46 CFR 58.25-25 - Indicating and alarm systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... rudder angle must be provided both at the main steering station in the pilothouse and in the steering-gear compartment. The rudder-angle indicator must be independent of control systems for steering gear. (b) Each electric-type rudder-angle indicator must comply with § 113.40-10 of this chapter and, in...

46 CFR 58.25-25 - Indicating and alarm systems.

Code of Federal Regulations, 2010 CFR

2010-10-01

... rudder angle must be provided both at the main steering station in the pilothouse and in the steering-gear compartment. The rudder-angle indicator must be independent of control systems for steering gear. (b) Each electric-type rudder-angle indicator must comply with § 113.40-10 of this chapter and, in...

Method of Controlling Steering of a Ground Vehicle

NASA Technical Reports Server (NTRS)

Guo, Raymond (Inventor); Atluri, Venkata Prasad (Inventor); Bluethmann, William J. (Inventor); Lee, Chunhao J. (Inventor); Vitale, Robert L. (Inventor); Dawson, Andrew D. (Inventor)

2016-01-01

A method of controlling steering of a vehicle through setting wheel angles of a plurality of modular electronic corner assemblies (eModules) is provided. The method includes receiving a driving mode selected from a mode selection menu. A position of a steering input device is determined in a master controller. A velocity of the vehicle is determined, in the master controller, when the determined position of the steering input device is near center. A drive mode request corresponding to the selected driving mode to the plurality of steering controllers is transmitted to the master controller. A required steering angle of each of the plurality of eModules is determined, in the master controller, as a function of the determined position of the steering input device, the determined velocity of the vehicle, and the selected first driving mode. The eModules are set to the respective determined steering angles.

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.

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

On the Skill of Balancing While Riding a Bicycle

PubMed Central

Cain, Stephen M.; Ashton-Miller, James A.; Perkins, Noel C.

2016-01-01

Humans have ridden bicycles for over 200 years, yet there are no continuous measures of how skill differs between novice and expert. To address this knowledge gap, we measured the dynamics of human bicycle riding in 14 subjects, half of whom were skilled and half were novice. Each subject rode an instrumented bicycle on training rollers at speeds ranging from 1 to 7 m/s. Steer angle and rate, steer torque, bicycle speed, and bicycle roll angle and rate were measured and steering power calculated. A force platform beneath the roller assembly measured the net force and moment that the bicycle, rider and rollers exerted on the floor, enabling calculations of the lateral positions of the system centers of mass and pressure. Balance performance was quantified by cross-correlating the lateral positions of the centers of mass and pressure. The results show that all riders exhibited similar balance performance at the slowest speed. However at higher speeds, the skilled riders achieved superior balance performance by employing more rider lean control (quantified by cross-correlating rider lean angle and bicycle roll angle) and less steer control (quantified by cross-correlating steer rate and bicycle roll rate) than did novice riders. Skilled riders also used smaller steering control input with less variation (measured by average positive steering power and standard deviations of steer angle and rate) and less rider lean angle variation (measured by the standard deviation of the rider lean angle) independent of speed. We conclude that the reduction in balance control input by skilled riders is not due to reduced balance demands but rather to more effective use of lean control to guide the center of mass via center of pressure movements. PMID:26910774

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

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.

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

Practical To Tactical: Making the Case for a Shift in Ground Vehicle Robotics

DTIC Science & Technology

2012-05-10

with Driver Warning I C R M x x x V x UNCLASSIFIED 21 Electronic Brake System ( ELB ) w/ Electronic Stability Control (ESC) Electric Power Assist...System ( ELB ) w/ Electronic Stability Control (ESC) Electric Power Assist Steering Steering Position Sensor Steering Torque Sensor Transmission...Computer I C R M x x x V x x Wheel Speed Sensors ESC Accelerometer/Rate Gyro UNCLASSIFIED 23 Electronic Brake System ( ELB ) w/ Electronic

Effect of beam steering on the visibility of echogenic and non-echogenic needles: a laboratory study.

PubMed

Uppal, Vishal; Sondekoppam, Rakesh V; Ganapathy, Sugantha

2014-10-01

During peripheral nerve block procedures, needle visibility decreases as the angle of needle insertion relative to skin increases due to loss of reflective signals. The primary aim of our study was to compare the effect of beam steering on the visibility of echogenic and non-echogenic block needles. PAJUNK non-echogenic and echogenic needles were inserted into pork meat at 20°, 40°, 60°, and 70° angles, and electronic beam steering was applied at three different angles (shallow, medium, and steep) to obtain the best possible needle images. Eleven anesthesiologists blinded to the type of needle or use of beam steering scored the images obtained (0 = needle not visible; 10 = excellent needle shaft and tip visibility). Mean scores were used to classify the needles as poor visibility (mean score 0-3.3), intermediate visibility (mean score 3.4-6.6), or good visibility (mean score 6.7-10). At 20°, the visibility scores were intermediate to good in all groups. At 40°, the mean (SD) visibility score for the non-echogenic needle improved significantly from 3.1 (1.4) to 7.9 (1.8) with application of beam steering (difference = 4.8; 95% confidence interval [CI]: 3.1 to 6.6; P < 0.001). At 60°, the mean (SD) visibility score for the non-echogenic needle was poor 0.6 (0.7) and remained poor 2.4 (1.1) with beam steering. One the other hand, the echogenic needle without beam steering 6.5 (1.8) scored significantly better than the non-echogenic needle with beam steering 2.4 (1.1) (difference = 4.2; 95% CI: 2.7 to 5.6; P < 0.001). At 70°, the mean needle visibility score was poor for the non-echogenic needle with or without beam steering. In contrast, the echogenic needle attained an intermediate visibility score with or without beam steering. Beam steering did not significantly change the visibility scores of either the echogenic or the non-echogenic needle (P = 0.088 and 0.056, respectively) at a 70° angle. The PAJUNK echogenic needle, with or without beam steering, was more visible when compared with the non-echogenic needle at 60° and 70° angles of insertion. In contrast, at a 40° angle of needle insertion, the non-echogenic needle with beam steering was more visible compared with the echogenic needle.

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.

Micromachined actuators/sensors for intratubular positioning/steering

DOEpatents

Lee, Abraham P.; Krulevitch, Peter A.; Northrup, M. Allen; Trevino, Jimmy C.

1998-01-01

Micromachined thin film cantilever actuators having means for individually controlling the deflection of the cantilevers, valve members, and rudders for steering same through blood vessels, or positioning same within a blood vessel, for example. Such cantilever actuators include tactile sensor arrays mounted on a catheter or guide wire tip for navigation and tissues identification, shape-memory alloy film based catheter/guide wire steering mechanisms, and rudder-based steering devices that allow the selective actuation of rudders that use the flowing blood itself to help direct the catheter direction through the blood vessel. While particularly adapted for medical applications, these cantilever actuators can be used for steering through piping and tubing systems.

Implementation of a system for controlling the lateral position of a moving vehicle : and field testing of ODOT sensor-assisted steering system

DOT National Transportation Integrated Search

2002-07-01

The overall objective was to design, implement, and test sensor-assisted driver control of an ODOT dump truck. Requirements included repeatably steering a loaded or unloaded truck over embedded sensors to a lateral accuracy of +/- one inch, time-shar...

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

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.

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...

Micromachined actuators/sensors for intratubular positioning/steering

DOEpatents

Lee, A.P.; Krulevitch, P.A.; Northrup, M.A.; Trevino, J.C.

1998-06-30

Micromachined thin film cantilever actuators having means for individually controlling the deflection of the cantilevers, valve members, and rudders for steering same through blood vessels, or positioning same within a blood vessel, for example. Such cantilever actuators include tactile sensor arrays mounted on a catheter or guide wire tip for navigation and tissues identification, shape-memory alloy film based catheter/guide wire steering mechanisms, and rudder-based steering devices that allow the selective actuation of rudders that use the flowing blood itself to help direct the catheter direction through the blood vessel. While particularly adapted for medical applications, these cantilever actuators can be used for steering through piping and tubing systems. 14 figs.

Fuzzy Logic Based Autonomous Parallel Parking System with Kalman Filtering

NASA Astrophysics Data System (ADS)

Panomruttanarug, Benjamas; Higuchi, Kohji

This paper presents an emulation of fuzzy logic control schemes for an autonomous parallel parking system in a backward maneuver. There are four infrared sensors sending the distance data to a microcontroller for generating an obstacle-free parking path. Two of them mounted on the front and rear wheels on the parking side are used as the inputs to the fuzzy rules to calculate a proper steering angle while backing. The other two attached to the front and rear ends serve for avoiding collision with other cars along the parking space. At the end of parking processes, the vehicle will be in line with other parked cars and positioned in the middle of the free space. Fuzzy rules are designed based upon a wall following process. Performance of the infrared sensors is improved using Kalman filtering. The design method needs extra information from ultrasonic sensors. Starting from modeling the ultrasonic sensor in 1-D state space forms, one makes use of the infrared sensor as a measurement to update the predicted values. Experimental results demonstrate the effectiveness of sensor improvement.

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.

Automated vehicle guidance using discrete reference markers. [road surface steering techniques

NASA Technical Reports Server (NTRS)

Johnston, A. R.; Assefi, T.; Lai, J. Y.

1979-01-01

Techniques for providing steering control for an automated vehicle using discrete reference markers fixed to the road surface are investigated analytically. Either optical or magnetic approaches can be used for the sensor, which generates a measurement of the lateral offset of the vehicle path at each marker to form the basic data for steering control. Possible mechanizations of sensor and controller are outlined. Techniques for handling certain anomalous conditions, such as a missing marker, or loss of acquisition, and special maneuvers, such as u-turns and switching, are briefly discussed. A general analysis of the vehicle dynamics and the discrete control system is presented using the state variable formulation. Noise in both the sensor measurement and in the steering servo are accounted for. An optimal controller is simulated on a general purpose computer, and the resulting plots of vehicle path are presented. Parameters representing a small multipassenger tram were selected, and the simulation runs show response to an erroneous sensor measurement and acquisition following large initial path errors.

A Vehicle Steering Recognition System Based on Low-Cost Smartphone Sensors.

PubMed

Liu, Xinhua; Mei, Huafeng; Lu, Huachang; Kuang, Hailan; Ma, Xiaolin

2017-03-20

Recognizing how a vehicle is steered and then alerting drivers in real time is of utmost importance to the vehicle and driver's safety, since fatal accidents are often caused by dangerous vehicle maneuvers, such as rapid turns, fast lane-changes, etc. Existing solutions using video or in-vehicle sensors have been employed to identify dangerous vehicle maneuvers, but these methods are subject to the effects of the environmental elements or the hardware is very costly. In the mobile computing era, smartphones have become key tools to develop innovative mobile context-aware systems. In this paper, we present a recognition system for dangerous vehicle steering based on the low-cost sensors found in a smartphone: i.e., the gyroscope and the accelerometer. To identify vehicle steering maneuvers, we focus on the vehicle's angular velocity, which is characterized by gyroscope data from a smartphone mounted in the vehicle. Three steering maneuvers including turns, lane-changes and U-turns are defined, and a vehicle angular velocity matching algorithm based on Fast Dynamic Time Warping (FastDTW) is adopted to recognize the vehicle steering. The results of extensive experiments show that the average accuracy rate of the presented recognition reaches 95%, which implies that the proposed smartphone-based method is suitable for recognizing dangerous vehicle steering maneuvers.

A Vehicle Steering Recognition System Based on Low-Cost Smartphone Sensors

PubMed Central

Liu, Xinhua; Mei, Huafeng; Lu, Huachang; Kuang, Hailan; Ma, Xiaolin

2017-01-01

Recognizing how a vehicle is steered and then alerting drivers in real time is of utmost importance to the vehicle and driver’s safety, since fatal accidents are often caused by dangerous vehicle maneuvers, such as rapid turns, fast lane-changes, etc. Existing solutions using video or in-vehicle sensors have been employed to identify dangerous vehicle maneuvers, but these methods are subject to the effects of the environmental elements or the hardware is very costly. In the mobile computing era, smartphones have become key tools to develop innovative mobile context-aware systems. In this paper, we present a recognition system for dangerous vehicle steering based on the low-cost sensors found in a smartphone: i.e., the gyroscope and the accelerometer. To identify vehicle steering maneuvers, we focus on the vehicle’s angular velocity, which is characterized by gyroscope data from a smartphone mounted in the vehicle. Three steering maneuvers including turns, lane-changes and U-turns are defined, and a vehicle angular velocity matching algorithm based on Fast Dynamic Time Warping (FastDTW) is adopted to recognize the vehicle steering. The results of extensive experiments show that the average accuracy rate of the presented recognition reaches 95%, which implies that the proposed smartphone-based method is suitable for recognizing dangerous vehicle steering maneuvers. PMID:28335540

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.

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.

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.

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

GMTIFS: the adaptive optics beam steering mirror for the GMT integral-field spectrograph

NASA Astrophysics Data System (ADS)

Davies, J.; Bloxham, G.; Boz, R.; Bundy, D.; Espeland, B.; Fordham, B.; Hart, J.; Herrald, N.; Nielsen, J.; Sharp, R.; Vaccarella, A.; Vest, C.; Young, P. J.

2016-07-01

To achieve the high adaptive optics sky coverage necessary to allow the GMT Integral-Field Spectrograph (GMTIFS) to access key scientific targets, the on-instrument adaptive-optics wavefront-sensing (OIWFS) system must patrol the full 180 arcsecond diameter guide field passed to the instrument. The OIWFS uses a diffraction limited guide star as the fundamental pointing reference for the instrument. During an observation the offset between the science target and the guide star will change due to sources such as flexure, differential refraction and non-sidereal tracking rates. GMTIFS uses a beam steering mirror to set the initial offset between science target and guide star and also to correct for changes in offset. In order to reduce image motion from beam steering errors to those comparable to the AO system in the most stringent case, the beam steering mirror is set a requirement of less than 1 milliarcsecond RMS. This corresponds to a dynamic range for both actuators and sensors of better than 1/180,000. The GMTIFS beam steering mirror uses piezo-walk actuators and a combination of eddy current sensors and interferometric sensors to achieve this dynamic range and control. While the sensors are rated for cryogenic operation, the actuators are not. We report on the results of prototype testing of single actuators, with the sensors, on the bench and in a cryogenic environment. Specific failures of the system are explained and suspected reasons for them. A modified test jig is used to investigate the option of heating the actuator and we report the improved results. In addition to individual component testing, we built and tested a complete beam steering mirror assembly. Testing was conducted with a point source microscope, however controlling environmental conditions to less than 1 micron was challenging. The assembly testing investigated acquisition accuracy and if there was any un-sensed hysteresis in the system. Finally we present the revised beam steering mirror design based on the outcomes and lessons learnt from this prototyping.

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.

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.

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.

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

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.

A Hierarchical Model Predictive Tracking Control for Independent Four-Wheel Driving/Steering Vehicles with Coaxial Steering Mechanism

NASA Astrophysics Data System (ADS)

Itoh, Masato; Hagimori, Yuki; Nonaka, Kenichiro; Sekiguchi, Kazuma

2016-09-01

In this study, we apply a hierarchical model predictive control to omni-directional mobile vehicle, and improve the tracking performance. We deal with an independent four-wheel driving/steering vehicle (IFWDS) equipped with four coaxial steering mechanisms (CSM). The coaxial steering mechanism is a special one composed of two steering joints on the same axis. In our previous study with respect to IFWDS with ideal steering, we proposed a model predictive tracking control. However, this method did not consider constraints of the coaxial steering mechanism which causes delay of steering. We also proposed a model predictive steering control considering constraints of this mechanism. In this study, we propose a hierarchical system combining above two control methods for IFWDS. An upper controller, which deals with vehicle kinematics, runs a model predictive tracking control, and a lower controller, which considers constraints of coaxial steering mechanism, runs a model predictive steering control which tracks the predicted steering angle optimized an upper controller. We verify the superiority of this method by comparing this method with the previous method.

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.

A Type-2 Block-Component-Decomposition Based 2D AOA Estimation Algorithm for an Electromagnetic Vector Sensor Array

PubMed Central

Gao, Yu-Fei; Gui, Guan; Xie, Wei; Zou, Yan-Bin; Yang, Yue; Wan, Qun

2017-01-01

This paper investigates a two-dimensional angle of arrival (2D AOA) estimation algorithm for the electromagnetic vector sensor (EMVS) array based on Type-2 block component decomposition (BCD) tensor modeling. Such a tensor decomposition method can take full advantage of the multidimensional structural information of electromagnetic signals to accomplish blind estimation for array parameters with higher resolution. However, existing tensor decomposition methods encounter many restrictions in applications of the EMVS array, such as the strict requirement for uniqueness conditions of decomposition, the inability to handle partially-polarized signals, etc. To solve these problems, this paper investigates tensor modeling for partially-polarized signals of an L-shaped EMVS array. The 2D AOA estimation algorithm based on rank-(L1,L2,·) BCD is developed, and the uniqueness condition of decomposition is analyzed. By means of the estimated steering matrix, the proposed algorithm can automatically achieve angle pair-matching. Numerical experiments demonstrate that the present algorithm has the advantages of both accuracy and robustness of parameter estimation. Even under the conditions of lower SNR, small angular separation and limited snapshots, the proposed algorithm still possesses better performance than subspace methods and the canonical polyadic decomposition (CPD) method. PMID:28448431

A Type-2 Block-Component-Decomposition Based 2D AOA Estimation Algorithm for an Electromagnetic Vector Sensor Array.

PubMed

Gao, Yu-Fei; Gui, Guan; Xie, Wei; Zou, Yan-Bin; Yang, Yue; Wan, Qun

2017-04-27

This paper investigates a two-dimensional angle of arrival (2D AOA) estimation algorithm for the electromagnetic vector sensor (EMVS) array based on Type-2 block component decomposition (BCD) tensor modeling. Such a tensor decomposition method can take full advantage of the multidimensional structural information of electromagnetic signals to accomplish blind estimation for array parameters with higher resolution. However, existing tensor decomposition methods encounter many restrictions in applications of the EMVS array, such as the strict requirement for uniqueness conditions of decomposition, the inability to handle partially-polarized signals, etc. To solve these problems, this paper investigates tensor modeling for partially-polarized signals of an L-shaped EMVS array. The 2D AOA estimation algorithm based on rank- ( L 1 , L 2 , · ) BCD is developed, and the uniqueness condition of decomposition is analyzed. By means of the estimated steering matrix, the proposed algorithm can automatically achieve angle pair-matching. Numerical experiments demonstrate that the present algorithm has the advantages of both accuracy and robustness of parameter estimation. Even under the conditions of lower SNR, small angular separation and limited snapshots, the proposed algorithm still possesses better performance than subspace methods and the canonical polyadic decomposition (CPD) method.

Displacement and force coupling control design for automotive active front steering system

NASA Astrophysics Data System (ADS)

Zhao, Wanzhong; Zhang, Han; Li, Yijun

2018-06-01

A displacement and force coupling control design for active front steering (AFS) system of vehicle is proposed in this paper. In order to investigate the displacement and force characteristics of the AFS system of the vehicle, the models of AFS system, vehicle, tire as well as the driver model are introduced. Then, considering the nonlinear characteristics of the tire force and external disturbance, a robust yaw rate control method is designed by applying a steering motor to generate an active steering angle to adjust the yaw stability of the vehicle. Based on mixed H2/H∞ control, the system robustness and yaw rate tracking performance are enforced by H∞ norm constraint and the control effort is captured through H2 norm. In addition, based on the AFS system, a planetary gear set and an assist motor are both added to realize the road feeling control in this paper to dismiss the influence of extra steering angle through a compensating method. Evaluation of the overall system is accomplished by simulations and experiments under various driving condition. The simulation and experiment results show the proposed control system has excellent tracking performance and road feeling performance, which can improve the cornering stability and maneuverability of vehicle.

Overnight non-contact continuous vital signs monitoring using an intelligent automatic beam-steering Doppler sensor at 2.4 GHz.

PubMed

Batchu, S; Narasimhachar, H; Mayeda, J C; Hall, T; Lopez, J; Nguyen, T; Banister, R E; Lie, D Y C

2017-07-01

Doppler-based non-contact vital signs (NCVS) sensors can monitor heart rates, respiration rates, and motions of patients without physically touching them. We have developed a novel single-board Doppler-based phased-array antenna NCVS biosensor system that can perform robust overnight continuous NCVS monitoring with intelligent automatic subject tracking and optimal beam steering algorithms. Our NCVS sensor achieved overnight continuous vital signs monitoring with an impressive heart-rate monitoring accuracy of over 94% (i.e., within ±5 Beats-Per-Minute vs. a reference sensor), analyzed from over 400,000 data points collected during each overnight monitoring period of ~ 6 hours at a distance of 1.75 meters. The data suggests our intelligent phased-array NCVS sensor can be very attractive for continuous monitoring of low-acuity patients.

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...

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...

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.

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 .

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.

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.

In-motion optical sensing for assessment of animal well-being

NASA Astrophysics Data System (ADS)

Atkins, Colton A.; Pond, Kevin R.; Madsen, Christi K.

2017-05-01

The application of in-motion optical sensor measurements was investigated for inspecting livestock soundness as a means of animal well-being. An optical sensor-based platform was used to collect in-motion, weight-related information. Eight steers, weighing between 680 and 1134 kg, were evaluated twice. Six of the 8 steers were used for further evaluation and analysis. Hoof impacts caused plate flexion that was optically sensed. Observed kinetic differences between animals' strides at a walking or running/trotting gait with significant force distributions of animals' hoof impacts allowed for observation of real-time, biometric patterns. Overall, optical sensor-based measurements identified hoof differences between and within animals in motion that may allow for diagnosis of musculoskeletal unsoundness without visual evaluation.

Microvalve

DOEpatents

Lee, A.P.; Krulevitch, P.A.; Northrup, M.A.; Trevino, J.C.

1998-10-13

Micromachined thin film cantilever actuators having means for individually controlling the deflection of the cantilevers, valve members, and rudders for steering same through blood vessels, or positioning same within a blood vessel, for example. Such cantilever actuators include tactile sensor arrays mounted on a catheter or guide wire tip for navigation and tissues identification, shape-memory alloy film based catheter/guide wire steering mechanisms, and rudder-based steering devices that allow the selective actuation of rudders that use the flowing blood itself to help direct the catheter direction through the blood vessel. While particularly adapted for medical applications, these cantilever actuators can be used for steering through piping and tubing systems. 14 figs.

Microvalve

DOEpatents

Lee, Abraham P.; Krulevitch, Peter A.; Northrup, M. Allen; Trevino, Jimmy C.

1998-01-01

Micromachined thin film cantilever actuators having means for individually controlling the deflection of the cantilevers, valve members, and rudders for steering same through blood vessels, or positioning same within a blood vessel, for example. Such cantilever actuators include tactile sensor arrays mounted on a catheter or guide wire tip for navigation and tissues identification, shape-memory alloy film based catheter/guide wire steering mechanisms, and rudder-based steering devices that allow the selective actuation of rudders that use the flowing blood itself to help direct the catheter direction through the blood vessel. While particularly adapted for medical applications, these cantilever actuators can be used for steering through piping and tubing systems.

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.

Steering Committee Progress Report on Hydrogen Sensor Performance Testing and Evaluation under the Memorandum of Agreement between NREL, U.S. DOE and JRC-IET, EC

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

Buttner, W.; Post, M.; Burgess, R.

This progress report is a programmatic summary of a formal MOA between NREL and the European Union Joint Research Center, Institute for Energy and Transport to be presented at the Steering Committee Meeting, December 3, 2012.

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.

Generic simulation of multi-element ladar scanner kinematics in USU LadarSIM

NASA Astrophysics Data System (ADS)

Omer, David; Call, Benjamin; Pack, Robert; Fullmer, Rees

2006-05-01

This paper presents a generic simulation model for a ladar scanner with up to three scan elements, each having a steering, stabilization and/or pattern-scanning role. Of interest is the development of algorithms that automatically generate commands to the scan elements given beam-steering objectives out of the ladar aperture, and the base motion of the sensor platform. First, a straight-forward single-element body-fixed beam-steering methodology is presented. Then a unique multi-element redirective and reflective space-fixed beam-steering methodology is explained. It is shown that standard direction cosine matrix decomposition methods fail when using two orthogonal, space-fixed rotations, thus demanding the development of a new algorithm for beam steering. Finally, a related steering control methodology is presented that uses two separate optical elements mathematically combined to determine the necessary scan element commands. Limits, restrictions, and results on this methodology are presented.

Intervention criterion and control research for active front steering with consideration of road adhesion

NASA Astrophysics Data System (ADS)

Wu, Xiaojian; Zhou, Bing; Wen, Guilin; Long, Lefei; Cui, Qingjia

2018-04-01

A multi-objective active front steering (AFS) control system considering the road adhesion constraint on vehicle stability is developed using the sliding mode control (SMC) method. First, an identification function combined with the relationship between the yaw rate and the steering angle is developed to determine whether the tyre state is linear or nonlinear. On this basis, an intervention criterion for the AFS system is proposed to improve vehicle handling and stability in emergent conditions. A sideslip angle stability domain enveloped by the upper, lower, left, and right boundaries, as well as the constraint of road adhesion coefficient, is constructed based on the ? phase-plane method. A dynamic weighting coefficient to coordinate the control of yaw rate and sideslip angle, and a control strategy that considers changing control objectives based on the desired yaw rate, the desired sideslip angle, and their proportional weights, are proposed for the SMC controller. Because road adhesion has a significant effect on vehicle stability and to meet the control algorithm's requirement of real-time access to vehicle states, a unscented Kalman filter-based state observer is proposed to estimate the adhesion coefficient and the required states. Finally, simulations are performed using high and low road adhesion conditions in a Matlab/Simulink environment, and the results show that the proposed AFS control system promptly intervenes according to the intervention criterion, effectively improving vehicle handling and stability.

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.

Controlled Structures Technology Steering Committee Workshop

NASA Technical Reports Server (NTRS)

1992-01-01

Viewgraphs on controlled structures technology presented at the steering committee workshop on 22-23 Jan. 1992 are included. Topics addressed include: interferometer testbed; middeck 0-gravity dynamics experiment; middeck active control experiment; multivariable identification for control; strain actuated aeroelastic control; sensor/actuator technology development; input command shaping; and other research projects. A description of the organization and committee are included.

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.

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

Mixed-mode VLSI optic flow sensors for micro air vehicles

NASA Astrophysics Data System (ADS)

Barrows, Geoffrey Louis

We develop practical, compact optic flow sensors. To achieve the desired weight of 1--2 grams, mixed-mode and mixed-signal VLSI techniques are used to develop compact circuits that directly perform computations necessary to measure optic flow. We discuss several implementations, including a version fully integrated in VLSI, and several "hybrid sensors" in which the front end processing is performed with an analog chip and the back end processing is performed with a microcontroller. We extensively discuss one-dimensional optic flow sensors based on the linear competitive feature tracker (LCFT) algorithm. Hardware implementations of this algorithm are shown able to measure visual motion with contrast levels on the order of several percent. We argue that the development of one-dimensional optic flow sensors is therefore reduced to a problem of engineering. We also introduce two related two-dimensional optic flow algorithms that are amenable to implementation in VLSI. This includes the planar competitive feature tracker (PCFT) algorithm and the trajectory method. These sensors are being developed to solve small-scale navigation problems in micro air vehicles, which are autonomous aircraft whose maximum dimension is on the order of 15 cm. We obtain a proof-of-principle of small-scale navigation by mounting a prototype sensor onto a toy glider and programming the sensor to control a rudder or an elevator to affect the glider's path during flight. We demonstrate the determination of altitude by measuring optic flow in the downward direction. We also demonstrate steering to avoid a collision with a wall, when the glider is tossed towards the wall at a shallow angle, by measuring the optic flow in the direction of the glider's left and right side.

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.

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.

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…

Slip-based terrain estimation with a skid-steer vehicle

NASA Astrophysics Data System (ADS)

Reina, Giulio; Galati, Rocco

2016-10-01

In this paper, a novel approach for online terrain characterisation is presented using a skid-steer vehicle. In the context of this research, terrain characterisation refers to the estimation of physical parameters that affects the terrain ability to support vehicular motion. These parameters are inferred from the modelling of the kinematic and dynamic behaviour of a skid-steer vehicle that reveals the underlying relationships governing the vehicle-terrain interaction. The concept of slip track is introduced as a measure of the slippage experienced by the vehicle during turning motion. The proposed terrain estimation system includes common onboard sensors, that is, wheel encoders, electrical current sensors and yaw rate gyroscope. Using these components, the system can characterise terrain online during normal vehicle operations. Experimental results obtained from different surfaces are presented to validate the system in the field showing its effectiveness and potential benefits to implement adaptive driving assistance systems or to automatically update the parameters of onboard control and planning algorithms.

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

UGV Interoperability Profile (IOP) - Overarching Profile JAUS Profiling Rules, Version 0

DTIC Science & Technology

2011-12-21

negative values indicate pivot counter clockwise. - Multi- axle steering vehicles are not supported. Acceleration Limit A SetAcceleration limit...obtained from a Global Positioning Sensor (GPS), but may also be a combination of multiple sensor modalities that lead to a global pose referenced

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.

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.

Maximum Constrained Directivity of Oversteered End-Fire Sensor Arrays

PubMed Central

Trucco, Andrea; Traverso, Federico; Crocco, Marco

2015-01-01

For linear arrays with fixed steering and an inter-element spacing smaller than one half of the wavelength, end-fire steering of a data-independent beamformer offers better directivity than broadside steering. The introduction of a lower bound on the white noise gain ensures the necessary robustness against random array errors and sensor mismatches. However, the optimum broadside performance can be obtained using a simple processing architecture, whereas the optimum end-fire performance requires a more complicated system (because complex weight coefficients are needed). In this paper, we reconsider the oversteering technique as a possible way to simplify the processing architecture of equally spaced end-fire arrays. We propose a method for computing the amount of oversteering and the related real-valued weight vector that allows the constrained directivity to be maximized for a given inter-element spacing. Moreover, we verify that the maximized oversteering performance is very close to the optimum end-fire performance. We conclude that optimized oversteering is a viable method for designing end-fire arrays that have better constrained directivity than broadside arrays but with a similar implementation complexity. A numerical simulation is used to perform a statistical analysis, which confirms that the maximized oversteering performance is robust against sensor mismatches. PMID:26066987

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.

Stair-climbing capabilities of USU's T3 ODV mobile robot

NASA Astrophysics Data System (ADS)

Robinson, D. Reed; Wood, Carl G.

2001-09-01

A six-wheeled autonomous omni-directional vehicle (ODV) called T3 has been developed at Utah State University's (USU) Center for Self-Organizing and Intelligent Systems (CSOIS). This paper focuses on T3's ability to climb stairs using its unique configuration of 6 independently driven and steered wheels and active suspension height control. The ability of T3, or any similar vehicle, to climb stairs is greatly dependent on the chassis orientation relative to the stairs. Stability criteria is developed for any vehicle dimensions and orientation, on any staircase. All possible yaw and pitch angles on various staircases are evaluated to find vehicle orientations that will allow T3 to climb with the largest margin of stability. Different controller types are investigated for controlling vertical wheel movement with the objective of keeping all wheels in contact with the stairs, providing smooth load transfer between loaded and unloaded wheels, and maintaining optimum chassis pitch and roll angles. A controller is presented that uses feedback from wheel loading, vertical wheel position, and chassis orientation sensors. The implementation of the controller is described, and T3's stair climbing performance is presented and evaluated.

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.

Expeditionary Rubber Removal Capability

DTIC Science & Technology

2006-12-31

the modified spray unit or system with equivalent capabilities. 24 25 9.8. A pressure sensor or caster wheels should be incorporated into the...DISCUSSION 18 8.0 CONCLUSIONS 23 9.0 RECOMMENDATIONS 24 APPENDIX A – DETAILED LIST OF EQUIPMENT AND MODIFICATIONS 26 APPENDIX B – LIST OF SOURCES FOR...tall Weight – 4820 lb (No Attachments) Top Speed – 18 mph High Flow Hydraulics (Optional) – 26 gpm Steering – All Wheel Steering Cargo Max Load

Approach range and velocity determination using laser sensors and retroreflector targets

NASA Technical Reports Server (NTRS)

Donovan, William J.

1991-01-01

A laser docking sensor study is currently in the third year of development. The design concept is considered to be validated. The concept is based on using standard radar techniques to provide range, velocity, and bearing information. Multiple targets are utilized to provide relative attitude data. The design requirements were to utilize existing space-qualifiable technology and require low system power, weight, and size yet, operate from 0.3 to 150 meters with a range accuracy greater than 3 millimeters and a range rate accuracy greater than 3 mm per second. The field of regard for the system is +/- 20 deg. The transmitter and receiver design features a diode laser, microlens beam steering, and power control as a function of range. The target design consists of five target sets, each having seven 3-inch retroreflectors, arranged around the docking port. The target map is stored in the sensor memory. Phase detection is used for ranging, with the frequency range-optimized. Coarse bearing measurement is provided by the scanning system (one set of binary optics) angle. Fine bearing measurement is provided by a quad detector. A MIL-STD-1750 A/B computer is used for processing. Initial test results indicate a probability of detection greater than 99 percent and a probability of false alarm less than 0.0001. The functional system is currently at the MIT/Lincoln Lab for demonstration.

Hyperspectral and in situ data fusion for the steering of plant production systems

NASA Astrophysics Data System (ADS)

Verstraeten, W. W.; Coppin, P.

2009-04-01

Plant production systems are governed by biotic and a-biotic factors and by management practices. Some of the relevant parameters have already been identified and incorporated as inputs into existing models for production assessment, early-warning, and process management. These parameters originate nowadays primarily from in-situ measurements and observations. Non-invasive remotely sensed data, the diagnostic tools of excellence where it concerns the interaction of solar energy with biomass, have seldom been included and if so, mostly to support yield assessment and harvest monitoring only. The availability of new-generation hyperspectral/hypertemporal signatures will greatly facilitate their integration into full-fledged plant production model either via direct use, forcing, assimilation or re-initialization strategies. The main objective of IS-HS (Integration of In Situ data and HyperSpectral remote sensing for plant production modeling) is to set up a multidisciplinary research platform to deepen our system understanding and to develop production-oriented schemes to steer capital-intensive vegetation scenarios. Real-time steering in a 10-15 year timeframe is envisaged, where current system state is monitored, and steered towards an ideal state in terms of production quantity and quality. IS-HS focuses on hyperspectral sensor design, time series analysis tools for remote sensing data of vegetation systems, on the establishment of two stream communication between satellite and ground sensors, on the development of citrus plant production systems, and on the design of in-situ data sensor networks. The general framework of this system approach will be presented. In time, this integration should allow to cross the bridge from post-harvest assessment to near real-time potential and actual yield monitoring in terms of crop.

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.

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

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

Aeronautical satellite antenna steering using magnetic field sensors

NASA Technical Reports Server (NTRS)

Sydor, John; Dufour, Martial

1993-01-01

Designers of aeronautical satellite terminals are often faced with the problem of steering a directive antenna from an airplane or helicopter. This problem is usually solved by using aircraft orientation information derived from inertial sensors on-board the aircraft in combination with satellite ephemeris information calculated from geographic coordinates. This procedure works well but relies heavily on avionics that are external to the terminal. For the majority of small aircraft and helicopters which will form the bulk of future aeronautical satcom users, such avionics either do not exist or are difficult for the satellite terminal to interface with. At the Communications Research Center (CRC), work has been undertaken to develop techniques that use the geomagnetic field and satellite antenna pointing vectors (both of which are stationary in a local geographical area) to track the position of a satellite relative to a moving platform such as an aircraft. The performance of this technique is examined and a mathematical steering transformation is developed within this paper. Details are given regarding the experimental program that will be undertaken to test the concepts proposed herein.

Dynamic Steering for Improved Sensor Autonomy and Catalogue Maintenance

NASA Astrophysics Data System (ADS)

Hobson, T.; Gordon, N.; Clarkson, I.; Rutten, M.; Bessell, T.

A number of international agencies endeavour to maintain catalogues of the man-made resident space objects (RSOs) currently orbiting the Earth. Such catalogues are primarily created to anticipate and avoid destructive collisions involving important space assets such as manned missions and active satellites. An agencys ability to achieve this objective is dependent on the accuracy, reliability and timeliness of the information used to update its catalogue. A primary means for gathering this information is by regularly making direct observations of the tens-of-thousands of currently detectable RSOs via networks of space surveillance sensors. But operational constraints sometimes prevent accurate and timely reacquisition of all known RSOs, which can cause them to become lost to the tracking system. Furthermore, when comprehensive acquisition of new objects does not occur, these objects, in addition to the lost RSOs, result in uncorrelated detections when next observed. Due to the rising number of space-missions and the introduction of newer, more capable space-sensors, the number of uncorrelated targets is at an all-time high. The process of differentiating uncorrelated detections caused by once-acquired now-lost RSOs from newly detected RSOs is a difficult and often labour intensive task. Current methods for overcoming this challenge focus on advancements in orbit propagation and object characterisation to improve prediction accuracy and target identification. In this paper, we describe a complementary approach that incorporates increased awareness of error and failed observations into the RSO tracking solution. Our methodology employs a technique called dynamic steering to improve the autonomy and capability of a space surveillance networks steerable sensors. By co-situating each sensor with a low-cost high-performance computer, the steerable sensor can quickly and intelligently decide how to steer itself. The sensor-system uses a dedicated parallel-processing architecture to enable it to compute a high-fidelity estimate of the targets prior state error distribution in real-time. Negative information, such as when an RSO is targeted for observation but it is not observed, is incorporated to improve the likelihood of reacquiring the target when attempting to observe the target in future. The sensor is consequently capable of improving its utility by planning each observation using a sensor steering solution that is informed by all prior attempts at observing the target. We describe the practical implementation of a single experimental sensor and offer the results of recent field trials. These trials involved reacquisition and constrained Initial Orbit Determination of RSOs, a number of months after prior observation and initial detection. Using the proposed approach, the system is capable of using targeting information that would be unusable by existing space surveillance networks. The system consequently offers a means of enhancing space surveillance for SSA via increased system capacity, a higher degree of autonomy and the ability to reacquire objects whose dynamics are insufficiently modelled to cue a conventional space surveillance system for observation and tracking.

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.

Flight calibration tests of a nose-boom-mounted fixed hemispherical flow-direction sensor

NASA Technical Reports Server (NTRS)

Armistead, K. H.; Webb, L. D.

1973-01-01

Flight calibrations of a fixed hemispherical flow angle-of-attack and angle-of-sideslip sensor were made from Mach numbers of 0.5 to 1.8. Maneuvers were performed by an F-104 airplane at selected altitudes to compare the measurement of flow angle of attack from the fixed hemispherical sensor with that from a standard angle-of-attack vane. The hemispherical flow-direction sensor measured differential pressure at two angle-of-attack ports and two angle-of-sideslip ports in diametrically opposed positions. Stagnation pressure was measured at a center port. The results of these tests showed that the calibration curves for the hemispherical flow-direction sensor were linear for angles of attack up to 13 deg. The overall uncertainty in determining angle of attack from these curves was plus or minus 0.35 deg or less. A Mach number position error calibration curve was also obtained for the hemispherical flow-direction sensor. The hemispherical flow-direction sensor exhibited a much larger position error than a standard uncompensated pitot-static probe.

Analysis of Underactuated Dynamic Locomotion Systems Using Perturbation Expansion: The Twistcar Toy Example

NASA Astrophysics Data System (ADS)

Chakon, Ofir; Or, Yizhar

2017-08-01

Underactuated robotic locomotion systems are commonly represented by nonholonomic constraints where in mixed systems, these constraints are also combined with momentum evolution equations. Such systems have been analyzed in the literature by exploiting symmetries and utilizing advanced geometric methods. These works typically assume that the shape variables are directly controlled, and obtain the system's solutions only via numerical integration. In this work, we demonstrate utilization of the perturbation expansion method for analyzing a model example of mixed locomotion system—the twistcar toy vehicle, which is a variant of the well-studied roller-racer model. The system is investigated by assuming small-amplitude oscillatory inputs of either steering angle (kinematic) or steering torque (mechanical), and explicit expansions for the system's solutions under both types of actuation are obtained. These expressions enable analyzing the dependence of the system's dynamic behavior on the vehicle's structural parameters and actuation type. In particular, we study the reversal in direction of motion under steering angle oscillations about the unfolded configuration, as well as influence of the choice of actuation type on convergence properties of the motion. Some of the findings are demonstrated qualitatively by reporting preliminary motion experiments with a modular robotic prototype of the vehicle.

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.

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.

Computed tomography (CT)-compatible remote center of motion needle steering robot: Fusing CT images and electromagnetic sensor data.

PubMed

Shahriari, Navid; Heerink, Wout; van Katwijk, Tim; Hekman, Edsko; Oudkerk, Matthijs; Misra, Sarthak

2017-07-01

Lung cancer is the most common cause of cancer-related death, and early detection can reduce the mortality rate. Patients with lung nodules greater than 10 mm usually undergo a computed tomography (CT)-guided biopsy. However, aligning the needle with the target is difficult and the needle tends to deflect from a straight path. In this work, we present a CT-compatible robotic system, which can both position the needle at the puncture point and also insert and rotate the needle. The robot has a remote-center-of-motion arm which is achieved through a parallel mechanism. A new needle steering scheme is also developed where CT images are fused with electromagnetic (EM) sensor data using an unscented Kalman filter. The data fusion allows us to steer the needle using the real-time EM tracker data. The robot design and the steering scheme are validated using three experimental cases. Experimental Case I and II evaluate the accuracy and CT-compatibility of the robot arm, respectively. In experimental Case III, the needle is steered towards 5 real targets embedded in an anthropomorphic gelatin phantom of the thorax. The mean targeting error for the 5 experiments is 1.78 ± 0.70 mm. The proposed robotic system is shown to be CT-compatible with low targeting error. Small nodule size and large needle diameter are two risk factors that can lead to complications in lung biopsy. Our results suggest that nodules larger than 5 mm in diameter can be targeted using our method which may result in lower complication rate. Copyright © 2017 IPEM. Published by Elsevier Ltd. All rights reserved.

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

One novel type of miniaturization FBG rotation angle sensor with high measurement precision and temperature self-compensation

NASA Astrophysics Data System (ADS)

Jiang, Shanchao; Wang, Jing; Sui, Qingmei

2018-03-01

In order to achieve rotation angle measurement, one novel type of miniaturization fiber Bragg grating (FBG) rotation angle sensor with high measurement precision and temperature self-compensation is proposed and studied in this paper. The FBG rotation angle sensor mainly contains two core sensitivity elements (FBG1 and FBG2), triangular cantilever beam, and rotation angle transfer element. In theory, the proposed sensor can achieve temperature self-compensation by complementation of the two core sensitivity elements (FBG1 and FBG2), and it has a boundless angel measurement range with 2π rad period duo to the function of the rotation angle transfer element. Based on introducing the joint working processes, the theory calculation model of the FBG rotation angel sensor is established, and the calibration experiment on one prototype is also carried out to obtain its measurement performance. After experimental data analyses, the measurement precision of the FBG rotation angle sensor prototype is 0.2 ° with excellent linearity, and the temperature sensitivities of FBG1 and FBG2 are 10 pm/° and 10.1 pm/°, correspondingly. All these experimental results confirm that the FBG rotation angle sensor can achieve large-range angle measurement with high precision and temperature self-compensation.

Robust optical sensors for safety critical automotive applications

NASA Astrophysics Data System (ADS)

De Locht, Cliff; De Knibber, Sven; Maddalena, Sam

2008-02-01

Optical sensors for the automotive industry need to be robust, high performing and low cost. This paper focuses on the impact of automotive requirements on optical sensor design and packaging. Main strategies to lower optical sensor entry barriers in the automotive market include: Perform sensor calibration and tuning by the sensor manufacturer, sensor test modes on chip to guarantee functional integrity at operation, and package technology is key. As a conclusion, optical sensor applications are growing in automotive. Optical sensor robustness matured to the level of safety critical applications like Electrical Power Assisted Steering (EPAS) and Drive-by-Wire by optical linear arrays based systems and Automated Cruise Control (ACC), Lane Change Assist and Driver Classification/Smart Airbag Deployment by camera imagers based systems.

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.

High-angle-of-attack pneumatic lag and upwash corrections for a hemispherical flow direction sensor

NASA Technical Reports Server (NTRS)

Whitmore, Stephen A.; Heeg, Jennifer; Larson, Terry J.; Ehernberger, L. J.; Hagen, Floyd W.; Deleo, Richard V.

1987-01-01

As part of the NASA F-14 high angle of attack flight test program, a nose mounted hemispherical flow direction sensor was calibrated against a fuselage mounted movable vane flow angle sensor. Significant discrepancies were found to exist in the angle of attack measurements. A two fold approach taken to resolve these discrepancies during subsonic flight is described. First, the sensing integrity of the isolated hemispherical sensor is established by wind tunnel data extending to an angle of attack of 60 deg. Second, two probable causes for the discrepancies, pneumatic lag and upwash, are examined. Methods of identifying and compensating for lag and upwash are presented. The wind tunnel data verify that the isolated hemispherical sensor is sufficiently accurate for static conditions with angles of attack up to 60 deg and angles of sideslip up to 30 deg. Analysis of flight data for two high angle of attack maneuvers establishes that pneumatic lag and upwash are highly correlated with the discrepancies between the hemispherical and vane type sensor measurements.

Development of a mobile robot for the 1995 AUVS competition

NASA Astrophysics Data System (ADS)

Matthews, Bradley O.; Ruthemeyer, Michael A.; Perdue, David; Hall, Ernest L.

1995-12-01

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 advantages of a modular system are related to portability and the fact that 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 systems. The speed and steering control are supervised by a 486 computer through a 3-axis motion controller. The obstacle avoidance system is based on a micro-controller interfaced with six ultrasonic transducers. The is 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, where even computer communication is not necessary. Vision guidance is accomplished with a CCD camera with a zoom lens. The data is collected through a commercial tracking device, communicating with the computer the X,Y coordinates of the lane marker. Testing of these systems yielded positive results by showing that at five mph the vehicle can follow a line and at the same time avoid obstacles. This design, in its modularity, creates a portable autonomous controller applicable for any mobile vehicle with only minor adaptations.

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

Performance Assessment and Geometric Calibration of RESOURCESAT-2

NASA Astrophysics Data System (ADS)

Radhadevi, P. V.; Solanki, S. S.; Akilan, A.; Jyothi, M. V.; Nagasubramanian, V.

2016-06-01

Resourcesat-2 (RS-2) has successfully completed five years of operations in its orbit. This satellite has multi-resolution and multi-spectral capabilities in a single platform. A continuous and autonomous co-registration, geo-location and radiometric calibration of image data from different sensors with widely varying view angles and resolution was one of the challenges of RS-2 data processing. On-orbit geometric performance of RS-2 sensors has been widely assessed and calibrated during the initial phase operations. Since then, as an ongoing activity, various geometric performance data are being generated periodically. This is performed with sites of dense ground control points (GCPs). These parameters are correlated to the direct geo-location accuracy of the RS-2 sensors and are monitored and validated to maintain the performance. This paper brings out the geometric accuracy assessment, calibration and validation done for about 500 datasets of RS-2. The objectives of this study are to ensure the best absolute and relative location accuracy of different cameras, location performance with payload steering and co-registration of multiple bands. This is done using a viewing geometry model, given ephemeris and attitude data, precise camera geometry and datum transformation. In the model, the forward and reverse transformations between the coordinate systems associated with the focal plane, payload, body, orbit and ground are rigorously and explicitly defined. System level tests using comparisons to ground check points have validated the operational geo-location accuracy performance and the stability of the calibration parameters.

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.

A novel method of measuring spatial rotation angle using MEMS tilt sensors

NASA Astrophysics Data System (ADS)

Cao, Jian'an; Zhu, Xin; Wu, Hao; Zhang, Leping

2017-10-01

This paper presents a novel method of measuring spatial rotation angle with a dual-axis micro-electro-mechanical systems tilt sensor. When the sensor is randomly mounted on the surface of the rotating object, there are three unpredictable and unknown mounting position parameters: α, the sensor’s swing angle on the measuring plane; β, the angle between the rotation axis and the horizontal plane; and γ, the angle between the measuring plane and the rotation axis. Thus, the sensor’s spatial rotation model is established to describe the relationship between the measuring axis, rotation axis, and horizontal plane, and the corresponding analytical equations are derived. Furthermore, to eliminate the deviation caused by the uncertain direction of the rotation axis, an extra perpendicularly mounted, single-axis tilt sensor is combined with the dual-axis tilt sensor, forming a three-axis tilt sensor. Then, by measuring the sensors’ three tilts and solving the model’s equations, the object’s spatial rotation angle is obtained. Finally, experimental results show that the developed tilt sensor is capable of measuring spatial rotation angle in the range of  ±180° with an accuracy of 0.2° if the angle between the rotation axis and the horizontal plane is less than 75°.

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

A robust nonlinear skid-steering control design applied to the MULE (6x6) unmanned ground vehicle

NASA Astrophysics Data System (ADS)

Kaloust, Joseph

2006-05-01

The paper presents a robust nonlinear skid-steering control design concept. The control concept is based on the recursive/backstepping control design technique and is capable of compensating for uncertainties associated with sensor noise measurements and/or system dynamic state uncertainties. The objective of this control design is to demonstrate the performance of the nonlinear controller under uncertainty associate with road traction (rough off-road and on-road terrain). The MULE vehicle is used in the simulation modeling and results.

Intensity insensitive one-dimensional optical fiber tilt sensor

NASA Astrophysics Data System (ADS)

Vadakkapattu Canthadai, Badrinath; Sengupta, Dipankar; Pachava, Vengalrao; Kishore, P.

2014-06-01

The paper presents a proximity sensor based on plastic optical fiber as tilt sensor. Discrete and continuous response of the sensor against change in tilt angle of the setup is studied. The sensor can detect tilt angles up to 5.70 and the achieved sensor sensitivity is 97mV/0 .

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.

Accurate human limb angle measurement: sensor fusion through Kalman, least mean squares and recursive least-squares adaptive filtering

NASA Astrophysics Data System (ADS)

Olivares, A.; Górriz, J. M.; Ramírez, J.; Olivares, G.

2011-02-01

Inertial sensors are widely used in human body motion monitoring systems since they permit us to determine the position of the subject's limbs. Limb angle measurement is carried out through the integration of the angular velocity measured by a rate sensor and the decomposition of the components of static gravity acceleration measured by an accelerometer. Different factors derived from the sensors' nature, such as the angle random walk and dynamic bias, lead to erroneous measurements. Dynamic bias effects can be reduced through the use of adaptive filtering based on sensor fusion concepts. Most existing published works use a Kalman filtering sensor fusion approach. Our aim is to perform a comparative study among different adaptive filters. Several least mean squares (LMS), recursive least squares (RLS) and Kalman filtering variations are tested for the purpose of finding the best method leading to a more accurate and robust limb angle measurement. A new angle wander compensation sensor fusion approach based on LMS and RLS filters has been developed.

Human-computer interface glove using flexible piezoelectric sensors

NASA Astrophysics Data System (ADS)

Cha, Youngsu; Seo, Jeonggyu; Kim, Jun-Sik; Park, Jung-Min

2017-05-01

In this note, we propose a human-computer interface glove based on flexible piezoelectric sensors. We select polyvinylidene fluoride as the piezoelectric material for the sensors because of advantages such as a steady piezoelectric characteristic and good flexibility. The sensors are installed in a fabric glove by means of pockets and Velcro bands. We detect changes in the angles of the finger joints from the outputs of the sensors, and use them for controlling a virtual hand that is utilized in virtual object manipulation. To assess the sensing ability of the piezoelectric sensors, we compare the processed angles from the sensor outputs with the real angles from a camera recoding. With good agreement between the processed and real angles, we successfully demonstrate the user interaction system with the virtual hand and interface glove based on the flexible piezoelectric sensors, for four hand motions: fist clenching, pinching, touching, and grasping.

Experimental Comparison Between Mahoney and Complementary Sensor Fusion Algorithm for Attitude Determination by Raw Sensor Data of Xsens Imu on Buoy

NASA Astrophysics Data System (ADS)

Jouybari, A.; Ardalan, A. A.; Rezvani, M.-H.

2017-09-01

The accurate measurement of platform orientation plays a critical role in a range of applications including marine, aerospace, robotics, navigation, human motion analysis, and machine interaction. We used Mahoney filter, Complementary filter and Xsens Kalman filter for achieving Euler angle of a dynamic platform by integration of gyroscope, accelerometer, and magnetometer measurements. The field test has been performed in Kish Island using an IMU sensor (Xsens MTi-G-700) that installed onboard a buoy so as to provide raw data of gyroscopes, accelerometers, magnetometer measurements about 25 minutes. These raw data were used to calculate the Euler angles by Mahoney filter and Complementary filter, while the Euler angles collected by XSense IMU sensor become the reference of the Euler angle estimations. We then compared Euler angles which calculated by Mahoney Filter and Complementary Filter with reference to the Euler angles recorded by the XSense IMU sensor. The standard deviations of the differences between the Mahoney Filter, Complementary Filter Euler angles and XSense IMU sensor Euler angles were about 0.5644, 0.3872, 0.4990 degrees and 0.6349, 0.2621, 2.3778 degrees for roll, pitch, and heading, respectively, so the numerical result assert that Mahoney filter is precise for roll and heading angles determination and Complementary filter is precise only for pitch determination, it should be noted that heading angle determination by Complementary filter has more error than Mahoney filter.

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.

Improving Kinematic Accuracy of Soft Wearable Data Gloves by Optimizing Sensor Locations

PubMed Central

Kim, Dong Hyun; Lee, Sang Wook; Park, Hyung-Soon

2016-01-01

Bending sensors enable compact, wearable designs when used for measuring hand configurations in data gloves. While existing data gloves can accurately measure angular displacement of the finger and distal thumb joints, accurate measurement of thumb carpometacarpal (CMC) joint movements remains challenging due to crosstalk between the multi-sensor outputs required to measure the degrees of freedom (DOF). To properly measure CMC-joint configurations, sensor locations that minimize sensor crosstalk must be identified. This paper presents a novel approach to identifying optimal sensor locations. Three-dimensional hand surface data from ten subjects was collected in multiple thumb postures with varied CMC-joint flexion and abduction angles. For each posture, scanned CMC-joint contours were used to estimate CMC-joint flexion and abduction angles by varying the positions and orientations of two bending sensors. Optimal sensor locations were estimated by the least squares method, which minimized the difference between the true CMC-joint angles and the joint angle estimates. Finally, the resultant optimal sensor locations were experimentally validated. Placing sensors at the optimal locations, CMC-joint angle measurement accuracies improved (flexion, 2.8° ± 1.9°; abduction, 1.9° ± 1.2°). The proposed method for improving the accuracy of the sensing system can be extended to other types of soft wearable measurement devices. PMID:27240364

Wind-tunnel investigation of the flow correction for a model-mounted angle of attack sensor at angles of attack from -10 deg to 110 deg. [Langley 12-foot low speed wind tunnel test

NASA Technical Reports Server (NTRS)

Moul, T. M.

1979-01-01

A preliminary wind tunnel investigation was undertaken to determine the flow correction for a vane angle of attack sensor over an angle of attack range from -10 deg to 110 deg. The sensor was mounted ahead of the wing on a 1/5 scale model of a general aviation airplane. It was shown that the flow correction was substantial, reaching about 15 deg at an angle of attack of 90 deg. The flow correction was found to increase as the sensor was moved closer to the wing or closer to the fuselage. The experimentally determined slope of the flow correction versus the measured angle of attack below the stall angle of attack agreed closely with the slope of flight data from a similar full scale airplane.

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.

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

Effectiveness of Variable-Gain Kalman Filter Based on Angle Error Calculated from Acceleration Signals in Lower Limb Angle Measurement with Inertial Sensors

PubMed Central

Watanabe, Takashi

2013-01-01

The wearable sensor system developed by our group, which measured lower limb angles using Kalman-filtering-based method, was suggested to be useful in evaluation of gait function for rehabilitation support. However, it was expected to reduce variations of measurement errors. In this paper, a variable-Kalman-gain method based on angle error that was calculated from acceleration signals was proposed to improve measurement accuracy. The proposed method was tested comparing to fixed-gain Kalman filter and a variable-Kalman-gain method that was based on acceleration magnitude used in previous studies. First, in angle measurement in treadmill walking, the proposed method measured lower limb angles with the highest measurement accuracy and improved significantly foot inclination angle measurement, while it improved slightly shank and thigh inclination angles. The variable-gain method based on acceleration magnitude was not effective for our Kalman filter system. Then, in angle measurement of a rigid body model, it was shown that the proposed method had measurement accuracy similar to or higher than results seen in other studies that used markers of camera-based motion measurement system fixing on a rigid plate together with a sensor or on the sensor directly. The proposed method was found to be effective in angle measurement with inertial sensors. PMID:24282442

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

Evaluation of electrolytic tilt sensors for measuring model angle of attack in wind tunnel tests

NASA Technical Reports Server (NTRS)

Wong, Douglas T.

1992-01-01

The results of a laboratory evaluation of electrolytic tilt sensors as potential candidates for measuring model attitude or angle of attack in wind tunnel tests are presented. The performance of eight electrolytic tilt sensors was compared with that of typical servo accelerometers used for angle-of-attack measurements. The areas evaluated included linearity, hysteresis, repeatability, temperature characteristics, roll-on-pitch interaction, sensitivity to lead-wire resistance, step response time, and rectification. Among the sensors being evaluated, the Spectron model RG-37 electrolytic tilt sensors have the highest overall accuracy in terms of linearity, hysteresis, repeatability, temperature sensitivity, and roll sensitivity. A comparison of the sensors with the servo accelerometers revealed that the accuracy of the RG-37 sensors was on the average about one order of magnitude worse. Even though a comparison indicates that the cost of each tilt sensor is about one-third the cost of each servo accelerometer, the sensors are considered unsuitable for angle-of-attack measurements. However, the potential exists for other applications such as wind tunnel wall-attitude measurements where the errors resulting from roll interaction, vibration, and response time are less and sensor temperature can be controlled.

Surface plasmon resonance sensor using vari-focal liquid lens under angular interrogation

NASA Astrophysics Data System (ADS)

Lee, Muyoung; Bang, Yousung; Lee, Jooho; Jang, Wonjae; Won, Yong Hyub

2017-02-01

In this paper, a surface plasmon resonance sensor for the detection of refractive index variation is presented. A novel waveguide type surface plasmon resonance sensing configuration with focal length variable liquid lens is introduced. The method of surface plasmon resonance sensor is based on the waveguide type with incident angle variation. The incident angle is varied by using an electrowetting liquid lens which is possible to actively change focal length as applying voltage. The optical system, which is adapted to electrowetting lens can continuously change the incident angle of light from 73 to 78 degrees with compact size. The surface plasmon waves are excited between metal and dielectric interface. The sensing surfaces are prepared by a coating of gold metal above high refractive index glass substrate. The incident light which is 532nm monochromatic light source passes through a noble metal coated substrate to detect intensity with incident angle variation. An analysis to distinguish the contribution of light with various incident angle is focused on the angular characteristics of the surface plasmon sensor under wavelength interrogation. The resonance angle is determined corresponding to sensing material refractive index with high sensitivity. The result suggests that the performance of surface plasmon resonance sensor can be improved by real time varying incident angle. From this presented study, it provides a different approach for angular interrogation surface plasmon resonance sensor and can be miniaturized for a portable device.

Distinguishable circumferential inclined direction tilt sensor based on fiber Bragg grating with wide measuring range and high accuracy

NASA Astrophysics Data System (ADS)

Jiang, Shanchao; Wang, Jing; Sui, Qingmei

2015-11-01

One novel distinguishable circumferential inclined direction tilt sensor is demonstrated by incorporating two strain sensitivity fiber Bragg gratings (FBGs) with two orthogonal triangular cantilever beam and using one fiber Bragg grating (FBG) as temperature compensation element. According to spatial vector and space geometry, theory calculation model of the proposed FBG tilt sensor which can be used to obtain the azimuth and tile angle of the inclined direction is established. To obtain its measuring characteristics, calibration experiment on one prototype of the proposed FBG tilt sensor is carried out. After temperature sensitivity experiment data analysis, the proposed FBG tilt sensor exhibits excellent temperature compensation characteristics. In 2-D tilt angle experiment, tilt measurement sensitivities of these two strain sensitivity FBGs are 140.85°/nm and 101.01°/nm over a wide range of 60º. Further, azimuth and tile angle of the inclined direction can be obtained by the proposed FBG tilt sensor which is verified in circumferential angle experiment. Experiment data show that relative errors of azimuth are 0.55% (positive direction) and 1.14% (negative direction), respectively, and relative errors of tilt angle are all less than 3%. Experiment results confirm that the proposed distinguishable circumferential inclined direction tilt sensor based on FBG can achieve azimuth and tile angle measurement with wide measuring range and high accuracy.

Micro-optics technology and sensor systems applications

NASA Technical Reports Server (NTRS)

Gal, George; Herman, B.; Anderson, W.; Whitney, R.; Morrow, H.

1993-01-01

The current generation of electro-optical sensors utilizing refractive and reflective optical elements require sophisticated, complex, and expensive designs. Advanced-technology-based electro-optical sensors of minimum size and weight require miniaturization of optical, electrical, and mechanical devices with an increasing trend toward integration of various components. Micro-optics technology has the potential in a number of areas to simplify optical design with improved performance. This includes internally cooled apertures, hybrid optical design, microlenses, dispersive multicolor microlenses, active dither, electronically controlled optical beam steer, and microscopic integration of micro-optics, detectors, and signal processing layers. This paper describes our approach to the development of micro-optics technology with our main emphasis for sensors applications.

Linear wide angle sun sensor for spinning satellites

NASA Astrophysics Data System (ADS)

Philip, M. P.; Kalakrishnan, B.; Jain, Y. K.

1983-08-01

A concept is developed which overcomes the defects of the nonlinearity of response and limitation in range exhibited by the V-slit, N-slit, and crossed slit sun sensors normally used for sun elevation angle measurements on spinning spacecraft. Two versions of sensors based on this concept which give a linear output and have a range of nearly + or - 90 deg of elevation angle are examined. Results are presented for the application of the twin slit version of the sun sensor in the three Indian satellites, Rohini, Apple, and Bhaskara II, which was successfully used for spin rate control and spin axis orientation control corrections as well as for sun elevation angle and spin period measurements.

Meta-tips for lab-on-fiber optrodes

NASA Astrophysics Data System (ADS)

Principe, M.; Consales, M.; Micco, A.; Crescitelli, A.; Castaldi, G.; Esposito, E.; La Ferrara, V.; Cutolo, A.; Galdi, V.; Cusano, A.

2016-05-01

We realize the first optical-fiber "meta-tip" that integrates a metasurface on the tip of an optical fiber. In our proposed configuration a Babinet-inverted plasmonic metasurface is fabricated by patterning (via focused-ion-beam) an array of rectangular aperture nanoantennas in a thin gold film. Via spatial modulation of the nanoantennas size, we properly tune their resonances so as to impress abrupt arbitrary phase variations in the transmitted field wavefront. As a proof-of-principle, we fabricate and characterize several prototypes implementing in the near-infrared the beam-steering with various angles. We also explore the limit case where surface waves are excited, and its capability to work as refractive index sensors. Notably, its sensitivity overwhelms that of the corresponding gradient-free plasmonic array, thus paving the way to the use of metasurfaces for label-free chemical and biological sensing. Our experimental results, in fairly good agreement with numerical predictions, demonstrate the practical feasibility of the meta-tip concept, and set the stage for the integration of metasurfaces, and their exceptional capabilities to manipulate light, in fiber-optics technological platforms, within the emerging "lab-on-fiber" paradigm.

Simultaneous Soft Sensing of Tissue Contact Angle and Force for Millimeter-scale Medical Robots

PubMed Central

Arabagi, Veaceslav; Gosline, Andrew; Wood, Robert J.; Dupont, Pierre E.

2013-01-01

A novel robotic sensor is proposed to measure both the contact angle and the force acting between the tip of a surgical robot and soft tissue. The sensor is manufactured using a planar lithography process that generates microchannels that are subsequently filled with a conductive liquid. The planar geometry is then molded onto a hemispherical plastic scaffolding in a geometric configuration enabling estimation of the contact angle (angle between robot tip tangent and tissue surface normal) by the rotation of the sensor around its roll axis. Contact force can also be estimated by monitoring the changes in resistance in each microchannel. Bench top experimental results indicate that, on average, the sensor can estimate the angle of contact to within ±2° and the contact force to within ±5.3 g. PMID:24241496

Determination of corrections to flow direction measurements obtained with a wing-tip mounted sensor. M.S. Thesis

NASA Technical Reports Server (NTRS)

Moul, T. M.

1983-01-01

The nature of corrections for flow direction measurements obtained with a wing-tip mounted sensor was investigated. Corrections for the angle of attack and sideslip, measured by sensors mounted in front of each wing tip of a general aviation airplane, were determined. These flow corrections were obtained from both wind-tunnel and flight tests over a large angle-of-attack range. Both the angle-of-attack and angle-of-sideslip flow corrections were found to be substantial. The corrections were a function of the angle of attack and angle of sideslip. The effects of wing configuration changes, small changes in Reynolds number, and spinning rotation on the angle-of-attack flow correction were found to be small. The angle-of-attack flow correction determined from the static wind-tunnel tests agreed reasonably well with the correction determined from flight tests.

Polarization-Analyzing CMOS Image Sensor With Monolithically Embedded Polarizer for Microchemistry Systems.

PubMed

Tokuda, T; Yamada, H; Sasagawa, K; Ohta, J

2009-10-01

This paper proposes and demonstrates a polarization-analyzing CMOS sensor based on image sensor architecture. The sensor was designed targeting applications for chiral analysis in a microchemistry system. The sensor features a monolithically embedded polarizer. Embedded polarizers with different angles were implemented to realize a real-time absolute measurement of the incident polarization angle. Although the pixel-level performance was confirmed to be limited, estimation schemes based on the variation of the polarizer angle provided a promising performance for real-time polarization measurements. An estimation scheme using 180 pixels in a 1deg step provided an estimation accuracy of 0.04deg. Polarimetric measurements of chiral solutions were also successfully performed to demonstrate the applicability of the sensor to optical chiral analysis.

Design and experimental validation of linear and nonlinear vehicle steering control strategies

NASA Astrophysics Data System (ADS)

Menhour, Lghani; Lechner, Daniel; Charara, Ali

2012-06-01

This paper proposes the design of three control laws dedicated to vehicle steering control, two based on robust linear control strategies and one based on nonlinear control strategies, and presents a comparison between them. The two robust linear control laws (indirect and direct methods) are built around M linear bicycle models, each of these control laws is composed of two M proportional integral derivative (PID) controllers: one M PID controller to control the lateral deviation and the other M PID controller to control the vehicle yaw angle. The indirect control law method is designed using an oscillation method and a nonlinear optimisation subject to H ∞ constraint. The direct control law method is designed using a linear matrix inequality optimisation in order to achieve H ∞ performances. The nonlinear control method used for the correction of the lateral deviation is based on a continuous first-order sliding-mode controller. The different methods are designed using a linear bicycle vehicle model with variant parameters, but the aim is to simulate the nonlinear vehicle behaviour under high dynamic demands with a four-wheel vehicle model. These steering vehicle controls are validated experimentally using the data acquired using a laboratory vehicle, Peugeot 307, developed by National Institute for Transport and Safety Research - Department of Accident Mechanism Analysis Laboratory's (INRETS-MA) and their performance results are compared. Moreover, an unknown input sliding-mode observer is introduced to estimate the road bank angle.

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

Shaft-Angle Sensor Based on Tunnel-Diode Oscillator

NASA Technical Reports Server (NTRS)

Chui, Talso

2008-01-01

A proposed brushless shaft-angle sensor for use in extreme cold would offer significant advantages over prior such sensors: (1) It would be capable of operating in extreme cold; and (2) Its electronic circuitry would be simpler than that of a permanent-magnet/ multiple-Hall-probe shaft-angle sensor that would otherwise ordinarily be used to obtain comparable angular resolution. The principle of operation of the proposed shaft-angle sensor requires that the shaft (or at least the portion of the shaft at the sensor location) be electrically insulating. The affected portion of the shaft would be coated with metal around half of its circumference. Two half-circular-cylinder electrodes having a radius slightly larger than that of the shaft would be mounted on the stator, concentric with the shaft, so that there would be a small radial gap between them and the outer surface of the shaft. Hence, there would be a capacitance between each stationary electrode and the metal coat on the shaft.

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

A Measuring System for Well Logging Attitude and a Method of Sensor Calibration

PubMed Central

Ren, Yong; Wang, Yangdong; Wang, Mijian; Wu, Sheng; Wei, Biao

2014-01-01

This paper proposes an approach for measuring the azimuth angle and tilt angle of underground drilling tools with a MEMS three-axis accelerometer and a three-axis fluxgate sensor. A mathematical model of well logging attitude angle is deduced based on combining space coordinate transformations and algebraic equations. In addition, a system implementation plan of the inclinometer is given in this paper, which features low cost, small volume and integration. Aiming at the sensor and assembly errors, this paper analyses the sources of errors, and establishes two mathematical models of errors and calculates related parameters to achieve sensor calibration. The results show that this scheme can obtain a stable and high precision azimuth angle and tilt angle of drilling tools, with the deviation of the former less than ±1.4° and the deviation of the latter less than ±0.1°. PMID:24859028

A measuring system for well logging attitude and a method of sensor calibration.

PubMed

Ren, Yong; Wang, Yangdong; Wang, Mijian; Wu, Sheng; Wei, Biao

2014-05-23

This paper proposes an approach for measuring the azimuth angle and tilt angle of underground drilling tools with a MEMS three-axis accelerometer and a three-axis fluxgate sensor. A mathematical model of well logging attitude angle is deduced based on combining space coordinate transformations and algebraic equations. In addition, a system implementation plan of the inclinometer is given in this paper, which features low cost, small volume and integration. Aiming at the sensor and assembly errors, this paper analyses the sources of errors, and establishes two mathematical models of errors and calculates related parameters to achieve sensor calibration. The results show that this scheme can obtain a stable and high precision azimuth angle and tilt angle of drilling tools, with the deviation of the former less than ±1.4° and the deviation of the latter less than ±0.1°.

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.

Array Of Sensors Measures Broadband Radiation

NASA Technical Reports Server (NTRS)

Hoffman, James W.; Grush, Ronald G.

1994-01-01

Multiple broadband radiation sensors aimed at various portions of total field of view. All sensors mounted in supporting frame, serving as common heat sink and temperature reference. Each sensor includes heater winding and differential-temperature-sensing bridge circuit. Power in heater winding adjusted repeatedly in effort to balance bridge circuit. Intended to be used aboard satellite in orbit around Earth to measure total radiation emitted, at various viewing angles, by mosaic of "footprint" areas (each defined by its viewing angle) on surface of Earth. Modified versions of array useful for angle-resolved measurements of broadband radiation in laboratory and field settings on Earth.

Investigation of an optical sensor for small tilt angle detection of a precision linear stage

NASA Astrophysics Data System (ADS)

Saito, Yusuke; Arai, Yoshikazu; Gao, Wei

2010-05-01

This paper presents evaluation results of the characteristics of the angle sensor based on the laser autocollimation method for small tilt angle detection of a precision linear stage. The sensor consists of a laser diode (LD) as the light source, and a quadrant photodiode (QPD) as the position-sensing detector. A small plane mirror is mounted on the moving table of the stage as a target mirror for the sensor. This optical system has advantages of high sensitivity, fast response speed and the ability for two-axis angle detection. On the other hand, the sensitivity of the sensor is determined by the size of the optical spot focused on the QPD, which is a function of the diameter of the laser beam projected onto the target mirror. Because the diameter is influenced by the divergence of the laser beam, this paper focuses on the relationship between the sensor sensitivity and the moving position of the target mirror (sensor working distance) over the moving stroke of the stage. The main error components that influence the sensor sensitivity are discussed and the optimal conditions of the optical system of the sensor are analyzed. The experimental result about evaluation of the effective working distance is also presented.

Control techniques for an automated mixed traffic vehicle

NASA Technical Reports Server (NTRS)

Meisenholder, G. W.; Johnston, A. R.

1977-01-01

The paper describes an automated mixed traffic vehicle (AMTV), a driverless low-speed tram designed to operate in mixed pedestrian and vehicular traffic. The vehicle is a six-passenger electric tram equipped with sensing and control which permit it to function on existing streets in an automatic mode. The design includes established wire-following techniques for steering and near-IR headway sensors. A 7-mph cruise speed is reduced to 2 mph or a complete stop in response to sensor (or passenger) inputs. The AMTV performance is evaluated by operation on a loop route and by simulation. Some necessary improvements involving sensors, sensor pattern, use of an audible signal, and control lag are discussed. It is suggested that appropriate modifications will eliminate collision incidents.

Setup and evaluation of a sensor tilting system for dimensional micro- and nanometrology

NASA Astrophysics Data System (ADS)

Schuler, Alexander; Weckenmann, Albert; Hausotte, Tino

2014-06-01

Sensors in micro- and nanometrology show their limits if the measurement objects and surfaces feature high aspect ratios, high curvature and steep surface angles. Their measurable surface angle is limited and an excess leads to measurement deviation and not detectable surface points. We demonstrate a principle to adapt the sensor's working angle during the measurement keeping the sensor in its optimal working angle. After the simulation of the principle, a hardware prototype was realized. It is based on a rotary kinematic chain with two rotary degrees of freedom, which extends the measurable surface angle to ±90° and is combined with a nanopositioning and nanomeasuring machine. By applying a calibration procedure with a quasi-tactile 3D sensor based on electrical near-field interaction the systematic position deviation of the kinematic chain is reduced. The paper shows for the first time the completed setup and integration of the prototype, the performance results of the calibration, the measurements with the prototype and the tilting principle, and finishes with the interpretation and feedback of the practical results.

Comparison of Three Non-Imaging Angle-Diversity Receivers as Input Sensors of Nodes for Indoor Infrared Wireless Sensor Networks: Theory and Simulation

PubMed Central

Mendoza, Beatriz R.; Rodríguez, Silvestre; Pérez-Jiménez, Rafael; Ayala, Alejandro; González, Oswaldo

2016-01-01

In general, the use of angle-diversity receivers makes it possible to reduce the impact of ambient light noise, path loss and multipath distortion, in part by exploiting the fact that they often receive the desired signal from different directions. Angle-diversity detection can be performed using a composite receiver with multiple detector elements looking in different directions. These are called non-imaging angle-diversity receivers. In this paper, a comparison of three non-imaging angle-diversity receivers as input sensors of nodes for an indoor infrared (IR) wireless sensor network is presented. The receivers considered are the conventional angle-diversity receiver (CDR), the sectored angle-diversity receiver (SDR), and the self-orienting receiver (SOR), which have been proposed or studied by research groups in Spain. To this end, the effective signal-collection area of the three receivers is modelled and a Monte-Carlo-based ray-tracing algorithm is implemented which allows us to investigate the effect on the signal to noise ratio and main IR channel parameters, such as path loss and rms delay spread, of using the three receivers in conjunction with different combination techniques in IR links operating at low bit rates. Based on the results of the simulations, we show that the use of a conventional angle-diversity receiver in conjunction with the equal-gain combining technique provides the solution with the best signal to noise ratio, the lowest computational capacity and the lowest transmitted power requirements, which comprise the main limitations for sensor nodes in an indoor infrared wireless sensor network. PMID:27428966

A Novel Low-Cost, Large Curvature Bend Sensor Based on a Bowden-Cable

PubMed Central

Jeong, Useok; Cho, Kyu-Jin

2016-01-01

Bend sensors have been developed based on conductive ink, optical fiber, and electronic textiles. Each type has advantages and disadvantages in terms of performance, ease of use, and cost. This study proposes a new and low-cost bend sensor that can measure a wide range of accumulated bend angles with large curvatures. This bend sensor utilizes a Bowden-cable, which consists of a coil sheath and an inner wire. Displacement changes of the Bowden-cable’s inner wire, when the shape of the sheath changes, have been considered to be a position error in previous studies. However, this study takes advantage of this position error to detect the bend angle of the sheath. The bend angle of the sensor can be calculated from the displacement measurement of the sensing wire using a Hall-effect sensor or a potentiometer. Simulations and experiments have shown that the accumulated bend angle of the sensor is linearly related to the sensor signal, with an R-square value up to 0.9969 and a root mean square error of 2% of the full sensing range. The proposed sensor is not affected by a bend curvature of up to 80.0 m−1, unlike previous bend sensors. The proposed sensor is expected to be useful for various applications, including motion capture devices, wearable robots, surgical devices, or generally any device that requires an affordable and low-cost bend sensor. PMID:27347959

Four methods of attitude determination for spin-stabilized spacecraft with applications and comparative results

NASA Technical Reports Server (NTRS)

Smith, G. A.

1975-01-01

The attitude of a spacecraft is determined by specifying independent parameters which relate the spacecraft axes to an inertial coordinate system. Sensors which measure angles between spin axis and other vectors directed to objects or fields external to the spacecraft are discussed. For the spin-stabilized spacecraft considered, the spin axis is constant over at least an orbit, but separate solutions based on sensor angle measurements are different due to propagation of errors. Sensor-angle solution methods are described which minimize the propagated errors by making use of least squares techniques over many sensor angle measurements and by solving explicitly (in closed form) for the spin axis coordinates. These methods are compared with star observation solutions to determine if satisfactory accuracy is obtained by each method.

Mechanism For Adjustment Of Commutation Of Brushless Motor

NASA Technical Reports Server (NTRS)

Schaefer, Richard E.

1995-01-01

Mechanism enables adjustment of angular position of set of Hall-effect devices that sense instantaneous shaft angle of brushless dc motor. Outputs of sensors fed to commutation circuitry. Measurement of shaft angle essential for commutation; that is, application of voltage to stator windings must be synchronized with shaft angle. To obtain correct angle measurement for commutation, Hall-effect angle sensors positioned at proper reference angle. The present mechanism accelerates adjustment procedure and makes it possible to obtain more accurate indication of minimum-current position because it provides for adjustment while motor running.

A generalized technique for using cones and dihedral angles in attitude determination, revision 1

NASA Technical Reports Server (NTRS)

Werking, R. D.

1973-01-01

Analytic development is presented for a general least squares attitude determination subroutine applicable to spinning satellites. The method is founded on a geometric approach which is completely divorced from considerations relating to particular types and configurations of onboard attitude sensors. Any mix of sensor measurements which can be first transformed (outside the program) to cone or dihedral angle data can be processed. A cone angle is an angle between the spin axis and a known direction line in space; a dihedral angle is an angle between two planes formed by the spin axis and each of two known direction lines. Many different kinds of sensor data can be transformed to these angles, which in turn constitute the actual program inputs, so that the subroutine can be applied without change to a variety of satellite missions. Either a constant or dynamic spin axis model can be handled. The program is also capable of solving for fixed biases in the input angles, in addition to the spin axis attitude solution.

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.

Highly Sensitive H2S Sensor Based on the Metal-Catalyzed SnO2 Nanocolumns Fabricated by Glancing Angle Deposition

PubMed Central

Yoo, Kwang Soo; Han, Soo Deok; Moon, Hi Gyu; Yoon, Seok-Jin; Kang, Chong-Yun

2015-01-01

As highly sensitive H2S gas sensors, Au- and Ag-catalyzed SnO2 thin films with morphology-controlled nanostructures were fabricated by using e-beam evaporation in combination with the glancing angle deposition (GAD) technique. After annealing at 500 °C for 40 h, the sensors showed a polycrystalline phase with a porous, tilted columnar nanostructure. The gas sensitivities (S = Rgas/Rair) of Au and Ag-catalyzed SnO2 sensors fabricated by the GAD process were 0.009 and 0.015, respectively, under 5 ppm H2S at 300 °C, and the 90% response time was approximately 5 s. These sensors showed excellent sensitivities compared with the SnO2 thin film sensors that were deposited normally (glancing angle = 0°, S = 0.48). PMID:26134105

Multibeam monopulse radar for airborne sense and avoid system

NASA Astrophysics Data System (ADS)

Gorwara, Ashok; Molchanov, Pavlo

2016-10-01

The multibeam monopulse radar for Airborne Based Sense and Avoid (ABSAA) system concept is the next step in the development of passive monopulse direction finder proposed by Stephen E. Lipsky in the 80s. In the proposed system the multibeam monopulse radar with an array of directional antennas is positioned on a small aircaraft or Unmanned Aircraft System (UAS). Radar signals are simultaneously transmitted and received by multiple angle shifted directional antennas with overlapping antenna patterns and the entire sky, 360° for both horizontal and vertical coverage. Digitizing of amplitude and phase of signals in separate directional antennas relative to reference signals provides high-accuracy high-resolution range and azimuth measurement and allows to record real time amplitude and phase of reflected from non-cooperative aircraft signals. High resolution range and azimuth measurement provides minimal tracking errors in both position and velocity of non-cooperative aircraft and determined by sampling frequency of the digitizer. High speed sampling with high-accuracy processor clock provides high resolution phase/time domain measurement even for directional antennas with wide Field of View (FOV). Fourier transform (frequency domain processing) of received radar signals provides signatures and dramatically increases probability of detection for non-cooperative aircraft. Steering of transmitting power and integration, correlation period of received reflected signals for separate antennas (directions) allows dramatically decreased ground clutter for low altitude flights. An open architecture, modular construction allows the combination of a radar sensor with Automatic Dependent Surveillance - Broadcast (ADS-B), electro-optic, acoustic sensors.

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.

77 FR 73282 - Airworthiness Directives; The Boeing Company Airplanes

Federal Register 2010, 2011, 2012, 2013, 2014

2012-12-10

... system for the angle of attack sensor, the total air temperature, and the pitot probes. We are issuing this AD to prevent ice from forming on air data system sensors and consequent loss of or misleading... angle of attack sensor, the total air temperature, and the pitot probes. Actions Since Issuance of NPRM...

POF-IMU sensor system: A fusion between inertial measurement units and POF sensors for low-cost and highly reliable systems

NASA Astrophysics Data System (ADS)

Leal-Junior, Arnaldo G.; Vargas-Valencia, Laura; dos Santos, Wilian M.; Schneider, Felipe B. A.; Siqueira, Adriano A. G.; Pontes, Maria José; Frizera, Anselmo

2018-07-01

This paper presents a low cost and highly reliable system for angle measurement based on a sensor fusion between inertial and fiber optic sensors. The system consists of the sensor fusion through Kalman filter of two inertial measurement units (IMUs) and an intensity variation-based polymer optical fiber (POF) curvature sensor. In addition, the IMU was applied as a reference for a compensation technique of POF curvature sensor hysteresis. The proposed system was applied on the knee angle measurement of a lower limb exoskeleton in flexion/extension cycles and in gait analysis. Results show the accuracy of the system, where the Root Mean Square Error (RMSE) between the POF-IMU sensor system and the encoder was below 4° in the worst case and about 1° in the best case. Then, the POF-IMU sensor system was evaluated as a wearable sensor for knee joint angle assessment without the exoskeleton, where its suitability for this purpose was demonstrated. The results obtained in this paper pave the way for future applications of sensor fusion between electronic and fiber optic sensors in movement analysis.

Explorer-II: Wireless Self-Powered Visual and NDE Robotic Inspection System for Live Gas Distribution Mains

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

Carnegie Mellon University

2008-09-30

Carnegie Mellon University (CMU) under contract from Department of Energy/National Energy Technology Laboratory (DoE/NETL) and co-funding from the Northeast Gas Association (NGA), has completed the overall system design, field-trial and Magnetic Flux Leakage (MFL) sensor evaluation program for the next-generation Explorer-II (X-II) live gas main Non-destructive Evaluation (NDE) and visual inspection robot platform. The design is based on the Explorer-I prototype which was built and field-tested under a prior (also DoE- and NGA co-funded) program, and served as the validation that self-powered robots under wireless control could access and navigate live natural gas distribution mains. The X-II system design ({approx}8more » ft. and 66 lbs.) was heavily based on the X-I design, yet was substantially expanded to allow the addition of NDE sensor systems (while retaining its visual inspection capability), making it a modular system, and expanding its ability to operate at pressures up to 750 psig (high-pressure and unpiggable steel-pipe distribution mains). A new electronics architecture and on-board software kernel were added to again improve system performance. A locating sonde system was integrated to allow for absolute position-referencing during inspection (coupled with external differential GPS) and emergency-locating. The power system was upgraded to utilize lithium-based battery-cells for an increase in mission-time. The resulting robot-train system with CAD renderings of the individual modules. The system architecture now relies on a dual set of end camera-modules to house the 32-bit processors (Single-Board Computer or SBC) as well as the imaging and wireless (off-board) and CAN-based (on-board) communication hardware and software systems (as well as the sonde-coil and -electronics). The drive-module (2 ea.) are still responsible for bracing (and centering) to drive in push/pull fashion the robot train into and through the pipes and obstacles. The steering modules and their arrangement, still allow the robot to configure itself to perform any-angle (up to 90 deg) turns in any orientation (incl. vertical), and enable the live launching and recovery of the system using custom fittings and a (to be developed) launch-chamber/-tube. The battery modules are used to power the system, by providing power to the robot's bus. The support modules perform the functions of centration for the rest of the train as well as odometry pickups using incremental encoding schemes. The electronics architecture is based on a distributed (8-bit) microprocessor architecture (at least 1 in ea. module) communicating to a (one of two) 32-bit SBC, which manages all video-processing, posture and motion control as well as CAN and wireless communications. The operator controls the entire system from an off-board (laptop) controller, which is in constant wireless communication with the robot train in the pipe. The sensor modules collect data and forward it to the robot operator computer (via the CAN-wireless communications chain), who then transfers it to a dedicated NDE data-storage and post-processing computer for further (real-time or off-line) analysis. The prototype robot system was built and tested indoors and outdoors, outfitted with a Remote-Field Eddy Current (RFEC) sensor integrated as its main NDE sensor modality. An angled launcher, allowing for live launching and retrieval, was also built to suit custom angled launch-fittings from TDW. The prototype vehicle and launcher systems are shown. The complete system, including the in-pipe robot train, launcher, integrated NDE-sensor and real-time video and control console and NDE-data collection and -processing and real-time display, were demonstrated to all sponsors prior to proceeding into final field-trials--the individual components and setting for said acceptance demonstration are shown. The launcher-tube was also used to verify that the vehicle system is capable of operating in high-pressure environments, and is safely deployable using proper evacuating/purging techniques for operation in the potentially explosive natural gas environment. The test-setting and environment for safety-certification of the X-II robot platform and the launch and recovery procedures, is shown. Field-trials were successfully carried out in a live steel pipeline in Northwestern Pennsylvania. The robot was launched and recovered multiple times, travelling thousands of feet and communicating in real time with video and command-and-control (C&C) data under remote operator control from a laptop, with NDE sensor-data streaming to a second computer for storage, display and post-processing. Representative images of the activities and systems used in the week-long field-trial are shown. CMU also evaluated the ability of the X-II design to be able to integrate an MFL sensor, by adding additional drive-/battery-/steering- and support-modules to extend the X-II train.« less

A Low-Power Wide Dynamic-Range Current Readout Circuit for Ion-Sensitive FET Sensors.

PubMed

Son, Hyunwoo; Cho, Hwasuk; Koo, Jahyun; Ji, Youngwoo; Kim, Byungsub; Park, Hong-June; Sim, Jae-Yoon

2017-06-01

This paper presents an amplifier-less and digital-intensive current-to-digital converter for ion-sensitive FET sensors. Capacitance on the input node is utilized as a residue accumulator, and a clocked comparator is followed for quantization. Without any continuous-time feedback circuit, the converter performs a first-order noise shaping of the quantization error. In order to minimize static power consumption, the proposed circuit employs a single-ended current-steering digital-to-analog converter which flows only the same current as the input. By adopting a switching noise averaging algorithm, our dynamic element matching not only mitigates mismatch of current sources in the current-steering DAC, but also makes the effect of dynamic switching noise become an input-independent constant. The implemented circuit in 0.35 μm CMOS converts the current input with a range of 2.8 μ A to 15 b digital output in about 4 ms, showing a DNL of +0.24/-0.25 LSB and an INL of + 1.98/-1.98 LSB while consuming 16.8 μW.

AGARD Conference Proceedings on Guidance and Control of Precision Guided Weapons Held in Geilo, Norway from 3-6 May 1988

DTIC Science & Technology

1989-01-11

EFFECT OF BANK-TO-TURN VERSUS SKID-TO-TURN STEERING ON THE MANOEUVRABILITY OF AUTONOMOUS PRECISION GUIDED MUUNITION AGAINST GROUND TARGETS by B.J.Damen...space. Basic Relationships of an Interferometer Gyro The Sagnac effect in the fiber optic gyro causes a phase shift in the sensor col during rotation with... a read-out coupler and an.avalanche photodiode for optical detection. The opto module is rigidly connected with the sensor module via a fiber link

Experimental image alignment system

NASA Technical Reports Server (NTRS)

Moyer, A. L.; Kowel, S. T.; Kornreich, P. G.

1980-01-01

A microcomputer-based instrument for image alignment with respect to a reference image is described which uses the DEFT sensor (Direct Electronic Fourier Transform) for image sensing and preprocessing. The instrument alignment algorithm which uses the two-dimensional Fourier transform as input is also described. It generates signals used to steer the stage carrying the test image into the correct orientation. This algorithm has computational advantages over algorithms which use image intensity data as input and is suitable for a microcomputer-based instrument since the two-dimensional Fourier transform is provided by the DEFT sensor.

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

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.

Study of optical techniques for the Ames unitary wind tunnels. Part 3: Angle of attack

NASA Technical Reports Server (NTRS)

Lee, George

1992-01-01

A review of optical sensors that are capable of accurate angle of attack measurements in wind tunnels was conducted. These include sensors being used or being developed at NASA Ames and Langley Research Centers, Boeing Airplane Company, McDonald Aircraft Company, Arnold Engineering Development Center, National Aerospace Laboratory of the Netherlands, National Research Council of Canada, and the Royal Aircraft Establishment of England. Some commercial sensors that may be applicable to accurate angle measurements were also reviewed. It was found that the optical sensor systems were based on interferometers, polarized light detector, linear or area photodiode cameras, position sensing photodetectors, and laser scanners. Several of the optical sensors can meet the requirements of the Ames Unitary Plan Wind Tunnel. Two of these, the Boeing interferometer and the Complere lateral effect photodiode sensors are being developed for the Ames Unitary Plan Wind Tunnel.

Improved grating angular sensor for LISA and MGRS

NASA Astrophysics Data System (ADS)

Sun, Ke-Xun; Lu, Patrick; Byer, Robert L.

2009-03-01

LISA requires high precision angular beam pointing and telescope steering. In this paper, we report recent results for an improved grating angular sensor. We have achieved better than 0.2 nrad/Hz1/2 at 1 kHz with 14 mW of incident power, a factor of 5 improvement over our previously reported results. At 1 Hz we achieved 1-2 nrad/Hz1/2. We realized these improvements by enclosing the grating angular sensor assembly in a vacuum chamber and mounting the optics components on a zerodur glass plate, thereby lowering the noise floor at low frequencies. Furthermore, by upgrading the electronics and thus the detector power handing capability, we also investigated sensitivity scaling versus incident laser power. The results will benefit the design of grating angular sensors.

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

Fiber Optic Control System Integration program: for optical flight control system development

NASA Astrophysics Data System (ADS)

Weaver, Thomas L.; Seal, Daniel W.

1994-10-01

Hardware and software were developed for optical feedback links in the flight control system of an F/A-18 aircraft. Developments included passive optical sensors and optoelectronics to operate the sensors. Sensors with different methods of operation were obtained from different manufacturers and integrated with common optoelectronics. The sensors were the following: Air Data Temperature; Air Data Pressure; and Leading Edge Flap, Nose Wheel Steering, Trailing Edge Flap, Pitch Stick, Rudder, Rudder Pedal, Stabilator, and Engine Power Lever Control Position. The sensors were built for a variety of aircraft locations and harsh environments. The sensors and optoelectronics were as similar as practical to a production system. The integrated system was installed by NASA for flight testing. Wavelength Division Multiplexing proved successful as a system design philosophy. Some sensors appeared to be better choices for aircraft applications than others, with digital sensors generally being better than analog sensors, and rotary sensors generally being better than linear sensors. The most successful sensor approaches were selected for use in a follow-on program in which the sensors will not just be flown on the aircraft and their performance recorded; but, the optical sensors will be used in closing flight control loops.

Position and orientation determination system and method

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

Harpring, Lawrence J.; Farfan, Eduardo B.; Gordon, John R.

A position determination system and method is provided that may be used for obtaining position and orientation information of a detector in a contaminated room. The system includes a detector, a sensor operably coupled to the detector, and a motor coupled to the sensor to move the sensor around the detector. A CPU controls the operation of the motor to move the sensor around the detector and determines distance and angle data from the sensor to an object. The method includes moving a sensor around the detector and measuring distance and angle data from the sensor to an object atmore » incremental positions around the detector.« less

Error analysis in a stereo vision-based pedestrian detection sensor for collision avoidance applications.

PubMed

Llorca, David F; Sotelo, Miguel A; Parra, Ignacio; Ocaña, Manuel; Bergasa, Luis M

2010-01-01

This paper presents an analytical study of the depth estimation error of a stereo vision-based pedestrian detection sensor for automotive applications such as pedestrian collision avoidance and/or mitigation. The sensor comprises two synchronized and calibrated low-cost cameras. Pedestrians are detected by combining a 3D clustering method with Support Vector Machine-based (SVM) classification. The influence of the sensor parameters in the stereo quantization errors is analyzed in detail providing a point of reference for choosing the sensor setup according to the application requirements. The sensor is then validated in real experiments. Collision avoidance maneuvers by steering are carried out by manual driving. A real time kinematic differential global positioning system (RTK-DGPS) is used to provide ground truth data corresponding to both the pedestrian and the host vehicle locations. The performed field test provided encouraging results and proved the validity of the proposed sensor for being used in the automotive sector towards applications such as autonomous pedestrian collision avoidance.

Error Analysis in a Stereo Vision-Based Pedestrian Detection Sensor for Collision Avoidance Applications

PubMed Central

Llorca, David F.; Sotelo, Miguel A.; Parra, Ignacio; Ocaña, Manuel; Bergasa, Luis M.

2010-01-01

This paper presents an analytical study of the depth estimation error of a stereo vision-based pedestrian detection sensor for automotive applications such as pedestrian collision avoidance and/or mitigation. The sensor comprises two synchronized and calibrated low-cost cameras. Pedestrians are detected by combining a 3D clustering method with Support Vector Machine-based (SVM) classification. The influence of the sensor parameters in the stereo quantization errors is analyzed in detail providing a point of reference for choosing the sensor setup according to the application requirements. The sensor is then validated in real experiments. Collision avoidance maneuvers by steering are carried out by manual driving. A real time kinematic differential global positioning system (RTK-DGPS) is used to provide ground truth data corresponding to both the pedestrian and the host vehicle locations. The performed field test provided encouraging results and proved the validity of the proposed sensor for being used in the automotive sector towards applications such as autonomous pedestrian collision avoidance. PMID:22319323

A Study of TRMM Static Earth Sensor Performance Using On-Orbit Sensor Data

NASA Technical Reports Server (NTRS)

Natanson, Gregory; Glickman, Jonathan

2000-01-01

This paper presents the results of a study of the Barnes static Earth sensor assembly (ESA) using on-orbit data collected from the Tropical Rainfall Measuring Mission (TRMM) spacecraft. It is shown that there exist strong correlations between the large penetration angle residuals and the voltages produced by the Offset Radiation Source (ORS). It is conjectured that at certain times in the TRMM orbit the ORS is operating out of its calibrated range, and consequently corrupts the penetration angle information observed and processed by the ESA. The observed yaw drift between Digital Sun Sensor (DSS) observations is shown to be consistent with predictions by a simple roll-yaw coupling computation. This would explain the large drifts seen on TRMM, where the propagation of the yaw angle between DSS updates does not take into account the possibility of a non-zero roll angle error. Finally, the accuracy of the onboard algorithm used when only three of the four quadrants supply valid penetration angles is assessed. In terms of procedures used to perform this study, the analysis of ESA penetration angle residuals is discovered to be a very useful and insightful tool for assessing, the health and functionality of the ESA.

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.

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.

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.

Live animal assessments of rump fat and muscle score in Angus cows and steers using 3-dimensional imaging.

PubMed

McPhee, M J; Walmsley, B J; Skinner, B; Littler, B; Siddell, J P; Cafe, L M; Wilkins, J F; Oddy, V H; Alempijevic, A

2017-04-01

The objective of this study was to develop a proof of concept for using off-the-shelf Red Green Blue-Depth (RGB-D) Microsoft Kinect cameras to objectively assess P8 rump fat (P8 fat; mm) and muscle score (MS) traits in Angus cows and steers. Data from low and high muscled cattle (156 cows and 79 steers) were collected at multiple locations and time points. The following steps were required for the 3-dimensional (3D) image data and subsequent machine learning techniques to learn the traits: 1) reduce the high dimensionality of the point cloud data by extracting features from the input signals to produce a compact and representative feature vector, 2) perform global optimization of the signatures using machine learning algorithms and a parallel genetic algorithm, and 3) train a sensor model using regression-supervised learning techniques on the ultrasound P8 fat and the classified learning techniques for the assessed MS for each animal in the data set. The correlation of estimating hip height (cm) between visually measured and assessed 3D data from RGB-D cameras on cows and steers was 0.75 and 0.90, respectively. The supervised machine learning and global optimization approach correctly classified MS (mean [SD]) 80 (4.7) and 83% [6.6%] for cows and steers, respectively. Kappa tests of MS were 0.74 and 0.79 in cows and steers, respectively, indicating substantial agreement between visual assessment and the learning approaches of RGB-D camera images. A stratified 10-fold cross-validation for P8 fat did not find any differences in the mean bias ( = 0.62 and = 0.42 for cows and steers, respectively). The root mean square error of P8 fat was 1.54 and 1.00 mm for cows and steers, respectively. Additional data is required to strengthen the capacity of machine learning to estimate measured P8 fat and assessed MS. Data sets for and continental cattle are also required to broaden the use of 3D cameras to assess cattle. The results demonstrate the importance of capturing curvature as a form of representing body shape. A data-driven model from shape to trait has established a proof of concept using optimized machine learning techniques to assess P8 fat and MS in Angus cows and steers.

Dynamo: A Model Transition Framework for Dynamic Stability Control and Body Mass Manipulation

DTIC Science & Technology

2011-11-01

driving at high speed, and you turn the steering wheel hard to the right and slam on the brakes, then you will end up in the oversteer regime. At the...sensors (GPS, IMU, LIDAR ) for vehicle control. Figure 17: Dynamo high-speed small UGV hardware platform We will perform experiments to measure the MTC

BOREAS RSS-2 Level-1B ASAS Image Data: At-Sensor Radiance in BSQ Format

NASA Technical Reports Server (NTRS)

Russell, C.; Hall, Forrest G. (Editor); Nickeson, Jaime (Editor); Dabney, P. W.; Kovalick, W.; Graham, D.; Bur, Michael; Irons, James R.; Tierney, M.

2000-01-01

The BOREAS RSS-2 team used the ASAS instrument, mounted on the NASA C-130 aircraft, to create at-sensor radiance images of various sites as a function of spectral wavelength, view geometry (combinations of view zenith angle, view azimuth angle, solar zenith angle, and solar azimuth angle), and altitude. The level-1b ASAS images of the BOREAS study areas were collected from April to September 1994 and March to July 1996.

A flexible wearable sensor for knee flexion assessment during gait.

PubMed

Papi, Enrica; Bo, Yen Nee; McGregor, Alison H

2018-05-01

Gait analysis plays an important role in the diagnosis and management of patients with movement disorders but it is usually performed within a laboratory. Recently interest has shifted towards the possibility of conducting gait assessments in everyday environments thus facilitating long-term monitoring. This is possible by using wearable technologies rather than laboratory based equipment. This study aims to validate a novel wearable sensor system's ability to measure peak knee sagittal angles during gait. The proposed system comprises a flexible conductive polymer unit interfaced with a wireless acquisition node attached over the knee on a pair of leggings. Sixteen healthy volunteers participated to two gait assessments on separate occasions. Data was simultaneously collected from the novel sensor and a gold standard 10 camera motion capture system. The relationship between sensor signal and reference knee flexion angles was defined for each subject to allow the transformation of sensor voltage outputs to angular measures (degrees). The knee peak flexion angle from the sensor and reference system were compared by means of root mean square error (RMSE), absolute error, Bland-Altman plots and intra-class correlation coefficients (ICCs) to assess test-retest reliability. Comparisons of knee peak flexion angles calculated from the sensor and gold standard yielded an absolute error of 0.35(±2.9°) and RMSE of 1.2(±0.4)°. Good agreement was found between the two systems with the majority of data lying within the limits of agreement. The sensor demonstrated high test-retest reliability (ICCs>0.8). These results show the ability of the sensor to monitor knee peak sagittal angles with small margins of error and in agreement with the gold standard system. The sensor has potential to be used in clinical settings as a discreet, unobtrusive wearable device allowing for long-term gait analysis. Copyright © 2018 The Authors. Published by Elsevier B.V. All rights reserved.

Autonomous satellite navigation using starlight refraction angle measurements

NASA Astrophysics Data System (ADS)

Ning, Xiaolin; Wang, Longhua; Bai, Xinbei; Fang, Jiancheng

2013-05-01

An on-board autonomous navigation capability is required to reduce the operation costs and enhance the navigation performance of future satellites. Autonomous navigation by stellar refraction is a type of autonomous celestial navigation method that uses high-accuracy star sensors instead of Earth sensors to provide information regarding Earth's horizon. In previous studies, the refraction apparent height has typically been used for such navigation. However, the apparent height cannot be measured directly by a star sensor and can only be calculated by the refraction angle and an atmospheric refraction model. Therefore, additional errors are introduced by the uncertainty and nonlinearity of atmospheric refraction models, which result in reduced navigation accuracy and reliability. A new navigation method based on the direct measurement of the refraction angle is proposed to solve this problem. Techniques for the determination of the refraction angle are introduced, and a measurement model for the refraction angle is established. The method is tested and validated by simulations. When the starlight refraction height ranges from 20 to 50 km, a positioning accuracy of better than 100 m can be achieved for a low-Earth-orbit (LEO) satellite using the refraction angle, while the positioning accuracy of the traditional method using the apparent height is worse than 500 m under the same conditions. Furthermore, an analysis of the factors that affect navigation accuracy, including the measurement accuracy of the refraction angle, the number of visible refracted stars per orbit and the installation azimuth of star sensor, is presented. This method is highly recommended for small satellites in particular, as no additional hardware besides two star sensors is required.

A novel angle computation and calibration algorithm of bio-inspired sky-light polarization navigation sensor.

PubMed

Xian, Zhiwen; Hu, Xiaoping; Lian, Junxiang; Zhang, Lilian; Cao, Juliang; Wang, Yujie; Ma, Tao

2014-09-15

Navigation plays a vital role in our daily life. As traditional and commonly used navigation technologies, Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS) can provide accurate location information, but suffer from the accumulative error of inertial sensors and cannot be used in a satellite denied environment. The remarkable navigation ability of animals shows that the pattern of the polarization sky can be used for navigation. A bio-inspired POLarization Navigation Sensor (POLNS) is constructed to detect the polarization of skylight. Contrary to the previous approach, we utilize all the outputs of POLNS to compute input polarization angle, based on Least Squares, which provides optimal angle estimation. In addition, a new sensor calibration algorithm is presented, in which the installation angle errors and sensor biases are taken into consideration. Derivation and implementation of our calibration algorithm are discussed in detail. To evaluate the performance of our algorithms, simulation and real data test are done to compare our algorithms with several exiting algorithms. Comparison results indicate that our algorithms are superior to the others and are more feasible and effective in practice.

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.

Tachometer Derived From Brushless Shaft-Angle Resolver

NASA Technical Reports Server (NTRS)

Howard, David E.; Smith, Dennis A.

1995-01-01

Tachometer circuit operates in conjunction with brushless shaft-angle resolver. By performing sequence of straightforward mathematical operations on resolver signals and utilizing simple trigonometric identity, generates voltage proportional to rate of rotation of shaft. One advantage is use of brushless shaft-angle resolver as main source of rate signal: no brushes to wear out, no brush noise, and brushless resolvers have proven robustness. No switching of signals to generate noise. Another advantage, shaft-angle resolver used as shaft-angle sensor, tachometer input obtained without adding another sensor. Present circuit reduces overall size, weight, and cost of tachometer.

Testing Accuracy of Long-Range Ultrasonic Sensors for Olive Tree Canopy Measurements

PubMed Central

Gamarra-Diezma, Juan Luis; Miranda-Fuentes, Antonio; Llorens, Jordi; Cuenca, Andrés; Blanco-Roldán, Gregorio L.; Rodríguez-Lizana, Antonio

2015-01-01

Ultrasonic sensors are often used to adjust spray volume by allowing the calculation of the crown volume of tree crops. The special conditions of the olive tree require the use of long-range sensors, which are less accurate and faster than the most commonly used sensors. The main objectives of the study were to determine the suitability of the sensor in terms of sound cone determination, angle errors, crosstalk errors and field measurements. Different laboratory tests were performed to check the suitability of a commercial long-range ultrasonic sensor, as were the experimental determination of the sound cone diameter at several distances for several target materials, the determination of the influence of the angle of incidence of the sound wave on the target and distance on the accuracy of measurements for several materials and the determination of the importance of the errors due to interference between sensors for different sensor spacings and distances for two different materials. Furthermore, sensor accuracy was tested under real field conditions. The results show that the studied sensor is appropriate for olive trees because the sound cone is narrower for an olive tree than for the other studied materials, the olive tree canopy does not have a large influence on the sensor accuracy with respect to distance and angle, the interference errors are insignificant for high sensor spacings and the sensor's field distance measurements were deemed sufficiently accurate. PMID:25635414

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.

Measuring relative-story displacement and local inclination angle using multiple position-sensitive detectors.

PubMed

Matsuya, Iwao; Katamura, Ryuta; Sato, Maya; Iba, Miroku; Kondo, Hideaki; Kanekawa, Kiyoshi; Takahashi, Motoichi; Hatada, Tomohiko; Nitta, Yoshihiro; Tanii, Takashi; Shoji, Shuichi; Nishitani, Akira; Ohdomari, Iwao

2010-01-01

We propose a novel sensor system for monitoring the structural health of a building. The system optically measures the relative-story displacement during earthquakes for detecting any deformations of building elements. The sensor unit is composed of three position sensitive detectors (PSDs) and lenses capable of measuring the relative-story displacement precisely, even if the PSD unit was inclined in response to the seismic vibration. For verification, laboratory tests were carried out using an Xθ-stage and a shaking table. The static experiment verified that the sensor could measure the local inclination angle as well as the lateral displacement. The dynamic experiment revealed that the accuracy of the sensor was 150 μm in the relative-displacement measurement and 100 μrad in the inclination angle measurement. These results indicate that the proposed sensor system has sufficient accuracy for the measurement of relative-story displacement in response to the seismic vibration.

Uncertainty Analysis of Inertial Model Attitude Sensor Calibration and Application with a Recommended New Calibration Method

NASA Technical Reports Server (NTRS)

Tripp, John S.; Tcheng, Ping

1999-01-01

Statistical tools, previously developed for nonlinear least-squares estimation of multivariate sensor calibration parameters and the associated calibration uncertainty analysis, have been applied to single- and multiple-axis inertial model attitude sensors used in wind tunnel testing to measure angle of attack and roll angle. The analysis provides confidence and prediction intervals of calibrated sensor measurement uncertainty as functions of applied input pitch and roll angles. A comparative performance study of various experimental designs for inertial sensor calibration is presented along with corroborating experimental data. The importance of replicated calibrations over extended time periods has been emphasized; replication provides independent estimates of calibration precision and bias uncertainties, statistical tests for calibration or modeling bias uncertainty, and statistical tests for sensor parameter drift over time. A set of recommendations for a new standardized model attitude sensor calibration method and usage procedures is included. The statistical information provided by these procedures is necessary for the uncertainty analysis of aerospace test results now required by users of industrial wind tunnel test facilities.

Different experimental results for the influence of immersion angle on the resonant frequency of a quartz crystal microbalance in a liquid phase: with a comment.

PubMed

Shen, Dazhong; Kang, Qi; Li, Xiaoyu; Cai, Hongmei; Wang, Yuandong

2007-06-19

This paper presents different experimental results of the influence of an immersion angle (theta, the angle between the surface of a quartz crystal resonator and the horizon) on the resonant frequency of a quartz crystal microbalance (QCM) sensor exposed one side of its sensing surfaces to liquid. The experimental results show that the immersion angle is an added factor that may influence the frequency of the QCM sensor. This type of influence is caused by variation of the reflection conditions of the longitudinal wave between the QCM sensor and the walls of the detection cell. The frequency shifts, measured by varying theta, are related to the QCM sensor used. When a QCM sensor with a weak longitudinal wave is used, its resonant frequency is nearly independent of theta. But, if a QCM sensor with a strong longitudinal wave is employed, the immersion angle is a potential error source for the measurements performed on the QCM sensor. When the reflection conditions of the longitudinal wave are reduced, the influence of theta on the resonant frequency of the QCM sensor is negligible. The slope of the plot of frequency shifts (deltaF) versus (rho eta)(1/2), the square root of the product of solution density (rho) and viscosity (eta), may be influenced by theta in a single experiment for the QCM sensor with a strong longitudinal wave in low viscous liquids, which can however, be effectively weakened by using the averaged values of reduplicated experiments. In solutions with a large (rho eta)(1/2) region (0-55 wt% sucrose solution as an example, with rho value from 1.00 to 1.26 g cm(-3) and eta value from 0.01 to 0.22 g cm(-1) s(-1), respectively), the slope of the plot of deltaF versus (rho eta)(1/2) is independent of theta even for the QCM sensor with a strong longitudinal wave in a single experiment. The influence of theta on the resonant frequency of the QCM sensor should be taken into consideration in its applications in liquid phase.

Flight-determined lag of angle-of-attack and angle-of-sideslip sensors in the YF-12A airplane from analysis of dynamic maneuvers

NASA Technical Reports Server (NTRS)

Gilyard, G. B.; Belte, D.

1974-01-01

Magnitudes of lags in the pneumatic angle-of-attack and angle-of-sideslip sensor systems of the YF-12A airplane were determined for a variety of flight conditions by analyzing stability and control data. The three analysis techniques used are described. An apparent trend with Mach number for measurements from both of the differential-pressure sensors showed that the lag ranged from approximately 0.15 second at subsonic speed to 0.4 second at Mach 3. Because Mach number was closely related to altitude for the available flight data, the individual effects of Mach number and altitude on the lag could not be separated clearly. However, the results indicated the influence of factors other than simple pneumatic lag.

Space-based infrared scanning sensor LOS determination and calibration using star observation

NASA Astrophysics Data System (ADS)

Chen, Jun; Xu, Zhan; An, Wei; Deng, Xin-Pu; Yang, Jun-Gang

2015-10-01

This paper provides a novel methodology for removing sensor bias from a space based infrared (IR) system (SBIRS) through the use of stars detected in the background field of the sensor. Space based IR system uses the LOS (line of sight) of target for target location. LOS determination and calibration is the key precondition of accurate location and tracking of targets in Space based IR system and the LOS calibration of scanning sensor is one of the difficulties. The subsequent changes of sensor bias are not been taking into account in the conventional LOS determination and calibration process. Based on the analysis of the imaging process of scanning sensor, a theoretical model based on the estimation of bias angles using star observation is proposed. By establishing the process model of the bias angles and the observation model of stars, using an extended Kalman filter (EKF) to estimate the bias angles, and then calibrating the sensor LOS. Time domain simulations results indicate that the proposed method has a high precision and smooth performance for sensor LOS determination and calibration. The timeliness and precision of target tracking process in the space based infrared (IR) tracking system could be met with the proposed algorithm.

Fast Plasma Instrument for MMS: Data Compression Simulation Results

NASA Technical Reports Server (NTRS)

Barrie, A.; Adrian, Mark L.; Yeh, P.-S.; Winkert, G. E.; Lobell, J. V.; Vinas, A.F.; Simpson, D. J.; Moore, T. E.

2008-01-01

Magnetospheric Multiscale (MMS) mission will study small-scale reconnection structures and their rapid motions from closely spaced platforms using instruments capable of high angular, energy, and time resolution measurements. To meet these requirements, the Fast Plasma Instrument (FPI) consists of eight (8) identical half top-hat electron sensors and eights (8) identical ion sensors and an Instrument Data Processing Unit (IDPU). The sensors (electron or ion) are grouped into pairs whose 6 deg x 180 deg fields-of-view (FOV) are set 90 deg apart. Each sensor is equipped with electrostatic aperture steering to allow the sensor to scan a 45 deg x 180 deg fan about its nominal viewing (0 deg deflection) direction. Each pair of sensors, known as the Dual Electron Spectrometer (DES) and the Dual Ion Spectrometer (DIS), occupies a quadrant on the MMS spacecraft and the combination of the eight electron/ion sensors, employing aperture steering, image the full-sky every 30-ms (electrons) and 150-ms (ions), respectively. To probe the results in the DES complement of a given spacecraft generating 6.5-Mbs(exp -1) of electron data while the DIS generates 1.1-Mbs(exp -1) of ion data yielding an FPI total data rate of 6.6-MBs(exp -1). The FPI electron/ion data is collected by the IDPU then transmitted to the Central Data Instrument Processor (CIDP) on the spacecraft for science interest ranking. Only data sequences that contain the greatest amount of temporal/spatial structure will be intelligently down-linked by the spacecraft. Currently, the FPI data rate allocation to the CIDP is 1.5-Mbs(exp -1). Consequently, the FPI-IDPU must employ data/image compression to meet this CIDP telemetry allocation. Here, we present simulations of the CCSDS 122.0-B-1 algorithm-based compression of the FPI-DES electron data. Compression analysis is based upon a seed of re-processed Cluster/PEACE electron measurements. Topics to be discussed include: review of compression algorithm; data quality; data formatting/organization; and, implications for data/matrix pruning. To conclude a presentation of the base-lined FPI data compression approach is provided.

Evaluation method on steering for the shape-shifting robot in different configurations

NASA Astrophysics Data System (ADS)

Chang, Jian; Li, Bin; Wang, Chong; Zheng, Huaibing; Li, Zhiqiang

2016-01-01

The evaluation method on steering is based on qualitative manner in existence, which causes the result inaccurate and fuzziness. It reduces the efficiency of process execution. So the method by quantitative manner for the shape-shifting robot in different configurations is proposed. Comparing to traditional evaluation method, the most important aspects which can influence the steering abilities of the robot in different configurations are researched in detail, including the energy, angular velocity, time and space. In order to improve the robustness of system, the ideal and slippage conditions are all considered by mathematical model. Comparing to the traditional weighting confirming method, the extent of robot steering method is proposed by the combination of subjective and objective weighting method. The subjective weighting method can show more preferences of the experts and is based on five-grade scale. The objective weighting method is based on information entropy to determine the factors. By the sensors fixed on the robot, the contract force between track grouser and ground, the intrinsic motion characteristics of robot are obtained and the experiment is done to prove the algorithm which is proposed as the robot in different common configurations. Through the method proposed in the article, fuzziness and inaccurate of the evaluation method has been solved, so the operators can choose the most suitable configuration of the robot to fulfil the different tasks more quickly and simply.

Control performance of a road vehicle with four independent single-wheel electric motors and steer-by-wire system

NASA Astrophysics Data System (ADS)

Weiskircher, Thomas; Müller, Steffen

2012-01-01

This article presents a motion controller for a road vehicle equipped with a steer-by-wire system and four independent electric rim-mounted drives. The motion controller separates the control law from the specific actuator setup by the usage of virtual global control variables acting on the vehicle centre of gravity. A control allocation algorithm distributes the virtual control variables to the available actuators. An approximation of the real actuator dynamics is used to analyse the performance of different motion controller types in the linear and nonlinear driving regions. In addition, a vehicle state observer consisting of a traction force observer and an unscented Kalman filter is discussed to analyse the control behaviour in the case of a real sensor setup.

Ground vehicle control at NIST: From teleoperation to autonomy

NASA Technical Reports Server (NTRS)

Murphy, Karl N.; Juberts, Maris; Legowik, Steven A.; Nashman, Marilyn; Schneiderman, Henry; Scott, Harry A.; Szabo, Sandor

1994-01-01

NIST is applying their Real-time Control System (RCS) methodology for control of ground vehicles for both the U.S. Army Researh Lab, as part of the DOD's Unmanned Ground Vehicles program, and for the Department of Transportation's Intelligent Vehicle/Highway Systems (IVHS) program. The actuated vehicle, a military HMMWV, has motors for steering, brake, throttle, etc. and sensors for the dashboard gauges. For military operations, the vehicle has two modes of operation: a teleoperation mode--where an operator remotely controls the vehicle over an RF communications network; and a semi-autonomous mode called retro-traverse--where the control system uses an inertial navigation system to steer the vehicle along a prerecorded path. For the IVHS work, intelligent vision processing elements replace the human teleoperator to achieve autonomous, visually guided road following.

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.

Redundant unbalance compensation of an active magnetic bearing system

NASA Astrophysics Data System (ADS)

Hutterer, Markus; Kalteis, Gerald; Schrödl, Manfred

2017-09-01

To achieve a good running behavior of a magnetic levitated rotor, a well-developed position controller and different compensation methods are required. Two very important structures in this context are the reduction of the gyroscopic effect and the unbalance vibration. Both structures have in common that they need the angular velocity information for calculation. For industrial applications this information is normally provided by an angle sensor which is fixed on the rotor. The angle information is also necessary for the field oriented control of the electrical drive. The main drawback of external position sensors are the case of a breakdown or an error of the motor controller. Therefore, the magnetic bearing can get unstable, because no angular velocity information is provided. To overcome this problem the presented paper describes the development of a selfsensing unbalance rejection in combination with a selfsensing speed control of the motor controller. Selfsensing means in this context that no angle sensor is required for the unbalance or torque control. With such structures two redundant speed and angle information sources are available and can be used for the magnetic bearing and the motor controller without the usage of an angle sensor.

A Novel Angle Computation and Calibration Algorithm of Bio-Inspired Sky-Light Polarization Navigation Sensor

PubMed Central

Xian, Zhiwen; Hu, Xiaoping; Lian, Junxiang; Zhang, Lilian; Cao, Juliang; Wang, Yujie; Ma, Tao

2014-01-01

Navigation plays a vital role in our daily life. As traditional and commonly used navigation technologies, Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS) can provide accurate location information, but suffer from the accumulative error of inertial sensors and cannot be used in a satellite denied environment. The remarkable navigation ability of animals shows that the pattern of the polarization sky can be used for navigation. A bio-inspired POLarization Navigation Sensor (POLNS) is constructed to detect the polarization of skylight. Contrary to the previous approach, we utilize all the outputs of POLNS to compute input polarization angle, based on Least Squares, which provides optimal angle estimation. In addition, a new sensor calibration algorithm is presented, in which the installation angle errors and sensor biases are taken into consideration. Derivation and implementation of our calibration algorithm are discussed in detail. To evaluate the performance of our algorithms, simulation and real data test are done to compare our algorithms with several exiting algorithms. Comparison results indicate that our algorithms are superior to the others and are more feasible and effective in practice. PMID:25225872

A buoyancy-based fiber Bragg grating tilt sensor

NASA Astrophysics Data System (ADS)

Maheshwari, Muneesh; Yang, Yaowen; Chaturvedi, Tanmay

2017-04-01

In this paper, a novel design of fiber Bragg grating tilt sensor is proposed. This tilt sensor exhibits high angle sensitivity and resolution. The presented tilt sensor works on the principle of the force of buoyancy in a liquid. It has certain advantages over the other designs of tilt sensors. The temperature effect can be easily compensated by using an un-bonded or free FBG. An analytical model is established which correlates the Bragg wavelength (λB) with the angle of inclination. This model is then validated by the experiment, where the experimental and analytical results are found in good agreement with each other.

A Digital Solar Aspect Sensor

NASA Technical Reports Server (NTRS)

Albus, James S.

1961-01-01

The solar aspect sensor described herein performs the analog-to-digital conversion of data optically. To accomplish this, it uses a binary "Gray code" light mask to produce a digital indication, in vehicle-fixed coordinates, of the elevation and azimuth angles of incident light from the sun. This digital solar aspect sensor system, in Explorer X, provided measurements of both elevation and azimuth angles to +/- 2 degrees at a distance of over 140,000 statute miles.

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.

Signal location using generalized linear constraints

NASA Astrophysics Data System (ADS)

Griffiths, Lloyd J.; Feldman, D. D.

1992-01-01

This report has presented a two-part method for estimating the directions of arrival of uncorrelated narrowband sources when there are arbitrary phase errors and angle independent gain errors. The signal steering vectors are estimated in the first part of the method; in the second part, the arrival directions are estimated. It should be noted that the second part of the method can be tailored to incorporate additional information about the nature of the phase errors. For example, if the phase errors are known to be caused solely by element misplacement, the element locations can be estimated concurrently with the DOA's by trying to match the theoretical steering vectors to the estimated ones. Simulation results suggest that, for general perturbation, the method can resolve closely spaced sources under conditions for which a standard high-resolution DOA method such as MUSIC fails.

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.

Operation tools with dielectric elastomer pressure sensors

NASA Astrophysics Data System (ADS)

Böse, Holger; Müller, Dominik; Ehrlich, Johannes

2017-04-01

New sensors based on dielectric elastomers have recently been shown to exhibit high sensitivity for compression loads. The basic design of these sensors exhibits two profiled surfaces coated with electrode layers between which an elastomer film with the counter-electrode is confined. All components of the sensor are prepared with silicone whose stiffness can be varied in a wide range. Depending on the details of the sensor design, various effects contribute to the enhancement of the capacitance. The intermediate elastomer film is stretched upon compression, the elastomer profiles are deformed and the electrode layers on the elastomer profiles and in the elastomer film approach each other. Beside the detection of pressure, such sensors can also be used for operation tools in human-machine interfaces. To demonstrate this potential, a touch pad with six pressure-sensitive fields is presented. The corresponding sensors integrated in the touch fields detect the exerted forces of the finger, show them on a display and control the brightness of some LEDs. As a second example, the integration of sensor-based control fields on an automotive steering wheel is shown. Finally, the sensors can also be used in fabrics to control arbitrary functions of wearable electronic devices.

A Sensor Fusion Method Based on an Integrated Neural Network and Kalman Filter for Vehicle Roll Angle Estimation.

PubMed

Vargas-Meléndez, Leandro; Boada, Beatriz L; Boada, María Jesús L; Gauchía, Antonio; Díaz, Vicente

2016-08-31

This article presents a novel estimator based on sensor fusion, which combines the Neural Network (NN) with a Kalman filter in order to estimate the vehicle roll angle. The NN estimates a "pseudo-roll angle" through variables that are easily measured from Inertial Measurement Unit (IMU) sensors. An IMU is a device that is commonly used for vehicle motion detection, and its cost has decreased during recent years. The pseudo-roll angle is introduced in the Kalman filter in order to filter noise and minimize the variance of the norm and maximum errors' estimation. The NN has been trained for J-turn maneuvers, double lane change maneuvers and lane change maneuvers at different speeds and road friction coefficients. The proposed method takes into account the vehicle non-linearities, thus yielding good roll angle estimation. Finally, the proposed estimator has been compared with one that uses the suspension deflections to obtain the pseudo-roll angle. Experimental results show the effectiveness of the proposed NN and Kalman filter-based estimator.

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.

Internal reflection sensors with high angular resolution

NASA Astrophysics Data System (ADS)

Shavirin, I.; Strelkov, O.; Vetskous, A.; Norton-Wayne, L.; Harwood, R.

1996-07-01

We discuss the use of total internal reflection for the production of sensors with high angular resolution. These sensors are intended for measurement of the angle between a sensor's axis and the direction to a source of radiation or reflecting object. Sensors of this type are used in controlling the position of machine parts in robotics and industry, orienting space vehicles and astronomic devices in relation to the Sun, and as autocollimators for checking angles of deviation. This kind of sensor was used in the Apollo space vehicle some 20 years ago. Using photodetectors with linear and area CCD arrays has opened up new application possibilities for appropriately designed sensors. A generalized methodology is presented applicable to a wide range of tasks. Some modifications that can improve the performance of the basic design are described.

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).

Optimizing sensor cover energy for directional sensors

NASA Astrophysics Data System (ADS)

Astorino, Annabella; Gaudioso, Manlio; Miglionico, Giovanna

2016-10-01

The Directional Sensors Continuous Coverage Problem (DSCCP) aims at covering a given set of targets in a plane by means of a set of directional sensors. The location of these sensors is known in advance and they are characterized by a discrete set of possible radii and aperture angles. Decisions to be made are about orientation (which in our approach can vary continuously), radius and aperture angle of each sensor. The objective is to get a minimum cost coverage of all targets, if any. We introduce a MINLP formulation of the problem and define a Lagrangian heuristics based on a dual ascent procedure operating on one multiplier at a time. Finally we report the results of the implementation of the method on a set of test problems.

Space based optical staring sensor LOS determination and calibration using GCPs observation

NASA Astrophysics Data System (ADS)

Chen, Jun; An, Wei; Deng, Xinpu; Yang, Jungang; Sha, Zhichao

2016-10-01

Line of sight (LOS) attitude determination and calibration is the key prerequisite of tracking and location of targets in space based infrared (IR) surveillance systems (SBIRS) and the LOS determination and calibration of staring sensor is one of the difficulties. This paper provides a novel methodology for removing staring sensor bias through the use of Ground Control Points (GCPs) detected in the background field of the sensor. Based on researching the imaging model and characteristics of the staring sensor of SBIRS geostationary earth orbit part (GEO), the real time LOS attitude determination and calibration algorithm using landmark control point is proposed. The influential factors (including the thermal distortions error, assemble error, and so on) of staring sensor LOS attitude error are equivalent to bias angle of LOS attitude. By establishing the observation equation of GCPs and the state transition equation of bias angle, and using an extend Kalman filter (EKF), the real time estimation of bias angle and the high precision sensor LOS attitude determination and calibration are achieved. The simulation results show that the precision and timeliness of the proposed algorithm meet the request of target tracking and location process in space based infrared surveillance system.

Wide-angle vision for road views

NASA Astrophysics Data System (ADS)

Huang, F.; Fehrs, K.-K.; Hartmann, G.; Klette, R.

2013-03-01

The field-of-view of a wide-angle image is greater than (say) 90 degrees, and so contains more information than available in a standard image. A wide field-of-view is more advantageous than standard input for understanding the geometry of 3D scenes, and for estimating the poses of panoramic sensors within such scenes. Thus, wide-angle imaging sensors and methodologies are commonly used in various road-safety, street surveillance, street virtual touring, or street 3D modelling applications. The paper reviews related wide-angle vision technologies by focusing on mathematical issues rather than on hardware.

A Novel Angular Acceleration Sensor Based on the Electromagnetic Induction Principle and Investigation of Its Calibration Tests

PubMed Central

Zhao, Hao; Feng, Hao

2013-01-01

An angular acceleration sensor can be used for the dynamic analysis of human and joint motions. In this paper, an angular acceleration sensor with novel structure based on the principle of electromagnetic induction is designed. The method involves the construction of a constant magnetic field by the excitation windings of sensor, and the cup-shaped rotor that cut the magnetic field. The output windings of the sensor generate an electromotive force, which is directly proportional to the angular acceleration through the electromagnetic coupling when the rotor has rotational angular acceleration. The mechanical structure and the magnetic working circuit of the sensor are described. The output properties and the mathematical model including the transfer function and state-space model of the sensor are established. The asymptotical stability of the sensor when it is working is verified by the Lyapunov Theorem. An angular acceleration calibration device based on the torsional pendulum principle is designed. The method involves the coaxial connection of the angular acceleration sensor, torsion pendulum and a high-precision angle sensor, and then an initial external force is applied to the torsion pendulum to produce a periodic damping angle oscillation. The angular acceleration sensor and the angle sensor will generate two corresponding electrical signals. The sensitivity coefficient of the angular acceleration sensor can be obtained after processing these two-channel signals. The experiment results show that the sensitivity coefficient of the sensor is about 17.29 mv/Krad·s2. Finally, the errors existing in the practical applications of the sensor are discussed and the corresponding improvement measures are proposed to provide effective technical support for the practical promotion of the novel sensor. PMID:23941911

Steering a Tractor by Means of an EMG-Based Human-Machine Interface

PubMed Central

Gomez-Gil, Jaime; San-Jose-Gonzalez, Israel; Nicolas-Alonso, Luis Fernando; Alonso-Garcia, Sergio

2011-01-01

An electromiographic (EMG)-based human-machine interface (HMI) is a communication pathway between a human and a machine that operates by means of the acquisition and processing of EMG signals. This article explores the use of EMG-based HMIs in the steering of farm tractors. An EPOC, a low-cost human-computer interface (HCI) from the Emotiv Company, was employed. This device, by means of 14 saline sensors, measures and processes EMG and electroencephalographic (EEG) signals from the scalp of the driver. In our tests, the HMI took into account only the detection of four trained muscular events on the driver’s scalp: eyes looking to the right and jaw opened, eyes looking to the right and jaw closed, eyes looking to the left and jaw opened, and eyes looking to the left and jaw closed. The EMG-based HMI guidance was compared with manual guidance and with autonomous GPS guidance. A driver tested these three guidance systems along three different trajectories: a straight line, a step, and a circumference. The accuracy of the EMG-based HMI guidance was lower than the accuracy obtained by manual guidance, which was lower in turn than the accuracy obtained by the autonomous GPS guidance; the computed standard deviations of error to the desired trajectory in the straight line were 16 cm, 9 cm, and 4 cm, respectively. Since the standard deviation between the manual guidance and the EMG-based HMI guidance differed only 7 cm, and this difference is not relevant in agricultural steering, it can be concluded that it is possible to steer a tractor by an EMG-based HMI with almost the same accuracy as with manual steering. PMID:22164006

Steering a tractor by means of an EMG-based human-machine interface.

PubMed

Gomez-Gil, Jaime; San-Jose-Gonzalez, Israel; Nicolas-Alonso, Luis Fernando; Alonso-Garcia, Sergio

2011-01-01

An electromiographic (EMG)-based human-machine interface (HMI) is a communication pathway between a human and a machine that operates by means of the acquisition and processing of EMG signals. This article explores the use of EMG-based HMIs in the steering of farm tractors. An EPOC, a low-cost human-computer interface (HCI) from the Emotiv Company, was employed. This device, by means of 14 saline sensors, measures and processes EMG and electroencephalographic (EEG) signals from the scalp of the driver. In our tests, the HMI took into account only the detection of four trained muscular events on the driver's scalp: eyes looking to the right and jaw opened, eyes looking to the right and jaw closed, eyes looking to the left and jaw opened, and eyes looking to the left and jaw closed. The EMG-based HMI guidance was compared with manual guidance and with autonomous GPS guidance. A driver tested these three guidance systems along three different trajectories: a straight line, a step, and a circumference. The accuracy of the EMG-based HMI guidance was lower than the accuracy obtained by manual guidance, which was lower in turn than the accuracy obtained by the autonomous GPS guidance; the computed standard deviations of error to the desired trajectory in the straight line were 16 cm, 9 cm, and 4 cm, respectively. Since the standard deviation between the manual guidance and the EMG-based HMI guidance differed only 7 cm, and this difference is not relevant in agricultural steering, it can be concluded that it is possible to steer a tractor by an EMG-based HMI with almost the same accuracy as with manual steering.

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

A New Multi-Sensor Fusion Scheme to Improve the Accuracy of Knee Flexion Kinematics for Functional Rehabilitation Movements.

PubMed

Tannous, Halim; Istrate, Dan; Benlarbi-Delai, Aziz; Sarrazin, Julien; Gamet, Didier; Ho Ba Tho, Marie Christine; Dao, Tien Tuan

2016-11-15

Exergames have been proposed as a potential tool to improve the current practice of musculoskeletal rehabilitation. Inertial or optical motion capture sensors are commonly used to track the subject's movements. However, the use of these motion capture tools suffers from the lack of accuracy in estimating joint angles, which could lead to wrong data interpretation. In this study, we proposed a real time quaternion-based fusion scheme, based on the extended Kalman filter, between inertial and visual motion capture sensors, to improve the estimation accuracy of joint angles. The fusion outcome was compared to angles measured using a goniometer. The fusion output shows a better estimation, when compared to inertial measurement units and Kinect outputs. We noted a smaller error (3.96°) compared to the one obtained using inertial sensors (5.04°). The proposed multi-sensor fusion system is therefore accurate enough to be applied, in future works, to our serious game for musculoskeletal rehabilitation.

Sun-view angle effects on reflectance factors of corn canopies

NASA Technical Reports Server (NTRS)

Ranson, K. J.; Daughtry, C. S. T.; Biehl, L. L.; Bauer, M. E.

1985-01-01

The effects of sun and view angles on reflectance factors of corn (Zea mays L.) canopies ranging from the six leaf stage to harvest maturity were studied on the Purdue University Agronomy Farm by a multiband radiometer. The two methods of acquiring spectral data, the truck system and the tower systrem, are described. The analysis of the spectral data is presented in three parts: solar angle effects on reflectance factors viewed at nadir; solar angle effects on reflectance factors viewed at a fixed sun angle; and both sun and view angles effect on reflectance factors. The analysis revealed that for nadir-viewed reflectance factors there is a strong solar angle dependence in all spectral bands for canopies with low leaf area index. Reflectance factors observed from the sun angle at different view azimuth angles showed that the position of the sensor relative to the sun is important in determining angular reflectance characteristics. For both sun and view angles, reflectance factors are maximized when the sensor view direction is towards the sun.

New generation of wearable goniometers for motion capture systems

PubMed Central

2014-01-01

Background Monitoring joint angles through wearable systems enables human posture and gesture to be reconstructed as a support for physical rehabilitation both in clinics and at the patient’s home. A new generation of wearable goniometers based on knitted piezoresistive fabric (KPF) technology is presented. Methods KPF single-and double-layer devices were designed and characterized under stretching and bending to work as strain sensors and goniometers. The theoretical working principle and the derived electromechanical model, previously proved for carbon elastomer sensors, were generalized to KPF. The devices were used to correlate angles and piezoresistive fabric behaviour, to highlight the differences in terms of performance between the single layer and the double layer sensors. A fast calibration procedure is also proposed. Results The proposed device was tested both in static and dynamic conditions in comparison with standard electrogoniometers and inertial measurement units respectively. KPF goniometer capabilities in angle detection were experimentally proved and a discussion of the device measurement errors of is provided. The paper concludes with an analysis of sensor accuracy and hysteresis reduction in particular configurations. Conclusions Double layer KPF goniometers showed a promising performance in terms of angle measurements both in quasi-static and dynamic working mode for velocities typical of human movement. A further approach consisting of a combination of multiple sensors to increase accuracy via sensor fusion technique has been presented. PMID:24725669

Active Self-Testing Noise Measurement Sensors for Large-Scale Environmental Sensor Networks

PubMed Central

Domínguez, Federico; Cuong, Nguyen The; Reinoso, Felipe; Touhafi, Abdellah; Steenhaut, Kris

2013-01-01

Large-scale noise pollution sensor networks consist of hundreds of spatially distributed microphones that measure environmental noise. These networks provide historical and real-time environmental data to citizens and decision makers and are therefore a key technology to steer environmental policy. However, the high cost of certified environmental microphone sensors render large-scale environmental networks prohibitively expensive. Several environmental network projects have started using off-the-shelf low-cost microphone sensors to reduce their costs, but these sensors have higher failure rates and produce lower quality data. To offset this disadvantage, we developed a low-cost noise sensor that actively checks its condition and indirectly the integrity of the data it produces. The main design concept is to embed a 13 mm speaker in the noise sensor casing and, by regularly scheduling a frequency sweep, estimate the evolution of the microphone's frequency response over time. This paper presents our noise sensor's hardware and software design together with the results of a test deployment in a large-scale environmental network in Belgium. Our middle-range-value sensor (around €50) effectively detected all experienced malfunctions, in laboratory tests and outdoor deployments, with a few false positives. Future improvements could further lower the cost of our sensor below €10. PMID:24351634

Cooperative angle-only orbit initialization via fusion of admissible areas

NASA Astrophysics Data System (ADS)

Jia, Bin; Pham, Khanh; Blasch, Erik; Chen, Genshe; Shen, Dan; Wang, Zhonghai

2017-05-01

For the short-arc angle only orbit initialization problem, the admissible area is often used. However, the accuracy using a single sensor is often limited. For high value space objects, it is desired to achieve more accurate results. Fortunately, multiple sensors, which are dedicated to space situational awareness, are available. The work in this paper uses multiple sensors' information to cooperatively initialize the orbit based on the fusion of multiple admissible areas. Both the centralized fusion and decentralized fusion are discussed. Simulation results verify the expectation that the orbit initialization accuracy is improved by using information from multiple sensors.

Aircraft Aerodynamic Parameter Detection Using Micro Hot-Film Flow Sensor Array and BP Neural Network Identification

PubMed Central

Que, Ruiyi; Zhu, Rong

2012-01-01

Air speed, angle of sideslip and angle of attack are fundamental aerodynamic parameters for controlling most aircraft. For small aircraft for which conventional detecting devices are too bulky and heavy to be utilized, a novel and practical methodology by which the aerodynamic parameters are inferred using a micro hot-film flow sensor array mounted on the surface of the wing is proposed. A back-propagation neural network is used to model the coupling relationship between readings of the sensor array and aerodynamic parameters. Two different sensor arrangements are tested in wind tunnel experiments and dependence of the system performance on the sensor arrangement is analyzed. PMID:23112638

Aircraft aerodynamic parameter detection using micro hot-film flow sensor array and BP neural network identification.

PubMed

Que, Ruiyi; Zhu, Rong

2012-01-01

Air speed, angle of sideslip and angle of attack are fundamental aerodynamic parameters for controlling most aircraft. For small aircraft for which conventional detecting devices are too bulky and heavy to be utilized, a novel and practical methodology by which the aerodynamic parameters are inferred using a micro hot-film flow sensor array mounted on the surface of the wing is proposed. A back-propagation neural network is used to model the coupling relationship between readings of the sensor array and aerodynamic parameters. Two different sensor arrangements are tested in wind tunnel experiments and dependence of the system performance on the sensor arrangement is analyzed.

Integrated polarization-dependent sensor for autonomous navigation

NASA Astrophysics Data System (ADS)

Liu, Ze; Zhang, Ran; Wang, Zhiwen; Guan, Le; Li, Bin; Chu, Jinkui

2015-01-01

Based on the navigation strategy of insects utilizing the polarized skylight, an integrated polarization-dependent sensor for autonomous navigation is presented. The navigation sensor has the features of compact structure, high precision, strong robustness, and a simple manufacture technique. The sensor is composed by integrating a complementary-metal-oxide-semiconductor sensor with a multiorientation nanowire grid polarizer. By nanoimprint lithography, the multiorientation nanowire polarizer is fabricated in one step and the alignment error is eliminated. The statistical theory is added to the interval-division algorithm to calculate the polarization angle of the incident light. The laboratory and outdoor tests for the navigation sensor are implemented and the errors of the measured angle are ±0.02 deg and ±1.3 deg, respectively. The results show that the proposed sensor has potential for application in autonomous navigation.

Two-Dimensional Micro-/Nanoradian Angle Generator with High Resolution and Repeatability Based on Piezo-Driven Double-Axis Flexure Hinge and Three Capacitive Sensors.

PubMed

Tan, Xinran; Zhu, Fan; Wang, Chao; Yu, Yang; Shi, Jian; Qi, Xue; Yuan, Feng; Tan, Jiubin

2017-11-19

This study presents a two-dimensional micro-/nanoradian angle generator (2D-MNAG) that achieves high angular displacement resolution and repeatability using a piezo-driven flexure hinge for two-dimensional deflections and three capacitive sensors for output angle monitoring and feedback control. The principal error of the capacitive sensor for precision microangle measurement is analyzed and compensated for; so as to achieve a high angle output resolution of 10 nrad (0.002 arcsec) and positioning repeatability of 120 nrad (0.024 arcsec) over a large angular range of ±4363 μrad (±900 arcsec) for the 2D-MNAG. The impact of each error component, together with the synthetic error of the 2D-MNAG after principal error compensation are determined using Monte Carlo simulation for further improvement of the 2D-MNAG.

Two-Dimensional Micro-/Nanoradian Angle Generator with High Resolution and Repeatability Based on Piezo-Driven Double-Axis Flexure Hinge and Three Capacitive Sensors

PubMed Central

Tan, Xinran; Zhu, Fan; Wang, Chao; Yu, Yang; Shi, Jian; Qi, Xue; Yuan, Feng; Tan, Jiubin

2017-01-01

This study presents a two-dimensional micro-/nanoradian angle generator (2D-MNAG) that achieves high angular displacement resolution and repeatability using a piezo-driven flexure hinge for two-dimensional deflections and three capacitive sensors for output angle monitoring and feedback control. The principal error of the capacitive sensor for precision microangle measurement is analyzed and compensated for; so as to achieve a high angle output resolution of 10 nrad (0.002 arcsec) and positioning repeatability of 120 nrad (0.024 arcsec) over a large angular range of ±4363 μrad (±900 arcsec) for the 2D-MNAG. The impact of each error component, together with the synthetic error of the 2D-MNAG after principal error compensation are determined using Monte Carlo simulation for further improvement of the 2D-MNAG. PMID:29156595

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.

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

Adaptive Inner-Loop Rover Control

NASA Technical Reports Server (NTRS)

Kulkarni, Nilesh; Ippolito, Corey; Krishnakumar, Kalmanje; Al-Ali, Khalid M.

2006-01-01

Adaptive control technology is developed for the inner-loop speed and steering control of the MAX Rover. MAX, a CMU developed rover, is a compact low-cost 4-wheel drive, 4-wheel steer (double Ackerman), high-clearance agile durable chassis, outfitted with sensors and electronics that make it ideally suited for supporting research relevant to intelligent teleoperation and as a low-cost autonomous robotic test bed and appliance. The design consists of a feedback linearization based controller with a proportional - integral (PI) feedback that is augmented by an online adaptive neural network. The adaptation law has guaranteed stability properties for safe operation. The control design is retrofit in nature so that it fits inside the outer-loop path planning algorithms. Successful hardware implementation of the controller is illustrated for several scenarios consisting of actuator failures and modeling errors in the nominal design.

Feedback Robust Cubature Kalman Filter for Target Tracking Using an Angle Sensor.

PubMed

Wu, Hao; Chen, Shuxin; Yang, Binfeng; Chen, Kun

2016-05-09

The direction of arrival (DOA) tracking problem based on an angle sensor is an important topic in many fields. In this paper, a nonlinear filter named the feedback M-estimation based robust cubature Kalman filter (FMR-CKF) is proposed to deal with measurement outliers from the angle sensor. The filter designs a new equivalent weight function with the Mahalanobis distance to combine the cubature Kalman filter (CKF) with the M-estimation method. Moreover, by embedding a feedback strategy which consists of a splitting and merging procedure, the proper sub-filter (the standard CKF or the robust CKF) can be chosen in each time index. Hence, the probability of the outliers' misjudgment can be reduced. Numerical experiments show that the FMR-CKF performs better than the CKF and conventional robust filters in terms of accuracy and robustness with good computational efficiency. Additionally, the filter can be extended to the nonlinear applications using other types of sensors.

Dual-angle technique for simultaneous measurement of refractive index and temperature based on a surface plasmon resonance sensor.

PubMed

Luo, Wei; Chen, Sheng; Chen, Lei; Li, Hualong; Miao, Pengcheng; Gao, Huiyi; Hu, Zelin; Li, Miao

2017-05-29

We describe a theoretical model to analyze temperature effects on the Kretschmann surface plasmon resonance (SPR) sensor, and describe a new double-incident angle technique to simultaneously measure changes in refractive index (RI) and temperature. The method uses the observation that output signals obtained from two different incident angles each have a linear dependence on RI and temperature, and are independent. A proof-of-concept experiment using different NaCl concentration solutions as analytes demonstrates the ability of the technique. The optical design is as simple and robust as conventional SPR detection, but provides a way to discriminate between RI-induced and temperature-induced SPR changes. This technique facilitates a way for traditional SPR sensors to detect RI in different temperature environments, and may lead to better design and fabrication of SPR sensors against temperature variation.

Consistent Steering System using SCTP for Bluetooth Scatternet Sensor Network

NASA Astrophysics Data System (ADS)

Dhaya, R.; Sadasivam, V.; Kanthavel, R.

2012-12-01

Wireless communication is the best way to convey information from source to destination with flexibility and mobility and Bluetooth is the wireless technology suitable for short distance. On the other hand a wireless sensor network (WSN) consists of spatially distributed autonomous sensors to cooperatively monitor physical or environmental conditions, such as temperature, sound, vibration, pressure, motion or pollutants. Using Bluetooth piconet wireless technique in sensor nodes creates limitation in network depth and placement. The introduction of Scatternet solves the network restrictions with lack of reliability in data transmission. When the depth of the network increases, it results in more difficulties in routing. No authors so far focused on the reliability factors of Scatternet sensor network's routing. This paper illustrates the proposed system architecture and routing mechanism to increase the reliability. The another objective is to use reliable transport protocol that uses the multi-homing concept and supports multiple streams to prevent head-of-line blocking. The results show that the Scatternet sensor network has lower packet loss even in the congestive environment than the existing system suitable for all surveillance applications.

Park Smart

NASA Technical Reports Server (NTRS)

1999-01-01

The Parking Garage Automation System (PGAS) is based on a technology developed by a NASA-sponsored project called Robot sensorSkin(TM). Merritt Systems, Inc., of Orlando, Florida, teamed up with NASA to improve robots working with critical flight hardware at Kennedy Space Center in Florida. The system, containing smart sensor modules and flexible printed circuit board skin, help robots to steer clear of obstacles using a proximity sensing system. Advancements in the sensor designs are being applied to various commercial applications, including the PGAS. The system includes a smartSensor(TM) network installed around and within public parking garages to autonomously guide motorists to open facilities, and once within, to free parking spaces. The sensors use non-invasive reflective-ultrasonic technology for high accuracy, high reliability, and low maintenance. The system is remotely programmable: it can be tuned to site-specific requirements, has variable range capability, and allows remote configuration, monitoring, and diagnostics. The sensors are immune to interference from metallic construction materials, such as rebar and steel beams. Inside the garage, smart routing signs mounted overhead or on poles in front of each row of parking spots guide the motorist precisely to free spaces.

Tests Of Array Of Flush Pressure Sensors

NASA Technical Reports Server (NTRS)

Larson, Larry J.; Moes, Timothy R.; Siemers, Paul M., III

1992-01-01

Report describes tests of array of pressure sensors connected to small orifices flush with surface of 1/7-scale model of F-14 airplane in wind tunnel. Part of effort to determine whether pressure parameters consisting of various sums, differences, and ratios of measured pressures used to compute accurately free-stream values of stagnation pressure, static pressure, angle of attack, angle of sideslip, and mach number. Such arrays of sensors and associated processing circuitry integrated into advanced aircraft as parts of flight-monitoring and -controlling systems.

Utility of BRDF Models for Estimating Optimal View Angles in Classification of Remotely Sensed Images

NASA Technical Reports Server (NTRS)

Valdez, P. F.; Donohoe, G. W.

1997-01-01

Statistical classification of remotely sensed images attempts to discriminate between surface cover types on the basis of the spectral response recorded by a sensor. It is well known that surfaces reflect incident radiation as a function of wavelength producing a spectral signature specific to the material under investigation. Multispectral and hyperspectral sensors sample the spectral response over tens and even hundreds of wavelength bands to capture the variation of spectral response with wavelength. Classification algorithms then exploit these differences in spectral response to distinguish between materials of interest. Sensors of this type, however, collect detailed spectral information from one direction (usually nadir); consequently, do not consider the directional nature of reflectance potentially detectable at different sensor view angles. Improvements in sensor technology have resulted in remote sensing platforms capable of detecting reflected energy across wavelengths (spectral signatures) and from multiple view angles (angular signatures) in the fore and aft directions. Sensors of this type include: the moderate resolution imaging spectroradiometer (MODIS), the multiangle imaging spectroradiometer (MISR), and the airborne solid-state array spectroradiometer (ASAS). A goal of this paper, then, is to explore the utility of Bidirectional Reflectance Distribution Function (BRDF) models in the selection of optimal view angles for the classification of remotely sensed images by employing a strategy of searching for the maximum difference between surface BRDFs. After a brief discussion of directional reflect ante in Section 2, attention is directed to the Beard-Maxwell BRDF model and its use in predicting the bidirectional reflectance of a surface. The selection of optimal viewing angles is addressed in Section 3, followed by conclusions and future work in Section 4.

Optical fiber extrinsic Fabry-Perot interferometer sensors for ultrasound detection

NASA Astrophysics Data System (ADS)

Sun, Qingguo; Chen, Na; Ding, Yuetong; Chen, Zhenyi; Wang, Tingyun

2009-11-01

In this paper, a new method is proposed to fabricate an optical fiber extrinsic Fabry-Perot interferometer (EFPI) as an ultrasonic sensor. An acoustic emission detecting system is constructed based on multiple EFPI sensors and demodulation circuit. Ultrasound detection experiments were done from both traditional piezoelectric transducer (PZT) and high voltage discharge. In the experiments, strong ultrasound signals were detected in both cases. The signal attenuation related to the distance and the angle between the acoustic emission source and the FP sensor are obtained. The results indicate that the receiving angle of the FP sensor is nearly 90° and the maximum detection distance in the air is more than 200cm. Furthermore, four sensors are used to locate the position of the ultrasound source produced by high voltage discharge.

Steering of an automated vehicle in an unstructured environment

NASA Astrophysics Data System (ADS)

Kanakaraju, Sampath; Shanmugasundaram, Sathish K.; Thyagarajan, Ramesh; Hall, Ernest L.

1999-08-01

The purpose of this paper is to describe a high-level path planning logic, which processes the data from a vision system and an ultrasonic obstacle avoidance system and steers an autonomous mobile robot between obstacles. The test bed was an autonomous root built at University of Cincinnati, and this logic was tested and debugged on this machine. Attempts have already been made to incorporate fuzzy system on a similar robot, and this paper extends them to take advantage of the robot's ZTR capability. Using the integrated vision syste, the vehicle senses its location and orientation. A rotating ultrasonic sensor is used to map the location and size of possible obstacles. With these inputs the fuzzy logic controls the speed and the steering decisions of the robot. With the incorporation of this logic, it has been observed that Bearcat II has been very successful in avoiding obstacles very well. This was achieved in the Ground Robotics Competition conducted by the AUVS in June 1999, where it travelled a distance of 154 feet in a 10ft. wide path ridden with obstacles. This logic proved to be a significant contributing factor in this feat of Bearcat II.

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.

Development and evaluation of a SUAS perching system

NASA Astrophysics Data System (ADS)

Reynolds, Ryan

Perching has been proposed as a possible landing technique for Small Unmanned Aircraft Systems (SUAS). The current research study develops an onboard open loop perching system for a fixed-wing SUAS and examines the impact of initial flight speed and sensor placement on the perching dynamics. A catapult launcher and modified COTS aircraft were used for the experiments, while an ultrasonic sensor on the aircraft was used to detect the perching target. Thirty tests were conducted varying the initial launch speed and ultrasonic sensor placement to see if they affected the time the aircraft reaches its maximum pitch angle, since the maximum pitch angle is the optimum perching point for the aircraft. High-speed video was analyzed to obtain flight data, along with data from an onboard inertial measuring unit. The data were analyzed using a model 1, two-way ANOVA to determine if launch speed and sensor placement affect the optimum perching point where the aircraft reaches its maximum pitch angle during the maneuver. The results show the launch speed does affect the time at which the maximum pitch angle occurs, but sensor placement does not. This means a closed loop system will need to adjust its perching distance based on its initial velocity. The sensor placement not having any noticeable effect means the ultrasonic sensor can be placed on the nose or the wing of the aircraft as needed for the design. There was also no noticeable interaction between the two variables. Aerodynamic parameters such as lift, drag, and moment coefficients were derived from the dynamic equations of motion for use in numerical simulations and dynamic perching models.

Optimization of Self-Directed Target Coverage in Wireless Multimedia Sensor Network

PubMed Central

Yang, Yang; Wang, Yufei; Pi, Dechang; Wang, Ruchuan

2014-01-01

Video and image sensors in wireless multimedia sensor networks (WMSNs) have directed view and limited sensing angle. So the methods to solve target coverage problem for traditional sensor networks, which use circle sensing model, are not suitable for WMSNs. Based on the FoV (field of view) sensing model and FoV disk model proposed, how expected multimedia sensor covers the target is defined by the deflection angle between target and the sensor's current orientation and the distance between target and the sensor. Then target coverage optimization algorithms based on expected coverage value are presented for single-sensor single-target, multisensor single-target, and single-sensor multitargets problems distinguishingly. Selecting the orientation that sensor rotated to cover every target falling in the FoV disk of that sensor for candidate orientations and using genetic algorithm to multisensor multitargets problem, which has NP-complete complexity, then result in the approximated minimum subset of sensors which covers all the targets in networks. Simulation results show the algorithm's performance and the effect of number of targets on the resulting subset. PMID:25136667

A Novel Permanent Magnetic Angular Acceleration Sensor

PubMed Central

Zhao, Hao; Feng, Hao

2015-01-01

Angular acceleration is an important parameter for status monitoring and fault diagnosis of rotary machinery. Therefore, we developed a novel permanent magnetic angular acceleration sensor, which is without rotation angle limitations and could directly measure the instantaneous angular acceleration of the rotating system. The sensor rotor only needs to be coaxially connected with the rotating system, which enables convenient sensor installation. For the cup structure of the sensor rotor, it has a relatively small rotational inertia. Due to the unique mechanical structure of the sensor, the output signal of the sensor can be directed without a slip ring, which avoids signal weakening effect. In this paper, the operating principle of the sensor is described, and simulated using finite element method. The sensitivity of the sensor is calibrated by torsional pendulum and angle sensor, yielding an experimental result of about 0.88 mV/(rad·s−2). Finally, the angular acceleration of the actual rotating system has been tested, using both a single-phase asynchronous motor and a step motor. Experimental result confirms the operating principle of the sensor and indicates that the sensor has good practicability. PMID:26151217

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.

Design and simulation of betavoltaic angle sensor Based on ⁶³Ni-Si.

PubMed

Ghasemi Nejad, Gholam Reza; Rahmani, Faezeh

2016-01-01

A theoretical design and simulation of betavoltaic angle sensor (beta-AS) based on (63)Ni-Si using MCNP code is presented in this article. It can measure the full angle of 0-360° in the temperature range of 233-353 K. Beta-AS is composed of semicircular (63)Ni as the beta source, which rotates along the circular (four-quadrant) surface of Si as a semiconductor (in p-n structure), so that the change in the source angle in relation to Si surface can be measured based on the changes in V(oc) observed in each quadrant of Si. For better performance, characteristics of Si and (63)Ni have been optimized: N(D) and N(A) values of 8e19 and 4e18 cm(-3) (donor and acceptor doping concentration in Si, respectively), source thickness and activity of 1.5 µm and 18 mCi, respectively. The relation between angle and V(oc) is also investigated. The maximum difference between measured and real values of angle (the worst case, i.e., 0.18° for the angle of 45°) occurs at 233 K. It has been shown that sensitivity of the sensor decreases with an increase of angle. The results also show that the change in activity does not affect the sensitivity. Copyright © 2015 Elsevier Ltd. All rights reserved.

Single-layer-coated surfaces with linearized reflectance versus angle of incidence: application to passive and active silicon rotation sensors

NASA Astrophysics Data System (ADS)

Azzam, R. M. A.; Howlader, M. M. K.; Georgiou, T. Y.

1995-08-01

A transparent or absorbing substrate can be coated with a transparent thin film to produce a linear reflectance-versus-angle-of-incidence response over a certain range of angles. Linearization at and near normal incidence is a special case that leads to a maximally flat response for p -polarized, s -polarized, or unpolarized light. For midrange and high-range linearization with moderate and high slopes, respectively, the best results are obtained when the incident light is s polarized. Application to a Si substrate that is coated with a SiO2 film leads to novel passive and active reflection rotation sensors. Experimental results and an error analysis of this rotation sensor are presented.

Self-Calibrating Surface Measuring Machine

NASA Astrophysics Data System (ADS)

Greenleaf, Allen H.

1983-04-01

A new kind of surface-measuring machine has been developed under government contract at Itek Optical Systems, a Division of Itek Corporation, to assist in the fabrication of large, highly aspheric optical elements. The machine uses four steerable distance-measuring interferometers at the corners of a tetrahedron to measure the positions of a retroreflective target placed at various locations against the surface being measured. Using four interferometers gives redundant information so that, from a set of measurement data, the dimensions of the machine as well as the coordinates of the measurement points can be determined. The machine is, therefore, self-calibrating and does not require a structure made to high accuracy. A wood-structured prototype of this machine was made whose key components are a simple form of air bearing steering mirror, a wide-angle cat's eye retroreflector used as the movable target, and tracking sensors and servos to provide automatic tracking of the cat's eye by the four laser beams. The data are taken and analyzed by computer. The output is given in terms of error relative to an equation of the desired surface. In tests of this machine, measurements of a 0.7 m diameter mirror blank have been made with an accuracy on the order of 0.2µm rms.

Sensor networks for optimal target localization with bearings-only measurements in constrained three-dimensional scenarios.

PubMed

Moreno-Salinas, David; Pascoal, Antonio; Aranda, Joaquin

2013-08-12

In this paper, we address the problem of determining the optimal geometric configuration of an acoustic sensor network that will maximize the angle-related information available for underwater target positioning. In the set-up adopted, a set of autonomous vehicles carries a network of acoustic units that measure the elevation and azimuth angles between a target and each of the receivers on board the vehicles. It is assumed that the angle measurements are corrupted by white Gaussian noise, the variance of which is distance-dependent. Using tools from estimation theory, the problem is converted into that of minimizing, by proper choice of the sensor positions, the trace of the inverse of the Fisher Information Matrix (also called the Cramer-Rao Bound matrix) to determine the sensor configuration that yields the minimum possible covariance of any unbiased target estimator. It is shown that the optimal configuration of the sensors depends explicitly on the intensity of the measurement noise, the constraints imposed on the sensor configuration, the target depth and the probabilistic distribution that defines the prior uncertainty in the target position. Simulation examples illustrate the key results derived.

UAV-borne lidar with MEMS mirror-based scanning capability

NASA Astrophysics Data System (ADS)

Kasturi, Abhishek; Milanovic, Veljko; Atwood, Bryan H.; Yang, James

2016-05-01

Firstly, we demonstrated a wirelessly controlled MEMS scan module with imaging and laser tracking capability which can be mounted and flown on a small UAV quadcopter. The MEMS scan module was reduced down to a small volume of <90mm x 60mm x 40mm, weighing less than 40g and consuming less than 750mW of power using a ~5mW laser. This MEMS scan module was controlled by a smartphone via Bluetooth while flying on a drone, and could project vector content, text, and perform laser based tracking. Also, a "point-and-range" LiDAR module was developed for UAV applications based on low SWaP (Size, Weight and Power) gimbal-less MEMS mirror beam-steering technology and off-the-shelf OEM LRF modules. For demonstration purposes of an integrated laser range finder module, we used a simple off-the-shelf OEM laser range finder (LRF) with a 100m range, +/-1.5mm accuracy, and 4Hz ranging capability. The LRFs receiver optics were modified to accept 20° of angle, matching the transmitter's FoR. A relatively large (5.0mm) diameter MEMS mirror with +/-10° optical scanning angle was utilized in the demonstration to maintain the small beam divergence of the module. The complete LiDAR prototype can fit into a small volume of <70mm x 60mm x 60mm, and weigh <50g when powered by the UAV's battery. The MEMS mirror based LiDAR system allows for ondemand ranging of points or areas within the FoR without altering the UAV's position. Increasing the LRF ranging frequency and stabilizing the pointing of the laser beam by utilizing the onboard inertial sensors and the camera are additional goals of the next design.

Dismounted Warrior Network Experiments

DTIC Science & Technology

2000-11-01

Foxtrot Locomotion Human Joystick ODT Joystick Foot Pedal + Head Orientation Visual Display Wireless HMD 4 Projection Desktop Single Screens (WISE... Biomechanics DI-Guy JackML DI-Guy Table 1. VICs Comparison Matrix VIC Alpha is the Dismounted Soldier Simulation (DSS) system developed by Veda, Inc. under a...using a pressure sensitive foot pedal . The user’s head is tracked with a magnetic sensor and is used to control steering through the environment. A

AGOR 28

DTIC Science & Technology

2015-12-18

and transporting them to a vendor in Seattle for measurements . The measuring will take place between the 28th and 30th. • Steering Hydraulics...the suction lower down on the hull. • CTD Handling Device – The cylinder has been reinstalled and tested. The repaired sensor is now measuring rod...Communications – FCC Station license applied for and approved. FBB activated. Iridium SIM Card in route from service provider. Inmarsat C’s and

Automation of Armored Four Wheel Counter Steer Vehicles

DTIC Science & Technology

2015-08-28

designed and implemented with an operator ease-of-use approach, allowing the simple transition between manual control and autonomous operation. Automation...Public Release The U.S. Army’s efforts in vehicle auto- mation are designed in part to protect soldiers in the field as they traverse poten- tially...System (AMAS) convoy autonomy, sensor, and drive-by-wire kits, to ground-up autonomous vehicle designs , such as TARDEC’s Autonomous Platform

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.

A Sensor Fusion Method Based on an Integrated Neural Network and Kalman Filter for Vehicle Roll Angle Estimation

PubMed Central

Vargas-Meléndez, Leandro; Boada, Beatriz L.; Boada, María Jesús L.; Gauchía, Antonio; Díaz, Vicente

2016-01-01

This article presents a novel estimator based on sensor fusion, which combines the Neural Network (NN) with a Kalman filter in order to estimate the vehicle roll angle. The NN estimates a “pseudo-roll angle” through variables that are easily measured from Inertial Measurement Unit (IMU) sensors. An IMU is a device that is commonly used for vehicle motion detection, and its cost has decreased during recent years. The pseudo-roll angle is introduced in the Kalman filter in order to filter noise and minimize the variance of the norm and maximum errors’ estimation. The NN has been trained for J-turn maneuvers, double lane change maneuvers and lane change maneuvers at different speeds and road friction coefficients. The proposed method takes into account the vehicle non-linearities, thus yielding good roll angle estimation. Finally, the proposed estimator has been compared with one that uses the suspension deflections to obtain the pseudo-roll angle. Experimental results show the effectiveness of the proposed NN and Kalman filter-based estimator. PMID:27589763

Vehicle Fault Diagnose Based on Smart Sensor

NASA Astrophysics Data System (ADS)

Zhining, Li; Peng, Wang; Jianmin, Mei; Jianwei, Li; Fei, Teng

In the vehicle's traditional fault diagnose system, we usually use a computer system with a A/D card and with many sensors connected to it. The disadvantage of this system is that these sensor can hardly be shared with control system and other systems, there are too many connect lines and the electro magnetic compatibility(EMC) will be affected. In this paper, smart speed sensor, smart acoustic press sensor, smart oil press sensor, smart acceleration sensor and smart order tracking sensor were designed to solve this problem. With the CAN BUS these smart sensors, fault diagnose computer and other computer could be connected together to establish a network system which can monitor and control the vehicle's diesel and other system without any duplicate sensor. The hard and soft ware of the smart sensor system was introduced, the oil press, vibration and acoustic signal are resampled by constant angle increment to eliminate the influence of the rotate speed. After the resample, the signal in every working cycle could be averaged in angle domain and do other analysis like order spectrum.

High-precision micro-displacement optical-fiber sensor based on surface plasmon resonance.

PubMed

Zhu, Zongda; Liu, Lu; Liu, Zhihai; Zhang, Yu; Zhang, Yaxun

2017-05-15

We propose and demonstrate a novel optical-fiber micro-displacement sensor based on surface plasmon resonance (SPR) by fabricating a Kretschmann configuration on graded-index multimode fiber (GIMMF). We employ a single-mode fiber to change the radial position of the incident beam as the displacement. In the GIMMF, the angle between the light beam and fiber axis, which is closely related to the resonance angle, is changed by the displacement; thus, the resonance wavelength of the fiber SPR shifts. This micro-displacement fiber sensor has a wide detection range of 0-25 μm, a high sensitivity with maximum up to 10.32 nm/μm, and a nanometer resolution with minimum to 2 nm, which transcends almost all of other optical-fiber micro-displacement sensors. In addition, we also research that increasing the fiber polishing angle or medium refractive index can improve the sensitivity. This micro-displacement sensor will have a great significance in many industrial applications and provide a neoteric, rapid, and accurate optical measurement method in micro-displacement.

Hysteresis compensation technique applied to polymer optical fiber curvature sensor for lower limb exoskeletons

NASA Astrophysics Data System (ADS)

Gomes Leal-Junior, Arnaldo; Frizera-Neto, Anselmo; José Pontes, Maria; Rodrigues Botelho, Thomaz

2017-12-01

Polymer optical fiber (POF) curvature sensors present some advantages over conventional techniques for angle measurements, such as their light weight, compactness and immunity to electromagnetic fields. However, high hysteresis can occur in POF curvature sensors due to the polymer viscoelastic response. In order to overcome this limitation, this paper shows how the hysteresis sensor can be compensated by a calibration equation relating the measured output signal to the sensor’s angular velocity. The proposed method is validated using an exoskeleton with an active joint on the knee for flexion and extension rehabilitation exercises. The results show a decrease in sensor hysteresis and a decrease by more than two times in the error between the POF sensor and the potentiometer, which is employed for the angle measurement of the exoskeleton knee joint.

Fast Plasma Instrument for MMS: Data Compression Simulation Results

NASA Astrophysics Data System (ADS)

Barrie, A. C.; Adrian, M. L.; Yeh, P.; Winkert, G. E.; Lobell, J. V.; Viňas, A. F.; Simpson, D. G.; Moore, T. E.

2008-12-01

Magnetospheric Multiscale (MMS) mission will study small-scale reconnection structures and their rapid motions from closely spaced platforms using instruments capable of high angular, energy, and time resolution measurements. To meet these requirements, the Fast Plasma Instrument (FPI) consists of eight (8) identical half top-hat electron sensors and eight (8) identical ion sensors and an Instrument Data Processing Unit (IDPU). The sensors (electron or ion) are grouped into pairs whose 6° × 180° fields-of-view (FOV) are set 90° apart. Each sensor is equipped with electrostatic aperture steering to allow the sensor to scan a 45° × 180° fan about the its nominal viewing (0° deflection) direction. Each pair of sensors, known as the Dual Electron Spectrometer (DES) and the Dual Ion Spectrometer (DIS), occupies a quadrant on the MMS spacecraft and the combination of the eight electron/ion sensors, employing aperture steering, image the full-sky every 30-ms (electrons) and 150-ms (ions), respectively. To probe the diffusion regions of reconnection, the highest temporal/spatial resolution mode of FPI results in the DES complement of a given spacecraft generating 6.5-Mb s-1 of electron data while the DIS generates 1.1-Mb s-1 of ion data yielding an FPI total data rate of 7.6-Mb s-1. The FPI electron/ion data is collected by the IDPU then transmitted to the Central Data Instrument Processor (CIDP) on the spacecraft for science interest ranking. Only data sequences that contain the greatest amount of temporal/spatial structure will be intelligently down-linked by the spacecraft. Currently, the FPI data rate allocation to the CIDP is 1.5-Mb s-1. Consequently, the FPI-IDPU must employ data/image compression to meet this CIDP telemetry allocation. Here, we present simulations of the CCSDS 122.0-B-1 algorithm- based compression of the FPI-DES electron data. Compression analysis is based upon a seed of re- processed Cluster/PEACE electron measurements. Topics to be discussed include: (i) Review of compression algorithm; (ii) Data quality; (iii) Data formatting/organization; (iv) Compression optimization; and (v) Implications for data/matrix pruning. We conclude with a presentation of the base-lined FPI data compression approach.

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).

Optical inverse-square displacement sensor

DOEpatents

Howe, Robert D.; Kychakoff, George

1989-01-01

This invention comprises an optical displacement sensor that uses the inverse-square attenuation of light reflected from a diffused surface to calculate the distance from the sensor to the reflecting surface. Light emerging from an optical fiber or the like is directed onto the surface whose distance is to be measured. The intensity I of reflected light is angle dependent, but within a sufficiently small solid angle it falls off as the inverse square of the distance from the surface. At least a pair of optical detectors are mounted to detect the reflected light within the small solid angle, their ends being at different distances R and R+.DELTA.R from the surface. The distance R can then be found in terms of the ratio of the intensity measurements and the separation length as ##EQU1##

Development of a high resolution optical-fiber tilt sensor by F-P filter

NASA Astrophysics Data System (ADS)

Pan, Jianjun; Nan, Qiuming; Li, Shujie; Hao, Zhonghua

2017-04-01

A high-resolution tilt sensor is developed, which is composed of a pair of optical fiber collimators and a simple pendulum with an F-P filter. The tilt angle is measured by demodulating the shift of center wavelength of F-P filter, which is caused by incidence angle changing. The relationship between tilted angle and the center wavelength is deduced. Calibration experiment results also confirm the deduction, and show that it is easy to obtain a high resolution. Setting the initial angle to 6degree, the measurement range is ±3degree, its average sensitivity is 1104pm/degree, and its average resolution is as high as 0.0009degree.

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.

Advanced Smart Structures Flight Experiments for Precision Spacecraft

NASA Astrophysics Data System (ADS)

Denoyer, Keith K.; Erwin, R. Scott; Ninneman, R. Rory

2000-07-01

This paper presents an overview as well as data from four smart structures flight experiments directed by the U.S. Air Force Research Laboratory's Space Vehicles Directorate in Albuquerque, New Mexico. The Middeck Active Control Experiment $¯Flight II (MACE II) is a space shuttle flight experiment designed to investigate modeling and control issues for achieving high precision pointing and vibration control of future spacecraft. The Advanced Controls Technology Experiment (ACTEX-I) is an experiment that has demonstrated active vibration suppression using smart composite structures with embedded piezoelectric sensors and actuators. The Satellite Ultraquiet Isolation Technology Experiment (SUITE) is an isolation platform that uses active piezoelectric actuators as well as damped mechanical flexures to achieve hybrid passive/active isolation. The Vibration Isolation, Suppression, and Steering Experiment (VISS) is another isolation platform that uses viscous dampers in conjunction with electromagnetic voice coil actuators to achieve isolation as well as a steering capability for an infra-red telescope.

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.

A Drive Method of Permanent Magnet Synchronous Motor Using Torque Angle Estimation without Position Sensor

NASA Astrophysics Data System (ADS)

Tanaka, Takuro; Takahashi, Hisashi

In some motor applications, it is very difficult to attach a position sensor to the motor in housing. One of the examples of such applications is the dental handpiece-motor. In those designs, it is necessary to drive highly efficiency at low speed and variable load condition without a position sensor. We developed a method to control a motor high-efficient and smoothly at low speed without a position sensor. In this paper, the method in which permanent magnet synchronous motor is controlled smoothly and high-efficient by using torque angle control in synchronized operation is shown. The usefulness is confirmed by experimental results. In conclusion, the proposed sensor-less control method has been achieved to be very efficiently and smoothly.

Localization of Ferromagnetic Target with Three Magnetic Sensors in the Movement Considering Angular Rotation

PubMed Central

Gao, Xiang; Yan, Shenggang; Li, Bin

2017-01-01

Magnetic detection techniques have been widely used in many fields, such as virtual reality, surgical robotics systems, and so on. A large number of methods have been developed to obtain the position of a ferromagnetic target. However, the angular rotation of the target relative to the sensor is rarely studied. In this paper, a new method for localization of moving object to determine both the position and rotation angle with three magnetic sensors is proposed. Trajectory localization estimation of three magnetic sensors, which are collinear and noncollinear, were obtained by the simulations, and experimental results demonstrated that the position and rotation angle of ferromagnetic target having roll, pitch or yaw in its movement could be calculated accurately and effectively with three noncollinear vector sensors. PMID:28892006

Evaluation of electrolytic tilt sensors for wind tunnel model angle-of-attack (AOA) measurements

NASA Technical Reports Server (NTRS)

Wong, Douglas T.

1991-01-01

The results of a laboratory evaluation of three types of electrolytic tilt sensors as potential candidates for model attitude or angle of attack (AOA) measurements in wind tunnel tests are presented. Their performance was also compared with that from typical servo accelerometers used for AOA measurements. Model RG-37 electrolytic tilt sensors were found to have the highest overall accuracy among the three types. Compared with the servo accelerometer, their accuracies are about one order of magnitude worse and each of them cost about two-thirds less. Therefore, the sensors are unsuitable for AOA measurements although they are less expensive. However, the potential for other applications exists where the errors resulting from roll interaction, vibration, and response time are less, and sensor temperature can be controlled.

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.

Use of the shape memory polymer polystyrene in the creation of thin film stretchable sensors for wearable applications

NASA Astrophysics Data System (ADS)

Van Volkinburg, Kyle R.; Nguyen, Thao; Pegan, Jonathan D.; Khine, Michelle; Washington, Gregory N.

2016-04-01

The shape memory polymer polystyrene (PS) has been used to create complex hierarchical wrinkling in the fabrication of stretchable thin film bimetallic sensors ideal for wearable based gesture monitoring applications. The film has been bonded to the elastomer polydimethylsiloxane (PDMS) and operates as a strain gauge under the general notion of geometric piezoresistivity. The film was subject to tensile, cyclic, and step loading conditions in order to characterize its dynamic behavior. To measure the joint angle of the metacarpophalangeal (MCP) joint on the right index finger, the sensor was adhered to a fitted golf glove above said joint and a motion study was conducted. At maximum joint angle the sensor experienced roughly 23.5% strain. From the study it was found that two simple curves, one while the finger was in flexion and the other while the finger was in extension, were able to predict the joint angle from measured voltage with an average error of 2.99 degrees.

Reflexive obstacle avoidance for kinematically-redundant manipulators

NASA Technical Reports Server (NTRS)

Karlen, James P.; Thompson, Jack M., Jr.; Farrell, James D.; Vold, Havard I.

1989-01-01

Dexterous telerobots incorporating 17 or more degrees of freedom operating under coordinated, sensor-driven computer control will play important roles in future space operations. They will also be used on Earth in assignments like fire fighting, construction and battlefield support. A real time, reflexive obstacle avoidance system, seen as a functional requirement for such massively redundant manipulators, was developed using arm-mounted proximity sensors to control manipulator pose. The project involved a review and analysis of alternative proximity sensor technologies for space applications, the development of a general-purpose algorithm for synthesizing sensor inputs, and the implementation of a prototypical system for demonstration and testing. A 7 degree of freedom Robotics Research K-2107HR manipulator was outfitted with ultrasonic proximity sensors as a testbed, and Robotics Research's standard redundant motion control algorithm was modified such that an object detected by sensor arrays located at the elbow effectively applies a force to the manipulator elbow, normal to the axis. The arm is repelled by objects detected by the sensors, causing the robot to steer around objects in the workspace automatically while continuing to move its tool along the commanded path without interruption. The mathematical approach formulated for synthesizing sensor inputs can be employed for redundant robots of any kinematic configuration.

Mobility Performance Algorithms for Small Unmanned Ground Vehicles

DTIC Science & Technology

2009-05-01

obstacles need to be developed; specifically, models and data for wheeled vehicle skid steering, interior building floor and roof surfaces, and stair ...an 80-lb SUGV; PackBot® at 50 lb, and GatorTM at 2500 lb. Additionally, the FCS projects that 40% of the military fleet may eventually be robotic ...sensor input analysis and decision-making time. Fields (2002a) discusses representing interaction of humans and robots in the OneSAF Testbed Baseline

Monitoring Human Performance During Suited Operations: A Technology Feasibility Study Using EMU Gloves

NASA Technical Reports Server (NTRS)

Bekdash, Omar; Norcross, Jason; McFarland, Shane

2015-01-01

Mobility tracking of human subjects while conducting suited operations still remains focused on the external movement of the suit and little is known about the human movement within it. For this study, accelerometers and bend sensitive resistors were integrated into a custom carrier glove to quantify range of motion and dexterity from within the pressurized glove environment as a first stage feasibility study of sensor hardware, integration, and reporting capabilities. Sensors were also placed on the exterior of the pressurized glove to determine if it was possible to compare a glove joint angle to the anatomical joint angle of the subject during tasks. Quantifying human movement within the suit was feasible, with accelerometers clearly detecting movements in the wrist and reporting expected joint angles at maximum flexion or extension postures with repeatability of plus or minus 5 degrees between trials. Bend sensors placed on the proximal interphalangeal and distal interphalangeal joints performed less well. It was not possible to accurately determine the actual joint angle using these bend sensors, but these sensors could be used to determine when the joint was flexed to its maximum and provide a general range of mobility needed to complete a task. Further work includes additional testing with accelerometers and the possible inclusion of hardware such as magnetometers or gyroscopes to more precisely locate the joint in 3D space. We hope to eventually expand beyond the hand and glove and develop a more comprehensive suit sensor suite to characterize motion across more joints (knee, elbow, shoulder, etc.) and fully monitor the human body operating within the suit environment.

Low Frequency Radar Sensor Observations of Tropical Forests in the Panama Canal Area

NASA Technical Reports Server (NTRS)

Imhoff, M. L.; Lawrence, W.; Condit, R.; Wright, J.; Johnson, P.; Hyer, J.; May, L.; Carson, S.; Smith, David E. (Technical Monitor)

2000-01-01

A synthetic aperture radar sensor operating in 5 bands between 80 and 120 MHz was flown over forested areas in the canal zone of the Republic of Panama in an experiment to measure biomass in heavy tropical forests. The sensor is a pulse coherent SAR flown on a small aircraft and oriented straight down. The doppler history is processed to collect data on the ground in rectangular cells of varying size over a range of incidence angles fore and aft of nadir (+45 to - 45 degrees). Sensor data consists of 5 frequency bands with 20 incidence angles per band. Sensor data for over 12+ sites were collected with forest stands having biomass densities ranging from 50 to 300 tons/ha dry above ground biomass. Results are shown exploring the biomass saturation thresholds using these frequencies, the system design is explained, and preliminary attempts at data visualization using this unique sensor design are described.

Low-cost rapid miniature optical pressure sensors for blast wave measurements.

PubMed

Wu, Nan; Wang, Wenhui; Tian, Ye; Zou, Xiaotian; Maffeo, Michael; Niezrecki, Christopher; Chen, Julie; Wang, Xingwei

2011-05-23

This paper presents an optical pressure sensor based on a Fabry-Perot (FP) interferometer formed by a 45° angle polished single mode fiber and an external silicon nitride diaphragm. The sensor is comprised of two V-shape grooves with different widths on a silicon chip, a silicon nitride diaphragm released on the surface of the wider V-groove, and a 45° angle polished single mode fiber. The sensor is especially suitable for blast wave measurements: its compact structure ensures a high spatial resolution; its thin diaphragm based design and the optical demodulation scheme allow a fast response to the rapid changing signals experienced during blast events. The sensor shows linearity with the correlation coefficient of 0.9999 as well as a hysteresis of less than 0.3%. The shock tube test demonstrated that the sensor has a rise time of less than 2 µs from 0 kPa to 140 kPa.

Estimation of ground reaction forces and joint moments on the basis on plantar pressure insoles and wearable sensors for joint angle measurement.

PubMed

Ostaszewski, Michal; Pauk, Jolanta

2018-05-16

Gait analysis is a useful tool medical staff use to support clinical decision making. There is still an urgent need to develop low-cost and unobtrusive mobile health monitoring systems. The goal of this study was twofold. Firstly, a wearable sensor system composed of plantar pressure insoles and wearable sensors for joint angle measurement was developed. Secondly, the accuracy of the system in the measurement of ground reaction forces and joint moments was examined. The measurements included joint angles and plantar pressure distribution. To validate the wearable sensor system and examine the effectiveness of the proposed method for gait analysis, an experimental study on ten volunteer subjects was conducted. The accuracy of measurement of ground reaction forces and joint moments was validated against the results obtained from a reference motion capture system. Ground reaction forces and joint moments measured by the wearable sensor system showed a root mean square error of 1% for min. GRF and 27.3% for knee extension moment. The correlation coefficient was over 0.9, in comparison with the stationary motion capture system. The study suggests that the wearable sensor system could be recommended both for research and clinical applications outside a typical gait laboratory.

Development of a Low-Cost Attitude Sensor for Agricultural Vehicles

USDA-ARS?s Scientific Manuscript database

The objective of this research was to develop a low-cost attitude sensor for agricultural vehicles. The attitude sensor was composed of three vibratory gyroscopes and two inclinometers. A sensor fusion algorithm was developed to estimate tilt angles (roll and pitch) by least-squares method. In the a...

Method for measuring tri-axial lumbar motion angles using wearable sheet stretch sensors

PubMed Central

Nakamoto, Hiroyuki; Yamaji, Tokiya; Ootaka, Hideo; Bessho, Yusuke; Nakamura, Ryo; Ono, Rei

2017-01-01

Background Body movements, such as trunk flexion and rotation, are risk factors for low back pain in occupational settings, especially in healthcare workers. Wearable motion capture systems are potentially useful to monitor lower back movement in healthcare workers to help avoid the risk factors. In this study, we propose a novel system using sheet stretch sensors and investigate the system validity for estimating lower back movement. Methods Six volunteers (female:male = 1:1, mean age: 24.8 ± 4.0 years, height 166.7 ± 5.6 cm, weight 56.3 ± 7.6 kg) participated in test protocols that involved executing seven types of movements. The movements were three uniaxial trunk movements (i.e., trunk flexion-extension, trunk side-bending, and trunk rotation) and four multiaxial trunk movements (i.e., flexion + rotation, flexion + side-bending, side-bending + rotation, and moving around the cranial–caudal axis). Each trial lasted for approximately 30 s. Four stretch sensors were attached to each participant’s lower back. The lumbar motion angles were estimated using simple linear regression analysis based on the stretch sensor outputs and compared with those obtained by the optical motion capture system. Results The estimated lumbar motion angles showed a good correlation with the actual angles, with correlation values of r = 0.68 (SD = 0.35), r = 0.60 (SD = 0.19), and r = 0.72 (SD = 0.18) for the flexion-extension, side bending, and rotation movements, respectively (all P < 0.05). The estimation errors in all three directions were less than 3°. Conclusion The stretch sensors mounted on the back provided reasonable estimates of the lumbar motion angles. The novel motion capture system provided three directional angles without capture space limits. The wearable system possessed great potential to monitor the lower back movement in healthcare workers and helping prevent low back pain. PMID:29020053

Near perfect light trapping in 2D metal nanotrench gratings and its application for sensing (Conference Presentation)

NASA Astrophysics Data System (ADS)

Guo, Junpeng; Guo, Hong; Li, Zhitong

2016-09-01

In this work, a 2D metallic nano-trench array was fabricated on gold metal surface by using an e-beam lithography patterning and etching process. Optical reflectance from the device was measured at oblique angles of incidence for TE and TM polarization. Near perfect light trapping was observed at different wavelengths for TE and TM polarization at oblique angle of incidence. As angle of incidence increases, light trapping wavelength has a red-shift for TM polarization and blue shift for TE polarization. The fabricated nano-trench device was also investigated for chemical sensor application. It was found that by varying the angle of incidence, the sensitivity changes with opposite trends for TE and TM polarization. Sensor sensitivity increases for TM polarization and decreases for TE polarization with increase of the oblique incident angle.

Robust Adaptive Beamforming with Sensor Position Errors Using Weighted Subspace Fitting-Based Covariance Matrix Reconstruction.

PubMed

Chen, Peng; Yang, Yixin; Wang, Yong; Ma, Yuanliang

2018-05-08

When sensor position errors exist, the performance of recently proposed interference-plus-noise covariance matrix (INCM)-based adaptive beamformers may be severely degraded. In this paper, we propose a weighted subspace fitting-based INCM reconstruction algorithm to overcome sensor displacement for linear arrays. By estimating the rough signal directions, we construct a novel possible mismatched steering vector (SV) set. We analyze the proximity of the signal subspace from the sample covariance matrix (SCM) and the space spanned by the possible mismatched SV set. After solving an iterative optimization problem, we reconstruct the INCM using the estimated sensor position errors. Then we estimate the SV of the desired signal by solving an optimization problem with the reconstructed INCM. The main advantage of the proposed algorithm is its robustness against SV mismatches dominated by unknown sensor position errors. Numerical examples show that even if the position errors are up to half of the assumed sensor spacing, the output signal-to-interference-plus-noise ratio is only reduced by 4 dB. Beam patterns plotted using experiment data show that the interference suppression capability of the proposed beamformer outperforms other tested beamformers.

Interferometric rotation sensor

NASA Technical Reports Server (NTRS)

Walsh, T. M. (Inventor)

1973-01-01

An interferometric rotation sensor and control system is provided which includes a compound prism interferometer and an associated direction control system. Light entering the interferometer is split into two paths with the light in the respective paths being reflected an unequal number of times, and then being recombined at an exit aperture in phase differing relationships. Incoming light is deviated from the optical axis of the device by an angle, alpha. The angle causes a similar displacement of the two component images at the exit aperture which results in a fringe pattern. Fringe numbers are directly related to angle alpha. Various control systems of the interferometer are given.

Closed-Form 3-D Localization for Single Source in Uniform Circular Array with a Center Sensor

NASA Astrophysics Data System (ADS)

Bae, Eun-Hyon; Lee, Kyun-Kyung

A novel closed-form algorithm is presented for estimating the 3-D location (azimuth angle, elevation angle, and range) of a single source in a uniform circular array (UCA) with a center sensor. Based on the centrosymmetry of the UCA and noncircularity of the source, the proposed algorithm decouples and estimates the 2-D direction of arrival (DOA), i.e. azimuth and elevation angles, and then estimates the range of the source. Notwithstanding a low computational complexity, the proposed algorithm provides an estimation performance close to that of the benchmark estimator 3-D MUSIC.

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

Evolutionary Beamforming Optimization for Radio Frequency Charging in Wireless Rechargeable Sensor Networks.

PubMed

Yao, Ke-Han; Jiang, Jehn-Ruey; Tsai, Chung-Hsien; Wu, Zong-Syun

2017-08-20

This paper investigates how to efficiently charge sensor nodes in a wireless rechargeable sensor network (WRSN) with radio frequency (RF) chargers to make the network sustainable. An RF charger is assumed to be equipped with a uniform circular array (UCA) of 12 antennas with the radius λ , where λ is the RF wavelength. The UCA can steer most RF energy in a target direction to charge a specific WRSN node by the beamforming technology. Two evolutionary algorithms (EAs) using the evolution strategy (ES), namely the Evolutionary Beamforming Optimization (EBO) algorithm and the Evolutionary Beamforming Optimization Reseeding (EBO-R) algorithm, are proposed to nearly optimize the power ratio of the UCA beamforming peak side lobe (PSL) and the main lobe (ML) aimed at the given target direction. The proposed algorithms are simulated for performance evaluation and are compared with a related algorithm, called Particle Swarm Optimization Gravitational Search Algorithm-Explore (PSOGSA-Explore), to show their superiority.

Teleautonomous guidance for mobile robots

NASA Technical Reports Server (NTRS)

Borenstein, J.; Koren, Y.

1990-01-01

Teleautonomous guidance (TG), a technique for the remote guidance of fast mobile robots, has been developed and implemented. With TG, the mobile robot follows the general direction prescribed by an operator. However, if the robot encounters an obstacle, it autonomously avoids collision with that obstacle while trying to match the prescribed direction as closely as possible. This type of shared control is completely transparent and transfers control between teleoperation and autonomous obstacle avoidance gradually. TG allows the operator to steer vehicles and robots at high speeds and in cluttered environments, even without visual contact. TG is based on the virtual force field (VFF) method, which was developed earlier for autonomous obstacle avoidance. The VFF method is especially suited to the accommodation of inaccurate sensor data (such as that produced by ultrasonic sensors) and sensor fusion, and allows the mobile robot to travel quickly without stopping for obstacles.

Optical inverse-square displacement sensor

DOEpatents

Howe, R.D.; Kychakoff, G.

1989-09-12

This invention comprises an optical displacement sensor that uses the inverse-square attenuation of light reflected from a diffused surface to calculate the distance from the sensor to the reflecting surface. Light emerging from an optical fiber or the like is directed onto the surface whose distance is to be measured. The intensity I of reflected light is angle dependent, but within a sufficiently small solid angle it falls off as the inverse square of the distance from the surface. At least a pair of optical detectors are mounted to detect the reflected light within the small solid angle, their ends being at different distances R and R + [Delta]R from the surface. The distance R can then be found in terms of the ratio of the intensity measurements and the separation length as given in an equation. 10 figs.

Effects of changing canopy directional reflectance on feature selection

NASA Technical Reports Server (NTRS)

Smith, J. A.; Oliver, R. E.; Kilpela, O. E.

1973-01-01

The use of a Monte Carlo model for generating sample directional reflectance data for two simplified target canopies at two different solar positions is reported. Successive iterations through the model permit the calculation of a mean vector and covariance matrix for canopy reflectance for varied sensor view angles. These data may then be used to calculate the divergence between the target distributions for various wavelength combinations and for these view angles. Results of a feature selection analysis indicate that different sets of wavelengths are optimum for target discrimination depending on sensor view angle and that the targets may be more easily discriminated for some scan angles than others. The time-varying behavior of these results is also pointed out.

Angle-independent pH-sensitive composites with natural gyroid structure

PubMed Central

Xue, Ruiyang; Zhang, Wang; Sun, Peng; Zada, Imran; Guo, Cuiping; Liu, Qinglei; Gu, Jiajun; Su, Huilan; Zhang, Di

2017-01-01

pH sensor is an important and practical device with a wide application in environmental protection field and biomedical industries. An efficient way to enhance the practicability of intelligent polymer composed pH sensor is to subtilize the three-dimensional microstructure of the materials, adding measurable features to visualize the output signal. In this work, C. rubi wing scales were combined with pH-responsive smart polymer polymethylacrylic acid (PMAA) through polymerization to achieve a colour-tunable pH sensor with nature gyroid structure. Morphology and reflection characteristics of the novel composites, named G-PMAA, are carefully investigated and compared with the original biotemplate, C. rubi wing scales. The most remarkable property of G-PMAA is a single-value corresponding relationship between pH value and the reflection peak wavelength (λmax), with a colour distinction degree of 18 nm/pH, ensuring the accuracy and authenticity of the output. The pH sensor reported here is totally reversible, which is able to show the same results after several detection circles. Besides, G-PMAA is proved to be not influenced by the detection angle, which makes it a promising pH sensor with superb sensitivity, stability, and angle-independence. PMID:28165044

2D tilting MEMS micro mirror integrating a piezoresistive sensor position feedback

NASA Astrophysics Data System (ADS)

Lani, S.; Bayat, D.; Despont, M.

2015-02-01

An integrated position sensor for a dual-axis electromagnetic tilting mirror is presented. This tilting mirror is composed of a silicon based mirror directly assembled on a silicon membrane supported by flexible beams. The position sensors are constituted by 4 Wheatstone bridges of piezoresistors which are fabricated by doping locally the flexible beams. A permanent magnet is attached to the membrane and the scanner is mounted above planar coils deposited on a ceramic substrate to achieve electromagnetic actuation. The performances of the piezoresistive sensors are evaluated by measuring the output signal of the piezoresistors as a function of the tilt of the mirror and the temperature. White light interferometry was performed for all measurement to measure the exact tilt angle. The minimum detectable angle with such sensors was 30µrad (around 13bits) in the range of the minimum resolution of the interferometer. The tilt reproducibility was 0.0186%, obtained by measuring the tilt after repeated actuations with a coil current of 50mA during 30 min and the stability over time was 0.05% in 1h without actuation. The maximum measured tilt angle was 6° (mechanical) limited by nonlinearity of the MEMS system.

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

Miniature Rotorcraft Flight Control Stabilization System

DTIC Science & Technology

2008-05-30

The first algorithm is based on the well known QUEST algorithm used for spacecraft and satellites. Due to large vibration in sensors a pseudo...for spacecraft and satellites. Due to large vibration in sensors a pseudo-measurement is developed from gyroscope measurements and rotational...using any valid set of orientation map. Note, in Eq. (6) Euler angles were used to describe . A common alternative to Euler angles is a quaternion

Wireless Orbiter Hang-Angle Inclinometer System

NASA Technical Reports Server (NTRS)

Lucena, Angel; Perotti, Jose; Green, Eric; Byon, Jonathan; Burns, Bradley; Mata, Carlos; Randazzo, John; Blalock, Norman

2011-01-01

A document describes a system to reliably gather the hang-angle inclination of the orbiter. The system comprises a wireless handheld master station (which contains the main station software) and a wireless remote station (which contains the inclinometer sensors, the RF transceivers, and the remote station software). The remote station is designed to provide redundancy to the system. It includes two RF transceivers, two power-management boards, and four inclinometer sensors.

Flight and wind-tunnel calibrations of a flush airdata sensor at high angles of attack and sideslip and at supersonic Mach numbers

NASA Technical Reports Server (NTRS)

Moes, Timothy R.; Whitmore, Stephen A.; Jordan, Frank L., Jr.

1993-01-01

A nonintrusive airdata-sensing system was calibrated in flight and wind-tunnel experiments to an angle of attack of 70 deg and to angles of sideslip of +/- 15 deg. Flight-calibration data have also been obtained to Mach 1.2. The sensor, known as the flush airdata sensor, was installed on the nosecap of an F-18 aircraft for flight tests and on a full-scale F-18 forebody for wind-tunnel tests. Flight tests occurred at the NASA Dryden Flight Research Facility, Edwards, California, using the F-18 High Alpha Research Vehicle. Wind-tunnel tests were conducted in the 30- by 60-ft wind tunnel at the NASA LaRC, Hampton, Virginia. The sensor consisted of 23 flush-mounted pressure ports arranged in concentric circles and located within 1.75 in. of the tip of the nosecap. An overdetermined mathematical model was used to relate the pressure measurements to the local airdata quantities. The mathematical model was based on potential flow over a sphere and was empirically adjusted based on flight and wind-tunnel data. For quasi-steady maneuvering, the mathematical model worked well throughout the subsonic, transonic, and low supersonic flight regimes. The model also worked well throughout the angle-of-attack and sideslip regions studied.

Flight and wind-tunnel calibrations of a flush airdata sensor at high angles of attack and sideslip and at supersonic Mach numbers

NASA Technical Reports Server (NTRS)

Moes, Timothy R.; Whitmore, Stephen A.; Jordan, Frank L., Jr.

1993-01-01

A nonintrusive airdata-sensing system was calibrated in flight and wind-tunnel experiments to an angle of attack of 70 deg and to angles of sideslip of +/- 15 deg. Flight-calibration data have also been obtained to Mach 1.2. The sensor, known as the flush airdata sensor, was installed on the nosecap of an F-18 aircraft for flight tests and on a full-scale F-18 forebody for wind-tunnel tests. Flight tests occurred at the NASA Dryden Flight Research Facility, Edwards, California, using the F-18 High Alpha Research Vehicle. Wind-tunnel tests were conducted in the 30- by 60-ft wind tunnel at the NASA LaRC, Hampton, Virginia. The sensor consisted of 23 flush-mounted pressure ports arranged in concentric circles and located within 1.75 in. of the tip of the nosecap. An overdetermined mathematical model was used to relate the pressure measurements to the local airdata quantities. The mathematical model was based on potential flow over a sphere and was empirically adjusted based on flight and wind-tunnel data. For quasi-steady maneuvering, the mathematical model worked well throughout the subsonic, transonic, and low supersonic flight regimes. The model also worked well throughout the angles-of-attack and -sideslip regions studied.

Linearity of the Faraday-rotation-type ac magnetic-field sensor with a ferrimagnetic or ferromagnetic rotator film

NASA Astrophysics Data System (ADS)

Mori, Hiroshi; Asahara, Yousuke

1996-03-01

We analyze the linearity and modulation depth of ac magnetic-field sensors or current sensors, using a ferrimagnetic or ferromagnetic film as the Faraday rotator and employing the detection of only the zeroth-order optical diffraction component from the rotator. It is theoretically shown that for this class of sensor the condition of a constant modulation depth and that of a constant ratio error give an identical series of curves for the relationship between Faraday rotation angle greater than or equals V and polarizer/analyzer relative angle Phi . We give some numerical examples to demonstrate the usefulness of the result with reference to a rare-earth iron garnet film as the rotator.

Wide angle sun sensor. [consisting of cylinder, insulation and pair of detectors

NASA Technical Reports Server (NTRS)

Schumacher, L. L. (Inventor)

1975-01-01

A single-axis sun sensor consists of a cylinder of an insulating material on which at least one pair of detectors is deposited on a circumference of the cylinder, was disclosed. At any time only one-half of the cylinder is illuminated so that the total resistance of the two detectors is a constant. Due to the round surface on which the detectors are deposited, the sensor exhibits a linear wide angle of + or - 50 deg to within an accuracy of about 2%. By depositing several pairs of detectors on adjacent circumferences, sufficient redundancy is realized to provide high reliability. A two-axis sensor is provided by depositing detectors on the surface of a sphere along at least two orthogonal great circles.

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

Ground-Support Algorithms for Simulation, Processing, and Calibration of Barnes Static Earth Sensor Measurements: Applications to Tropical Rainfall Measuring Mission Observatory

NASA Technical Reports Server (NTRS)

Natanson, G. A.

1997-01-01

New algorithms are described covering the simulation, processing, and calibration of penetration angles of the Barnes static Earth sensor assembly (SESA) as implemented in the Goddard Space Flight Center Flight Dynamics Division ground support system for the Tropical Rainfall Measuring Mission (TRMM) Observatory. The new treatment involves a detailed analysis of the measurements by individual quadrants. It is shown that, to a good approximation, individual quadrant misalignments can be treated simply as penetration angle biases. Simple formulas suitable for real-time applications are introduced for computing quadrant-dependent effects. The simulator generates penetration angles by solving a quadratic equation with coefficients uniquely determined by the spacecraft's position and the quadrant's orientation in GeoCentric Inertial (GCI) coordinates. Measurement processing for attitude determination is based on linearized equations obtained by expanding the coefficients of the aforementioned quadratic equation as a Taylor series in both the Earth oblateness coefficient (alpha approx. 1/150) and the angle between the pointing axis and the geodetic nadir vector. A simple formula relating a measured value of the penetration angle to the deviation of the Earth-pointed axis from the geodetic nadir vector is derived. It is shown that even near the very edge of the quadrant's Field Of View (FOV), attitude errors resulting from quadratic effects are a few hundredths of a degree, which is small compared to the attitude determination accuracy requirement (0.18 degree, 3 sigma) of TRMM. Calibration of SESA measurements is complicated by a first-order filtering used in the TRMM onboard algorithm to compute penetration angles from raw voltages. A simple calibration scheme is introduced where these complications are avoided by treating penetration angles as the primary raw measurements, which are adjusted using biases and scale factors. In addition to three misalignment parameters, the calibration state vector contains only two average penetration angle biases (one per each pair of opposite quadrants) since, because of the very narrow sensor FOV (+/- 2.6 degrees), differences between biases of the penetration angles measured by opposite quadrants cannot be distinguished from roll and pitch sensor misalignments. After calibration, the estimated misalignments and average penetration angle biases are converted to the four penetration angle biases and to the yaw misalignment angle. The resultant biases and the estimated scale factors are finally used to update the coefficients necessary for onboard computations of penetration angles from measured voltages.

Enhanced Pedestrian Navigation Based on Course Angle Error Estimation Using Cascaded Kalman Filters

PubMed Central

Park, Chan Gook

2018-01-01

An enhanced pedestrian dead reckoning (PDR) based navigation algorithm, which uses two cascaded Kalman filters (TCKF) for the estimation of course angle and navigation errors, is proposed. The proposed algorithm uses a foot-mounted inertial measurement unit (IMU), waist-mounted magnetic sensors, and a zero velocity update (ZUPT) based inertial navigation technique with TCKF. The first stage filter estimates the course angle error of a human, which is closely related to the heading error of the IMU. In order to obtain the course measurements, the filter uses magnetic sensors and a position-trace based course angle. For preventing magnetic disturbance from contaminating the estimation, the magnetic sensors are attached to the waistband. Because the course angle error is mainly due to the heading error of the IMU, and the characteristic error of the heading angle is highly dependent on that of the course angle, the estimated course angle error is used as a measurement for estimating the heading error in the second stage filter. At the second stage, an inertial navigation system-extended Kalman filter-ZUPT (INS-EKF-ZUPT) method is adopted. As the heading error is estimated directly by using course-angle error measurements, the estimation accuracy for the heading and yaw gyro bias can be enhanced, compared with the ZUPT-only case, which eventually enhances the position accuracy more efficiently. The performance enhancements are verified via experiments, and the way-point position error for the proposed method is compared with those for the ZUPT-only case and with other cases that use ZUPT and various types of magnetic heading measurements. The results show that the position errors are reduced by a maximum of 90% compared with the conventional ZUPT based PDR algorithms. PMID:29690539

Proceedings of the 1998 Space Control Conference,

DTIC Science & Technology

1998-04-16

later in this paper. The second radar under development was the HAVE STARE radar. This was also an X -band radar but was a mechanically steered, dish... spacecraft . The commands are sent via electronic link to Johns Hopkins Applied Physics Laboratory for inclusion in the MSX upload and are uplinked...with all the other sensors on the MSX along the + X axis of the spacecraft and is not sepa- rately gimbaled. Thus, to point the SBV, the entire

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.

Method and apparatus for calibrating multi-axis load cells in a dexterous robot

NASA Technical Reports Server (NTRS)

Wampler, II, Charles W. (Inventor); Platt, Jr., Robert J. (Inventor)

2012-01-01

A robotic system includes a dexterous robot having robotic joints, angle sensors adapted for measuring joint angles at a corresponding one of the joints, load cells for measuring a set of strain values imparted to a corresponding one of the load cells during a predetermined pose of the robot, and a host machine. The host machine is electrically connected to the load cells and angle sensors, and receives the joint angle values and strain values during the predetermined pose. The robot presses together mating pairs of load cells to form the poses. The host machine executes an algorithm to process the joint angles and strain values, and from the set of all calibration matrices that minimize error in force balance equations, selects the set of calibration matrices that is closest in a value to a pre-specified value. A method for calibrating the load cells via the algorithm is also provided.

In-plane omnidirectional magnetic field sensor based on Giant Magneto Impedance (GMI)

NASA Astrophysics Data System (ADS)

Díaz-Rubio, Ana; García-Miquel, Héctor; García-Chocano, Víctor Manuel

2017-12-01

In this work the design and characterization of an omnidirectional in-plane magnetic field sensor are presented. The sensor is based on the Giant Magneto Impedance (GMI) effect in glass-coated amorphous microwires of composition (Fe6Co94)72.5Si12.5B15. For the first time, a circular loop made with a microwire is used for giving omnidirectional response. In order to estimate the GMI response of the circular loop we have used a theoretical model of GMI, determining the GMI response as the sum of longitudinal sections with different angles of incidence. As a consequence of the circular loop, the GMI ratio of the sensor is reduced to 15% instead of 100% for the axial GMI response of a microwire. The sensor response has been experimentally verified and the GMI response of the circular loop has been studied as function of the magnetic field, driven current, and frequency. First, we have measured the GMI response of a longitudinal microwire for different angles of incidence, covering the full range between the tangential and perpendicular directions to the microwire axis. Then, using these results, we have experimentally verified the decomposition of a microwire with circular shape as longitudinal segments with different angles of incidence. Finally, we have designed a signal conditioning circuit for the omnidirectional magnetic field sensor. The response of the sensor has been studied as a function of the amplitude of the incident magnetic field.

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.

Ultra-Precision Measurement and Control of Angle Motion in Piezo-Based Platforms Using Strain Gauge Sensors and a Robust Composite Controller

PubMed Central

Liu, Lei; Bai, Yu-Guang; Zhang, Da-Li; Wu, Zhi-Gang

2013-01-01

The measurement and control strategy of a piezo-based platform by using strain gauge sensors (SGS) and a robust composite controller is investigated in this paper. First, the experimental setup is constructed by using a piezo-based platform, SGS sensors, an AD5435 platform and two voltage amplifiers. Then, the measurement strategy to measure the tip/tilt angles accurately in the order of sub-μrad is presented. A comprehensive composite control strategy design to enhance the tracking accuracy with a novel driving principle is also proposed. Finally, an experiment is presented to validate the measurement and control strategy. The experimental results demonstrate that the proposed measurement and control strategy provides accurate angle motion with a root mean square (RMS) error of 0.21 μrad, which is approximately equal to the noise level. PMID:23860316

Utilization of optical sensors for phasor measurement units

DOE PAGES

Yao, Wenxuan; Wells, David; King, Daniel; ...

2017-11-10

With the help of GPS signals for synchronization, increasingly ubiquitous phasor measurement units (PMUs) provide power grid operators unprecedented system monitoring and control opportunities. However, the performance of PMUs is limited by the inherent deficiencies in traditional transformers. To address these issues, an optical sensor is used in PMU for signal acquisition to replace the traditional transformers. This is the first time the utilization of an optical sensor in PMUs has ever been reported. The accuracy of frequency, angle, and amplitude are evaluated via experiments. Lastly, the optical sensor based PMU can achieve the accuracy of 9.03 × 10 –4more » Hz for frequency, 6.38 × 10 –3 rad for angle and 6.73 × 10 –2 V for amplitude with real power grid signal, demonstrating the practicability of optical sensors in future PMUs.« less

Utilization of optical sensors for phasor measurement units

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

Yao, Wenxuan; Wells, David; King, Daniel

With the help of GPS signals for synchronization, increasingly ubiquitous phasor measurement units (PMUs) provide power grid operators unprecedented system monitoring and control opportunities. However, the performance of PMUs is limited by the inherent deficiencies in traditional transformers. To address these issues, an optical sensor is used in PMU for signal acquisition to replace the traditional transformers. This is the first time the utilization of an optical sensor in PMUs has ever been reported. The accuracy of frequency, angle, and amplitude are evaluated via experiments. Lastly, the optical sensor based PMU can achieve the accuracy of 9.03 × 10 –4more » Hz for frequency, 6.38 × 10 –3 rad for angle and 6.73 × 10 –2 V for amplitude with real power grid signal, demonstrating the practicability of optical sensors in future PMUs.« less

D-shaped tilted fiber Bragg grating using magnetic fluid for magnetic field sensor

NASA Astrophysics Data System (ADS)

Ying, Yu; Zhang, Rui; Si, Guang-Yuan; Wang, Xin; Qi, Yuan-Wei

2017-12-01

In our work, a numerical investigation of a magnetic field sensor based on a D-shaped tilted fiber Bragg grating and magnetic fluid is performed. The sensing probe is constructed by placing the magnetic fluid film on the flat surface of the D-shaped tilted fiber Bragg grating. We investigate the resonance wavelengths of the proposed structure with different tilted angles of grating ranging from 0° to 20°, and analyze the magnetic field sensing characteristics. The simulation results show that the optical fiber sensor exhibits optimal transmission characteristics with a tilted angle of 8°. The wavelength sensitivity of the magnetic field sensor is as high as -0.18nm/Oe in the range of 30Oe-270Oe, and it demonstrates a linearity up to R2= -0.9998. Such sensor has potential applications in determining magnetic sensing field.

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.

Study on the Ag Nanowire/PDMS Pressure Sensors with Three-Layer and Back-to-Back Structures

NASA Astrophysics Data System (ADS)

Wu, Jianhao; Lan, Qiuming; Yang, Weijia; He, Xin; Yue, Yunting; Jiang, Jiayi; Jiang, Tinghui

2018-01-01

Ag nanowire (NW)/polydimethylsiloxane (PDMS) pressure sensors with the three-layer and back-to-back structures were fabricated by a coating-peeling method. The bending and pressing responses of the sensors were comparably investigated. The results reveal that two kinds of pressure sensors show similar response linearity in the bending test with a bending angle of 0-180°. However, the response sensitivity of the three-layer structured pressure sensor is superior to that of the back-to-back structural one, which exhibits that the relationship between the capacitance value (Y) and the bending angle (X) is: Y = 0.01244X + 2.9763. On the contrary, in the pressing test, the response sensitivity of the back-to-back structural sensor is better than that of the three-layer structural one. The relationship between capacitance value (Y) and the number of paper clips (pressure, X2) is Y = 0.09241X2 + 88.03597.

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).

High-precision angle sensor based on a Köster’s prism with absolute zero-point

NASA Astrophysics Data System (ADS)

Ullmann, V.; Oertel, E.; Manske, E.

2018-06-01

In this publication, a novel approach will be presented to use a compact white-light interferometer based on a Köster’s prism for angle measurements. Experiments show that the resolution of this angle interferometer is in the range of a commercial digital autocollimator, with a focal length of f  =  300 mm, but with clearly reduced signal noise and without overshoot artifacts in the signal caused by digital filters. The angle detection of the reference mirror in the Köster’s interferometer is based on analysing the rotation angle of the fringe pattern, which is projected on a CMOS-matrix. The fringe pattern is generated by two displaced spherical wave fronts coming from one fiber-coupled white-light source and getting divided into a reference and a measurement beam by the Köster’s prism. The displacement correlates with the reference angle mirror in one linear direction and with the angle aberrations of the prism in the other orthogonal direction on the CMOS sensor. We will present the experimental and optical setup, the method and algorithms for the image-to-angle processing as well as the experimental results obtained in calibration and long-term measurements.

Fast Plasma Instrument for MMS: Data Compression Simulation Results

NASA Astrophysics Data System (ADS)

Barrie, A.; Adrian, M. L.; Yeh, P.; Winkert, G.; Lobell, J.; Vinas, A. F.; Simpson, D. G.

2009-12-01

Magnetospheric Multiscale (MMS) mission will study small-scale reconnection structures and their rapid motions from closely spaced platforms using instruments capable of high angular, energy, and time resolution measurements. To meet these requirements, the Fast Plasma Instrument (FPI) consists of eight (8) identical half top-hat electron sensors and eight (8) identical ion sensors and an Instrument Data Processing Unit (IDPU). The sensors (electron or ion) are grouped into pairs whose 6° x 180° fields-of-view (FOV) are set 90° apart. Each sensor is equipped with electrostatic aperture steering to allow the sensor to scan a 45° x 180° fan about the its nominal viewing (0° deflection) direction. Each pair of sensors, known as the Dual Electron Spectrometer (DES) and the Dual Ion Spectrometer (DIS), occupies a quadrant on the MMS spacecraft and the combination of the eight electron/ion sensors, employing aperture steering, image the full-sky every 30-ms (electrons) and 150-ms (ions), respectively. To probe the diffusion regions of reconnection, the highest temporal/spatial resolution mode of FPI results in the DES complement of a given spacecraft generating 6.5-Mb s-1 of electron data while the DIS generates 1.1-Mb s-1 of ion data yielding an FPI total data rate of 6.6-Mb s-1. The FPI electron/ion data is collected by the IDPU then transmitted to the Central Data Instrument Processor (CIDP) on the spacecraft for science interest ranking. Only data sequences that contain the greatest amount of temporal/spatial structure will be intelligently down-linked by the spacecraft. Currently, the FPI data rate allocation to the CIDP is 1.5-Mb s-1. Consequently, the FPI-IDPU must employ data/image compression to meet this CIDP telemetry allocation. Here, we present updated simulations of the CCSDS 122.0-B-1 algorithm-based compression of the FPI-DES electron data as well as the FPI-DIS ion data. Compression analysis is based upon a seed of re-processed Cluster/PEACE electron measurements and Cluster/CIS ion measurements. Topics to be discussed include: (i) Review of compression algorithm; (ii) Data quality; (iii) Data formatting/organization; (iv) Compression optimization; (v) Investigation of pseudo-log precompression; and (vi) Analysis of compression effectiveness for burst mode as well as fast survey mode data packets for both electron and ion data We conclude with a presentation of the current base-lined FPI data compression approach.

The effects of pressure sensor acoustics on airdata derived from a High-angle-of-attack Flush Airdata Sensing (HI-FADS) system

NASA Technical Reports Server (NTRS)

Whitmore, Stephen A.; Moes, Timothy R.

1991-01-01

The accuracy of a nonintrusive high angle-of-attack flush airdata sensing (HI-FADS) system was verified for quasi-steady flight conditions up to 55 deg angle of attack during the F-18 High Alpha Research Vehicle (HARV) Program. The system is a matrix of nine pressure ports arranged in annular rings on the aircraft nose. The complete airdata set is estimated using nonlinear regression. Satisfactory frequency response was verified to the system Nyquist frequency (12.5 Hz). The effects of acoustical distortions within the individual pressure sensors of the nonintrusive pressure matrix on overall system performance are addressed. To quantify these effects, a frequency-response model describing the dynamics of acoustical distortion is developed and simple design criteria are derived. The model adjusts measured HI-FADS pressure data for the acoustical distortion and quantifies the effects of internal sensor geometries on system performance. Analysis results indicate that sensor frequency response characteristics very greatly with altitude, thus it is difficult to select satisfactory sensor geometry for all altitudes. The solution used presample filtering to eliminate resonance effects, and short pneumatic tubing sections to reduce lag effects. Without presample signal conditioning the system designer must use the pneumatic transmission line to attenuate the resonances and accept the resulting altitude variability.

High precision dual-axis tracking solar wireless charging system based on the four quadrant photoelectric sensor

NASA Astrophysics Data System (ADS)

Liu, Zhilong; Wang, Biao; Tong, Weichao

2015-08-01

This paper designs a solar automatic tracking wireless charging system based on the four quadrant photoelectric sensor. The system track the sun's rays automatically in real time to received the maximum energy and wireless charging to the load through electromagnetic coupling. Four quadrant photoelectric sensor responsive to the solar spectrum, the system could get the current azimuth and elevation angle of the light by calculating the solar energy incident on the sensor profile. System driver the solar panels by the biaxial movement mechanism to rotate and tilt movement until the battery plate and light perpendicular to each other. Maximize the use of solar energy, and does not require external power supply to achieve energy self-sufficiency. Solar energy can be collected for portable devices and load wireless charging by close electromagnetic field coupling. Experimental data show that: Four quadrant photoelectric sensor more sensitive to light angle measurement. when track positioning solar light, Azimuth deviation is less than 0.8°, Elevation angle deviation is less than 0.6°. Use efficiency of a conventional solar cell is only 10% -20%.The system uses a Four quadrant dual-axis tracking to raise the utilization rate of 25% -35%.Wireless charging electromagnetic coupling efficiency reached 60%.

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.

System For Characterizing Three-Phase Brushless dc Motors

NASA Technical Reports Server (NTRS)

Howard, David E.; Smith, Dennis A.

1996-01-01

System of electronic hardware and software developed to automate measurements and calculations needed to characterize electromechanical performances of three-phase brushless dc motors, associated shaft-angle sensors needed for commutation, and associated brushless tachometers. System quickly takes measurements on all three phases of motor, tachometer, and shaft-angle sensor simultaneously and processes measurements into performance data. Also useful in development and testing of motors with not only three phases but also two, four, or more phases.

Adaptive Neuro-Fuzzy Determination of the Effect of Experimental Parameters on Vehicle Agent Speed Relative to Vehicle Intruder.

PubMed

Shamshirband, Shahaboddin; Banjanovic-Mehmedovic, Lejla; Bosankic, Ivan; Kasapovic, Suad; Abdul Wahab, Ainuddin Wahid Bin

2016-01-01

Intelligent Transportation Systems rely on understanding, predicting and affecting the interactions between vehicles. The goal of this paper is to choose a small subset from the larger set so that the resulting regression model is simple, yet have good predictive ability for Vehicle agent speed relative to Vehicle intruder. The method of ANFIS (adaptive neuro fuzzy inference system) was applied to the data resulting from these measurements. The ANFIS process for variable selection was implemented in order to detect the predominant variables affecting the prediction of agent speed relative to intruder. This process includes several ways to discover a subset of the total set of recorded parameters, showing good predictive capability. The ANFIS network was used to perform a variable search. Then, it was used to determine how 9 parameters (Intruder Front sensors active (boolean), Intruder Rear sensors active (boolean), Agent Front sensors active (boolean), Agent Rear sensors active (boolean), RSSI signal intensity/strength (integer), Elapsed time (in seconds), Distance between Agent and Intruder (m), Angle of Agent relative to Intruder (angle between vehicles °), Altitude difference between Agent and Intruder (m)) influence prediction of agent speed relative to intruder. The results indicated that distance between Vehicle agent and Vehicle intruder (m) and angle of Vehicle agent relative to Vehicle Intruder (angle between vehicles °) is the most influential parameters to Vehicle agent speed relative to Vehicle intruder.

Enhancement and Suppression of Transmission in 3-D Nanoslits Arrays with 1- and 2-D Periodicities

DTIC Science & Technology

2011-01-01

Technologies Group, 410 Jan Davis Dr., Huntsville, AL 35806 M. Scalora Charles M. Bowden Research Center AMSRD-AMR-WS-ST, RDECOM, Redstone Arsenal... Scalora , M., “Second harmonic generation from nanoslits in metal substrates: applications to palladium-based H2 sensor,” J. Nanophotonics 2, 021851 (2008...5] Vincenti, M.A., D’Orazio, A., Buncick, M., Akozbek, N., Bloemer, M.J. and Scalora , M., "Beam steering from resonant sub-wavelength slits

Rugged Walking Robot

NASA Technical Reports Server (NTRS)

Larimer, Stanley J.; Lisec, Thomas R.; Spiessbach, Andrew J.

1990-01-01

Proposed walking-beam robot simpler and more rugged than articulated-leg walkers. Requires less data processing, and uses power more efficiently. Includes pair of tripods, one nested in other. Inner tripod holds power supplies, communication equipment, computers, instrumentation, sampling arms, and articulated sensor turrets. Outer tripod holds mast on which antennas for communication with remote control site and video cameras for viewing local and distant terrain mounted. Propels itself by raising, translating, and lowering tripods in alternation. Steers itself by rotating raised tripod on turntable.

NASA Tech Briefs, April 2011

NASA Technical Reports Server (NTRS)

2011-01-01

Topics covered include: Amperometric Solid Electrolyte Oxygen Microsensors with Easy Batch Fabrication; Two-Axis Direct Fluid Shear Stress Sensor for Aerodynamic Applications; Target Assembly to Check Boresight Alignment of Active Sensors; Virtual Sensor Test Instrumentation; Evaluation of the Reflection Coefficient of Microstrip Elements for Reflectarray Antennas; Miniaturized Ka-Band Dual-Channel Radar; Continuous-Integration Laser Energy Lidar Monitor; Miniaturized Airborne Imaging Central Server System; Radiation-Tolerant, SpaceWire-Compatible Switching Fabric; Small Microprocessor for ASIC or FPGA Implementation; Source-Coupled, N-Channel, JFET-Based Digital Logic Gate Structure Using Resistive Level Shifters; High-Voltage-Input Level Translator Using Standard CMOS; Monitoring Digital Closed-Loop Feedback Systems; MASCOT - MATLAB Stability and Control Toolbox; MIRO Continuum Calibration for Asteroid Mode; GOATS Image Projection Component; Coded Modulation in C and MATLAB; Low-Dead-Volume Inlet for Vacuum Chamber; Thermal Control Method for High-Current Wire Bundles by Injecting a Thermally Conductive Filler; Method for Selective Cleaning of Mold Release from Composite Honeycomb Surfaces; Infrared-Bolometer Arrays with Reflective Backshorts; Commercialization of LARC (trade mark) -SI Polyimide Technology; Novel Low-Density Ablators Containing Hyperbranched Poly(azomethine)s; Carbon Nanotubes on Titanium Substrates for Stray Light Suppression; Monolithic, High-Speed Fiber-Optic Switching Array for Lidar; Grid-Tied Photovoltaic Power System; Spectroelectrochemical Instrument Measures TOC; A Miniaturized Video System for Monitoring Drosophila Behavior; Hydrofocusing Bioreactor Produces Anti-Cancer Alkaloids; Creep Measurement Video Extensometer; Radius of Curvature Measurement of Large Optics Using Interferometry and Laser Tracker n-B-pi-p Superlattice Infrared Detector; Safe Onboard Guidance and Control Under Probabilistic Uncertainty; General Tool for Evaluating High-Contrast Coronagraphic Telescope Performance Error Budgets; Hidden Statistics of Schroedinger Equation; Optimal Padding for the Two-Dimensional Fast Fourier Transform; Spatial Query for Planetary Data; Higher Order Mode Coupling in Feed Waveguide of a Planar Slot Array Antenna; Evolutionary Computational Methods for Identifying Emergent Behavior in Autonomous Systems; Sampling Theorem in Terms of the Bandwidth and Sampling Interval; Meteoroid/Orbital Debris Shield Engineering Development Practice and Procedure; Self-Balancing, Optical-Center-Pivot, Fast-Steering Mirror; Wireless Orbiter Hang-Angle Inclinometer System; and Internal Electrostatic Discharge Monitor - IESDM.

Scalable Microfabrication Procedures for Adhesive-Integrated Flexible and Stretchable Electronic Sensors.

PubMed

Kang, Dae Y; Kim, Yun-Soung; Ornelas, Gladys; Sinha, Mridu; Naidu, Keerthiga; Coleman, Todd P

2015-09-16

New classes of ultrathin flexible and stretchable devices have changed the way modern electronics are designed to interact with their target systems. Though more and more novel technologies surface and steer the way we think about future electronics, there exists an unmet need in regards to optimizing the fabrication procedures for these devices so that large-scale industrial translation is realistic. This article presents an unconventional approach for facile microfabrication and processing of adhesive-peeled (AP) flexible sensors. By assembling AP sensors on a weakly-adhering substrate in an inverted fashion, we demonstrate a procedure with 50% reduced end-to-end processing time that achieves greater levels of fabrication yield. The methodology is used to demonstrate the fabrication of electrical and mechanical flexible and stretchable AP sensors that are peeled-off their carrier substrates by consumer adhesives. In using this approach, we outline the manner by which adhesion is maintained and buckling is reduced for gold film processing on polydimethylsiloxane substrates. In addition, we demonstrate the compatibility of our methodology with large-scale post-processing using a roll-to-roll approach.

Scalable Microfabrication Procedures for Adhesive-Integrated Flexible and Stretchable Electronic Sensors

PubMed Central

Kang, Dae Y.; Kim, Yun-Soung; Ornelas, Gladys; Sinha, Mridu; Naidu, Keerthiga; Coleman, Todd P.

2015-01-01

New classes of ultrathin flexible and stretchable devices have changed the way modern electronics are designed to interact with their target systems. Though more and more novel technologies surface and steer the way we think about future electronics, there exists an unmet need in regards to optimizing the fabrication procedures for these devices so that large-scale industrial translation is realistic. This article presents an unconventional approach for facile microfabrication and processing of adhesive-peeled (AP) flexible sensors. By assembling AP sensors on a weakly-adhering substrate in an inverted fashion, we demonstrate a procedure with 50% reduced end-to-end processing time that achieves greater levels of fabrication yield. The methodology is used to demonstrate the fabrication of electrical and mechanical flexible and stretchable AP sensors that are peeled-off their carrier substrates by consumer adhesives. In using this approach, we outline the manner by which adhesion is maintained and buckling is reduced for gold film processing on polydimethylsiloxane substrates. In addition, we demonstrate the compatibility of our methodology with large-scale post-processing using a roll-to-roll approach. PMID:26389915

Ice-Penetrating Robot for Scientific Exploration

NASA Technical Reports Server (NTRS)

Zimmerman, Wayne; Carsey, Frank; French, Lloyd

2007-01-01

The cryo-hydro integrated robotic penetrator system (CHIRPS) is a partially developed instrumentation system that includes a probe designed to deeply penetrate the European ice sheet in a search for signs of life. The CHIRPS could also be used on Earth for similar exploration of the polar ice caps especially at Lake Vostok in Antarctica. The CHIRPS probe advances downward by a combination of simple melting of ice (typically for upper, non-compacted layers of an ice sheet) or by a combination of melting of ice and pumping of meltwater (typically, for deeper, compacted layers). The heat and electric power for melting, pumping, and operating all of the onboard instrumentation and electronic circuitry are supplied by radioisotope power sources (RPSs) and thermoelectric converters energized by the RPSs. The instrumentation and electronic circuitry includes miniature guidance and control sensors and an advanced autonomous control system that has fault-management capabilities. The CHIRPS probe is about 1 m long and 15 cm in diameter. The RPSs generate a total thermal power of 1.8 kW. Initially, as this power melts the surrounding ice, a meltwater jacket about 1 mm thick forms around the probe. The center of gravity of the probe is well forward (down), so that the probe is vertically stabilized like a pendulum. Heat is circulated to the nose by means of miniature pumps and heat pipes. The probe melts ice to advance in a step-wise manner: Heat is applied to the nose to open up a melt void, then heat is applied to the side to allow the probe to slip down into the melt void. The melt void behind the probe is allowed to re-freeze. Four quadrant heaters on the nose and another four quadrant heaters on the rear (upper) surface of the probe are individually controllable for steering: Turning on two adjacent nose heaters on the nose and two adjacent heaters on the opposite side at the rear causes melt voids to form on opposing sides, such that the probe descends at an angle from vertical. This steering capability can be used to avoid debris trapped in the ice or to maneuver closer to a trapped object of scientific interest.

Matching the best viewing angle in depth cameras for biomass estimation based on poplar seedling geometry.

PubMed

Andújar, Dionisio; Fernández-Quintanilla, César; Dorado, José

2015-06-04

In energy crops for biomass production a proper plant structure is important to optimize wood yields. A precise crop characterization in early stages may contribute to the choice of proper cropping techniques. This study assesses the potential of the Microsoft Kinect for Windows v.1 sensor to determine the best viewing angle of the sensor to estimate the plant biomass based on poplar seedling geometry. Kinect Fusion algorithms were used to generate a 3D point cloud from the depth video stream. The sensor was mounted in different positions facing the tree in order to obtain depth (RGB-D) images from different angles. Individuals of two different ages, e.g., one month and one year old, were scanned. Four different viewing angles were compared: top view (0°), 45° downwards view, front view (90°) and ground upwards view (-45°). The ground-truth used to validate the sensor readings consisted of a destructive sampling in which the height, leaf area and biomass (dry weight basis) were measured in each individual plant. The depth image models agreed well with 45°, 90° and -45° measurements in one-year poplar trees. Good correlations (0.88 to 0.92) between dry biomass and the area measured with the Kinect were found. In addition, plant height was accurately estimated with a few centimeters error. The comparison between different viewing angles revealed that top views showed poorer results due to the fact the top leaves occluded the rest of the tree. However, the other views led to good results. Conversely, small poplars showed better correlations with actual parameters from the top view (0°). Therefore, although the Microsoft Kinect for Windows v.1 sensor provides good opportunities for biomass estimation, the viewing angle must be chosen taking into account the developmental stage of the crop and the desired parameters. The results of this study indicate that Kinect is a promising tool for a rapid canopy characterization, i.e., for estimating crop biomass production, with several important advantages: low cost, low power needs and a high frame rate (frames per second) when dynamic measurements are required.

Single-ended retroreflection sensors for absorption spectroscopy in high-temperature environments

NASA Astrophysics Data System (ADS)

Melin, Scott T.; Wang, Ze; Neal, Nicholas J.; Rothamer, David A.; Sanders, Scott T.

2017-04-01

Novel single-ended sensor arrangements are demonstrated for in situ absorption spectroscopy in combustion and related test articles. A single-ended optical access technique based on back-reflection from a polished test article surface is presented. H2O vapor absorption spectra were measured at 10 kHz in a homogeneous-charge compression-ignition engine using a sensor of this design collecting back-reflection from a polished piston surface. The measured spectra show promise for high-repetition-rate measurements in practical combustion devices. A second sensor was demonstrated based on a modification to this optical access technique. The sensor incorporates a nickel retroreflective surface as back-reflector to reduce sensitivity to beam steering and misalignment. In a propane-fired furnace, H2O vapor absorption spectra were obtained over the range 7315-7550 cm- 1 at atmospheric pressure and temperatures up to 775 K at 20 Hz using an external-cavity diode laser spectrometer. Gas properties of temperature and mole fraction were obtained from this furnace data using a band-shape spectral fitting technique. The temperature accuracy of the band-shape fitting was demonstrated to be ±1.3 K for furnace measurements at atmospheric pressure. These results should extend the range of applications in which absorption spectroscopy sensors are attractive candidates.

Method for removing tilt control in adaptive optics systems

DOEpatents

Salmon, Joseph Thaddeus

1998-01-01

A new adaptive optics system and method of operation, whereby the method removes tilt control, and includes the steps of using a steering mirror to steer a wavefront in the desired direction, for aiming an impinging aberrated light beam in the direction of a deformable mirror. The deformable mirror has its surface deformed selectively by means of a plurality of actuators, and compensates, at least partially, for existing aberrations in the light beam. The light beam is split into an output beam and a sample beam, and the sample beam is sampled using a wavefront sensor. The sampled signals are converted into corresponding electrical signals for driving a controller, which, in turn, drives the deformable mirror in a feedback loop in response to the sampled signals, for compensating for aberrations in the wavefront. To this purpose, a displacement error (gradient) of the wavefront is measured, and adjusted by a modified gain matrix, which satisfies the following equation: G'=(I-X(X.sup.T X).sup.-1 X.sup.T)G(I-A)

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.

Towards human-controlled, real-time shape sensing based flexible needle steering for MRI-guided percutaneous therapies.

PubMed

Li, Meng; Li, Gang; Gonenc, Berk; Duan, Xingguang; Iordachita, Iulian

2017-06-01

Accurate needle placement into soft tissue is essential to percutaneous prostate cancer diagnosis and treatment procedures. This paper discusses the steering of a 20 gauge (G) FBG-integrated needle with three sets of Fiber Bragg Grating (FBG) sensors. A fourth-order polynomial shape reconstruction method is introduced and compared with previous approaches. To control the needle, a bicycle model based navigation method is developed to provide visual guidance lines for clinicians. A real-time model updating method is proposed for needle steering inside inhomogeneous tissue. A series of experiments were performed to evaluate the proposed needle shape reconstruction, visual guidance and real-time model updating methods. Targeting experiments were performed in soft plastic phantoms and in vitro tissues with insertion depths ranging between 90 and 120 mm. Average targeting errors calculated based upon the acquired camera images were 0.40 ± 0.35 mm in homogeneous plastic phantoms, 0.61 ± 0.45 mm in multilayer plastic phantoms and 0.69 ± 0.25 mm in ex vivo tissue. Results endorse the feasibility and accuracy of the needle shape reconstruction and visual guidance methods developed in this work. The approach implemented for the multilayer phantom study could facilitate accurate needle placement efforts in real inhomogeneous tissues. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

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.

An Algorithm for Converting Static Earth Sensor Measurements into Earth Observation Vectors

NASA Technical Reports Server (NTRS)

Harman, R.; Hashmall, Joseph A.; Sedlak, Joseph

2004-01-01

An algorithm has been developed that converts penetration angles reported by Static Earth Sensors (SESs) into Earth observation vectors. This algorithm allows compensation for variation in the horizon height including that caused by Earth oblateness. It also allows pitch and roll to be computed using any number (greater than 1) of simultaneous sensor penetration angles simplifying processing during periods of Sun and Moon interference. The algorithm computes body frame unit vectors through each SES cluster. It also computes GCI vectors from the spacecraft to the position on the Earth's limb where each cluster detects the Earth's limb. These body frame vectors are used as sensor observation vectors and the GCI vectors are used as reference vectors in an attitude solution. The attitude, with the unobservable yaw discarded, is iteratively refined to provide the Earth observation vector solution.

Fiber Optic Sensor System Using Birefringent Filters For Spectral Encoding

NASA Astrophysics Data System (ADS)

Dorsch, Friedhelm; Ulrich, Reinhard

1989-02-01

A system of multimode fiber optic sensors is described for the remote measurement of position, angle, force, pressure and other measurands that can be converted into a rotation of polarization. A birefringent filter encodes the polarization angle into the power ratio of two interleaved comb spectra or, in a modified implementation, into the absolute spectral position of a comb spectrum. By using identical filters in all transducers and in the evaluation unit, transducers for the same or different measurands become interchange-able. All sensors are of the incremental type, with accuracies reaching 0.5 % of one period of the measurand, independent of variations in the attenuation of the fiber link of up to 20dB.

Highly sensitive twist sensor based on tilted fiber Bragg grating of polarization-dependent properties

NASA Astrophysics Data System (ADS)

Lu, Yanfang; Shen, Changyu; Chen, Debao; Chu, Jinlei; Wang, Qiang; Dong, Xinyong

2014-10-01

The transmission intensity of the tilted fiber Bragg grating (TFBG) is strongly dependent on the polarization properties of the TFBG. The polarization characteristic of the cladding modes can be used for twist measuring. In this paper, a highly sensitive fiber twist sensor is proposed. The transmission intensity on the strong loss wavelength showed a quasi-sin θ changing with the twist angle ranging from 0° to 180° for S- or P-polarized input. A high sensitivity of 0.299 dB/° is achieved, which is almost 17.9 times higher than that of the current similar existing twist sensor. The twist angle can be measured precisely with the matrix.

A Novel GMM-Based Behavioral Modeling Approach for Smartwatch-Based Driver Authentication.

PubMed

Yang, Ching-Han; Chang, Chin-Chun; Liang, Deron

2018-03-28

All drivers have their own distinct driving habits, and usually hold and operate the steering wheel differently in different driving scenarios. In this study, we proposed a novel Gaussian mixture model (GMM)-based method that can improve the traditional GMM in modeling driving behavior. This new method can be applied to build a better driver authentication system based on the accelerometer and orientation sensor of a smartwatch. To demonstrate the feasibility of the proposed method, we created an experimental system that analyzes driving behavior using the built-in sensors of a smartwatch. The experimental results for driver authentication-an equal error rate (EER) of 4.62% in the simulated environment and an EER of 7.86% in the real-traffic environment-confirm the feasibility of this approach.

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.

Evolutionary Beamforming Optimization for Radio Frequency Charging in Wireless Rechargeable Sensor Networks

PubMed Central

Yao, Ke-Han; Jiang, Jehn-Ruey; Tsai, Chung-Hsien; Wu, Zong-Syun

2017-01-01

This paper investigates how to efficiently charge sensor nodes in a wireless rechargeable sensor network (WRSN) with radio frequency (RF) chargers to make the network sustainable. An RF charger is assumed to be equipped with a uniform circular array (UCA) of 12 antennas with the radius λ, where λ is the RF wavelength. The UCA can steer most RF energy in a target direction to charge a specific WRSN node by the beamforming technology. Two evolutionary algorithms (EAs) using the evolution strategy (ES), namely the Evolutionary Beamforming Optimization (EBO) algorithm and the Evolutionary Beamforming Optimization Reseeding (EBO-R) algorithm, are proposed to nearly optimize the power ratio of the UCA beamforming peak side lobe (PSL) and the main lobe (ML) aimed at the given target direction. The proposed algorithms are simulated for performance evaluation and are compared with a related algorithm, called Particle Swarm Optimization Gravitational Search Algorithm-Explore (PSOGSA-Explore), to show their superiority. PMID:28825648

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.

Proposals for the implementation of the variants of automatic control of the telescope AZT-2

NASA Astrophysics Data System (ADS)

Shavlovskyi, V. I.; Puha, S. P.; Vidmachenko, A. P.; Volovyk, D. V.; Puha, G. P.; Obolonskyi, V. O.; Kratko, O. O.; Stefurak, M. V.

2018-05-01

Based on the experience of astronomical observations, structural features and results of the review of the technical state of the mechanism of the telescope AZT-2 in the Main Astronomical Observatory of NAS of Ukraine, in 2012 it was decided to carry out works on its modernization. To this end, it was suggested that the telescope control system should consist of angle sensors on the time axis "alpha" and the axis "delta", personal computer (PC), corresponding software, power control unit, and rotation system of telescope. The angle sensor should be absolute, with a resolution of better than 10 angular minutes. The PC should perform the functions of data processing from the angle sensor, and control the power node. The developed software allows the operator to direct the telescope in an automatic mode, and to set the necessary parameters of the system. With using of PC, the power control node will directly control the engine of the rotation system.

77 FR 11789 - Airworthiness Directives; The Boeing Company Airplanes

Federal Register 2010, 2011, 2012, 2013, 2014

2012-02-28

...-icing system for the angle of attack sensor, the total air temperature, and the pitot probes. We are proposing this AD to prevent ice from forming on air data system sensors and consequent loss of or... receive about this proposed AD. Discussion The air data sensor heating system, when ON, heats the pitot...

Internal Acoustics Measurements of a Full Scale Advanced Ducted Propulsor Demonstrator

NASA Technical Reports Server (NTRS)

Santa Maria, O. L.; Soderman, P. T.; Horne, W. C.; Jones, M. G.; Bock, L. A.

1995-01-01

Acoustics measurements of a Pratt & Whitney full-scale ADP (Advanced Ducted Propulsor), an ultrahigh by-pass ratio engine, were conducted in the NASA Ames 40- by 80-Foot Wind Tunnel. This paper presents data from measurements taken from sensors on a fan exit guide vane in the ADP. Data from two sensors, one at mid-span and the other at the tip of the fan exit guide vane, are presented. At the blade passage frequency (BPF), the levels observed at the various engine and wind speeds were higher at the mid-span sensor than the tip sensor. The coherence between these internal sensors and external microphones were calculated and plotted as a function of angle (angles ranged from 5 degrees to 160 degrees) relative to the ADP longitudinal axis. At the highest engine and wind speeds, the coherence between the tip sensor and the external microphones was observed to decrease at higher multiples of the BPF. These results suggest that the rotor-stator interaction tones are stronger in the mid-span region than at the tip.

Tracking a convoy of multiple targets using acoustic sensor data

NASA Astrophysics Data System (ADS)

Damarla, T. R.

2003-08-01

In this paper we present an algorithm to track a convoy of several targets in a scene using acoustic sensor array data. The tracking algorithm is based on template of the direction of arrival (DOA) angles for the leading target. Often the first target is the closest target to the sensor array and hence the loudest with good signal to noise ratio. Several steps were used to generate a template of the DOA angle for the leading target, namely, (a) the angle at the present instant should be close to the angle at the previous instant and (b) the angle at the present instant should be within error bounds of the predicted value based on the previous values. Once the template of the DOA angles of the leading target is developed, it is used to predict the DOA angle tracks of the remaining targets. In order to generate the tracks for the remaining targets, a track is established if the angles correspond to the initial track values of the first target. Second the time delay between the first track and the remaining tracks are estimated at the highest correlation points between the first track and the remaining tracks. As the vehicles move at different speeds the tracks either compress or expand depending on whether a target is moving fast or slow compared to the first target. The expansion and compression ratios are estimated and used to estimate the predicted DOA angle values of the remaining targets. Based on these predicted DOA angles of the remaining targets the DOA angles obtained from the MVDR or Incoherent MUSIC will be appropriately assigned to proper tracks. Several other rules were developed to avoid mixing the tracks. The algorithm is tested on data collected at Aberdeen Proving Ground with a convoy of 3, 4 and 5 vehicles. Some of the vehicles are tracked and some are wheeled vehicles. The tracking algorithm results are found to be good. The results will be presented at the conference and in the paper.

Comparison of two on-orbit attitude sensor alignment methods

NASA Technical Reports Server (NTRS)

Krack, Kenneth; Lambertson, Michael; Markley, F. Landis

1990-01-01

Compared here are two methods of on-orbit alignment of vector attitude sensors. The first method uses the angular difference between simultaneous measurements from two or more sensors. These angles are compared to the angular differences between the respective reference positions of the sensed objects. The alignments of the sensors are adjusted to minimize the difference between the two sets of angles. In the second method, the sensor alignment is part of a state vector that includes the attitude. The alignments are adjusted along with the attitude to minimize all observation residuals. It is shown that the latter method can result in much less alignment uncertainty when gyroscopes are used for attitude propagation during the alignment estimation. The additional information for this increased accuracy comes from knowledge of relative attitude obtained from the spacecraft gyroscopes. The theoretical calculations of this difference in accuracy are presented. Also presented are numerical estimates of the alignment uncertainties of the fixed-head star trackers on the Extreme Ultraviolet Explorer spacecraft using both methods.

VHF Radar Measurements of Tropical Forests in Panama: Results from the BioSAR Deployment in Central America

NASA Technical Reports Server (NTRS)

Imhoff, Marc; Lawrence, William; Condit, Richard; Wright, Joseph; Johnson, Patrick; Holford, Warren; Hyer, Joseph; May, Lisa; Carson, Steven

2000-01-01

A synthetic aperture radar sensor operating in 5 bands between 80 and 120 MHz was flown over forested areas in the canal zone of the Republic of Panama in an experiment to measure biomass in heavy tropical forests. The sensor is a pulse coherent SAR flown on a small aircraft and oriented straight down. The doppler history is processed to collect data on the ground in rectangular cells of varying size over a range of incidence angles fore and aft of nadir (+45 to - 45 degrees). Sensor data consists of 5 frequency bands with 20 incidence angles per band. Sensor data for over 12+ sites were collected with forest stands having biomass densities ranging from 50 to 300 tons/ha dry above ground biomass. Results are shown exploring the biomass saturation thresholds using these frequencies, the system design is explained, and preliminary attempts at data visualization using this unique sensor design are described.

Simultaneous Detection of Displacement, Rotation Angle, and Contact Pressure Using Sandpaper Molded Elastomer Based Triple Electrode Sensor

PubMed Central

Sul, Onejae; Lee, Seung-Beck

2017-01-01

In this article, we report on a flexible sensor based on a sandpaper molded elastomer that simultaneously detects planar displacement, rotation angle, and vertical contact pressure. When displacement, rotation, and contact pressure are applied, the contact area between the translating top elastomer electrode and the stationary three bottom electrodes change characteristically depending on the movement, making it possible to distinguish between them. The sandpaper molded undulating surface of the elastomer reduces friction at the contact allowing the sensor not to affect the movement during measurement. The sensor showed a 0.25 mm−1 displacement sensitivity with a ±33 μm accuracy, a 0.027 degree−1 of rotation sensitivity with ~0.95 degree accuracy, and a 4.96 kP−1 of pressure sensitivity. For possible application to joint movement detection, we demonstrated that our sensor effectively detected the up-and-down motion of a human forefinger and the bending and straightening motion of a human arm. PMID:28878166

Simultaneous Detection of Displacement, Rotation Angle, and Contact Pressure Using Sandpaper Molded Elastomer Based Triple Electrode Sensor.

PubMed

Choi, Eunsuk; Sul, Onejae; Lee, Seung-Beck

2017-09-06

In this article, we report on a flexible sensor based on a sandpaper molded elastomer that simultaneously detects planar displacement, rotation angle, and vertical contact pressure. When displacement, rotation, and contact pressure are applied, the contact area between the translating top elastomer electrode and the stationary three bottom electrodes change characteristically depending on the movement, making it possible to distinguish between them. The sandpaper molded undulating surface of the elastomer reduces friction at the contact allowing the sensor not to affect the movement during measurement. The sensor showed a 0.25 mm −1 displacement sensitivity with a ±33 μm accuracy, a 0.027 degree −1 of rotation sensitivity with ~0.95 degree accuracy, and a 4.96 kP −1 of pressure sensitivity. For possible application to joint movement detection, we demonstrated that our sensor effectively detected the up-and-down motion of a human forefinger and the bending and straightening motion of a human arm.

Stability test of the silicon Fiber Bragg Grating embroidered on textile for joint angle measurement

NASA Astrophysics Data System (ADS)

Apiwattanadej, Thanit; Chun, Byung Jae; Lee, Hyub; Li, King Ho Holden; Kim, Young-Jin

2017-06-01

Recently, Fiber Bragg Grating (FBG) sensors are being used for motion tracking applications. However, the sensitivity, linearity and stability of the systems have not been fully studied. Herein, an embroidered optical Fiber Bragg Grating (FBG) on a stretchable supportive textile for elbow movement measurement was developed. The sensing principle of this system is based on the alteration of Bragg wavelength due to strain from the elbow movements. The relationship between elbow movements and reflected Bragg wavelength was found to be linear. The dynamic range of FBG sensor on elbow support is between 0 and 120 degree. Finally, the stability of the FBG sensor on the supportive textile was tested during the exercise and the cleaning process with water. The sensitivity of FBG sensors for joint angle measurement and the effect of the movement and cleaning process to signals from FBG sensors after using in the real activity will be the basis knowledge for design and actual implementation of future optical fiber based wearable devices.

Asymmetrical dual tapered fiber Mach-Zehnder interferometer for fiber-optic directional tilt sensor.

PubMed

Lee, Cheng-Ling; Shih, Wen-Cheng; Hsu, Jui-Ming; Horng, Jing-Shyang

2014-10-06

This work proposes a novel, highly sensitive and directional fiber tilt sensor that is based on an asymmetrical dual tapered fiber Mach-Zehnder interferometer (ADTFMZI). The fiber-optic tilt sensor consists of two abrupt tapers with different tapered waists into which are incorporated a set of iron spheres to generate an asymmetrical strain in the ADTFMZI that is correlated with the tilt angle and the direction of inclination. Owing to the asymmetrical structure of the dual tapers, the proposed sensor can detect the non-horizontal/horizontal state of a structure and whether the test structure is tilted to clockwise or counterclockwise by measuring the spectral responses. Experimental results show that the spectral wavelengths are blue-shifted and red-shifted when the sensor tilts to clockwise (-θ) and counterclockwise ( + θ), respectively. Tilt angle sensitivities of about 335 pm/deg. and 125 pm/deg. are achieved in the -θ and + θ directions, respectively, when the proposed sensing scheme is utilized.

Buffet induced structural/flight-control system interaction of the X-29A aircraft

NASA Technical Reports Server (NTRS)

Voracek, David F.; Clarke, Robert

1991-01-01

High angle-of-attack flight regime research is currently being conducted for modern fighter aircraft at the NASA Ames Research Center's Dryden Flight Research Facility. This flight regime provides enhanced maneuverability to fighter pilots in combat situations. Flight research data are being acquired to compare and validate advanced computational fluid dynamic solutions and wind-tunnel models. High angle-of-attack flight creates unique aerodynamic phenomena including wing rock and buffet on the airframe. These phenomena increase the level of excitation of the structural modes, especially on the vertical and horizontal stabilizers. With high gain digital flight-control systems, this structural response may result in an aeroservoelastic interaction. A structural interaction on the X-29A aircraft was observed during high angle-of-attack flight testing. The roll and yaw rate gyros sensed the aircraft's structural modes at 11, 13, and 16 Hz. The rate gyro output signals were then amplified through the flight-control laws and sent as commands to the flaperons and rudder. The flight data indicated that as the angle of attack increased, the amplitude of the buffet on the vertical stabilizer increased, which resulted in more excitation to the structural modes. The flight-control system sensors and command signals showed this increase in modal power at the structural frequencies up to a 30 degree angle-of-attack. Beyond a 30 degree angle-of-attack, the vertical stabilizer response, the feedback sensor amplitude, and control surface command signal amplitude remained relatively constant. Data are presented that show the increased modal power in the aircraft structural accelerometers, the feedback sensors, and the command signals as a function of angle of attack. This structural interaction is traced from the aerodynamic buffet to the flight-control surfaces.

Ground Optical Signal Processing Architecture for Contributing SSA Space Based Sensor Data

NASA Astrophysics Data System (ADS)

Koblick, D.; Klug, M.; Goldsmith, A.; Flewelling, B.; Jah, M.; Shanks, J.; Piña, R.

2014-09-01

The main objective of the DARPA program Orbit Outlook (O^2) is to improve the metric tracking and detection performance of the Space Situational Network (SSN) by adding a diverse low-cost network of contributing sensors to the Space Situational Awareness (SSA) mission. In order to accomplish this objective, not only must a sensor be in constant communication with a planning and scheduling system to process tasking requests, there must be an underlying framework to provide useful data products, such as angles only measurements. Existing optical signal processing implementations such as the Optical Processing Architecture at Lincoln (OPAL) are capable of converting mission data collections to angles only observations, but may be difficult for many users to obtain, support, and customize for low-cost missions and demonstration programs. The Ground Optical Signal Processing Architecture (GOSPA) will ingest raw imagery and telemetry data from a space based electro optical sensor and perform a background removal process to remove anomalous pixels, interpolate over bad pixels, and dominant temporal noise. After background removal, the streak end points and target centroids are located using a corner detection algorithm developed by Air Force Research Laboratory. These identified streak locations are then fused with the corresponding spacecraft telemetry data to determine the Right Ascension and Declination measurements with respect to time. To demonstrate the performance of GOSPA, non-rate tracking collections against a satellite in Geosynchronous Orbit are simulated from a visible optical imaging sensor in a polar Low Earth Orbit. Stars, noise and bad pixels are added to the simulated images based on look angles and sensor parameters. These collections are run through the GOSPA framework to provide angles- only measurements to the Air Force Research Laboratory Constrained Admissible Region Multiple Hypothesis Filter (CAR-MHF) in which an Initial Orbit Determination is performed and compared to truth data.

Impact of Footprint Diameter and Off-Nadir Pointing on the Precision of Canopy Height Estimates from Spaceborne Lidar

NASA Technical Reports Server (NTRS)

Pang, Yong; Lefskky, Michael; Sun, Guoqing; Ranson, Jon

2011-01-01

A spaceborne lidar mission could serve multiple scientific purposes including remote sensing of ecosystem structure, carbon storage, terrestrial topography and ice sheet monitoring. The measurement requirements of these different goals will require compromises in sensor design. Footprint diameters that would be larger than optimal for vegetation studies have been proposed. Some spaceborne lidar mission designs include the possibility that a lidar sensor would share a platform with another sensor, which might require off-nadir pointing at angles of up to 16 . To resolve multiple mission goals and sensor requirements, detailed knowledge of the sensitivity of sensor performance to these aspects of mission design is required. This research used a radiative transfer model to investigate the sensitivity of forest height estimates to footprint diameter, off-nadir pointing and their interaction over a range of forest canopy properties. An individual-based forest model was used to simulate stands of mixed conifer forest in the Tahoe National Forest (Northern California, USA) and stands of deciduous forests in the Bartlett Experimental Forest (New Hampshire, USA). Waveforms were simulated for stands generated by a forest succession model using footprint diameters of 20 m to 70 m. Off-nadir angles of 0 to 16 were considered for a 25 m diameter footprint diameter. Footprint diameters in the range of 25 m to 30 m were optimal for estimates of maximum forest height (R(sup 2) of 0.95 and RMSE of 3 m). As expected, the contribution of vegetation height to the vertical extent of the waveform decreased with larger footprints, while the contribution of terrain slope increased. Precision of estimates decreased with an increasing off-nadir pointing angle, but off-nadir pointing had less impact on height estimates in deciduous forests than in coniferous forests. When pointing off-nadir, the decrease in precision was dependent on local incidence angle (the angle between the off-nadir beam and a line normal to the terrain surface) which is dependent on the off-nadir pointing angle, terrain slope, and the difference between the laser pointing azimuth and terrain aspect; the effect was larger when the sensor was aligned with the terrain azimuth but when aspect and azimuth are opposed, there was virtually no effect on R2 or RMSE. A second effect of off-nadir pointing is that the laser beam will intersect individual crowns and the canopy as a whole from a different angle which had a distinct effect on the precision of lidar estimates of height, decreasing R2 and increasing RMSE, although the effect was most pronounced for coniferous crowns.

Development and Applications of a Self-Contained, Non-Invasive EVA Joint Angle and Muscle Fatigue Sensor System

NASA Technical Reports Server (NTRS)

Ranniger, C. U.; Sorenson, E. A.; Akin, D. L.

1995-01-01

The University of Maryland Space Systems Laboratory, as a participant in NASA's INSTEP program, is developing a non-invasive, self-contained sensor system which can provide quantitative measurements of joint angles and muscle fatigue in the hand and forearm. The goal of this project is to develop a system with which hand/forearm motion and fatigue metrics can be determined in various terrestrial and zero-G work environments. A preliminary study of the prototype sensor systems and data reduction techniques for the fatigue measurement system are presented. The sensor systems evaluated include fiberoptics, used to measure joint angle, surface electrodes, which measure the electrical signals created in muscle as it contracts; microphones, which measure the noise made by contracting muscle; and accelerometers, which measure the lateral muscle acceleration during contraction. The prototype sensor systems were used to monitor joint motion of the metacarpophalangeal joint and muscle fatigue in flexor digitorum superficialis and flexor carpi ulnaris in subjects performing gripping tasks. Subjects were asked to sustain a 60-second constant-contraction (isometric) exercise and subsequently to perform a repetitive handgripping task to failure. Comparison of the electrical and mechanical signals of the muscles during the different tasks will be used to evaluate the applicability of muscle signal measurement techniques developed for isometric contraction tasks to fatigue prediction in quasi-dynamic exercises. Potential data reduction schemes are presented.

Implementation of the Rauch-Tung-Striebel Smoother for Sensor Compatibility Correction of a Fixed-Wing Unmanned Air Vehicle

PubMed Central

Chan, Woei-Leong; Hsiao, Fei-Bin

2011-01-01

This paper presents a complete procedure for sensor compatibility correction of a fixed-wing Unmanned Air Vehicle (UAV). The sensors consist of a differential air pressure transducer for airspeed measurement, two airdata vanes installed on an airdata probe for angle of attack (AoA) and angle of sideslip (AoS) measurement, and an Attitude and Heading Reference System (AHRS) that provides attitude angles, angular rates, and acceleration. The procedure is mainly based on a two pass algorithm called the Rauch-Tung-Striebel (RTS) smoother, which consists of a forward pass Extended Kalman Filter (EKF) and a backward recursion smoother. On top of that, this paper proposes the implementation of the Wiener Type Filter prior to the RTS in order to avoid the complicated process noise covariance matrix estimation. Furthermore, an easy to implement airdata measurement noise variance estimation method is introduced. The method estimates the airdata and subsequently the noise variances using the ground speed and ascent rate provided by the Global Positioning System (GPS). It incorporates the idea of data regionality by assuming that some sort of statistical relation exists between nearby data points. Root mean square deviation (RMSD) is being employed to justify the sensor compatibility. The result shows that the presented procedure is easy to implement and it improves the UAV sensor data compatibility significantly. PMID:22163819

Implementation of the Rauch-Tung-Striebel smoother for sensor compatibility correction of a fixed-wing unmanned air vehicle.

PubMed

Chan, Woei-Leong; Hsiao, Fei-Bin

2011-01-01

This paper presents a complete procedure for sensor compatibility correction of a fixed-wing Unmanned Air Vehicle (UAV). The sensors consist of a differential air pressure transducer for airspeed measurement, two airdata vanes installed on an airdata probe for angle of attack (AoA) and angle of sideslip (AoS) measurement, and an Attitude and Heading Reference System (AHRS) that provides attitude angles, angular rates, and acceleration. The procedure is mainly based on a two pass algorithm called the Rauch-Tung-Striebel (RTS) smoother, which consists of a forward pass Extended Kalman Filter (EKF) and a backward recursion smoother. On top of that, this paper proposes the implementation of the Wiener Type Filter prior to the RTS in order to avoid the complicated process noise covariance matrix estimation. Furthermore, an easy to implement airdata measurement noise variance estimation method is introduced. The method estimates the airdata and subsequently the noise variances using the ground speed and ascent rate provided by the Global Positioning System (GPS). It incorporates the idea of data regionality by assuming that some sort of statistical relation exists between nearby data points. Root mean square deviation (RMSD) is being employed to justify the sensor compatibility. The result shows that the presented procedure is easy to implement and it improves the UAV sensor data compatibility significantly.

Simplified bionic solutions: a simple bio-inspired vehicle collision detection system.

PubMed

Hartbauer, Manfred

2017-02-15

Modern cars are equipped with both active and passive sensor systems that can detect potential collisions. In contrast, locusts avoid collisions solely by responding to certain visual cues that are associated with object looming. In neurophysiological experiments, I investigated the possibility that the 'collision-detector neurons' of locusts respond to impending collisions in films recorded with dashboard cameras of fast driving cars. In a complementary modelling approach, I developed a simple algorithm to reproduce the neuronal response that was recorded during object approach. Instead of applying elaborate algorithms that factored in object recognition and optic flow discrimination, I tested the hypothesis that motion detection restricted to a 'danger zone', in which frontal collisions on the motorways are most likely, is sufficient to estimate the risk of a collision. Furthermore, I investigated whether local motion vectors, obtained from the differential excitation of simulated direction-selective networks, could be used to predict evasive steering maneuvers and prevent undesired responses to motion artifacts. The results of the study demonstrate that the risk of impending collisions in real traffic scenes is mirrored in the excitation of the collision-detecting neuron (DCMD) of locusts. The modelling approach was able to reproduce this neuronal response even when the vehicle was driving at high speeds and image resolution was low (about 200  ×  100 pixels). Furthermore, evasive maneuvers that involved changing the steering direction and steering force could be planned by comparing the differences in the overall excitation levels of the simulated right and left direction-selective networks. Additionally, it was possible to suppress undesired responses of the algorithm to translatory movements, camera shake and ground shadows by evaluating local motion vectors. These estimated collision risk values and evasive steering vectors could be used as input for a driving assistant, converting the first into braking force and the latter into steering responses to avoid collisions. Since many processing steps were computed on the level of pixels and involved elements of direction-selective networks, this algorithm can be implemented in hardware so that parallel computations enhance the processing speed significantly.

Simplified bionic solutions: a simple bio-inspired vehicle collision detection system

PubMed Central

Hartbauer, Manfred

2018-01-01

Modern cars are equipped with both active and passive sensor systems that can detect potential collisions. In contrast, locusts avoid collisions solely by responding to certain visual cues that are associated with object looming. In neurophysiological experiments, I investigated the possibility that the ‘collision-detector neurons’ of locusts respond to impending collisions in films recorded with dashboard cameras of fast driving cars. In a complementary modelling approach, I developed a simple algorithm to reproduce the neuronal response that was recorded during object approach. Instead of applying elaborate algorithms that factored in object recognition and optic flow discrimination, I tested the hypothesis that motion detection restricted to a ‘danger zone’, in which frontal collisions on the motorways are most likely, is sufficient to estimate the risk of a collision. Furthermore, I investigated whether local motion vectors, obtained from the differential excitation of simulated direction-selective networks, could be used to predict evasive steering maneuvers and prevent undesired responses to motion artifacts. The results of the study demonstrate that the risk of impending collisions in real traffic scenes is mirrored in the excitation of the collision-detecting neuron (DCMD) of locusts. The modelling approach was able to reproduce this neuronal response even when the vehicle was driving at high speeds and image resolution was low (about 200 × 100 pixels). Furthermore, evasive maneuvers that involved changing the steering direction and steering force could be planned by comparing the differences in the overall excitation levels of the simulated right and left direction-selective networks. Additionally, it was possible to suppress undesired responses of the algorithm to translatory movements, camera shake and ground shadows by evaluating local motion vectors. These estimated collision risk values and evasive steering vectors could be used as input for a driving assistant, converting the first into braking force and the latter into steering responses to avoid collisions. Since many processing steps were computed on the level of pixels and involved elements of direction-selective networks, this algorithm can be implemented in hardware so that parallel computations enhance the processing speed significantly. PMID:28091394

Omni-Directional Scanning Localization Method of a Mobile Robot Based on Ultrasonic Sensors.

PubMed

Mu, Wei-Yi; Zhang, Guang-Peng; Huang, Yu-Mei; Yang, Xin-Gang; Liu, Hong-Yan; Yan, Wen

2016-12-20

Improved ranging accuracy is obtained by the development of a novel ultrasonic sensor ranging algorithm, unlike the conventional ranging algorithm, which considers the divergence angle and the incidence angle of the ultrasonic sensor synchronously. An ultrasonic sensor scanning method is developed based on this algorithm for the recognition of an inclined plate and to obtain the localization of the ultrasonic sensor relative to the inclined plate reference frame. The ultrasonic sensor scanning method is then leveraged for the omni-directional localization of a mobile robot, where the ultrasonic sensors are installed on a mobile robot and follow the spin of the robot, the inclined plate is recognized and the position and posture of the robot are acquired with respect to the coordinate system of the inclined plate, realizing the localization of the robot. Finally, the localization method is implemented into an omni-directional scanning localization experiment with the independently researched and developed mobile robot. Localization accuracies of up to ±3.33 mm for the front, up to ±6.21 for the lateral and up to ±0.20° for the posture are obtained, verifying the correctness and effectiveness of the proposed localization method.

High speed three-dimensional laser scanner with real time processing

NASA Technical Reports Server (NTRS)

Lavelle, Joseph P. (Inventor); Schuet, Stefan R. (Inventor)

2008-01-01

A laser scanner computes a range from a laser line to an imaging sensor. The laser line illuminates a detail within an area covered by the imaging sensor, the area having a first dimension and a second dimension. The detail has a dimension perpendicular to the area. A traverse moves a laser emitter coupled to the imaging sensor, at a height above the area. The laser emitter is positioned at an offset along the scan direction with respect to the imaging sensor, and is oriented at a depression angle with respect to the area. The laser emitter projects the laser line along the second dimension of the area at a position where a image frame is acquired. The imaging sensor is sensitive to laser reflections from the detail produced by the laser line. The imaging sensor images the laser reflections from the detail to generate the image frame. A computer having a pipeline structure is connected to the imaging sensor for reception of the image frame, and for computing the range to the detail using height, depression angle and/or offset. The computer displays the range to the area and detail thereon covered by the image frame.

An Improved Azimuth Angle Estimation Method with a Single Acoustic Vector Sensor Based on an Active Sonar Detection System.

PubMed

Zhao, Anbang; Ma, Lin; Ma, Xuefei; Hui, Juan

2017-02-20

In this paper, an improved azimuth angle estimation method with a single acoustic vector sensor (AVS) is proposed based on matched filtering theory. The proposed method is mainly applied in an active sonar detection system. According to the conventional passive method based on complex acoustic intensity measurement, the mathematical and physical model of this proposed method is described in detail. The computer simulation and lake experiments results indicate that this method can realize the azimuth angle estimation with high precision by using only a single AVS. Compared with the conventional method, the proposed method achieves better estimation performance. Moreover, the proposed method does not require complex operations in frequencydomain and achieves computational complexity reduction.

Analysis of load monitoring system in hydraulic mobile cranes

NASA Astrophysics Data System (ADS)

Kalairassan, G.; Boopathi, M.; Mohan, Rijo Mathew

2017-11-01

Load moment limiters or safe load control systems or are very important in crane safety. The system detects the moment of lifting load and compares this actual moment with the rated moment. The system uses multiple sensors such as boom angle sensor, boom length sensor for telescopic booms, pressure transducers for measuring the load, anti-two block switch and roller switches. The system works both on rubber and on outriggers. The sensors measure the boom extension, boom angle and load to give as inputs to the central processing, which calculate the safe working load range for that particular configuration of the crane and compare it with the predetermined safe load. If the load exceeds the safe load, actions will be taken which will reduce the load moment, which is boom telescopic retraction and boom lifting. Anti-two block switch is used to prevent the two blocking condition. The system is calibrated and load tested for at most precision.

Impedance spectroscopy of undoped and Cr-doped ZnO gas sensors under different oxygen concentrations

NASA Astrophysics Data System (ADS)

Al-Hardan, N.; Abdullah, M. J.; Aziz, A. Abdul

2011-08-01

Thin films of undoped and chromium (Cr)-doped zinc oxide (ZnO) were synthesized by RF reactive co-sputtering for oxygen gas sensing applications. The prepared films showed a highly c-axis oriented phase with a dominant (0 0 2) peak appeared at a Bragg angle of around 34.13 °, which was lower than that of the standard reference of ZnO powder (34.42 °). The peak shifted to a slightly higher angle with Cr doping. The operating temperature of the ZnO gas sensor was around 350 °C, which shifted to around 250 °C with Cr-doping. The response of the sensor to oxygen gas was enhanced by doping ZnO with 1 at.% Cr. Impedance spectroscopy analysis showed that the resistance due to grain boundaries significantly contributed to the characteristics of the gas sensor.

Flap Edge Aeroacoustic Measurements and Predictions

NASA Technical Reports Server (NTRS)

Brooks, Thomas F.; Humphreys, William M., Jr.

2000-01-01

An aeroacoustic model test has been conducted to investigate the mechanisms of sound generation on high-lift wing configurations. This paper presents an analysis of flap side-edge noise, which is often the most dominant source. A model of a main element wing section with a half-span flap was tested at low speeds of up to a Mach number of 0.17, corresponding to a wing chord Reynolds number of approximately 1.7 million. Results are presented for flat (or blunt), flanged, and round flap-edge geometries, with and without boundary-layer tripping, deployed at both moderate and high flap angles. The acoustic database is obtained from a Small Aperture Directional Array (SADA) of microphones, which was constructed to electronically steer to different regions of the model and to obtain farfield noise spectra and directivity from these regions. The basic flap-edge aerodynamics is established by static surface pressure data, as well as by Computational Fluid Dynamics (CFD) calculations and simplified edge flow analyses. Distributions of unsteady pressure sensors over the flap allow the noise source regions to be defined and quantified via cross-spectral diagnostics using the SADA output. It is found that shear layer instability and related pressure scatter is the primary noise mechanism. For the flat edge flap, two noise prediction methods based on unsteady surface pressure measurements are evaluated and compared to measured noise. One is a new causality spectral approach developed here. The other is a new application of an edge-noise scatter prediction method. The good comparisons for both approaches suggest that much of the physics is captured by the prediction models. Areas of disagreement appear to reveal when the assumed edge noise mechanism does not fully define the noise production. For the different edge conditions, extensive spectra and directivity are presented. Significantly, for each edge configuration, the spectra for different flow speeds, flap angles, and surface roughness were successfully scaled by utilizing aerodynamic performance and boundary layer scaling methods developed herein.

Flap Edge Aeroacoustic Measurements and Predictions

NASA Technical Reports Server (NTRS)

Brooks, Thomas F.; Humphreys, William M., Jr.

2000-01-01

An aeroacoustic model test has been conducted to investigate the mechanisms of sound generation on high-lift wing configurations. This paper presents an analysis of flap side-edge noise, which is often the most dominant source. A model of a main element wing section with a half-span flap was tested at low speeds of up to a Mach number of 0.17, corresponding to a wing chord Reynolds number of approximately 1.7 million. Results are presented for flat (or blunt), flanged, and round flap-edge geometries, with and without boundary-layer tripping, deployed at both moderate and high flap angles. The acoustic database is obtained from a Small Aperture Directional Array (SADA) of microphones, which was constructed to electronically steer to different regions of the model and to obtain farfield noise spectra and directivity from these regions. The basic flap-edge aerodynamics is established by static surface pressure data, as well as by Computational Fluid Dynamics (CFD) calculations and simplified edge flow analyses. Distributions of unsteady pressure sensors over the flap allow the noise source regions to be defined and quantified via cross-spectral diagnostics using the SADA output. It is found that shear layer instability and related pressure scatter is the primary noise mechanism. For the flat edge flap, two noise prediction methods based on unsteady-surface-pressure measurements are evaluated and compared to measured noise. One is a new causality spectral approach developed here. The other is a new application of an edge-noise scatter prediction method. The good comparisons for both approaches suggest that much of the physics is captured by the prediction models. Areas of disagreement appear to reveal when the assumed edge noise mechanism does not fully define, the noise production. For the different edge conditions, extensive spectra and directivity are presented. Significantly, for each edge configuration, the spectra for different flow speeds, flap angles, and surface roughness were successfully scaled by utilizing aerodynamic performance and boundary layer scaling method developed herein.

An approach to improving the signal-to-optical-noise ratio of pulsed magnetic field photonic sensors

NASA Astrophysics Data System (ADS)

Wang, Jiang-ping; Li, Yu-quan

2008-12-01

During last years, interest in pulsed magnetic field sensors has widely increased. In fact, magnetic field measurement has a critical part in various scientific and technical areas. In order to research on pulsed magnetic field characteristic and corresponding measuring and defending means, a sensor with high immunity to electrical noise, high sensitivity, high accuracy and wide dynamic range is needed. The conventional magnetic field measurement system currently use active metallic probes which can disturb the measuring magnetic field and make sensor very sensitive to electromagnetic noise. Photonic magnetic field sensor exhibit great advantages with respect to the electronic ones: a very good galvanic insulation, high sensitivity and very wide bandwidth. Photonic sensing technology is fit for demand of a measure pulsed magnetic field. A type of pulsed magnetic field photonic sensor has been designed, analyzed, and tested. The cross polarization angle in photonic sensor effect on the signal-to-optical-noise ratio is theoretically analyzed in this paper. A novel approach for improving the signal-to-optical-noise ratio of pulsed magnetic field sensors was proposed. The experiments have proved that this approach is practical. The theoretical analysis and simulation results show that the signal-to-optical-noise ratio can potentially be considerably improved by setup suitable for the cross polarization angle.

Estimating orientation using magnetic and inertial sensors and different sensor fusion approaches: accuracy assessment in manual and locomotion tasks.

PubMed

Bergamini, Elena; Ligorio, Gabriele; Summa, Aurora; Vannozzi, Giuseppe; Cappozzo, Aurelio; Sabatini, Angelo Maria

2014-10-09

Magnetic and inertial measurement units are an emerging technology to obtain 3D orientation of body segments in human movement analysis. In this respect, sensor fusion is used to limit the drift errors resulting from the gyroscope data integration by exploiting accelerometer and magnetic aiding sensors. The present study aims at investigating the effectiveness of sensor fusion methods under different experimental conditions. Manual and locomotion tasks, differing in time duration, measurement volume, presence/absence of static phases, and out-of-plane movements, were performed by six subjects, and recorded by one unit located on the forearm or the lower trunk, respectively. Two sensor fusion methods, representative of the stochastic (Extended Kalman Filter) and complementary (Non-linear observer) filtering, were selected, and their accuracy was assessed in terms of attitude (pitch and roll angles) and heading (yaw angle) errors using stereophotogrammetric data as a reference. The sensor fusion approaches provided significantly more accurate results than gyroscope data integration. Accuracy improved mostly for heading and when the movement exhibited stationary phases, evenly distributed 3D rotations, it occurred in a small volume, and its duration was greater than approximately 20 s. These results were independent from the specific sensor fusion method used. Practice guidelines for improving the outcome accuracy are provided.

Dual light field and polarization imaging using CMOS diffractive image sensors.

PubMed

Jayasuriya, Suren; Sivaramakrishnan, Sriram; Chuang, Ellen; Guruaribam, Debashree; Wang, Albert; Molnar, Alyosha

2015-05-15

In this Letter we present, to the best of our knowledge, the first integrated CMOS image sensor that can simultaneously perform light field and polarization imaging without the use of external filters or additional optical elements. Previous work has shown how photodetectors with two stacks of integrated metal gratings above them (called angle sensitive pixels) diffract light in a Talbot pattern to capture four-dimensional light fields. We show, in addition to diffractive imaging, that these gratings polarize incoming light and characterize the response of these sensors to polarization and incidence angle. Finally, we show two applications of polarization imaging: imaging stress-induced birefringence and identifying specular reflections in scenes to improve light field algorithms for these scenes.

Design and characterization of a wearable macrobending fiber optic sensor for human joint angle determination

NASA Astrophysics Data System (ADS)

Silva, Ana S.; Catarino, André; Correia, Miguel V.; Frazão, Orlando

2013-12-01

The work presented here describes the development and characterization of intensity fiber optic sensor integrated in a specifically designed piece of garment to measure elbow flexion. The sensing head is based on macrobending incorporated in the garment, and the increase of curvature number was studied in order to investigate which scheme provided a good result in terms of sensitivity and repeatability. Results showed the configuration that assured a higher sensitivity (0.644 dBm/deg) and better repeatability was the one with four loops. Ultimately, this sensor can be used for rehabilitation purposes to monitor human joint angles, namely, elbow flexion on stroke survivors while performing the reach functional task, which is the most common upper-limb human gesture.

Multi-angle Imaging Spectro Radiometer (MISR) Design Issues Influened by Performance Requirements

NASA Technical Reports Server (NTRS)

Bruegge, C. J.; White, M. L.; Chrien, N. C. L.; Villegas, E. B.; Raouf, N.

1993-01-01

The design of an Earth Remote Sensing Sensor, such as the Multi-angle Imaging SpectroRadiometer (MISR), begins with a set of science requirements and is quickly followed by a set of instrument specifications.

Tiltmeter leveling mechanism

DOEpatents

Hunter, Steven L.; Boro, Carl O.; Farris, Alvis

2002-01-01

A tiltmeter device having a pair of orthogonally disposed tilt sensors that are levelable within an inner housing containing the sensors. An outer housing can be rotated to level at least one of the sensor pair while the inner housing can be rotated to level the other sensor of the pair. The sensors are typically rotated up to about plus or minus 100 degrees. The device is effective for measuring tilts in a wide range of angles of inclination of wells and can be employed to level a platform containing a third sensor.

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.

Experimental investigation of piercing of high-strength steels within a critical range of slant angle

NASA Astrophysics Data System (ADS)

Senn, S.; Liewald, M.

2017-09-01

Deep drawn parts often do have complex designs and, therefore, must be trimmed or punched subsequently in a second stage. Due to the complex part geometry, most punching areas do reveal critical slant angle (angle between part surface and ram movement direction) different to perpendicular direction. Piercing within a critical range of slant angle may lead to severe damage of the cutting tool. Consequently, expensive cam units are required to transform the ram moving direction in order to perform the piercing process perpendicularly to the local part surface. For modern sheet metals, however, the described critical angle of attack has not been investigated adequately until now. Therefore, cam units are used in cases in which regular piercing with high slant angle wouldn’t be possible. Purpose of this study is to investigate influencing factors and their effect on punch damage during piercing of high strength steels with slant angles. Therefore, a modular shearing tool was designed, which allows to simply switch die parts to vary cutting clearance and cutting angle. The target size of the study is to measure the lateral deviation of the punch which is monitored by an eddy current sensor. The sensor is located in the downholder and measures the lateral punch deviation in-line during manufacturing. The deviation is mainly influenced by slant angle of workpiece surface. In relation to slang angle and sheet thickness the clearance has a small influence on the measured punch deflection.

Transmission-grating-based wavefront tilt sensor.

PubMed

Iwata, Koichi; Fukuda, Hiroki; Moriwaki, Kousuke

2009-07-10

We propose a new type of tilt sensor. It consists of a grating and an image sensor. It detects the tilt of the collimated wavefront reflected from a plane mirror. Its principle is described and analyzed based on wave optics. Experimental results show its validity. Simulations of the ordinary autocollimator and the proposed tilt sensor show that the effect of noise on the measured angle is smaller for the latter. These results show a possibility of making a smaller and simpler tilt sensor.

Tomographic wavefront retrieval by combined use of geometric and plenoptic sensors

NASA Astrophysics Data System (ADS)

Trujillo-Sevilla, J. M.; Rodríguez-Ramos, L. F.; Fernández-Valdivia, Juan J.; Marichal-Hernández, José G.; Rodríguez-Ramos, J. M.

2014-05-01

Modern astronomic telescopes take advantage of multi-conjugate adaptive optics, in which wavefront sensors play a key role. A single sensor capable of measuring wavefront phases at any angle of observation would be helpful when improving atmospheric tomographic reconstruction. A new sensor combining both geometric and plenoptic arrangements is proposed, and a simulation demonstrating its working principle is also shown. Results show that this sensor is feasible, and also that single extended objects can be used to perform tomography of atmospheric turbulence.

Scheduling Randomly-Deployed Heterogeneous Video Sensor Nodes for Reduced Intrusion Detection Time

NASA Astrophysics Data System (ADS)

Pham, Congduc

This paper proposes to use video sensor nodes to provide an efficient intrusion detection system. We use a scheduling mechanism that takes into account the criticality of the surveillance application and present a performance study of various cover set construction strategies that take into account cameras with heterogeneous angle of view and those with very small angle of view. We show by simulation how a dynamic criticality management scheme can provide fast event detection for mission-critical surveillance applications by increasing the network lifetime and providing low stealth time of intrusions.

A novel method to detect ignition angle of diesel

NASA Astrophysics Data System (ADS)

Li, Baofu; Peng, Yong; Huang, Hongzhong

2018-04-01

This paper is based on the combustion signal collected by the combustion sensor of piezomagnetic type, taking how to get the diesel fuel to start the combustion as the starting point. It analyzes the operating principle and pressure change of the combustion sensor, the compression peak signal of the diesel engine in the process of compression, and several common methods. The author puts forward a new idea that ignition angle timing can be determined more accurately by the compression peak decomposition method. Then, the method is compared with several common methods.

Recent progress in MEMS technology development for military applications

NASA Astrophysics Data System (ADS)

Ruffin, Paul B.; Burgett, Sherrie J.

2001-08-01

The recent progress of ongoing efforts at the Army Aviation and Missile Command (AMCOM) to develop microelectromechanical systems (MEMS) technology for military applications is discussed in this paper. The current maturity level of low cost, low power, micro devices in industry, which range from simple temperature and pressure sensors to accelerometers in airbags, provides a viable foundation for the development of rugged MEMS devices for dual-use applications. Early MEMS technology development efforts at AMCOM emphasized inertial MEMS sensors. An Army Science and Technology Objective (STO) project was initiated to develop low cost inertial components with moderate angular rate sensor resolution for measuring pitch and yaw of missile attitude and rotational roll rate. Leveraging the Defense Advanced Research Projects Agency and other Government agencies has resulted in the development of breadboard inertial MEMS devices with improved robustness. During the past two years, MEMS research at AMCOM has been expanded to include environmental MEMS sensors for missile health monitoring, RF-MEMS, optical MEMS devices for beam steering, and micro-optic 'benches' for opto-electronics miniaturization. Additionally, MEMS packaging and integration issues have come into focus and are being addressed. Selected ongoing research efforts in these areas are presented, and some horizon MEMS sensors requirements for Army and law enforcement are presented for consideration.

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.

Low-Cost Space Structure (LCSS) Experiment. Volume I of II.

DTIC Science & Technology

1996-06-01

Cell Multiline laser - 2 100 Hold spots at BSM2 (tilts optica Tilt spots fixed offset path of (1/segment) w.r.t. 1 segment only) each other with off...Piston/Fine Piston Sensor Multiline Laser 3 Piston 1 BSM2 (pistons LEC segment w.r.t. optical path of other to 1 segment only) increase sharpness 7 LGSS...independent steering and pistoning of one beamline with respect to the other with the fixed mirror M2 and tilt/piston mirror BSM2 pair. The telescope

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.

A miniature pressure sensor for blast event evaluation

NASA Astrophysics Data System (ADS)

Wu, Nan; Wang, Wenhui; Tian, Ye; Niezrecki, Christopher; Wang, Xingwei

2011-06-01

Traumatic brain injury (TBI) is a great potential threat to people who deal with explosive devices. Protection from TBI has attracted more and more interest. Great efforts have been taken to the studies on the understanding of the propagation of the blast events and its effect on TBI. However, one of the biggest challenges is that the current available pressure sensors are not fast enough to capture the blast wave especially the transient period. This paper reports an ultrafast pressure sensor that could be very useful for analysis of the fast changing blast signal. The sensor is based on Fabry-Perot (FP) principle. It uses a 45º angle polished fiber sitting in a V-groove on a silicon chip. The endface of the angle polished fiber and the diaphragm which is lifted off on the side wall of the V-groove form the FP cavity. The sensor is very small and can be mounted on different locations of a helmet to measure blast pressure simultaneously. The tests were conducted at Natick Soldier Research, Development, and Engineering Center (NSRDEC) in Natick, MA. The sensors were mounted in a shock tube, side by side with the reference sensors, to measure a rapidly increased pressure. The results demonstrated that our sensors' responses agreed well with those from the electrical reference sensors and their response time is comparable.

Conversion of the magnetic field measured in three components on the magnetic sensor body's random coordinate system into three components on geographical coordinate system through quaternion rotation.

NASA Astrophysics Data System (ADS)

LIM, M.; PARK, Y.; Jung, H.; SHIN, Y.; Rim, H.; PARK, C.

2017-12-01

To measure all components of a physical property, for example the magnetic field, is more useful than to measure its magnitude only in interpretation and application thereafter. To convert the physical property measured in 3 components on a random coordinate system, for example on moving magnetic sensor body's coordinate system, into 3 components on a fixed coordinate system, for example on geographical coordinate system, by the rotations of coordinate system around Euler angles for example, we should have the attitude values of the sensor body in time series, which could be acquired by an INS-GNSS system of which the axes are installed coincident with those of the sensor body. But if we want to install some magnetic sensors in array at sea floor but without attitude acquisition facility of the magnetic sensors and to monitor the variation of magnetic fields in time, we should have also some way to estimate the relation between the geographical coordinate system and each sensor body's coordinate system by comparison of the vectors only measured on both coordinate systems on the assumption that the directions of the measured magnetic field on both coordinate systems are the same. For that estimation, we have at least 3 ways. The first one is to calculate 3 Euler angles phi, theta, psi from the equation Vgeograph = Rx(phi) Ry(theta) Rz(psi) Vrandom, where Vgeograph is the vector on geographical coordinate system etc. and Rx(phi) is the rotation matrix around the x axis by the angle phi etc. The second one is to calculate the difference of inclination and declination between the 2 vectors on spherical coordinate system. The third one, used by us for this study, is to calculate the angle of rotation along a great circle around the rotation axis, and the direction of the rotation axis. We installed no. 1 and no. 2 FVM-400 fluxgate magnetometers in array near Cheongyang Geomagnetic Observatory (IAGA code CYG) and acquired time series of magnetic fields for CYG and for the two magnetometers. Once the angle of rotation and the direction of the rotation axis for each couple of CYG and no. 1 and of CYG and no. 2 estimated, we rotated the measured time series of vectors using quaternion rotation to get 3 time series of magnetic fields all on geographical coordinate system, which were used for tracing the moving magnetic bodies along time in that area.

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.

Pitch and Yaw Trajectory Measurement Comparison Between Automated Video Analysis and Onboard Sensor Data Analysis Techniques

DTIC Science & Technology

2013-09-01

ORGANIZATION REPORT NUMBER ARL-TR-6576 9. SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES) 10. SPONSOR/MONITOR’S ACRONYM(S) 11 . SPONSOR... 11 Figure 11 . Estimated angle-of-attack components history, projectile no.2... 11 Figure 12. Comparison of angle-of-attack component estimates, projectile no.2. ........................12 Figure 13. Total angle-of

Small caliber guided projectile

DOEpatents

Jones, James F [Albuquerque, NM; Kast, Brian A [Albuquerque, NM; Kniskern, Marc W [Albuquerque, NM; Rose, Scott E [Albuquerque, NM; Rohrer, Brandon R [Albuquerque, NM; Woods, James W [Albuquerque, NM; Greene, Ronald W [Albuquerque, NM

2010-08-24

A non-spinning projectile that is self-guided to a laser designated target and is configured to be fired from a small caliber smooth bore gun barrel has an optical sensor mounted in the nose of the projectile, a counterbalancing mass portion near the fore end of the projectile and a hollow tapered body mounted aft of the counterbalancing mass. Stabilizing strakes are mounted to and extend outward from the tapered body with control fins located at the aft end of the strakes. Guidance and control electronics and electromagnetic actuators for operating the control fins are located within the tapered body section. Output from the optical sensor is processed by the guidance and control electronics to produce command signals for the electromagnetic actuators. A guidance control algorithm incorporating non-proportional, "bang-bang" control is used to steer the projectile to the target.

Forest height Mapping using the fusion of Lidar and MULTI-ANGLE spectral data

NASA Astrophysics Data System (ADS)

Pang, Y.; Li, Z.

2016-12-01

Characterizing the complexity of forest ecosystem over large area is highly complex. Light detection and Ranging (LIDAR) approaches have demonstrated a high capacity to accurately estimate forest structural parameters. A number of satellite mission concepts have been proposed to fuse LiDAR with other optical imagery allowing Multi-angle spectral observations to be captured using the Bidirectional Reflectance Distribution Function (BRDF) characteristics of forests. China is developing the concept of Chinese Terrestrial Carbon Mapping Satellite. A multi-beam waveform Lidar is the main sensor. A multi-angle imagery system is considered as the spatial mapping sensor. In this study, we explore the fusion potential of Lidar and multi-angle spectral data to estimate forest height across different scales. We flew intensive airborne Lidar and Multi-angle hyperspectral data in Genhe Forest Ecological Research Station, Northeast China. Then extended the spatial scale with some long transect flights to cover more forest structures. Forest height data derived from airborne lidar data was used as reference data and the multi-angle hyperspectral data was used as model inputs. Our results demonstrate that the multi-angle spectral data can be used to estimate forest height with the RMSE of 1.1 m with an R2 approximately 0.8.

Fast Plasma Investigation for MMS: Simulation of the Burst Triggering System

NASA Technical Reports Server (NTRS)

Barrie, A. C.; Dorelli, J. C.; Winkert, G. E.; Lobell, J. V.; Holland, M. P.; Adrian, M. L.; Pollock, C. J.

2011-01-01

The Magnetospheric Multiscale (MMS) mission will study small-scale reconnection structures and their rapid motions from closely spaced platforms using instruments capable of high angular, energy, and time resolution measurements. To meet these requirements, the Fast Plasma Instrument (FPI) consists of eight (8) identical half top-hat electron sensors and eight (8) identical ion sensors and an Instrument Data Processing Unit (IDPU). The sensors (electron or ion) are grouped into pairs whose 6 degree x 180 degree fields-of-view (FOV) are set 90 degrees apart. Each sensor is equipped with electrostatic aperture steering to allow the sensor to scan a 45 degree x 180 degree fan about the its nominal viewing (0 deflection) direction. Each pair of sensors, known as the Dual Electron Spectrometer (DES) and the Dual Ion Spectrometer (DIS), occupies a quadrant on the MMS spacecraft and the combination of the eight electron/ion sensors, employing aperture steering, image the full-sky every 30-ms (electrons) and 150-ms (ions), respectively. To probe the diffusion regions of reconnection, the highest temporal/spatial resolution mode of FPI results in the DES complement of a given spacecraft generating 6.5-Mb (raised dot) per second of electron data while the DIS generates 1.1-Mb (raised dot) per second of ion data yielding an FPI total data rate of 6.6-Mb (raised dot) per second. The FPI electron/ion data is collected by the IDPU then transmitted to the Central Data Instrument Processor (CIDP) on the spacecraft for science interest ranking. Only data sequences that contain the greatest amount of temporal/spatial structure will be intelligently down-linked by the spacecraft. This requires a data ranking process known as the burst trigger system. The burst trigger system uses pseudo physical quantities to approximate the local plasma environments. As each pseudo quantity will have a different value, a set of two scaling factors is employed for each pseudo term. These pseudo quantities are then combined at the instrument, spacecraft, and observatory level leading to a final ranking of data based on expected scientific interest. Here, we present simulations of the fixed point burst trigger system for the FPI. A variety of data sets based on previous mission data as well as analytical formulations are tested. Comparisons of floating point calculations versus the fixed point hardware simulation are shown. Analysis of the potential sources of error from overflows, quantization, etc. are examined and mitigation methods are presented. Finally a series of calibration curves are presented, showing the expected error in pseudo quantities based solely on the scale parameters chosen and the expected data range. We conclude with a presentation of the current base-lined FPI burst trigger approach.

Ultrasonic imaging of material flaws exploiting multipath information

NASA Astrophysics Data System (ADS)

Shen, Xizhong; Zhang, Yimin D.; Demirli, Ramazan; Amin, Moeness G.

2011-05-01

In this paper, we consider ultrasonic imaging for the visualization of flaws in a material. Ultrasonic imaging is a powerful nondestructive testing (NDT) tool which assesses material conditions via the detection, localization, and classification of flaws inside a structure. Multipath exploitations provide extended virtual array apertures and, in turn, enhance imaging capability beyond the limitation of traditional multisensor approaches. We utilize reflections of ultrasonic signals which occur when encountering different media and interior discontinuities. The waveforms observed at the physical as well as virtual sensors yield additional measurements corresponding to different aspect angles. Exploitation of multipath information addresses unique issues observed in ultrasonic imaging. (1) Utilization of physical and virtual sensors significantly extends the array aperture for image enhancement. (2) Multipath signals extend the angle of view of the narrow beamwidth of the ultrasound transducers, allowing improved visibility and array design flexibility. (3) Ultrasonic signals experience difficulty in penetrating a flaw, thus the aspect angle of the observation is limited unless access to other sides is available. The significant extension of the aperture makes it possible to yield flaw observation from multiple aspect angles. We show that data fusion of physical and virtual sensor data significantly improves the detection and localization performance. The effectiveness of the proposed multipath exploitation approach is demonstrated through experimental studies.

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.

Experimental Investigation of Turbulent Flames in Hypersonic Flows

DTIC Science & Technology

2015-09-01

kg and 1 MPa at a stagnation condition. A settling chamber upstream of the C/D nozzle has a pressure sensor and an optical access window for...are recorded by a pressure sensor attached on the reservoir. Overall fuel equivalence ratio () in the combustor is estimated by the ratio of...freestream flow direction and 22.5° ramp (back step) angle. Five pressure sensors (Kulite) and five temperature sensors (MEDTHERM coaxial thermocouple

Solid state laser communications in space (SOLACOS) high data rate satellite communication system verification program

NASA Astrophysics Data System (ADS)

Pribil, Klaus; Flemmig, Joerg

1994-09-01

This paper gives an overview on the current development status of the SOLACOS program and presents the highlights of the program. SOLACOS (Solid State Laser Communications in Space) is the national German program to develop a high performance laser communication system for high data rate transmission between LEO and GEO satellites (Inter Orbit Link, IOL). Two experimental demonstrator terminals are designed and developed in the SOLACOS program. The main development objectives are the Pointing Acquisition and Tracking subsystem (PAT) and the high data rate communication system. All key subsystems and components are straightway developed to be upgraded in follow- on projects to full space qualification. The main design objective for the system is a high degree of modularity which allows to easily upgrade the system with new upcoming technologies. Therefore, all main subsystems are interconnected via fibers to ease replacement of subsystems. The system implements an asymmetric data link with a 650 MBit/s return channel and a 10 MBit/s forward channel. The 650 MBit/s channel is based on a diode pumped Nd:YAG, Integrated Optics Modulator and uses the syncbit transmission scheme. In the syncbit system synchronization information which is necessary to maintain phase lock of the local oscillator of the coherent receiver is transmitted time multiplexed into the data stream. The PAT system comprises two beam detection sensors and three beam steering elements. For initial acquisition and tracking of the remote satellite a high speed CCD camera with an integrated image processing unit, the Acquisition and Tracking Sensor (ATS) is used. In the tacking mode the beam position is sensed via the Fibernutator sensor which is also used to couple the incoming signal into the receiver fiber. Incoming and outgoing beams are routed through the telescopes which are positioned with a 2 axis gimbal mechanism and a high speed beam steering mirror. The PAT system is controlled by a digital signal processor. For beam control advanced PAT algorithms are under development.

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.

Two-Dimensional DOA and Polarization Estimation for a Mixture of Uncorrelated and Coherent Sources with Sparsely-Distributed Vector Sensor Array

PubMed Central

Si, Weijian; Zhao, Pinjiao; Qu, Zhiyu

2016-01-01

This paper presents an L-shaped sparsely-distributed vector sensor (SD-VS) array with four different antenna compositions. With the proposed SD-VS array, a novel two-dimensional (2-D) direction of arrival (DOA) and polarization estimation method is proposed to handle the scenario where uncorrelated and coherent sources coexist. The uncorrelated and coherent sources are separated based on the moduli of the eigenvalues. For the uncorrelated sources, coarse estimates are acquired by extracting the DOA information embedded in the steering vectors from estimated array response matrix of the uncorrelated sources, and they serve as coarse references to disambiguate fine estimates with cyclical ambiguity obtained from the spatial phase factors. For the coherent sources, four Hankel matrices are constructed, with which the coherent sources are resolved in a similar way as for the uncorrelated sources. The proposed SD-VS array requires only two collocated antennas for each vector sensor, thus the mutual coupling effects across the collocated antennas are reduced greatly. Moreover, the inter-sensor spacings are allowed beyond a half-wavelength, which results in an extended array aperture. Simulation results demonstrate the effectiveness and favorable performance of the proposed method. PMID:27258271

Experimental demonstration of remote, passive acousto-optic sensing.

PubMed

Antonelli, Lynn; Blackmon, Fletcher

2004-12-01

Passively detecting underwater sound from the air can allow aircraft and surface vessels to monitor the underwater acoustic environment. Experimental research into an optical hydrophone is being conducted for remote, aerial detection of underwater sound. A laser beam is directed onto the water surface to measure the velocity of the vibrations occurring as the underwater acoustic signal reaches the water surface. The acoustically generated surface vibrations modulate the phase of the laser beam. Sound detection occurs when the laser is reflected back towards the sensor. Therefore, laser alignment on the specularly reflecting water surface is critical. As the water surface moves, the laser beam is reflected away from the photodetector and no signal is obtained. One option to mitigate this problem is to continually steer the laser onto a spot on the water surface that provides a direct back-reflection. Results are presented from a laboratory test that investigates the feasibility of the acousto-optic sensor detection on hydrostatic and hydrodynamic surfaces using a laser Doppler vibrometer in combination with a laser-based, surface normal glint tracker for remotely detecting underwater sound. This paper outlines the acousto-optic sensor and tracker concepts and presents experimental results comparing sensor operation under various sea surface conditions.

Multi Sensor Fusion Framework for Indoor-Outdoor Localization of Limited Resource Mobile Robots

PubMed Central

Marín, Leonardo; Vallés, Marina; Soriano, Ángel; Valera, Ángel; Albertos, Pedro

2013-01-01

This paper presents a sensor fusion framework that improves the localization of mobile robots with limited computational resources. It employs an event based Kalman Filter to combine the measurements of a global sensor and an inertial measurement unit (IMU) on an event based schedule, using fewer resources (execution time and bandwidth) but with similar performance when compared to the traditional methods. The event is defined to reflect the necessity of the global information, when the estimation error covariance exceeds a predefined limit. The proposed experimental platforms are based on the LEGO Mindstorm NXT, and consist of a differential wheel mobile robot navigating indoors with a zenithal camera as global sensor, and an Ackermann steering mobile robot navigating outdoors with a SBG Systems GPS accessed through an IGEP board that also serves as datalogger. The IMU in both robots is built using the NXT motor encoders along with one gyroscope, one compass and two accelerometers from Hitecnic, placed according to a particle based dynamic model of the robots. The tests performed reflect the correct performance and low execution time of the proposed framework. The robustness and stability is observed during a long walk test in both indoors and outdoors environments. PMID:24152933

Multi sensor fusion framework for indoor-outdoor localization of limited resource mobile robots.

PubMed

Marín, Leonardo; Vallés, Marina; Soriano, Ángel; Valera, Ángel; Albertos, Pedro

2013-10-21

This paper presents a sensor fusion framework that improves the localization of mobile robots with limited computational resources. It employs an event based Kalman Filter to combine the measurements of a global sensor and an inertial measurement unit (IMU) on an event based schedule, using fewer resources (execution time and bandwidth) but with similar performance when compared to the traditional methods. The event is defined to reflect the necessity of the global information, when the estimation error covariance exceeds a predefined limit. The proposed experimental platforms are based on the LEGO Mindstorm NXT, and consist of a differential wheel mobile robot navigating indoors with a zenithal camera as global sensor, and an Ackermann steering mobile robot navigating outdoors with a SBG Systems GPS accessed through an IGEP board that also serves as datalogger. The IMU in both robots is built using the NXT motor encoders along with one gyroscope, one compass and two accelerometers from Hitecnic, placed according to a particle based dynamic model of the robots. The tests performed reflect the correct performance and low execution time of the proposed framework. The robustness and stability is observed during a long walk test in both indoors and outdoors environments.

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.

A Method for Improving the Pose Accuracy of a Robot Manipulator Based on Multi-Sensor Combined Measurement and Data Fusion

PubMed Central

Liu, Bailing; Zhang, Fumin; Qu, Xinghua

2015-01-01

An improvement method for the pose accuracy of a robot manipulator by using a multiple-sensor combination measuring system (MCMS) is presented. It is composed of a visual sensor, an angle sensor and a series robot. The visual sensor is utilized to measure the position of the manipulator in real time, and the angle sensor is rigidly attached to the manipulator to obtain its orientation. Due to the higher accuracy of the multi-sensor, two efficient data fusion approaches, the Kalman filter (KF) and multi-sensor optimal information fusion algorithm (MOIFA), are used to fuse the position and orientation of the manipulator. The simulation and experimental results show that the pose accuracy of the robot manipulator is improved dramatically by 38%∼78% with the multi-sensor data fusion. Comparing with reported pose accuracy improvement methods, the primary advantage of this method is that it does not require the complex solution of the kinematics parameter equations, increase of the motion constraints and the complicated procedures of the traditional vision-based methods. It makes the robot processing more autonomous and accurate. To improve the reliability and accuracy of the pose measurements of MCMS, the visual sensor repeatability is experimentally studied. An optimal range of 1 × 0.8 × 1 ∼ 2 × 0.8 × 1 m in the field of view (FOV) is indicated by the experimental results. PMID:25850067

Effect of phase advance on the brushless dc motor torque speed respond

NASA Astrophysics Data System (ADS)

Mohd, M. S.; Karsiti, M. N.; Mohd, M. S.

2015-12-01

Brushless direct current (BLDC) motor is widely used in small and medium sized electric vehicles as it exhibit highest specific power and thermal efficiency as compared to the induction motor. Permanent magnets BLDC rotor create a constant magnetic flux, which limit the motor top speed. As the back electromotive force (EMF) voltage increases proportionally with motor rotational speed and it approaches the amplitude of the input voltage, the phase current amplitude will reach zero. By advancing the phase current, it is possible to extend the maximum speed of the BLDC motor beyond the rated top speed. This will allow smaller BLDC motor to be used in small electric vehicles (EV) and in larger applications will allow the use of BLDC motor without the use of multispeed transmission unit for high speed operation. However, increasing the speed of BLDC will affect the torque speed response. The torque output will decrease as speed increases. Adjusting the phase angle will affect the speed of the motor as each coil is energized earlier than the corresponding rise in the back emf of the coil. This paper discusses the phase advance strategy of Brushless DC motor by phase angle manipulation approaches using external hall sensors. Tests have been performed at different phase advance angles in advance and retard positions for different voltage levels applied. The objective is to create the external hall sensor system to commutate the BLDC motor, to establish the phase advance of the BLDC by varying the phase angle through external hall sensor manipulation, observe the respond of the motor while applying the phase advance by hall sensor adjustment.