually guided obstacle flight.

PubMed

Lin, Huai-Ti; Ros, Ivo G; Biewener, Andrew A

2014-07-06

Various flight navigation strategies for birds have been identified at the large spatial scales of migratory and homing behaviours. However, relatively little is known about close-range obstacle negotiation through cluttered environments. To examine obstacle flight guidance, we tracked pigeons (Columba livia) flying through an artificial forest of vertical poles. Interestingly, pigeons adjusted their flight path only approximately 1.5 m from the forest entry, suggesting a reactive mode of path planning. Combining flight trajectories with obstacle pole positions, we reconstructed the visual experience of the pigeons throughout obstacle flights. Assuming proportional-derivative control with a constant delay, we searched the relevant parameter space of steering gains and visuomotor delays that best explained the observed steering. We found that a pigeon's steering resembles proportional control driven by the error angle between the flight direction and the desired opening, or gap, between obstacles. Using this pigeon steering controller, we simulated obstacle flights and showed that pigeons do not simply steer to the nearest opening in the direction of flight or destination. Pigeons bias their flight direction towards larger visual gaps when making fast steering decisions. The proposed behavioural modelling method converts the obstacle avoidance behaviour into a (piecewise) target-aiming behaviour, which is better defined and understood. This study demonstrates how such an approach decomposes open-loop free-flight behaviours into components that can be independently evaluated.

Hyper- and viscoelastic modeling of needle and brain tissue interaction.

PubMed

Lehocky, Craig A; Yixing Shi; Riviere, Cameron N

2014-01-01

Deep needle insertion into brain is important for both diagnostic and therapeutic clinical interventions. We have developed an automated system for robotically steering flexible needles within the brain to improve targeting accuracy. In this work, we have developed a finite element needle-tissue interaction model that allows for the investigation of safe parameters for needle steering. The tissue model implemented contains both hyperelastic and viscoelastic properties to simulate the instantaneous and time-dependent responses of brain tissue. Several needle models were developed with varying parameters to study the effects of the parameters on tissue stress, strain and strain rate during needle insertion and rotation. The parameters varied include needle radius, bevel angle, bevel tip fillet radius, insertion speed, and rotation speed. The results will guide the design of safe needle tips and control systems for intracerebral needle steering.

Spatial aliasing for efficient direction-of-arrival estimation based on steering vector reconstruction

NASA Astrophysics Data System (ADS)

Yan, Feng-Gang; Cao, Bin; Rong, Jia-Jia; Shen, Yi; Jin, Ming

2016-12-01

A new technique is proposed to reduce the computational complexity of the multiple signal classification (MUSIC) algorithm for direction-of-arrival (DOA) estimate using a uniform linear array (ULA). The steering vector of the ULA is reconstructed as the Kronecker product of two other steering vectors, and a new cost function with spatial aliasing at hand is derived. Thanks to the estimation ambiguity of this spatial aliasing, mirror angles mathematically relating to the true DOAs are generated, based on which the full spectral search involved in the MUSIC algorithm is highly compressed into a limited angular sector accordingly. Further complexity analysis and performance studies are conducted by computer simulations, which demonstrate that the proposed estimator requires an extremely reduced computational burden while it shows a similar accuracy to the standard MUSIC.

Model studies of crosswind landing-gear configurations for STOL aircraft

NASA Technical Reports Server (NTRS)

Stubbs, S. M.; Byrdsong, T. A.

1973-01-01

A dynamic model was used to directly compare four different crosswind landing gear mechanisms. The model was landed as a free body onto a laterally sloping runway used to simulate a crosswind side force. A radio control system was used for steering to oppose the side force as the model rolled to a stop. The configuration in which the landing gears are alined by the pilot and locked in the direction of motion prior to touchdown gave the smoothest runout behavior with the vehicle maintaining its crab angle throughout the landing roll. Nose wheel steering was confirmed to be better than steering with nose and main gears differentially or together. Testing is continuing to obtain quantitative data to establish an experimental data base for validation of an analytical program that will be capable of predicting full scale results.

Wide steering angle microscanner based on curved surface

NASA Astrophysics Data System (ADS)

Sabry, Yasser; Khalil, Diaa; Saadany, Bassam; Bourouina, Tarik

2013-03-01

Intensive industrial and academic research is oriented towards the design and fabrication of optical beam steering systems based on MEMS technology. In most of these systems, the scanning is achieved by rotating a flat micromirror around a central axis in which the main challenge is achieving a wide mirror rotation angle. In this work, a novel method of optical beam scanning based on reflection from a curved surface is presented. The scanning occurs when the optical axis of the curved surface is displaced with respect to the optical axis of the incident beam. To overcome the possible deformation of the spot with the scanning angle, the curved surface is designed with a specific aspherical profile. Moreover, the scanning exhibits a more linearized scanning angle-displacement relation than the conventional spherical profile. The presented scanner is fabricated using DRIE technology on an SOI wafer. The curved surface (reflector) is metalized and attached to a comb-drive actuator fabricated in the same lithography step. A single-mode fiber, behaving as a Gaussian beam source, is positioned on the substrate facing the mirror. The reflected optical beam angle and spotsize in the far field is recorded versus the relative shift between the fiber and the curved mirror. The spot size is plotted versus the scanning angle and a scanning spot size uniformity of about +/-10% is obtained for optical deflection angles up to 100 degrees. As the optical beam is propagating parallel to the wafer substrate, a completely integrated laser scanner can be achieved with filters and actuators self-aligned on the same chip that allows low cost and mass production of this important product.

Beam steering performance of compressed Luneburg lens based on transformation optics

NASA Astrophysics Data System (ADS)

Gao, Ju; Wang, Cong; Zhang, Kuang; Hao, Yang; Wu, Qun

2018-06-01

In this paper, two types of compressed Luneburg lenses based on transformation optics are investigated and simulated using two different sources, namely, waveguides and dipoles, which represent plane and spherical wave sources, respectively. We determined that the largest beam steering angle and the related feed point are intrinsic characteristics of a certain type of compressed Luneburg lens, and that the optimized distance between the feed and lens, gain enhancement, and side-lobe suppression are related to the type of source. Based on our results, we anticipate that these lenses will prove useful in various future antenna applications.

Localization Based on Magnetic Markers for an All-Wheel Steering Vehicle

PubMed Central

Byun, Yeun Sub; Kim, Young Chol

2016-01-01

Real-time continuous localization is a key technology in the development of intelligent transportation systems. In these systems, it is very important to have accurate information about the position and heading angle of the vehicle at all times. The most widely implemented methods for positioning are the global positioning system (GPS), vision-based system, and magnetic marker system. Among these methods, the magnetic marker system is less vulnerable to indoor and outdoor environment conditions; moreover, it requires minimal maintenance expenses. In this paper, we present a position estimation scheme based on magnetic markers and odometry sensors for an all-wheel-steering vehicle. The heading angle of the vehicle is determined by using the position coordinates of the last two detected magnetic markers and odometer data. The instant position and heading angle of the vehicle are integrated with an extended Kalman filter to estimate the continuous position. GPS data with the real-time kinematics mode was obtained to evaluate the performance of the proposed position estimation system. The test results show that the performance of the proposed localization algorithm is accurate (mean error: 3 cm; max error: 9 cm) and reliable under unexpected missing markers or incorrect markers. PMID:27916827

De-Identification in Learning Analytics

ERIC Educational Resources Information Center

Khalila, Mohammad; Ebner, Martin

2016-01-01

Learning analytics has reserved its position as an important field in the educational sector. However, the large-scale collection, processing, and analyzing of data has steered the wheel beyond the borders to face an abundance of ethical breaches and constraints. Revealing learners' personal information and attitudes, as well as their activities,…

TRAGEN: Computer program to simulate an aircraft steered to follow a specified verticle profile. User's guide

NASA Technical Reports Server (NTRS)

1983-01-01

The longitudinal dynamics of a medium range twin-jet or tri-jet transport aircraft are simulated. For the climbing trajectory, the thrust is constrained to maximum value, and for descent, the thrust is set at idle. For cruise, the aircraft is held in the trim condition. For climb or descent, the aircraft is steered to follow either (a) a fixed profile which is input to the program or (b) a profile computed at the beginning of that segment of the run. For climb, the aircraft is steered to maintain the given airspeed as a function of altitude. For descent, the aircraft is steered to maintain the given altitude as a function of range-to-go. In both cases, the control variable is angle-of-attack. The given output trajectory is presented and compared with the input trajectory. Step climb is treated just as climb. For cruise, the Breguet equations are used to compute the fuel burned to achieve a given range and to connect given initial and final values of altitude and Mach number.

Effect of yaw angle on steering forces for the lunar roving vehicle wheel

NASA Technical Reports Server (NTRS)

Green, A. J.

1974-01-01

A series of tests was conducted with a Lunar Roving Vehicle (LRV) wheel operating at yaw angles ranging from -5 to +90 deg. The load was varied from 42 to 82 lb (187 to 365 N), and the speed was varied from 3.5 to 10.0 ft/sec (1.07 to 3.05 m/sec). It was noted that speed had an effect on side thrust and rut depth. Side thrust, rut depth, and skid generally increased as the yaw angle increased. For the range of loads used, the effect of load on performance was not significant.

Kirigami Nanocomposites as Wide-Angle Diffraction Gratings.

PubMed

Xu, Lizhi; Wang, Xinzhi; Kim, Yoonseob; Shyu, Terry C; Lyu, Jing; Kotov, Nicholas A

2016-06-28

Beam steering devices represent an essential part of an advanced optics toolbox and are needed in a spectrum of technologies ranging from astronomy and agriculture to biosensing and networked vehicles. Diffraction gratings with strain-tunable periodicity simplify beam steering and can serve as a foundation for light/laser radar (LIDAR/LADAR) components of robotic systems. However, the mechanical properties of traditional materials severely limit the beam steering angle and cycle life. The large strain applied to gratings can severely impair the device performance both in respect of longevity and diffraction pattern fidelity. Here, we show that this problem can be resolved using micromanufactured kirigami patterns from thin film nanocomposites based on high-performance stiff plastics, metals, and carbon nanotubes, etc. The kirigami pattern of microscale slits reduces the stochastic concentration of strain in stiff nanocomposites including those made by layer-by-layer assembly (LBL). The slit patterning affords reduction of strain by 2 orders of magnitude for stretching deformation and consequently enables reconfigurable optical gratings with over a 100% range of period tunability. Elasticity of the stiff nanocomposites and plastics makes possible cyclic reconfigurability of the grating with variable time constant that can also be referred to as 4D kirigami. High-contrast, sophisticated diffraction patterns with as high as fifth diffraction order can be obtained. The angular range of beam steering can be as large as 6.5° for a 635 nm laser beam compared to ∼1° in surface-grooved elastomer gratings and ∼0.02° in MEMS gratings. The versatility of the kirigami patterns, the diversity of the available nanocomposite materials, and their advantageous mechanical properties of the foundational materials open the path for engineering of reconfigurable optical elements in LIDARs essential for autonomous vehicles and other optical devices with spectral range determined by the kirigami periodicity.

From Wake Steering to Flow Control

DOE PAGES

Fleming, Paul A.; Annoni, Jennifer; Churchfield, Matthew J.; ...

2017-11-22

In this article, we investigate the role of flow structures generated in wind farm control through yaw misalignment. A pair of counter-rotating vortices are shown to be important in deforming the shape of the wake and in explaining the asymmetry of wake steering in oppositely signed yaw angles. We motivate the development of new physics for control-oriented engineering models of wind farm control, which include the effects of these large-scale flow structures. Such a new model would improve the predictability of control-oriented models. Results presented in this paper indicate that wind farm control strategies, based on new control-oriented models withmore » new physics, that target total flow control over wake redirection may be different, and perhaps more effective, than current approaches. We propose that wind farm control and wake steering should be thought of as the generation of large-scale flow structures, which will aid in the improved performance of wind farms.« less

Design and development of an electrically-controlled beam steering mirror for microwave tomography

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

Tayebi, A., E-mail: tayebiam@msu.edu; Tang, J.; Paladhi, P. Roy

2015-03-31

Microwave tomography has gained significant attention due to its reliability and unhazardous nature in the fields of NDE and medical industry. A new microwave tomography system is presented in this paper, which significantly reduces the design and operational complexities of traditional microwave imaging systems. The major component of the proposed system is a reconfigurable reflectarray antenna which is used for beam steering in order to generate projections from multiple angles. The design, modeling and fabrication of the building block of the antenna, a tunable unit cell, are discussed in this paper. The unit cell is capable of dynamically altering themore » phase of the reflected field which results in beam steering ability of the reflectarray antenna. A tomographically reconstructed image of a dielectric sample using this new microwave tomography system is presented in this work.« less

Launch flexibility using NLP guidance and remote wind sensing

NASA Technical Reports Server (NTRS)

Cramer, Evin J.; Bradt, Jerre E.; Hardtla, John W.

1990-01-01

This paper examines the use of lidar wind measurements in the implementation of a guidance strategy for a nonlinear programming (NLP) launch guidance algorithm. The NLP algorithm uses B-spline command function representation for flexibility in the design of the guidance steering commands. Using this algorithm, the guidance system solves a two-point boundary value problem at each guidance update. The specification of different boundary value problems at each guidance update provides flexibility that can be used in the design of the guidance strategy. The algorithm can use lidar wind measurements for on pad guidance retargeting and for load limiting guidance steering commands. Examples presented in the paper use simulated wind updates to correct wind induced final orbit errors and to adjust the guidance steering commands to limit the product of the dynamic pressure and angle-of-attack for launch vehicle load alleviation.

The Relationship Between Extratropical Cyclone Steering and Blocking Along the North American East Coast

NASA Astrophysics Data System (ADS)

Booth, James F.; Dunn-Sigouin, Etienne; Pfahl, Stephan

2017-12-01

The path and speed of extratropical cyclones along the east coast of North America influence their societal impact. This work characterizes the climatological relationship between cyclone track path and speed, and blocking and the North Atlantic Oscillation (NAO). An analysis of Lagrangian cyclone track propagation speed and angle shows that the percentage of cyclones with blocks is larger for cyclones that propagate northward or southeastward, as is the size of the blocked region near the cyclone. Cyclone-centered composites show that propagation of cyclones relative to blocks is consistent with steering by the block: northward tracks more often have a block east/northeast of the cyclone; slow tracks tend to have blocks due north of the cyclone. Comparison with the NAO shows that to first-order blocking and the NAO steer cyclones in a similar manner. However, blocked cyclones are more likely to propagate northward, increasing the likelihood of cyclone related impacts.

Timing performance of a self-cancelling turn-signal mechanism in motorcycles based on the ATMega328P microcontroller

NASA Astrophysics Data System (ADS)

Nurbuwat, Adzin Kondo; Eryandi, Kholid Yusuf; Estriyanto, Yuyun; Widiastuti, Indah; Pambudi, Nugroho Agung

2018-02-01

The objective of this study is to measure the time performance of a self-cancelling turn signal mechanism based on the In this study the performance of self-cancelling turn signal based on ATMega328P microcontroller is measured at low speed and high speed treatment on motorcycles commonly used in Indonesia. Time performance measurements were made by comparing the self-cancelling turn signal based on ATMega328P microcontroller with standard motor turn time. Measurements of time at low speed treatment were performed at a speed range of 15 km / h, 20 km / h, 25 km / h on the U-turn test trajectory. The angle of the turning angle of the potentiometer is determined at 3°. The limit of steering wheel turning angle at the potentiometer is set at 3°. For high-speed treatment is 30 km / h, 40 km / h, 50km / h, and 60 km / h, on the L-turn test track with a tilt angle (roll angle) read by the L3G4200D gyroscope sensor. Each speed test is repeated 3 replications. Standard time is a reference for self-cancelling turn signal performance. The standard time obtained is 15.68 s, 11.96 s, 9.34 s at low speed and 4.63 s, 4.06 s, 3.61 s, 3.13 s at high speed. The time test of self-cancelling turn signal shows 16.10 s, 12.42 s, 10.24 s at the low speed and 5.18, 4.51, 3.73, 3.21 at the high speed. At a speed of 15 km / h occurs the instability of motion turns motorcycle so that testing is more difficult. Small time deviations indicate the tool works well. The largest time deviation value is 0.9 seconds at low speed and 0.55 seconds at high speed. The conclusion at low velocity of the highest deviation value occurred at the speed of 25 km / h test due to the movement of slope with inclination has started to happen which resulted in slow reading of steering movement. At higher speeds the time slows down due to rapid sensor readings on the tilt when turning fast at ever higher speeds. The timing performance of self-cancelling turn signal decreases as the motorcycle turning characteristics move from the turn using the steering angle to using a tilt angle based on speed, or vice versa.

Methods for Improving the Curvature of Steerable Needles in Biological Tissue

PubMed Central

Adebar, Troy K.; Greer, Joseph D.; Laeseke, Paul F.; Hwang, Gloria L.; Okamura, Allison M.

2016-01-01

Robotic needle steering systems have the potential to improve percutaneous interventions such as radiofrequency ablation of liver tumors, but steering techniques described to date have not achieved sufficiently small radius of curvature in biological tissue to be relevant to this application. In this work, the impact of tip geometry on steerable needle curvature is examined. Finite-element simulations and experiments with bent-tip needles in ex vivo liver tissue demonstrate that selection of tip length and angle can greatly improve curvature, with radius of curvature below 5 cm in liver tissue possible through judicious selection of these parameters. Motivated by the results of this analysis, a new articulated-tip steerable needle is described, in which a distal section is actively switched by a robotic system between a straight tip (resulting in a straight path) and a bent tip (resulting in a curved path). This approach allows the tip length and angle to be increased, while the straight configuration allows the needle tip to still pass through an introducer sheath and rotate inside the body. Validation testing in liver tissue shows that the new articulated-tip steerable needle achieves smaller radius of curvature compared to bent-tip needles described in previous work. Steerable needles with optimized tip parameters, which can generate tight curves in liver tissue, increase the clinical relevance of needle steering to percutaneous interventions. PMID:26441438

Angle Performance on Optima XE

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

David, Jonathan; Satoh, Shu

2011-01-07

Angle control on high energy implanters is important due to shrinking device dimensions, and sensitivity to channeling at high beam energies. On Optima XE, beam-to-wafer angles are controlled in both the horizontal and vertical directions. In the horizontal direction, the beam angle is measured through a series of narrow slits, and any angle adjustment is made by steering the beam with the corrector magnet. In the vertical direction, the beam angle is measured through a high aspect ratio mask, and any angle adjustment is made by slightly tilting the wafer platen during implant.Using a sensitive channeling condition, we were ablemore » to quantify the angle repeatability of Optima XE. By quantifying the sheet resistance sensitivity to both horizontal and vertical angle variation, the total angle variation was calculated as 0.04 deg. (1{sigma}). Implants were run over a five week period, with all of the wafers selected from a single boule, in order to control for any crystal cut variation.« less

Commercial-Off-The-Shelf Vehicles for Towed Array Magnetometry

DTIC Science & Technology

2009-09-01

a steering wheel, and brake and accelerator pedals like a car. By way of example, a ubiquitous side-by- side UTV is the John Deere Gator. The...tire tracks are imperfectly 42 followed. These new tracks will be at a slightly different angle , and one set of biases will not be able to take...tracks at an angle relative to the north-south traverses that we ran. In addition, we surveyed into the muddy wet section at the western end of the site

An investigation of automatic guidance concepts to steer a VTOL aircraft to a small aviation facility ship

NASA Technical Reports Server (NTRS)

Sorensen, J. A.; Goka, T.; Phatak, A. V.; Schmidt, S. F.

1980-01-01

A detailed system model of a VTOL aircraft approaching a small aviation facility ship was developed and used to investigate several approach guidance concepts. A preliminary anaysis of the aircraft-vessel landing guidance requirements was conducted. The various subelements and constraints of the flight system are described including the landing scenario, lift fan aircraft, state rate feedback flight control, MLS-based navigation, sea state induced ship motion, and wake turbulence due to wind-over-deck effects. These elements are integrated into a systems model with various guidance concepts. Guidance is described in terms of lateral, vertical, and longitudinal axes steering modes and approach and landing phases divided by a nominal hover (or stationkeeping) point defined with respect to the landing pad. The approach guidance methods are evaluated, and the two better steering concepts are studied by both single pass and Monte Carlo statistical simulation runs. Four different guidance concepts are defined for further analysis for the landing phase of flight.

Driver assistance system for passive multi-trailer vehicles with haptic steering limitations on the leading unit.

PubMed

Morales, Jesús; Mandow, Anthony; Martínez, Jorge L; Reina, Antonio J; García-Cerezo, Alfonso

2013-04-03

Driving vehicles with one or more passive trailers has difficulties in both forward and backward motion due to inter-unit collisions, jackknife, and lack of visibility. Consequently, advanced driver assistance systems (ADAS) for multi-trailer combinations can be beneficial to accident avoidance as well as to driver comfort. The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel. Furthermore, when driving in reverse, the steering-wheel and pedals can be used as if the vehicle was driven from the back of the last trailer with visual aid from a rear-view camera. This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches. The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers.

Driver Assistance System for Passive Multi-Trailer Vehicles with Haptic Steering Limitations on the Leading Unit

PubMed Central

Morales, Jesús; Mandow, Anthony; Martínez, Jorge L.; Reina, Antonio J.; García-Cerezo, Alfonso

2013-01-01

Driving vehicles with one or more passive trailers has difficulties in both forward and backward motion due to inter-unit collisions, jackknife, and lack of visibility. Consequently, advanced driver assistance systems (ADAS) for multi-trailer combinations can be beneficial to accident avoidance as well as to driver comfort. The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel. Furthermore, when driving in reverse, the steering-wheel and pedals can be used as if the vehicle was driven from the back of the last trailer with visual aid from a rear-view camera. This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches. The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers. PMID:23552102

Analysis and experimental kinematics of a skid-steering wheeled robot based on a laser scanner sensor.

PubMed

Wang, Tianmiao; Wu, Yao; Liang, Jianhong; Han, Chenhao; Chen, Jiao; Zhao, Qiteng

2015-04-24

Skid-steering mobile robots are widely used because of their simple mechanism and robustness. However, due to the complex wheel-ground interactions and the kinematic constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop an analysis and experimental kinematic scheme for a skid-steering wheeled vehicle based-on a laser scanner sensor. The kinematics model is established based on the boundedness of the instantaneous centers of rotation (ICR) of treads on the 2D motion plane. The kinematic parameters (the ICR coefficient , the path curvature variable and robot speed ), including the effect of vehicle dynamics, are introduced to describe the kinematics model. Then, an exact but costly dynamic model is used and the simulation of this model's stationary response for the vehicle shows a qualitative relationship for the specified parameters and . Moreover, the parameters of the kinematic model are determined based-on a laser scanner localization experimental analysis method with a skid-steering robotic platform, Pioneer P3-AT. The relationship between the ICR coefficient and two physical factors is studied, i.e., the radius of the path curvature and the robot speed . An empirical function-based relationship between the ICR coefficient of the robot and the path parameters is derived. To validate the obtained results, it is empirically demonstrated that the proposed kinematics model significantly improves the dead-reckoning performance of this skid-steering robot.

1-D ELECTRO-OPTIC BEAM STEERING DEVICE

PubMed Central

Wang, Wei-Chih; Tsui, Chi Leung

2011-01-01

In this paper, we present the design and fabrication of a 1D beam steering device based on planar electro-optic thermal-plastic prisms and a collimator lens array. With the elimination of moving parts, the proposed device is able to overcome the mechanical limitations of present scanning devices, such as fatigue and low operating frequency, while maintaining a small system footprint (~0.5mm×0.5mm). From experimental data, our prototype device is able to achieve a maximum deflection angle of 5.6° for a single stage prism design and 29.2° for a cascaded three prisms stage design. The lens array shows a 4µm collimated beam diameter. PMID:22199458

A simulation study demonstrating the importance of large-scale trailing vortices in wake steering

DOE PAGES

Fleming, Paul; Annoni, Jennifer; Churchfield, Matthew; ...

2018-05-14

In this article, we investigate the role of flow structures generated in wind farm control through yaw misalignment. A pair of counter-rotating vortices are shown to be important in deforming the shape of the wake and in explaining the asymmetry of wake steering in oppositely signed yaw angles. We motivate the development of new physics for control-oriented engineering models of wind farm control, which include the effects of these large-scale flow structures. Such a new model would improve the predictability of control-oriented models. Results presented in this paper indicate that wind farm control strategies, based on new control-oriented models withmore » new physics, that target total flow control over wake redirection may be different, and perhaps more effective, than current approaches. We propose that wind farm control and wake steering should be thought of as the generation of large-scale flow structures, which will aid in the improved performance of wind farms.« less

A simulation study demonstrating the importance of large-scale trailing vortices in wake steering

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

Fleming, Paul; Annoni, Jennifer; Churchfield, Matthew

In this article, we investigate the role of flow structures generated in wind farm control through yaw misalignment. A pair of counter-rotating vortices are shown to be important in deforming the shape of the wake and in explaining the asymmetry of wake steering in oppositely signed yaw angles. We motivate the development of new physics for control-oriented engineering models of wind farm control, which include the effects of these large-scale flow structures. Such a new model would improve the predictability of control-oriented models. Results presented in this paper indicate that wind farm control strategies, based on new control-oriented models withmore » new physics, that target total flow control over wake redirection may be different, and perhaps more effective, than current approaches. We propose that wind farm control and wake steering should be thought of as the generation of large-scale flow structures, which will aid in the improved performance of wind farms.« less

Haptic seat for fuel economy feedback

DOEpatents

Bobbitt, III, John Thomas

2016-08-30

A process of providing driver fuel economy feedback is disclosed in which vehicle sensors provide for haptic feedback on fuel usage. Such sensors may include one or more of a speed sensors, global position satellite units, vehicle pitch/roll angle sensors, suspension displacement sensors, longitudinal accelerometer sensors, throttle position in sensors, steering angle sensors, break pressure sensors, and lateral accelerometer sensors. Sensors used singlely or collectively can provide enhanced feedback as to various environmental conditions and operating conditions such that a more accurate assessment of fuel economy information can be provided to the driver.

Digital Beam Steering Device Based on Decoupled Birefringent Prism Deflector and Polarization Rotator

NASA Technical Reports Server (NTRS)

Pishnyak, Oleg; Kreminska, Lyubov; Laventovich, Oleg D.; Pouch, John J.; Miranda, Felix A.; Winker, Bruce K.

2004-01-01

We describe digital beam deflectors (DBDs) based on liquid crystals. Each stage of the device comprises a polarization rotator and a birefringent prism deflector. The birefringent prism deflects the beam by an angle that depends on polarization of the incident beam. The prism can be made of the uniaxial smectic A (SmA) liquid crystal (LC) or a solid crystal such as yttrium orthovanadate (YVO4). SmA prisms have high birefringence and can be constructed in a variety of shapes, including single prisms and prismatic blazed gratings of different angles and profiles. We address the challenges of uniform alignment of SmA, such as elimination of focal conic domains. Rotation of linear polarization is achieved by an electrically switched twisted nematic (TN) cell. A DBD composed of N rotator-deflector pairs steers the beam into 2(sup N) directions. As an example, we describe a four-stage DBD deflecting normally incident laser beam within the range of +/- 56 mrad with 8 mrad steps. Redirection of the beam is achieved by switching the TN cells.

Three types of planar structure microspring electro-thermal actuators with insulating beam constraints

NASA Astrophysics Data System (ADS)

Luo, J. K.; Flewitt, A. J.; Spearing, S. M.; Fleck, N. A.; Milne, W. I.

2005-08-01

A new concept of using an electrically insulating beam as a constraint is proposed to construct planar spring-like electro-thermal actuators with large displacements. On the basis of this concept, three types of microspring actuators with multi-chevron structures and constraint beams are introduced. The constraint beams in one type (the spring) of these devices are horizontally positioned to restrict the expansion of the active arms in the x-direction, and to produce a displacement in the y-direction only. In the other two types of actuators (the deflector and the contractor), the constraint beams are positioned parallel to the active arms. When the constraint beams are on the inner side of the active arms, the actuator produces an outward deflection in the y-direction. When they are on the outside of the active arms, the actuator produces an inward contraction. Finite-element analysis was used to model the performances. The simulation shows that the displacements of these microspring actuators are all proportional to the number of the chevron sections in series, thus achieving superior displacements to alternative actuators. The displacement of a spring actuator strongly depends on the beam angle, and decreases with increasing the beam angle, the deflector is insensitive to the beam angle, while the displacement of a contractor actuator increases with the beam angle.

Minimalistic optic flow sensors applied to indoor and outdoor visual guidance and odometry on a car-like robot.

PubMed

Mafrica, Stefano; Servel, Alain; Ruffier, Franck

2016-11-10

Here we present a novel bio-inspired optic flow (OF) sensor and its application to visual  guidance and odometry on a low-cost car-like robot called BioCarBot. The minimalistic OF sensor was robust to high-dynamic-range lighting conditions and to various visual patterns encountered thanks to its M 2 APIX auto-adaptive pixels and the new cross-correlation OF algorithm implemented. The low-cost car-like robot estimated its velocity and steering angle, and therefore its position and orientation, via an extended Kalman filter (EKF) using only two downward-facing OF sensors and the Ackerman steering model. Indoor and outdoor experiments were carried out in which the robot was driven in the closed-loop mode based on the velocity and steering angle estimates. The experimental results obtained show that our novel OF sensor can deliver high-frequency measurements ([Formula: see text]) in a wide OF range (1.5-[Formula: see text]) and in a 7-decade high-dynamic light level range. The OF resolution was constant and could be adjusted as required (up to [Formula: see text]), and the OF precision obtained was relatively high (standard deviation of [Formula: see text] with an average OF of [Formula: see text], under the most demanding lighting conditions). An EKF-based algorithm gave the robot's position and orientation with a relatively high accuracy (maximum errors outdoors at a very low light level: [Formula: see text] and [Formula: see text] over about [Formula: see text] and [Formula: see text]) despite the low-resolution control systems of the steering servo and the DC motor, as well as a simplified model identification and calibration. Finally, the minimalistic OF-based odometry results were compared to those obtained using measurements based on an inertial measurement unit (IMU) and a motor's speed sensor.

Control integration concept for hypersonic cruise-turn maneuvers

NASA Technical Reports Server (NTRS)

Raney, David L.; Lallman, Frederick J.

1992-01-01

Piloting difficulties associated with conducting aircraft maneuvers in hypersonic flight are caused in part by the nonintuitive nature of the aircraft response and the stringent constraints anticipated on allowable angle of attack and dynamic pressure variations. An approach is documented that provides precise, coordinated maneuver control during excursions from a hypersonic cruise flight path and the necessary flight condition constraints. The approach is to achieve specified guidance commands by resolving altitude and cross range errors into a load factor and bank angle command by using a coordinate transformation that acts as an interface between outer and inner loop flight controls. This interface, referred to as a 'resolver', applies constraints on angle of attack and dynamic pressure perturbations while prioritizing altitude regulation over cross range. An unpiloted test simulation, in which the resolver was used to drive inner loop flight controls, produced time histories of responses to guidance commands and atmospheric disturbances at Mach numbers of 6, 10, 15, and 20. Angle of attack and throttle perturbation constraints, combined with high speed flight effects and the desire to maintain constant dynamic pressure, significantly impact the maneuver envelope for a hypersonic vehicle.

Steering of SH wave propagation in electrorheological elastomer with a structured meta-slab by tunable phase discontinuities

NASA Astrophysics Data System (ADS)

Xu, Yanlong; Li, Yi; Cao, Liyun; Yang, Zhichun; Zhou, Xiaoling

2017-09-01

The generalized Snell's law (GSL) with phase discontinuity proposed based on the concept of a metasurface, which can be used to control arbitrarily the reflection and refraction of waves, attracts a growing attention in these years. The concept of abnormally deflecting the incident wave has been applied to the elastic field very recently. However, most of the studies on metasurfaces are based on passive materials, which restricts the frequency or the deflected angles always working in a single state. Here, we steer elastic SH wave propagation in an electrorheological (ER) elastomer with a structured meta-slab composed of geometrically periodic wave guides by exposing the slab to the programmed electric fields. The dependence of phase velocities of SH waves on the applied electric fields can make the phase shift under the form of a special function along the slab, which will control the refraction angles of the transmitted SH waves by the GSL. Accordingly we design the meta-slab theoretically and conduct corresponding numerical simulations. The results demonstrate that the structured meta-slab under the programmed external electric fields can deflect SH wave flexibly with tunable refraction angles and working frequencies, and can focus SH wave with tunable focal lengths. The present study will broaden the scope of applying adaptive materials to design metasurfaces with tunability.

Vehicle antenna for the mobile satellite experiment

NASA Technical Reports Server (NTRS)

Peng, Sheng Y.; Chung, H. H.; Leggiere, D.; Foy, W.; Schaffner, G.; Nelson, J.; Pagels, W.; Vayner, M.; Faller, H. L.; Messer, L.

1988-01-01

A low profile, low cost, printed circuit, electronically steered, right hand circularly polarized phase array antenna system has been developed for the Mobile Satellite Experiment (MSAT-X) Program. The success of this antenna is based upon the development of a crossed-slot element array and detailed trade-off analyses for both the phased array and pointing system design. The optimized system provides higher gain at low elevation angles (20 degrees above the horizon) and broader frequency coverage (approximately 8 1/2 percent bandwidth) than is possible with a patch array. Detailed analysis showed that optimum performance could be achieved with a 19 element array of a triangular lattice geometry of 3.9 inch element spacing. This configuration has the effect of minimizing grating lobes at large scan angles plus it improves the intersatellite isolation. The array has an aperture 20 inches in diameter and is 0.75 inch thick overall, exclusive of the RF and power connector. The pointing system employs a hybrid approach that operates with both an external rate sensor and an internal error signal as a means of fine tuning the beam acquisition and track. Steering the beam is done electronically via 18, 3-bit diode phase shifters. A nineteenth phase shifter is not required as the center element serves as a reference only. Measured patterns and gain show that the array meets the stipulated performance specifications everywhere except at some low elevation angles.

Analysis and Experimental Kinematics of a Skid-Steering Wheeled Robot Based on a Laser Scanner Sensor

PubMed Central

Wang, Tianmiao; Wu, Yao; Liang, Jianhong; Han, Chenhao; Chen, Jiao; Zhao, Qiteng

2015-01-01

Skid-steering mobile robots are widely used because of their simple mechanism and robustness. However, due to the complex wheel-ground interactions and the kinematic constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop an analysis and experimental kinematic scheme for a skid-steering wheeled vehicle based-on a laser scanner sensor. The kinematics model is established based on the boundedness of the instantaneous centers of rotation (ICR) of treads on the 2D motion plane. The kinematic parameters (the ICR coefficient χ, the path curvature variable λ and robot speed v), including the effect of vehicle dynamics, are introduced to describe the kinematics model. Then, an exact but costly dynamic model is used and the simulation of this model’s stationary response for the vehicle shows a qualitative relationship for the specified parameters χ and λ. Moreover, the parameters of the kinematic model are determined based-on a laser scanner localization experimental analysis method with a skid-steering robotic platform, Pioneer P3-AT. The relationship between the ICR coefficient χ and two physical factors is studied, i.e., the radius of the path curvature λ and the robot speed v. An empirical function-based relationship between the ICR coefficient of the robot and the path parameters is derived. To validate the obtained results, it is empirically demonstrated that the proposed kinematics model significantly improves the dead-reckoning performance of this skid–steering robot. PMID:25919370

Characterization of depolarizing fringing fields of a liquid crystal spatial light modulator for laser beam steering

NASA Astrophysics Data System (ADS)

Haellstig, Emil J.; Martin, Torleif; Stigwall, Johan; Sjoqvist, Lars; Lindgren, Mikael

2004-02-01

A commercial linear one-dimensional, 1x4096 pixels, zero-twist nematic liquid crystal spatial light modulator (SLM), giving more than 2π phase modulation at λ = 850 nm, was evaluated for beam steering applications. The large ratio (7:1) between the liquid crystal layer thickness and pixel width gives rise to voltage leakage and fringing fields between pixels. Due to the fringing fields the ideal calculated phase patterns cannot be perfectly realized by the device. Losses in high frequency components in the phase patterns were found to limit the maximum deflection angle. The inhomogeneous optical anisotropy of the SLM was determined by modelling of the liquid crystal director distribution within the electrode-pixel structure. The effects of the fringing fields on the amplitude and phase modulation were studied by full vector finite-difference time-domain simulations. It was found that the fringing fields also resulted in coupling into an unwanted polarization mode. Measurements of how this mode coupling affects the beam steering quality were carried out and the results compared with calculated results. A method to compensate for the fringing field effects is discussed and it is shown how the usable steering range of the SLM can be extended to +/- 2 degrees.

Sliding mode control based impact angle control guidance considering the seeker׳s field-of-view constraint.

PubMed

Wang, Xingliang; Zhang, Youan; Wu, Huali

2016-03-01

The problem of impact angle control guidance for a field-of-view constrained missile against non-maneuvering or maneuvering targets is solved by using the sliding mode control theory. The existing impact angle control guidance laws with field-of-view constraint are only applicable against stationary targets and most of them suffer abrupt-jumping of guidance command due to the application of additional guidance mode switching logic. In this paper, the field-of-view constraint is handled without using any additional switching logic. In particular, a novel time-varying sliding surface is first designed to achieve zero miss distance and zero impact angle error without violating the field-of-view constraint during the sliding mode phase. Then a control integral barrier Lyapunov function is used to design the reaching law so that the sliding mode can be reached within finite time and the field-of-view constraint is not violated during the reaching phase as well. A nonlinear extended state observer is constructed to estimate the disturbance caused by unknown target maneuver, and the undesirable chattering is alleviated effectively by using the estimation as a compensation item in the guidance law. The performance of the proposed guidance law is illustrated with simulations. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Theory of using magnetic deflections to combine charged particle beams

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

Steckbeck, Mackenzie K.; Doyle, Barney Lee

2014-09-01

Several radiation effects projects in the Ion Beam Lab (IBL) have recently required two disparate charged particle beams to simultaneously strike a single sample through a single port of the target chamber. Because these beams have vastly different mass–energy products (MEP), the low-MEP beam requires a large angle of deflection toward the sample by a bending electromagnet. A second electromagnet located further upstream provides a means to compensate for the small angle deflection experienced by the high-MEP beam during its path through the bending magnet. This paper derives the equations used to select the magnetic fields required by these twomore » magnets to achieve uniting both beams at the target sample. A simple result was obtained when the separation of the two magnets was equivalent to the distance from the bending magnet to the sample, and the equation is given by: B s= 1/2(r c/r s) B c, where B s and B c are the magnetic fields in the steering and bending magnet and r c/r s is the ratio of the radii of the bending magnet to that of the steering magnet. This result is not dependent upon the parameters of the high MEP beam, i.e. energy, mass, charge state. Therefore, once the field of the bending magnet is set for the low-MEP beam, and the field in the steering magnet is set as indicted in the equation, the trajectory path of any high-MEP beam will be directed into the sample.« less

Future constraints on angle-dependent non-Gaussianity from large radio surveys

NASA Astrophysics Data System (ADS)

Raccanelli, Alvise; Shiraishi, Maresuke; Bartolo, Nicola; Bertacca, Daniele; Liguori, Michele; Matarrese, Sabino; Norris, Ray P.; Parkinson, David

2017-03-01

We investigate how well future large-scale radio surveys could measure different shapes of primordial non-Gaussianity; in particular we focus on angle-dependent non-Gaussianity arising from primordial anisotropic sources, whose bispectrum has an angle dependence between the three wavevectors that is characterized by Legendre polynomials PL and expansion coefficients cL. We provide forecasts for measurements of galaxy power spectrum, finding that Large-Scale Structure (LSS) data could allow measurements of primordial non-Gaussianity that would be competitive with, or improve upon, current constraints set by CMB experiments, for all the shapes considered. We argue that the best constraints will come from the possibility to assign redshift information to radio galaxy surveys, and investigate a few possible scenarios for the EMU and SKA surveys. A realistic (futuristic) modeling could provide constraints of fNLloc ≈ 1(0 . 5) for the local shape, fNL of O(10) (O(1)) for the orthogonal, equilateral and folded shapes, and cL=1 ≈ 80(2) , cL=2 ≈ 400(10) for angle-dependent non-Gaussianity showing that only futuristic galaxy surveys will be able to set strong constraints on these models. Nevertheless, the more futuristic forecasts show the potential of LSS analyses to considerably improve current constraints on non-Gaussianity, and so on models of the primordial Universe. Finally, we find the minimum requirements that would be needed to reach σ(cL=1) = 10, which can be considered as a typical (lower) value predicted by some (inflationary) models.

ROBIL - Robot Israel

DTIC Science & Technology

2013-07-31

pedals and releasing the hand brake ), the ROS ’actionlib’ is started. Atlas starts driving to the received way points until it reaches the last gate...grip at angle 0………………………………………………………………… ..31 FIGURE 3.5.6: MATLAB ’Steering wheel angle ’ output membership function schematic……………...……31...repeatability of the motion sequence. We added an optional motion to press the gas pedal at the end of the sequence in order to secure additional points

Prospective guidance in a free-swimming cell.

PubMed

Delafield-Butt, Jonathan T; Pepping, Gert-Jan; McCaig, Colin D; Lee, David N

2012-07-01

A systems theory of movement control in animals is presented in this article and applied to explaining the controlled behaviour of the single-celled Paramecium caudatum in an electric field. The theory-General Tau Theory-is founded on three basic principles: (i) all purposive movement entails prospectively controlling the closure of action-gaps (e.g. a distance gap when reaching, or an angle gap when steering); (ii) the sole informational variable required for controlling gaps is the relative rate of change of the gap (the time derivative of the gap size divided by the size), which can be directly sensed; and (iii) a coordinated movement is achieved by keeping the relative rates of change of gaps in a constant ratio. The theory is supported by studies of controlled movement in mammals, birds and insects. We now show for the first time that it is also supported by single-celled paramecia steering to the cathode in a bi-polar electric field. General Tau Theory is deployed to explain this guided steering by the cell. This article presents the first computational model of prospective perceptual control in a non-neural, single-celled system.

The impact of diurnal sleep on the consolidation of a complex gross motor adaptation task

PubMed Central

Hoedlmoser, Kerstin; Birklbauer, Juergen; Schabus, Manuel; Eibenberger, Patrick; Rigler, Sandra; Mueller, Erich

2015-01-01

Diurnal sleep effects on consolidation of a complex, ecological valid gross motor adaptation task were examined using a bicycle with an inverse steering device. We tested 24 male subjects aged between 20 and 29 years using a between-subjects design. Participants were trained to adapt to the inverse steering bicycle during 45 min. Performance was tested before (TEST1) and after (TEST2) training, as well as after a 2 h retention interval (TEST3). During retention, participants either slept or remained awake. To assess gross motor performance, subjects had to ride the inverse steering bicycle 3 × 30 m straight-line and 3 × 30 m through a slalom. Beyond riding time, we sophisticatedly measured performance accuracy (standard deviation of steering angle) in both conditions using a rotatory potentiometer. A significant decrease of accuracy during straight-line riding after nap and wakefulness was shown. Accuracy during slalom riding remained stable after wakefulness but was reduced after sleep. We found that the duration of rapid eye movement sleep as well as sleep spindle activity are negatively related with gross motor performance changes over sleep. Together these findings suggest that the consolidation of adaptation to a new steering device does not benefit from a 2 h midday nap. We speculate that in case of strongly overlearned motor patterns such as normal cycling, diurnal sleep spindles and rapid eye movement sleep might even help to protect everyday needed skills, and to rapidly forget newly acquired, interfering and irrelevant material. PMID:25256866

Influence of Different Diffuser Angle on Sedan's Aerodynamic Characteristics

NASA Astrophysics Data System (ADS)

Hu, Xingjun; Zhang, Rui; Ye, Jian; Yan, Xu; Zhao, Zhiming

The aerodynamic characteristics have a great influence on the fuel economics and the steering stability of a high speed vehicle. The underbody rear diffuser is one of important aerodynamic add-on devices. The parameters of the diffuser, including the diffuser angle, the number and the shape of separators, the shape of the end plate and etc, will affect the underbody flow and the wake. Here, just the influence of the diffuser angle was investigated without separator and the end plate. The method of Computational Fluid Dynamics was adopted to study the aerodynamic characteristics of a simplified sedan with a different diffuser angle respectively. The diffuser angle was set to 0°, 3°, 6°, 9.8° and 12° respectively. The diffuser angle of the original model is 9.8°. The conclusions were drawn that when the diffuser angle increases, the underbody flow and especially the wake change greatly and the pressure change correspondingly; as a result, the total aerodynamic drag coefficients of car first decrease and then increases, while the total aerodynamic lift coefficients decrease.

Ion beamlet steering for two-grid electrostatic thrusters. M.S. Thesis

NASA Technical Reports Server (NTRS)

Homa, J. M.

1984-01-01

An experimental study of ion beamlet steering in which the direction of beamlets emitted from a two grid aperture system is controlled by relative translation of the grids, is described. The results can be used to design electrostatic accelerating devices for which the direction and focus of emerging beamlets are important. Deflection and divergence angle data are presented for two grid systems as a function of the relative lateral displacement of the holes in these grids. At large displacements, accelerator grid impingements become excessive and this determines the maximum allowable displacement and as a result the useful range of beamlet deflection. Beamlet deflection is shown to vary linearly with grid offset angle over this range. The divergence of the beamlets is found to be unaffected by deflection over the useful range of beamlet deflection. The grids of a typical dished grid ion thruster are examined to determine the effects of thermally induced grid distortion and prescribed offsets of grid hole centerlines on the characteristics of the emerging beamlets. The results are used to determine the region on the grid surface where ion beamlet deflections exceed the useful range. Over this region high accelerator grid impingement currents and rapid grid erosion are predicted.

Effects of vibration on occupant driving performance under simulated driving conditions.

PubMed

Azizan, Amzar; Fard, M; Azari, Michael F; Jazar, Reza

2017-04-01

Although much research has been devoted to the characterization of the effects of whole-body vibration on seated occupants' comfort, drowsiness induced by vibration has received less attention to date. There are also little validated measurement methods available to quantify whole body vibration-induced drowsiness. Here, the effects of vibration on drowsiness were investigated. Twenty male volunteers were recruited for this experiment. Drowsiness was measured in a driving simulator, before and after 30-min exposure to vibration. Gaussian random vibration, with 1-15 Hz frequency bandwidth was used for excitation. During the driving session, volunteers were required to obey the speed limit of 100 kph and maintain a steady position on the left-hand lane. A deviation in lane position, steering angle variability, and speed deviation were recorded and analysed. Alternatively, volunteers rated their subjective drowsiness by Karolinska Sleepiness Scale (KSS) scores every 5-min. Following 30-min of exposure to vibration, a significant increase of lane deviation, steering angle variability, and KSS scores were observed in all volunteers suggesting the adverse effects of vibration on human alertness level. Copyright © 2016 Elsevier Ltd. All rights reserved.

Getting the most out of additional guidance information in deformable image registration by leveraging multi-objective optimization

NASA Astrophysics Data System (ADS)

Alderliesten, Tanja; Bosman, Peter A. N.; Bel, Arjan

2015-03-01

Incorporating additional guidance information, e.g., landmark/contour correspondence, in deformable image registration is often desirable and is typically done by adding constraints or cost terms to the optimization function. Commonly, deciding between a "hard" constraint and a "soft" additional cost term as well as the weighting of cost terms in the optimization function is done on a trial-and-error basis. The aim of this study is to investigate the advantages of exploiting guidance information by taking a multi-objective optimization perspective. Hereto, next to objectives related to match quality and amount of deformation, we define a third objective related to guidance information. Multi-objective optimization eliminates the need to a-priori tune a weighting of objectives in a single optimization function or the strict requirement of fulfilling hard guidance constraints. Instead, Pareto-efficient trade-offs between all objectives are found, effectively making the introduction of guidance information straightforward, independent of its type or scale. Further, since complete Pareto fronts also contain less interesting parts (i.e., solutions with near-zero deformation effort), we study how adaptive steering mechanisms can be incorporated to automatically focus more on solutions of interest. We performed experiments on artificial and real clinical data with large differences, including disappearing structures. Results show the substantial benefit of using additional guidance information. Moreover, compared to the 2-objective case, additional computational cost is negligible. Finally, with the same computational budget, use of the adaptive steering mechanism provides superior solutions in the area of interest.

Enhancements of Tow-Steering Design Techniques: Design of Rectangular Panel Under Combined Loads

NASA Technical Reports Server (NTRS)

Tatting, Brian F.; Setoodeh, Shahriar; Gurdal, Zafer

2005-01-01

An extension to existing design tools that utilize tow-steering is presented which is used to investigate the use of elastic tailoring for a flat panel with a central hole under combined loads of compression and shear. The elastic tailoring is characterized by tow-steering within individual lamina as well as a novel approach based on selective reinforcement, which attempts to minimize compliance through the use of Cellular Automata design concepts. The selective reinforcement designs lack any consideration of manufacturing constraints, so a new tow-steered path definition was developed to translate the prototype selective reinforcement designs into manufacturable plies. The minimum weight design of a flat panel under combined loading was based on a model provided by NASA-Langley personnel and analyzed by STAGS within the OLGA design environment. Baseline designs using traditional straight fiber plies were generated, as well as tow-steered designs which incorporated parallel, tow-drop, and overlap plies within the laminate. These results indicated that the overlap method provided the best improvement with regards to weight and performance as compared to traditional constant stiffness monocoque panels, though the laminates did not measure up to similar designs from the literature using sandwich and isogrid constructions. Further design studies were conducted using various numbers of the selective reinforcement plies at the core and outer surface of the laminate. None of these configurations exhibited notable advantages with regard to weight or buckling performance. This was due to the fact that the minimization of the compliance tended to direct the major stresses toward the center of the panel, which decreased the ability of the structure to withstand loads leading to instability.

Partial study of quadrotor based on quaternions

NASA Astrophysics Data System (ADS)

Ji, Xiang

2018-05-01

In this paper, the attitude calculation of quadrotor is studied, and the attitude angle of quaternions and the method of using IIR low pass filter to filter the high frequency noise are proposed. First of all, this paper puts forward the characteristics of quadrotor more flexible than other aircraft. The flexible steering mode of quadrotor is classified into three categories. Starting from reality, this paper proposes an algorithm to transform the value of acceleration sensor to pose angle, which can greatly reduce the amount of computation and is the theoretical basis for real-time attitude calculation of aircraft. When introducing the number of quaternion, this article starts from the theoretical model and first introduces the conceptual meaning of the number of quaternion. In this model, the aircraft's own coordinate axis and the geographical axis are regarded as two rigid bodies, and they have three coordinate axes that are orthogonal to each other. When the steering operation is involved, the corresponding acceleration is generated. By using the quaternion multiplicative formula mentioned in this paper, the change of attitude angle can be obtained. n reality, in order to ensure the accuracy of the output attitude angle. More accurate input variables are often needed, and the IIR low pass filter is introduced in this way. In this paper, a nine order IIR filter is designed according to the actual situation, and its spectrum characteristics are obtained by simulation software. After mixing the original signal generated by propeller's high frequency noise, it outputs clean signals through filter, all of which are intuitively reflected by three spectrum images. After giving some practical solutions, this paper looks forward to the prospect of the aircraft.

Nonlocal games and optimal steering at the boundary of the quantum set

NASA Astrophysics Data System (ADS)

Zhen, Yi-Zheng; Goh, Koon Tong; Zheng, Yu-Lin; Cao, Wen-Fei; Wu, Xingyao; Chen, Kai; Scarani, Valerio

2016-08-01

The boundary between classical and quantum correlations is well characterized by linear constraints called Bell inequalities. It is much harder to characterize the boundary of the quantum set itself in the space of no-signaling correlations. For the points on the quantum boundary that violate maximally some Bell inequalities, J. Oppenheim and S. Wehner [Science 330, 1072 (2010), 10.1126/science.1192065] pointed out a complex property: Alice's optimal measurements steer Bob's local state to the eigenstate of an effective operator corresponding to its maximal eigenvalue. This effective operator is the linear combination of Bob's local operators induced by the coefficients of the Bell inequality, and it can be interpreted as defining a fine-grained uncertainty relation. It is natural to ask whether the same property holds for other points on the quantum boundary, using the Bell expression that defines the tangent hyperplane at each point. We prove that this is indeed the case for a large set of points, including some that were believed to provide counterexamples. The price to pay is to acknowledge that the Oppenheim-Wehner criterion does not respect equivalence under the no-signaling constraint: for each point, one has to look for specific forms of writing the Bell expressions.

Heuristic approach to the development of ratings and tactics applicable to the one-on-one aerial combat (dogfight) encounter

NASA Technical Reports Server (NTRS)

Hague, D. S.

1977-01-01

Computer simulations of the one-on-one aerial combat encounter are generated under the control of specified guidance laws. Given an initial state, the vehicle and atmospheric characteristics, and the guidance laws, the aerial combat encounter is simulated by forward integration of the two vehicles' motions. The development of a combat guidance law which converts positional advantage into an improved firing opportunity is reported. A combination of lag, line of sight, and lead pursuit steering paths are followed in the guidance law. The law is based on steering error, target angle-off and the relative velocities. It readily is automated either as an onboard aid to manned aircraft pilots or as a combat guidance law for unmanned vehicles.

Virtual test rig to improve the design and optimisation process of the vehicle steering and suspension systems

NASA Astrophysics Data System (ADS)

Mántaras, Daniel A.; Luque, Pablo

2012-10-01

A virtual test rig is presented using a three-dimensional model of the elasto-kinematic behaviour of a vehicle. A general approach is put forward to determine the three-dimensional position of the body and the main parameters which influence the handling of the vehicle. For the design process, the variable input data are the longitudinal and lateral acceleration and the curve radius, which are defined by the user as a design goal. For the optimisation process, once the vehicle has been built, the variable input data are the travel of the four struts and the steering wheel angle, which is obtained through monitoring the vehicle. The virtual test rig has been applied to a standard vehicle and the validity of the results has been proven.

Real-time estimation of horizontal gaze angle by saccade integration using in-ear electrooculography

PubMed Central

2018-01-01

The manuscript proposes and evaluates a real-time algorithm for estimating eye gaze angle based solely on single-channel electrooculography (EOG), which can be obtained directly from the ear canal using conductive ear moulds. In contrast to conventional high-pass filtering, we used an algorithm that calculates absolute eye gaze angle via statistical analysis of detected saccades. The estimated eye positions of the new algorithm were still noisy. However, the performance in terms of Pearson product-moment correlation coefficients was significantly better than the conventional approach in some instances. The results suggest that in-ear EOG signals captured with conductive ear moulds could serve as a basis for light-weight and portable horizontal eye gaze angle estimation suitable for a broad range of applications. For instance, for hearing aids to steer the directivity of microphones in the direction of the user’s eye gaze. PMID:29304120

Real-time estimation of horizontal gaze angle by saccade integration using in-ear electrooculography.

PubMed

Hládek, Ľuboš; Porr, Bernd; Brimijoin, W Owen

2018-01-01

The manuscript proposes and evaluates a real-time algorithm for estimating eye gaze angle based solely on single-channel electrooculography (EOG), which can be obtained directly from the ear canal using conductive ear moulds. In contrast to conventional high-pass filtering, we used an algorithm that calculates absolute eye gaze angle via statistical analysis of detected saccades. The estimated eye positions of the new algorithm were still noisy. However, the performance in terms of Pearson product-moment correlation coefficients was significantly better than the conventional approach in some instances. The results suggest that in-ear EOG signals captured with conductive ear moulds could serve as a basis for light-weight and portable horizontal eye gaze angle estimation suitable for a broad range of applications. For instance, for hearing aids to steer the directivity of microphones in the direction of the user's eye gaze.

System Identification and Steering Control Characteristic of Rice Combine Harvester Model

NASA Astrophysics Data System (ADS)

Sutisna, S. P.; Setiawan, R. P. A.; Subrata, I. D. M.; Mandang, T.

2018-05-01

This study is a preliminary research of rice combine harvester trajectory. A vehicle model of rice combine used crawler with differential steering. Turning process of differential steering used speed difference of right and left tracks This study aims to learn of rice combine harvester steering control. In real condition, the hydraulic break on each track produced the speed difference. The model used two DC motors with maximum speed 100 rpm for each tracks. A rotary encoder with resolution 600 pulse/rotation was connected to each DC motors shaft to monitor the speed of tracks and connected to the input shaft of a gearbox with ratio 1:46. The motor speed control for each track used pulse width modulation to produce the speed difference. A gyroscope sensor with resolution 0.01° was used to determine the model orientation angle. Like the real rice combine, the tracks can not rotate to the opposite direction at the same time so it makes the model can not perform the pivot turn. The turn radius of the model was 28 cm and the forward maximum speed was 17.8 cm/s. The model trajectory control used PID odometry controller. Parameters input were the speed of each track and the orientation of the vehicle. The straight line test showed the controller can control the rice combine model trajectory with the average error 0.67 cm.

Control order and visuomotor strategy development for joystick-steered underground shuttle cars.

PubMed

Cloete, Steven; Zupanc, Christine; Burgess-Limerick, Robin; Wallis, Guy

2014-09-01

In this simulator-based study, we aimed to quantify performance differences between joystick steering systems using first-order and second-order control, which are used in underground coal mining shuttle cars. In addition, we conducted an exploratory analysis of how users of the more difficult, second-order system changed their behavior over time. Evidence from the visuomotor control literature suggests that higher-order control devices are not intuitive, which could pose a significant risk to underground mine personnel, equipment, and infrastructure. Thirty-six naive participants were randomly assigned to first- and second-order conditions and completed three experimental trials comprising sequences of 90 degrees turns in a virtual underground mine environment, with velocity held constant at 9 km/h(-1). Performance measures were lateral deviation, steering angle variability, high-frequency steering content, joystick activity, and cumulative time in collision with the virtual mine wall. The second-order control group exhibited significantly poorer performance for all outcome measures. In addition, a series of correlation analyses revealed that changes in strategy were evident in the second-order group but not the first-order group. Results were consistent with previous literature indicating poorer performance with higher-order control devices and caution against the adoption of the second-order joystick system for underground shuttle cars. Low-cost, portable simulation platforms may provide an effective basis for operator training and recruitment.

Design and Analysis of Tow-Steered Composite Shells Using Fiber Placement

NASA Technical Reports Server (NTRS)

Wu, K. Chauncey

2008-01-01

In this study, a sub-scale advanced composite shell design is evaluated to determine its potential for use on a future aircraft fuselage. Two composite shells with the same nominal 8-ply [+/-45/+/-Theta](sub s) layup are evaluated, where Theta indicates a tow-steered ply. To build this shell, a fiber placement machine would be used to steer unidirectional prepreg tows as they are placed around the circumference of a 17-inch diameter right circular cylinder. The fiber orientation angle varies continuously from 10 degrees (with respect to the shell axis of revolution) at the crown, to 45 degrees on the side, and back to 10 degrees on the keel. All 24 tows are placed at each point on every fiber path in one structure designated as the shell with overlaps. The resulting pattern of tow overlaps causes the laminate thickness to vary between 8 and 16 plies. The second shell without tow overlaps uses the capability of the fiber placement machine to cut and add tows at any point along the fiber paths to fabricate a shell with a nearly uniform 8-ply laminate thickness. Issues encountered during the design and analysis of these shells are presented and discussed. Static stiffness and buckling loads of shells with tow-steered layups are compared with the performance of a baseline quasi-isotropic shell using both finite element analyses and classical strength of materials theory.

Non-mechanical beam control for entry, descent and landing laser radar (Conference Presentation)

NASA Astrophysics Data System (ADS)

Stockley, Jay E.; Kluttz, Kelly; Hosting, Lance; Serati, Steve; Bradley, Cullen P.; McManamon, Paul F.; Amzajerdian, Farzin

2017-05-01

Laser radar for entry, descent, and landing (EDL) applications as well as the space docking problem could benefit from a low size, weight, and power (SWaP) beam control system. Moreover, an inertia free approach employing non-mechanical beam control is also attractive for laser radar that is intended to be employed aboard space platforms. We are investigating a non-mechanical beam steering (NMBS) sub-system based on liquid crystal polarization grating (LCPG) technology with emphasis placed on improved throughput and significant weight reduction by combining components and drastically reducing substrate thicknesses. In addition to the advantages of non-mechanical, gimbal free beam control, and greatly improved SWaP, our approach also enables wide area scanning using a scalable architecture. An extraterrestrial application entails additional environmental constraints, consequently an environmental test plan tailored to an EDL mission will also be discussed. In addition, we will present advances in continuous fine steering technology which would complement the coarse steering LCPG technology. A low-SWaP, non-mechanical beam control system could be used in many laser radar remote sensing applications including meteorological studies and agricultural or environmental surveys in addition to the entry, descent, and landing application.

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

PubMed

Liu, Lu; Wang, Dan; Peng, Zhouhua

2016-09-01

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

Solving Constraint-Satisfaction Problems with Distributed Neocortical-Like Neuronal Networks.

PubMed

Rutishauser, Ueli; Slotine, Jean-Jacques; Douglas, Rodney J

2018-05-01

Finding actions that satisfy the constraints imposed by both external inputs and internal representations is central to decision making. We demonstrate that some important classes of constraint satisfaction problems (CSPs) can be solved by networks composed of homogeneous cooperative-competitive modules that have connectivity similar to motifs observed in the superficial layers of neocortex. The winner-take-all modules are sparsely coupled by programming neurons that embed the constraints onto the otherwise homogeneous modular computational substrate. We show rules that embed any instance of the CSP's planar four-color graph coloring, maximum independent set, and sudoku on this substrate and provide mathematical proofs that guarantee these graph coloring problems will convergence to a solution. The network is composed of nonsaturating linear threshold neurons. Their lack of right saturation allows the overall network to explore the problem space driven through the unstable dynamics generated by recurrent excitation. The direction of exploration is steered by the constraint neurons. While many problems can be solved using only linear inhibitory constraints, network performance on hard problems benefits significantly when these negative constraints are implemented by nonlinear multiplicative inhibition. Overall, our results demonstrate the importance of instability rather than stability in network computation and offer insight into the computational role of dual inhibitory mechanisms in neural circuits.

The impact of diurnal sleep on the consolidation of a complex gross motor adaptation task.

PubMed

Hoedlmoser, Kerstin; Birklbauer, Juergen; Schabus, Manuel; Eibenberger, Patrick; Rigler, Sandra; Mueller, Erich

2015-02-01

Diurnal sleep effects on consolidation of a complex, ecological valid gross motor adaptation task were examined using a bicycle with an inverse steering device. We tested 24 male subjects aged between 20 and 29 years using a between-subjects design. Participants were trained to adapt to the inverse steering bicycle during 45 min. Performance was tested before (TEST1) and after (TEST2) training, as well as after a 2 h retention interval (TEST3). During retention, participants either slept or remained awake. To assess gross motor performance, subjects had to ride the inverse steering bicycle 3 × 30 m straight-line and 3 × 30 m through a slalom. Beyond riding time, we sophisticatedly measured performance accuracy (standard deviation of steering angle) in both conditions using a rotatory potentiometer. A significant decrease of accuracy during straight-line riding after nap and wakefulness was shown. Accuracy during slalom riding remained stable after wakefulness but was reduced after sleep. We found that the duration of rapid eye movement sleep as well as sleep spindle activity are negatively related with gross motor performance changes over sleep. Together these findings suggest that the consolidation of adaptation to a new steering device does not benefit from a 2 h midday nap. We speculate that in case of strongly overlearned motor patterns such as normal cycling, diurnal sleep spindles and rapid eye movement sleep might even help to protect everyday needed skills, and to rapidly forget newly acquired, interfering and irrelevant material. © 2014 The Authors. Journal of Sleep Research published by John Wiley & Sons Ltd on behalf of European Sleep Research Society.

Fractional Control of An Active Four-wheel-steering Vehicle

NASA Astrophysics Data System (ADS)

Wang, Tianting; Tong, Jun; Chen, Ning; Tian, Jie

2018-03-01

A four-wheel-steering (4WS) vehicle model and reference model with a drop filter are constructed. The decoupling of 4WS vehicle model is carried out. And a fractional PIλDμ controller is introduced into the decoupling strategy to reduce the effects of the uncertainty of the vehicle parameters as well as the unmodelled dynamics on the system performance. Based on optimization techniques, the design of fractional controller are obtained to ensure the robustness of 4WS vehicle during the special range of frequencies through proper choice of the constraints. In order to compare with fractional robust controller, an optimal controller for the same vehicle is also designed. The simulations of the two control systems are carried out and it reveals that the decoupling and fractional robust controller is able to make vehicle model trace the reference model very well with better robustness.

Optimum Strategies for Selecting Descent Flight-Path Angles

NASA Technical Reports Server (NTRS)

Wu, Minghong G. (Inventor); Green, Steven M. (Inventor)

2016-01-01

An information processing system and method for adaptively selecting an aircraft descent flight path for an aircraft, are provided. The system receives flight adaptation parameters, including aircraft flight descent time period, aircraft flight descent airspace region, and aircraft flight descent flyability constraints. The system queries a plurality of flight data sources and retrieves flight information including any of winds and temperatures aloft data, airspace/navigation constraints, airspace traffic demand, and airspace arrival delay model. The system calculates a set of candidate descent profiles, each defined by at least one of a flight path angle and a descent rate, and each including an aggregated total fuel consumption value for the aircraft following a calculated trajectory, and a flyability constraints metric for the calculated trajectory. The system selects a best candidate descent profile having the least fuel consumption value while the fly ability constraints metric remains within aircraft flight descent flyability constraints.

Structural Assessment of Advanced Composite Tow-Steered Shells

NASA Technical Reports Server (NTRS)

Wu, K. Chauncey; Stanford, Bret K.; Hrinda, Glenn A.; Wang, Zhuosong; Martin, Robert a.; Kim, H. Alicia

2013-01-01

The structural performance of two advanced composite tow-steered shells, manufactured using a fiber placement system, is assessed using both experimental and analytical methods. The fiber orientation angles vary continuously around the shell circumference from 10 degrees on the shell crown and keel, to 45 degrees on the shell sides. The two shells differ in that one shell has the full 24-tow course applied during each pass of the fiber placement system, while the second shell uses the fiber placement system s tow drop/add capability to achieve a more uniform shell wall thickness. The shells are tested in axial compression, and estimates of their prebuckling axial stiffnesses and bifurcation buckling loads are predicted using linear finite element analyses. These preliminary predictions compare well with the test results, with an average agreement of approximately 10 percent.

Creating and Steering Highly Directional Electron Beams in Graphene.

PubMed

Liu, Ming-Hao; Gorini, Cosimo; Richter, Klaus

2017-02-10

We put forward a concept to create highly collimated, nondispersive electron beams in pseudorelativistic Dirac materials such as graphene or topological insulator surfaces. Combining negative refraction and Klein collimation at a parabolic pn junction, the proposed lens generates beams, as narrow as the focal length, that stay focused over scales of several microns and can be steered by a magnetic field without losing collimation. We demonstrate the lens capabilities by applying it to two paradigmatic settings of graphene electron optics: We propose a setup for observing high-resolution angle-dependent Klein tunneling, and, exploiting the intimate quantum-to-classical correspondence of these focused electron waves, we consider high-fidelity transverse magnetic focusing accompanied by simulations for current mapping through scanning gate microscopy. Our proposal opens up new perspectives for next-generation graphene electron optics experiments.

Comparison of human driver dynamics in simulators with complex and simple visual displays and in an automobile on the road

NASA Technical Reports Server (NTRS)

Mcruer, D. T.; Klein, R. H.

1975-01-01

As part of a comprehensive program exploring driver/vehicle system response in lateral steering tasks, driver/vehicle system describing functions and other dynamic data have been gathered in several milieu. These include a simple fixed base simulator with an elementary roadway delineation only display; a fixed base statically operating automobile with a terrain model based, wide angle projection system display; and a full scale moving base automobile operating on the road. Dynamic data with the two fixed base simulators compared favorably, implying that the impoverished visual scene, lack of engine noise, and simplified steering wheel feel characteristics in the simple simulator did not induce significant driver dynamic behavior variations. The fixed base vs. moving base comparisons showed substantially greater crossover frequencies and phase margins on the road course.

Creating and Steering Highly Directional Electron Beams in Graphene

NASA Astrophysics Data System (ADS)

Liu, Ming-Hao; Gorini, Cosimo; Richter, Klaus

2017-02-01

We put forward a concept to create highly collimated, nondispersive electron beams in pseudorelativistic Dirac materials such as graphene or topological insulator surfaces. Combining negative refraction and Klein collimation at a parabolic p n junction, the proposed lens generates beams, as narrow as the focal length, that stay focused over scales of several microns and can be steered by a magnetic field without losing collimation. We demonstrate the lens capabilities by applying it to two paradigmatic settings of graphene electron optics: We propose a setup for observing high-resolution angle-dependent Klein tunneling, and, exploiting the intimate quantum-to-classical correspondence of these focused electron waves, we consider high-fidelity transverse magnetic focusing accompanied by simulations for current mapping through scanning gate microscopy. Our proposal opens up new perspectives for next-generation graphene electron optics experiments.

All-angle Negative Reflection with An Ultrathin Acoustic Gradient Metasurface: Floquet-Bloch Modes Perspective and Experimental Verification.

PubMed

Liu, Bingyi; Zhao, Jiajun; Xu, Xiaodong; Zhao, Wenyu; Jiang, Yongyuan

2017-10-23

Metasurface with gradient phase response offers new alternative for steering the propagation of waves. Conventional Snell's law has been revised by taking the contribution of local phase gradient into account. However, the requirement of momentum matching along the metasurface sets its nontrivial beam manipulation functionality within a limited-angle incidence. In this work, we theoretically and experimentally demonstrate that the acoustic gradient metasurface supports the negative reflection for all-angle incidence. The mode expansion theory is developed to help understand how the gradient metasurface tailors the incident beams, and the all-angle negative reflection occurs when the first negative order Floquet-Bloch mode dominates inside the metasurface slab. The coiling-up space structures are utilized to build desired acoustic gradient metasurface, and the all-angle negative reflections have been perfectly verified by experimental measurements. Our work offers the Floquet-Bloch modes perspective for qualitatively understanding the reflection behaviors of the acoustic gradient metasurface, and the all-angle negative reflection characteristic possessed by acoustic gradient metasurface could enable a new degree of the acoustic wave manipulating and be applied in the functional diffractive acoustic elements, such as the all-angle acoustic back reflector.

A novel guidance law using fast terminal sliding mode control with impact angle constraints.

PubMed

Sun, Lianghua; Wang, Weihong; Yi, Ran; Xiong, Shaofeng

2016-09-01

This paper is concerned with the question of, for a missile interception with impact angle constraints, how to design a guidance law. Firstly, missile interception with impact angle constraints is modeled; secondly, a novel guidance law using fast terminal sliding mode control based on extended state observer is proposed to optimize the trajectory and time of interception; finally, for stationary targets, constant velocity targets and maneuvering targets, the guidance law and the stability of the closed loop system is analyzed and the stability of the closed loop system is analyzed, respectively. Simulation results show that when missile and target are on a collision course, the novel guidance law using fast terminal sliding mode control with extended state observer has more optimized trajectory and effectively reduces the time of interception which has a great significance in modern warfare. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Endoscopic neurosurgery "around the corner" with a rigid endoscope. Technical note.

PubMed

Hopf, N J

1999-03-01

Endoscopically "working around the corner" is presently restricted to the use of flexible endoscopes or an endoscope-assisted microneurosurgical (EAM) technique. In order to overcome the limitations of these solutions, endoscopic equipment and techniques were developed for "working around the corner" with rigid endoscopes. A steering insert with a 5 French working channel is capable of steering instruments around the corner by actively bending the guiding track and consecutively the instrument. A special fixation device enables strict axial rotation of the endoscope in the operating field. Endoscopic procedures "around the corner", including aqueductal stenting, pellucidotomy, third ventriculostomy and biopsy were performed in human cadavers. Special features of the used pediatric neuroendoscope system, i.e., reliable fixation, axial rotation, and controlled steering of instruments, increase the safety and reduce the surgical traumatization in selected cases, such as obstructive hydrocephalus due to a mass lesion in the posterior third ventricle, since endoscopic third ventriculostomy and biopsy can be performed through the same burr hole trephination. Limitations of this technique are given by the size of the foramen of Monro and the height of the third ventricle as well as by the bending angle of the instruments (40-50 degrees).

Behavior generation strategy of artificial behavioral system by self-learning paradigm for autonomous robot tasks

NASA Astrophysics Data System (ADS)

Dağlarli, Evren; Temeltaş, Hakan

2008-04-01

In this study, behavior generation and self-learning paradigms are investigated for the real-time applications of multi-goal mobile robot tasks. The method is capable to generate new behaviors and it combines them in order to achieve multi goal tasks. The proposed method is composed from three layers: Behavior Generating Module, Coordination Level and Emotion -Motivation Level. Last two levels use Hidden Markov models to manage dynamical structure of behaviors. The kinematics and dynamic model of the mobile robot with non-holonomic constraints are considered in the behavior based control architecture. The proposed method is tested on a four-wheel driven and four-wheel steered mobile robot with constraints in simulation environment and results are obtained successfully.

Instrument Design Optimization With Computational Methods

NASA Astrophysics Data System (ADS)

Moore, Michael H.

Using Finite Element Analysis to approximate the solution of differential equations, two different instruments in experimental Hall C at the Thomas Jefferson National Accelerator Facility are analyzed. The time dependence of density fluctuations from the liquid hydrogen (LH2) target used in the Qweak experiment (2011-2012) are studied with Computational Fluid Dynamics (CFD) and the simulation results compared to data from the experiment. The 2.5 kW liquid hydrogen target was the highest power LH2 target in the world and the first to be designed with CFD at Jefferson Lab. The first complete magnetic field simulation of the Super High Momentum Spectrometer (SHMS) is presented with a focus on primary electron beam deflection downstream of the target. The SHMS consists of a superconducting horizontal bending magnet (HB) and three superconducting quadrupole magnets. The HB allows particles scattered at an angle of 5.5° to the beam line to be steered into the quadrupole magnets which make up the optics of the spectrometer. Without mitigation, remnant fields from the SHMS may steer the unscattered beam outside of the acceptable envelope on the beam dump and limit beam operations at small scattering angles. A solution is proposed using optimal placement of a minimal amount of shielding iron around the beam line.

Instrument design optimization with computational methods

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

Moore, Michael H.

Using Finite Element Analysis to approximate the solution of differential equations, two different instruments in experimental Hall C at the Thomas Jefferson National Accelerator Facility are analyzed. The time dependence of density uctuations from the liquid hydrogen (LH2) target used in the Q weak experiment (2011-2012) are studied with Computational Fluid Dynamics (CFD) and the simulation results compared to data from the experiment. The 2.5 kW liquid hydrogen target was the highest power LH2 target in the world and the first to be designed with CFD at Jefferson Lab. The first complete magnetic field simulation of the Super High Momentummore » Spectrometer (SHMS) is presented with a focus on primary electron beam deflection downstream of the target. The SHMS consists of a superconducting horizontal bending magnet (HB) and three superconducting quadrupole magnets. The HB allows particles scattered at an angle of 5:5 deg to the beam line to be steered into the quadrupole magnets which make up the optics of the spectrometer. Without mitigation, remnant fields from the SHMS may steer the unscattered beam outside of the acceptable envelope on the beam dump and limit beam operations at small scattering angles. A solution is proposed using optimal placement of a minimal amount of shielding iron around the beam line.« less

Null steering of adaptive beamforming using linear constraint minimum variance assisted by particle swarm optimization, dynamic mutated artificial immune system, and gravitational search algorithm.

PubMed

Darzi, Soodabeh; Kiong, Tiong Sieh; Islam, Mohammad Tariqul; Ismail, Mahamod; Kibria, Salehin; Salem, Balasem

2014-01-01

Linear constraint minimum variance (LCMV) is one of the adaptive beamforming techniques that is commonly applied to cancel interfering signals and steer or produce a strong beam to the desired signal through its computed weight vectors. However, weights computed by LCMV usually are not able to form the radiation beam towards the target user precisely and not good enough to reduce the interference by placing null at the interference sources. It is difficult to improve and optimize the LCMV beamforming technique through conventional empirical approach. To provide a solution to this problem, artificial intelligence (AI) technique is explored in order to enhance the LCMV beamforming ability. In this paper, particle swarm optimization (PSO), dynamic mutated artificial immune system (DM-AIS), and gravitational search algorithm (GSA) are incorporated into the existing LCMV technique in order to improve the weights of LCMV. The simulation result demonstrates that received signal to interference and noise ratio (SINR) of target user can be significantly improved by the integration of PSO, DM-AIS, and GSA in LCMV through the suppression of interference in undesired direction. Furthermore, the proposed GSA can be applied as a more effective technique in LCMV beamforming optimization as compared to the PSO technique. The algorithms were implemented using Matlab program.

Null Steering of Adaptive Beamforming Using Linear Constraint Minimum Variance Assisted by Particle Swarm Optimization, Dynamic Mutated Artificial Immune System, and Gravitational Search Algorithm

PubMed Central

Sieh Kiong, Tiong; Tariqul Islam, Mohammad; Ismail, Mahamod; Salem, Balasem

2014-01-01

Linear constraint minimum variance (LCMV) is one of the adaptive beamforming techniques that is commonly applied to cancel interfering signals and steer or produce a strong beam to the desired signal through its computed weight vectors. However, weights computed by LCMV usually are not able to form the radiation beam towards the target user precisely and not good enough to reduce the interference by placing null at the interference sources. It is difficult to improve and optimize the LCMV beamforming technique through conventional empirical approach. To provide a solution to this problem, artificial intelligence (AI) technique is explored in order to enhance the LCMV beamforming ability. In this paper, particle swarm optimization (PSO), dynamic mutated artificial immune system (DM-AIS), and gravitational search algorithm (GSA) are incorporated into the existing LCMV technique in order to improve the weights of LCMV. The simulation result demonstrates that received signal to interference and noise ratio (SINR) of target user can be significantly improved by the integration of PSO, DM-AIS, and GSA in LCMV through the suppression of interference in undesired direction. Furthermore, the proposed GSA can be applied as a more effective technique in LCMV beamforming optimization as compared to the PSO technique. The algorithms were implemented using Matlab program. PMID:25147859

Omnidirectional angle constraint based dynamic six-degree-of-freedom measurement for spacecraft rendezvous and docking simulation

NASA Astrophysics Data System (ADS)

Shi, Shendong; Yang, Linghui; Lin, Jiarui; Ren, Yongjie; Guo, Siyang; Zhu, Jigui

2018-04-01

In this paper we present a novel omnidirectional angle constraint based method for dynamic 6-DOF (six-degree-of-freedom) measurement. A photoelectric scanning measurement network is employed whose photoelectric receivers are fixed on the measured target. They are in a loop distribution and receive signals from rotating transmitters. Each receiver indicates an angle constraint direction. Therefore, omnidirectional angle constraints can be constructed in each rotation cycle. By solving the constrained optimization problem, 6-DOF information can be obtained, which is independent of traditional rigid coordinate system transformation. For the dynamic error caused by the measurement principle, we present an interpolation method for error reduction. Accuracy testing is performed in an 8  ×  8 m measurement area with four transmitters. The experimental results show that the dynamic orientation RMSEs (root-mean-square errors) are reduced from 0.077° to 0.044°, 0.040° to 0.030° and 0.032° to 0.015° in the X, Y, and Z axes, respectively. The dynamic position RMSE is reduced from 0.65 mm to 0.24 mm. This method is applied during the final approach phase in the rendezvous and docking simulation. Experiments under different conditions are performed in a 40  ×  30 m area, and the method is verified to be effective.

Modelling and model predictive control for a bicycle-rider system

NASA Astrophysics Data System (ADS)

Chu, T. D.; Chen, C. K.

2018-01-01

This study proposes a bicycle-rider control model based on model predictive control (MPC). First, a bicycle-rider model with leaning motion of the rider's upper body is developed. The initial simulation data of the bicycle rider are then used to identify the linear model of the system in state-space form for MPC design. Control characteristics of the proposed controller are assessed by simulating the roll-angle tracking control. In this riding task, the MPC uses steering and leaning torques as the control inputs to control the bicycle along a reference roll angle. The simulation results in different cases have demonstrated the applicability and performance of the MPC for bicycle-rider modelling.

A GPU-accelerated cortical neural network model for visually guided robot navigation.

PubMed

Beyeler, Michael; Oros, Nicolas; Dutt, Nikil; Krichmar, Jeffrey L

2015-12-01

Humans and other terrestrial animals use vision to traverse novel cluttered environments with apparent ease. On one hand, although much is known about the behavioral dynamics of steering in humans, it remains unclear how relevant perceptual variables might be represented in the brain. On the other hand, although a wealth of data exists about the neural circuitry that is concerned with the perception of self-motion variables such as the current direction of travel, little research has been devoted to investigating how this neural circuitry may relate to active steering control. Here we present a cortical neural network model for visually guided navigation that has been embodied on a physical robot exploring a real-world environment. The model includes a rate based motion energy model for area V1, and a spiking neural network model for cortical area MT. The model generates a cortical representation of optic flow, determines the position of objects based on motion discontinuities, and combines these signals with the representation of a goal location to produce motor commands that successfully steer the robot around obstacles toward the goal. The model produces robot trajectories that closely match human behavioral data. This study demonstrates how neural signals in a model of cortical area MT might provide sufficient motion information to steer a physical robot on human-like paths around obstacles in a real-world environment, and exemplifies the importance of embodiment, as behavior is deeply coupled not only with the underlying model of brain function, but also with the anatomical constraints of the physical body it controls. Copyright © 2015 Elsevier Ltd. All rights reserved.

Co-encapsulation of magnetic nanoparticles and doxorubicin into biodegradable microcarriers for deep tissue targeting by vascular MRI navigation.

PubMed

Pouponneau, Pierre; Leroux, Jean-Christophe; Soulez, Gilles; Gaboury, Louis; Martel, Sylvain

2011-05-01

Magnetic tumor targeting with external magnets is a promising method to increase the delivery of cytotoxic agents to tumor cells while reducing side effects. However, this approach suffers from intrinsic limitations, such as the inability to target areas within deep tissues, due mainly to a strong decrease of the magnetic field magnitude away from the magnets. Magnetic resonance navigation (MRN) involving the endovascular steering of therapeutic magnetic microcarriers (TMMC) represents a clinically viable alternative to reach deep tissues. MRN is achieved with an upgraded magnetic resonance imaging (MRI) scanner. In this proof-of-concept preclinical study, the preparation and steering of TMMC which were designed by taking into consideration the constraints of MRN and liver chemoembolization are reported. TMMC were biodegradable microparticles loaded with iron-cobalt nanoparticles and doxorubicin (DOX). These particles displayed high saturation magnetization (Ms = 72 emu g(-1)), MRI tracking compatibility (strong contrast on T2∗-weighted images), appropriate size for the blood vessel embolization (∼50 μm), and sustained release of DOX (over several days). The TMMC were successfully steered in vitro and in vivo in the rabbit model. In vivo targeting of the right or left liver lobes was achieved by MRN through the hepatic artery located 4 cm beneath the skin. Parameters such as flow velocity, TMMC release site in the artery, magnetic gradient and TMMC properties, affected the steering efficiency. These data illustrate the potential of MRN to improve drug targeting in deep tissues. Copyright © 2011 Elsevier Ltd. All rights reserved.

Angle performance on optima MDxt

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

David, Jonathan; Kamenitsa, Dennis

2012-11-06

Angle control on medium current implanters is important due to the high angle-sensitivity of typical medium current implants, such as halo implants. On the Optima MDxt, beam-to-wafer angles are controlled in both the horizontal and vertical directions. In the horizontal direction, the beam angle is measured through six narrow slits, and any angle adjustment is made by electrostatically steering the beam, while cross-wafer beam parallelism is adjusted by changing the focus of the electrostatic parallelizing lens (P-lens). In the vertical direction, the beam angle is measured through a high aspect ratio mask, and any angle adjustment is made by slightlymore » tilting the wafer platen prior to implant. A variety of tests were run to measure the accuracy and repeatability of Optima MDxt's angle control. SIMS profiles of a high energy, channeling sensitive condition show both the cross-wafer angle uniformity, along with the small-angle resolution of the system. Angle repeatability was quantified by running a channeling sensitive implant as a regular monitor over a seven month period and measuring the sheet resistance-to-angle sensitivity. Even though crystal cut error was not controlled for in this case, when attributing all Rs variation to angle changes, the overall angle repeatability was measured as 0.16 Degree-Sign (1{sigma}). A separate angle repeatability test involved running a series of V-curves tests over a four month period using low crystal cut wafers selected from the same boule. The results of this test showed the angle repeatability to be <0.1 Degree-Sign (1{sigma}).« less

Broadband polarization gratings for efficient liquid crystal display, beam steering, spectropolarimetry, and Fresnel zone plate

NASA Astrophysics Data System (ADS)

Oh, Chulwoo

Efficient control of light polarization is essential in any optical systems where polarized light is used or polarization information is of interest. In addition to intensity and wavelength, polarization of light gives a very useful/powerful tool to control light itself and observe many interesting optical phenomena in nature and applications. Most available light sources, however, produce unpolarized or weakly polarized light except some of fancy lasers. Therefore, efficient polarization control/generation is important to improve/advance existing or emerging technologies utilizing polarized light. It is also true that polarization can be used to control another properties of light (i.e., intensity, direction). We have introduced and demonstrated achromatic polarization gratings (PGs) as broadband polarizing beam splitters performing ˜100% theoretical efficiency over a wide spectral range. The novel design of achromatic PGs and their effective fabrication method will be presented. Experimental demonstration will show that practically 100% efficient diffraction is achieved by achromatic PGs embodied as thin liquid crystal (LC) layers patterned by holographic photoalignment techniques. Non-ideal diffraction behaviors of the PGs also have been investigated beyond the paraxial limitations via numerical analysis based on the finite-difference time-domain method. We, first, study the effect of the grating regime for this special type of anisotropic diffraction gratings with the minimum assumptions. Optical properties of the PGs at oblique incidence angles and in a finite pixel are numerically predicted and confirmed by experiments. Design and fabrication of small-period PGs are discussed to show how to achieve high diffraction efficiency and large diffraction angles at the same time. Three key innovative technologies utilizing the unique diffraction properties of the PGs have been introduced and experimentally demonstrated. The first application for light-efficient LC displays is the polymer-PG display, which allows an immediate brightness improvement (up to a factor of two) of conventional LC displays by replacing absorbing polarizers with achromatic PGs as thin, transmissive polymer films. We demonstrate the first proof-of-concept prototype projector based on the polymer-PG display and we also discuss optical design considerations and challenges toward a viable solution for our ultrabright pico-projector applications of the polymer-PG display. Second, two novel beam steering concepts based on the PG diffraction have been proposed. The polarization-sensitive diffraction of the PGs provides very attractive beam steering operations with ultra-high efficiency over wide steering angles by all-thin-plate electro-optical systems. We developed a non-mechanical, wide-angle beam steering system using stacked PGs and LC waveplates, and we also demonstrated a continuous beam steering using two rotating PGs, named the Risley grating as a thin-plate version of the Risley prism. The third PG application is in imaging and non-imaging spectropolarimetry. We have shown a snapshot, hyperspectral, full-Stokes polarimeter using inline PGs and quarter-waveplates. The use of PGs as a new polarimetric element for astronomical instruments in the mid-wave IR wavelengths also has been proposed to overcome current limitations of existing IR polarimeters. In the last part of this Dissertation, we introduce a polarization-type Fresnel zone plates (P-FZPs), comprising of spatially distributed linear birefringence or concentric PG (CPG) patterns. Effective fabrication methods of P-FZPs have been developed using polarization holography based on the Michelson interferometer and photoalignment of LC materials. We demonstrated high-quality P-FZPs, which exhibit ideal Fresnel-type lens effects, formed as both LC polymer films and electro-optical LC devices. We also discuss the polarization-selective lens properties of the P-FZPs as well as their electro-optical switching. In summary, we have explored the fundamental diffraction behavior of the polarization gratings and their applications in advanced optics and photonics. The achromatic designs of the PGs allow their broadband diffraction operation over a wide range of spectrum, which increases the applicability of the PGs with a great extent. Three novel technologies that directly benefit from the distinct diffraction properties of the PGs have been developed. In addition, a new diffractive lens element operating solely on light polarization has been introduced and experimentally demonstrated. We conclude this Dissertation with our suggestions of a number of potential innovations and advances in technologies that can be enabled by polarization gratings and related technologies.

Design and evaluation of steering protection for avoiding collisions during a lane change.

PubMed

Itoh, Makoto; Inagaki, Toshiyuki

2014-01-01

This paper discusses the design of a driver assistance system for avoiding collisions with vehicles in blind spots. The following three types of support systems are compared: (1) a warning system that provides the driver with an auditory alert, (2) a 'soft' protection system that makes the steering wheel stiffer to tell the driver that a lane-change manoeuvre is not recommended and (3) a 'hard' protection system that cancels the driver's input and controls the tyre angle autonomously to prevent lane departure. The results of an experiment showed that the hard protection system was more effective for collision avoidance than either the warning or the soft protection system. The warning and soft protection systems were almost the same in terms of collision avoidance. The results suggest that the human-centred automation principle, which requires the human to have the final authority over the automation, can be violated depending on the context.

The Implications of Encoder/Modulator/ Phased Array Designs for Future Broadband LEO Communications

NASA Technical Reports Server (NTRS)

Vanderaar, Mark; Jensen, Chris A.; Terry, John D.

1997-01-01

In this paper we summarize the effects of modulation and channel coding on the design of wide angle scan, broadband, phased army antennas. In the paper we perform several trade studies. First, we investigate the amplifier back-off requirement as a function of variability of modulation envelope. Specifically, we contrast constant and non-constant envelope modulations, as well as single and multiple carrier schemes. Additionally, we address the issues an(f concerns of using pulse shaping filters with the above modulation types. Second, we quantify the effects of beam steering on the quality of data, recovery using selected modulation techniques. In particular, we show that the frequency response of the array introduces intersymbol interference for broadband signals and that the mode of operation for the beam steering controller may introduce additional burst or random errors. Finally, we show that the encoder/modulator design must be performed in conjunction with the phased array antenna design.

Honeybees Prefer to Steer on a Smooth Wall With Tetrapod Gaits

PubMed Central

Zhao, Jieliang; Zhu, Fei; Yan, Shaoze

2018-01-01

Abstract Insects are well equipped in walking on complex three-dimensional terrain, allowing them to overcome obstacles or catch prey. However, the gait transition for insects steering on a wall remains unexplored. Here, we find that honeybees adopted a tetrapod gait to change direction when climbing a wall. On the contrary to the common tripod gait, honeybees propel their body forward by synchronously stepping with both middle legs and then both front legs. This process ensures the angle of the central axis of the honeybee to be consistent with the crawling direction. Interestingly, when running in an alternating tripod gait, the central axis of honeybee sways around the center of mass under alternating tripod gait to maintain stability. Experimental results show that tripod, tetrapod, and random gaits result in the amazing consensus harmony on the climbing speed and gait stability, whether climbing on a smooth wall or walking on smooth ground. PMID:29722862

Processing and filtrating of driver fatigue characteristic parameters based on rough set

NASA Astrophysics Data System (ADS)

Ye, Wenwu; Zhao, Xuyang

2018-05-01

With the rapid development of economy, people become increasingly rich, and cars have become a common means of transportation in daily life. However, the problem of traffic safety is becoming more and more serious. And fatigue driving is one of the main causes of traffic accidents. Therefore, it is of great importance for us to study the detection of fatigue driving to improve traffic safety. In the cause of determining whether the driver is tired, the characteristic quantity related to the steering angle of the steering wheel and the characteristic quantity of the driver's pulse are all important indicators. The fuzzy c-means clustering is used to discretize the above indexes. Because the characteristic parameters are too miscellaneous, rough set is used to filtrate these characteristics. Finally, this paper finds out the highest correlation with fatigue driving. It is proved that these selected characteristics are of great significance to the evaluation of fatigue driving.

Luneburg lens with extended flat focal surface for electronic scan applications.

PubMed

Li, Ying; Zhu, Qi

2016-04-04

Luneburg lens with flat focal surface has been developed to work together with planar antenna feeds for beam steering applications. According to our analysis of the conventional flattened Luneburg lens, it cannot accommodate enough feeding elements which can cover its whole scan range with half power beamwidths (HPBWs). In this paper, a novel Luneburg lens with extended flat focal surface is proposed based on the theory of Quasi-Conformal Transformation Optics (QCTO), with its beam steering features reserved. To demonstrate this design, a three-dimensional (3D) prototype of this novel extend-flattened Luneburg lens working at Ku band is fabricated based on 3D printing techniques, whose flat focal surface is attached to a 9-element microstrip antenna array to achieve different scan angles. Our measured results show that, with different antenna elements being fed, the HPBWs can cover the whole scan range.

Quantifying Hurricane Wind Speed with Undersea Sound

DTIC Science & Technology

2006-06-01

even detect hurricanes using practical linear arrays at long ranges in these environments. 2.6 Conclusions We have shown that the wind- generated noise...application in other seismic research where a sensor on land measures signals generated by sources at sea. For example undersea earthquakes [124] and...at 100 Hz for a 64-element A/2-spaced horizontal broadside array as a function of steering angle for hurricane generated noise in the North Atlantic

Coordinated path-following and direct yaw-moment control of autonomous electric vehicles with sideslip angle estimation

NASA Astrophysics Data System (ADS)

Guo, Jinghua; Luo, Yugong; Li, Keqiang; Dai, Yifan

2018-05-01

This paper presents a novel coordinated path following system (PFS) and direct yaw-moment control (DYC) of autonomous electric vehicles via hierarchical control technique. In the high-level control law design, a new fuzzy factor is introduced based on the magnitude of longitudinal velocity of vehicle, a linear time varying (LTV)-based model predictive controller (MPC) is proposed to acquire the wheel steering angle and external yaw moment. Then, a pseudo inverse (PI) low-level control allocation law is designed to realize the tracking of desired external moment torque and management of the redundant tire actuators. Furthermore, the vehicle sideslip angle is estimated by the data fusion of low-cost GPS and INS, which can be obtained by the integral of modified INS signals with GPS signals as initial value. Finally, the effectiveness of the proposed control system is validated by the simulation and experimental tests.

Electrothermally actuated tip-tilt-piston micromirror with integrated varifocal capability.

PubMed

Morrison, Jessica; Imboden, Matthias; Little, Thomas D C; Bishop, D J

2015-04-06

MEMS micromirrors have proven to be very important optical devices with applications ranging from steerable mirrors for switches and cross-connects to spatial light modulators for correcting optical distortions. Usually beam steering and focusing are done with different MEMS devices and tilt angles in excess of 10 degrees are seldom obtained. Here we describe a single MEMS device that combines tip/tilt, piston mode and varifocal capability into a single, low cost device with very large tilt angles. Our device consists of a 400 micron diameter mirror driven with thermal bimorphs. We have demonstrated deflection angles of ± 40 degrees along both axes, a tunable focal length which varies between -0.48 mm to + 20.5 mm and a piston mode range of 300 microns - four separately controllable degrees of freedom in a single device. Potential applications range from smart lighting to optical switches and devices for telecom systems.

BICEP2 / Keck Array IX: New bounds on anisotropies of CMB polarization rotation and implications for axionlike particles and primordial magnetic fields

NASA Astrophysics Data System (ADS)

BICEP2 Collaboration; Keck Array Collaboration; Ade, P. A. R.; Ahmed, Z.; Aikin, R. W.; Alexander, K. D.; Barkats, D.; Benton, S. J.; Bischoff, C. A.; Bock, J. J.; Bowens-Rubin, R.; Brevik, J. A.; Buder, I.; Bullock, E.; Buza, V.; Connors, J.; Crill, B. P.; Duband, L.; Dvorkin, C.; Filippini, J. P.; Fliescher, S.; Germaine, T. St.; Ghosh, T.; Grayson, J.; Harrison, S.; Hildebrandt, S. R.; Hilton, G. C.; Hui, H.; Irwin, K. D.; Kang, J.; Karkare, K. S.; Karpel, E.; Kaufman, J. P.; Keating, B. G.; Kefeli, S.; Kernasovskiy, S. A.; Kovac, J. M.; Kuo, C. L.; Larson, N.; Leitch, E. M.; Megerian, K. G.; Moncelsi, L.; Namikawa, T.; Netterfield, C. B.; Nguyen, H. T.; O'Brient, R.; Ogburn, R. W.; Pryke, C.; Richter, S.; Schillaci, A.; Schwarz, R.; Sheehy, C. D.; Staniszewski, Z. K.; Steinbach, B.; Sudiwala, R. V.; Teply, G. P.; Thompson, K. L.; Tolan, J. E.; Tucker, C.; Turner, A. D.; Vieregg, A. G.; Weber, A. C.; Wiebe, D. V.; Willmert, J.; Wong, C. L.; Wu, W. L. K.; Yoon, K. W.

2017-11-01

We present the strongest constraints to date on anisotropies of cosmic microwave background (CMB) polarization rotation derived from 150 GHz data taken by the BICEP2 & Keck Array CMB experiments up to and including the 2014 observing season (BK14). The definition of the polarization angle in BK14 maps has gone through self-calibration in which the overall angle is adjusted to minimize the observed T B and E B power spectra. After this procedure, the Q U maps lose sensitivity to a uniform polarization rotation but are still sensitive to anisotropies of polarization rotation. This analysis places constraints on the anisotropies of polarization rotation, which could be generated by CMB photons interacting with axionlike pseudoscalar fields or Faraday rotation induced by primordial magnetic fields. The sensitivity of BK14 maps (˜3 μ K -arc min ) makes it possible to reconstruct anisotropies of the polarization rotation angle and measure their angular power spectrum much more precisely than previous attempts. Our data are found to be consistent with no polarization rotation anisotropies, improving the upper bound on the amplitude of the rotation angle spectrum by roughly an order of magnitude compared to the previous best constraints. Our results lead to an order of magnitude better constraint on the coupling constant of the Chern-Simons electromagnetic term ga γ≤7.2 ×10-2/HI (95% confidence) than the constraint derived from the B -mode spectrum, where HI is the inflationary Hubble scale. This constraint leads to a limit on the decay constant of 10-6≲fa/Mpl at mass range of 10-33≤ma≤10-28 eV for r =0.01 , assuming ga γ˜α /(2 π fa) with α denoting the fine structure constant. The upper bound on the amplitude of the primordial magnetic fields is 30 nG (95% confidence) from the polarization rotation anisotropies.

Sterically allowed configuration space for amino acid dipeptides

NASA Astrophysics Data System (ADS)

Caballero, Diego; Maatta, Jukka; Sammalkorpi, Maria; O'Hern, Corey; Regan, Lynne

2014-03-01

Despite recent improvements in computational methods for protein design, we still lack a quantitative, predictive understanding of the intrinsic propensities for amino acids to be in particular backbone or side-chain conformations. This question has remained unsettled for years because of the discrepancies between different experimental approaches. To address it, I performed all-atom hard-sphere simulations of hydrophobic residues with stereo-chemical constraints and non-attractive steric interactions between non-bonded atoms for ALA, ILE, LEU and VAL dipeptide mimetics. For these hard-sphere MD simulations, I show that transitions between α-helix and β-sheet structures only occur when the bond angle τ(N -Cα - C) >110° , and the probability distribution of bond angles for structures in the `bridge' region of ϕ- ψ space is shifted to larger angles compared to that in other regions. In contrast, the relevant bond-angle distributions obtained from most molecular dynamics packages are broader and shifter to larger values. I encounter similar correlations between bond angles and side-chain dihedral angles. The success of these studies is an argument for re-incorporating local stereochemical constraints into computational protein design methodology.

Effect of travel speed on the visual control of steering toward a goal.

PubMed

Chen, Rongrong; Niehorster, Diederick C; Li, Li

2018-03-01

Previous studies have proposed that people can use visual cues such as the instantaneous direction (i.e., heading) or future path trajectory of travel specified by optic flow or target visual direction in egocentric space to steer or walk toward a goal. In the current study, we examined what visual cues people use to guide their goal-oriented locomotion and whether their reliance on such visual cues changes as travel speed increases. We presented participants with optic flow displays that simulated their self-motion toward a target at various travel speeds under two viewing conditions in which we made target egocentric direction available or unavailable for steering. We found that for both viewing conditions, participants did not steer along a curved path toward the target such that the actual and the required path curvature to reach the target would converge when approaching the target. At higher travel speeds, participants showed a faster and larger reduction in target-heading angle and more accurate and precise steady-state control of aligning their heading specified by optic flow with the target. These findings support the claim that people use heading and target egocentric direction but not path for goal-oriented locomotion control, and their reliance on heading increases at higher travel speeds. The increased reliance on heading for goal-oriented locomotion control could be due to an increased reliability in perceiving heading from optic flow as the magnitude of flow increases with travel speed. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

Simulation of a circular phased array for a portable ultrasonic polar scan

NASA Astrophysics Data System (ADS)

Daemen, Jannes; Kersemans, Mathias; Martens, Arvid; Verboven, Erik; Delrue, Steven; Van Paepegem, Wim; Degrieck, Joris; Van Den Abeele, Koen

2018-04-01

The development of new composite materials, often anisotropic in nature, requires intricate approaches to characterize these materials and to detect internal defects. The Ultrasonic Polar Scan (UPS) is able to achieve both goals. During an UPS experiment, a material spot is insonified at several angles Ψ(θ,ϕ), after which the reflected or transmitted signal is recorded. While excellent results have been obtained using an in-house developed 5-axis scanner, UPS measurements with the current set-up are too lengthy and cumbersome for in-situ industrial application. Therefore, we propose to replace the complex mechanical steering of the transducers by a hemispherical phased array consisting of small PZT elements. This allows to create a compact and portable setup without compromising the current data quality. By successively activating a specific set of elements of the array and choosing appropriate inter-element time delays, the beam can be electronically steered from any angle to a fixed position on the targeted sample. Consequently, UPS reflection measurements can be performed at this position from a wide range of angles in a timeframe of seconds. Additionally, by using apodization windows, it is possible to efficiently reduce the intensity of unwanted side lobes and to create a phase profile which closely resembles that of a bounded plane wave, leading to an easier interpretation of the recorded data. The appropriate time delays and apodization parameters can be found though a multi-objective inverse problem in which both the phase profile and the side lobe reduction are optimized. This approach enables the creation of an effective beam profile to be used during UPS experiments for the characterization and inspection of composite materials. Our simulation approach is a crucial step towards a next-generation UPS device for industrial applications and in-field measurements.

Intelligent vehicle safety control strategy in various driving situations

NASA Astrophysics Data System (ADS)

Moon, Seungwuk; Cho, Wanki; Yi, Kyongsu

2010-12-01

This paper describes a safety control strategy for intelligent vehicles with the objective of optimally coordinating the throttle, brake, and active front steering actuator inputs to obtain both lateral stability and longitudinal safety. The control system consists of a supervisor, control algorithms, and a coordinator. From the measurement and estimation signals, the supervisor determines the active control modes among normal driving, longitudinal safety, lateral stability, and integrated safety control mode. The control algorithms consist of longitudinal and lateral stability controllers. The longitudinal controller is designed to improve the driver's comfort during normal, safe-driving situations, and to avoid rear-end collision in vehicle-following situations. The lateral stability controller is designed to obtain the required manoeuvrability and to limit the vehicle body's side-slip angle. To obtain both longitudinal safety and lateral stability control in various driving situations, the coordinator optimally determines the throttle, brake, and active front steering inputs based on the current status of the subject vehicle. Closed-loop simulations with the driver-vehicle-controller system are conducted to investigate the performance of the proposed control strategy. From these simulation results, it is shown that the proposed control algorithm assists the driver in combined severe braking/large steering manoeuvring so that the driver can maintain good manoeuvrability and prevent the vehicle from crashing in vehicle-following situations.

Low Cost Beam-Steering Approach for a Series-Fed Array

NASA Technical Reports Server (NTRS)

Host, Nicholas K.; Chen, Chi-Chih; Volakis, John L.; Miranda, Felix A.

2013-01-01

Phased array antennas showcase many advantages over mechanically steered systems. However, they are also more complex and costly. This paper presents a concept which overcomes these detrimental attributes by eliminating all of the phased array backend (including phase shifters). Instead, a propagation constant reconfigurable transmission line in a series fed array arrangement is used to allow phase shifting with one small (less than or equal to 100mil) linear mechanical motion. A novel slotted coplanar stripline design improves on previous transmission lines by demonstrating a greater control of propagation constant, thus allowing practical prototypes to be built. Also, beam steering pattern control is explored. We show that with correct choice of line impedance, pattern control is possible for all scan angles. A 20 element array scanning from -25 deg less than or equal to theta less than or equal to 21 deg. with mostly uniform gain at 13GHz is presented. Measured patterns show a reduced scan range of 12 deg. less than or equal to theta less than or equal to 25 deg. due to a correctable manufacturing error as verified by simulation. Beam squint is measured to be plus or minus 2.5 deg for a 600MHz bandwidth and cross-pol is measured to be at least -15dB.

Structural Performance of Advanced Composite Tow-Steered Shells With Cutouts

NASA Technical Reports Server (NTRS)

Wu, K. Chauncey; Turpin, Jason D.; Stanford, Bret K.; Martin, Robert A.

2014-01-01

The structural performance of two advanced composite tow-steered shells with cutouts, manufactured using an automated fiber placement system, is assessed using both experimental and analytical methods. The shells' fiber orientation angles vary continuously around their circumference from +/-10 degrees on the crown and keel, to +/-45 degrees on the sides. The raised surface features on one shell result from application of all 24 tows during each fiber placement system pass, while the second shell uses the system's tow drop/add capability to achieve a more uniform wall thickness. These unstiffened shells were previously tested in axial compression and buckled elastically. A single cutout, scaled to represent a passenger door on a commercial aircraft, is then machined into one side of each shell. The prebuckling axial stiffnesses and bifurcation buckling loads of the shells with cutouts are also computed using linear finite element structural analyses for initial comparisons with test data. When retested, large deflections were observed around the cutouts, but the shells carried an average of 92 percent of the axial stiffness, and 86 percent of the buckling loads, of the shells without cutouts. These relatively small reductions in performance demonstrate the potential for using tow steering to mitigate the adverse effects of typical design features on the overall structural performance.

Fault-tolerant control of electric vehicles with in-wheel motors using actuator-grouping sliding mode controllers

NASA Astrophysics Data System (ADS)

Li, Boyuan; Du, Haiping; Li, Weihua

2016-05-01

Although electric vehicles with in-wheel motors have been regarded as one of the promising vehicle architectures in recent years, the probability of in-wheel motor fault is still a crucial issue due to the system complexity and large number of control actuators. In this study, a modified sliding mode control (SMC) is applied to achieve fault-tolerant control of electric vehicles with four-wheel-independent-steering (4WIS) and four-wheel-independent-driving (4WID). Unlike in traditional SMC, in this approach the steering geometry is re-arranged according to the location of faulty wheels in the modified SMC. Three SMC control laws for longitudinal velocity control, lateral velocity control and yaw rate control are designed based on specific vehicle motion scenarios. In addition the actuator-grouping SMC method is proposed so that driving actuators are grouped and each group of actuators can be used to achieve the specific control target, which avoids the strong coupling effect between each control target. Simulation results prove that the proposed modified SMC can achieve good vehicle dynamics control performance in normal driving and large steering angle turning scenarios. In addition, the proposed actuator-grouping SMC can solve the coupling effect of different control targets and the control performance is improved.

Design and evaluation of a 63 element 1.75-dimensional ultrasound phased array for treating benign prostatic hyperplasia

NASA Astrophysics Data System (ADS)

Saleh, Khaldon Y.; Smith, Nadine B.

2003-10-01

Focused ultrasound surgery (FUS) is a clinical method for treating benign prostatic hyperplasia (BPH) in which tissue is noninvasively necrosed by elevating the temperature at the focal point above 60°C using short sonications. With 1.75-dimensional (1.75-D) arrays, the power and phase to the individual elements can be controlled electronically for focusing and steering. This research describes the design, construction and evaluation of a 1.75-D ultrasound phased array to be used in the treatment of benign prostatic hyperplasia. The array was designed with a steering angle of +/-13.5 deg in the transverse direction, and can move the focus in three parallel planes in the longitudinal direction with a relatively large focus size. A piezoelectric ceramic (PZT-8) was used as the material of the transducer and two matching layers were built for maximum acoustic power transmission to tissue. To verify the capability of the transducer for focusing and steering, exposimetry was performed and the results correlated well with the calculated fields. In vivo experiments were performed to verify the capability of the transducer to ablate tissue using short sonications. [Work supported by the Whitaker Foundation and the Department of Defense Congressionally Directed Medical Prostate Cancer Research Program.

A Novel Approach to Beam Steering Using Arrays Composed of Multiple Unique Radiating Modes

NASA Astrophysics Data System (ADS)

Labadie, Nathan Richard

Phased array antennas have found wide application in both radar and wireless communications systems particularly as implementation costs continue to decrease. The primary advantages of electronically scanned arrays are speed of beam scan and versatility of beamforming compared to mechanically scanned fixed beam antennas. These benefits come at the cost of a few well known design issues including element pattern rolloff and mutual coupling between elements. Our primary contribution to the field of research is the demonstration of significant improvement in phased array scan performance using multiple unique radiating modes. In short, orthogonal radiating modes have minimal coupling by definition and can also be generated with reduced rolloff at wide scan angles. In this dissertation, we present a combination of analysis, full-wave electromagnetic simulation and measured data to support our claims. The novel folded ring resonator (FRR) antenna is introduced as a wideband and multi-band element embedded in a grounded dielectric substrate. Multiple radiating modes of a small ground plane excited by a four element FRR array were also investigated. A novel hemispherical null steering antenna composed of two collocated radiating elements, each supporting a unique radiating mode, is presented in the context of an anti-jam GPS receiver application. Both the antenna aperture and active feed network were fabricated and measured showing excellent agreement with analytical and simulated data. The concept of using an antenna supporting multiple radiating modes for beam steering is also explored. A 16 element hybrid linear phased array was fabricated and measured demonstrating significantly improved scan range and scanned gain compared to a conventional phased array. This idea is expanded to 2 dimensional scanning arrays by analysis and simulation of a hybrid phased array composed of novel multiple mode monopole on patch antenna sub-arrays. Finally, we fabricated and characterized the 2D scanning hybrid phased array demonstrating wide angle scanning with high antenna efficiency.

OCILOW-Wheeled Platform Controls Executable Set

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

Jansen, John F.

2005-11-30

The OCILOW Controls Executable Set is the complete set of machine executable instructions to control the motion of wheeled platforms that incorporate Off-Centered In-Line Omni-directional Wheels (OCILOW). The controls utilize command signals for the desired motion of the platform (X, Y and Theta) and calculate and control the steering and rolling motion required of each OCILOW wheels to achieve the desired translational and rotational platform motion. The controls utilize signals from the wheel steering and rolling resolvers, and from three load cells located at each wheels, to coordinate the motion of all wheels, while respecting their non-holonomic constraints (i.e., keepingmore » internal stresses and slippage due to possible errors, uneven floors, bumps, misalignment, etc. bounded). The OCILOW Controls Executable Set, which is copyrighted here, is an embodiment of the generic OCILOW algorithms (patented separately) developed specifically for controls of the Proof-of-Principle-Transporter (POP-T) system that has been developed to demonstrate the overall OCILOW controls feasibility and capabilities.« less

An Invitation to Imitation

DTIC Science & Technology

2015-03-15

Super Mario Bros, 2010b. URL http://www.youtube.com/watch?v=anOI0xZ3kGM. S. Ross and J. A. Bagnell. Efficient reductions for imitation learning. In...learning to drive a car in a video game by performing a direct mapping from screen shots to steering angles. Figure 4 illustrates the classic super - an...same distribution and thus the super - vised learning assumption of independent and identically distributed (i.i.d.) data is badly violated. A natural

Acquisition, Tracking, Pointing, and Line-of-Sight Control Laboratory Experiments for a Space-Based Bifocal Relay Mirror

DTIC Science & Technology

2002-01-01

fixed coordinate frame. The spacecraft is subjected to large angle maneuvers ; therefore, a quaternion formulation is used. The spacecraft uses rate...steering mirrors (small inertia). The wheel control laws are based on quaternion error and angular velocity error feedback . The derivation of the...Agrawal, M. Romano Spacecraft Research and Design Center Naval Postgraduate School Monterey, CA 93943 R. L. Brunson**, J. D. Dillow, D. H. Nelson, J. J

Two-Dimensional Array Beam Scanning Via Externally and Mutually Injection Locked Coupled Oscillators

NASA Technical Reports Server (NTRS)

Pogorzelski, Ronald J.

2000-01-01

Some years ago, Stephan proposed an approach to one dimensional (linear) phased array beam steering which requires only a single phase shifter. This involves the use of a linear array of voltage-controlled electronic oscillators coupled to nearest neighbors. The oscillators are mutually injection locked by controlling their coupling and tuning appropriately. Stephan's approach consists of deriving two signals from a master oscillator, one signal phase shifted with respect to the other by means of a single phase shifter. These two signals are injected into the end oscillators of the array. The result is a linear phase progression across the oscillator array. Thus, if radiating elements are connected to each oscillator and spaced uniformly along a line, they will radiate a beam at an angle to that line determined by the phase gradient which is, in turn, determined by the phase difference between the injection signals.The beam direction is therefore controlled by adjusting this phase difference. Recently, Pogorzelski and York presented a formulation which facilitates theoretical analysis of the above beam steering technique. This was subsequently applied by Pogorzelski in analysis of two dimensional beam steering using perimeter detuning of a coupled oscillator array. The formulation is based on a continuum model in which the oscillator phases are represented by a continuous function satisfying a partial differential equation of diffusion type. This equation can be solved via the Laplace transform and the resulting solution exhibits the dynamic behavior of the array as the beam is steered. Stephan's beam steering technique can be similarly generalized to two-dimensional arrays in which the beam control signals are applied to the oscillators on the perimeter of the array. In this paper the continuum model for this two-dimensional case is developed and the dynamic solution for the corresponding aperture phase function is obtained. The corresponding behavior of the resulting far-zone radiation pattern is displayed as well.

Improved Plane-Wave Ultrasound Beamforming by Incorporating Angular Weighting and Coherent Compounding in Fourier Domain.

PubMed

Chen, Chuan; Hendriks, Gijs A G M; van Sloun, Ruud J G; Hansen, Hendrik H G; de Korte, Chris L

2018-05-01

In this paper, a novel processing framework is introduced for Fourier-domain beamforming of plane-wave ultrasound data, which incorporates coherent compounding and angular weighting in the Fourier domain. Angular weighting implies spectral weighting by a 2-D steering-angle-dependent filtering template. The design of this filter is also optimized as part of this paper. Two widely used Fourier-domain plane-wave ultrasound beamforming methods, i.e., Lu's f-k and Stolt's f-k methods, were integrated in the framework. To enable coherent compounding in Fourier domain for the Stolt's f-k method, the original Stolt's f-k method was modified to achieve alignment of the spectra for different steering angles in k-space. The performance of the framework was compared for both methods with and without angular weighting using experimentally obtained data sets (phantom and in vivo), and data sets (phantom) provided by the IEEE IUS 2016 plane-wave beamforming challenge. The addition of angular weighting enhanced the image contrast while preserving image resolution. This resulted in images of equal quality as those obtained by conventionally used delay-and-sum (DAS) beamforming with apodization and coherent compounding. Given the lower computational load of the proposed framework compared to DAS, to our knowledge it can, therefore, be concluded that it outperforms commonly used beamforming methods such as Stolt's f-k, Lu's f-k, and DAS.

Rate-gyro-integral constraint for ambiguity resolution in GNSS attitude determination applications.

PubMed

Zhu, Jiancheng; Li, Tao; Wang, Jinling; Hu, Xiaoping; Wu, Meiping

2013-06-21

In the field of Global Navigation Satellite System (GNSS) attitude determination, the constraints usually play a critical role in resolving the unknown ambiguities quickly and correctly. Many constraints such as the baseline length, the geometry of multi-baselines and the horizontal attitude angles have been used extensively to improve the performance of ambiguity resolution. In the GNSS/Inertial Navigation System (INS) integrated attitude determination systems using low grade Inertial Measurement Unit (IMU), the initial heading parameters of the vehicle are usually worked out by the GNSS subsystem instead of by the IMU sensors independently. However, when a rotation occurs, the angle at which vehicle has turned within a short time span can be measured accurately by the IMU. This measurement will be treated as a constraint, namely the rate-gyro-integral constraint, which can aid the GNSS ambiguity resolution. We will use this constraint to filter the candidates in the ambiguity search stage. The ambiguity search space shrinks significantly with this constraint imposed during the rotation, thus it is helpful to speeding up the initialization of attitude parameters under dynamic circumstances. This paper will only study the applications of this new constraint to land vehicles. The impacts of measurement errors on the effect of this new constraint will be assessed for different grades of IMU and current average precision level of GNSS receivers. Simulations and experiments in urban areas have demonstrated the validity and efficacy of the new constraint in aiding GNSS attitude determinations.

Constrained spacecraft reorientation using mixed integer convex programming

NASA Astrophysics Data System (ADS)

Tam, Margaret; Glenn Lightsey, E.

2016-10-01

A constrained attitude guidance (CAG) system is developed using convex optimization to autonomously achieve spacecraft pointing objectives while meeting the constraints imposed by on-board hardware. These constraints include bounds on the control input and slew rate, as well as pointing constraints imposed by the sensors. The pointing constraints consist of inclusion and exclusion cones that dictate permissible orientations of the spacecraft in order to keep objects in or out of the field of view of the sensors. The optimization scheme drives a body vector towards a target inertial vector along a trajectory that consists solely of permissible orientations in order to achieve the desired attitude for a given mission mode. The non-convex rotational kinematics are handled by discretization, which also ensures that the quaternion stays unity norm. In order to guarantee an admissible path, the pointing constraints are relaxed. Depending on how strict the pointing constraints are, the degree of relaxation is tuneable. The use of binary variables permits the inclusion of logical expressions in the pointing constraints in the case that a set of sensors has redundancies. The resulting mixed integer convex programming (MICP) formulation generates a steering law that can be easily integrated into an attitude determination and control (ADC) system. A sample simulation of the system is performed for the Bevo-2 satellite, including disturbance torques and actuator dynamics which are not modeled by the controller. Simulation results demonstrate the robustness of the system to disturbances while meeting the mission requirements with desirable performance characteristics.

Microparticules magnetiques therapeutiques pour la chimio-embolisation ciblee du foie

NASA Astrophysics Data System (ADS)

Pouponneau, Pierre

The proposed project introduces a therapeutic vector for the liver tumor treatment based on a new magnetic targeting strategy. The hypothesis of this thesis is that it is possible to design a therapeutic vector compatible with the constraints of liver chemoembolization and MRN in the hepatic artery to target the right/left lobe of the liver. This vector, referred to as therapeutic magnetic microcarriers (TMMC) is loaded with an antitumor drug and magnetic nanoparticles. A design study, based on a mathematical modeling of microparticle steering and a literature review on the chemoembolization, was done to optimize TMMC properties (diameter, Ms, nanoparticle choice and loading). Iron-cobalt (FeCo) nanoparticles were synthesized and annealed under inert conditions to improve their magnetic properties. These ferromagnetic nanoparticles possessed a mean diameter of 200 nm, measured by transmission electronic microscopy, and an Ms of 205 emu g-1, determined with a vibrating sample magnetometer. These nanoparticles, by their high Ms, allowed reducing by half the magnetic material loading in TMMC compared with the encapsulation of iron oxide nanoparticles. The nanoparticles coated with 10-nm graphite shell were protected from oxidation and thus they maintained their excellent magnetic properties. The design study was experimentally confirmed by the encapsulation of FeCo nanoparticles into poly(lactic-co-glycolic acid (PLGA) biodegradable microparticles. The latter were steered in vitro in a phantom mimicking the hepatic artery and its right/left bifurcation. The steering efficiency was determined by steering video analysis and the iron and cobalt ion concentrations were assayed by atomic absorption spectrometry in each bifurcation. FeCo nanoparticles were then co-encapsulated with doxorubicin (DOX) into PLGA microparticles. DOX is an antitumor drug widely used for HCC treatments. TMMC possessed a mean diameter of 52 mum, an Ms of 72 emu g-1 and they were loaded with 37% (w/w) of nanoparticles and 3% (w/w) of DOX. In vitro, after 3 days of elution in phosphate buffered saline solution, 54% of the DOX encapsulated remained in the TMMC. The elution was characterized by a fast release phase during one hour and then a slow kinetics. The steering was evaluated in vitro in a phantom mimicking the hepatic artery under physiological and interventional radiology conditions (injection by catheter, variation of distance between the catheter and the bifurcation from 30 to 20 mm, magnetic gradient from 200 to 400 mT m -1, flow velocity from 7.5 to 12 cm s-1). Steering efficiency was defined as the reduction of the TMMC (or drug) dose in the untargeted area in the presence of magnetic steering versus the negative control (no steering). The steering efficiency increased when the magnetic gradient increased. The efficiency decreased when the flow velocity increased and the catheter was closer to the bifurcation. The efficiency decreased with microparticles with lower steering properties (diameter of 30 mum and Ms of 49 emu g-1). This result confirmed that the TMMC properties were specific to the vascular network being targeted. In the optimal conditions, the steering efficiency reached 70%. The steering of TMMC was measured in vivo. An interventional radiology protocol compatible with MRN was developed to place the catheters, to reduce the hepatic artery blood velocity during the steering and to determine the MRI sequence parameters. TMMC induced signal loss on T2*-weighted magnetic resonance images because of their high Ms which allowed their easy localization in the tissues. The embolization of the hepatic artery branches by TMMC was confirmed by histological analysis. The sustained release of DOX was verified by measuring its plasmatic concentration. TMMC distribution in the tissues was determined by the histological analysis and DOX and cobalt concentration measurements. A significant difference in the TMMC distribution in the liver lobes between the group with MRN and the control group was obtained. The MRN allowed reducing the microparticle concentration in the untargeted area. In the optimal conditions, the steering efficiency reached 50%. The parameters influencing the steering efficiency in vitro were confirmed during in vivo tests. (Abstract shortened by UMI.)

Dark-field phase retrieval under the constraint of the Friedel symmetry in coherent X-ray diffraction imaging.

PubMed

Kobayashi, Amane; Sekiguchi, Yuki; Takayama, Yuki; Oroguchi, Tomotaka; Nakasako, Masayoshi

2014-11-17

Coherent X-ray diffraction imaging (CXDI) is a lensless imaging technique that is suitable for visualizing the structures of non-crystalline particles with micrometer to sub-micrometer dimensions from material science and biology. One of the difficulties inherent to CXDI structural analyses is the reconstruction of electron density maps of specimen particles from diffraction patterns because saturated detector pixels and a beam stopper result in missing data in small-angle regions. To overcome this difficulty, the dark-field phase-retrieval (DFPR) method has been proposed. The DFPR method reconstructs electron density maps from diffraction data, which are modified by multiplying Gaussian masks with an observed diffraction pattern in the high-angle regions. In this paper, we incorporated Friedel centrosymmetry for diffraction patterns into the DFPR method to provide a constraint for the phase-retrieval calculation. A set of model simulations demonstrated that this constraint dramatically improved the probability of reconstructing correct electron density maps from diffraction patterns that were missing data in the small-angle region. In addition, the DFPR method with the constraint was applied successfully to experimentally obtained diffraction patterns with significant quantities of missing data. We also discuss this method's limitations with respect to the level of Poisson noise in X-ray detection.

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

Guo Baonian; Gossmann, Hans-Joachim; Toh, Terry

Angle control has been widely accepted as the key requirement for ion implantation in semiconductor device processing. From an ion implanter point of view, the incident ion direction should be measured and corrected by suitable techniques, such as XP-VPS for the VIISta implanter platform, to ensure precision ion placement in device structures. So called V-curves have been adopted to generate the wafer-based calibration using channeling effects as the Si lattice steer ions into a channeling direction. Thermal Wave (TW) or sheet resistance (Rs) can be used to determine the minimum of the angle response curve. Normally it is expected thatmore » the TW and Rs have their respective minima at identical angles. However, the TW and Rs response to the angle variations does depend on factors such as implant species, dose, and wafer temperature. Implant damage accumulation effects have to be considered for data interpretation especially for some 'abnormal' V-curve data. In this paper we will discuss some observed 'abnormal' angle responses, such as a) TW/Rs reverse trend for Arsenic beam, 2) 'W' shape of Rs Boron, and 3) apparent TW/Rs minimum difference for high tilt characterization, along with experimental data and TCAD simulations.« less

Performance Testing of a Magnetically Suspended Double Gimbal Control Moment Gyro Based on the Single Axis Air Bearing Table

PubMed Central

Cui, Peiling; Zhang, Huijuan; Yan, Ning; Fang, Jiancheng

2012-01-01

Integrating the advantage of magnetic bearings with a double gimble control moment gyroscope (DGCMG), a magnetically suspended DGCMG (MSDGCMG) is an ideal actuator in high-precision, long life, and rapid maneuver attitude control systems. The work presented here mainly focuses on performance testing of a MSDGCMG independently developed by Beihang University, based on the single axis air bearing table. In this paper, taking into sufficient consideration to the moving-gimbal effects and the response bandwidth limit of the gimbal, a special MSDGCMG steering law is proposed subject to the limits of gimbal angle rate and angle acceleration. Finally, multiple experiments are carried out, with different MSDGCMG angular momenta as well as different desired attitude angles. The experimental results indicate that the MSDGCMG has a good gimbal angle rate and output torque tracking capabilities, and that the attitude stability with MSDGCMG as actuator is superior to 10−3°/s. The MSDGCMG performance testing in this paper, carried out under moving-base condition, will offer a technique base for the future research and application of MSDGCMGs. PMID:23012536

Testing CPT Symmetry with Current and Future CMB Measurements

NASA Astrophysics Data System (ADS)

Li, Si-Yu; Xia, Jun-Qing; Li, Mingzhe; Li, Hong; Zhang, Xinmin

2015-02-01

In this paper, we use the current and future cosmic microwave background (CMB) experiments to test the Charge-Parity-Time Reversal (CPT) symmetry. We consider a CPT-violating interaction in the photon sector {L}_cs˜ p_μ A_ν \\tilde{F}μ ν , which gives rise to a rotation of the polarization vectors of the propagating CMB photons. By combining the 9 yr WMAP, BOOMERanG 2003, and BICEP1 observations, we obtain the current constraint on the isotropic rotation angle \\bar{α } = -2.12 +/- 1.14 (1σ), indicating that the significance of the CPT violation is about 2σ. Here, we particularly take the systematic errors of CMB measurements into account. Then, we study the effects of the anisotropies of the rotation angle [Δ {α }({\\hat{n}})] on the CMB polarization power spectra in detail. Due to the small effects, the current CMB polarization data cannot constrain the related parameters very well. We obtain the 95% C.L. upper limit of the variance of the anisotropies of the rotation angle C α(0) < 0.035 from all of the CMB data sets. More interestingly, including the anisotropies of rotation angle could lower the best-fit value of r and relax the tension on the constraints of r between BICEP2 and Planck. Finally, we investigate the capabilities of future Planck polarization measurements on \\bar{α } and Δ {α }({\\hat{n}}). Benefited from the high precision of Planck data, the constraints of the rotation angle can be significantly improved.

Commercial-off-the-Shelf Vehicles for Towed Array Magnetometry

DTIC Science & Technology

2009-09-01

dump bed on the back, has upright seating for two adults, has the seats oriented side-by-side, and has a steering wheel and brake and accelerator... pedals like a car. By way of example, a ubiquitous side-by-side UTV is the John Deere Gator. The objective of this project was to test a number of...different angle , and one set of biases will not be able to take out all of the streaks. This raises the second issue. Because the bidirectional

Schur Complement Inequalities for Covariance Matrices and Monogamy of Quantum Correlations

NASA Astrophysics Data System (ADS)

Lami, Ludovico; Hirche, Christoph; Adesso, Gerardo; Winter, Andreas

2016-11-01

We derive fundamental constraints for the Schur complement of positive matrices, which provide an operator strengthening to recently established information inequalities for quantum covariance matrices, including strong subadditivity. This allows us to prove general results on the monogamy of entanglement and steering quantifiers in continuous variable systems with an arbitrary number of modes per party. A powerful hierarchical relation for correlation measures based on the log-determinant of covariance matrices is further established for all Gaussian states, which has no counterpart among quantities based on the conventional von Neumann entropy.

Schur Complement Inequalities for Covariance Matrices and Monogamy of Quantum Correlations.

PubMed

Lami, Ludovico; Hirche, Christoph; Adesso, Gerardo; Winter, Andreas

2016-11-25

We derive fundamental constraints for the Schur complement of positive matrices, which provide an operator strengthening to recently established information inequalities for quantum covariance matrices, including strong subadditivity. This allows us to prove general results on the monogamy of entanglement and steering quantifiers in continuous variable systems with an arbitrary number of modes per party. A powerful hierarchical relation for correlation measures based on the log-determinant of covariance matrices is further established for all Gaussian states, which has no counterpart among quantities based on the conventional von Neumann entropy.

Front and Back Movement Analysis of a Triangle-Structured Three-Wheeled Omnidirectional Mobile Robot by Varying the Angles between Two Selected Wheels

PubMed Central

Mohanraj, A. P.; Elango, A.; Reddy, Mutra Chanakya

2016-01-01

Omnidirectional robots can move in all directions without steering their wheels and it can rotate clockwise and counterclockwise with reference to their axis. In this paper, we focused only on front and back movement, to analyse the square- and triangle-structured omnidirectional robot movements. An omnidirectional mobile robot shows different performances with the different number of wheels and the omnidirectional mobile robot's chassis design. Research is going on in this field to improve the accurate movement capability of omnidirectional mobile robots. This paper presents a design of a unique device of Angle Variable Chassis (AVC) for linear movement analysis of a three-wheeled omnidirectional mobile robot (TWOMR), at various angles (θ) between the wheels. Basic mobility algorithm is developed by varying the angles between the two selected omnidirectional wheels in TWOMR. The experiment is carried out by varying the angles (θ = 30°, 45°, 60°, 90°, and 120°) between the two selected omniwheels and analysing the movement of TWOMR in forward direction and reverse direction on a smooth cement surface. Respectively, it is compared to itself for various angles (θ), to get its advantages and weaknesses. The conclusion of the paper provides effective movement of TWOMR at a particular angle (θ) and also the application of TWOMR in different situations. PMID:26981585

Front and Back Movement Analysis of a Triangle-Structured Three-Wheeled Omnidirectional Mobile Robot by Varying the Angles between Two Selected Wheels.

PubMed

Mohanraj, A P; Elango, A; Reddy, Mutra Chanakya

2016-01-01

Omnidirectional robots can move in all directions without steering their wheels and it can rotate clockwise and counterclockwise with reference to their axis. In this paper, we focused only on front and back movement, to analyse the square- and triangle-structured omnidirectional robot movements. An omnidirectional mobile robot shows different performances with the different number of wheels and the omnidirectional mobile robot's chassis design. Research is going on in this field to improve the accurate movement capability of omnidirectional mobile robots. This paper presents a design of a unique device of Angle Variable Chassis (AVC) for linear movement analysis of a three-wheeled omnidirectional mobile robot (TWOMR), at various angles (θ) between the wheels. Basic mobility algorithm is developed by varying the angles between the two selected omnidirectional wheels in TWOMR. The experiment is carried out by varying the angles (θ = 30°, 45°, 60°, 90°, and 120°) between the two selected omniwheels and analysing the movement of TWOMR in forward direction and reverse direction on a smooth cement surface. Respectively, it is compared to itself for various angles (θ), to get its advantages and weaknesses. The conclusion of the paper provides effective movement of TWOMR at a particular angle (θ) and also the application of TWOMR in different situations.

BICEP2 / Keck Array IX: New bounds on anisotropies of CMB polarization rotation and implications for axionlike particles and primordial magnetic fields

DOE PAGES

Ade, P. A. R.; Ahmed, Z.; Aikin, R. W.; ...

2017-11-09

We present the strongest constraints to date on anisotropies of cosmic microwave background (CMB) polarization rotation derived from 150 GHz data taken by the BICEP2 & Keck Array CMB experiments up to and including the 2014 observing season (BK14). The definition of the polarization angle in BK14 maps has gone through self-calibration in which the overall angle is adjusted to minimize the observed TB and EB power spectra. After this procedure, the QU maps lose sensitivity to a uniform polarization rotation but are still sensitive to anisotropies of polarization rotation. This analysis places constraints on the anisotropies of polarization rotation,more » which could be generated by CMB photons interacting with axionlike pseudoscalar fields or Faraday rotation induced by primordial magnetic fields. The sensitivity of BK14 maps ( ~3 μK - arc min ) makes it possible to reconstruct anisotropies of the polarization rotation angle and measure their angular power spectrum much more precisely than previous attempts. Our data are found to be consistent with no polarization rotation anisotropies, improving the upper bound on the amplitude of the rotation angle spectrum by roughly an order of magnitude compared to the previous best constraints. Our results lead to an order of magnitude better constraint on the coupling constant of the Chern-Simons electromagnetic term g aγ ≤ 7.2 × 10 -2/H I (95% confidence) than the constraint derived from the B -mode spectrum, where H I is the inflationary Hubble scale. This constraint leads to a limit on the decay constant of 10 -6 ≲ f a / M pl at mass range of 10 -33 ≤ m a ≤ 10 -28eV for r = 0.01 , assuming g aγ ~ α/( 2πf a) with α denoting the fine structure constant. The upper bound on the amplitude of the primordial magnetic fields is 30 nG (95% confidence) from the polarization rotation anisotropies.« less

BICEP2 / Keck Array IX: New bounds on anisotropies of CMB polarization rotation and implications for axionlike particles and primordial magnetic fields

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

Ade, P. A. R.; Ahmed, Z.; Aikin, R. W.

We present the strongest constraints to date on anisotropies of cosmic microwave background (CMB) polarization rotation derived from 150 GHz data taken by the BICEP2 & Keck Array CMB experiments up to and including the 2014 observing season (BK14). The definition of the polarization angle in BK14 maps has gone through self-calibration in which the overall angle is adjusted to minimize the observed TB and EB power spectra. After this procedure, the QU maps lose sensitivity to a uniform polarization rotation but are still sensitive to anisotropies of polarization rotation. This analysis places constraints on the anisotropies of polarization rotation,more » which could be generated by CMB photons interacting with axionlike pseudoscalar fields or Faraday rotation induced by primordial magnetic fields. The sensitivity of BK14 maps ( ~3 μK - arc min ) makes it possible to reconstruct anisotropies of the polarization rotation angle and measure their angular power spectrum much more precisely than previous attempts. Our data are found to be consistent with no polarization rotation anisotropies, improving the upper bound on the amplitude of the rotation angle spectrum by roughly an order of magnitude compared to the previous best constraints. Our results lead to an order of magnitude better constraint on the coupling constant of the Chern-Simons electromagnetic term g aγ ≤ 7.2 × 10 -2/H I (95% confidence) than the constraint derived from the B -mode spectrum, where H I is the inflationary Hubble scale. This constraint leads to a limit on the decay constant of 10 -6 ≲ f a / M pl at mass range of 10 -33 ≤ m a ≤ 10 -28eV for r = 0.01 , assuming g aγ ~ α/( 2πf a) with α denoting the fine structure constant. The upper bound on the amplitude of the primordial magnetic fields is 30 nG (95% confidence) from the polarization rotation anisotropies.« less

Model-Based Comparison of Deep Brain Stimulation Array Functionality with Varying Number of Radial Electrodes and Machine Learning Feature Sets.

PubMed

Teplitzky, Benjamin A; Zitella, Laura M; Xiao, YiZi; Johnson, Matthew D

2016-01-01

Deep brain stimulation (DBS) leads with radially distributed electrodes have potential to improve clinical outcomes through more selective targeting of pathways and networks within the brain. However, increasing the number of electrodes on clinical DBS leads by replacing conventional cylindrical shell electrodes with radially distributed electrodes raises practical design and stimulation programming challenges. We used computational modeling to investigate: (1) how the number of radial electrodes impact the ability to steer, shift, and sculpt a region of neural activation (RoA), and (2) which RoA features are best used in combination with machine learning classifiers to predict programming settings to target a particular area near the lead. Stimulation configurations were modeled using 27 lead designs with one to nine radially distributed electrodes. The computational modeling framework consisted of a three-dimensional finite element tissue conductance model in combination with a multi-compartment biophysical axon model. For each lead design, two-dimensional threshold-dependent RoAs were calculated from the computational modeling results. The models showed more radial electrodes enabled finer resolution RoA steering; however, stimulation amplitude, and therefore spatial extent of the RoA, was limited by charge injection and charge storage capacity constraints due to the small electrode surface area for leads with more than four radially distributed electrodes. RoA shifting resolution was improved by the addition of radial electrodes when using uniform multi-cathode stimulation, but non-uniform multi-cathode stimulation produced equivalent or better resolution shifting without increasing the number of radial electrodes. Robust machine learning classification of 15 monopolar stimulation configurations was achieved using as few as three geometric features describing a RoA. The results of this study indicate that, for a clinical-scale DBS lead, more than four radial electrodes minimally improved in the ability to steer, shift, and sculpt axonal activation around a DBS lead and a simple feature set consisting of the RoA center of mass and orientation enabled robust machine learning classification. These results provide important design constraints for future development of high-density DBS arrays.

Model-Based Comparison of Deep Brain Stimulation Array Functionality with Varying Number of Radial Electrodes and Machine Learning Feature Sets

PubMed Central

Teplitzky, Benjamin A.; Zitella, Laura M.; Xiao, YiZi; Johnson, Matthew D.

2016-01-01

Deep brain stimulation (DBS) leads with radially distributed electrodes have potential to improve clinical outcomes through more selective targeting of pathways and networks within the brain. However, increasing the number of electrodes on clinical DBS leads by replacing conventional cylindrical shell electrodes with radially distributed electrodes raises practical design and stimulation programming challenges. We used computational modeling to investigate: (1) how the number of radial electrodes impact the ability to steer, shift, and sculpt a region of neural activation (RoA), and (2) which RoA features are best used in combination with machine learning classifiers to predict programming settings to target a particular area near the lead. Stimulation configurations were modeled using 27 lead designs with one to nine radially distributed electrodes. The computational modeling framework consisted of a three-dimensional finite element tissue conductance model in combination with a multi-compartment biophysical axon model. For each lead design, two-dimensional threshold-dependent RoAs were calculated from the computational modeling results. The models showed more radial electrodes enabled finer resolution RoA steering; however, stimulation amplitude, and therefore spatial extent of the RoA, was limited by charge injection and charge storage capacity constraints due to the small electrode surface area for leads with more than four radially distributed electrodes. RoA shifting resolution was improved by the addition of radial electrodes when using uniform multi-cathode stimulation, but non-uniform multi-cathode stimulation produced equivalent or better resolution shifting without increasing the number of radial electrodes. Robust machine learning classification of 15 monopolar stimulation configurations was achieved using as few as three geometric features describing a RoA. The results of this study indicate that, for a clinical-scale DBS lead, more than four radial electrodes minimally improved in the ability to steer, shift, and sculpt axonal activation around a DBS lead and a simple feature set consisting of the RoA center of mass and orientation enabled robust machine learning classification. These results provide important design constraints for future development of high-density DBS arrays. PMID:27375470

3D Target Localization of Modified 3D MUSIC for a Triple-Channel K-Band Radar.

PubMed

Li, Ying-Chun; Choi, Byunggil; Chong, Jong-Wha; Oh, Daegun

2018-05-20

In this paper, a modified 3D multiple signal classification (MUSIC) algorithm is proposed for joint estimation of range, azimuth, and elevation angles of K-band radar with a small 2 × 2 horn antenna array. Three channels of the 2 × 2 horn antenna array are utilized as receiving channels, and the other one is a transmitting antenna. The proposed modified 3D MUSIC is designed to make use of a stacked autocorrelation matrix, whose element matrices are related to each other in the spatial domain. An augmented 2D steering vector based on the stacked autocorrelation matrix is proposed for the modified 3D MUSIC, instead of the conventional 3D steering vector. The effectiveness of the proposed modified 3D MUSIC is verified through implementation with a K-band frequency-modulated continuous-wave (FMCW) radar with the 2 × 2 horn antenna array through a variety of experiments in a chamber.

Biomechanics of liver injury by steering wheel loading.

PubMed

Lau, I V; Horsch, J D; Viano, D C; Andrzejak, D V

1987-03-01

Abdominal injury induced by steering wheel contact at a velocity of 32 km/hr was investigated using anesthetized swine as the surrogate on a Hyge sled. The lower rim of the wheel was positioned 5 cm below the xyphoid. By varying wheel stiffness, wheel orientation, and column angle, resultant abdominal injury ranged from fatal or critical to minor or none. Wheel stiffness was found to be the primary determinant of abdominal injury severity. The mechanism of abdominal injury was identified to be the rim impacting the abdomen and exceeding a combined velocity and compression sensitive tolerance limit. Abdominal injury occurred within the initial 15 ms of wheel contact before whole body movement of the surrogate of column compression, which were initiated by hub contact with the thorax. The severity of abdominal injury correlated with the peak viscous response which can be represented by the product of the instantaneous velocity of abdominal deformation and abdominal compression. It did not correlate with spinal acceleration.

Multi-criteria optimization of chassis parameters of Nissan 200 SX for drifting competitions

NASA Astrophysics Data System (ADS)

Maniowski, M.

2016-09-01

The work objective is to increase performance of Nissan 200sx S13 prepared for a quasi-static state of drifting on a circular path with given constant radius (R=15 m) and tyre-road friction coefficient (μ = 0.9). First, a high fidelity “miMA” multibody model of the vehicle is formulated. Then, a multicriteria optimization problem is solved with one of the goals to maximize a stable drift angle (β) of the vehicle. The decision variables contain 11 parameters of the vehicle chassis (describing the wheel suspension stiffness and geometry) and 2 parameters responsible for a driver steering and accelerator actions, that control this extreme closed-loop manoeuvre. The optimized chassis setup results in the drift angle increase by 14% from 35 to 40 deg.

Model identification and controller design of a fish-like robot

NASA Astrophysics Data System (ADS)

Ariyanto, Irfan; Kang, Taesam; Chan, Wai Leung; Lee, Youngjae

2007-04-01

Robotic fish is an interesting and prospective subject to develop. The simplest fish swimming mode to be mimicked for fish robots is the ostraciiform mode which only requires caudal fin flapping. An almost submerged ostraciiform fish robot was constructed to study its swimming characteristics. The swimming direction can be controlled by changing the mean angle of caudal fin oscillation. Experiments were conducted to study the behavior of the fish robot and in particular, the transfer function between swimming path angular rate and mean angle of the caudal fin oscillation were identified. Error to signal ratio quantity was used to determine how well the model fits with the experimental data. This identification model was used to design a 2-degree-of-freedom PID controller that meets some specific requirements to improve the steering performance.

Producing Science-Ready Radar Datasets for the Retrieval of Forest Structure Parameters from Backscatter: Correcting for Terrain Topography and Changes in Vegetation Reflectivity

NASA Technical Reports Server (NTRS)

Simard, M.; Riel, Bryan; Hensley, S.; Lavalle, Marco

2011-01-01

Radar backscatter data contain both geometric and radiometric distortions due to underlying topography and the radar viewing geometry. Our objective is to develop a radiometric correction algorithm specific to the UAVSAR system configuration that would improve retrieval of forest structure parameters. UAVSAR is an airborne Lband radar capable of repeat?pass interferometry producing images with a spatial resolution of 5m. It is characterized by an electronically steerable antenna to compensate for aircraft attitude. Thus, the computation of viewing angles (i.e. look, incidence and projection) must include aircraft attitude angles (i.e. yaw, pitch and roll) in addition to the antenna steering angle. In this presentation, we address two components of radiometric correction: area projection and vegetation reflectivity. The first correction is applied by normalization of the radar backscatter by the local ground area illuminated by the radar beam. The second is a correction due to changes in vegetation reflectivity with viewing geometry.

An evaluation of some unbraked tire cornering force characteristics

NASA Technical Reports Server (NTRS)

Leland, T. J. W.

1972-01-01

An investigation to determine the effects of pavement surface condition on the cornering forces developed by a group of 6.50x13 automobile tires of different tread design was conducted at the Langley aircraft landing loads and traction facility. The tests were made at fixed yaw angles of 3,4.5, and 6 deg at forward speeds up to 80 knots on two concrete surfaces of different texture under dry, damp, and flooded conditions. The results showed that the cornering forces were extremely sensitive to tread pattern and runway surface texture under all conditions and that under flooded conditions tire hydroplaning and complete loss of cornering force occurred at a forward velocity predicted from an existing formula based on tire inflation pressure. Futher, tests on the damp concrete with a smooth tire and a four-groove tire showed higher cornering forces at a yaw angle of 3 deg than at 4.5 deg; this indicated that maximum cornering forces are developed at extremely small steering angles under these conditions.

Structural Characterization of Advanced Composite Tow-Steered Shells with Large Cutouts

NASA Technical Reports Server (NTRS)

Wu, K. Chauncey; Turpin, Jason D.; Gardner, Nathaniel W.; Stanford, Bret K.; Martin, Robert A.

2015-01-01

The structural performance of two advanced composite tow-steered shells with large cutouts, manufactured using an automated fiber placement system, is assessed using both experimental and analytical methods. The fiber orientation angles of the shells vary continuously around their circumference from +/- 10 degrees on the crown and keel, to +/- 45 degrees on the sides. The raised surface features on one shell result from application of all 24 tows during each fiber placement system pass, while the second shell uses the tow drop/add capability of the system to achieve a more uniform wall thickness. These unstiffened shells, both without and with small cutouts, were previously tested in axial compression and buckled elastically. In this study, a single unreinforced cutout, scaled to represent a cargo door on a commercial aircraft, is machined into one side of each shell. The prebuckling axial stiffnesses and bifurcation buckling loads of these shells with large cutouts are also computed using linear finite element structural analyses for preliminary comparisons with test data. During testing, large displacements are observed around the large cutouts, but the shells maintain an average of 91 percent of the axial stiffness, and also carry 85 percent of the buckling loads, when compared to the pristine shells without cutouts. These relatively small reductions indicate that there is great potential for using tow steering to mitigate the adverse effects of large cutouts on the overall structural performance.

Optimization of Transmit Parameters in Cardiac Strain Imaging With Full and Partial Aperture Coherent Compounding.

PubMed

Sayseng, Vincent; Grondin, Julien; Konofagou, Elisa E

2018-05-01

Coherent compounding methods using the full or partial transmit aperture have been investigated as a possible means of increasing strain measurement accuracy in cardiac strain imaging; however, the optimal transmit parameters in either compounding approach have yet to be determined. The relationship between strain estimation accuracy and transmit parameters-specifically the subaperture, angular aperture, tilt angle, number of virtual sources, and frame rate-in partial aperture (subaperture compounding) and full aperture (steered compounding) fundamental mode cardiac imaging was thus investigated and compared. Field II simulation of a 3-D cylindrical annulus undergoing deformation and twist was developed to evaluate accuracy of 2-D strain estimation in cross-sectional views. The tradeoff between frame rate and number of virtual sources was then investigated via transthoracic imaging in the parasternal short-axis view of five healthy human subjects, using the strain filter to quantify estimation precision. Finally, the optimized subaperture compounding sequence (25-element subperture, 90° angular aperture, 10 virtual sources, 300-Hz frame rate) was compared to the optimized steered compounding sequence (60° angular aperture, 15° tilt, 10 virtual sources, 300-Hz frame rate) via transthoracic imaging of five healthy subjects. Both approaches were determined to estimate cumulative radial strain with statistically equivalent precision (subaperture compounding E(SNRe %) = 3.56, and steered compounding E(SNRe %) = 4.26).

The Influence of Task Constraints on the Glenohumeral Horizontal Abduction Angle of the Overarm Throw of Novice Throwers

ERIC Educational Resources Information Center

Breslin, Casey M.; Garner, John C.; Rudisill, Mary E.; Parish, Loraine E.; St. Onge, Paul M.; Campbell, Brian J.; Weimar, Wendi H.

2009-01-01

This study determines the effects of three baseballs and softballs of different masses (0.113 kg, 0.198 kg, 0.340 kg) and regulation diameters (22.86 and 30.48 cm, respectively) on the glenohumeral horizontal abduction angle of an overarm throw performed by young children who were novice throwers. Glenohumeral horizontal abduction angle was…

Linear Quadratic Tracking Design for a Generic Transport Aircraft with Structural Load Constraints

NASA Technical Reports Server (NTRS)

Burken, John J.; Frost, Susan A.; Taylor, Brian R.

2011-01-01

When designing control laws for systems with constraints added to the tracking performance, control allocation methods can be utilized. Control allocations methods are used when there are more command inputs than controlled variables. Constraints that require allocators are such task as; surface saturation limits, structural load limits, drag reduction constraints or actuator failures. Most transport aircraft have many actuated surfaces compared to the three controlled variables (such as angle of attack, roll rate & angle of side slip). To distribute the control effort among the redundant set of actuators a fixed mixer approach can be utilized or online control allocation techniques. The benefit of an online allocator is that constraints can be considered in the design whereas the fixed mixer cannot. However, an online control allocator mixer has a disadvantage of not guaranteeing a surface schedule, which can then produce ill defined loads on the aircraft. The load uncertainty and complexity has prevented some controller designs from using advanced allocation techniques. This paper considers actuator redundancy management for a class of over actuated systems with real-time structural load limits using linear quadratic tracking applied to the generic transport model. A roll maneuver example of an artificial load limit constraint is shown and compared to the same no load limitation maneuver.

A Relationship Between Constraint and the Critical Crack Tip Opening Angle

NASA Technical Reports Server (NTRS)

Johnston, William M.; James, Mark A.

2009-01-01

Of the various approaches used to model and predict fracture, the Crack Tip Opening Angle (CTOA) fracture criterion has been successfully used for a wide range of two-dimensional thin-sheet and thin plate applications. As thicker structure is considered, modeling the full three-dimensional fracture process will become essential. This paper investigates relationships between the local CTOA evaluated along a three-dimensional crack front and the corresponding local constraint. Previously reported tunneling crack front shapes were measured during fracture by pausing each test and fatigue cycling the specimens to mark the crack surface. Finite element analyses were run to model the tunneling shape during fracture, with the analysis loading conditions duplicating those tests. The results show an inverse relationship between the critical fracture value and constraint which is valid both before maximum load and after maximum load.

Definition of simulated driving tests for the evaluation of drivers' reactions and responses.

PubMed

Bartolozzi, Riccardo; Frendo, Francesco

2014-01-01

This article aims at identifying the most significant measures in 2 perception-response (PR) tests performed at a driving simulator: a braking test and a lateral skid test, which were developed in this work. Forty-eight subjects (26 females and 22 males) with a mean age of 24.9 ± 3.0 years were enrolled for this study. They were asked to perform a drive on the driving simulator at the University of Pisa (Italy) following a specific test protocol, including 8-10 braking tests and 8-10 lateral skid tests. Driver input signals and vehicle model signals were recorded during the drives and analyzed to extract measures such as the reaction time, first response time, etc. Following a statistical procedure (based on analysis of variance [ANOVA] and post hoc tests), all test measures (3 for the braking test and 8 for the lateral skid test) were analyzed in terms of statistically significant differences among different drivers. The presented procedure allows evaluation of the capability of a given test to distinguish among different drivers. In the braking test, the reaction time showed a high dispersion among single drivers, leading to just 4.8 percent of statistically significant driver pairs (using the Games-Howell post hoc test), whereas the pedal transition time scored 31.9 percent. In the lateral skid test, 28.5 percent of the 2 × 2 comparisons showed significantly different reaction times, 19.5 percent had different response times, 35.2 percent had a different second peak of the steering wheel signal, and 33 percent showed different values of the integral of the steering wheel signal. For the braking test, which has been widely employed in similar forms in the literature, it was shown how the reaction time, with respect to the pedal transition time, can have a higher dispersion due to the influence of external factors. For the lateral skid test, the following measures were identified as the most significant for application studies: the reaction time for the reaction phase, the second peak of the steering wheel angle for the first instinctive response, and the integral of the steering wheel angle for the complete response. The methodology used to analyze the test measures was founded on statistically based and objective evaluation criteria and could be applied to other tests. Even if obtained with a fixed-base simulator, the obtained results represent useful information for applications of the presented PR tests in experimental campaigns with driving simulators.

Impact Angle and Time Control Guidance Under Field-of-View Constraints and Maneuver Limits

NASA Astrophysics Data System (ADS)

Shim, Sang-Wook; Hong, Seong-Min; Moon, Gun-Hee; Tahk, Min-Jea

2018-04-01

This paper proposes a guidance law which considers the constraints of seeker field-of-view (FOV) as well as the requirements on impact angle and time. The proposed guidance law is designed for a constant speed missile against a stationary target. The guidance law consists of two terms of acceleration commands. The first one is to achieve zero-miss distance and the desired impact angle, while the second is to meet the desired impact time. To consider the limits of FOV and lateral maneuver capability, a varying-gain approach is applied on the second term. Reduction of realizable impact times due to these limits is then analyzed by finding the longest course among the feasible ones. The performance of the proposed guidance law is demonstrated by numerical simulation for various engagement conditions.

Advanced launch system trajectory optimization using suboptimal control

NASA Technical Reports Server (NTRS)

Shaver, Douglas A.; Hull, David G.

1993-01-01

The maximum-final mass trajectory of a proposed configuration of the Advanced Launch System is presented. A model for the two-stage rocket is given; the optimal control problem is formulated as a parameter optimization problem; and the optimal trajectory is computed using a nonlinear programming code called VF02AD. Numerical results are presented for the controls (angle of attack and velocity roll angle) and the states. After the initial rotation, the angle of attack goes to a positive value to keep the trajectory as high as possible, returns to near zero to pass through the transonic regime and satisfy the dynamic pressure constraint, returns to a positive value to keep the trajectory high and to take advantage of minimum drag at positive angle of attack due to aerodynamic shading of the booster, and then rolls off to negative values to satisfy the constraints. Because the engines cannot be throttled, the maximum dynamic pressure occurs at a single point; there is no maximum dynamic pressure subarc. To test approximations for obtaining analytical solutions for guidance, two additional optimal trajectories are computed: one using untrimmed aerodynamics and one using no atmospheric effects except for the dynamic pressure constraint. It is concluded that untrimmed aerodynamics has a negligible effect on the optimal trajectory and that approximate optimal controls should be able to be obtained by treating atmospheric effects as perturbations.

The ATLAS high level trigger steering

NASA Astrophysics Data System (ADS)

Berger, N.; Bold, T.; Eifert, T.; Fischer, G.; George, S.; Haller, J.; Hoecker, A.; Masik, J.; Nedden, M. Z.; Reale, V. P.; Risler, C.; Schiavi, C.; Stelzer, J.; Wu, X.

2008-07-01

The High Level Trigger (HLT) of the ATLAS experiment at the Large Hadron Collider receives events which pass the LVL1 trigger at ~75 kHz and has to reduce the rate to ~200 Hz while retaining the most interesting physics. It is a software trigger and performs the reduction in two stages: the LVL2 trigger and the Event Filter (EF). At the heart of the HLT is the Steering software. To minimise processing time and data transfers it implements the novel event selection strategies of seeded, step-wise reconstruction and early rejection. The HLT is seeded by regions of interest identified at LVL1. These and the static configuration determine which algorithms are run to reconstruct event data and test the validity of trigger signatures. The decision to reject the event or continue is based on the valid signatures, taking into account pre-scale and pass-through. After the EF, event classification tags are assigned for streaming purposes. Several new features for commissioning and operation have been added: comprehensive monitoring is now built in to the framework; for validation and debugging, reconstructed data can be written out; the steering is integrated with the new configuration (presented separately), and topological and global triggers have been added. This paper will present details of the final design and its implementation, the principles behind it, and the requirements and constraints it is subject to. The experience gained from technical runs with realistic trigger menus will be described.

Target tracking and pointing for arrays of phase-locked lasers

NASA Astrophysics Data System (ADS)

Macasaet, Van P.; Hughes, Gary B.; Lubin, Philip; Madajian, Jonathan; Zhang, Qicheng; Griswold, Janelle; Kulkarni, Neeraj; Cohen, Alexander; Brashears, Travis

2016-09-01

Arrays of phase-locked lasers are envisioned for planetary defense and exploration systems. High-energy beams focused on a threatening asteroid evaporate surface material, creating a reactionary thrust that alters the asteroid's orbit. The same system could be used to probe an asteroid's composition, to search for unknown asteroids, and to propel interplanetary and interstellar spacecraft. Phased-array designs are capable of producing high beam intensity, and allow beam steering and beam profile manipulation. Modular designs allow ongoing addition of emitter elements to a growing array. This paper discusses pointing control for extensible laser arrays. Rough pointing is determined by spacecraft attitude control. Lateral movement of the laser emitter tips behind the optical elements provides intermediate pointing adjustment for individual array elements and beam steering. Precision beam steering and beam formation is accomplished by coordinated phase modulation across the array. Added cells are incorporated into the phase control scheme by precise alignment to local mechanical datums using fast, optical relative position sensors. Infrared target sensors are also positioned within the datum scheme, and provide information about the target vector relative to datum coordinates at each emitter. Multiple target sensors allow refined determination of the target normal plane, providing information to the phase controller for each emitter. As emitters and sensors are added, local position data allows accurate prediction of the relative global position of emitters across the array, providing additional constraints to the phase controllers. Mechanical design and associated phase control that is scalable for target distance and number of emitters is presented.

An initiative in multidisciplinary optimization of rotorcraft

NASA Technical Reports Server (NTRS)

Adelman, Howard M.; Mantay, Wayne R.

1989-01-01

Described is a joint NASA/Army initiative at the Langley Research Center to develop optimization procedures aimed at improving the rotor blade design process by integrating appropriate disciplines and accounting for important interactions among the disciplines. The activity is being guided by a Steering Committee made up of key NASA and Army researchers and managers. The committee, which has been named IRASC (Integrated Rotorcraft Analysis Steering Committee), has defined two principal foci for the activity: a white paper which sets forth the goals and plans of the effort; and a rotor design project which will validate the basic constituents, as well as the overall design methodology for multidisciplinary optimization. The optimization formulation is described in terms of the objective function, design variables, and constraints. Additionally, some of the analysis aspects are discussed and an initial attempt at defining the interdisciplinary couplings is summarized. At this writing, some significant progress has been made, principally in the areas of single discipline optimization. Results are given which represent accomplishments in rotor aerodynamic performance optimization for minimum hover horsepower, rotor dynamic optimization for vibration reduction, and rotor structural optimization for minimum weight.

An initiative in multidisciplinary optimization of rotorcraft

NASA Technical Reports Server (NTRS)

Adelman, Howard M.; Mantay, Wayne R.

1988-01-01

Described is a joint NASA/Army initiative at the Langley Research Center to develop optimization procedures aimed at improving the rotor blade design process by integrating appropriate disciplines and accounting for important interactions among the disciplines. The activity is being guided by a Steering Committee made up of key NASA and Army researchers and managers. The committee, which has been named IRASC (Integrated Rotorcraft Analysis Steering Committee), has defined two principal foci for the activity: a white paper which sets forth the goals and plans of the effort; and a rotor design project which will validate the basic constituents, as well as the overall design methodology for multidisciplinary optimization. The paper describes the optimization formulation in terms of the objective function, design variables, and constraints. Additionally, some of the analysis aspects are discussed and an initial attempt at defining the interdisciplinary couplings is summarized. At this writing, some significant progress has been made, principally in the areas of single discipline optimization. Results are given which represent accomplishments in rotor aerodynamic performance optimization for minimum hover horsepower, rotor dynamic optimization for vibration reduction, and rotor structural optimization for minimum weight.

Handling Qualities of a Capsule Spacecraft During Atmospheric Entry

NASA Technical Reports Server (NTRS)

Bilimoria, Karl D.; Mueller, Eric R.

2010-01-01

A piloted simulation was conducted to study handling qualities for capsule spacecraft entering the Earth s atmosphere. Eight evaluation pilots, including six pilot astronauts, provided Cooper-Harper ratings, workload ratings, and qualitative comments. The simulation began after descending through the atmospheric entry interface point and continued until the drogue parachutes deployed. There were two categories of piloting tasks, both of which required bank angle control. In one task category, the pilot followed a closed-loop bank angle command computed by the backup guidance system to manage g-loads during entry. In the other task category, the pilot used intuitive rules to determine the desired bank angle independently, based on an open-loop schedule of vertical speed, Mach, and total energy specified at several range-to-target gates along the entry trajectory. Pilots were able to accurately track the bank angle guidance commands and steered the capsule toward the recovery site with essentially the same range error as the benchmark autopilot trajectory albeit with substantially higher propellant usage, and the handling qualities for this task were satisfactory. Another key result was that the complex piloting task of atmospheric entry could be performed satisfactorily, even in the presence of large dispersions, by controlling bank angle to follow a simple open-loop schedule.

Constraints on the Z-Z Prime mixing angle from data measured for the process e{sup +}e{sup -} {yields} W{sup +}W{sup -} at the LEP2 collider

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

Andreev, Vas. V., E-mail: quarks@gsu.by; Pankov, A. A., E-mail: pankov@ictp.it

2012-01-15

An analysis of effects induced by new neutral gauge Z Prime bosons was performed on the basis of data from the OPAL, DELPHI, ALEPH, and L3 experiments devoted to measuring differential cross sections for the process of the annihilation production of pairs of charged gauge W{sup {+-}} bosons at the LEP2 collider. By using these experimental data, constraints on the Z Prime -boson mass and on the angle of Z-Z Prime mixing were obtained for a number of extended gauge models.

The impact of various distance between axes of worm gear on torque value. Worm gear test stand

NASA Astrophysics Data System (ADS)

Sobek, M.; Baier, A.; Grabowski, Ł.

2017-08-01

Transferring both rotational and translational movements in systems used in the automotive industry is a very important and complex issue. In addition, the situation becomes much more difficult and complicated when the design of the transition system requires a high precision of operation as well as a well definite and long operating life. Such requirements are imposed on all components of today’s motor vehicles. However, particular attention is paid to the elements that directly or indirectly affect the safety of persons traveling in the vehicle. Such components are undoubtedly components included as parts of the steering system of the vehicle. Power steering systems have been present in motor vehicles for more than a century. They go through continuous metamorphosis and they are getting better and better. Current power steering systems are based on an electric motor and some kind of transmission. Depending on the position of the drive relative to the steering column, different configurations of the transmission are used. This article will cover issues related to tests of power steering gearing using a worm drive. The worm drive is a very specific example of a propulsion system that uses twisted axles. Normally, in this type of transition you can find two gear units with the axis mounted with a 90° angle between. The components of the worm drive are a worm and a worm gear, also called a worm wheel. In terms of the geometrical form, the worm resembles a helical spur gear. The shape of the worm is similar to the shape of a screw with a trapezoidal thread. A correct matching of these two components ensures proper operation of the entire transmission. Incorrect positioning of the components in relation to each other can significantly reduce the lifetime of the drive unit, and also lead to abnormal work, eg by raising the noise level. This article describes a test method of finding the appropriate distance between the axles of both worm drive units by testing the torque change during gear operation.

New dynamic variables for rotating spacecraft

NASA Technical Reports Server (NTRS)

Markley, F. Landis

1993-01-01

This paper introduces two new seven-parameter representations for spacecraft attitude dynamics modeling. The seven parameters are the three components of the total system angular momentum in the spacecraft body frame; the three components of the angular momentum in the inertial reference frame; and an angle variable. These obey a single constraint as do parameterizations that include a quaternion; in this case the constraint is the equality of the sum of the squares of the angular momentum components in the two frames. The two representations are nonsingular if the system angular momentum is non-zero and obeys certain orientation constraints. The new parameterizations of the attitude matrix, the equations of motion, and the relation of the solution of these equations to Euler angles for torque-free motion are developed and analyzed. The superiority of the new parameterizations for numerical integration is shown in a specific example.

Neutral particle beam sensing and steering

DOEpatents

Maier, II, William B.; Cobb, Donald D.; Robiscoe, Richard T.

1991-01-01

The direction of a neutral particle beam (NPB) is determined by detecting Ly.alpha. radiation emitted during motional quenching of excited H(2S) atoms in the beam during movement of the atoms through a magnetic field. At least one detector is placed adjacent the beam exit to define an optical axis that intercepts the beam at a viewing angle to include a volume generating a selected number of photons for detection. The detection system includes a lens having an area that is small relative to the NPB area and a pixel array located in the focal plane of the lens. The lens viewing angle and area pixel array are selected to optimize the beam tilt sensitivity. In one embodiment, two detectors are placed coplanar with the beam axis to generate a difference signal that is insensitive to beam variations other than beam tilt.

Passive bottom reflection-loss estimation using ship noise and a vertical line array.

PubMed

Muzi, Lanfranco; Siderius, Martin; Verlinden, Christopher M

2017-06-01

An existing technique for passive bottom-loss estimation from natural marine surface noise (generated by waves and wind) is adapted to use noise generated by ships. The original approach-based on beamforming of the noise field recorded by a vertical line array of hydrophones-is retained; however, additional processing is needed in order for the field generated by a passing ship to show features that are similar to those of the natural surface-noise field. A necessary requisite is that the ship position, relative to the array, varies over as wide a range of steering angles as possible, ideally passing directly over the array to ensure coverage of the steepest angles. The methodology is illustrated through simulation and applied to data from a field experiment conducted offshore of San Diego, CA in 2009.

Single-laser, one beam, tetrahedral magneto-optical trap.

PubMed

Vangeleyn, Matthieu; Griffin, Paul F; Riis, Erling; Arnold, Aidan S

2009-08-03

We have realized a 4-beam pyramidal magneto-optical trap ideally suited for future microfabrication. Three mirrors split and steer a single incoming beam into a tripod of reflected beams, allowing trapping in the four-beam overlap volume. We discuss the influence of mirror angle on cooling and trapping, finding optimum efficiency in a tetrahedral configuration. We demonstrate the technique using an ex-vacuo mirror system to illustrate the previously inaccessible supra-plane pyramid MOT configuration. Unlike standard pyramidal MOTs both the pyramid apex and its mirror angle are non-critical and our MOT offers improved molasses free from atomic shadows in the laser beams. The MOT scheme naturally extends to a 2-beam refractive version with high optical access. For quantum gas experiments, the mirror system could also be used for a stable 3D tetrahedral optical lattice.

Integrated injection-locked semiconductor diode laser

DOEpatents

Hadley, G. Ronald; Hohimer, John P.; Owyoung, Adelbert

1991-01-01

A continuous wave integrated injection-locked high-power diode laser array is provided with an on-chip independently-controlled master laser. The integrated injection locked high-power diode laser array is capable of continuous wave lasing in a single near-diffraction limited output beam at single-facet power levels up to 125 mW (250 mW total). Electronic steering of the array emission over an angle of 0.5 degrees is obtained by varying current to the master laser. The master laser injects a laser beam into the slave array by reflection of a rear facet.

The Spaceborne Imaging Radar program: SIR-C - The next step toward EOS

NASA Technical Reports Server (NTRS)

Evans, Diane; Elachi, Charles; Cimino, Jobea

1987-01-01

The NASA Shuttle Imaging Radar SIR-C experiments will investigate earth surface and environment phenomena to deepen understanding of terra firma, biosphere, hydrosphere, cryosphere, and atmosphere components of the earth system, capitalizing on the observational capabilities of orbiting multiparameter radar sensors alone or in combination with other sensors. The SIR-C sensor encompasses an antenna array, an exciter, receivers, a data-handling network, and the ground SAR processor. It will be possible to steer the antenna beam electronically, so that the radar look angle can be varied.

Trim and Structural Optimization of Subsonic Transport Wings Using Nonconventional Aeroelastic Tailoring

NASA Technical Reports Server (NTRS)

Stanford, Bret K.; Jutte, Christine V.

2014-01-01

Several minimum-mass aeroelastic optimization problems are solved to evaluate the effectiveness of a variety of novel tailoring schemes for subsonic transport wings. Aeroelastic strength and panel buckling constraints are imposed across a variety of trimmed maneuver loads. Tailoring with metallic thickness variations, functionally graded materials, composite laminates, tow steering, and distributed trailing edge control effectors are all found to provide reductions in structural wing mass with varying degrees of success. The question as to whether this wing mass reduction will offset the increased manufacturing cost is left unresolved for each case.

Ascent guidance algorithm using lidar wind measurements

NASA Technical Reports Server (NTRS)

Cramer, Evin J.; Bradt, Jerre E.; Hardtla, John W.

1990-01-01

The formulation of a general nonlinear programming guidance algorithm that incorporates wind measurements in the computation of ascent guidance steering commands is discussed. A nonlinear programming (NLP) algorithm that is designed to solve a very general problem has the potential to address the diversity demanded by future launch systems. Using B-splines for the command functional form allows the NLP algorithm to adjust the shape of the command profile to achieve optimal performance. The algorithm flexibility is demonstrated by simulation of ascent with dynamic loading constraints through a set of random wind profiles with and without wind sensing capability.

Constrained Laboratory vs. Unconstrained Steering-Induced Rollover Crash Tests.

PubMed

Kerrigan, Jason R; Toczyski, Jacek; Roberts, Carolyn; Zhang, Qi; Clauser, Mark

2015-01-01

The goal of this study was to evaluate how well an in-laboratory rollover crash test methodology that constrains vehicle motion can reproduce the dynamics of unconstrained full-scale steering-induced rollover crash tests in sand. Data from previously-published unconstrained steering-induced rollover crash tests using a full-size pickup and mid-sized sedan were analyzed to determine vehicle-to-ground impact conditions and kinematic response of the vehicles throughout the tests. Then, a pair of replicate vehicles were prepared to match the inertial properties of the steering-induced test vehicles and configured to record dynamic roof structure deformations and kinematic response. Both vehicles experienced greater increases in roll-axis angular velocities in the unconstrained tests than in the constrained tests; however, the increases that occurred during the trailing side roof interaction were nearly identical between tests for both vehicles. Both vehicles experienced linear accelerations in the constrained tests that were similar to those in the unconstrained tests, but the pickup, in particular, had accelerations that were matched in magnitude, timing, and duration very closely between the two test types. Deformations in the truck test were higher in the constrained than the unconstrained, and deformations in the sedan were greater in the unconstrained than the constrained as a result of constraints of the test fixture, and differences in impact velocity for the trailing side. The results of the current study suggest that in-laboratory rollover tests can be used to simulate the injury-causing portions of unconstrained rollover crashes. To date, such a demonstration has not yet been published in the open literature. This study did, however, show that road surface can affect vehicle response in a way that may not be able to be mimicked in the laboratory. Lastly, this study showed that configuring the in-laboratory tests to match the leading-side touchdown conditions could result in differences in the trailing side impact conditions.

3-D Vector Flow Estimation With Row-Column-Addressed Arrays.

PubMed

Holbek, Simon; Christiansen, Thomas Lehrmann; Stuart, Matthias Bo; Beers, Christopher; Thomsen, Erik Vilain; Jensen, Jorgen Arendt

2016-11-01

Simulation and experimental results from 3-D vector flow estimations for a 62 + 62 2-D row-column (RC) array with integrated apodization are presented. A method for implementing a 3-D transverse oscillation (TO) velocity estimator on a 3-MHz RC array is developed and validated. First, a parametric simulation study is conducted, where flow direction, ensemble length, number of pulse cycles, steering angles, transmit/receive apodization, and TO apodization profiles and spacing are varied, to find the optimal parameter configuration. The performance of the estimator is evaluated with respect to relative mean bias ~B and mean standard deviation ~σ . Second, the optimal parameter configuration is implemented on the prototype RC probe connected to the experimental ultrasound scanner SARUS. Results from measurements conducted in a flow-rig system containing a constant laminar flow and a straight-vessel phantom with a pulsating flow are presented. Both an M-mode and a steered transmit sequence are applied. The 3-D vector flow is estimated in the flow rig for four representative flow directions. In the setup with 90° beam-to-flow angle, the relative mean bias across the entire velocity profile is (-4.7, -0.9, 0.4)% with a relative standard deviation of (8.7, 5.1, 0.8)% for ( v x , v y , v z ). The estimated peak velocity is 48.5 ± 3 cm/s giving a -3% bias. The out-of-plane velocity component perpendicular to the cross section is used to estimate volumetric flow rates in the flow rig at a 90° beam-to-flow angle. The estimated mean flow rate in this setup is 91.2 ± 3.1 L/h corresponding to a bias of -11.1%. In a pulsating flow setup, flow rate measured during five cycles is 2.3 ± 0.1 mL/stroke giving a negative 9.7% bias. It is concluded that accurate 3-D vector flow estimation can be obtained using a 2-D RC-addressed array.

Fuzzy logic control of an AGV

NASA Astrophysics Data System (ADS)

Kelkar, Nikhal; Samu, Tayib; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a modular autonomous mobile robot controller. The controller incorporates a fuzzy logic approach for steering and speed control, a neuro-fuzzy approach for ultrasound sensing (not discussed in this paper) and an overall expert system. The advantages of a modular system are related to portability and transportability, i.e. any vehicle can become autonomous with minimal modifications. A mobile robot test-bed has been constructed using a golf cart base. This cart has full speed control with guidance provided by a vision system and obstacle avoidance using ultrasonic sensors. The speed and steering fuzzy logic controller is supervised by a 486 computer through a multi-axis motion controller. The obstacle avoidance system is based on a micro-controller interfaced with six ultrasonic transducers. This micro- controller independently handles all timing and distance calculations and sends a steering angle correction back to the computer via the serial line. This design yields a portable independent system in which high speed computer communication is not necessary. Vision guidance is accomplished with a CCD camera with a zoom lens. The data is collected by a vision tracking device that transmits the X, Y coordinates of the lane marker to the control computer. Simulation and testing of these systems yielded promising results. This design, in its modularity, creates a portable autonomous fuzzy logic controller applicable to any mobile vehicle with only minor adaptations.

High resolution quantitative phase imaging of live cells with constrained optimization approach

NASA Astrophysics Data System (ADS)

Pandiyan, Vimal Prabhu; Khare, Kedar; John, Renu

2016-03-01

Quantitative phase imaging (QPI) aims at studying weakly scattering and absorbing biological specimens with subwavelength accuracy without any external staining mechanisms. Use of a reference beam at an angle is one of the necessary criteria for recording of high resolution holograms in most of the interferometric methods used for quantitative phase imaging. The spatial separation of the dc and twin images is decided by the reference beam angle and Fourier-filtered reconstructed image will have a very poor resolution if hologram is recorded below a minimum reference angle condition. However, it is always inconvenient to have a large reference beam angle while performing high resolution microscopy of live cells and biological specimens with nanometric features. In this paper, we treat reconstruction of digital holographic microscopy images as a constrained optimization problem with smoothness constraint in order to recover only complex object field in hologram plane even with overlapping dc and twin image terms. We solve this optimization problem by gradient descent approach iteratively and the smoothness constraint is implemented by spatial averaging with appropriate size. This approach will give excellent high resolution image recovery compared to Fourier filtering while keeping a very small reference angle. We demonstrate this approach on digital holographic microscopy of live cells by recovering the quantitative phase of live cells from a hologram recorded with nearly zero reference angle.

Acoustic beam steering by light refraction: illustration with directivity patterns of a tilted volume photoacoustic source.

PubMed

Raetz, Samuel; Dehoux, Thomas; Perton, Mathieu; Audoin, Bertrand

2013-12-01

The symmetry of a thermoelastic source resulting from laser absorption can be broken when the direction of light propagation in an elastic half-space is inclined relatively to the surface. This leads to an asymmetry of the directivity patterns of both compressional and shear acoustic waves. In contrast to classical surface acoustic sources, the tunable volume source allows one to take advantage of the mode conversion at the surface to control the directivity of specific modes. Physical interpretations of the evolution of the directivity patterns with the increasing light angle of incidence and of the relations between the preferential directions of compressional- and shear-wave emission are proposed. In order to compare calculated directivity patterns with measurements of normal displacement amplitudes performed on plates, a procedure is proposed to transform the directivity patterns into pseudo-directivity patterns representative of the experimental conditions. The comparison of the theoretical with measured pseudo-directivity patterns demonstrates the ability to enhance bulk-wave amplitudes and to steer specific bulk acoustic modes by adequately tuning light refraction.

Refraction Correction in 3D Transcranial Ultrasound Imaging

PubMed Central

Lindsey, Brooks D.; Smith, Stephen W.

2014-01-01

We present the first correction of refraction in three-dimensional (3D) ultrasound imaging using an iterative approach that traces propagation paths through a two-layer planar tissue model, applying Snell’s law in 3D. This approach is applied to real-time 3D transcranial ultrasound imaging by precomputing delays offline for several skull thicknesses, allowing the user to switch between three sets of delays for phased array imaging at the push of a button. Simulations indicate that refraction correction may be expected to increase sensitivity, reduce beam steering errors, and partially restore lost spatial resolution, with the greatest improvements occurring at the largest steering angles. Distorted images of cylindrical lesions were created by imaging through an acrylic plate in a tissue-mimicking phantom. As a result of correcting for refraction, lesions were restored to 93.6% of their original diameter in the lateral direction and 98.1% of their original shape along the long axis of the cylinders. In imaging two healthy volunteers, the mean brightness increased by 8.3% and showed no spatial dependency. PMID:24275538

Channeling technique to make nanoscale ion beams

NASA Astrophysics Data System (ADS)

Biryukov, V. M.; Bellucci, S.; Guidi, V.

2005-04-01

Particle channeling in a bent crystal lattice has led to an efficient instrument for beam steering at accelerators [Biryukov et al., Crystal Channeling and its Application at High Energy Accelerators, Springer, Berlin, 1997], demonstrated from MeV to TeV energies. In particular, crystal focusing of high-energy protons to micron size has been demonstrated at IHEP with the results well in match with Lindhard (critical angle) prediction. Channeling in crystal microstructures has been proposed as a unique source of a microbeam of high-energy particles [Bellucci et al., Phys. Rev. ST Accel. Beams 6 (2003) 033502]. Channeling in nanostructures (single-wall and multi-wall nanotubes) offers the opportunities to produce ion beams on nanoscale. Particles channeled in a nanotube (with typical diameter of about 1 nm) are trapped in two dimensions and can be steered (deflected, focused) with the efficiency similar to that of crystal channeling or better. This technique has been a subject of computer simulations, with experimental efforts under way in several high-energy labs, including IHEP. We present the theoretical outlook for making channeling-based nanoscale ion beams and report the experience with crystal-focused microscale proton beams.

Numerical simulation of the flow around a steerable propulsion unit

NASA Astrophysics Data System (ADS)

Pacuraru, F.; Lungu, A.; Ungureanu, C.; Marcu, O.

2010-08-01

Azimuth propulsion units have become during the last decade a more and more popular solution for all kinds of vessels. Azimuth thruster system, combining the propulsion and steering units of conventional ships replaces traditional propellers and lengthy drive shafts and rudders ensuring an excellent vessel steering. In many cases the interaction between the propeller and other components of the propulsion system strongly affects the inflow to the propeller and therefore its performance. The correct estimation of this influence is important for propulsion systems which consist of more than one element, such as pods (shaft, gondola and propeller), ducted propellers (duct, struts and propeller) or bow thrusters (ship form, tunnel, gondola and propeller). The paper proposes a numerical investigation based on RANS computation for solving the viscous flow around an azimuth thruster system to provide a detailed insight into the critical flow regions for determining the optimum inclination angle for struts, for studying the hydrodynamic interactions between various components of the system, for predicting the hydrodynamic performance of the propulsion system and to investigate regions with possible flow separations.

Orion Capsule Handling Qualities for Atmospheric Entry

NASA Technical Reports Server (NTRS)

Tigges, Michael A.; Bihari, Brian D.; Stephens, John-Paul; Vos, Gordon A.; Bilimoria, Karl D.; Mueller, Eric R.; Law, Howard G.; Johnson, Wyatt; Bailey, Randall E.; Jackson, Bruce

2011-01-01

Two piloted simulations were conducted at NASA's Johnson Space Center using the Cooper-Harper scale to study the handling qualities of the Orion Command Module capsule during atmospheric entry flight. The simulations were conducted using high fidelity 6-DOF simulators for Lunar Return Skip Entry and International Space Station Return Direct Entry flight using bank angle steering commands generated by either the Primary (PredGuid) or Backup (PLM) guidance algorithms. For both evaluations, manual control of bank angle began after descending through Entry Interface into the atmosphere until drogue chutes deployment. Pilots were able to use defined bank management and reversal criteria to accurately track the bank angle commands, and stay within flight performance metrics of landing accuracy, g-loads, and propellant consumption, suggesting that the pilotability of Orion under manual control is both achievable and provides adequate trajectory performance with acceptable levels of pilot effort. Another significant result of these analyses is the applicability of flying a complex entry task under high speed entry flight conditions relevant to the next generation Multi Purpose Crew Vehicle return from Mars and Near Earth Objects.

Efficient Solar Concentrators: Affordable Energy from Water and Sunlight

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

None

2010-01-01

Broad Funding Opportunity Announcement Project: Teledyne is developing a liquid prism panel that tracks the position of the sun to help efficiently concentrate its light onto a solar cell to produce power. Typically, solar tracking devices have bulky and expensive mechanical moving parts that require a lot of power and are often unreliable. Teledyne’s liquid prism panel has no bulky and heavy supporting parts—instead it relies on electrowetting. Electrowetting is a process where an electric field is applied to the liquid to control the angle at which it meets the sunlight above and to control the angle of the sunlightmore » to the focusing lensthe more direct the angle to the focusing lens, the more efficiently the light can be concentrated to solar panels and converted into electricity. This allows the prism to be tuned like a radio to track the sun across the sky and steer sunlight into the solar cell without any moving mechanical parts. This process uses very little power and requires no expensive supporting hardware or moving parts, enabling efficient and quiet rooftop operation for integration into buildings.« less

Inertial Pointing and Positioning System

NASA Technical Reports Server (NTRS)

Yee, Robert (Inventor); Robbins, Fred (Inventor)

1998-01-01

An inertial pointing and control system and method for pointing to a designated target with known coordinates from a platform to provide accurate position, steering, and command information. The system continuously receives GPS signals and corrects Inertial Navigation System (INS) dead reckoning or drift errors. An INS is mounted directly on a pointing instrument rather than in a remote location on the platform for-monitoring the terrestrial position and instrument attitude. and for pointing the instrument at designated celestial targets or ground based landmarks. As a result. the pointing instrument and die INS move independently in inertial space from the platform since the INS is decoupled from the platform. Another important characteristic of the present system is that selected INS measurements are combined with predefined coordinate transformation equations and control logic algorithms under computer control in order to generate inertial pointing commands to the pointing instrument. More specifically. the computer calculates the desired instrument angles (Phi, Theta. Psi). which are then compared to the Euler angles measured by the instrument- mounted INS. and forms the pointing command error angles as a result of the compared difference.

Postweaning performance and carcass merit of F1 steers sired by Brahman and alternative subtropically adapted breeds.

PubMed

Franke, D E

1997-10-01

Comparisons were made among F1 steers sired by Brahman and alternative subtropically adapted breeds of bulls for feedlot and carcass traits when steers were produced from Angus- and Hereford-type dams. Brahman-derivative breeds included Brangus, Beefmaster, and Santa Gertrudis. Brangus- and Beefmaster-sired steers weighed less at slaughter, whereas carcasses of Brangus- and Santa Gertrudis-sired steers had more marbling than those of Brahman-sired steers. Brahman-sired steer carcasses had greater longissimus muscle area than carcasses of Santa Gertrudis-sired steers. Other Zebu breeds compared to Brahman were Boran, Gir, Indu-Brazil, Nellore, Red Brahman, and Sahiwal. Steers by Brahman sires had higher slaughter weights than steers by Boran, Gir, Nellore, or Sahiwal sires. Hot carcass weights of Brahman-sired steers were also higher than those of Boran- and Sahiwal-sired steers. Steer carcasses by Brahman sires had greater longissimus muscle area than those of steers by Sahiwal sires. Non-Zebu breeds included Tuli and Senepol. Steers by Tuli sires grew slower, had lower slaughter weights, and their carcasses weighed less than those of Brahman-sired steers. Brahman-sired steer carcasses had greater longissimus muscle area but less marbling than carcasses of Tuli-sired steers. These data suggest that steers by Brahman sires have an advantage for slaughter weight over steers by Brangus, Beefmaster, Boran, Gir, Nellore, Sahiwal, and Tuli sires, but their carcasses are at a disadvantage for marbling score compared with those by Brangus, Boran, Nellore, and Tuli sires.

A new model to compute the desired steering torque for steer-by-wire vehicles and driving simulators

NASA Astrophysics Data System (ADS)

Fankem, Steve; Müller, Steffen

2014-05-01

This paper deals with the control of the hand wheel actuator in steer-by-wire (SbW) vehicles and driving simulators (DSs). A novel model for the computation of the desired steering torque is presented. The introduced steering torque computation does not only aim to generate a realistic steering feel, which means that the driver should not miss the basic steering functionality of a modern conventional steering system such as an electric power steering (EPS) or hydraulic power steering (HPS), and this in every driving situation. In addition, the modular structure of the steering torque computation combined with suitably selected tuning parameters has the objective to offer a high degree of customisability of the steering feel and thus to provide each driver with his preferred steering feel in a very intuitive manner. The task and the tuning of each module are firstly described. Then, the steering torque computation is parameterised such that the steering feel of a series EPS system is reproduced. For this purpose, experiments are conducted in a hardware-in-the-loop environment where a test EPS is mounted on a steering test bench coupled with a vehicle simulator and parameter identification techniques are applied. Subsequently, how appropriate the steering torque computation mimics the test EPS system is objectively evaluated with respect to criteria concerning the steering torque level and gradient, the feedback behaviour and the steering return ability. Finally, the intuitive tuning of the modular steering torque computation is demonstrated for deriving a sportier steering feel configuration.

Production systems comparing early weaning to normal weaning with or without creep feeding for beef steers.

PubMed

Myers, S E; Faulkner, D B; Ireland, F A; Berger, L L; Parrett, D F

1999-02-01

A 2-yr study was conducted to determine the effects of three weaning management systems on cow and steer performance. Cow-calf pairs were randomly assigned to one of three treatments, in which the steer calves were 1) early-weaned (yr 1, 177 +/- 9 d; yr 2, 158 +/- 21 d of age) and placed on a finishing diet (EW), 2) supplemented with grain for 55 d on pasture (yr 1, 177 to 231 d; yr 2, 158 to 213 d of age) while nursing their dams and then placed on a finishing diet (NWC), and 3) on pasture for 55 d while nursing their dams (yr 1, 177 to 231 d; yr 2, 158 to 213 d of age) and then placed on a finishing diet (NW). In yr 2, potential breed differences were evaluated using steers of three breed types: 1) Angus x Hereford (BRI); 2) Angus x Simmental (CON); and 3) Angus x Wagyu (WAG). In yr 1, EW steers gained 100% faster (P = .0001) than the average of NWC and NW steers, and NWC steers gained 32% faster (P = .02) than NW steers before weaning. In the feedlot, EW steers had lower intakes (7.70 vs 8.16 kg/d, P = .008) and better feed conversions (.170 vs .153, P = .002) than the average of NWC and NW steers. Marbling score was improved for EW steers compared with the average of NWC and NW steers (P = .003). In yr 2, EW steers had higher gains (P = .0006) during the entire study than the average of NWC and NW steers, and NWC steers had higher gains (P = .003) than NW steers. The EW steers had lower intakes (7.29 vs 7.68 kg/d, P = .0008) and better feed conversions (.160 vs .141, P = .0001) than the average of NWC and NW steers. The CON steers were heavier at slaughter than BRI steers (P = .01), and BRI steers were heavier than WAG steers (P =.0004). Early weaning improved the percentage of steers grading Average Choice or higher by 40%. The percentage of BRI steers grading Choice or greater was 21% higher and percentage of steers grading Average Choice or greater was 33% higher than CON. Cows with EW steers had higher ADG than cows with NW steers (.38 vs -.17 kg/d, P = .0001) before weaning. Cows with EW steers gained in body condition score (.23 vs .00, P = .04), and cows with NW steers did not change. Early weaning improved feed efficiency and quality grades of beef steers.

Toward Rigorous Parameterization of Underconstrained Neural Network Models Through Interactive Visualization and Steering of Connectivity Generation

PubMed Central

Nowke, Christian; Diaz-Pier, Sandra; Weyers, Benjamin; Hentschel, Bernd; Morrison, Abigail; Kuhlen, Torsten W.; Peyser, Alexander

2018-01-01

Simulation models in many scientific fields can have non-unique solutions or unique solutions which can be difficult to find. Moreover, in evolving systems, unique final state solutions can be reached by multiple different trajectories. Neuroscience is no exception. Often, neural network models are subject to parameter fitting to obtain desirable output comparable to experimental data. Parameter fitting without sufficient constraints and a systematic exploration of the possible solution space can lead to conclusions valid only around local minima or around non-minima. To address this issue, we have developed an interactive tool for visualizing and steering parameters in neural network simulation models. In this work, we focus particularly on connectivity generation, since finding suitable connectivity configurations for neural network models constitutes a complex parameter search scenario. The development of the tool has been guided by several use cases—the tool allows researchers to steer the parameters of the connectivity generation during the simulation, thus quickly growing networks composed of multiple populations with a targeted mean activity. The flexibility of the software allows scientists to explore other connectivity and neuron variables apart from the ones presented as use cases. With this tool, we enable an interactive exploration of parameter spaces and a better understanding of neural network models and grapple with the crucial problem of non-unique network solutions and trajectories. In addition, we observe a reduction in turn around times for the assessment of these models, due to interactive visualization while the simulation is computed. PMID:29937723

Multi-Objective Trajectory Optimization of a Hypersonic Reconnaissance Vehicle with Temperature Constraints

NASA Astrophysics Data System (ADS)

Masternak, Tadeusz J.

This research determines temperature-constrained optimal trajectories for a scramjet-based hypersonic reconnaissance vehicle by developing an optimal control formulation and solving it using a variable order Gauss-Radau quadrature collocation method with a Non-Linear Programming (NLP) solver. The vehicle is assumed to be an air-breathing reconnaissance aircraft that has specified takeoff/landing locations, airborne refueling constraints, specified no-fly zones, and specified targets for sensor data collections. A three degree of freedom scramjet aircraft model is adapted from previous work and includes flight dynamics, aerodynamics, and thermal constraints. Vehicle control is accomplished by controlling angle of attack, roll angle, and propellant mass flow rate. This model is incorporated into an optimal control formulation that includes constraints on both the vehicle and mission parameters, such as avoidance of no-fly zones and coverage of high-value targets. To solve the optimal control formulation, a MATLAB-based package called General Pseudospectral Optimal Control Software (GPOPS-II) is used, which transcribes continuous time optimal control problems into an NLP problem. In addition, since a mission profile can have varying vehicle dynamics and en-route imposed constraints, the optimal control problem formulation can be broken up into several "phases" with differing dynamics and/or varying initial/final constraints. Optimal trajectories are developed using several different performance costs in the optimal control formulation: minimum time, minimum time with control penalties, and maximum range. The resulting analysis demonstrates that optimal trajectories that meet specified mission parameters and constraints can be quickly determined and used for larger-scale operational and campaign planning and execution.

Experimental demonstration of in-plane negative-angle refraction with an array of silicon nanoposts.

PubMed

Wu, Aimin; Li, Hao; Du, Junjie; Ni, Xingjie; Ye, Ziliang; Wang, Yuan; Sheng, Zhen; Zou, Shichang; Gan, Fuwan; Zhang, Xiang; Wang, Xi

2015-03-11

Controlling an optical beam is fundamental in optics. Recently, unique manipulation of optical wavefronts has been successfully demonstrated by metasurfaces. However, these artificially engineered nanostructures have thus far been limited to operate on light beams propagating out-of-plane. The in-plane operation is critical for on-chip photonic applications. Here, we demonstrate an anomalous negative-angle refraction of a light beam propagating along the plane, by designing a thin dielectric array of silicon nanoposts. The circularly polarized dipoles induced by the high-permittivity nanoposts at the scattering resonance significantly shape the wavefront of the light beam and bend it anomalously. The unique capability of a thin line of the nanoposts for manipulating in-plane wavefronts makes the device extremely compact. The low loss all-dielectric structure is compatible with complementary metal-oxide semiconductor technologies, offering an effective solution for in-plane beam steering and routing for on-chip photonics.

Micromechanical torsional digital-to-analog converter for open-loop angular positioning applications

NASA Astrophysics Data System (ADS)

Zhou, Guangya; Tay, Francis E. H.; Chau, Fook Siong; Zhao, Yi; Logeeswaran, VJ

2004-05-01

This paper reports a novel micromechanical torsional digital-to-analog converter (MTDAC), operated in open-loop with digitally controlled precise multi-level tilt angles. The MTDAC mechanism presented is analogous to that of an electrical binary-weighted-input digital-to-analog converter (DAC). It consists of a rigid tunable platform, an array of torsional microactuators, each operating in a two-state (on/off) mode, and a set of connection beams with binary-weighted torsional stiffnesses that connect the actuators to the platform. The feasibility of the proposed MTDAC mechanism was verified numerically by finite element simulations and experimentally with a commercial optical phase-shifting interferometric system. A prototype 2-bit MTDAC was implemented using the poly-MUMPS process achieving a full-scale output tilt angle of 1.92° with a rotation step of 0.64°. This mechanism can be configured for many promising applications, particularly in beam steering-based OXC switches.

Cornering and wear characteristics of the Space Shuttle Orbiter nose-gear tire

NASA Technical Reports Server (NTRS)

Davis, Pamela A.; Stubbs, Sandy M.; Vogler, William A.

1989-01-01

Tests of the Space Shuttle Orbiter nose-gear tire have been completed at NASA Langley's Aircraft Landing Dynamics Facility. The purpose of these tests was to determine the cornering and wear characteristics of the Space Shuttle Orbiter nose-gear tire under realistic operating conditions. The tire was tested on a simulated Kennedy Space Center runway surface at speeds from 100 to 180 kts. The results of these tests defined the cornering characteristics which included side forces and associated side force friction coefficient over a range of yaw angles from 0 deg to 12 deg. Wear characteristics were defined by tire tread and cord wear over a yaw angle range of 0 deg to 4 deg under dry and wet runway conditions. Wear characteristics were also defined for a 15 kt crosswind landing with two blown right main-gear tires and nose-gear steering engaged.

Compact, flexible, frequency agile parametric wavelength converter

DOEpatents

Velsko, Stephan P.; Yang, Steven T.

2002-01-01

This improved Frequency Agile Optical Parametric Oscillator provides near on-axis pumping of a single QPMC with a tilted periodically poled grating to overcome the necessity to find a particular crystal that will permit collinear birefringence in order to obtain a desired tuning range. A tilted grating design and the elongation of the transverse profile of the pump beam in the angle tuning plane of the FA-OPO reduces the rate of change of the overlap between the pumped volume in the crystal and the resonated and non-resonated wave mode volumes as the pump beam angle is changed. A folded mirror set relays the pivot point for beam steering from a beam deflector to the center of the FA-OPO crystal. This reduces the footprint of the device by as much as a factor of two over that obtained when using the refractive telescope design.

A novel estimating method for steering efficiency of the driver with electromyography signals

NASA Astrophysics Data System (ADS)

Liu, Yahui; Ji, Xuewu; Hayama, Ryouhei; Mizuno, Takahiro

2014-05-01

The existing research of steering efficiency mainly focuses on the mechanism efficiency of steering system, aiming at designing and optimizing the mechanism of steering system. In the development of assist steering system especially the evaluation of its comfort, the steering efficiency of driver physiological output usually are not considered, because this physiological output is difficult to measure or to estimate, and the objective evaluation of steering comfort therefore cannot be conducted with movement efficiency perspective. In order to take a further step to the objective evaluation of steering comfort, an estimating method for the steering efficiency of the driver was developed based on the research of the relationship between the steering force and muscle activity. First, the steering forces in the steering wheel plane and the electromyography (EMG) signals of the primary muscles were measured. These primary muscles are the muscles in shoulder and upper arm which mainly produced the steering torque, and their functions in steering maneuver were identified previously. Next, based on the multiple regressions of the steering force and EMG signals, both the effective steering force and the total force capacity of driver in steering maneuver were calculated. Finally, the steering efficiency of driver was estimated by means of the estimated effective force and the total force capacity, which represented the information of driver physiological output of the primary muscles. This research develops a novel estimating method for driver steering efficiency of driver physiological output, including the estimation of both steering force and the force capacity of primary muscles with EMG signals, and will benefit to evaluate the steering comfort with an objective perspective.

Quantum steering in cascaded four-wave mixing processes.

PubMed

Wang, Li; Lv, Shuchao; Jing, Jietai

2017-07-24

Quantum steering is used to describe the "spooky action-at-a-distance" nonlocality raised in the Einstein-Podolsky-Rosen (EPR) paradox, which is important for understanding entanglement distribution and constructing quantum networks. Here, in this paper, we study an experimentally feasible scheme for generating quantum steering based on cascaded four-wave-mixing (FWM) processes in hot rubidium (Rb) vapor. Quantum steering, including bipartite steering and genuine tripartite steering among the output light fields, is theoretically analyzed. We find the corresponding gain regions in which the bipartite and tripartite steering exist. The results of bipartite steering can be used to establish a hierarchical steering model in which one beam can steer the other two beams in the whole gain region; however, the other two beams cannot steer the first beam simultaneously. Moreover, the other two beams cannot steer with each other in the whole gain region. More importantly, we investigate the gain dependence of the existence of the genuine tripartite steering and we find that the genuine tripartite steering exists in most of the whole gain region in the ideal case. Also we discuss the effect of losses on the genuine tripartite steering. Our results pave the way to experimental demonstration of quantum steering in cascaded FWM process.

49 CFR 570.7 - Steering systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 49 Transportation 6 2011-10-01 2011-10-01 false Steering systems. 570.7 Section 570.7... Pounds or Less § 570.7 Steering systems. (a) System play. Lash or free play in the steering system shall... in the steering system. Table 1—Steering System Free Play Values Steering wheel diameter (inches...

49 CFR 570.7 - Steering systems.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 6 2012-10-01 2012-10-01 false Steering systems. 570.7 Section 570.7... Pounds or Less § 570.7 Steering systems. (a) System play. Lash or free play in the steering system shall... in the steering system. Table 1—Steering System Free Play Values Steering wheel diameter (inches...

49 CFR 570.7 - Steering systems.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 49 Transportation 6 2014-10-01 2014-10-01 false Steering systems. 570.7 Section 570.7... Pounds or Less § 570.7 Steering systems. (a) System play. Lash or free play in the steering system shall... in the steering system. Table 1—Steering System Free Play Values Steering wheel diameter (inches...

49 CFR 570.7 - Steering systems.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 49 Transportation 6 2010-10-01 2010-10-01 false Steering systems. 570.7 Section 570.7... Pounds or Less § 570.7 Steering systems. (a) System play. Lash or free play in the steering system shall... in the steering system. Table 1—Steering System Free Play Values Steering wheel diameter (inches...

An exact solution for the steady state phase distribution in an array of oscillators coupled on a hexagonal lattice

NASA Technical Reports Server (NTRS)

Pogorzelski, Ronald J.

2004-01-01

When electronic oscillators are coupled to nearest neighbors to form an array on a hexagonal lattice, the planar phase distributions desired for excitation of a phased array antenna are not steady state solutions of the governing non-linear equations describing the system. Thus the steady state phase distribution deviates from planar. It is shown to be possible to obtain an exact solution for the steady state phase distribution and thus determine the deviation from the desired planar distribution as a function of beam steering angle.

Integrated injection-locked semiconductor diode laser

DOEpatents

Hadley, G.R.; Hohimer, J.P.; Owyoung, A.

1991-02-19

A continuous wave integrated injection-locked high-power diode laser array is provided with an on-chip independently-controlled master laser. The integrated injection locked high-power diode laser array is capable of continuous wave lasing in a single near-diffraction limited output beam at single-facet power levels up to 125 mW (250 mW total). Electronic steering of the array emission over an angle of 0.5 degrees is obtained by varying current to the master laser. The master laser injects a laser beam into the slave array by reflection of a rear facet. 18 figures.

ADDJUST-A View of the First 25 Years

NASA Technical Reports Server (NTRS)

Nieberding, Joe; Williams, Craig H.

2015-01-01

Various technologies and innovative launch operations were developed during the 50 years of the Centaur upper stage—the first launch vehicle to use high performing liquid hydrogen fuel. One innovation was “ADDJUST”, which enabled the successful negotiation of upper level winds measured only hours before launch. Initial causes for its creation, development, and operation during countdown are detailed. Problem definition, wind measuring/monitoring process, pitch and yaw steering coefficient generation, loads analysis, angle of attack, major risks/concerns, and anecdotal recollections are provided. Launch availability improved from as low as 55 to 95 percent due to ADDJUST, which is still in use.

Recent studies of tire braking performance. [for aircraft

NASA Technical Reports Server (NTRS)

Mccarty, J. L.; Leland, T. J. W.

1973-01-01

The results from recent studies of some factors affecting tire braking and cornering performance are presented together with a discussion of the possible application of these results to the design of aircraft braking systems. The first part of the paper is concerned with steady-state braking, that is, results from tests conducted at a constant slip ratio or steering angle or both. The second part deals with cyclic braking tests, both single cycle, where brakes are applied at a constant rate until wheel lockup is achieved, and rapid cycling of the brakes under control of a currently operational antiskid system.

Designed inhibitors with hetero linkers for gastric proton pump H+,K+-ATPase: Steered molecular dynamics and metadynamics studies.

PubMed

Jana, Kalyanashis; Bandyopadhyay, Tusar; Ganguly, Bishwajit

2017-11-01

Acid suppressant SCH28080 and its derivatives reversibly reduce acid secretion activity of the H + ,K + -ATPase in a K + competitive manner. The results on homologation of the SCH28080 by varying the linker chain length suggested the improvement in efficacy. However, the pharmacokinetic studies reveal that the hydrophobic nature of the CH 2 linker units may not help it to function as a better acid suppressant. We have exploited the role of linker unit to enhance the efficacy of such reversible acid suppressant drug molecules using hetero linker, i.e., disulfide and peroxy linkers. The logarithm of partition coefficient defined for a drug molecule relates to the partition coefficient, which allows the optimum solubility characteristics to reach the active site. The logarithm of partition coefficient calculated for the designed inhibitors suggests that inhibitors would possibly reach the active site in sufficient concentration like in the case of SCH28080. The steered molecular dynamics studies have revealed that the Inhibitor-1 with disulfide linker unit is more stable at the active site due to greater noncovalent interactions compared to the SCH28080. Centre of mass distance analysis suggests that the Cysteine-813 amino acid residue selectively plays an important role in the inhibition of H + ,K + -ATPase for Inhibitor-1. Furthermore, the quantum chemical calculations with M11L/6-31+G(d,p) level of theory have been performed to account the noncovalent interactions responsible for the stabilization of inhibitor molecules in the active site gorge of the gastric proton pump at different time scale. The hydrogen bonding and hydrophobic interaction studies corroborate the center of mass distance analysis as well. Well-tempered metadynamics free energy surface and center of mass separation analysis for the Inhibitor-1 is in good agreement with the steered molecular dynamics results. The torsional angle of the linker units seems to be crucial for better efficacy of drug molecules. The torsional angle of linker units of SCH28080 (COCH 2 C) and of Inhibitor 1 (CSSC) prefers to lie within ∼60°-90° for a longer time during the simulations, whereas, the peroxy linker (COOC) of Inhibitor 2 prefers to adopt ∼120-160°. Therefore, it appears that the smaller torsion angle of linker units can achieve better interactions with the active site residues of H + ,K + -ATPase to inhibit the acid secretion activity. The reversible drug molecules with disulfide linker unit would be a promising candidate as proton pump antagonist to H + ,K + -ATPase. Copyright © 2017 Elsevier Inc. All rights reserved.

49 CFR 570.60 - Steering system.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 49 Transportation 6 2014-10-01 2014-10-01 false Steering system. 570.60 Section 570.60... 10,000 Pounds § 570.60 Steering system. (a) System play. Lash or free play in the steering system... excessive lash or free play in the steering system. Table 2. Steering Wheel Free Play Values Steering wheel...

49 CFR 570.60 - Steering system.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 6 2012-10-01 2012-10-01 false Steering system. 570.60 Section 570.60... 10,000 Pounds § 570.60 Steering system. (a) System play. Lash or free play in the steering system... excessive lash or free play in the steering system. Table 2. Steering Wheel Free Play Values Steering wheel...

49 CFR 570.60 - Steering system.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 49 Transportation 6 2011-10-01 2011-10-01 false Steering system. 570.60 Section 570.60... 10,000 Pounds § 570.60 Steering system. (a) System play. Lash or free play in the steering system... excessive lash or free play in the steering system. Table 2. Steering Wheel Free Play Values Steering wheel...

49 CFR 570.60 - Steering system.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 49 Transportation 6 2010-10-01 2010-10-01 false Steering system. 570.60 Section 570.60... 10,000 Pounds § 570.60 Steering system. (a) System play. Lash or free play in the steering system... excessive lash or free play in the steering system. Table 2. Steering Wheel Free Play Values Steering wheel...

Angle-resolved effective potentials for disk-shaped molecules

NASA Astrophysics Data System (ADS)

Heinemann, Thomas; Palczynski, Karol; Dzubiella, Joachim; Klapp, Sabine H. L.

2014-12-01

We present an approach for calculating coarse-grained angle-resolved effective pair potentials for uniaxial molecules. For integrating out the intramolecular degrees of freedom we apply umbrella sampling and steered dynamics techniques in atomistically-resolved molecular dynamics (MD) computer simulations. Throughout this study we focus on disk-like molecules such as coronene. To develop the methods we focus on integrating out the van der Waals and intramolecular interactions, while electrostatic charge contributions are neglected. The resulting coarse-grained pair potential reveals a strong temperature and angle dependence. In the next step we fit the numerical data with various Gay-Berne-like potentials to be used in more efficient simulations on larger scales. The quality of the resulting coarse-grained results is evaluated by comparing their pair and many-body structure as well as some thermodynamic quantities self-consistently to the outcome of atomistic MD simulations of many-particle systems. We find that angle-resolved potentials are essential not only to accurately describe crystal structures but also for fluid systems where simple isotropic potentials start to fail already for low to moderate packing fractions. Further, in describing these states it is crucial to take into account the pronounced temperature dependence arising in selected pair configurations due to bending fluctuations.

Constraint-based stoichiometric modelling from single organisms to microbial communities

PubMed Central

Olivier, Brett G.; Bruggeman, Frank J.; Teusink, Bas

2016-01-01

Microbial communities are ubiquitously found in Nature and have direct implications for the environment, human health and biotechnology. The species composition and overall function of microbial communities are largely shaped by metabolic interactions such as competition for resources and cross-feeding. Although considerable scientific progress has been made towards mapping and modelling species-level metabolism, elucidating the metabolic exchanges between microorganisms and steering the community dynamics remain an enormous scientific challenge. In view of the complexity, computational models of microbial communities are essential to obtain systems-level understanding of ecosystem functioning. This review discusses the applications and limitations of constraint-based stoichiometric modelling tools, and in particular flux balance analysis (FBA). We explain this approach from first principles and identify the challenges one faces when extending it to communities, and discuss the approaches used in the field in view of these challenges. We distinguish between steady-state and dynamic FBA approaches extended to communities. We conclude that much progress has been made, but many of the challenges are still open. PMID:28334697

Multi-platform experiment to cross a boundary between laboratory and real situational studies: experimental discussion of cross-situational consistency of driving behaviors.

PubMed

Terai, H; Miwa, K; Okuda, H; Tazaki, Y; Suzuki, T; Kojima, K; Morita, J; Maehigashi, A; Takeda, K

2012-01-01

We constructed an innovative experimental platform to study cross-situational consistency in driving behavior, conducted behavioral experiments, and reported the data obtained in the experiment. To discuss cross-situational consistency, we separated situations in which people use some systems to conduct tasks into three independent conceptual factors: environment, context, and system. We report the experimental results with the following systems: a laboratory system with a gaming controller and steering/pedal controllers and a real system, COMS an instrumented vehicle. The results are summarized as follows. 1) The individual behaviors in each system were stable, and consistency was retained. 2) The consistency of the behaviors was also confirmed when the participants drove using different interfaces in identical systems. 3) However, only slight correlation was observed across different systems in a specific situation where a strong high-order cognitive constraint (i.e., rapid driving) and a weak low-order cognitive constraint (driving with easy handling toward a straight-line course) were given.

Maximum life spiral bevel reduction design

NASA Technical Reports Server (NTRS)

Savage, M.; Prasanna, M. G.; Coe, H. H.

1992-01-01

Optimization is applied to the design of a spiral bevel gear reduction for maximum life at a given size. A modified feasible directions search algorithm permits a wide variety of inequality constraints and exact design requirements to be met with low sensitivity to initial values. Gear tooth bending strength and minimum contact ratio under load are included in the active constraints. The optimal design of the spiral bevel gear reduction includes the selection of bearing and shaft proportions in addition to gear mesh parameters. System life is maximized subject to a fixed back-cone distance of the spiral bevel gear set for a specified speed ratio, shaft angle, input torque, and power. Significant parameters in the design are: the spiral angle, the pressure angle, the numbers of teeth on the pinion and gear, and the location and size of the four support bearings. Interpolated polynomials expand the discrete bearing properties and proportions into continuous variables for gradient optimization. After finding the continuous optimum, a designer can analyze near optimal designs for comparison and selection. Design examples show the influence of the bearing lives on the gear parameters in the optimal configurations. For a fixed back-cone distance, optimal designs with larger shaft angles have larger service lives.

Analysis of Roll Steering for Solar Electric Propulsion Missions

NASA Technical Reports Server (NTRS)

Pederson, Dylan, M.; Hojnicki, Jeffrey, S.

2012-01-01

Nothing is more vital to a spacecraft than power. Solar Electric Propulsion (SEP) uses that power to provide a safe, reliable, and, most importantly, fuel efficient means to propel a spacecraft to its destination. The power performance of an SEP vehicle s solar arrays and electrical power system (EPS) is largely influenced by the environment in which the spacecraft is operating. One of the most important factors that determines solar array power performance is how directly the arrays are pointed to the sun. To get the most power from the solar arrays, the obvious solution is to point them directly at the sun at all times. Doing so is not a problem in deep space, as the environment and pointing conditions that a spacecraft faces are fairly constant and are easy to accommodate, if necessary. However, large and sometimes rapid variations in environmental and pointing conditions are experienced by Earth orbiting spacecraft. SEP spacecraft also have the additional constraint of needing to keep the thrust vector aligned with the velocity vector. Thus, it is important to analyze solar array power performance for any vehicle that spends an extended amount of time orbiting the Earth, and to determine how much off-pointing can be tolerated to produce the required power for a given spacecraft. This paper documents the benefits and drawbacks of perfectly pointing the solar arrays of an SEP spacecraft spiraling from Earth orbit, and how this might be accomplished. Benefits and drawbacks are defined in terms of vehicle mass, power, volume, complexity, and cost. This paper will also look at the application of various solar array pointing methods to future missions. One such pointing method of interest is called roll steering . Roll steering involves rolling the entire vehicle twice each orbit. Roll steering, combined with solar array gimbal tracking, is used to point the solar arrays perfectly towards the sun at all points in the orbit, while keeping the vehicle thrusters aligned in the velocity direction. Roll steering is particularly attractive for a recently proposed mission that involves a spiral trajectory from low Earth orbit (LEO) to the Earth-Moon Lagrange Point 1 (E-M L1). During the spiral, the spacecraft will spend over 300 days experiencing the full spectrum of near-earth environments and solar array pointing conditions. An extensive study of the application of SEP (and roll steering) to this spiral mission is included, highlighting the ultimate goal of reduced vehicle cost and mass. Tools used for this analysis include the Systems Power Analysis for Capability Evaluation (Refs. 1 and 2) (SPACE) electrical power systems code, and SEP trajectory simulation tools developed at NASA Glenn Research Center.

Effects of two hospital bed design features on physical demands and usability during brake engagement and patient transportation: a repeated measures experimental study.

PubMed

Kim, Sunwook; Barker, Linsey M; Jia, Bochen; Agnew, Michael J; Nussbaum, Maury A

2009-03-01

Work-related musculoskeletal disorders (WMSDs) are prevalent among healthcare workers worldwide. While existing research has focused on patient-handling techniques during activities which require direct patient contact (e.g., patient transfer), nursing tasks also involve other patient-handling activities, such as engaging bed brakes and transporting patients in beds, which could render healthcare workers at risk of developing WMSDs. Effectiveness of hospital bed design features (brake pedal location and steering-assistance) was evaluated in terms of physical demands and usability during brake engagement and patient transportation tasks. Two laboratory-based studies were conducted. In simulated brake engagement tasks, three brake pedal locations (head-end vs. foot-end vs. side of a bed) and two hands conditions (hands-free vs. hands-occupied) were manipulated. Additionally, both in-room and corridor patient transportation tasks were simulated, in which activation of steering-assistance features (5th wheel and/or front wheel caster lock) and two patient masses were manipulated. Nine novice participants were recruited from the local student population and community for each study. During brake engagement, trunk flexion angle, task completion time, and questionnaires were used to quantify postural comfort and usability. For patient transportation, dependent measures were hand forces and questionnaire responses. Brake pedal locations and steering-assistance features in hospital beds had significant effects on physical demands and usability during brake engagement and patient transportation tasks. Specifically, a brake pedal at the head-end of a bed increased trunk flexion by 74-224% and completion time by 53-74%, compared to other pedal locations. Participants reported greater overall perceived difficulty and less postural comfort with the brake pedal at the head-end. During in-room transportation, participants generally reported "Neither Low nor High" physical demands with the 5th wheel activated, compared to "Moderately High" physical demands when the 5th wheel was deactivated. Corridor transportation was similarly reported to be easier when a steering-assistance feature (the 5th wheel or front caster lock) was activated. Braking and steering-assistance features of hospital beds can have important effects on task efficiency and physical demands placed on healthcare workers. Selection of specific designs may thus be able to improve productivity and contribute to a reduction in WMSDs risk among healthcare workers.

Experimental verification of multidimensional quantum steering

NASA Astrophysics Data System (ADS)

Li, Che-Ming; Lo, Hsin-Pin; Chen, Liang-Yu; Yabushita, Atsushi

2018-03-01

Quantum steering enables one party to communicate with another remote party even if the sender is untrusted. Such characteristics of quantum systems not only provide direct applications to quantum information science, but are also conceptually important for distinguishing between quantum and classical resources. While concrete illustrations of steering have been shown in several experiments, quantum steering has not been certified for higher dimensional systems. Here, we introduce a simple method to experimentally certify two different kinds of quantum steering: Einstein-Podolsky-Rosen (EPR) steering and single-system (SS) steering (i.e., temporal steering), for dimensionality (d) up to d = 16. The former reveals the steerability among bipartite systems, whereas the latter manifests itself in single quantum objects. We use multidimensional steering witnesses to verify EPR steering of polarization-entangled pairs and SS steering of single photons. The ratios between the measured witnesses and the maximum values achieved by classical mimicries are observed to increase with d for both EPR and SS steering. The designed scenario offers a new method to study further the genuine multipartite steering of large dimensionality and potential uses in quantum information processing.

A view finder control system for an earth observation satellite

NASA Astrophysics Data System (ADS)

Steyn, H.

2004-11-01

A real time TV view finder is used on-board a low earth orbiting (LEO) satellite to manually select targets for imaging from a ground station within the communication footprint of the satellite. The attitude control system on the satellite is used to steer the satellite using commands from the groundstation and a television camera onboard the satellite will then downlink a television signal in real time to a monitor screen in the ground station. The operator in the feedback loop will be able to manually steer the boresight of the satellite's main imager towards interested target areas e.g. to avoid clouds or correct for any attitude pointing errors. Due to a substantial delay (in the order of a second) in the view finding feedback loop and the narrow field of view of the main imager, the operator has to be assisted by the onboard attitude control system to stabilise and track the target area visible on the monitor screen. This paper will present the extended Kalman filter used to estimate the satellite's attitude angles using quaternions and the bias vector component of the 3-axis inertial rate sensors (gyros). Absolute attitude sensors (i.e. sun, horizon and magnetic) are used to supply the measurement vectors to correct the filter states during the view finder manoeuvres. The target tracking and rate steering reaction wheel controllers to accurately point and stabilise the satellite will be presented. The reference generator for the satellite to target attitude and rate vectors as used by the reaction wheel controllers will be derived.

Electro-optic deflectors deliver advantages over acousto-optical deflectors in a high resolution, ultra-fast force-clamp optical trap.

PubMed

Woody, Michael S; Capitanio, Marco; Ostap, E Michael; Goldman, Yale E

2018-04-30

We characterized experimental artifacts arising from the non-linear response of acousto-optical deflectors (AODs) in an ultra-fast force-clamp optical trap and have shown that using electro-optical deflectors (EODs) instead eliminates these artifacts. We give an example of the effects of these artifacts in our ultra-fast force clamp studies of the interaction of myosin with actin filaments. The experimental setup, based on the concept of Capitanio et al. [Nat. Methods 9, 1013-1019 (2012)] utilizes a bead-actin-bead dumbbell held in two force-clamped optical traps which apply a load to the dumbbell to move it at a constant velocity. When myosin binds to actin, the filament motion stops quickly as the total force from the optical traps is transferred to the actomyosin attachment. We found that in our setup, AODs were unsuitable for beam steering due to non-linear variations in beam intensity and deflection angle as a function of driving frequency, likely caused by low-amplitude standing acoustic waves in the deflectors. These aberrations caused instability in the force feedback loops leading to artifactual jumps in the trap position. We demonstrate that beam steering with EODs improves the performance of our instrument. Combining the superior beam-steering capability of the EODs, force acquisition via back-focal-plane interferometry, and dual high-speed FPGA-based feedback loops, we apply precise and constant loads to study the dynamics of interactions between actin and myosin. The same concept applies to studies of other biomolecular interactions.

46 CFR 58.25-80 - Automatic pilots and ancillary steering gear.

Code of Federal Regulations, 2010 CFR

2010-10-01

... AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-80 Automatic pilots and ancillary steering gear. (a) Automatic pilots and ancillary steering gear, and steering-gear control systems, must be arranged to allow immediate resumption of manual operation of the steering-gear control system required in...

46 CFR 58.25-80 - Automatic pilots and ancillary steering gear.

Code of Federal Regulations, 2011 CFR

2011-10-01

... AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-80 Automatic pilots and ancillary steering gear. (a) Automatic pilots and ancillary steering gear, and steering-gear control systems, must be arranged to allow immediate resumption of manual operation of the steering-gear control system required in...

Cosmological CPT violation and CMB polarization measurements

NASA Astrophysics Data System (ADS)

Xia, Jun-Qing

2012-01-01

In this paper we study the possibility of testing Charge-Parity-Time Reversal (CPT) symmetry with cosmic microwave background (CMB) experiments. We consider two kinds of Chern-Simons (CS) term, electromagnetic CS term and gravitational CS term, and study their effects on the CMB polarization power spectra in detail. By combining current CMB polarization measurements, the seven-year WMAP, BOOMERanG 2003 and BICEP observations, we obtain a tight constraint on the rotation angle Δα = -2.28±1.02 deg (1 σ), indicating a 2.2 σ detection of the CPT violation. Here, we particularly take the systematic errors of CMB measurements into account. After adding the QUaD polarization data, the constraint becomes -1.34 < Δα < 0.82 deg at 95% confidence level. When comparing with the effect of electromagnetic CS term, the gravitational CS term could only generate TB and EB power spectra with much smaller amplitude. Therefore, the induced parameter epsilon can not be constrained from the current polarization data. Furthermore, we study the capabilities of future CMB measurements, Planck and CMBPol, on the constraints of Δα and epsilon. We find that the constraint of Δα can be significantly improved by a factor of 15. Therefore, if this rotation angle effect can not be taken into account properly, the constraints of cosmological parameters will be biased obviously. For the gravitational CS term, the future Planck data still can not constrain epsilon very well, if the primordial tensor perturbations are small, r < 0.1. We need the more accurate CMBPol experiment to give better constraint on epsilon.

Hot hands, cold feet? Investigating effects of interacting constraints on place kicking performance at the 2015 Rugby Union World Cup.

PubMed

Pocock, Chris; Bezodis, Neil E; Davids, Keith; North, Jamie S

2018-06-23

Place kicks in Rugby Union present valuable opportunities to score points outside the spatiotemporal dynamics of open play but are executed under varying performance constraints. We analysed effects of specific task constraints and relevant contextual factors on place kick performance in the 2015 Rugby Union World Cup. Data were collected from television broadcasts for each place kick. In addition to kick outcomes, contextual factors, including time of the kick in the match, score margin at the time of the kick, and outcome of the kicker's previous kick, were recorded. Effects of spatial task constraints were analysed for each kick, using distance (m) and angle (°) of the kick to the goalposts. A binomial logistic regression model revealed that distance from, and angle to, the goalposts were significant predictors of place kick outcome. Furthermore, the success percentage of kickers who missed their previous kick was 7% lower than those who scored their previous kick. Place kick success percentage in the 10 minutes before half-time was 8% lower than the mean tournament success percentage, which was 75% (95% CI 71-78%). The highest kick success percentage was recorded when scores were level (83%; 95% CI 72-91%). Our data highlighted how subtle changes in task constraints and contextual factors can influence performance outcomes in elite performers in international competition. Fluctuations in place kick success suggested that individual constraints, such as thoughts, emotions and fatigue, induced during competition, could interact with perceptions to influence emergent performance behaviours.

Dynamic Time Multiplexing Fabrication of Holographic Polymer Dispersed Liquid Crystals for Increased Wavelength Sensitivity

NASA Technical Reports Server (NTRS)

Fontecchio, Adam K. (Inventor); Rai, Kashma (Inventor)

2017-01-01

Described herein is a new holographic polymer dispersed liquid crystal (HPDLC) medium with broadband reflective properties, and a new technique for fabrication of broadband HPDLC mediums. The new technique involves dynamic variation of the holography setup during HPDLC formation, enabling the broadening of the HPDLC medium's wavelength response. Dynamic variation of the holography setup may include the rotation and/or translation of one or more motorized stages, allowing for time and spatial, or angular, multiplexing through variation of the incident angles of one or more laser beams on a pre-polymer mixture during manufacture. An HPDLC medium manufactured using these techniques exhibits improved optical response by reflecting a broadband spectrum of wavelengths. A new broadband holographic polymer dispersed liquid crystal thin film polymeric mirror stack with electrically-switchable beam steering capability is disclosed. XXXX Described herein is a new holographic polymer dispersed liquid crystal (HPDLC) medium with broadband reflective properties, and a new technique for fabrication of broadband 10 HPDLC mediums. The new technique involves dynamic variation of the holography setup during HPDLC formation, enabling the broadening of the HPDLC medium's wavelength response. Dynamic variation of the holography setup may include the rotation and/or translation of one or more 15 motorized stages, allowing for time and spatial, or angular, multiplexing through variation of the incident angles of one or more laser beams on a pre-polymer mixture during manufacture. An HPDLC medium manufactured using these techniques exhibits improved optical response by reflecting 20 a broadband spectrum of wavelengths. A new broadband holographic polymer dispersed liquid crystal thin film polymeric mirror stack with electrically switchable beam steering capability is disclosed.

Amplitude and dynamics of polarization-plane signaling in the central complex of the locust brain

PubMed Central

Bockhorst, Tobias

2015-01-01

The polarization pattern of skylight provides a compass cue that various insect species use for allocentric orientation. In the desert locust, Schistocerca gregaria, a network of neurons tuned to the electric field vector (E-vector) angle of polarized light is present in the central complex of the brain. Preferred E-vector angles vary along slices of neuropils in a compasslike fashion (polarotopy). We studied how the activity in this polarotopic population is modulated in ways suited to control compass-guided locomotion. To this end, we analyzed tuning profiles using measures of correlation between spike rate and E-vector angle and, furthermore, tested for adaptation to stationary angles. The results suggest that the polarotopy is stabilized by antagonistic integration across neurons with opponent tuning. Downstream to the input stage of the network, responses to stationary E-vector angles adapted quickly, which may correlate with a tendency to steer a steady course previously observed in tethered flying locusts. By contrast, rotating E-vectors corresponding to changes in heading direction under a natural sky elicited nonadapting responses. However, response amplitudes were particularly variable at the output stage, covarying with the level of ongoing activity. Moreover, the responses to rotating E-vector angles depended on the direction of rotation in an anticipatory manner. Our observations support a view of the central complex as a substrate of higher-stage processing that could assign contextual meaning to sensory input for motor control in goal-driven behaviors. Parallels to higher-stage processing of sensory information in vertebrates are discussed. PMID:25609107

Conversion and control of an all-terrain vehicle for use as an autonomous mobile robot

NASA Astrophysics Data System (ADS)

Jacob, John S.; Gunderson, Robert W.; Fullmer, R. R.

1998-08-01

A systematic approach to ground vehicle automation is presented, combining low-level controls, trajectory generation and closed-loop path correction in an integrated system. Development of cooperative robotics for precision agriculture at Utah State University required the automation of a full-scale motorized vehicle. The Triton Predator 8- wheeled skid-steering all-terrain vehicle was selected for the project based on its ability to maneuver precisely and the simplicity of controlling the hydrostatic drivetrain. Low-level control was achieved by fitting an actuator on the engine throttle, actuators for the left and right drive controls, encoders on the left and right drive shafts to measure wheel speeds, and a signal pick-off on the alternator for measuring engine speed. Closed loop control maintains a desired engine speed and tracks left and right wheel speeds commands. A trajectory generator produces the wheel speed commands needed to steer the vehicle through a predetermined set of map coordinates. A planar trajectory through the points is computed by fitting a 2D cubic spline over each path segment while enforcing initial and final orientation constraints at segment endpoints. Acceleration and velocity profiles are computed for each trajectory segment, with the velocity over each segment dependent on turning radius. Left and right wheel speed setpoints are obtained by combining velocity and path curvature for each low-level timestep. The path correction algorithm uses GPS position and compass orientation information to adjust the wheel speed setpoints according to the 'crosstrack' and 'downtrack' errors and heading error. Nonlinear models of the engine and the skid-steering vehicle/ground interaction were developed for testing the integrated system in simulation. These test lead to several key design improvements which assisted final implementation on the vehicle.

Technical report for a fluidless directional drilling system demonstrated at Solid Waste Storage Area 6 shallow buried waste sites

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

NONE

The purpose of the research was to demonstrate a fluidless directional drilling and monitoring system (FDD) specifically tailored to address environmental drilling concerns for shallow buried wasted. The major concerns are related to worker exposure, minimizing waste generation, and confining the spread of contamination. The FDD is potentially applicable to Environmental Restoration (ER) activities for the Oak Ridge National Laboratory Waste Area Grouping 6 (WAG 6) shallow buried waste disposed in unlined trenches. Major ER activities for directional drilling are to develop a drilling system for leachate collection directly beneath trenches, and to provide localized control over leachate release tomore » the environment. Other ER FDD activities could include vadose zone and groundwater monitoring of contaminant transport. The operational constraints pointed the research in the direction of purchasing a steerable impact hammer, or mole, manufactured by Steer-Rite Ltd. of Racine, Wisconsin. This drill was selected due to the very low cost ($25,000) associated with procuring the drill, steering module, instrumentation and service lines. The impact hammer is a self propelled drill which penetrates the soil by compacting cut material along the sidewalls of the borehole. Essentially, it forces its way through the subsurface. Although the pneumatic hammer exhausts compressed air which must be handled at the borehole collar, it does not generate soil cuttings or liquids. This is the basis for the term fluidless. A stub casing muffler was attached to the entrance hole for controlling exhaust gas and any airborne releases. Other environmental compliance modifications made to the equipment included operating the tool without lubrication, and using water instead of hydraulic fluid to actuate the steering fins on the tool.« less

Distinguishing between evidence and its explanations in the steering of atomic clocks

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

Myers, John M., E-mail: myers@seas.harvard.edu; Hadi Madjid, F., E-mail: gmadjid@aol.com

2014-11-15

Quantum theory reflects within itself a separation of evidence from explanations. This separation leads to a known proof that: (1) no wave function can be determined uniquely by evidence, and (2) any chosen wave function requires a guess reaching beyond logic to things unforeseeable. Chosen wave functions are encoded into computer-mediated feedback essential to atomic clocks, including clocks that step computers through their phases of computation and clocks in space vehicles that supply evidence of signal propagation explained by hypotheses of spacetimes with metric tensor fields. The propagation of logical symbols from one computer to another requires a shared rhythm—likemore » a bucket brigade. Here we show how hypothesized metric tensors, dependent on guesswork, take part in the logical synchronization by which clocks are steered in rate and position toward aiming points that satisfy phase constraints, thereby linking the physics of signal propagation with the sharing of logical symbols among computers. Recognizing the dependence of the phasing of symbol arrivals on guesses about signal propagation transports logical synchronization from the engineering of digital communications to a discipline essential to physics. Within this discipline we begin to explore questions invisible under any concept of time that fails to acknowledge unforeseeable events. In particular, variation of spacetime curvature is shown to limit the bit rate of logical communication. - Highlights: • Atomic clocks are steered in frequency toward an aiming point. • The aiming point depends on a chosen wave function. • No evidence alone can determine the wave function. • The unknowability of the wave function has implications for spacetime curvature. • Variability in spacetime curvature limits the bit rate of communications.« less

46 CFR 182.610 - Main steering gear.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Main steering gear. 182.610 Section 182.610 Shipping...) MACHINERY INSTALLATION Steering Systems § 182.610 Main steering gear. (a) A vessel must be provided with a main steering gear that is: (1) Of adequate strength and capable of steering the vessel at all service...

46 CFR 108.641 - Instructions for changing steering gear.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 4 2010-10-01 2010-10-01 false Instructions for changing steering gear. 108.641 Section... steering gear. Instructions stating, in order, the different steps to be taken for changing to emergency and secondary steering gear must be posted in the steering gear room and at each secondary steering...

Steering and Suspension Systems. Auto Mechanics Curriculum Guide. Module 5. Instructor's Guide.

ERIC Educational Resources Information Center

Rains, Larry

This module is the fifth of nine modules in the competency-based Missouri Auto Mechanics Curriculum Guide. Seventeen units cover: steering system design; diagnosing steering systems problems; inspecting and replacing steering linkage components; manual and power steering gear service; manual and power rack and pinion steering gear service; power…

46 CFR 131.845 - Instructions for shift of steering gear.

Code of Federal Regulations, 2013 CFR

2013-10-01

... alternative steering stations must be on water-resistant material and posted at each steering station and in... gear or steering stations. (d) Each clutch, gear, wheel, lever, valve, or switch used during any shift of steering gear or steering stations must be numbered or lettered on a metal plate or painted so...

Contingency maneuver strategies for the Total Ozone Mapping Spectrometer-Earth Probe (TOMS-EP)

NASA Technical Reports Server (NTRS)

Kestler, James; Walls, Donna

1995-01-01

The Total Ozone Mapping Spectrometer-Earth Probe (TOMS-EP) is a polar-orbiting spacecraft designed to measure total ozone levels in the Earth's atmosphere. The nominal mission orbit is a 955-kilometer circular Sun-synchronous orbit with an ascending node mean local crossing time (MLT) between 11:02 a.m. and 11:25 a.m. These two mean local ascending node times constitute the boundaries of the MLT box for this mission. The MLT boundaries were chosen to maintain the Sun-to-Earth-to-vehicle orbit-normal (SVN) angle within a preselected set of seasonally independent boundaries. Because the SVN angle is seasonally dependent, but the MLT is not, contingency options for correcting the MLT of orbital states that fall outside of the required MLT range become time dependent. This paper focuses on contingency orbit adjustment strategies developed at the Goddard Space Flight Center (GSFC) Flight Dynamics Division (FDD) during the mission planning phase of TOMS-EP. Time-dependent delta-V strategies are presented for correcting mission orbit states lying outside of the MLT range. Typically, passive control of the MLT drift rate can be used to restore the orbit state to the required MLT before a seasonal violation of SVN angle constraints can occur. Passive control of the MLT drift rate is obtained through adjustment of the semimajor axis and/or the inclination. The time between initial arrival on orbit at an 'out-of-the box' MLT state and violation of the SVN angle constraints is always less than or equal to 1 year. The choice of which parameter(s) to adjust is dictated by the duration of this time period, the desired mission lifetime, the delta-V cost, and operational constraints.

Cost of Einstein-Podolsky-Rosen steering in the context of extremal boxes

NASA Astrophysics Data System (ADS)

Das, Debarshi; Datta, Shounak; Jebaratnam, C.; Majumdar, A. S.

2018-02-01

Einstein-Podolsky-Rosen steering is a form of quantum nonlocality, which is weaker than Bell nonlocality, but stronger than entanglement. Here we present a method to check Einstein-Podolsky-Rosen steering in the scenario where the steering party performs two black-box measurements and the trusted party performs projective qubit measurements corresponding to two arbitrary mutually unbiased bases. This method is based on decomposing the measurement correlations in terms of extremal boxes of the steering scenario. In this context, we propose a measure of steerability called steering cost. We show that our steering cost is a convex steering monotone. We illustrate our method to check steerability with two families of measurement correlations and find out their steering cost.

Optimized Plane Wave Imaging for Fast and High-Quality Ultrasound Imaging.

PubMed

Jensen, Jonas; Stuart, Matthias Bo; Jensen, Jorgen Arendt

2016-11-01

This paper presents a method for optimizing parameters affecting the image quality in plane wave imaging. More specifically, the number of emissions and steering angles is optimized to attain the best images with the highest frame rate possible. The method is applied to a specific problem, where image quality for a λ -pitch transducer is compared with a λ /2-pitch transducer. Grating lobe artifacts for λ -pitch transducers degrade the contrast in plane wave images, and the impact on frame rate is studied. Field II simulations of plane wave images are made for all combinations of the parameters, and the optimal setup is selected based on Pareto optimality. The optimal setup for a simulated 4.1-MHz λ -pitch transducer uses 61 emissions and a maximum steering angle of 20° for depths from 0 to 60 mm. The achieved lateral full-width at half-maximum (FWHM) is 1.5λ and the contrast is -29 dB for a scatterer at 9 mm ( 24λ ). Using a λ /2-pitch transducer and only 21 emissions within the same angle range, the image quality is improved in terms of contrast, which is -37 dB. For imaging in regions deeper than 25 mm ( 66λ ), only 21 emissions are optimal for both the transducers, resulting in a -36 dB contrast at 34 mm ( 90λ ). Measurements are performed using the experimental SARUS scanner connected to a λ -pitch and λ /2-pitch transducer. A wire phantom and a tissue mimicking phantom containing anechoic cysts are scanned and show the performance using the optimized sequences for the transducers. FWHM is 1.6λ and contrast is -25 dB for a wire at 9 mm using the λ -pitch transducer. For the λ /2-pitch transducer, contrast is -29 dB. In vivo scans of the carotid artery of a healthy volunteer show improved contrast and present fewer artifacts, when using the λ /2-pitch transducer compared with the λ -pitch. It is demonstrated with a frame rate, which is three times higher for the λ /2-pitch transducer.

Strain detection in crystalline heterostructures using bidimensional blocking patterns of channelled particles

NASA Astrophysics Data System (ADS)

Redondo-Cubero, A.; David-Bosne, E.; Wahl, U.; Miranda, P.; da Silva, M. R.; Correia, J. G.; Lorenz, K.

2018-03-01

Strain is a critical parameter affecting the growth and the performance of many semiconductor systems but, at the same time, the accurate determination of strain profiles in heterostructures can be challenging, especially at the nanoscale. Ion channelling/blocking is a powerful technique for the detection of the strain state of thin films, normally carried out through angular scans with conventional particle detectors. Here we report the novel application of position sensitive detectors for the evaluation of the strain in a series of AlInN/GaN heterostructures with different compositions and thicknesses. The tetragonal strain is varied from compressive to tensile and analysed through bidimensional blocking patterns. The results demonstrate that strain can be correctly quantified when compared to Monte Carlo channelling simulations, which are essential because of the presence of ion steering effects at the interface between the layer and the substrate. Despite this physical limitation caused by ion steering, our results show that full bidimensional patterns can be applied to detect fingerprints and enhance the accuracy for most critical cases, in which the angular shift associated to the lattice distortion is below the critical angle for channelling.

Infrared Risley beam pointer

NASA Astrophysics Data System (ADS)

Harford, Steven T.; Gutierrez, Homero; Newman, Michael; Pierce, Robert; Quakenbush, Tim; Wallace, John; Bornstein, Michael

2014-03-01

Ball Aerospace & Technologies Corp. (BATC) has developed a Risley Beam Pointer (RBP) mechanism capable of agile slewing, accurate pointing and high bandwidth. The RBP is comprised of two wedged prisms that offer a wide Field of Regard (FOR) and may be manufactured and operated with diffraction limited optical quality. The tightly packaged mechanism is capable of steering a 4 inch beam over a 60° half angle cone with better than 60 μrad precision. Absolute accuracy of the beam steering is better than 1 mrad. The conformal nature of the RBP makes it an ideal mechanism for use on low altitude aircraft and unmanned aerial vehicles. Unique aspects of the opto-mechanical design include i) thermal compliance to maintain bearing preload and optical figure over a wide temperature range; and ii) packaging of a remote infrared sensor that periodically reports the temperature of both prisms for accurate determination of the index of refraction. The pointing control system operates each prism independently and employs an inner rate loop nested within an outer position loop. Mathematics for the transformation between line-of-sight coordinates and prism rotation are hosted on a 200 MHz microcontroller with just 516 KB of RAM.

Subwavelength diffractive acoustics and wavefront manipulation with a reflective acoustic metasurface

NASA Astrophysics Data System (ADS)

Wang, Wenqi; Xie, Yangbo; Popa, Bogdan-Ioan; Cummer, Steven A.

2016-11-01

Acoustic metasurfaces provide useful wavefront shaping capabilities, such as beam steering, acoustic focusing, and asymmetric transmission, in a compact structure. Most acoustic metasurfaces described in the literature are transmissive devices and focus their performance on steering sound beam of the fundamental diffractive order. In addition, the range of incident angles studied is usually below the critical incidence predicted by generalized Snell's law of reflection. In this work, we comprehensively analyze the wave interaction with a generic periodic phase-modulating structure in order to predict the behavior of all diffractive orders, especially for cases beyond critical incidence. Under the guidance of the presented analysis, a broadband reflective metasurface is designed based on an expanded library of labyrinthine acoustic metamaterials. Various local and nonlocal wavefront shaping properties are experimentally demonstrated, and enhanced absorption of higher order diffractive waves is experimentally shown for the first time. The proposed methodology provides an accurate approach for predicting practical diffracted wave behaviors and opens a new perspective for the study of acoustic periodic structures. The designed metasurface extends the functionalities of acoustic metasurfaces and paves the way for the design of thin planar reflective structures for broadband acoustic wave manipulation and extraordinary absorption.

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

Joung, M.; Woo, M. H.; Jeong, J. H.

For a high-performance, advanced tokamak mode in KSTAR, we have been developing a real-time control system of MHD modes such as sawtooth and Neo-classical Tearing Mode (NTM) by ECH/ECCD. The active feedback control loop will be also added to the mirror position and the real-time detection of the mode position. In this year, for the stabilization of NTM that is crucial to plasma performance we have implemented open-loop ECH antenna control system in KSTAR Plasma Control System (PCS) for ECH mirror movement during a single plasma discharge. KSTAR 170 GHz ECH launcher which was designed and fabricated by collaboration withmore » PPPL and POSTECH has a final mirror of a poloidally and toroidally steerable mirror. The poloidal steering motion is only controlled in the real-time NTM control system and its maximum steering speed is 10 degree/sec by DC motor. However, the latency of the mirror control system and the return period of ECH antenna mirror angle are not fast because the existing launcher mirror control system is based on PLC which is connected to the KSTAR machine network through serial to LAN converter. In this paper, we present the design of real time NTM control system, ECH requirements, and the upgrade plan.« less

Effects of preshipping management on measures of stress and performance of beef steers during feedlot receiving.

PubMed

Arthington, J D; Qiu, X; Cooke, R F; Vendramini, J M B; Araujo, D B; Chase, C C; Coleman, S W

2008-08-01

Over 2 yr, a total of 96 steers (approximately 7 mo of age) were allocated to 1 of 4 weaning management strategies: 1) control: weaned on the day of shipping; 2) creep-fed: allowed free-choice access to concentrate before weaning and shipping; 3) preweaned: weaned and provided supplemental concentrate on pasture before shipping; and 4) early-weaned: weaned at 70 to 90 d of age and kept on pasture. On the day of shipping, steers were loaded together onto a commercial livestock trailer and transported 1,600 km over 24 h before being received into the feedlot. At the feedlot, steers were penned by treatment (4 pens/treatment) and provided access to free-choice hay and concentrate in separate feeding spaces. Samples of blood were collected on d 0, 1, 4, 8, 15, 22, and 29 relative to shipping. Steer performance was assessed over the receiving period, including DMI of hay and concentrate, ADG, and G:F. Predetermined contrasts included control vs. early-weaned, creep-fed vs. preweaned, and control vs. creep-fed and preweaned. Overall ADG was greater (P < 0.01) for early-weaned vs. control steers (1.39 vs. 0.88 kg). In wk 1, early-weaned steers consumed more concentrate and less hay compared with control steers (P < 0.03), and preweaned steers consumed more concentrate (P < 0.01) but a similar amount of hay (P = 0.75) compared with creep-fed steers. Average DMI was greater for preweaned compared with creep-fed steers (2.84 vs. 2.50% of BW; P = 0.01) and tended to be greater for early-weaned compared with control steers (2.76 vs. 2.50% of BW; P = 0.06). Feed efficiency of early-weaned steers was greater than that of control steers (G:F = 0.17 vs. 0.12; P < 0.01) but similar for preweaned compared with creep-fed steers (P = 0.72). Plasma ceruloplasmin concentrations were less (P < 0.05) in control vs. early-weaned steers on d 0, but increased sharply after shipping and were greater in control vs. early-weaned steers on d 15 and 22 (P < 0.05). Creep-fed steers also experienced greater (P < 0.05) plasma ceruloplasmin concentrations than preweaned steers on d 29. These data suggest that early-weaned steers have improved performance in the feedlot compared with steers weaned directly before transport and feedlot entry. Differences in preshipping management appear to significantly affect measures of the acute phase protein response in steers.

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

Heinemann, Thomas, E-mail: thomas.heinemann@tu-berlin.de; Klapp, Sabine H. L., E-mail: klapp@physik.tu-berlin.de; Palczynski, Karol, E-mail: karol.palczynski@helmholtz-berlin.de

We present an approach for calculating coarse-grained angle-resolved effective pair potentials for uniaxial molecules. For integrating out the intramolecular degrees of freedom we apply umbrella sampling and steered dynamics techniques in atomistically-resolved molecular dynamics (MD) computer simulations. Throughout this study we focus on disk-like molecules such as coronene. To develop the methods we focus on integrating out the van der Waals and intramolecular interactions, while electrostatic charge contributions are neglected. The resulting coarse-grained pair potential reveals a strong temperature and angle dependence. In the next step we fit the numerical data with various Gay-Berne-like potentials to be used in moremore » efficient simulations on larger scales. The quality of the resulting coarse-grained results is evaluated by comparing their pair and many-body structure as well as some thermodynamic quantities self-consistently to the outcome of atomistic MD simulations of many-particle systems. We find that angle-resolved potentials are essential not only to accurately describe crystal structures but also for fluid systems where simple isotropic potentials start to fail already for low to moderate packing fractions. Further, in describing these states it is crucial to take into account the pronounced temperature dependence arising in selected pair configurations due to bending fluctuations.« less

Gradient metasurface for four-direction anomalous reflection in terahertz

NASA Astrophysics Data System (ADS)

Wang, Jiao; Jiang, Yannan

2018-06-01

In this paper, a four-direction anomalous reflection metasurface is proposed. The basic cells comprise of squares and circles, which are designed at various sizes and arranged in a super cell at regular spacing. Then, properly combining super cells molds a square phase gradient metasurface (PGM). It is mounted on an optical thickness gold mirror, which inhibits all light transmission. Markedly different from previously reported metasurfaces, the square PGM is characterized by four-direction reflection beams. It takes into consideration the normal incidence and the oblique incidence. For the normal incidence, that the degrees of the four reflection angles are identical is due to the x, - x, y and - y directional discontinuous phase gradients, and lies on the symmetric structure in the xoy plane, which is then revealed by the surface current distribution. Incident angles varying from -20° to 20°, the reflection angles are demonstrated in the oblique incidence. Moreover, the PGM is polarization-independent. The performance is attributed to the symmetry of structure, which is verified by Radar cross section. Simulated results prove that our method offers a simple and effective strategy for metasurface design in terahertz. The proposed PGM can aid in focused beams, steering beams, and shaped beams.

Aerodynamic Testing of the Orion Launch Abort Tower Separation with Jettison Motor Jet Interactions

NASA Technical Reports Server (NTRS)

Rhode, Matthew N.; Chan, David T.; Niskey, Charles J.; Wilson, Thomas M.

2011-01-01

The aerodynamic database for the Orion Launch Abort System (LAS) was developed largely from wind tunnel tests involving powered jet simulations of the rocket exhaust plumes, supported by computational fluid dynamics (CFD) simulations. The LAS contains three solid rocket motors used in various phases of an abort to provide propulsion, steering, and Launch Abort Tower (LAT) jettison from the Crew Module (CM). This paper describes a pair of wind tunnel experiments performed at transonic and supersonic speeds to determine the aerodynamic effects due to proximity and jet interactions during LAT jettison from the CM at the end of an abort. The tests were run using two different scale models at angles of attack from 150deg to 200deg , sideslip angles from -10deg to +10deg , and a range of powered thrust levels from the jettison motors to match various jet simulation parameters with flight values. Separation movements between the CM and LAT included axial and vertical translations as well as relative pitch angle between the two bodies. The paper details aspects of the model design, nozzle scaling methodology, instrumentation, testing procedures, and data reduction. Sample data are shown to highlight trends seen in the results.

Detection of quantum steering in multipartite continuous-variable Greenberger-Horne-Zeilinger-like states

NASA Astrophysics Data System (ADS)

Wang, Meng; Xiang, Yu; He, Qiongyi; Gong, Qihuang

2015-01-01

The multipartite entangled state has drawn broad attention for both foundations of quantum mechanics and applications in quantum information processing. Here, we study the spatially separated N -partite continuous-variable Greenberger-Horne-Zeilinger-like states, which can be produced by a linear optical network with squeezed light and N -1 beamsplitters. We investigate the properties of multipartite Einstein-Podolsky-Rosen steering possessed by those states, and find that the steering of a given quantum mode is allowed when not less than half of the modes within the states take part in the steering group. This is certified by the detection of the correlation between position and momentum quadratures of the steered mode and a combination of quadratures of other modes inside the steering group. The steering is evidenced by the high correlation where the steering group can infer the quadratures of the steered mode to high precision, i.e., below the quantum limit for the position and momentum quadratures of the steered quantum mode. We also examine the influence of inefficiency on the multipartite steering, and derive the threshold of the loss tolerance. Furthermore, we discuss the collective N -partite steering induced by the asymmetric loss on beams, which exists when a given quantum mode can only be steered by all the remaining N -1 modes collaboratively. The present multipartite steering correlation may have potential applications in certain quantum information tasks where the issue of trust is important, such as one-sided device-independent quantum secret sharing.

Certified dual-corrected radiation patterns of phased antenna arrays by offline–online order reduction of finite-element models

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

Sommer, A., E-mail: a.sommer@lte.uni-saarland.de; Farle, O., E-mail: o.farle@lte.uni-saarland.de; Dyczij-Edlinger, R., E-mail: edlinger@lte.uni-saarland.de

2015-10-15

This paper presents a fast numerical method for computing certified far-field patterns of phased antenna arrays over broad frequency bands as well as wide ranges of steering and look angles. The proposed scheme combines finite-element analysis, dual-corrected model-order reduction, and empirical interpolation. To assure the reliability of the results, improved a posteriori error bounds for the radiated power and directive gain are derived. Both the reduced-order model and the error-bounds algorithm feature offline–online decomposition. A real-world example is provided to demonstrate the efficiency and accuracy of the suggested approach.

Spiral-like multi-beam emission via transformation electromagnetics

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

Tichit, Paul-Henri, E-mail: paul-henri.tichit@u-psud.fr; Burokur, Shah Nawaz, E-mail: shah-nawaz.burokur@u-psud.fr; Lustrac, André de, E-mail: andre.de-lustrac@u-psud.fr

Transformation electromagnetics offers an unconventional approach for the design of novel radiating devices. Here, we propose an electromagnetic metamaterial able to split an isotropic radiation into multiple directive beams. By applying transformations that modify distance and angles, we show how the multiple directive beams can be steered at will. We describe transformation of the metric space and the calculation of the material parameters. Different transformations are proposed for a possible physical realization through the use of engineered artificial metamaterials. Full wave simulations are performed to validate the proposed approach. The idea paves the way to interesting applications in various domainsmore » in microwave and optical regimes.« less

Simulation of ultrasonic and EMAT arrays using FEM and FDTD.

PubMed

Xie, Yuedong; Yin, Wuliang; Liu, Zenghua; Peyton, Anthony

2016-03-01

This paper presents a method which combines electromagnetic simulation and ultrasonic simulation to build EMAT array models. For a specific sensor configuration, Lorentz forces are calculated using the finite element method (FEM), which then can feed through to ultrasonic simulations. The propagation of ultrasound waves is numerically simulated using finite-difference time-domain (FDTD) method to describe their propagation within homogenous medium and their scattering phenomenon by cracks. Radiation pattern obtained with Hilbert transform on time domain waveforms is proposed to characterise the sensor in terms of its beam directivity and field distribution along the steering angle. Copyright © 2015 Elsevier B.V. All rights reserved.

Development of a robotic patient positioning system with a wide beam-angle range for fixed-beam particle therapy

NASA Astrophysics Data System (ADS)

Choi, Hongseok; Park, Jong-Oh; Ko, Seong Young; Park, Sukho; Cho, Sungho; Jung, Won-Gyun; Park, Yong Kyun; Kang, Jung Suk

2016-10-01

This paper describes a robotic patient positioning system (PPS) for a fixed-beam heavy-ion therapy system. In order to extend the limited irradiation angle range of the fixed beam, we developed a 6-degree-of-freedom (6-DOF) serial-link robotic arm and used it as the robotic PPS for the fixed-beam heavy-ion therapy system. This research aims to develop a robotic PPS for use in the Korea Heavy Ion Medical Accelerator (KHIMA) system, which is under development at the Korea Institute of Radiological & Medical Sciences (KIRAMS). In particular, we select constraints and criteria that will be used for designing and evaluating the robotic PPS through full consultation with KIRAMS. In accordance with the constraints and criteria, we develop a 6-DOF serial-link robotic arm that consists of six revolute joints for the robotic PPS, where the robotic arm covers the upper body of a patient as a treatment area and achieves a 15 ° roll and pitch angle in the treatment area without any collision. Various preliminary experiments confirm that the robotic PPS can meet all criteria for extension of the limited irradiation angle range in the treatment area and has a positioning repeatability of 0.275 mm.

Maximization of orbiter altitude at ALT interface airspeed, mission planning, mission analysis and software

NASA Technical Reports Server (NTRS)

Glenn, G. M.

1976-01-01

The determination of the separation initial conditions (i.e. incidence angle) that maximize orbiter altitude at the ALT interface airspeed is considered. Optimum altitude airspeed profiles are generated for each orbiter incidence angle and tailcone configuration. Results show that the highest separation altitude does not result in the highest altitude at ALT interface airspeed. The altitude attainable at ALT interface airspeed should therefore be considered in the selection of the initial conditions (i.e. incidence angle). Without violating any known constraints, the incidence angles that maximize orbiter altitude at the ALT interface airspeeds are 7.0 deg for ALT free flight 1 and 5.5 deg for ALT free flight 6.

Liquid-bridge stability and breakup on surfaces with contact-angle hysteresis.

PubMed

Akbari, Amir; Hill, Reghan J

2016-08-10

We study the stability and breakup of liquid bridges with a free contact line on surfaces with contact-angle hysteresis (CAH) under zero-gravity conditions. Non-ideal surfaces exhibit CAH because of surface imperfections, by which the constraints on three-phase contact lines are influenced. Given that interfacial instabilities are constraint-sensitive, understanding how CAH affects the stability and breakup of liquid bridges is crucial for predicting the drop size in contact-drop dispensing. Unlike ideal surfaces on which contact lines are always free irrespective of surface wettability, contact lines may undergo transitions from pinned to free and vice versa during drop deposition on non-ideal surfaces. Here, we experimentally and theoretically examine how stability and breakup are affected by CAH, highlighting cases where stability is lost during a transition from a pinned-pinned (more constrained) to pinned-free (less constrained) interface-rather than a critical state. This provides a practical means of expediting or delaying stability loss. We also demonstrate how the dynamic contact angle can control the contact-line radius following stability loss.

Uncertainty Analysis for Angle Calibrations Using Circle Closure

PubMed Central

Estler, W. Tyler

1998-01-01

We analyze two types of full-circle angle calibrations: a simple closure in which a single set of unknown angular segments is sequentially compared with an unknown reference angle, and a dual closure in which two divided circles are simultaneously calibrated by intercomparison. In each case, the constraint of circle closure provides auxiliary information that (1) enables a complete calibration process without reference to separately calibrated reference artifacts, and (2) serves to reduce measurement uncertainty. We derive closed-form expressions for the combined standard uncertainties of angle calibrations, following guidelines published by the International Organization for Standardization (ISO) and NIST. The analysis includes methods for the quantitative evaluation of the standard uncertainty of small angle measurement using electronic autocollimators, including the effects of calibration uncertainty and air turbulence. PMID:28009359

Analysis of effect of internal and operating variables on performance of SVDS constraint model (ABIND)

NASA Technical Reports Server (NTRS)

Pendergrass, J. R.; Walsh, R. L.

1975-01-01

An examination of the factors which modify the simulation of a constraint in the motion of the aft attach points of the orbiter and external tank during separation has been made. The factors considered were both internal (spring and damper constants) and external (friction coefficient and dynamic pressure). The results show that an acceptable choice of spring/damper constant combinations exist over the expected range of the external factors and that the choice is consistent with a practical integration interval. The constraint model is shown to produce about a 10 percent increase in the relative body pitch angles over the unconstrained case whereas the MDC-STL constraint model is shown to produce about a 38 percent increase.

Responses of three-dimensional flow to variations in the angle of incident wind and profile form of dunes: Greenwich Dunes, Prince Edward Island, Canada

NASA Astrophysics Data System (ADS)

Walker, Ian J.; Hesp, Patrick A.; Davidson-Arnott, Robin G. D.; Bauer, Bernard O.; Namikas, Steven L.; Ollerhead, Jeff

2009-04-01

This study reports the responses of three-dimensional near-surface airflow over a vegetated foredune to variations in the conditions of incident flow during an 8-h experiment. Two parallel measurement transects were established on morphologically different dune profiles: i) a taller, concave-convex West foredune transect with 0.5-m high, densely vegetated (45%), seaward incipient foredune, and ii) a shorter, concave-straight East foredune transect with lower, sparsely vegetated (14%) seaward incipient foredune. Five stations on each transect from the incipient dune to the crest were equipped with ultrasonic anemometers at 0.6 and 1.65 m height and logged at 1 Hz. Incident conditions were recorded from a 4-m tower over a flat beach. Winds increased from 6 m s - 1 to > 20 m s - 1 and were generally obliquely onshore (ENE, 73°). Three sub-events and the population of 10-minute averages of key properties of flow ( U, W, S, CV U) from all sample locations on the East transect ( n = 235) are examined to identify location- and profile-specific responses over 52° of the incident direction of flow (from 11 to 63° onshore). Topographic steering and forcing cause major deviations in the properties and vectors of near-surface flow from the regional wind. Topographic forcing on the concave-straight dune profile increases wind speed and steadiness toward the crest, with speed-up values to 65% in the backshore. Wind speed and steadiness of flow are least responsive to changes in incident angle in the backshore because of stagnation of flow and are most responsive at the lower stoss under pronounced streamline compression. On the steeper concave-convex profile, speed and steadiness decrease toward the crest because of stagnation of flow at the toe and flow expansion at the slope inflection point on the lower stoss. Net downward vertical velocity occurs over both profiles, increases toward the crest, and reflects enhanced turbulent momentum conveyance toward the surface. All of these flow responses are enhanced with faster speeds of incident flow and/or more onshore winds. Significant onshore steering of near-surface vectors of flow (to 37°) occurs and is greatest closer to the surface and during highly oblique winds (~ 15° onshore). Therefore, even subtle effects of streamline compression and amplification of flow under alongshore conditions effectively steer flow and sand transport toward the dune. As topographic forcing and steering cause significant, three-dimensional deviations in near-surface properties of flow, most regional-scale and/or two-dimensional models of dune process-response dynamics are insufficient for characterizing coastal and desert dune sediment budgets and morphodynamics. In particular, deflection of sand transport vectors with greater fetch distances than those derived from regional winds may occur. Coincident flow, transport and morphological response data are required to better quantitatively model these processes.

Monogamy of Einstein-Podolsky-Rosen Steering in the Background of an Asymptotically Flat Black Hole

NASA Astrophysics Data System (ADS)

Wang, Jieci; Jing, Jiliang; Fan, Heng

2018-03-01

We study the behavior of monogamy deficit and monogamy asymmetry for Einstein-Podolsky-Rosen steering of Gaussian states under the influence of the Hawking effect. We demonstrate that the monogamy of quantum steering shows an extreme scenario in the curved spacetime: the first part of a tripartite system cannot individually steer two other parties, but it can steer the collectivity of the remaining two parties. We also find that the monogamy deficit of Gaussian steering, a quantifier of genuine tripartite steering, are generated due to the influence of the Hawking thermal bath. Our results elucidate the structure of quantum steering in tripartite quantum systems in curved spacetime.

Demonstration of Multisetting One-Way Einstein-Podolsky-Rosen Steering in Two-Qubit Systems

NASA Astrophysics Data System (ADS)

Xiao, Ya; Ye, Xiang-Jun; Sun, Kai; Xu, Jin-Shi; Li, Chuan-Feng; Guo, Guang-Can

2017-04-01

Einstein-Podolsky-Rosen (EPR) steering describes the ability of one party to remotely affect another's state through local measurements. One of the most distinguishable properties of EPR steering is its asymmetric aspect. Steering can work in one direction but fail in the opposite direction. This type of one-way steering, which is different from the symmetry concepts of entanglement and Bell nonlocality, has garnered much interest. However, an experimental demonstration of genuine one-way EPR steering in the simplest scenario, i.e., one that employs two-qubit systems, is still lacking. In this Letter, we experimentally demonstrate one-way EPR steering with multimeasurement settings for a class of two-qubit states, which are still one-way steerable even with infinite settings. The steerability is quantified by the steering radius, which represents a necessary and sufficient steering criterion. The demonstrated one-way steering in the simplest bipartite quantum system is of fundamental interest and may provide potential applications in one-way quantum information tasks.

Fatty acid profiles, meat quality, and sensory attributes of organic versus conventional dairy beef steers.

PubMed

Bjorklund, E A; Heins, B J; Dicostanzo, A; Chester-Jones, H

2014-03-01

Meat from Holstein and crossbred organic and conventional dairy steers were evaluated and compared for fatty acid profiles, meat quality, sensory attributes, and consumer acceptance. Bull calves (n=49) were randomly assigned to 1 of 3 replicated groups: conventional (CONV), organic (ORG, pasture + concentrate), or grass-fed organic (GRS) and were born at the University of Minnesota West Central Research and Outreach Center (Morris, MN) between March and May 2011. The CONV steers (n=16) were fed a diet that contained 80% concentrate and 20% forage, and ORG steers (n=16) were fed a diet of organic corn, organic corn silage, and organic protein supplement. Furthermore, ORG steers consumed at least 30% of diet dry matter of high-quality organic pasture during the grazing season. The GRS steers (n=17) consumed 100% forage from pasture during the grazing season and high-quality hay or hay silage during the nongrazing season. The ORG steers had fat that was greater in oleic acid (C18:1) than the GRS and CONV steers (47.1, 36.1, and 39.9%, respectively). The GRS steers (21.9%) were lower for monounsaturated fat than the ORG (42.1%) and CONV (40.4%) steers. Furthermore, the GRS steers tended to have greater n-3 fat and had lower n-6 fat than the ORG and CONV steers. Consequently, the GRS (1.4%) steers had a lower n-6-to-n-3 fat ratio than the ORG (12.9%) and CONV (10.0%) steers. The GRS (2.6 kg) steers had steaks that were not different for Warner-Bratzler shear force than ORG (2.3 kg) steaks; however, the GRS steaks tended to have greater shear force than the CONV (2.0 kg) steaks. The 3 steer group had steaks that were not different for color brightness (L*; 0 = black and 100 = white) and yellowness/blueness (b*; positive values = yellow and negative values = blue) values; however, the GRS (10.5) steaks had lower redness/greenness (a*; positive values = red and negative values = green) values than CONV (14.5) steaks. For sensory attributes (0- to 120-point scale), no differences were observed for ORG (71.3) and CONV (69.2) steers for overall consumer liking of the beef; however, the GRS (56.3) steers had the lowest overall liking among beef consumers. The ORG (73.3) steers had greater flavor liking than the GRS (56.8) and CONV (69.2) steers. Conversely, the GRS (6.3) steers had the highest scores for off-flavor (0- to 20-point scale) compared with the ORG (3.9) and CONV (4.1) steers. The results of the current study suggest that a potential market may exist for organic grass-fed dairy steers in the United States, but quality and consistency of the beef needs to be improved. Copyright © 2014 American Dairy Science Association. Published by Elsevier Inc. All rights reserved.

New constraints on cosmic polarization rotation from B-mode polarization in the cosmic microwave background

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

Alighieri, Sperello di Serego; Ni, Wei-Tou; Pan, Wei-Ping, E-mail: sperello@arcetri.astro.it, E-mail: weitou@gmail.com, E-mail: d9722518@oz.nthu.edu.tw

2014-09-01

SPTpol, POLARBEAR, and BICEP2 have recently measured the cosmic microwave background (CMB) B-mode polarization in various sky regions of several tens of square degrees and obtained BB power spectra in the multipole range 20-3000, detecting the components due to gravitational lensing and to inflationary gravitational waves. We analyze jointly the results of these three experiments and propose modifications to their analyses of the spectra to include in the model, in addition to the gravitational lensing and the inflationary gravitational wave components, and also the effects induced by the cosmic polarization rotation (CPR), if it exists within current upper limits. Althoughmore » in principle our analysis would also lead to new constraints on CPR, in practice these can only be given on its fluctuations (δα{sup 2}), since constraints on its mean angle are inhibited by the derotation which is applied by current CMB polarization experiments, in order to cope with the insufficient calibration of the polarization angle. The combined data fits from all three experiments (with 29% CPR-SPTpol correlation, depending on the theoretical model) gives the constraint (δα{sup 2}){sup 1/2} < 27.3 mrad (1.°56), with r = 0.194 ± 0.033. These results show that the present data are consistent with no CPR detection and the constraint on CPR fluctuation is about 1.°5. This method of constraining the CPR is new, is complementary to previous tests, which use the radio and optical/UV polarization of radio galaxies and the CMB E-mode polarization, and adds a new constraint for the sky areas observed by SPTpol, POLARBEAR, and BICEP2.« less

An experimental simulation study of four crosswind landing gear concepts

NASA Technical Reports Server (NTRS)

Stubbs, S. M.; Byrdsong, T. A.; Sleeper, R. K.

1975-01-01

An experimental investigation was conducted in order to evaluate several crosswind landing-gear concepts which have a potential application to tricycle-gear-configured, short take-off and landing (STOL) aircraft landing at crab or heading angles up to 30 deg. In this investigation, the landing gears were installed on a dynamic model which had a scaled mass distribution and gear spacing but no aerodynamic similarities when compared with a typical STOL aircraft. The model was operated as a free body with radio-control steering and was launched onto a runway sloped laterally in order to provide a simulated crosswind side force. During the landing rollout, the gear forces and the model trajectory were measured and the various concepts were compared with each other. Within the test limitations, the landing gear system, in which the gears were alined by the pilot and locked in the direction of motion prior to touchdown, gave the smoothest runout behavior with the vehicle maintaining its crab angle throughout the landing runout.

A Model for Space Shuttle Orbiter Tire Side Forces Based on NASA Landing Systems Research Aircraft Test Results

NASA Technical Reports Server (NTRS)

Carter, John F.; Nagy, Christopher J.; Barnicki, Joseph S.

1997-01-01

Forces generated by the Space Shuttle orbiter tire under varying vertical load, slip angle, speed, and surface conditions were measured using the Landing System Research Aircraft (LSRA). Resulting data were used to calculate a mathematical model for predicting tire forces in orbiter simulations. Tire side and drag forces experienced by an orbiter tire are cataloged as a function of vertical load and slip angle. The mathematical model is compared to existing tire force models for the Space Shuttle orbiter. This report describes the LSRA and a typical test sequence. Testing methods, data reduction, and error analysis are presented. The LSRA testing was conducted on concrete and lakebed runways at the Edwards Air Force Flight Test Center and on concrete runways at the Kennedy Space Center (KSC). Wet runway tire force tests were performed on test strips made at the KSC using different surfacing techniques. Data were corrected for ply steer forces and conicity.

Development of a two-dimensional dual pendulum thrust stand for Hall thrusters.

PubMed

Nagao, N; Yokota, S; Komurasaki, K; Arakawa, Y

2007-11-01

A two-dimensional dual pendulum thrust stand was developed to measure thrust vectors [axial and horizontal (transverse) direction thrusts] of a Hall thruster. A thruster with a steering mechanism is mounted on the inner pendulum, and thrust is measured from the displacement between inner and outer pendulums, by which a thermal drift effect is canceled out. Two crossover knife-edges support each pendulum arm: one is set on the other at a right angle. They enable the pendulums to swing in two directions. Thrust calibration using a pulley and weight system showed that the measurement errors were less than 0.25 mN (1.4%) in the main thrust direction and 0.09 mN (1.4%) in its transverse direction. The thrust angle of the thrust vector was measured with the stand using the thruster. Consequently, a vector deviation from the main thrust direction of +/-2.3 degrees was measured with the error of +/-0.2 degrees under the typical operating conditions for the thruster.

A study of small impact parameter ion channeling effects in thin crystals

NASA Astrophysics Data System (ADS)

Motapothula, Mallikarjuna Rao; Breese, Mark B. H.

2018-03-01

We have recorded channeling patterns produced by 1-2 MeV protons aligned with ⟨1 1 1⟩ axes in 55 nm thick silicon crystals which exhibit characteristic angular structure for deflection angles up to and beyond the axial critical angle, ψ a . Such large angular deflections are produced by ions incident on atomic strings with small impact parameters, resulting in trajectories which pass through several radial rings of atomic strings before exiting the thin crystal. Each ring may focus, steer or scatter the channeled ions in the transverse direction and the resulting characteristic angular structure beyond 0.6 ψ a at different depths can be related to peaks and troughs in the nuclear encounter probability. Such "radial focusing" underlies other axial channeling phenomena in thin crystals including planar channeling of small impact parameter trajectories, peaks around the azimuthal distribution at small tilts and large shoulders in the nuclear encounter probability at tilts beyond ψ a .

Automatic Detection of Driver Fatigue Using Driving Operation Information for Transportation Safety

PubMed Central

Li, Zuojin; Chen, Liukui; Peng, Jun; Wu, Ying

2017-01-01

Fatigued driving is a major cause of road accidents. For this reason, the method in this paper is based on the steering wheel angles (SWA) and yaw angles (YA) information under real driving conditions to detect drivers’ fatigue levels. It analyzes the operation features of SWA and YA under different fatigue statuses, then calculates the approximate entropy (ApEn) features of a short sliding window on time series. Using the nonlinear feature construction theory of dynamic time series, with the fatigue features as input, designs a “2-6-6-3” multi-level back propagation (BP) Neural Networks classifier to realize the fatigue detection. An approximately 15-h experiment is carried out on a real road, and the data retrieved are segmented and labeled with three fatigue levels after expert evaluation, namely “awake”, “drowsy” and “very drowsy”. The average accuracy of 88.02% in fatigue identification was achieved in the experiment, endorsing the value of the proposed method for engineering applications. PMID:28587072

Automatic Detection of Driver Fatigue Using Driving Operation Information for Transportation Safety.

PubMed

Li, Zuojin; Chen, Liukui; Peng, Jun; Wu, Ying

2017-05-25

Fatigued driving is a major cause of road accidents. For this reason, the method in this paper is based on the steering wheel angles (SWA) and yaw angles (YA) information under real driving conditions to detect drivers' fatigue levels. It analyzes the operation features of SWA and YA under different fatigue statuses, then calculates the approximate entropy (ApEn) features of a short sliding window on time series. Using the nonlinear feature construction theory of dynamic time series, with the fatigue features as input, designs a "2-6-6-3" multi-level back propagation (BP) Neural Networks classifier to realize the fatigue detection. An approximately 15-h experiment is carried out on a real road, and the data retrieved are segmented and labeled with three fatigue levels after expert evaluation, namely "awake", "drowsy" and "very drowsy". The average accuracy of 88.02% in fatigue identification was achieved in the experiment, endorsing the value of the proposed method for engineering applications.

Path optimisation of a mobile robot using an artificial neural network controller

NASA Astrophysics Data System (ADS)

Singh, M. K.; Parhi, D. R.

2011-01-01

This article proposed a novel approach for design of an intelligent controller for an autonomous mobile robot using a multilayer feed forward neural network, which enables the robot to navigate in a real world dynamic environment. The inputs to the proposed neural controller consist of left, right and front obstacle distance with respect to its position and target angle. The output of the neural network is steering angle. A four layer neural network has been designed to solve the path and time optimisation problem of mobile robots, which deals with the cognitive tasks such as learning, adaptation, generalisation and optimisation. A back propagation algorithm is used to train the network. This article also analyses the kinematic design of mobile robots for dynamic movements. The simulation results are compared with experimental results, which are satisfactory and show very good agreement. The training of the neural nets and the control performance analysis has been done in a real experimental setup.

High angle of attack control law development for a free-flight wind tunnel model using direct eigenstructure assignment

NASA Technical Reports Server (NTRS)

Wendel, Thomas R.; Boland, Joseph R.; Hahne, David E.

1991-01-01

Flight-control laws are developed for a wind-tunnel aircraft model flying at a high angle of attack by using a synthesis technique called direct eigenstructure assignment. The method employs flight guidelines and control-power constraints to develop the control laws, and gain schedules and nonlinear feedback compensation provide a framework for considering the nonlinear nature of the attack angle. Linear and nonlinear evaluations show that the control laws are effective, a conclusion that is further confirmed by a scale model used for free-flight testing.

Distinguishing between evidence and its explanations in the steering of atomic clocks

NASA Astrophysics Data System (ADS)

Myers, John M.; Hadi Madjid, F.

2014-11-01

Quantum theory reflects within itself a separation of evidence from explanations. This separation leads to a known proof that: (1) no wave function can be determined uniquely by evidence, and (2) any chosen wave function requires a guess reaching beyond logic to things unforeseeable. Chosen wave functions are encoded into computer-mediated feedback essential to atomic clocks, including clocks that step computers through their phases of computation and clocks in space vehicles that supply evidence of signal propagation explained by hypotheses of spacetimes with metric tensor fields. The propagation of logical symbols from one computer to another requires a shared rhythm-like a bucket brigade. Here we show how hypothesized metric tensors, dependent on guesswork, take part in the logical synchronization by which clocks are steered in rate and position toward aiming points that satisfy phase constraints, thereby linking the physics of signal propagation with the sharing of logical symbols among computers. Recognizing the dependence of the phasing of symbol arrivals on guesses about signal propagation transports logical synchronization from the engineering of digital communications to a discipline essential to physics. Within this discipline we begin to explore questions invisible under any concept of time that fails to acknowledge unforeseeable events. In particular, variation of spacetime curvature is shown to limit the bit rate of logical communication.

Advanced Optics for a Full Quasi-Optical Front Steering ECRH Upper Launcher for ITER

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

Moro, A.; Alessi, E.; Bruschi, A.

2009-11-26

A full quasi-optical setup for the internal optics of the Front Steering Electron Cyclotron Resonance Heating (ECRH) Upper Launcher for ITER was designed, proving to be feasible and favorable in terms of additional flexibility and cost reduction with respect to the former design. This full quasi-optical solution foresees the replacement of the mitre-bends in the final section of the launcher with dedicated free-space mirrors to realize the last changes of directions in the launcher. A description of the launcher is given and its advantages presented. The parameters of the expected output beams as well as preliminary evaluations of truncation effectsmore » with the physical optics GRASP code are shown. Moreover, a study of mitre-bends replacement with single mirrors for multiple beams is described. In principle it could allow the beams to be larger at the mirror locations (with a further decrease of the peak power density due to partial overlapping) and has the additional advantage to get a larger opening with compressed beams to avoid conflicts with side-walls port. Constraints on the setup, arising both from the resulting beam characteristics in the space of free parameters and from mechanical requirements are taken into account in the analysis.« less

46 CFR 169.623 - Power-driven steering systems.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Power-driven steering systems. 169.623 Section 169.623 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS SAILING SCHOOL VESSELS Machinery and Electrical Steering Systems § 169.623 Power-driven steering systems. (a) Power-driven steering...

46 CFR 169.623 - Power-driven steering systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 7 2011-10-01 2011-10-01 false Power-driven steering systems. 169.623 Section 169.623 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS SAILING SCHOOL VESSELS Machinery and Electrical Steering Systems § 169.623 Power-driven steering systems. (a) Power-driven steering...

Relative entropy of steering: on its definition and properties

NASA Astrophysics Data System (ADS)

Kaur, Eneet; Wilde, Mark M.

2017-11-01

In Gallego and Aolita (2015 Phys. Rev. X 5 041008), the authors proposed a definition for the relative entropy of steering and showed that the resulting quantity is a convex steering monotone. Here we advocate for a different definition for relative entropy of steering, based on well grounded concerns coming from quantum Shannon theory. We prove that this modified relative entropy of steering is a convex steering monotone. Furthermore, we establish that it is uniformly continuous and faithful, in both cases giving quantitative bounds that should be useful in applications. We also consider a restricted relative entropy of steering which is relevant for the case in which the free operations in the resource theory of steering have a more restricted form (the restricted operations could be more relevant in practical scenarios). The restricted relative entropy of steering is convex, monotone with respect to these restricted operations, uniformly continuous, and faithful.

Effects of supplementing zinc or chromium to finishing steers fed ractopamine hydrochloride on growth performance, carcass characteristics, and meat quality.

PubMed

Edenburn, B M; Kneeskern, S G; Bohrer, B M; Rounds, W; Boler, D D; Dilger, A C; Felix, T L

2016-02-01

Objectives were to determine the effects of feeding ractopamine hydrochloride (RAC) with zinc (Zn) and chromium (Cr) on feedlot growth performance, carcass characteristics, and meat quality. Steers ( = 179; initial BW = 533 ± 94 kg) were blocked by BW and allotted to 30 pens, and pens were randomly assigned 1 of 5 treatments: (1) control (CONT), (2) RAC only (RO), (3) RAC + Zn (RZ), (4) RAC + Cr (RC), or (5) RAC + Zn + Cr (RZC). Trace minerals were fed from d 0 to 63 to target 1 g of Zn/steer·d (KemTRACE Zn; Kemin Industries, Inc., Des Moines, IA) and 3 mg Cr/steer·d (KemTRACE Chromium; Kemin Industries, Inc.) for Zn and Cr treatments, respectively. Dry-rolled corn, 0.605 kg/steer, was removed from the diet and 400 mg RAC, per 0.605 kg of ground corn carrier, was top dressed per steer immediately following feed delivery to pens fed RAC. There were no effects ( ≥ 0.45) of trace mineral supplementation on DMI, ADG, or G:F before RAC feeding. There were also no treatment effects ( ≥ 0.46) over all 63 d of the trial on DMI, ADG, or G:F. Despite the lack of differences in live performance, steers fed RO and RC averaged 0.10 kg/d greater ( = 0.10) carcass ADG than steers fed RZC and CONT, while steers fed RZ were intermediate and not different. Steers fed RO had the greatest ( = 0.09) carcass G:F, while steers fed CONT had the least carcass G:F, 0.0875 and 0.0774, respectively. Steers fed RO and RC averaged 5.5 kg heavier ( = 0.09) HCW than steers fed RZC and CONT, while steers fed RZ were intermediate and not different. There were no treatment effects ( ≥ 0.32) on LM area, 12th rib fat, marbling score, KPH, carcass yield, or USDA yield grade and distribution. However, carcasses from steers fed RC had the greatest ( = 0.10) percentage grading USDA Select. There were no treatment effects ( ≥ 0.20) on shear force, intramuscular fat, pH, a*, and b*. Steaks from steers fed RO and RC had 11.4% greater ( = 0.08) cook loss than steaks from steers fed CONT and RZC, whereas steaks from steers fed RZ were intermediate and not different. Also, steaks from steers fed RC had 2.11 units greater ( = 0.03) L* values (i.e., were lighter) than steaks from steers fed RZ; steaks from steers fed CONT, RO, and RZC were intermediate. In feedlot steers, the addition of both Cr and Zn supplementation did not improve growth performance or meat quality when fed in combination with 28 d of RAC supplementation; however, RAC, fed alone or in combination with Cr, did increase HCW.

Modeling driver behavior in a cognitive architecture.

PubMed

Salvucci, Dario D

2006-01-01

This paper explores the development of a rigorous computational model of driver behavior in a cognitive architecture--a computational framework with underlying psychological theories that incorporate basic properties and limitations of the human system. Computational modeling has emerged as a powerful tool for studying the complex task of driving, allowing researchers to simulate driver behavior and explore the parameters and constraints of this behavior. An integrated driver model developed in the ACT-R (Adaptive Control of Thought-Rational) cognitive architecture is described that focuses on the component processes of control, monitoring, and decision making in a multilane highway environment. This model accounts for the steering profiles, lateral position profiles, and gaze distributions of human drivers during lane keeping, curve negotiation, and lane changing. The model demonstrates how cognitive architectures facilitate understanding of driver behavior in the context of general human abilities and constraints and how the driving domain benefits cognitive architectures by pushing model development toward more complex, realistic tasks. The model can also serve as a core computational engine for practical applications that predict and recognize driver behavior and distraction.

Petro-state constraints on health policy: guidelines for workable reform in Venezuela.

PubMed

Trujillo, Antonio J

2004-01-01

This article reviews the performance of the Venezuelan health care sector and suggests guidelines for workable health policy under difficult conditions. Two special circumstances constrain policy options. First, Venezuelans share a traditional value, solidarity, which includes a strong desire for equity. Reforms must comply with this norm to succeed. Second, foreign sales of state-controlled oil constitute the bulk of the government budget and the gross domestic product (GDP). Petroleum market fluctuations expose the country to extreme economic cycles. In response, policy making and stakeholders adopt a rentier attitude, focusing on preserving or enlarging entitlements to government oil monies. The side effects of this largesse include poor productivity, a weak private sector, a widespread sense of entitlement without accountability, and a crippled state which controls most of the available resources yet is unable to effectively tax, regulate, steer the economy, or pursue long-term policies. The health care sector shares these problems. As a result, Venezuela's health systems are fragmented, poorly coordinated, excessively centralized, inequitable, and ineffective. Policies to improve public health and public and private medical care must take into account these constraints.

Steering system for a train of rail-less vehicles

DOEpatents

Voight, Edward T.

1983-01-01

A steering system for use with a multiple vehicle train permits tracking without rails of one vehicle after another. This system is particularly useful for moving conveyor systems into and out of curved paths of room and pillar underground mine installations. The steering system features an elongated steering bar pivotally connected to each of adjacent vehicles at end portions of the bar permitting angular orientation of each vehicle in respect to the steering bar and other vehicles. Each end portion of the steering bar is linked to the near pair of vehicle wheels through wheel yoke pivot arms about king pin type pivots. Movement of the steering bar about its pivotal connection provides proportional turning of the wheels to effect steering and tracking of one vehicle following another in both forward and reverse directions.

Global Optimization of Interplanetary Trajectories in the Presence of Realistic Mission Contraints

NASA Technical Reports Server (NTRS)

Hinckley, David, Jr.; Englander, Jacob; Hitt, Darren

2015-01-01

Interplanetary missions are often subject to difficult constraints, like solar phase angle upon arrival at the destination, velocity at arrival, and altitudes for flybys. Preliminary design of such missions is often conducted by solving the unconstrained problem and then filtering away solutions which do not naturally satisfy the constraints. However this can bias the search into non-advantageous regions of the solution space, so it can be better to conduct preliminary design with the full set of constraints imposed. In this work two stochastic global search methods are developed which are well suited to the constrained global interplanetary trajectory optimization problem.

Influence of feed efficiency classification on diet digestibility and growth performance of beef steers.

PubMed

Russell, J R; Minton, N O; Sexten, W J; Kerley, M S; Hansen, S L

2016-04-01

The diet digestibility and feed efficiency (FE) relationship is not well characterized in cattle. The study objective was to determine effects of growing phase FE and diet as well as finishing phase diet on diet digestibility and finishing phase FE. Two groups, totaling 373 crossbred steers, were fed for 70 d at the University of Missouri for the growing phase and then shipped to Iowa State University (ISU) for finishing. GrowSafe feed bunks were used during both the growing and the finishing phases. Steers were fed either growing phase whole shell corn (G-Corn) or growing phase roughage-based (G-Rough) diets. Within each group, the 12 greatest and 12 least feed efficient steers from each growing diet ( = 96 total; 48 steers/group; 488 ± 5 kg) were selected for further evaluation. At ISU, steers were fed an average of 10 g TiO/steer daily in receiving phase diets similar to growing diets for 15 d, with fecal grab samples collected on d 14 and 15 to determine diet DM digestibility during receiving (GDMdig). For finishing, steers were transitioned to byproduct-based diets (F-Byp) or corn-based diets (F-Corn) with 12 steers per growing-finishing diet combination per group. Optaflexx (200 mg/d) was fed for 28 d before harvest, and the TiO protocol was repeated immediately before introducing Optaflexx to determine diet DM digestibility during finishing (FDMdig). Data from the 2 groups (96 steers) were pooled, and steers were ranked by growing phase G:F and then classified as the 24 greatest feed efficient (HFE) or 24 least feed efficient (LFE) steers from each growing diet. Data were analyzed using PROC MIXED of SAS with group applied as a fixed effect. There was a positive correlation between GDMdig and FDMdig for steers fed nutritionally similar diets during both feeding phases, G-Rough/F-Byp steers ( = 0.68, < 0.01) and G-Corn/F-Corn steers ( = 0.49, = 0.02), but a negative correlation for G:F between phases in G-Rough/F-Corn steers ( = -0.57, < 0.01). Finishing G:F was greater in HFE steers versus LFE steers ( = 0.04), but there was no difference ( ≥ 0.5) in GDMdig or FDMdig due to FE classification. There was a positive correlation for DM digestibility between feeding phases when steers were grown and finished on similar diets. Overall, FE was repeatable but was negatively correlated between phases when steers were roughage grown and corn finished, reinforcing the idea that cattle should be FE tested using diet types similar to the production environment of interest.

Performance, insulin sensitivity, carcass characteristics, and fatty acid profile of beef from steers fed microalgae.

PubMed

Carvalho, J R R; Brennan, K M; Ladeira, M M; Schoonmaker, J P

2018-05-25

Heterotrophic production of microalgae biomass provides a consistent, high quality source of docosahexaenoic acid (DHA; C22:6 n-3) in triglyceride oils that could be used as a ration supplement for feedlot steers to improve nutritional qualities of beef. Sixty Angus × Simmental steers (438 ± 6.4 kg) were allotted to 2 treatments (30 steers each, 6 pens, 5 steers/pen) to determine the effects of ForPLUS (DHA-rich microalgae Aurantiochytrium limacinum; 63.6 % fat; 17.9% DHA; 30 mg/kg Sel-Plex; Alltech Inc.) on performance, insulin sensitivity, LM fatty acid composition, and meat quality. Steers were fed basal diets containing 45% corn, 30% distillers dried grains with solubles, 20% corn silage, and 5% supplement. Basal diets were formulated to contain 16.1% CP and 1.32 Mcal/kg NEg. Treatments were delivered to steers in a ground corn based top-dress (454 g total/steer) and contained no microalgae for control steers or 100 g/steer daily of ForPLUS for microalgae steers. A glucose tolerance test (GTT) was performed 10 d prior to slaughter. Steers were slaughtered when a target pen BW of 621 kg was achieved. Fatty acid oxidation potential was determined by measuring thiobarbituric acid reactive substances (TBARS) on LM samples collected 24 h after slaughter and aged for 48 h or 21 d. Weight and BW gain did not differ during the study (P ≥ 0.13); however, steers fed microalgae remained in the feedlot 7 more d compared to steers fed the control diet (111 vs. 104 d; P = 0.04). Overall DMI decreased (P = 0.002) and G:F increased during the second half of the study (P = 0.04) in steers fed microalgae compared to steers fed the control diet. Steers fed microalgae secreted less insulin (P = 0.01) and took longer to clear glucose (P = 0.01) during a 2 h GTT. Carcass traits did not differ between treatments (P ≥ 0.23). Microalgae had no effect on n-6 content (P = 0.67), but more than doubled the n-3 fatty acid percentage and the n3:n6 ratio of the LM (P < 0.0001). The percentage of n-3 fatty acids C20:5 and C22:6 were increased (P < 0.0001) 4-fold and 6.25-fold, respectively, by microalgae supplementation. Concentration of TBARS did not differ in LM aged for 48 h (P = 0.91); however, when aged for 21 d, steers fed microalgae tended to produce LM with greater TBARS concentration compared to steers fed the control diet (P = 0.08). In conclusion, DHA-rich microalgae decreased DMI of steers, and increased n-3 fatty acids and beef oxidation in steaks aged for 21 d.

Large beam deflection using cascaded prism array

NASA Astrophysics Data System (ADS)

Wang, Wei-Chih; Tsui, Chi-Leung

2012-04-01

Endoscopes have been utilize in the medical field to observe the internals of the human body to assist the diagnosis of diseases, such as breathing disorders, internal bleeding, stomach ulcers, and urinary tract infections. Endoscopy is also utilized in the procedure of biopsy for the diagnosis of cancer. Conventional endoscopes suffer from the compromise between overall size and image quality due to the required size of the sensor for acceptable image quality. To overcome the size constraint while maintaining the capture image quality, we propose an electro-optic beam steering device based on thermal-plastic polymer, which has a small foot-print (~5mmx5mm), and can be easily fabricated using conventional hot-embossing and micro-fabrication techniques. The proposed device can be implemented as an imaging device inside endoscopes to allow reduction in the overall system size. In our previous work, a single prism design has been used to amplify the deflection generated by the index change of the thermal-plastic polymer when a voltage is applied; it yields a result of 5.6° deflection. To further amplify the deflection, a new design utilizing a cascading three-prism array has been implemented and a deflection angle to 29.2° is observed. The new design amplifies the beam deflection, while keeping the advantage of simple fabrication made possible by thermal-plastic polymer. Also, a photo-resist based collimator lens array has been added to reduce and provide collimation of the beam for high quality imaging purposes. The collimator is able to collimate the exiting beam at 4 μm diameter for up to 25mm, which potentially allows high resolution image capturing.

Nonlinear Control Theory for Missile Autopilot Design.

DTIC Science & Technology

1987-04-24

minimum-time controller which includes constraints on both controls and angle-of-attack is developed and an example is given. -12- - - -~ *% PO PmCF E- A...constructed. In this case, some ideas from robotics on minimum-time trajectory planning under path constraints (see, e.g., Rajan (1985), Sahar and...Auto Cont., Vol. AC-29, No. 4, p. 361. Rajan, V.T. (1985), "Minimum-Time Trajectory Planning ", Proc IEEE Kobotics and Automation Conf., St. Louis. Reed

One-way EPR steering and genuine multipartite EPR steering

NASA Astrophysics Data System (ADS)

He, Qiongyi; Reid, Margaret D.

2012-11-01

We propose criteria and experimental strategies to realise the Einstein-Podolsky-Rosen (EPR) steering nonlocality. One-way steering can be obtained where there is asymmetry of thermal noise on each system. We also present EPR steering inequalities that act as signatures and suggest how to optimise EPR correlations in specific schemes so that the genuine multipartite EPR steering nonlocality (EPR paradox) can also possibly be realised. The results presented here also apply to the spatially separated macroscopic atomic ensembles.

46 CFR 58.25-10 - Main and auxiliary steering gear.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 2 2010-10-01 2010-10-01 false Main and auxiliary steering gear. 58.25-10 Section 58.25... AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-10 Main and auxiliary steering gear. (a) Power-operated main and auxiliary steering gear must be separate systems that are independent throughout their...

46 CFR 196.37-33 - Instructions for changing steering gear.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Instructions for changing steering gear. 196.37-33... steering gear. (a) Instructions in at least 1/2 inch letters and figures shall be posted in the steering engineroom, relating in order, the different steps to be taken in changing to the emergency steering gear...

Propagation of error from parameter constraints in quantitative MRI: Example application of multiple spin echo T2 mapping.

PubMed

Lankford, Christopher L; Does, Mark D

2018-02-01

Quantitative MRI may require correcting for nuisance parameters which can or must be constrained to independently measured or assumed values. The noise and/or bias in these constraints propagate to fitted parameters. For example, the case of refocusing pulse flip angle constraint in multiple spin echo T 2 mapping is explored. An analytical expression for the mean-squared error of a parameter of interest was derived as a function of the accuracy and precision of an independent estimate of a nuisance parameter. The expression was validated by simulations and then used to evaluate the effects of flip angle (θ) constraint on the accuracy and precision of T⁁2 for a variety of multi-echo T 2 mapping protocols. Constraining θ improved T⁁2 precision when the θ-map signal-to-noise ratio was greater than approximately one-half that of the first spin echo image. For many practical scenarios, constrained fitting was calculated to reduce not just the variance but the full mean-squared error of T⁁2, for bias in θ⁁≲6%. The analytical expression derived in this work can be applied to inform experimental design in quantitative MRI. The example application to T 2 mapping provided specific cases, depending on θ⁁ accuracy and precision, in which θ⁁ measurement and constraint would be beneficial to T⁁2 variance or mean-squared error. Magn Reson Med 79:673-682, 2018. © 2017 International Society for Magnetic Resonance in Medicine. © 2017 International Society for Magnetic Resonance in Medicine.

Constraints in distortion-invariant target recognition system simulation

NASA Astrophysics Data System (ADS)

Iftekharuddin, Khan M.; Razzaque, Md A.

2000-11-01

Automatic target recognition (ATR) is a mature but active research area. In an earlier paper, we proposed a novel ATR approach for recognition of targets varying in fine details, rotation, and translation using a Learning Vector Quantization (LVQ) Neural Network (NN). The proposed approach performed segmentation of multiple objects and the identification of the objects using LVQNN. In this current paper, we extend the previous approach for recognition of targets varying in rotation, translation, scale, and combination of all three distortions. We obtain the analytical results of the system level design to show that the approach performs well with some constraints. The first constraint determines the size of the input images and input filters. The second constraint shows the limits on amount of rotation, translation, and scale of input objects. We present the simulation verification of the constraints using DARPA's Moving and Stationary Target Recognition (MSTAR) images with different depression and pose angles. The simulation results using MSTAR images verify the analytical constraints of the system level design.

The influence of Unruh effect on quantum steering for accelerated two-level detectors with different measurements

NASA Astrophysics Data System (ADS)

Liu, Tonghua; Wang, Jieci; Jing, Jiliang; Fan, Heng

2018-03-01

We propose a tight measure of quantum steering and study the dynamics of steering in a relativistic setting via different quantifiers. We present the dynamics of steering between two correlated Unruh-Dewitt detectors when one of them locally interacts with external scalar field. We find that the quantum steering, either measured by the entropic steering inequality or the Cavalcanti-Jones-Wiseman-Reid inequality, is fragile under the influence of Unruh thermal noise. The quantum steering is found always asymmetric and the asymmetry is extremely sensitive to the initial state parameter. In addition, the steering-type quantum correlations experience "sudden death" for some accelerations, which are quite different from the behaviors of other quantum correlations in the same system. It is worth noting that the domination value of the tight quantum steering exists a transformation point with increasing acceleration. We also find that the robustness of quantum steerability under the Unruh thermal noise can be realized by choosing the smallest energy gap in the detectors.

The influence of oscillating dietary protein concentrations on finishing cattle. I. Feedlot performance and odorous compound production.

PubMed

Archibeque, S L; Miller, D N; Freetly, H C; Berry, E D; Ferrell, C L

2007-06-01

We hypothesized that oscillation of the dietary CP concentration, which may improve N retention of finishing beef steers, would reduce production of manure odor compounds and total N inputs while yielding comparable performance. Charolais-sired steers (n = 144; 303 +/- 5 kg of initial BW) were used in a completely randomized block design (6 pens/treatment). The steers were fed to 567 kg of BW on the following finishing diets, which were based on dry-rolled corn: 1) low (9.1% CP), 2) medium (11.8% CP), 3) high (14.9% CP), or 4) low and high oscillated on a 48-h interval for each feed (oscillating). Steers fed low tended (P = 0.08) to have less DMI (7.80 kg/d) than steers fed medium (8.60 kg/d) or oscillating (8.67 kg/d), but not less than steers fed high (8.12 kg/d). Daily N intake was greatest (P < 0.01) for steers fed high (189 g), intermediate for medium (160 g) and oscillating (164 g), and least for low (113 g). The ADG was lower (P < 0.01) for steers fed low (1.03 kg) than for those fed medium (1.45 kg), high (1.45 kg), or oscillating (1.43 kg). Similarly, steers fed low had a lower adjusted fat thickness (P < 0.01) and yield grade (P = 0.05) and tended (P = 0.10) to have less marbling than steers fed the other 3 diets. In slurries with feces, urine, soil, and water, incubated for 35 d, nonsoluble CP was similar among slurries from steers fed medium, high, or oscillating, but was less (P < 0.01) in slurries from steers fed low. However, throughout the incubation period, slurries from steers fed high or oscillating had greater (P < 0.01) concentrations of total aromatics and ammonia than those from steers fed low or medium. Also, the slurries from steers fed oscillating had greater (P < 0.01) concentrations of branched-chain VFA than manure slurries from steers fed any of the other diets. These data indicate that although there is no apparent alteration in the performance of finishing steers fed diets with oscillation of the dietary protein, there may be undesirable increases in the production of compounds associated with malodor.

Analysis of hydraulic steering system of tracked all-terrain vehicles' articulated mechanism

NASA Astrophysics Data System (ADS)

Meng, Zhongliang; Zang, Hao

2018-04-01

As for the researches on the dynamic characteristics of tracked all-terrain vehicles' articulated mechanism, the hydraulic feature of their steering system needs researching more, apart from the study on mechanical models. According to the maximum pressure required by the steering system of tracked all-terrain vehicle and the principle of the steering system, this paper conducts an analysis of the hydraulic steering system of the articulated mechanism. Based on the structure principle of the steering gear, a simulation model of the tracked all-terrain vehicle turning left is built. When building the simulation model of the steering gear, it makes a simulation analysis, taking the tracked all-terrain vehicle turning left as an example.

A Non-linear Geodetic Data Inversion Using ABIC for Slip Distribution on a Fault With an Unknown dip Angle

NASA Astrophysics Data System (ADS)

Fukahata, Y.; Wright, T. J.

2006-12-01

We developed a method of geodetic data inversion for slip distribution on a fault with an unknown dip angle. When fault geometry is unknown, the problem of geodetic data inversion is non-linear. A common strategy for obtaining slip distribution is to first determine the fault geometry by minimizing the square misfit under the assumption of a uniform slip on a rectangular fault, and then apply the usual linear inversion technique to estimate a slip distribution on the determined fault. It is not guaranteed, however, that the fault determined under the assumption of a uniform slip gives the best fault geometry for a spatially variable slip distribution. In addition, in obtaining a uniform slip fault model, we have to simultaneously determine the values of the nine mutually dependent parameters, which is a highly non-linear, complicated process. Although the inverse problem is non-linear for cases with unknown fault geometries, the non-linearity of the problems is actually weak, when we can assume the fault surface to be flat. In particular, when a clear fault trace is observed on the EarthOs surface after an earthquake, we can precisely estimate the strike and the location of the fault. In this case only the dip angle has large ambiguity. In geodetic data inversion we usually need to introduce smoothness constraints in order to compromise reciprocal requirements for model resolution and estimation errors in a natural way. Strictly speaking, the inverse problem with smoothness constraints is also non-linear, even if the fault geometry is known. The non-linearity has been dissolved by introducing AkaikeOs Bayesian Information Criterion (ABIC), with which the optimal value of the relative weight of observed data to smoothness constraints is objectively determined. In this study, using ABIC in determining the optimal dip angle, we dissolved the non-linearity of the inverse problem. We applied the method to the InSAR data of the 1995 Dinar, Turkey earthquake and obtained a much shallower dip angle than before.

52. Patent steering gear, hatch and steering compass binnacle, view ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

52. Patent steering gear, hatch and steering compass binnacle, view from starboard looking aft. Photograph by Jet Lowe, April 1988. - Ship BALCLUTHA, 2905 Hyde Street Pier, San Francisco, San Francisco County, CA

Analytical impact time and angle guidance via time-varying sliding mode technique.

PubMed

Zhao, Yao; Sheng, Yongzhi; Liu, Xiangdong

2016-05-01

To concretely provide a feasible solution for homing missiles with the precise impact time and angle, this paper develops a novel guidance law, based on the nonlinear engagement dynamics. The guidance law is firstly designed with the prior assumption of a stationary target, followed by the practical extension to a moving target scenario. The time-varying sliding mode (TVSM) technique is applied to fulfill the terminal constraints, in which a specific TVSM surface is constructed with two unknown coefficients. One is tuned to meet the impact time requirement and the other one is targeted with a global sliding mode, so that the impact angle constraint as well as the zero miss distance can be satisfied. Because the proposed law possesses three guidance gain as design parameters, the intercept trajectory can be shaped according to the operational conditions and missile׳s capability. To improve the tolerance of initial heading errors and broaden the application, a new frame of reference is also introduced. Furthermore, the analytical solutions of the flight trajectory, heading angle and acceleration command can be totally expressed for the prediction and offline parameter selection by solving a first-order linear differential equation. Numerical simulation results for various scenarios validate the effectiveness of the proposed guidance law and demonstrate the accuracy of the analytic solutions. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Relationship between antioxidant capacity, oxidative stress, and feed efficiency in beef steers.

PubMed

Russell, J R; Sexten, W J; Kerley, M S; Hansen, S L

2016-07-01

Feed efficiency (FE) can vary between individuals but sources of variation are not well characterized. Oxidative stress is among the biological mechanisms believed to contribute to variation. The objective of this study was to evaluate the relationship between FE, antioxidant activity, and oxidative stress in feedlot steers representing phenotypic extremes for FE. Crossbred beef steers ( = 181) fed 70-d growing phase (GP) whole-shell corn-based (G-Corn) or rye baleage and soybean hull-based (G-Rough) diets in GrowSafe bunks at the University of Missouri were shipped to Iowa State University where the 12 most feed efficient (HFE) and 12 least feed efficient (LFE) steers from each diet (n = 48; 467 kg [SD 51]) were selected for evaluation. Steers received diets similar to GP diets, and 3 d after arrival, blood was sampled to evaluate antioxidant activity and oxidative stress markers for the GP following transit. Steers were transitioned to finishing phase (FP) cracked corn-based (F-Corn) or dried distillers' grains and soybean hull-based (F-Byp) diets, and on FP d 97, blood samples for the FP were collected. Data for the GP were analyzed as a 2 × 2 factorial, and data for the FP were analyzed as a 2 × 2 × 2 factorial using PROC MIXED of SAS. No GP diet × FP diet, FP diet × FE group, or 3-way interactions were noted ( ≥ 0.11) for FP measures. Steers fed the G-Rough diet had greater ( = 0.04) GP plasma protein carbonyl concentrations. During the GP, HFE steers had greater ( ≤ 0.04) protein carbonyl and ratio of oxidized:reduced blood lysate glutathione concentrations than LFE steers. There were GP diet × FE group interactions ( ≤ 0.03) during the GP and FP. During the GP, total blood lysate superoxide dismutase (SOD) activity was greater ( ≤ 0.03) in G-Rough/LFE steers than in G-Rough/HFE and G-Corn/LFE steers; G-Corn/HFE steers were intermediate. The G-Rough/LFE steers had greater ( < 0.04) glutathione peroxidase (GPX) activity than other groups and greater ( = 0.03) plasma malondialdehyde concentrations than G-Corn/LFE steers. During the FP, the G-Rough/LFE steers had greater ( ≤ 0.04) GPX activity than G-Rough/HFE and G-Corn/LFE steers; G-Corn/HFE steers were intermediate. The F-Byp diet had greater ( < 0.01) protein carbonyl than the F-Corn diet, and no other FP diet effects were noted ( ≥ 0.3) for any FP measures. The GP diet and FE groups had stronger relationships with antioxidant activity and oxidative stress markers measured for the GP than for the FP. Overall, antioxidant activity may play a role in FE as LFE steers, driven largely by G-Rough/LFE steers, had greater SOD activity and GPX activity than HFE steers, potentially using a greater proportion of energy otherwise available for tissue accretion.

49 CFR 393.209 - Steering wheel systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... Transportation Other Regulations Relating to Transportation (Continued) FEDERAL MOTOR CARRIER SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION FEDERAL MOTOR CARRIER SAFETY REGULATIONS PARTS AND ACCESSORIES...) Steering column. The steering column must be securely fastened. (d) Steering system. Universal joints and...

49 CFR 393.209 - Steering wheel systems.

Code of Federal Regulations, 2013 CFR

2013-10-01

... Transportation Other Regulations Relating to Transportation (Continued) FEDERAL MOTOR CARRIER SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION FEDERAL MOTOR CARRIER SAFETY REGULATIONS PARTS AND ACCESSORIES...) Steering column. The steering column must be securely fastened. (d) Steering system. Universal joints and...

49 CFR 393.209 - Steering wheel systems.

Code of Federal Regulations, 2014 CFR

2014-10-01

... Transportation Other Regulations Relating to Transportation (Continued) FEDERAL MOTOR CARRIER SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION FEDERAL MOTOR CARRIER SAFETY REGULATIONS PARTS AND ACCESSORIES...) Steering column. The steering column must be securely fastened. (d) Steering system. Universal joints and...

49 CFR 393.209 - Steering wheel systems.

Code of Federal Regulations, 2010 CFR

2010-10-01

... Transportation Other Regulations Relating to Transportation (Continued) FEDERAL MOTOR CARRIER SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION FEDERAL MOTOR CARRIER SAFETY REGULATIONS PARTS AND ACCESSORIES...) Steering column. The steering column must be securely fastened. (d) Steering system. Universal joints and...

49 CFR 393.209 - Steering wheel systems.

Code of Federal Regulations, 2012 CFR

2012-10-01

... Transportation Other Regulations Relating to Transportation (Continued) FEDERAL MOTOR CARRIER SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION FEDERAL MOTOR CARRIER SAFETY REGULATIONS PARTS AND ACCESSORIES...) Steering column. The steering column must be securely fastened. (d) Steering system. Universal joints and...

Monogamy of quantum steering

NASA Astrophysics Data System (ADS)

Milne, Antony; Jennings, David; Jevtic, Sania; Rudolph, Terry; Wiseman, Howard

The quantum steering ellipsoid formalism naturally extends the Bloch vector picture for qubits to provide a visualisation of two-qubit systems. If Alice and Bob share a correlated state then a local measurement by Bob steers Alice's qubit inside the Bloch sphere; given all possible measurements by Bob, the set of states to which Alice can be steered form her steering ellipsoid. We apply the formalism to a three-party scenario and find that steering ellipsoid volumes obey a simple monogamy relation. This gives us a novel derivation of the well-known CKW (Coffman-Kundu-Wootters) inequality for entanglement monogamy. The geometric perspective also identifies a new measure of quantum correlation, `obesity', and a set of `maximally obese' states that saturate the steering monogamy bound. These states are found to have extremal quantum correlation properties that are significant in the steering ellipsoid picture and for the study of two-qubit states in general.

Effect of ractopamine hydrochloride (Optaflexx) dose and duration on growth performance and carcass characteristics of finishing steers.

PubMed

Bittner, C J; Crawford, G I; Berger, L L; Holt, S; Pritchard, R R; Platter, W J; Van Koevering, M T; Pyatt, N A; Erickson, G E

2016-12-01

Three experiments evaluated the effects of ractopamine hydrochloride (RAC) dose and duration on growth performance and carcass characteristics of feedlot steers. In total, 1,509 crossbred steers (530 kg initial BW [SD 22]) were used in a randomized complete block design using a 3 × 3 factorial treatment structure. Treatments consisted of RAC dose (0, 100, or 200 mg/steer daily) and duration (28, 35, or 42 d) of RAC feeding prior to harvest. Initiation of RAC dose was staggered (7 d apart) based on RAC duration, which resulted in common days on feed among treatments. Data from the 3 experiments were combined for statistical analyses. There were no RAC dose × duration interactions ( ≥ 0.85) for growth performance. Live final BW was not different ( ≥ 0.24) as RAC dose increased. Dry matter intake linearly decreased ( < 0.01) as RAC dose increased. Live ADG and G:F linearly increased ( ≤ 0.01) as RAC dose increased. Carcass-adjusted ADG and G:F linearly increased ( ≤ 0.02) as RAC dose increased. Compared with steers fed 0 mg RAC/steer daily, G:F was improved by 5.0 and 13.0% when steers were fed 100 ( = 0.31) and 200 ( = 0.01) mg RAC/steer daily, respectively. Hot carcass weight tended ( = 0.10) to linearly increase as RAC dose increased, with carcasses from steers fed 100 ( = 0.38) and 200 ( = 0.10) mg RAC/steer daily being 2.2 and 4.1 kg heavier, respectively, than carcasses from steers fed 0 mg RAC/steer daily. Increasing RAC dose linearly ( < 0.01) increased LM area and linearly ( = 0.02) decreased marbling score. Live final BW was not different ( ≥ 0.60) among RAC durations. Carcass-adjusted final BW, ADG, and G:F were not different ( ≥ 0.41) as RAC duration increased. Carcass traits did not differ ( ≥ 0.18) among RAC duration. Feeding 200 mg RAC/steer daily improved ADG, feed efficiency, and HCW. Increasing the feeding duration of RAC had no effect of growth performance or carcass characteristics. These data indicate that feeding 200 mg RAC/steer daily for 28 d improves steer growth performance.

Characteristics of a four element gyromagnetic nonlinear transmission line array high power microwave source.

PubMed

Johnson, J M; Reale, D V; Krile, J T; Garcia, R S; Cravey, W H; Neuber, A A; Dickens, J C; Mankowski, J J

2016-05-01

In this paper, a solid-state four element array gyromagnetic nonlinear transmission line high power microwave system is presented as well as a detailed description of its subsystems and general output capabilities. This frequency agile S-band source is easily adjusted from 2-4 GHz by way of a DC driven biasing magnetic field and is capable of generating electric fields of 7.8 kV/m at 10 m correlating to 4.2 MW of RF power with pulse repetition frequencies up to 1 kHz. Beam steering of the array at angles of ±16.7° is also demonstrated, and the associated general radiation pattern is detailed.

Dark soliton dynamics and interactions in continuous-wave-induced lattices.

PubMed

Tsopelas, Ilias; Kominis, Yannis; Hizanidis, Kyriakos

2007-10-01

The dynamics of dark spatial soliton beams and their interaction under the presence of a continuous wave (CW), which dynamically induces a photonic lattice, are investigated. It is shown that appropriate selection of the characteristic parameters of the CW result in controllable steering of a single soliton as well as controllable interaction between two solitons. Depending on the CW parameters, the soliton angle of propagation can be changed drastically, while two-soliton interaction can be either enhanced or reduced, suggesting a reconfigurable soliton control mechanism. Our analytical approach, based on the variational perturbation method, provides a dynamical system for the dark soliton evolution parameters. Analytical results are shown in good agreement with direct numerical simulations.

Characteristics of a four element gyromagnetic nonlinear transmission line array high power microwave source

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

Johnson, J. M., E-mail: jared.johnson@ttu.edu; Reale, D. V.; Garcia, R. S.

2016-05-15

In this paper, a solid-state four element array gyromagnetic nonlinear transmission line high power microwave system is presented as well as a detailed description of its subsystems and general output capabilities. This frequency agile S-band source is easily adjusted from 2-4 GHz by way of a DC driven biasing magnetic field and is capable of generating electric fields of 7.8 kV/m at 10 m correlating to 4.2 MW of RF power with pulse repetition frequencies up to 1 kHz. Beam steering of the array at angles of ±16.7° is also demonstrated, and the associated general radiation pattern is detailed.

Wave steering effects in anisotropic composite structures: Direct calculation of the energy skew angle through a finite element scheme.

PubMed

Chronopoulos, D

2017-01-01

A systematic expression quantifying the wave energy skewing phenomenon as a function of the mechanical characteristics of a non-isotropic structure is derived in this study. A structure of arbitrary anisotropy, layering and geometric complexity is modelled through Finite Elements (FEs) coupled to a periodic structure wave scheme. A generic approach for efficiently computing the angular sensitivity of the wave slowness for each wave type, direction and frequency is presented. The approach does not involve any finite differentiation scheme and is therefore computationally efficient and not prone to the associated numerical errors. Copyright © 2016 Elsevier B.V. All rights reserved.

Method and apparatus of wide-angle optical beamsteering from a nanoantenna phased array

DOEpatents

Davids, Paul; DeRose, Christopher; Rakich, Peter Thomas

2015-08-11

An optical beam-steering apparatus is provided. The apparatus includes one or more optical waveguides and at least one row of metallic nanoantenna elements overlying and electromagnetically coupled to a respective waveguide. In each such row, individual nanoantenna elements are spaced apart along an optical propagation axis of the waveguide so that there is an optical propagation phase delay between successive pairs of nanoantenna elements along the row. The apparatus also includes a respective single electric heating element in thermal contact with each of the waveguides. Each heating element is arranged to heat, substantially uniformly, at least that portion of its waveguide that directly underlies the corresponding row of nanoantenna elements.

Phased Array Antenna Testbed Development at the NASA Glenn Research Center

NASA Technical Reports Server (NTRS)

Lambert, Kevin M.; Kubat, Gregory; Johnson, Sandra K.; Anzic, Godfrey

2003-01-01

Ideal phased array antennas offer advantages for communication systems, such as wide-angle scanning and multibeam operation, which can be utilized in certain NASA applications. However, physically realizable, electronically steered, phased array antennas introduce additional system performance parameters, which must be included in the evaluation of the system. The NASA Glenn Research Center (GRC) is currently conducting research to identify these parameters and to develop the tools necessary to measure them. One of these tools is a testbed where phased array antennas may be operated in an environment that simulates their use. This paper describes the development of the testbed and its use in characterizing a particular K-Band, phased array antenna.

[Advances in understanding Drosophila salivary gland polytene chromosome and its applications in genetics teaching].

PubMed

Li, Gang; Chen, Fan-guo

2015-06-01

Drosophila salivary gland polytene chromosome, one of the three classical chromosomes with remarkable characteristics, has been used as an outstanding model for a variety of genetic studies since 1934. The greatest contribution of this model to genetics has been providing extraordinary angle of view in studying interphase chromosome structure and gene expression regulation. Additionally, it has been extensively used to understand some special genetic phenomena, such as dosage compensation and position-effect variegation. In this paper, we briefly review the advances in the study of Drosophila salivary gland chromosome, and try to systematically and effectively introduce this model system into genetics teaching practice in order to steer and inspire students' interest in genetics.

Comparison of robotic-assisted and conventional manual implantation of a primary total knee arthroplasty.

PubMed

Park, Sang Eun; Lee, Chun Taek

2007-10-01

This study was aimed to compare robotic-assisted implantation of a total knee arthroplasty with conventional manual implantation. We controlled, randomized, and reviewed 72 patients for total knee arthroplasty assigned to undergo either conventional manual implantation (excluding navigation-assisted implantation cases) of a Zimmer LPS prosthesis (Zimmer, Warsaw, Ind) (30 patients: group 1) or robotic-assisted implantation of such a prosthesis (32 patients: group 2). The femoral flexion angle (gamma angle) and tibial angle (delta angle) in the lateral x-ray of group 1 were 4.19 +/- 3.28 degrees and 89.7 +/- 1.7 degrees, and those of group 2 were 0.17 +/- 0.65 degrees and 85.5 +/- 0.92 degrees. The major complications were from improper small skin incision during a constraint attempt of minimally invasive surgery and during bulk fixation frame pins insertion. Robotic-assisted technology had definite advantages in terms of preoperative planning, accuracy of the intraoperative procedure, and postoperative follow-up, especially in the femoral flexion angle (gamma angle) and tibial flexion angle (delta angle) in the lateral x-ray, and in the femoral flexion angle (alpha angle) in the anteroposterior x-ray. But a disadvantage was the high complication rate in early stage.

Effects of tilmicosin phosphate, administered prior to transport or at time of arrival, and feeding of chlortetracycline, after arrival in a feedlot, on Mannheimia haemolytica in nasal secretions of transported steers.

PubMed

Frank, G H; Duff, G C

2000-12-01

To determine effects of time of administration of tilmicosin and feeding of chlortetracycline on colonization of the nasopharynx of transported cattle by Mannheimia haemolytica (MH). 454 steers (body weight, 200 kg). 3 studies included 4 truckloads of steers assembled and processed in the southeastern United States. For each truckload of steers, a third received tilmicosin before transportation (PRIOR), then all were transported to a feedlot in New Mexico (23 hours). At arrival (day 0), another third received tilmicosin (ARR). The remaining third did not receive tilmicosin (control steers [CTR]). Steers in studies 1 and 2 were housed in a feedlot, and steers in study 3 were housed on wheat pasture. One half of the steers from each group in studies 2 and 3 were fed chlortetracycline on days 5 to 9. Steer with signs of respiratory tract disease were treated. Nasal swab specimens were examined for MH to determine colonization. PRIOR and ARR steers had a lower incidence of respiratory tract disease and MH colonization than CTR steers, but PRIOR and ARR steers did not differ. Feeding chlortetracycline did not have an effect. Tilmicosin can inhibit MH from colonizing the nasopharynx of cattle. Because tilmicosin inhibits the growth of MH in the respiratory tract, medication with tilmicosin prior to transport should reduce the incidence of acute respiratory tract disease during the first week at the feedlot when calves are most susceptible to infectious organisms.

Design of Low-Cost Vehicle Roll Angle Estimator Based on Kalman Filters and an Iot Architecture.

PubMed

Garcia Guzman, Javier; Prieto Gonzalez, Lisardo; Pajares Redondo, Jonatan; Sanz Sanchez, Susana; Boada, Beatriz L

2018-06-03

In recent years, there have been many advances in vehicle technologies based on the efficient use of real-time data provided by embedded sensors. Some of these technologies can help you avoid or reduce the severity of a crash such as the Roll Stability Control (RSC) systems for commercial vehicles. In RSC, several critical variables to consider such as sideslip or roll angle can only be directly measured using expensive equipment. These kind of devices would increase the price of commercial vehicles. Nevertheless, sideslip or roll angle or values can be estimated using MEMS sensors in combination with data fusion algorithms. The objectives stated for this research work consist of integrating roll angle estimators based on Linear and Unscented Kalman filters to evaluate the precision of the results obtained and determining the fulfillment of the hard real-time processing constraints to embed this kind of estimators in IoT architectures based on low-cost equipment able to be deployed in commercial vehicles. An experimental testbed composed of a van with two sets of low-cost kits was set up, the first one including a Raspberry Pi 3 Model B, and the other having an Intel Edison System on Chip. This experimental environment was tested under different conditions for comparison. The results obtained from low-cost experimental kits, based on IoT architectures and including estimators based on Kalman filters, provide accurate roll angle estimation. Also, these results show that the processing time to get the data and execute the estimations based on Kalman Filters fulfill hard real time constraints.

Growth, carcass characteristics, and profitability of organic versus conventional dairy beef steers.

PubMed

Bjorklund, E A; Heins, B J; Dicostanzo, A; Chester-Jones, H

2014-03-01

Bull calves (n=49), born at the University of Minnesota West Central Research and Outreach Center (Morris) between March and May 2011, were used to compare growth measurements and profitability of conventional and organic dairy steers. Calves were assigned to 1 of 3 replicated groups at birth: conventional (CONV; n=16), organic (pasture and concentrate; ORG; n=16), or organic grass only (GRS; n=17), and analysis of variables was on a pen basis. Breed groups of calves were Holstein (HO; n=9); Holsteins (n=11) maintained at 1964 breed average level; crossbreds (n=19) including combinations of HO, Montbéliarde, and Swedish Red; and crossbreds (n=10) including combinations of HO, Jersey, Swedish Red, and Normande. The CONV steers were fed a diet of 80% concentrate and 20% forage. The ORG steers were fed a diet of organic corn, organic corn silage, and at least 30% of their diet consisted of organic pasture during the grazing season. The GRS steers grazed pasture during the grazing season and were fed high-quality hay or hay silage during the nongrazing season. Intakes of a total mixed ration were recorded daily with herd management software. A profit function was defined to include revenues and expenses for beef value, feed intake, pasture intake, health cost, and yardage. The GRS (358.6 kg) steers had lesser total gains from birth to slaughter than ORG (429.6 kg) and CONV (534.5 kg) steers. Furthermore, the GRS (0.61 kg/d) steers had lesser average daily gain from birth compared with ORG (0.81 kg/d) and CONV (1.1 kg/d) steers. The GRS and ORG steers had smaller rib eye area (49.5 and 65.8 cm(2), respectively) compared with CONV (75.4 cm(2)) steers. For profitability, GRS steers had 43% greater profit than CONV steers due to organic beef price premiums and lower feed costs. On the other hand, ORG steers had substantially less profit than CONV steers. The higher cost of production for the ORG steers is due to the extreme high value of organic corn. The results of the current study illustrate the economic potential of alternative strategies for growing and marketing male offspring of organic dairy cattle in the Midwest. Copyright © 2014 American Dairy Science Association. Published by Elsevier Inc. All rights reserved.

Inverse free steering law for small satellite attitude control and power tracking with VSCMGs

NASA Astrophysics Data System (ADS)

Malik, M. S. I.; Asghar, Sajjad

2014-01-01

Recent developments in integrated power and attitude control systems (IPACSs) for small satellite, has opened a new dimension to more complex and demanding space missions. This paper presents a new inverse free steering approach for integrated power and attitude control systems using variable-speed single gimbal control moment gyroscope. The proposed inverse free steering law computes the VSCMG steering commands (gimbal rates and wheel accelerations) such that error signal (difference in command and output) in feedback loop is driven to zero. H∞ norm optimization approach is employed to synthesize the static matrix elements of steering law for a static state of VSCMG. Later these matrix elements are suitably made dynamic in order for the adaptation. In order to improve the performance of proposed steering law while passing through a singular state of CMG cluster (no torque output), the matrix element of steering law is suitably modified. Therefore, this steering law is capable of escaping internal singularities and using the full momentum capacity of CMG cluster. Finally, two numerical examples for a satellite in a low earth orbit are simulated to test the proposed steering law.

Coupled Oscillator Based Agile Beam Transmitters and Receivers: A Review of Work at JPL

NASA Technical Reports Server (NTRS)

Pogorzelski, Ronald J.

2006-01-01

This is a review of the work done at Caltech's Jet Propulsion Laboratory during the past decade on development of the coupled oscillator technology in phased array applications to spacecraft telecommunications. First, some historical background is provided to set the work in context. However, this is by no means intended to be a comprehensive review of all work in this area. Rather, the focus is on the JPL contribution with some mention of other work which provided either insight or motivation. In the mid 1990's, R. A. York, and collaborators proposed that an array of mutually injection locked electronic oscillators could provide appropriately phased signals to the radiating elements of an array antenna such that the radiated beam could be steered merely by tuning the end or perimeter oscillators of the array. York, et al. also proposed a receiving system based on such oscillator arrays in which the oscillators provide properly phased local oscillator signals to be mixed with the signals received by the array elements to remove the phase due to angle of arrival of the incident wave. These concepts were viewed as a promising simplification of the beam steering control system that could result in significant cost, mass, and prime power reduction and were therefore attractive for possible space application.

The influence of tip shape on bending force during needle insertion

PubMed Central

van de Berg, Nick J.; de Jong, Tonke L.; van Gerwen, Dennis J.; Dankelman, Jenny; van den Dobbelsteen, John J.

2017-01-01

Steering of needles involves the planning and timely modifying of instrument-tissue force interactions to allow for controlled deflections during the insertion in tissue. In this work, the effect of tip shape on these forces was studied using 10 mm diameter needle tips. Six different tips were selected, including beveled and conical versions, with or without pre-bend or pre-curve. A six-degree-of-freedom force/torque sensor measured the loads during indentations in tissue simulants. The increased insertion (axial) and bending (radial) forces with insertion depth — the force-displacement slopes — were analyzed. Results showed that the ratio between radial and axial forces was not always proportional. This means that the tip load does not have a constant orientation, as is often assumed in mechanics-based steering models. For all tip types, the tip-load assumed a more radial orientation with increased axial load. This effect was larger for straight tips than for pre-bent or pre-curved tips. In addition, the force-displacement slopes were consistently higher for (1) increased tip angles, and for (2) beveled tips compared to conical tips. Needles with a bent or curved tip allow for an increased bending force and a decreased variability of the tip load vector orientation. PMID:28074939

HVOF repair of steering rams for the USS Saipan

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

Dwyer, A.L.; Jones, S.A.; Wykle, R.J.

1995-12-31

The steering rams aboard the USS Saipan (LHA-2) were badly corroded after 18 years of service. These rams are hydraulically operated and change the angle of the ship`s rudder. This corrosion allowed excessive leaking of hydraulic fluid into the machinery space. Permanent repairs were required as the ship has more than 20 years of service life remaining. Two methods of repair were considered, chrome plating and a HVOF applied coating. The size, 13 in. diameter and 15 ft in length, posed a significant problem for either process. The cost of the repair was similar but the time for completion wasmore » better with the HVOF process since chrome plating would have to be accomplished off yard. The HVOF process was not available within the shipyard at the time and the process and material to be used had not been approved. Extensive testing was required to get approval to proceed, a facility to accomplish the work had to be built, and the operators and HVOF procedure had to be qualified. After completion of spraying, single point machining and honing was used to obtain the required surface finish. This was the largest single HVOF coating applied by the Navy and great interest to all concerned.« less

Studies of pointing, acquisition, and tracking of agile optical wireless transceivers for free-space optical communication networks

NASA Astrophysics Data System (ADS)

Ho, Tzung-Hsien; Trisno, Sugianto; Smolyaninov, Igor I.; Milner, Stuart D.; Davis, Christopher C.

2004-02-01

Free space, dynamic, optical wireless communications will require topology control for optimization of network performance. Such networks may need to be configured for bi- or multiple-connectedness, reliability and quality-of-service. Topology control involves the introduction of new links and/or nodes into the network to achieve such performance objectives through autonomous reconfiguration as well as precise pointing, acquisition, tracking, and steering of laser beams. Reconfiguration may be required because of link degradation resulting from obscuration or node loss. As a result, the optical transceivers may need to be re-directed to new or existing nodes within the network and tracked on moving nodes. The redirection of transceivers may require operation over a whole sphere, so that small-angle beam steering techniques cannot be applied. In this context, we are studying the performance of optical wireless links using lightweight, bi-static transceivers mounted on high-performance stepping motor driven stages. These motors provide an angular resolution of 0.00072 degree at up to 80,000 steps per second. This paper focuses on the performance characteristics of these agile transceivers for pointing, acquisition, and tracking (PAT), including the influence of acceleration/deceleration time, motor angular speed, and angular re-adjustment, on latency and packet loss in small free space optical (FSO) wireless test networks.

Real time MHD mode control using ECCD in KSTAR: Plan and requirements

NASA Astrophysics Data System (ADS)

Joung, M.; Woo, M. H.; Jeong, J. H.; Hahn, S. H.; Yun, S. W.; Lee, W. R.; Bae, Y. S.; Oh, Y. K.; Kwak, J. G.; Yang, H. L.; Namkung, W.; Park, H.; Cho, M. H.; Kim, M. H.; Kim, K. J.; Na, Y. S.; Hosea, J.; Ellis, R.

2014-02-01

For a high-performance, advanced tokamak mode in KSTAR, we have been developing a real-time control system of MHD modes such as sawtooth and Neo-classical Tearing Mode (NTM) by ECH/ECCD. The active feedback control loop will be also added to the mirror position and the real-time detection of the mode position. In this year, for the stabilization of NTM that is crucial to plasma performance we have implemented open-loop ECH antenna control system in KSTAR Plasma Control System (PCS) for ECH mirror movement during a single plasma discharge. KSTAR 170 GHz ECH launcher which was designed and fabricated by collaboration with PPPL and POSTECH has a final mirror of a poloidally and toroidally steerable mirror. The poloidal steering motion is only controlled in the real-time NTM control system and its maximum steering speed is 10 degree/sec by DC motor. However, the latency of the mirror control system and the return period of ECH antenna mirror angle are not fast because the existing launcher mirror control system is based on PLC which is connected to the KSTAR machine network through serial to LAN converter. In this paper, we present the design of real time NTM control system, ECH requirements, and the upgrade plan.

Model Predictive Control considering Reachable Range of Wheels for Leg / Wheel Mobile Robots

NASA Astrophysics Data System (ADS)

Suzuki, Naito; Nonaka, Kenichiro; Sekiguchi, Kazuma

2016-09-01

Obstacle avoidance is one of the important tasks for mobile robots. In this paper, we study obstacle avoidance control for mobile robots equipped with four legs comprised of three DoF SCARA leg/wheel mechanism, which enables the robot to change its shape adapting to environments. Our previous method achieves obstacle avoidance by model predictive control (MPC) considering obstacle size and lateral wheel positions. However, this method does not ensure existence of joint angles which achieves reference wheel positions calculated by MPC. In this study, we propose a model predictive control considering reachable mobile ranges of wheels positions by combining multiple linear constraints, where each reachable mobile range is approximated as a convex trapezoid. Thus, we achieve to formulate a MPC as a quadratic problem with linear constraints for nonlinear problem of longitudinal and lateral wheel position control. By optimization of MPC, the reference wheel positions are calculated, while each joint angle is determined by inverse kinematics. Considering reachable mobile ranges explicitly, the optimal joint angles are calculated, which enables wheels to reach the reference wheel positions. We verify its advantages by comparing the proposed method with the previous method through numerical simulations.

Effect of post-ethanol extraction sorghum silage as a forage source in growing and finishing diets on steer performance, carcass characteristics, and nutrient digestibility.

PubMed

Blank, C P; Loy, D D; Hansen, S L

2017-07-01

Two experiments evaluated the use of post-ethanol extraction sorghum silage as an alternative forage source in feedlot diets. Seventy-two crossbred steers (397 kg [SD 23]) were used to evaluate growth and carcass characteristics. Steers were blocked by BW into pens of 6 steers and randomly assigned to growing diets containing 40% (DM basis) sorghum silage (SS; 57.6% NDF) or grass hay (CON; 63.3% NDF) for 56 d ( = 6 pens per treatment). Within each treatment, steers transitioned to dry-rolled corn-based finishing diets (fed for 56 d) containing 6% effective NDF contributed by the forage source, resulting in forage inclusions of 16% for SS and 13.1% for CON, where forage replaced corn. A subsample of steers ( = 12 per treatment) housed in pens equipped with GrowSafe bunks were used for determination of growing phase diet total tract digestibility. From d 28 to 42, steers received titanium dioxide at approximately 10 g∙steer∙d, and fecal samples were collected on d 41 and 42. Fecal and total mixed ration samples were dried and ground for analysis of DM, OM, NDF, ADF, CP, ether extract (EE), and starch. Data were analyzed with the MIXED procedure of SAS, with fixed effects of treatment and block for performance and carcass data or treatment for digestibility data; significance was determined at ≤ 0.05 and tendencies at ≤ 0.10. Growing phase DMI and ADG did not differ due to treatment ( ≥ 0.19); however, SS-fed steers had improved G:F compared with CON-fed steers ( = 0.04). Finishing period ADG and G:F did not differ ( ≥ 0.15) between treatments, despite SS-fed steers having lesser ( = 0.008) DMI than CON-fed steers. No differences in DMI, ADG, or G:F over the whole trial were noted between treatments ( ≥ 0.12) nor were any carcass traits affected ( ≥ 0.23). During the digestibility assessment period, DMI was less ( = 0.003) in SS-fed steers. Growing phase total tract apparent digestibility of DM and starch did not differ ( ≥ 0.19) due to treatment; however, OM digestibility tended to be greater ( = 0.09) in SS-fed steers. Steers fed SS had greater ( ≤ 0.03) digestibility of EE, CP, NDF, and hemicellulose than CON-fed steers. However, CON-fed steers had greater ( < 0.0001) ADF digestibility than SS-fed steers. These data suggest that postextraction sorghum silage can be effectively used in feedlot diets as an alternative forage source.

Development and Characterization of a Small Spacecraft Electro-Optic Scanner for Free-Space Laser Communications

NASA Technical Reports Server (NTRS)

Davis, Scott; Lichter, Michael; Raible, Daniel

2016-01-01

Emergent data-intensive missions coupled with dramatic reductions in spacecraft size plus an increasing number of space-based missions necessitates new high performance, compact and low cost communications technology. Free space optical communications offer advantages including orders of magnitude increase for data rate performance, increased security, immunity to jamming and lack of frequency allocation requirements when compared with conventional radio frequency (RF) means. The spatial coherence and low divergence associated with the optical frequencies of laser communications lends themselves to superior performance, but this increased directionality also creates one of the primary technical challenges in establishing a laser communications link by repeatedly and reliably pointing the beam onto the receive aperture. Several solutions have emerged from wide angle (slow) mechanical articulation systems, fine (fast) steering mirrors and rotating prisms, inertial compensation gyros and vibration isolation cancellation systems, but each requires moving components and imparts a measured amount of burden on the host platform. The complexity, cost and size of current mechanically scanned solutions limits their platform applicability, and restricts the feasibility of deploying optical communications payloads on very compact spacecraft employing critical systems. A high speed, wide angle, non-mechanical solution is therefore desirable. The purpose of this work is to share the development, testing, and demonstration of a breadboard prototype electro-optic (EO) scanned laser-communication link (see Figure 1). This demonstration is a step toward realizing ultra-low Size, Weight and Power (SWaP) SmallSat/MicroSat EO non-mechanical laser beam steering modules for high bandwidth ( greater than Gbps) free-space data links operating in the 1550 nm wavelength bands. The elimination of all moving parts will dramatically reduce SWaP and cost, increase component lifetime and reliability, and simplify the system design of laser communication modules. This paper describes the target mission architectures and requirements (few cubic centimeters of volume, 10's of grams of weight with milliwatts of power) and design of the beam steering module. Laboratory metrology is used to determine the component performance including horizontal and vertical resolution (20urad) as a function of control voltage (see Figure 2), transition time (0.1-1ms), pointing repeatability and optic insertion loss. A test bed system demonstration, including a full laser communications link, is conducted. The capabilities of this new EO beam steerer provide an opportunity to dramatically improve space communications through increased utilization of laser technology on smaller platforms than were previously attainable.

SU-E-T-13: A Comparative Dosimetric Study On Radio-Dynamic Therapy for Pelvic Cancer Treatment: Strategies for Bone Marrow Dose and Volume Reduction

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

Li, C; Renmin Hospital of Wuhan University, Wuhan, Hubei Province; Wang, B

Purpose: Radio-dynamic therapy (RDT) is a potentially effective modality for local and systemic cancer treatment. Using RDT, the administration of a radio-sensitizer enhances the biological effect of high-energy photons. Although the sensitizer uptake ratio of tumor to normal tissue is normally high, one cannot simply neglect its effect on critical structures. In this study, we aim to explore planning strategies to improve bone marrow sparing without compromising the plan quality for RDT treatment of pelvic cancers. Methods: Ten cervical and ten prostate cancer patients who previously received radiotherapy at our institution were selected for this study. For each patient, ninemore » plans were created using the Varian Eclipse treatmentplanning-system (TPS) with 3D-CRT, IMRT, and VMAT delivery techniques containing various gantry angle combinations and optimization parameters (dose constraints to the bone marrow). To evaluate the plans for bone marrow sparing, the dose-volume parameters V5, V10, V15, V20, V30, and V40 for bone marrow were examined. Effective doseenhancement factors for the sensitizer were used to weigh the dose-volume histograms for various tissues from individual fractions. Results: The planning strategies had different impacts on bone marrow sparing for the cervical and prostate cases. For the cervical cases, provided the bone marrow constraints were properly set during optimization, the dose to bone marrow sparing was found to be comparable between different IMRT and VMAT plans regardless of the gantry angle selection. For the prostate cases, however, careful selection of gantry angles could dramatically improve the bone marrow sparing, although the dose distribution in bone marrow was clinically acceptable for all prostate plans that we created. Conclusion: For intensity-modulated RDT planning for cervical cancer, planners should set bone marrow constraints properly to avoid any adverse damage, while for prostate cancer one can carefully select gantry angles to improve bone marrow sparing when necessary.« less

Total variation iterative constraint algorithm for limited-angle tomographic reconstruction of non-piecewise-constant structures

NASA Astrophysics Data System (ADS)

Krauze, W.; Makowski, P.; Kujawińska, M.

2015-06-01

Standard tomographic algorithms applied to optical limited-angle tomography result in the reconstructions that have highly anisotropic resolution and thus special algorithms are developed. State of the art approaches utilize the Total Variation (TV) minimization technique. These methods give very good results but are applicable to piecewise constant structures only. In this paper, we propose a novel algorithm for 3D limited-angle tomography - Total Variation Iterative Constraint method (TVIC) which enhances the applicability of the TV regularization to non-piecewise constant samples, like biological cells. This approach consists of two parts. First, the TV minimization is used as a strong regularizer to create a sharp-edged image converted to a 3D binary mask which is then iteratively applied in the tomographic reconstruction as a constraint in the object domain. In the present work we test the method on a synthetic object designed to mimic basic structures of a living cell. For simplicity, the test reconstructions were performed within the straight-line propagation model (SIRT3D solver from the ASTRA Tomography Toolbox), but the strategy is general enough to supplement any algorithm for tomographic reconstruction that supports arbitrary geometries of plane-wave projection acquisition. This includes optical diffraction tomography solvers. The obtained reconstructions present resolution uniformity and general shape accuracy expected from the TV regularization based solvers, but keeping the smooth internal structures of the object at the same time. Comparison between three different patterns of object illumination arrangement show very small impact of the projection acquisition geometry on the image quality.

Static Force-Deflection Properties of Automobile Steering Components

DOT National Transportation Integrated Search

1987-06-01

This report provides the static force-deflection test results for 28 steering columns and 24 steering wheels used in domestic and import passener cars from model year 1975 to 1985. The steering columns and wheels tested include approzimately 90 perce...

Collective multipartite Einstein-Podolsky-Rosen steering: more secure optical networks.

PubMed

Wang, Meng; Gong, Qihuang; He, Qiongyi

2014-12-01

Collective multipartite Einstein-Podolsky-Rosen (EPR) steering is a type of quantum correlation shared among N parties, where the EPR paradox of one party can only be realized by performing local measurements on all the remaining N-1 parties. We formalize the collective tripartite steering in terms of local hidden state model and give the steering inequalities that act as signatures and suggest how to optimize collective tripartite steering in specific optical schemes. The special entangled states with property of collective multipartite steering may have potential applications in ultra-secure multiuser communication networks where the issue of trust is critical.

Effects of a Saccharomyces cerevisiae fermentation product in receiving diets of newly weaned beef steers II: Digestibility and response to a vaccination challenge.

PubMed

Deters, E L; Stokes, R S; Genther-Schroeder, O N; Hansen, S L

2018-06-15

Thirty-six newly weaned, crossbred beef steers (323 ± 12 kg; SD) from a single-source were used in a 56-d study to examine the effects of a Saccharomyces cerevisiae fermentation product (SCFP; Original XPC, Diamond V, Cedar Rapids, IA) on total tract nutrient digestibility and response to a vaccination challenge. Twelve d after arrival, steers were blocked by body weight (BW) and randomly assigned to treatments: SCFP at 0 (CON), 14 (SCFP14), or 28 (SCFP28) g·steer-1·d-1. Steers were fed via bunks that measured individual intake and received ear tags (CowManager, Select Sires, Plain City, OH) that recorded rumination and activity. Body weights were collected on d -1, 0, 14, 28, 42, 55, and 56. Titanium dioxide was fed as an indigestible marker to all steers from d 12 to 27, followed by consecutive d fecal samples, for determination of total tract nutrient digestibility. On d 34, steers received a Mannheimia haemolytica vaccination (One Shot, Zoetis, Kalamazoo, MI) to induce an acute phase protein (APP) response. Blood was collected from all steers on d 34 (prior to vaccination) and 3, 6, 9, 11, and 14 d post-vaccination. Data were analyzed using Proc Mixed of SAS (experimental unit = steer; n = 12/treatment); the model included the fixed effect of treatment and block and the random effect of steer. Blood measures, ear tag, and dry matter intake (DMI) data for the 15-d vaccination period were analyzed as repeated measures. Contrast statements (CON vs. SCFP14; SCFP14 vs. SCFP28) were used to compare treatment means. Digestibility of dry matter and organic matter was greater for SCFP14 vs. SCFP28 (P ≤ 0.03). Steers fed SCFP14 exhibited greater crude protein digestibility compared to CON (P < 0.01). Steers fed SCFP14 exhibited greater DMI for 15 d post-vaccination (P = 0.02) and greater ADG from d 28 to 56 (P = 0.05) vs. SCFP28-fed steers. Post-vaccination, steers fed SCFP14 spent less time ruminating per kg of dry matter, neutral detergent fiber (NDF), and physically effective NDF consumed than CON or SCFP28 (P ≤ 0.07). Serum IL-8 and haptoglobin concentrations tended to be lesser for steers fed SCFP14 vs. SCFP28 (P ≤ 0.08). Ceruloplasmin concentrations were lesser on d 14 post-vaccination for steers fed SCFP14 vs. CON or SCFP28 (treatment × d; P = 0.004); there were no differences on other sampling days due to treatment. Although no overall performance benefit was noted, steers fed SCFP14 responded better to a vaccination challenge vs. SCFP28-fed steers.

How gender and boat-side affect shape characteristics of force-angle profiles in single sculling: Insights from functional data analysis.

PubMed

Warmenhoven, John; Cobley, Stephen; Draper, Conny; Harrison, Andrew; Bargary, Norma; Smith, Richard

2018-05-01

To examine whether gender or side of the boat influenced shape characteristics of the force-angle profile in on-water single sculling. Cross-sectional study design. Bivariate functional principal components analysis (bfPCA) was applied to force-angle data to identify the main modes of variance in curves of forty highly skilled male and female rowers (national and international level), rowing at 32 strokes per minute in a single scull boat. Separate discriminant function analyses for each side of the boat showed strong classification of rowers for gender. Force application close to (or closely around) the perpendicular oar position was demonstrated to be different between genders. A mixed ANOVA exploring gender, boat side and their interaction revealed that bow and stroke side forces were also statistically different from each other independently of gender. A main effect, independent of side of the boat, was also present for gender and no interaction was found between gender and boat side. Bow side forces seemingly acted as a driver of power and peak force production, while stroke side forces may have acted as a mediator of propulsive forces with an additional potential role in steering due to known asymmetrical offsets in boat rigging. Results demonstrate that propulsive force differences according to gender and boat-side are evident and must be acknowledged and accounted for before force-angle graphs are explored relative to performance measures. Copyright © 2017. Published by Elsevier Ltd.

Ruminal acidosis challenge impact on ruminal temperature in feedlot cattle.

PubMed

Wahrmund, J L; Ronchesel, J R; Krehbiel, C R; Goad, C L; Trost, S M; Richards, C J

2012-08-01

The objective of this experiment was to determine if ruminal temperature rise coincides with pH reduction using an acidosis challenge model. Twelve ruminally cannulated steers (518 ± 28 kg BW) were administered ruminal temperature-monitoring devices that recorded temperature every 2 min. Steers were fed a 63% concentrate diet at 1.6% BW for 20 d before being randomly assigned to 1 of 3 acidosis challenge treatments: no dietary change (CON), one-half of daily DMI replaced with cracked corn (HALF), or all of daily DMI replaced with cracked corn (CORN). The challenge was initiated by ruminally dosing steers with their treatment diets. Ruminal pH and rectal temperatures (T(rec)) were recorded every 3 h for 72 h. All steers were offered CON diets at 24 and 48 h after challenge. Ruminal pH showed a treatment × day effect (P = 0.01). Ruminal pH of CORN steers was lower (P = 0.03) than that of HALF steers on d 1, was lower (P ≤ 0.004) than that of HALF and CON steers on d 2, and tended to be lower (P ≤ 0.10) than that of HALF and CON steers on d 3. Treatment did not affect (P ≥ 0.42) RecT. Ruminal temperature (T(rum)) showed a treatment · d(-1) · h(-1) after feeding interaction (P < 0.01). At 3 h after challenge, T(rum) of CORN and HALF steers was higher (P ≤ 0.01) than that of CON steers. On d 2, T(rum) of CORN steers was higher (P ≤ 0.03) than that of CON between 6 and 12 h after feeding. From 15 to 21 h after feeding on d 2, T(rum) of HALF steers was higher (P < 0.01) than that of CORN and CON steers. On d 3, at the time of feeding until 3 h later, T(rum) of CORN steers was lower (P ≤ 0.04) than that of all other steers. Rectal temperature was correlated (P ≤ 0.01) with T(rum) on all days for CON and CORN steers. Ruminal pH was negatively correlated (P ≤ 0.04) with T(rec) on d 2 and T(rum) on d 1 in CORN steers, and T(rum) was negatively correlated (P ≤ 0.02) with ruminal pH in HALF and CON steers on d 1 and 3, respectively. The amount of time above T(rum) of 39.0°C or 39.45°C was correlated (P ≤ 0.05) with the time spent below a ruminal pH of 5.5 in CORN steers; however, time above T(rum) of 39.0°C did not differ (P = 0.87) among treatments. Results indicate that there is a negative relationship between T(rum) and ruminal pH during an acidotic episode; therefore, T(rum) monitoring can detect a potential acidotic episode.

Uncertainty of Videogrammetric Techniques used for Aerodynamic Testing

NASA Technical Reports Server (NTRS)

Burner, A. W.; Liu, Tianshu; DeLoach, Richard

2002-01-01

The uncertainty of videogrammetric techniques used for the measurement of static aeroelastic wind tunnel model deformation and wind tunnel model pitch angle is discussed. Sensitivity analyses and geometrical considerations of uncertainty are augmented by analyses of experimental data in which videogrammetric angle measurements were taken simultaneously with precision servo accelerometers corrected for dynamics. An analysis of variance (ANOVA) to examine error dependence on angle of attack, sensor used (inertial or optical). and on tunnel state variables such as Mach number is presented. Experimental comparisons with a high-accuracy indexing table are presented. Small roll angles are found to introduce a zero-shift in the measured angles. It is shown experimentally that. provided the proper constraints necessary for a solution are met, a single- camera solution can he comparable to a 2-camera intersection result. The relative immunity of optical techniques to dynamics is illustrated.

Neutral Hydrogen Structures Trace Dust Polarization Angle: Implications for Cosmic Microwave Background Foregrounds.

PubMed

Clark, S E; Hill, J Colin; Peek, J E G; Putman, M E; Babler, B L

2015-12-11

Using high-resolution data from the Galactic Arecibo L-Band Feed Array HI (GALFA-Hi) survey, we show that linear structure in Galactic neutral hydrogen (Hi) correlates with the magnetic field orientation implied by Planck 353 GHz polarized dust emission. The structure of the neutral interstellar medium is more tightly coupled to the magnetic field than previously known. At high Galactic latitudes, where the Planck data are noise dominated, the Hi data provide an independent constraint on the Galactic magnetic field orientation, and hence the local dust polarization angle. We detect strong cross-correlations between template maps constructed from estimates of dust intensity combined with either Hi-derived angles, starlight polarization angles, or Planck 353 GHz angles. The Hi data thus provide a new tool in the search for inflationary gravitational wave B-mode polarization in the cosmic microwave background, which is currently limited by dust foreground contamination.

Flocking and invariance of velocity angles.

PubMed

Liu, Le; Huang, Lihong; Wu, Jianhong

2016-04-01

Motsch and Tadmor considered an extended Cucker-Smale model to investigate the flocking behavior of self-organized systems of interacting species. In this extended model, a cone of the vision was introduced so that outside the cone the influence of one agent on the other is lost and hence the corresponding influence function takes the value zero. This creates a problem to apply the Motsch-Tadmor and Cucker-Smale method to prove the flocking property of the system. Here, we examine the variation of the velocity angles between two arbitrary agents, and obtain a monotonicity property for the maximum cone of velocity angles. This monotonicity permits us to utilize existing arguments to show the flocking property of the system under consideration, when the initial velocity angles satisfy some minor technical constraints.

Electronic differential control of 2WD electric vehicle considering steering stability

NASA Astrophysics Data System (ADS)

Hua, Yiding; Jiang, Haobin; Geng, Guoqing

2017-03-01

Aiming at the steering wheel differential steering control technology of rear wheel independent driving electric wheel, considering the assisting effect of electronic differential control on vehicle steering, based on the high speed steering characteristic of electric wheel car, the electronic differential speed of auxiliary wheel steering is also studied. A yaw moment control strategy is applied to the vehicle at high speed. Based on the vehicle stability reference value, yaw rate is used to design the fuzzy controller to distribute the driving wheel torque. The simulation results show that the basic electronic differential speed function is realized based on the yaw moment control strategy, while the vehicle stability control is improved and the driving safety is enhanced. On the other hand, the torque control strategy can also assist steering of vehicle.

Quantum steerability: Characterization, quantification, superactivation, and unbounded amplification

NASA Astrophysics Data System (ADS)

Hsieh, Chung-Yun; Liang, Yeong-Cherng; Lee, Ray-Kuang

2016-12-01

Quantum steering, also called Einstein-Podolsky-Rosen steering, is the intriguing phenomenon associated with the ability of spatially separated observers to steer—by means of local measurements—the set of conditional quantum states accessible by a distant party. In the light of quantum information, all steerable quantum states are known to be resources for quantum information processing tasks. Here, via a quantity dubbed steering fraction, we derive a simple, but general criterion that allows one to identify quantum states that can exhibit quantum steering (without having to optimize over the measurements performed by each party), thus making an important step towards the characterization of steerable quantum states. The criterion, in turn, also provides upper bounds on the largest steering-inequality violation achievable by arbitrary finite-dimensional maximally entangled states. For the quantification of steerability, we prove that a strengthened version of the steering fraction is a convex steering monotone and demonstrate how it is related to two other steering monotones, namely, steerable weight and steering robustness. Using these tools, we further demonstrate the superactivation of steerability for a well-known family of entangled quantum states, i.e., we show how the steerability of certain entangled, but unsteerable quantum states can be recovered by allowing joint measurements on multiple copies of the same state. In particular, our approach allows one to explicitly construct a steering inequality to manifest this phenomenon. Finally, we prove that there exist examples of quantum states (including some which are unsteerable under projective measurements) whose steering-inequality violation can be arbitrarily amplified by allowing joint measurements on as little as three copies of the same state. For completeness, we also demonstrate how the largest steering-inequality violation can be used to bound the largest Bell-inequality violation and derive, analogously, a simple sufficient condition for Bell nonlocality from the latter.

Structural optimization under overhang constraints imposed by additive manufacturing technologies

NASA Astrophysics Data System (ADS)

Allaire, G.; Dapogny, C.; Estevez, R.; Faure, A.; Michailidis, G.

2017-12-01

This article addresses one of the major constraints imposed by additive manufacturing processes on shape optimization problems - that of overhangs, i.e. large regions hanging over void without sufficient support from the lower structure. After revisiting the 'classical' geometric criteria used in the literature, based on the angle between the structural boundary and the build direction, we propose a new mechanical constraint functional, which mimics the layer by layer construction process featured by additive manufacturing technologies, and thereby appeals to the physical origin of the difficulties caused by overhangs. This constraint, as well as some variants, is precisely defined; their shape derivatives are computed in the sense of Hadamard's method, and numerical strategies are extensively discussed, in two and three space dimensions, to efficiently deal with the appearance of overhang features in the course of shape optimization processes.

Direct CFD Predictions of Low Frequency Sounds Generated by a Helicopter Main Rotor

DTIC Science & Technology

2010-05-01

modeling and grid constraints. NOTATION α Shaft tilt (corrected) or tip-path-plane angle BPF Blade passing frequency CT/σ Thrust coefficient to rotor...cyclic pitch angle, deg. LFSPL Low frequency sound metric (1st-6th BPF ), dB MFSPL Mid frequency sound metric (> 6th BPF ), dB OASPL Overall sound metric...Tunnel of the National Full- Scale Aerodynamic Complex (NFAC) at NASA Ames Research Center in 2008 (Fig. 2a), as a guide for prediction validation. The

Escape from washing out of baryon number in a two-zero-texture general Zee model compatible with the large mixing angle MSW solution

NASA Astrophysics Data System (ADS)

Hasegawa, K.; Lim, C. S.; Ogure, K.

2003-09-01

We propose a two-zero-texture general Zee model, compatible with the large mixing angle Mikheyev-Smirnov-Wolfenstein solution. The washing out of the baryon number does not occur in this model for an adequate parameter range. We check the consistency of a model with the constraints coming from flavor changing neutral current processes, the recent cosmic microwave background observation, and the Z-burst scenario.

Development of Handling Quality Criteria for Aircraft with Independent Control of Six Degrees of Freedom

DTIC Science & Technology

1981-04-01

pitch attitude (rad) Perturbation lateral path angle (rad) Mass density of air (slug-ft^) Time delay (sec) Perturbation bank angle (rad...terms of the sixth, say 6^. The solutions for u and 6 are Immediate from the constraints, and the system of equa- tions may be reduced by...These Idealized expressions neglect lags and -i 1 time delays due to sensor, computation and actuator dynamics (see Appen- "v :{ dix D for the

Impact of grazing dairy steers on winter rye (Secale cereale) versus winter wheat (Triticum aestivum) and effects on meat quality, fatty acid and amino acid profiles, and consumer acceptability of organic beef

PubMed Central

Phillips, Hannah N.; Delate, Kathleen; Turnbull, Robert

2017-01-01

Meat from Holstein and crossbred organic dairy steers finished on winter rye and winter wheat pastures was evaluated and compared for meat quality, fatty acid and amino acid profiles, and consumer acceptability. Two adjacent 4-ha plots were established with winter rye or winter wheat cover crops in September 2015 at the University of Minnesota West Central Research and Outreach Center (Morris, MN). During spring of 2015, 30 steers were assigned to one of three replicate breed groups at birth. Breed groups were comprised of: Holstein (HOL; n = 10), crossbreds comprised of Montbéliarde, Viking Red, and HOL (MVH; n = 10), and crossbreds comprised of Normande, Jersey, and Viking Red (NJV; n = 10). Dairy steers were maintained in their respective replicate breed group from three days of age until harvest. After weaning, steers were fed an organic total mixed ration of organic corn silage, alfalfa silage, corn, soybean meal, and minerals until spring 2016. Breed groups were randomly assigned to winter rye or winter wheat and rotationally grazed from spring until early summer of 2016. For statistical analysis, independent variables were fixed effects of breed, forage, and the interaction of breed and forage, with replicated group as a random effect. Specific contrast statements were used to compare HOL versus crossbred steers. Fat from crossbreds had 13% greater omega-3 fatty acids than HOL steers. Furthermore, the omega-6/3 ratio was 14% lower in fat from crossbreds than HOL steers. For consumer acceptability, steaks from steers grazed on winter wheat had greater overall liking than steers grazed on winter rye. Steak from crossbreeds had greater overall liking than HOL steers. The results suggest improvement in fatty acids and sensory attributes of beef from crossbred dairy steers compared to HOL steers, as well as those finished on winter wheat compared to winter rye. PMID:29099863

Impact of grazing dairy steers on winter rye (Secale cereale) versus winter wheat (Triticum aestivum) and effects on meat quality, fatty acid and amino acid profiles, and consumer acceptability of organic beef.

PubMed

Phillips, Hannah N; Heins, Bradley J; Delate, Kathleen; Turnbull, Robert

2017-01-01

Meat from Holstein and crossbred organic dairy steers finished on winter rye and winter wheat pastures was evaluated and compared for meat quality, fatty acid and amino acid profiles, and consumer acceptability. Two adjacent 4-ha plots were established with winter rye or winter wheat cover crops in September 2015 at the University of Minnesota West Central Research and Outreach Center (Morris, MN). During spring of 2015, 30 steers were assigned to one of three replicate breed groups at birth. Breed groups were comprised of: Holstein (HOL; n = 10), crossbreds comprised of Montbéliarde, Viking Red, and HOL (MVH; n = 10), and crossbreds comprised of Normande, Jersey, and Viking Red (NJV; n = 10). Dairy steers were maintained in their respective replicate breed group from three days of age until harvest. After weaning, steers were fed an organic total mixed ration of organic corn silage, alfalfa silage, corn, soybean meal, and minerals until spring 2016. Breed groups were randomly assigned to winter rye or winter wheat and rotationally grazed from spring until early summer of 2016. For statistical analysis, independent variables were fixed effects of breed, forage, and the interaction of breed and forage, with replicated group as a random effect. Specific contrast statements were used to compare HOL versus crossbred steers. Fat from crossbreds had 13% greater omega-3 fatty acids than HOL steers. Furthermore, the omega-6/3 ratio was 14% lower in fat from crossbreds than HOL steers. For consumer acceptability, steaks from steers grazed on winter wheat had greater overall liking than steers grazed on winter rye. Steak from crossbreeds had greater overall liking than HOL steers. The results suggest improvement in fatty acids and sensory attributes of beef from crossbred dairy steers compared to HOL steers, as well as those finished on winter wheat compared to winter rye.

46 CFR 169.251 - Steering apparatus.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 7 2011-10-01 2011-10-01 false Steering apparatus. 169.251 Section 169.251 Shipping... Inspection and Certification Inspections § 169.251 Steering apparatus. At each inspection for certification and periodic inspection the steering apparatus is inspected and operationally tested to determine that...

46 CFR 169.251 - Steering apparatus.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Steering apparatus. 169.251 Section 169.251 Shipping... Inspection and Certification Inspections § 169.251 Steering apparatus. At each inspection for certification and periodic inspection the steering apparatus is inspected and operationally tested to determine that...

All-Versus-Nothing Proof of Einstein-Podolsky-Rosen Steering

PubMed Central

Chen, Jing-Ling; Ye, Xiang-Jun; Wu, Chunfeng; Su, Hong-Yi; Cabello, Adán; Kwek, L. C.; Oh, C. H.

2013-01-01

Einstein-Podolsky-Rosen steering is a form of quantum nonlocality intermediate between entanglement and Bell nonlocality. Although Schrödinger already mooted the idea in 1935, steering still defies a complete understanding. In analogy to “all-versus-nothing” proofs of Bell nonlocality, here we present a proof of steering without inequalities rendering the detection of correlations leading to a violation of steering inequalities unnecessary. We show that, given any two-qubit entangled state, the existence of certain projective measurement by Alice so that Bob's normalized conditional states can be regarded as two different pure states provides a criterion for Alice-to-Bob steerability. A steering inequality equivalent to the all-versus-nothing proof is also obtained. Our result clearly demonstrates that there exist many quantum states which do not violate any previously known steering inequality but are indeed steerable. Our method offers advantages over the existing methods for experimentally testing steerability, and sheds new light on the asymmetric steering problem. PMID:23828242

Chaos vibration of pinion and rack steering trapezoidal mechanism containing two clearances

NASA Astrophysics Data System (ADS)

Wei, Daogao; Wang, Yu; Jiang, Tong; Zheng, Sifa; Zhao, Wenjing; Pan, Zhijie

2017-08-01

The multi-clearances of breaking type steering trapezoidal mechanism joints influences vehicle steering stability. Hence, to ascertain the influence of clearance value on steering stability, this paper takes the steering mechanism of a certain vehicle type as a prototype that can be simplified into a planar six-bar linkage, then establishes the system dynamic differential equations after considering the two clearances of tie rods and the steering knuckle arms. The influence of the clearance parameters on the movement stability of the steering mechanism is studied using a numerical computation method. Results show that when the two clearances are equal, the planar movement of the tie rods changes from period-doubling to chaos as the clearances increase. When the two clearances are 0.25 mm and 1.5 mm respectively, the planar movements of the two side tie rods come into chaos, causing the steering stability to deteriorate. Moreover, with the increase of clearances, turning moment fluctuates more intensively and the peak value increases.

Modeling of Driver Steering Operations in Lateral Wind Disturbances toward Driver Assistance System

NASA Astrophysics Data System (ADS)

Kurata, Yoshinori; Wada, Takahiro; Kamiji, Norimasa; Doi, Shun'ichi

Disturbances decrease vehicle stability and increase driver's mental and physical workload. Especially unexpected disturbances such as lateral winds have severe effect on vehicle stability and driver's workload. This study aims at building a driver model of steering operations in lateral wind toward developing effective driver assistance system. First, the relationship between the driver's lateral motion and its reactive quick steering behavior is investigated using driving simulator with lateral 1dof motion. In the experiments, four different wind patterns are displayed by the simulator. As the results, strong correlation was found between the driver's head lateral jerk by the lateral disturbance and the angular acceleration of the steering wheel. Then, we build a mathematical model of driver's steering model from lateral disturbance input to steering torque of the reactive quick feed-forward steering based on the experimental results. Finally, validity of the proposed model is shown by comparing the steering torque of experimental results and that of simulation results.

Experimental verification of steerability via geometric Bell-like inequalities

NASA Astrophysics Data System (ADS)

Li, Jian; Wang, Cen-Yang; Liu, Tong-Jun; Wang, Qin

2018-03-01

Quantum steering is one form of quantum correlations interpolating between entanglement and Bell nonlocality, which in some cases can be detected by various steering inequalities. Recently, a remarkable and useful steerability criterion via geometric Bell-like inequalities was established [M. Zukowski, A. Dutta, and Z. Yin, Phys. Rev. A 91, 032107 (2015), 10.1103/PhysRevA.91.032107]. We report an experimental investigation of this steering criterion and verify the geometric Bell-like steering inequality experimentally by using of the Werner states. The results demonstrate that the geometric Bell-like steering inequality is a convenient tool to detect quantum steering both theoretically and practically.

Experimental test of single-system steering and application to quantum communication

NASA Astrophysics Data System (ADS)

Liu, Zhao-Di; Sun, Yong-Nan; Cheng, Ze-Di; Xu, Xiao-Ye; Zhou, Zong-Quan; Chen, Geng; Li, Chuan-Feng; Guo, Guang-Can

2017-02-01

Einstein-Podolsky-Rosen (EPR) steering describes the ability to steer remotely quantum states of an entangled pair by measuring locally one of its particles. Here we report on an experimental demonstration of single-system steering. The application to quantum communication is also investigated. Single-system steering refers to steering of a single d -dimensional quantum system that can be used in a unifying picture to certify the reliability of tasks employed in both quantum communication and quantum computation. In our experiment, high-dimensional quantum states are implemented by encoding polarization and orbital angular momentum of photons with dimensionality of up to 12.

Optimized detection of steering via linear criteria for arbitrary-dimensional states

NASA Astrophysics Data System (ADS)

Zheng, Yu-Lin; Zhen, Yi-Zheng; Cao, Wen-Fei; Li, Li; Chen, Zeng-Bing; Liu, Nai-Le; Chen, Kai

2017-03-01

Einstein-Podolsky-Rosen (EPR) steering, as a new form of nonlocality, stands between entanglement and Bell nonlocality, implying promising applications for quantum information tasks. The problem of detecting EPR steering plays an important role in characterization of quantum nonlocality. Despite some significant progress, one still faces a practical issue: how to detect EPR steering in an experimentally friendly fashion. Resorting to an EPR steering inequality, one is required to apply a strategy as efficiently as possible for any selected measurement settings on the two subsystems, one of which may not be trusted. Inspired by the recent powerful linear criteria proposed by Saunders et al. [D. J. Saunders, S. J. Jones, H. M. Wiseman, and G. J. Pryde, Nat. Phys. 6, 845 (2010)., 10.1038/nphys1766], we present an optimized method of certifying steering for an arbitrary-dimensional state in a cost-effective manner. We provide a practical way to signify steering via only a few settings to optimally violate the steering inequality. Our method leads to steering detections in a highly efficient way, and can be performed with any number of settings, for an arbitrary bipartite mixed state, which can reduce experimental overheads significantly.

Gaussian quantum steering and its asymmetry in curved spacetime

NASA Astrophysics Data System (ADS)

Wang, Jieci; Cao, Haixin; Jing, Jiliang; Fan, Heng

2016-06-01

We study Gaussian quantum steering and its asymmetry in the background of a Schwarzschild black hole. We present a Gaussian channel description of quantum state evolution under the influence of Hawking radiation. We find that thermal noise introduced by the Hawking effect will destroy the steerability between an inertial observer Alice and an accelerated observer Bob who hovers outside the event horizon, while it generates steerability between Bob and a hypothetical observer anti-Bob inside the event horizon. Unlike entanglement behaviors in curved spacetime, here the steering from Alice to Bob suffers from a "sudden death" and the steering from anti-Bob to Bob experiences a "sudden birth" with increasing Hawking temperature. We also find that the Gaussian steering is always asymmetric and the maximum steering asymmetry cannot exceed ln 2 , which means the state never evolves to an extremal asymmetry state. Furthermore, we obtain the parameter settings that maximize steering asymmetry and find that (i) s =arccosh cosh/2r 1 -sinh2r is the critical point of steering asymmetry and (ii) the attainment of maximal steering asymmetry indicates the transition between one-way steerability and both-way steerability for the two-mode Gaussian state under the influence of Hawking radiation.

A theoretical model of speed-dependent steering torque for rolling tyres

NASA Astrophysics Data System (ADS)

Wei, Yintao; Oertel, Christian; Liu, Yahui; Li, Xuebing

2016-04-01

It is well known that the tyre steering torque is highly dependent on the tyre rolling speed. In limited cases, i.e. parking manoeuvre, the steering torque approaches the maximum. With the increasing tyre speed, the steering torque decreased rapidly. Accurate modelling of the speed-dependent behaviour for the tyre steering torque is a key factor to calibrate the electric power steering (EPS) system and tune the handling performance of vehicles. However, no satisfactory theoretical model can be found in the existing literature to explain this phenomenon. This paper proposes a new theoretical framework to model this important tyre behaviour, which includes three key factors: (1) tyre three-dimensional transient rolling kinematics with turn-slip; (2) dynamical force and moment generation; and (3) the mixed Lagrange-Euler method for contact deformation solving. A nonlinear finite-element code has been developed to implement the proposed approach. It can be found that the main mechanism for the speed-dependent steering torque is due to turn-slip-related kinematics. This paper provides a theory to explain the complex mechanism of the tyre steering torque generation, which helps to understand the speed-dependent tyre steering torque, tyre road feeling and EPS calibration.

View aft of compartment D23, aft steering station; note steering ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

View aft of compartment D-23, aft steering station; note steering unit with crosshead and shaft bearing supports. Note framing supports for armored protective deck at top of photo. (p60) - USS Olympia, Penn's Landing, 211 South Columbus Boulevard, Philadelphia, Philadelphia County, PA

75 FR 45159 - Delphi Steering Currently Known as Nexteer Automotive Including On-Site Leased Workers From Acro...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-08-02

..., Inc., Continental, Inc., Dynamic Corp., G-Tech Professional Staffing, Inc., Globaledgetechnologies... Corporation, Aerotek, Inc., Continental, Inc., Dynamic Corp., G-Tech Professional Staffing, Inc., Globaledge... steering systems and components such as steering columns, gears, pumps and electronic power steering...

Lumbar vertebrae fracture injury risk in finite element reconstruction of CIREN and NASS frontal motor vehicle crashes.

PubMed

Jones, Derek A; Gaewsky, James P; Kelley, Mireille E; Weaver, Ashley A; Miller, Anna N; Stitzel, Joel D

2016-09-01

The objective of this study was to reconstruct 4 real-world motor vehicle crashes (MVCs), 2 with lumbar vertebral fractures and 2 without vertebral fractures in order to elucidate the MVC and/or restraint variables that increase this injury risk. A finite element (FE) simplified vehicle model (SVM) was used in conjunction with a previously developed semi-automated tuning method to arrive at 4 SVMs that were tuned to mimic frontal crash responses of a 2006 Chevrolet Cobalt, 2012 Ford Escape, 2007 Hummer H3, and 2002 Chevrolet Cavalier. Real-world crashes in the first 2 vehicles resulted in lumbar vertebrae fractures, whereas the latter 2 did not. Once each SVM was tuned to its corresponding vehicle, the Total HUman Model for Safety (THUMS) v4.01 was positioned in 120 precrash configurations in each SVM by varying 5 parameters using a Latin hypercube design (LHD) of experiments: seat track position, seatback angle, steering column angle, steering column telescoping position, and d-ring height. For each case, the event data recorder (EDR) crash pulse was used to apply kinematic boundary conditions to the model. By analyzing cross-sectional vertebral loads, vertebral bending moments, and maximum principal strain and stress in both cortical and trabecular bone, injury metric response as a function of posture and restraint parameters was computed. Tuning the SVM to specific vehicle models produced close matches between the simulated and experimental crash test responses for head, T6, and pelvis resultant acceleration; left and right femur loads; and shoulder and lap belt loads. Though vertebral load in the THUMS simulations was highly similar between injury cases and noninjury cases, the amount of bending moment was much higher for the injury cases. Seatback angle had a large effect on the maximum compressive load and bending moment in the lumbar spine, indicating the upward tilt of the seat pan in conjunction with precrash positioning may increase the likelihood of suffering lumbar injury even in frontal, planar MVCs. In conclusion, precrash positioning has a large effect on lumbar injury metrics. The lack of lumbar injury criteria in regulatory crash tests may have led to inadvertent design of seat pans that work to apply axial force to the spinal column during frontal crashes.

Driver behavior following an automatic steering intervention.

PubMed

Fricke, Nicola; Griesche, Stefan; Schieben, Anna; Hesse, Tobias; Baumann, Martin

2015-10-01

The study investigated driver behavior toward an automatic steering intervention of a collision mitigation system. Forty participants were tested in a driving simulator and confronted with an inevitable collision. They performed a naïve drive and afterwards a repeated exposure in which they were told to hold the steering wheel loosely. In a third drive they experienced a false alarm situation. Data on driving behavior, i.e. steering and braking behavior as well as subjective data was assessed in the scenarios. Results showed that most participants held on to the steering wheel strongly or counter-steered during the system intervention during the first encounter. Moreover, subjective data collected after the first drive showed that the majority of drivers was not aware of the system intervention. Data from the repeated drive in which participants were instructed to hold the steering wheel loosely, led to significantly more participants holding the steering wheel loosely and thus complying with the instruction. This study seems to imply that without knowledge and information of the system about an upcoming intervention, the most prevalent driving behavior is a strong reaction with the steering wheel similar to an automatic steering reflex which decreases the system's effectiveness. Results of the second drive show some potential for countermeasures, such as informing drivers shortly before a system intervention in order to prevent inhibiting reactions. Copyright © 2015 Elsevier Ltd. All rights reserved.

Refractive waveguide non-mechanical beam steering (NMBS) in the MWIR

NASA Astrophysics Data System (ADS)

Myers, Jason D.; Frantz, Jesse A.; Spillmann, Christopher M.; Bekele, Robel Y.; Kolacz, Jakub; Gotjen, Henry; Naciri, Jawad; Shaw, Brandon; Sanghera, Jas S.

2018-02-01

Beam steering is a crucial technology for a number of applications, including chemical sensing/mapping and light detection and ranging (LIDAR). Traditional beam steering approaches rely on mechanical movement, such as the realignment of mirrors in gimbal mounts. The mechanical approach to steering has several drawbacks, including large size, weight and power usage (SWAP), and frequent mechanical failures. Recently, alternative non-mechanical approaches have been proposed and developed, but these technologies do not meet the demanding requirements for many beam steering applications. Here, we highlight the development efforts into a particular non-mechanical beam steering (NMBS) approach, refractive waveguides, for application in the MWIR. These waveguides are based on an Ulrich-coupled slab waveguide with a liquid crystal (LC) top cladding; by selectively applying an electric field across the liquid crystal through a prismatic electrode, steering is achieved by creating refraction at prismatic interfaces as light propagates through the device. For applications in the MWIR, we describe a versatile waveguide architecture based on chalcogenide glasses that have a wide range of refractive indices, transmission windows, and dispersion properties. We have further developed robust shadow-masking methods to taper the subcladding layers in the coupling region. We have demonstrated devices with >10° of steering in the MWIR and a number of advantageous properties for beam steering applications, including low-power operation, compact size, and fast point-to-point steering.

Random Vibration Analysis of the Tip-tilt System in the GMT Fast Steering Secondary Mirror

NASA Astrophysics Data System (ADS)

Lee, Kyoung-Don; Kim, Young-Soo; Kim, Ho-Sang; Lee, Chan-Hee; Lee, Won Gi

2017-09-01

A random vibration analysis was accomplished on the tip-tilt system of the fast steering secondary mirror (FSM) for the Giant Magellan Telescope (GMT). As the FSM was to be mounted on the top end of the secondary truss and disturbed by the winds, dynamic effects of the FSM disturbances on the tip-tilt correction performance was studied. The coupled dynamic responses of the FSM segments were evaluated with a suggested tip-tilt correction modeling. Dynamic equations for the tip-tilt system were derived from the force and moment equilibrium on the segment mirror and the geometric compatibility conditions with four design parameters. Statically stationary responses for the tip-tilt actuations to correct the wind-induced disturbances were studied with two design parameters based on the spectral density function of the star image errors in the frequency domain. Frequency response functions and root mean square values of the dynamic responses and the residual star image errors were numerically calculated for the off-axis and on-axis segments of the FSM. A prototype of on-axis segment of the FSM was developed for tip-tilt actuation tests to confirm the ratio of tip-tilt force to tip-tilt angle calculated from the suggested dynamic equations of the tip-tilt system. Tip-tilt actuation tests were executed at 4, 8 and 12 Hz by measuring displacements of piezoelectric actuators and reaction forces acting on the axial supports. The derived ratios of rms tip-tilt force to rms tip-tilt angle from tests showed a good correlation with the numerical results. The suggested process of random vibration analysis on the tip-tilt system to correct the wind-induced disturbances of the FSM segments would be useful to advance the FSM design and upgrade the capability to achieve the least residual star image errors by understanding the details of dynamics.

Effects of beef production system on animal performance and carcass characteristics.

PubMed

Maxwell, C L; Krehbiel, C R; Wilson, B K; Johnson, B T; Bernhard, B C; O'Neill, C F; VanOverbeke, D L; Mafi, G G; Step, D L; Richards, C J

2014-12-01

The objective of this study was to evaluate conventional (CONV) and natural (NAT) beef production systems from annual pasture through finishing through grazing. Beef steers (n=180, initial BW=250±19 kg) were assigned randomly to 2 treatments in the pasture phase. Steers were implanted with 40 mg of trenbolone acetate (TBA), 8 mg estradiol, and 29 mg tylosin tartrate (CONV), or received no implant (NAT). Steers on the 2 treatments grazed wheat or cereal rye for 109 d. Conventional steers had an 18.5% improvement in ADG (1.22 vs. 1.03 kg/d, P<0.01) and a heavier final BW (385 vs. 366 kg, P<0.01) compared with NAT steers. Following the pasture phase, steers (n=160 steers, 5 steers/pen, 8 pens/treatment) were assigned to a 2×2 factorial in the feedlot phase. Production system (NAT vs. CONV) was maintained from the pasture phase, and the second factor was 7 vs. 12% low-quality roughage (DM basis, LOW vs. HIGH). During finishing, CONV steers were given 120 mg of TBA and 24 mg estradiol at processing, fed monensin and tylosin, and fed zilpaterol hydrochloride for the last 20 d of the experiment. There were no program×roughage level interactions (P>0.07). The CONV steers ate 6.9% more feed (11.8 vs. 11.0 kg/d, P<0.01), gained 28.4% faster (1.90 vs. 1.48 kg/d, P<0.01), and were 24.2% more efficient (0.164 vs. 0.132, P<0.01) compared with NAT steers. The LOW steers had greater G:F (0.153 vs. 0.144, P<0.01) compared with HIGH steers. There was a 28.3% improvement in estimated carcass weight gain (1.36 vs. 1.06 kg/d), 18.6% improvement in carcass efficiency (0.115 vs. 0.097, P<0.01), and 21.6% improvement (1.52 vs. 1.25 Mcal/kg, P<0.01) in calculated dietary NEg for CONV compared with NAT steers. Hot carcass weight was increased by 62 kg (424 vs. 362 kg, P<0.01) and LM area was increased by 16.9 cm2 (100.9 vs. 84.0 cm2, P<0.01), decreasing USDA yield grade (YG, 3.09 vs. 3.54, P<0.01) for CONV steers compared with NAT steers. Natural steers had a greater percentage of carcasses in the upper 2/3 of USDA Choice grade (48.7 vs. 18.7%, P<0.01), a greater percentage of YG 4 and 5 carcasses (25.4 vs. 9.3%, P<0.01), and a greater percentage of abscessed livers (39.6 vs. 10.5%, P<0.01) compared with CONV steers. The results show that CONV production results in more rapid and efficient production that resulted in heavier carcasses with superior YG and desirable quality grades with both roughage levels.

Vision-Based Steering Control, Speed Assistance and Localization for Inner-City Vehicles

PubMed Central

Olivares-Mendez, Miguel Angel; Sanchez-Lopez, Jose Luis; Jimenez, Felipe; Campoy, Pascual; Sajadi-Alamdari, Seyed Amin; Voos, Holger

2016-01-01

Autonomous route following with road vehicles has gained popularity in the last few decades. In order to provide highly automated driver assistance systems, different types and combinations of sensors have been presented in the literature. However, most of these approaches apply quite sophisticated and expensive sensors, and hence, the development of a cost-efficient solution still remains a challenging problem. This work proposes the use of a single monocular camera sensor for an automatic steering control, speed assistance for the driver and localization of the vehicle on a road. Herein, we assume that the vehicle is mainly traveling along a predefined path, such as in public transport. A computer vision approach is presented to detect a line painted on the road, which defines the path to follow. Visual markers with a special design painted on the road provide information to localize the vehicle and to assist in its speed control. Furthermore, a vision-based control system, which keeps the vehicle on the predefined path under inner-city speed constraints, is also presented. Real driving tests with a commercial car on a closed circuit finally prove the applicability of the derived approach. In these tests, the car reached a maximum speed of 48 km/h and successfully traveled a distance of 7 km without the intervention of a human driver and any interruption. PMID:26978365

Vision-Based Steering Control, Speed Assistance and Localization for Inner-City Vehicles.

PubMed

Olivares-Mendez, Miguel Angel; Sanchez-Lopez, Jose Luis; Jimenez, Felipe; Campoy, Pascual; Sajadi-Alamdari, Seyed Amin; Voos, Holger

2016-03-11

Autonomous route following with road vehicles has gained popularity in the last few decades. In order to provide highly automated driver assistance systems, different types and combinations of sensors have been presented in the literature. However, most of these approaches apply quite sophisticated and expensive sensors, and hence, the development of a cost-efficient solution still remains a challenging problem. This work proposes the use of a single monocular camera sensor for an automatic steering control, speed assistance for the driver and localization of the vehicle on a road. Herein, we assume that the vehicle is mainly traveling along a predefined path, such as in public transport. A computer vision approach is presented to detect a line painted on the road, which defines the path to follow. Visual markers with a special design painted on the road provide information to localize the vehicle and to assist in its speed control. Furthermore, a vision-based control system, which keeps the vehicle on the predefined path under inner-city speed constraints, is also presented. Real driving tests with a commercial car on a closed circuit finally prove the applicability of the derived approach. In these tests, the car reached a maximum speed of 48 km/h and successfully traveled a distance of 7 km without the intervention of a human driver and any interruption.

46 CFR 115.814 - Steering systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 4 2011-10-01 2011-10-01 false Steering systems. 115.814 Section 115.814 Shipping COAST... Inspections § 115.814 Steering systems. At each initial and subsequent inspection for certification the owner or managing operator shall be prepared to test the steering systems of the vessel and make them...

46 CFR 115.814 - Steering systems.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 46 Shipping 4 2012-10-01 2012-10-01 false Steering systems. 115.814 Section 115.814 Shipping COAST... Inspections § 115.814 Steering systems. At each initial and subsequent inspection for certification the owner or managing operator shall be prepared to test the steering systems of the vessel and make them...

46 CFR 115.814 - Steering systems.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 46 Shipping 4 2013-10-01 2013-10-01 false Steering systems. 115.814 Section 115.814 Shipping COAST... Inspections § 115.814 Steering systems. At each initial and subsequent inspection for certification the owner or managing operator shall be prepared to test the steering systems of the vessel and make them...

46 CFR 176.814 - Steering systems.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 46 Shipping 7 2014-10-01 2014-10-01 false Steering systems. 176.814 Section 176.814 Shipping COAST...) INSPECTION AND CERTIFICATION Material Inspections § 176.814 Steering systems. At each initial and subsequent inspection for certification the owner or managing operator shall be prepared to test the steering systems of...

46 CFR 176.814 - Steering systems.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 46 Shipping 7 2013-10-01 2013-10-01 false Steering systems. 176.814 Section 176.814 Shipping COAST...) INSPECTION AND CERTIFICATION Material Inspections § 176.814 Steering systems. At each initial and subsequent inspection for certification the owner or managing operator shall be prepared to test the steering systems of...

46 CFR 176.814 - Steering systems.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Steering systems. 176.814 Section 176.814 Shipping COAST...) INSPECTION AND CERTIFICATION Material Inspections § 176.814 Steering systems. At each initial and subsequent inspection for certification the owner or managing operator shall be prepared to test the steering systems of...

33 CFR 401.18 - Steering lights.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 33 Navigation and Navigable Waters 3 2010-07-01 2010-07-01 false Steering lights. 401.18 Section... TRANSPORTATION SEAWAY REGULATIONS AND RULES Regulations Condition of Vessels § 401.18 Steering lights. Every vessel shall be equipped with: (a) A steering light located on the centerline at or near the stem of the...

33 CFR 401.18 - Steering lights.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 33 Navigation and Navigable Waters 3 2014-07-01 2014-07-01 false Steering lights. 401.18 Section... TRANSPORTATION SEAWAY REGULATIONS AND RULES Regulations Condition of Vessels § 401.18 Steering lights. Every vessel shall be equipped with: (a) A steering light located on the centerline at or near the stem of the...

33 CFR 401.18 - Steering lights.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 33 Navigation and Navigable Waters 3 2013-07-01 2013-07-01 false Steering lights. 401.18 Section... TRANSPORTATION SEAWAY REGULATIONS AND RULES Regulations Condition of Vessels § 401.18 Steering lights. Every vessel shall be equipped with: (a) A steering light located on the centerline at or near the stem of the...

33 CFR 401.18 - Steering lights.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 33 Navigation and Navigable Waters 3 2011-07-01 2011-07-01 false Steering lights. 401.18 Section... TRANSPORTATION SEAWAY REGULATIONS AND RULES Regulations Condition of Vessels § 401.18 Steering lights. Every vessel shall be equipped with: (a) A steering light located on the centerline at or near the stem of the...

33 CFR 401.18 - Steering lights.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 33 Navigation and Navigable Waters 3 2012-07-01 2012-07-01 false Steering lights. 401.18 Section... TRANSPORTATION SEAWAY REGULATIONS AND RULES Regulations Condition of Vessels § 401.18 Steering lights. Every vessel shall be equipped with: (a) A steering light located on the centerline at or near the stem of the...

Development of a two-dimensional dual pendulum thrust stand for Hall thrusters

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

Nagao, N.; Yokota, S.; Komurasaki, K.

A two-dimensional dual pendulum thrust stand was developed to measure thrust vectors (axial and horizontal (transverse) direction thrusts) of a Hall thruster. A thruster with a steering mechanism is mounted on the inner pendulum, and thrust is measured from the displacement between inner and outer pendulums, by which a thermal drift effect is canceled out. Two crossover knife-edges support each pendulum arm: one is set on the other at a right angle. They enable the pendulums to swing in two directions. Thrust calibration using a pulley and weight system showed that the measurement errors were less than 0.25 mN (1.4%)more » in the main thrust direction and 0.09 mN (1.4%) in its transverse direction. The thrust angle of the thrust vector was measured with the stand using the thruster. Consequently, a vector deviation from the main thrust direction of {+-}2.3 deg. was measured with the error of {+-}0.2 deg. under the typical operating conditions for the thruster.« less

Low-Profile, Dual-Wavelength, Dual-Polarized Antenna

NASA Technical Reports Server (NTRS)

Carswell, James R.

2010-01-01

A single-aperture, low-profile antenna design has been developed that supports dual-polarization and simultaneous operation at two wavelengths. It realizes multiple beams in the elevation plane, and supports radiometric, radar, and conical scanning applications. This antenna consists of multiple azimuth sticks, with each stick being a multilayer, hybrid design. Each stick forms the h-plane pattern of the C and Ku-band vertically and horizontally polarized antenna beams. By combining several azimuth sticks together, the elevation beam is formed. With a separate transceiver for each stick, the transmit phase and amplitude of each stick can be controlled to synthesize a beam at a specific incidence angle and to realize a particular side-lobe pattern. By changing the transmit phase distribution through the transceivers, the transmit antenna beam can be steered to different incidence angles. By controlling the amplitude distribution, different side lobe patterns and efficiencies can be realized. The receive beams are formed using digital beam synthesis techniques, resulting in very little loss in the receive path, thus enabling a very-low loss receive antenna to support passive measurements.

The wave-field from an array of periodic emitters driven simultaneously by a broadband pulse.

PubMed

Dixon, Steve; Hill, Samuel; Fan, Yichao; Rowlands, George

2013-06-01

The use of phased array methods are commonplace in ultrasonic applications, where controlling the variation of the phase between the narrowband emitters in an array facilitates beam steering and focusing of ultrasonic waves. An approach is presented here whereby emitters of alternating polarity arranged in a one-dimensional array are pulsed simultaneously, and have sufficiently wide, controlled bandwidth to emit a two-dimensional wave. This pulsed approach provides a rapid means of simultaneously covering a region of space with a wave-front, whereby any wave that scatters or reflects off a body to a detector will have a distinct arrival time and frequency. This is a general wave phenomenon with a potential application in radar, sonar, and ultrasound. The key result is that one can obtain a smooth, continuous wave-front emitted from the array, over a large solid angle, whose frequency varies as a function of angle to the array. Analytic and finite element models created to describe this phenomenon have been validated with experimental results using ultrasonic waves in metal samples.

Experimental temporal quantum steering

PubMed Central

Bartkiewicz, Karol; Černoch, Antonín; Lemr, Karel; Miranowicz, Adam; Nori, Franco

2016-01-01

Temporal steering is a form of temporal correlation between the initial and final state of a quantum system. It is a temporal analogue of the famous Einstein-Podolsky-Rosen (spatial) steering. We demonstrate, by measuring the photon polarization, that temporal steering allows two parties to verify if they have been interacting with the same particle, even if they have no information about what happened with the particle in between the measurements. This is the first experimental study of temporal steering. We also performed experimental tests, based on the violation of temporal steering inequalities, of the security of two quantum key distribution protocols against individual attacks. Thus, these results can lead to applications for secure quantum communications and quantum engineering. PMID:27901121

Investigation of Motorcycle Steering Torque Components

NASA Astrophysics Data System (ADS)

Cossalter, V.; Lot, R.; Massaro, M.; Peretto, M.

2011-10-01

When driving along a circular path, the rider controls a motorcycle mainly by the steering torque. This work addresses an in-depth analysis of the steady state cornering and in particular the decomposition of the motorcycle steering torque in its main components, such as road-tyre forces, gyroscopic torques, centrifugal and gravity effects. A detailed and experimentally validated multibody model of the motorcycle is used herein to analyze the steering torque components at different speeds and lateral accelerations. First the road tests are compared with the numerical results for three different vehicles and then a numerical investigation is carried out to decompose the steering torque. Finally, the effect of longitudinal acceleration and deceleration on steering torque components is presented.

Multi-functional Electric Module for a Vehicle

NASA Technical Reports Server (NTRS)

Waligora, Thomas M. (Inventor); Fraser-Chanpong, Nathan (Inventor); Figuered, Joshua M. (Inventor); Reed, Ryan (Inventor); Akinyode, Akinjide Akinniyi (Inventor); Spain, Ivan (Inventor); Dawson, Andrew D. (Inventor); Herrera, Eduardo (Inventor); Markee, Mason M. (Inventor); Bluethmann, William J. (Inventor)

2015-01-01

A multi-functional electric module (eModule) is provided for a vehicle having a chassis, a master controller, and a drive wheel having a propulsion-braking module. The eModule includes a steering control assembly, mounting bracket, propulsion control assembly, brake controller, housing, and control arm. The steering control assembly includes a steering motor controlled by steering controllers in response to control signals from the master controller. A mounting feature of the bracket connects to the chassis. The propulsion control assembly and brake controller are in communication with the propulsion-braking module. The control arm connects to the lower portion and contains elements of a suspension system, with the control arm being connectable to the drive wheel via a wheel input/output block. The controllers are responsive to the master controller to control a respective steering, propulsion, and braking function. The steering motor may have a dual-wound stator with windings controlled via the respective steering controllers.

Limited-angle multi-energy CT using joint clustering prior and sparsity regularization

NASA Astrophysics Data System (ADS)

Zhang, Huayu; Xing, Yuxiang

2016-03-01

In this article, we present an easy-to-implement Multi-energy CT scanning strategy and a corresponding reconstruction method, which facilitate spectral CT imaging by improving the data efficiency the number-of-energy- channel fold without introducing visible limited-angle artifacts caused by reducing projection views. Leveraging the structure coherence at different energies, we first pre-reconstruct a prior structure information image using projection data from all energy channels. Then, we perform a k-means clustering on the prior image to generate a sparse dictionary representation for the image, which severs as a structure information constraint. We com- bine this constraint with conventional compressed sensing method and proposed a new model which we referred as Joint Clustering Prior and Sparsity Regularization (CPSR). CPSR is a convex problem and we solve it by Alternating Direction Method of Multipliers (ADMM). We verify our CPSR reconstruction method with a numerical simulation experiment. A dental phantom with complicate structures of teeth and soft tissues is used. X-ray beams from three spectra of different peak energies (120kVp, 90kVp, 60kVp) irradiate the phantom to form tri-energy projections. Projection data covering only 75◦ from each energy spectrum are collected for reconstruction. Independent reconstruction for each energy will cause severe limited-angle artifacts even with the help of compressed sensing approaches. Our CPSR provides us with images free of the limited-angle artifact. All edge details are well preserved in our experimental study.

46 CFR 58.25-55 - Overcurrent protection for steering-gear systems.

Code of Federal Regulations, 2010 CFR

2010-10-01

... overcurrent protection except short-circuit protection that is instantaneous and rated at 400% to 500% of— (1... for steering-gear systems. (a) Each feeder circuit for steering must be protected by a circuit breaker... motor for an alternating-current motor. (b) No feeder circuit for steering may have any overcurrent...

46 CFR 61.20-1 - Steering gear.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 2 2010-10-01 2010-10-01 false Steering gear. 61.20-1 Section 61.20-1 Shipping COAST... Periodic Tests of Machinery and Equipment § 61.20-1 Steering gear. (a) The marine inspector must inspect the steering gear at each inspection for certification for vessels whose Certificate of Inspections...

46 CFR 78.47-55 - Instructions for changing steering gear.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 3 2010-10-01 2010-10-01 false Instructions for changing steering gear. 78.47-55... OPERATIONS Markings for Fire and Emergency Equipment, Etc. § 78.47-55 Instructions for changing steering gear..., relating in order, the different steps to be taken in changing to the emergency steering gear. Each clutch...

Multipartite steering inequalities based on entropic uncertainty relations

NASA Astrophysics Data System (ADS)

Riccardi, Alberto; Macchiavello, Chiara; Maccone, Lorenzo

2018-05-01

We investigate quantum steering for multipartite systems by using entropic uncertainty relations. We introduce entropic steering inequalities whose violation certifies the presence of different classes of multipartite steering. These inequalities witness both steerable states and genuine multipartite steerable states. Furthermore, we study their detection power for several classes of states of a three-qubit system.

46 CFR 113.43-5 - Power supply.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 4 2011-10-01 2011-10-01 false Power supply. 113.43-5 Section 113.43-5 Shipping COAST... SYSTEMS AND EQUIPMENT Steering Failure Alarm Systems § 113.43-5 Power supply. Each steering failure alarm system must be supplied by a circuit that: (a) Is independent of other steering gear system and steering...

46 CFR 113.43-5 - Power supply.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 4 2010-10-01 2010-10-01 false Power supply. 113.43-5 Section 113.43-5 Shipping COAST... SYSTEMS AND EQUIPMENT Steering Failure Alarm Systems § 113.43-5 Power supply. Each steering failure alarm system must be supplied by a circuit that: (a) Is independent of other steering gear system and steering...

Toward Intelligent Systems for Testing. Technical Report LSP-1.

ERIC Educational Resources Information Center

Lesgold, Alan; And Others

This report illustrates one way in which the technologies of testing might combine with cognitive science techniques to help steer instruction. Steering testing is brief diagnostic testing that steers, or individualizes, the course of instruction. Steering testing uses simple heuristics for reasoning about the level of a student's competence in a…

Experimental Demonstration of the Einstein-Podolsky-Rosen Steering Game Based on the All-Versus-Nothing Proof

NASA Astrophysics Data System (ADS)

Sun, Kai; Xu, Jin-Shi; Ye, Xiang-Jun; Wu, Yu-Chun; Chen, Jing-Ling; Li, Chuan-Feng; Guo, Guang-Can

2014-10-01

Einstein-Podolsky-Rosen (EPR) steering, a generalization of the original concept of "steering" proposed by Schrödinger, describes the ability of one system to nonlocally affect another system's states through local measurements. Some experimental efforts to test EPR steering in terms of inequalities have been made, which usually require many measurement settings. Analogy to the "all-versus-nothing" (AVN) proof of Bell's theorem without inequalities, testing steerability without inequalities would be more strong and require less resources. Moreover, the practical meaning of steering implies that it should also be possible to store the state information on the side to be steered, a result that has not yet been experimentally demonstrated. Using a recent AVN criterion for two-qubit entangled states, we experimentally implement a practical steering game using quantum memory. Furthermore, we develop a theoretical method to deal with the noise and finite measurement statistics within the AVN framework and apply it to analyze the experimental data. Our results clearly show the facilitation of the AVN criterion for testing steerability and provide a particularly strong perspective for understanding EPR steering.

Monogamy inequalities for the Einstein-Podolsky-Rosen paradox and quantum steering

NASA Astrophysics Data System (ADS)

Reid, M. D.

2013-12-01

Monogamy inequalities for the way bipartite Einstein-Podolsky-Rosen (EPR) steering can be distributed among N systems are derived. One set of inequalities is based on witnesses with two measurement settings, and may be used to demonstrate correlation of outcomes between two parties, that cannot be shared with more parties. It is shown that the monogamy for steering is directional. Two parties cannot independently demonstrate steering of a third system, using the same two-setting steering witness, but it is possible for one party to steer two independent systems. This result explains the monogamy of two-setting Bell inequality violations and the sensitivity of the continuous variable (CV) EPR criterion to losses on the steering party. We generalize to m settings. A second type of monogamy relation gives the quantitative amount of sharing possible, when the number of parties is less than or equal to m, and takes a form similar to the Coffman-Kundu-Wootters relation for entanglement. The results enable characterization of the tripartite steering for CV Gaussian systems and qubit Greenberger-Horne-Zeilinger and W states.

Steering Bell-diagonal states

PubMed Central

Quan, Quan; Zhu, Huangjun; Liu, Si-Yuan; Fei, Shao-Ming; Fan, Heng; Yang, Wen-Li

2016-01-01

We investigate the steerability of two-qubit Bell-diagonal states under projective measurements by the steering party. In the simplest nontrivial scenario of two projective measurements, we solve this problem completely by virtue of the connection between the steering problem and the joint-measurement problem. A necessary and sufficient criterion is derived together with a simple geometrical interpretation. Our study shows that a Bell-diagonal state is steerable by two projective measurements iff it violates the Clauser-Horne-Shimony-Holt (CHSH) inequality, in sharp contrast with the strict hierarchy expected between steering and Bell nonlocality. We also introduce a steering measure and clarify its connections with concurrence and the volume of the steering ellipsoid. In particular, we determine the maximal concurrence and ellipsoid volume of Bell-diagonal states that are not steerable by two projective measurements. Finally, we explore the steerability of Bell-diagonal states under three projective measurements. A simple sufficient criterion is derived, which can detect the steerability of many states that are not steerable by two projective measurements. Our study offers valuable insight on steering of Bell-diagonal states as well as the connections between entanglement, steering, and Bell nonlocality. PMID:26911250

Two dimensional thermo-optic beam steering using a silicon photonic optical phased array

NASA Astrophysics Data System (ADS)

Mahon, Rita; Preussner, Marcel W.; Rabinovich, William S.; Goetz, Peter G.; Kozak, Dmitry A.; Ferraro, Mike S.; Murphy, James L.

2016-03-01

Components for free space optical communication terminals such as lasers, amplifiers, and receivers have all seen substantial reduction in both size and power consumption over the past several decades. However, pointing systems, such as fast steering mirrors and gimbals, have remained large, slow and power-hungry. Optical phased arrays provide a possible solution for non-mechanical beam steering devices that can be compact and lower in power. Silicon photonics is a promising technology for phased arrays because it has the potential to scale to many elements and may be compatible with CMOS technology thereby enabling batch fabrication. For most free space optical communication applications, two-dimensional beam steering is needed. To date, silicon photonic phased arrays have achieved two-dimensional steering by combining thermo-optic steering, in-plane, with wavelength tuning by means of an output grating to give angular tuning, out-of-plane. While this architecture might work for certain static communication links, it would be difficult to implement for moving platforms. Other approaches have required N2 controls for an NxN element phased array, which leads to complexity. Hence, in this work we demonstrate steering using the thermo-optic effect for both dimensions with a simplified steering mechanism requiring only two control signals, one for each steering dimension.

A channel-based framework for steering, non-locality and beyond

NASA Astrophysics Data System (ADS)

Hoban, Matty J.; Belén Sainz, Ana

2018-05-01

Non-locality and steering are both non-classical phenomena witnessed in nature as a result of quantum entanglement. It is now well-established that one can study non-locality independently of the formalism of quantum mechanics, in the so-called device-independent framework. With regards to steering, although one cannot study it completely independently of the quantum formalism, ‘post-quantum steering’ has been described, which is steering that cannot be reproduced by measurements on entangled states but does not lead to superluminal signalling. In this work we present a framework based on the study of quantum channels in which one can study steering (and non-locality) in quantum theory and beyond. In this framework, we show that kinds of steering, whether quantum or post-quantum, are directly related to particular families of quantum channels that have been previously introduced by Beckman et al (2001 Phys. Rev. A 64 052309). Utilizing this connection we also demonstrate new analytical examples of post-quantum steering, give a quantum channel interpretation of almost quantum non-locality and steering, easily recover and generalize the celebrated Gisin–Hughston–Jozsa–Wootters theorem, and initiate the study of post-quantum Buscemi non-locality and non-classical teleportation. In this way, we see post-quantum non-locality and steering as just two aspects of a more general phenomenon.

Rumen microbial changes in cattle fed diets with or without salinomycin.

PubMed

Olumeyan, D B; Nagaraja, T G; Miller, G W; Frey, R A; Boyer, J E

1986-02-01

Four rumen-fistulated steers, randomly assigned to two groups (control and salinomycin fed) were used to monitor the changes in rumen microbial populations and volatile fatty acids (VFA) concentrations associated with feeding salinomycin (0.22 mg X kg-1 X day-1). Steers were adapted to an alfalfa hay and grain (80:20) diet before supplementing the diet with salinomycin, and then the diet was changed to 50:50 and 20:80 ratios of alfalfa hay to grain at 2-week intervals. Rumen samples for total and selective enumeration of anaerobic bacteria. VFA analysis, and enumeration of protozoa were collected during the 80:20 alfalfa hay-to-grain diet before salinomycin feeding, and during the 80:20, 50:50, and 20:80 hay-to-grain diets with salinomycin. At each sampling period, rumen samples were collected at 3 h after feeding on three consecutive days. Salinomycin feeding had no effect on rumen pH and total VFA concentration. The acetate-to-propionate ratio was significantly lower in salinomycin-fed steers than in the control. The molar proportion of butyrate increased in both control and salinomycin-fed steers. Total anaerobic bacterial counts were lower in salinomycin-fed steers than in the control steers after 8 weeks of salinomycin feeding. Salinomycin-resistant bacteria increased from 7.6 to 15.6% in salinomycin-fed steers but remained unchanged in control steers. Salinomycin had no effect on cellulolytic and lactate-utilizing bacteria, but the proportion of amylolytic bacteria was higher in salinomycin-fed steers than in control steers. The total number of protozoa decreased initially in salinomycin-fed steers. The initial reduction was due to reduced numbers of Entodinium species. Holotrichs were unaffected by salinomycin feeding.

Predicting red meat yields in carcasses from beef-type and calf-fed Holstein steers using the United States Department of Agriculture calculated yield grade.

PubMed

Lawrence, T E; Elam, N A; Miller, M F; Brooks, J C; Hilton, G G; VanOverbeke, D L; McKeith, F K; Killefer, J; Montgomery, T H; Allen, D M; Griffin, D B; Delmore, R J; Nichols, W T; Streeter, M N; Yates, D A; Hutcheson, J P

2010-06-01

Analyses were conducted to evaluate the ability of the USDA yield grade equation to detect differences in subprimal yield of beef-type steers and calf-fed Holstein steers that had been fed zilpaterol hydrochloride (ZH; Intervet Inc., Millsboro, DE) as well as those that had not been fed ZH. Beef-type steer (n = 801) and calf-fed Holstein steer (n = 235) carcasses were fabricated into subprimal cuts and trim. Simple correlations between calculated yield grades and total red meat yields ranged from -0.56 to -0.62 for beef-type steers. Reliable correlations from calf-fed Holstein steers were unobtainable; the probability of a type I error met or exceeded 0.39. Linear models were developed for the beef-type steers to predict total red meat yield based on calculated USDA yield grade within each ZH duration. At an average calculated USDA yield grade of 2.9, beef-type steer carcasses that had not been fed ZH had an estimated 69.4% red meat yield, whereas those fed ZH had an estimated 70.7% red meat yield. These results indicate that feeding ZH increased red meat yield by 1.3% at a constant calculated yield grade. However, these data also suggest that the calculated USDA yield grade score is a poor and variable estimator (adjusted R(2) of 0.31 to 0.38) of total red meat yield of beef-type steer carcasses, regardless of ZH feeding. Moreover, no relationship existed (adjusted R(2) of 0.00 to 0.01) for calf-fed Holstein steer carcasses, suggesting the USDA yield grade is not a valid estimate of calf-fed Holstein red meat yield.

Steer-PROP: a GRASE-PROPELLER sequence with interecho steering gradient pulses.

PubMed

Srinivasan, Girish; Rangwala, Novena; Zhou, Xiaohong Joe

2018-05-01

This study demonstrates a novel PROPELLER (periodically rotated overlapping parallel lines with enhanced reconstruction) pulse sequence, termed Steer-PROP, based on gradient and spin echo (GRASE), to reduce the imaging times and address phase errors inherent to GRASE. The study also illustrates the feasibility of using Steer-PROP as an alternative to single-shot echo planar imaging (SS-EPI) to produce distortion-free diffusion images in all imaging planes. Steer-PROP uses a series of blip gradient pulses to produce N (N = 3-5) adjacent k-space blades in each repetition time, where N is the number of gradient echoes in a GRASE sequence. This sampling strategy enables a phase correction algorithm to systematically address the GRASE phase errors as well as the motion-induced phase inconsistency. Steer-PROP was evaluated on phantoms and healthy human subjects at both 1.5T and 3.0T for T 2 - and diffusion-weighted imaging. Steer-PROP produced similar image quality as conventional PROPELLER based on fast spin echo (FSE), while taking only a fraction (e.g., 1/3) of the scan time. The robustness against motion in Steer-PROP was comparable to that of FSE-based PROPELLER. Using Steer-PROP, high quality and distortion-free diffusion images were obtained from human subjects in all imaging planes, demonstrating a considerable advantage over SS-EPI. The proposed Steer-PROP sequence can substantially reduce the scan times compared with FSE-based PROPELLER while achieving adequate image quality. The novel k-space sampling strategy in Steer-PROP not only enables an integrated phase correction method that addresses various sources of phase errors, but also minimizes the echo spacing compared with alternative sampling strategies. Steer-PROP can also be a viable alternative to SS-EPI to decrease image distortion in all imaging planes. Magn Reson Med 79:2533-2541, 2018. © 2017 International Society for Magnetic Resonance in Medicine. © 2017 International Society for Magnetic Resonance in Medicine.

Effect of dietary trace mineral supplementation and a multi-element trace mineral injection on shipping response and growth performance of beef cattle.

PubMed

Genther, O N; Hansen, S L

2014-06-01

To examine the effect of trace mineral (TM) status and TM injection on growth performance and carcass characteristics in beef cattle, 40 steers were used in a growing and finishing study. Steers were stratified by weight (323 ± 14.8 kg) and assigned to 1 of 2 treatments for an 84-d depletion period: 1) a corn silage-based diet supplemented with Cu, Mn, Se, and Zn to meet or exceed NRC recommendations (CON), or 2) CON diet without supplemental Cu, Mn, Se, or Zn but supplemented with 300 mg Fe and 5 mg Mo/kg diet DM as dietary TM antagonists (DEF) to induce mild deficiencies. To mimic shipping stress, steers were shipped for 20 h on d 88 and were received back on d 89. On d 91 an equal number of steers from both dietary treatments were injected with sterilized saline (SAL) or Multimin 90 (MM; containing 15, 60, 10, and 5 mg/mL of Cu, Zn, Mn, and Se, respectively) at a dose of 1 mL/68 kg BW. Steers were fed a common finishing diet supplemented with 10 mg Cu, 20 mg Mn, 0.1 mg Se, and 30 mg Zn/kg diet DM for the 90-d repletion period. Steers were harvested 91 d postinjection and carcass data were collected. During the depletion period, diet did not affect BW, ADG, DMI, or G:F (P > 0.20). During the shipping period (defined as the time between 2-d consecutive weights on d 83 and 84 and d 90 and 91), DEF steers tended to lose more weight per day than CON steers (P = 0.06) and had lesser DMI (P = 0.03), suggesting that response to shipping stress may be modulated by TM status. During the repletion period, ADG of DEF + MM steers was greater (P = 0.03) compared with DEF + SAL and was not different (P = 0.92) among CON + MM and CON + SAL steers. There was no effect of diet or injection on HCW or dressing percentage (P > 0.20). Within the CON group, TM injection decreased yield grade (P = 0.03) but did not affect yield grade of DEF steers (P > 0.20). Steers given TM injection had a larger rib eye area (P = 0.04) regardless of previous diet. Interestingly, both diet and injection affected marbling scores (MS), where CON steers had greater MS than DEF steers (P = 0.01) and MM steers had greater MS than SAL steers (P = 0.04). These results indicate that adequate TM nutrition is essential for marbling development, during both the growing and finishing phases. Overall, an injectable mineral improved rib eye area and MS regardless of initial TM status and improved growth of mildly TM deficient steers.

Isocurvature constraints and anharmonic effects on QCD axion dark matter

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

Kobayashi, Takeshi; Kurematsu, Ryosuke; Takahashi, Fuminobu, E-mail: takeshi@cita.utoronto.ca, E-mail: rkurematsu@tuhep.phys.tohoku.ac.jp, E-mail: fumi@tuhep.phys.tohoku.ac.jp

2013-09-01

We revisit the isocurvature density perturbations induced by quantum fluctuations of the axion field by extending a recently developed analytic method and approximations to a time-dependent scalar potential, which enables us to follow the evolution of the axion until it starts to oscillate. We find that, as the initial misalignment angle approaches the hilltop of the potential, the isocurvature perturbations become significantly enhanced, while the non-Gaussianity parameter increases slowly but surely. As a result, the isocurvature constraint on the inflation scale is tightened as H{sub inf}∼

Working against gravity: horizontal honeybee waggle runs have greater angular scatter than vertical waggle runs

PubMed Central

Couvillon, Margaret J.; Phillipps, Hunter L. F.; Schürch, Roger; Ratnieks, Francis L. W.

2012-01-01

The presence of noise in a communication system may be adaptive or may reflect unavoidable constraints. One communication system where these alternatives are debated is the honeybee (Apis mellifera) waggle dance. Successful foragers communicate resource locations to nest-mates by a dance comprising repeated units (waggle runs), which repetitively transmit the same distance and direction vector from the nest. Intra-dance waggle run variation occurs and has been hypothesized as a colony-level adaptation to direct recruits over an area rather than a single location. Alternatively, variation may simply be due to constraints on bees' abilities to orient waggle runs. Here, we ask whether the angle at which the bee dances on vertical comb influences waggle run variation. In particular, we determine whether horizontal dances, where gravity is not aligned with the waggle run orientation, are more variable in their directional component. We analysed 198 dances from foragers visiting natural resources and found support for our prediction. More horizontal dances have greater angular variation than dances performed close to vertical. However, there is no effect of waggle run angle on variation in the duration of waggle runs, which communicates distance. Our results weaken the hypothesis that variation is adaptive and provide novel support for the constraint hypothesis. PMID:22513277

Working against gravity: horizontal honeybee waggle runs have greater angular scatter than vertical waggle runs.

PubMed

Couvillon, Margaret J; Phillipps, Hunter L F; Schürch, Roger; Ratnieks, Francis L W

2012-08-23

The presence of noise in a communication system may be adaptive or may reflect unavoidable constraints. One communication system where these alternatives are debated is the honeybee (Apis mellifera) waggle dance. Successful foragers communicate resource locations to nest-mates by a dance comprising repeated units (waggle runs), which repetitively transmit the same distance and direction vector from the nest. Intra-dance waggle run variation occurs and has been hypothesized as a colony-level adaptation to direct recruits over an area rather than a single location. Alternatively, variation may simply be due to constraints on bees' abilities to orient waggle runs. Here, we ask whether the angle at which the bee dances on vertical comb influences waggle run variation. In particular, we determine whether horizontal dances, where gravity is not aligned with the waggle run orientation, are more variable in their directional component. We analysed 198 dances from foragers visiting natural resources and found support for our prediction. More horizontal dances have greater angular variation than dances performed close to vertical. However, there is no effect of waggle run angle on variation in the duration of waggle runs, which communicates distance. Our results weaken the hypothesis that variation is adaptive and provide novel support for the constraint hypothesis.

Physical constraints, fundamental limits, and optimal locus of operating points for an inverted pendulum based actuated dynamic walker.

PubMed

Patnaik, Lalit; Umanand, Loganathan

2015-10-26

The inverted pendulum is a popular model for describing bipedal dynamic walking. The operating point of the walker can be specified by the combination of initial mid-stance velocity (v0) and step angle (φm) chosen for a given walk. In this paper, using basic mechanics, a framework of physical constraints that limit the choice of operating points is proposed. The constraint lines thus obtained delimit the allowable region of operation of the walker in the v0-φm plane. A given average forward velocity vx,avg can be achieved by several combinations of v0 and φm. Only one of these combinations results in the minimum mechanical power consumption and can be considered the optimum operating point for the given vx,avg. This paper proposes a method for obtaining this optimal operating point based on tangency of the power and velocity contours. Putting together all such operating points for various vx,avg, a family of optimum operating points, called the optimal locus, is obtained. For the energy loss and internal energy models chosen, the optimal locus obtained has a largely constant step angle with increasing speed but tapers off at non-dimensional speeds close to unity.

Multi-objective trajectory optimization for the space exploration vehicle

NASA Astrophysics Data System (ADS)

Qin, Xiaoli; Xiao, Zhen

2016-07-01

The research determines temperature-constrained optimal trajectory for the space exploration vehicle by developing an optimal control formulation and solving it using a variable order quadrature collocation method with a Non-linear Programming(NLP) solver. The vehicle is assumed to be the space reconnaissance aircraft that has specified takeoff/landing locations, specified no-fly zones, and specified targets for sensor data collections. A three degree of freedom aircraft model is adapted from previous work and includes flight dynamics, and thermal constraints.Vehicle control is accomplished by controlling angle of attack, roll angle, and propellant mass flow rate. This model is incorporated into an optimal control formulation that includes constraints on both the vehicle and mission parameters, such as avoidance of no-fly zones and exploration of space targets. In addition, the vehicle models include the environmental models(gravity and atmosphere). How these models are appropriately employed is key to gaining confidence in the results and conclusions of the research. Optimal trajectories are developed using several performance costs in the optimal control formation,minimum time,minimum time with control penalties,and maximum distance.The resulting analysis demonstrates that optimal trajectories that meet specified mission parameters and constraints can be quickly determined and used for large-scale space exloration.

Innovative surgical endoscopes in video-assisted thoracic surgery

PubMed Central

Cheng, Truman; Ng, Calvin S. H.

2018-01-01

In the past three decades, rod lens endoscopes had facilitated the development and wide spread applications of video-assisted thoracic surgery (VATS). With the rise of uniportal VATS in recent years, innovations in surgical instruments should once again complement the advancement in surgical technique. While articulated flexible endoscopes have expand the field of view, and can alter viewing direction with minimal maneuvers, they still suffer from problems like trocar crowding and interference with other instruments. Magnetic anchored endoscopes, on the other hand, may provide unique benefits to VATS by replacing the endoscope rigid rod body with magnetic linkage, thus overcoming the challenge of port crowding in single incision surgery. Most magnetic anchored endoscopes reported in literature are not designed for thoracic surgeries. Many of these designs do not allow tilting of endoscopic view, rely on micromotors for actuation, or are ergonomically unfit to be operated within the spatial constraints seen in VATS application. Considering these limitations, we have designed two novel magnetic anchored and steered endoscopes targeted for uniportal VATS. Both designs could be wirelessly actuated by magnetic interaction. One has a silicone rubber formed soft body for compactness, lightweight and safety, while another is a 40 mm long capsule optimized for VATS spatial constraints. PMID:29732196

Innovative surgical endoscopes in video-assisted thoracic surgery.

PubMed

Cheng, Truman; Ng, Calvin S H; Li, Zheng

2018-04-01

In the past three decades, rod lens endoscopes had facilitated the development and wide spread applications of video-assisted thoracic surgery (VATS). With the rise of uniportal VATS in recent years, innovations in surgical instruments should once again complement the advancement in surgical technique. While articulated flexible endoscopes have expand the field of view, and can alter viewing direction with minimal maneuvers, they still suffer from problems like trocar crowding and interference with other instruments. Magnetic anchored endoscopes, on the other hand, may provide unique benefits to VATS by replacing the endoscope rigid rod body with magnetic linkage, thus overcoming the challenge of port crowding in single incision surgery. Most magnetic anchored endoscopes reported in literature are not designed for thoracic surgeries. Many of these designs do not allow tilting of endoscopic view, rely on micromotors for actuation, or are ergonomically unfit to be operated within the spatial constraints seen in VATS application. Considering these limitations, we have designed two novel magnetic anchored and steered endoscopes targeted for uniportal VATS. Both designs could be wirelessly actuated by magnetic interaction. One has a silicone rubber formed soft body for compactness, lightweight and safety, while another is a 40 mm long capsule optimized for VATS spatial constraints.