ALLY: An operator's associate for satellite ground control systems

NASA Technical Reports Server (NTRS)

Bushman, J. B.; Mitchell, Christine M.; Jones, P. M.; Rubin, K. S.

1991-01-01

The key characteristics of an intelligent advisory system is explored. A central feature is that human-machine cooperation should be based on a metaphor of human-to-human cooperation. ALLY, a computer-based operator's associate which is based on a preliminary theory of human-to-human cooperation, is discussed. ALLY assists the operator in carrying out the supervisory control functions for a simulated NASA ground control system. Experimental evaluation of ALLY indicates that operators using ALLY performed at least as well as they did when using a human associate and in some cases even better.

Distributed cooperative regulation for multiagent systems and its applications to power systems: a survey.

PubMed

Hu, Jianqiang; Li, Yaping; Yong, Taiyou; Cao, Jinde; Yu, Jie; Mao, Wenbo

2014-01-01

Cooperative regulation of multiagent systems has become an active research area in the past decade. This paper reviews some recent progress in distributed coordination control for leader-following multiagent systems and its applications in power system and mainly focuses on the cooperative tracking control in terms of consensus tracking control and containment tracking control. Next, methods on how to rank the network nodes are summarized for undirected/directed network, based on which one can determine which follower should be connected to leaders such that partial followers can perceive leaders' information. Furthermore, we present a survey of the most relevant scientific studies investigating the regulation and optimization problems in power systems based on distributed strategies. Finally, some potential applications in the frequency tracking regulation of smart grids are discussed at the end of the paper.

Distributed Cooperative Regulation for Multiagent Systems and Its Applications to Power Systems: A Survey

PubMed Central

Li, Yaping; Yong, Taiyou; Yu, Jie; Mao, Wenbo

2014-01-01

Cooperative regulation of multiagent systems has become an active research area in the past decade. This paper reviews some recent progress in distributed coordination control for leader-following multiagent systems and its applications in power system and mainly focuses on the cooperative tracking control in terms of consensus tracking control and containment tracking control. Next, methods on how to rank the network nodes are summarized for undirected/directed network, based on which one can determine which follower should be connected to leaders such that partial followers can perceive leaders' information. Furthermore, we present a survey of the most relevant scientific studies investigating the regulation and optimization problems in power systems based on distributed strategies. Finally, some potential applications in the frequency tracking regulation of smart grids are discussed at the end of the paper. PMID:25243199

Cooperative learning neural network output feedback control of uncertain nonlinear multi-agent systems under directed topologies

NASA Astrophysics Data System (ADS)

Wang, W.; Wang, D.; Peng, Z. H.

2017-09-01

Without assuming that the communication topologies among the neural network (NN) weights are to be undirected and the states of each agent are measurable, the cooperative learning NN output feedback control is addressed for uncertain nonlinear multi-agent systems with identical structures in strict-feedback form. By establishing directed communication topologies among NN weights to share their learned knowledge, NNs with cooperative learning laws are employed to identify the uncertainties. By designing NN-based κ-filter observers to estimate the unmeasurable states, a new cooperative learning output feedback control scheme is proposed to guarantee that the system outputs can track nonidentical reference signals with bounded tracking errors. A simulation example is given to demonstrate the effectiveness of the theoretical results.

Cooperative Control for A Hybrid Rehabilitation System Combining Functional Electrical Stimulation and Robotic Exoskeleton

PubMed Central

Zhang, Dingguo; Ren, Yong; Gui, Kai; Jia, Jie; Xu, Wendong

2017-01-01

Functional electrical stimulation (FES) and robotic exoskeletons are two important technologies widely used for physical rehabilitation of paraplegic patients. We developed a hybrid rehabilitation system (FEXO Knee) that combined FES and an exoskeleton for swinging movement control of human knee joints. This study proposed a novel cooperative control strategy, which could realize arbitrary distribution of torque generated by FES and exoskeleton, and guarantee harmonic movements. The cooperative control adopted feedfoward control for FES and feedback control for exoskeleton. A parameter regulator was designed to update key parameters in real time to coordinate FES controller and exoskeleton controller. Two muscle groups (quadriceps and hamstrings) were stimulated to generate active torque for knee joint in synchronization with torque compensation from exoskeleton. The knee joint angle and the interactive torque between exoskeleton and shank were used as feedback signals for the control system. Central pattern generator (CPG) was adopted that acted as a phase predictor to deal with phase confliction of motor patterns, and realized synchronization between the two different bodies (shank and exoskeleton). Experimental evaluation of the hybrid FES-exoskeleton system was conducted on five healthy subjects and four paraplegic patients. Experimental results and statistical analysis showed good control performance of the cooperative control on torque distribution, trajectory tracking, and phase synchronization. PMID:29311798

Cooperative Control for A Hybrid Rehabilitation System Combining Functional Electrical Stimulation and Robotic Exoskeleton.

PubMed

Zhang, Dingguo; Ren, Yong; Gui, Kai; Jia, Jie; Xu, Wendong

2017-01-01

Functional electrical stimulation (FES) and robotic exoskeletons are two important technologies widely used for physical rehabilitation of paraplegic patients. We developed a hybrid rehabilitation system (FEXO Knee) that combined FES and an exoskeleton for swinging movement control of human knee joints. This study proposed a novel cooperative control strategy, which could realize arbitrary distribution of torque generated by FES and exoskeleton, and guarantee harmonic movements. The cooperative control adopted feedfoward control for FES and feedback control for exoskeleton. A parameter regulator was designed to update key parameters in real time to coordinate FES controller and exoskeleton controller. Two muscle groups (quadriceps and hamstrings) were stimulated to generate active torque for knee joint in synchronization with torque compensation from exoskeleton. The knee joint angle and the interactive torque between exoskeleton and shank were used as feedback signals for the control system. Central pattern generator (CPG) was adopted that acted as a phase predictor to deal with phase confliction of motor patterns, and realized synchronization between the two different bodies (shank and exoskeleton). Experimental evaluation of the hybrid FES-exoskeleton system was conducted on five healthy subjects and four paraplegic patients. Experimental results and statistical analysis showed good control performance of the cooperative control on torque distribution, trajectory tracking, and phase synchronization.

Perturbed cooperative-state feedback strategy for model predictive networked control of interconnected systems.

PubMed

Tran, Tri; Ha, Q P

2018-01-01

A perturbed cooperative-state feedback (PSF) strategy is presented for the control of interconnected systems in this paper. The subsystems of an interconnected system can exchange data via the communication network that has multiple connection topologies. The PSF strategy can resolve both issues, the sensor data losses and the communication network breaks, thanks to the two components of the control including a cooperative-state feedback and a perturbation variable, e.g., u i =K ij x j +w i . The PSF is implemented in a decentralized model predictive control scheme with a stability constraint and a non-monotonic storage function (ΔV(x(k))≥0), derived from the dissipative systems theory. Numerical simulation for the automatic generation control problem in power systems is studied to illustrate the effectiveness of the presented PSF strategy. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Investigation of the Impedance Characteristic of Human Arm for Development of Robots to Cooperate with Humans

NASA Astrophysics Data System (ADS)

Rahman, Md. Mozasser; Ikeura, Ryojun; Mizutani, Kazuki

In the near future many aspects of our lives will be encompassed by tasks performed in cooperation with robots. The application of robots in home automation, agricultural production and medical operations etc. will be indispensable. As a result robots need to be made human-friendly and to execute tasks in cooperation with humans. Control systems for such robots should be designed to work imitating human characteristics. In this study, we have tried to achieve these goals by means of controlling a simple one degree-of-freedom cooperative robot. Firstly, the impedance characteristic of the human arm in a cooperative task is investigated. Then, this characteristic is implemented to control a robot in order to perform cooperative task with humans. A human followed the motion of an object, which is moved through desired trajectories. The motion is actuated by the linear motor of the one degree-of-freedom robot system. Trajectories used in the experiments of this method were minimum jerk (the rate of change of acceleration) trajectory, which was found during human and human cooperative task and optimum for muscle movement. As the muscle is mechanically analogous to a spring-damper system, a simple second-order equation is used as models for the arm dynamics. In the model, we considered mass, stiffness and damping factor. Impedance parameter is calculated from the position and force data obtained from the experiments and based on the “Estimation of Parametric Model”. Investigated impedance characteristic of human arm is then implemented to control a robot, which performed cooperative task with human. It is observed that the proposed control methodology has given human like movements to the robot for cooperating with human.

Cooperative control of two active spacecraft during proximity operations. M.S. Thesis - MIT

NASA Technical Reports Server (NTRS)

Polutchko, Robert J.

1989-01-01

A cooperative autopilot is developed for the control of the relative attitude, relative position and absolute attitude of two maneuvering spacecraft during on orbit proximity operations. The autopilot consists of an open-loop trajectory solver which computes a nine dimensional linearized nominal state trajectory at the beginning of each maneuver and a phase space regulator which maintains the two spacecraft on the nominal trajectory during coast phases of the maneuver. A linear programming algorithm is used to perform jet selection. Simulation tests using a system of two space shuttle vehicles are performed to verify the performance of the cooperative controller and comparisons are made to a traditional passive target/active pursuit vehicle approach to proximity operations. The cooperative autopilot is shown to be able to control the two vehicle system when both the would be pursuit vehicle and the target vehicle are not completely controllable in six degrees of freedom. The cooperative controller is also shown to use as much as 37 percent less fuel and 57 percent fewer jet firings than a single pursuit vehicle during a simple docking approach maneuver.

Intelligent resources for satellite ground control operations

NASA Technical Reports Server (NTRS)

Jones, Patricia M.

1994-01-01

This paper describes a cooperative approach to the design of intelligent automation and describes the Mission Operations Cooperative Assistant for NASA Goddard flight operations. The cooperative problem solving approach is being explored currently in the context of providing support for human operator teams and also in the definition of future advanced automation in ground control systems.

Cooperative Control of Distributed Autonomous Vehicles in Adversarial Environments

DTIC Science & Technology

2006-08-14

COOPERATIVE CONTROL OF DISTRIBUTED AUTONOMOUS VEHICLES IN ADVERSARIAL ENVIRONMENTS Grant #F49620–01–1–0361 Final Report Jeff Shamma Department of...CONTRACT NUMBER F49620-01-1-0361 5b. GRANT NUMBER 4. TITLE AND SUBTITLE COOPERATIVE CONTROL OF DISTRIBUTED AUTONOMOUS VEHICLES IN...single dominant language or a distribution of languages. A relation to multivehicle systems is understanding how highly autonomous vehicles on extended

Atmospheric effects on active illumination

NASA Astrophysics Data System (ADS)

Shaw, Scot E. J.; Kansky, Jan E.

2005-08-01

For some beam-control applications, we can rely on the cooperation of the target when gathering information about the target location and the state of the atmosphere between the target and the beam-control system. The typical example is a cooperative point-source beacon on the target. Light from such a beacon allows the beam-control system to track the target accurately, and, if higher-order adaptive optics is to be employed, to make wave-front measurements and apply appropriate corrections with a deformable mirror. In many applications, including directed-energy weapons, the target is not cooperative. In the absence of a cooperative beacon, we must find other ways to collect the relevant information. This can be accomplished with an active-illumination system. Typically, this means shining one or more lasers at the target and observing the reflected light. In this paper, we qualitatively explore a number of difficulties inherent to active illumination, and suggest some possible mitigation techniques.

Cooperative path following control of multiple nonholonomic mobile robots.

PubMed

Cao, Ke-Cai; Jiang, Bin; Yue, Dong

2017-11-01

Cooperative path following control problem of multiple nonholonomic mobile robots has been considered in this paper. Based on the framework of decomposition, the cooperative path following problem has been transformed into path following problem and cooperative control problem; Then cascaded theory of non-autonomous system has been employed in the design of controllers without resorting to feedback linearization. One time-varying coordinate transformation based on dilation has been introduced to solve the uncontrollable problem of nonholonomic robots when the whole group's reference converges to stationary point. Cooperative path following controllers for nonholonomic robots have been proposed under persistent reference or reference target that converges to stationary point respectively. Simulation results using Matlab have illustrated the effectiveness of the obtained theoretical results. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Analysis of Aircraft Control Performance using a Fuzzy Rule Base Representation of the Cooper-Harper Aircraft Handling Quality Rating

NASA Technical Reports Server (NTRS)

Tseng, Chris; Gupta, Pramod; Schumann, Johann

2006-01-01

The Cooper-Harper rating of Aircraft Handling Qualities has been adopted as a standard for measuring the performance of aircraft since it was introduced in 1966. Aircraft performance, ability to control the aircraft, and the degree of pilot compensation needed are three major key factors used in deciding the aircraft handling qualities in the Cooper- Harper rating. We formulate the Cooper-Harper rating scheme as a fuzzy rule-based system and use it to analyze the effectiveness of the aircraft controller. The automatic estimate of the system-level handling quality provides valuable up-to-date information for diagnostics and vehicle health management. Analyzing the performance of a controller requires a set of concise design requirements and performance criteria. Ir, the case of control systems fm a piloted aircraft, generally applicable quantitative design criteria are difficult to obtain. The reason for this is that the ultimate evaluation of a human-operated control system is necessarily subjective and, with aircraft, the pilot evaluates the aircraft in different ways depending on the type of the aircraft and the phase of flight. In most aerospace applications (e.g., for flight control systems), performance assessment is carried out in terms of handling qualities. Handling qualities may be defined as those dynamic and static properties of a vehicle that permit the pilot to fully exploit its performance in a variety of missions and roles. Traditionally, handling quality is measured using the Cooper-Harper rating and done subjectively by the human pilot. In this work, we have formulated the rules of the Cooper-Harper rating scheme as fuzzy rules with performance, control, and compensation as the antecedents, and pilot rating as the consequent. Appropriate direct measurements on the controller are related to the fuzzy Cooper-Harper rating system: a stability measurement like the rate of change of the cost function can be used as an indicator if the aircraft is under control; the tracking error is a good measurement for performance needed in the rating scheme. Finally, the change of the control amount or the output of a confidence tool, which has been developed by the authors, can be used as an indication of pilot compensation. We use a number of known aircraft flight scenarios with known pilot ratings to calibrate our fuzzy membership functions. These include normal flight conditions and situations in which partial or complete failure of tail, aileron, engine, or throttle occurs.

A Verification Method of Inter-Task Cooperation in Embedded Real-time Systems and its Evaluation

NASA Astrophysics Data System (ADS)

Yoshida, Toshio

In software development process of embedded real-time systems, the design of the task cooperation process is very important. The cooperating process of such tasks is specified by task cooperation patterns. Adoption of unsuitable task cooperation patterns has fatal influence on system performance, quality, and extendibility. In order to prevent repetitive work caused by the shortage of task cooperation performance, it is necessary to verify task cooperation patterns in an early software development stage. However, it is very difficult to verify task cooperation patterns in an early software developing stage where task program codes are not completed yet. Therefore, we propose a verification method using task skeleton program codes and a real-time kernel that has a function of recording all events during software execution such as system calls issued by task program codes, external interrupts, and timer interrupt. In order to evaluate the proposed verification method, we applied it to the software development process of a mechatronics control system.

Extended cooperative control synthesis

NASA Technical Reports Server (NTRS)

Davidson, John B.; Schmidt, David K.

1994-01-01

This paper reports on research for extending the Cooperative Control Synthesis methodology to include a more accurate modeling of the pilot's controller dynamics. Cooperative Control Synthesis (CCS) is a methodology that addresses the problem of how to design control laws for piloted, high-order, multivariate systems and/or non-conventional dynamic configurations in the absence of flying qualities specifications. This is accomplished by emphasizing the parallel structure inherent in any pilot-controlled, augmented vehicle. The original CCS methodology is extended to include the Modified Optimal Control Model (MOCM), which is based upon the optimal control model of the human operator developed by Kleinman, Baron, and Levison in 1970. This model provides a modeling of the pilot's compensation dynamics that is more accurate than the simplified pilot dynamic representation currently in the CCS methodology. Inclusion of the MOCM into the CCS also enables the modeling of pilot-observation perception thresholds and pilot-observation attention allocation affects. This Extended Cooperative Control Synthesis (ECCS) allows for the direct calculation of pilot and system open- and closed-loop transfer functions in pole/zero form and is readily implemented in current software capable of analysis and design for dynamic systems. Example results based upon synthesizing an augmentation control law for an acceleration command system in a compensatory tracking task using the ECCS are compared with a similar synthesis performed by using the original CCS methodology. The ECCS is shown to provide augmentation control laws that yield more favorable, predicted closed-loop flying qualities and tracking performance than those synthesized using the original CCS methodology.

Control area trends: Principles and responses

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

Day, L.R.

1995-04-01

Two trends impacting the control of interconnected system operations are on a collision course. Like two strong weather fronts, the combination of these trends can generate tornados or gentle rain. Better system control and improved system security can be the result if there is productive cooperation, commitment, communication, and control. Computers and communication networks are the tools used to turn the momentum of these two trends to the advantage of the industry. But before the first line of software can be written, the cooperation, commitment, and communication of the interested parties must establish the parameters for future system control andmore » operations. This article examines how the control of interconnected system operations is being affected by the consolidation of control areas and the introduction of new control areas.« less

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

NASA Astrophysics Data System (ADS)

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

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

Cooperative intersection collision avoidance system limited to stop sign and traffic signal violations (CICAS-V).

DOT National Transportation Integrated Search

2008-09-30

The objective of the Cooperative Intersection Collision Avoidance System for Violations (CICAS-V) Project is to develop and field-test a comprehensive system to reduce the number of crashes at intersections due to violations of traffic control device...

Swarm intelligence inspired shills and the evolution of cooperation.

PubMed

Duan, Haibin; Sun, Changhao

2014-06-09

Many hostile scenarios exist in real-life situations, where cooperation is disfavored and the collective behavior needs intervention for system efficiency improvement. Towards this end, the framework of soft control provides a powerful tool by introducing controllable agents called shills, who are allowed to follow well-designed updating rules for varying missions. Inspired by swarm intelligence emerging from flocks of birds, we explore here the dependence of the evolution of cooperation on soft control by an evolutionary iterated prisoner's dilemma (IPD) game staged on square lattices, where the shills adopt a particle swarm optimization (PSO) mechanism for strategy updating. We demonstrate that not only can cooperation be promoted by shills effectively seeking for potentially better strategies and spreading them to others, but also the frequency of cooperation could be arbitrarily controlled by choosing appropriate parameter settings. Moreover, we show that adding more shills does not contribute to further cooperation promotion, while assigning higher weights to the collective knowledge for strategy updating proves a efficient way to induce cooperative behavior. Our research provides insights into cooperation evolution in the presence of PSO-inspired shills and we hope it will be inspirational for future studies focusing on swarm intelligence based soft control.

Cooperatively surrounding control for multiple Euler-Lagrange systems subjected to uncertain dynamics and input constraints

NASA Astrophysics Data System (ADS)

Chen, Liang-Ming; Lv, Yue-Yong; Li, Chuan-Jiang; Ma, Guang-Fu

2016-12-01

In this paper, we investigate cooperatively surrounding control (CSC) of multi-agent systems modeled by Euler-Lagrange (EL) equations under a directed graph. With the consideration of the uncertain dynamics in an EL system, a backstepping CSC algorithm combined with neural-networks is proposed first such that the agents can move cooperatively to surround the stationary target. Then, a command filtered backstepping CSC algorithm is further proposed to deal with the constraints on control input and the absence of neighbors’ velocity information. Numerical examples of eight satellites surrounding one space target illustrate the effectiveness of the theoretical results. Project supported by the National Basic Research Program of China (Grant No. 2012CB720000) and the National Natural Science Foundation of China (Grant Nos. 61304005 and 61403103).

Consensus seeking, formation keeping, and trajectory tracking in multiple vehicle cooperative control

NASA Astrophysics Data System (ADS)

Ren, Wei

Cooperative control problems for multiple vehicle systems can be categorized as either formation control problems with applications to mobile robots, unmanned air vehicles, autonomous underwater vehicles, satellites, aircraft, spacecraft, and automated highway systems, or non-formation control problems such as task assignment, cooperative transport, cooperative role assignment, air traffic control, cooperative timing, and cooperative search. The cooperative control of multiple vehicle systems poses significant theoretical and practical challenges. For cooperative control strategies to be successful, numerous issues must be addressed. We consider three important and correlated issues: consensus seeking, formation keeping, and trajectory tracking. For consensus seeking, we investigate algorithms and protocols so that a team of vehicles can reach consensus on the values of the coordination data in the presence of imperfect sensors, communication dropout, sparse communication topologies, and noisy and unreliable communication links. The main contribution of this dissertation in this area is that we show necessary and/or sufficient conditions for consensus seeking with limited, unidirectional, and unreliable information exchange under fixed and switching interaction topologies (through either communication or sensing). For formation keeping, we apply a so-called "virtual structure" approach to spacecraft formation flying and multi-vehicle formation maneuvers. As a result, single vehicle path planning and trajectory generation techniques can be employed for the virtual structure while trajectory tracking strategies can be employed for each vehicle. The main contribution of this dissertation in this area is that we propose a decentralized architecture for multiple spacecraft formation flying in deep space with formation feedback introduced. This architecture ensures the necessary precision in the presence of actuator saturation, internal and external disturbances, and stringent inter-vehicle communication limitations. A constructive approach based on the satisficing control paradigm is also applied to multi-robot coordination in hardware. For trajectory tracking, we investigate nonlinear tracking controllers for fixed wing unmanned air vehicles and nonholonomic mobile robots with velocity and heading rate constraints. The main contribution of this dissertation in this area is that our proposed tracking controllers are shown to be robust to input uncertainties and measurement noise, and are computationally simple and can be implemented with low-cost, low-power microcontrollers. In addition, our approach allows piecewise continuous reference velocity and heading rate and can be extended to derive a variety of other trajectory tracking strategies.

Design principles of a cooperative robot controller

NASA Technical Reports Server (NTRS)

Hayward, Vincent; Hayati, Samad

1987-01-01

The paper describes the design of a controller for cooperative robots being designed at McGill University in a collaborative effort with the Jet Propulsion Laboratory. The first part of the paper discusses the background and motivation for multiple arm control. Then, a set of programming primitives, which are based on the RCCL system and which permit a programmer to specify cooperative tasks are described. The first group of primitives are motion primitives which specify asynchronous motions, master/slave motions, and cooperative motions. In the context of cooperative robots, trajectory generation issues will be discussed and the implementation described. A second set of primitives provides for the specification of spatial relationships. The relations between programming and control in the case of multiple robot are examined. Finally, the paper describes the allocation of various tasks among a set of microprocessors sharing a common bus.

Administration: Cost Control, Hiring Practices, Cooperation, Disaster Planning

ERIC Educational Resources Information Center

Nation's Schools and Colleges, 1974

1974-01-01

Notes on various topics, such as how the Virginia Higher Education system can cut costs; the University of South Carolina's personnel recruitment system; a cooperative program between a college and a hospital; and preparations for tornadoes at an Indiana college. (JF)

Interference Information Based Power Control for Cognitive Radio with Multi-Hop Cooperative Sensing

NASA Astrophysics Data System (ADS)

Yu, Youngjin; Murata, Hidekazu; Yamamoto, Koji; Yoshida, Susumu

Reliable detection of other radio systems is crucial for systems that share the same frequency band. In wireless communication channels, there is uncertainty in the received signal level due to multipath fading and shadowing. Cooperative sensing techniques in which radio stations share their sensing information can improve the detection probability of other systems. In this paper, a new cooperative sensing scheme that reduces the false detection probability while maintaining the outage probability of other systems is investigated. In the proposed system, sensing information is collected using multi-hop transmission from all sensing stations that detect other systems, and transmission decisions are based on the received sensing information. The proposed system also controls the transmit power based on the received CINRs from the sensing stations. Simulation results reveal that the proposed system can reduce the outage probability of other systems, or improve its link success probability.

Tele-Manipulation with Two Asymmetric Slaves: Two Operators Perform Better Than One.

PubMed

van Oosterhout, Jeroen; Heemskerk, Cock J M; de Baar, Marco R; van der Helm, Frans C T; Abbink, David A

2018-01-01

Certain tele-manipulation tasks require manipulation by two asymmetric slaves, for example, a crane for hoisting and a dexterous robotic arm for fine manipulation. It is unclear how to best design human-in-the-loop control over two asymmetric slaves. The goal of this paper is to quantitatively compare the standard approach of two co-operating operators that each control a single subtask, to a single operator performing bi-manual control over the two subtasks, and a uni-manual control approach. In a human factors experiment, participants performed a heavy load maneuvering and mounting task using a vertical crane and a robotic arm. We hypothesize that bi-manual control yields worse task performance and control activity compared to co-operation, because of conflicting spatial and temporal constraints. Literature suggests that uni-manual operators should perform better than co-operation, as co-operators critically depend on each other's actions. However, other literature provides evidence that individual operators have limited capabilities in controlling asymmetric axes of two dynamic systems. The results show that the two co-operators perform the maneuvering and mounting task faster than either bi- or uni-manual operators. Compared to co-operators, uni-manual operators required more control activity for the vertical crane and less for the robotic arm. In conclusion, this study suggests that when controlling two asymmetric slaves, a co-operating pair of operators performs better than a single operator.

Wave cybernetics: A simple model of wave-controlled nonlinear and nonlocal cooperative phenomena

NASA Astrophysics Data System (ADS)

Yasue, Kunio

1988-09-01

A simple theoretical description of nonlinear and nonlocal cooperative phenomena is presented in which the global control mechanism of the whole system is given by the tuned-wave propagation. It provides us with an interesting universal scheme of systematization in physical and biological systems called wave cybernetics, and may be understood as a model realizing Bohm's idea of implicate order in natural philosophy.

Controlling the transmitted information of a multi-photon interacting with a single-Cooper pair box

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

Kadry, Heba, E-mail: hkadry1@yahoo.com; Abdel-Aty, Abdel-Haleem, E-mail: hkadry1@yahoo.com; Zakaria, Nordin, E-mail: hkadry1@yahoo.com

2014-10-24

We study a model of a multi-photon interaction of a single Cooper pair box with a cavity field. The exchange of the information using this system is studied. We quantify the fidelity of the transmitted information. The effect of the system parameters (detuning parameter, field photons, state density and mean photon number) in the fidelity of the transmitted information is investigated. We found that the fidelity of the transmitted information can be controlled using the system parameters.

Fault-tolerant cooperative output regulation for multi-vehicle systems with sensor faults

NASA Astrophysics Data System (ADS)

Qin, Liguo; He, Xiao; Zhou, D. H.

2017-10-01

This paper presents a unified framework of fault diagnosis and fault-tolerant cooperative output regulation (FTCOR) for a linear discrete-time multi-vehicle system with sensor faults. The FTCOR control law is designed through three steps. A cooperative output regulation (COR) controller is designed based on the internal mode principle when there are no sensor faults. A sufficient condition on the existence of the COR controller is given based on the discrete-time algebraic Riccati equation (DARE). Then, a decentralised fault diagnosis scheme is designed to cope with sensor faults occurring in followers. A residual generator is developed to detect sensor faults of each follower, and a bank of fault-matching estimators are proposed to isolate and estimate sensor faults of each follower. Unlike the current distributed fault diagnosis for multi-vehicle systems, the presented decentralised fault diagnosis scheme in each vehicle reduces the communication and computation load by only using the information of the vehicle. By combing the sensor fault estimation and the COR control law, an FTCOR controller is proposed. Finally, the simulation results demonstrate the effectiveness of the FTCOR controller.

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.

A logical model of cooperating rule-based systems

NASA Technical Reports Server (NTRS)

Bailin, Sidney C.; Moore, John M.; Hilberg, Robert H.; Murphy, Elizabeth D.; Bahder, Shari A.

1989-01-01

A model is developed to assist in the planning, specification, development, and verification of space information systems involving distributed rule-based systems. The model is based on an analysis of possible uses of rule-based systems in control centers. This analysis is summarized as a data-flow model for a hypothetical intelligent control center. From this data-flow model, the logical model of cooperating rule-based systems is extracted. This model consists of four layers of increasing capability: (1) communicating agents, (2) belief-sharing knowledge sources, (3) goal-sharing interest areas, and (4) task-sharing job roles.

Collaborative Control of Media Playbacks in SCDNs

ERIC Educational Resources Information Center

Fortino, Giancarlo; Russo, Wilma; Palau, Carlos E.

2006-01-01

In this paper we present a CDN-based system, namely the COMODIN system, which is a media on-demand platform for synchronous cooperative work which supports an explicitly-formed cooperative group of distributed users with the following integrated functionalities: request of an archived multimedia session, sharing of its playback, and collaboration…

Tandem robot control system and method for controlling mobile robots in tandem

DOEpatents

Hayward, David R.; Buttz, James H.; Shirey, David L.

2002-01-01

A control system for controlling mobile robots provides a way to control mobile robots, connected in tandem with coupling devices, to navigate across difficult terrain or in closed spaces. The mobile robots can be controlled cooperatively as a coupled system in linked mode or controlled individually as separate robots.

Energy-efficient lighting system for television

DOEpatents

Cawthorne, Duane C.

1987-07-21

A light control system for a television camera comprises an artificial light control system which is cooperative with an iris control system. This artificial light control system adjusts the power to lamps illuminating the camera viewing area to provide only sufficient artificial illumination necessary to provide a sufficient video signal when the camera iris is substantially open.

The Effects of Three Models of Teacher Supervision: Cooperative, Supervisor Controlled, and Minimal.

ERIC Educational Resources Information Center

Fenton, Ray; And Others

This paper recounts the development of a cooperative teacher evaluation system by the Anchorage (Alaska) School District and presents the data that led Anchorage educators to conclude that cooperative evaluation is superior to either traditional supervisor-directed evaluation or minimal unstructured evaluation. In 1984, the district formed a task…

Hierarchical Bio-Inspired Cooperative Control for Nonlinear Dynamical Systems and Hardware Demonstration

DTIC Science & Technology

2013-04-03

cooperative control, LEGO robotic testbed, non-linear dynamics 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT 18. NUMBER OF PAGES...testbed The architecture of the LEGO robots (® LEGO is a trademark and/or copyright of the LEGO Group) used in tests were based off the quick-start

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

PubMed

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

2017-09-01

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

Cooperative mission execution and planning

NASA Astrophysics Data System (ADS)

Flann, Nicholas S.; Saunders, Kevin S.; Pells, Larry

1998-08-01

Utilizing multiple cooperating autonomous vehicles to perform tasks enhances robustness and efficiency over the use of a single vehicle. Furthermore, because autonomous vehicles can be controlled precisely and their status known accurately in real time, new types of cooperative behaviors are possible. This paper presents a working system called MEPS that plans and executes missions for multiple autonomous vehicles in large structured environments. Two generic spatial tasks are supported, to sweep an area and to visit a location while activating on-board equipment. Tasks can be entered both initially by the user and dynamically during mission execution by both users and vehicles. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle and tasks conditions. The system has been successfully applied to control ATV and micro-robotic vehicles in precision agriculture and waste-site characterization environments.

Cooperative crossing of traffic intersections in a distributed robot system

NASA Astrophysics Data System (ADS)

Rausch, Alexander; Oswald, Norbert; Levi, Paul

1995-09-01

In traffic scenarios a distributed robot system has to cope with problems like resource sharing, distributed planning, distributed job scheduling, etc. While travelling along a street segment can be done autonomously by each robot, crossing of an intersection as a shared resource forces the robot to coordinate its actions with those of other robots e.g. by means of negotiations. We discuss the issue of cooperation on the design of a robot control architecture. Task and sensor specific cooperation between robots requires the robots' architectures to be interlinked at different hierarchical levels. Inside each level control cycles are running in parallel and provide fast reaction on events. Internal cooperation may occur between cycles of the same level. Altogether the architecture is matrix-shaped and contains abstract control cycles with a certain degree of autonomy. Based upon the internal structure of a cycle we consider the horizontal and vertical interconnection of cycles to form an individual architecture. Thereafter we examine the linkage of several agents and its influence on an interacting architecture. A prototypical implementation of a scenario, which combines aspects of active vision and cooperation, illustrates our approach. Two vision-guided vehicles are faced with line following, intersection recognition and negotiation.

Military-civilian cooperative emergency response to infectious disease prevention and control in China.

PubMed

Ma, Hui; Dong, Ji-Ping; Zhou, Na; Pu, Wei

2016-01-01

In recent years, the incidence of severe infectious diseases has increased, and the number of emerging infectious diseases continues to increase. The Chinese government and military forces have paid a great deal of attention to infectious disease prevention and control, and using military-civilian cooperation, they have successfully prevented numerous severe epidemic situations, such as severe acute respiratory syndrome (SARS), influenza A (H1N1), avian influenza H5N1 and H7N9, and Ebola hemorrhagic fever, while actively maintained public health, economic development, and national construction. This paper focuses on the mechanisms of the military-cooperative emergency response to infectious diseases--the joint working mechanism, the information-sharing mechanism, the research collaboration mechanism, and the joint disposal mechanism--and presents a sorted summary of the practices and experiences of cooperative emergency responses to infectious diseases. In the future, the Chinese military and the civilian sector will further strengthen the cooperative joint command system and emergency rescue force and will reinforce their collaborative information-sharing platform and technical equipment system to further improve military-civilian collaborative emergency infectious diseases disposal, advance the level of infectious disease prevention and control, and maintain public health.

Convergence on Cooperation: The Driving Factors in U.S. and Russian Cooperation on Belarus

DTIC Science & Technology

2005-09-01

result, Belarus became the major production center for military electronics , including the control systems for the S-300 missile system and the Su...is seen “as an engine for such reintegration and Russification.” 125 John Erickson notes that in the rhetoric of Russian realists, Belarus plays a

Cooperation in Human-Agent Systems to Support Resilience: A Microworld Experiment.

PubMed

Chiou, Erin K; Lee, John D

2016-09-01

This study uses a dyadic approach to understand human-agent cooperation and system resilience. Increasingly capable technology fundamentally changes human-machine relationships. Rather than reliance on or compliance with more or less reliable automation, we investigate interaction strategies with more or less cooperative agents. A joint-task microworld scenario was developed to explore the effects of agent cooperation on participant cooperation and system resilience. To assess the effects of agent cooperation on participant cooperation, 36 people coordinated with a more or less cooperative agent by requesting resources and responding to requests for resources in a dynamic task environment. Another 36 people were recruited to assess effects following a perturbation in their own hospital. Experiment 1 shows people reciprocated the cooperative behaviors of the agents; a low-cooperation agent led to less effective interactions and less resource sharing, whereas a high-cooperation agent led to more effective interactions and greater resource sharing. Experiment 2 shows that an initial fast-tempo perturbation undermined proactive cooperation-people tended to not request resources. However, the initial fast tempo had little effect on reactive cooperation-people tended to accept resource requests according to cooperation level. This study complements the supervisory control perspective of human-automation interaction by considering interdependence and cooperation rather than the more common focus on reliability and reliance. The cooperativeness of automated agents can influence the cooperativeness of human agents. Design and evaluation for resilience in teams involving increasingly autonomous agents should consider the cooperative behaviors of these agents. © 2016, Human Factors and Ergonomics Society.

White Room - Mercury-Atlas (MA)-9 Prelaunch Activities - Astronauts Cooper and Shepard - Cape

NASA Image and Video Library

1963-01-01

S63-03965 (1963) --- Astronauts Alan Shepard (left) and L. Gordon Cooper Jr.(in suit) check over the instrument panel from Mercury spacecraft #20. It contains the instruments necessary to monitor spacecraft systems and sequencing, the controls required to initiate primary sequences manually, and the necessary flight control displays. Photo credit: NASA

A Multi-agent Based Cooperative Voltage and Reactive Power Control

NASA Astrophysics Data System (ADS)

Ishida, Masato; Nagata, Takeshi; Saiki, Hiroshi; Shimada, Ikuhiko; Hatano, Ryousuke

In order to maintain system voltage within the optimal range and prevent voltage instability phenomena before they occur, a variety of phase modifying equipment is installed in optimal locations throughout the power system network and a variety of methods of voltage reactive control are employed. The proposed system divided the traditional method to control voltage and reactive power into two sub problems; “voltage control” to adjust the secondary bus voltage of substations, and “reactive power control” to adjust the primary bus voltage. In this system, two types of agents are installed in substations in order to cooperate “voltage control” and “reactive power control”. In order to verify the performance of the proposed method, it has been applied to the model network system. The results confirm that our proposed method is able to control violent fluctuations in load.

Closed-loop model identification of cooperative manipulators holding deformable objects

NASA Astrophysics Data System (ADS)

Alkathiri, A. A.; Akmeliawati, R.; Azlan, N. Z.

2017-11-01

This paper presents system identification to obtain the closed-loop models of a couple of cooperative manipulators in a system, which function to hold deformable objects. The system works using the master-slave principle. In other words, one of the manipulators is position-controlled through encoder feedback, while a force sensor gives feedback to the other force-controlled manipulator. Using the closed-loop input and output data, the closed-loop models, which are useful for model-based control design, are estimated. The criteria for model validation are a 95% fit between the measured and simulated output of the estimated models and residual analysis. The results show that for both position and force control respectively, the fits are 95.73% and 95.88%.

Distributed Cooperative Optimal Control for Multiagent Systems on Directed Graphs: An Inverse Optimal Approach.

PubMed

Zhang, Huaguang; Feng, Tao; Yang, Guang-Hong; Liang, Hongjing

2015-07-01

In this paper, the inverse optimal approach is employed to design distributed consensus protocols that guarantee consensus and global optimality with respect to some quadratic performance indexes for identical linear systems on a directed graph. The inverse optimal theory is developed by introducing the notion of partial stability. As a result, the necessary and sufficient conditions for inverse optimality are proposed. By means of the developed inverse optimal theory, the necessary and sufficient conditions are established for globally optimal cooperative control problems on directed graphs. Basic optimal cooperative design procedures are given based on asymptotic properties of the resulting optimal distributed consensus protocols, and the multiagent systems can reach desired consensus performance (convergence rate and damping rate) asymptotically. Finally, two examples are given to illustrate the effectiveness of the proposed methods.

Dual-Arm Generalized Compliant Motion With Shared Control

NASA Technical Reports Server (NTRS)

Backes, Paul G.

1994-01-01

Dual-Arm Generalized Compliant Motion (DAGCM) primitive computer program implementing improved unified control scheme for two manipulator arms cooperating in task in which both grasp same object. Provides capabilities for autonomous, teleoperation, and shared control of two robot arms. Unifies cooperative dual-arm control with multi-sensor-based task control and makes complete task-control capability available to higher-level task-planning computer system via large set of input parameters used to describe desired force and position trajectories followed by manipulator arms. Some concepts discussed in "A Generalized-Compliant-Motion Primitive" (NPO-18134).

Time-varying delays compensation algorithm for powertrain active damping of an electrified vehicle equipped with an axle motor during regenerative braking

NASA Astrophysics Data System (ADS)

Zhang, Junzhi; Li, Yutong; Lv, Chen; Gou, Jinfang; Yuan, Ye

2017-03-01

The flexibility of the electrified powertrain system elicits a negative effect upon the cooperative control performance between regenerative and hydraulic braking and the active damping control performance. Meanwhile, the connections among sensors, controllers, and actuators are realized via network communication, i.e., controller area network (CAN), that introduces time-varying delays and deteriorates the control performances of the closed-loop control systems. As such, the goal of this paper is to develop a control algorithm to cope with all these challenges. To this end, the models of the stochastic network induced time-varying delays, based on a real in-vehicle network topology and on a flexible electrified powertrain, were firstly built. In order to further enhance the control performances of active damping and cooperative control of regenerative and hydraulic braking, the time-varying delays compensation algorithm for the electrified powertrain active damping during regenerative braking was developed based on a predictive scheme. The augmented system is constructed and the H∞ performance is analyzed. Based on this analysis, the control gains are derived by solving a nonlinear minimization problem. The simulations and hardware-in-loop (HIL) tests were carried out to validate the effectiveness of the developed algorithm. The test results show that the active damping and cooperative control performances are enhanced significantly.

Cooperative Solutions in Multi-Person Quadratic Decision Problems: Finite-Horizon and State-Feedback Cost-Cumulant Control Paradigm

DTIC Science & Technology

2007-01-01

CONTRACT NUMBER Problems: Finite -Horizon and State-Feedback Cost-Cumulant Control Paradigm (PREPRINT) 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER...cooperative cost-cumulant control regime for the class of multi-person single-objective decision problems characterized by quadratic random costs and... finite -horizon integral quadratic cost associated with a linear stochastic system . Since this problem formation is parameterized by the number of cost

Biodiesel Performance with Modern Engines. Cooperative Research and Development Final Report, CRADA Number CRD-05-153

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

McCormick, Robert

NREL and the National Biodiesel Board (NBB) will work cooperatively to assess the effects of biodiesel blends on the performance of modern diesel engines and emissions control systems meeting increasingly strict emissions standards. This work will include research to understand the impact of biodiesel blends on the operation and durability of particle filters and NOx control sorbents/catalysts, to quantify the effect on emission control systems performance, and to understand effects on engine component durability. Work to assess the impact of biodiesel blends on real world fleet operations will be performed. Also, research to develop appropriate ASTM standards for biodiesel qualitymore » and stability will be conducted. The cooperative project will involve engine testing and fleet evaluation studies at NREL using biodiesel from a variety of sources. In addition, NREL will work with NBB to set up an Industrial Steering Committee to design the scope for the various projects and to provide technical oversight to these projects. NREL and NBB will cooperatively communicate the study results to as broad an audience as possible.« less

Cooperative polymerization of α-helices induced by macromolecular architecture

NASA Astrophysics Data System (ADS)

Baumgartner, Ryan; Fu, Hailin; Song, Ziyuan; Lin, Yao; Cheng, Jianjun

2017-07-01

Catalysis observed in enzymatic processes and protein polymerizations often relies on the use of supramolecular interactions and the organization of functional elements in order to gain control over the spatial and temporal elements of fundamental cellular processes. Harnessing these cooperative interactions to catalyse reactions in synthetic systems, however, remains challenging due to the difficulty in creating structurally controlled macromolecules. Here, we report a polypeptide-based macromolecule with spatially organized α-helices that can catalyse its own formation. The system consists of a linear polymeric scaffold containing a high density of initiating groups from which polypeptides are grown, forming a brush polymer. The folding of polypeptide side chains into α-helices dramatically enhances the polymerization rate due to cooperative interactions of macrodipoles between neighbouring α-helices. The parameters that affect the rate are elucidated by a two-stage kinetic model using principles from nucleation-controlled protein polymerizations; the key difference being the irreversible nature of this polymerization.

Cooperating or fighting with control noise in the optimal manipulation of quantum dynamics

NASA Astrophysics Data System (ADS)

Shuang, Feng; Rabitz, Herschel

2004-11-01

This paper investigates the impact of control field noise on the optimal manipulation of quantum dynamics. Simulations are performed on several multilevel quantum systems with the goal of population transfer in the presence of significant control noise. The noise enters as run-to-run variations in the control amplitude and phase with the observation being an ensemble average over many runs as is commonly done in the laboratory. A genetic algorithm with an improved elitism operator is used to find the optimal field that either fights against or cooperates with control field noise. When seeking a high control yield it is possible to find fields that successfully fight with the noise while attaining good quality stable results. When seeking modest control yields, fields can be found which are optimally shaped to cooperate with the noise and thereby drive the dynamics more efficiently. In general, noise reduces the coherence of the dynamics, but the results indicate that population transfer objectives can be met by appropriately either fighting or cooperating with noise, even when it is intense.

Cooperating or fighting with control noise in the optimal manipulation of quantum dynamics.

PubMed

Shuang, Feng; Rabitz, Herschel

2004-11-15

This paper investigates the impact of control field noise on the optimal manipulation of quantum dynamics. Simulations are performed on several multilevel quantum systems with the goal of population transfer in the presence of significant control noise. The noise enters as run-to-run variations in the control amplitude and phase with the observation being an ensemble average over many runs as is commonly done in the laboratory. A genetic algorithm with an improved elitism operator is used to find the optimal field that either fights against or cooperates with control field noise. When seeking a high control yield it is possible to find fields that successfully fight with the noise while attaining good quality stable results. When seeking modest control yields, fields can be found which are optimally shaped to cooperate with the noise and thereby drive the dynamics more efficiently. In general, noise reduces the coherence of the dynamics, but the results indicate that population transfer objectives can be met by appropriately either fighting or cooperating with noise, even when it is intense.

Cooperative wireless network control based health and activity monitoring system.

PubMed

Prakash, R; Ganesh, A Balaji; Girish, Siva V

2016-10-01

A real-time cooperative communication based wireless network is presented for monitoring health and activity of an end-user in their environment. The cooperative communication offers better energy consumption and also an opportunity to aware the current location of a user non-intrusively. The link between mobile sensor node and relay node is dynamically established by using Received Signal Strength Indicator (RSSI) and Link Quality Indicator (LQI) based on adaptive relay selection scheme. The study proposes a Linear Acceleration based Transmission Power Decision Control (LA-TPDC) algorithm to further enhance the energy efficiency of cooperative communication. Further, the occurrences of false alarms are carefully prevented by introducing three stages of sequential warning system. The real-time experiments are carried-out by using the nodes, namely mobile sensor node, relay nodes and a destination node which are indigenously developed by using a CC430 microcontroller integrated with an in-built transceiver at 868 MHz. The wireless node performance characteristics, such as energy consumption, Signal-Noise ratio (SNR), Bit Error Rate (BER), Packet Delivery Ratio (PDR) and transmission offset are evaluated for all the participated nodes. The experimental results observed that the proposed linear acceleration based transmission power decision control algorithm almost doubles the battery life time than energy efficient conventional cooperative communication.

Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

NASA Technical Reports Server (NTRS)

Mann, R. C.; Fujimura, K.; Unseren, M. A.

1992-01-01

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace.

Cooperative intelligent robotics in space III; Proceedings of the Meeting, Boston, MA, Nov. 16-18, 1992

NASA Technical Reports Server (NTRS)

Erickson, Jon D. (Editor)

1992-01-01

The present volume on cooperative intelligent robotics in space discusses sensing and perception, Space Station Freedom robotics, cooperative human/intelligent robot teams, and intelligent space robotics. Attention is given to space robotics reasoning and control, ground-based space applications, intelligent space robotics architectures, free-flying orbital space robotics, and cooperative intelligent robotics in space exploration. Topics addressed include proportional proximity sensing for telerobots using coherent lasar radar, ground operation of the mobile servicing system on Space Station Freedom, teleprogramming a cooperative space robotic workcell for space stations, and knowledge-based task planning for the special-purpose dextrous manipulator. Also discussed are dimensions of complexity in learning from interactive instruction, an overview of the dynamic predictive architecture for robotic assistants, recent developments at the Goddard engineering testbed, and parallel fault-tolerant robot control.

Distributed Fault-Tolerant Control of Networked Uncertain Euler-Lagrange Systems Under Actuator Faults.

PubMed

Chen, Gang; Song, Yongduan; Lewis, Frank L

2016-05-03

This paper investigates the distributed fault-tolerant control problem of networked Euler-Lagrange systems with actuator and communication link faults. An adaptive fault-tolerant cooperative control scheme is proposed to achieve the coordinated tracking control of networked uncertain Lagrange systems on a general directed communication topology, which contains a spanning tree with the root node being the active target system. The proposed algorithm is capable of compensating for the actuator bias fault, the partial loss of effectiveness actuation fault, the communication link fault, the model uncertainty, and the external disturbance simultaneously. The control scheme does not use any fault detection and isolation mechanism to detect, separate, and identify the actuator faults online, which largely reduces the online computation and expedites the responsiveness of the controller. To validate the effectiveness of the proposed method, a test-bed of multiple robot-arm cooperative control system is developed for real-time verification. Experiments on the networked robot-arms are conduced and the results confirm the benefits and the effectiveness of the proposed distributed fault-tolerant control algorithms.

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1977-01-01

To accelerate the development of multi-armed, free-flying satellite manipulators, a fixed-base cooperative manipulation facility is being developed. The work performed on multiple arm cooperation on a free-flying robot is summarized. Research is also summarized on global navigation and control of free-flying space robots. The Locomotion Enhancement via Arm Pushoff (LEAP) approach is described and progress to date is presented.

The NEOUCOM Cooperative Cataloging Service: development and review of the first four years.

PubMed Central

Miller, D R

1983-01-01

The Basic Medical Sciences Library of the Northeastern Ohio Universities College of Medicine (NEOUCOM) provided a Cooperative Cataloging Service to fourteen of its affiliated hospitals' libraries since March 1978, using the OCLC system. Analysis of the first four years of service showed that the hospital libraries spent almost $30,000 to catalog more than 18,000 titles. Personnel expenses and other costs eclipsed the savings from a 31.3% duplication rate. Centralized bibliographic control control and the principal by-product of the service, a uniform, machine-related data base, provided the foundation for an on-line integrated library system to serve the consortium. The hospital libraries contributed 44% of the unique titles in this data base, which emphasis the need to share resources and continue cooperation. PMID:6860826

The NEOUCOM Cooperative Cataloging Service: development and review of the first four years.

PubMed

Miller, D R

1983-04-01

The Basic Medical Sciences Library of the Northeastern Ohio Universities College of Medicine (NEOUCOM) provided a Cooperative Cataloging Service to fourteen of its affiliated hospitals' libraries since March 1978, using the OCLC system. Analysis of the first four years of service showed that the hospital libraries spent almost $30,000 to catalog more than 18,000 titles. Personnel expenses and other costs eclipsed the savings from a 31.3% duplication rate. Centralized bibliographic control control and the principal by-product of the service, a uniform, machine-related data base, provided the foundation for an on-line integrated library system to serve the consortium. The hospital libraries contributed 44% of the unique titles in this data base, which emphasis the need to share resources and continue cooperation.

Safety benefits of stability control systems for tractor-semitrailers.

DOT National Transportation Integrated Search

2009-10-01

This study was conducted by the University of Michigan Transportation Research Institute : (UMTRI) under a Cooperative Agreement between NHTSA and Meritor WABCO to examine : the performance of electronic stability control (ESC) systems, and roll stab...

Cooperative and Integrated Vehicle and Intersection Control for Energy Efficiency (CIVIC-E²)

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

Hou, Yunfei; Seliman, Salaheldeen M. S.; Wang, Enshu

Recent advances in connected vehicle technologies enable vehicles and signal controllers to cooperate and improve the traffic management at intersections. This paper explores the opportunity for cooperative and integrated vehicle and intersection control for energy efficiency (CIVIC-E 2) to contribute to a more sustainable transportation system. We propose a two-level approach that jointly optimizes the traffic signal timing and vehicles' approach speed, with the objective being to minimize total energy consumption for all vehicles passing through an isolated intersection. More specifically, at the intersection level, a dynamic programming algorithm is designed to find the optimal signal timing by explicitly consideringmore » the arrival time and energy profile of each vehicle. At the vehicle level, a model predictive control strategy is adopted to ensure that vehicles pass through the intersection in a timely fashion. Our simulation study has shown that the proposed CIVIC-E 2 system can significantly improve intersection performance under various traffic conditions. Compared with conventional fixed-time and actuated signal control strategies, the proposed algorithm can reduce energy consumption and queue length by up to 31% and 95%, respectively.« less

Cooperative and Integrated Vehicle and Intersection Control for Energy Efficiency (CIVIC-E²)

DOE PAGES

Hou, Yunfei; Seliman, Salaheldeen M. S.; Wang, Enshu; ...

2018-02-15

Recent advances in connected vehicle technologies enable vehicles and signal controllers to cooperate and improve the traffic management at intersections. This paper explores the opportunity for cooperative and integrated vehicle and intersection control for energy efficiency (CIVIC-E 2) to contribute to a more sustainable transportation system. We propose a two-level approach that jointly optimizes the traffic signal timing and vehicles' approach speed, with the objective being to minimize total energy consumption for all vehicles passing through an isolated intersection. More specifically, at the intersection level, a dynamic programming algorithm is designed to find the optimal signal timing by explicitly consideringmore » the arrival time and energy profile of each vehicle. At the vehicle level, a model predictive control strategy is adopted to ensure that vehicles pass through the intersection in a timely fashion. Our simulation study has shown that the proposed CIVIC-E 2 system can significantly improve intersection performance under various traffic conditions. Compared with conventional fixed-time and actuated signal control strategies, the proposed algorithm can reduce energy consumption and queue length by up to 31% and 95%, respectively.« less

Development of an evolutionary simulator and an overall control system for intelligent wheelchair

NASA Astrophysics Data System (ADS)

Imai, Makoto; Kawato, Koji; Hamagami, Tomoki; Hirata, Hironori

The goal of this research is to develop an intelligent wheelchair (IWC) system which aids an indoor safe mobility for elderly and disabled people with a new conceptual architecture which realizes autonomy, cooperativeness, and a collaboration behavior. In order to develop the IWC system in real environment, we need design-tools and flexible architecture. In particular, as more significant ones, this paper describes two key techniques which are an evolutionary simulation and an overall control mechanism. The evolutionary simulation technique corrects the error between the virtual environment in a simulator and real one in during the learning of an IWC agent, and coevolves with the agent. The overall control mechanism is implemented with subsumption architecture which is employed in an autonomous robot controller. By using these techniques in both simulations and experiments, we confirm that our IWC system acquires autonomy, cooperativeness, and a collaboration behavior efficiently.

Test and evaluation of vehicle platooning proof-of-concept based on cooperative adaptive cruise control

DOT National Transportation Integrated Search

2017-04-01

This report presents a high-level test and evaluation framework for cooperative driving automation systems that have the potential to significantly improve mobility and enhance traffic flow stability with better safety. It focuses on the test and eva...

Complexity, Robustness, and Multistability in Network Systems with Switching Topologies: A Hierarchical Hybrid Control Approach

DTIC Science & Technology

2015-05-22

sensor networks for managing power levels of wireless networks ; air and ground transportation systems for air traffic control and payload transport and... network systems, large-scale systems, adaptive control, discontinuous systems 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT 18. NUMBER OF...cover a broad spectrum of ap- plications including cooperative control of unmanned air vehicles, autonomous underwater vehicles, distributed sensor

Quasi-model free control for the post-capture operation of a non-cooperative target

NASA Astrophysics Data System (ADS)

She, Yuchen; Sun, Jun; Li, Shuang; Li, Wendan; Song, Ting

2018-06-01

This paper investigates a quasi-model free control (QMFC) approach for the post-capture control of a non-cooperative space object. The innovation of this paper lies in the following three aspects, which correspond to the three challenges presented in the mission scenario. First, an excitation-response mapping search strategy is developed based on the linearization of the system in terms of a set of parameters, which is efficient in handling the combined spacecraft with a high coupling effect on the inertia matrix. Second, a virtual coordinate system is proposed to efficiently compute the center of mass (COM) of the combined system, which improves the COM tracking efficiency for time-varying COM positions. Third, a linear online corrector is built to reduce the control error to further improve the control accuracy, which helps control the tracking mode within the combined system's time-varying inertia matrix. Finally, simulation analyses show that the proposed control framework is able to realize combined spacecraft post-capture control in extremely unfavorable conditions with high control accuracy.

Fuzzy variable impedance control based on stiffness identification for human-robot cooperation

NASA Astrophysics Data System (ADS)

Mao, Dachao; Yang, Wenlong; Du, Zhijiang

2017-06-01

This paper presents a dynamic fuzzy variable impedance control algorithm for human-robot cooperation. In order to estimate the intention of human for co-manipulation, a fuzzy inference system is set up to adjust the impedance parameter. Aiming at regulating the output fuzzy universe based on the human arm’s stiffness, an online stiffness identification method is developed. A drag interaction task is conducted on a 5-DOF robot with variable impedance control. Experimental results demonstrate that the proposed algorithm is superior.

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1988-01-01

The focus of the work is to develop and perform a set of research projects using laboratory models of satellite robots. These devices use air cushion technology to simulate in two dimensions the drag-free, zero-g conditions of space. Five research areas are examined: cooperative manipulation on a fixed base; cooperative manipulation on a free-floating base; global navigation and control of a free-floating robot; an alternative transport mode call Locomotion Enhancement via Arm Push-Off (LEAP), and adaptive control of LEAP.

Cooperative expression of atomic chirality in inorganic nanostructures.

PubMed

Wang, Peng-Peng; Yu, Shang-Jie; Govorov, Alexander O; Ouyang, Min

2017-02-02

Cooperative chirality phenomena extensively exist in biomolecular and organic systems via intra- and inter-molecular interactions, but study of inorganic materials has been lacking. Here we report, experimentally and theoretically, cooperative chirality in colloidal cinnabar mercury sulfide nanocrystals that originates from chirality interplay between the crystallographic lattice and geometric morphology at different length scales. A two-step synthetic scheme is developed to allow control of critical parameters of these two types of handedness, resulting in different chiral interplays expressed as observables through materials engineering. Furthermore, we adopt an electromagnetic model with the finite element method to elucidate cooperative chirality in inorganic systems, showing excellent agreement with experimental results. Our study enables an emerging class of nanostructures with tailored cooperative chirality that is vital for fundamental understanding of nanoscale chirality as well as technology applications based on new chiroptical building blocks.

Cooperative expression of atomic chirality in inorganic nanostructures

PubMed Central

Wang, Peng-peng; Yu, Shang-Jie; Govorov, Alexander O; Ouyang, Min

2017-01-01

Cooperative chirality phenomena extensively exist in biomolecular and organic systems via intra- and inter-molecular interactions, but study of inorganic materials has been lacking. Here we report, experimentally and theoretically, cooperative chirality in colloidal cinnabar mercury sulfide nanocrystals that originates from chirality interplay between the crystallographic lattice and geometric morphology at different length scales. A two-step synthetic scheme is developed to allow control of critical parameters of these two types of handedness, resulting in different chiral interplays expressed as observables through materials engineering. Furthermore, we adopt an electromagnetic model with the finite element method to elucidate cooperative chirality in inorganic systems, showing excellent agreement with experimental results. Our study enables an emerging class of nanostructures with tailored cooperative chirality that is vital for fundamental understanding of nanoscale chirality as well as technology applications based on new chiroptical building blocks. PMID:28148957

Modelling of cooperating robotized systems with the use of object-based approach

NASA Astrophysics Data System (ADS)

Foit, K.; Gwiazda, A.; Banas, W.; Sekala, A.; Hryniewicz, P.

2015-11-01

Today's robotized manufacturing systems are characterized by high efficiency. The emphasis is placed mainly on the simultaneous work of machines. It could manifest in many ways, where the most spectacular one is the cooperation of several robots, during work on the same detail. What's more, recently a dual-arm robots are used that could mimic the manipulative skills of human hands. As a result, it is often hard to deal with the situation, when it is necessary not only to maintain sufficient precision, but also the coordination and proper sequence of movements of individual robots’ arms. The successful completion of this task depends on the individual robot control systems and their respective programmed, but also on the well-functioning communication between robot controllers. A major problem in case of cooperating robots is the possibility of collision between particular links of robots’ kinematic chains. This is not a simple case, because the manufacturers of robotic systems do not disclose the details of the control algorithms, then it is hard to determine such situation. Another problem with cooperation of robots is how to inform the other units about start or completion of part of the task, so that other robots can take further actions. This paper focuses on communication between cooperating robotic units, assuming that every robot is represented by object-based model. This problem requires developing a form of communication protocol that the objects can use for collecting the information about its environment. The approach presented in the paper is not limited to the robots and could be used in a wider range, for example during modelling of the complete workcell or production line.

Evaluation of the intelligent cruise control system. Volume 2, Appendices

DOT National Transportation Integrated Search

1999-10-01

The Intelligent Cruise Control (ICC) system evaluation was sponsored by the National Highway Traffic Safety Administration (NHTSA) and based on an ICC Field Operational Test (FOT) conducted under a cooperative agreement between the NHTSA and the Univ...

TERMTrial--terminology-based documentation systems for cooperative clinical trials.

PubMed

Merzweiler, A; Weber, R; Garde, S; Haux, R; Knaup-Gregori, P

2005-04-01

Within cooperative groups of multi-center clinical trials a standardized documentation is a prerequisite for communication and sharing of data. Standardizing documentation systems means standardizing the underlying terminology. The management and consistent application of terminology systems is a difficult and fault-prone task, which should be supported by appropriate software tools. Today, documentation systems for clinical trials are often implemented as so-called Remote-Data-Entry-Systems (RDE-systems). Although there are many commercial systems, which support the development of RDE-systems there is none offering a comprehensive terminological support. Therefore, we developed the software system TERMTrial which consists of a component for the definition and management of terminology systems for cooperative groups of clinical trials and two components for the terminology-based automatic generation of trial databases and terminology-based interactive design of electronic case report forms (eCRFs). TERMTrial combines the advantages of remote data entry with a comprehensive terminological control.

Consensus-Based Cooperative Control Based on Pollution Sensing and Traffic Information for Urban Traffic Networks

PubMed Central

Artuñedo, Antonio; del Toro, Raúl M.; Haber, Rodolfo E.

2017-01-01

Nowadays many studies are being conducted to develop solutions for improving the performance of urban traffic networks. One of the main challenges is the necessary cooperation among different entities such as vehicles or infrastructure systems and how to exploit the information available through networks of sensors deployed as infrastructures for smart cities. In this work an algorithm for cooperative control of urban subsystems is proposed to provide a solution for mobility problems in cities. The interconnected traffic lights controller (TLC) network adapts traffic lights cycles, based on traffic and air pollution sensory information, in order to improve the performance of urban traffic networks. The presence of air pollution in cities is not only caused by road traffic but there are other pollution sources that contribute to increase or decrease the pollution level. Due to the distributed and heterogeneous nature of the different components involved, a system of systems engineering approach is applied to design a consensus-based control algorithm. The designed control strategy contains a consensus-based component that uses the information shared in the network for reaching a consensus in the state of TLC network components. Discrete event systems specification is applied for modelling and simulation. The proposed solution is assessed by simulation studies with very promising results to deal with simultaneous responses to both pollution levels and traffic flows in urban traffic networks. PMID:28445398

Consensus-Based Cooperative Control Based on Pollution Sensing and Traffic Information for Urban Traffic Networks.

PubMed

Artuñedo, Antonio; Del Toro, Raúl M; Haber, Rodolfo E

2017-04-26

Nowadays many studies are being conducted to develop solutions for improving the performance of urban traffic networks. One of the main challenges is the necessary cooperation among different entities such as vehicles or infrastructure systems and how to exploit the information available through networks of sensors deployed as infrastructures for smart cities. In this work an algorithm for cooperative control of urban subsystems is proposed to provide a solution for mobility problems in cities. The interconnected traffic lights controller ( TLC ) network adapts traffic lights cycles, based on traffic and air pollution sensory information, in order to improve the performance of urban traffic networks. The presence of air pollution in cities is not only caused by road traffic but there are other pollution sources that contribute to increase or decrease the pollution level. Due to the distributed and heterogeneous nature of the different components involved, a system of systems engineering approach is applied to design a consensus-based control algorithm. The designed control strategy contains a consensus-based component that uses the information shared in the network for reaching a consensus in the state of TLC network components. Discrete event systems specification is applied for modelling and simulation. The proposed solution is assessed by simulation studies with very promising results to deal with simultaneous responses to both pollution levels and traffic flows in urban traffic networks.

Cooperative vocal control in marmoset monkeys via vocal feedback

PubMed Central

Choi, Jung Yoon; Takahashi, Daniel Y.

2015-01-01

Humans adjust speech amplitude as a function of distance from a listener; we do so in a manner that would compensate for such distance. This ability is presumed to be the product of high-level sociocognitive skills. Nonhuman primates are thought to lack such socially related flexibility in vocal production. Using predictions from a simple arousal-based model whereby vocal feedback from a conspecific modulates the drive to produce a vocalization, we tested whether another primate exhibits this type of cooperative vocal control. We conducted a playback experiment with marmoset monkeys and simulated “far-away” and “nearby” conspecifics using contact calls that differed in sound intensity. We found that marmoset monkeys increased the amplitude of their contact calls and produced such calls with shorter response latencies toward more distant conspecifics. The same was not true in response to changing levels of background noise. To account for how simulated conspecific distance can change both the amplitude and timing of vocal responses, we developed a model that incorporates dynamic interactions between the auditory system and limbic “drive” systems. Overall, our data show that, like humans, marmoset monkeys cooperatively control the acoustics of their vocalizations according to changes in listener distance, increasing the likelihood that a conspecific will hear their call. However, we propose that such cooperative vocal control is a system property that does not necessitate any particularly advanced sociocognitive skill. At least in marmosets, this vocal control can be parsimoniously explained by the regulation of arousal states across two interacting individuals via vocal feedback. PMID:25925323

Man-Robot Symbiosis: A Framework For Cooperative Intelligence And Control

NASA Astrophysics Data System (ADS)

Parker, Lynne E.; Pin, Francois G.

1988-10-01

The man-robot symbiosis concept has the fundamental objective of bridging the gap between fully human-controlled and fully autonomous systems to achieve true man-robot cooperative control and intelligence. Such a system would allow improved speed, accuracy, and efficiency of task execution, while retaining the man in the loop for innovative reasoning and decision-making. The symbiont would have capabilities for supervised and unsupervised learning, allowing an increase of expertise in a wide task domain. This paper describes a robotic system architecture facilitating the symbiotic integration of teleoperative and automated modes of task execution. The architecture reflects a unique blend of many disciplines of artificial intelligence into a working system, including job or mission planning, dynamic task allocation, man-robot communication, automated monitoring, and machine learning. These disciplines are embodied in five major components of the symbiotic framework: the Job Planner, the Dynamic Task Allocator, the Presenter/Interpreter, the Automated Monitor, and the Learning System.

An effective intervention algorithm for promoting cooperation in the prisoner's dilemma game with multiple stable states

NASA Astrophysics Data System (ADS)

Li, Y. S.; Xu, C.; Hui, P. M.

2018-07-01

Multiple stable states, hysteresis, sensitivity to initial distributions, and a control algorithm for promoting cooperation are studied in an evolutionary prisoner's dilemma with agents connected into a regular random network. A system could evolve into states of different cooperative frequencies xc in different runs, even starting with the same initial cooperative frequency xc(in) and payoff parameters. For a large reward R, some values of xc(in) either take the system to a group of low cooperative frequency (LCF) states or to a few high cooperative frequency (HCF) states. These states differ by their network structures, with cooperative players connected into ring-like structure in LCF states and compact clusters in HCF states. Hysteresis in xc is observed when R is swept down and up, when the final state of the previous R is used as the initial state of the next R. The analysis led us to propose a closed pack cluster algorithm that gives HCF states effectively. The algorithm intervenes the system at some point in time by selectively switching some non-cooperative D-agents into cooperative C-agents at the peripheral of an existing cluster of C-agents. It ensures protection of a small C-cluster from which more cooperation can be induced. Practically, a governing body may first allow a society to evolve freely and then derive suitable policy to promote selected pockets of good practices for attaining a higher level of common good.

Field testing of eco-speed control using V2I communication.

DOT National Transportation Integrated Search

2016-04-15

This research focused on the development of an Eco-Cooperative Adaptive Cruise Control (EcoCACC) : System and addressed the implementation issues associated with applying it in the field. : The Eco-CACC system computes and recommends a fuel-efficient...

Chaos and crises in a model for cooperative hunting: a symbolic dynamics approach.

PubMed

Duarte, Jorge; Januário, Cristina; Martins, Nuno; Sardanyés, Josep

2009-12-01

In this work we investigate the population dynamics of cooperative hunting extending the McCann and Yodzis model for a three-species food chain system with a predator, a prey, and a resource species. The new model considers that a given fraction sigma of predators cooperates in prey's hunting, while the rest of the population 1-sigma hunts without cooperation. We use the theory of symbolic dynamics to study the topological entropy and the parameter space ordering of the kneading sequences associated with one-dimensional maps that reproduce significant aspects of the dynamics of the species under several degrees of cooperative hunting. Our model also allows us to investigate the so-called deterministic extinction via chaotic crisis and transient chaos in the framework of cooperative hunting. The symbolic sequences allow us to identify a critical boundary in the parameter spaces (K,C(0)) and (K,sigma) which separates two scenarios: (i) all-species coexistence and (ii) predator's extinction via chaotic crisis. We show that the crisis value of the carrying capacity K(c) decreases at increasing sigma, indicating that predator's populations with high degree of cooperative hunting are more sensitive to the chaotic crises. We also show that the control method of Dhamala and Lai [Phys. Rev. E 59, 1646 (1999)] can sustain the chaotic behavior after the crisis for systems with cooperative hunting. We finally analyze and quantify the inner structure of the target regions obtained with this control method for wider parameter values beyond the crisis, showing a power law dependence of the extinction transients on such critical parameters.

When do people cooperate? The neuroeconomics of prosocial decision making.

PubMed

Declerck, Carolyn H; Boone, Christophe; Emonds, Griet

2013-02-01

Understanding the roots of prosocial behavior is an interdisciplinary research endeavor that has generated an abundance of empirical data across many disciplines. This review integrates research findings from different fields into a novel theoretical framework that can account for when prosocial behavior is likely to occur. Specifically, we propose that the motivation to cooperate (or not), generated by the reward system in the brain (extending from the striatum to the ventromedial prefrontal cortex), is modulated by two neural networks: a cognitive control system (centered on the lateral prefrontal cortex) that processes extrinsic cooperative incentives, and/or a social cognition system (including the temporo-parietal junction, the medial prefrontal cortex and the amygdala) that processes trust and/or threat signals. The independent modulatory influence of incentives and trust on the decision to cooperate is substantiated by a growing body of neuroimaging data and reconciles the apparent paradox between economic versus social rationality in the literature, suggesting that we are in fact wired for both. Furthermore, the theoretical framework can account for substantial behavioral heterogeneity in prosocial behavior. Based on the existing data, we postulate that self-regarding individuals (who are more likely to adopt an economically rational strategy) are more responsive to extrinsic cooperative incentives and therefore rely relatively more on cognitive control to make (un)cooperative decisions, whereas other-regarding individuals (who are more likely to adopt a socially rational strategy) are more sensitive to trust signals to avoid betrayal and recruit relatively more brain activity in the social cognition system. Several additional hypotheses with respect to the neural roots of social preferences are derived from the model and suggested for future research. Copyright © 2012 Elsevier Inc. All rights reserved.

Distributed Control for Networked Systems with Non-Traditional Communication Constraints: Lossy Links, Power and Usage Limitations, and Induced Cooperation

DTIC Science & Technology

2012-07-12

fields ranging from real- time alarm systems and vehicle systems to aeronautical guidance and formation control , the need for establishing a theoretical...noisy channels In the publication [7], we have considered the problem of remotely controlling a continuous- time lin- ear time -invariant system driven by...the controller ) and the reverse channel (connecting the controller to the plant). For stability of the closed-loop system , we look for the existence of

LQR-Based Optimal Distributed Cooperative Design for Linear Discrete-Time Multiagent Systems.

PubMed

Zhang, Huaguang; Feng, Tao; Liang, Hongjing; Luo, Yanhong

2017-03-01

In this paper, a novel linear quadratic regulator (LQR)-based optimal distributed cooperative design method is developed for synchronization control of general linear discrete-time multiagent systems on a fixed, directed graph. Sufficient conditions are derived for synchronization, which restrict the graph eigenvalues into a bounded circular region in the complex plane. The synchronizing speed issue is also considered, and it turns out that the synchronizing region reduces as the synchronizing speed becomes faster. To obtain more desirable synchronizing capacity, the weighting matrices are selected by sufficiently utilizing the guaranteed gain margin of the optimal regulators. Based on the developed LQR-based cooperative design framework, an approximate dynamic programming technique is successfully introduced to overcome the (partially or completely) model-free cooperative design for linear multiagent systems. Finally, two numerical examples are given to illustrate the effectiveness of the proposed design methods.

Identifying a cooperative control mechanism between an applied field and the environment of open quantum systems

NASA Astrophysics Data System (ADS)

Gao, Fang; Rey-de-Castro, Roberto; Wang, Yaoxiong; Rabitz, Herschel; Shuang, Feng

2016-05-01

Many systems under control with an applied field also interact with the surrounding environment. Understanding the control mechanisms has remained a challenge, especially the role played by the interaction between the field and the environment. In order to address this need, here we expand the scope of the Hamiltonian-encoding and observable-decoding (HE-OD) technique. HE-OD was originally introduced as a theoretical and experimental tool for revealing the mechanism induced by control fields in closed quantum systems. The results of open-system HE-OD analysis presented here provide quantitative mechanistic insights into the roles played by a Markovian environment. Two model open quantum systems are considered for illustration. In these systems, transitions are induced by either an applied field linked to a dipole operator or Lindblad operators coupled to the system. For modest control yields, the HE-OD results clearly show distinct cooperation between the dynamics induced by the optimal field and the environment. Although the HE-OD methodology introduced here is considered in simulations, it has an analogous direct experimental formulation, which we suggest may be applied to open systems in the laboratory to reveal mechanistic insights.

YF-12 cooperative airframe/propulsion control system program, volume 1

NASA Technical Reports Server (NTRS)

Anderson, D. L.; Connolly, G. F.; Mauro, F. M.; Reukauf, P. J.; Marks, R. (Editor)

1980-01-01

Several YF-12C airplane analog control systems were converted to a digital system. Included were the air data computer, autopilot, inlet control system, and autothrottle systems. This conversion was performed to allow assessment of digital technology applications to supersonic cruise aircraft. The digital system was composed of a digital computer and specialized interface unit. A large scale mathematical simulation of the airplane was used for integration testing and software checkout.

Design of a SIP device cooperation system on OSGi service platforms

NASA Astrophysics Data System (ADS)

Takayama, Youji; Koita, Takahiro; Sato, Kenya

2007-12-01

Home networks feature such various technologies as protocols, specifications, and middleware, including HTTP, UPnP, and Jini. A service platform is required to handle such technologies to enable them to cooperate with different devices. The OSGi service platform, which meets the requirements based on service-oriented architecture, is designed and standardized by OSGi Alliance and consists of two parts: one OSGi Framework and bundles. On the OSGi service platform, APIs are defined as services that can handle these technologies and are implemented in the bundle. By using the OSGi Framework with bundles, various technologies can cooperate with each other. On the other hand, in IP networks, Session Initiation Protocol (SIP) is often used in device cooperation services to resolve an IP address, control a session between two or more devices, and easily exchange the statuses of devices. However, since many existing devices do not correspond to SIP, it cannot be used for device cooperation services. A device that does not correspond to SIP is called an unSIP device. This paper proposes and implements a prototype system that enables unSIP devices to correspond to SIP. For unSIP devices, the proposed system provides device cooperation services with SIP.

Developing the Conditions for Co-Op Students' Organizational Commitment through Cooperative Education

ERIC Educational Resources Information Center

Pennaforte, Antoine; Pretti, T. Judene

2015-01-01

Based in a French context, this research investigates the link between the French cooperative education (co-op) system and students' organizational commitment. Following a quasi-experimental design with a control group, in a longitudinal approach, the study focuses on under-baccalaureate, undergraduate and graduate students. Results show that in…

Cooperative Adaptive Output Regulation for Second-Order Nonlinear Multiagent Systems With Jointly Connected Switching Networks.

PubMed

Liu, Wei; Huang, Jie

2018-03-01

This paper studies the cooperative global robust output regulation problem for a class of heterogeneous second-order nonlinear uncertain multiagent systems with jointly connected switching networks. The main contributions consist of the following three aspects. First, we generalize the result of the adaptive distributed observer from undirected jointly connected switching networks to directed jointly connected switching networks. Second, by performing a new coordinate and input transformation, we convert our problem into the cooperative global robust stabilization problem of a more complex augmented system via the distributed internal model principle. Third, we solve the stabilization problem by a distributed state feedback control law. Our result is illustrated by the leader-following consensus problem for a group of Van der Pol oscillators.

Grounding explanations in evolving, diagnostic situations

NASA Technical Reports Server (NTRS)

Johannesen, Leila J.; Cook, Richard I.; Woods, David D.

1994-01-01

Certain fields of practice involve the management and control of complex dynamic systems. These include flight deck operations in commercial aviation, control of space systems, anesthetic management during surgery or chemical or nuclear process control. Fault diagnosis of these dynamic systems generally must occur with the monitored process on-line and in conjunction with maintaining system integrity.This research seeks to understand in more detail what it means for an intelligent system to function cooperatively, or as a 'team player' in complex, dynamic environments. The approach taken was to study human practitioners engaged in the management of a complex, dynamic process: anesthesiologists during neurosurgical operations. The investigation focused on understanding how team members cooperate in management and fault diagnosis and comparing this interaction to the situation with an Artificial Intelligence(AI) system that provides diagnoses and explanations. Of particular concern was to study the ways in which practitioners support one another in keeping aware of relevant information concerning the state of the monitored process and of the problem solving process.

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

NASA Astrophysics Data System (ADS)

Dong, Gangqi; Zhu, Z. H.

2016-04-01

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

Intelligent Propulsion System Foundation Technology: Summary of Research

NASA Technical Reports Server (NTRS)

2008-01-01

The purpose of this cooperative agreement was to develop a foundation of intelligent propulsion technologies for NASA and industry that will have an impact on safety, noise, emissions, and cost. These intelligent engine technologies included sensors, electronics, communications, control logic, actuators, smart materials and structures, and system studies. Furthermore, this cooperative agreement helped prepare future graduates to develop the revolutionary intelligent propulsion technologies that will be needed to ensure pre-eminence of the U.S. aerospace industry. This Propulsion 21 - Phase 11 program consisted of four primary research areas and associated work elements at Ohio universities: 1.0 Turbine Engine Prognostics, 2.0 Active Controls for Emissions and Noise Reduction, 3.0 Active Structural Controls and Performance, and 4.0 System Studies and Integration. Phase l, which was conducted during the period August 1, 2003, through September 30, 2004, has been reported separately.

Using Large-Scale Cooperative Control to Manage Operational Uncertainties for Aquifer Thermal Energy Storage

NASA Astrophysics Data System (ADS)

Jaxa-Rozen, M.; Rostampour, V.; Kwakkel, J. H.; Bloemendal, M.

2017-12-01

Seasonal Aquifer Thermal Energy Storage (ATES) technology can help reduce the demand of energy for heating and cooling in buildings, and has become a popular option for larger buildings in northern Europe. However, the larger-scale deployment of this technology has evidenced some issues of concern for policymakers; in particular, recent research shows that operational uncertainties contribute to inefficient outcomes under current planning methods for ATES. For instance, systems in the Netherlands typically use less than half of their permitted pumping volume on an annual basis. This overcapacity gives users more flexibility to operate their systems in response to the uncertainties which drive building energy demand; these include short-term operational factors such as weather and occupancy, and longer-term, deeply uncertain factors such as changes in climate and aquifer conditions over the lifespan of the buildings. However, as allocated subsurface volume remains unused, this situation limits the adoption of the technology in dense areas. Previous work using coupled agent-based/geohydrological simulation has shown that the cooperative operation of neighbouring ATES systems can support more efficient spatial planning, by dynamically managing thermal interactions in response to uncertain operating conditions. An idealized case study with centralized ATES control thus showed significant improvements in the energy savings which could obtained per unit of allocated subsurface volume, without degrading the recovery performance of systems. This work will extend this cooperative approach for a realistic case study of ATES planning in the city of Utrecht, in the Netherlands. This case was previously simulated under different scenarios for individual ATES operation. The poster will compare these results with a cooperative case under which neighbouring systems can coordinate their operation to manage interactions. Furthermore, a cooperative game-theoretical framework will be used to analyze the theoretical conditions under which cooperation between ATES operators could be assumed to be stable and beneficial, under a range of scenarios for climate trends and ATES adoption pathways.

Design and Field Experimentation of a Cooperative ITS Architecture Based on Distributed RSUs.

PubMed

Moreno, Asier; Osaba, Eneko; Onieva, Enrique; Perallos, Asier; Iovino, Giovanni; Fernández, Pablo

2016-07-22

This paper describes a new cooperative Intelligent Transportation System architecture that aims to enable collaborative sensing services. The main goal of this architecture is to improve transportation efficiency and performance. The system, which has been proven within the participation in the ICSI (Intelligent Cooperative Sensing for Improved traffic efficiency) European project, encompasses the entire process of capture and management of available road data. For this purpose, it applies a combination of cooperative services and methods for data sensing, acquisition, processing and communication amongst road users, vehicles, infrastructures and related stakeholders. Additionally, the advantages of using the proposed system are exposed. The most important of these advantages is the use of a distributed architecture, moving the system intelligence from the control centre to the peripheral devices. The global architecture of the system is presented, as well as the software design and the interaction between its main components. Finally, functional and operational results observed through the experimentation are described. This experimentation has been carried out in two real scenarios, in Lisbon (Portugal) and Pisa (Italy).

Design and Field Experimentation of a Cooperative ITS Architecture Based on Distributed RSUs †

PubMed Central

Moreno, Asier; Osaba, Eneko; Onieva, Enrique; Perallos, Asier; Iovino, Giovanni; Fernández, Pablo

2016-01-01

This paper describes a new cooperative Intelligent Transportation System architecture that aims to enable collaborative sensing services. The main goal of this architecture is to improve transportation efficiency and performance. The system, which has been proven within the participation in the ICSI (Intelligent Cooperative Sensing for Improved traffic efficiency) European project, encompasses the entire process of capture and management of available road data. For this purpose, it applies a combination of cooperative services and methods for data sensing, acquisition, processing and communication amongst road users, vehicles, infrastructures and related stakeholders. Additionally, the advantages of using the proposed system are exposed. The most important of these advantages is the use of a distributed architecture, moving the system intelligence from the control centre to the peripheral devices. The global architecture of the system is presented, as well as the software design and the interaction between its main components. Finally, functional and operational results observed through the experimentation are described. This experimentation has been carried out in two real scenarios, in Lisbon (Portugal) and Pisa (Italy). PMID:27455277

Genetic information transfer promotes cooperation in bacteria

PubMed Central

Dimitriu, Tatiana; Lotton, Chantal; Bénard-Capelle, Julien; Misevic, Dusan; Brown, Sam P.; Lindner, Ariel B.; Taddei, François

2014-01-01

Many bacterial species are social, producing costly secreted “public good” molecules that enhance the growth of neighboring cells. The genes coding for these cooperative traits are often propagated via mobile genetic elements and can be virulence factors from a biomedical perspective. Here, we present an experimental framework that links genetic information exchange and the selection of cooperative traits. Using simulations and experiments based on a synthetic bacterial system to control public good secretion and plasmid conjugation, we demonstrate that horizontal gene transfer can favor cooperation. In a well-mixed environment, horizontal transfer brings a direct infectious advantage to any gene, regardless of its cooperation properties. However, in a structured population transfer selects specifically for cooperation by increasing the assortment among cooperative alleles. Conjugation allows cooperative alleles to overcome rarity thresholds and invade bacterial populations structured purely by stochastic dilution effects. Our results provide an explanation for the prevalence of cooperative genes on mobile elements, and suggest a previously unidentified benefit of horizontal gene transfer for bacteria. PMID:25024219

MARBLE: A system for executing expert systems in parallel

NASA Technical Reports Server (NTRS)

Myers, Leonard; Johnson, Coe; Johnson, Dean

1990-01-01

This paper details the MARBLE 2.0 system which provides a parallel environment for cooperating expert systems. The work has been done in conjunction with the development of an intelligent computer-aided design system, ICADS, by the CAD Research Unit of the Design Institute at California Polytechnic State University. MARBLE (Multiple Accessed Rete Blackboard Linked Experts) is a system of C Language Production Systems (CLIPS) expert system tool. A copied blackboard is used for communication between the shells to establish an architecture which supports cooperating expert systems that execute in parallel. The design of MARBLE is simple, but it provides support for a rich variety of configurations, while making it relatively easy to demonstrate the correctness of its parallel execution features. In its most elementary configuration, individual CLIPS expert systems execute on their own processors and communicate with each other through a modified blackboard. Control of the system as a whole, and specifically of writing to the blackboard is provided by one of the CLIPS expert systems, an expert control system.

The application of quadratic optimal cooperative control synthesis to a CH-47 helicopter

NASA Technical Reports Server (NTRS)

Townsend, Barbara K.

1987-01-01

A control-system design method, quadratic optimal cooperative control synthesis (CCS), is applied to the design of a stability and control augmentation system (SCAS). The CCS design method is different from other design methods in that it does not require detailed a priori design criteria, but instead relies on an explicit optimal pilot-model to create desired performance. The design method, which was developed previously for fixed-wing aircraft, is simplified and modified for application to a Boeing CH-47 helicopter. Two SCAS designs are developed using the CCS design methodology. The resulting CCS designs are then compared with designs obtained using classical/frequency-domain methods and linear quadratic regulator (LQR) theory in a piloted fixed-base simulation. Results indicate that the CCS method, with slight modifications, can be used to produce controller designs which compare favorably with the frequency-domain approach.

The application of quadratic optimal cooperative control synthesis to a CH-47 helicopter

NASA Technical Reports Server (NTRS)

Townsend, Barbara K.

1986-01-01

A control-system design method, Quadratic Optimal Cooperative Control Synthesis (CCS), is applied to the design of a Stability and Control Augmentation Systems (SCAS). The CCS design method is different from other design methods in that it does not require detailed a priori design criteria, but instead relies on an explicit optimal pilot-model to create desired performance. The design model, which was developed previously for fixed-wing aircraft, is simplified and modified for application to a Boeing Vertol CH-47 helicopter. Two SCAS designs are developed using the CCS design methodology. The resulting CCS designs are then compared with designs obtained using classical/frequency-domain methods and Linear Quadratic Regulator (LQR) theory in a piloted fixed-base simulation. Results indicate that the CCS method, with slight modifications, can be used to produce controller designs which compare favorably with the frequency-domain approach.

Simulation of cooperating robot manipulators on a mobile platform

NASA Technical Reports Server (NTRS)

Murphy, Stephen H.; Wen, John Ting-Yung; Saridis, George N.

1991-01-01

The dynamic equations of motion are presented for two or more cooperating manipulators on a freely moving mobile platform. The system of cooperating robot manipulators forms a closed kinematic chain where the force of interaction must be included in the formulation of robot and platform dynamics. The formulation includes the full dynamic interactions from arms to platform and arm tip to arm tip, and the possible translation and rotation of the platform. The equations of motion are shown to be identical in structure to the fixed-platform cooperative manipulator dynamics. The number of DOFs of the system is sufficiently large to make recursive dynamic calculation methods potentially more efficient than closed-form solutions. A complete simulation with two 6-DOF manipulators of a free-floating platform is presented along a with a multiple-arm controller to position the common load.

A Framework for Applying Asynchronous Transfer Mode (ATM) Technology to Command, Control and Communications Systems

DTIC Science & Technology

1994-06-01

available they can be implemented in ATM LANs by using different reserved signaling channels ( Biagioni , Cooper, and Sansom, 1993, p. 35). An argument...conference, San Francisco, California, 12-14 April 1994. Biagioni , E., Cooper, E. and Sansom, R., "Designing a Practical ATM LAN", IEEE Network, v. 7, March

Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle.

PubMed

Peng, Jiankun; He, Hongwen; Liu, Wei; Guo, Hongqiang

2015-01-01

This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking safety in emergency braking condition; the bottom layer is used to maximize the regenerative braking energy recovery efficiency with a reallocated braking torque strategy; the reallocated braking torque strategy can recovery braking energy as much as possible in the premise of meeting battery charging power. The simulation results show that the proposed hierarchical control strategy is reasonable and can adapt to different typical road surfaces and load cases; the vehicle braking stability and safety can be guaranteed; furthermore, the regenerative braking energy recovery efficiency can be improved.

Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle

PubMed Central

Peng, Jiankun; He, Hongwen; Guo, Hongqiang

2015-01-01

This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking safety in emergency braking condition; the bottom layer is used to maximize the regenerative braking energy recovery efficiency with a reallocated braking torque strategy; the reallocated braking torque strategy can recovery braking energy as much as possible in the premise of meeting battery charging power. The simulation results show that the proposed hierarchical control strategy is reasonable and can adapt to different typical road surfaces and load cases; the vehicle braking stability and safety can be guaranteed; furthermore, the regenerative braking energy recovery efficiency can be improved. PMID:26236772

Cooperative particle motion in complex (dusty) plasmas

NASA Astrophysics Data System (ADS)

Zhdanov, Sergey; Morfill, Gregor

2014-05-01

Strongly coupled complex (dusty) plasmas give us a unique opportunity to go beyond the limits of continuous media and study various generic processes occurring in liquids or solids at the kinetic level. A particularly interesting and challenging topic is to study dynamic cooperativity at local and intermediate scales. As an important element of self-organization, cooperative particle motion is present in many physical, astrophysical and biological systems. As a rule, cooperative dynamics, bringing to life 'abnormal' effects like enhanced diffusion, self-dragging, or self-propelling of particles, hold aspects of 'strange' kinetics. The synergy effects are also important. Such kind of cooperative behavior was evidenced for string-like formations of colloidal rods, dynamics of mono- and di-vacancies in 2d colloidal crystals. Externally manipulated 'dust molecules' and self-assembled strings in driven 3d particle clusters were other noticeable examples. There is a certain advantage to experiment with complex plasmas merely because these systems are easy to manipulate in a controllable way. We report on the first direct observation of microparticle cooperative movements occurring under natural conditions in a 2d complex plasma.

DIAMS revisited: Taming the variety of knowledge in fault diagnosis expert systems

NASA Technical Reports Server (NTRS)

Haziza, M.; Ayache, S.; Brenot, J.-M.; Cayrac, D.; Vo, D.-P.

1994-01-01

The DIAMS program, initiated in 1986, led to the development of a prototype expert system, DIAMS-1 dedicated to the Telecom 1 Attitude and Orbit Control System, and to a near-operational system, DIAMS-2, covering a whole satellite (the Telecom 2 platform and its interfaces with the payload), which was installed in the Satellite Control Center in 1993. The refinement of the knowledge representation and reasoning is now being studied, focusing on the introduction of appropriate handling of incompleteness, uncertainty and time, and keeping in mind operational constraints. For the latest generation of the tool, DIAMS-3, a new architecture has been proposed, that enables the cooperative exploitation of various models and knowledge representations. On the same baseline, new solutions enabling higher integration of diagnostic systems in the operational environment and cooperation with other knowledge intensive systems such as data analysis, planning or procedure management tools have been introduced.

Propulsion system/flight control integration for supersonic aircraft

NASA Technical Reports Server (NTRS)

Reukauf, P. J.; Burcham, F. W., Jr.

1976-01-01

Digital integrated control systems are studied. Such systems allow minimization of undesirable interactions while maximizing performance at all flight conditions. One such program is the YF-12 cooperative control program. The existing analog air data computer, autothrottle, autopilot, and inlet control systems are converted to digital systems by using a general purpose airborne computer and interface unit. Existing control laws are programed and tested in flight. Integrated control laws, derived using accurate mathematical models of the airplane and propulsion system in conjunction with modern control techniques, are tested in flight. Analysis indicates that an integrated autothrottle autopilot gives good flight path control and that observers are used to replace failed sensors.

Discovery of a metalloenzyme-like cooperative catalytic system of metal nanoclusters and catechol derivatives for the aerobic oxidation of amines.

PubMed

Yuan, Hao; Yoo, Woo-Jin; Miyamura, Hiroyuki; Kobayashi, Shū

2012-08-29

We have discovered a new class of cooperative catalytic system, consisting of heterogeneous polymer-immobilized bimetallic Pt/Ir alloyed nanoclusters (NCs) and 4-tert-butylcatechol, for the aerobic oxidation of amines to imines under ambient conditions. After optimization, the desired imines were obtained in good to excellent yields with broad substrate scope. The reaction rate was determined to be first-order with respect to the substrate and catechol and zero-order for the alloyed Pt/Ir NC catalyst. Control studies revealed that both the heterogeneous NC catalyst and 4-tert-butylcatechol are essential and act cooperatively to facilitate the aerobic oxidation under mild conditions.

Distributed cooperative control of AC microgrids

NASA Astrophysics Data System (ADS)

Bidram, Ali

In this dissertation, the comprehensive secondary control of electric power microgrids is of concern. Microgrid technical challenges are mainly realized through the hierarchical control structure, including primary, secondary, and tertiary control levels. Primary control level is locally implemented at each distributed generator (DG), while the secondary and tertiary control levels are conventionally implemented through a centralized control structure. The centralized structure requires a central controller which increases the reliability concerns by posing the single point of failure. In this dissertation, the distributed control structure using the distributed cooperative control of multi-agent systems is exploited to increase the secondary control reliability. The secondary control objectives are microgrid voltage and frequency, and distributed generators (DGs) active and reactive powers. Fully distributed control protocols are implemented through distributed communication networks. In the distributed control structure, each DG only requires its own information and the information of its neighbors on the communication network. The distributed structure obviates the requirements for a central controller and complex communication network which, in turn, improves the system reliability. Since the DG dynamics are nonlinear and non-identical, input-output feedback linearization is used to transform the nonlinear dynamics of DGs to linear dynamics. Proposed control frameworks cover the control of microgrids containing inverter-based DGs. Typical microgrid test systems are used to verify the effectiveness of the proposed control protocols.

Optimization and Control of Cyber-Physical Vehicle Systems

PubMed Central

Bradley, Justin M.; Atkins, Ella M.

2015-01-01

A cyber-physical system (CPS) is composed of tightly-integrated computation, communication and physical elements. Medical devices, buildings, mobile devices, robots, transportation and energy systems can benefit from CPS co-design and optimization techniques. Cyber-physical vehicle systems (CPVSs) are rapidly advancing due to progress in real-time computing, control and artificial intelligence. Multidisciplinary or multi-objective design optimization maximizes CPS efficiency, capability and safety, while online regulation enables the vehicle to be responsive to disturbances, modeling errors and uncertainties. CPVS optimization occurs at design-time and at run-time. This paper surveys the run-time cooperative optimization or co-optimization of cyber and physical systems, which have historically been considered separately. A run-time CPVS is also cooperatively regulated or co-regulated when cyber and physical resources are utilized in a manner that is responsive to both cyber and physical system requirements. This paper surveys research that considers both cyber and physical resources in co-optimization and co-regulation schemes with applications to mobile robotic and vehicle systems. Time-varying sampling patterns, sensor scheduling, anytime control, feedback scheduling, task and motion planning and resource sharing are examined. PMID:26378541

Optimization and Control of Cyber-Physical Vehicle Systems.

PubMed

Bradley, Justin M; Atkins, Ella M

2015-09-11

A cyber-physical system (CPS) is composed of tightly-integrated computation, communication and physical elements. Medical devices, buildings, mobile devices, robots, transportation and energy systems can benefit from CPS co-design and optimization techniques. Cyber-physical vehicle systems (CPVSs) are rapidly advancing due to progress in real-time computing, control and artificial intelligence. Multidisciplinary or multi-objective design optimization maximizes CPS efficiency, capability and safety, while online regulation enables the vehicle to be responsive to disturbances, modeling errors and uncertainties. CPVS optimization occurs at design-time and at run-time. This paper surveys the run-time cooperative optimization or co-optimization of cyber and physical systems, which have historically been considered separately. A run-time CPVS is also cooperatively regulated or co-regulated when cyber and physical resources are utilized in a manner that is responsive to both cyber and physical system requirements. This paper surveys research that considers both cyber and physical resources in co-optimization and co-regulation schemes with applications to mobile robotic and vehicle systems. Time-varying sampling patterns, sensor scheduling, anytime control, feedback scheduling, task and motion planning and resource sharing are examined.

A distributed predictive control approach for periodic flow-based networks: application to drinking water systems

NASA Astrophysics Data System (ADS)

Grosso, Juan M.; Ocampo-Martinez, Carlos; Puig, Vicenç

2017-10-01

This paper proposes a distributed model predictive control approach designed to work in a cooperative manner for controlling flow-based networks showing periodic behaviours. Under this distributed approach, local controllers cooperate in order to enhance the performance of the whole flow network avoiding the use of a coordination layer. Alternatively, controllers use both the monolithic model of the network and the given global cost function to optimise the control inputs of the local controllers but taking into account the effect of their decisions over the remainder subsystems conforming the entire network. In this sense, a global (all-to-all) communication strategy is considered. Although the Pareto optimality cannot be reached due to the existence of non-sparse coupling constraints, the asymptotic convergence to a Nash equilibrium is guaranteed. The resultant strategy is tested and its effectiveness is shown when applied to a large-scale complex flow-based network: the Barcelona drinking water supply system.

Delay-based signal shapers and acfa 2020 blended wing body flight control system

NASA Astrophysics Data System (ADS)

Kucera, V.; Hromčík, M.

2013-12-01

The purpose of this paper is twofold. First: results related to application of signal shapers, imposed on pilot's commands, in cooperation with feedback flight control system (FCS) are reported for the case of ACFA2020 (Active Control for Flexible 2020 Aircraft) blended-wingbody (BWB) design. The results suggest that signal shapers can cooperate nicely both with FCS focused on the rigid-body dynamics only, as well as with an implemented and properly working active damping system. In both cases, the amount of vibrations due to pilot's inputs (manoeuvres) can be substantially reduced. Second: combination of signal shapers and rate-limiters is discussed in detail. Rate-limiters, representing finite achievable rates of servos for control surfaces, deteriorate considerably performance of the delay-based shapers. Configuration proposes only open-loop response of the free aircraft (without controller) for shaped reference respect to nonlinearities at action surface. Standard versions of the shapers cannot be therefore directly applied, especially for higher control surfaces deflections. Instead, two efficient alternatives can be used, suggested in the paper, that take the rate limitations into account at the design stage already.

Differential Flatness and Cooperative Tracking in the Lorenz System

NASA Technical Reports Server (NTRS)

Crespo, Luis G.

2002-01-01

In this paper the control of the Lorenz system for both stabilization and tracking problems is studied via feedback linearization and differential flatness. By using the Rayleigh number as the control, only variable physically tunable, a barrier in the controllability of the system is incidentally imposed. This is reflected in the appearance of a singularity in the state transformation. Composite controllers that overcome this difficulty are designed and evaluated. The transition through the manifold defined by such a singularity is achieved by inducing a chaotic response within a boundary layer that contains it. Outside this region, a conventional feedback nonlinear control is applied. In this fashion, the authority of the control is enlarged to the whole. state space and the need for high control efforts is mitigated. In addition, the differential parametrization of the problem is used to track nonlinear functions of one state variable (single tracking) as well as several state variables (cooperative tracking). Control tasks that lead to integrable and non-integrable differential equations for the nominal flat output in steady-state are considered. In particular, a novel numerical strategy to deal with the non-integrable case is proposed. Numerical results validate very well the control design.

Distributed adaptive neural network control for a class of heterogeneous nonlinear multi-agent systems subject to actuation failures

NASA Astrophysics Data System (ADS)

Cui, Bing; Zhao, Chunhui; Ma, Tiedong; Feng, Chi

2017-02-01

In this paper, the cooperative adaptive consensus tracking problem for heterogeneous nonlinear multi-agent systems on directed graph is addressed. Each follower is modelled as a general nonlinear system with the unknown and nonidentical nonlinear dynamics, disturbances and actuator failures. Cooperative fault tolerant neural network tracking controllers with online adaptive learning features are proposed to guarantee that all agents synchronise to the trajectory of one leader with bounded adjustable synchronisation errors. With the help of linear quadratic regulator-based optimal design, a graph-dependent Lyapunov proof provides error bounds that depend on the graph topology, one virtual matrix and some design parameters. Of particular interest is that if the control gain is selected appropriately, the proposed control scheme can be implemented in a unified framework no matter whether there are faults or not. Furthermore, the fault detection and isolation are not needed to implement. Finally, a simulation is given to verify the effectiveness of the proposed method.

Oxytocin can hinder trust and cooperation in borderline personality disorder.

PubMed

Bartz, Jennifer; Simeon, Daphne; Hamilton, Holly; Kim, Suah; Crystal, Sarah; Braun, Ashley; Vicens, Victor; Hollander, Eric

2011-10-01

We investigated the effects of intranasal oxytocin (OXT) on trust and cooperation in borderline personality disorder (BPD), a disorder marked by interpersonal instability and difficulties with cooperation. Although studies in healthy adults show that intranasal OXT increases trust, individuals with BPD may show an altered response to exogenous OXT because the effects of OXT on trust and pro-social behavior may vary depending on the relationship representations and expectations people possess and/or altered OXT system functioning in BPD. BPD and control participants received intranasal OXT and played a social dilemma game with a partner. Results showed that OXT produced divergent effects in BPD participants, decreasing trust and the likelihood of cooperative responses. Additional analyses focusing on individual differences in attachment anxiety and avoidance across BPD and control participants indicate that these divergent effects were driven by the anxiously attached, rejection-sensitive participants. These data suggest that OXT does not uniformly facilitate trust and pro-social behavior in humans; indeed, OXT may impede trust and pro-social behavior depending on chronic interpersonal insecurities, and/or possible neurochemical differences in the OXT system. Although popularly dubbed the 'hormone of love', these data suggest a more circumspect answer to the question of who will benefit from OXT.

Design and pilot evaluation of competitive and cooperative exercise games for arm rehabilitation at home.

PubMed

Gorsic, Maja; Novak, Domen

2016-08-01

People with chronic arm impairment should exercise intensely at home after completing their clinical rehabilitation program, but frequently lack motivation. To address this issue, we present a home rehabilitation system that motivates patients by allowing them to perform arm exercises together with friends or relatives in competitive and cooperative games. Inertial sensors are used to track the patient's arm and control the game. The system was tested with seven adults with arm impairment as well as their friends or spouses. They tested four exercise games (single-player, competitive and two different cooperative games) for 3 minutes each. Of the 7 participants, 4 preferred the competitive game, 2 preferred a cooperative game, and 1 preferred to exercise alone. Competition also increased exercise intensity (measured using inertial sensors) compared to exercising alone. Though preliminary, these results indicate that competitive exercise games could improve arm rehabilitation at home for survivors of neurological and orthopedic injuries.

A new HLA-based distributed control architecture for agricultural teams of robots in hybrid applications with real and simulated devices or environments.

PubMed

Nebot, Patricio; Torres-Sospedra, Joaquín; Martínez, Rafael J

2011-01-01

The control architecture is one of the most important part of agricultural robotics and other robotic systems. Furthermore its importance increases when the system involves a group of heterogeneous robots that should cooperate to achieve a global goal. A new control architecture is introduced in this paper for groups of robots in charge of doing maintenance tasks in agricultural environments. Some important features such as scalability, code reuse, hardware abstraction and data distribution have been considered in the design of the new architecture. Furthermore, coordination and cooperation among the different elements in the system is allowed in the proposed control system. By integrating a network oriented device server Player, Java Agent Development Framework (JADE) and High Level Architecture (HLA), the previous concepts have been considered in the new architecture presented in this paper. HLA can be considered the most important part because it not only allows the data distribution and implicit communication among the parts of the system but also allows to simultaneously operate with simulated and real entities, thus allowing the use of hybrid systems in the development of applications.

Pioneering with Solar Power.

ERIC Educational Resources Information Center

Pollack, George; Pollack, Mary

1982-01-01

Describes the development of Mississippi County Community College's (MCCC's) solar energy system. Explains the functioning of the campus's computer-controlled photovoltaic concentrator system, MCCC's cooperative agreement with the Arkansas-Missouri Power Company, program funding, the integration of the solar system with other building components,…

Robotics technology discipline

NASA Technical Reports Server (NTRS)

Montemerlo, Melvin D.

1990-01-01

Viewgraphs on robotics technology discipline for Space Station Freedom are presented. Topics covered include: mechanisms; sensors; systems engineering processes for integrated robotics; man/machine cooperative control; 3D-real-time machine perception; multiple arm redundancy control; manipulator control from a movable base; multi-agent reasoning; and surfacing evolution technologies.

An architecture for heuristic control of real-time processes

NASA Technical Reports Server (NTRS)

Raulefs, P.; Thorndyke, P. W.

1987-01-01

Abstract Process management combines complementary approaches of heuristic reasoning and analytical process control. Management of a continuous process requires monitoring the environment and the controlled system, assessing the ongoing situation, developing and revising planned actions, and controlling the execution of the actions. For knowledge-intensive domains, process management entails the potentially time-stressed cooperation among a variety of expert systems. By redesigning a blackboard control architecture in an object-oriented framework, researchers obtain an approach to process management that considerably extends blackboard control mechanisms and overcomes limitations of blackboard systems.

Tandem mobile robot system

DOEpatents

Buttz, James H.; Shirey, David L.; Hayward, David R.

2003-01-01

A robotic vehicle system for terrain navigation mobility provides a way to climb stairs, cross crevices, and navigate across difficult terrain by coupling two or more mobile robots with a coupling device and controlling the robots cooperatively in tandem.

Graph theoretic framework based cooperative control and estimation of multiple UAVs for target tracking

NASA Astrophysics Data System (ADS)

Ahmed, Mousumi

Designing the control technique for nonlinear dynamic systems is a significant challenge. Approaches to designing a nonlinear controller are studied and an extensive study on backstepping based technique is performed in this research with the purpose of tracking a moving target autonomously. Our main motivation is to explore the controller for cooperative and coordinating unmanned vehicles in a target tracking application. To start with, a general theoretical framework for target tracking is studied and a controller in three dimensional environment for a single UAV is designed. This research is primarily focused on finding a generalized method which can be applied to track almost any reference trajectory. The backstepping technique is employed to derive the controller for a simplified UAV kinematic model. This controller can compute three autopilot modes i.e. velocity, ground heading (or course angle), and flight path angle for tracking the unmanned vehicle. Numerical implementation is performed in MATLAB with the assumption of having perfect and full state information of the target to investigate the accuracy of the proposed controller. This controller is then frozen for the multi-vehicle problem. Distributed or decentralized cooperative control is discussed in the context of multi-agent systems. A consensus based cooperative control is studied; such consensus based control problem can be viewed from the algebraic graph theory concepts. The communication structure between the UAVs is represented by the dynamic graph where UAVs are represented by the nodes and the communication links are represented by the edges. The previously designed controller is augmented to account for the group to obtain consensus based on their communication. A theoretical development of the controller for the cooperative group of UAVs is presented and the simulation results for different communication topologies are shown. This research also investigates the cases where the communication topology switches to a different topology over particular time instants. Lyapunov analysis is performed to show stability in all cases. Another important aspect of this dissertation research is to implement the controller for the case, where perfect or full state information is not available. This necessitates the design of an estimator to estimate the system state. A nonlinear estimator, Extended Kalman Filter (EKF) is first developed for target tracking with a single UAV. The uncertainties involved with the measurement model and dynamics model are considered as zero mean Gaussian noises with some known covariances. The measurements of the full state of the target are not available and only the range, elevation, and azimuth angle are available from an onboard seeker sensor. A separate EKF is designed to estimate the UAV's own state where the state measurement is available through on-board sensors. The controller computes the three control commands based on the estimated states of target and its own states. Estimation based control laws is also implemented for colored noise measurement uncertainties, and the controller performance is shown with the simulation results. The estimation based control approach is then extended for the cooperative target tracking case. The target information is available to the network and a separate estimator is used to estimate target states. All of the UAVs in the network apply the same control law and the only difference is that each UAV updates the commands according to their connection. The simulation is performed for both cases of fixed and time varying communication topology. Monte Carlo simulation is also performed with different sample noises to investigate the performance of the estimator. The proposed technique is shown to be simple and robust to noisy environments.

US-Russian Cooperation in Upgrading MC&A System at Rosatom Facilities: Measurement of Nuclear Materials

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

Powell, Danny H; Jensen, Bruce A

2011-01-01

Improve protection of weapons-usable nuclear material from theft or diversion through the development and support of a nationwide sustainable and effective Material Control and Accountability (MC&A) program based on material measurement. The material protection, control, and accountability (MPC&A) cooperation has yielded significant results in implementing MC&A measurements at Russian nuclear facilities: (1) Establishment of MEM WG and MEMS SP; (2) Infrastructure for development, certification, and distribution of RMs; and (3) Coordination on development and implementation of MMs.

An Internal Data Non-hiding Type Real-time Kernel and its Application to the Mechatronics Controller

NASA Astrophysics Data System (ADS)

Yoshida, Toshio

For the mechatronics equipment controller that controls robots and machine tools, high-speed motion control processing is essential. The software system of the controller like other embedded systems is composed of three layers software such as real-time kernel layer, middleware layer, and application software layer on the dedicated hardware. The application layer in the top layer is composed of many numbers of tasks, and application function of the system is realized by the cooperation between these tasks. In this paper we propose an internal data non-hiding type real-time kernel in which customizing the task control is possible only by change in the program code of the task side without any changes in the program code of real-time kernel. It is necessary to reduce the overhead caused by the real-time kernel task control for the speed-up of the motion control of the mechatronics equipment. For this, customizing the task control function is needed. We developed internal data non-cryptic type real-time kernel ZRK to evaluate this method, and applied to the control of the multi system automatic lathe. The effect of the speed-up of the task cooperation processing was able to be confirmed by combined task control processing on the task side program code using an internal data non-hiding type real-time kernel ZRK.

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

Mann, R.C.; Fujimura, K.; Unseren, M.A.

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR)at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of positionmore » and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace. 15 refs., 3 figs.« less

Advanced automation of a prototypic thermal control system for Space Station

NASA Technical Reports Server (NTRS)

Dominick, Jeff

1990-01-01

Viewgraphs on an advanced automation of a prototypic thermal control system for space station are presented. The Thermal Expert System (TEXSYS) was initiated in 1986 as a cooperative project between ARC and JCS as a way to leverage on-going work at both centers. JSC contributed Thermal Control System (TCS) hardware and control software, TCS operational expertise, and integration expertise. ARC contributed expert system and display expertise. The first years of the project were dedicated to parallel development of expert system tools, displays, interface software, and TCS technology and procedures by a total of four organizations.

Midterm Summary of Japan-US Fusion Cooperation Program TITAN

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

Muroga, Takeo; Sze, Dai-Kai; Sokolov, Mikhail

2011-01-01

Japan-US cooperation program TITAN (Tritium, Irradiation and Thermofluid for America and Nippon) started in April 2007 as 6-year project. This is the summary report at the midterm of the project. Historical overview of the Japan-US cooperation programs and direction of the TITAN project in its second half are presented in addition to the technical highlights. Blankets are component systems whose principal functions are extraction of heat and tritium. Thus it is crucial to clarify the potentiality for controlling heat and tritium flow throughout the first wall, blanket and out-of-vessel recovery systems. The TITAN project continues the JUPITER-II activity but extendsmore » its scope including the first wall and the recovery systems with the title of 'Tritium and thermofluid control for magnetic and inertial confinement systems'. The objective of the program is to clarify the mechanisms of tritium and heat transfer throughout the first-wall, the blanket and the heat/tritium recovery systems under specific conditions to fusion such as irradiation, high heat flux, circulation and high magnetic fields. Based on integrated models, the breeding, transfer, inventory of tritium and heat extraction properties will be evaluated for some representative liquid breeder blankets and the necessary database will be obtained for focused research in the future.« less

Distributed optimization system and method

DOEpatents

Hurtado, John E.; Dohrmann, Clark R.; Robinett, III, Rush D.

2003-06-10

A search system and method for controlling multiple agents to optimize an objective using distributed sensing and cooperative control. The search agent can be one or more physical agents, such as a robot, and can be software agents for searching cyberspace. The objective can be: chemical sources, temperature sources, radiation sources, light sources, evaders, trespassers, explosive sources, time dependent sources, time independent sources, function surfaces, maximization points, minimization points, and optimal control of a system such as a communication system, an economy, a crane, and a multi-processor computer.

Distributed Optimization System

DOEpatents

Hurtado, John E.; Dohrmann, Clark R.; Robinett, III, Rush D.

2004-11-30

A search system and method for controlling multiple agents to optimize an objective using distributed sensing and cooperative control. The search agent can be one or more physical agents, such as a robot, and can be software agents for searching cyberspace. The objective can be: chemical sources, temperature sources, radiation sources, light sources, evaders, trespassers, explosive sources, time dependent sources, time independent sources, function surfaces, maximization points, minimization points, and optimal control of a system such as a communication system, an economy, a crane, and a multi-processor computer.

Intelligent Propulsion System Foundation Technology: Summary of Research

NASA Technical Reports Server (NTRS)

Williams, James C.

2004-01-01

The purpose of this cooperative agreement was to develop a foundation of intelligent propulsion technologies for NASA and industry that will have an impact on safety, noise, emissions and cost. These intelligent engine technologies included sensors, electronics, communications, control logic, actuators, and smart materials and structures. Furthermore this cooperative agreement helped prepare future graduates to develop the revolutionary intelligent propulsion technologies that will be needed to ensure pre-eminence of the U.S. aerospace industry. The program consisted of three primary research areas (and associated work elements at Ohio universities): 1.0 Turbine Engine Prognostics, 2.0 Active Controls for Emissions and Noise Reduction, and 3.0 Active Structural Controls.

Space Station power system autonomy demonstration

NASA Technical Reports Server (NTRS)

Kish, James A.; Dolce, James L.; Weeks, David J.

1988-01-01

The Systems Autonomy Demonstration Program (SADP) represents NASA's major effort to demonstrate, through a series of complex ground experiments, the application and benefits of applying advanced automation technologies to the Space Station project. Lewis Research Center (LeRC) and Marshall Space Flight Center (MSFC) will first jointly develop an autonomous power system using existing Space Station testbed facilities at each center. The subsequent 1990 power-thermal demonstration will then involve the cooperative operation of the LeRC/MSFC power system with the Johnson Space Center (JSC's) thermal control and DMS/OMS testbed facilities. The testbeds and expert systems at each of the NASA centers will be interconnected via communication links. The appropriate knowledge-based technology will be developed for each testbed and applied to problems requiring intersystem cooperation. Primary emphasis will be focused on failure detection and classification, system reconfiguration, planning and scheduling of electrical power resources, and integration of knowledge-based and conventional control system software into the design and operation of Space Station testbeds.

Consensus-based distributed cooperative learning from closed-loop neural control systems.

PubMed

Chen, Weisheng; Hua, Shaoyong; Zhang, Huaguang

2015-02-01

In this paper, the neural tracking problem is addressed for a group of uncertain nonlinear systems where the system structures are identical but the reference signals are different. This paper focuses on studying the learning capability of neural networks (NNs) during the control process. First, we propose a novel control scheme called distributed cooperative learning (DCL) control scheme, by establishing the communication topology among adaptive laws of NN weights to share their learned knowledge online. It is further proved that if the communication topology is undirected and connected, all estimated weights of NNs can converge to small neighborhoods around their optimal values over a domain consisting of the union of all state orbits. Second, as a corollary it is shown that the conclusion on the deterministic learning still holds in the decentralized adaptive neural control scheme where, however, the estimated weights of NNs just converge to small neighborhoods of the optimal values along their own state orbits. Thus, the learned controllers obtained by DCL scheme have the better generalization capability than ones obtained by decentralized learning method. A simulation example is provided to verify the effectiveness and advantages of the control schemes proposed in this paper.

Virtual C Machine and Integrated Development Environment for ATMS Controllers.

DOT National Transportation Integrated Search

2000-04-01

The overall objective of this project is to develop a prototype virtual machine that fits on current Advanced Traffic Management Systems (ATMS) controllers and provides functionality for complex traffic operations.;Prepared in cooperation with Utah S...

Toward Control of Universal Scaling in Critical Dynamics

DTIC Science & Technology

2016-01-27

program that aims to synergistically combine two powerful and very successful theories for non-linear stochastic dynamics of cooperative multi...RESPONSIBLE PERSON 19b. TELEPHONE NUMBER Uwe Tauber Uwe C. T? uber , Michel Pleimling, Daniel J. Stilwell 611102 c. THIS PAGE The public reporting burden...to synergistically combine two powerful and very successful theories for non-linear stochastic dynamics of cooperative multi-component systems, namely

Material Control and Accounting (MC&A) System Upgrades and Performance Testing at the Russian Federal Nuclear Center-All-Russian Scientific Research Institute of Experimental Physics (RFNC-VNIIEF) VNIIEF)

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

Bushmelev, Vadim; Viktorov, Vladimir; Zhikharev, Stanislav

2008-01-01

The All-Russian Scientific Research Institute of Experimental Physics (VNIIEF), founded in 1946 at the historic village of Sarov, in Nizhniy Novgorod Oblast, is the largest nuclear research center in the Rosatom complex. In the framework of international collaboration, the United States (US) Department of Energy/National Nuclear Security Agency, in cooperation with US national laboratories, on the one hand, Rosatom and VNIIEF on the other hand, have focused their cooperative efforts to upgrade the existing material protection control and accountability system to prevent unauthorized access to the nuclear material. In this paper we will discuss the present status of material controlmore » and accounting (MC&A) system upgrades and the preliminary results from a pilot program on the MC&A system performance testing that was recently conducted at one technical area.« less

Multiagent Flight Control in Dynamic Environments with Cooperative Coevolutionary Algorithms

NASA Technical Reports Server (NTRS)

Colby, Mitchell; Knudson, Matthew D.; Tumer, Kagan

2014-01-01

Dynamic environments in which objectives and environmental features change with respect to time pose a difficult problem with regards to planning optimal paths through these environments. Path planning methods are typically computationally expensive, and are often difficult to implement in real time if system objectives are changed. This computational problem is compounded when multiple agents are present in the system, as the state and action space grows exponentially with the number of agents in the system. In this work, we use cooperative coevolutionary algorithms in order to develop policies which control agent motion in a dynamic multiagent unmanned aerial system environment such that goals and perceptions change, while ensuring safety constraints are not violated. Rather than replanning new paths when the environment changes, we develop a policy which can map the new environmental features to a trajectory for the agent while ensuring safe and reliable operation, while providing 92% of the theoretically optimal performance.

A Fully Sensorized Cooperative Robotic System for Surgical Interventions

PubMed Central

Tovar-Arriaga, Saúl; Vargas, José Emilio; Ramos, Juan M.; Aceves, Marco A.; Gorrostieta, Efren; Kalender, Willi A.

2012-01-01

In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements. PMID:23012551

Coordination of fractional-order nonlinear multi-agent systems via distributed impulsive control

NASA Astrophysics Data System (ADS)

Ma, Tiedong; Li, Teng; Cui, Bing

2018-01-01

The coordination of fractional-order nonlinear multi-agent systems via distributed impulsive control method is studied in this paper. Based on the theory of impulsive differential equations, algebraic graph theory, Lyapunov stability theory and Mittag-Leffler function, two novel sufficient conditions for achieving the cooperative control of a class of fractional-order nonlinear multi-agent systems are derived. Finally, two numerical simulations are verified to illustrate the effectiveness and feasibility of the proposed method.

Evolutionary Fuzzy Control and Navigation for Two Wheeled Robots Cooperatively Carrying an Object in Unknown Environments.

PubMed

Juang, Chia-Feng; Lai, Min-Ge; Zeng, Wan-Ting

2015-09-01

This paper presents a method that allows two wheeled, mobile robots to navigate unknown environments while cooperatively carrying an object. In the navigation method, a leader robot and a follower robot cooperatively perform either obstacle boundary following (OBF) or target seeking (TS) to reach a destination. The two robots are controlled by fuzzy controllers (FC) whose rules are learned through an adaptive fusion of continuous ant colony optimization and particle swarm optimization (AF-CACPSO), which avoids the time-consuming task of manually designing the controllers. The AF-CACPSO-based evolutionary fuzzy control approach is first applied to the control of a single robot to perform OBF. The learning approach is then applied to achieve cooperative OBF with two robots, where an auxiliary FC designed with the AF-CACPSO is used to control the follower robot. For cooperative TS, a rule for coordination of the two robots is developed. To navigate cooperatively, a cooperative behavior supervisor is introduced to select between cooperative OBF and cooperative TS. The performance of the AF-CACPSO is verified through comparisons with various population-based optimization algorithms for the OBF learning problem. Simulations and experiments verify the effectiveness of the approach for cooperative navigation of two robots.

Telemanipulation of cooperative robots: a case of study

NASA Astrophysics Data System (ADS)

Pliego-Jiménez, Javier; Arteaga-Pérez, Marco

2018-06-01

This article addresses the problem of dexterous robotic grasping by means of a telemanipulation system composed of a single master and two slave robot manipulators. The slave robots are analysed as a cooperative system where it is assumed that the robots can push but not pull the object. In order to achieve a stable rigid grasp, a centralised adaptive position-force control algorithm for the slave robots is proposed. On the other hand, a linear velocity observer for the master robot is developed to avoid numerical differentiation. A set of experiments with different human operators were carried out to show the good performance and capabilities of the proposed control-observer algorithm. In addition, the dynamic model and closed-loop dynamics of the telemanipulation is presented.

Backstepping-based cooperative and adaptive tracking control design for a group of underactuated AUVs in horizontal plan

NASA Astrophysics Data System (ADS)

Ghommam, Jawhar; Saad, Maarouf

2014-05-01

In this paper, we investigate new implementable cooperative adaptive backstepping controllers for a group of underactuated autonomous vehicles that are communicating with their local neighbours to track a time-varying virtual leader of which the relative position may only be available to a portion of the team members. At the kinematic cooperative control level of the autonomous underwater vehicle, the virtual cooperative controller is basically designed on a proportional and derivative consensus algorithm presented in Ren (2010), which involves velocity information from local neighbours. In this paper, we propose a new design algorithm based on singular perturbation theory that precludes the use of the neighbours' velocity information in the cooperative design. At the dynamic cooperative control level, calculation of the partial derivatives of some stabilising functions which in turn will contain velocity information from the local neighbours is required. To facilitate the implementation of the cooperative controllers, we propose a command filter approach technique to avoid analytic differentiation of the virtual cooperative control laws. We show how Lyapunov-based techniques and graph theory can be combined together to yield a robust cooperative controller where the uncertain dynamics of the cooperating vehicles and the constraints on the communication topology which contains a directed spanning tree are explicitly taken into account. Simulation results with a dynamic model of underactuated autonomous underwater vehicles moving on the horizontal plane are presented and discussed.

Large space structures and systems in the space station era: A bibliography with indexes (supplement 03)

NASA Technical Reports Server (NTRS)

1991-01-01

Bibliographies and abstracts are listed for 1221 reports, articles, and other documents introduced into the NASA scientific and technical information system between January 1, 1991 and June 30, 1991. Topics covered include large space structures and systems, space stations, extravehicular activity, thermal environments and control, tethering, spacecraft power supplies, structural concepts and control systems, electronics, advanced materials, propulsion, policies and international cooperation, vibration and dynamic controls, robotics and remote operations, data and communication systems, electric power generation, space commercialization, orbital transfer, and human factors engineering.

Examples of actions that improve partnering cooperation among the participants of construction projects

NASA Astrophysics Data System (ADS)

Radziszewska-Zielina, E.; Szewczyk, B.

2017-10-01

The aim of the article is to present examples of actions that can be undertaken in order to improve partnering cooperation in construction projects. These actions are a practical supplementation to the previously developed fuzzy system of controlling partnering relations in construction projects. The actions relate to 18 parameters of partnering relations that describe cooperation between a general contractor or a company that manages the project and four other participants: the contractors (subcontractors), the designer, the material and equipment suppliers and the real estate developer. The actions have been listed based on a review of subject literature, self-analysis, as well as interviews with participants of construction projects. They can provide examples of good practices that maintain partnering cooperation at a high level. Good cooperation, in turn, translates into a better performance of the project.

NATIONAL NOSOCOMIAL INFECTIONS SURVEILLANCE SYSTEM (NNIS)

EPA Science Inventory

The National Nosocomial Infections Surveillance (NNIS) System is a cooperative effort that began in 1970 between the Centers for Disease Control and Prevention (CDC) and participating hospitals to create a national nosocomial infections database. The database is used to describe ...

A Discussion of Two Challenges of Non-cooperative Satellite Refueling

NASA Technical Reports Server (NTRS)

Coll, Gregory C.; Aranyos, Thomas; Nufer, Brian M.; Kandula, Max; Tomasic, David J.

2015-01-01

There is interest from government and commercial aerospace communities in advancing propellant transfer technology for in-orbit refueling of satellites. This paper introduces two challenges to a Propellant Transfer System (PTS) under development for demonstration of non-cooperative satellite refueling. The PTS is being developed to transfer storable propellant (heritage hypergolic fuels and oxidizers as well as xenon) safely and reliably from one servicer satellite to a non-cooperative typical existing client satellite. NASA is in the project evaluation planning stages for conducting a first time on-orbit demonstration to an existing government asset. The system manages pressure, flow rate totalization, temperature and other parameters to control the condition of the propellant being transferred to the client. It keeps the propellant isolated while performing leak checks of itself and the client interface before transferring propellant. A major challenge is to design a safe, reliable system with some new technologies while maintaining a reasonable cost.

A Discussion of Two Challenges of Non-Cooperative Satellite Refueling

NASA Technical Reports Server (NTRS)

Coll, Gregory T.; Aranyos, Thomas J.; Nufer, Brian M.; Tomasic, David; Kandula, Max

2015-01-01

There is interest from government and commercial aerospace communities in advancing propellant transfer technology for in-orbit refueling of satellites. This paper introduces two challenges to a Propellant Transfer System (PTS) under development for demonstration of non-cooperative satellite refueling. The PTS is being developed to transfer storable propellant (heritage hypergolic fuels and oxidizers as well as xenon) safely and reliably from one servicer satellite to a non-cooperative typical existing client satellite. NASA is in the project evaluation planning stages for conducting a first time on-orbit demonstration to an existing government asset. The system manages pressure, flow rate totalization, temperature and other parameters to control the condition of the propellant being transferred to the client. It keeps the propellant isolated while performing leak checks of itself and the client interface before transferring propellant. A major challenge is to design a safe, reliable system with some new technologies while maintaining a reasonable cost.

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

DTIC Science & Technology

2012-02-29

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

Using game theory for perceptual tuned rate control algorithm in video coding

NASA Astrophysics Data System (ADS)

Luo, Jiancong; Ahmad, Ishfaq

2005-03-01

This paper proposes a game theoretical rate control technique for video compression. Using a cooperative gaming approach, which has been utilized in several branches of natural and social sciences because of its enormous potential for solving constrained optimization problems, we propose a dual-level scheme to optimize the perceptual quality while guaranteeing "fairness" in bit allocation among macroblocks. At the frame level, the algorithm allocates target bits to frames based on their coding complexity. At the macroblock level, the algorithm distributes bits to macroblocks by defining a bargaining game. Macroblocks play cooperatively to compete for shares of resources (bits) to optimize their quantization scales while considering the Human Visual System"s perceptual property. Since the whole frame is an entity perceived by viewers, macroblocks compete cooperatively under a global objective of achieving the best quality with the given bit constraint. The major advantage of the proposed approach is that the cooperative game leads to an optimal and fair bit allocation strategy based on the Nash Bargaining Solution. Another advantage is that it allows multi-objective optimization with multiple decision makers (macroblocks). The simulation results testify the algorithm"s ability to achieve accurate bit rate with good perceptual quality, and to maintain a stable buffer level.

PROGRAMED EXCHANGES AND THE CONTROL OF AGGRESSION.

ERIC Educational Resources Information Center

ELLIS, DESMOND P.; HAMBLIN, ROBERT L.

SYSTEMS OF EXCHANGE - USING THE EXTINCTION, DISTRACTION, AND SUBSTITUTION EFFECTS SYSTEMS - WERE IMPLEMENTED TO DECREASE AGGRESSION AND PROMOTE COOPERATION AND SCHOLARLY BEHAVIOR, THREE SYSTEMS WERE TESTED USING EXCHANGE THEORY AS A GUIDE. THE SUBJECTS WERE FIVE 4- AND 5-YEAR-OLD BOYS DIAGNOSED AS HYPERAGGRESSIVE. EXPERIMENTAL CONDITIONS INCLUDED…

Predictive Control of Networked Multiagent Systems via Cloud Computing.

PubMed

Liu, Guo-Ping

2017-01-18

This paper studies the design and analysis of networked multiagent predictive control systems via cloud computing. A cloud predictive control scheme for networked multiagent systems (NMASs) is proposed to achieve consensus and stability simultaneously and to compensate for network delays actively. The design of the cloud predictive controller for NMASs is detailed. The analysis of the cloud predictive control scheme gives the necessary and sufficient conditions of stability and consensus of closed-loop networked multiagent control systems. The proposed scheme is verified to characterize the dynamical behavior and control performance of NMASs through simulations. The outcome provides a foundation for the development of cooperative and coordinative control of NMASs and its applications.

Alternative Architectures for Distributed Cooperative Problem-Solving in the National Airspace System

NASA Technical Reports Server (NTRS)

Smith, Phillip J.; Billings, Charles; McCoy, C. Elaine; Orasanu, Judith

1999-01-01

The air traffic management system in the United States is an example of a distributed problem solving system. It has elements of both cooperative and competitive problem-solving. This system includes complex organizations such as Airline Operations Centers (AOCs), the FAA Air Traffic Control Systems Command Center (ATCSCC), and traffic management units (TMUs) at enroute centers and TRACONs, all of which have a major focus on strategic decision-making. It also includes individuals concerned more with tactical decisions (such as air traffic controllers and pilots). The architecture for this system has evolved over time to rely heavily on the distribution of tasks and control authority in order to keep cognitive complexity manageable for any one individual operator, and to provide redundancy (both human and technological) to serve as a safety net to catch the slips or mistakes that any one person or entity might make. Currently, major changes are being considered for this architecture, especially with respect to the locus of control, in an effort to improve efficiency and safety. This paper uses a series of case studies to help evaluate some of these changes from the perspective of system complexity, and to point out possible alternative approaches that might be taken to improve system performance. The paper illustrates the need to maintain a clear understanding of what is required to assure a high level of performance when alternative system architectures and decompositions are developed.

Reliable and Affordable Control Systems Active Combustor Pattern Factor Control

NASA Technical Reports Server (NTRS)

McCarty, Bob; Tomondi, Chris; McGinley, Ray

2004-01-01

Active, closed-loop control of combustor pattern factor is a cooperative effort between Honeywell (formerly AlliedSignal) Engines and Systems and the NASA Glenn Research Center to reduce emissions and turbine-stator vane temperature variations, thereby enhancing engine performance and life, and reducing direct operating costs. Total fuel flow supplied to the engine is established by the speed/power control, but the distribution to individual atomizers will be controlled by the Active Combustor Pattern Factor Control (ACPFC). This system consist of three major components: multiple, thin-film sensors located on the turbine-stator vanes; fuel-flow modulators for individual atomizers; and control logic and algorithms within the electronic control.

Distributed ESO based cooperative tracking control for high-order nonlinear multiagent systems with lumped disturbance and application in multi flight simulators systems.

PubMed

Cong, Zhang

2018-03-01

Based on extended state observer, a novel and practical design method is developed to solve the distributed cooperative tracking problem of higher-order nonlinear multiagent systems with lumped disturbance in a fixed communication topology directed graph. The proposed method is designed to guarantee all the follower nodes ultimately and uniformly converge to the leader node with bounded residual errors. The leader node, modeled as a higher-order non-autonomous nonlinear system, acts as a command generator giving commands only to a small portion of the networked follower nodes. Extended state observer is used to estimate the local states and lumped disturbance of each follower node. Moreover, each distributed controller can work independently only requiring the relative states and/or the estimated relative states information between itself and its neighbors. Finally an engineering application of multi flight simulators systems is demonstrated to test and verify the effectiveness of the proposed algorithm. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Kinematics and control algorithm development and simulation for a redundant two-arm robotic manipulator system

NASA Technical Reports Server (NTRS)

Hennessey, Michael P.; Huang, Paul C.; Bunnell, Charles T.

1989-01-01

An efficient approach to cartesian motion and force control of a 7 degree of freedom (DOF) manipulator is presented. It is based on extending the active stiffness controller to the 7 DOF case in general and use of an efficient version of the gradient projection technique for solving the inverse kinematics problem. Cooperative control is achieved through appropriate configuration of individual manipulator controllers. In addition, other aspects of trajectory generation using standard techniques are integrated into the controller. The method is then applied to a specific manipulator of interest (Robotics Research T-710). Simulation of the kinematics, dynamics, and control are provided in the context of several scenarios: one pertaining to a noncontact pick and place operation; one relating to contour following where contact is made between the manipulator and environment; and one pertaining to cooperative control.

KALI - An environment for the programming and control of cooperative manipulators

NASA Technical Reports Server (NTRS)

Hayward, Vincent; Hayati, Samad

1988-01-01

A design description is given of a controller for cooperative robots. The background and motivation for multiple arm control are discussed. A set of programming primitives which permit a programmer to specify cooperative tasks are described. Motion primitives specify asynchronous motions, master/slave motions, and cooperative motions. In the context of cooperative robots, trajectory generation issues are discussed and the authors' implementation briefly described. The relations between programming and control in the case of multiple robots are examined. The allocation of various tasks among a multiprocessor computer is described.

Automated electric power management and control for Space Station Freedom

NASA Technical Reports Server (NTRS)

Dolce, James L.; Mellor, Pamela A.; Kish, James A.

1990-01-01

A comprehensive automation design is being developed for Space Station Freedom's electric power system. It strives to increase station productivity by applying expert systems and conventional algorithms to automate power system operation. An integrated approach to the power system command and control problem is defined and used to direct technology development in: diagnosis, security monitoring and analysis, battery management, and cooperative problem-solving for resource allocation. The prototype automated power system is developed using simulations and test-beds.

Multiagent Flight Control in Dynamic Environments with Cooperative Coevolutionary Algorithms

NASA Technical Reports Server (NTRS)

Knudson, Matthew D.; Colby, Mitchell; Tumer, Kagan

2014-01-01

Dynamic flight environments in which objectives and environmental features change with respect to time pose a difficult problem with regards to planning optimal flight paths. Path planning methods are typically computationally expensive, and are often difficult to implement in real time if system objectives are changed. This computational problem is compounded when multiple agents are present in the system, as the state and action space grows exponentially. In this work, we use cooperative coevolutionary algorithms in order to develop policies which control agent motion in a dynamic multiagent unmanned aerial system environment such that goals and perceptions change, while ensuring safety constraints are not violated. Rather than replanning new paths when the environment changes, we develop a policy which can map the new environmental features to a trajectory for the agent while ensuring safe and reliable operation, while providing 92% of the theoretically optimal performance

[The relationships between organizations for technical cooperation in health and private consulting businesses].

PubMed

Barillas, Edgar

2003-01-01

In recent years, agencies that provide technical cooperation in health have increased their contractual relationships with private consulting entities. This has made it possible to respond in a timely manner to the support needs that countries have, to develop skills at the national level, and to reduce the operating costs for the cooperation agencies. However, these relationships risk moving the cooperation agencies away from generating ideas and new knowledge, which, until recently, was considered one of their essential roles. Contracting with private enterprises will almost certainly increase in the coming years. This makes it worth reviewing the tasks that correspond to the cooperation agencies in this scenario as well as mechanisms to see that these relationships result in the greatest benefit for deprived groups. Actions that can be undertaken immediately include organizing the "structural capital" (such as programs, databases, strategies, and organizational "culture," structure, systems, and procedures) of the technical cooperation agencies, precisely identifying tasks that cannot be delegated, and adequately designing and controlling terms of reference.

MAXIMIZE THE EFFICIENCY OF PUMP AND TREAT SYSTEMS

EPA Science Inventory

This paper focuses on methodology for determing extent of hydraulic control and remediation effectiveness of site specific pump and treat systems. Maximum potential well yield is estimated on the basis of hydraulic characteristics described by the cooper and Jacob Equation. A ma...

An Architecture for Cooperative Localization in Underwater Acoustic Networks

DTIC Science & Technology

2015-10-24

range. (b) Independent navigation and control system onboard Iver AUVs . The cooperative localization process is highlighted in red. Figure 1: Block...Iver2 AUVs (Fig. 3) and a topside ship. While we make spe- cific notes about this three vehicle network, the architecture is vehicle independent. 3.1...Single vehicle subsystem Each vehicle executes several processes including sensor drivers, a pose estimator (Section 2), and, in the case of the AUVs

Diverse strategy-learning styles promote cooperation in evolutionary spatial prisoner's dilemma game

NASA Astrophysics Data System (ADS)

Liu, Run-Ran; Jia, Chun-Xiao; Rong, Zhihai

2015-11-01

Observational learning and practice learning are two important learning styles and play important roles in our information acquisition. In this paper, we study a spacial evolutionary prisoner's dilemma game, where players can choose the observational learning rule or the practice learning rule when updating their strategies. In the proposed model, we use a parameter p controlling the preference of players choosing the observational learning rule, and found that there exists an optimal value of p leading to the highest cooperation level, which indicates that the cooperation can be promoted by these two learning rules collaboratively and one single learning rule is not favor the promotion of cooperation. By analysing the dynamical behavior of the system, we find that the observational learning rule can make the players residing on cooperative clusters more easily realize the bad sequence of mutual defection. However, a too high observational learning probability suppresses the players to form compact cooperative clusters. Our results highlight the importance of a strategy-updating rule, more importantly, the observational learning rule in the evolutionary cooperation.

Interaction of feel system and flight control system dynamics on lateral flying qualities

NASA Technical Reports Server (NTRS)

Bailey, Randall E.; Powers, Bruce G.; Shafer, Mary F.

1988-01-01

An investigation of feel system and flight control system dynamics on lateral flying qualities was conducted using the variable stability USAF NT-33 aircraft. Experimental variations in feel system natural frequency, force-deflection gradient, control system command architecture type, flight control system filter frequency, and control system delay were made. The experiment data include pilot ratings using the Cooper-Harper (1969) rating scale, pilot comments, and tracking performance statistic. Three test pilots served as evaluators. The data indicate that as the feel system natural frequency is reduced lateral flying qualities degrade. At the slowest feel system frequency, the closed-loop response becomes nonlinear with a 'bobweight' effect apparent in the feel system. Feel system influences were essentially independent of the control system architecture. The flying qualities influence due to the feel system was different than when the identical dynamic systenm was used as a flight control system element.

Holarchical Systems and Emotional Holons : Biologically-Inspired System Designs for Control of Autonomous Aerial Vehicles

NASA Technical Reports Server (NTRS)

Ippolito, Corey; Plice, Laura; Pisanich, Greg

2003-01-01

The BEES (Bio-inspired Engineering for Exploration Systems) for Mars project at NASA Ames Research Center has the goal of developing bio-inspired flight control strategies to enable aerial explorers for Mars scientific investigations. This paper presents a summary of our ongoing research into biologically inspired system designs for control of unmanned autonomous aerial vehicle communities for Mars exploration. First, we present cooperative design considerations for robotic explorers based on the holarchical nature of biological systems and communities. Second, an outline of an architecture for cognitive decision making and control of individual robotic explorers is presented, modeled after the emotional nervous system of cognitive biological systems. Keywords: Holarchy, Biologically Inspired, Emotional UAV Flight Control

Special Agents Can Promote Cooperation in the Population

PubMed Central

Wang, Xin; Han, Jing; Han, Huawei

2011-01-01

Cooperation is ubiquitous in our real life but everyone would like to maximize her own profits. How does cooperation occur in the group of self-interested agents without centralized control? Furthermore, in a hostile scenario, for example, cooperation is unlikely to emerge. Is there any mechanism to promote cooperation if populations are given and play rules are not allowed to change? In this paper, numerical experiments show that complete population interaction is unfriendly to cooperation in the finite but end-unknown Repeated Prisoner's Dilemma (RPD). Then a mechanism called soft control is proposed to promote cooperation. According to the basic idea of soft control, a number of special agents are introduced to intervene in the evolution of cooperation. They comply with play rules in the original group so that they are always treated as normal agents. For our purpose, these special agents have their own strategies and share knowledge. The capability of the mechanism is studied under different settings. We find that soft control can promote cooperation and is robust to noise. Meanwhile simulation results demonstrate the applicability of the mechanism in other scenarios. Besides, the analytical proof also illustrates the effectiveness of soft control and validates simulation results. As a way of intervention in collective behaviors, soft control provides a possible direction for the study of reciprocal behaviors. PMID:22216202

Laser rangefinders for autonomous intelligent cruise control systems

NASA Astrophysics Data System (ADS)

Journet, Bernard A.; Bazin, Gaelle

1998-01-01

THe purpose of this paper is to show to what kind of application laser range-finders can be used inside Autonomous Intelligent Cruise Control systems. Even if laser systems present good performances the safety and technical considerations are very restrictive. As the system is used in the outside, the emitted average output power must respect the rather low level of 1A class. Obstacle detection or collision avoidance require a 200 meters range. Moreover bad weather conditions, like rain or fog, ar disastrous. We have conducted measurements on laser rangefinder using different targets and at different distances. We can infer that except for cooperative targets low power laser rangefinder are not powerful enough for long distance measurement. Radars, like 77 GHz systems, are better adapted to such cases. But in case of short distances measurement, range around 10 meters, with a minimum distance around twenty centimeters, laser rangefinders are really useful with good resolution and rather low cost. Applications can have the following of white lines on the road, the target being easily cooperative, detection of vehicles in the vicinity, that means car convoy traffic control or parking assistance, the target surface being indifferent at short distances.

From Additivity to Cooperativity in Chemistry: Can Cooperativity Be Measured?

PubMed

Tebben, Ludger; Mück-Lichtenfeld, Christian; Fernández, Gustavo; Grimme, Stefan; Studer, Armido

2017-05-02

Cooperative effects can be observed in various research areas in chemistry; cooperative catalysis is well-established, the assembly of compounds on surfaces can be steered by cooperative effects, and supramolecular polymerization can proceed in a cooperative manner. In biological systems, cooperativity is observed in protein-protein, protein-lipid and protein-molecule interactions. Synergistic effects are relevant in frustrated Lewis pairs, organic multispin systems, multimetallic clusters and also in nanoparticles. However, a general approach to determine cooperativity in the different chemical systems is currently not known. In the present concept paper it is suggested that, at least for simpler systems that can be described at the molecular level, cooperativity can be defined based on energy considerations. For systems in which no chemical transformation occurs, determination of interaction energies of the whole system with respect to the interaction energies between all individual component pairs (subsystems) will allow determination of cooperativity. For systems comprising of chemical transformations, cooperativity can be evaluated by determining the activation energy of the synergistic system and by comparing this with activation energies of the corresponding subsystems that lack an activating moiety. For more complex systems, cooperativity is generally determined at a qualitative level. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

Cooperative Monitoring Center Occasional Paper/8: Cooperative Border Security for Jordan: Assessment and Options

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

Qojas, M.

1999-03-01

This document is an analysis of options for unilateral and cooperative action to improve the security of Jordan's borders. Sections describe the current political, economic, and social interactions along Jordan's borders. Next, the document discusses border security strategy for cooperation among neighboring countries and the adoption of confidence-building measures. A practical cooperative monitoring system would consist of hardware for early warning, command and control, communications, and transportation. Technical solutions can expand opportunities for the detection and identification of intruders. Sensors (such as seismic, break-wire, pressure-sensing, etc.) can warn border security forces of intrusion and contribute to the identification of themore » intrusion and help formulate the response. This document describes conceptual options for cooperation, offering three scenarios that relate to three hypothetical levels (low, medium, and high) of cooperation. Potential cooperative efforts under a low cooperation scenario could include information exchanges on military equipment and schedules to prevent misunderstandings and the establishment of protocols for handling emergency situations or unusual circumstances. Measures under a medium cooperation scenario could include establishing joint monitoring groups for better communications, with hot lines and scheduled meetings. The high cooperation scenario describes coordinated responses, joint border patrols, and sharing border intrusion information. Finally, the document lists recommendations for organizational, technical, and operational initiatives that could be applicable to the current situation.« less

Supporting cognitive control through competition and cooperation in childhood.

PubMed

Fischer, Paula; Camba, Letizia; Ooi, Seok Hui; Chevalier, Nicolas

2018-04-12

Cognitive control is often engaged in social contexts where actions are socially relevant. Yet, little is known about the immediate influence of the social context on childhood cognitive control. To examine whether competition or cooperation can enhance cognitive control, preschool and school-age children completed the AX Continuous Performance Task (AX-CPT) in competitive, cooperative, and neutral contexts. Children made fewer errors, responded faster, and engaged more cognitive effort, as shown by greater pupil dilation, in the competitive and cooperative social contexts relative to the neutral context. Competition and cooperation yielded greater cognitive control engagement but did not change how control was engaged (reactively or proactively). Manipulating the social context can be a powerful tool to support cognitive control in childhood. Copyright © 2018 Elsevier Inc. All rights reserved.

An fMRI study of joint action–varying levels of cooperation correlates with activity in control networks

PubMed Central

Chaminade, Thierry; Marchant, Jennifer L.; Kilner, James; Frith, Christopher D.

2012-01-01

As social agents, humans continually interact with the people around them. Here, motor cooperation was investigated using a paradigm in which pairs of participants, one being scanned with fMRI, jointly controlled a visually presented object with joystick movements. The object oscillated dynamically along two dimensions, color and width of gratings, corresponding to the two cardinal directions of joystick movements. While the overall control of each participant on the object was kept constant, the amount of cooperation along the two dimensions varied along four levels, from no (each participant controlled one dimension exclusively) to full (each participant controlled half of each dimension) cooperation. Increasing cooperation correlated with BOLD signal in the left parietal operculum and anterior cingulate cortex (ACC), while decreasing cooperation correlated with activity in the right inferior frontal and superior temporal gyri, the intraparietal sulci and inferior temporal gyri bilaterally, and the dorsomedial prefrontal cortex. As joint performance improved with the level of cooperation, we assessed the brain responses correlating with behavior, and found that activity in most of the areas associated with levels of cooperation also correlated with the joint performance. The only brain area found exclusively in the negative correlation with cooperation was in the dorso medial frontal cortex, involved in monitoring action outcome. Given the cluster location and condition-related signal change, we propose that this region monitored actions to extract the level of cooperation in order to optimize the joint response. Our results, therefore, indicate that, in the current experimental paradigm involving joint control of a visually presented object with joystick movements, the level of cooperation affected brain networks involved in action control, but not mentalizing. PMID:22715326

Multi-agent systems design for aerospace applications

NASA Astrophysics Data System (ADS)

Waslander, Steven L.

2007-12-01

Engineering systems with independent decision makers are becoming increasingly prevalent and present many challenges in coordinating actions to achieve systems goals. In particular, this work investigates the applications of air traffic flow control and autonomous vehicles as motivation to define algorithms that allow agents to agree to safe, efficient and equitable solutions in a distributed manner. To ensure system requirements will be satisfied in practice, each method is evaluated for a specific model of agent behavior, be it cooperative or non-cooperative. The air traffic flow control problem is investigated from the point of view of the airlines, whose costs are directly affected by resource allocation decisions made by the Federal Aviation Administration in order to mitigate traffic disruptions caused by weather. Airlines are first modeled as cooperative, and a distributed algorithm is presented with various global cost metrics which balance efficient and equitable use of resources differently. Next, a competitive airline model is assumed and two market mechanisms are developed for allocating contested airspace resources. The resource market mechanism provides a solution for which convergence to an efficient solution can be guaranteed, and each airline will improve on the solution that would occur without its inclusion in the decision process. A lump-sum market is then introduced as an alternative mechanism, for which efficiency loss bounds exist if airlines attempt to manipulate prices. Initial convergence results for lump-sum markets are presented for simplified problems with a single resource. To validate these algorithms, two air traffic flow models are developed which extend previous techniques, the first a convenient convex model made possible by assuming constant velocity flow, and the second a more complex flow model with full inflow, velocity and rerouting control. Autonomous vehicle teams are envisaged for many applications including mobile sensing and search and rescue. To enable these high-level applications, multi-vehicle collision avoidance is solved using a cooperative, decentralized algorithm. For the development of coordination algorithms for autonomous vehicles, the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC) is presented. This testbed provides significant advantages over other aerial testbeds due to its small size and low maintenance requirements.

A formation control strategy with coupling weights for the multi-robot system

NASA Astrophysics Data System (ADS)

Liang, Xudong; Wang, Siming; Li, Weijie

2017-12-01

The distributed formation problem of the multi-robot system with general linear dynamic characteristics and directed communication topology is discussed. In order to avoid that the multi-robot system can not maintain the desired formation in the complex communication environment, the distributed cooperative algorithm with coupling weights based on zipf distribution is designed. The asymptotic stability condition for the formation of the multi-robot system is given, and the theory of the graph and the Lyapunov theory are used to prove that the formation can converge to the desired geometry formation and the desired motion rules of the virtual leader under this condition. Nontrivial simulations are performed to validate the effectiveness of the distributed cooperative algorithm with coupling weights.

Fuzzy distributed cooperative tracking for a swarm of unmanned aerial vehicles with heterogeneous goals

NASA Astrophysics Data System (ADS)

Kladis, Georgios P.; Menon, Prathyush P.; Edwards, Christopher

2016-12-01

This article proposes a systematic analysis for a tracking problem which ensures cooperation amongst a swarm of unmanned aerial vehicles (UAVs), modelled as nonlinear systems with linear and angular velocity constraints, in order to achieve different goals. A distributed Takagi-Sugeno (TS) framework design is adopted for the representation of the nonlinear model of the dynamics of the UAVs. The distributed control law which is introduced is composed of both node and network level information. Firstly, feedback gains are synthesised using a parallel distributed compensation (PDC) control law structure, for a collection of isolated UAVs; ignoring communications among the swarm. Then secondly, based on an alternation-like procedure, the resulting feedback gains are used to determine Lyapunov matrices which are utilised at network level to incorporate into the control law, the relative differences in the states of the vehicles, and to induce cooperative behaviour. Eventually stability is guaranteed for the entire swarm. The control synthesis is performed using tools from linear control theory: in particular the design criteria are posed as linear matrix inequalities (LMIs). An example based on a UAV tracking scenario is included to outline the efficacy of the approach.

Preliminary design of a solar central receiver for a site-specific repowering application (Saguaro Power Plant). Volume IV. Appendixes. Final report, October 1982-September 1983

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

Weber, E.R.

1983-09-01

The appendixes for the Saguaro Power Plant includes the following: receiver configuration selection report; cooperating modes and transitions; failure modes analysis; control system analysis; computer codes and simulation models; procurement package scope descriptions; responsibility matrix; solar system flow diagram component purpose list; thermal storage component and system test plans; solar steam generator tube-to-tubesheet weld analysis; pipeline listing; management control schedule; and system list and definitions.

Ground sprayer designs for forestry applications

Treesearch

James H. Miller; Qiu Zhongze; D.L. Sirois

1985-01-01

Three herbicide spraying systems were designed, constructed, and field tested in cooperation with the-USDA Forest Service,.Georgia Forestry Commission, and Scott Paper Company. One system was designed to mount on wildland tree planting machines for applying banded treatments for herbaceous weed control. This system consisted of a top mounted 50-gal tank and a small...

Development of automated optical verification technologies for control systems

NASA Astrophysics Data System (ADS)

Volegov, Peter L.; Podgornov, Vladimir A.

1999-08-01

The report considers optical techniques for automated verification of object's identity designed for control system of nuclear objects. There are presented results of experimental researches and results of development of pattern recognition techniques carried out under the ISTC project number 772 with the purpose of identification of unique feature of surface structure of a controlled object and effects of its random treatment. Possibilities of industrial introduction of the developed technologies in frames of USA and Russia laboratories' lab-to-lab cooperation, including development of up-to-date systems for nuclear material control and accounting are examined.

The Intelligent Flight Control Program (IFCS)

NASA Technical Reports Server (NTRS)

2004-01-01

This is the closeout report for the Research Cooperative Agreement NCC4-00130 of accomplishments for the Intelligent Flight Control System (IFCS) Project. It has been a pleasure working with NASA and NASA partners as we strive to meet the goals of this research initiative. ISR was engaged in this Research Cooperative Agreement beginning 01 January 2003 and ending 31 January 2004. During this time ISR conducted efforts towards development of the ARTS II Computer Software Configuration Item (CSCI) version 4.0 by performing or developing the following: 1) Requirements Definition; 2) Software Design and Development; 3) Hardware In the Loop Simulation; 4) Unit Level testing; 5) Documentation.

Features of CRISPR-Cas Regulation Key to Highly Efficient and Temporally-Specific crRNA Production.

PubMed

Rodic, Andjela; Blagojevic, Bojana; Djordjevic, Magdalena; Severinov, Konstantin; Djordjevic, Marko

2017-01-01

Bacterial immune systems, such as CRISPR-Cas or restriction-modification (R-M) systems, affect bacterial pathogenicity and antibiotic resistance by modulating horizontal gene flow. A model system for CRISPR-Cas regulation, the Type I-E system from Escherichia coli , is silent under standard laboratory conditions and experimentally observing the dynamics of CRISPR-Cas activation is challenging. Two characteristic features of CRISPR-Cas regulation in E. coli are cooperative transcription repression of cas gene and CRISPR array promoters, and fast non-specific degradation of full length CRISPR transcripts (pre-crRNA). In this work, we use computational modeling to understand how these features affect the system expression dynamics. Signaling which leads to CRISPR-Cas activation is currently unknown, so to bypass this step, we here propose a conceptual setup for cas expression activation, where cas genes are put under transcription control typical for a restriction-modification (R-M) system and then introduced into a cell. Known transcription regulation of an R-M system is used as a proxy for currently unknown CRISPR-Cas transcription control, as both systems are characterized by high cooperativity, which is likely related to similar dynamical constraints of their function. We find that the two characteristic CRISPR-Cas control features are responsible for its temporally-specific dynamical response, so that the system makes a steep (switch-like) transition from OFF to ON state with a time-delay controlled by pre-crRNA degradation rate. We furthermore find that cooperative transcription regulation qualitatively leads to a cross-over to a regime where, at higher pre-crRNA processing rates, crRNA generation approaches the limit of an infinitely abrupt system induction. We propose that these dynamical properties are associated with rapid expression of CRISPR-Cas components and efficient protection of bacterial cells against foreign DNA. In terms of synthetic applications, the setup proposed here should allow highly efficient expression of small RNAs in a narrow time interval, with a specified time-delay with respect to the signal onset.

Structure and mechanisms of Escherichia coli aspartate transcarbamoylase.

PubMed

Lipscomb, William N; Kantrowitz, Evan R

2012-03-20

Enzymes catalyze a particular reaction in cells, but only a few control the rate of this reaction and the metabolic pathway that follows. One specific mechanism for such enzymatic control of a metabolic pathway involves molecular feedback, whereby a metabolite further down the pathway acts at a unique site on the control enzyme to alter its activity allosterically. This regulation may be positive or negative (or both), depending upon the particular system. Another method of enzymatic control involves the cooperative binding of the substrate, which allows a large change in enzyme activity to emanate from only a small change in substrate concentration. Allosteric regulation and homotropic cooperativity are often known to involve significant conformational changes in the structure of the protein. Escherichia coli aspartate transcarbamoylase (ATCase) is the textbook example of an enzyme that regulates a metabolic pathway, namely, pyrimidine nucleotide biosynthesis, by feedback control and by the cooperative binding of the substrate, L-aspartate. The catalytic and regulatory mechanisms of this enzyme have been extensively studied. A series of X-ray crystal structures of the enzyme in the presence and absence of substrates, products, and analogues have provided details, at the molecular level, of the conformational changes that the enzyme undergoes as it shifts between its low-activity, low-affinity form (T state) to its high-activity, high-affinity form (R state). These structural data provide insights into not only how this enzyme catalyzes the reaction between l-aspartate and carbamoyl phosphate to form N-carbamoyl-L-aspartate and inorganic phosphate, but also how the allosteric effectors modulate this activity. In this Account, we summarize studies on the structure of the enzyme and describe how these structural data provide insights into the catalytic and regulatory mechanisms of the enzyme. The ATCase-catalyzed reaction is regulated by nucleotide binding some 60 Å from the active site, inducing structural alterations that modulate catalytic activity. The delineation of the structure and function in this particular model system will help in understanding the molecular basis of cooperativity and allosteric regulation in other systems as well.

A dimension reduction method for flood compensation operation of multi-reservoir system

NASA Astrophysics Data System (ADS)

Jia, B.; Wu, S.; Fan, Z.

2017-12-01

Multiple reservoirs cooperation compensation operations coping with uncontrolled flood play vital role in real-time flood mitigation. This paper come up with a reservoir flood compensation operation index (ResFCOI), which formed by elements of flood control storage, flood inflow volume, flood transmission time and cooperation operations period, then establish a flood cooperation compensation operations model of multi-reservoir system, according to the ResFCOI to determine a computational order of each reservoir, and lastly the differential evolution algorithm is implemented for computing single reservoir flood compensation optimization in turn, so that a dimension reduction method is formed to reduce computational complexity. Shiguan River Basin with two large reservoirs and an extensive uncontrolled flood area, is used as a case study, results show that (a) reservoirs' flood discharges and the uncontrolled flood are superimposed at Jiangjiaji Station, while the formed flood peak flow is as small as possible; (b) cooperation compensation operations slightly increase in usage of flood storage capacity in reservoirs, when comparing to rule-based operations; (c) it takes 50 seconds in average when computing a cooperation compensation operations scheme. The dimension reduction method to guide flood compensation operations of multi-reservoir system, can make each reservoir adjust its flood discharge strategy dynamically according to the uncontrolled flood magnitude and pattern, so as to mitigate the downstream flood disaster.

Patient-cooperative control increases active participation of individuals with SCI during robot-aided gait training

PubMed Central

2010-01-01

Background Manual body weight supported treadmill training and robot-aided treadmill training are frequently used techniques for the gait rehabilitation of individuals after stroke and spinal cord injury. Current evidence suggests that robot-aided gait training may be improved by making robotic behavior more patient-cooperative. In this study, we have investigated the immediate effects of patient-cooperative versus non-cooperative robot-aided gait training on individuals with incomplete spinal cord injury (iSCI). Methods Eleven patients with iSCI participated in a single training session with the gait rehabilitation robot Lokomat. The patients were exposed to four different training modes in random order: During both non-cooperative position control and compliant impedance control, fixed timing of movements was provided. During two variants of the patient-cooperative path control approach, free timing of movements was enabled and the robot provided only spatial guidance. The two variants of the path control approach differed in the amount of additional support, which was either individually adjusted or exaggerated. Joint angles and torques of the robot as well as muscle activity and heart rate of the patients were recorded. Kinematic variability, interaction torques, heart rate and muscle activity were compared between the different conditions. Results Patients showed more spatial and temporal kinematic variability, reduced interaction torques, a higher increase of heart rate and more muscle activity in the patient-cooperative path control mode with individually adjusted support than in the non-cooperative position control mode. In the compliant impedance control mode, spatial kinematic variability was increased and interaction torques were reduced, but temporal kinematic variability, heart rate and muscle activity were not significantly higher than in the position control mode. Conclusions Patient-cooperative robot-aided gait training with free timing of movements made individuals with iSCI participate more actively and with larger kinematic variability than non-cooperative, position-controlled robot-aided gait training. PMID:20828422

76 FR 50811 - Seventeenth Meeting: EUROCAE WG-72: RTCA Special Committee 216: Aeronautical Systems Security...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-08-16

.... Agenda Tuesday, September 6th (Pre-Meeting Events) 9 a.m. to 12 p.m. Optional--DHS National Cybersecurity... cooperation. 11:15 a.m.-12 p.m., DHS Briefing on the Cybersecurity Control System Security (CSSP) Program. 1 p...

Okayama optical polarimetry and spectroscopy system (OOPS) II. Network-transparent control software.

NASA Astrophysics Data System (ADS)

Sasaki, T.; Kurakami, T.; Shimizu, Y.; Yutani, M.

Control system of the OOPS (Okayama Optical Polarimetry and Spectroscopy system) is designed to integrate several instruments whose controllers are distributed over a network; the OOPS instrument, a CCD camera and data acquisition unit, the 91 cm telescope, an autoguider, a weather monitor, and an image display tool SAOimage. With the help of message-based communication, the control processes cooperate with related processes to perform an astronomical observation under supervising control by a scheduler process. A logger process collects status data of all the instruments to distribute them to related processes upon request. Software structure of each process is described.

Passivity-based Robust Control of Aerospace Systems

NASA Technical Reports Server (NTRS)

Kelkar, Atul G.; Joshi, Suresh M. (Technical Monitor)

2000-01-01

This report provides a brief summary of the research work performed over the duration of the cooperative research agreement between NASA Langley Research Center and Kansas State University. The cooperative agreement which was originally for the duration the three years was extended by another year through no-cost extension in order to accomplish the goals of the project. The main objective of the research was to develop passivity-based robust control methodology for passive and non-passive aerospace systems. The focus of the first-year's research was limited to the investigation of passivity-based methods for the robust control of Linear Time-Invariant (LTI) single-input single-output (SISO), open-loop stable, minimum-phase non-passive systems. The second year's focus was mainly on extending the passivity-based methodology to a larger class of non-passive LTI systems which includes unstable and nonminimum phase SISO systems. For LTI non-passive systems, five different passification. methods were developed. The primary effort during the years three and four was on the development of passification methodology for MIMO systems, development of methods for checking robustness of passification, and developing synthesis techniques for passifying compensators. For passive LTI systems optimal synthesis procedure was also developed for the design of constant-gain positive real controllers. For nonlinear passive systems, numerical optimization-based technique was developed for the synthesis of constant as well as time-varying gain positive-real controllers. The passivity-based control design methodology developed during the duration of this project was demonstrated by its application to various benchmark examples. These example systems included longitudinal model of an F-18 High Alpha Research Vehicle (HARV) for pitch axis control, NASA's supersonic transport wind tunnel model, ACC benchmark model, 1-D acoustic duct model, piezo-actuated flexible link model, and NASA's Benchmark Active Controls Technology (BACT) Wing model. Some of the stability results for linear passive systems were also extended to nonlinear passive systems. Several publications and conference presentations resulted from this research.

Control system for thermoelectric refrigerator

NASA Technical Reports Server (NTRS)

Nelson, John L. (Inventor); Criscuolo, Lance (Inventor); Gilley, Michael D. (Inventor); Park, Brian V. (Inventor)

1996-01-01

Apparatus including a power supply (202) and control system is provided for maintaining the temperature within an enclosed structure (40) using thermoelectric devices (92). The apparatus may be particularly beneficial for use with a refrigerator (20) having superinsulation materials (46) and phase change materials (112) which cooperate with the thermoelectric device (92) to substantially enhance the overall operating efficiency of the refrigerator (20). The electrical power supply (202) and control system allows increasing the maximum power capability of the thermoelectric device (92) in response to increased heat loads within the refrigerator (20). The electrical power supply (202) and control system may also be used to monitor the performance of the cooling system (70) associated with the refrigerator (20).

30 CFR 880.12 - Cooperative agreements.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 30 Mineral Resources 3 2010-07-01 2010-07-01 false Cooperative agreements. 880.12 Section 880.12... ABANDONED MINE LAND RECLAMATION MINE FIRE CONTROL § 880.12 Cooperative agreements. (a) OSM shall, upon... cooperative agreement with the State or Indian tribe to control or extinguish fires in coal formations. (b...

36 CFR 211.4 - Cooperation for fire prevention and control.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 36 Parks, Forests, and Public Property 2 2010-07-01 2010-07-01 false Cooperation for fire... AGRICULTURE ADMINISTRATION Cooperation § 211.4 Cooperation for fire prevention and control. The Forest Service... will result in mutual benefit in the prevention and suppression of forest fires: Provided, That the...

30 CFR 880.12 - Cooperative agreements.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 30 Mineral Resources 3 2013-07-01 2013-07-01 false Cooperative agreements. 880.12 Section 880.12... ABANDONED MINE LAND RECLAMATION MINE FIRE CONTROL § 880.12 Cooperative agreements. (a) OSM shall, upon... cooperative agreement with the State or Indian tribe to control or extinguish fires in coal formations. (b...

30 CFR 880.12 - Cooperative agreements.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 30 Mineral Resources 3 2014-07-01 2014-07-01 false Cooperative agreements. 880.12 Section 880.12... ABANDONED MINE LAND RECLAMATION MINE FIRE CONTROL § 880.12 Cooperative agreements. (a) OSM shall, upon... cooperative agreement with the State or Indian tribe to control or extinguish fires in coal formations. (b...

30 CFR 880.12 - Cooperative agreements.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 30 Mineral Resources 3 2012-07-01 2012-07-01 false Cooperative agreements. 880.12 Section 880.12... ABANDONED MINE LAND RECLAMATION MINE FIRE CONTROL § 880.12 Cooperative agreements. (a) OSM shall, upon... cooperative agreement with the State or Indian tribe to control or extinguish fires in coal formations. (b...

36 CFR 211.4 - Cooperation for fire prevention and control.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 36 Parks, Forests, and Public Property 2 2011-07-01 2011-07-01 false Cooperation for fire... AGRICULTURE ADMINISTRATION Cooperation § 211.4 Cooperation for fire prevention and control. The Forest Service... will result in mutual benefit in the prevention and suppression of forest fires: Provided, That the...

Design of Sensors for Control of Closed Loop Life Support Systems

NASA Technical Reports Server (NTRS)

1990-01-01

A brief summary is presented of a Engineering Design sequence, a cooperation between NASA-Kennedy and the University of Florida on the Controlled Environmental Life Support System (CELSS) program. Part of the class was devoted to learning general principles and techniques of design. The next portion of the class was devoted to learning to design, actually fabricating and testing small components and subsystems of a CELSS.

Interpersonal Biocybernetics: Connecting Through Social Psychophysiology

NASA Technical Reports Server (NTRS)

Pope, Alan T.; Stephens, Chad L.

2012-01-01

One embodiment of biocybernetic adaptation is a human-computer interaction system designed such that physiological signals modulate the effect that control of a task by other means, usually manual control, has on performance of the task. Such a modulation system enables a variety of human-human interactions based upon physiological self-regulation performance. These interpersonal interactions may be mixes of competition and cooperation for simulation training and/or videogame entertainment

Failed cooperative, but not competitive, interaction between large-scale brain networks impairs working memory in schizophrenia.

PubMed

Pu, W; Luo, Q; Palaniyappan, L; Xue, Z; Yao, S; Feng, J; Liu, Z

2016-04-01

A large-scale network named the default mode network (DMN) dynamically cooperates and competes with an external attention system (EAS) to facilitate various cognitive functioning that is prominently impaired in schizophrenia. However, it is unclear whether the cognitive deficit in schizophrenia is related to the disrupted competition and/or cooperation between these two networks. A total of 35 schizophrenia patients and 30 healthy controls were scanned using gradient-echo echo-planar imaging during n-back working memory (WM) processing. Brain activities of the DMN and EAS were measured using general linear modelling of the functional magnetic resonance imaging data. Dynamic interaction between the DMN and EAS was decomposed into two directions using Granger causality analysis. We observed a significant failure of DMN suppression in patients with schizophrenia, which was significantly related to WM/attentional deficit. Granger causality modelling showed that in healthy controls, while the EAS inhibitorily influenced the DMN, the DMN exerted an 'excitatory' or cooperative influence back on the EAS, especially in those with lower WM accuracy. In schizophrenia, this 'excitatory' DMN→EAS influence within the reciprocal EAS-DMN loop was significantly reduced, especially in patients with WM/attentional deficit. The dynamic interaction between the DMN and EAS is likely to be comprised of both competitive and cooperative influences. In healthy controls, both the 'inhibitory' EAS→DMN interaction and 'excitatory' DMN→EAS interaction are correlated with WM performance. In schizophrenia, reduced 'cooperative' influence from the DMN to dorsal nodes of the EAS occurs in the context of non-suppression of the DMN and may form a possible pathophysiological substrate of WM deficit and attention disorder.

Getting Mental Models and Computer Models to Cooperate

NASA Technical Reports Server (NTRS)

Sheridan, T. B.; Roseborough, J.; Charney, L.; Mendel, M.

1984-01-01

A qualitative theory of supervisory control is outlined wherein the mental models of one or more human operators are related to the knowledge representations within automatic controllers (observers, estimators) and operator decision aids (expert systems, advice-givers). Methods of quantifying knowledge and the calibration of one knowledge representation to another (human, computer, or objective truth) are discussed. Ongoing experiments in the use of decision aids for exploring one's own objective function or exploring system constraints and control strategies are described.

An Experimental Study of the Effect of Shared Information on Pilot/Controller Re-Route Negotiation

NASA Technical Reports Server (NTRS)

Farley, Todd C.; Hansman, R. John

1999-01-01

Air-ground data link systems are being developed to enable pilots and air traffic controllers to share information more fully. The sharing of information is generally expected to enhance their shared situation awareness and foster more collaborative decision making. An exploratory, part-task simulator experiment is described which evaluates the extent to which shared information may lead pilots and controllers to cooperate or compete when negotiating route amendments. The results indicate an improvement in situation awareness for pilots and controllers and a willingness to work cooperatively. Independent of data link considerations, the experiment also demonstrates the value of providing controllers with a good-quality weather representation on their plan view displays. Observed improvements in situation awareness and separation assurance are discussed. It is argued that deployment of this relatively simple, low-risk addition to the plan view displays be accelerated.

An integrated control scheme for space robot after capturing non-cooperative target

NASA Astrophysics Data System (ADS)

Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

2018-06-01

How to identify the mass properties and eliminate the unknown angular momentum of space robotic system after capturing a non-cooperative target is of great challenge. This paper focuses on designing an integrated control framework which includes detumbling strategy, coordination control and parameter identification. Firstly, inverted and forward chain approaches are synthesized for space robot to obtain dynamic equation in operational space. Secondly, a detumbling strategy is introduced using elementary functions with normalized time, while the imposed end-effector constraints are considered. Next, a coordination control scheme for stabilizing both base and end-effector based on impedance control is implemented with the target's parameter uncertainty. With the measurements of the forces and torques exerted on the target, its mass properties are estimated during the detumbling process accordingly. Simulation results are presented using a 7 degree-of-freedom kinematically redundant space manipulator, which verifies the performance and effectiveness of the proposed method.

A Framework for a Computer System to Support Distributed Cooperative Learning

ERIC Educational Resources Information Center

Chiu, Chiung-Hui

2004-01-01

To develop a computer system to support cooperative learning among distributed students; developers should consider the foundations of cooperative learning. This article examines the basic elements that make cooperation work and proposes a framework for such computer supported cooperative learning (CSCL) systems. This framework is constituted of…

Aerial Networking for the Implementation of Cooperative Control on Small Unmanned Aerial Systems

DTIC Science & Technology

2013-03-01

the relay aircraft to an optimal location. Secondly, a mesh network was configured and tested. This configuration successfully relayed aircraft...functionality, such as updating navigation waypoints to each aircraft. The results suggest the system be updated with more capable modems in a mesh ...

Two Stages Cooperative Learning by Ability Indicators

ERIC Educational Resources Information Center

Wu, YuLung

2013-01-01

The teaching system in Taiwan is currently based on large classes where teachers cannot control student situations totally. In E-Learning System, a teacher who reviews a student's learning situation must examine the students' learning records according to different items, and further organize and define the students' current learning situations,…

SHARAF: The Canadian Shared Authority File Project.

ERIC Educational Resources Information Center

MacIntosh, Helen

1982-01-01

Describes history, operating procedures, and current activities of group of users of the University of Toronto Library Automation System (UTLAS) who cooperated with each other, the bibliographic utility, and the National Library of Canada to produce an automated authority control system, termed Shared Authority File (SHARAF). Five references are…

Cooperative global security programs modeling & simulation.

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

Briand, Daniel

2010-05-01

The national laboratories global security programs implement sustainable technical solutions for cooperative nonproliferation, arms control, and physical security systems worldwide. To help in the development and execution of these programs, a wide range of analytical tools are used to model, for example, synthetic tactical environments for assessing infrastructure protection initiatives and tactics, systematic approaches for prioritizing nuclear and biological threat reduction opportunities worldwide, and nuclear fuel cycle enrichment and spent fuel management for nuclear power countries. This presentation will describe how these models are used in analyses to support the Obama Administration's agenda and bilateral/multinational treaties, and ultimately, to reducemore » weapons of mass destruction and terrorism threats through international technical cooperation.« less

Validation study - on-road evaluation of the Cooperative Intersection Collision Avoidance System - Stop Sign Assist sign : (CICAS-SSA Report #5).

DOT National Transportation Integrated Search

2009-11-01

The CICAS-SSA sign is a roadside driver support system that is intended to improve gap rejection at rural stop-controlled intersections. The CICAS-SSA system tracks vehicle locations on a major roadway and then displays a message to a driver on the m...

Asymmetric interaction and indeterminate fitness correlation between cooperative partners in the fig–fig wasp mutualism

PubMed Central

Wang, Rui-Wu; Sun, Bao-Fa; Zheng, Qi; Shi, Lei; Zhu, Lixing

2011-01-01

Empirical observations have shown that cooperative partners can compete for common resources, but what factors determine whether partners cooperate or compete remain unclear. Using the reciprocal fig–fig wasp mutualism, we show that nonlinear amplification of interference competition between fig wasps—which limits the fig wasps' ability to use a common resource (i.e. female flowers)—keeps the common resource unsaturated, making cooperation locally stable. When interference competition was manually prevented, the fitness correlation between figs and fig wasps went from positive to negative. This indicates that genetic relatedness or reciprocal exchange between cooperative players, which could create spatial heterogeneity or self-restraint, was not sufficient to maintain stable cooperation. Moreover, our analysis of field-collected data shows that the fitness correlation between cooperative partners varies stochastically, and that the mainly positive fitness correlation observed during the warm season shifts to a negative correlation during the cold season owing to an increase in the initial oviposition efficiency of each fig wasp. This implies that the discriminative sanction of less-cooperative wasps (i.e. by decreasing the egg deposition efficiency per fig wasp) but reward to cooperative wasps by fig, a control of the initial value, will facilitate a stable mutualism. Our finding that asymmetric interaction leading to an indeterminate fitness interaction between symbiont (i.e. cooperative actors) and host (i.e. recipient) has the potential to explain why conflict has been empirically observed in both well-documented intraspecific and interspecific cooperation systems. PMID:21490005

Telescope Array Control System Based on Wireless Touch Screen Platform

NASA Astrophysics Data System (ADS)

Fu, Xia-nan; Huang, Lei; Wei, Jian-yan

2017-10-01

Ground-based Wide Angle Cameras (GMAC) are the ground-based observational facility for the SVOM (Space Variable Object Monitor) astronomical satellite of Sino-French cooperation, and Mini-GWAC is the pathfinder and supplement of GWAC. In the context of the Mini-GWAC telescope array, this paper introduces the design and implementation of a kind of telescope array control system based on the wireless touch screen platform. We describe the development and implementation of the system in detail in terms of control system principle, system hardware structure, software design, experiment, and test etc. The system uses a touch-control PC which is based on the Windows CE system as the upper computer, while the wireless transceiver module and PLC (Programmable Logic Controller) are taken as the system kernel. It has the advantages of low cost, reliable data transmission, and simple operation. And the control system has been applied to the Mini-GWAC successfully.

Effect of adaptive cruise control systems on mixed traffic flow near an on-ramp

NASA Astrophysics Data System (ADS)

Davis, L. C.

2007-06-01

Mixed traffic flow consisting of vehicles equipped with adaptive cruise control (ACC) and manually driven vehicles is analyzed using car-following simulations. Simulations of merging from an on-ramp onto a freeway reported in the literature have not thus far demonstrated a substantial positive impact of ACC. In this paper cooperative merging for ACC vehicles is proposed to improve throughput and increase distance traveled in a fixed time. In such a system an ACC vehicle senses not only the preceding vehicle in the same lane but also the vehicle immediately in front in the other lane. Prior to reaching the merge region, the ACC vehicle adjusts its velocity to ensure that a safe gap for merging is obtained. If on-ramp demand is moderate, cooperative merging produces significant improvement in throughput (20%) and increases up to 3.6 km in distance traveled in 600 s for 50% ACC mixed flow relative to the flow of all-manual vehicles. For large demand, it is shown that autonomous merging with cooperation in the flow of all ACC vehicles leads to throughput limited only by the downstream capacity, which is determined by speed limit and headway time.

Interpreted Cooper-Harper for broader use

NASA Technical Reports Server (NTRS)

Green, David L.; Andrews, Hal; Gallagher, Donald W.

1993-01-01

The current aircraft assessment process typically makes extensive use of operational personnel during simulations and operational evaluations, with increased emphasis on evaluating the many pilot and/or operator/aircraft control loops. The need for a crew assessment in this broader arena has produced a variety of rating scales. The Cooper-Harper Rating Scale is frequently misused and routinely overlooked in the process, for these applications often extend the scale's use beyond its originally intended application. This paper agrees with the broader application of the Cooper-Harper Rating Scale and presents a concept for the development of a 'use unique' Interpreted Cooper-Harper Scale to help achieve this objective. This interpreted scale concept was conceived during efforts to support an FAA evaluation of a night vision enhancement system. It includes descriptive extensions, which are faithful to the intent of the current Cooper-Harper Scale and should provide the kind of detail that has historically been provided by trained test pilots in their explanatory comments.

Determinants of public cooperation in multiplex networks

NASA Astrophysics Data System (ADS)

Battiston, Federico; Perc, Matjaž; Latora, Vito

2017-07-01

Synergies between evolutionary game theory and statistical physics have significantly improved our understanding of public cooperation in structured populations. Multiplex networks, in particular, provide the theoretical framework within network science that allows us to mathematically describe the rich structure of interactions characterizing human societies. While research has shown that multiplex networks may enhance the resilience of cooperation, the interplay between the overlap in the structure of the layers and the control parameters of the corresponding games has not yet been investigated. With this aim, we consider here the public goods game on a multiplex network, and we unveil the role of the number of layers and the overlap of links, as well as the impact of different synergy factors in different layers, on the onset of cooperation. We show that enhanced public cooperation emerges only when a significant edge overlap is combined with at least one layer being able to sustain some cooperation by means of a sufficiently high synergy factor. In the absence of either of these conditions, the evolution of cooperation in multiplex networks is determined by the bounds of traditional network reciprocity with no enhanced resilience. These results caution against overly optimistic predictions that the presence of multiple social domains may in itself promote cooperation, and they help us better understand the complexity behind prosocial behavior in layered social systems.

40 CFR 35.501 - Environmental programs covered by the subpart.

Code of Federal Regulations, 2014 CFR

2014-07-01

.... Pollution prevention grants for Tribes (section 6605). (7) Safe Drinking Water Act. (i) Public water system... Program Act of 1992, 42 U.S.C. 4368b. (3) Clean Air Act. Air pollution control (section 105). (4) Clean Water Act. (i) Water pollution control (section 106 and 518). (ii) Water quality cooperative agreements...

Coherent single-atom superradiance

NASA Astrophysics Data System (ADS)

Kim, Junki; Yang, Daeho; Oh, Seung-hoon; An, Kyungwon

2018-02-01

Superradiance is a quantum phenomenon emerging in macroscopic systems whereby correlated single atoms cooperatively emit photons. Demonstration of controlled collective atom-field interactions has resulted from the ability to directly imprint correlations with an atomic ensemble. Here we report cavity-mediated coherent single-atom superradiance: Single atoms with predefined correlation traverse a high–quality factor cavity one by one, emitting photons cooperatively with the N atoms that have already gone through the cavity (N represents the number of atoms). Enhanced collective photoemission of N-squared dependence was observed even when the intracavity atom number was less than unity. The correlation among single atoms was achieved by nanometer-precision position control and phase-aligned state manipulation of atoms by using a nanohole-array aperture. Our results demonstrate a platform for phase-controlled atom-field interactions.

Evolution of cooperation in a hierarchical society with corruption control.

PubMed

Huang, Feng; Chen, Xiaojie; Wang, Long

2018-07-14

Punishment is widely recognized as a potential promoter in sustaining or even enhancing public cooperation, but it meanwhile induces the problem of second-order free-riders. Particularly, recent evidence shows that costly punishment can be maintained if punishers may engage in corruption. However, how to reduce or eliminate incidents of corruption has been the enduring conundrum in human society. As power asymmetries are associated with hierarchies, we investigate how costly punishment affects the evolution of cooperation in the cases without and with corruption control. In the absence of corruption control, altruistic punishers are incapable of punishing corrupt punishers. Corrupt punishment maintains civilian cooperation but undermines the evolution of altruistic punishment. Otherwise, altruistic punishers can enforce symmetrical or asymmetrical punishment on both corrupt punishers and civilian defectors. In this case, both civilian cooperation and altruistic punishment can be promoted. And as an instrument of corruption control, the policy of asymmetrical punishment is more effective in fostering public cooperation and improving social welfare than symmetrical punishment. Moreover, no matter whether corruption control is considered or not, spiteful corruption that non-cooperative punishers penalize defectors is a more effective form for enhancing cooperation compared with bribery. Our work may thus offer an insight into the effects of corruption on public cooperation and the policy of anti-corruption. Copyright © 2018 Elsevier Ltd. All rights reserved.

Hierarchical HMM based learning of navigation primitives for cooperative robotic endovascular catheterization.

PubMed

Rafii-Tari, Hedyeh; Liu, Jindong; Payne, Christopher J; Bicknell, Colin; Yang, Guang-Zhong

2014-01-01

Despite increased use of remote-controlled steerable catheter navigation systems for endovascular intervention, most current designs are based on master configurations which tend to alter natural operator tool interactions. This introduces problems to both ergonomics and shared human-robot control. This paper proposes a novel cooperative robotic catheterization system based on learning-from-demonstration. By encoding the higher-level structure of a catheterization task as a sequence of primitive motions, we demonstrate how to achieve prospective learning for complex tasks whilst incorporating subject-specific variations. A hierarchical Hidden Markov Model is used to model each movement primitive as well as their sequential relationship. This model is applied to generation of motion sequences, recognition of operator input, and prediction of future movements for the robot. The framework is validated by comparing catheter tip motions against the manual approach, showing significant improvements in the quality of catheterization. The results motivate the design of collaborative robotic systems that are intuitive to use, while reducing the cognitive workload of the operator.

[A complex interplay of hormones, neuro-transmitters, neuropeptides and immunity cells is responsible for the control of eating].

PubMed

Rondanelli, M

1997-09-01

Food-seeking behaviour is a complex mechanism which involves an interplay of hormones, neurotransmitters, neuropeptides and immunity cells. In this review the important role of the cooperation between the SNC system, the endocrine system and in particular the immune system in the control of eating is underlined. Like stress and depression, in fact the regulation of eating represents another example of the interplay between these three systems and it is secondary to a bidirectional dialogue between the center and the periphery.

Remarks on Hierarchic Control for a Linearized Micropolar Fluids System in Moving Domains

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

Jesus, Isaías Pereira de, E-mail: isaias@ufpi.edu.br

We study a Stackelberg strategy subject to the evolutionary linearized micropolar fluids equations in domains with moving boundaries, considering a Nash multi-objective equilibrium (non necessarily cooperative) for the “follower players” (as is called in the economy field) and an optimal problem for the leader player with approximate controllability objective. We will obtain the following main results: the existence and uniqueness of Nash equilibrium and its characterization, the approximate controllability of the linearized micropolar system with respect to the leader control and the existence and uniqueness of the Stackelberg–Nash problem, where the optimality system for the leader is given.

Fixed Point Learning Based Intelligent Traffic Control System

NASA Astrophysics Data System (ADS)

Zongyao, Wang; Cong, Sui; Cheng, Shao

2017-10-01

Fixed point learning has become an important tool to analyse large scale distributed system such as urban traffic network. This paper presents a fixed point learning based intelligence traffic network control system. The system applies convergence property of fixed point theorem to optimize the traffic flow density. The intelligence traffic control system achieves maximum road resources usage by averaging traffic flow density among the traffic network. The intelligence traffic network control system is built based on decentralized structure and intelligence cooperation. No central control is needed to manage the system. The proposed system is simple, effective and feasible for practical use. The performance of the system is tested via theoretical proof and simulations. The results demonstrate that the system can effectively solve the traffic congestion problem and increase the vehicles average speed. It also proves that the system is flexible, reliable and feasible for practical use.

Telescope Array Control System Based on Wireless Touch Screen Platform

NASA Astrophysics Data System (ADS)

Fu, X. N.; Huang, L.; Wei, J. Y.

2016-07-01

GWAC (Ground-based Wide Angle Cameras) are the ground-based observational instruments of the Sino-French cooperation SVOM (Space Variable Objects Monitor) astronomical satellite, and Mini-GWAC is a pathfinder and supplement of GWAC. In the context of the Mini-GWAC telescope array, this paper introduces the design and implementation of a kind of telescope array control system, which is based on wireless serial interface module to communicate. We describe the development and implementation of the system in detail in terms of control system principle, system hardware structure, software design, experiment, and test. The system uses the touch-control PC which is based on the Windows CE system as the upper-computer, the wireless transceiver module and PLC (Programmable Logic Controller) as the core. It has the advantages of low cost, reliable data transmission, and simple operation. So far, the control system has been applied to Mini-GWAC successfully.

Does Facial Resemblance Enhance Cooperation?

PubMed Central

Giang, Trang; Bell, Raoul; Buchner, Axel

2012-01-01

Facial self-resemblance has been proposed to serve as a kinship cue that facilitates cooperation between kin. In the present study, facial resemblance was manipulated by morphing stimulus faces with the participants' own faces or control faces (resulting in self-resemblant or other-resemblant composite faces). A norming study showed that the perceived degree of kinship was higher for the participants and the self-resemblant composite faces than for actual first-degree relatives. Effects of facial self-resemblance on trust and cooperation were tested in a paradigm that has proven to be sensitive to facial trustworthiness, facial likability, and facial expression. First, participants played a cooperation game in which the composite faces were shown. Then, likability ratings were assessed. In a source memory test, participants were required to identify old and new faces, and were asked to remember whether the faces belonged to cooperators or cheaters in the cooperation game. Old-new recognition was enhanced for self-resemblant faces in comparison to other-resemblant faces. However, facial self-resemblance had no effects on the degree of cooperation in the cooperation game, on the emotional evaluation of the faces as reflected in the likability judgments, and on the expectation that a face belonged to a cooperator rather than to a cheater. Therefore, the present results are clearly inconsistent with the assumption of an evolved kin recognition module built into the human face recognition system. PMID:23094095

Control and applications of cooperating disparate robotic manipulators relevant to nuclear waste management

NASA Technical Reports Server (NTRS)

Lew, Jae Young; Book, Wayne J.

1991-01-01

Remote handling in nuclear waste management requires a robotic system with precise motion as well as a large workspace. The concept of a small arm mounted on the end of a large arm may satisfy such needs. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, control of these cooperating disparate manipulators is accomplished in computer simulations. Thus, this robotic system can have the accuracy of the small arm, and at the same time, it can have the payload capacity and large workspace of the large arm.

Quality Control Review of the PricewaterhouseCoopers LLP FY 2014 Single Audit of Carnegie Mellon University

DTIC Science & Technology

2015-12-17

No. DODIG-2016-034 D E C E M B E R 1 7 , 2 0 1 5 Quality Control Review of the PricewaterhouseCoopers LLP FY 2014 Single Audit of Carnegie ...ALEXANDRIA, VIRGINIA 22350-1500 December 17, 2015 Audit Partner PricewaterhouseCoopers LLP Board of Trustees Carnegie Mellon University Director, Sponsored...Projects Accounting Carnegie Mellon University SUBJECT: Quality Control Review of the PricewaterhouseCoopers LLP FY 2014 Single Audit of Carnegie

Underbanked: Cooperative Banking as a Potential Solution to the Marijuana-Banking Problem.

PubMed

Tighe, Patrick A

2016-01-01

Numerous states have recently legalized recreational marijuana, which has created a burgeoning marijuana industry needing and demanding access to a variety of banking and financial services. Due, however, to the interplay between the federal criminalization of marijuana and federal anti-money laundering laws, U.S. financial institutions cannot handle legally the proceeds from marijuana activity. As a result, most financial institutions are unwilling to flout federal anti-money laundering laws, and so too few marijuana-related businesses can access banking services. This Note argues that the most viable policy option for resolving this "underbanking" problem is a financial cooperative approach such as a cannabis-only financial cooperative. Even in light of federal anti-money laundering laws, this Note contends that the Federal Reserve is legally authorized to grant some cannabis-only financial cooperatives access to its payment system services under the Monetary Control Act of 1980.

Research on the man in the loop control system of the robot arm based on gesture control

NASA Astrophysics Data System (ADS)

Xiao, Lifeng; Peng, Jinbao

2017-03-01

The Man in the loop control system of the robot arm based on gesture control research complex real-world environment, which requires the operator to continuously control and adjust the remote manipulator, as the background, completes the specific mission human in the loop entire system as the research object. This paper puts forward a kind of robot arm control system of Man in the loop based on gesture control, by robot arm control system based on gesture control and Virtual reality scene feedback to enhance immersion and integration of operator, to make operator really become a part of the whole control loop. This paper expounds how to construct a man in the loop control system of the robot arm based on gesture control. The system is a complex system of human computer cooperative control, but also people in the loop control problem areas. The new system solves the problems that the traditional method has no immersion feeling and the operation lever is unnatural, the adjustment time is long, and the data glove mode wears uncomfortable and the price is expensive.

Performance, Process, and Costs: Managing Service Quality with the Balanced Scorecard.

ERIC Educational Resources Information Center

Poll, Roswitha

2001-01-01

Describes a cooperative project among three German libraries that used the Balanced Scorecard as a concept for an integrated quality management system. Considers performance indicators across four perspectives that will help academic libraries establish an integrated controlling system and to collect and evaluate performance as well as cost data…

Environmental Technology Verification: Biological Inactivation Efficiency by HVAC In-Duct Ultraviolet Light Systems--American Ultraviolet Corporation, DC24-6-120 [EPA600etv08005

EPA Science Inventory

The Air Pollution Control Technology Verification Center (APCT Center) is operated by RTI International (RTI), in cooperation with EPA's National Risk Management Research Laboratory. The APCT Center conducts verifications of technologies that clean air in ventilation systems, inc...

Time-Critical Cooperative Path Following of Multiple UAVs over Time-Varying Networks

DTIC Science & Technology

2011-01-01

Notes in Control and Information Systems Series (K. Y. Pettersen, T. Gravdahl, and H. Nijmeijer, Eds.). Springer-Verlag, 2006. 29M. Breivik , V...Information Systems Series (K. Y. Pettersen, T. Gravdahl, and H. Nijmeijer, Eds.). Springer-Verlag, 2006. 31M. Breivik , E. Hovstein, and T. I. Fossen. Ship

East Fork Watershed Cooperative: Toward better system-scale ...

EPA Pesticide Factsheets

The East Fork Watershed Cooperative is a group intent on understanding how to best manage water quality in a large mixed-use Midwestern watershed system. The system contains a reservoir that serves as a source of drinking water and is popular for water recreation. The reservoir is experience harmful algal blooms. The system including the reservoir has become a significant case study for EPA ORD research and development. The Cooperative includes affiliates from the USACE, the OHIO EPA, the USGS, the USDA, and local Soil and Water Conservation districts as well as utility operators and water quality protection offices. The presentation includes a description of the water quality monitoring and modeling program in the watershed, followed by the results of using the watershed model to estimate the costs associated with nutrient reduction to Harsha Lake, and then ends with an explanation of temporal changes observed for important factors controlling harmful algae in Harsha Lake and how this lake relates to other reservoirs in the Ohio River Basin. This presentation is an invited contribution to the Ohio River Basin Water Quality Workshop sponsored by the US ACE and the US EPA. The presentation describes the activities of the East Fork Watershed Cooperative and the knowledge it has gained to help better manage a case study watershed system over the last few years. The East Fork of the Little Miami River is the focal watershed. It is a significant tributary to the Lit

Office of Spaceflight Standard Spaceborne Global Positioning System (GPS) user equipment project

NASA Technical Reports Server (NTRS)

Saunders, Penny E.

1991-01-01

The Global Positioning System (GPS) provides the following: (1) position and velocity determination to support vehicle GN&C, precise orbit determination, and payload pointing; (2) time reference to support onboard timing systems and data time tagging; (3) relative position and velocity determination to support cooperative vehicle tracking; and (4) attitude determination to support vehicle attitude control and payload pointing.

Rice-obot 1: An intelligent autonomous mobile robot

NASA Technical Reports Server (NTRS)

Defigueiredo, R.; Ciscon, L.; Berberian, D.

1989-01-01

The Rice-obot I is the first in a series of Intelligent Autonomous Mobile Robots (IAMRs) being developed at Rice University's Cooperative Intelligent Mobile Robots (CIMR) lab. The Rice-obot I is mainly designed to be a testbed for various robotic and AI techniques, and a platform for developing intelligent control systems for exploratory robots. Researchers present the need for a generalized environment capable of combining all of the control, sensory and knowledge systems of an IAMR. They introduce Lisp-Nodes as such a system, and develop the basic concepts of nodes, messages and classes. Furthermore, they show how the control system of the Rice-obot I is implemented as sub-systems in Lisp-Nodes.

Do cooperative learning and family involvement improve variables linked to academic performance?

PubMed

Santos Rego, Miguel A; Ferraces Otero, María J; Godas Otero, Agustín; Lorenzo Moledo, María M

2018-05-01

One of the most serious problems in the Spanish education system is the high percentage of school failure in Compulsory Secondary Education. The aim of this study is to analyze the influence of a socio-educational program based on cooperative learning and family involvement on a series of variables related to academic performance, paying particular attention to the differences between retained and non-retained students. A two-group quasi-experimental design incorporating pre-testing and post-testing was used. The study involved 146 students in the experimental group and 123 in the control group, 8 teachers, and 89 parents or other family members. The program was observed to have a positive effect on self-image, study habits, satisfaction with the subject, maternal support and control, and opinions about the school. In addition, the results for non-retained students are better. Cooperative work and family involvement in education affect the variables which research links to improving school performance.

Brain glucose sensing, counterregulation, and energy homeostasis.

PubMed

Marty, Nell; Dallaporta, Michel; Thorens, Bernard

2007-08-01

Neuronal circuits in the central nervous system play a critical role in orchestrating the control of glucose and energy homeostasis. Glucose, beside being a nutrient, is also a signal detected by several glucose-sensing units that are located at different anatomical sites and converge to the hypothalamus to cooperate with leptin and insulin in controlling the melanocortin pathway.

Green cooperative adaptive control systems in the vicinity of signalized intersections.

DOT National Transportation Integrated Search

2014-10-01

Vehicle stops and speed variations account for a large percentage of vehicle fuel losses especially at signalized intersections. : Recently, researchers have attempted to develop tools that reduce these losses by capitalizing on traffic signal inform...

5 CFR 1312.22 - Responsibilities.

Code of Federal Regulations, 2012 CFR

2012-01-01

... computer systems meeting the appropriate security criteria. (a) EOP Security Officer. In cooperation with..., DECLASSIFICATION AND SAFEGUARDING OF NATIONAL SECURITY INFORMATION Control and Accountability of Classified... duty by employees will do much to ensure the adequate security of classified information in the...

5 CFR 1312.22 - Responsibilities.

Code of Federal Regulations, 2013 CFR

2013-01-01

... computer systems meeting the appropriate security criteria. (a) EOP Security Officer. In cooperation with..., DECLASSIFICATION AND SAFEGUARDING OF NATIONAL SECURITY INFORMATION Control and Accountability of Classified... duty by employees will do much to ensure the adequate security of classified information in the...

5 CFR 1312.22 - Responsibilities.

Code of Federal Regulations, 2011 CFR

2011-01-01

... computer systems meeting the appropriate security criteria. (a) EOP Security Officer. In cooperation with..., DECLASSIFICATION AND SAFEGUARDING OF NATIONAL SECURITY INFORMATION Control and Accountability of Classified... duty by employees will do much to ensure the adequate security of classified information in the...

5 CFR 1312.22 - Responsibilities.

Code of Federal Regulations, 2010 CFR

2010-01-01

... computer systems meeting the appropriate security criteria. (a) EOP Security Officer. In cooperation with..., DECLASSIFICATION AND SAFEGUARDING OF NATIONAL SECURITY INFORMATION Control and Accountability of Classified... duty by employees will do much to ensure the adequate security of classified information in the...

5 CFR 1312.22 - Responsibilities.

Code of Federal Regulations, 2014 CFR

2014-01-01

... computer systems meeting the appropriate security criteria. (a) EOP Security Officer. In cooperation with..., DECLASSIFICATION AND SAFEGUARDING OF NATIONAL SECURITY INFORMATION Control and Accountability of Classified... duty by employees will do much to ensure the adequate security of classified information in the...

Shape matters: Lifecycle of cooperative patches promotes cooperation in bulky populations

PubMed Central

Misevic, Dusan; Frénoy, Antoine; Lindner, Ariel B; Taddei, François

2015-01-01

Natural cooperative systems take many forms, ranging from one-dimensional cyanobacteria arrays to fractal-like biofilms. We use in silico experimental systems to study a previously overlooked factor in the evolution of cooperation, physical shape of the population. We compare the emergence and maintenance of cooperation in populations of digital organisms that inhabit bulky (100 × 100 cells) or slender (4 × 2500) toroidal grids. Although more isolated subpopulations of secretors in a slender population could be expected to favor cooperation, we find the opposite: secretion evolves to higher levels in bulky populations. We identify the mechanistic explanation for the shape effect by analyzing the lifecycle and dynamics of cooperator patches, from their emergence and growth, to invasion by noncooperators and extinction. Because they are constrained by the population shape, the cooperator patches expand less in slender than in bulky populations, leading to fewer cooperators, less public good secretion, and generally lower cooperation. The patch dynamics and mechanisms of shape effect are robust across several digital cooperation systems and independent of the underlying basis for cooperation (public good secretion or a cooperation game). Our results urge for a greater consideration of population shape in the study of the evolution of cooperation across experimental and modeling systems. PMID:25639379

Advanced AFCS developments on the XV-15 tilt rotor research aircraft. [Automatic Flight Control System

NASA Technical Reports Server (NTRS)

Churchill, G. B.; Gerdes, R. M.

1984-01-01

The design criteria and control and handling qualities of the Automatic Flight Control System (AFCS), developed in the framework of the XV-15 tilt-rotor research aircraft, are evaluated, differentiating between the stability and control criteria. A technically aggressive SCAS control law was implemented, demonstrating that significant benefits accrue when stability criteria are separated from design criteria; the design analyses for application of the control law are presented, and the limit bandwidth for stabilization in hovering flight is shown to be defined by rotor or control lag functions. Flight tests of the aircraft resulted in a rating of 3 on the Cooper-Harper scale; a possibility of achieving a rating of 2 is expected if the system is applied to the yaw and heave control modes.

Sustainable thresholds for cooperative epidemiological models.

PubMed

Barrios, Edwin; Gajardo, Pedro; Vasilieva, Olga

2018-05-22

In this paper, we introduce a method for computing sustainable thresholds for controlled cooperative models described by a system of ordinary differential equations, a property shared by a wide class of compartmental models in epidemiology. The set of sustainable thresholds refers to constraints (e.g., maximal "allowable" number of human infections; maximal "affordable" budget for disease prevention, diagnosis and treatments; etc.), parameterized by thresholds, that can be sustained by applying an admissible control strategy starting at the given initial state and lasting the whole period of the control intervention. This set, determined by the initial state of the dynamical system, virtually provides useful information for more efficient (or cost-effective) decision-making by exhibiting the trade-offs between different types of constraints and allowing the user to assess future outcomes of control measures on transient behavior of the dynamical system. In order to accentuate the originality of our approach and to reveal its potential significance in real-life applications, we present an example relying on the 2013 dengue outbreak in Cali, Colombia, where we compute the set of sustainable thresholds (in terms of the maximal "affordable" budget and the maximal "allowable" levels of active infections among human and vector populations) that could be sustained during the epidemic outbreak. Copyright © 2018 Elsevier Inc. All rights reserved.

77 FR 26583 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Cooperative...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-05-04

... Production Act of 1993--Cooperative Research Group on Evaluation of Distributed Leak Detection Systems... Institute-- Cooperative Research Group on Evaluation of Distributed Leak Detection Systems--Performance... detection systems for offshore pipelines. Laboratory testing of distributed temperature and distributed...

Health-seeking behavior and hospital choice in China's New Cooperative Medical System.

PubMed

Brown, Philip H; Theoharides, Caroline

2009-07-01

Since the dissolution of the Rural Cooperative Medical System at the end of the commune period, illness has emerged as a leading cause of poverty in rural China. To address the poor state of health care, the Chinese government unveiled the New Cooperative Medical System in 2002. Because local governments have been given significant control over program design, fundamental characteristics of the program vary from one county to the next. These differences may influence the decision to seek health care as well as the choice of hospital conditional on that initial decision. In this paper, we use a nested logit model to analyze household survey data from 25 counties to analyze the determinants of such health-seeking behavior. We find that age, the share of household expenditures allocated to food consumption (a measure of relative income), and the presence of other sick people in the household negatively affect the decision to seek health care while disability has a positive influence. Further, conditional on seeking treatment, the reimbursement scheme in place in each county and the average daily expenditure associated with hospitalization strongly influence hospital choice.

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1990-01-01

New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

Core Principles of Bacterial Autoinducer Systems

PubMed Central

2015-01-01

SUMMARY Autoinduction (AI), the response to self-produced chemical signals, is widespread in the bacterial world. This process controls vastly different target functions, such as luminescence, nutrient acquisition, and biofilm formation, in different ways and integrates additional environmental and physiological cues. This diversity raises questions about unifying principles that underlie all AI systems. Here, we suggest that such core principles exist. We argue that the general purpose of AI systems is the homeostatic control of costly cooperative behaviors, including, but not limited to, secreted public goods. First, costly behaviors require preassessment of their efficiency by cheaper AI signals, which we encapsulate in a hybrid “push-pull” model. The “push” factors cell density, diffusion, and spatial clustering determine when a behavior becomes effective. The relative importance of each factor depends on each species' individual ecological context and life history. In turn, “pull” factors, often stress cues that reduce the activation threshold, determine the cellular demand for the target behavior. Second, control is homeostatic because AI systems, either themselves or through accessory mechanisms, not only initiate but also maintain the efficiency of target behaviors. Third, AI-controlled behaviors, even seemingly noncooperative ones, are generally cooperative in nature, when interpreted in the appropriate ecological context. The escape of individual cells from biofilms, for example, may be viewed as an altruistic behavior that increases the fitness of the resident population by reducing starvation stress. The framework proposed here helps appropriately categorize AI-controlled behaviors and allows for a deeper understanding of their ecological and evolutionary functions. PMID:25694124

Cooperative pulses for pseudo-pure state preparation

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

Wei, Daxiu; Chang, Yan; Yang, Xiaodong, E-mail: steffen.glaser@tum.de, E-mail: xiaodong.yang@sibet.ac.cn

2014-06-16

Using an extended version of the optimal-control-based gradient ascent pulse engineering algorithm, cooperative (COOP) pulses are designed for multi-scan experiments to prepare pseudo-pure states in quantum computation. COOP pulses can cancel undesired signal contributions, complementing and generalizing phase cycles. They also provide more flexibility and, in particular, eliminate the need to select specific individual target states and achieve the fidelity of theoretical limit by flexibly choosing appropriate number of scans and duration of pulses. The COOP approach is experimentally demonstrated for three-qubit and four-qubit systems.

A new strategy for tuberculosis control in North Korea.

PubMed

Shin, Young-Jeon; Ki, Moran; Sung, Nackmoon

2015-01-01

Tuberculosis is one of the most prevalent diseases in North Korea. Despite some positive accomplishments by current aid projects, it is still necessary to investigate the existing aid system. The following are necessary for improvement: sustaining a high degree of expertise, cooperation among various related parties including the international community, mediation to induce this cooperation, a more active role of the South Korean government, and encouragement of North Korea to more actively participate. Achieving these will help solve the issues of current tuberculosis aid projects in North Korea and lead to more successful outcomes.

Cooperative deformations of periodically patterned hydrogels.

PubMed

Wang, Zhi Jian; Zhu, Chao Nan; Hong, Wei; Wu, Zi Liang; Zheng, Qiang

2017-09-01

Nature has shown elegant paradigms of smart deformation, which inspired biomimetic systems with controllable bending, folding, and twisting that are significant for the development of soft electronics and actuators. Complex deformations are usually realized by additively incorporating typical structures in selective domains with little interaction. We demonstrate the cooperative deformations of periodically patterned hydrogel sheets, in which neighboring domains mutually interact and cooperatively deform. Nonswelling disc gels are periodically positioned in a high-swelling gel. During the swelling process, the compartmentalized high-swelling gel alternately bends upward or downward to relieve the in-plane compression, but the overall integrated structure remains flat. The synergy between the elastic mismatch and the geometric periodicity selects the outcome pattern. Both experiment and modeling show that various types of cooperative deformation can be achieved by tuning the pattern geometry and gel properties. Different responsive polymers can also be patterned in one composite gel. Under stimulation, reversible transformations between different cooperative deformations are realized. The principle of cooperative deformation should be applicable to other materials, and the patterns can be miniaturized to the micrometer- or nanometer-scale level, providing the morphing materials with advanced functionalities for applications in various fields.

The Evolution of Cooperation in Managed Groundwater Systems: An Agent-Based Modelling Approach

NASA Astrophysics Data System (ADS)

Castilla Rho, J. C.; Mariethoz, G.; Rojas, R. F.; Andersen, M. S.; Kelly, B. F.; Holley, C.

2014-12-01

Human interactions with groundwater systems often exhibit complex features that hinder the sustainable management of the resource. This leads to costly and persistent conflicts over groundwater at the catchment scale. One possible way to address these conflicts is by gaining a better understanding of how social and groundwater dynamics coevolve using agent-based models (ABM). Such models allow exploring 'bottom-up' solutions (i.e., self-organised governance systems), where the behaviour of individual agents (e.g., farmers) results in the emergence of mutual cooperation among groundwater users. There is significant empirical evidence indicating that this kind of 'bottom-up' approach may lead to more enduring and sustainable outcomes, compared to conventional 'top-down' strategies such as centralized control and water right schemes (Ostrom 1990). New modelling tools are needed to study these concepts systematically and efficiently. Our model uses a conceptual framework to study cooperation and the emergence of social norms as initially proposed by Axelrod (1986), which we adapted to groundwater management. We developed an ABM that integrates social mechanisms and the physics of subsurface flow. The model explicitly represents feedback between groundwater conditions and social dynamics, capturing the spatial structure of these interactions and the potential effects on cooperation levels in an agricultural setting. Using this model, we investigate a series of mechanisms that may trigger norms supporting cooperative strategies, which can be sustained and become stable over time. For example, farmers in a self-monitoring community can be more efficient at achieving the objective of sustainable groundwater use than government-imposed regulation. Our coupled model thus offers a platform for testing new schemes promoting cooperation and improved resource use, which can be used as a basis for policy design. Importantly, we hope to raise awareness of agent-based modelling as a new tool for studying complex human-groundwater systems.

CTAS and NASA Air Traffic Management Fact Sheets for En Route Descent Advisor and Surface Management System

NASA Technical Reports Server (NTRS)

Lee, Katharine

2004-01-01

The Surface Management System (SMS) is a decision support tool that will help controllers, traffic managers, and NAS users manage the movements of aircraft on the surface of busy airports, improving capacity, efficiency, and flexibility. The Advanced Air Transportation Technologies (AATT) Project at NASA is developing SMS in cooperation with the FAA's Free Flight Phase 2 (FFP2) pro5ram. SMS consists of three parts: a traffic management tool, a controller tool, and a National Airspace System (NAS) information tool.

Institutions, incentives and the future of fisheries

PubMed Central

Hilborn, Ray; Orensanz, J. M. (Lobo); Parma, Ana M.

2005-01-01

Fisheries around the world are managed with a broad range of institutional structures. Some of these have been quite disastrous, whereas others have proven both biologically and economically successful. Unsuccessful systems have generally involved either open access, attempts at top-down control with poor ability to monitor and implement regulations, or reliance on consensus. Successful systems range from local cooperatives to strong governmental control, to various forms of property rights, but usually involve institutional systems that provide incentives to individual operators that lead to behaviour consistent with conservation. PMID:15744918

Coercive and legitimate authority impact tax honesty: evidence from behavioral and ERP experiments

PubMed Central

Pfabigan, Daniela M.; Lamm, Claus; Kirchler, Erich; Hofmann, Eva

2017-01-01

Abstract Cooperation in social systems such as tax honesty is of central importance in our modern societies. However, we know little about cognitive and neural processes driving decisions to evade or pay taxes. This study focuses on the impact of perceived tax authority and examines the mental chronometry mirrored in ERP data allowing a deeper understanding about why humans cooperate in tax systems. We experimentally manipulated coercive and legitimate authority and studied its impact on cooperation and underlying cognitive (experiment 1, 2) and neuronal (experiment 2) processes. Experiment 1 showed that in a condition of coercive authority, tax payments are lower, decisions are faster and participants report more rational reasoning and enforced compliance, however, less voluntary cooperation than in a condition of legitimate authority. Experiment 2 confirmed most results, but did not find a difference in payments or self-reported rational reasoning. Moreover, legitimate authority led to heightened cognitive control (expressed by increased MFN amplitudes) and disrupted attention processing (expressed by decreased P300 amplitudes) compared to coercive authority. To conclude, the neuronal data surprisingly revealed that legitimate authority may led to higher decision conflict and thus to higher cognitive demands in tax decisions than coercive authority. PMID:28402477

Bipolar square-wave current source for transient electromagnetic systems based on constant shutdown time

NASA Astrophysics Data System (ADS)

Wang, Shilong; Yin, Changchun; Lin, Jun; Yang, Yu; Hu, Xueyan

2016-03-01

Cooperative work of multiple magnetic transmitting sources is a new trend in the development of transient electromagnetic system. The key is the bipolar current waves shutdown, concurrently in the inductive load. In the past, it was difficult to use the constant clamping voltage technique to realize the synchronized shutdown of currents with different peak values. Based on clamping voltage technique, we introduce a new controlling method with constant shutdown time. We use the rising time to control shutdown time and use low voltage power source to control peak current. From the viewpoint of the circuit energy loss, by taking the high-voltage capacitor bypass resistance and the capacitor of the passive snubber circuit into account, we establish the relationship between the rising time and the shutdown time. Since the switch is not ideal, we propose a new method to test the shutdown time by the low voltage, the high voltage and the peak current. Experimental results show that adjustment of the current rising time can precisely control the value of the clamp voltage. When the rising time is fixed, the shutdown time is unchanged. The error for shutdown time deduced from the energy consumption is less than 6%. The new controlling method on current shutdown proposed in this paper can be used in the cooperative work of borehole and ground transmitting system.

Bipolar square-wave current source for transient electromagnetic systems based on constant shutdown time.

PubMed

Wang, Shilong; Yin, Changchun; Lin, Jun; Yang, Yu; Hu, Xueyan

2016-03-01

Cooperative work of multiple magnetic transmitting sources is a new trend in the development of transient electromagnetic system. The key is the bipolar current waves shutdown, concurrently in the inductive load. In the past, it was difficult to use the constant clamping voltage technique to realize the synchronized shutdown of currents with different peak values. Based on clamping voltage technique, we introduce a new controlling method with constant shutdown time. We use the rising time to control shutdown time and use low voltage power source to control peak current. From the viewpoint of the circuit energy loss, by taking the high-voltage capacitor bypass resistance and the capacitor of the passive snubber circuit into account, we establish the relationship between the rising time and the shutdown time. Since the switch is not ideal, we propose a new method to test the shutdown time by the low voltage, the high voltage and the peak current. Experimental results show that adjustment of the current rising time can precisely control the value of the clamp voltage. When the rising time is fixed, the shutdown time is unchanged. The error for shutdown time deduced from the energy consumption is less than 6%. The new controlling method on current shutdown proposed in this paper can be used in the cooperative work of borehole and ground transmitting system.

Further Investigation of Receding Horizion-Based Controllers and Neural Network-Based Systems

NASA Technical Reports Server (NTRS)

Kelkar, Atul G.; Haley, Pamela J. (Technical Monitor)

2000-01-01

This report provides a comprehensive summary of the research work performed over the entire duration of the co-operative research agreement between NASA Langley Research Center and Kansas State University. This summary briefly lists the findings and also suggests possible future directions for the continuation of the subject research in the area of Generalized Predictive Control (GPC) and Network Based Generalized Predictive Control (NGPC).

Impact of Cooperative Learning on Naval Air Traffic Controller Training.

ERIC Educational Resources Information Center

Holubec, Edythe; And Others

1993-01-01

Reports on a study of the impact of cooperative learning techniques, compared with traditional Navy instructional methods, on Navy air traffic controller trainees. Finds that cooperative learning methods improved higher level reasoning skills and resulted in no failures among the trainees. (CFR)

Technical cooperation on nuclear security between the United States and China : review of the past and opportunities for the future.

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

Pregenzer, Arian Leigh

2011-12-01

The United States and China are committed to cooperation to address the challenges of the next century. Technical cooperation, building on a long tradition of technical exchange between the two countries, can play an important role. This paper focuses on technical cooperation between the United States and China in the areas of nonproliferation, arms control and other nuclear security topics. It reviews cooperation during the 1990s on nonproliferation and arms control under the U.S.-China Arms Control Exchange, discusses examples of ongoing activities under the Peaceful Uses of Technology Agreement to enhance security of nuclear and radiological material, and suggests opportunitiesmore » for expanding technical cooperation between the defense nuclear laboratories of both countries to address a broader range of nuclear security topics.« less

Terminal Sliding Mode-Based Consensus Tracking Control for Networked Uncertain Mechanical Systems on Digraphs.

PubMed

Chen, Gang; Song, Yongduan; Guan, Yanfeng

2018-03-01

This brief investigates the finite-time consensus tracking control problem for networked uncertain mechanical systems on digraphs. A new terminal sliding-mode-based cooperative control scheme is developed to guarantee that the tracking errors converge to an arbitrarily small bound around zero in finite time. All the networked systems can have different dynamics and all the dynamics are unknown. A neural network is used at each node to approximate the local unknown dynamics. The control schemes are implemented in a fully distributed manner. The proposed control method eliminates some limitations in the existing terminal sliding-mode-based consensus control methods and extends the existing analysis methods to the case of directed graphs. Simulation results on networked robot manipulators are provided to show the effectiveness of the proposed control algorithms.

Quantifying Benefits of Cooperative Adaptive Cruise Control Towards Sustainable Transportation System

DOT National Transportation Integrated Search

2011-05-01

Transportation is a rapidly changing field that impacts all members of society in this country. One of the controversial and more dangerous ways in which transportation impacts society is through high carbon dioxide emissions and fuel consumption whi...

Centralized sanctioning and legitimate authority promote cooperation in humans.

PubMed

Baldassarri, Delia; Grossman, Guy

2011-07-05

Social sanctioning is widely considered a successful strategy to promote cooperation among humans. In situations in which individual and collective interests are at odds, incentives to free-ride induce individuals to refrain from contributing to public goods provision. Experimental evidence from public goods games shows that when endowed with sanctioning powers, conditional cooperators can discipline defectors, thus leading to greater levels of cooperation. However, extant evidence is based on peer punishment institutions, whereas in complex societies, systems of control are often centralized: for instance, we do not sanction our neighbors for driving too fast, the police do. Here we show the effect of centralized sanctioning and legitimate authority on cooperation. We designed an adaptation of the public goods game in which sanctioning power is given to a single monitor, and we experimentally manipulated the process by which the monitor is chosen. To increase the external validity of the study, we conducted lab-in-the-field experiments involving 1,543 Ugandan farmers from 50 producer cooperatives. This research provides evidence of the effectiveness of centralized sanctioning and demonstrates the causal effect of legitimacy on cooperation: participants are more responsive to the authority of an elected monitor than a randomly chosen monitor. Our essay contributes to the literature on the evolution of cooperation by introducing the idea of role differentiation. In complex societies, cooperative behavior is not only sustained by mechanisms of selection and reciprocity among peers, but also by the legitimacy that certain actors derive from their position in the social hierarchy.

A flexible telerobotic system for space operations

NASA Technical Reports Server (NTRS)

Sliwa, N. O.; Will, R. W.

1987-01-01

The objective and design of a proposed goal-oriented knowledge-based telerobotic system for space operations is described. This design effort encompasses the elements of the system executive and user interface and the distribution and general structure of the knowledge base, the displays, and the task sequencing. The objective of the design effort is to provide an expandable structure for a telerobotic system that provides cooperative interaction between the human operator and computer control. The initial phase of the implementation provides a rule-based, goal-oriented script generator to interface to the existing control modes of a telerobotic research system, in the Intelligent Systems Research Lab at NASA Research Center.

Systems engineering technology for networks

NASA Technical Reports Server (NTRS)

1994-01-01

The report summarizes research pursued within the Systems Engineering Design Laboratory at Virginia Polytechnic Institute and State University between May 16, 1993 and January 31, 1994. The project was proposed in cooperation with the Computational Science and Engineering Research Center at Howard University. Its purpose was to investigate emerging systems engineering tools and their applicability in analyzing the NASA Network Control Center (NCC) on the basis of metrics and measures.

Design of belt conveyor electric control device based on CC-link bus

NASA Astrophysics Data System (ADS)

Chen, Goufen; Zhan, Minhua; Li, Jiehua

2016-01-01

In view of problem of the existing coal mine belt conveyor is no field bus communication function, two levels belt conveyor electric control system design is proposed based on field bus. Two-stage belt conveyor electric control system consists of operation platform, PLC control unit, various sensors, alarm device and the water spraying device. The error protection is realized by PLC programming, made use of CC-Link bus technology, the data share and the cooperative control came true between host station and slave station. The real-time monitor was achieved by the touch screen program. Practical application shows that the system can ensure the coalmine production, and improve the automatic level of the coalmine transport equipment.

PILOT: An intelligent distributed operations support system

NASA Technical Reports Server (NTRS)

Rasmussen, Arthur N.

1993-01-01

The Real-Time Data System (RTDS) project is exploring the application of advanced technologies to the real-time flight operations environment of the Mission Control Centers at NASA's Johnson Space Center. The system, based on a network of engineering workstations, provides services such as delivery of real time telemetry data to flight control applications. To automate the operation of this complex distributed environment, a facility called PILOT (Process Integrity Level and Operation Tracker) is being developed. PILOT comprises a set of distributed agents cooperating with a rule-based expert system; together they monitor process operation and data flows throughout the RTDS network. The goal of PILOT is to provide unattended management and automated operation under user control.

[Construction of occupational zoonoses control system at a zoo].

PubMed

Hori, Ai; Nakamura, Sachiko; Sotohira, Yukari; Iwano, Toshiro; Taniguchi, Hatsumi

2006-12-01

More than 200 diseases are known to be transmitable from animals to humans. These zoonotic infections (zoonoses) are considered as a major occupational health risk among zoo workers, including veterinarians and animal handlers. In order to prevent possible pathogen transmission, precaution measures for workers, visitors and animals are important, as well as institutional hygiene. Construction of a zoonoses control system at a zoo is presented in this report. There are two main components of this system: 1. routine disease prevention activity, 2. action planning for crisis. Workers, an operating officer, an occupational physician and a veterinarian from the zoo cooperated with infection control professionals from the local community.

Intelligent unmanned vehicle systems suitable for individual or cooperative missions

NASA Astrophysics Data System (ADS)

Anderson, Matthew O.; McKay, Mark D.; Wadsworth, Derek C.

2007-04-01

The Department of Energy's Idaho National Laboratory (INL) has been researching autonomous unmanned vehicle systems for over fifteen years. Areas of research have included unmanned ground and aerial vehicles used for hazardous and remote operations as well as teamed together for advanced payloads and mission execution. Areas of application include aerial particulate sampling, cooperative remote radiological sampling, and persistent surveillance including real-time mosaic and geo-referenced imagery in addition to high-resolution still imagery. Both fixed-wing and rotary airframes are used possessing capabilities spanning remote control to fully autonomous operation. Patented INL-developed auto steering technology is taken advantage of to provide autonomous parallel path swathing with either manned or unmanned ground vehicles. Aerial look-ahead imagery is utilized to provide a common operating picture for the ground and air vehicles during cooperative missions. This paper will discuss the various robotic vehicles, including sensor integration, used to achieve these missions and anticipated cost and labor savings.

Nonlinear Model Predictive Control for Cooperative Control and Estimation

NASA Astrophysics Data System (ADS)

Ru, Pengkai

Recent advances in computational power have made it possible to do expensive online computations for control systems. It is becoming more realistic to perform computationally intensive optimization schemes online on systems that are not intrinsically stable and/or have very small time constants. Being one of the most important optimization based control approaches, model predictive control (MPC) has attracted a lot of interest from the research community due to its natural ability to incorporate constraints into its control formulation. Linear MPC has been well researched and its stability can be guaranteed in the majority of its application scenarios. However, one issue that still remains with linear MPC is that it completely ignores the system's inherent nonlinearities thus giving a sub-optimal solution. On the other hand, if achievable, nonlinear MPC, would naturally yield a globally optimal solution and take into account all the innate nonlinear characteristics. While an exact solution to a nonlinear MPC problem remains extremely computationally intensive, if not impossible, one might wonder if there is a middle ground between the two. We tried to strike a balance in this dissertation by employing a state representation technique, namely, the state dependent coefficient (SDC) representation. This new technique would render an improved performance in terms of optimality compared to linear MPC while still keeping the problem tractable. In fact, the computational power required is bounded only by a constant factor of the completely linearized MPC. The purpose of this research is to provide a theoretical framework for the design of a specific kind of nonlinear MPC controller and its extension into a general cooperative scheme. The controller is designed and implemented on quadcopter systems.

A parametric analysis of a controlled deployable space manipulator for capturing a non-cooperative flexible satellite

NASA Astrophysics Data System (ADS)

Stolfi, A.; Gasbarri, P.; Sabatini, M.

2018-07-01

In the near future robotic systems will be playing an increasingly important role in space applications such as repairing, refueling, re-orbiting spacecraft and cleaning up the increasing amount of space debris. Space Manipulator Systems (SMSs) are robotic systems made of a bus (which has its own actuators such as thrusters and reaction wheels) equipped with one or more deployable arms. The present paper focuses on the issue of maintaining a stable first contact between the arms terminal parts (i.e. the end-effectors) and a non-cooperative target satellite, before the actual grasp is performed. The selected approach is a modified version of the Impedance Control algorithm in which the end-effector is controlled in order to make it behave like a mass-spring-damper system regardless of the reaction motion of the base, so to absorb the impact energy. The effects of non-modeled dynamics in control determination such as the structural flexibility of the manipulator and the target satellite are considered as well, and their impact on control effectiveness is analyzed. The performance of the proposed control architecture and a parametric analysis are studied by means of a co-simulation involving the MSC Adams multibody code (for describing the dynamics of the space robot and target) together with Simulink (for the determination of the control actions). The results show that the first contact phase of the grasping operation of a large satellite requires careful tuning of the control gains and a proper selection of the end-effector dimensions; otherwise, the large geometric and inertia characteristics of the target could lead to a failure with serious consequences. Both successful and underperforming cases are presented and commented in the paper.

European Train Control System: A Case Study in Formal Verification

NASA Astrophysics Data System (ADS)

Platzer, André; Quesel, Jan-David

Complex physical systems have several degrees of freedom. They only work correctly when their control parameters obey corresponding constraints. Based on the informal specification of the European Train Control System (ETCS), we design a controller for its cooperation protocol. For its free parameters, we successively identify constraints that are required to ensure collision freedom. We formally prove the parameter constraints to be sharp by characterizing them equivalently in terms of reachability properties of the hybrid system dynamics. Using our deductive verification tool KeYmaera, we formally verify controllability, safety, liveness, and reactivity properties of the ETCS protocol that entail collision freedom. We prove that the ETCS protocol remains correct even in the presence of perturbation by disturbances in the dynamics. We verify that safety is preserved when a PI controlled speed supervision is used.

Instability of cooperative adaptive cruise control traffic flow: A macroscopic approach

NASA Astrophysics Data System (ADS)

Ngoduy, D.

2013-10-01

This paper proposes a macroscopic model to describe the operations of cooperative adaptive cruise control (CACC) traffic flow, which is an extension of adaptive cruise control (ACC) traffic flow. In CACC traffic flow a vehicle can exchange information with many preceding vehicles through wireless communication. Due to such communication the CACC vehicle can follow its leader at a closer distance than the ACC vehicle. The stability diagrams are constructed from the developed model based on the linear and nonlinear stability method for a certain model parameter set. It is found analytically that CACC vehicles enhance the stabilization of traffic flow with respect to both small and large perturbations compared to ACC vehicles. Numerical simulation is carried out to support our analytical findings. Based on the nonlinear stability analysis, we will show analytically and numerically that the CACC system better improves the dynamic equilibrium capacity over the ACC system. We have argued that in parallel to microscopic models for CACC traffic flow, the newly developed macroscopic will provide a complete insight into the dynamics of intelligent traffic flow.

The control of foreigners as researchers in Thailand.

PubMed

Ditton, Mary J; Lehane, Leigh

2009-09-01

AN IMPORTANT ASPECT OF ETHICAL CONDUCT of field research is for the researcher to have an appropriate relationship with the legitimate gatekeepers of the field site. This paper describes our experiences of obtaining approval from regulatory authorities in Thailand for field research on Burmese migrants, and discusses the nature and rationale of such government control in Asia and Western countries. It is intended to guide future humanitarian researchers who are planning to study oppressed groups at politically sensitive research sites where regulatory authorities monitor both research sites and research performance. Thailand, like several other Southeast Asian countries, operates a permit system for foreign researchers. This permit system is designed to promote research activities in Thailand so that the results can be used to further the country's development, and to enhance the cooperation and collaboration between Thai and foreign researchers providing opportunities for the exchange of knowledge, technical expertise, and experience. This control of foreign researchers is not prohibitive; foreign humanitarian researchers can organize research and advance the welfare of targeted oppressed populations in cooperation with government agencies.

Entry Vehicle Control System Design for the Mars Smart Lander

NASA Technical Reports Server (NTRS)

Calhoun, Philip C.; Queen, Eric M.

2002-01-01

The NASA Langley Research Center, in cooperation with the Jet Propulsion Laboratory, participated in a preliminary design study of the Entry, Descent and Landing phase for the Mars Smart Lander Project. This concept utilizes advances in Guidance, Navigation and Control technology to significantly reduce uncertainty in the vehicle landed location on the Mars surface. A candidate entry vehicle controller based on the Reaction Control System controller for the Apollo Lunar Excursion Module digital autopilot is proposed for use in the entry vehicle attitude control. A slight modification to the phase plane controller is used to reduce jet-firing chattering while maintaining good control response for the Martian entry probe application. The controller performance is demonstrated in a six-degree-of-freedom simulation with representative aerodynamics.

The role of an intergovernmental regional organization in combating drug trafficking: a perspective of the Colombo Plan Bureau.

PubMed

Abarro, P A

1987-01-01

The Colombo Plan was established in 1950 as a regional intergovernmental organization for co-operative economic and social development in Asia and the Pacific comprising 26 member States. The permanent secretariat is the Colombo Plan Bureau to which is attached the Drug Advisory Programme (DAP) headed by a drug adviser, who consults with Governments and helps develop co-operative programmes for drug abuse prevention and control. DAP functions in close liaison and co-operation with organizations of the United Nations system and other regional and international organizations in pursuing activities in line with the international strategy and policies for drug control of the United Nations. DAP assists member States in creating public awareness of the dangers of drug abuse and drug trafficking through the use of mass media, seminars, workshops and conferences and study exchange programmes. It assists Governments in updating their drug laws and in establishing special drug units and national co-ordinating bodies on drug abuse control. DAP encourages and supports the utilization of community resources and the activities of non-governmental organizations and voluntary bodies for the prevention and reduction of drug abuse, as well as the use of mass media for more co-ordinated efforts in this area. It assists member States in developing human resources and technical expertise of personnel in the various disciplines of law enforcement, prevention, treatment and rehabilitation, through training, seminars, study exchange fellowship programmes and research. DAP also assists in promoting co-operation at the regional and interregional levels, and is involved in developing and strengthening co-operation between agencies of member States that deal with drug problems.

Prescribed performance distributed consensus control for nonlinear multi-agent systems with unknown dead-zone input

NASA Astrophysics Data System (ADS)

Cui, Guozeng; Xu, Shengyuan; Ma, Qian; Li, Yongmin; Zhang, Zhengqiang

2018-05-01

In this paper, the problem of prescribed performance distributed output consensus for higher-order non-affine nonlinear multi-agent systems with unknown dead-zone input is investigated. Fuzzy logical systems are utilised to identify the unknown nonlinearities. By introducing prescribed performance, the transient and steady performance of synchronisation errors are guaranteed. Based on Lyapunov stability theory and the dynamic surface control technique, a new distributed consensus algorithm for non-affine nonlinear multi-agent systems is proposed, which ensures cooperatively uniformly ultimately boundedness of all signals in the closed-loop systems and enables the output of each follower to synchronise with the leader within predefined bounded error. Finally, simulation examples are provided to demonstrate the effectiveness of the proposed control scheme.

How to Integrate Variable Power Source into a Power Grid

NASA Astrophysics Data System (ADS)

Asano, Hiroshi

This paper discusses how to integrate variable power source such as wind power and photovoltaic generation into a power grid. The intermittent renewable generation is expected to penetrate for less carbon intensive power supply system, but it causes voltage control problem in the distribution system, and supply-demand imbalance problem in a whole power system. Cooperative control of customers' energy storage equipment such as water heater with storage tank for reducing inverse power flow from the roof-top PV system, the operation technique using a battery system and the solar radiation forecast for stabilizing output of variable generation, smart charging of plug-in hybrid electric vehicles for load frequency control (LFC), and other methods to integrate variable power source with improving social benefits are surveyed.

Peer-to-peer model for the area coverage and cooperative control of mobile sensor networks

NASA Astrophysics Data System (ADS)

Tan, Jindong; Xi, Ning

2004-09-01

This paper presents a novel model and distributed algorithms for the cooperation and redeployment of mobile sensor networks. A mobile sensor network composes of a collection of wireless connected mobile robots equipped with a variety of sensors. In such a sensor network, each mobile node has sensing, computation, communication, and locomotion capabilities. The locomotion ability enhances the autonomous deployment of the system. The system can be rapidly deployed to hostile environment, inaccessible terrains or disaster relief operations. The mobile sensor network is essentially a cooperative multiple robot system. This paper first presents a peer-to-peer model to define the relationship between neighboring communicating robots. Delaunay Triangulation and Voronoi diagrams are used to define the geometrical relationship between sensor nodes. This distributed model allows formal analysis for the fusion of spatio-temporal sensory information of the network. Based on the distributed model, this paper discusses a fault tolerant algorithm for autonomous self-deployment of the mobile robots. The algorithm considers the environment constraints, the presence of obstacles and the nonholonomic constraints of the robots. The distributed algorithm enables the system to reconfigure itself such that the area covered by the system can be enlarged. Simulation results have shown the effectiveness of the distributed model and deployment algorithms.

A Framework for Evaluating Energy and Emissions of Connected and Automated Vehicles through Traffic Microsimulations

DOT National Transportation Integrated Search

2018-01-07

Connected and automated vehicles (CAV) are poised to transform surface transportation systems in the United States. Near-term CAV technologies like cooperative adaptive cruise control (CACC) have the potential to deliver energy efficiency and air qua...

Increased cooperative behavior across remitted bipolar I disorder and major depression: Insights utilizing a behavioral economic trust game.

PubMed

Ong, Desmond C; Zaki, Jamil; Gruber, June

2017-01-01

Mood disorders impact social functioning, but might contribute to experiences-like affective distress-that might result in increased cooperative behavior under certain circumstances. We recruited participants with a history of bipolar I disorder (n = 28), major depressive disorder (n = 30), and healthy controls (n = 27)-to play a well-validated behavioral economic Trust Game, a task that provides a well-controlled experimental scenario, to measure cooperative behavior for the first time across both groups. Both remitted mood-disordered groups cooperated significantly more than the control group, but did not differ from one another. These results suggest that, in some contexts, a history of mood disturbance can produce enhanced cooperation, even in the absence of current mood symptoms. We discuss the clinical significance of enhanced cooperation in mood disorders and point to key directions for future research. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

An eConsent-based System Architecture Supporting Cooperation in Integrated Healthcare Networks.

PubMed

Bergmann, Joachim; Bott, Oliver J; Hoffmann, Ina; Pretschner, Dietrich P

2005-01-01

The economical need for efficient healthcare leads to cooperative shared care networks. A virtual electronic health record is required, which integrates patient related information but reflects the distributed infrastructure and restricts access only to those health professionals involved into the care process. Our work aims on specification and development of a system architecture fulfilling these requirements to be used in concrete regional pilot studies. Methodical analysis and specification have been performed in a healthcare network using the formal method and modelling tool MOSAIK-M. The complexity of the application field was reduced by focusing on the scenario of thyroid disease care, which still includes various interdisciplinary cooperation. Result is an architecture for a secure distributed electronic health record for integrated care networks, specified in terms of a MOSAIK-M-based system model. The architecture proposes business processes, application services, and a sophisticated security concept, providing a platform for distributed document-based, patient-centred, and secure cooperation. A corresponding system prototype has been developed for pilot studies, using advanced application server technologies. The architecture combines a consolidated patient-centred document management with a decentralized system structure without needs for replication management. An eConsent-based approach assures, that access to the distributed health record remains under control of the patient. The proposed architecture replaces message-based communication approaches, because it implements a virtual health record providing complete and current information. Acceptance of the new communication services depends on compatibility with the clinical routine. Unique and cross-institutional identification of a patient is also a challenge, but will loose significance with establishing common patient cards.

Distributed Planning and Control for Teams of Cooperating Mobile Robots

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

Parker, L.E.

2004-06-15

This CRADA project involved the cooperative research of investigators in ORNL's Center for Engineering Science Advanced Research (CESAR) with researchers at Caterpillar, Inc. The subject of the research was the development of cooperative control strategies for autonomous vehicles performing applications of interest to Caterpillar customers. The project involved three Phases of research, conducted over the time period of November 1998 through December 2001. This project led to the successful development of several technologies and demonstrations in realistic simulation that illustrated the effectiveness of the control approaches for distributed planning and cooperation in multi-robot teams.

Specificity of software cooperating with an optoelectronic sensor in the pulse oximeter system

NASA Astrophysics Data System (ADS)

Cysewska-Sobusiak, Anna; Wiczynski, Grzegorz; Jedwabny, Tomasz

1995-06-01

Specificity of a software package composed of two parts which control an optoelectronic sensor of the computer-aided system made to realize the noninvasive measurements of the arterial blood oxygen saturation as well as some parameters of the peripheral pulse waveform, has been described. Principles of the transmission variant of the one and only noninvasive measurement method, so-called pulse oximetry, has been utilized. The software co-ordinates the suitable cooperation of an IBM PC compatible microcomputer with the sensor and one specialized card. This novel card is a key part of the whole measuring system which some application fields are extended in comparison to pulse oximeters commonly attainable. The user-friendly MS Windows graphical environment which creates the system to be multitask and non-preemptive, has been used to design the specific part of the programming presented here. With this environment, sophisticated tasks of the software package can be performed without excessive complication.

Activities report in aerospace research, with data concerning the scientific committee NLR-NIVR, international cooperation concerning AGARD, DNW, GARTEUR and cooperation with Indonesia

NASA Astrophysics Data System (ADS)

Aerodynamics, flight, structures and materials, space technology and remote sensing, informatics, environment, energy supply, and equipment, were studied. Research for the Fokker-50 and 100 projects and related development of a measuring, recording, and data processing system for aircraft are described. Damage tolerance of aircraft structures and materials such as carbon/epoxy laminates with outer plies of glass, Aramid and carbon fabric, titanium alloys, and carbon fiber composites, were investigated. Fluid physics research, spacecraft attitude control system tests, and thermal vacuum research were carried out. The development of a multispectral CCD scanner, synthetic aperture radar, and side-looking airborne radar, were studied. A program to integrate aerospace informatics disciplines is described. Air traffic noise calculations, and windpower utilization research were executed. A simulation system for the satellite navigation system NAVSAT was developed. A low-speed wind tunnel LST 3x2.25 was commissioned.

Critical technology areas of an SPS development and the applicability of European technology

NASA Technical Reports Server (NTRS)

Kassing, D.; Ruth, J.

1980-01-01

Possible system development and implementation scenarios for the hypothetical European part of a cooperative Satellite Power System effort are discussed, and the technology and systems requirements which could be used as an initial guideline for further evaluation studies are characterized. Examples of advanced European space technologies are described including high power microwave amplifiers, antennas, advanced structures, multi-kilowatt solar arrays, attitude and orbit control systems, and electric propulsion.

Priority scheme planning for the robust SSM/PMAD testbed

NASA Technical Reports Server (NTRS)

Elges, Michael R.; Ashworth, Barry R.

1991-01-01

Whenever mixing priorities of manually controlled resources with those of autonomously controlled resources, the space station module power management and distribution (SSM/PMAD) environment requires cooperating expert system interaction between the planning function and the priority manager. The elements and interactions of the SSM/PMAD planning and priority management functions are presented. Their adherence to cooperating for common achievement are described. In the SSM/PMAD testbed these actions are guided by having a system planning function, KANT, which has insight to the executing system and its automated database. First, the user must be given access to all information which may have an effect on the desired outcome. Second, the fault manager element, FRAMES, must be informed as to the change so that correct diagnoses and operations take place if and when faults occur. Third, some element must engage as mediator for selection of resources and actions to be added or removed at the user's request. This is performed by the priority manager, LPLMS. Lastly, the scheduling mechanism, MAESTRO, must provide future schedules adhering to the user modified resource base.

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1989-01-01

Control techniques for self-contained, autonomous free-flying space robots are being tested and developed. Free-flying space robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require astronaut extra-vehicular activity (EVA). Use of robots will provide economic savings as well as improved astronaut safety by reducing and in many cases, eliminating the need for human EVA. The focus of the work is to develop and carry out a set of research projects using laboratory models of satellite robots. These devices use air-cushion-vehicle (ACV) technology to simulate in two dimensions the drag-free, zero-g conditions of space. Current work is divided into six major projects or research areas. Fixed-base cooperative manipulation work represents our initial entry into multiple arm cooperation and high-level control with a sophisticated user interface. The floating-base cooperative manipulation project strives to transfer some of the technologies developed in the fixed-base work onto a floating base. The global control and navigation experiment seeks to demonstrate simultaneous control of the robot manipulators and the robot base position so that tasks can be accomplished while the base is undergoing a controlled motion. The multiple-vehicle cooperation project's goal is to demonstrate multiple free-floating robots working in teams to carry out tasks too difficult or complex for a single robot to perform. The Location Enhancement Arm Push-off (LEAP) activity's goal is to provide a viable alternative to expendable gas thrusters for vehicle propulsion wherein the robot uses its manipulators to throw itself from place to place. Because the successful execution of the LEAP technique requires an accurate model of the robot and payload mass properties, it was deemed an attractive testbed for adaptive control technology.

Integrating PCLIPS into ULowell's Lincoln Logs: Factory of the future

NASA Technical Reports Server (NTRS)

Mcgee, Brenda J.; Miller, Mark D.; Krolak, Patrick; Barr, Stanley J.

1990-01-01

We are attempting to show how independent but cooperating expert systems, executing within a parallel production system (PCLIPS), can operate and control a completely automated, fault tolerant prototype of a factory of the future (The Lincoln Logs Factory of the Future). The factory consists of a CAD system for designing the Lincoln Log Houses, two workcells, and a materials handling system. A workcell consists of two robots, part feeders, and a frame mounted vision system.

A game theory-reinforcement learning (GT-RL) method to develop optimal operation policies for multi-operator reservoir systems

NASA Astrophysics Data System (ADS)

Madani, Kaveh; Hooshyar, Milad

2014-11-01

Reservoir systems with multiple operators can benefit from coordination of operation policies. To maximize the total benefit of these systems the literature has normally used the social planner's approach. Based on this approach operation decisions are optimized using a multi-objective optimization model with a compound system's objective. While the utility of the system can be increased this way, fair allocation of benefits among the operators remains challenging for the social planner who has to assign controversial weights to the system's beneficiaries and their objectives. Cooperative game theory provides an alternative framework for fair and efficient allocation of the incremental benefits of cooperation. To determine the fair and efficient utility shares of the beneficiaries, cooperative game theory solution methods consider the gains of each party in the status quo (non-cooperation) as well as what can be gained through the grand coalition (social planner's solution or full cooperation) and partial coalitions. Nevertheless, estimation of the benefits of different coalitions can be challenging in complex multi-beneficiary systems. Reinforcement learning can be used to address this challenge and determine the gains of the beneficiaries for different levels of cooperation, i.e., non-cooperation, partial cooperation, and full cooperation, providing the essential input for allocation based on cooperative game theory. This paper develops a game theory-reinforcement learning (GT-RL) method for determining the optimal operation policies in multi-operator multi-reservoir systems with respect to fairness and efficiency criteria. As the first step to underline the utility of the GT-RL method in solving complex multi-agent multi-reservoir problems without a need for developing compound objectives and weight assignment, the proposed method is applied to a hypothetical three-agent three-reservoir system.

International HIV and AIDS prevention: Japan/United States collaboration.

PubMed

Umenai, T; Narula, M; Onuki, D; Yamamoto, T; Igari, T

1997-01-01

As the epicenter of the HIV/AIDS pandemic shifts from Africa to Asia, Japan is becoming ever more aware of the importance of containing and preventing spread of the virus. International collaboration, particularly with the United States, is a logical approach because it allows utilization of expertise from countries in other stages of the pandemic, can prevent duplication of efforts, and complements efforts of the other countries. Further, both Japan and the United States can use their combined influence and prestige to encourage cooperation among all nations. In 1994, Japan established the Global Issues Initiative to extend cooperation to developing countries in the areas of population and AIDS control. It has disbursed more than $460 million (U.S.$) to promote active cooperation and stimulate international attention to the importance of addressing these health issues. Japan has established four main programs for international collaboration for control of HIV and AIDS, three operated by ministries and one by a Japanese nongovernmental organization. Japanese/United States collaboration is developing through the United States/Japan Cooperative Medical Sciences Program, the Common Agenda for Cooperation in Global Perspective, the Paris Summit, and the United Nations Joint Programme on AIDS. It is critical that Japan and the United States, as the two largest donors to international development, demonstrate, through their collaboration, ways to maximize the use of limited resources, reduce duplication, and promote sustainable development programs in which HIV prevention and AIDS care programs are systemically integrated.

48 CFR 702.170-4 - Cooperating country.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 48 Federal Acquisition Regulations System 5 2010-10-01 2010-10-01 false Cooperating country. 702.170-4 Section 702.170-4 Federal Acquisition Regulations System AGENCY FOR INTERNATIONAL DEVELOPMENT GENERAL DEFINITIONS OF WORDS AND TERMS Definitions 702.170-4 Cooperating country. Cooperating country...

A robotic system for researching social integration in honeybees.

PubMed

Griparić, Karlo; Haus, Tomislav; Miklić, Damjan; Polić, Marsela; Bogdan, Stjepan

2017-01-01

In this paper, we present a novel robotic system developed for researching collective social mechanisms in a biohybrid society of robots and honeybees. The potential for distributed coordination, as observed in nature in many different animal species, has caused an increased interest in collective behaviour research in recent years because of its applicability to a broad spectrum of technical systems requiring robust multi-agent control. One of the main problems is understanding the mechanisms driving the emergence of collective behaviour of social animals. With the aim of deepening the knowledge in this field, we have designed a multi-robot system capable of interacting with honeybees within an experimental arena. The final product, stationary autonomous robot units, designed by specificaly considering the physical, sensorimotor and behavioral characteristics of the honeybees (lat. Apis mallifera), are equipped with sensing, actuating, computation, and communication capabilities that enable the measurement of relevant environmental states, such as honeybee presence, and adequate response to the measurements by generating heat, vibration and airflow. The coordination among robots in the developed system is established using distributed controllers. The cooperation between the two different types of collective systems is realized by means of a consensus algorithm, enabling the honeybees and the robots to achieve a common objective. Presented results, obtained within ASSISIbf project, show successful cooperation indicating its potential for future applications.

78 FR 38311 - Broad River Electric Cooperative and Cherokee Falls Associates; Aquenergy Systems, Inc.; Notice...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-06-26

... Electric Cooperative and Cherokee Falls Associates; Aquenergy Systems, Inc.; Notice of Application for... Electric Cooperative and Cherokee Falls Associates (transferors) and Aquenergy Systems, Inc. (transferee... 15222. Transferee: Mr. Steve Champagne, Executive Vice President and General Counsel, Aquenergy Systems...

[Evolution of China's rural cooperative medical care system.].

PubMed

Cai, Tian-Xin

2009-11-01

The rural cooperative medical care system of our country originated from the beginning of the 50s of the 20(th) century, which developed abnormally due to leftist ideology during the period of the Cultural Revolution. An institutional reform of the rural cooperative medical care system had began after the reform and opening up in China, but with the development of rural productivity and rapid transformation of economic structure, the traditional cooperative medical care system declined rapidly due to incompatibility with the new model of economic and social development. At the beginning of the 90s of the 20(th) century, exploring the developmental path of rural cooperative medical service, under the conditions of market economy and adopting the approach of "main individual investment with partial collective and appropriate government support", to try to establish rural cooperative medical funds, so that the rural cooperative medical system could bottom out gradually, but still failed to achieve the expected goal of universal access to health care in 2000. However, the promotion and establishment of a new rural cooperative medical care and aid system could become a major achievement aim in the 21(st) century.

Artificial Intelligence and Spacecraft Power Systems

NASA Technical Reports Server (NTRS)

Dugel-Whitehead, Norma R.

1997-01-01

This talk will present the work which has been done at NASA Marshall Space Flight Center involving the use of Artificial Intelligence to control the power system in a spacecraft. The presentation will include a brief history of power system automation, and some basic definitions of the types of artificial intelligence which have been investigated at MSFC for power system automation. A video tape of one of our autonomous power systems using co-operating expert systems, and advanced hardware will be presented.

Implementing a vector surveillance-response system for chagas disease control: a 4-year field trial in Nicaragua.

PubMed

Yoshioka, Kota; Tercero, Doribel; Pérez, Byron; Nakamura, Jiro; Pérez, Lenin

2017-03-06

Chagas disease is one of the neglected tropical diseases (NTDs). International goals for its control involve elimination of vector-borne transmission. Central American countries face challenges in establishing sustainable vector control programmes, since the main vector, Triatoma dimidiata, cannot be eliminated. In 2012, the Ministry of Health in Nicaragua started a field test of a vector surveillance-response system to control domestic vector infestation. This paper reports the main findings from this pilot study. This study was carried out from 2012 to 2015 in the Municipality of Totogalpa. The Japan International Cooperation Agency provided technical cooperation in designing and monitoring the surveillance-response system until 2014. This system involved 1) vector reports by householders to health facilities, 2) data analysis and planning of responses at the municipal health centre and 3) house visits or insecticide spraying by health personnel as a response. We registered all vector reports and responses in a digital database. The collected data were used to describe and analyse the system performance in terms of amount of vector reports as well as rates and timeliness of responses. During the study period, T. dimidiata was reported 396 times. Spatiotemporal analysis identified some high-risk clusters. All houses reported to be infested were visited by health personnel in 2013 and this response rate dropped to 39% in 2015. Rates of insecticide spraying rose above 80% in 2013 but no spraying was carried out in the following 2 years. The timeliness of house visits improved significantly after the responsibility was transferred from a vector control technician to primary health care staff. We argue that the proposed vector surveillance-response system is workable within the resource-constrained health system in Nicaragua. Integration to the primary health care services was a key to improve the system performance. Continual efforts are necessary to keep adapting the surveillance-response system to the dynamic health systems. We also discuss that the goal of eliminating vector-borne transmission remains unachievable. This paper provides lessons not only for Chagas disease control in Central America, but also for control efforts for other NTDs that need a sustainable surveillance-response system to support elimination.

Smart Power Infrastructure Demonstration for Energy Reliability and Security (SPIDERS)

DTIC Science & Technology

2012-05-01

protect, and secure the United States and its interests. • AOF is the United States, Alaska, Canada, Mexico, Bahamas, Puerto Rico , and the U.S. Virgin...Criteria (UFC) for Smart Microgrid Cyber design guides for Industrial Control Systems (ICS) Residual systems Operations and Maintenance Operator...Training Sustainment Commercial Transition Cooperation with NIST for microgrid security standards Working with industry associations and

Impact of active controls technology on structural integrity

NASA Technical Reports Server (NTRS)

Noll, Thomas; Austin, Edward; Donley, Shawn; Graham, George; Harris, Terry

1991-01-01

This paper summarizes the findings of The Technical Cooperation Program to assess the impact of active controls technology on the structural integrity of aeronautical vehicles and to evaluate the present state-of-the-art for predicting the loads caused by a flight-control system modification and the resulting change in the fatigue life of the flight vehicle. The potential for active controls to adversely affect structural integrity is described, and load predictions obtained using two state-of-the-art analytical methods are given.

Constraint processing in our extensible language for cooperative imaging system

NASA Astrophysics Data System (ADS)

Aoki, Minoru; Murao, Yo; Enomoto, Hajime

1996-02-01

The extensible WELL (Window-based elaboration language) has been developed using the concept of common platform, where both client and server can communicate with each other with support from a communication manager. This extensible language is based on an object oriented design by introducing constraint processing. Any kind of services including imaging in the extensible language is controlled by the constraints. Interactive functions between client and server are extended by introducing agent functions including a request-respond relation. Necessary service integrations are satisfied with some cooperative processes using constraints. Constraints are treated similarly to data, because the system should have flexibilities in the execution of many kinds of services. The similar control process is defined by using intentional logic. There are two kinds of constraints, temporal and modal constraints. Rendering the constraints, the predicate format as the relation between attribute values can be a warrant for entities' validity as data. As an imaging example, a processing procedure of interaction between multiple objects is shown as an image application for the extensible system. This paper describes how the procedure proceeds in the system, and that how the constraints work for generating moving pictures.

Cooperative monitoring and its role in regional security

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

Biringer, K.; Olsen, J.; Lincoln, R.

1997-03-01

Cooperative monitoring systems can play an important part in promoting the implementation of regional cooperative security agreements. These agreements advance the national security interests of the United States in a post Cold War environment. Regional issues as widely varying as nuclear nonproliferation, trade and environmental pollution can be the source of tensions which may escalate to armed conflict which could have global implications. The Office of National Security Policy Analysis at the US Department of Energy (DOE) has an interest in seeking ways to promote regional cooperation that can reduce the threats posed by regional conflict. DOE technologies and technicalmore » expertise can contribute to developing solutions to a wide variety of these international problems. Much of this DOE expertise has been developed in support of the US nuclear weapons and arms control missions. It is now being made available to other agencies and foreign governments in their search for regional security and cooperation. This report presents two examples of interest to DOE in which monitoring technologies could be employed to promote cooperation through experimentation. The two scenarios include nuclear transparency in Northeast Asia and environmental restoration in the Black Sea. Both offer the potential for the use of technology to promote regional cooperation. The issues associated with both of these monitoring applications are presented along with examples of appropriate monitoring technologies, potential experiments and potential DOE contributions to the scenarios.« less

Integrated Building Management System (IBMS)

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

Anita Lewis

This project provides a combination of software and services that more easily and cost-effectively help to achieve optimized building performance and energy efficiency. Featuring an open-platform, cloud- hosted application suite and an intuitive user experience, this solution simplifies a traditionally very complex process by collecting data from disparate building systems and creating a single, integrated view of building and system performance. The Fault Detection and Diagnostics algorithms developed within the IBMS have been designed and tested as an integrated component of the control algorithms running the equipment being monitored. The algorithms identify the normal control behaviors of the equipment withoutmore » interfering with the equipment control sequences. The algorithms also work without interfering with any cooperative control sequences operating between different pieces of equipment or building systems. In this manner the FDD algorithms create an integrated building management system.« less

A hierarchical distributed control model for coordinating intelligent systems

NASA Technical Reports Server (NTRS)

Adler, Richard M.

1991-01-01

A hierarchical distributed control (HDC) model for coordinating cooperative problem-solving among intelligent systems is described. The model was implemented using SOCIAL, an innovative object-oriented tool for integrating heterogeneous, distributed software systems. SOCIAL embeds applications in 'wrapper' objects called Agents, which supply predefined capabilities for distributed communication, control, data specification, and translation. The HDC model is realized in SOCIAL as a 'Manager'Agent that coordinates interactions among application Agents. The HDC Manager: indexes the capabilities of application Agents; routes request messages to suitable server Agents; and stores results in a commonly accessible 'Bulletin-Board'. This centralized control model is illustrated in a fault diagnosis application for launch operations support of the Space Shuttle fleet at NASA, Kennedy Space Center.

Five-DOF innovative linear MagLev slider to account for pitch, tilt and load uncertainty

NASA Astrophysics Data System (ADS)

Kao, Yi-Ming; Tsai, Nan-Chyuan; Chiu, Hsin-Lin

2017-02-01

This paper is focused at position deviation regulation upon a slider by Fuzzy Sliding Mode Control (FSMC). Five Degrees Of Freedom (DOF) of position deviation are required to be regulated except for the direction (i.e., X-axis) in which the slider moves forward and backward. Totally 8 sets of Magnetic Actuators (MAs) and an Electro-Pneumatic Transducer (EPT) are employed to drive the slider carrying loads under the commands of FSMC. EPT is applied to adjust the pressure of compressed air to counterbalance the weight of slider itself. At first, the system dynamic model of slider, including load uncertainty and load position uncertainty, is established. Intensive computer simulations are undertaken to verify the validity of proposed control strategy. Finally, a prototype of realistic slider position deviation regulation system is successfully built up. According to the experiments by cooperation of pneumatic and magnetic control, the actual linear position deviations of slider can be regulated within ±8 μm and angular position deviations within ±1 mini-degrees. From the viewpoint of energy consumption, the applied currents to 8 sets of MAs are all below 1.2 A. To sum up, the closed-loop levitation system by cooperation of pneumatic and magnetic control is capable to account for load uncertainty and uncertainty of the standing position of load to be carried.

The Intelligent Flight Control Program (IFCS)

NASA Technical Reports Server (NTRS)

2003-01-01

Institute for Scientific Research, Inc. (ISR) is pleased to submit this closeout report for the Research Cooperative Agreement NCC4-00128 of accomplishments for the Intelligent Flight Control System (IFCS) Project. It has been a pleasure working with NASA and NASA partners as we strive to meet the goals of this research initiative. ISR was engaged in this Research Cooperative Agreement beginning March 3, 2001 and ending March 31, 2003. During this time, a great deal has been accomplished and plans have been solidified for the continued success of this program. Our primary areas of involvement include the following: 1) ARTS II Master Test Plan; 2) ARTS II Hardware Design and Development; 3) ARTS II Software Design and Development; 4) IFCS PID/BLNN/OLNN Development; 5) Performed Preliminary and Formal Testing; 6) Documentation and Reporting.

MERCURY-ATLAS (MA)-9 - "FRIENDSHIP 7" SPACECRAFT - PRELAUNCH ACTIVITIES - CAPE

NASA Image and Video Library

1963-02-01

S63-03960 (1 Feb. 1963) --- Astronaut L. Gordon Cooper Jr., prime pilot for the Mercury-Atlas 9 (MA-9) mission, checks over the instrument panel from Mercury spacecraft #20 with Robert Graham, McDonnell Aircraft Corp. spacecraft engineer. It contains the instruments necessary to monitor spacecraft systems and sequencing, the controls required to initiate primary sequences manually, and flight control displays. Photo credit: NASA

Dynamics modelling and Hybrid Suppression Control of space robots performing cooperative object manipulation

NASA Astrophysics Data System (ADS)

Zarafshan, P.; Moosavian, S. Ali A.

2013-10-01

Dynamics modelling and control of multi-body space robotic systems composed of rigid and flexible elements is elaborated here. Control of such systems is highly complicated due to severe under-actuated condition caused by flexible elements, and an inherent uneven nonlinear dynamics. Therefore, developing a compact dynamics model with the requirement of limited computations is extremely useful for controller design, also to develop simulation studies in support of design improvement, and finally for practical implementations. In this paper, the Rigid-Flexible Interactive dynamics Modelling (RFIM) approach is introduced as a combination of Lagrange and Newton-Euler methods, in which the motion equations of rigid and flexible members are separately developed in an explicit closed form. These equations are then assembled and solved simultaneously at each time step by considering the mutual interaction and constraint forces. The proposed approach yields a compact model rather than common accumulation approach that leads to a massive set of equations in which the dynamics of flexible elements is united with the dynamics equations of rigid members. To reveal such merits of this new approach, a Hybrid Suppression Control (HSC) for a cooperative object manipulation task will be proposed, and applied to usual space systems. A Wheeled Mobile Robotic (WMR) system with flexible appendages as a typical space rover is considered which contains a rigid main body equipped with two manipulating arms and two flexible solar panels, and next a Space Free Flying Robotic system (SFFR) with flexible members is studied. Modelling verification of these complicated systems is vigorously performed using ANSYS and ADAMS programs, while the limited computations of RFIM approach provides an efficient tool for the proposed controller design. Furthermore, it will be shown that the vibrations of the flexible solar panels results in disturbing forces on the base which may produce undesirable errors and perturb the object manipulation task. So, it is shown that these effects can be significantly eliminated by the proposed Hybrid Suppression Control algorithm.

A new strategy for tuberculosis control in North Korea

PubMed Central

2015-01-01

Tuberculosis is one of the most prevalent diseases in North Korea. Despite some positive accomplishments by current aid projects, it is still necessary to investigate the existing aid system. The following are necessary for improvement: sustaining a high degree of expertise, cooperation among various related parties including the international community, mediation to induce this cooperation, a more active role of the South Korean government, and encouragement of North Korea to more actively participate. Achieving these will help solve the issues of current tuberculosis aid projects in North Korea and lead to more successful outcomes. PMID:26657137

Challenges for Social Control in Wireless Mobile Grids

NASA Astrophysics Data System (ADS)

Balke, Tina; Eymann, Torsten

The evolution of mobile phones has lead to new wireless mobile grids that lack a central controlling instance and require the cooperation of autonomous entities that can voluntarily commit resources, forming a common pool which can be used in order to achieve common and/or individual goals. The social dilemma in such systems is that it is advantageous for rational users to access the common pool resources without any own commitment, since every commitment has its price (see ? for example). However, if a substantial number of users would follow this selfish strategy, the network itself would be at stake. Thus, the question arises on how cooperation can be fostered in wireless mobile grids. Whereas many papers have dealt with this question from a technical point of view, instead this paper will concentrate on a concept that has lately been discussed a lot with this regard: social control. Thereby social control concepts will be contrasted to technical approaches and resulting challenges (as well as possible solutions to these challenges) for social concepts will be discussed.

Automatic gain control of neural coupling during cooperative hand movements.

PubMed

Thomas, F A; Dietz, V; Schrafl-Altermatt, M

2018-04-13

Cooperative hand movements (e.g. opening a bottle) are controlled by a task-specific neural coupling, reflected in EMG reflex responses contralateral to the stimulation site. In this study the contralateral reflex responses in forearm extensor muscles to ipsilateral ulnar nerve stimulation was analyzed at various resistance and velocities of cooperative hand movements. The size of contralateral reflex responses was closely related to the level of forearm muscle activation required to accomplish the various cooperative hand movement tasks. This indicates an automatic gain control of neural coupling that allows a rapid matching of corrective forces exerted at both sides of an object with the goal 'two hands one action'.

Multiple effect of social influence on cooperation in interdependent network games.

PubMed

Jiang, Luo-Luo; Li, Wen-Jing; Wang, Zhen

2015-10-01

The social influence exists widely in the human society, where individual decision-making process (from congressional election to electronic commerce) may be affected by the attitude and behavior of others belonging to different social networks. Here, we couple the snowdrift (SD) game and the prisoner's dilemma (PD) game on two interdependent networks, where strategies in both games are associated by social influence to mimick the majority rule. More accurately, individuals' strategies updating refers to social learning (based on payoff difference) and above-mentioned social influence (related with environment of interdependent group), which is controlled by social influence strength s. Setting s = 0 decouples the networks and returns the traditional network game; while its increase involves the interactions between networks. By means of numerous Monte Carlo simulations, we find that such a mechanism brings multiple influence to the evolution of cooperation. Small s leads to unequal cooperation level in both games, because social learning is still the main updating rule for most players. Though intermediate and large s guarantees the synchronized evolution of strategy pairs, cooperation finally dies out and reaches a completely dominance in both cases. Interestingly, these observations are attributed to the expansion of cooperation clusters. Our work may provide a new understanding to the emergence of cooperation in intercorrelated social systems.

Multiple effect of social influence on cooperation in interdependent network games

NASA Astrophysics Data System (ADS)

Jiang, Luo-Luo; Li, Wen-Jing; Wang, Zhen

2015-10-01

The social influence exists widely in the human society, where individual decision-making process (from congressional election to electronic commerce) may be affected by the attitude and behavior of others belonging to different social networks. Here, we couple the snowdrift (SD) game and the prisoner’s dilemma (PD) game on two interdependent networks, where strategies in both games are associated by social influence to mimick the majority rule. More accurately, individuals’ strategies updating refers to social learning (based on payoff difference) and above-mentioned social influence (related with environment of interdependent group), which is controlled by social influence strength s. Setting s = 0 decouples the networks and returns the traditional network game; while its increase involves the interactions between networks. By means of numerous Monte Carlo simulations, we find that such a mechanism brings multiple influence to the evolution of cooperation. Small s leads to unequal cooperation level in both games, because social learning is still the main updating rule for most players. Though intermediate and large s guarantees the synchronized evolution of strategy pairs, cooperation finally dies out and reaches a completely dominance in both cases. Interestingly, these observations are attributed to the expansion of cooperation clusters. Our work may provide a new understanding to the emergence of cooperation in intercorrelated social systems.

Technology transfer through a network of standard methods and recommended practices - The case of petrochemicals

NASA Astrophysics Data System (ADS)

Batzias, Dimitris F.; Karvounis, Sotirios

2012-12-01

Technology transfer may take place in parallel with cooperative action between companies participating in the same organizational scheme or using one another as subcontractor (outsourcing). In this case, cooperation should be realized by means of Standard Methods and Recommended Practices (SRPs) to achieve (i) quality of intermediate/final products according to specifications and (ii) industrial process control as required to guarantee such quality with minimum deviation (corresponding to maximum reliability) from preset mean values of representative quality parameters. This work deals with the design of the network of SRPs needed in each case for successful cooperation, implying also the corresponding technology transfer, effectuated through a methodological framework developed in the form of an algorithmic procedure with 20 activity stages and 8 decision nodes. The functionality of this methodology is proved by presenting the path leading from (and relating) a standard test method for toluene, as petrochemical feedstock in the toluene diisocyanate production, to the (6 generations distance upstream) performance evaluation of industrial process control systems (ie., from ASTM D5606 to BS EN 61003-1:2004 in the SRPs network).

The Architecture and Application of RAMSES, a CCSDS and ECSS PUS Compliant Test and Control System

NASA Astrophysics Data System (ADS)

Battelino, Milan; Svard, Christian; Carlsson, Anna; Carlstedt-Duke, Theresa; Tornqvist, Marcus

2010-08-01

SSC, Swedish Space Corporation, has more than 30 years of experience in developing test and control systems for sounding rockets, experimental test modules and satellites. The increasing amount of ongoing projects made SSC to consider developing a test and control system conformant to CCSDS (Consultative Committee for Space Data Systems) and ECSS (European Cooperation for Space Standardization), that with small effort and cost, could be reused between separate projects and products. The foreseen reduction in cost and development time for different future space-related projects made such a reusable control system desirable. This paper will describe the ideas behind the RAMSES (Rocket and Multi-Satellite EMCS Software) system, its architecture and how it has been and is being used in a variety of applications at SSC such as the multi-satellite mission PRISMA and sounding rocket project MAXUS-8.

Oxytocin reactivity during intergroup conflict in wild chimpanzees.

PubMed

Samuni, Liran; Preis, Anna; Mundry, Roger; Deschner, Tobias; Crockford, Catherine; Wittig, Roman M

2017-01-10

Intergroup conflict is evident throughout the history of our species, ubiquitous across human societies, and considered crucial for the evolution of humans' large-scale cooperative nature. Like humans, chimpanzee societies exhibit intragroup coordination and coalitionary support during violent intergroup conflicts. In both species, cooperation among group members is essential for individuals to gain access to benefits from engaging in intergroup conflict. Studies suggest that a contributive mechanism regulating in-group cooperation during intergroup conflicts in humans involves the neuropeptide hormone oxytocin, known to influence trust, coordination, and social cognition, although evidence from natural settings is lacking. Here, applying a noninvasive method, we investigate oxytocinergic system involvement during natural intergroup conflicts in wild chimpanzees. We found that chimpanzees of both sexes had significantly higher urinary oxytocin levels immediately before and during intergroup conflict compared with controls. Also, elevated hormone levels were linked with greater cohesion during intergroup conflicts, rather than with the level of potential threat posed by rival groups, intragroup affiliative social interactions, or coordinated behavior alone. Thus, the oxytocinergic system, potentially engendering cohesion and cooperation when facing an out-group threat, may not be uniquely human but rather a mechanism with evolutionary roots shared by our last common ancestor with chimpanzees, likely expediting fitness gains during intergroup conflict.

Coercive and legitimate authority impact tax honesty: evidence from behavioral and ERP experiments.

PubMed

Gangl, Katharina; Pfabigan, Daniela M; Lamm, Claus; Kirchler, Erich; Hofmann, Eva

2017-07-01

Cooperation in social systems such as tax honesty is of central importance in our modern societies. However, we know little about cognitive and neural processes driving decisions to evade or pay taxes. This study focuses on the impact of perceived tax authority and examines the mental chronometry mirrored in ERP data allowing a deeper understanding about why humans cooperate in tax systems. We experimentally manipulated coercive and legitimate authority and studied its impact on cooperation and underlying cognitive (experiment 1, 2) and neuronal (experiment 2) processes. Experiment 1 showed that in a condition of coercive authority, tax payments are lower, decisions are faster and participants report more rational reasoning and enforced compliance, however, less voluntary cooperation than in a condition of legitimate authority. Experiment 2 confirmed most results, but did not find a difference in payments or self-reported rational reasoning. Moreover, legitimate authority led to heightened cognitive control (expressed by increased MFN amplitudes) and disrupted attention processing (expressed by decreased P300 amplitudes) compared to coercive authority. To conclude, the neuronal data surprisingly revealed that legitimate authority may led to higher decision conflict and thus to higher cognitive demands in tax decisions than coercive authority. © The Author (2017). Published by Oxford University Press.

Oxytocin reactivity during intergroup conflict in wild chimpanzees

PubMed Central

Samuni, Liran; Preis, Anna; Mundry, Roger; Deschner, Tobias; Crockford, Catherine; Wittig, Roman M.

2017-01-01

Intergroup conflict is evident throughout the history of our species, ubiquitous across human societies, and considered crucial for the evolution of humans’ large-scale cooperative nature. Like humans, chimpanzee societies exhibit intragroup coordination and coalitionary support during violent intergroup conflicts. In both species, cooperation among group members is essential for individuals to gain access to benefits from engaging in intergroup conflict. Studies suggest that a contributive mechanism regulating in-group cooperation during intergroup conflicts in humans involves the neuropeptide hormone oxytocin, known to influence trust, coordination, and social cognition, although evidence from natural settings is lacking. Here, applying a noninvasive method, we investigate oxytocinergic system involvement during natural intergroup conflicts in wild chimpanzees. We found that chimpanzees of both sexes had significantly higher urinary oxytocin levels immediately before and during intergroup conflict compared with controls. Also, elevated hormone levels were linked with greater cohesion during intergroup conflicts, rather than with the level of potential threat posed by rival groups, intragroup affiliative social interactions, or coordinated behavior alone. Thus, the oxytocinergic system, potentially engendering cohesion and cooperation when facing an out-group threat, may not be uniquely human but rather a mechanism with evolutionary roots shared by our last common ancestor with chimpanzees, likely expediting fitness gains during intergroup conflict. PMID:28028227

Nine Years of Cooperation: The US-German Memorandum of Understanding (MoU) on Helicopter Aeromechanics 2003-2012

DTIC Science & Technology

2013-12-01

Hamers , Mario, Lantzsch, Robin, Wolfram, Jens: First Control System Evalua- tion of the Research Helicopter FHS, 33rd European Rotorcraft Forum, Kazan...62nd Annual Forum of the AHS, Phoenix, AZ, 2006 [65] Brenner, Hanno, Hamers , Mario: Preparatory Activities for CH-53 Flight Tests with a Slung...Wolfram, Jens, Hamers , Mario: Increasing Handling Qualities and Flight Control Performance using an Air Resonance Controller. 64th Annual Forum of

50 CFR 260.97 - Conditions for providing fishery products inspection service at official establishments.

Code of Federal Regulations, 2010 CFR

2010-10-01

... CERTIFICATION Inspection and Certification of Establishments and Fishery Products for Human Consumption... control systems and cooperation. The inspection effort requirement may be reevaluated when the contracting...; or (2) For production errors, such as processing temperatures, length of process, or misbranding of...

50 CFR 260.97 - Conditions for providing fishery products inspection service at official establishments.

Code of Federal Regulations, 2011 CFR

2011-10-01

... CERTIFICATION Inspection and Certification of Establishments and Fishery Products for Human Consumption... control systems and cooperation. The inspection effort requirement may be reevaluated when the contracting...; or (2) For production errors, such as processing temperatures, length of process, or misbranding of...

Principles of cooperation across systems: from human sharing to multicellularity and cancer.

PubMed

Aktipis, Athena

2016-01-01

From cells to societies, several general principles arise again and again that facilitate cooperation and suppress conflict. In this study, I describe three general principles of cooperation and how they operate across systems including human sharing, cooperation in animal and insect societies and the massively large-scale cooperation that occurs in our multicellular bodies. The first principle is that of Walk Away: that cooperation is enhanced when individuals can leave uncooperative partners. The second principle is that resource sharing is often based on the need of the recipient (i.e., need-based transfers) rather than on strict account-keeping. And the last principle is that effective scaling up of cooperation requires increasingly sophisticated and costly cheater suppression mechanisms. By comparing how these principles operate across systems, we can better understand the constraints on cooperation. This can facilitate the discovery of novel ways to enhance cooperation and suppress cheating in its many forms, from social exploitation to cancer.

Tolerant indirect reciprocity can boost social welfare through solidarity with unconditional cooperators in private monitoring.

PubMed

Okada, Isamu; Sasaki, Tatsuya; Nakai, Yutaka

2017-08-29

Indirect reciprocity is an important mechanism for resolving social dilemmas. Previous studies explore several types of assessment rules that are evolutionarily stable for keeping cooperation regimes. However, little is known about the effects of private information on social systems. Most indirect reciprocity studies assume public monitoring in which individuals share a single assessment for each individual. Here, we consider a private monitoring system that loosens such an unnatural assumption. We explore the stable norms in the private system using an individual-based simulation. We have three main findings. First, narrow and unstable cooperation: cooperation in private monitoring becomes unstable and the restricted norms cannot maintain cooperative regimes while they can in public monitoring. Second, stable coexistence of discriminators and unconditional cooperators: under private monitoring, unconditional cooperation can play a role in keeping a high level of cooperation in tolerant norm situations. Finally, Pareto improvement: private monitoring can achieve a higher cooperation rate than does public monitoring.

21 CFR 1405.620 - Cooperative agreement.

Code of Federal Regulations, 2010 CFR

2010-04-01

... 21 Food and Drugs 9 2010-04-01 2010-04-01 false Cooperative agreement. 1405.620 Section 1405.620 Food and Drugs OFFICE OF NATIONAL DRUG CONTROL POLICY GOVERNMENTWIDE REQUIREMENTS FOR DRUG-FREE WORKPLACE (FINANCIAL ASSISTANCE) Definitions § 1405.620 Cooperative agreement. Cooperative agreement means...

Distributing Planning and Control for Teams of Cooperating Mobile Robots

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

Parker, L.E.

2004-07-19

This CRADA project involved the cooperative research of investigators in ORNL's Center for Engineering Science Advanced Research (CESAR) with researchers at Caterpillar, Inc. The subject of the research was the development of cooperative control strategies for autonomous vehicles performing applications of interest to Caterpillar customers. The project involved three Phases of research, conducted over the time period of November 1998 through December 2001. This project led to the successful development of several technologies and demonstrations in realistic simulation that illustrated the effectiveness of our control approaches for distributed planning and cooperation in multi-robot teams. The primary objectives of this researchmore » project were to: (1) Develop autonomous control technologies to enable multiple vehicles to work together cooperatively, (2) Provide the foundational capabilities for a human operator to exercise oversight and guidance during the multi-vehicle task execution, and (3) Integrate these capabilities to the ALLIANCE-based autonomous control approach for multi-robot teams. These objectives have been successfully met with the results implemented and demonstrated in a near real-time multi-vehicle simulation of up to four vehicles performing mission-relevant tasks.« less

Allocation of control rights in the PPP Project: a cooperative game model

NASA Astrophysics Data System (ADS)

Zhang, Yunhua; Feng, Jingchun; Yang, Shengtao

2017-06-01

Reasonable allocation of control rights is the key to the success of Public-Private Partnership (PPP) projects. PPP are services or ventures which are financed and operated through cooperation between governmental and private sector actors and which involve reasonable control rights sharing between these two partners. After professional firm with capital and technology as a shareholder participating in PPP project firms, the PPP project is diversified in participants and input resources. Meanwhile the allocation of control rights of PPP project tends to be complicated. According to the diversification of participants and input resources of PPP projects, the key participants are divided into professional firms and pure investors. Based on the cost of repurchase of different input resources in markets, the cooperative game relationship between these two parties is analyzed, on the basis of which the allocation model of the cooperative game for control rights is constructed to ensure optimum allocation ration of control rights and verify the share of control rights in proportion to the cost of repurchase.

A multi-mode operation control strategy for flexible microgrid based on sliding-mode direct voltage and hierarchical controls.

PubMed

Zhang, Qinjin; Liu, Yancheng; Zhao, Youtao; Wang, Ning

2016-03-01

Multi-mode operation and transient stability are two problems that significantly affect flexible microgrid (MG). This paper proposes a multi-mode operation control strategy for flexible MG based on a three-layer hierarchical structure. The proposed structure is composed of autonomous, cooperative, and scheduling controllers. Autonomous controller is utilized to control the performance of the single micro-source inverter. An adaptive sliding-mode direct voltage loop and an improved droop power loop based on virtual negative impedance are presented respectively to enhance the system disturbance-rejection performance and the power sharing accuracy. Cooperative controller, which is composed of secondary voltage/frequency control and phase synchronization control, is designed to eliminate the voltage/frequency deviations produced by the autonomous controller and prepare for grid connection. Scheduling controller manages the power flow between the MG and the grid. The MG with the improved hierarchical control scheme can achieve seamless transitions from islanded to grid-connected mode and have a good transient performance. In addition the presented work can also optimize the power quality issues and improve the load power sharing accuracy between parallel VSIs. Finally, the transient performance and effectiveness of the proposed control scheme are evaluated by theoretical analysis and simulation results. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Cooperative Collision Avoidance Step 1 - Technology Demonstration Flight Test Report. Revision 1

NASA Technical Reports Server (NTRS)

Trongale, Nicholas A.

2006-01-01

The National Aeronautics and Space Administration (NASA) Access 5 Project Office sponsored a cooperative collision avoidance flight demonstration program for unmanned aircraft systems (UAS). This flight test was accomplished between September 21st and September 27th 2005 from the Mojave Airport, Mojave, California. The objective of these flights was to collect data for the Access 5 Cooperative Collision Avoidance (CCA) Work Package simulation effort, i.e., to gather data under select conditions to allow validation of the CCA simulation. Subsequent simulation to be verified were: Demonstrate the ability to detect cooperative traffic and provide situational awareness to the ROA pilot; Demonstrate the ability to track the detected cooperative traffic and provide position information to the ROA pilot; Demonstrate the ability to determine collision potential with detected cooperative traffic and provide notification to the ROA pilot; Demonstrate that the CCA subsystem provides information in sufficient time for the ROA pilot to initiate an evasive maneuver to avoid collision; Demonstrate an evasive maneuver that avoids collision with the threat aircraft; and lastly, Demonstrate the ability to assess the adequacy of the maneuver and determine that the collision potential has been avoided. The Scaled Composites, LLC Proteus Optionally Piloted Vehicle (OPV) was chosen as the test platform. Proteus was manned by two on-board pilots but was also capable of being controlled from an Air Vehicle Control Station (AVCS) located on the ground. For this demonstration, Proteus was equipped with cooperative collision sensors and the required hardware and software to place the data on the downlink. Prior to the flight phase, a detailed set of flight test scenarios were developed to address the flight test objectives. Two cooperative collision avoidance sensors were utilized for detecting aircraft in the evaluation: Traffic Alert and Collision Avoidance System-II (TCAS-II) and Automatic Dependent Surveillance Broadcast (ADS-B). A single intruder aircraft was used during all the flight testing, a NASA Gulfstream III (G-III). During the course of the testing, six geometrically different near-collision scenarios were evaluated. These six scenarios were each tested using various combinations of sensors and collision avoidance software. Of the 54 planned test points 49 were accomplished successfully. Proteus flew a total of 21.5 hours during the testing and the G-III flew 19.8 hours. The testing fully achieved all flight test objectives. The Flight IPT performed an analysis to determine the accuracy of the simulation model used to predict the location of the host aircraft downstream during an avoidance maneuver. The data collected by this flight program was delivered to the Access 5 Cooperative Collision Avoidance (CCA) Work Package Team who was responsible for reporting on their analysis of this flight data.

PLANNING AND COORDINATION OF ACTIVITIES SUPPORTING THE RUSSIAN SYSTEM OF CONTROL AND ACCOUNTING OF NUCLEAR MATERIALS AT ROSATOM FACILITIES IN THE FRAMEWORK OF THE U.S.-RUSSIAN COOPERATION.

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

SVIRIDOVA, V.V.; ERASTOV, V.V.; ISAEV, N.V.

2005-05-16

The MC&A Equipment and Methodological Support Strategic Plan (MEMS SP) for implementing modern MC&A equipment and methodologies at Rosatom facilities has been developed within the framework of the U.S.-Russian MPC&A Program. This plan developed by the Rosatom's Russian MC&A Equipment and Methodologies (MEM) Working Group and is coordinated by that group with support and coordination provided by the MC&A Measurements Project, Office of National Infrastructure and Sustainability, US DOE. Implementation of different tasks of the MEMS Strategic Plan is coordinated by Rosatom and US-DOE in cooperation with different U.S.-Russian MC&A-related working groups and joint site project teams. This cooperation allowsmore » to obtain and analyze information about problems, current needs and successes at Rosatom facilities and facilitates solution of the problems, satisfying the facilities' needs and effective exchange of expertise and lessons learned. The objective of the MEMS Strategic Plan is to enhance effectiveness of activities implementing modern equipment and methodologies in the Russian State MC&A system. These activities are conducted within the joint Russian-US MPC&A program aiming at reduction of possibility for theft or diversion of nuclear materials and enhancement of control of nuclear materials.« less

U.S. Support of Plan Colombia: Rethinking the Ends and Means

DTIC Science & Technology

2001-05-01

to thrive as long as there are dark corners of the international systems where traditional sovereign controls are weak or non -existent. The illicit...security debate involving U.S. policy in Colombia and the implementation of Plan Colombia. DOUGLAS C. LOVELACE, JR. Director Strategic Studies...crime more efficiently through effective international cooperation, which includes the press, judicial systems, and government officials on a broad

Amazon Surveillance System (SIVAM): U.S. and Brazilian Cooperation

DTIC Science & Technology

1999-12-01

Controle de Träfe go Aereo) Clutter Effects Model Parliamentary Investigation Commission (Comissäo Parlamentär de Inqutrito) Weather Forecasting...de Pesquisas Espaciais) INPA National Institute of Amazon Research (Instituto Nacional de Pesquisas da Amazonia ) IR Infrared KW Kilowatt (a...VSAT System for Surveillance of the Amazon (Sistema de Vigiläncia da Amazonia ) Brazilian Intelligence Agency (Subsecretaria de Inteligencia

Low-molecular-weight gelators: elucidating the principles of gelation based on gelator solubility and a cooperative self-assembly model.

PubMed

Hirst, Andrew R; Coates, Ian A; Boucheteau, Thomas R; Miravet, Juan F; Escuder, Beatriu; Castelletto, Valeria; Hamley, Ian W; Smith, David K

2008-07-16

This paper highlights the key role played by solubility in influencing gelation and demonstrates that many facets of the gelation process depend on this vital parameter. In particular, we relate thermal stability ( T gel) and minimum gelation concentration (MGC) values of small-molecule gelation in terms of the solubility and cooperative self-assembly of gelator building blocks. By employing a van't Hoff analysis of solubility data, determined from simple NMR measurements, we are able to generate T calc values that reflect the calculated temperature for complete solubilization of the networked gelator. The concentration dependence of T calc allows the previously difficult to rationalize "plateau-region" thermal stability values to be elucidated in terms of gelator molecular design. This is demonstrated for a family of four gelators with lysine units attached to each end of an aliphatic diamine, with different peripheral groups (Z or Boc) in different locations on the periphery of the molecule. By tuning the peripheral protecting groups of the gelators, the solubility of the system is modified, which in turn controls the saturation point of the system and hence controls the concentration at which network formation takes place. We report that the critical concentration ( C crit) of gelator incorporated into the solid-phase sample-spanning network within the gel is invariant of gelator structural design. However, because some systems have higher solubilities, they are less effective gelators and require the application of higher total concentrations to achieve gelation, hence shedding light on the role of the MGC parameter in gelation. Furthermore, gelator structural design also modulates the level of cooperative self-assembly through solubility effects, as determined by applying a cooperative binding model to NMR data. Finally, the effect of gelator chemical design on the spatial organization of the networked gelator was probed by small-angle neutron and X-ray scattering (SANS/SAXS) on the native gel, and a tentative self-assembly model was proposed.

Retrospective revaluation in sequential decision making: a tale of two systems.

PubMed

Gershman, Samuel J; Markman, Arthur B; Otto, A Ross

2014-02-01

Recent computational theories of decision making in humans and animals have portrayed 2 systems locked in a battle for control of behavior. One system--variously termed model-free or habitual--favors actions that have previously led to reward, whereas a second--called the model-based or goal-directed system--favors actions that causally lead to reward according to the agent's internal model of the environment. Some evidence suggests that control can be shifted between these systems using neural or behavioral manipulations, but other evidence suggests that the systems are more intertwined than a competitive account would imply. In 4 behavioral experiments, using a retrospective revaluation design and a cognitive load manipulation, we show that human decisions are more consistent with a cooperative architecture in which the model-free system controls behavior, whereas the model-based system trains the model-free system by replaying and simulating experience.

Capturing cooperative interactions with the PSI-MI format

PubMed Central

Van Roey, Kim; Orchard, Sandra; Kerrien, Samuel; Dumousseau, Marine; Ricard-Blum, Sylvie; Hermjakob, Henning; Gibson, Toby J.

2013-01-01

The complex biological processes that control cellular function are mediated by intricate networks of molecular interactions. Accumulating evidence indicates that these interactions are often interdependent, thus acting cooperatively. Cooperative interactions are prevalent in and indispensible for reliable and robust control of cell regulation, as they underlie the conditional decision-making capability of large regulatory complexes. Despite an increased focus on experimental elucidation of the molecular details of cooperative binding events, as evidenced by their growing occurrence in literature, they are currently lacking from the main bioinformatics resources. One of the contributing factors to this deficiency is the lack of a computer-readable standard representation and exchange format for cooperative interaction data. To tackle this shortcoming, we added functionality to the widely used PSI-MI interchange format for molecular interaction data by defining new controlled vocabulary terms that allow annotation of different aspects of cooperativity without making structural changes to the underlying XML schema. As a result, we are able to capture cooperative interaction data in a structured format that is backward compatible with PSI-MI–based data and applications. This will facilitate the storage, exchange and analysis of cooperative interaction data, which in turn will advance experimental research on this fundamental principle in biology. Database URL: http://psi-mi-cooperativeinteractions.embl.de/ PMID:24067240

Forty years of USAID health cooperation in Bolivia. A lose-lose game?

PubMed

Tejerina, Herland; Closon, Marie-Christine; Paepe, Pierre De; Darras, Christian; Dessel, Patrick Van; Unger, Jean-Pierre

2014-01-01

The present article proposes an analysis of the USA-Bolivia relationships in the health sector between 1971 and 2010 based on a grey and scientific literature review and on interviews. We examined United States Agency for International Development (USAID) interventions, objectives, consistency with Bolivian needs, and impact on health system integration. USAID operational objectives--decentralization, fertility and disease control, and maternal and child health--may have worked against each other while competing for limited Ministry of Health resources. They largely contributed to the segmentation and fragmentation of the Bolivian health system. US cooperation in health did not significantly improve health status while the USAID failed to properly tackle anti-drugs, political, and economic US interests in Bolivia. Copyright © 2012 John Wiley & Sons, Ltd.

System and method for engine combustion

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

Sczomak, David P.; Gallon, Robert J.; Solomon, Arun S.

A combustion system for use with one or more cylinder bores of an internal combustion engine includes at least one cylinder head defining first and second intake ports in fluid communication with the one or more cylinder bores. A flap is adjustably connected to the at least one cylinder head. The flap includes a first flap portion cooperating with the first intake port extending from an arm and a second flap portion cooperating with the second intake port extending from the arm and disposed adjacent the first flap portion. A controller in electrical communication with an actuator monitors the conditionmore » of the engine and actuates the flap to position the first and second flap portions between first and second positions to create a first combustion condition and a second combustion condition.« less

Cooperation-Controlled Learning for Explicit Class Structure in Self-Organizing Maps

PubMed Central

Kamimura, Ryotaro

2014-01-01

We attempt to demonstrate the effectiveness of multiple points of view toward neural networks. By restricting ourselves to two points of view of a neuron, we propose a new type of information-theoretic method called “cooperation-controlled learning.” In this method, individual and collective neurons are distinguished from one another, and we suppose that the characteristics of individual and collective neurons are different. To implement individual and collective neurons, we prepare two networks, namely, cooperative and uncooperative networks. The roles of these networks and the roles of individual and collective neurons are controlled by the cooperation parameter. As the parameter is increased, the role of cooperative networks becomes more important in learning, and the characteristics of collective neurons become more dominant. On the other hand, when the parameter is small, individual neurons play a more important role. We applied the method to the automobile and housing data from the machine learning database and examined whether explicit class boundaries could be obtained. Experimental results showed that cooperation-controlled learning, in particular taking into account information on input units, could be used to produce clearer class structure than conventional self-organizing maps. PMID:25309950

Exploration of Planetary Terrains with a Legged Robot as a Scout Adjunct to a Rover

NASA Technical Reports Server (NTRS)

Colombano, Silvano; Kirchner, Frank; Spenneberg, Dirk; Hanratty, James

2004-01-01

The Scorpion robot is an innovative, biologically inspired 8-legged walking robot. It currently runs a novel approach to control which utilizes a central pattern generator (CPG) and local reflex action for each leg. From this starting point we are proposing to both extend the system's individual capabilities and its capacity to function as a "scout", cooperating with a larger wheeled rover. For this purpose we propose to develop a distributed system architecture that extends the system's capabilities both in the direction of high level planning and execution in collaboration with a rover, and in the direction of force-feedback based low level behaviors that will greatly enhance its ability to walk and climb in rough varied terrains. The final test of this improved ability will be a rappelling experiment where the Scorpion explores a steep cliff side in cooperation with a rover that serves as both anchor and planner/executive.

Cooperative Environment Scans Based on a Multi-Robot System

PubMed Central

Kwon, Ji-Wook

2015-01-01

This paper proposes a cooperative environment scan system (CESS) using multiple robots, where each robot has low-cost range finders and low processing power. To organize and maintain the CESS, a base robot monitors the positions of the child robots, controls them, and builds a map of the unknown environment, while the child robots with low performance range finders provide obstacle information. Even though each child robot provides approximated and limited information of the obstacles, CESS replaces the single LRF, which has a high cost, because much of the information is acquired and accumulated by a number of the child robots. Moreover, the proposed CESS extends the measurement boundaries and detects obstacles hidden behind others. To show the performance of the proposed system and compare this with the numerical models of the commercialized 2D and 3D laser scanners, simulation results are included. PMID:25789491

A Study on Aircraft Engine Control Systems for Integrated Flight and Propulsion Control

NASA Astrophysics Data System (ADS)

Yamane, Hideaki; Matsunaga, Yasushi; Kusakawa, Takeshi; Yasui, Hisako

The Integrated Flight and Propulsion Control (IFPC) for a highly maneuverable aircraft and a fighter-class engine with pitch/yaw thrust vectoring is described. Of the two IFPC functions the aircraft maneuver control utilizes the thrust vectoring based on aerodynamic control surfaces/thrust vectoring control allocation specified by the Integrated Control Unit (ICU) of a FADEC (Full Authority Digital Electronic Control) system. On the other hand in the Performance Seeking Control (PSC) the ICU identifies engine's various characteristic changes, optimizes manipulated variables and finally adjusts engine control parameters in cooperation with the Engine Control Unit (ECU). It is shown by hardware-in-the-loop simulation that the thrust vectoring can enhance aircraft maneuverability/agility and that the PSC can improve engine performance parameters such as SFC (specific fuel consumption), thrust and gas temperature.

Call-duration and triage decisions in out of hours cooperatives with and without the use of an expert system.

PubMed

Ong, Rob S G; Post, Johan; van Rooij, Harry; de Haan, Jan

2008-02-13

Cooperatives delivering out of hours care in the Netherlands are hesitant about the use of expert systems during triage. Apart from the extra costs, cooperatives are not sure that quality of triage is sufficiently enhanced by these systems and believe that call duration will be prolonged drastically. No figures about the influence of the use of an expert system during triage on call duration and triage decisions in out of hours care in the Netherlands are available. Electronically registered data concerning call duration and triage decisions were collected in two cooperatives. One in Tilburg, a cooperative in a Southern city of the Netherlands using an expert system, and one in Groningen, a cooperative in a Northern city not using an expert system. Some other relevant information about the care process was collected additionally. Data about call duration was compared using an independent sample t-test. Data about call decisions was compared using Chi Square. The mean call time in the cooperative using the TAS expert system is 4.6 minutes, in the cooperative not using the expert system 3.9 minutes. A significant difference of 0.7 minutes (0.4 - 1.0, 95% CI) minutes. In the cooperative with an expert system a larger percentage of patients is handled by the assistant, patients are less often referred to a telephone consultation with the GP and are less likely to be offered a visit by the GP.A quick interpretation of the impact of the difference in triage decisions, show that these may be large enough to support the hypothesis that longer call duration is compensated for by less contacts with the GP (by telephone or face-to-face). There is no proof, however, that these differences are caused by the use of the triage system. The larger amount of calls handled by the assistant may be partly caused by the fact that the assistants in the cooperative with an expert system more often consult the GP during triage. And it is not likely that the larger amount of home visits in Groningen can be attributed to the absence of an expert system. The expert system only offers advice whether a GP should be seen, not in which way (by consultation in the office or by home visit). The differences in call times between a cooperative using an expert system and a cooperative not using an expert system are small; 0.4 - 1.0 min. Differences in triage decisions were found, but it is not proven that these can be contributed to the use of an expert system.

Call-duration and triage decisions in out of hours cooperatives with and without the use of an expert system

PubMed Central

Ong, Rob SG; Post, Johan; van Rooij, Harry; de Haan, Jan

2008-01-01

Background Cooperatives delivering out of hours care in the Netherlands are hesitant about the use of expert systems during triage. Apart from the extra costs, cooperatives are not sure that quality of triage is sufficiently enhanced by these systems and believe that call duration will be prolonged drastically. No figures about the influence of the use of an expert system during triage on call duration and triage decisions in out of hours care in the Netherlands are available. Methods Electronically registered data concerning call duration and triage decisions were collected in two cooperatives. One in Tilburg, a cooperative in a Southern city of the Netherlands using an expert system, and one in Groningen, a cooperative in a Northern city not using an expert system. Some other relevant information about the care process was collected additionally. Data about call duration was compared using an independent sample t-test. Data about call decisions was compared using Chi Square. Results The mean call time in the cooperative using the TAS expert system is 4.6 minutes, in the cooperative not using the expert system 3.9 minutes. A significant difference of 0.7 minutes (0.4 – 1.0, 95% CI) minutes. In the cooperative with an expert system a larger percentage of patients is handled by the assistant, patients are less often referred to a telephone consultation with the GP and are less likely to be offered a visit by the GP. A quick interpretation of the impact of the difference in triage decisions, show that these may be large enough to support the hypothesis that longer call duration is compensated for by less contacts with the GP (by telephone or face-to-face). There is no proof, however, that these differences are caused by the use of the triage system. The larger amount of calls handled by the assistant may be partly caused by the fact that the assistants in the cooperative with an expert system more often consult the GP during triage. And it is not likely that the larger amount of home visits in Groningen can be attributed to the absence of an expert system. The expert system only offers advice whether a GP should be seen, not in which way (by consultation in the office or by home visit). Conclusion The differences in call times between a cooperative using an expert system and a cooperative not using an expert system are small; 0.4 – 1.0 min. Differences in triage decisions were found, but it is not proven that these can be contributed to the use of an expert system. PMID:18271970

Experiments in Nonlinear Adaptive Control of Multi-Manipulator, Free-Flying Space Robots

NASA Technical Reports Server (NTRS)

Chen, Vincent Wei-Kang

1992-01-01

Sophisticated robots can greatly enhance the role of humans in space by relieving astronauts of low level, tedious assembly and maintenance chores and allowing them to concentrate on higher level tasks. Robots and astronauts can work together efficiently, as a team; but the robot must be capable of accomplishing complex operations and yet be easy to use. Multiple cooperating manipulators are essential to dexterity and can broaden greatly the types of activities the robot can achieve; adding adaptive control can ease greatly robot usage by allowing the robot to change its own controller actions, without human intervention, in response to changes in its environment. Previous work in the Aerospace Robotics Laboratory (ARL) have shown the usefulness of a space robot with cooperating manipulators. The research presented in this dissertation extends that work by adding adaptive control. To help achieve this high level of robot sophistication, this research made several advances to the field of nonlinear adaptive control of robotic systems. A nonlinear adaptive control algorithm developed originally for control of robots, but requiring joint positions as inputs, was extended here to handle the much more general case of manipulator endpoint-position commands. A new system modelling technique, called system concatenation was developed to simplify the generation of a system model for complicated systems, such as a free-flying multiple-manipulator robot system. Finally, the task-space concept was introduced wherein the operator's inputs specify only the robot's task. The robot's subsequent autonomous performance of each task still involves, of course, endpoint positions and joint configurations as subsets. The combination of these developments resulted in a new adaptive control framework that is capable of continuously providing full adaptation capability to the complex space-robot system in all modes of operation. The new adaptive control algorithm easily handles free-flying systems with multiple, interacting manipulators, and extends naturally to even larger systems. The new adaptive controller was experimentally demonstrated on an ideal testbed in the ARL-A first-ever experimental model of a multi-manipulator, free-flying space robot that is capable of capturing and manipulating free-floating objects without requiring human assistance. A graphical user interface enhanced the robot usability: it enabled an operator situated at a remote location to issue high-level task description commands to the robot, and to monitor robot activities as it then carried out each assignment autonomously.

[Infection control team (ICT) in cooperation with microbiology laboratories].

PubMed

Okazaki, Mitsuhiro

2012-10-01

Infection control as a medical safety measure is an important issue in all medical facilities. In order to tackle this measure, cooperation between the infection control team (ICT) and microbiological laboratory is indispensable. Multiple drug-resistant bacteria have shifted from Gram-positive bacteria to Gram-negative bacilli within the last ten years. There are also a variety of bacilli, complicating the examination method and test results further. Therefore, cooperation between the ICT and microbiological laboratory has become important to understand examination results and to use them. In order to maintain functional cooperation, explanatory and communicative ability between the microbiological laboratory and ICT is required every day. Such positive information exchange will develop into efficient and functional ICT activity.

[Cooperation between an NGO and "host" states in the control of leprosy in Latin America].

PubMed

Kalk, Andreas

2003-01-01

The proliferation of nongovernmental organizations (NGOs) can be considered the result of the inability of the current democratic system to perform all the tasks desired by its citizens. Although NGOs often do quite positive work, they tend to diminish governmental power and are capable of interfering in the internal affairs of other countries. In this context, there are efforts to control their activities, and this control can produce both negative effects (blocking the defense of human rights) and positive ones (correcting the lack of coordination in the work by NGOs). NGOs working with the control of leprosy have a long history of cooperation with "host" states in Latin America. In the worst cases they work in a vacuum left by the state. In a country like Brazil, where the government prioritizes the control of Hansen disease and community participation in the political process - NGOs generally work "in harmony" with national authorities. The most useful contribution to state efforts has been the technical and financial support for training health personnel, supervision, and awareness-raising campaigns. Thus, the NGO becomes "quasi-governmental" in performing its tasks.

[Demonstrating that monitoring and punishing increase non-cooperative behavior in a social dilemma game].

PubMed

Kitakaji, Yoko; Ohnuma, Susumu

2014-04-01

This research demonstrated the negative influence of monitoring and punishing during a social dilemma game, taking the illegal dumping of industrial waste as an example. The first study manipulated three conditions: a producing-industries monitoring condition (PIM), an administrative monitoring condition (ADM), and a control condition (no monitoring). The results showed that non-cooperative behavior was more frequent in the PIM condition than in the control condition. The second study had three conditions: a punishing condition (PC), a monitoring condition (MC), and a control condition (no monitoring, no punishing). The results indicated that non-cooperative behavior was observed the most in the PC, and the least in the control condition. Furthermore, information regarding other players' costs and benefits was shared the most in the control conditions in both studies. The results suggest that sanctions prevent people from sharing information, which decreases expectations of mutual cooperation.

Cooperative answers in database systems

NASA Technical Reports Server (NTRS)

Gaasterland, Terry; Godfrey, Parke; Minker, Jack; Novik, Lev

1993-01-01

A major concern of researchers who seek to improve human-computer communication involves how to move beyond literal interpretations of queries to a level of responsiveness that takes the user's misconceptions, expectations, desires, and interests into consideration. At Maryland, we are investigating how to better meet a user's needs within the framework of the cooperative answering system of Gal and Minker. We have been exploring how to use semantic information about the database to formulate coherent and informative answers. The work has two main thrusts: (1) the construction of a logic formula which embodies the content of a cooperative answer; and (2) the presentation of the logic formula to the user in a natural language form. The information that is available in a deductive database system for building cooperative answers includes integrity constraints, user constraints, the search tree for answers to the query, and false presuppositions that are present in the query. The basic cooperative answering theory of Gal and Minker forms the foundation of a cooperative answering system that integrates the new construction and presentation methods. This paper provides an overview of the cooperative answering strategies used in the CARMIN cooperative answering system, an ongoing research effort at Maryland. Section 2 gives some useful background definitions. Section 3 describes techniques for collecting cooperative logical formulae. Section 4 discusses which natural language generation techniques are useful for presenting the logic formula in natural language text. Section 5 presents a diagram of the system.

Launching AI in NASA ground systems

NASA Technical Reports Server (NTRS)

Perkins, Dorothy C.; Truszkowski, Walter F.

1990-01-01

This paper will discuss recent operational successes in implementing expert systems to support the complex functions of NASA mission control systems at the Goddard Space Flight Center, including fault detection and diagnosis for real time and engineering analysis functions in the Cosmic Background Explorer and Gamma Ray Observatory missions and automation of resource planning and scheduling functions for various missions. It will also discuss ongoing developments and prototypes that will lead to increasingly sophisticated applications of artificial intelligence. These include the use of neural networks to perform telemetry monitoring functions, the implementation of generic expert system shells that can be customized to telemetry handling functions specific to NASA control centers, the applications of AI in training and user support, the long-term potential of implementing systems based around distributed, cooperative problem solving, and the use of AI to control and assist system development activities.

ETV VERTIFICATION REPORT AND VERIFICATION STATEMENT: COOPER POWER SYSTEMS ENVIROTEMP® FR3™ VEGETABLE OIL-BASED INSULATING DIELECTRIC FLUID

EPA Science Inventory

EPA's ETV Program, through the NRMRL has partnered with the California Department of Toxic Substances Control (DTSC) under an ETV Pilot Project to verify pollution prevention, recycling, and waste treatment technologies. This report and statement provides documentation of perfor...

An Art Information System: From Integration to Interpretation.

ERIC Educational Resources Information Center

Barnett, Patricia J.

1988-01-01

Explores the qualities of bibliographic and object entities that contribute to the similarities and differences in the data describing them and the possibility of cooperation between indexers of art objects and indexers of bibliographic information. The discussion covers the role of authority control as the linking component between bibliographic…

15 CFR 30.1 - Purpose and definitions.

Code of Federal Regulations, 2010 CFR

2010-01-01

... in place of a proof of filing citation when the AES or AESDirect computer systems experiences a major... goods and technologies; enforcing export control, antiboycott, and public safety laws; cooperating with... of the EAR. Supplement No. 2 to Part 774 of the EAR contains the General Technology and Software...

15 CFR 30.1 - Purpose and definitions.

Code of Federal Regulations, 2011 CFR

2011-01-01

... in place of a proof of filing citation when the AES or AESDirect computer systems experiences a major... goods and technologies; enforcing export control, antiboycott, and public safety laws; cooperating with... of the EAR. Supplement No. 2 to Part 774 of the EAR contains the General Technology and Software...

22 CFR 1006.860 - What factors may influence the debarring official's decision?

Code of Federal Regulations, 2011 CFR

2011-04-01

... official may consider when the cooperation began and whether you disclosed all pertinent information known... corrective action or remedial measures, such as establishing ethics training and implementing programs to... you had effective standards of conduct and internal control systems in place at the time the...

34 CFR 85.860 - What factors may influence the debarring official's decision?

Code of Federal Regulations, 2011 CFR

2011-07-01

... official may consider when the cooperation began and whether you disclosed all pertinent information known... corrective action or remedial measures, such as establishing ethics training and implementing programs to... you had effective standards of conduct and internal control systems in place at the time the...

29 CFR 98.860 - What factors may influence the debarring official's decision?

Code of Federal Regulations, 2011 CFR

2011-07-01

... cooperation began and whether you disclosed all pertinent information known to you. (j) Whether the wrongdoing..., such as establishing ethics training and implementing programs to prevent recurrence. (m) Whether your... internal control systems in place at the time the questioned conduct occurred. (q) Whether you have taken...

22 CFR 1508.860 - What factors may influence the debarring official's decision?

Code of Federal Regulations, 2011 CFR

2011-04-01

... official may consider when the cooperation began and whether you disclosed all pertinent information known... corrective action or remedial measures, such as establishing ethics training and implementing programs to... you had effective standards of conduct and internal control systems in place at the time the...

22 CFR 208.860 - What factors may influence the debarring official's decision?

Code of Federal Regulations, 2011 CFR

2011-04-01

... official may consider when the cooperation began and whether you disclosed all pertinent information known... corrective action or remedial measures, such as establishing ethics training and implementing programs to... you had effective standards of conduct and internal control systems in place at the time the...

15 CFR 30.1 - Purpose and definitions.

Code of Federal Regulations, 2012 CFR

2012-01-01

... in place of a proof of filing citation when the AES or AESDirect computer systems experiences a major... goods and technologies; enforcing export control, antiboycott, and public safety laws; cooperating with... of the EAR. Supplement No. 2 to Part 774 of the EAR contains the General Technology and Software...

15 CFR 30.1 - Purpose and definitions.

Code of Federal Regulations, 2014 CFR

2014-01-01

... in place of a proof of filing citation when the AES or AESDirect computer systems experiences a major... goods and technologies; enforcing export control, antiboycott, and public safety laws; cooperating with... of the EAR. Supplement No. 2 to Part 774 of the EAR contains the General Technology and Software...

15 CFR 30.1 - Purpose and definitions.

Code of Federal Regulations, 2013 CFR

2013-01-01

... in place of a proof of filing citation when the AES or AESDirect computer systems experiences a major... goods and technologies; enforcing export control, antiboycott, and public safety laws; cooperating with... of the EAR. Supplement No. 2 to Part 774 of the EAR contains the General Technology and Software...

East Europe Report, Economic and Industrial Affairs, No. 2431

DTIC Science & Technology

1983-08-03

of automatic control systems in this branch of transportation, as well as in reservations and ticket sales. An agreement on research is...cooperative, the labor is organized in common and the remuneration is done in relation to the quantity and quality of the labor performed, the output...use in the state supply; f) The rational and efficient exploitation of the irrigation facilities, the drainage facilities and those for control of

A Car Transportation System in Cooperation by Multiple Mobile Robots for Each Wheel: iCART II

NASA Astrophysics Data System (ADS)

Kashiwazaki, Koshi; Yonezawa, Naoaki; Kosuge, Kazuhiro; Sugahara, Yusuke; Hirata, Yasuhisa; Endo, Mitsuru; Kanbayashi, Takashi; Shinozuka, Hiroyuki; Suzuki, Koki; Ono, Yuki

The authors proposed a car transportation system, iCART (intelligent Cooperative Autonomous Robot Transporters), for automation of mechanical parking systems by two mobile robots. However, it was difficult to downsize the mobile robot because the length of it requires at least the wheelbase of a car. This paper proposes a new car transportation system, iCART II (iCART - type II), based on “a-robot-for-a-wheel” concept. A prototype system, MRWheel (a Mobile Robot for a Wheel), is designed and downsized less than half the conventional robot. First, a method for lifting up a wheel by MRWheel is described. In general, it is very difficult for mobile robots such as MRWheel to move to desired positions without motion errors caused by slipping, etc. Therefore, we propose a follower's motion error estimation algorithm based on the internal force applied to each follower by extending a conventional leader-follower type decentralized control algorithm for cooperative object transportation. The proposed algorithm enables followers to estimate their motion errors and enables the robots to transport a car to a desired position. In addition, we analyze and prove the stability and convergence of the resultant system with the proposed algorithm. In order to extract only the internal force from the force applied to each robot, we also propose a model-based external force compensation method. Finally, proposed methods are applied to the car transportation system, the experimental results confirm their validity.

Cooperative Adaptive Cruise Control Human Factors Study : Experiment 1 - Workload, Distraction, Arousal, and Trust

DOT National Transportation Integrated Search

2016-12-01

This study set out to examine the following diverse questions regarding cooperative adaptive cruise control (CACC) use: - Does CACC reduce driver workload relative to manual gap control? - Does CACC increase the probability of driver distraction rela...

Save medical personnel's time by improved user interfaces.

PubMed

Kindler, H

1997-01-01

Common objectives in the industrial countries are the improvement of quality of care, clinical effectiveness, and cost control. Cost control, in particular, has been addressed through the introduction of case mix systems for reimbursement by social-security institutions. More data is required to enable quality improvement, increases in clinical effectiveness and for juridical reasons. At first glance, this documentation effort is contradictory to cost reduction. However, integrated services for resource management based on better documentation should help to reduce costs. The clerical effort for documentation should be decreased by providing a co-operative working environment for healthcare professionals applying sophisticated human-computer interface technology. Additional services, e.g., automatic report generation, increase the efficiency of healthcare personnel. Modelling the medical work flow forms an essential prerequisite for integrated resource management services and for co-operative user interfaces. A user interface aware of the work flow provides intelligent assistance by offering the appropriate tools at the right moment. Nowadays there is a trend to client/server systems with relational databases or object-oriented databases as repository. The work flows used for controlling purposes and to steer the user interfaces must be represented in the repository.

Multi-Vehicle Cooperative Control Research at the NASA Armstrong Flight Research Center, 2000-2014

NASA Technical Reports Server (NTRS)

Hanson, Curt

2014-01-01

A brief introductory overview of multi-vehicle cooperative control research conducted at the NASA Armstrong Flight Research Center from 2000 - 2014. Both flight research projects and paper studies are included. Since 2000, AFRC has been almost continuously pursuing research in the areas of formation flight for drag reduction and automated cooperative trajectories. An overview of results is given, including flight experiments done on the FA-18 and with the C-17. Other multi-vehicle cooperative research is discussed, including small UAV swarming projects and automated aerial refueling.

Low-Cost Control System Built Upon Consumer-Based Electronics For Supervisory Control Of A Gas-Operated Heat Pump

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

Wetherington Jr, G Randall; Vineyard, Edward Allan; Mahderekal, Isaac

A preliminary evaluation of the performance of a consumer-based control system was conducted by the Oak Ridge National Laboratory (ORNL) and Southwest Gas as part of a cooperative research and development agreement (CRADA) authorized by the Department of Energy (DOE) (Mahderekal et al. (2013). The goal of the research was to evaluate the low-cost approach as a solution for implementing a supervisory control system for a residential gas-operated heat pump. The design incorporated two consumer-based micro-controllers; the Arduino Mega-2650 and the BeagleBone (white). Ten five-ton heat pump systems were designed, fabricated, and operationally tested in the Las Vega NV region.more » A robust data set was produced that allowed detailed assessment of the reliability and the operational perfromance of the newly developed control system. Experiences gained from the test provided important points of improvement for subsequent evolution of the heat pump technology.« less

Hierarchy is Detrimental for Human Cooperation.

PubMed

Cronin, Katherine A; Acheson, Daniel J; Hernández, Penélope; Sánchez, Angel

2015-12-22

Studies of animal behavior consistently demonstrate that the social environment impacts cooperation, yet the effect of social dynamics has been largely excluded from studies of human cooperation. Here, we introduce a novel approach inspired by nonhuman primate research to address how social hierarchies impact human cooperation. Participants competed to earn hierarchy positions and then could cooperate with another individual in the hierarchy by investing in a common effort. Cooperation was achieved if the combined investments exceeded a threshold, and the higher ranked individual distributed the spoils unless control was contested by the partner. Compared to a condition lacking hierarchy, cooperation declined in the presence of a hierarchy due to a decrease in investment by lower ranked individuals. Furthermore, hierarchy was detrimental to cooperation regardless of whether it was earned or arbitrary. These findings mirror results from nonhuman primates and demonstrate that hierarchies are detrimental to cooperation. However, these results deviate from nonhuman primate findings by demonstrating that human behavior is responsive to changing hierarchical structures and suggests partnership dynamics that may improve cooperation. This work introduces a controlled way to investigate the social influences on human behavior, and demonstrates the evolutionary continuity of human behavior with other primate species.

Hierarchy is Detrimental for Human Cooperation

PubMed Central

Cronin, Katherine A.; Acheson, Daniel J.; Hernández, Penélope; Sánchez, Angel

2015-01-01

Studies of animal behavior consistently demonstrate that the social environment impacts cooperation, yet the effect of social dynamics has been largely excluded from studies of human cooperation. Here, we introduce a novel approach inspired by nonhuman primate research to address how social hierarchies impact human cooperation. Participants competed to earn hierarchy positions and then could cooperate with another individual in the hierarchy by investing in a common effort. Cooperation was achieved if the combined investments exceeded a threshold, and the higher ranked individual distributed the spoils unless control was contested by the partner. Compared to a condition lacking hierarchy, cooperation declined in the presence of a hierarchy due to a decrease in investment by lower ranked individuals. Furthermore, hierarchy was detrimental to cooperation regardless of whether it was earned or arbitrary. These findings mirror results from nonhuman primates and demonstrate that hierarchies are detrimental to cooperation. However, these results deviate from nonhuman primate findings by demonstrating that human behavior is responsive to changing hierarchical structures and suggests partnership dynamics that may improve cooperation. This work introduces a controlled way to investigate the social influences on human behavior, and demonstrates the evolutionary continuity of human behavior with other primate species. PMID:26692287

Temporal Structure in Cooperative Interactions: What Does the Timing of Exploitation Tell Us about Its Cost?

PubMed Central

Barker, Jessica L.; Bronstein, Judith L.

2016-01-01

Exploitation in cooperative interactions both within and between species is widespread. Although it is assumed to be costly to be exploited, mechanisms to control exploitation are surprisingly rare, making the persistence of cooperation a fundamental paradox in evolutionary biology and ecology. Focusing on between-species cooperation (mutualism), we hypothesize that the temporal sequence in which exploitation occurs relative to cooperation affects its net costs and argue that this can help explain when and where control mechanisms are observed in nature. Our principal prediction is that when exploitation occurs late relative to cooperation, there should be little selection to limit its effects (analogous to “tolerated theft” in human cooperative groups). Although we focus on cases in which mutualists and exploiters are different individuals (of the same or different species), our inferences can readily be extended to cases in which individuals exhibit mixed cooperative-exploitative strategies. We demonstrate that temporal structure should be considered alongside spatial structure as an important process affecting the evolution of cooperation. We also provide testable predictions to guide future empirical research on interspecific as well as intraspecific cooperation. PMID:26841169

Control Software

NASA Technical Reports Server (NTRS)

1997-01-01

Real-Time Innovations, Inc. (RTI) collaborated with Ames Research Center, the Jet Propulsion Laboratory and Stanford University to leverage NASA research to produce ControlShell software. RTI is the first "graduate" of Ames Research Center's Technology Commercialization Center. The ControlShell system was used extensively on a cooperative project to enhance the capabilities of a Russian-built Marsokhod rover being evaluated for eventual flight to Mars. RTI's ControlShell is complex, real-time command and control software, capable of processing information and controlling mechanical devices. One ControlShell tool is StethoScope. As a real-time data collection and display tool, StethoScope allows a user to see how a program is running without changing its execution. RTI has successfully applied its software savvy in other arenas, such as telecommunications, networking, video editing, semiconductor manufacturing, automobile systems, and medical imaging.

Integrated Satellite Control in REIMEI (INDEX) Satellite

NASA Astrophysics Data System (ADS)

Fukuda, Seisuke; Mizuno, Takahide; Sakai, Shin-Ichiro; Fukushima, Yousuke; Saito, Hirobumi

REIMEI/INDEX (INnovative-technology Demonstration EXperiment) is a 70kg class small satellite which the Institute of Space and Astronautical Science, Japan Exploration Agency, ISAS/JAXA, has developed for observation of auroral small-scale dynamics as well as demonstration of advanced satellite technologies. An important engineering mission of REIMEI is integrated satellite control using commercial RISC CPUs with a triple voting system in order to ensure fault-tolerance against radiation hazards. Software modules concerning every satellite function, such as attitude control, data handling, and mission applications, work cooperatively so that highly sophisticated satellite control can be performed. In this paper, after a concept of the integrated satellite control is introduced, the Integrated Controller Unit (ICU) is described in detail. Also unique topics in developing the integrated control system are shown.

Synchronized movement experience enhances peer cooperation in preschool children.

PubMed

Rabinowitch, Tal-Chen; Meltzoff, Andrew N

2017-08-01

Cooperating with other people is a key achievement in child development and is essential for human culture. We examined whether we could induce 4-year-old children to increase their cooperation with an unfamiliar peer by providing the peers with synchronized motion experience prior to the tasks. Children were randomly assigned to independent treatment and control groups. The treatment of synchronous motion caused children to enhance their cooperation, as measured by the speed of joint task completion, compared with control groups that underwent asynchronous motion or no motion at all. Further analysis suggested that synchronization experience increased intentional communication between peer partners, resulting in increased coordination and cooperation. Copyright © 2017 Elsevier Inc. All rights reserved.

Electrical features of new DNC, CNC system viewed

NASA Astrophysics Data System (ADS)

Fritzsch, W.; Kochan, D.; Schaller, J.; Zander, H. J.

1985-03-01

Control structures capable of solving the problems of a flexible minial-labor manufacturing process are analyzed. The present state of development of equipment technology is described, and possible ways of modeling control processes are surveyed. Concepts which are frequently differently interpreted in various specialized disciplines are systematized, with a view toward creating the prerequisites for interdisciplinary cooperation. Problems and information flow during the preparatory and performance phases of manufacturing are examined with respect to coupling CAD/CAM functions. Mathematical modeling for direct numerical control is explored.

Dynamical modelling of coordinated multiple robot systems

NASA Technical Reports Server (NTRS)

Hayati, Samad

1987-01-01

The state of the art in the modeling of the dynamics of coordinated multiple robot manipulators is summarized and various problems related to this subject are discussed. It is recognized that dynamics modeling is a component used in the design of controllers for multiple cooperating robots. As such, the discussion addresses some problems related to the control of multiple robots. The techniques used to date in the modeling of closed kinematic chains are summarized. Various efforts made to date for the control of coordinated multiple manipulators is summarized.

New generation of space capabilities resulting from US/RF cooperative efforts

NASA Astrophysics Data System (ADS)

Humpherys, Thomas; Misnik, Victor; Sinelshchikov, Valery; Stair, A. T., Jr.; Khatulev, Valery; Carpenter, Jack; Watson, John; Chvanov, Dmitry; Privalsky, Victor

2006-09-01

Previous successful international cooperative efforts offer a wealth of experience in dealing with highly sensitive issues, but cooperative remote sensing for monitoring and understanding the global environmental is in the national interest of all countries. Cooperation between international partners is paramount, particularly with the Russian Federation, due to its technological maturity and strategic political and geographical position in the world. Based on experience gained over a decade of collaborative space research efforts, continued cooperation provides an achievable goal as well as understanding the fabric of our coexistence. Past cooperative space research efforts demonstrate the ability of the US and Russian Federation to develop a framework for cooperation, working together on a complex, state-of-the-art joint satellite program. These efforts consisted of teams of scientists and engineers who overcame numerous cultural, linguistic, engineering approaches and different political environments. Among these major achievements are: (1) field measurement activities with US satellites MSTI and MSX and the Russian RESURS-1 satellite, as well as the joint experimental use of the US FISTA aircraft; (2) successful joint Science, Conceptual and Preliminary Design Reviews; (3) joint publications of scientific research technical papers, (4) Russian investment in development, demonstration and operation of the Monitor-E spacecraft (Yacht satellite bus), (5) successful demonstration of the conversion of the SS-19 into a satellite launch system, and (6) negotiation of contractual and technical assistant agreements. This paper discusses a new generation of science and space capabilities available to the Remote Sensing community. Specific topics include: joint requirements definition process and work allocation for hardware and responsibility for software development; the function, description and status of Russian contributions in providing space component prototypes and test articles; summary of planned experimental measurements and simulations; results of the ROKOT launch system; performance of the Monitor-E spacecraft; prototype joint mission operations control center; and a Handbook for Success in satellite collaborative efforts based upon a decade of lessons learned.

Building intelligent systems: Artificial intelligence research at NASA Ames Research Center

NASA Technical Reports Server (NTRS)

Friedland, P.; Lum, H.

1987-01-01

The basic components that make up the goal of building autonomous intelligent systems are discussed, and ongoing work at the NASA Ames Research Center is described. It is noted that a clear progression of systems can be seen through research settings (both within and external to NASA) to Space Station testbeds to systems which actually fly on the Space Station. The starting point for the discussion is a truly autonomous Space Station intelligent system, responsible for a major portion of Space Station control. Attention is given to research in fiscal 1987, including reasoning under uncertainty, machine learning, causal modeling and simulation, knowledge from design through operations, advanced planning work, validation methodologies, and hierarchical control of and distributed cooperation among multiple knowledge-based systems.

Building intelligent systems - Artificial intelligence research at NASA Ames Research Center

NASA Technical Reports Server (NTRS)

Friedland, Peter; Lum, Henry

1987-01-01

The basic components that make up the goal of building autonomous intelligent systems are discussed, and ongoing work at the NASA Ames Research Center is described. It is noted that a clear progression of systems can be seen through research settings (both within and external to NASA) to Space Station testbeds to systems which actually fly on the Space Station. The starting point for the discussion is a 'truly' autonomous Space Station intelligent system, responsible for a major portion of Space Station control. Attention is given to research in fiscal 1987, including reasoning under uncertainty, machine learning, causal modeling and simulation, knowledge from design through operations, advanced planning work, validation methodologies, and hierarchical control of and distributed cooperation among multiple knowledge-based systems.

Interpretive Study of Research and Development Relative to Educational Cooperatives. Final Report.

ERIC Educational Resources Information Center

Hughes, Larry W.; And Others

This document analyzes some of the aspects of the trend toward educational regionalism and cooperation. Educational cooperatives are designed to provide the flexibility and service associated with large districts while allowing for local control and school district autonomy. Types of educational cooperatives discussed include intermediate…

A map of terminal regulators of neuronal identity in Caenorhabditis elegans

PubMed Central

2016-01-01

Our present day understanding of nervous system development is an amalgam of insights gained from studying different aspects and stages of nervous system development in a variety of invertebrate and vertebrate model systems, with each model system making its own distinctive set of contributions. One aspect of nervous system development that has been among the most extensively studied in the nematode Caenorhabditis elegans is the nature of the gene regulatory programs that specify hardwired, terminal cellular identities. I first summarize a number of maps (anatomical, functional, and molecular) that describe the terminal identity of individual neurons in the C. elegans nervous system. I then provide a comprehensive summary of regulatory factors that specify terminal identities in the nervous system, synthesizing these past studies into a regulatory map of cellular identities in the C. elegans nervous system. This map shows that for three quarters of all neurons in the C. elegans nervous system, regulatory factors that control terminal identity features are known. In‐depth studies of specific neuron types have revealed that regulatory factors rarely act alone, but rather act cooperatively in neuron‐type specific combinations. In most cases examined so far, distinct, biochemically unlinked terminal identity features are coregulated via cooperatively acting transcription factors, termed terminal selectors, but there are also cases in which distinct identity features are controlled in a piecemeal fashion by independent regulatory inputs. The regulatory map also illustrates that identity‐defining transcription factors are reemployed in distinct combinations in different neuron types. However, the same transcription factor can drive terminal differentiation in neurons that are unrelated by lineage, unrelated by function, connectivity and neurotransmitter deployment. Lastly, the regulatory map illustrates the preponderance of homeodomain transcription factors in the control of terminal identities, suggesting that these factors have ancient, phylogenetically conserved roles in controlling terminal neuronal differentiation in the nervous system. WIREs Dev Biol 2016, 5:474–498. doi: 10.1002/wdev.233 For further resources related to this article, please visit the WIREs website. PMID:27136279

Control Architecture for Robotic Agent Command and Sensing

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance; Aghazarian, Hrand; Estlin, Tara; Gaines, Daniel

2008-01-01

Control Architecture for Robotic Agent Command and Sensing (CARACaS) is a recent product of a continuing effort to develop architectures for controlling either a single autonomous robotic vehicle or multiple cooperating but otherwise autonomous robotic vehicles. CARACaS is potentially applicable to diverse robotic systems that could include aircraft, spacecraft, ground vehicles, surface water vessels, and/or underwater vessels. CARACaS incudes an integral combination of three coupled agents: a dynamic planning engine, a behavior engine, and a perception engine. The perception and dynamic planning en - gines are also coupled with a memory in the form of a world model. CARACaS is intended to satisfy the need for two major capabilities essential for proper functioning of an autonomous robotic system: a capability for deterministic reaction to unanticipated occurrences and a capability for re-planning in the face of changing goals, conditions, or resources. The behavior engine incorporates the multi-agent control architecture, called CAMPOUT, described in An Architecture for Controlling Multiple Robots (NPO-30345), NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 65. CAMPOUT is used to develop behavior-composition and -coordination mechanisms. Real-time process algebra operators are used to compose a behavior network for any given mission scenario. These operators afford a capability for producing a formally correct kernel of behaviors that guarantee predictable performance. By use of a method based on multi-objective decision theory (MODT), recommendations from multiple behaviors are combined to form a set of control actions that represents their consensus. In this approach, all behaviors contribute simultaneously to the control of the robotic system in a cooperative rather than a competitive manner. This approach guarantees a solution that is good enough with respect to resolution of complex, possibly conflicting goals within the constraints of the mission to be accomplished by the vehicle(s).

Canada's Industry-University Co-Op Education Accreditation System and Its Inspiration for the Evaluation of China's Industry-University-Institute Cooperative Education

ERIC Educational Resources Information Center

Qiubo, Yang; Shibin, Wang; Zha, Qiang

2016-01-01

The high degree of interest that higher education systems around the world have in employability has driven the profound development of industry-university cooperative education. Canada's industry-university co-op education system has served as a model for global cooperative education, and its accreditation system guarantees the high quality of…

Cooperative water network system to reduce carbon footprint.

PubMed

Lim, Seong-Rin; Park, Jong Moon

2008-08-15

Much effort has been made in reducing the carbon footprint to mitigate climate change. However, water network synthesis has been focused on reducing the consumption and cost of freshwater within each industrial plant. The objective of this study is to illustrate the necessity of the cooperation of industrial plants to reduce the total carbon footprint of their water supply systems. A mathematical optimization model to minimize global warming potentials is developed to synthesize (1) a cooperative water network system (WNS) integrated over two plants and (2) an individual WNS consisting of two WNSs separated for each plant. The cooperative WNS is compared to the individual WNS. The cooperation reduces their carbon footprint and is economically feasible and profitable. A strategy for implementing the cooperation is suggested for the fair distribution of costs and benefits. As a consequence, industrial plants should cooperate with their neighbor plants to further reduce the carbon footprint.

Motion-base simulator results of advanced supersonic transport handling qualities with active controls

NASA Technical Reports Server (NTRS)

Feather, J. B.; Joshi, D. S.

1981-01-01

Handling qualities of the unaugmented advanced supersonic transport (AST) are deficient in the low-speed, landing approach regime. Consequently, improvement in handling with active control augmentation systems has been achieved using implicit model-following techniques. Extensive fixed-based simulator evaluations were used to validate these systems prior to tests with full motion and visual capabilities on a six-axis motion-base simulator (MBS). These tests compared the handling qualities of the unaugmented AST with several augmented configurations to ascertain the effectiveness of these systems. Cooper-Harper ratings, tracking errors, and control activity data from the MBS tests have been analyzed statistically. The results show the fully augmented AST handling qualities have been improved to an acceptable level.

Cooperative Robots to Observe Moving Targets: Review.

PubMed

Khan, Asif; Rinner, Bernhard; Cavallaro, Andrea

2018-01-01

The deployment of multiple robots for achieving a common goal helps to improve the performance, efficiency, and/or robustness in a variety of tasks. In particular, the observation of moving targets is an important multirobot application that still exhibits numerous open challenges, including the effective coordination of the robots. This paper reviews control techniques for cooperative mobile robots monitoring multiple targets. The simultaneous movement of robots and targets makes this problem particularly interesting, and our review systematically addresses this cooperative multirobot problem for the first time. We classify and critically discuss the control techniques: cooperative multirobot observation of multiple moving targets, cooperative search, acquisition, and track, cooperative tracking, and multirobot pursuit evasion. We also identify the five major elements that characterize this problem, namely, the coordination method, the environment, the target, the robot and its sensor(s). These elements are used to systematically analyze the control techniques. The majority of the studied work is based on simulation and laboratory studies, which may not accurately reflect real-world operational conditions. Importantly, while our systematic analysis is focused on multitarget observation, our proposed classification is useful also for related multirobot applications.

Evaluating the Dynamics of Agent-Environment Interaction

DTIC Science & Technology

2001-05-01

a color sensor in the gripper, a radio transmitter/receiver for communication and data gathering, and an ultrasound /radio triangulation system for...Cooperative Mobile Robot Control’, Autonomous Robots 4(4), 387{403. Vaughan, R. T., Sty, K., Sukhatme, G. S. & Mataric, M. J. (2000), Whistling in the Dark...sensor in the gripper, a radio transmitter/receiver for communication and data gathering, and an ultrasound /radio triangu- lation system for

Mucus clearance from the pulmonary system by mechanical means: a dual-excitation approach.

PubMed

Ignagni, Mario; O'Dea, Thomas

2013-01-01

A dual-excitation approach to mechanical clearance of mucus from the pulmonary system is described. The approach employs independently controlled vibratory and constrictive pressure stimulations to the thorax. Patient cooperative efforts are integrated into the therapy regimen as a means of enhancing the efficacy of the treatment. An engineering model that demonstrates the capability to generate vibratory and constrictive pressure variations at specified levels is described.

Improving robot arm control for safe and robust haptic cooperation in orthopaedic procedures.

PubMed

Cruces, R A Castillo; Wahrburg, J

2007-12-01

This paper presents the ongoing results of an effort to achieve the integration of a navigated cooperative robotic arm into computer-assisted orthopaedic surgery. A seamless integration requires the system acting in direct cooperation with the surgeon instead of replacing him. Two technical issues are discussed to improve the haptic operating modes for interactive robot guidance. The concept of virtual fixtures is used to restrict the range of motion of the robot according to pre-operatively defined constraints, and methodologies to assure a robust and accurate motion through singular arm configurations are investigated. A new method for handling singularities is proposed, which is superior to the commonly used damped-least-squares method. It produces no deviations of the end-effector in relation to the virtually constrained path. A solution to assure a good performance of a hands-on robotic arm at singularity configurations is proposed. (c) 2007 John Wiley & Sons, Ltd.

Problems and Countermeasures of Zhejiang High-Tech Enterprises Industry-University-Institute Cooperation in China

NASA Astrophysics Data System (ADS)

Zhou, Qing; Mao, Chong-Feng; Hou, Lin

Industry-university-institute cooperation is an important means to accelerate technical development and achievements for high-tech enterprises. Considering that Zhejiang high-tech enterprises existed some problems which included low cooperative level, single distribution, weak secondary R&D ability, obvious risk and so on, government should play an guiding role on improving information service system, enhancing cooperative level, promoting scientific intermediary service organization system construction, and building better environment for Industry-university-institute cooperation.

Design of special purpose database for credit cooperation bank business processing network system

NASA Astrophysics Data System (ADS)

Yu, Yongling; Zong, Sisheng; Shi, Jinfa

2011-12-01

With the popularization of e-finance in the city, the construction of e-finance is transfering to the vast rural market, and quickly to develop in depth. Developing the business processing network system suitable for the rural credit cooperative Banks can make business processing conveniently, and have a good application prospect. In this paper, We analyse the necessity of adopting special purpose distributed database in Credit Cooperation Band System, give corresponding distributed database system structure , design the specical purpose database and interface technology . The application in Tongbai Rural Credit Cooperatives has shown that system has better performance and higher efficiency.

Cooperation, conflict, and the evolution of queen pheromones.

PubMed

Kocher, Sarah D; Grozinger, Christina M

2011-11-01

While chemical communication regulates individual behavior in a wide variety of species, these communication systems are most elaborated in insect societies. In these complex systems, pheromones produced by the reproductive individuals (queens) are critical in establishing and maintaining dominant reproductive status over hundreds to thousands of workers. The proximate and ultimate mechanisms by which these intricate pheromone communication systems evolved are largely unknown, though there has been much debate over whether queen pheromones function as a control mechanism or as an honest signal facilitating cooperation. Here, we summarize results from recent studies in honey bees, bumble bees, wasps, ants and termites. We further discuss evolutionary mechanisms by which queen pheromone communication systems may have evolved. Overall, these studies suggest that queen-worker pheromone communication is a multi-component, labile dialog between the castes, rather than a simple, fixed signal-response system. We also discuss future approaches that can shed light on the proximate and ultimate mechanisms that underlie these complex systems by focusing on the development of increasingly sophisticated genomic tools and their potential applications to examine the molecular mechanisms that regulate pheromone production and perception.

The BaBar Data Reconstruction Control System

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

Ceseracciu, A

2005-04-20

The BaBar experiment is characterized by extremely high luminosity and very large volume of data produced and stored, with increasing computing requirements each year. To fulfill these requirements a Control System has been designed and developed for the offline distributed data reconstruction system. The control system described in this paper provides the performance and flexibility needed to manage a large number of small computing farms, and takes full benefit of OO design. The infrastructure is well isolated from the processing layer, it is generic and flexible, based on a light framework providing message passing and cooperative multitasking. The system ismore » distributed in a hierarchical way: the top-level system is organized in farms, farms in services, and services in subservices or code modules. It provides a powerful Finite State Machine framework to describe custom processing models in a simple regular language. This paper describes the design and evolution of this control system, currently in use at SLAC and Padova on {approx}450 CPUs organized in 9 farms.« less

The BaBar Data Reconstruction Control System

NASA Astrophysics Data System (ADS)

Ceseracciu, A.; Piemontese, M.; Tehrani, F. S.; Pulliam, T. M.; Galeazzi, F.

2005-08-01

The BaBar experiment is characterized by extremely high luminosity and very large volume of data produced and stored, with increasing computing requirements each year. To fulfill these requirements a control system has been designed and developed for the offline distributed data reconstruction system. The control system described in this paper provides the performance and flexibility needed to manage a large number of small computing farms, and takes full benefit of object oriented (OO) design. The infrastructure is well isolated from the processing layer, it is generic and flexible, based on a light framework providing message passing and cooperative multitasking. The system is distributed in a hierarchical way: the top-level system is organized in farms, farms in services, and services in subservices or code modules. It provides a powerful finite state machine framework to describe custom processing models in a simple regular language. This paper describes the design and evolution of this control system, currently in use at SLAC and Padova on /spl sim/450 CPUs organized in nine farms.

[The survival and development conditions of community-based organizations for HIV/AIDS prevention and control among men who have sex with men in three Chinese cities].

PubMed

Fu, Xiaojing; Shan, Duo; Qi, Jinlei; Ouyang, Lin; Wang, Hui; Fu, Jie; Sun, Jiangping

2015-06-01

To investigate the survival and development conditions of community-based organizations (CBOs) for HIV/AIDS prevention and control among men who have sex with men (MSM) in Chinese cities including Shanghai, Hangzhou, Chongqing. This study employed both qualitative (focus groups) and quantitative (questionnaire survey) methods to obtain information from 15 MSM CBOs in three Chinese cities. The mean work time of the 15 CBOs for HIV/AIDS prevention and control among MSM was 6.7 years (2.1-11.3 years), and the majority of their funds was from international cooperation projects (80 447 000 RMB, 73.0%) from 2006 to 2013. The survival cost of MSM CBOs apart from expenditure of activities was 2 240-435 360 RMB per year. As it was shown in the graph, the survival and development of MSM CBOs was closely related to the development of international cooperation projects. There was a few small size MSM CBOs taking part in the prevention and control of HIV/AIDS and their work content was limited before 2006. From 2006 to 2008, some international cooperation projects were launched in China, such as the China Global Fund AIDS project and the China-Gates Foundation HIV Prevention Cooperation program. As a result, the number of MSM CBOs was increased sharply, and both the scale and 2012, the performance of these programs further promote the establishment of new MSM CBOs and the development of all MSM CBOs with regard to the work places, full-time staffs, work contents, work patterns and the specific targeted population. After 2012, most international cooperation programs were completed and the local department of disease prevention and control continued to cooperate with MSM CBOs. However, the degree of support funds from the local department was different among different regions. Where the funds were below the half of program funds, the development of MSM CBOs ceased and work slowed down. Besides, there were still some constraints for the survival and development of MSM CBOs, such as insufficient funds, no legitimate identity, the outflow of talents and the unsustainable development. The survival and development of MSM CBOs was closely related to the development of international cooperation projects in China. Some departments of disease prevention and control took over the cooperation with MSM CBOs when the international cooperation projects were completed. Given the survival cost of MSM CBOs and the constraints of MSM CBOs development, it needs further investigation on how to ensure the local departments of disease prevention and control to take over the cooperation with MSM CBOs and how to cooperate with MSM CBOs.

Revisiting control establishments for emerging energy hubs

NASA Astrophysics Data System (ADS)

Nasirian, Vahidreza

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

Immersive Virtual Reality with Applications to Tele-Operation and Training

DTIC Science & Technology

2016-03-07

to design accurate models for the control of a remote agent by retargeting human gestures (or body part movements) on the control structure of the...which is designed to co-operate with human inhabitants will need to posses, on some levels, a theory of mind [20]. This will enable the system to...University of Houston-Victoria, a designated Hispanic Serving Institution of higher education. The requested equipment and instrumentation will be

ICADS: A cooperative decision making model with CLIPS experts

NASA Technical Reports Server (NTRS)

Pohl, Jens; Myers, Leonard

1991-01-01

A cooperative decision making model is described which is comprised of six concurrently executing domain experts coordinated by a blackboard control expert. The focus application field is architectural design, and the domain experts represent consultants in the area of daylighting, noise control, structural support, cost estimating, space planning, and climate responsiveness. Both the domain experts and the blackboard were implemented as production systems, using an enhanced version of the basic CLIPS package. Acting in unison as an Expert Design Advisor, the domain and control experts react to the evolving design solution progressively developed by the user in a 2-D CAD drawing environment. A Geometry Interpreter maps each drawing action taken by the user to real world objects, such as spaces, walls, windows, and doors. These objects, endowed with geometric and nongeometric attributes, are stored as frames in a semantic network. Object descriptions are derived partly from the geometry of the drawing environment and partly from knowledge bases containing prototypical, generalized information about the building type and site conditions under consideration.

A common neural hub resolves syntactic and non-syntactic conflict through cooperation with task-specific networks

PubMed Central

Hsu, Nina S.; Jaeggi, Susanne M.; Novick, Jared M.

2017-01-01

Regions within the left inferior frontal gyrus (LIFG) have simultaneously been implicated in syntactic processing and cognitive control. Accounts attempting to unify LIFG’s function hypothesize that, during comprehension, cognitive control resolves conflict between incompatible representations of sentence meaning. Some studies demonstrate co-localized activity within LIFG for syntactic and non-syntactic conflict resolution, suggesting domain-generality, but others show non-overlapping activity, suggesting domain-specific cognitive control and/or regions that respond uniquely to syntax. We propose however that examining exclusive activation sites for certain contrasts creates a false dichotomy: both domain-general and domain-specific neural machinery must coordinate to facilitate conflict resolution across domains. Here, subjects completed four diverse tasks involving conflict —one syntactic, three non-syntactic— while undergoing fMRI. Though LIFG consistently activated within individuals during conflict processing, functional connectivity analyses revealed task-specific coordination with distinct brain networks. Thus, LIFG may function as a conflict-resolution “hub” that cooperates with specialized neural systems according to information content. PMID:28110105

Control Requirements to Support Manual Piloting Capability

NASA Technical Reports Server (NTRS)

Merancy, Nujoud; Chevray, Kay; Gonzalez, Rodolfo; Madsen, Jennifer; Spehar, Pete

2013-01-01

The manual piloting requirements specified under the NASA Constellation Program involved Cooper-Harper ratings, which are a qualitative and subjective evaluation from experienced pilots. This type of verification entails a significant investment of resources to assess a completed design and is not one that can easily or meaningfully be applied upfront in the design phase. The evolution of the Multi-Purpose Crew Vehicle Program to include an independently developed propulsion system from an international partner makes application of Cooper-Harper based design requirements inadequate. To mitigate this issue, a novel solution was developed to reformulate the necessary piloting capability into quantifiable requirements. A trio of requirements was designed which specify control authority, precision, and impulse residuals enabling propulsion design within specified guidance and control boundaries. These requirements have been evaluated against both the existing Orion design and the proposed ESA design and have been found to achieve the desired specificity. The requirement set is capable of being applied to the development of other spacecraft in support of manual piloting.

Tethered satellite system

NASA Technical Reports Server (NTRS)

Sisson, J.

1986-01-01

A reusable system is to be developed to enable a variety of scientific investigations to be accomplished from the shuttle, considering the use of a tethered system with manual or automated control, deployment of a satellite toward or away from the Earth, up to 100 km, and conducting or nonconducting tether. Experiments and scientific investigations are to be performed using the tether system for applications such as magnetometry, electrodynamics, atmospheric science, and chemical release. A program is being implemented as a cooperative U.S./Italian activity. The proposed systems, investigations, and the program are charted and briefly discussed.

International Co-Operation in Control Engineering Education Using Online Experiments

ERIC Educational Resources Information Center

Henry, Jim; Schaedel, Herbert M.

2005-01-01

This paper describes the international co-operation experience in teaching control engineering with laboratories being conducted remotely by students via the Internet. This paper describes how the students ran the experiments and their personal experiences with the laboratory. A tool for process identification and controller tuning based on…

Estimating the dilemma strength for game systems. Comment on "Universal scaling for the dilemma strength in evolutionary games", by Z. Wang et al.

NASA Astrophysics Data System (ADS)

Chen, Xiaojie

2015-09-01

The puzzle of cooperation exists widely in the realistic world, including biological, social, and engineering systems. How to solve the cooperation puzzle has received considerable attention in recent years [1]. Evolutionary game theory provides a common mathematical framework to study the problem of cooperation. In principle, these practical biological, social, or engineering systems can be described by complex game models composed of multiple autonomous individuals with mutual interactions. And generally there exists a dilemma for the evolution of cooperation in the game systems.

Energy management and cooperation in microgrids

NASA Astrophysics Data System (ADS)

Rahbar, Katayoun

Microgrids are key components of future smart power grids, which integrate distributed renewable energy generators to efficiently serve the load demand locally. However, random and intermittent characteristics of renewable energy generations may hinder the reliable operation of microgrids. This thesis is thus devoted to investigating new strategies for microgrids to optimally manage their energy consumption, energy storage system (ESS) and cooperation in real time to achieve the reliable and cost-effective operation. This thesis starts with a single microgrid system. The optimal energy scheduling and ESS management policy is derived to minimize the energy cost of the microgrid resulting from drawing conventional energy from the main grid under both the off-line and online setups, where the renewable energy generation/load demand are assumed to be non-causally known and causally known at the microgrid, respectively. The proposed online algorithm is designed based on the optimal off-line solution and works under arbitrary (even unknown) realizations of future renewable energy generation/load demand. Therefore, it is more practically applicable as compared to solutions based on conventional techniques such as dynamic programming and stochastic programming that require the prior knowledge of renewable energy generation and load demand realizations/distributions. Next, for a group of microgrids that cooperate in energy management, we study efficient methods for sharing energy among them for both fully and partially cooperative scenarios, where microgrids are of common interests and self-interested, respectively. For the fully cooperative energy management, the off-line optimization problem is first formulated and optimally solved, where a distributed algorithm is proposed to minimize the total (sum) energy cost of microgrids. Inspired by the results obtained from the off-line optimization, efficient online algorithms are proposed for the real-time energy management, which are of low complexity and work given arbitrary realizations of renewable energy generation/load demand. On the other hand, for self-interested microgrids, the partially cooperative energy management is formulated and a distributed algorithm is proposed to optimize the energy cooperation such that energy costs of individual microgrids reduce simultaneously over the case without energy cooperation while limited information is shared among the microgrids and the central controller.

Literature review on recent international activity in cooperative vehicle-highway automation systems.

DOT National Transportation Integrated Search

2012-12-01

This literature review supports the report, Recent International Activity in Cooperative VehicleHighway Automation Systems. It : reviews the published literature in English dating from 2007 or later about non-U.S.-based work on cooperative vehicle...

Distributed Ship Navigation Control System Based on Dual Network

NASA Astrophysics Data System (ADS)

Yao, Ying; Lv, Wu

2017-10-01

Navigation system is very important for ship’s normal running. There are a lot of devices and sensors in the navigation system to guarantee ship’s regular work. In the past, these devices and sensors were usually connected via CAN bus for high performance and reliability. However, as the development of related devices and sensors, the navigation system also needs the ability of high information throughput and remote data sharing. To meet these new requirements, we propose the communication method based on dual network which contains CAN bus and industrial Ethernet. Also, we import multiple distributed control terminals with cooperative strategy based on the idea of synchronizing the status by multicasting UDP message contained operation timestamp to make the system more efficient and reliable.

Objective Speech Quality Assessment Based on Payload Discrimination of Lost Packets for Cellular Phones in NGN Environment

NASA Astrophysics Data System (ADS)

Uemura, Satoshi; Fukumoto, Norihiro; Yamada, Hideaki; Nakamura, Hajime

A feature of services provided in a Next Generation Network (NGN) is that the end-to-end quality is guaranteed. This is quite a challenging issue, given the considerable fluctuation in network conditions within a Fixed Mobile Convergence (FMC) network. Therefore, a novel approach, whereby a network node and a mobile terminal such as a cellular phone cooperate with each other to control service quality is essential. In order to achieve such cooperation, the mobile terminal needs to become more intelligent so it can estimate the service quality, including the user's perceptual quality, and notify the measurement result to the network node. Subsequently, the network node implements some kind of service control function, such as a resource and admission control function, based on the notification from the mobile terminal. In this paper, the role of the mobile terminal in such collaborative system is focused on. As a part of a QoS/QoE measurement system, we describe an objective speech quality assessment with payload discrimination of lost packets to measure the user's perceptual quality of VoIP. The proposed assessment is so simple that it can be implemented on a cellular phone. We therefore did this as part of the QoS/QoE measurement system. By using the implemented system, we can measure the user's perceptual quality of VoIP as well as the network QoS metrics, in terms of criteria such as packet loss rate, jitter and burstiness in real time.

Cancer mortality-to-incidence ratio as an indicator of cancer management outcomes in Organization for Economic Cooperation and Development countries.

PubMed

Choi, Eunji; Lee, Sangeun; Nhung, Bui Cam; Suh, Mina; Park, Boyoung; Jun, Jae Kwan; Choi, Kui Son

2017-01-01

Assessing long-term success and efficiency is an essential part of evaluating cancer control programs. The mortality-to-incidence ratio (MIR) can serve as an insightful indicator of cancer management outcomes for individual nations. By calculating MIRs for the top five cancers in Organization for Economic Cooperation and Development (OECD) countries, the current study attempted to characterize the outcomes of national cancer management policies according to the health system ranking of each country. The MIRs for the five most burdensome cancers globally (lung, colorectal, prostate, stomach, and breast) were calculated for all 34 OECD countries using 2012 GLOBOCAN incidence and mortality statistics. Health system rankings reported by the World Health Organization in 2000 were updated with relevant information when possible. A linear regression model was created, using MIRs as the dependent variable and health system rankings as the independent variable. The linear relationships between MIRs and health system rankings for the five cancers were significant, with coefficients of determination ranging from 49 to 75% when outliers were excluded. A clear outlier, Korea reported lower-than-predicted MIRs for stomach and colorectal cancer, reflecting its strong national cancer control policies, especially cancer screening. The MIR was found to be a practical measure for evaluating the long-term success of cancer surveillance and the efficacy of cancer control programs, especially cancer screening. Extending the use of MIRs to evaluate other cancers may also prove useful.

Influence of Web Based Cooperative Learning Strategy and Achiever Motivation on Student Study Outcome

ERIC Educational Resources Information Center

Hariadi, Bambang; Wurijanto, Tutut

2016-01-01

The research aimed at examining the effect of instructional strategy (web-based STAD and text-based STAD) and achiever motivation toward student learning outcomes. The research implied quasi-experimental design with nonequivalent control group factorial version. The subjects were undergraduate students of Information Systems of academic year…

Trust-Based Cooperative Games and Control Strategies for Autonomous Military Convoys

DTIC Science & Technology

2013-01-01

52] S. Goering, "Postnatal Reproductive Autonomy: Promoting Relational Autonomy and Self-Trust in New Parents," Bioethics , vol. 23, no. 1, pp. 9-19...Systems," Proceedings of the IEEE, vol. 95, no. 1, pp. 215-233, January 2007. [105] O. O’Neill, Autonomy and Trust in Bioethics . Cambridge: Cambridge

Your Defiant Child: 8 Steps to Better Behavior.

ERIC Educational Resources Information Center

Barkley, Russell A.; Benton, Christine M.

Every child has "ornery" moments, but more than 1 in 20 American children exhibit behavioral problems that are out of control. This book was written to help parents struggling with an unyielding or combative child. The book's eight-step program emphasizes consistency and cooperation, promoting changes through a system of praise, rewards,…

Cooperative Control of UAVs for Localization of Intermittently Emitting Mobile Targets

DTIC Science & Technology

2009-08-01

as lawn - mower serpentine patterns [21]. Second, due to the limited energy supplies intrinsic to UAV applications, it is also important that the search...Robotic Embedded Systems Laboratory, Univ. Southern Calif., Los Angeles, CA, 2002. Tech. Rep. [21] J. Ousingsawat and M. G. Earl, “Modified lawn - mower search

Self-control with spiking and non-spiking neural networks playing games.

PubMed

Christodoulou, Chris; Banfield, Gaye; Cleanthous, Aristodemos

2010-01-01

Self-control can be defined as choosing a large delayed reward over a small immediate reward, while precommitment is the making of a choice with the specific aim of denying oneself future choices. Humans recognise that they have self-control problems and attempt to overcome them by applying precommitment. Problems in exercising self-control, suggest a conflict between cognition and motivation, which has been linked to competition between higher and lower brain functions (representing the frontal lobes and the limbic system respectively). This premise of an internal process conflict, lead to a behavioural model being proposed, based on which, we implemented a computational model for studying and explaining self-control through precommitment behaviour. Our model consists of two neural networks, initially non-spiking and then spiking ones, representing the higher and lower brain systems viewed as cooperating for the benefit of the organism. The non-spiking neural networks are of simple feed forward multilayer type with reinforcement learning, one with selective bootstrap weight update rule, which is seen as myopic, representing the lower brain and the other with the temporal difference weight update rule, which is seen as far-sighted, representing the higher brain. The spiking neural networks are implemented with leaky integrate-and-fire neurons with learning based on stochastic synaptic transmission. The differentiating element between the two brain centres in this implementation is based on the memory of past actions determined by an eligibility trace time constant. As the structure of the self-control problem can be likened to the Iterated Prisoner's Dilemma (IPD) game in that cooperation is to defection what self-control is to impulsiveness or what compromising is to insisting, we implemented the neural networks as two players, learning simultaneously but independently, competing in the IPD game. With a technique resembling the precommitment effect, whereby the payoffs for the dilemma cases in the IPD payoff matrix are differentially biased (increased or decreased), it is shown that increasing the precommitment effect (through increasing the differential bias) increases the probability of cooperating with oneself in the future, irrespective of whether the implementation is with spiking or non-spiking neural networks. Copyright (c) 2009 Elsevier Ltd. All rights reserved.

A SWOT Analysis of the Various Backup Scenarios Used in Electronic Medical Record Systems.

PubMed

Seo, Hwa Jeong; Kim, Hye Hyeon; Kim, Ju Han

2011-09-01

Electronic medical records (EMRs) are increasingly being used by health care services. Currently, if an EMR shutdown occurs, even for a moment, patient safety and care can be seriously impacted. Our goal was to determine the methodology needed to develop an effective and reliable EMR backup system. Our "independent backup system by medical organizations" paradigm implies that individual medical organizations develop their own EMR backup systems within their organizations. A "personal independent backup system" is defined as an individual privately managing his/her own medical records, whereas in a "central backup system by the government" the government controls all the data. A "central backup system by private enterprises" implies that individual companies retain control over their own data. A "cooperative backup system among medical organizations" refers to a networked system established through mutual agreement. The "backup system based on mutual trust between an individual and an organization" means that the medical information backup system at the organizational level is established through mutual trust. Through the use of SWOT analysis it can be shown that cooperative backup among medical organizations is possible to be established through a network composed of various medical agencies and that it can be managed systematically. An owner of medical information only grants data access to the specific person who gave the authorization for backup based on the mutual trust between an individual and an organization. By employing SWOT analysis, we concluded that a linkage among medical organizations or between an individual and an organization can provide an efficient backup system.

A SWOT Analysis of the Various Backup Scenarios Used in Electronic Medical Record Systems

PubMed Central

Seo, Hwa Jeong; Kim, Hye Hyeon

2011-01-01

Objectives Electronic medical records (EMRs) are increasingly being used by health care services. Currently, if an EMR shutdown occurs, even for a moment, patient safety and care can be seriously impacted. Our goal was to determine the methodology needed to develop an effective and reliable EMR backup system. Methods Our "independent backup system by medical organizations" paradigm implies that individual medical organizations develop their own EMR backup systems within their organizations. A "personal independent backup system" is defined as an individual privately managing his/her own medical records, whereas in a "central backup system by the government" the government controls all the data. A "central backup system by private enterprises" implies that individual companies retain control over their own data. A "cooperative backup system among medical organizations" refers to a networked system established through mutual agreement. The "backup system based on mutual trust between an individual and an organization" means that the medical information backup system at the organizational level is established through mutual trust. Results Through the use of SWOT analysis it can be shown that cooperative backup among medical organizations is possible to be established through a network composed of various medical agencies and that it can be managed systematically. An owner of medical information only grants data access to the specific person who gave the authorization for backup based on the mutual trust between an individual and an organization. Conclusions By employing SWOT analysis, we concluded that a linkage among medical organizations or between an individual and an organization can provide an efficient backup system. PMID:22084811

The Cooperative System of Education an Account of Cooperative Education as Developed in the College of Engineering University of Cincinnati. Bulletin, 1916, No. 37

ERIC Educational Resources Information Center

Park, William Clyde,

1916-01-01

This bulletin provides a comprehensive account of the establishment of the cooperative system of education in the Department of Engineering at the University of Cincinnati, from conceptualization to implementation. The cooperative course was not the product of an academic laboratory of pedagogical research, but rather an investigation of the…

Temporal Data-Driven Sleep Scheduling and Spatial Data-Driven Anomaly Detection for Clustered Wireless Sensor Networks

PubMed Central

Li, Gang; He, Bin; Huang, Hongwei; Tang, Limin

2016-01-01

The spatial–temporal correlation is an important feature of sensor data in wireless sensor networks (WSNs). Most of the existing works based on the spatial–temporal correlation can be divided into two parts: redundancy reduction and anomaly detection. These two parts are pursued separately in existing works. In this work, the combination of temporal data-driven sleep scheduling (TDSS) and spatial data-driven anomaly detection is proposed, where TDSS can reduce data redundancy. The TDSS model is inspired by transmission control protocol (TCP) congestion control. Based on long and linear cluster structure in the tunnel monitoring system, cooperative TDSS and spatial data-driven anomaly detection are then proposed. To realize synchronous acquisition in the same ring for analyzing the situation of every ring, TDSS is implemented in a cooperative way in the cluster. To keep the precision of sensor data, spatial data-driven anomaly detection based on the spatial correlation and Kriging method is realized to generate an anomaly indicator. The experiment results show that cooperative TDSS can realize non-uniform sensing effectively to reduce the energy consumption. In addition, spatial data-driven anomaly detection is quite significant for maintaining and improving the precision of sensor data. PMID:27690035

Feasibility of pedigree recording and genetic selection in village sheep flocks of smallholder farmers.

PubMed

Gizaw, Solomon; Goshme, Shenkute; Getachew, Tesfaye; Haile, Aynalem; Rischkowsky, Barbara; van Arendonk, Johan; Valle-Zárate, Anne; Dessie, Tadelle; Mwai, Ally Okeyo

2014-06-01

Pedigree recording and genetic selection in village flocks of smallholder farmers have been deemed infeasible by researchers and development workers. This is mainly due to the difficulty of sire identification under uncontrolled village breeding practices. A cooperative village sheep-breeding scheme was designed to achieve controlled breeding and implemented for Menz sheep of Ethiopia in 2009. In this paper, we evaluated the reliability of pedigree recording in village flocks by comparing genetic parameters estimated from data sets collected in the cooperative village and in a nucleus flock maintained under controlled breeding. Effectiveness of selection in the cooperative village was evaluated based on trends in breeding values over generations. Heritability estimates for 6-month weight recorded in the village and the nucleus flock were very similar. There was an increasing trend over generations in average estimated breeding values for 6-month weight in the village flocks. These results have a number of implications: the pedigree recorded in the village flocks was reliable; genetic parameters, which have so far been estimated based on nucleus data sets, can be estimated based on village recording; and appreciable genetic improvement could be achieved in village sheep selection programs under low-input smallholder farming systems.

Modeling and Computation of Transboundary Industrial Pollution with Emission Permits Trading by Stochastic Differential Game

PubMed Central

2015-01-01

Transboundary industrial pollution requires international actions to control its formation and effects. In this paper, we present a stochastic differential game to model the transboundary industrial pollution problems with emission permits trading. More generally, the process of emission permits price is assumed to be stochastic and to follow a geometric Brownian motion (GBM). We make use of stochastic optimal control theory to derive the system of Hamilton-Jacobi-Bellman (HJB) equations satisfied by the value functions for the cooperative and the noncooperative games, respectively, and then propose a so-called fitted finite volume method to solve it. The efficiency and the usefulness of this method are illustrated by the numerical experiments. The two regions’ cooperative and noncooperative optimal emission paths, which maximize the regions’ discounted streams of the net revenues, together with the value functions, are obtained. Additionally, we can also obtain the threshold conditions for the two regions to decide whether they cooperate or not in different cases. The effects of parameters in the established model on the results have been also examined. All the results demonstrate that the stochastic emission permits prices can motivate the players to make more flexible strategic decisions in the games. PMID:26402322

Modeling and Computation of Transboundary Industrial Pollution with Emission Permits Trading by Stochastic Differential Game.

PubMed

Chang, Shuhua; Wang, Xinyu; Wang, Zheng

2015-01-01

Transboundary industrial pollution requires international actions to control its formation and effects. In this paper, we present a stochastic differential game to model the transboundary industrial pollution problems with emission permits trading. More generally, the process of emission permits price is assumed to be stochastic and to follow a geometric Brownian motion (GBM). We make use of stochastic optimal control theory to derive the system of Hamilton-Jacobi-Bellman (HJB) equations satisfied by the value functions for the cooperative and the noncooperative games, respectively, and then propose a so-called fitted finite volume method to solve it. The efficiency and the usefulness of this method are illustrated by the numerical experiments. The two regions' cooperative and noncooperative optimal emission paths, which maximize the regions' discounted streams of the net revenues, together with the value functions, are obtained. Additionally, we can also obtain the threshold conditions for the two regions to decide whether they cooperate or not in different cases. The effects of parameters in the established model on the results have been also examined. All the results demonstrate that the stochastic emission permits prices can motivate the players to make more flexible strategic decisions in the games.

Reinforcement Learning Multi-Agent Modeling of Decision-Making Agents for the Study of Transboundary Surface Water Conflicts with Application to the Syr Darya River Basin

NASA Astrophysics Data System (ADS)

Riegels, N.; Siegfried, T.; Pereira Cardenal, S. J.; Jensen, R. A.; Bauer-Gottwein, P.

2008-12-01

In most economics--driven approaches to optimizing water use at the river basin scale, the system is modelled deterministically with the goal of maximizing overall benefits. However, actual operation and allocation decisions must be made under hydrologic and economic uncertainty. In addition, river basins often cross political boundaries, and different states may not be motivated to cooperate so as to maximize basin- scale benefits. Even within states, competing agents such as irrigation districts, municipal water agencies, and large industrial users may not have incentives to cooperate to realize efficiency gains identified in basin- level studies. More traditional simulation--optimization approaches assume pre-commitment by individual agents and stakeholders and unconditional compliance on each side. While this can help determine attainable gains and tradeoffs from efficient management, such hardwired policies do not account for dynamic feedback between agents themselves or between agents and their environments (e.g. due to climate change etc.). In reality however, we are dealing with an out-of-equilibrium multi-agent system, where there is neither global knowledge nor global control, but rather continuous strategic interaction between decision making agents. Based on the theory of stochastic games, we present a computational framework that allows for studying the dynamic feedback between decision--making agents themselves and an inherently uncertain environment in a spatially and temporally distributed manner. Agents with decision-making control over water allocation such as countries, irrigation districts, and municipalities are represented by reinforcement learning agents and coupled to a detailed hydrologic--economic model. This approach emphasizes learning by agents from their continuous interaction with other agents and the environment. It provides a convenient framework for the solution of the problem of dynamic decision-making in a mixed cooperative / non-cooperative environment with which different institutional setups and incentive systems can be studied so to identify reasonable ways to reach desirable, Pareto--optimal allocation outcomes. Preliminary results from an application to the Syr Darya river basin in Central Asia will be presented and discussed. The Syr Darya River is a classic example of a transboundary river basin in which basin-wide efficiency gains identified in optimization studies have not been sufficient to induce cooperative management of the river by the riparian states.

An approach to simultaneous control of trajectory and interaction forces in dual-arm configurations

NASA Technical Reports Server (NTRS)

Yun, Xiaoping; Kumar, Vijay R.

1991-01-01

An approach to the control of constrained dynamic systems such as multiple arm systems, multifingered grippers, and walking vehicles is described. The basic philosophy is to utilize a minimal set of inputs to control the trajectory and the surplus input to control the constraint or interaction forces and moments in the closed chain. A dynamic control model for the closed chain is derived that is suitable for designing a controller in which the trajectory and the interaction forces and moments are explicitly controlled. Nonlinear feedback techniques derived from differential geometry are then applied to linearize and decouple the nonlinear model. These ideas are illustrated through a planar example in which two arms are used for cooperative manipulation. Results from a simulation are used to illustrate the efficacy of the method.

Temperament and character as schizophrenia-related endophenotypes in non-psychotic siblings.

PubMed

Smith, Matthew J; Cloninger, C Robert; Harms, Michael P; Csernansky, John G

2008-09-01

Quantitative endophenotypes are needed to better understand the pathogenesis of schizophrenia. The psychobiological model of temperament and character suggests that personality traits are heritable and regulated by brain systems influencing schizophrenia susceptibility. Thus, measures of temperament and character may serve as schizophrenia-related endophenotypes in individuals with schizophrenia and their non-psychotic siblings. Individuals with schizophrenia (n=35), their non-psychotic siblings (n=34), controls (n=63), and their siblings (n=56) participated in a study of the clinical, neurocognitive and neuromorphological characteristics of schizophrenia. A mixed-model approach assessed group differences on the Temperament and Character Inventory (TCI). Neurocognitive deficits and psychopathology were correlated with the TCI. Configurations of TCI domains were examined using a generalized linear model. Individuals with schizophrenia and their non-psychotic siblings had higher harm avoidance than controls and their siblings. Individuals with schizophrenia had lower self-directedness and cooperativeness, and higher self-transcendence than their non-psychotic siblings, controls, and the siblings of controls. Neurocognition was not related to temperament and character in individuals with schizophrenia or either control group. In non-psychotic siblings, self-directedness and cooperativeness were correlated with working memory and crystallized IQ. Evidence supports harm avoidance as a schizophrenia-related endophenotype. An increased risk of schizophrenia may be associated with asociality (configured as high harm avoidance and low reward dependence), schizotypy (configured as low self-directedness, low cooperativeness, and high self-transcendence), and neurocognitive deficits (poor executive functioning, working/episodic memory, attention, and low IQ). The non-psychotic siblings demonstrated features of a mature character profile including strong crystallized IQ, which may confer protection against psychopathology.

Contagion of Cooperation in Static and Fluid Social Networks.

PubMed

Jordan, Jillian J; Rand, David G; Arbesman, Samuel; Fowler, James H; Christakis, Nicholas A

2013-01-01

Cooperation is essential for successful human societies. Thus, understanding how cooperative and selfish behaviors spread from person to person is a topic of theoretical and practical importance. Previous laboratory experiments provide clear evidence of social contagion in the domain of cooperation, both in fixed networks and in randomly shuffled networks, but leave open the possibility of asymmetries in the spread of cooperative and selfish behaviors. Additionally, many real human interaction structures are dynamic: we often have control over whom we interact with. Dynamic networks may differ importantly in the goals and strategic considerations they promote, and thus the question of how cooperative and selfish behaviors spread in dynamic networks remains open. Here, we address these questions with data from a social dilemma laboratory experiment. We measure the contagion of both cooperative and selfish behavior over time across three different network structures that vary in the extent to which they afford individuals control over their network ties. We find that in relatively fixed networks, both cooperative and selfish behaviors are contagious. In contrast, in more dynamic networks, selfish behavior is contagious, but cooperative behavior is not: subjects are fairly likely to switch to cooperation regardless of the behavior of their neighbors. We hypothesize that this insensitivity to the behavior of neighbors in dynamic networks is the result of subjects' desire to attract new cooperative partners: even if many of one's current neighbors are defectors, it may still make sense to switch to cooperation. We further hypothesize that selfishness remains contagious in dynamic networks because of the well-documented willingness of cooperators to retaliate against selfishness, even when doing so is costly. These results shed light on the contagion of cooperative behavior in fixed and fluid networks, and have implications for influence-based interventions aiming at increasing cooperative behavior.

International Atomic Energy Agency specialists meeting on experience in ageing, maintenance, and modernization of instrumentation and control systems for improving nuclear power plant availability

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

Not Available

1993-10-01

This report presents the proceedings of the Specialist`s Meeting on Experience in Aging, Maintenance and Modernization of Instrumentation and Control Systems for Improving Nuclear Power Plant Availability that was held at the Ramada Inn in Rockville, Maryland on May 5--7, 1993. The Meeting was presented in cooperation with the Electric Power Research Institute, Oak Ridge National Laboratory and the International Atomic Energy Agency. There were approximately 65 participants from 13 countries at the Meeting. Individual reports have been cataloged separately.

The California Central Coast Research Partnership: Building Relationships, Partnerships and Paradigms for University-Industry Research Collaboration

DTIC Science & Technology

2005-10-14

of the decision-support systems that underlie and are key to these strategies. Cal Poly’s Collaborative Agent Design (CAD) Research Center is the...architect and lead developer of one of the first such systems: IMMACCS (Integrated Marine Multi- Agent Command and Control System), with JPL, SPAWAR...presented later in this document. An overview of accomplishments to date on the project follows: " Research carried out by the CADRC (Cooperative Agent

Method for resource control in parallel environments using program organization and run-time support

NASA Technical Reports Server (NTRS)

Ekanadham, Kattamuri (Inventor); Moreira, Jose Eduardo (Inventor); Naik, Vijay Krishnarao (Inventor)

2001-01-01

A system and method for dynamic scheduling and allocation of resources to parallel applications during the course of their execution. By establishing well-defined interactions between an executing job and the parallel system, the system and method support dynamic reconfiguration of processor partitions, dynamic distribution and redistribution of data, communication among cooperating applications, and various other monitoring actions. The interactions occur only at specific points in the execution of the program where the aforementioned operations can be performed efficiently.

Method for resource control in parallel environments using program organization and run-time support

NASA Technical Reports Server (NTRS)

Ekanadham, Kattamuri (Inventor); Moreira, Jose Eduardo (Inventor); Naik, Vijay Krishnarao (Inventor)

1999-01-01

A system and method for dynamic scheduling and allocation of resources to parallel applications during the course of their execution. By establishing well-defined interactions between an executing job and the parallel system, the system and method support dynamic reconfiguration of processor partitions, dynamic distribution and redistribution of data, communication among cooperating applications, and various other monitoring actions. The interactions occur only at specific points in the execution of the program where the aforementioned operations can be performed efficiently.

Methods for the evaluation of hospital cooperation activities (Systematic review protocol).

PubMed

Rotter, Thomas; Popa, Daniela; Riley, Beatrice; Ellermann, Tim; Ryll, Ulrike; Burazeri, Genc; Daemen, Piet; Peeters, Guy; Brand, Helmut

2012-02-10

Hospital partnerships, mergers and cooperatives are arrangements frequently seen as a means of improving health service delivery. Many of the assumptions used in planning hospital cooperatives are not stated clearly and are often based on limited or poor scientific evidence. This is a protocol for a systematic review, following the Cochrane EPOC methodology. The review aims to document, catalogue and synthesize the existing literature on the reported methods for the evaluation of hospital cooperation activities as well as methods of hospital cooperation. We will search the Database of Abstracts of Reviews of Effectiveness, the Effective Practice and Organisation of Care Register, the Cochrane Central Register of Controlled Trials and bibliographic databases including PubMed (via NLM), Web of Science, NHS EED, Business Source Premier (via EBSCO) and Global Health for publications that report on methods for evaluating hospital cooperatives, strategic partnerships, mergers, alliances, networks and related activities and methods used for such partnerships. The method proposed by the Cochrane EPOC group regarding randomized study designs, controlled clinical trials, controlled before and after studies, and interrupted time series will be followed. In addition, we will also include cohort, case-control studies, and relevant non-comparative publications such as case reports. We will categorize and analyze the review findings according to the study design employed, the study quality (low versus high quality studies) and the method reported in the primary studies. We will present the results of studies in tabular form. Overall, the systematic review aims to identify, assess and synthesize the evidence to underpin hospital cooperation activities as defined in this protocol. As a result, the review will provide an evidence base for partnerships, alliances or other fields of cooperation in a hospital setting. PROSPERO registration number: CRD42011001579.

Design for Survivability: An Approach to Assured Autonomy

NASA Technical Reports Server (NTRS)

Alexandrov, Natalia M.; Ozoroski, Thomas A.

2016-01-01

Rapidly expanding unmanned air traffic includes and will continue to include non-cooperative participants. Non-cooperative behavior may be due to technical failure, a lack of appropriate equipment, a careless or malicious operator. Regardless of the cause, the outcome remains: growing density of non-cooperative traffic will increase the risk of collision between unmanned vehicles and aircraft carrying humans. As a result, the degraded safety of airspace may limit access to airspace, with adverse consequences for the traveling public and the economy. Because encounters with small non-cooperative objects, such as birds or wayward drones, can happen too rapidly for an external control system to mitigate them, it is imperative that the aircraft that carry humans survive encounters with non-cooperative vehicles. To-date, design for survivability has been practiced explicitly in the military domain. Survivability against collisions in civil aviation has been limited to tolerances against bird strikes; and these tolerances have proved inadequate on occasion. The growing risk of collision with unmanned vehicles now requires the development of survivability discipline for civilian transport aircraft. The new discipline must be infused into multidisciplinary design methods, on par with traditional disciplines. In this paper, we report on a preliminary study of survivability considerations for the civil aviation domain.

Presynaptic Muscarinic Acetylcholine Receptors and TrkB Receptor Cooperate in the Elimination of Redundant Motor Nerve Terminals during Development.

PubMed

Nadal, Laura; Garcia, Neus; Hurtado, Erica; Simó, Anna; Tomàs, Marta; Lanuza, Maria A; Cilleros, Victor; Tomàs, Josep

2017-01-01

The development of the nervous system involves the overproduction of synapses but connectivity is refined by Hebbian activity-dependent axonal competition. The newborn skeletal muscle fibers are polyinnervated but, at the end of the competition process, some days later, become innervated by a single axon. We used quantitative confocal imaging of the autofluorescent axons from transgenic B6.Cg-Tg (Thy1-YFP)16 Jrs/J mice to investigate the possible cooperation of the muscarinic autoreceptors (mAChR, M 1 -, M 2 - and M 4 -subtypes) and the tyrosine kinase B (TrkB) receptor in the control of axonal elimination after the mice Levator auris longus (LAL) muscle had been exposed to several selective antagonist of the corresponding receptor pathways in vivo . Our previous results show that M 1 , M 2 and TrkB signaling individually increase axonal loss rate around P9. Here we show that although the M 1 and TrkB receptors cooperate and add their respective individual effects to increase axonal elimination rate even more, the effect of the M 2 receptor is largely independent of both M 1 and TrkB receptors. Thus both, cooperative and non-cooperative signaling mechanisms contribute to developmental synapse elimination.

Presynaptic Muscarinic Acetylcholine Receptors and TrkB Receptor Cooperate in the Elimination of Redundant Motor Nerve Terminals during Development

PubMed Central

Nadal, Laura; Garcia, Neus; Hurtado, Erica; Simó, Anna; Tomàs, Marta; Lanuza, Maria A.; Cilleros, Victor; Tomàs, Josep

2017-01-01

The development of the nervous system involves the overproduction of synapses but connectivity is refined by Hebbian activity-dependent axonal competition. The newborn skeletal muscle fibers are polyinnervated but, at the end of the competition process, some days later, become innervated by a single axon. We used quantitative confocal imaging of the autofluorescent axons from transgenic B6.Cg-Tg (Thy1-YFP)16 Jrs/J mice to investigate the possible cooperation of the muscarinic autoreceptors (mAChR, M1-, M2- and M4-subtypes) and the tyrosine kinase B (TrkB) receptor in the control of axonal elimination after the mice Levator auris longus (LAL) muscle had been exposed to several selective antagonist of the corresponding receptor pathways in vivo. Our previous results show that M1, M2 and TrkB signaling individually increase axonal loss rate around P9. Here we show that although the M1 and TrkB receptors cooperate and add their respective individual effects to increase axonal elimination rate even more, the effect of the M2 receptor is largely independent of both M1 and TrkB receptors. Thus both, cooperative and non-cooperative signaling mechanisms contribute to developmental synapse elimination. PMID:28228723

The NIST Real-Time Control System (RCS): A Reference Model Architecture for Computational Intelligence

NASA Technical Reports Server (NTRS)

Albus, James S.

1996-01-01

The Real-time Control System (RCS) developed at NIST and elsewhere over the past two decades defines a reference model architecture for design and analysis of complex intelligent control systems. The RCS architecture consists of a hierarchically layered set of functional processing modules connected by a network of communication pathways. The primary distinguishing feature of the layers is the bandwidth of the control loops. The characteristic bandwidth of each level is determined by the spatial and temporal integration window of filters, the temporal frequency of signals and events, the spatial frequency of patterns, and the planning horizon and granularity of the planners that operate at each level. At each level, tasks are decomposed into sequential subtasks, to be performed by cooperating sets of subordinate agents. At each level, signals from sensors are filtered and correlated with spatial and temporal features that are relevant to the control function being implemented at that level.

Vehicle-to-infrastructure program cooperative adaptive cruise control.

DOT National Transportation Integrated Search

2015-03-01

This report documents the work completed by the Crash Avoidance Metrics Partners LLC (CAMP) Vehicle to Infrastructure (V2I) Consortium during the project titled Cooperative Adaptive Cruise Control (CACC). Participating companies in the V2I Cons...

Online Learning Flight Control for Intelligent Flight Control Systems (IFCS)

NASA Technical Reports Server (NTRS)

Niewoehner, Kevin R.; Carter, John (Technical Monitor)

2001-01-01

The research accomplishments for the cooperative agreement 'Online Learning Flight Control for Intelligent Flight Control Systems (IFCS)' include the following: (1) previous IFC program data collection and analysis; (2) IFC program support site (configured IFC systems support network, configured Tornado/VxWorks OS development system, made Configuration and Documentation Management Systems Internet accessible); (3) Airborne Research Test Systems (ARTS) II Hardware (developed hardware requirements specification, developing environmental testing requirements, hardware design, and hardware design development); (4) ARTS II software development laboratory unit (procurement of lab style hardware, configured lab style hardware, and designed interface module equivalent to ARTS II faceplate); (5) program support documentation (developed software development plan, configuration management plan, and software verification and validation plan); (6) LWR algorithm analysis (performed timing and profiling on algorithm); (7) pre-trained neural network analysis; (8) Dynamic Cell Structures (DCS) Neural Network Analysis (performing timing and profiling on algorithm); and (9) conducted technical interchange and quarterly meetings to define IFC research goals.

The New BaBar Data Reconstruction Control System

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

Ceseracciu, Antonio

2003-06-02

The BaBar experiment is characterized by extremely high luminosity, a complex detector, and a huge data volume, with increasing requirements each year. To fulfill these requirements a new control system has been designed and developed for the offline data reconstruction system. The new control system described in this paper provides the performance and flexibility needed to manage a large number of small computing farms, and takes full benefit of OO design. The infrastructure is well isolated from the processing layer, it is generic and flexible, based on a light framework providing message passing and cooperative multitasking. The system is activelymore » distributed, enforces the separation between different processing tiers by using different naming domains, and glues them together by dedicated brokers. It provides a powerful Finite State Machine framework to describe custom processing models in a simple regular language. This paper describes this new control system, currently in use at SLAC and Padova on {approx}450 CPUs organized in 12 farms.« less

The Relationship Between the Change in Pupil Control Ideology of Student Teachers and the Student Teachers's Perception of the Cooperating Teacher's Pupil Control Ideology.

ERIC Educational Resources Information Center

Roberts, Richard A.; Blankenship, Jacob W.

A sample of 108 elementary student teachers was administered the Pupil Control Ideology Form (PCI Form) before and after student teaching. The student teachers' perceptions of their cooperating teachers' pupil control ideology were measured using a modification of the same form. "Socialization pressure," the difference between the…

A cooperative reduction model for regional air pollution control in China that considers adverse health effects and pollutant reduction costs.

PubMed

Xie, Yujing; Zhao, Laijun; Xue, Jian; Hu, Qingmi; Xu, Xiang; Wang, Hongbo

2016-12-15

How to effectively control severe regional air pollution has become a focus of global concern recently. The non-cooperative reduction model (NCRM) is still the main air pollution control pattern in China, but it is both ineffective and costly, because each province must independently fight air pollution. Thus, we proposed a cooperative reduction model (CRM), with the goal of maximizing the reduction in adverse health effects (AHEs) at the lowest cost by encouraging neighboring areas to jointly control air pollution. CRM has two parts: a model of optimal pollutant removal rates using two optimization objectives (maximizing the reduction in AHEs and minimizing pollutant reduction cost) while meeting the regional pollution control targets set by the central government, and a model that allocates the cooperation benefits (i.e., health improvement and cost reduction) among the participants according to their contributions using the Shapley value method. We applied CRM to the case of sulfur dioxide (SO 2 ) reduction in Yangtze River Delta region. Based on data from 2003 to 2013, and using mortality due to respiratory and cardiovascular diseases as the health endpoints, CRM saves 437 more lives than NCRM, amounting to 12.1% of the reduction under NCRM. CRM also reduced costs by US $65.8×10 6 compared with NCRM, which is 5.2% of the total cost of NCRM. Thus, CRM performs significantly better than NCRM. Each province obtains significant benefits from cooperation, which can motivate them to actively cooperate in the long term. A sensitivity analysis was performed to quantify the effects of parameter values on the cooperation benefits. Results shown that the CRM is not sensitive to the changes in each province's pollutant carrying capacity and the minimum pollutant removal capacity, but sensitive to the maximum pollutant reduction capacity. Moreover, higher cooperation benefits will be generated when a province's maximum pollutant reduction capacity increases. Copyright © 2016 Elsevier B.V. All rights reserved.

Distributed Synchronization Control of Multiagent Systems With Unknown Nonlinearities.

PubMed

Su, Shize; Lin, Zongli; Garcia, Alfredo

2016-01-01

This paper revisits the distributed adaptive control problem for synchronization of multiagent systems where the dynamics of the agents are nonlinear, nonidentical, unknown, and subject to external disturbances. Two communication topologies, represented, respectively, by a fixed strongly-connected directed graph and by a switching connected undirected graph, are considered. Under both of these communication topologies, we use distributed neural networks to approximate the uncertain dynamics. Decentralized adaptive control protocols are then constructed to solve the cooperative tracker problem, the problem of synchronization of all follower agents to a leader agent. In particular, we show that, under the proposed decentralized control protocols, the synchronization errors are ultimately bounded, and their ultimate bounds can be reduced arbitrarily by choosing the control parameter appropriately. Simulation study verifies the effectiveness of our proposed protocols.

Developing Digital Dashboard Management for Learning System Dynamic Cooperative Simulation Behavior of Indonesia. (Study on Cooperative Information Organization in the Ministry of Cooperatives and SME)

NASA Astrophysics Data System (ADS)

Eni, Yuli; Aryanto, Rudy

2014-03-01

There are problems being experienced by the Ministry of cooperatives and SME (Small and Medium Enterprise) including the length of time in the decision by the Government to establish a policy that should be taken for local cooperatives across the province of Indonesia. The decision-making process is still analyzed manually, so that sometimes the decisions taken are also less appropriate, effective and efficient. The second problem is the lack of monitoring data cooperative process province that is too much, making it difficult for the analysis of dynamic information to be useful. Therefore the authors want to fix the system that runs by using digital dashboard management system supported by the modeling of system dynamics. In addition, the author also did the design of a system that can support the system. Design of this system is aimed to ease the experts, head, and the government to decide (DSS - Decision Support System) accurately effectively and efficiently, because in the system are raised alternative simulation in a description of the decision to be taken and the result from the decision. The system is expected to be designed dan simulated can ease and expedite the decision making. The design of dynamic digital dashboard management conducted by method of OOAD (Objects Oriented Analysis and Design) complete with UML notation.

36 CFR 212.3 - Cooperative work.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 36 Parks, Forests, and Public Property 2 2011-07-01 2011-07-01 false Cooperative work. 212.3... MANAGEMENT Administration of the Forest Transportation System § 212.3 Cooperative work. (a) Cooperative... for expenditure from the appropriation “Cooperative Work, Forest Service.” If a State, county or other...

Hybrid Method for Mobile learning Cooperative: Study of Timor Leste

NASA Astrophysics Data System (ADS)

da Costa Tavares, Ofelia Cizela; Suyoto; Pranowo

2018-02-01

In the modern world today the decision support system is very useful to help in solving a problem, so this study discusses the learning process of savings and loan cooperatives in Timor Leste. The purpose of the observation is that the people of Timor Leste are still in the process of learning the use DSS for good saving and loan cooperative process. Based on existing research on the Timor Leste community on credit cooperatives, a mobile application will be built that will help the cooperative learning process in East Timorese society. The methods used for decision making are AHP (Analytical Hierarchy Process) and SAW (simple additive Weighting) method to see the result of each criterion and the weight of the value. The result of this research is mobile leaning cooperative in decision support system by using SAW and AHP method. Originality Value: Changed the two methods of mobile application development using AHP and SAW methods to help the decision support system process of a savings and credit cooperative in Timor Leste.

Arms Control and Missile Defense: Explaining Success and Failure in U.S.-Russian Cooperation

DTIC Science & Technology

2013-09-01

Security Service) GLCM Ground-Launched Cruise Missile GLONASS Global’naya Navigatsionnaya Sputnikovaya Sistema , or Global Navigation Satellite System...threat to us will only grow. We will be pulled into another round of the arms race that is beyond our capabilities . . . because we are already at...Global’naya Navigatsionnaya Sputnikovaya Sistema , or Global Navigation Satellite System).”111 Based on his review of events in Georgia, Vladimir

Succession Planning for the 1862 Institutions in the Southern Region States of the Cooperative Extension System

ERIC Educational Resources Information Center

Kelly, Tammy Denise

2015-01-01

The purpose of this study was to explore and describe succession plans and components of importance as perceived by the organizational leadership within the Southern Region of the Cooperative Extension System. Cooperative Extension Systems across the United States, continue to be faced with a reduction in force, primarily due to retirement, budget…

Design and Implementation of a Cooperative Learning System for Digital Content Design Curriculum: Investigation on Learning Effectiveness and Social Presence

ERIC Educational Resources Information Center

Huang, Ming-Shang; Hsiao, Wei-Hung; Chang, Tsung-Sheng; Hu, Mei-Huei

2012-01-01

The purpose of this paper is to investigate the learning effectiveness of cooperative learning system based on social presence theory. We develop a web-based cooperative learning system which contains personal module, admin module, course module, communication module, and learning records module to support the implementation of cooperative…

Origin of Complexity in Multicellular Organisms

NASA Astrophysics Data System (ADS)

Furusawa, Chikara; Kaneko, Kunihiko

2000-06-01

Through extensive studies of dynamical system modeling cellular growth and reproduction, we find evidence that complexity arises in multicellular organisms naturally through evolution. Without any elaborate control mechanism, these systems can exhibit complex pattern formation with spontaneous cell differentiation. Such systems employ a ``cooperative'' use of resources and maintain a larger growth speed than simple cell systems, which exist in a homogeneous state and behave ``selfishly.'' The relevance of the diversity of chemicals and reaction dynamics to the growth of a multicellular organism is demonstrated. Chaotic biochemical dynamics are found to provide the multipotency of stem cells.

Cooperative Adaptive Cruise Control Human Factors Study : Experiment 2 : Merging Behavior

DOT National Transportation Integrated Search

2016-12-01

This study is the second in a series of four experiments exploring human factors issues associated with the introduction of cooperative adaptive cruise control (CACC). Specifically, this study explored drivers abilities to merge into a stream of c...

78 FR 9775 - Cooper Tire & Rubber Company, Receipt of Petition for Decision of Inconsequential Noncompliance

Federal Register 2010, 2011, 2012, 2013, 2014

2013-02-11

...: Cooper Tire & Rubber Company (Cooper),\\1\\ has determined that certain Cooper brand tires manufactured... brand standard load tires manufactured in Mexico by Cooper's affiliate, Corporaci[oacute]n de Occidente... Docket Management System (FDMS) Web site at http://www.regulations.gov/ . Follow the online instructions...

Enhancing the Performance of Medical Implant Communication Systems through Cooperative Diversity

PubMed Central

Hegyi, Barnabás; Levendovszky, János

2010-01-01

Battery-operated medical implants—such as pacemakers or cardioverter-defibrillators—have already been widely used in practical telemedicine and telecare applications. However, no solution has yet been found to mitigate the effect of the fading that the in-body to off-body communication channel is subject to. In this paper, we reveal and assess the potential of cooperative diversity to combat fading—hence to improve system performance—in medical implant communication systems. In the particular cooperative communication scenario we consider, multiple cooperating receiver units are installed across the room accommodating the patient with a medical implant inside his/her body. Our investigations have shown that the application of cooperative diversity is a promising approach to enhance the performance of medical implant communication systems in various aspects such as implant lifetime and communication link reliability. PMID:20379346

48 CFR 702.170-5 - Cooperating country national (CCN).

Code of Federal Regulations, 2010 CFR

2010-10-01

... 48 Federal Acquisition Regulations System 5 2010-10-01 2010-10-01 false Cooperating country national (CCN). 702.170-5 Section 702.170-5 Federal Acquisition Regulations System AGENCY FOR INTERNATIONAL DEVELOPMENT GENERAL DEFINITIONS OF WORDS AND TERMS Definitions 702.170-5 Cooperating country national (CCN...

Constructing a Cooperative Distance Learning System: The CORAL Experience.

ERIC Educational Resources Information Center

Chou, Chien; Sun, Chuen-Tsai

1996-01-01

Describes the development of the Cooperative Remotely Accessible Learning (CORAL) system on the Internet at National Chiao Tung University (Taiwan) that promotes cooperative constructive distance learning and provides the first comprehensive and networked courseware written in Chinese. Results of formative evaluation are described and future…

Testing the Model: A Phase 1/11 Randomized Double Blind Placebo Control Trial of Targeted Therapeutics: Liposomal Glutathione and Curcumin

DTIC Science & Technology

2016-10-01

Can non- specific cellular immunity protect HIV-infected persons with very low CD4 counts? Presented at Conference on Integrating Psychology and...Under Review. 50. Nierenberg B, Cooper S, Feuer SJ, Broderick G. Applying Network Medicine to Chronic Illness: A Model for Integrating Psychology ...function in these subjects as compared to GW era sedentary healthy controls. We applied an integrative systems- based approach rooted in computational

Maximum Temperature Detection System for Integrated Circuits

NASA Astrophysics Data System (ADS)

Frankiewicz, Maciej; Kos, Andrzej

2015-03-01

The paper describes structure and measurement results of the system detecting present maximum temperature on the surface of an integrated circuit. The system consists of the set of proportional to absolute temperature sensors, temperature processing path and a digital part designed in VHDL. Analogue parts of the circuit where designed with full-custom technique. The system is a part of temperature-controlled oscillator circuit - a power management system based on dynamic frequency scaling method. The oscillator cooperates with microprocessor dedicated for thermal experiments. The whole system is implemented in UMC CMOS 0.18 μm (1.8 V) technology.

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

NASA Technical Reports Server (NTRS)

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

2008-01-01

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

Robonaut 2 (R2) Overview

NASA Technical Reports Server (NTRS)

Diftler, Myron

2010-01-01

This slide presentation reviews the development and uses of the second robot designed to work in space. The presentation reviews the motivation for developing Robonaut, the cooperative commercial relationship with General Motors, the evolution design of Robonaut Robonaut 2 improvements over the first robonaut (R1), Robonaut 2's hand dexterity, finger impedance control, tactile system, finger haptics, arm control, strength, neck movement and head sensors, human interaction, and the controller. Also the plans for use on board the International Space Station are reviewed. The patent for the Phalange Tactile Load Cell is included.

Telerobotic research at NASA Langley Research Center

NASA Technical Reports Server (NTRS)

Sliwa, Nancy E.

1987-01-01

An overview of Automation Technology Branch facilities and research is presented. Manipulator research includes dual-arm coordination studies, space manipulator dynamics, end-effector controller development, automatic space structure assembly, and the development of a dual-arm master-slave telerobotic manipulator system. Sensor research includes gravity-compensated force control, real-time monovision techniques, and laser ranging. Artificial intelligence techniques are being explored for supervisory task control, collision avoidance, and connectionist system architectures. A high-fidelity dynamic simulation of robotic systems, ROBSIM, is being supported and extended. Cooperative efforts with Oak Ridge National Laboratory have verified the ability of teleoperators to perform complex structural assembly tasks, and have resulted in the definition of a new dual-arm master-slave telerobotic manipulator. A bibliography of research results and a list of technical contacts are included.

High Penetration Photovoltaic Power Electronics and Energy Management Technology Research, Development and Demonstration: Cooperative Research and Development Final Report, CRADA Number CRD-13-517

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

Hudgins, Andrew P.

Advanced Energy Industries, Inc., will partner with DOE's National Renewable Energy Laboratory (NREL) to conduct research and development to demonstrate technologies that will increase the penetration of photovoltaic (PV) technologies for commercial and utility applications. Standard PV power control systems use simple control techniques that only provide real power to the grid. A focus of this partnership is to demonstrate how state of the art control and power electronic technologies can be combined to create a utility interactive control platform.

Tracking techniques for space shuttle rendezvous

NASA Technical Reports Server (NTRS)

1975-01-01

The space shuttle rendezvous radar has a requirement to track cooperative and non-cooperative targets. For this reason the Lunar Module (LM) Rendezvous Radar was modified to incorporate the capability of tracking a non-cooperative target. The modifications are discussed. All modifications except those relating to frequency diversity were completed, and system tests were performed to confirm proper performance in the non-cooperative mode. Frequency diversity was added to the radar and to the special test equipment, and then system tests were performed. This last set of tests included re-running the tests of the non-cooperative mode without frequency diversity, followed by tests with frequency diversity and tests of operation in the original cooperative mode.

Application of new type of distributed multimedia databases to networked electronic museum

NASA Astrophysics Data System (ADS)

Kuroda, Kazuhide; Komatsu, Naohisa; Komiya, Kazumi; Ikeda, Hiroaki

1999-01-01

Recently, various kinds of multimedia application systems have actively been developed based on the achievement of advanced high sped communication networks, computer processing technologies, and digital contents-handling technologies. Under this background, this paper proposed a new distributed multimedia database system which can effectively perform a new function of cooperative retrieval among distributed databases. The proposed system introduces a new concept of 'Retrieval manager' which functions as an intelligent controller so that the user can recognize a set of distributed databases as one logical database. The logical database dynamically generates and performs a preferred combination of retrieving parameters on the basis of both directory data and the system environment. Moreover, a concept of 'domain' is defined in the system as a managing unit of retrieval. The retrieval can effectively be performed by cooperation of processing among multiple domains. Communication language and protocols are also defined in the system. These are used in every action for communications in the system. A language interpreter in each machine translates a communication language into an internal language used in each machine. Using the language interpreter, internal processing, such internal modules as DBMS and user interface modules can freely be selected. A concept of 'content-set' is also introduced. A content-set is defined as a package of contents. Contents in the content-set are related to each other. The system handles a content-set as one object. The user terminal can effectively control the displaying of retrieved contents, referring to data indicating the relation of the contents in the content- set. In order to verify the function of the proposed system, a networked electronic museum was experimentally built. The results of this experiment indicate that the proposed system can effectively retrieve the objective contents under the control to a number of distributed domains. The result also indicate that the system can effectively work even if the system becomes large.

How to build and evaluate an integrated health care system for chronic patients: study design of a clustered randomised controlled trial in rural China.

PubMed

Tang, Wenxi; Sun, Xiaowei; Zhang, Yan; Ye, Ting; Zhang, Liang

2015-01-01

While integrated health care system has been proved an effective way to help improving patient health and system efficiency, the exact behaviour model and motivation approach are not so clear in poor rural areas where health human resources and continuous service provision are urgently needed. To gather solid evidence, we initiated a comprehensive intervention project in Qianjiang District, southwest part of rural China in 2012. And after one-year's pilot, we developed an intervention package of team service, comprehensive pathway and prospective- and performance-based payment system. To testify the potential influence of payment interventions, we use clustered randomised controlled trial, 60 clusters are grouped into two treatment groups and one control group to compare the time and group differences. Difference-in-differences model and structural equation modelling will be used to analyse the intervention effects and pathway. The outcomes are: quality of care, disease burden, supplier cooperative behaviour and patient utilisation behaviour and system efficiency. Repeated multivariate variance analysis will be used to statistically examine the outcome differences. This is the first trial of its kind to prove the effects and efficiency of integrated care. Though we adopted randomised controlled trial to gather the highest rank of evidence, still the fully randomisation was hard to realise in health policy reform experiment. To compensate, the designer should take efforts on control for the potential confounders as much as possible. With this trial, we assume the effects will come from: (1) improvement on the quality of life through risk factors control and lifestyles change on patient's behaviours; (2) improvement on quality of care through continuous care and coordinated supplier behaviours; (3) improvement on the system efficiency through active interaction between suppliers and patients. The integrated care system needs collaborative work from different levels of caregivers. So it is extremely important to consider the supplier cooperative behaviour. In this trial, we introduced payment system to help the delivery system integration through providing financial incentives to motivate people to play their roles. Also, the multidisciplinary team, the multi-institutional pathway and system global budget and pay-for-performance payment system could afford as a solution.

How to build and evaluate an integrated health care system for chronic patients: study design of a clustered randomised controlled trial in rural China

PubMed Central

Tang, Wenxi; Sun, Xiaowei; Zhang, Yan; Ye, Ting; Zhang, Liang

2015-01-01

Background While integrated health care system has been proved an effective way to help improving patient health and system efficiency, the exact behaviour model and motivation approach are not so clear in poor rural areas where health human resources and continuous service provision are urgently needed. To gather solid evidence, we initiated a comprehensive intervention project in Qianjiang District, southwest part of rural China in 2012. And after one-year's pilot, we developed an intervention package of team service, comprehensive pathway and prospective- and performance-based payment system. Methods To testify the potential influence of payment interventions, we use clustered randomised controlled trial, 60 clusters are grouped into two treatment groups and one control group to compare the time and group differences. Difference-in-differences model and structural equation modelling will be used to analyse the intervention effects and pathway. The outcomes are: quality of care, disease burden, supplier cooperative behaviour and patient utilisation behaviour and system efficiency. Repeated multivariate variance analysis will be used to statistically examine the outcome differences. Discussion This is the first trial of its kind to prove the effects and efficiency of integrated care. Though we adopted randomised controlled trial to gather the highest rank of evidence, still the fully randomisation was hard to realise in health policy reform experiment. To compensate, the designer should take efforts on control for the potential confounders as much as possible. With this trial, we assume the effects will come from: (1) improvement on the quality of life through risk factors control and lifestyles change on patient's behaviours; (2) improvement on quality of care through continuous care and coordinated supplier behaviours; (3) improvement on the system efficiency through active interaction between suppliers and patients. Conclusion The integrated care system needs collaborative work from different levels of caregivers. So it is extremely important to consider the supplier cooperative behaviour. In this trial, we introduced payment system to help the delivery system integration through providing financial incentives to motivate people to play their roles. Also, the multidisciplinary team, the multi-institutional pathway and system global budget and pay-for-performance payment system could afford as a solution. PMID:26034466

Communal Sensor Network for Adaptive Noise Reduction in Aircraft Engine Nacelles

NASA Technical Reports Server (NTRS)

Jones, Kennie H.; Nark, Douglas M.; Jones, Michael G.

2011-01-01

Emergent behavior, a subject of much research in biology, sociology, and economics, is a foundational element of Complex Systems Science and is apropos in the design of sensor network systems. To demonstrate engineering for emergent behavior, a novel approach in the design of a sensor/actuator network is presented maintaining optimal noise attenuation as an adaptation to changing acoustic conditions. Rather than use the conventional approach where sensors are managed by a central controller, this new paradigm uses a biomimetic model where sensor/actuators cooperate as a community of autonomous organisms, sharing with neighbors to control impedance based on local information. From the combination of all individual actions, an optimal attenuation emerges for the global system.

Autonomous power management and distribution

NASA Technical Reports Server (NTRS)

Dolce, Jim; Kish, Jim

1990-01-01

The goal of the Autonomous Power System program is to develop and apply intelligent problem solving and control to the Space Station Freedom's electric power testbed being developed at NASA's Lewis Research Center. Objectives are to establish artificial intelligence technology paths, craft knowledge-based tools and products for power systems, and integrate knowledge-based and conventional controllers. This program represents a joint effort between the Space Station and Office of Aeronautics and Space Technology to develop and demonstrate space electric power automation technology capable of: (1) detection and classification of system operating status, (2) diagnosis of failure causes, and (3) cooperative problem solving for power scheduling and failure recovery. Program details, status, and plans will be presented.

Mesofluidic two stage digital valve

DOEpatents

Jansen, John F; Love, Lonnie J; Lind, Randall F; Richardson, Bradley S

2013-12-31

A mesofluidic scale digital valve system includes a first mesofluidic scale valve having a valve body including a bore, wherein the valve body is configured to cooperate with a solenoid disposed substantially adjacent to the valve body to translate a poppet carried within the bore. The mesofluidic scale digital valve system also includes a second mesofluidic scale valve disposed substantially perpendicular to the first mesofluidic scale valve. The mesofluidic scale digital valve system further includes a control element in communication with the solenoid, wherein the control element is configured to maintain the solenoid in an energized state for a fixed period of time to provide a desired flow rate through an orifice of the second mesofluidic valve.

Evolution of Signaling in a Multi-Robot System: Categorization and Communication

NASA Astrophysics Data System (ADS)

Ampatzis, Christos; Tuci, Elio; Trianni, Vito; Dorigo, Marco

We use Evolutionary Robotics to design robot controllers in which decision-making mechanisms to switch from solitary to social behavior are integrated with the mechanisms that underpin the sensory-motor repertoire of the robots. In particular, we study the evolution of behavioral and communicative skills in a categorization task. The individual decision-making structures are based on the integration over time of sensory information. The mechanisms for switching from solitary to social behavior and the ways in which the robots can affect each other's behavior are not predetermined by the experimenter, but are aspects of our model designed by artificial evolution. Our results show that evolved robots manage to cooperate and collectively discriminate between different environments by developing a simple communication protocol based on sound signaling. Communication emerges in the absence of explicit selective pressure coded in the fitness function. The evolution of communication is neither trivial nor obvious; for a meaningful signaling system to evolve, evolution must produce both appropriate signals and appropriate reactions to signals. The use of communication proves to be adaptive for the group, even if, in principle, non-cooperating robots can be equally successful with cooperating robots.

An Artificially Intelligent Physical Model-Checking Approach to Detect Switching-Related Attacks on Power Systems

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

El Hariri, Mohamad; Faddel, Samy; Mohammed, Osama

Decentralized and hierarchical microgrid control strategies have lain the groundwork for shaping the future smart grid. Such control approaches require the cooperation between microgrid operators in control centers, intelligent microcontrollers, and remote terminal units via secure and reliable communication networks. In order to enhance the security and complement the work of network intrusion detection systems, this paper presents an artificially intelligent physical model-checking that detects tampered-with circuit breaker switching control commands whether, due to a cyber-attack or human error. In this technique, distributed agents, which are monitoring sectionalized areas of a given microgrid, will be trained and continuously adapted tomore » verify that incoming control commands do not violate the physical system operational standards and do not put the microgrid in an insecure state. The potential of this approach has been tested by deploying agents that monitor circuit breakers status commands on a 14-bus IEEE benchmark system. The results showed the accuracy of the proposed framework in characterizing the power system and successfully detecting malicious and/or erroneous control commands.« less

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

Hao, He; Sun, Yannan; Carroll, Thomas E.

We propose a coordination algorithm for cooperative power allocation among a collection of commercial buildings within a campus. We introduced thermal and power models of a typical commercial building Heating, Ventilation, and Air Conditioning (HVAC) system, and utilize model predictive control to characterize their power flexibility. The power allocation problem is formulated as a cooperative game using the Nash Bargaining Solution (NBS) concept, in which buildings collectively maximize the product of their utilities subject to their local flexibility constraints and a total power limit set by the campus coordinator. To solve the optimal allocation problem, a distributed protocol is designedmore » using dual decomposition of the Nash bargaining problem. Numerical simulations are performed to demonstrate the efficacy of our proposed allocation method« less

Design and control of a multi-DOF micromanipulator dedicated to multiscale micromanipulation

NASA Astrophysics Data System (ADS)

Yang, Yi-Ling; Wei, Yan-Ding; Lou, Jun-Qiang; Fu, Lei; Fang, Sheng

2017-11-01

This paper presents the design, implementation and control of a new piezoelectrically actuated compliant micromanipulator dedicated to multiscale, precision and reliable operations. To begin with, the manipulator is devised to obtain multi degrees of freedom and large workspace ranges. Two-stage amplification mechanisms (consists of the leverage and the rocker mechanisms) and composite parallelogram mechanisms are combined to construct the lower microstage. Meanwhile, the structure design of the upper dual-driven microgripper is based on the bridge-type mechanism and the unilateral parallelogram mechanism. Through finite-element analysis, the structural parameters of the micromanipulator are optimized and the structural interaction performances are examined. Moreover, a cooperative control strategy is proposed to achieve the synchronous control of the motion trajectory, the gripper position and the contact force. Precision motion control in terms of the hysteresis phenomenon and system disturbances is ensured by using an adaptive sliding mode control (SMC). In particular, an improved nonsymmetrical Bouc-Wen model and a fuzzy regulator are proposed in the SMC. Several experimental investigations are conducted to validate the effectiveness of the developed micromanipulator by performing transferring operations of a micro-object. Experimental results demonstrate that the micromanipulator presents good characteristics, and precision and robust operation can be acquired using the cooperative controller.

Interaction of feel system and flight control system dynamics on lateral flying qualities

NASA Technical Reports Server (NTRS)

Bailey, R. E.; Knotts, L. H.

1990-01-01

An experimental investigation of the influence of lateral feel system characteristics on fighter aircraft roll flying qualities was conducted using the variable stability USAF NT-33. Forty-two evaluation flights were flown by three engineering test pilots. The investigation utilized the power approach, visual landing task and up-and-away tasks including formation, gun tracking, and computer-generated compensatory attitude tracking tasks displayed on the Head-Up Display. Experimental variations included the feel system frequency, force-deflection gradient, control system command type (force or position input command), aircraft roll mode time constant, control system prefilter frequency, and control system time delay. The primary data were task performance records and evaluation pilot comments and ratings using the Cooper-Harper scale. The data highlight the unique and powerful effect of the feel system of flying qualities. The data show that the feel system is not 'equivalent' in flying qualities influence to analogous control system elements. A lower limit of allowable feel system frequency appears warranted to ensure good lateral flying qualities. Flying qualities criteria should most properly treat the feel system dynamic influence separately from the control system, since the input and output of this dynamic element is apparent to the pilot and thus, does not produce a 'hidden' effect.

7 CFR 4285.100 - OMB control number.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 7 Agriculture 15 2010-01-01 2010-01-01 false OMB control number. 4285.100 Section 4285.100 Agriculture Regulations of the Department of Agriculture (Continued) RURAL BUSINESS-COOPERATIVE SERVICE AND RURAL UTILITIES SERVICE, DEPARTMENT OF AGRICULTURE COOPERATIVE AGREEMENTS Federal-State Research on...

Distributed pheromone-based swarming control of unmanned air and ground vehicles for RSTA

NASA Astrophysics Data System (ADS)

Sauter, John A.; Mathews, Robert S.; Yinger, Andrew; Robinson, Joshua S.; Moody, John; Riddle, Stephanie

2008-04-01

The use of unmanned vehicles in Reconnaissance, Surveillance, and Target Acquisition (RSTA) applications has received considerable attention recently. Cooperating land and air vehicles can support multiple sensor modalities providing pervasive and ubiquitous broad area sensor coverage. However coordination of multiple air and land vehicles serving different mission objectives in a dynamic and complex environment is a challenging problem. Swarm intelligence algorithms, inspired by the mechanisms used in natural systems to coordinate the activities of many entities provide a promising alternative to traditional command and control approaches. This paper describes recent advances in a fully distributed digital pheromone algorithm that has demonstrated its effectiveness in managing the complexity of swarming unmanned systems. The results of a recent demonstration at NASA's Wallops Island of multiple Aerosonde Unmanned Air Vehicles (UAVs) and Pioneer Unmanned Ground Vehicles (UGVs) cooperating in a coordinated RSTA application are discussed. The vehicles were autonomously controlled by the onboard digital pheromone responding to the needs of the automatic target recognition algorithms. UAVs and UGVs controlled by the same pheromone algorithm self-organized to perform total area surveillance, automatic target detection, sensor cueing, and automatic target recognition with no central processing or control and minimal operator input. Complete autonomy adds several safety and fault tolerance requirements which were integrated into the basic pheromone framework. The adaptive algorithms demonstrated the ability to handle some unplanned hardware failures during the demonstration without any human intervention. The paper describes lessons learned and the next steps for this promising technology.

Design and Validation of a Web-Based System for Assigning Members to Teams Using Instructor-Specified Criteria

ERIC Educational Resources Information Center

Layton, Richard A.; Loughry, Misty L.; Ohland, Matthew W.; Ricco, George D.

2010-01-01

A significant body of research identifies a large number of team composition characteristics that affect the success of individuals and teams in cooperative learning and project-based team environments. Controlling these factors when assigning students to teams should result in improved learning experiences. However, it is very difficult for…

JPRS Report, East Europe.

DTIC Science & Technology

1988-05-25

eliminated from economic life by every means for entire decades. Therefore, a decisive majority of decisionmakers and manufacturers must learn it nearly...Administrative Reforms Explained 21 Political, Economic Needs Interfere With Nomenklatura Practices 22 Kalisz, Stavropol TU’s, Industries Cooperation Noted...24 Enterprises Criticized for Not Controlling Wage Increases 24 PZPR Voivodship Plenum Views Unemployment, Production Levels 25 Economic System

Mismanagement and Quality Circles: How Middle Managers Influence Direct Participation.

ERIC Educational Resources Information Center

Brennan, Maire

1991-01-01

Case studies of five Scottish companies found that four of their quality circles programs had ceased. Essential to the success of quality circles were changes in the systems of reward, communication, and decision making and the cooperation and support of middle managers, who may see quality circles as a threat and who control the resources they…

In-Space Inspection Technologies Vision

NASA Technical Reports Server (NTRS)

Studor, George

2012-01-01

Purpose: Assess In-Space NDE technologies and needs - current & future spacecraft. Discover & build on needs, R&D & NDE products in other industries and agencies. Stimulate partnerships in & outside NASA to move technologies forward cooperatively. Facilitate group discussion on challenges and opportunities of mutual benefit. Focus Areas: Miniaturized 3D Penetrating Imagers Controllable Snake-arm Inspection systems Miniature Free-flying Micro-satellite Inspectors

Movement Performance of Human-Robot Cooperation Control Based on EMG-Driven Hill-Type and Proportional Models for an Ankle Power-Assist Exoskeleton Robot.

PubMed

Ao, Di; Song, Rong; Gao, JinWu

2017-08-01

Although the merits of electromyography (EMG)-based control of powered assistive systems have been certified, the factors that affect the performance of EMG-based human-robot cooperation, which are very important, have received little attention. This study investigates whether a more physiologically appropriate model could improve the performance of human-robot cooperation control for an ankle power-assist exoskeleton robot. To achieve the goal, an EMG-driven Hill-type neuromusculoskeletal model (HNM) and a linear proportional model (LPM) were developed and calibrated through maximum isometric voluntary dorsiflexion (MIVD). The two control models could estimate the real-time ankle joint torque, and HNM is more accurate and can account for the change of the joint angle and muscle dynamics. Then, eight healthy volunteers were recruited to wear the ankle exoskeleton robot and complete a series of sinusoidal tracking tasks in the vertical plane. With the various levels of assist based on the two calibrated models, the subjects were instructed to track the target displayed on the screen as accurately as possible by performing ankle dorsiflexion and plantarflexion. Two measurements, the root mean square error (RMSE) and root mean square jerk (RMSJ), were derived from the assistant torque and kinematic signals to characterize the movement performances, whereas the amplitudes of the recorded EMG signals from the tibialis anterior (TA) and the gastrocnemius (GAS) were obtained to reflect the muscular efforts. The results demonstrated that the muscular effort and smoothness of tracking movements decreased with an increase in the assistant ratio. Compared with LPM, subjects made lower physical efforts and generated smoother movements when using HNM, which implied that a more physiologically appropriate model could enable more natural and human-like human-robot cooperation and has potential value for improvement of human-exoskeleton interaction in future applications.

An Empirical Study on the Application of Cooperative Learning to English Listening Classes

ERIC Educational Resources Information Center

Han, Min

2015-01-01

Cooperative learning is a strategic instructional system applied by many educators the world over. Researchers of cooperative learning have carried out the study in this field and proved that cooperative learning can create a more interesting and relaxed learning atmosphere. It is generally acknowledged that cooperative learning can reduce…

76 FR 70759 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Cooperative...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-11-15

... DEPARTMENT OF JUSTICE Antitrust Division Notice Pursuant to the National Cooperative Research and Production Act of 1993--Cooperative Research Group on Energy Storage System Evaluation and Safety Notice is hereby given that, on October 6, 2011, pursuant to Section 6(a) of the National Cooperative Research and...

Learning and innovative elements of strategy adoption rules expand cooperative network topologies.

PubMed

Wang, Shijun; Szalay, Máté S; Zhang, Changshui; Csermely, Peter

2008-04-09

Cooperation plays a key role in the evolution of complex systems. However, the level of cooperation extensively varies with the topology of agent networks in the widely used models of repeated games. Here we show that cooperation remains rather stable by applying the reinforcement learning strategy adoption rule, Q-learning on a variety of random, regular, small-word, scale-free and modular network models in repeated, multi-agent Prisoner's Dilemma and Hawk-Dove games. Furthermore, we found that using the above model systems other long-term learning strategy adoption rules also promote cooperation, while introducing a low level of noise (as a model of innovation) to the strategy adoption rules makes the level of cooperation less dependent on the actual network topology. Our results demonstrate that long-term learning and random elements in the strategy adoption rules, when acting together, extend the range of network topologies enabling the development of cooperation at a wider range of costs and temptations. These results suggest that a balanced duo of learning and innovation may help to preserve cooperation during the re-organization of real-world networks, and may play a prominent role in the evolution of self-organizing, complex systems.

Remote Video Monitor of Vehicles in Cooperative Information Platform

NASA Astrophysics Data System (ADS)

Qin, Guofeng; Wang, Xiaoguo; Wang, Li; Li, Yang; Li, Qiyan

Detection of vehicles plays an important role in the area of the modern intelligent traffic management. And the pattern recognition is a hot issue in the area of computer vision. An auto- recognition system in cooperative information platform is studied. In the cooperative platform, 3G wireless network, including GPS, GPRS (CDMA), Internet (Intranet), remote video monitor and M-DMB networks are integrated. The remote video information can be taken from the terminals and sent to the cooperative platform, then detected by the auto-recognition system. The images are pretreated and segmented, including feature extraction, template matching and pattern recognition. The system identifies different models and gets vehicular traffic statistics. Finally, the implementation of the system is introduced.

The telecommunications programme of the European Space Agency

NASA Astrophysics Data System (ADS)

Collette, R. C. L.; Ashford, E. W.

An overview of the long-term telecommunications program of the ESA approved in November 1992 is presented. The project involves the Data Relay and Technology Mission (DRTM) program, and the Advanced Research in Telecommunications Systems (ARTES) program. The DRTM program contains both ARTEMIS and the operational DRS satellites, together with their corresponding earth segment elements required for satellite checkout, control and operation. ARTES is designed to group together all ongoing and future ESA telecommunications programs, with the exception of DRTM, into one large legal and financial framework. It will incorporate all running and planned activities in the present Payload and Spacecraft Development and Experimentation program, together with activities that would otherwise have been carried out as part of the Advanced Systems and Technology program. ARTES goals are: promotion of new and improved satellite communications services, cooperation with operating entities, improvements in the competitiveness of industry, and international cooperation.

Cooperativeness and competitiveness as two distinct constructs: validating the Cooperative and Competitive Personality Scale in a social dilemma context.

PubMed

Lu, Su; Au, Wing-Tung; Jiang, Feng; Xie, Xiaofei; Yam, Paton

2013-01-01

The present research validated the construct and criterion validities of the Cooperative and Competitive Personality Scale (CCPS) in a social dilemma context. The results from three studies supported the notion that cooperativeness and competitiveness are two independent dimensions, challenging the traditional view that they are two ends of a single continuum. First, confirmatory factor analyses revealed that a two-factor structure fit the data significantly better than a one-factor structure. Moreover, cooperativeness and competitiveness were either not significantly correlated (Studies 1 and 3) or only moderately positively correlated (Study 2). Second, cooperativeness and competitiveness were differentially associated with Schwartz's Personal Values. These results further supported the idea that cooperativeness and competitiveness are two distinct constructs. Specifically, the individuals who were highly cooperative emphasized self-transcendent values (i.e., universalism and benevolence) more, whereas the individuals who were highly competitive emphasized self-enhancement values (i.e., power and achievement) more. Finally, the CCPS, which adheres to the trait perspective of personality, was found to be a useful supplement to more prevalent social motive measures (i.e., social value orientation) in predicting cooperative behaviors. Specifically, in Study 2, when social value orientation was controlled for, the CCPS significantly predicted cooperative behaviors in a public goods dilemma (individuals who score higher on cooperativeness scale contributed more to the public goods). In Study 3, when social value orientation was controlled for, the CCPS significantly predicted cooperative behaviors in commons dilemmas (individuals who score higher on cooperativeness scale requested fewer resources from the common resource pool). The practical implications of the CCPS in conflict resolution, as well as in recruitment and selection settings, are discussed.

A national evaluation of a dissemination and implementation initiative to enhance primary care practice capacity and improve cardiovascular disease care: the ESCALATES study protocol.

PubMed

Cohen, Deborah J; Balasubramanian, Bijal A; Gordon, Leah; Marino, Miguel; Ono, Sarah; Solberg, Leif I; Crabtree, Benjamin F; Stange, Kurt C; Davis, Melinda; Miller, William L; Damschroder, Laura J; McConnell, K John; Creswell, John

2016-06-29

The Agency for Healthcare Research and Quality (AHRQ) launched the EvidenceNOW Initiative to rapidly disseminate and implement evidence-based cardiovascular disease (CVD) preventive care in smaller primary care practices. AHRQ funded eight grantees (seven regional Cooperatives and one independent national evaluation) to participate in EvidenceNOW. The national evaluation examines quality improvement efforts and outcomes for more than 1500 small primary care practices (restricted to those with fewer than ten physicians per clinic). Examples of external support include practice facilitation, expert consultation, performance feedback, and educational materials and activities. This paper describes the study protocol for the EvidenceNOW national evaluation, which is called Evaluating System Change to Advance Learning and Take Evidence to Scale (ESCALATES). This prospective observational study will examine the portfolio of EvidenceNOW Cooperatives using both qualitative and quantitative data. Qualitative data include: online implementation diaries, observation and interviews at Cooperatives and practices, and systematic assessment of context from the perspective of Cooperative team members. Quantitative data include: practice-level performance on clinical quality measures (aspirin prescribing, blood pressure and cholesterol control, and smoking cessation; ABCS) collected by Cooperatives from electronic health records (EHRs); practice and practice member surveys to assess practice capacity and other organizational and structural characteristics; and systematic tracking of intervention delivery. Quantitative, qualitative, and mixed methods analyses will be conducted to examine how Cooperatives organize to provide external support to practices, to compare effectiveness of the dissemination and implementation approaches they implement, and to examine how regional variations and other organization and contextual factors influence implementation and effectiveness. ESCALATES is a national evaluation of an ambitious large-scale dissemination and implementation effort focused on transforming smaller primary care practices. Insights will help to inform the design of national health care practice extension systems aimed at supporting practice transformation efforts in the USA. NCT02560428 (09/21/15).

Integration of domain and resource-based reasoning for real-time control in dynamic environments

NASA Technical Reports Server (NTRS)

Morgan, Keith; Whitebread, Kenneth R.; Kendus, Michael; Cromarty, Andrew S.

1993-01-01

A real-time software controller that successfully integrates domain-based and resource-based control reasoning to perform task execution in a dynamically changing environment is described. The design of the controller is based on the concept of partitioning the process to be controlled into a set of tasks, each of which achieves some process goal. It is assumed that, in general, there are multiple ways (tasks) to achieve a goal. The controller dynamically determines current goals and their current criticality, choosing and scheduling tasks to achieve those goals in the time available. It incorporates rule-based goal reasoning, a TMS-based criticality propagation mechanism, and a real-time scheduler. The controller has been used to build a knowledge-based situation assessment system that formed a major component of a real-time, distributed, cooperative problem solving system built under DARPA contract. It is also being employed in other applications now in progress.

Crucial HSP70 co–chaperone complex unlocks metazoan protein disaggregation

PubMed Central

Nillegoda, Nadinath B.; Kirstein, Janine; Szlachcic, Anna; Berynskyy, Mykhaylo; Stank, Antonia; Stengel, Florian; Arnsburg, Kristin; Gao, Xuechao; Scior, Annika; Aebersold, Ruedi; Guilbride, D. Lys; Wade, Rebecca C.; Morimoto, Richard I.; Mayer, Matthias P.; Bukau, Bernd

2016-01-01

Protein aggregates are the hallmark of stressed and ageing cells, and characterize several pathophysiological states1,2. Healthy metazoan cells effectively eliminate intracellular protein aggregates3,4, indicating that efficient disaggregation and/or degradation mechanisms exist. However, metazoans lack the key heat-shock protein disaggregase HSP100 of non-metazoan HSP70-dependent protein disaggregation systems5,6, and the human HSP70 system alone, even with the crucial HSP110 nucleotide exchange factor, has poor disaggregation activity in vitro4,7. This unresolved conundrum is central to protein quality control biology. Here we show that synergic cooperation between complexed J-protein co-chaperones of classes A and B unleashes highly efficient protein disaggregation activity in human and nematode HSP70 systems. Metazoan mixed-class J-protein complexes are transient, involve complementary charged regions conserved in the J-domains and carboxy-terminal domains of each J-protein class, and are flexible with respect to subunit composition. Complex formation allows J-proteins to initiate transient higher order chaperone structures involving HSP70 and interacting nucleotide exchange factors. A network of cooperative class A and B J-protein interactions therefore provides the metazoan HSP70 machinery with powerful, flexible, and finely regulatable disaggregase activity and a further level of regulation crucial for cellular protein quality control. PMID:26245380

From cooperation to conflict? Swedish rehabilitation professionals' experiences of interorganizational cooperation.

PubMed

Ståhl, Christian; Svensson, Tommy; Ekberg, Kerstin

2011-09-01

This article analyses Swedish rehabilitation professionals' experiences of interorganizational cooperation in return-to-work and labour market reintegration. Two groups (n = 15) from different organizations met on a regular basis to discuss their practice from a cooperation perspective. The participants had experience of cooperation in the organizational setting of Coordination Associations. The groups worked with a tutor according to a problem-based methodology, to discuss how their practice is influenced by new structures for cooperation. The material was analysed inductively using qualitative content analysis. Interorganizational cooperation in rehabilitation is generally perceived as promoting coherence and communication. Nevertheless, there are several contradictory factors in the implementation of such work forms, primarily inflexible sickness insurance regulations and inability of managers to implement cooperation in regular practice. While interorganizational cooperation promotes professional discretion and tailored solutions, the insurance system contradicts such ambitions through increased governance. Ultimately, the contradictory tendencies of cooperative initiatives and the stricter governance of sickness insurance regulations are political matters. If political attempts to promote interorganizational cooperation are to succeed, the increasing sectorization that results from strict governance of sickness insurance regulations needs to be targeted on a system level.

Enroute flight-path planning - Cooperative performance of flight crews and knowledge-based systems

NASA Technical Reports Server (NTRS)

Smith, Philip J.; Mccoy, Elaine; Layton, Chuck; Galdes, Deb

1989-01-01

Interface design issues associated with the introduction of knowledge-based systems into the cockpit are discussed. Such issues include not only questions about display and control design, they also include deeper system design issues such as questions about the alternative roles and responsibilities of the flight crew and the computer system. In addition, the feasibility of using enroute flight path planning as a context for exploring such research questions is considered. In particular, the development of a prototyping shell that allows rapid design and study of alternative interfaces and system designs is discussed.

Optical Sensors for Use in Propulsion Control Systems

NASA Technical Reports Server (NTRS)

Fritsch, Klaus

1997-01-01

This final technical report describes the results of a cooperative effort which was originally established between John Carroll University and the Instrumentation and Control Technology Division at NASA Lewis Research Center on November, 1982, and then continued with the Engine Sensor Technology Branch at NASA Lewis until March, 1995. All work at John Carroll University was directed by the principal investigator of this grant, Klaus Fritsch, Ph.D. For the first two years of this grant this effort was supervised at NASA by Mr. Robert J. Baumbick and for the remainder of the grant by Dr. Glenn M. Beheim. All research was carried out in close cooperation with Dr. Beheim. Electrically passive optical sensors for measurands such as pressure, temperature, position, and rotational speed are required for aircraft engine control in fly-by-light digital aircraft control systems. Fiberoptic data links and optical multiplexing techniques should be used for combining and processing the outputs from several sensors, sharing as many optical end electronic parts as possible. The overall objective of this grant was to explore techniques for designing and constructing such electrically passive optical sensors for measuring physical parameters in jet aircraft engines and for use in aircraft control systems. We have concentrated our efforts on pressure, temperature, and position sensors employing techniques which are relatively immune to transmissivity variations of the fiber links and to variations in intensity of the light source. Infrared light-emitting diodes are employed because of their longevity and immunity to vibration. We have also studied a number of multiplexing techniques. On the following pages I will give thumbnail sketches of the projects carried out under this grant and provide references to publications and John Carroll M.S. theses which resulted directly from this work and which describe these projects in greater detail.

Cognitive cooperation groups mediated by computers and internet present significant improvement of cognitive status in older adults with memory complaints: a controlled prospective study.

PubMed

Krug, Rodrigo de Rosso; Silva, Anna Quialheiro Abreu da; Schneider, Ione Jayce Ceola; Ramos, Luiz Roberto; d'Orsi, Eleonora; Xavier, André Junqueira

2017-04-01

To estimate the effect of participating in cognitive cooperation groups, mediated by computers and the internet, on the Mini-Mental State Examination (MMSE) percent variation of outpatients with memory complaints attending two memory clinics. A prospective controlled intervention study carried out from 2006 to 2013 with 293 elders. The intervention group (n = 160) attended a cognitive cooperation group (20 sessions of 1.5 hours each). The control group (n = 133) received routine medical care. Outcome was the percent variation in the MMSE. Control variables included gender, age, marital status, schooling, hypertension, diabetes, dyslipidaemia, hypothyroidism, depression, vascular diseases, polymedication, use of benzodiazepines, exposure to tobacco, sedentary lifestyle, obesity and functional capacity. The final model was obtained by multivariate linear regression. The intervention group obtained an independent positive variation of 24.39% (CI 95% = 14.86/33.91) in the MMSE compared to the control group. The results suggested that cognitive cooperation groups, mediated by computers and the internet, are associated with cognitive status improvement of older adults in memory clinics.

49 CFR 37.57 - Required cooperation.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 49 Transportation 1 2010-10-01 2010-10-01 false Required cooperation. 37.57 Section 37.57 Transportation Office of the Secretary of Transportation TRANSPORTATION SERVICES FOR INDIVIDUALS WITH DISABILITIES (ADA) Transportation Facilities § 37.57 Required cooperation. An owner or person in control of an...