Adaptive angular-velocity Vold-Kalman filter order tracking - Theoretical basis, numerical implementation and parameter investigation

NASA Astrophysics Data System (ADS)

Pan, M.-Ch.; Chu, W.-Ch.; Le, Duc-Do

2016-12-01

The paper presents an alternative Vold-Kalman filter order tracking (VKF_OT) method, i.e. adaptive angular-velocity VKF_OT technique, to extract and characterize order components in an adaptive manner for the condition monitoring and fault diagnosis of rotary machinery. The order/spectral waveforms to be tracked can be recursively solved by using Kalman filter based on the one-step state prediction. The paper comprises theoretical derivation of computation scheme, numerical implementation, and parameter investigation. Comparisons of the adaptive VKF_OT scheme with two other ones are performed through processing synthetic signals of designated order components. Processing parameters such as the weighting factor and the correlation matrix of process noise, and data conditions like the sampling frequency, which influence tracking behavior, are explored. The merits such as adaptive processing nature and computation efficiency brought by the proposed scheme are addressed although the computation was performed in off-line conditions. The proposed scheme can simultaneously extract multiple spectral components, and effectively decouple close and crossing orders associated with multi-axial reference rotating speeds.

Disturbance observer based model predictive control for accurate atmospheric entry of spacecraft

NASA Astrophysics Data System (ADS)

Wu, Chao; Yang, Jun; Li, Shihua; Li, Qi; Guo, Lei

2018-05-01

Facing the complex aerodynamic environment of Mars atmosphere, a composite atmospheric entry trajectory tracking strategy is investigated in this paper. External disturbances, initial states uncertainties and aerodynamic parameters uncertainties are the main problems. The composite strategy is designed to solve these problems and improve the accuracy of Mars atmospheric entry. This strategy includes a model predictive control for optimized trajectory tracking performance, as well as a disturbance observer based feedforward compensation for external disturbances and uncertainties attenuation. 500-run Monte Carlo simulations show that the proposed composite control scheme achieves more precise Mars atmospheric entry (3.8 km parachute deployment point distribution error) than the baseline control scheme (8.4 km) and integral control scheme (5.8 km).

Effective Visual Tracking Using Multi-Block and Scale Space Based on Kernelized Correlation Filters

PubMed Central

Jeong, Soowoong; Kim, Guisik; Lee, Sangkeun

2017-01-01

Accurate scale estimation and occlusion handling is a challenging problem in visual tracking. Recently, correlation filter-based trackers have shown impressive results in terms of accuracy, robustness, and speed. However, the model is not robust to scale variation and occlusion. In this paper, we address the problems associated with scale variation and occlusion by employing a scale space filter and multi-block scheme based on a kernelized correlation filter (KCF) tracker. Furthermore, we develop a more robust algorithm using an appearance update model that approximates the change of state of occlusion and deformation. In particular, an adaptive update scheme is presented to make each process robust. The experimental results demonstrate that the proposed method outperformed 29 state-of-the-art trackers on 100 challenging sequences. Specifically, the results obtained with the proposed scheme were improved by 8% and 18% compared to those of the KCF tracker for 49 occlusion and 64 scale variation sequences, respectively. Therefore, the proposed tracker can be a robust and useful tool for object tracking when occlusion and scale variation are involved. PMID:28241475

Effective Visual Tracking Using Multi-Block and Scale Space Based on Kernelized Correlation Filters.

PubMed

Jeong, Soowoong; Kim, Guisik; Lee, Sangkeun

2017-02-23

Accurate scale estimation and occlusion handling is a challenging problem in visual tracking. Recently, correlation filter-based trackers have shown impressive results in terms of accuracy, robustness, and speed. However, the model is not robust to scale variation and occlusion. In this paper, we address the problems associated with scale variation and occlusion by employing a scale space filter and multi-block scheme based on a kernelized correlation filter (KCF) tracker. Furthermore, we develop a more robust algorithm using an appearance update model that approximates the change of state of occlusion and deformation. In particular, an adaptive update scheme is presented to make each process robust. The experimental results demonstrate that the proposed method outperformed 29 state-of-the-art trackers on 100 challenging sequences. Specifically, the results obtained with the proposed scheme were improved by 8% and 18% compared to those of the KCF tracker for 49 occlusion and 64 scale variation sequences, respectively. Therefore, the proposed tracker can be a robust and useful tool for object tracking when occlusion and scale variation are involved.

Tracking Virus Particles in Fluorescence Microscopy Images Using Multi-Scale Detection and Multi-Frame Association.

PubMed

Jaiswal, Astha; Godinez, William J; Eils, Roland; Lehmann, Maik Jorg; Rohr, Karl

2015-11-01

Automatic fluorescent particle tracking is an essential task to study the dynamics of a large number of biological structures at a sub-cellular level. We have developed a probabilistic particle tracking approach based on multi-scale detection and two-step multi-frame association. The multi-scale detection scheme allows coping with particles in close proximity. For finding associations, we have developed a two-step multi-frame algorithm, which is based on a temporally semiglobal formulation as well as spatially local and global optimization. In the first step, reliable associations are determined for each particle individually in local neighborhoods. In the second step, the global spatial information over multiple frames is exploited jointly to determine optimal associations. The multi-scale detection scheme and the multi-frame association finding algorithm have been combined with a probabilistic tracking approach based on the Kalman filter. We have successfully applied our probabilistic tracking approach to synthetic as well as real microscopy image sequences of virus particles and quantified the performance. We found that the proposed approach outperforms previous approaches.

Fault-tolerant optimised tracking control for unknown discrete-time linear systems using a combined reinforcement learning and residual compensation methodology

NASA Astrophysics Data System (ADS)

Han, Ke-Zhen; Feng, Jian; Cui, Xiaohong

2017-10-01

This paper considers the fault-tolerant optimised tracking control (FTOTC) problem for unknown discrete-time linear system. A research scheme is proposed on the basis of data-based parity space identification, reinforcement learning and residual compensation techniques. The main characteristic of this research scheme lies in the parity-space-identification-based simultaneous tracking control and residual compensation. The specific technical line consists of four main contents: apply subspace aided method to design observer-based residual generator; use reinforcement Q-learning approach to solve optimised tracking control policy; rely on robust H∞ theory to achieve noise attenuation; adopt fault estimation triggered by residual generator to perform fault compensation. To clarify the design and implementation procedures, an integrated algorithm is further constructed to link up these four functional units. The detailed analysis and proof are subsequently given to explain the guaranteed FTOTC performance of the proposed conclusions. Finally, a case simulation is provided to verify its effectiveness.

High-performance object tracking and fixation with an online neural estimator.

PubMed

Kumarawadu, Sisil; Watanabe, Keigo; Lee, Tsu-Tian

2007-02-01

Vision-based target tracking and fixation to keep objects that move in three dimensions in view is important for many tasks in several fields including intelligent transportation systems and robotics. Much of the visual control literature has focused on the kinematics of visual control and ignored a number of significant dynamic control issues that limit performance. In line with this, this paper presents a neural network (NN)-based binocular tracking scheme for high-performance target tracking and fixation with minimum sensory information. The procedure allows the designer to take into account the physical (Lagrangian dynamics) properties of the vision system in the control law. The design objective is to synthesize a binocular tracking controller that explicitly takes the systems dynamics into account, yet needs no knowledge of dynamic nonlinearities and joint velocity sensory information. The combined neurocontroller-observer scheme can guarantee the uniform ultimate bounds of the tracking, observer, and NN weight estimation errors under fairly general conditions on the controller-observer gains. The controller is tested and verified via simulation tests in the presence of severe target motion changes.

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

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

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

An architecture for rapid prototyping of control schemes for artificial ventricles.

PubMed

Ficola, Antonio; Pagnottelli, Stefano; Valigi, Paolo; Zoppitelli, Maurizio

2004-01-01

This paper presents an experimental system aimed at rapid prototyping of feedback control schemes for ventricular assist devices, and artificial ventricles in general. The system comprises a classical mock circulatory system, an actuated bellow-based ventricle chamber, and a software architecture for control schemes implementation and experimental data acquisition, visualization and storing. Several experiments have been carried out, showing good performance of ventricular pressure tracking control schemes.

Adaptive control of a Stewart platform-based manipulator

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

A Novel Loss Recovery and Tracking Scheme for Maneuvering Target in Hybrid WSNs.

PubMed

Qian, Hanwang; Fu, Pengcheng; Li, Baoqing; Liu, Jianpo; Yuan, Xiaobing

2018-01-25

Tracking a mobile target, which aims to timely monitor the invasion of specific target, is one of the most prominent applications in wireless sensor networks (WSNs). Traditional tracking methods in WSNs only based on static sensor nodes (SNs) have several critical problems. For example, to void the loss of mobile target, many SNs must be active to track the target in all possible directions, resulting in excessive energy consumption. Additionally, when entering coverage holes in the monitoring area, the mobile target may be missing and then its state is unknown during this period. To tackle these problems, in this paper, a few mobile sensor nodes (MNs) are introduced to cooperate with SNs to form a hybrid WSN due to their stronger abilities and less constrained energy. Then, we propose a valid target tracking scheme for hybrid WSNs to dynamically schedule the MNs and SNs. Moreover, a novel loss recovery mechanism is proposed to find the lost target and recover the tracking with fewer SNs awakened. Furthermore, to improve the robustness and accuracy of the recovery mechanism, an adaptive unscented Kalman filter (AUKF) algorithm is raised to dynamically adjust the process noise covariance. Simulation results demonstrate that our tracking scheme for maneuvering target in hybrid WSNs can not only track the target effectively even if the target is lost but also maintain an excellent accuracy and robustness with fewer activated nodes.

A Novel Loss Recovery and Tracking Scheme for Maneuvering Target in Hybrid WSNs

PubMed Central

Liu, Jianpo; Yuan, Xiaobing

2018-01-01

Tracking a mobile target, which aims to timely monitor the invasion of specific target, is one of the most prominent applications in wireless sensor networks (WSNs). Traditional tracking methods in WSNs only based on static sensor nodes (SNs) have several critical problems. For example, to void the loss of mobile target, many SNs must be active to track the target in all possible directions, resulting in excessive energy consumption. Additionally, when entering coverage holes in the monitoring area, the mobile target may be missing and then its state is unknown during this period. To tackle these problems, in this paper, a few mobile sensor nodes (MNs) are introduced to cooperate with SNs to form a hybrid WSN due to their stronger abilities and less constrained energy. Then, we propose a valid target tracking scheme for hybrid WSNs to dynamically schedule the MNs and SNs. Moreover, a novel loss recovery mechanism is proposed to find the lost target and recover the tracking with fewer SNs awakened. Furthermore, to improve the robustness and accuracy of the recovery mechanism, an adaptive unscented Kalman filter (AUKF) algorithm is raised to dynamically adjust the process noise covariance. Simulation results demonstrate that our tracking scheme for maneuvering target in hybrid WSNs can not only track the target effectively even if the target is lost but also maintain an excellent accuracy and robustness with fewer activated nodes. PMID:29370103

Data analysis-based autonomic bandwidth adjustment in software defined multi-vendor optical transport networks.

PubMed

Li, Yajie; Zhao, Yongli; Zhang, Jie; Yu, Xiaosong; Jing, Ruiquan

2017-11-27

Network operators generally provide dedicated lightpaths for customers to meet the demand for high-quality transmission. Considering the variation of traffic load, customers usually rent peak bandwidth that exceeds the practical average traffic requirement. In this case, bandwidth provisioning is unmetered and customers have to pay according to peak bandwidth. Supposing that network operators could keep track of traffic load and allocate bandwidth dynamically, bandwidth can be provided as a metered service and customers would pay for the bandwidth that they actually use. To achieve cost-effective bandwidth provisioning, this paper proposes an autonomic bandwidth adjustment scheme based on data analysis of traffic load. The scheme is implemented in a software defined networking (SDN) controller and is demonstrated in the field trial of multi-vendor optical transport networks. The field trial shows that the proposed scheme can track traffic load and realize autonomic bandwidth adjustment. In addition, a simulation experiment is conducted to evaluate the performance of the proposed scheme. We also investigate the impact of different parameters on autonomic bandwidth adjustment. Simulation results show that the step size and adjustment period have significant influences on bandwidth savings and packet loss. A small value of step size and adjustment period can bring more benefits by tracking traffic variation with high accuracy. For network operators, the scheme can serve as technical support of realizing bandwidth as metered service in the future.

A novel framework for objective detection and tracking of TC center from noisy satellite imagery

NASA Astrophysics Data System (ADS)

Johnson, Bibin; Thomas, Sachin; Rani, J. Sheeba

2018-07-01

This paper proposes a novel framework for automatically determining and tracking the center of a tropical cyclone (TC) during its entire life-cycle from the Thermal infrared (TIR) channel data of the geostationary satellite. The proposed method handles meteorological images with noise, missing or partial information due to the seasonal variability and lack of significant spatial or vortex features. To retrieve the cyclone center from these circumstances, a synergistic approach based on objective measures and Numerical Weather Prediction (NWP) model is being proposed. This method employs a spatial gradient scheme to process missing and noisy frames or a spatio-temporal gradient scheme for image sequences that are continuous and contain less noise. The initial estimate of the TC center from the missing imagery is corrected by exploiting a NWP model based post-processing scheme. The validity of the framework is tested on Infrared images of different cyclones obtained from various Geostationary satellites such as the Meteosat-7, INSAT- 3 D , Kalpana-1 etc. The computed track is compared with the actual track data obtained from Joint Typhoon Warning Center (JTWC), and it shows a reduction of mean track error by 11 % as compared to the other state of the art methods in the presence of missing and noisy frames. The proposed method is also successfully tested for simultaneous retrieval of the TC center from images containing multiple non-overlapping cyclones.

Receding horizon online optimization for torque control of gasoline engines.

PubMed

Kang, Mingxin; Shen, Tielong

2016-11-01

This paper proposes a model-based nonlinear receding horizon optimal control scheme for the engine torque tracking problem. The controller design directly employs the nonlinear model exploited based on mean-value modeling principle of engine systems without any linearizing reformation, and the online optimization is achieved by applying the Continuation/GMRES (generalized minimum residual) approach. Several receding horizon control schemes are designed to investigate the effects of the integral action and integral gain selection. Simulation analyses and experimental validations are implemented to demonstrate the real-time optimization performance and control effects of the proposed torque tracking controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Trajectory planning and control of a 6 DOF manipulator with Stewart platform-based mechanism

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami

1990-01-01

The trajectory planning and control was studied of a robot manipulator that has 6 degrees of freedom and was designed based on the mechanism of the Stewart Platform. First the main components of the manipulator is described along with its operation. The solutions are briefly prescribed for the forward and inverse kinematics of the manipulator. After that, two trajectory planning schemes are developed using the manipulator inverse kinematics to track straight lines and circular paths. Finally experiments conducted to study the performance of the developed planning schemes in tracking a straight line and a circle are presented and discussed.

An adaptive critic-based scheme for consensus control of nonlinear multi-agent systems

NASA Astrophysics Data System (ADS)

Heydari, Ali; Balakrishnan, S. N.

2014-12-01

The problem of decentralised consensus control of a network of heterogeneous nonlinear systems is formulated as an optimal tracking problem and a solution is proposed using an approximate dynamic programming based neurocontroller. The neurocontroller training comprises an initial offline training phase and an online re-optimisation phase to account for the fact that the reference signal subject to tracking is not fully known and available ahead of time, i.e., during the offline training phase. As long as the dynamics of the agents are controllable, and the communication graph has a directed spanning tree, this scheme guarantees the synchronisation/consensus even under switching communication topology and directed communication graph. Finally, an aerospace application is selected for the evaluation of the performance of the method. Simulation results demonstrate the potential of the scheme.

Quantifying and Reducing Uncertainties in Estimating OMI Tropospheric Column NO2 Trend over The United States

NASA Astrophysics Data System (ADS)

Smeltzer, C. D.; Wang, Y.; Boersma, F.; Celarier, E. A.; Bucsela, E. J.

2013-12-01

We investigate the effects of retrieval radiation schemes and parameters on trend analysis using tropospheric nitrogen dioxide (NO2) vertical column density (VCD) measurements over the United States. Ozone Monitoring Instrument (OMI) observations from 2005 through 2012 are used in this analysis. We investigated two radiation schemes, provided by National Aeronautics and Space Administration (NASA TOMRAD) and Koninklijk Nederlands Meteorologisch Instituut (KNMI DAK). In addition, we analyzed trend dependence on radiation parameters, including surface albedo and viewing geometry. The cross-track mean VCD average difference is 10-15% between the two radiation schemes in 2005. As the OMI anomaly developed and progressively worsens, the difference between the two schemes becomes larger. Furthermore, applying surface albedo measurements from the Moderate Resolution Imaging Spectroradiometer (MODIS) leads to increases of estimated NO2 VCD trends over high-emission regions. We find that the uncertainties of OMI-derived NO2 VCD trends can be reduced by up to a factor of 3 by selecting OMI cross-track rows on the basis of their performance over the ocean [see abstract figure]. Comparison of OMI tropospheric VCD trends to those estimated based on the EPA surface NO2 observations indicate using MODIS surface albedo data and a more narrow selection of OMI cross-track rows greatly improves the agreement of estimated trends between satellite and surface data. This figure shows the reduction of uncertainty in OMI NO2 trend by selecting OMI cross-track rows based on the performance over the ocean. With this technique, uncertainties within the seasonal trend may be reduced by a factor of 3 or more (blue) compared with only removing the anomalous rows: considering OMI cross-track rows 4-24 (red).

Adaptive Backstepping-Based Neural Tracking Control for MIMO Nonlinear Switched Systems Subject to Input Delays.

PubMed

Niu, Ben; Li, Lu

2018-06-01

This brief proposes a new neural-network (NN)-based adaptive output tracking control scheme for a class of disturbed multiple-input multiple-output uncertain nonlinear switched systems with input delays. By combining the universal approximation ability of radial basis function NNs and adaptive backstepping recursive design with an improved multiple Lyapunov function (MLF) scheme, a novel adaptive neural output tracking controller design method is presented for the switched system. The feature of the developed design is that different coordinate transformations are adopted to overcome the conservativeness caused by adopting a common coordinate transformation for all subsystems. It is shown that all the variables of the resulting closed-loop system are semiglobally uniformly ultimately bounded under a class of switching signals in the presence of MLF and that the system output can follow the desired reference signal. To demonstrate the practicability of the obtained result, an adaptive neural output tracking controller is designed for a mass-spring-damper system.

Lightweight ECC based RFID authentication integrated with an ID verifier transfer protocol.

PubMed

He, Debiao; Kumar, Neeraj; Chilamkurti, Naveen; Lee, Jong-Hyouk

2014-10-01

The radio frequency identification (RFID) technology has been widely adopted and being deployed as a dominant identification technology in a health care domain such as medical information authentication, patient tracking, blood transfusion medicine, etc. With more and more stringent security and privacy requirements to RFID based authentication schemes, elliptic curve cryptography (ECC) based RFID authentication schemes have been proposed to meet the requirements. However, many recently published ECC based RFID authentication schemes have serious security weaknesses. In this paper, we propose a new ECC based RFID authentication integrated with an ID verifier transfer protocol that overcomes the weaknesses of the existing schemes. A comprehensive security analysis has been conducted to show strong security properties that are provided from the proposed authentication scheme. Moreover, the performance of the proposed authentication scheme is analyzed in terms of computational cost, communicational cost, and storage requirement.

Robust tracking and distributed synchronization control of a multi-motor servomechanism with H-infinity performance.

PubMed

Wang, Minlin; Ren, Xuemei; Chen, Qiang

2018-01-01

The multi-motor servomechanism (MMS) is a multi-variable, high coupling and nonlinear system, which makes the controller design challenging. In this paper, an adaptive robust H-infinity control scheme is proposed to achieve both the load tracking and multi-motor synchronization of MMS. This control scheme consists of two parts: a robust tracking controller and a distributed synchronization controller. The robust tracking controller is constructed by incorporating a neural network (NN) K-filter observer into the dynamic surface control, while the distributed synchronization controller is designed by combining the mean deviation coupling control strategy with the distributed technique. The proposed control scheme has several merits: 1) by using the mean deviation coupling synchronization control strategy, the tracking controller and the synchronization controller can be designed individually without any coupling problem; 2) the immeasurable states and unknown nonlinearities are handled by a NN K-filter observer, where the number of NN weights is largely reduced by using the minimal learning parameter technique; 3) the H-infinity performances of tracking error and synchronization error are guaranteed by introducing a robust term into the tracking controller and the synchronization controller, respectively. The stabilities of the tracking and synchronization control systems are analyzed by the Lyapunov theory. Simulation and experimental results based on a four-motor servomechanism are conducted to demonstrate the effectiveness of the proposed method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Learning-based position control of a closed-kinematic chain robot end-effector

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Zhou, Zhen-Lei

1990-01-01

A trajectory control scheme whose design is based on learning theory, for a six-degree-of-freedom (DOF) robot end-effector built to study robotic assembly of NASA hardwares in space is presented. The control scheme consists of two control systems: the feedback control system and the learning control system. The feedback control system is designed using the concept of linearization about a selected operating point, and the method of pole placement so that the closed-loop linearized system is stabilized. The learning control scheme consisting of PD-type learning controllers, provides additional inputs to improve the end-effector performance after each trial. Experimental studies performed on a 2 DOF end-effector built at CUA, for three tracking cases show that actual trajectories approach desired trajectories as the number of trials increases. The tracking errors are substantially reduced after only five trials.

Application of a novel Kalman filter based block matching method to ultrasound images for hand tendon displacement estimation.

PubMed

Lai, Ting-Yu; Chen, Hsiao-I; Shih, Cho-Chiang; Kuo, Li-Chieh; Hsu, Hsiu-Yun; Huang, Chih-Chung

2016-01-01

Information about tendon displacement is important for allowing clinicians to not only quantify preoperative tendon injuries but also to identify any adhesive scaring between tendon and adjacent tissue. The Fisher-Tippett (FT) similarity measure has recently been shown to be more accurate than the Laplacian sum of absolute differences (SAD) and Gaussian sum of squared differences (SSD) similarity measures for tracking tendon displacement in ultrasound B-mode images. However, all of these similarity measures can easily be influenced by the quality of the ultrasound image, particularly its signal-to-noise ratio. Ultrasound images of injured hands are unfortunately often of poor quality due to the presence of adhesive scars. The present study investigated a novel Kalman-filter scheme for overcoming this problem. Three state-of-the-art tracking methods (FT, SAD, and SSD) were used to track the displacements of phantom and cadaver tendons, while FT was used to track human tendons. These three tracking methods were combined individually with the proposed Kalman-filter (K1) scheme and another Kalman-filter scheme used in a previous study to optimize the displacement trajectories of the phantom and cadaver tendons. The motion of the human extensor digitorum communis tendon was measured in the present study using the FT-K1 scheme. The experimental results indicated that SSD exhibited better accuracy in the phantom experiments, whereas FT exhibited better performance for tracking real tendon motion in the cadaver experiments. All three tracking methods were influenced by the signal-to-noise ratio of the images. On the other hand, the K1 scheme was able to optimize the tracking trajectory of displacement in all experiments, even from a location with a poor image quality. The human experimental data indicated that the normal tendons were displaced more than the injured tendons, and that the motion ability of the injured tendon was restored after appropriate rehabilitation sessions. The obtained results show the potential for applying the proposed FT-K1 method in clinical applications for evaluating the tendon injury level after metacarpal fractures and assessing the recovery of an injured tendon during rehabilitation.

Maximum-likelihood-based extended-source spatial acquisition and tracking for planetary optical communications

NASA Astrophysics Data System (ADS)

Tsou, Haiping; Yan, Tsun-Yee

1999-04-01

This paper describes an extended-source spatial acquisition and tracking scheme for planetary optical communications. This scheme uses the Sun-lit Earth image as the beacon signal, which can be computed according to the current Sun-Earth-Probe angle from a pre-stored Earth image or a received snapshot taken by other Earth-orbiting satellite. Onboard the spacecraft, the reference image is correlated in the transform domain with the received image obtained from a detector array, which is assumed to have each of its pixels corrupted by an independent additive white Gaussian noise. The coordinate of the ground station is acquired and tracked, respectively, by an open-loop acquisition algorithm and a closed-loop tracking algorithm derived from the maximum likelihood criterion. As shown in the paper, the optimal spatial acquisition requires solving two nonlinear equations, or iteratively solving their linearized variants, to estimate the coordinate when translation in the relative positions of onboard and ground transceivers is considered. Similar assumption of linearization leads to the closed-loop spatial tracking algorithm in which the loop feedback signals can be derived from the weighted transform-domain correlation. Numerical results using a sample Sun-lit Earth image demonstrate that sub-pixel resolutions can be achieved by this scheme in a high disturbance environment.

Are Escherichia coli Pathotypes Still Relevant in the Era of Whole-Genome Sequencing?

PubMed Central

Robins-Browne, Roy M.; Holt, Kathryn E.; Ingle, Danielle J.; Hocking, Dianna M.; Yang, Ji; Tauschek, Marija

2016-01-01

The empirical and pragmatic nature of diagnostic microbiology has given rise to several different schemes to subtype E.coli, including biotyping, serotyping, and pathotyping. These schemes have proved invaluable in identifying and tracking outbreaks, and for prognostication in individual cases of infection, but they are imprecise and potentially misleading due to the malleability and continuous evolution of E. coli. Whole genome sequencing can be used to accurately determine E. coli subtypes that are based on allelic variation or differences in gene content, such as serotyping and pathotyping. Whole genome sequencing also provides information about single nucleotide polymorphisms in the core genome of E. coli, which form the basis of sequence typing, and is more reliable than other systems for tracking the evolution and spread of individual strains. A typing scheme for E. coli based on genome sequences that includes elements of both the core and accessory genomes, should reduce typing anomalies and promote understanding of how different varieties of E. coli spread and cause disease. Such a scheme could also define pathotypes more precisely than current methods. PMID:27917373

Are Escherichia coli Pathotypes Still Relevant in the Era of Whole-Genome Sequencing?

PubMed

Robins-Browne, Roy M; Holt, Kathryn E; Ingle, Danielle J; Hocking, Dianna M; Yang, Ji; Tauschek, Marija

2016-01-01

The empirical and pragmatic nature of diagnostic microbiology has given rise to several different schemes to subtype E .coli, including biotyping, serotyping, and pathotyping. These schemes have proved invaluable in identifying and tracking outbreaks, and for prognostication in individual cases of infection, but they are imprecise and potentially misleading due to the malleability and continuous evolution of E. coli . Whole genome sequencing can be used to accurately determine E. coli subtypes that are based on allelic variation or differences in gene content, such as serotyping and pathotyping. Whole genome sequencing also provides information about single nucleotide polymorphisms in the core genome of E. coli , which form the basis of sequence typing, and is more reliable than other systems for tracking the evolution and spread of individual strains. A typing scheme for E. coli based on genome sequences that includes elements of both the core and accessory genomes, should reduce typing anomalies and promote understanding of how different varieties of E. coli spread and cause disease. Such a scheme could also define pathotypes more precisely than current methods.

Enhancement of tracking performance in electro-optical system based on servo control algorithm

NASA Astrophysics Data System (ADS)

Choi, WooJin; Kim, SungSu; Jung, DaeYoon; Seo, HyoungKyu

2017-10-01

Modern electro-optical surveillance and reconnaissance systems require tracking capability to get exact images of target or to accurately direct the line of sight to target which is moving or still. This leads to the tracking system composed of image based tracking algorithm and servo control algorithm. In this study, we focus on the servo control function to minimize the overshoot in the tracking motion and do not miss the target. The scheme is to limit acceleration and velocity parameters in the tracking controller, depending on the target state information in the image. We implement the proposed techniques by creating a system model of DIRCM and simulate the same environment, validate the performance on the actual equipment.

From Fault-Diagnosis and Performance Recovery of a Controlled System to Chaotic Secure Communication

NASA Astrophysics Data System (ADS)

Hsu, Wen-Teng; Tsai, Jason Sheng-Hong; Guo, Fang-Cheng; Guo, Shu-Mei; Shieh, Leang-San

Chaotic systems are often applied to encryption on secure communication, but they may not provide high-degree security. In order to improve the security of communication, chaotic systems may need to add other secure signals, but this may cause the system to diverge. In this paper, we redesign a communication scheme that could create secure communication with additional secure signals, and the proposed scheme could keep system convergence. First, we introduce the universal state-space adaptive observer-based fault diagnosis/estimator and the high-performance tracker for the sampled-data linear time-varying system with unanticipated decay factors in actuators/system states. Besides, robustness, convergence in the mean, and tracking ability are given in this paper. A residual generation scheme and a mechanism for auto-tuning switched gain is also presented, so that the introduced methodology is applicable for the fault detection and diagnosis (FDD) for actuator and state faults to yield a high tracking performance recovery. The evolutionary programming-based adaptive observer is then applied to the problem of secure communication. Whenever the tracker induces a large control input which might not conform to the input constraint of some physical systems, the proposed modified linear quadratic optimal tracker (LQT) can effectively restrict the control input within the specified constraint interval, under the acceptable tracking performance. The effectiveness of the proposed design methodology is illustrated through tracking control simulation examples.

Finite-time control for nonlinear spacecraft attitude based on terminal sliding mode technique.

PubMed

Song, Zhankui; Li, Hongxing; Sun, Kaibiao

2014-01-01

In this paper, a fast terminal sliding mode control (FTSMC) scheme with double closed loops is proposed for the spacecraft attitude control. The FTSMC laws are included both in an inner control loop and an outer control loop. Firstly, a fast terminal sliding surface (FTSS) is constructed, which can drive the inner loop tracking-error and the outer loop tracking-error on the FTSS to converge to zero in finite time. Secondly, FTSMC strategy is designed by using Lyaponov's method for ensuring the occurrence of the sliding motion in finite time, which can hold the character of fast transient response and improve the tracking accuracy. It is proved that FTSMC can guarantee the convergence of tracking-error in both approaching and sliding mode surface. Finally, simulation results demonstrate the effectiveness of the proposed control scheme. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Robust model reference adaptive output feedback tracking for uncertain linear systems with actuator fault based on reinforced dead-zone modification.

PubMed

Bagherpoor, H M; Salmasi, Farzad R

2015-07-01

In this paper, robust model reference adaptive tracking controllers are considered for Single-Input Single-Output (SISO) and Multi-Input Multi-Output (MIMO) linear systems containing modeling uncertainties, unknown additive disturbances and actuator fault. Two new lemmas are proposed for both SISO and MIMO, under which dead-zone modification rule is improved such that the tracking error for any reference signal tends to zero in such systems. In the conventional approach, adaption of the controller parameters is ceased inside the dead-zone region which results tracking error, while preserving the system stability. In the proposed scheme, control signal is reinforced with an additive term based on tracking error inside the dead-zone which results in full reference tracking. In addition, no Fault Detection and Diagnosis (FDD) unit is needed in the proposed approach. Closed loop system stability and zero tracking error are proved by considering a suitable Lyapunov functions candidate. It is shown that the proposed control approach can assure that all the signals of the close loop system are bounded in faulty conditions. Finally, validity and performance of the new schemes have been illustrated through numerical simulations of SISO and MIMO systems in the presence of actuator faults, modeling uncertainty and output disturbance. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Fractional order implementation of Integral Resonant Control - A nanopositioning application.

PubMed

San-Millan, Andres; Feliu-Batlle, Vicente; Aphale, Sumeet S

2017-10-04

By exploiting the co-located sensor-actuator arrangement in typical flexure-based piezoelectric stack actuated nanopositioners, the polezero interlacing exhibited by their axial frequency response can be transformed to a zero-pole interlacing by adding a constant feed-through term. The Integral Resonant Control (IRC) utilizes this unique property to add substantial damping to the dominant resonant mode by the use of a simple integrator implemented in closed loop. IRC used in conjunction with an integral tracking scheme, effectively reduces positioning errors introduced by modelling inaccuracies or parameter uncertainties. Over the past few years, successful application of the IRC control technique to nanopositioning systems has demonstrated performance robustness, easy tunability and versatility. The main drawback has been the relatively small positioning bandwidth achievable. This paper proposes a fractional order implementation of the classical integral tracking scheme employed in tandem with the IRC scheme to deliver damping and tracking. The fractional order integrator introduces an additional design parameter which allows desired pole-placement, resulting in superior closed loop bandwidth. Simulations and experimental results are presented to validate the theory. A 250% improvement in the achievable positioning bandwidth is observed with proposed fractional order scheme. Copyright © 2017. Published by Elsevier Ltd.

A diagnostic signal selection scheme for planetary gearbox vibration monitoring under non-stationary operational conditions

NASA Astrophysics Data System (ADS)

Feng, Ke; Wang, KeSheng; Zhang, Mian; Ni, Qing; Zuo, Ming J.

2017-03-01

The planetary gearbox, due to its unique mechanical structures, is an important rotating machine for transmission systems. Its engineering applications are often in non-stationary operational conditions, such as helicopters, wind energy systems, etc. The unique physical structures and working conditions make the vibrations measured from planetary gearboxes exhibit a complex time-varying modulation and therefore yield complicated spectral structures. As a result, traditional signal processing methods, such as Fourier analysis, and the selection of characteristic fault frequencies for diagnosis face serious challenges. To overcome this drawback, this paper proposes a signal selection scheme for fault-emphasized diagnostics based upon two order tracking techniques. The basic procedures for the proposed scheme are as follows. (1) Computed order tracking is applied to reveal the order contents and identify the order(s) of interest. (2) Vold-Kalman filter order tracking is used to extract the order(s) of interest—these filtered order(s) constitute the so-called selected vibrations. (3) Time domain statistic indicators are applied to the selected vibrations for faulty information-emphasized diagnostics. The proposed scheme is explained and demonstrated in a signal simulation model and experimental studies and the method proves to be effective for planetary gearbox fault diagnosis.

An approach to multivariable control of manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

The paper presents simple schemes for multivariable control of multiple-joint robot manipulators in joint and Cartesian coordinates. The joint control scheme consists of two independent multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms - implying feedforward from the desired position, velocity and acceleration. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and is designed to achieve pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. Simple and explicit expressions of computation of the feedforward and feedback gains are obtained based on the linearized model of robot dynamics. This leads to computationally efficient schemes for either on-line gain computation or off-line gain scheduling to account for variations in the linearized robot model due to changes in the operating point. The joint control scheme is extended to direct control of the end-effector motion in Cartesian space. Simulation results are given for illustration.

Robust back-stepping output feedback trajectory tracking for quadrotors via extended state observer and sigmoid tracking differentiator

NASA Astrophysics Data System (ADS)

Shao, Xingling; Liu, Jun; Wang, Honglun

2018-05-01

In this paper, a robust back-stepping output feedback trajectory tracking controller is proposed for quadrotors subject to parametric uncertainties and external disturbances. Based on the hierarchical control principle, the quadrotor dynamics is decomposed into translational and rotational subsystems to facilitate the back-stepping control design. With given model information incorporated into observer design, a high-order extended state observer (ESO) that relies only on position measurements is developed to estimate the remaining unmeasurable states and the lumped disturbances in rotational subsystem simultaneously. To overcome the problem of "explosion of complexity" in the back-stepping design, the sigmoid tracking differentiator (STD) is introduced to compute the derivative of virtual control laws. The advantage is that the proposed controller via output-feedback scheme not only can ensure good tracking performance using very limited information of quadrotors, but also has the ability of handling the undesired uncertainties. The stability analysis is established using the Lyapunov theory. Simulation results demonstrate the effectiveness of the proposed control scheme in achieving a guaranteed tracking performance with respect to an 8-shaped reference trajectory.

Characteristics of different convective parameterization schemes on the simulation of intensity and track of severe extratropical cyclones over North Atlantic

NASA Astrophysics Data System (ADS)

Pradhan, P. K.; Liberato, Margarida L. R.; Ferreira, Juan A.; Dasamsetti, S.; Vijaya Bhaskara Rao, S.

2018-01-01

The role of the convective parameterization schemes (CPSs) in the ARW-WRF (WRF) mesoscale model is examined for extratropical cyclones (ETCs) over the North Atlantic Ocean. The simulation of very severe winter storms such as Xynthia (2010) and Gong (2013) are considered in this study. Most popular CPSs within WRF model, along with Yonsei University (YSU) planetary boundary layer (PBL) and WSM6 microphysical parameterization schemes are incorporated for the model experiments. For each storm, four numerical experiments were carried out using New Kain Fritsch (NKF), Betts-Miller-Janjic (BMJ), Grell 3D Ensemble (Gr3D) and no convection scheme (NCS) respectively. The prime objectives of these experiments were to recognize the best CPS that can forecast the intensity, track, and landfall over the Iberian Peninsula in advance of two days. The WRF model results such as central sea level pressure (CSLP), wind field, moisture flux convergence, geopotential height, jet stream, track and precipitation have shown sensitivity CPSs. The 48-hour lead simulations with BMJ schemes produce the best simulations both regarding ETCs intensity and track than Gr3D and NKF schemes. The average MAE and RMSE of intensities are least that (6.5 hPa in CSLP and 3.4 ms- 1 in the 10-m wind) found in BMJ scheme. The MAE and RMSE for and intensity and track error have revealed that NCS produces large errors than other CPSs experiments. However, for track simulation of these ETCs, at 72-, 48- and 24-hour means track errors were 440, 390 and 158 km respectively. In brevity, BMJ and Gr3D schemes can be used for short and medium range predictions of the ETCs over North Atlantic. For the evaluation of precipitation distributions using Gr3D scheme are good agreement with TRMM satellite than other CPSs.

A digital memories based user authentication scheme with privacy preservation.

PubMed

Liu, JunLiang; Lyu, Qiuyun; Wang, Qiuhua; Yu, Xiangxiang

2017-01-01

The traditional username/password or PIN based authentication scheme, which still remains the most popular form of authentication, has been proved insecure, unmemorable and vulnerable to guessing, dictionary attack, key-logger, shoulder-surfing and social engineering. Based on this, a large number of new alternative methods have recently been proposed. However, most of them rely on users being able to accurately recall complex and unmemorable information or using extra hardware (such as a USB Key), which makes authentication more difficult and confusing. In this paper, we propose a Digital Memories based user authentication scheme adopting homomorphic encryption and a public key encryption design which can protect users' privacy effectively, prevent tracking and provide multi-level security in an Internet & IoT environment. Also, we prove the superior reliability and security of our scheme compared to other schemes and present a performance analysis and promising evaluation results.

A digital memories based user authentication scheme with privacy preservation

PubMed Central

Liu, JunLiang; Lyu, Qiuyun; Wang, Qiuhua; Yu, Xiangxiang

2017-01-01

The traditional username/password or PIN based authentication scheme, which still remains the most popular form of authentication, has been proved insecure, unmemorable and vulnerable to guessing, dictionary attack, key-logger, shoulder-surfing and social engineering. Based on this, a large number of new alternative methods have recently been proposed. However, most of them rely on users being able to accurately recall complex and unmemorable information or using extra hardware (such as a USB Key), which makes authentication more difficult and confusing. In this paper, we propose a Digital Memories based user authentication scheme adopting homomorphic encryption and a public key encryption design which can protect users’ privacy effectively, prevent tracking and provide multi-level security in an Internet & IoT environment. Also, we prove the superior reliability and security of our scheme compared to other schemes and present a performance analysis and promising evaluation results. PMID:29190659

Performance Analysis of a De-correlated Modified Code Tracking Loop for Synchronous DS-CDMA System under Multiuser Environment

NASA Astrophysics Data System (ADS)

Wu, Ya-Ting; Wong, Wai-Ki; Leung, Shu-Hung; Zhu, Yue-Sheng

This paper presents the performance analysis of a De-correlated Modified Code Tracking Loop (D-MCTL) for synchronous direct-sequence code-division multiple-access (DS-CDMA) systems under multiuser environment. Previous studies have shown that the imbalance of multiple access interference (MAI) in the time lead and time lag portions of the signal causes tracking bias or instability problem in the traditional correlating tracking loop like delay lock loop (DLL) or modified code tracking loop (MCTL). In this paper, we exploit the de-correlating technique to combat the MAI at the on-time code position of the MCTL. Unlike applying the same technique to DLL which requires an extensive search algorithm to compensate the noise imbalance which may introduce small tracking bias under low signal-to-noise ratio (SNR), the proposed D-MCTL has much lower computational complexity and exhibits zero tracking bias for the whole range of SNR, regardless of the number of interfering users. Furthermore, performance analysis and simulations based on Gold codes show that the proposed scheme has better mean square tracking error, mean-time-to-lose-lock and near-far resistance than the other tracking schemes, including traditional DLL (T-DLL), traditional MCTL (T-MCTL) and modified de-correlated DLL (MD-DLL).

Online Variational Bayesian Filtering-Based Mobile Target Tracking in Wireless Sensor Networks

PubMed Central

Zhou, Bingpeng; Chen, Qingchun; Li, Tiffany Jing; Xiao, Pei

2014-01-01

The received signal strength (RSS)-based online tracking for a mobile node in wireless sensor networks (WSNs) is investigated in this paper. Firstly, a multi-layer dynamic Bayesian network (MDBN) is introduced to characterize the target mobility with either directional or undirected movement. In particular, it is proposed to employ the Wishart distribution to approximate the time-varying RSS measurement precision's randomness due to the target movement. It is shown that the proposed MDBN offers a more general analysis model via incorporating the underlying statistical information of both the target movement and observations, which can be utilized to improve the online tracking capability by exploiting the Bayesian statistics. Secondly, based on the MDBN model, a mean-field variational Bayesian filtering (VBF) algorithm is developed to realize the online tracking of a mobile target in the presence of nonlinear observations and time-varying RSS precision, wherein the traditional Bayesian filtering scheme cannot be directly employed. Thirdly, a joint optimization between the real-time velocity and its prior expectation is proposed to enable online velocity tracking in the proposed online tacking scheme. Finally, the associated Bayesian Cramer–Rao Lower Bound (BCRLB) analysis and numerical simulations are conducted. Our analysis unveils that, by exploiting the potential state information via the general MDBN model, the proposed VBF algorithm provides a promising solution to the online tracking of a mobile node in WSNs. In addition, it is shown that the final tracking accuracy linearly scales with its expectation when the RSS measurement precision is time-varying. PMID:25393784

Joint polarization tracking and channel equalization based on radius-directed linear Kalman filter

NASA Astrophysics Data System (ADS)

Zhang, Qun; Yang, Yanfu; Zhong, Kangping; Liu, Jie; Wu, Xiong; Yao, Yong

2018-01-01

We propose a joint polarization tracking and channel equalization scheme based on radius-directed linear Kalman filter (RD-LKF) by introducing the butterfly finite-impulse-response (FIR) filter in our previously proposed RD-LKF method. Along with the fast polarization tracking, it can also simultaneously compensate the inter-symbol interference (ISI) effects including residual chromatic dispersion and polarization mode dispersion. Compared with the conventional radius-directed equalizer (RDE) algorithm, it is demonstrated experimentally that three times faster convergence speed, one order of magnitude better tracking capability, and better BER performance is obtained in polarization division multiplexing 16 quadrature amplitude modulation system. Besides, the influences of the algorithm parameters on the convergence and the tracking performance are investigated by numerical simulation.

Robust Visual Tracking Revisited: From Correlation Filter to Template Matching.

PubMed

Liu, Fanghui; Gong, Chen; Huang, Xiaolin; Zhou, Tao; Yang, Jie; Tao, Dacheng

2018-06-01

In this paper, we propose a novel matching based tracker by investigating the relationship between template matching and the recent popular correlation filter based trackers (CFTs). Compared to the correlation operation in CFTs, a sophisticated similarity metric termed mutual buddies similarity is proposed to exploit the relationship of multiple reciprocal nearest neighbors for target matching. By doing so, our tracker obtains powerful discriminative ability on distinguishing target and background as demonstrated by both empirical and theoretical analyses. Besides, instead of utilizing single template with the improper updating scheme in CFTs, we design a novel online template updating strategy named memory, which aims to select a certain amount of representative and reliable tracking results in history to construct the current stable and expressive template set. This scheme is beneficial for the proposed tracker to comprehensively understand the target appearance variations, recall some stable results. Both qualitative and quantitative evaluations on two benchmarks suggest that the proposed tracking method performs favorably against some recently developed CFTs and other competitive trackers.

Nonlinear dynamic model for visual object tracking on Grassmann manifolds with partial occlusion handling.

PubMed

Khan, Zulfiqar Hasan; Gu, Irene Yu-Hua

2013-12-01

This paper proposes a novel Bayesian online learning and tracking scheme for video objects on Grassmann manifolds. Although manifold visual object tracking is promising, large and fast nonplanar (or out-of-plane) pose changes and long-term partial occlusions of deformable objects in video remain a challenge that limits the tracking performance. The proposed method tackles these problems with the main novelties on: 1) online estimation of object appearances on Grassmann manifolds; 2) optimal criterion-based occlusion handling for online updating of object appearances; 3) a nonlinear dynamic model for both the appearance basis matrix and its velocity; and 4) Bayesian formulations, separately for the tracking process and the online learning process, that are realized by employing two particle filters: one is on the manifold for generating appearance particles and another on the linear space for generating affine box particles. Tracking and online updating are performed in an alternating fashion to mitigate the tracking drift. Experiments using the proposed tracker on videos captured by a single dynamic/static camera have shown robust tracking performance, particularly for scenarios when target objects contain significant nonplanar pose changes and long-term partial occlusions. Comparisons with eight existing state-of-the-art/most relevant manifold/nonmanifold trackers with evaluations have provided further support to the proposed scheme.

Statistical-Mechanics-Inspired Optimization of Sensor Field Configuration for Detection of Mobile Targets (PREPRINT)

DTIC Science & Technology

2010-11-01

pected target motion. Along this line, Wettergren [5] analyzed the performance of the track - before - detect schemes for the sensor networks. Furthermore...dressed by Baumgartner and Ferrari [11] for the reorganization of the sensor field to achieve the maximum coverage. The track - before - detect -based optimal...confirming a target. In accordance with the track - before - detect paradigm [4], a moving target is detected if the kd (typically kd = 3 or 4) sensors detect

Adaptive independent joint control of manipulators - Theory and experiment

NASA Technical Reports Server (NTRS)

Seraji, H.

1988-01-01

The author presents a simple decentralized adaptive control scheme for multijoint robot manipulators based on the independent joint control concept. The proposed control scheme for each joint consists of a PID (proportional integral and differential) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. The static and dynamic couplings that exist between the joint motions are compensated by the adaptive independent joint controllers while ensuring trajectory tracking. The proposed scheme is implemented on a MicroVAX II computer for motion control of the first three joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite strongly coupled, highly nonlinear joint dynamics. The results confirm that the proposed decentralized adaptive control of manipulators is feasible, in spite of strong interactions between joint motions. The control scheme presented is computationally very fast and is amenable to parallel processing implementation within a distributed computing architecture, where each joint is controlled independently by a simple algorithm on a dedicated microprocessor.

Space debris tracking based on fuzzy running Gaussian average adaptive particle filter track-before-detect algorithm

NASA Astrophysics Data System (ADS)

Torteeka, Peerapong; Gao, Peng-Qi; Shen, Ming; Guo, Xiao-Zhang; Yang, Da-Tao; Yu, Huan-Huan; Zhou, Wei-Ping; Zhao, You

2017-02-01

Although tracking with a passive optical telescope is a powerful technique for space debris observation, it is limited by its sensitivity to dynamic background noise. Traditionally, in the field of astronomy, static background subtraction based on a median image technique has been used to extract moving space objects prior to the tracking operation, as this is computationally efficient. The main disadvantage of this technique is that it is not robust to variable illumination conditions. In this article, we propose an approach for tracking small and dim space debris in the context of a dynamic background via one of the optical telescopes that is part of the space surveillance network project, named the Asia-Pacific ground-based Optical Space Observation System or APOSOS. The approach combines a fuzzy running Gaussian average for robust moving-object extraction with dim-target tracking using a particle-filter-based track-before-detect method. The performance of the proposed algorithm is experimentally evaluated, and the results show that the scheme achieves a satisfactory level of accuracy for space debris tracking.

Towards designing an optical-flow based colonoscopy tracking algorithm: a comparative study

NASA Astrophysics Data System (ADS)

Liu, Jianfei; Subramanian, Kalpathi R.; Yoo, Terry S.

2013-03-01

Automatic co-alignment of optical and virtual colonoscopy images can supplement traditional endoscopic procedures, by providing more complete information of clinical value to the gastroenterologist. In this work, we present a comparative analysis of our optical flow based technique for colonoscopy tracking, in relation to current state of the art methods, in terms of tracking accuracy, system stability, and computational efficiency. Our optical-flow based colonoscopy tracking algorithm starts with computing multi-scale dense and sparse optical flow fields to measure image displacements. Camera motion parameters are then determined from optical flow fields by employing a Focus of Expansion (FOE) constrained egomotion estimation scheme. We analyze the design choices involved in the three major components of our algorithm: dense optical flow, sparse optical flow, and egomotion estimation. Brox's optical flow method,1 due to its high accuracy, was used to compare and evaluate our multi-scale dense optical flow scheme. SIFT6 and Harris-affine features7 were used to assess the accuracy of the multi-scale sparse optical flow, because of their wide use in tracking applications; the FOE-constrained egomotion estimation was compared with collinear,2 image deformation10 and image derivative4 based egomotion estimation methods, to understand the stability of our tracking system. Two virtual colonoscopy (VC) image sequences were used in the study, since the exact camera parameters(for each frame) were known; dense optical flow results indicated that Brox's method was superior to multi-scale dense optical flow in estimating camera rotational velocities, but the final tracking errors were comparable, viz., 6mm vs. 8mm after the VC camera traveled 110mm. Our approach was computationally more efficient, averaging 7.2 sec. vs. 38 sec. per frame. SIFT and Harris affine features resulted in tracking errors of up to 70mm, while our sparse optical flow error was 6mm. The comparison among egomotion estimation algorithms showed that our FOE-constrained egomotion estimation method achieved the optimal balance between tracking accuracy and robustness. The comparative study demonstrated that our optical-flow based colonoscopy tracking algorithm maintains good accuracy and stability for routine use in clinical practice.

Robotic Attention Processing And Its Application To Visual Guidance

NASA Astrophysics Data System (ADS)

Barth, Matthew; Inoue, Hirochika

1988-03-01

This paper describes a method of real-time visual attention processing for robots performing visual guidance. This robot attention processing is based on a novel vision processor, the multi-window vision system that was developed at the University of Tokyo. The multi-window vision system is unique in that it only processes visual information inside local area windows. These local area windows are quite flexible in their ability to move anywhere on the visual screen, change their size and shape, and alter their pixel sampling rate. By using these windows for specific attention tasks, it is possible to perform high speed attention processing. The primary attention skills of detecting motion, tracking an object, and interpreting an image are all performed at high speed on the multi-window vision system. A basic robotic attention scheme using the attention skills was developed. The attention skills involved detection and tracking of salient visual features. The tracking and motion information thus obtained was utilized in producing the response to the visual stimulus. The response of the attention scheme was quick enough to be applicable to the real-time vision processing tasks of playing a video 'pong' game, and later using an automobile driving simulator. By detecting the motion of a 'ball' on a video screen and then tracking the movement, the attention scheme was able to control a 'paddle' in order to keep the ball in play. The response was faster than that of a human's, allowing the attention scheme to play the video game at higher speeds. Further, in the application to the driving simulator, the attention scheme was able to control both direction and velocity of a simulated vehicle following a lead car. These two applications show the potential of local visual processing in its use for robotic attention processing.

Global Precipitation Estimates from Cross-Track Passive Microwave Observations Using a Physically-Based Retrieval Scheme

NASA Technical Reports Server (NTRS)

Kidd, Chris; Matsui, Toshi; Chern, Jiundar; Mohr, Karen; Kummerow, Christian; Randel, Dave

2015-01-01

The estimation of precipitation across the globe from satellite sensors provides a key resource in the observation and understanding of our climate system. Estimates from all pertinent satellite observations are critical in providing the necessary temporal sampling. However, consistency in these estimates from instruments with different frequencies and resolutions is critical. This paper details the physically based retrieval scheme to estimate precipitation from cross-track (XT) passive microwave (PM) sensors on board the constellation satellites of the Global Precipitation Measurement (GPM) mission. Here the Goddard profiling algorithm (GPROF), a physically based Bayesian scheme developed for conically scanning (CS) sensors, is adapted for use with XT PM sensors. The present XT GPROF scheme utilizes a model-generated database to overcome issues encountered with an observational database as used by the CS scheme. The model database ensures greater consistency across meteorological regimes and surface types by providing a more comprehensive set of precipitation profiles. The database is corrected for bias against the CS database to ensure consistency in the final product. Statistical comparisons over western Europe and the United States show that the XT GPROF estimates are comparable with those from the CS scheme. Indeed, the XT estimates have higher correlations against surface radar data, while maintaining similar root-mean-square errors. Latitudinal profiles of precipitation show the XT estimates are generally comparable with the CS estimates, although in the southern midlatitudes the peak precipitation is shifted equatorward while over the Arctic large differences are seen between the XT and the CS retrievals.

Fast human pose estimation using 3D Zernike descriptors

NASA Astrophysics Data System (ADS)

Berjón, Daniel; Morán, Francisco

2012-03-01

Markerless video-based human pose estimation algorithms face a high-dimensional problem that is frequently broken down into several lower-dimensional ones by estimating the pose of each limb separately. However, in order to do so they need to reliably locate the torso, for which they typically rely on time coherence and tracking algorithms. Their losing track usually results in catastrophic failure of the process, requiring human intervention and thus precluding their usage in real-time applications. We propose a very fast rough pose estimation scheme based on global shape descriptors built on 3D Zernike moments. Using an articulated model that we configure in many poses, a large database of descriptor/pose pairs can be computed off-line. Thus, the only steps that must be done on-line are the extraction of the descriptors for each input volume and a search against the database to get the most likely poses. While the result of such process is not a fine pose estimation, it can be useful to help more sophisticated algorithms to regain track or make more educated guesses when creating new particles in particle-filter-based tracking schemes. We have achieved a performance of about ten fps on a single computer using a database of about one million entries.

Rapid, topology-based particle tracking for high-resolution measurements of large complex 3D motion fields.

PubMed

Patel, Mohak; Leggett, Susan E; Landauer, Alexander K; Wong, Ian Y; Franck, Christian

2018-04-03

Spatiotemporal tracking of tracer particles or objects of interest can reveal localized behaviors in biological and physical systems. However, existing tracking algorithms are most effective for relatively low numbers of particles that undergo displacements smaller than their typical interparticle separation distance. Here, we demonstrate a single particle tracking algorithm to reconstruct large complex motion fields with large particle numbers, orders of magnitude larger than previously tractably resolvable, thus opening the door for attaining very high Nyquist spatial frequency motion recovery in the images. Our key innovations are feature vectors that encode nearest neighbor positions, a rigorous outlier removal scheme, and an iterative deformation warping scheme. We test this technique for its accuracy and computational efficacy using synthetically and experimentally generated 3D particle images, including non-affine deformation fields in soft materials, complex fluid flows, and cell-generated deformations. We augment this algorithm with additional particle information (e.g., color, size, or shape) to further enhance tracking accuracy for high gradient and large displacement fields. These applications demonstrate that this versatile technique can rapidly track unprecedented numbers of particles to resolve large and complex motion fields in 2D and 3D images, particularly when spatial correlations exist.

Hybrid position and orientation tracking for a passive rehabilitation table-top robot.

PubMed

Wojewoda, K K; Culmer, P R; Gallagher, J F; Jackson, A E; Levesley, M C

2017-07-01

This paper presents a real time hybrid 2D position and orientation tracking system developed for an upper limb rehabilitation robot. Designed to work on a table-top, the robot is to enable home-based upper-limb rehabilitative exercise for stroke patients. Estimates of the robot's position are computed by fusing data from two tracking systems, each utilizing a different sensor type: laser optical sensors and a webcam. Two laser optical sensors are mounted on the underside of the robot and track the relative motion of the robot with respect to the surface on which it is placed. The webcam is positioned directly above the workspace, mounted on a fixed stand, and tracks the robot's position with respect to a fixed coordinate system. The optical sensors sample the position data at a higher frequency than the webcam, and a position and orientation fusion scheme is proposed to fuse the data from the two tracking systems. The proposed fusion scheme is validated through an experimental set-up whereby the rehabilitation robot is moved by a humanoid robotic arm replicating previously recorded movements of a stroke patient. The results prove that the presented hybrid position tracking system can track the position and orientation with greater accuracy than the webcam or optical sensors alone. The results also confirm that the developed system is capable of tracking recovery trends during rehabilitation therapy.

An adaptive actuator failure compensation scheme for two linked 2WD mobile robots

NASA Astrophysics Data System (ADS)

Ma, Yajie; Al-Dujaili, Ayad; Cocquempot, Vincent; El Badaoui El Najjar, Maan

2017-01-01

This paper develops a new adaptive compensation control scheme for two linked mobile robots with actuator failurs. A configuration with two linked two-wheel drive (2WD) mobile robots is proposed, and the modelling of its kinematics and dynamics are given. An adaptive failure compensation scheme is developed to compensate actuator failures, consisting of a kinematic controller and a multi-design integration based dynamic controller. The kinematic controller is a virtual one, and based on which, multiple adaptive dynamic control signals are designed which covers all possible failure cases. By combing these dynamic control signals, the dynamic controller is designed, which ensures system stability and asymptotic tracking properties. Simulation results verify the effectiveness of the proposed adaptive failure compensation scheme.

Observer-based state tracking control of uncertain stochastic systems via repetitive controller

NASA Astrophysics Data System (ADS)

Sakthivel, R.; Susana Ramya, L.; Selvaraj, P.

2017-08-01

This paper develops the repetitive control scheme for state tracking control of uncertain stochastic time-varying delay systems via equivalent-input-disturbance approach. The main purpose of this work is to design a repetitive controller to guarantee the tracking performance under the effects of unknown disturbances with bounded frequency and parameter variations. Specifically, a new set of linear matrix inequality (LMI)-based conditions is derived based on the suitable Lyapunov-Krasovskii functional theory for designing a repetitive controller which guarantees stability and desired tracking performance. More precisely, an equivalent-input-disturbance estimator is incorporated into the control design to reduce the effect of the external disturbances. Simulation results are provided to demonstrate the desired control system stability and their tracking performance. A practical stream water quality preserving system is also provided to show the effectiveness and advantage of the proposed approach.

Beam dynamics analysis of dielectric laser acceleration using a fast 6D tracking scheme

NASA Astrophysics Data System (ADS)

Niedermayer, Uwe; Egenolf, Thilo; Boine-Frankenheim, Oliver

2017-11-01

A six-dimensional symplectic tracking approach exploiting the periodicity properties of dielectric laser acceleration (DLA) gratings is presented. The longitudinal kick is obtained from the spatial Fourier harmonics of the laser field within the structure, and the transverse kicks are obtained using the Panofsky-Wenzel theorem. Additionally to the usual, strictly longitudinally periodic gratings, our approach is also applicable to periodicity chirped (subrelativistic) and tilted (deflection) gratings. In the limit of small kicks and short periods we obtain the 6D Hamiltonian, which allows, for example, to obtain matched beam distributions in DLAs. The scheme is applied to beam and grating parameters similar to recently performed experiments. The paper concludes with an outlook to laser based focusing schemes, which are promising to overcome fundamental interaction length limitations, in order to build an entire microchip-sized laser driven accelerator.

Model identification and vision-based H∞ position control of 6-DoF cable-driven parallel robots

NASA Astrophysics Data System (ADS)

Chellal, R.; Cuvillon, L.; Laroche, E.

2017-04-01

This paper presents methodologies for the identification and control of 6-degrees of freedom (6-DoF) cable-driven parallel robots (CDPRs). First a two-step identification methodology is proposed to accurately estimate the kinematic parameters independently and prior to the dynamic parameters of a physics-based model of CDPRs. Second, an original control scheme is developed, including a vision-based position controller tuned with the H∞ methodology and a cable tension distribution algorithm. The position is controlled in the operational space, making use of the end-effector pose measured by a motion-tracking system. A four-block H∞ design scheme with adjusted weighting filters ensures good trajectory tracking and disturbance rejection properties for the CDPR system, which is a nonlinear-coupled MIMO system with constrained states. The tension management algorithm generates control signals that maintain the cables under feasible tensions. The paper makes an extensive review of the available methods and presents an extension of one of them. The presented methodologies are evaluated by simulations and experimentally on a redundant 6-DoF INCA 6D CDPR with eight cables, equipped with a motion-tracking system.

Two moment dust and water ice in the MarsWRF GCM

NASA Astrophysics Data System (ADS)

Lee, Christopher; Richardson, Mark I.; Newman, Claire E.; Mischna, Michael A.

2016-10-01

A new two moment dust and water ice microphysics scheme has been developed for the MarsWRF General Circulation Model based on the Morrison and Gettelman (2008) scheme, and includes temperature dependent nucleation processes and energetically constrained condensation and evaporation. Dust consumed in the formation of water ice is also tracked by the model.The two moment dust scheme simulates dust particles in the Martian atmosphere using a Gamma distribution with fixed radius for lifted particles. Within the atmosphere the particle distribution is advected and sedimented within the two moment framework, obviating the requirement for lossy conversion between the continuous Gamma distribution and discritized bins found in some Mars microphysics schemes. Water ice is simulated using the same Gamma distribution and advected and sedimented in the same way. Water ice nucleation occurs heterogeneously onto dust particles with temperature dependent contact parameters (e.g. Trainer et al., 2009) and condensation and evaporation follows energetic constraints (e.g. Pruppacher and Klett, 1980; Montmessin et al., 2002) allowing water ice particles to grow in size where necessary. Dust particles are tracked within the ice cores as nucleation occurs, and dust cores advect and sediment along with their parent ice particle distributions. Radiative properties of dust and water particles are calculated as a function of the effective radius of the particles and the distribution width. The new microphysics scheme requires 5 tracers to be tracked as the moments of the dust, water ice, and ice core. All microphysical processes are simulated entirely within the two moment framework without any discretization of particle sizes.The effect of this new microphysics scheme on dust and water ice cloud distribution will be discussed and compared with observations from TES and MCS.

FPGA design of correlation-based pattern recognition

NASA Astrophysics Data System (ADS)

Jridi, Maher; Alfalou, Ayman

2017-05-01

Optical/Digital pattern recognition and tracking based on optical/digital correlation are a well-known techniques to detect, identify and localize a target object in a scene. Despite the limited number of treatments required by the correlation scheme, computational time and resources are relatively high. The most computational intensive treatment required by the correlation is the transformation from spatial to spectral domain and then from spectral to spatial domain. Furthermore, these transformations are used on optical/digital encryption schemes like the double random phase encryption (DRPE). In this paper, we present a VLSI architecture for the correlation scheme based on the fast Fourier transform (FFT). One interesting feature of the proposed scheme is its ability to stream image processing in order to perform correlation for video sequences. A trade-off between the hardware consumption and the robustness of the correlation can be made in order to understand the limitations of the correlation implementation in reconfigurable and portable platforms. Experimental results obtained from HDL simulations and FPGA prototype have demonstrated the advantages of the proposed scheme.

Finite-time sliding surface constrained control for a robot manipulator with an unknown deadzone and disturbance.

PubMed

Ik Han, Seong; Lee, Jangmyung

2016-11-01

This paper presents finite-time sliding mode control (FSMC) with predefined constraints for the tracking error and sliding surface in order to obtain robust positioning of a robot manipulator with input nonlinearity due to an unknown deadzone and external disturbance. An assumed model feedforward FSMC was designed to avoid tedious identification procedures for the manipulator parameters and to obtain a fast response time. Two constraint switching control functions based on the tracking error and finite-time sliding surface were added to the FSMC to guarantee the predefined tracking performance despite the presence of an unknown deadzone and disturbance. The tracking error due to the deadzone and disturbance can be suppressed within the predefined error boundary simply by tuning the gain value of the constraint switching function and without the addition of an extra compensator. Therefore, the designed constraint controller has a simpler structure than conventional transformed error constraint methods and the sliding surface constraint scheme can also indirectly guarantee the tracking error constraint while being more stable than the tracking error constraint control. A simulation and experiment were performed on an articulated robot manipulator to validate the proposed control schemes. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

3-D rigid body tracking using vision and depth sensors.

PubMed

Gedik, O Serdar; Alatan, A Aydn

2013-10-01

In robotics and augmented reality applications, model-based 3-D tracking of rigid objects is generally required. With the help of accurate pose estimates, it is required to increase reliability and decrease jitter in total. Among many solutions of pose estimation in the literature, pure vision-based 3-D trackers require either manual initializations or offline training stages. On the other hand, trackers relying on pure depth sensors are not suitable for AR applications. An automated 3-D tracking algorithm, which is based on fusion of vision and depth sensors via extended Kalman filter, is proposed in this paper. A novel measurement-tracking scheme, which is based on estimation of optical flow using intensity and shape index map data of 3-D point cloud, increases 2-D, as well as 3-D, tracking performance significantly. The proposed method requires neither manual initialization of pose nor offline training, while enabling highly accurate 3-D tracking. The accuracy of the proposed method is tested against a number of conventional techniques, and a superior performance is clearly observed in terms of both objectively via error metrics and subjectively for the rendered scenes.

A second-order frequency-aided digital phase-locked loop for Doppler rate tracking

NASA Astrophysics Data System (ADS)

Chie, C. M.

1980-08-01

A second-order digital phase-locked loop (DPLL) has a finite lock range which is a function of the frequency of the incoming signal to be tracked. For this reason, it is not capable of tracking an input with Doppler rate for an indefinite period of time. In this correspondence, an analytical expression for the hold-in time is derived. In addition, an all-digital scheme to alleviate this problem is proposed based on the information obtained from estimating the input signal frequency.

Reactive granular optics for passive tracking of the sun

NASA Astrophysics Data System (ADS)

Frenkel, I.; Niv, A.

2017-08-01

The growing need for cost-effective renewable energy sources is hampered by the stagnation in solar cell technology, thus preventing a substantial reduction in the module and energy-production price. Lowering the energy-production cost could be achieved by using modules with efficiency. One of the possible means for increasing the module efficiency is concentrated photovoltaics (CPV). CPV, however, requires complex and accurate active tracking of the sun that reduces much of its cost-effectiveness. Here, we propose a passive tracking scheme based on a reactive optical device. The optical reaction is achieved by a new kind of light activated mechanical force that acts on micron-sized particles. This optical force allows the formation of granular disordered optical media that can be switched from being opaque to become transparent based on the intensity of light it interacts with. Such media gives rise to an efficient passive tracking scheme that when combined with an external optical cavity forms a new solar power conversion approach. Being external to the cell itself, this approach is indifferent to the type of semiconducting material that is used, as well as to other aspects of the cell design. This, in turn, liberates the cell layout from its optical constraints thus paving the way to higher efficiencies at lower module price.

Data-driven robust approximate optimal tracking control for unknown general nonlinear systems using adaptive dynamic programming method.

PubMed

Zhang, Huaguang; Cui, Lili; Zhang, Xin; Luo, Yanhong

2011-12-01

In this paper, a novel data-driven robust approximate optimal tracking control scheme is proposed for unknown general nonlinear systems by using the adaptive dynamic programming (ADP) method. In the design of the controller, only available input-output data is required instead of known system dynamics. A data-driven model is established by a recurrent neural network (NN) to reconstruct the unknown system dynamics using available input-output data. By adding a novel adjustable term related to the modeling error, the resultant modeling error is first guaranteed to converge to zero. Then, based on the obtained data-driven model, the ADP method is utilized to design the approximate optimal tracking controller, which consists of the steady-state controller and the optimal feedback controller. Further, a robustifying term is developed to compensate for the NN approximation errors introduced by implementing the ADP method. Based on Lyapunov approach, stability analysis of the closed-loop system is performed to show that the proposed controller guarantees the system state asymptotically tracking the desired trajectory. Additionally, the obtained control input is proven to be close to the optimal control input within a small bound. Finally, two numerical examples are used to demonstrate the effectiveness of the proposed control scheme.

A novel track-before-detect algorithm based on optimal nonlinear filtering for detecting and tracking infrared dim target

NASA Astrophysics Data System (ADS)

Tian, Yuexin; Gao, Kun; Liu, Ying; Han, Lu

2015-08-01

Aiming at the nonlinear and non-Gaussian features of the real infrared scenes, an optimal nonlinear filtering based algorithm for the infrared dim target tracking-before-detecting application is proposed. It uses the nonlinear theory to construct the state and observation models and uses the spectral separation scheme based Wiener chaos expansion method to resolve the stochastic differential equation of the constructed models. In order to improve computation efficiency, the most time-consuming operations independent of observation data are processed on the fore observation stage. The other observation data related rapid computations are implemented subsequently. Simulation results show that the algorithm possesses excellent detection performance and is more suitable for real-time processing.

Node Depth Adjustment Based Target Tracking in UWSNs Using Improved Harmony Search.

PubMed

Liu, Meiqin; Zhang, Duo; Zhang, Senlin; Zhang, Qunfei

2017-12-04

Underwater wireless sensor networks (UWSNs) can provide a promising solution to underwater target tracking. Due to the limited computation and bandwidth resources, only a small part of nodes are selected to track the target at each interval. How to improve tracking accuracy with a small number of nodes is a key problem. In recent years, a node depth adjustment system has been developed and applied to issues of network deployment and routing protocol. As far as we know, all existing tracking schemes keep underwater nodes static or moving with water flow, and node depth adjustment has not been utilized for underwater target tracking yet. This paper studies node depth adjustment method for target tracking in UWSNs. Firstly, since a Fisher Information Matrix (FIM) can quantify the estimation accuracy, its relation to node depth is derived as a metric. Secondly, we formulate the node depth adjustment as an optimization problem to determine moving depth of activated node, under the constraint of moving range, the value of FIM is used as objective function, which is aimed to be minimized over moving distance of nodes. Thirdly, to efficiently solve the optimization problem, an improved Harmony Search (HS) algorithm is proposed, in which the generating probability is modified to improve searching speed and accuracy. Finally, simulation results are presented to verify performance of our scheme.

Node Depth Adjustment Based Target Tracking in UWSNs Using Improved Harmony Search

PubMed Central

Zhang, Senlin; Zhang, Qunfei

2017-01-01

Underwater wireless sensor networks (UWSNs) can provide a promising solution to underwater target tracking. Due to the limited computation and bandwidth resources, only a small part of nodes are selected to track the target at each interval. How to improve tracking accuracy with a small number of nodes is a key problem. In recent years, a node depth adjustment system has been developed and applied to issues of network deployment and routing protocol. As far as we know, all existing tracking schemes keep underwater nodes static or moving with water flow, and node depth adjustment has not been utilized for underwater target tracking yet. This paper studies node depth adjustment method for target tracking in UWSNs. Firstly, since a Fisher Information Matrix (FIM) can quantify the estimation accuracy, its relation to node depth is derived as a metric. Secondly, we formulate the node depth adjustment as an optimization problem to determine moving depth of activated node, under the constraint of moving range, the value of FIM is used as objective function, which is aimed to be minimized over moving distance of nodes. Thirdly, to efficiently solve the optimization problem, an improved Harmony Search (HS) algorithm is proposed, in which the generating probability is modified to improve searching speed and accuracy. Finally, simulation results are presented to verify performance of our scheme. PMID:29207541

Non-Static error tracking control for near space airship loading platform

NASA Astrophysics Data System (ADS)

Ni, Ming; Tao, Fei; Yang, Jiandong

2018-01-01

A control scheme based on internal model with non-static error is presented against the uncertainty of the near space airship loading platform system. The uncertainty in the tracking table is represented as interval variations in stability and control derivatives. By formulating the tracking problem of the uncertainty system as a robust state feedback stabilization problem of an augmented system, sufficient condition for the existence of robust tracking controller is derived in the form of linear matrix inequality (LMI). Finally, simulation results show that the new method not only has better anti-jamming performance, but also improves the dynamic performance of the high-order systems.

Fuzzy adaptive strong tracking scaled unscented Kalman filter for initial alignment of large misalignment angles

NASA Astrophysics Data System (ADS)

Li, Jing; Song, Ningfang; Yang, Gongliu; Jiang, Rui

2016-07-01

In the initial alignment process of strapdown inertial navigation system (SINS), large misalignment angles always bring nonlinear problem, which can usually be processed using the scaled unscented Kalman filter (SUKF). In this paper, the problem of large misalignment angles in SINS alignment is further investigated, and the strong tracking scaled unscented Kalman filter (STSUKF) is proposed with fixed parameters to improve convergence speed, while these parameters are artificially constructed and uncertain in real application. To further improve the alignment stability and reduce the parameters selection, this paper proposes a fuzzy adaptive strategy combined with STSUKF (FUZZY-STSUKF). As a result, initial alignment scheme of large misalignment angles based on FUZZY-STSUKF is designed and verified by simulations and turntable experiment. The results show that the scheme improves the accuracy and convergence speed of SINS initial alignment compared with those based on SUKF and STSUKF.

Improving z-tracking accuracy in the two-photon single-particle tracking microscope.

PubMed

Liu, C; Liu, Y-L; Perillo, E P; Jiang, N; Dunn, A K; Yeh, H-C

2015-10-12

Here, we present a method that can improve the z-tracking accuracy of the recently invented TSUNAMI (Tracking of Single particles Using Nonlinear And Multiplexed Illumination) microscope. This method utilizes a maximum likelihood estimator (MLE) to determine the particle's 3D position that maximizes the likelihood of the observed time-correlated photon count distribution. Our Monte Carlo simulations show that the MLE-based tracking scheme can improve the z-tracking accuracy of TSUNAMI microscope by 1.7 fold. In addition, MLE is also found to reduce the temporal correlation of the z-tracking error. Taking advantage of the smaller and less temporally correlated z-tracking error, we have precisely recovered the hybridization-melting kinetics of a DNA model system from thousands of short single-particle trajectories in silico . Our method can be generally applied to other 3D single-particle tracking techniques.

Improving z-tracking accuracy in the two-photon single-particle tracking microscope

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

Liu, C.; Liu, Y.-L.; Perillo, E. P.

Here, we present a method that can improve the z-tracking accuracy of the recently invented TSUNAMI (Tracking of Single particles Using Nonlinear And Multiplexed Illumination) microscope. This method utilizes a maximum likelihood estimator (MLE) to determine the particle's 3D position that maximizes the likelihood of the observed time-correlated photon count distribution. Our Monte Carlo simulations show that the MLE-based tracking scheme can improve the z-tracking accuracy of TSUNAMI microscope by 1.7 fold. In addition, MLE is also found to reduce the temporal correlation of the z-tracking error. Taking advantage of the smaller and less temporally correlated z-tracking error, we havemore » precisely recovered the hybridization-melting kinetics of a DNA model system from thousands of short single-particle trajectories in silico. Our method can be generally applied to other 3D single-particle tracking techniques.« less

Circulation Type Classifications and their nexus to Van Bebber's storm track Vb

NASA Astrophysics Data System (ADS)

Hofstätter, M.; Chimani, B.

2012-04-01

Circulation Type Classifications (CTCs) are tools to identify repetitive and predominantly stationary patterns of the atmospheric circulation over a certain area, with the purpose to enable the recognition of specific characteristics in surface climate variables. On the other hand storm tracks can be used to identify similar types of synoptic events from a non-stationary, kinematic perspective. Such a storm track classification for Europe has been done in the late 19th century by Van Bebber (1882, 1891), from which the famous type Vb and Vc/d remained up to the present day because of to their association with major flooding events like in August 2002 in Europe. In this work a systematic tracking procedure has been developed, to determine storm track types and their characteristics especially for the Eastern Alpine Region in the period 1961-2002, using ERA40 and ERAinterim reanalysis. The focus thereby is on cyclone tracks of type V as suggested by van Bebber and congeneric types. This new catalogue is used as a reference to verify the hypothesis of a certain coherence of storm track Vb with certain circulation types (e.g. Fricke and Kaminski, 2002). Selected objective and subjective classification schemes from the COST733 action (http://cost733.met.no/, Phillip et al. 2010) are used therefore, as well as the manual classification from ZAMG (Lauscher 1972 and 1985), in which storm track Vb has been classified explicitly on a daily base since 1948. The latter scheme should prove itself as a valuable and unique data source in that issue. Results show that not less than 146 storm tracks are identified as Vb between 1961 and 2002, whereas only three events could be found from literature, pointing to big subjectivity and preconception in the issue of Vb storm tracks. The annual number of Vb storm tracks do not show any significant trend over the last 42 years, but large variations from year to year. Circulation type classification CAP27 (Cluster Analysis of Principal Components) is the best performing, fully objective scheme tested herein, showing the power to discriminate Vb events. Most of the other fully objective schemes do by far not perform as well. Largest skill in that issue can be seen from the subjective/manual CTCs, proving themselves to enhance relevant synoptic phenomena instead of emphasizing mathematic criteria in the classification. The hypothesis of Fricke and Kaminsky can definitely be supported by this work: Vb storm tracks are included in one or the other stationary circulation pattern, but to which extent depends on the specific characteristics of the CTC in question.

Sliding Mode Tracking Control of a Wire-Driven Upper-Limb Rehabilitation Robot with Nonlinear Disturbance Observer.

PubMed

Niu, Jie; Yang, Qianqian; Wang, Xiaoyun; Song, Rong

2017-01-01

Robot-aided rehabilitation has become an important technology to restore and reinforce motor functions of patients with extremity impairment, whereas it can be extremely challenging to achieve satisfactory tracking performance due to uncertainties and disturbances during rehabilitation training. In this paper, a wire-driven rehabilitation robot that can work over a three-dimensional space is designed for upper-limb rehabilitation, and sliding mode control with nonlinear disturbance observer is designed for the robot to deal with the problem of unpredictable disturbances during robot-assisted training. Then, simulation and experiments of trajectory tracking are carried out to evaluate the performance of the system, the position errors, and the output forces of the designed control scheme are compared with those of the traditional sliding mode control (SMC) scheme. The results show that the designed control scheme can effectively reduce the tracking errors and chattering of the output forces as compared with the traditional SMC scheme, which indicates that the nonlinear disturbance observer can reduce the effect of unpredictable disturbances. The designed control scheme for the wire-driven rehabilitation robot has potential to assist patients with stroke in performing repetitive rehabilitation training.

Online two-stage association method for robust multiple people tracking

NASA Astrophysics Data System (ADS)

Lv, Jingqin; Fang, Jiangxiong; Yang, Jie

2011-07-01

Robust multiple people tracking is very important for many applications. It is a challenging problem due to occlusion and interaction in crowded scenarios. This paper proposes an online two-stage association method for robust multiple people tracking. In the first stage, short tracklets generated by linking people detection responses grow longer by particle filter based tracking, with detection confidence embedded into the observation model. And, an examining scheme runs at each frame for the reliability of tracking. In the second stage, multiple people tracking is achieved by linking tracklets to generate trajectories. An online tracklet association method is proposed to solve the linking problem, which allows applications in time-critical scenarios. This method is evaluated on the popular CAVIAR dataset. The experimental results show that our two-stage method is robust.

A fully-automated multiscale kernel graph cuts based particle localization scheme for temporal focusing two-photon microscopy

NASA Astrophysics Data System (ADS)

Huang, Xia; Li, Chunqiang; Xiao, Chuan; Sun, Wenqing; Qian, Wei

2017-03-01

The temporal focusing two-photon microscope (TFM) is developed to perform depth resolved wide field fluorescence imaging by capturing frames sequentially. However, due to strong nonignorable noises and diffraction rings surrounding particles, further researches are extremely formidable without a precise particle localization technique. In this paper, we developed a fully-automated scheme to locate particles positions with high noise tolerance. Our scheme includes the following procedures: noise reduction using a hybrid Kalman filter method, particle segmentation based on a multiscale kernel graph cuts global and local segmentation algorithm, and a kinematic estimation based particle tracking method. Both isolated and partial-overlapped particles can be accurately identified with removal of unrelated pixels. Based on our quantitative analysis, 96.22% isolated particles and 84.19% partial-overlapped particles were successfully detected.

Learning-automaton-based online discovery and tracking of spatiotemporal event patterns.

PubMed

Yazidi, Anis; Granmo, Ole-Christoffer; Oommen, B John

2013-06-01

Discovering and tracking of spatiotemporal patterns in noisy sequences of events are difficult tasks that have become increasingly pertinent due to recent advances in ubiquitous computing, such as community-based social networking applications. The core activities for applications of this class include the sharing and notification of events, and the importance and usefulness of these functionalities increase as event sharing expands into larger areas of one's life. Ironically, instead of being helpful, an excessive number of event notifications can quickly render the functionality of event sharing to be obtrusive. Indeed, any notification of events that provides redundant information to the application/user can be seen to be an unnecessary distraction. In this paper, we introduce a new scheme for discovering and tracking noisy spatiotemporal event patterns, with the purpose of suppressing reoccurring patterns, while discerning novel events. Our scheme is based on maintaining a collection of hypotheses, each one conjecturing a specific spatiotemporal event pattern. A dedicated learning automaton (LA)--the spatiotemporal pattern LA (STPLA)--is associated with each hypothesis. By processing events as they unfold, we attempt to infer the correctness of each hypothesis through a real-time guided random walk. Consequently, the scheme that we present is computationally efficient, with a minimal memory footprint. Furthermore, it is ergodic, allowing adaptation. Empirical results involving extensive simulations demonstrate the superior convergence and adaptation speed of STPLA, as well as an ability to operate successfully with noise, including both the erroneous inclusion and omission of events. An empirical comparison study was performed and confirms the superiority of our scheme compared to a similar state-of-the-art approach. In particular, the robustness of the STPLA to inclusion as well as to omission noise constitutes a unique property compared to other related approaches. In addition, the results included, which involve the so-called " presence sharing" application, are both promising and, in our opinion, impressive. It is thus our opinion that the proposed STPLA scheme is, in general, ideal for improving the usefulness of event notification and sharing systems, since it is capable of significantly, robustly, and adaptively suppressing redundant information.

A Comprehensive Study of Data Collection Schemes Using Mobile Sinks in Wireless Sensor Networks

PubMed Central

Khan, Abdul Waheed; Abdullah, Abdul Hanan; Anisi, Mohammad Hossein; Bangash, Javed Iqbal

2014-01-01

Recently sink mobility has been exploited in numerous schemes to prolong the lifetime of wireless sensor networks (WSNs). Contrary to traditional WSNs where sensory data from sensor field is ultimately sent to a static sink, mobile sink-based approaches alleviate energy-holes issues thereby facilitating balanced energy consumption among nodes. In mobility scenarios, nodes need to keep track of the latest location of mobile sinks for data delivery. However, frequent propagation of sink topological updates undermines the energy conservation goal and therefore should be controlled. Furthermore, controlled propagation of sinks' topological updates affects the performance of routing strategies thereby increasing data delivery latency and reducing packet delivery ratios. This paper presents a taxonomy of various data collection/dissemination schemes that exploit sink mobility. Based on how sink mobility is exploited in the sensor field, we classify existing schemes into three classes, namely path constrained, path unconstrained, and controlled sink mobility-based schemes. We also organize existing schemes based on their primary goals and provide a comparative study to aid readers in selecting the appropriate scheme in accordance with their particular intended applications and network dynamics. Finally, we conclude our discussion with the identification of some unresolved issues in pursuit of data delivery to a mobile sink. PMID:24504107

Novel neural control for a class of uncertain pure-feedback systems.

PubMed

Shen, Qikun; Shi, Peng; Zhang, Tianping; Lim, Cheng-Chew

2014-04-01

This paper is concerned with the problem of adaptive neural tracking control for a class of uncertain pure-feedback nonlinear systems. Using the implicit function theorem and backstepping technique, a practical robust adaptive neural control scheme is proposed to guarantee that the tracking error converges to an adjusted neighborhood of the origin by choosing appropriate design parameters. In contrast to conventional Lyapunov-based design techniques, an alternative Lyapunov function is constructed for the development of control law and learning algorithms. Differing from the existing results in the literature, the control scheme does not need to compute the derivatives of virtual control signals at each step in backstepping design procedures. Furthermore, the scheme requires the desired trajectory and its first derivative rather than its first n derivatives. In addition, the useful property of the basis function of the radial basis function, which will be used in control design, is explored. Simulation results illustrate the effectiveness of the proposed techniques.

Tracking and people counting using Particle Filter Method

NASA Astrophysics Data System (ADS)

Sulistyaningrum, D. R.; Setiyono, B.; Rizky, M. S.

2018-03-01

In recent years, technology has developed quite rapidly, especially in the field of object tracking. Moreover, if the object under study is a person and the number of people a lot. The purpose of this research is to apply Particle Filter method for tracking and counting people in certain area. Tracking people will be rather difficult if there are some obstacles, one of which is occlusion. The stages of tracking and people counting scheme in this study include pre-processing, segmentation using Gaussian Mixture Model (GMM), tracking using particle filter, and counting based on centroid. The Particle Filter method uses the estimated motion included in the model used. The test results show that the tracking and people counting can be done well with an average accuracy of 89.33% and 77.33% respectively from six videos test data. In the process of tracking people, the results are good if there is partial occlusion and no occlusion

Investigation on improved Gabor order tracking technique

NASA Astrophysics Data System (ADS)

Pan, Min-Chun; Chiu, Chun-Ching

2004-07-01

The study proposes an improved Gabor order tracking (GOT) technique to cope with crossing orders that cannot be effectively separated using the original GOT scheme. The improvement aids both the reconstruction and interpretation of two crossing orders such as a transmission-element-regarding order component and a structural resonant component. In the paper, the influence of the dual function to Gabor expansion coefficients is investigated, which can affect the precision of the tracked order component. Additionally, using the GOT scheme in noise conditions is demonstrated as well. For applying the improved GOT in real tasks, separation and extraction of close-order components of vibration signals measured from a transmission-element test bench is illustrated using both the GOT and Vold-Kalman filtering (VKF) OT schemes. Finally, comprehensive comparisons between the improved GOT and VKF_OT schemes are made from processing results.

Adaptive Jacobian Fuzzy Attitude Control for Flexible Spacecraft Combined Attitude and Sun Tracking System

NASA Astrophysics Data System (ADS)

Chak, Yew-Chung; Varatharajoo, Renuganth

2016-07-01

Many spacecraft attitude control systems today use reaction wheels to deliver precise torques to achieve three-axis attitude stabilization. However, irrecoverable mechanical failure of reaction wheels could potentially lead to mission interruption or total loss. The electrically-powered Solar Array Drive Assemblies (SADA) are usually installed in the pitch axis which rotate the solar arrays to track the Sun, can produce torques to compensate for the pitch-axis wheel failure. In addition, the attitude control of a flexible spacecraft poses a difficult problem. These difficulties include the strong nonlinear coupled dynamics between the rigid hub and flexible solar arrays, and the imprecisely known system parameters, such as inertia matrix, damping ratios, and flexible mode frequencies. In order to overcome these drawbacks, the adaptive Jacobian tracking fuzzy control is proposed for the combined attitude and sun-tracking control problem of a flexible spacecraft during attitude maneuvers in this work. For the adaptation of kinematic and dynamic uncertainties, the proposed scheme uses an adaptive sliding vector based on estimated attitude velocity via approximate Jacobian matrix. The unknown nonlinearities are approximated by deriving the fuzzy models with a set of linguistic If-Then rules using the idea of sector nonlinearity and local approximation in fuzzy partition spaces. The uncertain parameters of the estimated nonlinearities and the Jacobian matrix are being adjusted online by an adaptive law to realize feedback control. The attitude of the spacecraft can be directly controlled with the Jacobian feedback control when the attitude pointing trajectory is designed with respect to the spacecraft coordinate frame itself. A significant feature of this work is that the proposed adaptive Jacobian tracking scheme will result in not only the convergence of angular position and angular velocity tracking errors, but also the convergence of estimated angular velocity to the actual angular velocity. Numerical results are presented to demonstrate the effectiveness of the proposed scheme in tracking the desired attitude, as well as suppressing the elastic deflection effects of solar arrays during maneuver.

Feature tracking for automated volume of interest stabilization on 4D-OCT images

NASA Astrophysics Data System (ADS)

Laves, Max-Heinrich; Schoob, Andreas; Kahrs, Lüder A.; Pfeiffer, Tom; Huber, Robert; Ortmaier, Tobias

2017-03-01

A common representation of volumetric medical image data is the triplanar view (TV), in which the surgeon manually selects slices showing the anatomical structure of interest. In addition to common medical imaging such as MRI or computed tomography, recent advances in the field of optical coherence tomography (OCT) have enabled live processing and volumetric rendering of four-dimensional images of the human body. Due to the region of interest undergoing motion, it is challenging for the surgeon to simultaneously keep track of an object by continuously adjusting the TV to desired slices. To select these slices in subsequent frames automatically, it is necessary to track movements of the volume of interest (VOI). This has not been addressed with respect to 4DOCT images yet. Therefore, this paper evaluates motion tracking by applying state-of-the-art tracking schemes on maximum intensity projections (MIP) of 4D-OCT images. Estimated VOI location is used to conveniently show corresponding slices and to improve the MIPs by calculating thin-slab MIPs. Tracking performances are evaluated on an in-vivo sequence of human skin, captured at 26 volumes per second. Among investigated tracking schemes, our recently presented tracking scheme for soft tissue motion provides highest accuracy with an error of under 2.2 voxels for the first 80 volumes. Object tracking on 4D-OCT images enables its use for sub-epithelial tracking of microvessels for image-guidance.

Combining Particle Filters and Consistency-Based Approaches for Monitoring and Diagnosis of Stochastic Hybrid Systems

NASA Technical Reports Server (NTRS)

Narasimhan, Sriram; Dearden, Richard; Benazera, Emmanuel

2004-01-01

Fault detection and isolation are critical tasks to ensure correct operation of systems. When we consider stochastic hybrid systems, diagnosis algorithms need to track both the discrete mode and the continuous state of the system in the presence of noise. Deterministic techniques like Livingstone cannot deal with the stochasticity in the system and models. Conversely Bayesian belief update techniques such as particle filters may require many computational resources to get a good approximation of the true belief state. In this paper we propose a fault detection and isolation architecture for stochastic hybrid systems that combines look-ahead Rao-Blackwellized Particle Filters (RBPF) with the Livingstone 3 (L3) diagnosis engine. In this approach RBPF is used to track the nominal behavior, a novel n-step prediction scheme is used for fault detection and L3 is used to generate a set of candidates that are consistent with the discrepant observations which then continue to be tracked by the RBPF scheme.

Real-Time Robust Tracking for Motion Blur and Fast Motion via Correlation Filters.

PubMed

Xu, Lingyun; Luo, Haibo; Hui, Bin; Chang, Zheng

2016-09-07

Visual tracking has extensive applications in intelligent monitoring and guidance systems. Among state-of-the-art tracking algorithms, Correlation Filter methods perform favorably in robustness, accuracy and speed. However, it also has shortcomings when dealing with pervasive target scale variation, motion blur and fast motion. In this paper we proposed a new real-time robust scheme based on Kernelized Correlation Filter (KCF) to significantly improve performance on motion blur and fast motion. By fusing KCF and STC trackers, our algorithm also solve the estimation of scale variation in many scenarios. We theoretically analyze the problem for CFs towards motions and utilize the point sharpness function of the target patch to evaluate the motion state of target. Then we set up an efficient scheme to handle the motion and scale variation without much time consuming. Our algorithm preserves the properties of KCF besides the ability to handle special scenarios. In the end extensive experimental results on benchmark of VOT datasets show our algorithm performs advantageously competed with the top-rank trackers.

The constant displacement scheme for tracking particles in heterogeneous aquifers

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

Wen, X.H.; Gomez-Hernandez, J.J.

1996-01-01

Simulation of mass transport by particle tracking or random walk in highly heterogeneous media may be inefficient from a computational point of view if the traditional constant time step scheme is used. A new scheme which adjusts automatically the time step for each particle according to the local pore velocity, so that each particle always travels a constant distance, is shown to be computationally faster for the same degree of accuracy than the constant time step method. Using the constant displacement scheme, transport calculations in a 2-D aquifer model, with nature log-transmissivity variance of 4, can be 8.6 times fastermore » than using the constant time step scheme.« less

Adaptive tracking control for a class of stochastic switched systems

NASA Astrophysics Data System (ADS)

Zhang, Hui; Xia, Yuanqing

2018-02-01

The problem of adaptive tracking is considered for a class of stochastic switched systems, in this paper. As preliminaries, the criterion of global asymptotical practical stability in probability is first presented by the aid of common Lyapunov function method. Based on the Lyapunov stability criterion, adaptive backstepping controllers are designed to guarantee that the closed-loop system has a unique global solution, which is globally asymptotically practically stable in probability, and the tracking error in the fourth moment converges to an arbitrarily small neighbourhood of zero. Simulation examples are given to demonstrate the efficiency of the proposed schemes.

Approximation-Based Discrete-Time Adaptive Position Tracking Control for Interior Permanent Magnet Synchronous Motors.

PubMed

Yu, Jinpeng; Shi, Peng; Yu, Haisheng; Chen, Bing; Lin, Chong

2015-07-01

This paper considers the problem of discrete-time adaptive position tracking control for a interior permanent magnet synchronous motor (IPMSM) based on fuzzy-approximation. Fuzzy logic systems are used to approximate the nonlinearities of the discrete-time IPMSM drive system which is derived by direct discretization using Euler method, and a discrete-time fuzzy position tracking controller is designed via backstepping approach. In contrast to existing results, the advantage of the scheme is that the number of the adjustable parameters is reduced to two only and the problem of coupling nonlinearity can be overcome. It is shown that the proposed discrete-time fuzzy controller can guarantee the tracking error converges to a small neighborhood of the origin and all the signals are bounded. Simulation results illustrate the effectiveness and the potentials of the theoretic results obtained.

Scale-adaptive compressive tracking with feature integration

NASA Astrophysics Data System (ADS)

Liu, Wei; Li, Jicheng; Chen, Xiao; Li, Shuxin

2016-05-01

Numerous tracking-by-detection methods have been proposed for robust visual tracking, among which compressive tracking (CT) has obtained some promising results. A scale-adaptive CT method based on multifeature integration is presented to improve the robustness and accuracy of CT. We introduce a keypoint-based model to achieve the accurate scale estimation, which can additionally give a prior location of the target. Furthermore, by the high efficiency of data-independent random projection matrix, multiple features are integrated into an effective appearance model to construct the naïve Bayes classifier. At last, an adaptive update scheme is proposed to update the classifier conservatively. Experiments on various challenging sequences demonstrate substantial improvements by our proposed tracker over CT and other state-of-the-art trackers in terms of dealing with scale variation, abrupt motion, deformation, and illumination changes.

Connectivity-Preserving Approach for Distributed Adaptive Synchronized Tracking of Networked Uncertain Nonholonomic Mobile Robots.

PubMed

Yoo, Sung Jin; Park, Bong Seok

2017-09-06

This paper addresses a distributed connectivity-preserving synchronized tracking problem of multiple uncertain nonholonomic mobile robots with limited communication ranges. The information of the time-varying leader robot is assumed to be accessible to only a small fraction of follower robots. The main contribution of this paper is to introduce a new distributed nonlinear error surface for dealing with both the synchronized tracking and the preservation of the initial connectivity patterns among nonholonomic robots. Based on this nonlinear error surface, the recursive design methodology is presented to construct the approximation-based local adaptive tracking scheme at the robot dynamic level. Furthermore, a technical lemma is established to analyze the stability and the connectivity preservation of the total closed-loop control system in the Lyapunov sense. An example is provided to illustrate the effectiveness of the proposed methodology.

An all-digital receiver for satellite audio broadcasting signals using trellis coded quasi-orthogonal code-division multiplexing

NASA Astrophysics Data System (ADS)

Braun, Walter; Eglin, Peter; Abello, Ricard

1993-02-01

Spread Spectrum Code Division Multiplex is an attractive scheme for the transmission of multiple signals over a satellite transponder. By using orthogonal or quasi-orthogonal spreading codes the interference between the users can be virtually eliminated. However, the acquisition and tracking of the spreading code phase can not take advantage of the code orthogonality since sequential acquisition and Delay-Locked loop tracking depend on correlation with code phases other than the optimal despreading phase. Hence, synchronization is a critical issue in such a system. A demonstration hardware for the verification of the orthogonal CDM synchronization and data transmission concept is being designed and implemented. The system concept, the synchronization scheme, and the implementation are described. The performance of the system is discussed based on computer simulations.

Adaptive Neural Network Control for the Trajectory Tracking of the Furuta Pendulum.

PubMed

Moreno-Valenzuela, Javier; Aguilar-Avelar, Carlos; Puga-Guzman, Sergio A; Santibanez, Victor

2016-12-01

The purpose of this paper is to introduce a novel adaptive neural network-based control scheme for the Furuta pendulum, which is a two degree-of-freedom underactuated system. Adaptation laws for the input and output weights are also provided. The proposed controller is able to guarantee tracking of a reference signal for the arm while the pendulum remains in the upright position. The key aspect of the derivation of the controller is the definition of an output function that depends on the position and velocity errors. The internal and external dynamics are rigorously analyzed, thereby proving the uniform ultimate boundedness of the error trajectories. By using real-time experiments, the new scheme is compared with other control methodologies, therein demonstrating the improved performance of the proposed adaptive algorithm.

Sliding mode control of magnetic suspensions for precision pointing and tracking applications

NASA Technical Reports Server (NTRS)

Misovec, Kathleen M.; Flynn, Frederick J.; Johnson, Bruce G.; Hedrick, J. Karl

1991-01-01

A recently developed nonlinear control method, sliding mode control, is examined as a means of advancing the achievable performance of space-based precision pointing and tracking systems that use nonlinear magnetic actuators. Analytic results indicate that sliding mode control improves performance compared to linear control approaches. In order to realize these performance improvements, precise knowledge of the plant is required. Additionally, the interaction of an estimating scheme and the sliding mode controller has not been fully examined in the literature. Estimation schemes were designed for use with this sliding mode controller that do not seriously degrade system performance. The authors designed and built a laboratory testbed to determine the feasibility of utilizing sliding mode control in these types of applications. Using this testbed, experimental verification of the authors' analyses is ongoing.

A nonlinear estimator for reconstructing the angular velocity of a spacecraft without rate gyros

NASA Technical Reports Server (NTRS)

Polites, M. E.; Lightsey, W. D.

1991-01-01

A scheme for estimating the angular velocity of a spacecraft without rate gyros is presented. It is based upon a nonlinear estimator whose inputs are measured inertial vectors and their calculated time derivatives relative to vehicle axes. It works for all spacecraft attitudes and requires no knowledge of attitude. It can use measurements from a variety of onboard sensors like Sun sensors, star trackers, or magnetometers, and in concert. It can also use look angle measurements from onboard tracking antennas for tracking and data relay satellites or global positioning system satellites. In this paper, it is applied to a Sun point scheme on the Hubble Space Telescope assuming all or most of its onboard rate gyros have failed. Simulation results are presented for verification.

Neural-Network-Based Robust Optimal Tracking Control for MIMO Discrete-Time Systems With Unknown Uncertainty Using Adaptive Critic Design.

PubMed

Liu, Lei; Wang, Zhanshan; Zhang, Huaguang

2018-04-01

This paper is concerned with the robust optimal tracking control strategy for a class of nonlinear multi-input multi-output discrete-time systems with unknown uncertainty via adaptive critic design (ACD) scheme. The main purpose is to establish an adaptive actor-critic control method, so that the cost function in the procedure of dealing with uncertainty is minimum and the closed-loop system is stable. Based on the neural network approximator, an action network is applied to generate the optimal control signal and a critic network is used to approximate the cost function, respectively. In contrast to the previous methods, the main features of this paper are: 1) the ACD scheme is integrated into the controllers to cope with the uncertainty and 2) a novel cost function, which is not in quadric form, is proposed so that the total cost in the design procedure is reduced. It is proved that the optimal control signals and the tracking errors are uniformly ultimately bounded even when the uncertainty exists. Finally, a numerical simulation is developed to show the effectiveness of the present approach.

Robust leader-follower formation tracking control of multiple underactuated surface vessels

NASA Astrophysics Data System (ADS)

Peng, Zhou-hua; Wang, Dan; Lan, Wei-yao; Sun, Gang

2012-09-01

This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation. The formation is achieved by the follower to track a virtual target defined relative to the leader. A robust adaptive target tracking law is proposed by using neural network and backstepping techniques. The advantage of the proposed control scheme is that the uncertain nonlinear dynamics caused by Coriolis/centripetal forces, nonlinear damping, unmodeled hydrodynamics and disturbances from the environment can be compensated by on line learning. Based on Lyapunov analysis, the proposed controller guarantees the tracking errors converge to a small neighborhood of the origin. Simulation results demonstrate the effectiveness of the control strategy.

Comparison of different interpolation operators including nonlinear subdivision schemes in the simulation of particle trajectories

NASA Astrophysics Data System (ADS)

Bensiali, Bouchra; Bodi, Kowsik; Ciraolo, Guido; Ghendrih, Philippe; Liandrat, Jacques

2013-03-01

In this work, we compare different interpolation operators in the context of particle tracking with an emphasis on situations involving velocity field with steep gradients. Since, in this case, most classical methods give rise to the Gibbs phenomenon (generation of oscillations near discontinuities), we present new methods for particle tracking based on subdivision schemes and especially on the Piecewise Parabolic Harmonic (PPH) scheme which has shown its advantage in image processing in presence of strong contrasts. First an analytic univariate case with a discontinuous velocity field is considered in order to highlight the effect of the Gibbs phenomenon on trajectory calculation. Theoretical results are provided. Then, we show, regardless of the interpolation method, the need to use a conservative approach when integrating a conservative problem with a velocity field deriving from a potential. Finally, the PPH scheme is applied in a more realistic case of a time-dependent potential encountered in the edge turbulence of magnetically confined plasmas, to compare the propagation of density structures (turbulence bursts) with the dynamics of test particles. This study highlights the difference between particle transport and density transport in turbulent fields.

An improved lambda-scheme for one-dimensional flows

NASA Technical Reports Server (NTRS)

Moretti, G.; Dipiano, M. T.

1983-01-01

A code for the calculation of one-dimensional flows is presented, which combines a simple and efficient version of the lambda-scheme with tracking of discontinuities. The latter is needed to identify points where minor departures from the basic integration scheme are applied to prevent infiltration of numerical errors. Such a tracking is obtained via a systematic application of Boolean algebra. It is, therefore, very efficient. Fifteen examples are presented and discussed in detail. The results are exceptionally good. All discontinuites are captured within one mesh interval.

A similarity retrieval approach for weighted track and ambient field of tropical cyclones

NASA Astrophysics Data System (ADS)

Li, Ying; Xu, Luan; Hu, Bo; Li, Yuejun

2018-03-01

Retrieving historical tropical cyclones (TC) which have similar position and hazard intensity to the objective TC is an important means in TC track forecast and TC disaster assessment. A new similarity retrieval scheme is put forward based on historical TC track data and ambient field data, including ERA-Interim reanalysis and GFS and EC-fine forecast. It takes account of both TC track similarity and ambient field similarity, and optimal weight combination is explored subsequently. Result shows that both the distance and direction errors of TC track forecast at 24-hour timescale follow an approximately U-shape distribution. They tend to be large when the weight assigned to track similarity is close to 0 or 1.0, while relatively small when track similarity weight is from 0.2˜0.7 for distance error and 0.3˜0.6 for direction error.

A complete system for head tracking using motion-based particle filter and randomly perturbed active contour

NASA Astrophysics Data System (ADS)

Bouaynaya, N.; Schonfeld, Dan

2005-03-01

Many real world applications in computer and multimedia such as augmented reality and environmental imaging require an elastic accurate contour around a tracked object. In the first part of the paper we introduce a novel tracking algorithm that combines a motion estimation technique with the Bayesian Importance Sampling framework. We use Adaptive Block Matching (ABM) as the motion estimation technique. We construct the proposal density from the estimated motion vector. The resulting algorithm requires a small number of particles for efficient tracking. The tracking is adaptive to different categories of motion even with a poor a priori knowledge of the system dynamics. Particulary off-line learning is not needed. A parametric representation of the object is used for tracking purposes. In the second part of the paper, we refine the tracking output from a parametric sample to an elastic contour around the object. We use a 1D active contour model based on a dynamic programming scheme to refine the output of the tracker. To improve the convergence of the active contour, we perform the optimization over a set of randomly perturbed initial conditions. Our experiments are applied to head tracking. We report promising tracking results in complex environments.

Toward a planning scheme for emission guided radiation therapy (EGRT): FDG based tumor tracking in a metastatic breast cancer patient

PubMed Central

Fan, Qiyong; Nanduri, Akshay; Yang, Jaewon; Yamamoto, Tokihiro; Loo, Billy; Graves, Edward; Zhu, Lei; Mazin, Samuel

2013-01-01

Purpose: Emission guided radiation therapy (EGRT) is a new modality that uses PET emissions in real-time for direct tumor tracking during radiation delivery. Radiation beamlets are delivered along positron emission tomography (PET) lines of response (LORs) by a fast rotating ring therapy unit consisting of a linear accelerator (Linac) and PET detectors. The feasibility of tumor tracking and a primitive modulation method to compensate for attenuation have been demonstrated using a 4D digital phantom in our prior work. However, the essential capability of achieving dose modulation as in conventional intensity modulated radiation therapy (IMRT) treatments remains absent. In this work, the authors develop a planning scheme for EGRT to accomplish sophisticated intensity modulation based on an IMRT plan while preserving tumor tracking. Methods: The planning scheme utilizes a precomputed LOR response probability distribution to achieve desired IMRT planning modulation with effects of inhomogeneous attenuation and nonuniform background activity distribution accounted for. Evaluation studies are performed on a 4D digital patient with a simulated lung tumor and a clinical patient who has a moving breast cancer metastasis in the lung. The Linac dose delivery is simulated using a voxel-based Monte Carlo algorithm. The IMRT plan is optimized for a planning target volume (PTV) that encompasses the tumor motion using the MOSEK package and a Pinnacle3™ workstation (Philips Healthcare, Fitchburg, WI) for digital and clinical patients, respectively. To obtain the emission data for both patients, the Geant4 application for tomographic emission (GATE) package and a commercial PET scanner are used. As a comparison, 3D and helical IMRT treatments covering the same PTV based on the same IMRT plan are simulated. Results: 3D and helical IMRT treatments show similar dose distribution. In the digital patient case, compared with the 3D IMRT treatment, EGRT achieves a 15.1% relative increase in dose to 95% of the gross tumor volume (GTV) and a 31.8% increase to 50% of the GTV. In the patient case, EGRT yields a 15.2% relative increase in dose to 95% of the GTV and a 20.7% increase to 50% of the GTV. The organs at risk (OARs) doses are kept similar or lower for EGRT in both cases. Tumor tracking is observed in the presence of planning modulation in all EGRT treatments. Conclusions: As compared to conventional IMRT treatments, the proposed EGRT planning scheme allows an escalated target dose while keeping dose to the OARs within the same planning limits. With the capabilities of incorporating planning modulation and accurate tumor tracking, EGRT has the potential to greatly improve targeting in radiation therapy and enable a practical and effective implementation of 4D radiation therapy for planning and delivery. PMID:23927305

A spatiotemporal-based scheme for efficient registration-based segmentation of thoracic 4-D MRI.

PubMed

Yang, Y; Van Reeth, E; Poh, C L; Tan, C H; Tham, I W K

2014-05-01

Dynamic three-dimensional (3-D) (four-dimensional, 4-D) magnetic resonance (MR) imaging is gaining importance in the study of pulmonary motion for respiratory diseases and pulmonary tumor motion for radiotherapy. To perform quantitative analysis using 4-D MR images, segmentation of anatomical structures such as the lung and pulmonary tumor is required. Manual segmentation of entire thoracic 4-D MRI data that typically contains many 3-D volumes acquired over several breathing cycles is extremely tedious, time consuming, and suffers high user variability. This requires the development of new automated segmentation schemes for 4-D MRI data segmentation. Registration-based segmentation technique that uses automatic registration methods for segmentation has been shown to be an accurate method to segment structures for 4-D data series. However, directly applying registration-based segmentation to segment 4-D MRI series lacks efficiency. Here we propose an automated 4-D registration-based segmentation scheme that is based on spatiotemporal information for the segmentation of thoracic 4-D MR lung images. The proposed scheme saved up to 95% of computation amount while achieving comparable accurate segmentations compared to directly applying registration-based segmentation to 4-D dataset. The scheme facilitates rapid 3-D/4-D visualization of the lung and tumor motion and potentially the tracking of tumor during radiation delivery.

Accelerated event-by-event Monte Carlo microdosimetric calculations of electrons and protons tracks on a multi-core CPU and a CUDA-enabled GPU.

PubMed

Kalantzis, Georgios; Tachibana, Hidenobu

2014-01-01

For microdosimetric calculations event-by-event Monte Carlo (MC) methods are considered the most accurate. The main shortcoming of those methods is the extensive requirement for computational time. In this work we present an event-by-event MC code of low projectile energy electron and proton tracks for accelerated microdosimetric MC simulations on a graphic processing unit (GPU). Additionally, a hybrid implementation scheme was realized by employing OpenMP and CUDA in such a way that both GPU and multi-core CPU were utilized simultaneously. The two implementation schemes have been tested and compared with the sequential single threaded MC code on the CPU. Performance comparison was established on the speed-up for a set of benchmarking cases of electron and proton tracks. A maximum speedup of 67.2 was achieved for the GPU-based MC code, while a further improvement of the speedup up to 20% was achieved for the hybrid approach. The results indicate the capability of our CPU-GPU implementation for accelerated MC microdosimetric calculations of both electron and proton tracks without loss of accuracy. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Neural network robust tracking control with adaptive critic framework for uncertain nonlinear systems.

PubMed

Wang, Ding; Liu, Derong; Zhang, Yun; Li, Hongyi

2018-01-01

In this paper, we aim to tackle the neural robust tracking control problem for a class of nonlinear systems using the adaptive critic technique. The main contribution is that a neural-network-based robust tracking control scheme is established for nonlinear systems involving matched uncertainties. The augmented system considering the tracking error and the reference trajectory is formulated and then addressed under adaptive critic optimal control formulation, where the initial stabilizing controller is not needed. The approximate control law is derived via solving the Hamilton-Jacobi-Bellman equation related to the nominal augmented system, followed by closed-loop stability analysis. The robust tracking control performance is guaranteed theoretically via Lyapunov approach and also verified through simulation illustration. Copyright © 2017 Elsevier Ltd. All rights reserved.

Application of Kalman filter in frequency offset estimation for coherent optical quadrature phase-shift keying communication system

NASA Astrophysics Data System (ADS)

Jiang, Wen; Yang, Yanfu; Zhang, Qun; Sun, Yunxu; Zhong, Kangping; Zhou, Xian; Yao, Yong

2016-09-01

The frequency offset estimation (FOE) schemes based on Kalman filter are proposed and investigated in detail via numerical simulation and experiment. The schemes consist of a modulation phase removing stage and Kalman filter estimation stage. In the second stage, the Kalman filters are employed for tracking either differential angles or differential data between two successive symbols. Several implementations of the proposed FOE scheme are compared by employing different modulation removing methods and two Kalman algorithms. The optimal FOE implementation is suggested for different operating conditions including optical signal-to-noise ratio and the number of the available data symbols.

Novel railway-subgrade vibration monitoring technology using phase-sensitive OTDR

NASA Astrophysics Data System (ADS)

Wang, Zhaoyong; Lu, Bin; Zheng, Hanrong; Ye, Qing; Pan, Zhengqing; Cai, Haiwen; Qu, Ronghui; Fang, Zujie; Zhao, Howell

2017-04-01

High-speed railway is being developed rapidly; its safety, including infrastructure and train operation, is vital. This paper presents a railway-subgrade vibration monitoring scheme based on phase-sensitive OTDR for railway safety. The subgrade vibration is detected and rebuilt. Multi-dimension comprehensive analysis (MDCA) is proposed to identify the running train signals and illegal constructions along railway. To our best knowledge, it is the first time that a railway-subgrade vibration monitoring scheme is proposed. This scheme is proved effective by field tests for real-time train tracking and activities monitoring along railway. It provides a new passive distributed way for all-weather railway-subgrade vibration monitoring.

The Effects of Reducing Tracking in Upper Secondary School: Evidence from a Large-Scale Pilot Scheme

ERIC Educational Resources Information Center

Hall, Caroline

2012-01-01

By exploiting an extensive pilot scheme that preceded an educational reform, this paper evaluates the effects of introducing a more comprehensive upper secondary school system in Sweden. The reform reduced the differences between academic and vocational tracks through prolonging and increasing the academic content of the latter. As a result, all…

An adaptive trajectory tracking control of four rotor hover vehicle using extended normalized radial basis function network

NASA Astrophysics Data System (ADS)

ul Amin, Rooh; Aijun, Li; Khan, Muhammad Umer; Shamshirband, Shahaboddin; Kamsin, Amirrudin

2017-01-01

In this paper, an adaptive trajectory tracking controller based on extended normalized radial basis function network (ENRBFN) is proposed for 3-degree-of-freedom four rotor hover vehicle subjected to external disturbance i.e. wind turbulence. Mathematical model of four rotor hover system is developed using equations of motions and a new computational intelligence based technique ENRBFN is introduced to approximate the unmodeled dynamics of the hover vehicle. The adaptive controller based on the Lyapunov stability approach is designed to achieve tracking of the desired attitude angles of four rotor hover vehicle in the presence of wind turbulence. The adaptive weight update based on the Levenberg-Marquardt algorithm is used to avoid weight drift in case the system is exposed to external disturbances. The closed-loop system stability is also analyzed using Lyapunov stability theory. Simulations and experimental results are included to validate the effectiveness of the proposed control scheme.

A comparison of temporal and location-based sampling strategies for global positioning system-triggered electronic diaries.

PubMed

Törnros, Tobias; Dorn, Helen; Reichert, Markus; Ebner-Priemer, Ulrich; Salize, Hans-Joachim; Tost, Heike; Meyer-Lindenberg, Andreas; Zipf, Alexander

2016-11-21

Self-reporting is a well-established approach within the medical and psychological sciences. In order to avoid recall bias, i.e. past events being remembered inaccurately, the reports can be filled out on a smartphone in real-time and in the natural environment. This is often referred to as ambulatory assessment and the reports are usually triggered at regular time intervals. With this sampling scheme, however, rare events (e.g. a visit to a park or recreation area) are likely to be missed. When addressing the correlation between mood and the environment, it may therefore be beneficial to include participant locations within the ambulatory assessment sampling scheme. Based on the geographical coordinates, the database query system then decides if a self-report should be triggered or not. We simulated four different ambulatory assessment sampling schemes based on movement data (coordinates by minute) from 143 voluntary participants tracked for seven consecutive days. Two location-based sampling schemes incorporating the environmental characteristics (land use and population density) at each participant's location were introduced and compared to a time-based sampling scheme triggering a report on the hour as well as to a sampling scheme incorporating physical activity. We show that location-based sampling schemes trigger a report less often, but we obtain more unique trigger positions and a greater spatial spread in comparison to sampling strategies based on time and distance. Additionally, the location-based methods trigger significantly more often at rarely visited types of land use and less often outside the study region where no underlying environmental data are available.

Adaptive neural network motion control of manipulators with experimental evaluations.

PubMed

Puga-Guzmán, S; Moreno-Valenzuela, J; Santibáñez, V

2014-01-01

A nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired torque, a two-layer neural network is used. Then, adaptation laws for the neural network weights are derived. Asymptotic convergence of the position and velocity tracking errors is proven, while the neural network weights are shown to be uniformly bounded. The proposed scheme has been experimentally validated in real time. These experimental evaluations were carried in two different mechanical systems: a horizontal two degrees-of-freedom robot and a vertical one degree-of-freedom arm which is affected by the gravitational force. In each one of the two experimental set-ups, the proposed scheme was implemented without and with adaptive neural network compensation. Experimental results confirmed the tracking accuracy of the proposed adaptive neural network-based controller.

Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations

PubMed Central

Puga-Guzmán, S.; Moreno-Valenzuela, J.; Santibáñez, V.

2014-01-01

A nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired torque, a two-layer neural network is used. Then, adaptation laws for the neural network weights are derived. Asymptotic convergence of the position and velocity tracking errors is proven, while the neural network weights are shown to be uniformly bounded. The proposed scheme has been experimentally validated in real time. These experimental evaluations were carried in two different mechanical systems: a horizontal two degrees-of-freedom robot and a vertical one degree-of-freedom arm which is affected by the gravitational force. In each one of the two experimental set-ups, the proposed scheme was implemented without and with adaptive neural network compensation. Experimental results confirmed the tracking accuracy of the proposed adaptive neural network-based controller. PMID:24574910

A cloud-based forensics tracking scheme for online social network clients.

PubMed

Lin, Feng-Yu; Huang, Chien-Cheng; Chang, Pei-Ying

2015-10-01

In recent years, with significant changes in the communication modes, most users are diverted to cloud-based applications, especially online social networks (OSNs), which applications are mostly hosted on the outside and available to criminals, enabling them to impede criminal investigations and intelligence gathering. In the virtual world, how the Law Enforcement Agency (LEA) identifies the "actual" identity of criminal suspects, and their geolocation in social networks, is a major challenge to current digital investigation. In view of this, this paper proposes a scheme, based on the concepts of IP location and network forensics, which aims to develop forensics tracking on OSNs. According to our empirical analysis, the proposed mechanism can instantly trace the "physical location" of a targeted service resource identifier (SRI), when the target client is using online social network applications (Facebook, Twitter, etc.), and can analyze the probable target client "identity" associatively. To the best of our knowledge, this is the first individualized location method and architecture developed and evaluated in OSNs. Copyright © 2015 Elsevier Ireland Ltd. All rights reserved.

Robust H(infinity) tracking control of boiler-turbine systems.

PubMed

Wu, J; Nguang, S K; Shen, J; Liu, G; Li, Y G

2010-07-01

In this paper, the problem of designing a fuzzy H(infinity) state feedback tracking control of a boiler-turbine is solved. First, the Takagi and Sugeno fuzzy model is used to model a boiler-turbine system. Next, based on the Takagi and Sugeno fuzzy model, sufficient conditions for the existence of a fuzzy H(infinity) nonlinear state feedback tracking control are derived in terms of linear matrix inequalities. The advantage of the proposed tracking control design is that it does not involve feedback linearization technique and complicated adaptive scheme. An industrial boiler-turbine system is used to illustrate the effectiveness of the proposed design as compared with a linearized approach. 2010 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive Detection and ISI Mitigation for Mobile Molecular Communication.

PubMed

Chang, Ge; Lin, Lin; Yan, Hao

2018-03-01

Current studies on modulation and detection schemes in molecular communication mainly focus on the scenarios with static transmitters and receivers. However, mobile molecular communication is needed in many envisioned applications, such as target tracking and drug delivery. Until now, investigations about mobile molecular communication have been limited. In this paper, a static transmitter and a mobile bacterium-based receiver performing random walk are considered. In this mobile scenario, the channel impulse response changes due to the dynamic change of the distance between the transmitter and the receiver. Detection schemes based on fixed distance fail in signal detection in such a scenario. Furthermore, the intersymbol interference (ISI) effect becomes more complex due to the dynamic character of the signal which makes the estimation and mitigation of the ISI even more difficult. In this paper, an adaptive ISI mitigation method and two adaptive detection schemes are proposed for this mobile scenario. In the proposed scheme, adaptive ISI mitigation, estimation of dynamic distance, and the corresponding impulse response reconstruction are performed in each symbol interval. Based on the dynamic channel impulse response in each interval, two adaptive detection schemes, concentration-based adaptive threshold detection and peak-time-based adaptive detection, are proposed for signal detection. Simulations demonstrate that the ISI effect is significantly reduced and the adaptive detection schemes are reliable and robust for mobile molecular communication.

Two particle tracking and detection in a single Gaussian beam optical trap.

PubMed

Praveen, P; Yogesha; Iyengar, Shruthi S; Bhattacharya, Sarbari; Ananthamurthy, Sharath

2016-01-20

We have studied in detail the situation wherein two microbeads are trapped axially in a single-beam Gaussian intensity profile optical trap. We find that the corner frequency extracted from a power spectral density analysis of intensity fluctuations recorded on a quadrant photodetector (QPD) is dependent on the detection scheme. Using forward- and backscattering detection schemes with single and two laser wavelengths along with computer simulations, we conclude that fluctuations detected in backscattering bear true position information of the bead encountered first in the beam propagation direction. Forward scattering, on the other hand, carries position information of both beads with substantial contribution from the bead encountered first along the beam propagation direction. Mie scattering analysis further reveals that the interference term from the scattering of the two beads contributes significantly to the signal, precluding the ability to resolve the positions of the individual beads in forward scattering. In QPD-based detection schemes, detection through backscattering, thereby, is imperative to track the true displacements of axially trapped microbeads for possible studies on light-mediated interbead interactions.

Surface target-tracking guidance by self-organizing formation flight of fixed-wing UAV

NASA Astrophysics Data System (ADS)

Regina, N.; Zanzi, M.

This paper presents a new concept of ground target surveillance based on a formation flight of two Unmanned Aerial Vehicles (UAVs) of fixed-wing type. Each UAV considered in this work has its own guidance law specifically designed for two different aims. A self organizing non-symmetric collaborative surveying scheme has been developed based on pursuers with different roles: the close-up-pursuer and the distance-pursuer. The close-up-pursuer behaves according to a guidance law which takes it to continually over-fly the target, also optimizing flight endurance. On the other hand, the distancepursuer behaves so as to circle around the target by flying at a certain distance and altitude from it; moreover, its motion ensures the maximum “ seeability” of the ground based target. In addition, the guidance law designed for the distance-pursuer also implements a collision avoidance feature in order to prevent possible risks of collision with the close-up-pursuer during the tracking maneuvers. The surveying scheme is non-symmetric in the sense that the collision avoidance feature is accomplished by a guidance law implemented only on one of the two pursuers; moreover, it is collaborative because the surveying is performed by different tasks of two UAVs and is self-organizing because, due to the collision avoidance feature, target tracking does not require pre-planned collision-risk-free trajectories but trajectories are generated in real time.

Neural-Network-Based Adaptive Decentralized Fault-Tolerant Control for a Class of Interconnected Nonlinear Systems.

PubMed

Li, Xiao-Jian; Yang, Guang-Hong

2018-01-01

This paper is concerned with the adaptive decentralized fault-tolerant tracking control problem for a class of uncertain interconnected nonlinear systems with unknown strong interconnections. An algebraic graph theory result is introduced to address the considered interconnections. In addition, to achieve the desirable tracking performance, a neural-network-based robust adaptive decentralized fault-tolerant control (FTC) scheme is given to compensate the actuator faults and system uncertainties. Furthermore, via the Lyapunov analysis method, it is proven that all the signals of the resulting closed-loop system are semiglobally bounded, and the tracking errors of each subsystem exponentially converge to a compact set, whose radius is adjustable by choosing different controller design parameters. Finally, the effectiveness and advantages of the proposed FTC approach are illustrated with two simulated examples.

A discrete-time adaptive control scheme for robot manipulators

NASA Technical Reports Server (NTRS)

Tarokh, M.

1990-01-01

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.

An adaptive Cartesian control scheme for manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

A adaptive control scheme for direct control of manipulator end-effectors to achieve trajectory tracking in Cartesian space is developed. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for online implementation with high sampling rates.

Real-Time Robust Tracking for Motion Blur and Fast Motion via Correlation Filters

PubMed Central

Xu, Lingyun; Luo, Haibo; Hui, Bin; Chang, Zheng

2016-01-01

Visual tracking has extensive applications in intelligent monitoring and guidance systems. Among state-of-the-art tracking algorithms, Correlation Filter methods perform favorably in robustness, accuracy and speed. However, it also has shortcomings when dealing with pervasive target scale variation, motion blur and fast motion. In this paper we proposed a new real-time robust scheme based on Kernelized Correlation Filter (KCF) to significantly improve performance on motion blur and fast motion. By fusing KCF and STC trackers, our algorithm also solve the estimation of scale variation in many scenarios. We theoretically analyze the problem for CFs towards motions and utilize the point sharpness function of the target patch to evaluate the motion state of target. Then we set up an efficient scheme to handle the motion and scale variation without much time consuming. Our algorithm preserves the properties of KCF besides the ability to handle special scenarios. In the end extensive experimental results on benchmark of VOT datasets show our algorithm performs advantageously competed with the top-rank trackers. PMID:27618046

Onboard guidance system design for reusable launch vehicles in the terminal area energy management phase

NASA Astrophysics Data System (ADS)

Mu, Lingxia; Yu, Xiang; Zhang, Y. M.; Li, Ping; Wang, Xinmin

2018-02-01

A terminal area energy management (TAEM) guidance system for an unpowered reusable launch vehicle (RLV) is proposed in this paper. The mathematical model representing the RLV gliding motion is provided, followed by a transformation of extracting the required dynamics for reference profile generation. Reference longitudinal profiles are conceived based on the capability of maximum dive and maximum glide that a RLV can perform. The trajectory is obtained by iterating the motion equations at each node of altitude, where the angle of attack and the flight-path angle are regarded as regulating variables. An onboard ground-track predictor is constructed to generate the current range-to-go and lateral commands online. Although the longitudinal profile generation requires pre-processing using the RLV aerodynamics, the ground-track prediction can be executed online. This makes the guidance scheme adaptable to abnormal conditions. Finally, the guidance law is designed to track the reference commands. Numerical simulations demonstrate that the proposed guidance scheme is capable of guiding the RLV to the desired touchdown conditions.

Simple Peer-to-Peer SIP Privacy

NASA Astrophysics Data System (ADS)

Koskela, Joakim; Tarkoma, Sasu

In this paper, we introduce a model for enhancing privacy in peer-to-peer communication systems. The model is based on data obfuscation, preventing intermediate nodes from tracking calls, while still utilizing the shared resources of the peer network. This increases security when moving between untrusted, limited and ad-hoc networks, when the user is forced to rely on peer-to-peer schemes. The model is evaluated using a Host Identity Protocol-based prototype on mobile devices, and is found to provide good privacy, especially when combined with a source address hiding scheme. The contribution of this paper is to present the model and results obtained from its use, including usability considerations.

Real-Time Support on IEEE 802.11 Wireless Ad-Hoc Networks: Reality vs. Theory

NASA Astrophysics Data System (ADS)

Kang, Mikyung; Kang, Dong-In; Suh, Jinwoo

The usable throughput of an IEEE 802.11 system for an application is much less than the raw bandwidth. Although 802.11b has a theoretical maximum of 11Mbps, more than half of the bandwidth is consumed by overhead leaving at most 5Mbps of usable bandwidth. Considering this characteristic, this paper proposes and analyzes a real-time distributed scheduling scheme based on the existing IEEE 802.11 wireless ad-hoc networks, using USC/ISI's Power Aware Sensing Tracking and Analysis (PASTA) hardware platform. We compared the distributed real-time scheduling scheme with the real-time polling scheme to meet deadline, and compared a measured real bandwidth with a theoretical result. The theoretical and experimental results show that the distributed scheduling scheme can guarantee real-time traffic and enhances the performance up to 74% compared with polling scheme.

Kalman filter-based EM-optical sensor fusion for needle deflection estimation.

PubMed

Jiang, Baichuan; Gao, Wenpeng; Kacher, Daniel; Nevo, Erez; Fetics, Barry; Lee, Thomas C; Jayender, Jagadeesan

2018-04-01

In many clinical procedures such as cryoablation that involves needle insertion, accurate placement of the needle's tip at the desired target is the major issue for optimizing the treatment and minimizing damage to the neighboring anatomy. However, due to the interaction force between the needle and tissue, considerable error in intraoperative tracking of the needle tip can be observed as needle deflects. In this paper, measurements data from an optical sensor at the needle base and a magnetic resonance (MR) gradient field-driven electromagnetic (EM) sensor placed 10 cm from the needle tip are used within a model-integrated Kalman filter-based sensor fusion scheme. Bending model-based estimations and EM-based direct estimation are used as the measurement vectors in the Kalman filter, thus establishing an online estimation approach. Static tip bending experiments show that the fusion method can reduce the mean error of the tip position estimation from 29.23 mm of the optical sensor-based approach to 3.15 mm of the fusion-based approach and from 39.96 to 6.90 mm, at the MRI isocenter and the MRI entrance, respectively. This work established a novel sensor fusion scheme that incorporates model information, which enables real-time tracking of needle deflection with MRI compatibility, in a free-hand operating setup.

Intercomparison of mid latitude storm diagnostics (IMILAST)

NASA Astrophysics Data System (ADS)

Neu, U.

2009-04-01

Diagnostics of the observed and projection of the future changes of extratropical storms are a key issue e.g. for insurance companies, risk management and adaptation planning. Storm-associated damages are amongst the highest losses due to natural disasters in the mid-latitudes. Therefore the knowledge of the future variability and change in extratropical cyclone frequency, intensity and track locations is crucial for the strategic planning and minimization of the disaster impacts. Future changes in the total number of storms might be small but major signals could occur in the characteristics of cyclone life cycle such as intensity, life time, track locations. The quantification of such trends is not independent from the methodologies for storm track detection applied to observational data and models. Comparison of differences in cyclone characteristics obtained using different methods from a single data set may be as large as or even exceed the differences between the results derived from different data sets using a single methodology. Even more, the metrics used become particularly sensitive, resulting in the fact that scientific studies may find seemingly contradictory results based on the same datasets. For users of storm track analyses and projections the results are very difficult to interprete. Thus, it would be very helpful if the research community would provide information in a kind of "handbook" which contains definitions and a description of the available different identification and tracking schemes as well as of the parameters used for the quantification of cyclone activity. It cannot be expected that there is an optimum or standard scheme that fulfills all needs. Rather, a proper knowledge about advantages and restrictions of different schemes must be obtained to be able to provide a synthesis of results rather than puzzling the scientific and the general public with apparently contradicing statements. The project IMILAST aims at providing a systematic intercomparison of different methodologies and a comprehensive assessment of all types of uncertainties inherent in the mid-latitudinal storm tracking by comparing different methodologies with respect to data of different resolution (time and space) and limited areas, for both cyclone identification and cyclone tracking respectively.

Stability control of a flexible maneuverable tethered space net robot

NASA Astrophysics Data System (ADS)

Zhang, Fan; Huang, Panfeng

2018-04-01

As a promising solution for active space debris capture and removal, a maneuverable Tethered Space Net Robot (TSNR) is proposed as an improved Space Tethered Net (TSN). In addition to the advantages inherit to the TSN, the TSNR's maneuverability expands the capture's potential. However, oscillations caused by the TSNR's flexibility and elasticity of make higher requests of the control scheme. Based on the dynamics model, a modified adaptive super-twisting sliding mode control scheme is proposed in this paper for TSNR stability control. The proposed continuous control force can effectively suppress oscillations. Theoretical verification and numerical simulations demonstrate that the desired trajectory can be tracked steadily and efficiently by employing the proposed control scheme.

Learning Collaborative Sparse Representation for Grayscale-Thermal Tracking.

PubMed

Li, Chenglong; Cheng, Hui; Hu, Shiyi; Liu, Xiaobai; Tang, Jin; Lin, Liang

2016-09-27

Integrating multiple different yet complementary feature representations has been proved to be an effective way for boosting tracking performance. This paper investigates how to perform robust object tracking in challenging scenarios by adaptively incorporating information from grayscale and thermal videos, and proposes a novel collaborative algorithm for online tracking. In particular, an adaptive fusion scheme is proposed based on collaborative sparse representation in Bayesian filtering framework. We jointly optimize sparse codes and the reliable weights of different modalities in an online way. In addition, this work contributes a comprehensive video benchmark, which includes 50 grayscale-thermal sequences and their ground truth annotations for tracking purpose. The videos are with high diversity and the annotations were finished by one single person to guarantee consistency. Extensive experiments against other stateof- the-art trackers with both grayscale and grayscale-thermal inputs demonstrate the effectiveness of the proposed tracking approach. Through analyzing quantitative results, we also provide basic insights and potential future research directions in grayscale-thermal tracking.

Improved hurricane forecasting from a variational bogus and ozone data assimilation (BODA) scheme: case study

NASA Astrophysics Data System (ADS)

Liu, Yin; Zhang, Wei

2016-12-01

This study develops a proper way to incorporate Atmospheric Infrared Sounder (AIRS) ozone data into the bogus data assimilation (BDA) initialization scheme for improving hurricane prediction. First, the observation operator at some model levels with the highest correlation coefficients is established to assimilate AIRS ozone data based on the correlation between total column ozone and potential vorticity (PV) ranging from 400 to 50 hPa level. Second, AIRS ozone data act as an augmentation to a BDA procedure using a four-dimensional variational (4D-Var) data assimilation system. Case studies of several hurricanes are performed to demonstrate the effectiveness of the bogus and ozone data assimilation (BODA) scheme. The statistical result indicates that assimilating AIRS ozone data at 4, 5, or 6 model levels can produce a significant improvement in hurricane track and intensity prediction, with reasonable computation time for the hurricane initialization. Moreover, a detailed analysis of how BODA scheme affects hurricane prediction is conducted for Hurricane Earl (2010). It is found that the new scheme developed in this study generates significant adjustments in the initial conditions (ICs) from the lower levels to the upper levels, compared with the BDA scheme. With the BODA scheme, hurricane development is found to be much more sensitive to the number of ozone data assimilation levels. In particular, the experiment with the assimilation of AIRS ozone data at proper number of model levels shows great capabilities in reproducing the intensity and intensity changes of Hurricane Earl, as well as improve the track prediction. These results suggest that AIRS ozone data convey valuable meteorological information in the upper troposphere, which can be assimilated into a numerical model to improve hurricane initialization when the low-level bogus data are included.

Indirect adaptive fuzzy fault-tolerant tracking control for MIMO nonlinear systems with actuator and sensor failures.

PubMed

Bounemeur, Abdelhamid; Chemachema, Mohamed; Essounbouli, Najib

2018-05-10

In this paper, an active fuzzy fault tolerant tracking control (AFFTTC) scheme is developed for a class of multi-input multi-output (MIMO) unknown nonlinear systems in the presence of unknown actuator faults, sensor failures and external disturbance. The developed control scheme deals with four kinds of faults for both sensors and actuators. The bias, drift, and loss of accuracy additive faults are considered along with the loss of effectiveness multiplicative fault. A fuzzy adaptive controller based on back-stepping design is developed to deal with actuator failures and unknown system dynamics. However, an additional robust control term is added to deal with sensor faults, approximation errors, and external disturbances. Lyapunov theory is used to prove the stability of the closed loop system. Numerical simulations on a quadrotor are presented to show the effectiveness of the proposed approach. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Spatially Common Sparsity Based Adaptive Channel Estimation and Feedback for FDD Massive MIMO

NASA Astrophysics Data System (ADS)

Gao, Zhen; Dai, Linglong; Wang, Zhaocheng; Chen, Sheng

2015-12-01

This paper proposes a spatially common sparsity based adaptive channel estimation and feedback scheme for frequency division duplex based massive multi-input multi-output (MIMO) systems, which adapts training overhead and pilot design to reliably estimate and feed back the downlink channel state information (CSI) with significantly reduced overhead. Specifically, a non-orthogonal downlink pilot design is first proposed, which is very different from standard orthogonal pilots. By exploiting the spatially common sparsity of massive MIMO channels, a compressive sensing (CS) based adaptive CSI acquisition scheme is proposed, where the consumed time slot overhead only adaptively depends on the sparsity level of the channels. Additionally, a distributed sparsity adaptive matching pursuit algorithm is proposed to jointly estimate the channels of multiple subcarriers. Furthermore, by exploiting the temporal channel correlation, a closed-loop channel tracking scheme is provided, which adaptively designs the non-orthogonal pilot according to the previous channel estimation to achieve an enhanced CSI acquisition. Finally, we generalize the results of the multiple-measurement-vectors case in CS and derive the Cramer-Rao lower bound of the proposed scheme, which enlightens us to design the non-orthogonal pilot signals for the improved performance. Simulation results demonstrate that the proposed scheme outperforms its counterparts, and it is capable of approaching the performance bound.

Layered data association using graph-theoretic formulation with applications to tennis ball tracking in monocular sequences.

PubMed

Yan, Fei; Christmas, William; Kittler, Josef

2008-10-01

In this paper, we propose a multilayered data association scheme with graph-theoretic formulation for tracking multiple objects that undergo switching dynamics in clutter. The proposed scheme takes as input object candidates detected in each frame. At the object candidate level, "tracklets'' are "grown'' from sets of candidates that have high probabilities of containing only true positives. At the tracklet level, a directed and weighted graph is constructed, where each node is a tracklet, and the edge weight between two nodes is defined according to the "compatibility'' of the two tracklets. The association problem is then formulated as an all-pairs shortest path (APSP) problem in this graph. Finally, at the path level, by analyzing the APSPs, all object trajectories are identified, and track initiation and track termination are automatically dealt with. By exploiting a special topological property of the graph, we have also developed a more efficient APSP algorithm than the general-purpose ones. The proposed data association scheme is applied to tennis sequences to track tennis balls. Experiments show that it works well on sequences where other data association methods perform poorly or fail completely.

Stabilization and tracking control of X-Z inverted pendulum with sliding-mode control.

PubMed

Wang, Jia-Jun

2012-11-01

X-Z inverted pendulum is a new kind of inverted pendulum which can move with the combination of the vertical and horizontal forces. Through a new transformation, the X-Z inverted pendulum is decomposed into three simple models. Based on the simple models, sliding-mode control is applied to stabilization and tracking control of the inverted pendulum. The performance of the sliding mode control is compared with that of the PID control. Simulation results show that the design scheme of sliding-mode control is effective for the stabilization and tracking control of the X-Z inverted pendulum. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Hurricane track forecast cones from fluctuations

PubMed Central

Meuel, T.; Prado, G.; Seychelles, F.; Bessafi, M.; Kellay, H.

2012-01-01

Trajectories of tropical cyclones may show large deviations from predicted tracks leading to uncertainty as to their landfall location for example. Prediction schemes usually render this uncertainty by showing track forecast cones representing the most probable region for the location of a cyclone during a period of time. By using the statistical properties of these deviations, we propose a simple method to predict possible corridors for the future trajectory of a cyclone. Examples of this scheme are implemented for hurricane Ike and hurricane Jimena. The corridors include the future trajectory up to at least 50 h before landfall. The cones proposed here shed new light on known track forecast cones as they link them directly to the statistics of these deviations. PMID:22701776

Deployment Design of Wireless Sensor Network for Simple Multi-Point Surveillance of a Moving Target

PubMed Central

Tsukamoto, Kazuya; Ueda, Hirofumi; Tamura, Hitomi; Kawahara, Kenji; Oie, Yuji

2009-01-01

In this paper, we focus on the problem of tracking a moving target in a wireless sensor network (WSN), in which the capability of each sensor is relatively limited, to construct large-scale WSNs at a reasonable cost. We first propose two simple multi-point surveillance schemes for a moving target in a WSN and demonstrate that one of the schemes can achieve high tracking probability with low power consumption. In addition, we examine the relationship between tracking probability and sensor density through simulations, and then derive an approximate expression representing the relationship. As the results, we present guidelines for sensor density, tracking probability, and the number of monitoring sensors that satisfy a variety of application demands. PMID:22412326

Improved scheme for Cross-track Infrared Sounder geolocation assessment and optimization

NASA Astrophysics Data System (ADS)

Wang, Likun; Zhang, Bin; Tremblay, Denis; Han, Yong

2017-01-01

An improved scheme for Cross-track Infrared Sounder (CrIS) geolocation assessment for all scan angles (from -48.5° to 48.5°) is developed in this study. The method uses spatially collocated radiance measurements from the Visible Infrared Imaging Radiometer Suite (VIIRS) image band I5 to evaluate the geolocation performance of the CrIS Sensor Data Records (SDR) by taking advantage of its high spatial resolution (375 m at nadir) and accurate geolocation. The basic idea is to perturb CrIS line-of-sight vectors along the in-track and cross-track directions to find a position where CrIS and VIIRS data matches more closely. The perturbation angles at this best matched position are then used to evaluate the CrIS geolocation accuracy. More importantly, the new method is capable of performing postlaunch on-orbit geometric calibration by optimizing mapping angle parameters based on the assessment results and thus can be further extended to the following CrIS sensors on new satellites. Finally, the proposed method is employed to evaluate the CrIS geolocation accuracy on current Suomi National Polar-orbiting Partnership satellite. The error characteristics are revealed along the scan positions in the in-track and cross-track directions. It is found that there are relatively large errors ( 4 km) in the cross-track direction close to the end of scan positions. With newly updated mapping angles, the geolocation accuracy is greatly improved for all scan positions (less than 0.3 km). This makes CrIS and VIIRS spatially align together and thus benefits the application that needs combination of CrIS and VIIRS measurements and products.

Intelligent robust tracking control for a class of uncertain strict-feedback nonlinear systems.

PubMed

Chang, Yeong-Chan

2009-02-01

This paper addresses the problem of designing robust tracking controls for a large class of strict-feedback nonlinear systems involving plant uncertainties and external disturbances. The input and virtual input weighting matrices are perturbed by bounded time-varying uncertainties. An adaptive fuzzy-based (or neural-network-based) dynamic feedback tracking controller will be developed such that all the states and signals of the closed-loop system are bounded and the trajectory tracking error should be as small as possible. First, the adaptive approximators with linearly parameterized models are designed, and a partitioned procedure with respect to the developed adaptive approximators is proposed such that the implementation of the fuzzy (or neural network) basis functions depends only on the state variables but does not depend on the tuning approximation parameters. Furthermore, we extend to design the nonlinearly parameterized adaptive approximators. Consequently, the intelligent robust tracking control schemes developed in this paper possess the properties of computational simplicity and easy implementation. Finally, simulation examples are presented to demonstrate the effectiveness of the proposed control algorithms.

Magentic Cell labeling of primary and stem cell-derived pig hepatocytes for MRI-based cell tracking of heptocytes transplantation

USDA-ARS?s Scientific Manuscript database

Pig hepatocytes are an important investigational tool for optimizing hepatocyte transplantation schemes in both allogeneic and xenogeneic transplant scenarios. MRI can be used to serially monitor the transplanted cells, but only if the hepatocytes can be labeled with a magnetic particle. In this wo...

Ground-based telescope pointing and tracking optimization using a neural controller.

PubMed

Mancini, D; Brescia, M; Schipani, P

2003-01-01

Neural network models (NN) have emerged as important components for applications of adaptive control theories. Their basic generalization capability, based on acquired knowledge, together with execution rapidity and correlation ability between input stimula, are basic attributes to consider NN as an extremely powerful tool for on-line control of complex systems. By a control system point of view, not only accuracy and speed, but also, in some cases, a high level of adaptation capability is required in order to match all working phases of the whole system during its lifetime. This is particularly remarkable for a new generation ground-based telescope control system. Infact, strong changes in terms of system speed and instantaneous position error tolerance are necessary, especially in case of trajectory disturb induced by wind shake. The classical control scheme adopted in such a system is based on the proportional integral (PI) filter, already applied and implemented on a large amount of new generation telescopes, considered as a standard in this technological environment. In this paper we introduce the concept of a new approach, the neural variable structure proportional integral, (NVSPI), related to the implementation of a standard multi layer perceptron network in new generation ground-based Alt-Az telescope control systems. Its main purpose is to improve adaptive capability of the Variable structure proportional integral model, an already innovative control scheme recently introduced by authors [Proc SPIE (1997)], based on a modified version of classical PI control model, in terms of flexibility and accuracy of the dynamic response range also in presence of wind noise effects. The realization of a powerful well tested and validated telescope model simulation system allowed the possibility to directly compare performances of the two control schemes on simulated tracking trajectories, revealing extremely encouraging results in terms of NVSPI control robustness and reliability.

Robust GPS carrier tracking under ionospheric scintillation

NASA Astrophysics Data System (ADS)

Susi, M.; Andreotti, M.; Aquino, M. H.; Dodson, A.

2013-12-01

Small scale irregularities present in the ionosphere can induce fast and unpredictable fluctuations of Radio Frequency (RF) signal phase and amplitude. This phenomenon, known as scintillation, can degrade the performance of a GPS receiver leading to cycle slips, increasing the tracking error and also producing a complete loss of lock. In the most severe scenarios, if the tracking of multiple satellites links is prevented, outages in the GPS service can also occur. In order to render a GPS receiver more robust under scintillation, particular attention should be dedicated to the design of the carrier tracking stage, that is the receiver's part most sensitive to these types of phenomenon. This paper exploits the reconfigurability and flexibility of a GPS software receiver to develop a tracking algorithm that is more robust under ionospheric scintillation. For this purpose, first of all, the scintillation level is monitored in real time. Indeed the carrier phase and the post correlation terms obtained by the PLL (Phase Locked Loop) are used to estimate phi60 and S4 [1], the scintillation indices traditionally used to quantify the level of phase and amplitude scintillations, as well as p and T, the spectral parameters of the fluctuations PSD. The effectiveness of the scintillation parameter computation is confirmed by comparing the values obtained by the software receiver and the ones provided by a commercial scintillation monitoring, i.e. the Septentrio PolarxS receiver [2]. Then the above scintillation parameters and the signal carrier to noise density are exploited to tune the carrier tracking algorithm. In case of very weak signals the FLL (Frequency Locked Loop) scheme is selected in order to maintain the signal lock. Otherwise an adaptive bandwidth Phase Locked Loop (PLL) scheme is adopted. The optimum bandwidth for the specific scintillation scenario is evaluated in real time by exploiting the Conker formula [1] for the tracking jitter estimation. The performance of the proposed tracking scheme is assessed by using both simulated and real data. Real data have been collected in Vietnam by using a USRP (Universal Software Radio Peripheral) N210 front end connected to a rubidium oscillator. Selected events are exploited in order to challenge the algorithm with strong phase and amplitude variations. Moreover, simulated data have been collected by using the prototype of a digital front end developed by Novatel, namely the 'Firehose'. Since the latter includes a TCXO oscillator, the proposed tracking scheme is also opportunely modified to take in account the clock error contribution. References 1. R.S., Conker, M. B. El-Arini, C. J. Hegarty, and T. Hsiao, Modelling the effects of ionospheric scintillation on GPS/satellite-based augmentation system availability. Radio Sci., 38, 1, 1001, doi: 10.1029/2000RS002604, 2003. 2. B. Bougard et al, 'CIGALA: Challenging the Solar Maximum in Brazil with PolaRxS,' ION GNSS, Portland, Sept. 2011.

Generic framework for vessel detection and tracking based on distributed marine radar image data

NASA Astrophysics Data System (ADS)

Siegert, Gregor; Hoth, Julian; Banyś, Paweł; Heymann, Frank

2018-04-01

Situation awareness is understood as a key requirement for safe and secure shipping at sea. The primary sensor for maritime situation assessment is still the radar, with the AIS being introduced as supplemental service only. In this article, we present a framework to assess the current situation picture based on marine radar image processing. Essentially, the framework comprises a centralized IMM-JPDA multi-target tracker in combination with a fully automated scheme for track management, i.e., target acquisition and track depletion. This tracker is conditioned on measurements extracted from radar images. To gain a more robust and complete situation picture, we are exploiting the aspect angle diversity of multiple marine radars, by fusing them a priori to the tracking process. Due to the generic structure of the proposed framework, different techniques for radar image processing can be implemented and compared, namely the BLOB detector and SExtractor. The overall framework performance in terms of multi-target state estimation will be compared for both methods based on a dedicated measurement campaign in the Baltic Sea with multiple static and mobile targets given.

H∞ output tracking control of uncertain and disturbed nonlinear systems based on neural network model

NASA Astrophysics Data System (ADS)

Li, Chengcheng; Li, Yuefeng; Wang, Guanglin

2017-07-01

The work presented in this paper seeks to address the tracking problem for uncertain continuous nonlinear systems with external disturbances. The objective is to obtain a model that uses a reference-based output feedback tracking control law. The control scheme is based on neural networks and a linear difference inclusion (LDI) model, and a PDC structure and H∞ performance criterion are used to attenuate external disturbances. The stability of the whole closed-loop model is investigated using the well-known quadratic Lyapunov function. The key principles of the proposed approach are as follows: neural networks are first used to approximate nonlinearities, to enable a nonlinear system to then be represented as a linearised LDI model. An LMI (linear matrix inequality) formula is obtained for uncertain and disturbed linear systems. This formula enables a solution to be obtained through an interior point optimisation method for some nonlinear output tracking control problems. Finally, simulations and comparisons are provided on two practical examples to illustrate the validity and effectiveness of the proposed method.

A robust H∞-tracking design for uncertain Takagi-Sugeno fuzzy systems with unknown premise variables using descriptor redundancy approach

NASA Astrophysics Data System (ADS)

Hassan Asemani, Mohammad; Johari Majd, Vahid

2015-12-01

This paper addresses a robust H∞ fuzzy observer-based tracking design problem for uncertain Takagi-Sugeno fuzzy systems with external disturbances. To have a practical observer-based controller, the premise variables of the system are assumed to be not measurable in general, which leads to a more complex design process. The tracker is synthesised based on a fuzzy Lyapunov function approach and non-parallel distributed compensation (non-PDC) scheme. Using the descriptor redundancy approach, the robust stability conditions are derived in the form of strict linear matrix inequalities (LMIs) even in the presence of uncertainties in the system, input, and output matrices simultaneously. Numerical simulations are provided to show the effectiveness of the proposed method.

Passive tracking scheme for a single stationary observer

NASA Astrophysics Data System (ADS)

Chan, Y. T.; Rea, Terry

2001-08-01

While there are many techniques for Bearings-Only Tracking (BOT) in the ocean environment, they do not apply directly to the land situation. Generally, for tactical reasons, the land observer platform is stationary; but, it has two sensors, visual and infrared, for measuring bearings and a laser range finder (LRF) for measuring range. There is a requirement to develop a new BOT data fusion scheme that fuses the two sets of bearing readings, and together with a single LRF measurement, produces a unique track. This paper first develops a parameterized solution for the target speeds, prior to the occurrence of the LRF measurement, when the problem is unobservable. At, and after, the LRF measurement, a BOT formulated as a least squares (LS) estimator then produces a unique LS estimate of the target states. Bearing readings from the other sensor serve as instrumental variables in a data fusion setting to eliminate the bias in the BOT estimator. The result is recursive, unbiased and decentralized data fusion scheme. Results from two simulation experiments have corroborated the theoretical development and show that the scheme is optimal.

The research-based learning development model as a foundation in generating research ideas

NASA Astrophysics Data System (ADS)

Puspitasari, Poppy; Dika, Johan Wayan; Permanasari, Avita Ayu

2017-09-01

Research Based Learning is learning that requires students to have exploration skills related to their field. By doing so, students are encouraged to create skills in managing the higherorder of abstraction in order to resolve any problems encountered. The study was done to make the schemes and sequences of learning needed by the students in order to help them to explore first ideas for their upcoming thesis. The scheme development resulted in five stages consisting of 1) identifying research journals; 2) track the development of research topics; 3) reviewing research journals; 4) discussing the results of the reviews; and 5) formulating the research topic. Furthermore, the application of 5 the stage receives percentage agreement of students was 85.9%. Therefore, it can be noted that the application of the scheme is definitely a help for students to find research ideas.

Joint-space adaptive control of a 6 DOF end-effector with closed-kinematic chain mechanism

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Zhou, Zhen-Lei

1989-01-01

The development is presented for a joint-space adaptive scheme that controls the joint position of a six-degree-of-freedom (DOF) robot end-effector performing fine and precise motion within a very limited workspace. The end-effector was built to study autonomous assembly of NASA hardware in space. The design of the adaptive controller is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method. In the development, it is assumed that the end-effector performs slowly varying motion. Computer simulation is performed to investigate the performance of the developed control scheme on position control of the end-effector. Simulation results manifest that the adaptive control scheme provides excellent tracking of several test paths.

Adaptive control strategies for flexible robotic arm

NASA Technical Reports Server (NTRS)

Bialasiewicz, Jan T.

1993-01-01

The motivation of this research came about when a neural network direct adaptive control scheme was applied to control the tip position of a flexible robotic arm. Satisfactory control performance was not attainable due to the inherent non-minimum phase characteristics of the flexible robotic arm tip. Most of the existing neural network control algorithms are based on the direct method and exhibit very high sensitivity if not unstable closed-loop behavior. Therefore a neural self-tuning control (NSTC) algorithm is developed and applied to this problem and showed promising results. Simulation results of the NSTC scheme and the conventional self-tuning (STR) control scheme are used to examine performance factors such as control tracking mean square error, estimation mean square error, transient response, and steady state response.

Improvement on Gabor order tracking and objective comparison with Vold Kalman filtering order tracking

NASA Astrophysics Data System (ADS)

Pan, Min-Chun; Liao, Shiu-Wei; Chiu, Chun-Chin

2007-02-01

The waveform-reconstruction schemes of order tracking (OT) such as the Gabor and the Vold-Kalman filtering (VKF) techniques can extract specific order and/or spectral components in addition to characterizing the processed signal in rpm-frequency domain. The study first improves the Gabor OT (GOT) technique to handle the order-crossing problem, and then objectively compares the features of the improved GOT scheme and the angular-displacement VKF OT technique. It is numerically observed the improved method performs less accurately than the VKF_OT scheme at the crossing occurrences, but without end effect in the reconstructed waveform. As OT is not exact science, it may well be that the decrease in computation time can justify the reduced accuracy. The characterisation and discrimination of riding noise with crossing orders emitted by an electrical scooter are conducted as an example of the application.

Interaction between a railway track and uniformly moving tandem wheels

NASA Astrophysics Data System (ADS)

Belotserkovskiy, P. M.

2006-12-01

Interaction among loaded wheels via railway track is studied. The vertical parametric oscillations of an infinite row of identical equally spaced wheels, bearing constant load and uniformly moving over a railway track, are calculated by means of Fourier series technique. If the distance between two consecutive wheels is big enough, then one can disregard their interaction via the railway track and consider every wheel as a single one. In this case, however, the Fourier series technique represents an appropriate computation time-saving approximation to a Fourier integral transformation technique that describes the oscillations of a single moving wheel. Two schemes are considered. In the first scheme, every wheel bears the same load. In the second one, consecutive wheels bear contrarily directed loads of the same magnitude. The second scheme leads to simpler calculations and so is recommended to model the wheel-track interaction. The railway track periodicity due to sleeper spacing is taken into account. Each period is the track segment between two adjacent sleepers. A partial differential equation with constant coefficients governs the vertical oscillations of each segment. Boundary conditions bind the oscillations of two neighbour segments and provide periodicity to the track. The shear deformation in the rail cross-section strongly influences the parametric oscillations. It also causes discontinuity of the rail centre-line slope at any point, where a concentrated transverse force is applied. Therefore, Timoshenko beam properties with respect to the topic of this paper are discussed. Interaction between a railway track and a bogie moving at moderate speed is studied. The study points to influence of the bogie frame oscillations on variation in the wheel-rail contact force over the sleeper span. The simplified bogie model considered includes only the primary suspension. A static load applied to the bogie frame centre presents the vehicle body.

Neural-network-based state feedback control of a nonlinear discrete-time system in nonstrict feedback form.

PubMed

Jagannathan, Sarangapani; He, Pingan

2008-12-01

In this paper, a suite of adaptive neural network (NN) controllers is designed to deliver a desired tracking performance for the control of an unknown, second-order, nonlinear discrete-time system expressed in nonstrict feedback form. In the first approach, two feedforward NNs are employed in the controller with tracking error as the feedback variable whereas in the adaptive critic NN architecture, three feedforward NNs are used. In the adaptive critic architecture, two action NNs produce virtual and actual control inputs, respectively, whereas the third critic NN approximates certain strategic utility function and its output is employed for tuning action NN weights in order to attain the near-optimal control action. Both the NN control methods present a well-defined controller design and the noncausal problem in discrete-time backstepping design is avoided via NN approximation. A comparison between the controller methodologies is highlighted. The stability analysis of the closed-loop control schemes is demonstrated. The NN controller schemes do not require an offline learning phase and the NN weights can be initialized at zero or random. Results show that the performance of the proposed controller schemes is highly satisfactory while meeting the closed-loop stability.

Optimal control of nonlinear continuous-time systems in strict-feedback form.

PubMed

Zargarzadeh, Hassan; Dierks, Travis; Jagannathan, Sarangapani

2015-10-01

This paper proposes a novel optimal tracking control scheme for nonlinear continuous-time systems in strict-feedback form with uncertain dynamics. The optimal tracking problem is transformed into an equivalent optimal regulation problem through a feedforward adaptive control input that is generated by modifying the standard backstepping technique. Subsequently, a neural network-based optimal control scheme is introduced to estimate the cost, or value function, over an infinite horizon for the resulting nonlinear continuous-time systems in affine form when the internal dynamics are unknown. The estimated cost function is then used to obtain the optimal feedback control input; therefore, the overall optimal control input for the nonlinear continuous-time system in strict-feedback form includes the feedforward plus the optimal feedback terms. It is shown that the estimated cost function minimizes the Hamilton-Jacobi-Bellman estimation error in a forward-in-time manner without using any value or policy iterations. Finally, optimal output feedback control is introduced through the design of a suitable observer. Lyapunov theory is utilized to show the overall stability of the proposed schemes without requiring an initial admissible controller. Simulation examples are provided to validate the theoretical results.

High precision tracking control of a servo gantry with dynamic friction compensation.

PubMed

Zhang, Yangming; Yan, Peng; Zhang, Zhen

2016-05-01

This paper is concerned with the tracking control problem of a voice coil motor (VCM) actuated servo gantry system. By utilizing an adaptive control technique combined with a sliding mode approach, an adaptive sliding mode control (ASMC) law with friction compensation scheme is proposed in presence of both frictions and external disturbances. Based on the LuGre dynamic friction model, a dual-observer structure is used to estimate the unmeasurable friction state, and an adaptive control law is synthesized to effectively handle the unknown friction model parameters as well as the bound of the disturbances. Moreover, the proposed control law is also implemented on a VCM servo gantry system for motion tracking. Simulations and experimental results demonstrate good tracking performance, which outperform traditional control approaches. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Finite-Time Attitude Tracking Control for Spacecraft Using Terminal Sliding Mode and Chebyshev Neural Network.

PubMed

An-Min Zou; Kumar, K D; Zeng-Guang Hou; Xi Liu

2011-08-01

A finite-time attitude tracking control scheme is proposed for spacecraft using terminal sliding mode and Chebyshev neural network (NN) (CNN). The four-parameter representations (quaternion) are used to describe the spacecraft attitude for global representation without singularities. The attitude state (i.e., attitude and velocity) error dynamics is transformed to a double integrator dynamics with a constraint on the spacecraft attitude. With consideration of this constraint, a novel terminal sliding manifold is proposed for the spacecraft. In order to guarantee that the output of the NN used in the controller is bounded by the corresponding bound of the approximated unknown function, a switch function is applied to generate a switching between the adaptive NN control and the robust controller. Meanwhile, a CNN, whose basis functions are implemented using only desired signals, is introduced to approximate the desired nonlinear function and bounded external disturbances online, and the robust term based on the hyperbolic tangent function is applied to counteract NN approximation errors in the adaptive neural control scheme. Most importantly, the finite-time stability in both the reaching phase and the sliding phase can be guaranteed by a Lyapunov-based approach. Finally, numerical simulations on the attitude tracking control of spacecraft in the presence of an unknown mass moment of inertia matrix, bounded external disturbances, and control input constraints are presented to demonstrate the performance of the proposed controller.

Modeling and sensory feedback control for space manipulators

NASA Technical Reports Server (NTRS)

Masutani, Yasuhiro; Miyazaki, Fumio; Arimoto, Suguru

1989-01-01

The positioning control problem of the endtip of space manipulators whose base are uncontrolled is examined. In such a case, the conventional control method for industrial robots based on a local feedback at each joint is not applicable, because a solution of the joint displacements that satisfies a given position and orientation of the endtip is not decided uniquely. A sensory feedback control scheme for space manipulators based on an artificial potential defined in a task-oriented coordinates is proposed. Using this scheme, the controller can easily determine the input torque of each joint from the data of an external sensor such as a visual device. Since the external sensor is mounted on the unfixed base, the manipulator must track the moving image of the target in sensor coordinates. Moreover the dynamics of the base and the manipulator are interactive. However, the endtip is proven to asymptotically approach the stationary target in an inertial coordinate frame by the Liapunov's method. Finally results of computer simulation for a 6-link space manipulator model show the effectiveness of the proposed scheme.

Disturbance observer-based fuzzy control for flexible spacecraft combined attitude & sun tracking system

NASA Astrophysics Data System (ADS)

Chak, Yew-Chung; Varatharajoo, Renuganth; Razoumny, Yury

2017-04-01

This paper investigates the combined attitude and sun-tracking control problem in the presence of external disturbances and internal disturbances, caused by flexible appendages. A new method based on Pythagorean trigonometric identity is proposed to drive the solar arrays. Using the control input and attitude output, a disturbance observer is developed to estimate the lumped disturbances consisting of the external and internal disturbances, and then compensated by the disturbance observer-based controller via a feed-forward control. The stability analysis demonstrates that the desired attitude trajectories are followed even in the presence of external disturbance and internal flexible modes. The main features of the proposed control scheme are that it can be designed separately and incorporated into the baseline controller to form the observer-based control system, and the combined attitude and sun-tracking control is achieved without the conventional attitude actuators. The attitude and sun-tracking performance using the proposed strategy is evaluated and validated through numerical simulations. The proposed control solution can serve as a fail-safe measure in case of failure of the conventional attitude actuator, which triggered by automatic reconfiguration of the attitude control components.

75 FR 68568 - Port Access Route Study: In the Bering Strait

Federal Register 2010, 2011, 2012, 2013, 2014

2010-11-08

... traffic separation scheme and the adjacent coast, to be used in accordance with the provisions of Rule 10... boundary. Traffic Separation Scheme (TSS) means a routing measure aimed at the separation of opposing... includes traffic separation schemes, two-way routes, recommended tracks, areas to be avoided, no anchoring...

76 FR 35805 - Port Access Route Study: The Approaches to San Francisco

Federal Register 2010, 2011, 2012, 2013, 2014

2011-06-20

... boundary. Traffic Separation Scheme or TSS means a routing measure aimed at the separation of opposing... includes traffic separation schemes, two-way routes, recommended tracks, areas to be avoided, no anchoring... study in February, 2011. The study area encompassed the traffic separation scheme off San Francisco and...

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

NASA Astrophysics Data System (ADS)

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

2018-03-01

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

Direct adaptive control of manipulators in Cartesian space

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

A new adaptive-control scheme for direct control of manipulator end effector to achieve trajectory tracking in Cartesian space is developed in this article. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of adaptive feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for on-line implementation with high sampling rates. The control scheme is applied to a two-link manipulator for illustration.

Robust adaptive fuzzy tracking control for pure-feedback stochastic nonlinear systems with input constraints.

PubMed

Wang, Huanqing; Chen, Bing; Liu, Xiaoping; Liu, Kefu; Lin, Chong

2013-12-01

This paper is concerned with the problem of adaptive fuzzy tracking control for a class of pure-feedback stochastic nonlinear systems with input saturation. To overcome the design difficulty from nondifferential saturation nonlinearity, a smooth nonlinear function of the control input signal is first introduced to approximate the saturation function; then, an adaptive fuzzy tracking controller based on the mean-value theorem is constructed by using backstepping technique. The proposed adaptive fuzzy controller guarantees that all signals in the closed-loop system are bounded in probability and the system output eventually converges to a small neighborhood of the desired reference signal in the sense of mean quartic value. Simulation results further illustrate the effectiveness of the proposed control scheme.

On the calculation of air flow rates to ventilate closed-type stations in subway with the double-track tunnel

NASA Astrophysics Data System (ADS)

Kiyanitsa, LA

2018-03-01

Metro is not only the most promising kind of public transport but also an important part of infrastructure in a modern city. As a place where large groups of people gather, subway is to ensure the required air exchange at the passenger platforms of the stations. The air flow rate for airing the stations is also determined based on the required temperature, humidity and MAC of gases. The present study estimates the required air flow rate at the passenger platform of the closed-type subway station with the double-track tunnel given the standard air temperature, humidity and gas concentration, as well as based on the condition of the specified air flow feed and air changes per hour. The article proposes the scheme of air recirculation from the double-track tunnel to the station.

Intelligent robust control for uncertain nonlinear time-varying systems and its application to robotic systems.

PubMed

Chang, Yeong-Chan

2005-12-01

This paper addresses the problem of designing adaptive fuzzy-based (or neural network-based) robust controls for a large class of uncertain nonlinear time-varying systems. This class of systems can be perturbed by plant uncertainties, unmodeled perturbations, and external disturbances. Nonlinear H(infinity) control technique incorporated with adaptive control technique and VSC technique is employed to construct the intelligent robust stabilization controller such that an H(infinity) control is achieved. The problem of the robust tracking control design for uncertain robotic systems is employed to demonstrate the effectiveness of the developed robust stabilization control scheme. Therefore, an intelligent robust tracking controller for uncertain robotic systems in the presence of high-degree uncertainties can easily be implemented. Its solution requires only to solve a linear algebraic matrix inequality and a satisfactorily transient and asymptotical tracking performance is guaranteed. A simulation example is made to confirm the performance of the developed control algorithms.

Integrated Circuit Wear out Prediction and Recycling Detection using Radio Frequency Distinct Native Attribute Features

DTIC Science & Technology

2016-12-22

105 A.1 Main Loop ... loop monitoring for preventative maintenance rather than early replacement based on statistical projections or replacement-after- failure schemes. IC...estimates, RF-DNA may provide a means to track an IC’s physical degradation during actual use. Monitoring an IC’s degradation in a closed loop fashion

Polarization-basis tracking scheme for quantum key distribution using revealed sifted key bits.

PubMed

Ding, Yu-Yang; Chen, Wei; Chen, Hua; Wang, Chao; Li, Ya-Ping; Wang, Shuang; Yin, Zhen-Qiang; Guo, Guang-Can; Han, Zheng-Fu

2017-03-15

The calibration of the polarization basis between the transmitter and receiver is an important task in quantum key distribution. A continuously working polarization-basis tracking scheme (PBTS) will effectively promote the efficiency of the system and reduce the potential security risk when switching between the transmission and calibration modes. Here, we proposed a single-photon level continuously working PBTS using only sifted key bits revealed during an error correction procedure, without introducing additional reference light or interrupting the transmission of quantum signals. We applied the scheme to a polarization-encoding BB84 QKD system in a 50 km fiber channel, and obtained an average quantum bit error rate (QBER) of 2.32% and a standard derivation of 0.87% during 24 h of continuous operation. The stable and relatively low QBER validates the effectiveness of the scheme.

The computation of lipophilicities of ⁶⁴Cu PET systems based on a novel approach for fluctuating charges.

PubMed

Comba, Peter; Martin, Bodo; Sanyal, Avik; Stephan, Holger

2013-08-21

A QSPR scheme for the computation of lipophilicities of ⁶⁴Cu complexes was developed with a training set of 24 tetraazamacrocylic and bispidine-based Cu(II) compounds and their experimentally available 1-octanol-water distribution coefficients. A minimum number of physically meaningful parameters were used in the scheme, and these are primarily based on data available from molecular mechanics calculations, using an established force field for Cu(II) complexes and a recently developed scheme for the calculation of fluctuating atomic charges. The developed model was also applied to an independent validation set and was found to accurately predict distribution coefficients of potential ⁶⁴Cu PET (positron emission tomography) systems. A possible next step would be the development of a QSAR-based biodistribution model to track the uptake of imaging agents in different organs and tissues of the body. It is expected that such simple, empirical models of lipophilicity and biodistribution will be very useful in the design and virtual screening of positron emission tomography (PET) imaging agents.

Prediction-based Dynamic Energy Management in Wireless Sensor Networks

PubMed Central

Wang, Xue; Ma, Jun-Jie; Wang, Sheng; Bi, Dao-Wei

2007-01-01

Energy consumption is a critical constraint in wireless sensor networks. Focusing on the energy efficiency problem of wireless sensor networks, this paper proposes a method of prediction-based dynamic energy management. A particle filter was introduced to predict a target state, which was adopted to awaken wireless sensor nodes so that their sleep time was prolonged. With the distributed computing capability of nodes, an optimization approach of distributed genetic algorithm and simulated annealing was proposed to minimize the energy consumption of measurement. Considering the application of target tracking, we implemented target position prediction, node sleep scheduling and optimal sensing node selection. Moreover, a routing scheme of forwarding nodes was presented to achieve extra energy conservation. Experimental results of target tracking verified that energy-efficiency is enhanced by prediction-based dynamic energy management.

Noise reduction in urban LRT networks by combining track based solutions.

PubMed

Vogiatzis, Konstantinos; Vanhonacker, Patrick

2016-10-15

The overall objective of the Quiet-Track project is to provide step-changing track based noise mitigation and maintenance schemes for railway rolling noise in LRT (Light Rail Transit) networks. WP 4 in particular focuses on the combination of existing track based solutions to yield a global performance of at least 6dB(A). The validation was carried out using a track section in the network of Athens Metro Line 1 with an existing outside concrete slab track (RHEDA track) where high airborne rolling noise was observed. The procedure for the selection of mitigation measures is based on numerical simulations, combining WRNOISE and IMMI software tools for noise prediction with experimental determination of the required track and vehicle parameters (e.g., rail and wheel roughness). The availability of a detailed rolling noise calculation procedure allows for detailed designing of measures and of ranking individual measures. It achieves this by including the modelling of the wheel/rail source intensity and of the noise propagation with the ability to evaluate the effect of modifications at source level (e.g., grinding, rail dampers, wheel dampers, change in resiliency of wheels and/or rail fixation) and of modifications in the propagation path (absorption at the track base, noise barriers, screening). A relevant combination of existing solutions was selected in the function of the simulation results. Three distinct existing solutions were designed in detail aiming at a high rolling noise attenuation and not affecting the normal operation of the metro system: Action 1: implementation of sound absorbing precast elements (panel type) on the track bed, Action 2: implementation of an absorbing noise barrier with a height of 1.10-1.20m above rail level, and Action 3: installation of rail dampers. The selected solutions were implemented on site and the global performance was measured step by step for comparison with simulations. Copyright © 2015 Elsevier B.V. All rights reserved.

Impact of PBL and convection parameterization schemes for prediction of severe land-falling Bay of Bengal cyclones using WRF-ARW model

NASA Astrophysics Data System (ADS)

Singh, K. S.; Bhaskaran, Prasad K.

2017-12-01

This study evaluates the performance of the Advanced Research Weather Research and Forecasting (WRF-ARW) model for prediction of land-falling Bay of Bengal (BoB) tropical cyclones (TCs). Model integration was performed using two-way interactive double nested domains at 27 and 9 km resolutions. The present study comprises two major components. Firstly, the study explores the impact of five different planetary boundary layer (PBL) and six cumulus convection (CC) schemes on seven land-falling BoB TCs. A total of 85 numerical simulations were studied in detail, and the results signify that the model simulated better both the track and intensity by using a combination of Yonsei University (YSU) PBL and the old simplified Arakawa-Schubert CC scheme. Secondly, the study also investigated the model performance based on the best possible combinations of model physics on the real-time forecasts of four BoB cyclones (Phailin, Helen, Lehar, and Madi) that made landfall during 2013 based on another 15 numerical simulations. The predicted mean track error during 2013 was about 71 km, 114 km, 133 km, 148 km, and 130 km respectively from day-1 to day-5. The Root Mean Square Error (RMSE) for Minimum Central Pressure (MCP) was about 6 hPa and the same noticed for Maximum Surface Wind (MSW) was about 4.5 m s-1 noticed during the entire simulation period. In addition the study also reveals that the predicted track errors during 2013 cyclones improved respectively by 43%, 44%, and 52% from day-1 to day-3 as compared to cyclones simulated during the period 2006-2011. The improvements noticed can be attributed due to relatively better quality data that was specified for the initial mean position error (about 48 km) during 2013. Overall the study signifies that the track and intensity forecast for 2013 cyclones using the specified combinations listed in the first part of this study performed relatively better than the other NWP (Numerical Weather Prediction) models, and thereby finds application in real-time forecast.

Neural self-tuning adaptive control of non-minimum phase system

NASA Technical Reports Server (NTRS)

Ho, Long T.; Bialasiewicz, Jan T.; Ho, Hai T.

1993-01-01

The motivation of this research came about when a neural network direct adaptive control scheme was applied to control the tip position of a flexible robotic arm. Satisfactory control performance was not attainable due to the inherent non-minimum phase characteristics of the flexible robotic arm tip. Most of the existing neural network control algorithms are based on the direct method and exhibit very high sensitivity, if not unstable, closed-loop behavior. Therefore, a neural self-tuning control (NSTC) algorithm is developed and applied to this problem and showed promising results. Simulation results of the NSTC scheme and the conventional self-tuning (STR) control scheme are used to examine performance factors such as control tracking mean square error, estimation mean square error, transient response, and steady state response.

Reducing Interprocessor Dependence in Recoverable Distributed Shared Memory

NASA Technical Reports Server (NTRS)

Janssens, Bob; Fuchs, W. Kent

1994-01-01

Checkpointing techniques in parallel systems use dependency tracking and/or message logging to ensure that a system rolls back to a consistent state. Traditional dependency tracking in distributed shared memory (DSM) systems is expensive because of high communication frequency. In this paper we show that, if designed correctly, a DSM system only needs to consider dependencies due to the transfer of blocks of data, resulting in reduced dependency tracking overhead and reduced potential for rollback propagation. We develop an ownership timestamp scheme to tolerate the loss of block state information and develop a passive server model of execution where interactions between processors are considered atomic. With our scheme, dependencies are significantly reduced compared to the traditional message-passing model.

A parallelization scheme of the periodic signals tracking algorithm for isochronous mass spectrometry on GPUs

NASA Astrophysics Data System (ADS)

Chen, R. J.; Wang, M.; Yan, X. L.; Yang, Q.; Lam, Y. H.; Yang, L.; Zhang, Y. H.

2017-12-01

The periodic signals tracking algorithm has been used to determine the revolution times of ions stored in storage rings in isochronous mass spectrometry (IMS) experiments. It has been a challenge to perform real-time data analysis by using the periodic signals tracking algorithm in the IMS experiments. In this paper, a parallelization scheme of the periodic signals tracking algorithm is introduced and a new program is developed. The computing time of data analysis can be reduced by a factor of ∼71 and of ∼346 by using our new program on Tesla C1060 GPU and Tesla K20c GPU, compared to using old program on Xeon E5540 CPU. We succeed in performing real-time data analysis for the IMS experiments by using the new program on Tesla K20c GPU.

Distributed adaptive asymptotically consensus tracking control of uncertain Euler-Lagrange systems under directed graph condition.

PubMed

Wang, Wei; Wen, Changyun; Huang, Jiangshuai; Fan, Huijin

2017-11-01

In this paper, a backstepping based distributed adaptive control scheme is proposed for multiple uncertain Euler-Lagrange systems under directed graph condition. The common desired trajectory is allowed totally unknown by part of the subsystems and the linearly parameterized trajectory model assumed in currently available results is no longer needed. To compensate the effects due to unknown trajectory information, a smooth function of consensus errors and certain positive integrable functions are introduced in designing virtual control inputs. Besides, to overcome the difficulty of completely counteracting the coupling terms of distributed consensus errors and parameter estimation errors in the presence of asymmetric Laplacian matrix, extra information transmission of local parameter estimates are introduced among linked subsystem and adaptive gain technique is adopted to generate distributed torque inputs. It is shown that with the proposed distributed adaptive control scheme, global uniform boundedness of all the closed-loop signals and asymptotically output consensus tracking can be achieved. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Tracking-by-detection of surgical instruments in minimally invasive surgery via the convolutional neural network deep learning-based method.

PubMed

Zhao, Zijian; Voros, Sandrine; Weng, Ying; Chang, Faliang; Li, Ruijian

2017-12-01

Worldwide propagation of minimally invasive surgeries (MIS) is hindered by their drawback of indirect observation and manipulation, while monitoring of surgical instruments moving in the operated body required by surgeons is a challenging problem. Tracking of surgical instruments by vision-based methods is quite lucrative, due to its flexible implementation via software-based control with no need to modify instruments or surgical workflow. A MIS instrument is conventionally split into a shaft and end-effector portions, while a 2D/3D tracking-by-detection framework is proposed, which performs the shaft tracking followed by the end-effector one. The former portion is described by line features via the RANSAC scheme, while the latter is depicted by special image features based on deep learning through a well-trained convolutional neural network. The method verification in 2D and 3D formulation is performed through the experiments on ex-vivo video sequences, while qualitative validation on in-vivo video sequences is obtained. The proposed method provides robust and accurate tracking, which is confirmed by the experimental results: its 3D performance in ex-vivo video sequences exceeds those of the available state-of -the-art methods. Moreover, the experiments on in-vivo sequences demonstrate that the proposed method can tackle the difficult condition of tracking with unknown camera parameters. Further refinements of the method will refer to the occlusion and multi-instrumental MIS applications.

CMOS imager for pointing and tracking applications

NASA Technical Reports Server (NTRS)

Sun, Chao (Inventor); Pain, Bedabrata (Inventor); Yang, Guang (Inventor); Heynssens, Julie B. (Inventor)

2006-01-01

Systems and techniques to realize pointing and tracking applications with CMOS imaging devices. In general, in one implementation, the technique includes: sampling multiple rows and multiple columns of an active pixel sensor array into a memory array (e.g., an on-chip memory array), and reading out the multiple rows and multiple columns sampled in the memory array to provide image data with reduced motion artifact. Various operation modes may be provided, including TDS, CDS, CQS, a tracking mode to read out multiple windows, and/or a mode employing a sample-first-read-later readout scheme. The tracking mode can take advantage of a diagonal switch array. The diagonal switch array, the active pixel sensor array and the memory array can be integrated onto a single imager chip with a controller. This imager device can be part of a larger imaging system for both space-based applications and terrestrial applications.

Doublet Pulse Coherent Laser Radar for Tracking of Resident Space Objects

NASA Technical Reports Server (NTRS)

Prasad, Narasimha S.; Rudd, Van; Shald, Scott; Sandford, Stephen; Dimarcantonio, Albert

2014-01-01

In this paper, the development of a long range ladar system known as ExoSPEAR at NASA Langley Research Center for tracking rapidly moving resident space objects is discussed. Based on 100 W, nanosecond class, near-IR laser, this ladar system with coherent detection technique is currently being investigated for short dwell time measurements of resident space objects (RSOs) in LEO and beyond for space surveillance applications. This unique ladar architecture is configured using a continuously agile doublet-pulse waveform scheme coupled to a closed-loop tracking and control loop approach to simultaneously achieve mm class range precision and mm/s velocity precision and hence obtain unprecedented track accuracies. Salient features of the design architecture followed by performance modeling and engagement simulations illustrating the dependence of range and velocity precision in LEO orbits on ladar parameters are presented. Estimated limits on detectable optical cross sections of RSOs in LEO orbits are discussed.

Three-Dimensional Numerical Analyses of Earth Penetration Dynamics

DTIC Science & Technology

1979-01-31

Lagrangian formulation based on the HEMP method and has been adapted and validated for treatment of normal-incidence (axisymmetric) impact and...code, is a detailed analysis of the structural response of the EPW. This analysis is generated using a nonlinear dynamic, elastic- plastic finite element...based on the HEMP scheme. Thus, the code has the same material modeling capabilities and abilities to track large scale motion found in the WAVE-L code

Model-Free Optimal Tracking Control via Critic-Only Q-Learning.

PubMed

Luo, Biao; Liu, Derong; Huang, Tingwen; Wang, Ding

2016-10-01

Model-free control is an important and promising topic in control fields, which has attracted extensive attention in the past few years. In this paper, we aim to solve the model-free optimal tracking control problem of nonaffine nonlinear discrete-time systems. A critic-only Q-learning (CoQL) method is developed, which learns the optimal tracking control from real system data, and thus avoids solving the tracking Hamilton-Jacobi-Bellman equation. First, the Q-learning algorithm is proposed based on the augmented system, and its convergence is established. Using only one neural network for approximating the Q-function, the CoQL method is developed to implement the Q-learning algorithm. Furthermore, the convergence of the CoQL method is proved with the consideration of neural network approximation error. With the convergent Q-function obtained from the CoQL method, the adaptive optimal tracking control is designed based on the gradient descent scheme. Finally, the effectiveness of the developed CoQL method is demonstrated through simulation studies. The developed CoQL method learns with off-policy data and implements with a critic-only structure, thus it is easy to realize and overcome the inadequate exploration problem.

A Source Anonymity-Based Lightweight Secure AODV Protocol for Fog-Based MANET

PubMed Central

Fang, Weidong; Zhang, Wuxiong; Xiao, Jinchao; Yang, Yang; Chen, Wei

2017-01-01

Fog-based MANET (Mobile Ad hoc networks) is a novel paradigm of a mobile ad hoc network with the advantages of both mobility and fog computing. Meanwhile, as traditional routing protocol, ad hoc on-demand distance vector (AODV) routing protocol has been applied widely in fog-based MANET. Currently, how to improve the transmission performance and enhance security are the two major aspects in AODV’s research field. However, the researches on joint energy efficiency and security seem to be seldom considered. In this paper, we propose a source anonymity-based lightweight secure AODV (SAL-SAODV) routing protocol to meet the above requirements. In SAL-SAODV protocol, source anonymous and secure transmitting schemes are proposed and applied. The scheme involves the following three parts: the source anonymity algorithm is employed to achieve the source node, without being tracked and located; the improved secure scheme based on the polynomial of CRC-4 is applied to substitute the RSA digital signature of SAODV and guarantee the data integrity, in addition to reducing the computation and energy consumption; the random delayed transmitting scheme (RDTM) is implemented to separate the check code and transmitted data, and achieve tamper-proof results. The simulation results show that the comprehensive performance of the proposed SAL-SAODV is a trade-off of the transmission performance, energy efficiency, and security, and better than AODV and SAODV. PMID:28629142

A Source Anonymity-Based Lightweight Secure AODV Protocol for Fog-Based MANET.

PubMed

Fang, Weidong; Zhang, Wuxiong; Xiao, Jinchao; Yang, Yang; Chen, Wei

2017-06-17

Fog-based MANET (Mobile Ad hoc networks) is a novel paradigm of a mobile ad hoc network with the advantages of both mobility and fog computing. Meanwhile, as traditional routing protocol, ad hoc on-demand distance vector (AODV) routing protocol has been applied widely in fog-based MANET. Currently, how to improve the transmission performance and enhance security are the two major aspects in AODV's research field. However, the researches on joint energy efficiency and security seem to be seldom considered. In this paper, we propose a source anonymity-based lightweight secure AODV (SAL-SAODV) routing protocol to meet the above requirements. In SAL-SAODV protocol, source anonymous and secure transmitting schemes are proposed and applied. The scheme involves the following three parts: the source anonymity algorithm is employed to achieve the source node, without being tracked and located; the improved secure scheme based on the polynomial of CRC-4 is applied to substitute the RSA digital signature of SAODV and guarantee the data integrity, in addition to reducing the computation and energy consumption; the random delayed transmitting scheme (RDTM) is implemented to separate the check code and transmitted data, and achieve tamper-proof results. The simulation results show that the comprehensive performance of the proposed SAL-SAODV is a trade-off of the transmission performance, energy efficiency, and security, and better than AODV and SAODV.

Improved Readout Scheme for SQUID-Based Thermometry

NASA Technical Reports Server (NTRS)

Penanen, Konstantin

2007-01-01

An improved readout scheme has been proposed for high-resolution thermometers, (HRTs) based on the use of superconducting quantum interference devices (SQUIDs) to measure temperature- dependent magnetic susceptibilities. The proposed scheme would eliminate counting ambiguities that arise in the conventional scheme, while maintaining the superior magnetic-flux sensitivity of the conventional scheme. The proposed scheme is expected to be especially beneficial for HRT-based temperature control of multiplexed SQUIDbased bolometer sensor arrays. SQUID-based HRTs have become standard for measuring and controlling temperatures in the sub-nano-Kelvin temperature range in a broad range of low-temperature scientific and engineering applications. A typical SQUIDbased HRT that utilizes the conventional scheme includes a coil wound on a core made of a material that has temperature- dependent magnetic susceptibility in the temperature range of interest. The core and the coil are placed in a DC magnetic field provided either by a permanent magnet or as magnetic flux inside a superconducting outer wall. The aforementioned coil is connected to an input coil of a SQUID. Changes in temperature lead to changes in the susceptibility of the core and to changes in the magnetic flux detected by the SQUID. The SQUID readout instrumentation is capable of measuring magnetic-flux changes that correspond to temperature changes down to a noise limit .0.1 nK/Hz1/2. When the flux exceeds a few fundamental flux units, which typically corresponds to a temperature of .100 nK, the SQUID is reset. The temperature range can be greatly expanded if the reset events are carefully tracked and counted, either by a computer running appropriate software or by a dedicated piece of hardware.

Investigation on improved Gabor order tracking technique and its applications

NASA Astrophysics Data System (ADS)

Pan, Min-Chun; Chiu, Chun-Ching

2006-08-01

The study proposes an improved Gabor order tracking (GOT) technique to cope with crossing-order/spectral components that cannot be effectively separated by using the original GOT scheme. The improvement aids both the reconstruction and interpretation of two crossing orders/spectra such as a transmission-element-regarding order and a structural resonance. The dual function of the Gabor elementary function can affect the precision of tracked orders. In the paper, its influence on the computed Gabor expansion coefficients is investigated. For applying the improved scheme in practical works, the separation and extraction of close-order components of vibration signals measured from a transmission-element test bench is illustrated by using both the GOT and Vold-Kalman filtering OT methods. Additionally, comparisons between these two schemes are summarized from processing results. The other experimental work demonstrates the ranking of noise components from a riding electric scooter. Singled-out dominant noise sources can be referred for subsequent design-remodeling tasks.

Construction of a WMR for trajectory tracking control: experimental results.

PubMed

Silva-Ortigoza, R; Márquez-Sánchez, C; Marcelino-Aranda, M; Marciano-Melchor, M; Silva-Ortigoza, G; Bautista-Quintero, R; Ramos-Silvestre, E R; Rivera-Díaz, J C; Muñoz-Carrillo, D

2013-01-01

This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position (x∗, y∗) and orientation (φ∗). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data points {(x₁∗, y₁∗),..., (x(n)∗, y(n)∗)}. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software.

Construction of a WMR for Trajectory Tracking Control: Experimental Results

PubMed Central

Silva-Ortigoza, R.; Márquez-Sánchez, C.; Marcelino-Aranda, M.; Marciano-Melchor, M.; Silva-Ortigoza, G.; Bautista-Quintero, R.; Ramos-Silvestre, E. R.; Rivera-Díaz, J. C.; Muñoz-Carrillo, D.

2013-01-01

This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position (x∗, y∗) and orientation (φ∗). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data points {(x1∗, y1∗),..., (xn∗, yn∗)}. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software. PMID:23997679

Applying super-droplets as a compact representation of warm-rain microphysics for aerosol-cloud-aerosol interactions

NASA Astrophysics Data System (ADS)

Arabas, S.; Jaruga, A.; Pawlowska, H.; Grabowski, W. W.

2012-12-01

Clouds may influence aerosol characteristics of their environment. The relevant processes include wet deposition (rainout or washout) and cloud condensation nuclei (CCN) recycling through evaporation of cloud droplets and drizzle drops. Recycled CCN physicochemical properties may be altered if the evaporated droplets go through collisional growth or irreversible chemical reactions (e.g. SO2 oxidation). The key challenge of representing these processes in a numerical cloud model stems from the need to track properties of activated CCN throughout the cloud lifecycle. Lack of such "memory" characterises the so-called bulk, multi-moment as well as bin representations of cloud microphysics. In this study we apply the particle-based scheme of Shima et al. 2009. Each modelled particle (aka super-droplet) is a numerical proxy for a multiplicity of real-world CCN, cloud, drizzle or rain particles of the same size, nucleus type,and position. Tracking cloud nucleus properties is an inherent feature of the particle-based frameworks, making them suitable for studying aerosol-cloud-aerosol interactions. The super-droplet scheme is furthermore characterized by linear scalability in the number of computational particles, and no numerical diffusion in the condensational and in the Monte-Carlo type collisional growth schemes. The presentation will focus on processing of aerosol by a drizzling stratocumulus deck. The simulations are carried out using a 2D kinematic framework and a VOCALS experiment inspired set-up (see http://www.rap.ucar.edu/~gthompsn/workshop2012/case1/).

SIFT-based dense pixel tracking on 0.35 T cine-MR images acquired during image-guided radiation therapy with application to gating optimization

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

Mazur, Thomas R., E-mail: tmazur@radonc.wustl.edu, E-mail: hli@radonc.wustl.edu; Fischer-Valuck, Benjamin W.; Wang, Yuhe

Purpose: To first demonstrate the viability of applying an image processing technique for tracking regions on low-contrast cine-MR images acquired during image-guided radiation therapy, and then outline a scheme that uses tracking data for optimizing gating results in a patient-specific manner. Methods: A first-generation MR-IGRT system—treating patients since January 2014—integrates a 0.35 T MR scanner into an annular gantry consisting of three independent Co-60 sources. Obtaining adequate frame rates for capturing relevant patient motion across large fields-of-view currently requires coarse in-plane spatial resolution. This study initially (1) investigate the feasibility of rapidly tracking dense pixel correspondences across single, sagittal planemore » images (with both moderate signal-to-noise and spatial resolution) using a matching objective for highly descriptive vectors called scale-invariant feature transform (SIFT) descriptors associated to all pixels that describe intensity gradients in local regions around each pixel. To more accurately track features, (2) harmonic analysis was then applied to all pixel trajectories within a region-of-interest across a short training period. In particular, the procedure adjusts the motion of outlying trajectories whose relative spectral power within a frequency bandwidth consistent with respiration (or another form of periodic motion) does not exceed a threshold value that is manually specified following the training period. To evaluate the tracking reliability after applying this correction, conventional metrics—including Dice similarity coefficients (DSCs), mean tracking errors (MTEs), and Hausdorff distances (HD)—were used to compare target segmentations obtained via tracking to manually delineated segmentations. Upon confirming the viability of this descriptor-based procedure for reliably tracking features, the study (3) outlines a scheme for optimizing gating parameters—including relative target position and a tolerable margin about this position—derived from a probability density function that is constructed using tracking results obtained just prior to treatment. Results: The feasibility of applying the matching objective for SIFT descriptors toward pixel-by-pixel tracking on cine-MR acquisitions was first retrospectively demonstrated for 19 treatments (spanning various sites). Both with and without motion correction based on harmonic analysis, sub-pixel MTEs were obtained. A mean DSC value spanning all patients of 0.916 ± 0.001 was obtained without motion correction, with DSC values exceeding 0.85 for all patients considered. While most patients show accurate tracking without motion correction, harmonic analysis does yield substantial gain in accuracy (defined using HDs) for three particularly challenging subjects. An application of tracking toward a gating optimization procedure was then demonstrated that should allow a physician to balance beam-on time and tissue sparing in a patient-specific manner by tuning several intuitive parameters. Conclusions: Tracking results show high fidelity in assessing intrafractional motion observed on cine-MR acquisitions. Incorporating harmonic analysis during a training period improves the robustness of the tracking for challenging targets. The concomitant gating optimization procedure should allow for physicians to quantitatively assess gating effectiveness quickly just prior to treatment in a patient-specific manner.« less

Robust Sliding Mode Control of PMSM Based on Rapid Nonlinear Tracking Differentiator and Disturbance Observer

PubMed Central

Zhou, Zhanmin; Zhang, Bao; Mao, Dapeng

2018-01-01

Torque ripples caused by cogging torque, flux harmonics, and current measurement error seriously restrict the application of a permanent magnet synchronous motor (PMSM), which has been paid more and more attention for the use in inertial stabilized platforms. Sliding mode control (SMC), in parallel with the classical proportional integral (PI) controller, has a high advantage to suppress the torque ripples as its invariance to disturbances. However, since the high switching gain tends to cause chattering and it requires derivative of signals which is not readily obtainable without an acceleration signal sensor. Therefore, this paper proposes a robust SMC scheme based on a rapid nonlinear tracking differentiator (NTD) and a disturbance observer (DOB) to further improve the performance of the SMC. The NTD is employed to providing the derivative of the signal, and the DOB is utilized to estimate the system lumped disturbances, including parameter variations and external disturbances. On the one hand, DOB can compensate the robust SMC speed controller, it can reduce the chattering of SMC on the other hand. Experiments were carried out on an ARM and DSP-based platform. The obtained experimental results demonstrate that the robust SMC scheme has an improved performance with inertia stability and it exhibits a satisfactory anti-disturbance performance compared to the traditional methods. PMID:29596387

Robust Sliding Mode Control of PMSM Based on a Rapid Nonlinear Tracking Differentiator and Disturbance Observer.

PubMed

Zhou, Zhanmin; Zhang, Bao; Mao, Dapeng

2018-03-29

Torque ripples caused by cogging torque, flux harmonics, and current measurement error seriously restrict the application of a permanent magnet synchronous motor (PMSM), which has been paid more and more attention for the use in inertial stabilized platforms. Sliding mode control (SMC), in parallel with the classical proportional integral (PI) controller, has a high advantage to suppress the torque ripples as its invariance to disturbances. However, since the high switching gain tends to cause chattering and it requires derivative of signals which is not readily obtainable without an acceleration signal sensor. Therefore, this paper proposes a robust SMC scheme based on a rapid nonlinear tracking differentiator (NTD) and a disturbance observer (DOB) to further improve the performance of the SMC. The NTD is employed to providing the derivative of the signal, and the DOB is utilized to estimate the system lumped disturbances, including parameter variations and external disturbances. On the one hand, DOB can compensate the robust SMC speed controller, it can reduce the chattering of SMC on the other hand. Experiments were carried out on an ARM and DSP-based platform. The obtained experimental results demonstrate that the robust SMC scheme has an improved performance with inertia stability and it exhibits a satisfactory anti-disturbance performance compared to the traditional methods.

A composite controller for trajectory tracking applied to the Furuta pendulum.

PubMed

Aguilar-Avelar, Carlos; Moreno-Valenzuela, Javier

2015-07-01

In this paper, a new composite scheme is proposed, where the total control action is composed of the sum of a feedback-linearization-based controller and an energy-based compensation. This new proposition is applied to the rotary inverted pendulum or Furuta pendulum. The Furuta pendulum is a well-known underactuated mechanical system with two degrees of freedom. The control objective in this case is the tracking of a desired periodic trajectory in the actuated joint, while the unactuated link is regulated at the upward position. The closed-loop system is analyzed showing uniformly ultimately boundedness of the error trajectories. The design procedure is shown in a constructive form, such that it may be applied to other underactuated mechanical systems, with the proper definitions of the output function and the energy function. Numerical simulations and real-time experiments show the practical viability of the controller. Finally, the proposed algorithm is compared with a tracking controller previously reported in the literature. The new algorithm shows better performance in both arm trajectory tracking and pendulum regulation. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

The Impact of Parameterized Convection on Climatological Precipitation in Atmospheric Global Climate Models

NASA Astrophysics Data System (ADS)

Maher, Penelope; Vallis, Geoffrey K.; Sherwood, Steven C.; Webb, Mark J.; Sansom, Philip G.

2018-04-01

Convective parameterizations are widely believed to be essential for realistic simulations of the atmosphere. However, their deficiencies also result in model biases. The role of convection schemes in modern atmospheric models is examined using Selected Process On/Off Klima Intercomparison Experiment simulations without parameterized convection and forced with observed sea surface temperatures. Convection schemes are not required for reasonable climatological precipitation. However, they are essential for reasonable daily precipitation and constraining extreme daily precipitation that otherwise develops. Systematic effects on lapse rate and humidity are likewise modest compared with the intermodel spread. Without parameterized convection Kelvin waves are more realistic. An unexpectedly large moist Southern Hemisphere storm track bias is identified. This storm track bias persists without convection schemes, as does the double Intertropical Convergence Zone and excessive ocean precipitation biases. This suggests that model biases originate from processes other than convection or that convection schemes are missing key processes.

Method of center localization for objects containing concentric arcs

NASA Astrophysics Data System (ADS)

Kuznetsova, Elena G.; Shvets, Evgeny A.; Nikolaev, Dmitry P.

2015-02-01

This paper proposes a method for automatic center location of objects containing concentric arcs. The method utilizes structure tensor analysis and voting scheme optimized with Fast Hough Transform. Two applications of the proposed method are considered: (i) wheel tracking in video-based system for automatic vehicle classification and (ii) tree growth rings analysis on a tree cross cut image.

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

PubMed

Hu, Qinglei; Zhang, Jian; Zhang, Youmin

2018-02-01

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

Coordinated Control Of Mobile Robotic Manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1995-01-01

Computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Applicable to variety of mobile robotic manipulators, including robots that move along tracks (typically, painting and welding robots), robots mounted on gantries and capable of moving in all three dimensions, wheeled robots, and compound robots (consisting of robots mounted on other robots). Theoretical basis discussed in several prior articles in NASA Tech Briefs, including "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes With Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).

Evaluation of a noninvasive command scheme for upper-limb prostheses in a virtual reality reach and grasp task.

PubMed

Kaliki, Rahul R; Davoodi, Rahman; Loeb, Gerald E

2013-03-01

C5/C6 tetraplegic patients and transhumeral amputees may be able to use voluntary shoulder motion as command signals for a functional electrical stimulation system or transhumeral prosthesis. Stereotyped relationships, termed "postural synergies," among the shoulder, forearm, and wrist joints emerge during goal-oriented reaching and transport movements as performed by able-bodied subjects. Thus, the posture of the shoulder can potentially be used to infer the desired posture of the elbow and forearm joints during reaching and transporting movements. We investigated how well able-bodied subjects could learn to use a noninvasive command scheme based on inferences from these postural synergies to control a simulated transhumeral prosthesis in a virtual reality task. We compared the performance of subjects using the inferential command scheme (ICS) with subjects operating the simulated prosthesis in virtual reality according to complete motion tracking of their actual arm and hand movements. Initially, subjects performed poorly with the ICS but improved rapidly with modest amounts of practice, eventually achieving performance only slightly less than subjects using complete motion tracking. Thus, inferring the desired movement of distal joints from voluntary shoulder movements appears to be an intuitive and noninvasive approach for obtaining command signals for prostheses to restore reaching and grasping functions.

Eulerian-Lagrangian numerical scheme for simulating advection, dispersion, and transient storage in streams and a comparison of numerical methods

USGS Publications Warehouse

Cox, T.J.; Runkel, R.L.

2008-01-01

Past applications of one-dimensional advection, dispersion, and transient storage zone models have almost exclusively relied on a central differencing, Eulerian numerical approximation to the nonconservative form of the fundamental equation. However, there are scenarios where this approach generates unacceptable error. A new numerical scheme for this type of modeling is presented here that is based on tracking Lagrangian control volumes across a fixed (Eulerian) grid. Numerical tests are used to provide a direct comparison of the new scheme versus nonconservative Eulerian numerical methods, in terms of both accuracy and mass conservation. Key characteristics of systems for which the Lagrangian scheme performs better than the Eulerian scheme include: nonuniform flow fields, steep gradient plume fronts, and pulse and steady point source loadings in advection-dominated systems. A new analytical derivation is presented that provides insight into the loss of mass conservation in the nonconservative Eulerian scheme. This derivation shows that loss of mass conservation in the vicinity of spatial flow changes is directly proportional to the lateral inflow rate and the change in stream concentration due to the inflow. While the nonconservative Eulerian scheme has clearly worked well for past published applications, it is important for users to be aware of the scheme's limitations. ?? 2008 ASCE.

A single dynamic observer-based module for design of simultaneous fault detection, isolation and tracking control scheme

NASA Astrophysics Data System (ADS)

Davoodi, M.; Meskin, N.; Khorasani, K.

2018-03-01

The problem of simultaneous fault detection, isolation and tracking (SFDIT) control design for linear systems subject to both bounded energy and bounded peak disturbances is considered in this work. A dynamic observer is proposed and implemented by using the H∞/H-/L1 formulation of the SFDIT problem. A single dynamic observer module is designed that generates the residuals as well as the control signals. The objective of the SFDIT module is to ensure that simultaneously the effects of disturbances and control signals on the residual signals are minimised (in order to accomplish the fault detection goal) subject to the constraint that the transfer matrix from the faults to the residuals is equal to a pre-assigned diagonal transfer matrix (in order to accomplish the fault isolation goal), while the effects of disturbances, reference inputs and faults on the specified control outputs are minimised (in order to accomplish the fault-tolerant and tracking control goals). A set of linear matrix inequality (LMI) feasibility conditions are derived to ensure solvability of the problem. In order to illustrate and demonstrate the effectiveness of our proposed design methodology, the developed and proposed schemes are applied to an autonomous unmanned underwater vehicle (AUV).

Evaluation of chemotherapy response in ovarian cancer treatment using quantitative CT image biomarkers: a preliminary study

NASA Astrophysics Data System (ADS)

Qiu, Yuchen; Tan, Maxine; McMeekin, Scott; Thai, Theresa; Moore, Kathleen; Ding, Kai; Liu, Hong; Zheng, Bin

2015-03-01

The purpose of this study is to identify and apply quantitative image biomarkers for early prediction of the tumor response to the chemotherapy among the ovarian cancer patients participated in the clinical trials of testing new drugs. In the experiment, we retrospectively selected 30 cases from the patients who participated in Phase I clinical trials of new drug or drug agents for ovarian cancer treatment. Each case is composed of two sets of CT images acquired pre- and post-treatment (4-6 weeks after starting treatment). A computer-aided detection (CAD) scheme was developed to extract and analyze the quantitative image features of the metastatic tumors previously tracked by the radiologists using the standard Response Evaluation Criteria in Solid Tumors (RECIST) guideline. The CAD scheme first segmented 3-D tumor volumes from the background using a hybrid tumor segmentation scheme. Then, for each segmented tumor, CAD computed three quantitative image features including the change of tumor volume, tumor CT number (density) and density variance. The feature changes were calculated between the matched tumors tracked on the CT images acquired pre- and post-treatments. Finally, CAD predicted patient's 6-month progression-free survival (PFS) using a decision-tree based classifier. The performance of the CAD scheme was compared with the RECIST category. The result shows that the CAD scheme achieved a prediction accuracy of 76.7% (23/30 cases) with a Kappa coefficient of 0.493, which is significantly higher than the performance of RECIST prediction with a prediction accuracy and Kappa coefficient of 60% (17/30) and 0.062, respectively. This study demonstrated the feasibility of analyzing quantitative image features to improve the early predicting accuracy of the tumor response to the new testing drugs or therapeutic methods for the ovarian cancer patients.

Classifying and Tracking Dust Plumes from Passive Remote Sensing

NASA Astrophysics Data System (ADS)

Bachl, Fabian E.; Garbe, Christoph S.

2012-03-01

Recent studies emphasize the role mineral dust aerosols play in terms of the earth's climate system, its radiation budget and microbial nutrition cycles. In order to gain further insight into the genesis and long term characteristics of dust events, processing setellite imagery is inevitable. We propose a fully Bayesian multispectral classification method that significantly facilitates this task. Using MSG-SEVIRI imagery we show that our technique allows to extract dust activity well enough to pave the way for a tracking scheme. Based on this procedure we derive an approach to identify regions that are likely to be the origin of emerging dust plumes.

Storage Free Smart Energy Management for Frequency Control in a Diesel-PV-Fuel Cell-Based Hybrid AC Microgrid.

PubMed

Sekhar, P C; Mishra, S

2016-08-01

This paper proposes a novel, smart energy management scheme for a microgrid, consisting of a diesel generator and power electronic converter interfaced renewable energy-based generators, such as photovoltaic (PV) and fuel cell, for frequency regulation without any storage. In the proposed strategy, output of the PV is controlled in coordination with other generators using neurofuzzy controller, either only for transient frequency regulation or for both transient and steady-state frequency regulation, depending on the load demand, thereby eliminating the huge storage requirements. The option of demand response control is also explored along with the generation control. For accurate and quick tracking of maximum power point and its associated reserve power from the PV generator, this paper also proposes a novel adaptive-predictor-corrector-based tracking mechanism.

Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure.

PubMed

Zhao, Bo; Li, Chenghao; Liu, Derong; Li, Yuanchun

2015-01-01

This paper considers a decentralized fault tolerant control (DFTC) scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO). Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations.

Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure

PubMed Central

Zhao, Bo; Li, Yuanchun

2015-01-01

This paper considers a decentralized fault tolerant control (DFTC) scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO). Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations. PMID:26181826

Robust decentralized hybrid adaptive output feedback fuzzy control for a class of large-scale MIMO nonlinear systems and its application to AHS.

PubMed

Huang, Yi-Shao; Liu, Wel-Ping; Wu, Min; Wang, Zheng-Wu

2014-09-01

This paper presents a novel observer-based decentralized hybrid adaptive fuzzy control scheme for a class of large-scale continuous-time multiple-input multiple-output (MIMO) uncertain nonlinear systems whose state variables are unmeasurable. The scheme integrates fuzzy logic systems, state observers, and strictly positive real conditions to deal with three issues in the control of a large-scale MIMO uncertain nonlinear system: algorithm design, controller singularity, and transient response. Then, the design of the hybrid adaptive fuzzy controller is extended to address a general large-scale uncertain nonlinear system. It is shown that the resultant closed-loop large-scale system keeps asymptotically stable and the tracking error converges to zero. The better characteristics of our scheme are demonstrated by simulations. Copyright © 2014. Published by Elsevier Ltd.

Simulation and Modeling of a New Medium Access Control Scheme for Multi-Beam Directional Networking

DTIC Science & Technology

2017-03-03

of these packets, it waits until the end of the transmit time and then responds with its own hello packet, containing its own location, as well as...own hello packet. Location Tracking Another important feature is location tracking. Due to node mobility, it is vital that each node tracks the

A continually online-trained neural network controller for brushless DC motor drives

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

Rubaai, A.; Kotaru, R.; Kankam, M.D.

2000-04-01

In this paper, a high-performance controller with simultaneous online identification and control is designed for brushless dc motor drives. The dynamics of the motor/load are modeled online, and controlled using two different neural network based identification and control schemes, as the system is in operation. In the first scheme, an attempt is made to control the rotor angular speed, utilizing a single three-hidden-layer network. The second scheme attempts to control the stator currents, using a predetermined control law as a function of the estimated states. This schemes incorporates three multilayered feedforward neural networks that are online trained, using the Levenburg-Marquadtmore » training algorithm. The control of the direct and quadrature components of the stator current successfully tracked a wide variety of trajectories after relatively short online training periods. The control strategy adapts to the uncertainties of the motor/load dynamics and, in addition, learns their inherent nonlinearities. Simulation results illustrated that a neurocontroller used in conjunction with adaptive control schemes can result in a flexible control device which may be utilized in a wide range of environments.« less

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

Kang, Moses; Kim, Keonhui; Muljadi, Eduard

This paper proposes a torque limit-based inertial control scheme of a doubly-fed induction generator (DFIG) that supports the frequency control of a power system. If a frequency deviation occurs, the proposed scheme aims to release a large amount of kinetic energy (KE) stored in the rotating masses of a DFIG to raise the frequency nadir (FN). Upon detecting the event, the scheme instantly increases its output to the torque limit and then reduces the output with the rotor speed so that it converges to the stable operating range. To restore the rotor speed while causing a small second frequency dipmore » (SFD), after the rotor speed converges the power reference is reduced by a small amount and maintained until it meets the reference for maximum power point tracking control. The test results demonstrate that the scheme can improve the FN and maximum rate of change of frequency while causing a small SFD in any wind conditions and in a power system that has a high penetration of wind power, and thus the scheme helps maintain the required level of system reliability. The scheme releases the KE from 2.9 times to 3.7 times the Hydro-Quebec requirement depending on the power reference.« less

Simplified demultiplexing scheme for two PDM-IM/DD systems utilizing a single Stokes analyzer over 25-km SMF.

PubMed

Pan, Yan; Yan, Lianshan; Yi, Anlin; Jiang, Lin; Pan, Wei; Luo, Bin; Zou, Xihua

2017-10-15

We propose a four-linear state of polarization multiplexed intensity modulation and direct detection (IM/DD) scheme based on two orthogonal polarization division multiplexing (PDM) on-off keying systems. We also experimentally demonstrate a simple demultiplexing algorithm for this scheme by utilizing only a single Stokes analyzer. At the rate of 4×10  Gbit/s, the experimental results show that the power penalty of the proposed scheme is about 1.5 dB, compared to the single PDM-IM/DD for back-to-back (B2B) transmission. Compared to B2B, just about 1.7 dB power penalty is required after 25 km Corning LEAF optical fiber transmission. Meanwhile, the performance of the polarization tracking is evaluated, and the results show that the BER fluctuation is less than 0.5 dB with a polarization scrambling rate up to 708.75 deg/s.

Adaptive Neural Networks Prescribed Performance Control Design for Switched Interconnected Uncertain Nonlinear Systems.

PubMed

Li, Yongming; Tong, Shaocheng

2017-06-28

In this paper, an adaptive neural networks (NNs)-based decentralized control scheme with the prescribed performance is proposed for uncertain switched nonstrict-feedback interconnected nonlinear systems. It is assumed that nonlinear interconnected terms and nonlinear functions of the concerned systems are unknown, and also the switching signals are unknown and arbitrary. A linear state estimator is constructed to solve the problem of unmeasured states. The NNs are employed to approximate unknown interconnected terms and nonlinear functions. A new output feedback decentralized control scheme is developed by using the adaptive backstepping design technique. The control design problem of nonlinear interconnected switched systems with unknown switching signals can be solved by the proposed scheme, and only a tuning parameter is needed for each subsystem. The proposed scheme can ensure that all variables of the control systems are semi-globally uniformly ultimately bounded and the tracking errors converge to a small residual set with the prescribed performance bound. The effectiveness of the proposed control approach is verified by some simulation results.

Adaptive Environmental Source Localization and Tracking with Unknown Permittivity and Path Loss Coefficients †

PubMed Central

Fidan, Barış; Umay, Ilknur

2015-01-01

Accurate signal-source and signal-reflector target localization tasks via mobile sensory units and wireless sensor networks (WSNs), including those for environmental monitoring via sensory UAVs, require precise knowledge of specific signal propagation properties of the environment, which are permittivity and path loss coefficients for the electromagnetic signal case. Thus, accurate estimation of these coefficients has significant importance for the accuracy of location estimates. In this paper, we propose a geometric cooperative technique to instantaneously estimate such coefficients, with details provided for received signal strength (RSS) and time-of-flight (TOF)-based range sensors. The proposed technique is integrated to a recursive least squares (RLS)-based adaptive localization scheme and an adaptive motion control law, to construct adaptive target localization and adaptive target tracking algorithms, respectively, that are robust to uncertainties in aforementioned environmental signal propagation coefficients. The efficiency of the proposed adaptive localization and tracking techniques are both mathematically analysed and verified via simulation experiments. PMID:26690441

Development of a new integrated local trajectory planning and tracking control framework for autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Li, Xiaohui; Sun, Zhenping; Cao, Dongpu; Liu, Daxue; He, Hangen

2017-03-01

This study proposes a novel integrated local trajectory planning and tracking control (ILTPTC) framework for autonomous vehicles driving along a reference path with obstacles avoidance. For this ILTPTC framework, an efficient state-space sampling-based trajectory planning scheme is employed to smoothly follow the reference path. A model-based predictive path generation algorithm is applied to produce a set of smooth and kinematically-feasible paths connecting the initial state with the sampling terminal states. A velocity control law is then designed to assign a speed value at each of the points along the generated paths. An objective function considering both safety and comfort performance is carefully formulated for assessing the generated trajectories and selecting the optimal one. For accurately tracking the optimal trajectory while overcoming external disturbances and model uncertainties, a combined feedforward and feedback controller is developed. Both simulation analyses and vehicle testing are performed to verify the effectiveness of the proposed ILTPTC framework, and future research is also briefly discussed.

Optimization of illumination schemes in a head-mounted display integrated with eye tracking capabilities

NASA Astrophysics Data System (ADS)

Pansing, Craig W.; Hua, Hong; Rolland, Jannick P.

2005-08-01

Head-mounted display (HMD) technologies find a variety of applications in the field of 3D virtual and augmented environments, 3D scientific visualization, as well as wearable displays. While most of the current HMDs use head pose to approximate line of sight, we propose to investigate approaches and designs for integrating eye tracking capability into HMDs from a low-level system design perspective and to explore schemes for optimizing system performance. In this paper, we particularly propose to optimize the illumination scheme, which is a critical component in designing an eye tracking-HMD (ET-HMD) integrated system. An optimal design can improve not only eye tracking accuracy, but also robustness. Using LightTools, we present the simulation of a complete eye illumination and imaging system using an eye model along with multiple near infrared LED (IRLED) illuminators and imaging optics, showing the irradiance variation of the different eye structures. The simulation of dark pupil effects along with multiple 1st-order Purkinje images will be presented. A parametric analysis is performed to investigate the relationships between the IRLED configurations and the irradiance distribution at the eye, and a set of optimal configuration parameters is recommended. The analysis will be further refined by actual eye image acquisition and processing.

Robustly stable adaptive control of a tandem of master-slave robotic manipulators with force reflection by using a multiestimation scheme.

PubMed

Ibeas, Asier; de la Sen, Manuel

2006-10-01

The problem of controlling a tandem of robotic manipulators composing a teleoperation system with force reflection is addressed in this paper. The final objective of this paper is twofold: 1) to design a robust control law capable of ensuring closed-loop stability for robots with uncertainties and 2) to use the so-obtained control law to improve the tracking of each robot to its corresponding reference model in comparison with previously existing controllers when the slave is interacting with the obstacle. In this way, a multiestimation-based adaptive controller is proposed. Thus, the master robot is able to follow more accurately the constrained motion defined by the slave when interacting with an obstacle than when a single-estimation-based controller is used, improving the transparency property of the teleoperation scheme. The closed-loop stability is guaranteed if a minimum residence time, which might be updated online when unknown, between different controller parameterizations is respected. Furthermore, the analysis of the teleoperation and stability capabilities of the overall scheme is carried out. Finally, some simulation examples showing the working of the multiestimation scheme complete this paper.

A unified perspective on robot control - The energy Lyapunov function approach

NASA Technical Reports Server (NTRS)

Wen, John T.

1990-01-01

A unified framework for the stability analysis of robot tracking control is presented. By using an energy-motivated Lyapunov function candidate, the closed-loop stability is shown for a large family of control laws sharing a common structure of proportional and derivative feedback and a model-based feedforward. The feedforward can be zero, partial or complete linearized dynamics, partial or complete nonlinear dynamics, or linearized or nonlinear dynamics with parameter adaptation. As result, the dichotomous approaches to the robot control problem based on the open-loop linearization and nonlinear Lyapunov analysis are both included in this treatment. Furthermore, quantitative estimates of the trade-offs between different schemes in terms of the tracking performance, steady state error, domain of convergence, realtime computation load and required a prior model information are derived.

A new hysteresis model based on force-displacement characteristics of magnetorheological fluid actuators subjected to squeeze mode operation

NASA Astrophysics Data System (ADS)

Chen, Peng; Bai, Xian-Xu; Qian, Li-Jun; Choi, Seung-Bok

2017-06-01

This paper presents a new hysteresis model based on the force-displacement characteristics of magnetorheological (MR) fluid actuators (or devices) subjected to squeeze mode operation. The idea of the proposed model is originated from experimental observation of the field-dependent hysteretic behavior of MR fluids, which shows that from a view of rate-independence of hysteresis, a gap width-dependent hysteresis is occurred in the force-displacement relationship instead of the typical relationship of the force-velocity. To effectively and accurately portray the hysteresis behavior, the gap width-dependent hysteresis elements, the nonlinear viscous effect and the inertial effect are considered for the formulation of the hysteresis model. Then, a model-based feedforward force tracking control scheme is established through an observer which can estimate the virtual displacement. The effectiveness of the proposed hysteresis model is validated through the identification and prediction of the damping force of MR fluids in the squeeze mode. In addition, it is shown that superior force tracking performance of the feedforward control associated with the proposed hysteresis mode is evaluated by adopting several tracking trajectories.

Power of sign surveys to monitor population trend

USGS Publications Warehouse

Kendall, Katherine C.; Metzgar, Lee H.; Patterson, David A.; Steele, Brian M.

1992-01-01

The urgent need for an effective monitoring scheme for grizzly bear (Ursus arctos) populations led us to investigate the effort required to detect changes in populations of low—density dispersed animals, using sign (mainly scats and tracks) they leave on trails. We surveyed trails in Glacier National Park for bear tracks and scats during five consecutive years. Using these data, we modeled the occurrence of bear sign on trails, then estimated the power of various sampling schemes. Specifically, we explored the power of bear sign surveys to detect a 20% decline in sign occurrence. Realistic sampling schemes appear feasible if the density of sign is high enough, and we provide guidelines for designs with adequate replication to monitor long—term trends of dispersed populations using sign occurrences on trails.

Adaptive backstepping sliding mode control with fuzzy monitoring strategy for a kind of mechanical system.

PubMed

Song, Zhankui; Sun, Kaibiao

2014-01-01

A novel adaptive backstepping sliding mode control (ABSMC) law with fuzzy monitoring strategy is proposed for the tracking-control of a kind of nonlinear mechanical system. The proposed ABSMC scheme combining the sliding mode control and backstepping technique ensure that the occurrence of the sliding motion in finite-time and the trajectory of tracking-error converge to equilibrium point. To obtain a better perturbation rejection property, an adaptive control law is employed to compensate the lumped perturbation. Furthermore, we introduce fuzzy monitoring strategy to improve adaptive capacity and soften the control signal. The convergence and stability of the proposed control scheme are proved by using Lyaponov's method. Finally, numerical simulations demonstrate the effectiveness of the proposed control scheme. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Power Smoothing of a Variable-Speed Wind Turbine Generator in Association With the Rotor-Speed-Dependent Gain

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

Kim, Yeonhee; Kang, Moses; Muljadi, Eduard

This paper proposes a power-smoothing scheme for a variable-speed wind turbine generator (WTG) that can smooth out the WTG's fluctuating power caused by varying wind speeds, and thereby keep the system frequency within a narrow range. The proposed scheme employs an additional loop based on the system frequency deviation that operates in conjunction with the maximum power point tracking (MPPT) control loop. Unlike the conventional, fixed-gain scheme, its control gain is modified with the rotor speed. In the proposed scheme, the control gain is determined by considering the ratio of the output of the additional loop to that of themore » MPPT loop. To improve the contribution of the scheme toward maintaining the frequency while ensuring the stable operation of WTGs, in the low rotor speed region, the ratio is set to be proportional to the rotor speed; in the high rotor speed region, the ratio remains constant. The performance of the proposed scheme is investigated under varying wind conditions for the IEEE 14-bus system. The simulation results demonstrate that the scheme successfully operates regardless of the output power fluctuation of a WTG by adjusting the gain with the rotor speed, and thereby improves the frequency-regulating capability of a WTG.« less

Robust inertia-free attitude takeover control of postcapture combined spacecraft with guaranteed prescribed performance.

PubMed

Luo, Jianjun; Wei, Caisheng; Dai, Honghua; Yin, Zeyang; Wei, Xing; Yuan, Jianping

2018-03-01

In this paper, a robust inertia-free attitude takeover control scheme with guaranteed prescribed performance is investigated for postcapture combined spacecraft with consideration of unmeasurable states, unknown inertial property and external disturbance torque. Firstly, to estimate the unavailable angular velocity of combination accurately, a novel finite-time-convergent tracking differentiator is developed with a quite computationally achievable structure free from the unknown nonlinear dynamics of combined spacecraft. Then, a robust inertia-free prescribed performance control scheme is proposed, wherein, the transient and steady-state performance of combined spacecraft is first quantitatively studied by stabilizing the filtered attitude tracking errors. Compared with the existing works, the prominent advantage is that no parameter identifications and no neural or fuzzy nonlinear approximations are needed, which decreases the complexity of robust controller design dramatically. Moreover, the prescribed performance of combined spacecraft is guaranteed a priori without resorting to repeated regulations of the controller parameters. Finally, four illustrative examples are employed to validate the effectiveness of the proposed control scheme and tracking differentiator. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Characteristics of Tropical Cyclones in High-Resolution Models of the Present Climate

NASA Technical Reports Server (NTRS)

Shaevitz, Daniel A.; Camargo, Suzana J.; Sobel, Adam H.; Jonas, Jeffery A.; Kim, Daeyhun; Kumar, Arun; LaRow, Timothy E.; Lim, Young-Kwon; Murakami, Hiroyuki; Roberts, Malcolm J.;

Characteristics of Tropical Cyclones in High-resolution Models in the Present Climate

NASA Technical Reports Server (NTRS)

Shaevitz, Daniel A.; Camargo, Suzana J.; Sobel, Adam H.; Jonas, Jeffrey A.; Kim, Daehyun; Kumar, Arun; LaRow, Timothy E.; Lim, Young-Kwon; Murakami, Hiroyuki; Reed, Kevin;

Microwatt power consumption maximum power point tracking circuit using an analogue differentiator for piezoelectric energy harvesting

NASA Astrophysics Data System (ADS)

Chew, Z. J.; Zhu, M.

2015-12-01

A maximum power point tracking (MPPT) scheme by tracking the open-circuit voltage from a piezoelectric energy harvester using a differentiator is presented in this paper. The MPPT controller is implemented by using a low-power analogue differentiator and comparators without the need of a sensing circuitry and a power hungry controller. This proposed MPPT circuit is used to control a buck converter which serves as a power management module in conjunction with a full-wave bridge diode rectifier. Performance of this MPPT control scheme is verified by using the prototyped circuit to track the maximum power point of a macro-fiber composite (MFC) as the piezoelectric energy harvester. The MFC was bonded on a composite material and the whole specimen was subjected to various strain levels at frequency from 10 to 100 Hz. Experimental results showed that the implemented full analogue MPPT controller has a tracking efficiency between 81% and 98.66% independent of the load, and consumes an average power of 3.187 μW at 3 V during operation.

Two-Photon-Absorption Scheme for Optical Beam Tracking

NASA Technical Reports Server (NTRS)

Ortiz, Gerardo G.; Farr, William H.

2011-01-01

A new optical beam tracking approach for free-space optical communication links using two-photon absorption (TPA) in a high-bandgap detector material was demonstrated. This tracking scheme is part of the canonical architecture described in the preceding article. TPA is used to track a long-wavelength transmit laser while direct absorption on the same sensor simultaneously tracks a shorter-wavelength beacon. The TPA responsivity was measured for silicon using a PIN photodiode at a laser beacon wavelength of 1,550 nm. As expected, the responsivity shows a linear dependence with incident power level. The responsivity slope is 4.5 x 10(exp -7) A/W2. Also, optical beam spots from the 1,550-nm laser beacon were characterized on commercial charge coupled device (CCD) and complementary metal-oxide semiconductor (CMOS) imagers with as little as 13.7 microWatts of optical power (see figure). This new tracker technology offers an innovative solution to reduce system complexity, improve transmit/receive isolation, improve optical efficiency, improve signal-to-noise ratio (SNR), and reduce cost for free-space optical communications transceivers.

ECC-based grouping-proof RFID for inpatient medication safety.

PubMed

Lin, Qiping; Zhang, Fangguo

2012-12-01

Several papers were proposed in which symmetric cryptography was used to design RFID grouping-proof for medication safety in the Journal of Medical Systems. However, if we want to ensure privacy, authentication and protection against the tracking of RFID-tags without losing system scalability, we must design an asymmetric cryptography-based RFID. This paper will propose a new ECC-based grouping-proof for RFID. Our ECC-based grouping-proof reduces the computation of tags and prevents timeout problems from occurring in n-party grouping-proof protocol. Based on asymmetric cryptography, the proposed scheme is practical, secure and efficient for medication applications.

Model-Free Primitive-Based Iterative Learning Control Approach to Trajectory Tracking of MIMO Systems With Experimental Validation.

PubMed

Radac, Mircea-Bogdan; Precup, Radu-Emil; Petriu, Emil M

2015-11-01

This paper proposes a novel model-free trajectory tracking of multiple-input multiple-output (MIMO) systems by the combination of iterative learning control (ILC) and primitives. The optimal trajectory tracking solution is obtained in terms of previously learned solutions to simple tasks called primitives. The library of primitives that are stored in memory consists of pairs of reference input/controlled output signals. The reference input primitives are optimized in a model-free ILC framework without using knowledge of the controlled process. The guaranteed convergence of the learning scheme is built upon a model-free virtual reference feedback tuning design of the feedback decoupling controller. Each new complex trajectory to be tracked is decomposed into the output primitives regarded as basis functions. The optimal reference input for the control system to track the desired trajectory is next recomposed from the reference input primitives. This is advantageous because the optimal reference input is computed straightforward without the need to learn from repeated executions of the tracking task. In addition, the optimization problem specific to trajectory tracking of square MIMO systems is decomposed in a set of optimization problems assigned to each separate single-input single-output control channel that ensures a convenient model-free decoupling. The new model-free primitive-based ILC approach is capable of planning, reasoning, and learning. A case study dealing with the model-free control tuning for a nonlinear aerodynamic system is included to validate the new approach. The experimental results are given.

Search Radar Track-Before-Detect Using the Hough Transform.

DTIC Science & Technology

1995-03-01

before - detect processing method which allows previous data to help in target detection. The technique provides many advantages compared to...improved target detection scheme, applicable to search radars, using the Hough transform image processing technique. The system concept involves a track

Modified Mixed Lagrangian-Eulerian Method Based on Numerical Framework of MT3DMS on Cauchy Boundary.

PubMed

Suk, Heejun

2016-07-01

MT3DMS, a modular three-dimensional multispecies transport model, has long been a popular model in the groundwater field for simulating solute transport in the saturated zone. However, the method of characteristics (MOC), modified MOC (MMOC), and hybrid MOC (HMOC) included in MT3DMS did not treat Cauchy boundary conditions in a straightforward or rigorous manner, from a mathematical point of view. The MOC, MMOC, and HMOC regard the Cauchy boundary as a source condition. For the source, MOC, MMOC, and HMOC calculate the Lagrangian concentration by setting it equal to the cell concentration at an old time level. However, the above calculation is an approximate method because it does not involve backward tracking in MMOC and HMOC or allow performing forward tracking at the source cell in MOC. To circumvent this problem, a new scheme is proposed that avoids direct calculation of the Lagrangian concentration on the Cauchy boundary. The proposed method combines the numerical formulations of two different schemes, the finite element method (FEM) and the Eulerian-Lagrangian method (ELM), into one global matrix equation. This study demonstrates the limitation of all MT3DMS schemes, including MOC, MMOC, HMOC, and a third-order total-variation-diminishing (TVD) scheme under Cauchy boundary conditions. By contrast, the proposed method always shows good agreement with the exact solution, regardless of the flow conditions. Finally, the successful application of the proposed method sheds light on the possible flexibility and capability of the MT3DMS to deal with the mass transport problems of all flow regimes. © 2016, National Ground Water Association.

Conical-scan tracking with the 64-m-diameter antenna at goldstone

NASA Technical Reports Server (NTRS)

Ohlson, J. E.; Reid, M. S.

1976-01-01

The theory and experimental work which demonstrated the feasibility of conical-scan tracking with a 64 m diameter paraboloid antenna is documented. The purpose of this scheme is to actively track spacecraft and radio sources continuously with an accuracy superior to that obtained by manual correction of the computer driven pointing. The conical-scan implementation gives increased tracking accuracy with X-band spacecraft signals, as demonstrated in the Mariner Venus/Mercury 1973 mission. Also, the high accuracy and ease of measurement with conical-scan tracking allow evaluation of systematic and random antenna tracking errors.

Robotic fish tracking method based on suboptimal interval Kalman filter

NASA Astrophysics Data System (ADS)

Tong, Xiaohong; Tang, Chao

2017-11-01

Autonomous Underwater Vehicle (AUV) research focused on tracking and positioning, precise guidance and return to dock and other fields. The robotic fish of AUV has become a hot application in intelligent education, civil and military etc. In nonlinear tracking analysis of robotic fish, which was found that the interval Kalman filter algorithm contains all possible filter results, but the range is wide, relatively conservative, and the interval data vector is uncertain before implementation. This paper proposes a ptimization algorithm of suboptimal interval Kalman filter. Suboptimal interval Kalman filter scheme used the interval inverse matrix with its worst inverse instead, is more approximate nonlinear state equation and measurement equation than the standard interval Kalman filter, increases the accuracy of the nominal dynamic system model, improves the speed and precision of tracking system. Monte-Carlo simulation results show that the optimal trajectory of sub optimal interval Kalman filter algorithm is better than that of the interval Kalman filter method and the standard method of the filter.

Second-order sliding mode controller with model reference adaptation for automatic train operation

NASA Astrophysics Data System (ADS)

Ganesan, M.; Ezhilarasi, D.; Benni, Jijo

2017-11-01

In this paper, a new approach to model reference based adaptive second-order sliding mode control together with adaptive state feedback is presented to control the longitudinal dynamic motion of a high speed train for automatic train operation with the objective of minimal jerk travel by the passengers. The nonlinear dynamic model for the longitudinal motion of the train comprises of a locomotive and coach subsystems is constructed using multiple point-mass model by considering the forces acting on the vehicle. An adaptation scheme using Lyapunov criterion is derived to tune the controller gains by considering a linear, stable reference model that ensures the stability of the system in closed loop. The effectiveness of the controller tracking performance is tested under uncertain passenger load, coupler-draft gear parameters, propulsion resistance coefficients variations and environmental disturbances due to side wind and wet rail conditions. The results demonstrate improved tracking performance of the proposed control scheme with a least jerk under maximum parameter uncertainties when compared to constant gain second-order sliding mode control.

Development of the polarization tracking scheme for free-space quantum cryptography

NASA Astrophysics Data System (ADS)

Toyoshima, Morio; Takayama, Yoshihisa; Kunimori, Hiroo; Takeoka, Masahiro; Fujiwara, Mikio; Sasaki, Masahide

2008-04-01

Quantum cryptography is a new technique for transmitting quantum information. The information is securely transmitted due to the laws of physics. In such systems, the vehicle that transfers quantum information is a single photon. The problem with using photons is that the transmission distance is limited by the absorption of the photons by the optical fiber along which they pass. The maximum demonstrated range so far is approximately 100 km. Using free-space quantum cryptography between a ground station and a satellite is a possible way of sending quantum information farther than is possible with optical fibers. This is because there is no birefringence effect in the atmosphere. However, there is a complication in that the directions of the polarization basis between the transmitter and the receiver must coincide with each other. This polarization changes because the mobile terminals for free-space transmission continuously change their attitudes. If the transmission protocol is based on polarization, it is necessary to compensate for the change in attitude between the mobile terminals. We are developing a scheme to track the polarization basis between the transceivers. The preliminary result is presented.

Sensitivity of physical parameterizations on prediction of tropical cyclone Nargis over the Bay of Bengal using WRF model

NASA Astrophysics Data System (ADS)

Raju, P. V. S.; Potty, Jayaraman; Mohanty, U. C.

2011-09-01

Comprehensive sensitivity analyses on physical parameterization schemes of Weather Research Forecast (WRF-ARW core) model have been carried out for the prediction of track and intensity of tropical cyclones by taking the example of cyclone Nargis, which formed over the Bay of Bengal and hit Myanmar on 02 May 2008, causing widespread damages in terms of human and economic losses. The model performances are also evaluated with different initial conditions of 12 h intervals starting from the cyclogenesis to the near landfall time. The initial and boundary conditions for all the model simulations are drawn from the global operational analysis and forecast products of National Center for Environmental Prediction (NCEP-GFS) available for the public at 1° lon/lat resolution. The results of the sensitivity analyses indicate that a combination of non-local parabolic type exchange coefficient PBL scheme of Yonsei University (YSU), deep and shallow convection scheme with mass flux approach for cumulus parameterization (Kain-Fritsch), and NCEP operational cloud microphysics scheme with diagnostic mixed phase processes (Ferrier), predicts better track and intensity as compared against the Joint Typhoon Warning Center (JTWC) estimates. Further, the final choice of the physical parameterization schemes selected from the above sensitivity experiments is used for model integration with different initial conditions. The results reveal that the cyclone track, intensity and time of landfall are well simulated by the model with an average intensity error of about 8 hPa, maximum wind error of 12 m s-1and track error of 77 km. The simulations also show that the landfall time error and intensity error are decreasing with delayed initial condition, suggesting that the model forecast is more dependable when the cyclone approaches the coast. The distribution and intensity of rainfall are also well simulated by the model and comparable with the TRMM estimates.

Experimental study of trajectory planning and control of a high precision robot manipulator

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.

1991-01-01

The kinematic and trajectory planning is presented for a 6 DOF end-effector whose design was based on the Stewart Platform mechanism. The end-effector was used as a testbed for studying robotic assembly of NASA hardware with passive compliance. Vector analysis was employed to derive a closed-form solution for the end-effector inverse kinematic transformation. A computationally efficient numerical solution was obtained for the end-effector forward kinematic transformation using Newton-Raphson method. Three trajectory planning schemes, two for fine motion and one for gross motion, were developed for the end-effector. Experiments conducted to evaluate the performance of the trajectory planning schemes showed excellent tracking quality with minimal errors. Current activities focus on implementing the developed trajectory planning schemes on mating and demating space-rated connectors and using the compliant platform to acquire forces/torques applied on the end-effector during the assembly task.

A novel Kalman filter based video image processing scheme for two-photon fluorescence microscopy

NASA Astrophysics Data System (ADS)

Sun, Wenqing; Huang, Xia; Li, Chunqiang; Xiao, Chuan; Qian, Wei

2016-03-01

Two-photon fluorescence microscopy (TPFM) is a perfect optical imaging equipment to monitor the interaction between fast moving viruses and hosts. However, due to strong unavoidable background noises from the culture, videos obtained by this technique are too noisy to elaborate this fast infection process without video image processing. In this study, we developed a novel scheme to eliminate background noises, recover background bacteria images and improve video qualities. In our scheme, we modified and implemented the following methods for both host and virus videos: correlation method, round identification method, tree-structured nonlinear filters, Kalman filters, and cell tracking method. After these procedures, most of noises were eliminated and host images were recovered with their moving directions and speed highlighted in the videos. From the analysis of the processed videos, 93% bacteria and 98% viruses were correctly detected in each frame on average.

Experimental demonstration of real-time adaptive one-qubit quantum-state tomography

NASA Astrophysics Data System (ADS)

Yin, Qi; Li, Li; Xiang, Xiao; Xiang, Guo-Yong; Li, Chuang-Feng; Guo, Guang-Can

2017-01-01

Quantum-state tomography plays a pivotal role in quantum computation and information processing. To improve the accuracy in estimating an unknown state, carefully designed measurement schemes, such as adopting an adaptive strategy, are necessarily needed, which have gained great interest recently. In this work, based on the proposal of Sugiyama et al. [Phys. Rev. A 85, 052107 (2012)], 10.1103/PhysRevA.85.052107, we experimentally realize an adaptive quantum-state tomography for one qubit in an optical system. Since this scheme gives an analytical solution to the optimal measurement basis problem, our experiment is updated in real time and the infidelity between the real state and the estimated state is tracked with the detected photons. We observe an almost 1 /N scaling rule of averaged infidelity against the overall number of photons, N , in our experiment, which outperforms 1 /√{N } of nonadaptive schemes.

Speed Sensorless Induction Motor Drives for Electrical Actuators: Schemes, Trends and Tradeoffs

NASA Technical Reports Server (NTRS)

Elbuluk, Malik E.; Kankam, M. David

1997-01-01

For a decade, induction motor drive-based electrical actuators have been under investigation as potential replacement for the conventional hydraulic and pneumatic actuators in aircraft. Advantages of electric actuator include lower weight and size, reduced maintenance and operating costs, improved safety due to the elimination of hazardous fluids and high pressure hydraulic and pneumatic actuators, and increased efficiency. Recently, the emphasis of research on induction motor drives has been on sensorless vector control which eliminates flux and speed sensors mounted on the motor. Also, the development of effective speed and flux estimators has allowed good rotor flux-oriented (RFO) performance at all speeds except those close to zero. Sensorless control has improved the motor performance, compared to the Volts/Hertz (or constant flux) controls. This report evaluates documented schemes for speed sensorless drives, and discusses the trends and tradeoffs involved in selecting a particular scheme. These schemes combine the attributes of the direct and indirect field-oriented control (FOC) or use model adaptive reference systems (MRAS) with a speed-dependent current model for flux estimation which tracks the voltage model-based flux estimator. Many factors are important in comparing the effectiveness of a speed sensorless scheme. Among them are the wide speed range capability, motor parameter insensitivity and noise reduction. Although a number of schemes have been proposed for solving the speed estimation, zero-speed FOC with robustness against parameter variations still remains an area of research for speed sensorless control.

Non-rigid estimation of cell motion in calcium time-lapse images

NASA Astrophysics Data System (ADS)

Hachi, Siham; Lucumi Moreno, Edinson; Desmet, An-Sofie; Vanden Berghe, Pieter; Fleming, Ronan M. T.

2016-03-01

Calcium imaging is a widely used technique in neuroscience permitting the simultaneous monitoring of electro- physiological activity of hundreds of neurons at single cell resolution. Identification of neuronal activity requires rapid and reliable image analysis techniques, especially when neurons fire and move simultaneously over time. Traditionally, image segmentation is performed to extract individual neurons in the first frame of a calcium sequence. Thereafter, the mean intensity is calculated from the same region of interest in each frame to infer calcium signals. However, when cells move, deform and fire, this segmentation on its own generates artefacts and therefore biased neuronal activity. Therefore, there is a pressing need to develop a more efficient cell tracking technique. We hereby present a novel vision-based cell tracking scheme using a thin-plate spline deformable model. The thin-plate spline warping is based on control points detected using the Fast from Accelerated Segment Test descriptor and tracked using the Lucas-Kanade optical flow. Our method is able to track neurons in calcium time-series, even when there are large changes in intensity, such as during a firing event. The robustness and efficiency of the proposed approach is validated on real calcium time-lapse images of a neuronal population.

The Impact of Microphysical Schemes on Intensity and Track of Hurricane

NASA Technical Reports Server (NTRS)

Tao, W. K.; Shi, J. J.; Chen, S. S.; Lang, S.; Lin, P.; Hong, S. Y.; Peters-Lidard, C.; Hou, A.

2010-01-01

During the past decade, both research and operational numerical weather prediction models [e.g. Weather Research and Forecasting Model (WRF)] have started using more complex microphysical schemes originally developed for high-resolution cloud resolving models (CRMs) with a 1-2 km or less horizontal resolutions. The WRF is a next-generation meso-scale forecast model and assimilation system that has incorporated a modern software framework, advanced dynamics, numeric and data assimilation techniques, a multiple moveable nesting capability, and improved physical packages. The WRF model can be used for a wide range of applications, from idealized research to operational forecasting, with an emphasis on horizontal grid sizes in the range of 1-10 km. The current WRF includes several different microphysics options. At Goddard, four different cloud microphysics schemes (warm rain only, two-class of ice, two three-class of ice with either graupel or hail) are implemented into the WRF. The performances of these schemes have been compared to those from other WRF microphysics scheme options for an Atlantic hurricane case. In addition, a brief review and comparison on the previous modeling studies on the impact of microphysics schemes and microphysical processes on intensity and track of hurricane will be presented. Generally, almost all modeling studies found that the microphysics schemes did not have major impacts on track forecast, but did have more effect on the intensity. All modeling studies found that the simulated hurricane has rapid deepening and/or intensification for the warm rain-only case. It is because all hydrometeors were very large raindrops, and they fell out quickly at and near the eye-wall region. This would hydrostatically produce the lowest pressure. In addition, these modeling studies suggested that the simulated hurricane becomes unrealistically strong by removing the evaporative cooling of cloud droplets and melting of ice particles. This is due to the much weaker downdraft simulated. However, there are many differences between different modeling studies and these differences were identified and discussed.

A Unified Approach to Motion Control of Motion Robots

NASA Technical Reports Server (NTRS)

Seraji, H.

1994-01-01

This paper presents a simple on-line approach for motion control of mobile robots made up of a manipulator arm mounted on a mobile base. The proposed approach is equally applicable to nonholonomic mobile robots, such as rover-mounted manipulators and to holonomic mobile robots such as tracked robots or compound manipulators. The computational efficiency of the proposed control scheme makes it particularly suitable for real-time implementation.

Fault tolerant control of multivariable processes using auto-tuning PID controller.

PubMed

Yu, Ding-Li; Chang, T K; Yu, Ding-Wen

2005-02-01

Fault tolerant control of dynamic processes is investigated in this paper using an auto-tuning PID controller. A fault tolerant control scheme is proposed composing an auto-tuning PID controller based on an adaptive neural network model. The model is trained online using the extended Kalman filter (EKF) algorithm to learn system post-fault dynamics. Based on this model, the PID controller adjusts its parameters to compensate the effects of the faults, so that the control performance is recovered from degradation. The auto-tuning algorithm for the PID controller is derived with the Lyapunov method and therefore, the model predicted tracking error is guaranteed to converge asymptotically. The method is applied to a simulated two-input two-output continuous stirred tank reactor (CSTR) with various faults, which demonstrate the applicability of the developed scheme to industrial processes.

Assessing a local ensemble Kalman filter: perfect model experiments with the National Centers for Environmental Prediction global model

NASA Astrophysics Data System (ADS)

Szunyogh, Istvan; Kostelich, Eric J.; Gyarmati, G.; Patil, D. J.; Hunt, Brian R.; Kalnay, Eugenia; Ott, Edward; Yorke, James A.

2005-08-01

The accuracy and computational efficiency of the recently proposed local ensemble Kalman filter (LEKF) data assimilation scheme is investigated on a state-of-the-art operational numerical weather prediction model using simulated observations. The model selected for this purpose is the T62 horizontal- and 28-level vertical-resolution version of the Global Forecast System (GFS) of the National Center for Environmental Prediction. The performance of the data assimilation system is assessed for different configurations of the LEKF scheme. It is shown that a modest size (40-member) ensemble is sufficient to track the evolution of the atmospheric state with high accuracy. For this ensemble size, the computational time per analysis is less than 9 min on a cluster of PCs. The analyses are extremely accurate in the mid-latitude storm track regions. The largest analysis errors, which are typically much smaller than the observational errors, occur where parametrized physical processes play important roles. Because these are also the regions where model errors are expected to be the largest, limitations of a real-data implementation of the ensemble-based Kalman filter may be easily mistaken for model errors. In light of these results, the importance of testing the ensemble-based Kalman filter data assimilation systems on simulated observations is stressed.

Parameters Identification for Motorcycle Simulator's Platform Characterization

NASA Astrophysics Data System (ADS)

Nehaoua, L.; Arioui, H.

2008-06-01

This paper presents the dynamics modeling and parameters identification of a motorcycle simulator's platform. This model begins with some suppositions which consider that the leg dynamics can be neglected with respect to the mobile platform one. The objectif is to synthesis a simplified control scheme, adapted to driving simulation application, minimising dealys and without loss of tracking performance. Electronic system of platform actuation is described. It's based on a CAN BUS communication which offers a large transmission robustness and error handling. Despite some disadvanteges, we adapted a control solution which overcome these inconvenients and preserve the quality of tracking trajectory. A bref description of the simulator's platform is given and results are shown and justified according to our specifications.

Sensor Management for Fighter Applications

DTIC Science & Technology

2006-06-01

has consistently shown that by directly estimating the prob- ability density of a target state using a track - before - detect scheme, weak and densely... track - before - detect nonlinear filter was constructed to estimate the joint density of all state variables. A simulation that emulates estimator...targets in clutter and noise from sensed kinematic and identity data. Among the most capable is track - before - detect (TBD), which delivers

Robust visual tracking based on deep convolutional neural networks and kernelized correlation filters

NASA Astrophysics Data System (ADS)

Yang, Hua; Zhong, Donghong; Liu, Chenyi; Song, Kaiyou; Yin, Zhouping

2018-03-01

Object tracking is still a challenging problem in computer vision, as it entails learning an effective model to account for appearance changes caused by occlusion, out of view, plane rotation, scale change, and background clutter. This paper proposes a robust visual tracking algorithm called deep convolutional neural network (DCNNCT) to simultaneously address these challenges. The proposed DCNNCT algorithm utilizes a DCNN to extract the image feature of a tracked target, and the full range of information regarding each convolutional layer is used to express the image feature. Subsequently, the kernelized correlation filters (CF) in each convolutional layer are adaptively learned, the correlation response maps of that are combined to estimate the location of the tracked target. To avoid the case of tracking failure, an online random ferns classifier is employed to redetect the tracked target, and a dual-threshold scheme is used to obtain the final target location by comparing the tracking result with the detection result. Finally, the change in scale of the target is determined by building scale pyramids and training a CF. Extensive experiments demonstrate that the proposed algorithm is effective at tracking, especially when evaluated using an index called the overlap rate. The DCNNCT algorithm is also highly competitive in terms of robustness with respect to state-of-the-art trackers in various challenging scenarios.

Automatic control of the NMB level in general anaesthesia with a switching total system mass control strategy.

PubMed

Teixeira, Miguel; Mendonça, Teresa; Rocha, Paula; Rabiço, Rui

2014-12-01

This paper presents a model based switching control strategy to drive the neuromuscular blockade (NMB) level of patients undergoing general anesthesia to a predefined reference. A single-input single-output Wiener system with only two parameters is used to model the effect of two different muscle relaxants, atracurium and rocuronium, and a switching controller is designed based on a bank of total system mass control laws. Each of such laws is tuned for an individual model from a bank chosen to represent the behavior of the whole population. The control law to be applied at each instant corresponds to the model whose NMB response is closer to the patient's response. Moreover a scheme to improve the reference tracking quality based on the analysis of the patient's response, as well as, a comparison between the switching strategy and the Extended Kalman Kilter (EKF) technique are presented. The results are illustrated by means of several simulations, where switching shows to provide good results, both in theory and in practice, with a desirable reference tracking. The reference tracking improvement technique is able to produce a better reference tracking. Also, this technique showed a better performance than the (EKF). Based on these results, the switching control strategy with a bank of total system mass control laws proved to be robust enough to be used as an automatic control system for the NMB level.

Adaptive robust motion trajectory tracking control of pneumatic cylinders with LuGre model-based friction compensation

NASA Astrophysics Data System (ADS)

Meng, Deyuan; Tao, Guoliang; Liu, Hao; Zhu, Xiaocong

2014-07-01

Friction compensation is particularly important for motion trajectory tracking control of pneumatic cylinders at low speed movement. However, most of the existing model-based friction compensation schemes use simple classical models, which are not enough to address applications with high-accuracy position requirements. Furthermore, the friction force in the cylinder is time-varying, and there exist rather severe unmodelled dynamics and unknown disturbances in the pneumatic system. To deal with these problems effectively, an adaptive robust controller with LuGre model-based dynamic friction compensation is constructed. The proposed controller employs on-line recursive least squares estimation (RLSE) to reduce the extent of parametric uncertainties, and utilizes the sliding mode control method to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. In addition, in order to realize LuGre model-based friction compensation, the modified dual-observer structure for estimating immeasurable friction internal state is developed. Therefore, a prescribed motion tracking transient performance and final tracking accuracy can be guaranteed. Since the system model uncertainties are unmatched, the recursive backstepping design technology is applied. In order to solve the conflicts between the sliding mode control design and the adaptive control design, the projection mapping is used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Finally, the proposed controller is tested for tracking sinusoidal trajectories and smooth square trajectory under different loads and sudden disturbance. The testing results demonstrate that the achievable performance of the proposed controller is excellent and is much better than most other studies in literature. Especially when a 0.5 Hz sinusoidal trajectory is tracked, the maximum tracking error is 0.96 mm and the average tracking error is 0.45 mm. This paper constructs an adaptive robust controller which can compensate the friction force in the cylinder.

Real-time ultrasonic weld evaluation system

NASA Astrophysics Data System (ADS)

Katragadda, Gopichand; Nair, Satish; Liu, Harry; Brown, Lawrence M.

1996-11-01

Ultrasonic testing techniques are currently used as an alternative to radiography for detecting, classifying,and sizing weld defects, and for evaluating weld quality. Typically, ultrasonic weld inspections are performed manually, which require significant operator expertise and time. Thus, in recent years, the emphasis is to develop automated methods to aid or replace operators in critical weld inspections where inspection time, reliability, and operator safety are major issues. During this period, significant advances wee made in the areas of weld defect classification and sizing. Very few of these methods, however have found their way into the market, largely due to the lack of an integrated approach enabling real-time implementation. Also, not much research effort was directed in improving weld acceptance criteria. This paper presents an integrated system utilizing state-of-the-art techniques for a complete automation of the weld inspection procedure. The modules discussed include transducer tracking, classification, sizing, and weld acceptance criteria. Transducer tracking was studied by experimentally evaluating sonic and optical position tracking techniques. Details for this evaluation are presented. Classification is obtained using a multi-layer perceptron. Results from different feature extraction schemes, including a new method based on a combination of time and frequency-domain signal representations are given. Algorithms developed to automate defect registration and sizing are discussed. A fuzzy-logic acceptance criteria for weld acceptance is presented describing how this scheme provides improved robustness compared to the traditional flow-diagram standards.

Distributed cluster management techniques for unattended ground sensor networks

NASA Astrophysics Data System (ADS)

Essawy, Magdi A.; Stelzig, Chad A.; Bevington, James E.; Minor, Sharon

2005-05-01

Smart Sensor Networks are becoming important target detection and tracking tools. The challenging problems in such networks include the sensor fusion, data management and communication schemes. This work discusses techniques used to distribute sensor management and multi-target tracking responsibilities across an ad hoc, self-healing cluster of sensor nodes. Although miniaturized computing resources possess the ability to host complex tracking and data fusion algorithms, there still exist inherent bandwidth constraints on the RF channel. Therefore, special attention is placed on the reduction of node-to-node communications within the cluster by minimizing unsolicited messaging, and distributing the sensor fusion and tracking tasks onto local portions of the network. Several challenging problems are addressed in this work including track initialization and conflict resolution, track ownership handling, and communication control optimization. Emphasis is also placed on increasing the overall robustness of the sensor cluster through independent decision capabilities on all sensor nodes. Track initiation is performed using collaborative sensing within a neighborhood of sensor nodes, allowing each node to independently determine if initial track ownership should be assumed. This autonomous track initiation prevents the formation of duplicate tracks while eliminating the need for a central "management" node to assign tracking responsibilities. Track update is performed as an ownership node requests sensor reports from neighboring nodes based on track error covariance and the neighboring nodes geo-positional location. Track ownership is periodically recomputed using propagated track states to determine which sensing node provides the desired coverage characteristics. High fidelity multi-target simulation results are presented, indicating the distribution of sensor management and tracking capabilities to not only reduce communication bandwidth consumption, but to also simplify multi-target tracking within the cluster.

Efficient hybrid monocular-stereo approach to on-board video-based traffic sign detection and tracking

NASA Astrophysics Data System (ADS)

Marinas, Javier; Salgado, Luis; Arróspide, Jon; Camplani, Massimo

2012-01-01

In this paper we propose an innovative method for the automatic detection and tracking of road traffic signs using an onboard stereo camera. It involves a combination of monocular and stereo analysis strategies to increase the reliability of the detections such that it can boost the performance of any traffic sign recognition scheme. Firstly, an adaptive color and appearance based detection is applied at single camera level to generate a set of traffic sign hypotheses. In turn, stereo information allows for sparse 3D reconstruction of potential traffic signs through a SURF-based matching strategy. Namely, the plane that best fits the cloud of 3D points traced back from feature matches is estimated using a RANSAC based approach to improve robustness to outliers. Temporal consistency of the 3D information is ensured through a Kalman-based tracking stage. This also allows for the generation of a predicted 3D traffic sign model, which is in turn used to enhance the previously mentioned color-based detector through a feedback loop, thus improving detection accuracy. The proposed solution has been tested with real sequences under several illumination conditions and in both urban areas and highways, achieving very high detection rates in challenging environments, including rapid motion and significant perspective distortion.

Characteristics of tropical cyclones in high-resolution models in the present climate

DOE PAGES

Shaevitz, Daniel A.; Camargo, Suzana J.; Sobel, Adam H.; ...

2014-12-05

The global characteristics of tropical cyclones (TCs) simulated by several climate models are analyzed and compared with observations. The global climate models were forced by the same sea surface temperature (SST) fields in two types of experiments, using climatological SST and interannually varying SST. TC tracks and intensities are derived from each model's output fields by the group who ran that model, using their own preferred tracking scheme; the study considers the combination of model and tracking scheme as a single modeling system, and compares the properties derived from the different systems. Overall, the observed geographic distribution of global TCmore » frequency was reasonably well reproduced. As expected, with the exception of one model, intensities of the simulated TC were lower than in observations, to a degree that varies considerably across models.« less

Fast Object Motion Estimation Based on Dynamic Stixels.

PubMed

Morales, Néstor; Morell, Antonio; Toledo, Jonay; Acosta, Leopoldo

2016-07-28

The stixel world is a simplification of the world in which obstacles are represented as vertical instances, called stixels, standing on a surface assumed to be planar. In this paper, previous approaches for stixel tracking are extended using a two-level scheme. In the first level, stixels are tracked by matching them between frames using a bipartite graph in which edges represent a matching cost function. Then, stixels are clustered into sets representing objects in the environment. These objects are matched based on the number of stixels paired inside them. Furthermore, a faster, but less accurate approach is proposed in which only the second level is used. Several configurations of our method are compared to an existing state-of-the-art approach to show how our methodology outperforms it in several areas, including an improvement in the quality of the depth reconstruction.

Adaptive fractional order sliding mode control for Boost converter in the Battery/Supercapacitor HESS.

PubMed

Wang, Jianlin; Xu, Dan; Zhou, Huan; Zhou, Tao

2018-01-01

In this paper, an adaptive fractional order sliding mode control (AFSMC) scheme is designed for the current tracking control of the Boost-type converter in a Battery/Supercapacitor hybrid energy storage system (HESS). In order to stabilize the current, the adaptation rules based on state-observer and Lyapunov function are being designed. A fractional order sliding surface function is defined based on the tracking current error and adaptive rules. Furthermore, through fractional order analysis, the stability of the fractional order control system is proven, and the value of the fractional order (λ) is being investigated. In addition, the effectiveness of the proposed AFSMC strategy is being verified by numerical simulations. The advantages of good transient response and robustness to uncertainty are being indicated by this design, when compared with a conventional integer order sliding mode control system.

Visual tracking based on the sparse representation of the PCA subspace

NASA Astrophysics Data System (ADS)

Chen, Dian-bing; Zhu, Ming; Wang, Hui-li

2017-09-01

We construct a collaborative model of the sparse representation and the subspace representation. First, we represent the tracking target in the principle component analysis (PCA) subspace, and then we employ an L 1 regularization to restrict the sparsity of the residual term, an L 2 regularization term to restrict the sparsity of the representation coefficients, and an L 2 norm to restrict the distance between the reconstruction and the target. Then we implement the algorithm in the particle filter framework. Furthermore, an iterative method is presented to get the global minimum of the residual and the coefficients. Finally, an alternative template update scheme is adopted to avoid the tracking drift which is caused by the inaccurate update. In the experiment, we test the algorithm on 9 sequences, and compare the results with 5 state-of-art methods. According to the results, we can conclude that our algorithm is more robust than the other methods.

Three-dimensional face pose detection and tracking using monocular videos: tool and application.

PubMed

Dornaika, Fadi; Raducanu, Bogdan

2009-08-01

Recently, we have proposed a real-time tracker that simultaneously tracks the 3-D head pose and facial actions in monocular video sequences that can be provided by low quality cameras. This paper has two main contributions. First, we propose an automatic 3-D face pose initialization scheme for the real-time tracker by adopting a 2-D face detector and an eigenface system. Second, we use the proposed methods-the initialization and tracking-for enhancing the human-machine interaction functionality of an AIBO robot. More precisely, we show how the orientation of the robot's camera (or any active vision system) can be controlled through the estimation of the user's head pose. Applications based on head-pose imitation such as telepresence, virtual reality, and video games can directly exploit the proposed techniques. Experiments on real videos confirm the robustness and usefulness of the proposed methods.

Implementation of Open-Source Web Mapping Technologies to Support Monitoring of Governmental Schemes

NASA Astrophysics Data System (ADS)

Pulsani, B. R.

2015-10-01

Several schemes are undertaken by the government to uplift social and economic condition of people. The monitoring of these schemes is done through information technology where involvement of Geographic Information System (GIS) is lacking. To demonstrate the benefits of thematic mapping as a tool for assisting the officials in making decisions, a web mapping application for three government programs such as Mother and Child Tracking system (MCTS), Telangana State Housing Corporation Limited (TSHCL) and Ground Water Quality Mapping (GWQM) has been built. Indeed the three applications depicted the distribution of various parameters thematically and helped in identifying the areas with higher and weaker distributions. Based on the three applications, the study tends to find similarities of many government schemes reflecting the nature of thematic mapping and hence deduces to implement this kind of approach for other schemes as well. These applications have been developed using SharpMap Csharp library which is a free and open source mapping library for developing geospatial applications. The study highlights upon the cost benefits of SharpMap and brings out the advantage of this library over proprietary vendors and further discusses its advantages over other open source libraries as well.

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.

Selection against canine hip dysplasia: success or failure?

PubMed

Wilson, Bethany; Nicholas, Frank W; Thomson, Peter C

2011-08-01

Canine hip dysplasia (CHD) is a multifactorial skeletal disorder which is very common in pedigree dogs and represents a huge concern for canine welfare. Control schemes based on selective breeding have been in operation for decades. The aim of these schemes is to reduce the impact of CHD on canine welfare by selecting for reduced radiographic evidence of CHD pathology as assessed by a variety of phenotypes. There is less information regarding the genotypic correlation between these phenotypes and the impact of CHD on canine welfare. Although the phenotypes chosen as the basis for these control schemes have displayed heritable phenotypic variation in many studies, success in achieving improvement in the phenotypes has been mixed. There is significant room for improvement in the current schemes through the use of estimated breeding values (EBVs), which can combine a dog's CHD phenotype with CHD phenotypes of relatives, other phenotypes as they are proven to be genetically correlated with CHD (especially elbow dysplasia phenotypes), and information from genetic tests for population-relevant DNA markers, as such tests become available. Additionally, breed clubs should be encouraged and assisted to formulate rational, evidenced-based breeding recommendations for CHD which suit their individual circumstances and dynamically to adjust the breeding recommendations based on continuous tracking of CHD genetic trends. These improvements can assist in safely and effectively reducing the impact of CHD on pedigree dog welfare. Copyright © 2011 Elsevier Ltd. All rights reserved.

Enhanced object-based tracking algorithm for convective rain storms and cells

NASA Astrophysics Data System (ADS)

Muñoz, Carlos; Wang, Li-Pen; Willems, Patrick

2018-03-01

This paper proposes a new object-based storm tracking algorithm, based upon TITAN (Thunderstorm Identification, Tracking, Analysis and Nowcasting). TITAN is a widely-used convective storm tracking algorithm but has limitations in handling small-scale yet high-intensity storm entities due to its single-threshold identification approach. It also has difficulties to effectively track fast-moving storms because of the employed matching approach that largely relies on the overlapping areas between successive storm entities. To address these deficiencies, a number of modifications are proposed and tested in this paper. These include a two-stage multi-threshold storm identification, a new formulation for characterizing storm's physical features, and an enhanced matching technique in synergy with an optical-flow storm field tracker, as well as, according to these modifications, a more complex merging and splitting scheme. High-resolution (5-min and 529-m) radar reflectivity data for 18 storm events over Belgium are used to calibrate and evaluate the algorithm. The performance of the proposed algorithm is compared with that of the original TITAN. The results suggest that the proposed algorithm can better isolate and match convective rainfall entities, as well as to provide more reliable and detailed motion estimates. Furthermore, the improvement is found to be more significant for higher rainfall intensities. The new algorithm has the potential to serve as a basis for further applications, such as storm nowcasting and long-term stochastic spatial and temporal rainfall generation.

LightForce Photon-Pressure Collision Avoidance: Efficiency Assessment on an Entire Catalogue of Space Debris

NASA Technical Reports Server (NTRS)

Stupl, Jan Michael; Faber, Nicolas; Foster, Cyrus; Yang Yang, Fan; Levit, Creon

2013-01-01

The potential to perturb debris orbits using photon pressure from ground-based lasers has been confirmed by independent research teams. Two useful applications of this scheme are protecting space assets from impacts with debris and stabilizing the orbital debris environment, both relying on collision avoidance rather than de-orbiting debris. This paper presents the results of a new assessment method to analyze the efficiency of the concept for collision avoidance. Earlier research concluded that one ground based system consisting of a 10 kW class laser, directed by a 1.5 m telescope with adaptive optics, can prevent a significant fraction of debris-debris collisions in low Earth orbit. That research used in-track displacement to measure efficiency and restricted itself to an analysis of a limited number of objects. As orbit prediction error is dependent on debris object properties, a static displacement threshold should be complemented with another measure to assess the efficiency of the scheme. In this paper we present the results of an approach using probability of collision. Using a least-squares fitting method, we improve the quality of the original TLE catalogue in terms of state and co-state accuracy. We then calculate collision probabilities for all the objects in the catalogue. The conjunctions with the highest risk of collision are then engaged by a simulated network of laser ground stations. After those engagements, the perturbed orbits are used to re-assess the collision probability in a 20 minute window around the original conjunction. We then use different criteria to evaluate the utility of the laser-based collision avoidance scheme and assess the number of base-line ground stations needed to mitigate a significant number of high probability conjunctions. Finally, we also give an account how a laser ground station can be used for both orbit deflection and debris tracking.

Infrared dim moving target tracking via sparsity-based discriminative classifier and convolutional network

NASA Astrophysics Data System (ADS)

Qian, Kun; Zhou, Huixin; Wang, Bingjian; Song, Shangzhen; Zhao, Dong

2017-11-01

Infrared dim and small target tracking is a great challenging task. The main challenge for target tracking is to account for appearance change of an object, which submerges in the cluttered background. An efficient appearance model that exploits both the global template and local representation over infrared image sequences is constructed for dim moving target tracking. A Sparsity-based Discriminative Classifier (SDC) and a Convolutional Network-based Generative Model (CNGM) are combined with a prior model. In the SDC model, a sparse representation-based algorithm is adopted to calculate the confidence value that assigns more weights to target templates than negative background templates. In the CNGM model, simple cell feature maps are obtained by calculating the convolution between target templates and fixed filters, which are extracted from the target region at the first frame. These maps measure similarities between each filter and local intensity patterns across the target template, therefore encoding its local structural information. Then, all the maps form a representation, preserving the inner geometric layout of a candidate template. Furthermore, the fixed target template set is processed via an efficient prior model. The same operation is applied to candidate templates in the CNGM model. The online update scheme not only accounts for appearance variations but also alleviates the migration problem. At last, collaborative confidence values of particles are utilized to generate particles' importance weights. Experiments on various infrared sequences have validated the tracking capability of the presented algorithm. Experimental results show that this algorithm runs in real-time and provides a higher accuracy than state of the art algorithms.

Dealing with the time-varying parameter problem of robot manipulators performing path tracking tasks

NASA Technical Reports Server (NTRS)

Song, Y. D.; Middleton, R. H.

1992-01-01

Many robotic applications involve time-varying payloads during the operation of the robot. It is therefore of interest to consider control schemes that deal with time-varying parameters. Using the properties of the element by element (or Hadarmad) product of matrices, we obtain the robot dynamics in parameter-isolated form, from which a new control scheme is developed. The controller proposed yields zero asymptotic tracking errors when applied to robotic systems with time-varying parameters by using a switching type control law. The results obtained are global in the initial state of the robot, and can be applied to rapidly varying systems.

A Novel Position Compensation Scheme for Cable-Pulley Mechanisms Used in Laparoscopic Surgical Robots

PubMed Central

Liang, Yunlei; Du, Zhijiang; Sun, Lining

2017-01-01

The tendon driven mechanism using a cable and pulley to transmit power is adopted by many surgical robots. However, backlash hysteresis objectively exists in cable-pulley mechanisms, and this nonlinear problem is a great challenge in precise position control during the surgical procedure. Previous studies mainly focused on the transmission characteristics of the cable-driven system and constructed transmission models under particular assumptions to solve nonlinear problems. However, these approaches are limited because the modeling process is complex and the transmission models lack general applicability. This paper presents a novel position compensation control scheme to reduce the impact of backlash hysteresis on the positioning accuracy of surgical robots’ end-effectors. In this paper, a position compensation scheme using a support vector machine based on feedforward control is presented to reduce the position tracking error. To validate the proposed approach, experimental validations are conducted on our cable-pulley system and comparative experiments are carried out. The results show remarkable improvements in the performance of reducing the positioning error for the use of the proposed scheme. PMID:28974011

Fast spacecraft adaptive attitude tracking control through immersion and invariance design

NASA Astrophysics Data System (ADS)

Wen, Haowei; Yue, Xiaokui; Li, Peng; Yuan, Jianping

2017-10-01

This paper presents a novel non-certainty-equivalence adaptive control method for the attitude tracking control problem of spacecraft with inertia uncertainties. The proposed immersion and invariance (I&I) based adaptation law provides a more direct and flexible approach to circumvent the limitations of the basic I&I method without employing any filter signal. By virtue of the adaptation high-gain equivalence property derived from the proposed adaptive method, the closed-loop adaptive system with a low adaptation gain could recover the high adaptation gain performance of the filter-based I&I method, and the resulting control torque demands during the initial transient has been significantly reduced. A special feature of this method is that the convergence of the parameter estimation error has been observably improved by utilizing an adaptation gain matrix instead of a single adaptation gain value. Numerical simulations are presented to highlight the various benefits of the proposed method compared with the certainty-equivalence-based control method and filter-based I&I control schemes.

A state-based approach to trend recognition and failure prediction for the Space Station Freedom

NASA Technical Reports Server (NTRS)

Nelson, Kyle S.; Hadden, George D.

1992-01-01

A state-based reasoning approach to trend recognition and failure prediction for the Altitude Determination, and Control System (ADCS) of the Space Station Freedom (SSF) is described. The problem domain is characterized by features (e.g., trends and impending failures) that develop over a variety of time spans, anywhere from several minutes to several years. Our state-based reasoning approach, coupled with intelligent data screening, allows features to be tracked as they develop in a time-dependent manner. That is, each state machine has the ability to encode a time frame for the feature it detects. As features are detected, they are recorded and can be used as input to other state machines, creating a hierarchical feature recognition scheme. Furthermore, each machine can operate independently of the others, allowing simultaneous tracking of features. State-based reasoning was implemented in the trend recognition and the prognostic modules of a prototype Space Station Freedom Maintenance and Diagnostic System (SSFMDS) developed at Honeywell's Systems and Research Center.

Information-reduced Carrier Synchronization of Iterative Decoded BPSK and QPSK using Soft Decision (Extrinsic) Feedback

NASA Technical Reports Server (NTRS)

Simon, Marvin; Valles, Esteban; Jones, Christopher

2008-01-01

This paper addresses the carrier-phase estimation problem under low SNR conditions as are typical of turbo- and LDPC-coded applications. In previous publications by the first author, closed-loop carrier synchronization schemes for error-correction coded BPSK and QPSK modulation were proposed that were based on feeding back hard data decisions at the input of the loop, the purpose being to remove the modulation prior to attempting to track the carrier phase as opposed to the more conventional decision-feedback schemes that incorporate such feedback inside the loop. In this paper, we consider an alternative approach wherein the extrinsic soft information from the iterative decoder of turbo or LDPC codes is instead used as the feedback.

Novel Formulation of Adaptive MPC as EKF Using ANN Model: Multiproduct Semibatch Polymerization Reactor Case Study.

PubMed

Kamesh, Reddi; Rani, Kalipatnapu Yamuna

2017-12-01

In this paper, a novel formulation for nonlinear model predictive control (MPC) has been proposed incorporating the extended Kalman filter (EKF) control concept using a purely data-driven artificial neural network (ANN) model based on measurements for supervisory control. The proposed scheme consists of two modules focusing on online parameter estimation based on past measurements and control estimation over control horizon based on minimizing the deviation of model output predictions from set points along the prediction horizon. An industrial case study for temperature control of a multiproduct semibatch polymerization reactor posed as a challenge problem has been considered as a test bed to apply the proposed ANN-EKFMPC strategy at supervisory level as a cascade control configuration along with proportional integral controller [ANN-EKFMPC with PI (ANN-EKFMPC-PI)]. The proposed approach is formulated incorporating all aspects of MPC including move suppression factor for control effort minimization and constraint-handling capability including terminal constraints. The nominal stability analysis and offset-free tracking capabilities of the proposed controller are proved. Its performance is evaluated by comparison with a standard MPC-based cascade control approach using the same adaptive ANN model. The ANN-EKFMPC-PI control configuration has shown better controller performance in terms of temperature tracking, smoother input profiles, as well as constraint-handling ability compared with the ANN-MPC with PI approach for two products in summer and winter. The proposed scheme is found to be versatile although it is based on a purely data-driven model with online parameter estimation.

Robust Task Space Trajectory Tracking Control of Robotic Manipulators

NASA Astrophysics Data System (ADS)

Galicki, M.

2016-08-01

This work deals with the problem of the accurate task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the end-effector. Furthermore, the movement is to be accomplished in such a way as to reduce both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we propose a class of chattering-free robust controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

Integrated multiple-model adaptive fault identification and reconfigurable fault-tolerant control for Lead-Wing close formation systems

NASA Astrophysics Data System (ADS)

Liu, Chun; Jiang, Bin; Zhang, Ke

2018-03-01

This paper investigates the attitude and position tracking control problem for Lead-Wing close formation systems in the presence of loss of effectiveness and lock-in-place or hardover failure. In close formation flight, Wing unmanned aerial vehicle movements are influenced by vortex effects of the neighbouring Lead unmanned aerial vehicle. This situation allows modelling of aerodynamic coupling vortex-effects and linearisation based on optimal close formation geometry. Linearised Lead-Wing close formation model is transformed into nominal robust H-infinity models with respect to Mach hold, Heading hold, and Altitude hold autopilots; static feedback H-infinity controller is designed to guarantee effective tracking of attitude and position while manoeuvring Lead unmanned aerial vehicle. Based on H-infinity control design, an integrated multiple-model adaptive fault identification and reconfigurable fault-tolerant control scheme is developed to guarantee asymptotic stability of close-loop systems, error signal boundedness, and attitude and position tracking properties. Simulation results for Lead-Wing close formation systems validate the efficiency of the proposed integrated multiple-model adaptive control algorithm.

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

PubMed

Wai, Rong-Jong; Lee, Jeng-Dao

2008-01-01

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

Condition Number as a Measure of Noise Performance of Diffusion Tensor Data Acquisition Schemes with MRI

NASA Astrophysics Data System (ADS)

Skare, Stefan; Hedehus, Maj; Moseley, Michael E.; Li, Tie-Qiang

2000-12-01

Diffusion tensor mapping with MRI can noninvasively track neural connectivity and has great potential for neural scientific research and clinical applications. For each diffusion tensor imaging (DTI) data acquisition scheme, the diffusion tensor is related to the measured apparent diffusion coefficients (ADC) by a transformation matrix. With theoretical analysis we demonstrate that the noise performance of a DTI scheme is dependent on the condition number of the transformation matrix. To test the theoretical framework, we compared the noise performances of different DTI schemes using Monte-Carlo computer simulations and experimental DTI measurements. Both the simulation and the experimental results confirmed that the noise performances of different DTI schemes are significantly correlated with the condition number of the associated transformation matrices. We therefore applied numerical algorithms to optimize a DTI scheme by minimizing the condition number, hence improving the robustness to experimental noise. In the determination of anisotropic diffusion tensors with different orientations, MRI data acquisitions using a single optimum b value based on the mean diffusivity can produce ADC maps with regional differences in noise level. This will give rise to rotational variances of eigenvalues and anisotropy when diffusion tensor mapping is performed using a DTI scheme with a limited number of diffusion-weighting gradient directions. To reduce this type of artifact, a DTI scheme with not only a small condition number but also a large number of evenly distributed diffusion-weighting gradients in 3D is preferable.

The hierarchical expert tuning of PID controllers using tools of soft computing.

PubMed

Karray, F; Gueaieb, W; Al-Sharhan, S

2002-01-01

We present soft computing-based results pertaining to the hierarchical tuning process of PID controllers located within the control loop of a class of nonlinear systems. The results are compared with PID controllers implemented either in a stand alone scheme or as a part of conventional gain scheduling structure. This work is motivated by the increasing need in the industry to design highly reliable and efficient controllers for dealing with regulation and tracking capabilities of complex processes characterized by nonlinearities and possibly time varying parameters. The soft computing-based controllers proposed are hybrid in nature in that they integrate within a well-defined hierarchical structure the benefits of hard algorithmic controllers with those having supervisory capabilities. The controllers proposed also have the distinct features of learning and auto-tuning without the need for tedious and computationally extensive online systems identification schemes.

A Part-Of-Speech term weighting scheme for biomedical information retrieval.

PubMed

Wang, Yanshan; Wu, Stephen; Li, Dingcheng; Mehrabi, Saeed; Liu, Hongfang

2016-10-01

In the era of digitalization, information retrieval (IR), which retrieves and ranks documents from large collections according to users' search queries, has been popularly applied in the biomedical domain. Building patient cohorts using electronic health records (EHRs) and searching literature for topics of interest are some IR use cases. Meanwhile, natural language processing (NLP), such as tokenization or Part-Of-Speech (POS) tagging, has been developed for processing clinical documents or biomedical literature. We hypothesize that NLP can be incorporated into IR to strengthen the conventional IR models. In this study, we propose two NLP-empowered IR models, POS-BoW and POS-MRF, which incorporate automatic POS-based term weighting schemes into bag-of-word (BoW) and Markov Random Field (MRF) IR models, respectively. In the proposed models, the POS-based term weights are iteratively calculated by utilizing a cyclic coordinate method where golden section line search algorithm is applied along each coordinate to optimize the objective function defined by mean average precision (MAP). In the empirical experiments, we used the data sets from the Medical Records track in Text REtrieval Conference (TREC) 2011 and 2012 and the Genomics track in TREC 2004. The evaluation on TREC 2011 and 2012 Medical Records tracks shows that, for the POS-BoW models, the mean improvement rates for IR evaluation metrics, MAP, bpref, and P@10, are 10.88%, 4.54%, and 3.82%, compared to the BoW models; and for the POS-MRF models, these rates are 13.59%, 8.20%, and 8.78%, compared to the MRF models. Additionally, we experimentally verify that the proposed weighting approach is superior to the simple heuristic and frequency based weighting approaches, and validate our POS category selection. Using the optimal weights calculated in this experiment, we tested the proposed models on the TREC 2004 Genomics track and obtained average of 8.63% and 10.04% improvement rates for POS-BoW and POS-MRF, respectively. These significant improvements verify the effectiveness of leveraging POS tagging for biomedical IR tasks. Copyright © 2016 Elsevier Inc. All rights reserved.

Respiration-induced movement correlation for synchronous noninvasive renal cancer surgery.

PubMed

Abhilash, Rakkunedeth H; Chauhan, Sunita

2012-07-01

Noninvasive surgery (NIS), such as high-intensity focused ultrasound (HIFU)-based ablation or radiosurgery, is used for treating tumors and cancers in various parts of the body. The soft tissue targets (usually organs) deform and move as a result of physiological processes such as respiration. Moreover, other deformations induced during surgery by changes in patient position, changes in physical properties caused by repeated exposures and uncertainties resulting from cavitation also occur. In this paper, we present a correlation-based movement prediction technique to address respiration-induced movement of the urological organs while targeting through extracorporeal trans-abdominal route access. Among other organs, kidneys are worst affected during respiratory cycles, with significant three-dimensional displacements observed on the order of 20 mm. Remote access to renal targets such as renal carcinomas and cysts during noninvasive surgery, therefore, requires a tightly controlled real-time motion tracking and quantitative estimate for compensation routine to synchronize the energy source(s) for precise energy delivery to the intended regions. The correlation model finds a mapping between the movement patterns of external skin markers placed on the abdominal access window and the internal movement of the targeted kidney. The coarse estimate of position is then fine-tuned using the Adaptive Neuro-Fuzzy Inference System (ANFIS), thereby achieving a nonlinear mapping. The technical issues involved in this tracking scheme are threefold: the model must have sufficient accuracy in mapping the movement pattern; there must be an image-based tracking scheme to provide the organ position within allowable system latency; and the processing delay resulting from modeling and tracking must be within the achievable prediction horizon to accommodate the latency in the therapeutic delivery system. The concept was tested on ultrasound image sequences collected from 20 healthy volunteers. The results indicate that the modeling technique can be practically integrated into an image-guided noninvasive robotic surgical system with an indicative targeting accuracy of more than 94%. A comparative analysis showed the superiority of this technique over conventional linear mapping and modelfree blind search techniques.

Fuzzy Adaptive Compensation Control of Uncertain Stochastic Nonlinear Systems With Actuator Failures and Input Hysteresis.

PubMed

Wang, Jianhui; Liu, Zhi; Chen, C L Philip; Zhang, Yun

2017-10-12

Hysteresis exists ubiquitously in physical actuators. Besides, actuator failures/faults may also occur in practice. Both effects would deteriorate the transient tracking performance, and even trigger instability. In this paper, we consider the problem of compensating for actuator failures and input hysteresis by proposing a fuzzy control scheme for stochastic nonlinear systems. Compared with the existing research on stochastic nonlinear uncertain systems, it is found that how to guarantee a prescribed transient tracking performance when taking into account actuator failures and hysteresis simultaneously also remains to be answered. Our proposed control scheme is designed on the basis of the fuzzy logic system and backstepping techniques for this purpose. It is proven that all the signals remain bounded and the tracking error is ensured to be within a preestablished bound with the failures of hysteretic actuator. Finally, simulations are provided to illustrate the effectiveness of the obtained theoretical results.

Smartphone-Based Patients' Activity Recognition by Using a Self-Learning Scheme for Medical Monitoring.

PubMed

Guo, Junqi; Zhou, Xi; Sun, Yunchuan; Ping, Gong; Zhao, Guoxing; Li, Zhuorong

2016-06-01

Smartphone based activity recognition has recently received remarkable attention in various applications of mobile health such as safety monitoring, fitness tracking, and disease prediction. To achieve more accurate and simplified medical monitoring, this paper proposes a self-learning scheme for patients' activity recognition, in which a patient only needs to carry an ordinary smartphone that contains common motion sensors. After the real-time data collection though this smartphone, we preprocess the data using coordinate system transformation to eliminate phone orientation influence. A set of robust and effective features are then extracted from the preprocessed data. Because a patient may inevitably perform various unpredictable activities that have no apriori knowledge in the training dataset, we propose a self-learning activity recognition scheme. The scheme determines whether there are apriori training samples and labeled categories in training pools that well match with unpredictable activity data. If not, it automatically assembles these unpredictable samples into different clusters and gives them new category labels. These clustered samples combined with the acquired new category labels are then merged into the training dataset to reinforce recognition ability of the self-learning model. In experiments, we evaluate our scheme using the data collected from two postoperative patient volunteers, including six labeled daily activities as the initial apriori categories in the training pool. Experimental results demonstrate that the proposed self-learning scheme for activity recognition works very well for most cases. When there exist several types of unseen activities without any apriori information, the accuracy reaches above 80 % after the self-learning process converges.

Miniaturization of the atmospheric laser communication APT system

NASA Astrophysics Data System (ADS)

Sun, Wei; Ai, Yong; Yang, Jinling; Huang, Haibo

2003-09-01

The paper presents a scheme of the miniaturization of APT system and the design of the system based on the investigation of status in quo. It deals with the infrared image of the other terminal's beacon from the Charge Coupled Device (CCD) by the Complex Programmable Logic Device (CPLD). The result of the transaction is delivered to Single Chip Microcomputer (SCM), which controls the micro-servomotor. Subsequently, the precision drive system drives the optical system that uses only one light axis for signal beam and beacon to finish the acquisition, pointing, and tracking of the communication terminals. The anlayses of the APT system's error indicate that the tracking error limits in 70uRad with the weight of the system lighter than 8-kilogram.

Sensitivity of the simulation of tropical cyclone size to microphysics schemes

NASA Astrophysics Data System (ADS)

Chan, Kelvin T. F.; Chan, Johnny C. L.

2016-09-01

The sensitivity of the simulation of tropical cyclone (TC) size to microphysics schemes is studied using the Advanced Hurricane Weather Research and Forecasting Model (WRF). Six TCs during the 2013 western North Pacific typhoon season and three mainstream microphysics schemes-Ferrier (FER), WRF Single-Moment 5-class (WSM5) and WRF Single-Moment 6-class (WSM6)-are investigated. The results consistently show that the simulated TC track is not sensitive to the choice of microphysics scheme in the early simulation, especially in the open ocean. However, the sensitivity is much greater for TC intensity and inner-core size. The TC intensity and size simulated using the WSM5 and WSM6 schemes are respectively higher and larger than those using the FER scheme in general, which likely results from more diabatic heating being generated outside the eyewall in rainbands. More diabatic heating in rainbands gives higher inflow in the lower troposphere and higher outflow in the upper troposphere, with higher upward motion outside the eyewall. The lower-tropospheric inflow would transport absolute angular momentum inward to spin up tangential wind predominantly near the eyewall, leading to the increment in TC intensity and size (the inner-core size, especially). In addition, the inclusion of graupel microphysics processes (as in WSM6) may not have a significant impact on the simulation of TC track, intensity and size.

Design of a feedback-feedforward steering controller for accurate path tracking and stability at the limits of handling

NASA Astrophysics Data System (ADS)

Kapania, Nitin R.; Gerdes, J. Christian

2015-12-01

This paper presents a feedback-feedforward steering controller that simultaneously maintains vehicle stability at the limits of handling while minimising lateral path tracking deviation. The design begins by considering the performance of a baseline controller with a lookahead feedback scheme and a feedforward algorithm based on a nonlinear vehicle handling diagram. While this initial design exhibits desirable stability properties at the limits of handling, the steady-state path deviation increases significantly at highway speeds. Results from both linear and nonlinear analyses indicate that lateral path tracking deviations are minimised when vehicle sideslip is held tangent to the desired path at all times. Analytical results show that directly incorporating this sideslip tangency condition into the steering feedback dramatically improves lateral path tracking, but at the expense of poor closed-loop stability margins. However, incorporating the desired sideslip behaviour into the feedforward loop creates a robust steering controller capable of accurate path tracking and oversteer correction at the physical limits of tyre friction. Experimental data collected from an Audi TTS test vehicle driving at the handling limits on a full length race circuit demonstrates the improved performance of the final controller design.

The Impact of Microphysical Schemes on Hurricane Intensity and Track

NASA Technical Reports Server (NTRS)

Tao, Wei-Kuo; Shi, Jainn Jong; Chen, Shuyi S.; Lang, Stephen; Lin, Pay-Liam; Hong, Song-You; Peters-Lidard, Christa; Hou, Arthur

2011-01-01

During the past decade, both research and operational numerical weather prediction models [e.g. the Weather Research and Forecasting Model (WRF)] have started using more complex microphysical schemes originally developed for high-resolution cloud resolving models (CRMs) with 1-2 km or less horizontal resolutions. WRF is a next-generation meso-scale forecast model and assimilation system. It incorporates a modern software framework, advanced dynamics, numerics and data assimilation techniques, a multiple moveable nesting capability, and improved physical packages. WRF can be used for a wide range of applications, from idealized research to operational forecasting, with an emphasis on horizontal grid sizes in the range of 1-10 km. The current WRF includes several different microphysics options. At NASA Goddard, four different cloud microphysics options have been implemented into WRF. The performance of these schemes is compared to those of the other microphysics schemes available in WRF for an Atlantic hurricane case (Katrina). In addition, a brief review of previous modeling studies on the impact of microphysics schemes and processes on the intensity and track of hurricanes is presented and compared against the current Katrina study. In general, all of the studies show that microphysics schemes do not have a major impact on track forecasts but do have more of an effect on the simulated intensity. Also, nearly all of the previous studies found that simulated hurricanes had the strongest deepening or intensification when using only warm rain physics. This is because all of the simulated precipitating hydrometeors are large raindrops that quickly fall out near the eye-wall region, which would hydrostatically produce the lowest pressure. In addition, these studies suggested that intensities become unrealistically strong when evaporative cooling from cloud droplets and melting from ice particles are removed as this results in much weaker downdrafts in the simulated storms. However, there are many differences between the different modeling studies, which are identified and discussed.

Adaptive fractional order sliding mode control for Boost converter in the Battery/Supercapacitor HESS

PubMed Central

Xu, Dan; Zhou, Huan; Zhou, Tao

2018-01-01

In this paper, an adaptive fractional order sliding mode control (AFSMC) scheme is designed for the current tracking control of the Boost-type converter in a Battery/Supercapacitor hybrid energy storage system (HESS). In order to stabilize the current, the adaptation rules based on state-observer and Lyapunov function are being designed. A fractional order sliding surface function is defined based on the tracking current error and adaptive rules. Furthermore, through fractional order analysis, the stability of the fractional order control system is proven, and the value of the fractional order (λ) is being investigated. In addition, the effectiveness of the proposed AFSMC strategy is being verified by numerical simulations. The advantages of good transient response and robustness to uncertainty are being indicated by this design, when compared with a conventional integer order sliding mode control system. PMID:29702696

Synchronous response modelling and control of an annular momentum control device

NASA Astrophysics Data System (ADS)

Hockney, Richard; Johnson, Bruce G.; Misovec, Kathleen

1988-08-01

Research on the synchronous response modelling and control of an advanced Annular Momentun Control Device (AMCD) used to control the attitude of a spacecraft is described. For the flexible rotor AMCD, two sources of synchronous vibrations were identified. One source, which corresponds to the mass unbalance problem of rigid rotors suspended in conventional bearings, is caused by measurement errors of the rotor center of mass position. The other sources of synchronous vibrations is misalignment between the hub and flywheel masses of the AMCD. Four different control algorithms were examined. These were lead-lag compensators that mimic conventional bearing dynamics, tracking notch filters used in the feedback loop, tracking differential-notch filters, and model-based compensators. The tracking differential-notch filters were shown to have a number of advantages over more conventional approaches for both rigid-body rotor applications and flexible rotor applications such as the AMCD. Hardware implementation schemes for the tracking differential-notch filter were investigated. A simple design was developed that can be implemented with analog multipliers and low bandwidth, digital hardware.

Synchronous response modelling and control of an annular momentum control device

NASA Technical Reports Server (NTRS)

Hockney, Richard; Johnson, Bruce G.; Misovec, Kathleen

1988-01-01

Research on the synchronous response modelling and control of an advanced Annular Momentun Control Device (AMCD) used to control the attitude of a spacecraft is described. For the flexible rotor AMCD, two sources of synchronous vibrations were identified. One source, which corresponds to the mass unbalance problem of rigid rotors suspended in conventional bearings, is caused by measurement errors of the rotor center of mass position. The other sources of synchronous vibrations is misalignment between the hub and flywheel masses of the AMCD. Four different control algorithms were examined. These were lead-lag compensators that mimic conventional bearing dynamics, tracking notch filters used in the feedback loop, tracking differential-notch filters, and model-based compensators. The tracking differential-notch filters were shown to have a number of advantages over more conventional approaches for both rigid-body rotor applications and flexible rotor applications such as the AMCD. Hardware implementation schemes for the tracking differential-notch filter were investigated. A simple design was developed that can be implemented with analog multipliers and low bandwidth, digital hardware.

High-order tracking differentiator based adaptive neural control of a flexible air-breathing hypersonic vehicle subject to actuators constraints.

PubMed

Bu, Xiangwei; Wu, Xiaoyan; Tian, Mingyan; Huang, Jiaqi; Zhang, Rui; Ma, Zhen

2015-09-01

In this paper, an adaptive neural controller is exploited for a constrained flexible air-breathing hypersonic vehicle (FAHV) based on high-order tracking differentiator (HTD). By utilizing functional decomposition methodology, the dynamic model is reasonably decomposed into the respective velocity subsystem and altitude subsystem. For the velocity subsystem, a dynamic inversion based neural controller is constructed. By introducing the HTD to adaptively estimate the newly defined states generated in the process of model transformation, a novel neural based altitude controller that is quite simpler than the ones derived from back-stepping is addressed based on the normal output-feedback form instead of the strict-feedback formulation. Based on minimal-learning parameter scheme, only two neural networks with two adaptive parameters are needed for neural approximation. Especially, a novel auxiliary system is explored to deal with the problem of control inputs constraints. Finally, simulation results are presented to test the effectiveness of the proposed control strategy in the presence of system uncertainties and actuators constraints. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Enhanced robust fractional order proportional-plus-integral controller based on neural network for velocity control of permanent magnet synchronous motor.

PubMed

Zhang, Bitao; Pi, YouGuo

2013-07-01

The traditional integer order proportional-integral-differential (IO-PID) controller is sensitive to the parameter variation or/and external load disturbance of permanent magnet synchronous motor (PMSM). And the fractional order proportional-integral-differential (FO-PID) control scheme based on robustness tuning method is proposed to enhance the robustness. But the robustness focuses on the open-loop gain variation of controlled plant. In this paper, an enhanced robust fractional order proportional-plus-integral (ERFOPI) controller based on neural network is proposed. The control law of the ERFOPI controller is acted on a fractional order implement function (FOIF) of tracking error but not tracking error directly, which, according to theory analysis, can enhance the robust performance of system. Tuning rules and approaches, based on phase margin, crossover frequency specification and robustness rejecting gain variation, are introduced to obtain the parameters of ERFOPI controller. And the neural network algorithm is used to adjust the parameter of FOIF. Simulation and experimental results show that the method proposed in this paper not only achieve favorable tracking performance, but also is robust with regard to external load disturbance and parameter variation. Crown Copyright © 2013. Published by Elsevier Ltd. All rights reserved.

Toward Optimization of Gaze-Controlled Human-Computer Interaction: Application to Hindi Virtual Keyboard for Stroke Patients.

PubMed

Meena, Yogesh Kumar; Cecotti, Hubert; Wong-Lin, Kongfatt; Dutta, Ashish; Prasad, Girijesh

2018-04-01

Virtual keyboard applications and alternative communication devices provide new means of communication to assist disabled people. To date, virtual keyboard optimization schemes based on script-specific information, along with multimodal input access facility, are limited. In this paper, we propose a novel method for optimizing the position of the displayed items for gaze-controlled tree-based menu selection systems by considering a combination of letter frequency and command selection time. The optimized graphical user interface layout has been designed for a Hindi language virtual keyboard based on a menu wherein 10 commands provide access to type 88 different characters, along with additional text editing commands. The system can be controlled in two different modes: eye-tracking alone and eye-tracking with an access soft-switch. Five different keyboard layouts have been presented and evaluated with ten healthy participants. Furthermore, the two best performing keyboard layouts have been evaluated with eye-tracking alone on ten stroke patients. The overall performance analysis demonstrated significantly superior typing performance, high usability (87% SUS score), and low workload (NASA TLX with 17 scores) for the letter frequency and time-based organization with script specific arrangement design. This paper represents the first optimized gaze-controlled Hindi virtual keyboard, which can be extended to other languages.

Wisconsin's study of manned Mars missions

NASA Technical Reports Server (NTRS)

1987-01-01

The design group focused on three topics: (1) Extravehicular Activities, (2) Sample Return Missions, and (3) Structural and Construction Considerations of a Manned Mars Habitat. Extravehicular Activities permit a Mars based astronaut to exit the habitat and perform mission activities in the harsh Mars environment. Today's spacesuit gloves are bulky, hard to manipulate and fatiguing. A mechanical assistance mechanism has been developed for the glove that will reduce user fatigue and increase the duration of EVA's. Oxygen supply systems are also being developed for the EVA astronaut. A scuba type system of tanked breathing air proves to be the most efficient system for short duration EVA's. A system that extracts the oxygen from atmospheric carbon dioxide can provide oxygen for long duration FVA's. Sample Return Missions require that samples be taken from several sites. Transportation considerations are addressed and two transportation schemes are proposed. The first scheme involves a lighter than air balloon. This system provides excellent range. The second design is a rover that uses tracks rather than wheels. Track rovers perform well in soft, sandy conditions. Engineering aspects of a habitat and domed greenhouse were investigated and plans for the habitat have been made. A configuration has been established and construction details have been made.

A vehicle stability control strategy with adaptive neural network sliding mode theory based on system uncertainty approximation

NASA Astrophysics Data System (ADS)

Ji, Xuewu; He, Xiangkun; Lv, Chen; Liu, Yahui; Wu, Jian

2018-06-01

Modelling uncertainty, parameter variation and unknown external disturbance are the major concerns in the development of an advanced controller for vehicle stability at the limits of handling. Sliding mode control (SMC) method has proved to be robust against parameter variation and unknown external disturbance with satisfactory tracking performance. But modelling uncertainty, such as errors caused in model simplification, is inevitable in model-based controller design, resulting in lowered control quality. The adaptive radial basis function network (ARBFN) can effectively improve the control performance against large system uncertainty by learning to approximate arbitrary nonlinear functions and ensure the global asymptotic stability of the closed-loop system. In this paper, a novel vehicle dynamics stability control strategy is proposed using the adaptive radial basis function network sliding mode control (ARBFN-SMC) to learn system uncertainty and eliminate its adverse effects. This strategy adopts a hierarchical control structure which consists of reference model layer, yaw moment control layer, braking torque allocation layer and executive layer. Co-simulation using MATLAB/Simulink and AMESim is conducted on a verified 15-DOF nonlinear vehicle system model with the integrated-electro-hydraulic brake system (I-EHB) actuator in a Sine With Dwell manoeuvre. The simulation results show that ARBFN-SMC scheme exhibits superior stability and tracking performance in different running conditions compared with SMC scheme.

Visual navigation using edge curve matching for pinpoint planetary landing

NASA Astrophysics Data System (ADS)

Cui, Pingyuan; Gao, Xizhen; Zhu, Shengying; Shao, Wei

2018-05-01

Pinpoint landing is challenging for future Mars and asteroid exploration missions. Vision-based navigation scheme based on feature detection and matching is practical and can achieve the required precision. However, existing algorithms are computationally prohibitive and utilize poor-performance measurements, which pose great challenges for the application of visual navigation. This paper proposes an innovative visual navigation scheme using crater edge curves during descent and landing phase. In the algorithm, the edge curves of the craters tracked from two sequential images are utilized to determine the relative attitude and position of the lander through a normalized method. Then, considering error accumulation of relative navigation, a method is developed. That is to integrate the crater-based relative navigation method with crater-based absolute navigation method that identifies craters using a georeferenced database for continuous estimation of absolute states. In addition, expressions of the relative state estimate bias are derived. Novel necessary and sufficient observability criteria based on error analysis are provided to improve the navigation performance, which hold true for similar navigation systems. Simulation results demonstrate the effectiveness and high accuracy of the proposed navigation method.

Displacement data assimilation

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

Rosenthal, W. Steven; Venkataramani, Shankar; Mariano, Arthur J.

We show that modifying a Bayesian data assimilation scheme by incorporating kinematically-consistent displacement corrections produces a scheme that is demonstrably better at estimating partially observed state vectors in a setting where feature information is important. While the displacement transformation is generic, here we implement it within an ensemble Kalman Filter framework and demonstrate its effectiveness in tracking stochastically perturbed vortices.

Ring lens focusing and push-pull tracking scheme for optical disk systems

NASA Technical Reports Server (NTRS)

Gerber, R.; Zambuto, J.; Erwin, J. K.; Mansuripur, M.

1993-01-01

An experimental comparison of the ring lens and the astigmatic techniques of generating focus-error-signal (FES) in optical disk systems reveals that the ring lens generates a FES over two times steeper than that produced by the astigmat. Partly due to this large slope and, in part, because of its diffraction-limited behavior, the ring lens scheme exhibits superior performance characteristics. In particular the undesirable signal known as 'feedthrough' (induced on the FES by track-crossings during the seek operation) is lower by a factor of six compared to that observed with the astigmatic method. The ring lens is easy to align and has reasonable tolerance for positioning errors.

Decentralized digital adaptive control of robot motion

NASA Technical Reports Server (NTRS)

Tarokh, M.

1990-01-01

A decentralized model reference adaptive scheme is developed for digital control of robot manipulators. The adaptation laws are derived using hyperstability theory, which guarantees asymptotic trajectory tracking despite gross robot parameter variations. The control scheme has a decentralized structure in the sense that each local controller receives only its joint angle measurement to produce its joint torque. The independent joint controllers have simple structures and can be programmed using a very simple and computationally fast algorithm. As a result, the scheme is suitable for real-time motion control.

Bayesian cloud detection for MERIS, AATSR, and their combination

NASA Astrophysics Data System (ADS)

Hollstein, A.; Fischer, J.; Carbajal Henken, C.; Preusker, R.

2015-04-01

A broad range of different of Bayesian cloud detection schemes is applied to measurements from the Medium Resolution Imaging Spectrometer (MERIS), the Advanced Along-Track Scanning Radiometer (AATSR), and their combination. The cloud detection schemes were designed to be numerically efficient and suited for the processing of large numbers of data. Results from the classical and naive approach to Bayesian cloud masking are discussed for MERIS and AATSR as well as for their combination. A sensitivity study on the resolution of multidimensional histograms, which were post-processed by Gaussian smoothing, shows how theoretically insufficient numbers of truth data can be used to set up accurate classical Bayesian cloud masks. Sets of exploited features from single and derived channels are numerically optimized and results for naive and classical Bayesian cloud masks are presented. The application of the Bayesian approach is discussed in terms of reproducing existing algorithms, enhancing existing algorithms, increasing the robustness of existing algorithms, and on setting up new classification schemes based on manually classified scenes.

An Iterative Information-Reduced Quadriphase-Shift-Keyed Carrier Synchronization Scheme Using Decision Feedback for Low Signal-to-Noise Ratio Applications

NASA Technical Reports Server (NTRS)

Simon, M.; Tkacenko, A.

2006-01-01

In a previous publication [1], an iterative closed-loop carrier synchronization scheme for binary phase-shift keyed (BPSK) modulation was proposed that was based on feeding back data decisions to the input of the loop, the purpose being to remove the modulation prior to carrier synchronization as opposed to the more conventional decision-feedback schemes that incorporate such feedback inside the loop. The idea there was that, with sufficient independence between the received data and the decisions on it that are fed back (as would occur in an error-correction coding environment with sufficient decoding delay), a pure tone in the presence of noise would ultimately be produced (after sufficient iteration and low enough error probability) and thus could be tracked without any squaring loss. This article demonstrates that, with some modification, the same idea of iterative information reduction through decision feedback can be applied to quadrature phase-shift keyed (QPSK) modulation, something that was mentioned in the previous publication but never pursued.

Toward an endovascular internal carotid artery classification system.

PubMed

Shapiro, M; Becske, T; Riina, H A; Raz, E; Zumofen, D; Jafar, J J; Huang, P P; Nelson, P K

2014-02-01

Does the world need another ICA classification scheme? We believe so. The purpose of proposed angiography-driven classification is to optimize description of the carotid artery from the endovascular perspective. A review of existing, predominantly surgically-driven classifications is performed, and a new scheme, based on the study of NYU aneurysm angiographic and cross-sectional databases is proposed. Seven segments - cervical, petrous, cavernous, paraophthlamic, posterior communicating, choroidal, and terminus - are named. This nomenclature recognizes intrinsic uncertainty in precise angiographic and cross-sectional localization of aneurysms adjacent to the dural rings, regarding all lesions distal to the cavernous segment as potentially intradural. Rather than subdividing various transitional, ophthalmic, and hypophyseal aneurysm subtypes, as necessitated by their varied surgical approaches and risks, the proposed classification emphasizes their common endovascular treatment features, while recognizing that many complex, trans-segmental, and fusiform aneurysms not readily classifiable into presently available, saccular aneurysm-driven schemes, are being increasingly addressed by endovascular means. We believe this classification may find utility in standardizing nomenclature for outcome tracking, treatment trials and physician communication.

Jerk-level synchronous repetitive motion scheme with gradient-type and zeroing-type dynamics algorithms applied to dual-arm redundant robot system control

NASA Astrophysics Data System (ADS)

Chen, Dechao; Zhang, Yunong

2017-10-01

Dual-arm redundant robot systems are usually required to handle primary tasks, repetitively and synchronously in practical applications. In this paper, a jerk-level synchronous repetitive motion scheme is proposed to remedy the joint-angle drift phenomenon and achieve the synchronous control of a dual-arm redundant robot system. The proposed scheme is novelly resolved at jerk level, which makes the joint variables, i.e. joint angles, joint velocities and joint accelerations, smooth and bounded. In addition, two types of dynamics algorithms, i.e. gradient-type (G-type) and zeroing-type (Z-type) dynamics algorithms, for the design of repetitive motion variable vectors, are presented in detail with the corresponding circuit schematics. Subsequently, the proposed scheme is reformulated as two dynamical quadratic programs (DQPs) and further integrated into a unified DQP (UDQP) for the synchronous control of a dual-arm robot system. The optimal solution of the UDQP is found by the piecewise-linear projection equation neural network. Moreover, simulations and comparisons based on a six-degrees-of-freedom planar dual-arm redundant robot system substantiate the operation effectiveness and tracking accuracy of the robot system with the proposed scheme for repetitive motion and synchronous control.

Simulation and Modeling of a Novel Medium Access Control Scheme for Multi-Beam Directional Networking

DTIC Science & Technology

2017-03-03

When a neighbor receives one of these packets, it waits until the end of the transmit time and then responds with its own hello packet, containing its...and 3 respond with their own hello packet. Location Tracking Another important feature is location tracking. Due to node mobility, it is vital that

Real-time tracking of respiratory-induced tumor motion by dose-rate regulation

NASA Astrophysics Data System (ADS)

Han-Oh, Yeonju Sarah

We have developed a novel real-time tumor-tracking technology, called Dose-Rate-Regulated Tracking (DRRT), to compensate for tumor motion caused by breathing. Unlike other previously proposed tumor-tracking methods, this new method uses a preprogrammed dynamic multileaf collimator (MLC) sequence in combination with real-time dose-rate control. This new scheme circumvents the technical challenge in MLC-based tumor tracking, that is to control the MLC motion in real time, based on real-time detected tumor motion. The preprogrammed MLC sequence describes the movement of the tumor, as a function of breathing phase, amplitude, or tidal volume. The irregularity of tumor motion during treatment is handled by real-time regulation of the dose rate, which effectively speeds up or slows down the delivery of radiation as needed. This method is based on the fact that all of the parameters in dynamic radiation delivery, including MLC motion, are enslaved to the cumulative dose, which, in turn, can be accelerated or decelerated by varying the dose rate. Because commercially available MLC systems do not allow the MLC delivery sequence to be modified in real time based on the patient's breathing signal, previously proposed tumor-tracking techniques using a MLC cannot be readily implemented in the clinic today. By using a preprogrammed MLC sequence to handle the required motion, the task for real-time control is greatly simplified. We have developed and tested the pre- programmed MLC sequence and the dose-rate regulation algorithm using lung-cancer patients breathing signals. It has been shown that DRRT can track the tumor with an accuracy of less than 2 mm for a latency of the DRRT system of less than 0.35 s. We also have evaluated the usefulness of guided breathing for DRRT. Since DRRT by its very nature can compensate for breathing-period changes, guided breathing was shown to be unnecessary for real-time tracking when using DRRT. Finally, DRRT uses the existing dose-rate control system that is provided for current linear accelerators. Therefore, DRRT can be achieved with minimal modification of existing technology, and this can shorten substantially the time necessary to establish DRRT in clinical practice.

Adaptive extended-state observer-based fault tolerant attitude control for spacecraft with reaction wheels

NASA Astrophysics Data System (ADS)

Ran, Dechao; Chen, Xiaoqian; de Ruiter, Anton; Xiao, Bing

2018-04-01

This study presents an adaptive second-order sliding control scheme to solve the attitude fault tolerant control problem of spacecraft subject to system uncertainties, external disturbances and reaction wheel faults. A novel fast terminal sliding mode is preliminarily designed to guarantee that finite-time convergence of the attitude errors can be achieved globally. Based on this novel sliding mode, an adaptive second-order observer is then designed to reconstruct the system uncertainties and the actuator faults. One feature of the proposed observer is that the design of the observer does not necessitate any priori information of the upper bounds of the system uncertainties and the actuator faults. In view of the reconstructed information supplied by the designed observer, a second-order sliding mode controller is developed to accomplish attitude maneuvers with great robustness and precise tracking accuracy. Theoretical stability analysis proves that the designed fault tolerant control scheme can achieve finite-time stability of the closed-loop system, even in the presence of reaction wheel faults and system uncertainties. Numerical simulations are also presented to demonstrate the effectiveness and superiority of the proposed control scheme over existing methodologies.

Two-axis tracking using translation stages for a lens-to-channel waveguide solar concentrator.

PubMed

Liu, Yuxiao; Huang, Ran; Madsen, Christi K

2014-10-20

A two-axis tracking scheme designed for <250x concentration realized by a single-axis mechanical tracker and a translation stage is discussed. The translation stage is used for adjusting positions for seasonal sun movement. It has two-dimensional x-y tracking instead of horizontal movement x-only. This tracking method is compatible with planar waveguide solar concentrators. A prototype system with 50x concentration shows >75% optical efficiency throughout the year in simulation and >65% efficiency experimentally. This efficiency can be further improved by the use of anti-reflection layers and a larger waveguide refractive index.

Human operator tracking performance with a vibrotactile display

NASA Technical Reports Server (NTRS)

Inbar, Gideon F.

1991-01-01

Vibrotactile displays have been designed and used as a sensory aid for the blind. In the present work the same 6 x 24 'Optacon' type vibrotactile display (VTD) was used to characterize human operator (HO) tracking performance in pursuit and compensatory tasks. The VTD was connected via a microprocessor to a one-dimensional joy stick manipulator. Various display schemes were tested on the VDT, and were also compared to visual tracking performance using a specially constructed photo diode matrix display comparable to the VTD.

Comparative analysis of core genome MLST and SNP typing within a European Salmonella serovar Enteritidis outbreak.

PubMed

Pearce, Madison E; Alikhan, Nabil-Fareed; Dallman, Timothy J; Zhou, Zhemin; Grant, Kathie; Maiden, Martin C J

2018-06-02

Multi-country outbreaks of foodborne bacterial disease present challenges in their detection, tracking, and notification. As food is increasingly distributed across borders, such outbreaks are becoming more common. This increases the need for high-resolution, accessible, and replicable isolate typing schemes. Here we evaluate a core genome multilocus typing (cgMLST) scheme for the high-resolution reproducible typing of Salmonella enterica (S. enterica) isolates, by its application to a large European outbreak of S. enterica serovar Enteritidis. This outbreak had been extensively characterised using single nucleotide polymorphism (SNP)-based approaches. The cgMLST analysis was congruent with the original SNP-based analysis, the epidemiological data, and whole genome MLST (wgMLST) analysis. Combination of the cgMLST and epidemiological data confirmed that the genetic diversity among the isolates predated the outbreak, and was likely present at the infection source. There was consequently no link between country of isolation and genetic diversity, but the cgMLST clusters were congruent with date of isolation. Furthermore, comparison with publicly available Enteritidis isolate data demonstrated that the cgMLST scheme presented is highly scalable, enabling outbreaks to be contextualised within the Salmonella genus. The cgMLST scheme is therefore shown to be a standardised and scalable typing method, which allows Salmonella outbreaks to be analysed and compared across laboratories and jurisdictions. Copyright © 2018. Published by Elsevier B.V.

Reliable video transmission over fading channels via channel state estimation

NASA Astrophysics Data System (ADS)

Kumwilaisak, Wuttipong; Kim, JongWon; Kuo, C.-C. Jay

2000-04-01

Transmission of continuous media such as video over time- varying wireless communication channels can benefit from the use of adaptation techniques in both source and channel coding. An adaptive feedback-based wireless video transmission scheme is investigated in this research with special emphasis on feedback-based adaptation. To be more specific, an interactive adaptive transmission scheme is developed by letting the receiver estimate the channel state information and send it back to the transmitter. By utilizing the feedback information, the transmitter is capable of adapting the level of protection by changing the flexible RCPC (rate-compatible punctured convolutional) code ratio depending on the instantaneous channel condition. The wireless channel is modeled as a fading channel, where the long-term and short- term fading effects are modeled as the log-normal fading and the Rayleigh flat fading, respectively. Then, its state (mainly the long term fading portion) is tracked and predicted by using an adaptive LMS (least mean squares) algorithm. By utilizing the delayed feedback on the channel condition, the adaptation performance of the proposed scheme is first evaluated in terms of the error probability and the throughput. It is then extended to incorporate variable size packets of ITU-T H.263+ video with the error resilience option. Finally, the end-to-end performance of wireless video transmission is compared against several non-adaptive protection schemes.

Research on Three-phase Four-wire Inverter

NASA Astrophysics Data System (ADS)

Xin, W. D.; Li, X. K.; Huang, G. Z.; Fan, X. C.; Gong, X. J.; Sun, L.; Wang, J.; Zhu, D. W.

2017-05-01

The concept of Voltage Source Converter (VSC) based hybrid AC and DC distribution system architecture is proposed, which can solve the traditional AC distribution power quality problems and respond to the request of DC distribution development. At first, a novel VSC system structure combining the four-leg based three-phase four-wire with LC filter is adopted, using the overall coordination control scheme of the AC current tracking compensation based grid-interfaced VSC. In the end, the 75 kW simulation experimental system is designed and tested to verify the performance of the proposed VSC under DC distribution, distributed DC sources conditions, as well as power quality management of AC distribution.

A Full Mesh ATCA-based General Purpose Data Processing Board (Pulsar II)

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

Ajuha, S.

The Pulsar II is a custom ATCA full mesh enabled FPGA-based processor board which has been designed with the goal of creating a scalable architecture abundant in flexible, non-blocking, high bandwidth interconnections. The design has been motivated by silicon-based tracking trigger needs for LHC experiments. In this technical memo we describe the Pulsar II hardware and its performance, such as the performance test results with full mesh backplanes from different vendors, how the backplane is used for the development of low-latency time-multiplexed data transfer schemes and how the inter-shelf and intra-shelf synchronization works.

Using two classification schemes to develop vegetation indices of biological integrity for wetlands in West Virginia, USA.

PubMed

Veselka, Walter; Rentch, James S; Grafton, William N; Kordek, Walter S; Anderson, James T

2010-11-01

Bioassessment methods for wetlands, and other bodies of water, have been developed worldwide to measure and quantify changes in "biological integrity." These assessments are based on a classification system, meant to ensure appropriate comparisons between wetland types. Using a local site-specific disturbance gradient, we built vegetation indices of biological integrity (Veg-IBIs) based on two commonly used wetland classification systems in the USA: One based on vegetative structure and the other based on a wetland's position in a landscape and sources of water. The resulting class-specific Veg-IBIs were comprised of 1-5 metrics that varied in their sensitivity to the disturbance gradient (R2=0.14-0.65). Moreover, the sensitivity to the disturbance gradient increased as metrics from each of the two classification schemes were combined (added). Using this information to monitor natural and created wetlands will help natural resource managers track changes in biological integrity of wetlands in response to anthropogenic disturbance and allows the use of vegetative communities to set ecological performance standards for mitigation banks.

Control of Systems With Slow Actuators Using Time Scale Separation

NASA Technical Reports Server (NTRS)

Stepanyan, Vehram; Nguyen, Nhan

2009-01-01

This paper addresses the problem of controlling a nonlinear plant with a slow actuator using singular perturbation method. For the known plant-actuator cascaded system the proposed scheme achieves tracking of a given reference model with considerably less control demand than would otherwise result when using conventional design techniques. This is the consequence of excluding the small parameter from the actuator dynamics via time scale separation. The resulting tracking error is within the order of this small parameter. For the unknown system the adaptive counterpart is developed based on the prediction model, which is driven towards the reference model by the control design. It is proven that the prediction model tracks the reference model with an error proportional to the small parameter, while the prediction error converges to zero. The resulting closed-loop system with all prediction models and adaptive laws remains stable. The benefits of the approach are demonstrated in simulation studies and compared to conventional control approaches.

Linear active disturbance rejection control of underactuated systems: the case of the Furuta pendulum.

PubMed

Ramírez-Neria, M; Sira-Ramírez, H; Garrido-Moctezuma, R; Luviano-Juárez, A

2014-07-01

An Active Disturbance Rejection Control (ADRC) scheme is proposed for a trajectory tracking problem defined on a nonfeedback linearizable Furuta Pendulum example. A desired rest to rest angular position reference trajectory is to be tracked by the horizontal arm while the unactuated vertical pendulum arm stays around its unstable vertical position without falling down during the entire maneuver and long after it concludes. A linear observer-based linear controller of the ADRC type is designed on the basis of the flat tangent linearization of the system around an arbitrary equilibrium. The advantageous combination of flatness and the ADRC method makes it possible to on-line estimate and cancels the undesirable effects of the higher order nonlinearities disregarded by the linearization. These effects are triggered by fast horizontal arm tracking maneuvers driving the pendulum substantially away from the initial equilibrium point. Convincing experimental results, including a comparative test with a sliding mode controller, are presented. © 2013 ISA. Published by ISA. All rights reserved.

An Extension to the Kalman Filter for an Improved Detection of Unknown Behavior

NASA Technical Reports Server (NTRS)

Benazera, Emmanuel; Narasimhan, Sriram

2005-01-01

The use of Kalman filter (KF) interferes with fault detection algorithms based on the residual between estimated and measured variables, since the measured values are used to update the estimates. This feedback results in the estimates being pulled closer to the measured values, influencing the residuals in the process. Here we present a fault detection scheme for systems that are being tracked by a KF. Our approach combines an open-loop prediction over an adaptive window and an information-based measure of the deviation of the Kalman estimate from the prediction to improve fault detection.

Fast Track Teacher Education: A Review of the Research Literature on "Teach For All" Schemes

ERIC Educational Resources Information Center

McConney, Andrew; Price, Anne; Woods-McConney, Amanda

2012-01-01

This review of the research literature was commissioned by the New Zealand Post-Primary Teachers Association (PPTA) Te Wehengarua as a means of informing the decision-making of the Association and its members about the Teach For All (TFA) scheme seeking to prepare teachers for New Zealand's schools. The systematic review is about fast track…

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.

Matrix approaches to assess terrestrial nitrogen scheme in CLM4.5

NASA Astrophysics Data System (ADS)

Du, Z.

2017-12-01

Terrestrial carbon (C) and nitrogen (N) cycles have been commonly represented by a series of balance equations to track their influxes into and effluxes out of individual pools in earth system models (ESMs). This representation matches our understanding of C and N cycle processes well but makes it difficult to track model behaviors. To overcome these challenges, we developed a matrix approach, which reorganizes the series of terrestrial C and N balance equations in the CLM4.5 into two matrix equations based on original representation of C and N cycle processes and mechanisms. The matrix approach would consequently help improve the comparability of models and data, evaluate impacts of additional model components, facilitate benchmark analyses, model intercomparisons, and data-model fusion, and improve model predictive power.

A homotopy method based on WENO schemes for solving steady state problems of hyperbolic conservation laws

DTIC Science & Technology

2012-09-03

prac- tice to solve these initial value problems. Additionally, the predictor / corrector methods are combined with adaptive stepsize and adaptive ...for implementing a numerical path tracking algorithm is to decide which predictor / corrector method to employ, how large to take the step ∆t, and what...the endgame algorithm . Output: A steady state solution Set ǫ = 1 while ǫ >= ǫend do set the stepsize ∆ǫ by using adaptive stepsize control algorithm

Luminescent nanodiamonds for biomedical applications.

PubMed

Say, Jana M; van Vreden, Caryn; Reilly, David J; Brown, Louise J; Rabeau, James R; King, Nicholas J C

2011-12-01

In recent years, nanodiamonds have emerged from primarily an industrial and mechanical applications base, to potentially underpinning sophisticated new technologies in biomedical and quantum science. Nanodiamonds are relatively inexpensive, biocompatible, easy to surface functionalise and optically stable. This combination of physical properties are ideally suited to biological applications, including intracellular labelling and tracking, extracellular drug delivery and adsorptive detection of bioactive molecules. Here we describe some of the methods and challenges for processing nanodiamond materials, detection schemes and some of the leading applications currently under investigation.

Dual adaptive dynamic control of mobile robots using neural networks.

PubMed

Bugeja, Marvin K; Fabri, Simon G; Camilleri, Liberato

2009-02-01

This paper proposes two novel dual adaptive neural control schemes for the dynamic control of nonholonomic mobile robots. The two schemes are developed in discrete time, and the robot's nonlinear dynamic functions are assumed to be unknown. Gaussian radial basis function and sigmoidal multilayer perceptron neural networks are used for function approximation. In each scheme, the unknown network parameters are estimated stochastically in real time, and no preliminary offline neural network training is used. In contrast to other adaptive techniques hitherto proposed in the literature on mobile robots, the dual control laws presented in this paper do not rely on the heuristic certainty equivalence property but account for the uncertainty in the estimates. This results in a major improvement in tracking performance, despite the plant uncertainty and unmodeled dynamics. Monte Carlo simulation and statistical hypothesis testing are used to illustrate the effectiveness of the two proposed stochastic controllers as applied to the trajectory-tracking problem of a differentially driven wheeled mobile robot.

Power-Smoothing Scheme of a DFIG Using the Adaptive Gain Depending on the Rotor Speed and Frequency Deviation

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

Lee, Hyewon; Hwang, Min; Muljadi, Eduard

In an electric power grid that has a high penetration level of wind, the power fluctuation of a large-scale wind power plant (WPP) caused by varying wind speeds deteriorates the system frequency regulation. This paper proposes a power-smoothing scheme of a doubly-fed induction generator (DFIG) that significantly mitigates the system frequency fluctuation while preventing over-deceleration of the rotor speed. The proposed scheme employs an additional control loop relying on the system frequency deviation that operates in combination with the maximum power point tracking control loop. To improve the power-smoothing capability while preventing over-deceleration of the rotor speed, the gain ofmore » the additional loop is modified with the rotor speed and frequency deviation. The gain is set to be high if the rotor speed and/or frequency deviation is large. In conclusion, the simulation results based on the IEEE 14-bus system clearly demonstrate that the proposed scheme significantly lessens the output power fluctuation of a WPP under various scenarios by modifying the gain with the rotor speed and frequency deviation, and thereby it can regulate the frequency deviation within a narrow range.« less

CPM Signals for Satellite Navigation in the S and C Bands.

PubMed

Xue, Rui; Sun, Yanbo; Zhao, Danfeng

2015-06-05

Frequency allocations in the L band suitable for global navigation satellite system (GNSS) services are getting crowded and system providers face an ever tougher job when they try to bring in new signals and services while maintaining radio frequency compatibility. With the successive opening of the S and C bands to GNSS service, the multi-band combined navigation is predicted to become a key technology for future high-precision positioning navigation systems, and a single modulation scheme satisfying the requirements in each band is a promising solution for reducing user terminal complexity. A universal modulation scheme based on the continuous phase modulation (CPM) family suitable for the above bands' demands is proposed. Moreover, this paper has put forward two specific CPM signals for the S and C bands, respectively. Then the proposed modulation schemes, together with existing candidates, are comprehensively evaluated. Simulation results show that the proposed CPM signals can not only satisfy the constraint condition of compatibility in different bands well and reduce user terminal complexity, but also provide superior performance in terms of tracking accuracy, multi-path mitigation and anti-jamming compared to other candidate modulation schemes.

Power-Smoothing Scheme of a DFIG Using the Adaptive Gain Depending on the Rotor Speed and Frequency Deviation

DOE PAGES

Lee, Hyewon; Hwang, Min; Muljadi, Eduard; ...

2017-04-18

In an electric power grid that has a high penetration level of wind, the power fluctuation of a large-scale wind power plant (WPP) caused by varying wind speeds deteriorates the system frequency regulation. This paper proposes a power-smoothing scheme of a doubly-fed induction generator (DFIG) that significantly mitigates the system frequency fluctuation while preventing over-deceleration of the rotor speed. The proposed scheme employs an additional control loop relying on the system frequency deviation that operates in combination with the maximum power point tracking control loop. To improve the power-smoothing capability while preventing over-deceleration of the rotor speed, the gain ofmore » the additional loop is modified with the rotor speed and frequency deviation. The gain is set to be high if the rotor speed and/or frequency deviation is large. In conclusion, the simulation results based on the IEEE 14-bus system clearly demonstrate that the proposed scheme significantly lessens the output power fluctuation of a WPP under various scenarios by modifying the gain with the rotor speed and frequency deviation, and thereby it can regulate the frequency deviation within a narrow range.« less

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

Shue, Craig A; Gupta, Prof. Minaxi

Users are being tracked on the Internet more than ever before as Web sites and search engines gather pieces of information sufficient to identify and study their behavior. While many existing schemes provide strong anonymity, they are inappropriate when high bandwidth and low latency are required. In this work, we explore an anonymity scheme for end hosts whose performance makes it possible to have it always on. The scheme leverages the natural grouping of hosts in the same subnet and the universally available broadcast primitive to provide anonymity at line speeds. Our scheme is strongly resistant against all active ormore » passive adversaries as long as they are outside the subnet. Even within the subnet, our scheme provides reasonable resistance against adversaries, providing anonymity that is suitable for common Internet applications.« less

LightForce: An Update on Orbital Collision Avoidance Using Photon Pressure

NASA Technical Reports Server (NTRS)

Stupl, Jan; Mason, James; De Vries, Willem; Smith, Craig; Levit, Creon; Marshall, William; Salas, Alberto Guillen; Pertica, Alexander; Olivier, Scot; Ting, Wang

2012-01-01

We present an update on our research on collision avoidance using photon-pressure induced by ground-based lasers. In the past, we have shown the general feasibility of employing small orbit perturbations, induced by photon pressure from ground-based laser illumination, for collision avoidance in space. Possible applications would be protecting space assets from impacts with debris and stabilizing the orbital debris environment. Focusing on collision avoidance rather than de-orbit, the scheme avoids some of the security and liability implications of active debris removal, and requires less sophisticated hardware than laser ablation. In earlier research we concluded that one ground based system consisting of a 10 kW class laser, directed by a 1.5 m telescope with adaptive optics, could avoid a significant fraction of debris-debris collisions in low Earth orbit. This paper describes our recent efforts, which include refining our original analysis, employing higher fidelity simulations and performing experimental tracking tests. We investigate the efficacy of one or more laser ground stations for debris-debris collision avoidance and satellite protection using simulations to investigate multiple case studies. The approach includes modeling of laser beam propagation through the atmosphere, the debris environment (including actual trajectories and physical parameters), laser facility operations, and simulations of the resulting photon pressure. We also present the results of experimental laser debris tracking tests. These tests track potential targets of a first technical demonstration and quantify the achievable tracking performance.

Tracking Architecture Based on Dual-Filter with State Feedback and Its Application in Ultra-Tight GPS/INS Integration

PubMed Central

Zhang, Xi; Miao, Lingjuan; Shao, Haijun

2016-01-01

If a Kalman Filter (KF) is applied to Global Positioning System (GPS) baseband signal preprocessing, the estimates of signal phase and frequency can have low variance, even in highly dynamic situations. This paper presents a novel preprocessing scheme based on a dual-filter structure. Compared with the traditional model utilizing a single KF, this structure avoids carrier tracking being subjected to code tracking errors. Meanwhile, as the loop filters are completely removed, state feedback values are adopted to generate local carrier and code. Although local carrier frequency has a wide fluctuation, the accuracy of Doppler shift estimation is improved. In the ultra-tight GPS/Inertial Navigation System (INS) integration, the carrier frequency derived from the external navigation information is not viewed as the local carrier frequency directly. That facilitates retaining the design principle of state feedback. However, under harsh conditions, the GPS outputs may still bear large errors which can destroy the estimation of INS errors. Thus, an innovative integrated navigation filter is constructed by modeling the non-negligible errors in the estimated Doppler shifts, to ensure INS is properly calibrated. Finally, field test and semi-physical simulation based on telemetered missile trajectory validate the effectiveness of methods proposed in this paper. PMID:27144570

Tracking Architecture Based on Dual-Filter with State Feedback and Its Application in Ultra-Tight GPS/INS Integration.

PubMed

Zhang, Xi; Miao, Lingjuan; Shao, Haijun

2016-05-02

If a Kalman Filter (KF) is applied to Global Positioning System (GPS) baseband signal preprocessing, the estimates of signal phase and frequency can have low variance, even in highly dynamic situations. This paper presents a novel preprocessing scheme based on a dual-filter structure. Compared with the traditional model utilizing a single KF, this structure avoids carrier tracking being subjected to code tracking errors. Meanwhile, as the loop filters are completely removed, state feedback values are adopted to generate local carrier and code. Although local carrier frequency has a wide fluctuation, the accuracy of Doppler shift estimation is improved. In the ultra-tight GPS/Inertial Navigation System (INS) integration, the carrier frequency derived from the external navigation information is not viewed as the local carrier frequency directly. That facilitates retaining the design principle of state feedback. However, under harsh conditions, the GPS outputs may still bear large errors which can destroy the estimation of INS errors. Thus, an innovative integrated navigation filter is constructed by modeling the non-negligible errors in the estimated Doppler shifts, to ensure INS is properly calibrated. Finally, field test and semi-physical simulation based on telemetered missile trajectory validate the effectiveness of methods proposed in this paper.

New, Improved Goddard Bulk-Microphysical Schemes for Studying Precipitation Processes in WRF

NASA Technical Reports Server (NTRS)

Tao, Wei-Kuo

2007-01-01

An improved bulk microphysical parameterization is implemented into the Weather Research and Forecasting ()VRF) model. This bulk microphysical scheme has three different options, 2ICE (cloud ice & snow), 3ICE-graupel (cloud ice, snow & graupel) and 3ICE-hail (cloud ice, snow & hail). High-resolution model simulations are conducted to examine the impact of microphysical schemes on two different weather events (a midlatitude linear convective system and an Atlantic hurricane). The results suggest that microphysics has a major impact on the organization and precipitation processes associated with a summer midlatitude convective line system. The Goddard 3ICE scheme with a cloud ice-snow-hail configuration agreed better with observations in terms of rainfall intensity and a narrow convective line than did simulations with a cloud ice-snow-graupel or cloud ice-snow (i.e., 2ICE) configuration. This is because the 3ICE-hail scheme includes dense ice precipitating (hail) particle with very fast fall speed (over 10 in For an Atlantic hurricane case, the Goddard microphysical schemes had no significant impact on the track forecast but did affect the intensity slightly. The improved Goddard schemes are also compared with WRF's three other 3ICE bulk microphysical schemes: WSM6, Purdue-Lin and Thompson. For the summer midlatitude convective line system, all of the schemes resulted in simulated precipitation events that were elongated in the southwest-northeast direction in qualitative agreement with the observed feature. However, the Goddard 3ICE scheme with the hail option and the Thompson scheme agree better with observations in terms of rainfall intensity, expect that the Goddard scheme simulated more heavy rainfall (over 48 mm/h). For the Atlantic hurricane case, none of the schemes had a significant impact on the track forecast; however, the simulated intensity using the Purdue-Lin scheme was much stronger than the other schemes. The vertical distributions of model simulated cloud species (i.e., snow) are quite sensitive to microphysical schemes, which is an important issue for future verification against satellite retrievals. Both the Purdue-Lin and WSM6 schemes simulated very little snow compared to the other schemes for both the midlatitude convective line and hurricane cases. Sensitivity tests are performed for these two WRF schemes to identify that snow productions could be increased by increasing the snow intercept, turning off the auto-conversion from snow to graupel and reducing the transfer processes from cloud-sized particles to precipitation-sized ice.

Adaptive integral dynamic surface control of a hypersonic flight vehicle

NASA Astrophysics Data System (ADS)

Aslam Butt, Waseem; Yan, Lin; Amezquita S., Kendrick

2015-07-01

In this article, non-linear adaptive dynamic surface air speed and flight path angle control designs are presented for the longitudinal dynamics of a flexible hypersonic flight vehicle. The tracking performance of the control design is enhanced by introducing a novel integral term that caters to avoiding a large initial control signal. To ensure feasibility, the design scheme incorporates magnitude and rate constraints on the actuator commands. The uncertain non-linear functions are approximated by an efficient use of the neural networks to reduce the computational load. A detailed stability analysis shows that all closed-loop signals are uniformly ultimately bounded and the ? tracking performance is guaranteed. The robustness of the design scheme is verified through numerical simulations of the flexible flight vehicle model.

Per-Pixel, Dual-Counter Scheme for Optical Communications

NASA Technical Reports Server (NTRS)

Farr, William H.; Bimbaum, Kevin M.; Quirk, Kevin J.; Sburlan, Suzana; Sahasrabudhe, Adit

2013-01-01

Free space optical communications links from deep space are projected to fulfill future NASA communication requirements for 2020 and beyond. Accurate laser-beam pointing is required to achieve high data rates at low power levels.This innovation is a per-pixel processing scheme using a pair of three-state digital counters to implement acquisition and tracking of a dim laser beacon transmitted from Earth for pointing control of an interplanetary optical communications system using a focal plane array of single sensitive detectors. It shows how to implement dim beacon acquisition and tracking for an interplanetary optical transceiver with a method that is suitable for both achieving theoretical performance, as well as supporting additional functions of high data rate forward links and precision spacecraft ranging.

“Sapsan”-carriages defrosting station of Nizhniy Novgorod railway service enterprise and its surface waste water purification

NASA Astrophysics Data System (ADS)

Strelkov, Alexander; Teplykh, Svetlana; Gorshkalev, Pavel; Bystranova, Anastasia

2017-10-01

Surface water disposal is one of the most relevant problems for Nizhniy Novgorod railway service enterprises. Waste water must be quickly removed with special drainage devices and water drainage facilities (culverts, slope drains, pipes, ditches, etc.). During “Sapsan”-carriages defrosting watse water is aggregated on railroad tracks. It leads to track bed structure sagging, roadbed washaway and damages to point switches. In this paper the authors describe a concrete system of waste water disposal from railway service enterprises. This system is realized through culverts readjusted at the foot of ballast section. Thereafter, the collected water is pumped into a water collector and to local sewage waste-disposal plants. For railway stations with three or more tracks surface runoff diversion scheme depends on topography, railway tracks types, flow discharge and is compiled individually for each object. This paper examines “Sapsan”-carriages defrosting station of Nizhniy Novgorod railway service enterprise. It presents a technology scheme and equipment consisting of Sand catcher LOS-P, Oil catcher LOS-N, pressure-tight flotation unit; drain feed pump; solution-consuming tank of the coagulant, the solution-consuming tank of flocculant. The proposed technology has been introduced into the project practice.

Distributed cooperative H∞ optimal tracking control of MIMO nonlinear multi-agent systems in strict-feedback form via adaptive dynamic programming

NASA Astrophysics Data System (ADS)

Luy, N. T.

2018-04-01

The design of distributed cooperative H∞ optimal controllers for multi-agent systems is a major challenge when the agents' models are uncertain multi-input and multi-output nonlinear systems in strict-feedback form in the presence of external disturbances. In this paper, first, the distributed cooperative H∞ optimal tracking problem is transformed into controlling the cooperative tracking error dynamics in affine form. Second, control schemes and online algorithms are proposed via adaptive dynamic programming (ADP) and the theory of zero-sum differential graphical games. The schemes use only one neural network (NN) for each agent instead of three from ADP to reduce computational complexity as well as avoid choosing initial NN weights for stabilising controllers. It is shown that despite not using knowledge of cooperative internal dynamics, the proposed algorithms not only approximate values to Nash equilibrium but also guarantee all signals, such as the NN weight approximation errors and the cooperative tracking errors in the closed-loop system, to be uniformly ultimately bounded. Finally, the effectiveness of the proposed method is shown by simulation results of an application to wheeled mobile multi-robot systems.

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.

VIPRAM_L1CMS: a 2-Tier 3D Architecture for Pattern Recognition for Track Finding

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

Hoff, J. R.; Joshi, Joshi,S.; Liu, Liu,

In HEP tracking trigger applications, flagging an individual detector hit is not important. Rather, the path of a charged particle through many detector layers is what must be found. Moreover, given the increased luminosity projected for future LHC experiments, this type of track finding will be required within the Level 1 Trigger system. This means that future LHC experiments require not just a chip capable of high-speed track finding but also one with a high-speed readout architecture. VIPRAM_L1CMS is 2-Tier Vertically Integrated chip designed to fulfill these requirements. It is a complete pipelined Pattern Recognition Associative Memory (PRAM) architecture includingmore » pattern recognition, result sparsification, and readout for Level 1 trigger applications in CMS with 15-bit wide detector addresses and eight detector layers included in the track finding. Pattern recognition is based on classic Content Addressable Memories with a Current Race Scheme to reduce timing complexity and a 4-bit Selective Precharge to minimize power consumption. VIPRAM_L1CMS uses a pipelined set of priority-encoded binary readout structures to sparsify and readout active road flags at frequencies of at least 100MHz. VIPRAM_L1CMS is designed to work directly with the Pulsar2b Architecture.« less

A Pseudorange Measurement Scheme Based on Snapshot for Base Station Positioning Receivers.

PubMed

Mo, Jun; Deng, Zhongliang; Jia, Buyun; Bian, Xinmei

2017-12-01

Digital multimedia broadcasting signal is promised to be a wireless positioning signal. This paper mainly studies a multimedia broadcasting technology, named China mobile multimedia broadcasting (CMMB), in the context of positioning. Theoretical and practical analysis on the CMMB signal suggests that the existing CMMB signal does not have the meter positioning capability. So, the CMMB system has been modified to achieve meter positioning capability by multiplexing the CMMB signal and pseudo codes in the same frequency band. The time difference of arrival (TDOA) estimation method is used in base station positioning receivers. Due to the influence of a complex fading channel and the limited bandwidth of receivers, the regular tracking method based on pseudo code ranging is difficult to provide continuous and accurate TDOA estimations. A pseudorange measurement scheme based on snapshot is proposed to solve the problem. This algorithm extracts the TDOA estimation from the stored signal fragments, and utilizes the Taylor expansion of the autocorrelation function to improve the TDOA estimation accuracy. Monte Carlo simulations and real data tests show that the proposed algorithm can significantly reduce the TDOA estimation error for base station positioning receivers, and then the modified CMMB system achieves meter positioning accuracy.

Studying Precipitation Processes in WRF with Goddard Bulk Microphysics in Comparison with Other Microphysical Schemes

NASA Technical Reports Server (NTRS)

Tao, W.K.; Shi, J.J.; Braun, S.; Simpson, J.; Chen, S.S.; Lang, S.; Hong, S.Y.; Thompson, G.; Peters-Lidard, C.

2009-01-01

A Goddard bulk microphysical parameterization is implemented into the Weather Research and Forecasting (WRF) model. This bulk microphysical scheme has three different options, 2ICE (cloud ice & snow), 3ICE-graupel (cloud ice, snow & graupel) and 3ICE-hail (cloud ice, snow & hail). High-resolution model simulations are conducted to examine the impact of microphysical schemes on different weather events: a midlatitude linear convective system and an Atlantic hurricane. The results suggest that microphysics has a major impact on the organization and precipitation processes associated with a summer midlatitude convective line system. The Goddard 3ICE scheme with the cloud ice-snow-hail configuration agreed better with observations ill of rainfall intensity and having a narrow convective line than did simulations with the cloud ice-snow-graupel and cloud ice-snow (i.e., 2ICE) configurations. This is because the Goddard 3ICE-hail configuration has denser precipitating ice particles (hail) with very fast fall speeds (over 10 m/s) For an Atlantic hurricane case, the Goddard microphysical scheme (with 3ICE-hail, 3ICE-graupel and 2ICE configurations) had no significant impact on the track forecast but did affect the intensity slightly. The Goddard scheme is also compared with WRF's three other 3ICE bulk microphysical schemes: WSM6, Purdue-Lin and Thompson. For the summer midlatitude convective line system, all of the schemes resulted in simulated precipitation events that were elongated in southwest-northeast direction in qualitative agreement with the observed feature. However, the Goddard 3ICE-hail and Thompson schemes were closest to the observed rainfall intensities although the Goddard scheme simulated more heavy rainfall (over 48 mm/h). For the Atlantic hurricane case, none of the schemes had a significant impact on the track forecast; however, the simulated intensity using the Purdue-Lin scheme was much stronger than the other schemes. The vertical distributions of model-simulated cloud species (e.g., snow) are quite sensitive to the microphysical schemes, which is an issue for future verification against satellite retrievals. Both the Purdue-Lin and WSM6 schemes simulated very little snow compared to the other schemes for both the midlatitude convective line and hurricane case. Sensitivity tests with these two schemes showed that increasing the snow intercept, turning off the auto-conversion from snow to graupel, eliminating dry growth, and reducing the transfer processes from cloud-sized particles to precipitation-sized ice collectively resulted in a net increase in those schemes' snow amounts.

Financing Maternal Health and Family Planning: Are We on the Right Track? Evidence from the Reproductive Health Subaccounts in Mexico, 2003-2012.

PubMed

Avila-Burgos, Leticia; Cahuana-Hurtado, Lucero; Montañez-Hernandez, Julio; Servan-Mori, Edson; Aracena-Genao, Belkis; Del Río-Zolezzi, Aurora

2016-01-01

To analyze whether the changes observed in the level and distribution of resources for maternal health and family planning (MHFP) programs from 2003 to 2012 were consistent with the financial goals of the related policies. A longitudinal descriptive analysis of the Mexican Reproductive Health Subaccounts 2003-2012 was performed by financing scheme and health function. Financing schemes included social security, government schemes, household out-of-pocket (OOP) payments, and private insurance plans. Functions were preventive care, including family planning, antenatal and puerperium health services, normal and cesarean deliveries, and treatment of complications. Changes in the financial imbalance indicators covered by MHFP policy were tracked: (a) public and OOP expenditures as percentages of total MHFP spending; (b) public expenditure per woman of reproductive age (WoRA, 15-49 years) by financing scheme; (c) public expenditure on treating complications as a percentage of preventive care; and (d) public expenditure on WoRA at state level. Statistical analyses of trends and distributions were performed. Public expenditure on government schemes grew by approximately 300%, and the financial imbalance between populations covered by social security and government schemes decreased. The financial burden on households declined, particularly among households without social security. Expenditure on preventive care grew by 16%, narrowing the financing gap between treatment of complications and preventive care. Finally, public expenditure per WoRA for government schemes nearly doubled at the state level, although considerable disparities persist. Changes in the level and distribution of MHFP funding from 2003 to 2012 were consistent with the relevant policy goals. However, improving efficiency requires further analysis to ascertain the impact of investments on health outcomes. This, in turn, will require better financial data systems as a precondition for improving the monitoring and accountability functions in Mexico.

Distributed event-triggered consensus tracking of second-order multi-agent systems with a virtual leader

NASA Astrophysics Data System (ADS)

Jie, Cao; Zhi-Hai, Wu; Li, Peng

2016-05-01

This paper investigates the consensus tracking problems of second-order multi-agent systems with a virtual leader via event-triggered control. A novel distributed event-triggered transmission scheme is proposed, which is intermittently examined at constant sampling instants. Only partial neighbor information and local measurements are required for event detection. Then the corresponding event-triggered consensus tracking protocol is presented to guarantee second-order multi-agent systems to achieve consensus tracking. Numerical simulations are given to illustrate the effectiveness of the proposed strategy. Project supported by the National Natural Science Foundation of China (Grant Nos. 61203147, 61374047, and 61403168).

Detumbling control for kinematically redundant space manipulator post-grasping a rotational satellite

NASA Astrophysics Data System (ADS)

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

2017-12-01

The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling and motion planning strategy for the post-capture phase is proposed based on the quartic Bézier curves and adaptive differential evolution (DE) algorithm subject to the specific constraints. Both detumbling time and control torques are taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is presented to track the designed reference path while regulating the attitude of the chaser to a desired value, which successfully dumps the initial angular velocity of the rotational satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom (DOF) redundant space manipulator, which demonstrates the effectiveness of the proposed method.

Multivariate quadrature for representing cloud condensation nuclei activity of aerosol populations

DOE PAGES

Fierce, Laura; McGraw, Robert L.

2017-07-26

Here, sparse representations of atmospheric aerosols are needed for efficient regional- and global-scale chemical transport models. Here we introduce a new framework for representing aerosol distributions, based on the quadrature method of moments. Given a set of moment constraints, we show how linear programming, combined with an entropy-inspired cost function, can be used to construct optimized quadrature representations of aerosol distributions. The sparse representations derived from this approach accurately reproduce cloud condensation nuclei (CCN) activity for realistically complex distributions simulated by a particleresolved model. Additionally, the linear programming techniques described in this study can be used to bound key aerosolmore » properties, such as the number concentration of CCN. Unlike the commonly used sparse representations, such as modal and sectional schemes, the maximum-entropy approach described here is not constrained to pre-determined size bins or assumed distribution shapes. This study is a first step toward a particle-based aerosol scheme that will track multivariate aerosol distributions with sufficient computational efficiency for large-scale simulations.« less

Multivariate quadrature for representing cloud condensation nuclei activity of aerosol populations

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

Fierce, Laura; McGraw, Robert L.

Here, sparse representations of atmospheric aerosols are needed for efficient regional- and global-scale chemical transport models. Here we introduce a new framework for representing aerosol distributions, based on the quadrature method of moments. Given a set of moment constraints, we show how linear programming, combined with an entropy-inspired cost function, can be used to construct optimized quadrature representations of aerosol distributions. The sparse representations derived from this approach accurately reproduce cloud condensation nuclei (CCN) activity for realistically complex distributions simulated by a particleresolved model. Additionally, the linear programming techniques described in this study can be used to bound key aerosolmore » properties, such as the number concentration of CCN. Unlike the commonly used sparse representations, such as modal and sectional schemes, the maximum-entropy approach described here is not constrained to pre-determined size bins or assumed distribution shapes. This study is a first step toward a particle-based aerosol scheme that will track multivariate aerosol distributions with sufficient computational efficiency for large-scale simulations.« less

Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV.

PubMed

Ali, Zain Anwar; Wang, Daobo; Aamir, Muhammad

2016-05-09

In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV). The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST) controller with model reference adaptive control (MRAC), in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controller. Brushless direct current (BLDC) motors are installed in the triangular frame of the tri-rotor UAV, which helps maintain control on its motion and different altitude and attitude changes, similar to rotorcrafts. MRAC-based MIT rule is proposed for system stability. Moreover, the proposed hybrid controller with nonlinear flight dynamics is shown in the presence of translational and rotational velocity components. The performance of the proposed algorithm is demonstrated via MATLAB simulations, in which the proposed fuzzy hybrid controller is compared with the existing adaptive RST controller. It shows that our proposed algorithm has better transient performance with zero steady-state error, and fast convergence towards stability.

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

PubMed

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

2016-11-15

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

On-Line Modal State Monitoring of Slowly Time-Varying Structures

NASA Technical Reports Server (NTRS)

Johnson, Erik A.; Bergman, Lawrence A.; Voulgaris, Petros G.

1997-01-01

Monitoring the dynamic response of structures is often performed for a variety of reasons. These reasons include condition-based maintenance, health monitoring, performance improvements, and control. In many cases the data analysis that is performed is part of a repetitive decision-making process, and in these cases the development of effective on-line monitoring schemes help to speed the decision-making process and reduce the risk of erroneous decisions. This report investigates the use of spatial modal filters for tracking the dynamics of slowly time-varying linear structures. The report includes an overview of modal filter theory followed by an overview of several structural system identification methods. Included in this discussion and comparison are H-infinity, eigensystem realization, and several time-domain least squares approaches. Finally, a two-stage adaptive on-line monitoring scheme is developed and evaluated.

Collaborative Scheduling Using JMS in a Mixed Java and .NET Environment

NASA Technical Reports Server (NTRS)

Wang, Yeou-Fang; Wax, Allan; Lam, Ray; Baldwin, John; Borden, Chet

2006-01-01

A collaborative framework/environment was proto-typed to prove the feasibility of scheduling space flight missions on NASA's Deep Space Network (DSN) in a distributed fashion. In this environment, effective collaboration relies on efficient communications among all flight mission and DSN scheduling users. There-fore, messaging becomes critical to timely event notification and data synchronization. In the prototype, a rapid messaging system using Java Message Service (JMS) in a mixed Java and .NET environment is established. This scheme allows both Java and .NET applications to communicate with each other for data synchronization and schedule negotiation. The JMS approach we used is based on a centralized messaging scheme. With proper use of a high speed messaging system, all users in this collaborative framework can communicate with each other to generate a schedule collaboratively to meet DSN and projects tracking needs.

Real-Time Two-Dimensional Magnetic Particle Imaging for Electromagnetic Navigation in Targeted Drug Delivery.

PubMed

Le, Tuan-Anh; Zhang, Xingming; Hoshiar, Ali Kafash; Yoon, Jungwon

2017-09-07

Magnetic nanoparticles (MNPs) are effective drug carriers. By using electromagnetic actuated systems, MNPs can be controlled noninvasively in a vascular network for targeted drug delivery (TDD). Although drugs can reach their target location through capturing schemes of MNPs by permanent magnets, drugs delivered to non-target regions can affect healthy tissues and cause undesirable side effects. Real-time monitoring of MNPs can improve the targeting efficiency of TDD systems. In this paper, a two-dimensional (2D) real-time monitoring scheme has been developed for an MNP guidance system. Resovist particles 45 to 65 nm in diameter (5 nm core) can be monitored in real-time (update rate = 2 Hz) in 2D. The proposed 2D monitoring system allows dynamic tracking of MNPs during TDD and renders magnetic particle imaging-based navigation more feasible.

Real-Time Two-Dimensional Magnetic Particle Imaging for Electromagnetic Navigation in Targeted Drug Delivery

PubMed Central

Le, Tuan-Anh; Zhang, Xingming; Hoshiar, Ali Kafash; Yoon, Jungwon

2017-01-01

Magnetic nanoparticles (MNPs) are effective drug carriers. By using electromagnetic actuated systems, MNPs can be controlled noninvasively in a vascular network for targeted drug delivery (TDD). Although drugs can reach their target location through capturing schemes of MNPs by permanent magnets, drugs delivered to non-target regions can affect healthy tissues and cause undesirable side effects. Real-time monitoring of MNPs can improve the targeting efficiency of TDD systems. In this paper, a two-dimensional (2D) real-time monitoring scheme has been developed for an MNP guidance system. Resovist particles 45 to 65 nm in diameter (5 nm core) can be monitored in real-time (update rate = 2 Hz) in 2D. The proposed 2D monitoring system allows dynamic tracking of MNPs during TDD and renders magnetic particle imaging-based navigation more feasible. PMID:28880220

Coding visual features extracted from video sequences.

PubMed

Baroffio, Luca; Cesana, Matteo; Redondi, Alessandro; Tagliasacchi, Marco; Tubaro, Stefano

2014-05-01

Visual features are successfully exploited in several applications (e.g., visual search, object recognition and tracking, etc.) due to their ability to efficiently represent image content. Several visual analysis tasks require features to be transmitted over a bandwidth-limited network, thus calling for coding techniques to reduce the required bit budget, while attaining a target level of efficiency. In this paper, we propose, for the first time, a coding architecture designed for local features (e.g., SIFT, SURF) extracted from video sequences. To achieve high coding efficiency, we exploit both spatial and temporal redundancy by means of intraframe and interframe coding modes. In addition, we propose a coding mode decision based on rate-distortion optimization. The proposed coding scheme can be conveniently adopted to implement the analyze-then-compress (ATC) paradigm in the context of visual sensor networks. That is, sets of visual features are extracted from video frames, encoded at remote nodes, and finally transmitted to a central controller that performs visual analysis. This is in contrast to the traditional compress-then-analyze (CTA) paradigm, in which video sequences acquired at a node are compressed and then sent to a central unit for further processing. In this paper, we compare these coding paradigms using metrics that are routinely adopted to evaluate the suitability of visual features in the context of content-based retrieval, object recognition, and tracking. Experimental results demonstrate that, thanks to the significant coding gains achieved by the proposed coding scheme, ATC outperforms CTA with respect to all evaluation metrics.

Bond graph modeling and experimental verification of a novel scheme for fault diagnosis of rolling element bearings in special operating conditions

NASA Astrophysics Data System (ADS)

Mishra, C.; Samantaray, A. K.; Chakraborty, G.

2016-09-01

Vibration analysis for diagnosis of faults in rolling element bearings is complicated when the rotor speed is variable or slow. In the former case, the time interval between the fault-induced impact responses in the vibration signal are non-uniform and the signal strength is variable. In the latter case, the fault-induced impact response strength is weak and generally gets buried in the noise, i.e. noise dominates the signal. This article proposes a diagnosis scheme based on a combination of a few signal processing techniques. The proposed scheme initially represents the vibration signal in terms of uniformly resampled angular position of the rotor shaft by using the interpolated instantaneous angular position measurements. Thereafter, intrinsic mode functions (IMFs) are generated through empirical mode decomposition (EMD) of resampled vibration signal which is followed by thresholding of IMFs and signal reconstruction to de-noise the signal and envelope order tracking to diagnose the faults. Data for validating the proposed diagnosis scheme are initially generated from a multi-body simulation model of rolling element bearing which is developed using bond graph approach. This bond graph model includes the ball and cage dynamics, localized fault geometry, contact mechanics, rotor unbalance, and friction and slip effects. The diagnosis scheme is finally validated with experiments performed with the help of a machine fault simulator (MFS) system. Some fault scenarios which could not be experimentally recreated are then generated through simulations and analyzed through the developed diagnosis scheme.

A new user-assisted segmentation and tracking technique for an object-based video editing system

NASA Astrophysics Data System (ADS)

Yu, Hong Y.; Hong, Sung-Hoon; Lee, Mike M.; Choi, Jae-Gark

2004-03-01

This paper presents a semi-automatic segmentation method which can be used to generate video object plane (VOP) for object based coding scheme and multimedia authoring environment. Semi-automatic segmentation can be considered as a user-assisted segmentation technique. A user can initially mark objects of interest around the object boundaries and then the user-guided and selected objects are continuously separated from the unselected areas through time evolution in the image sequences. The proposed segmentation method consists of two processing steps: partially manual intra-frame segmentation and fully automatic inter-frame segmentation. The intra-frame segmentation incorporates user-assistance to define the meaningful complete visual object of interest to be segmentation and decides precise object boundary. The inter-frame segmentation involves boundary and region tracking to obtain temporal coherence of moving object based on the object boundary information of previous frame. The proposed method shows stable efficient results that could be suitable for many digital video applications such as multimedia contents authoring, content based coding and indexing. Based on these results, we have developed objects based video editing system with several convenient editing functions.

Studying the Processes Contributed to the Hairpin Turn of Hurricane Joaquin with WRF numerical simulations and TCI-2015 observations

NASA Astrophysics Data System (ADS)

Pu, Z.; Yu, Y.

2016-12-01

The prediction of Hurricane Joaquin's hairpin clockwise during 1 and 2 October 2015 presents a forecasting challenge during real-time numerical weather prediction, as tracks of several major numerical weather prediction models differ from each other. To investigate the large-scale environment and hurricane inner-core structures related to the hairpin turn of Joaquin, a series of high-resolution mesoscale numerical simulations of Hurricane Joaquin had been performed with an advanced research version of the Weather Research and Forecasting (WRF) model. The outcomes were compared with the observations obtained from the US Office of Naval Research's Tropical Cyclone Intensity (TCI) Experiment during 2015 hurricane season. Specifically, five groups of sensitivity experiments with different cumulus, boundary layer, and microphysical schemes as well as different initial and boundary conditions and initial times in WRF simulations had been performed. It is found that the choice of the cumulus parameterization scheme plays a significant role in reproducing reasonable track forecast during Joaquin's hairpin turn. The mid-level environmental steering flows can be the reason that leads to different tracks in the simulations with different cumulus schemes. In addition, differences in the distribution and amounts of the latent heating over the inner-core region are associated with discrepancies in the simulated intensity among different experiments. Detailed simulation results, comparison with TCI-2015 observations, and comprehensive diagnoses will be presented.

Case studies in configuration control for redundant robots

NASA Technical Reports Server (NTRS)

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

1989-01-01

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

An Ensemble-Based Smoother with Retrospectively Updated Weights for Highly Nonlinear Systems

NASA Technical Reports Server (NTRS)

Chin, T. M.; Turmon, M. J.; Jewell, J. B.; Ghil, M.

2006-01-01

Monte Carlo computational methods have been introduced into data assimilation for nonlinear systems in order to alleviate the computational burden of updating and propagating the full probability distribution. By propagating an ensemble of representative states, algorithms like the ensemble Kalman filter (EnKF) and the resampled particle filter (RPF) rely on the existing modeling infrastructure to approximate the distribution based on the evolution of this ensemble. This work presents an ensemble-based smoother that is applicable to the Monte Carlo filtering schemes like EnKF and RPF. At the minor cost of retrospectively updating a set of weights for ensemble members, this smoother has demonstrated superior capabilities in state tracking for two highly nonlinear problems: the double-well potential and trivariate Lorenz systems. The algorithm does not require retrospective adaptation of the ensemble members themselves, and it is thus suited to a streaming operational mode. The accuracy of the proposed backward-update scheme in estimating non-Gaussian distributions is evaluated by comparison to the more accurate estimates provided by a Markov chain Monte Carlo algorithm.

Short-Term Frequency Response of a DFIG-Based Wind Turbine Generator for Rapid Frequency Stabilization

DOE PAGES

Yang, Dejian; Kang, Moses; Muljadi, Eduard; ...

2017-11-14

This paper proposes a short-term frequency-response scheme of a doubly-fed induction generator (DFIG)-based wind turbine generator (WTG) for improving rotor speed recovery and frequency nadir. In the energy-releasing period, to improve the frequency nadir and rotor speed convergence by releasing a large amount of kinetic energy stored in the rotating masses in a DFIG-based WTG, the power reference is increased up to the torque limit referred to the power and reduces along with it for a predefined period which is determined based on the occurrence time of the frequency nadir in a power grid. Then, the reference decreases so thatmore » the rotor speed is forced to be converged to the preset value in the stable operating region of the rotor speed. In the energy-absorbing period, to quickly recover the rotor speed, the reference smoothly decreases with the rotor speed and time during a predefined period until it intersects with the maximum power point tracking curve. The simulation results demonstrate that the proposed scheme successfully achieves rapid frequency stabilization with the improved frequency nadir under various wind conditions based on the IEEE 14-bus system.« less

Radar-derived quantitative precipitation estimation in complex terrain over the eastern Tibetan Plateau

NASA Astrophysics Data System (ADS)

Gou, Yabin; Ma, Yingzhao; Chen, Haonan; Wen, Yixin

2018-05-01

Quantitative precipitation estimation (QPE) is one of the important applications of weather radars. However, in complex terrain such as Tibetan Plateau, it is a challenging task to obtain an optimal Z-R relation due to the complex spatial and temporal variability in precipitation microphysics. This paper develops two radar QPE schemes respectively based on Reflectivity Threshold (RT) and Storm Cell Identification and Tracking (SCIT) algorithms using observations from 11 Doppler weather radars and 3264 rain gauges over the Eastern Tibetan Plateau (ETP). These two QPE methodologies are evaluated extensively using four precipitation events that are characterized by different meteorological features. Precipitation characteristics of independent storm cells associated with these four events, as well as the storm-scale differences, are investigated using short-term vertical profile of reflectivity (VPR) clusters. Evaluation results show that the SCIT-based rainfall approach performs better than the simple RT-based method for all precipitation events in terms of score comparison using validation gauge measurements as references. It is also found that the SCIT-based approach can effectively mitigate the local error of radar QPE and represent the precipitation spatiotemporal variability better than the RT-based scheme.

Short-Term Frequency Response of a DFIG-Based Wind Turbine Generator for Rapid Frequency Stabilization

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

Yang, Dejian; Kang, Moses; Muljadi, Eduard

This paper proposes a short-term frequency-response scheme of a doubly-fed induction generator (DFIG)-based wind turbine generator (WTG) for improving rotor speed recovery and frequency nadir. In the energy-releasing period, to improve the frequency nadir and rotor speed convergence by releasing a large amount of kinetic energy stored in the rotating masses in a DFIG-based WTG, the power reference is increased up to the torque limit referred to the power and reduces along with it for a predefined period which is determined based on the occurrence time of the frequency nadir in a power grid. Then, the reference decreases so thatmore » the rotor speed is forced to be converged to the preset value in the stable operating region of the rotor speed. In the energy-absorbing period, to quickly recover the rotor speed, the reference smoothly decreases with the rotor speed and time during a predefined period until it intersects with the maximum power point tracking curve. The simulation results demonstrate that the proposed scheme successfully achieves rapid frequency stabilization with the improved frequency nadir under various wind conditions based on the IEEE 14-bus system.« less

An event-triggered control approach for the leader-tracking problem with heterogeneous agents

NASA Astrophysics Data System (ADS)

Garcia, Eloy; Cao, Yongcan; Casbeer, David W.

2018-05-01

This paper presents an event-triggered control and communication framework for the cooperative leader-tracking problem with communication constraints. Continuous communication among agents is not assumed in this work and decentralised event-based strategies are proposed for agents with heterogeneous linear dynamics. Also, the leader dynamics are unknown and only intermittent measurements of its states are obtained by a subset of the followers. The event-based method not only represents a way to restrict communication among agents, but it also provides a decentralised scheme for scheduling information broadcasts. Notably, each agent is able to determine its own broadcasting instants independently of any other agent in the network. In an extension, the case where transmission of information is affected by time-varying communication delays is addressed. Finally, positive lower-bounds on the inter-event time intervals are obtained in order to show that Zeno behaviour does not exist and, therefore, continuous exchange of information is never needed in this framework.

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

PubMed

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

2017-07-01

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

Formation tracker design of multiple mobile robots with wheel perturbations: adaptive output-feedback approach

NASA Astrophysics Data System (ADS)

Yoo, Sung Jin

2016-11-01

This paper presents a theoretical design approach for output-feedback formation tracking of multiple mobile robots under wheel perturbations. It is assumed that these perturbations are unknown and the linear and angular velocities of the robots are unmeasurable. First, adaptive state observers for estimating unmeasurable velocities of the robots are developed under the robots' kinematics and dynamics including wheel perturbation effects. Then, we derive a virtual-structure-based formation tracker scheme according to the observer dynamic surface design procedure. The main difficulty of the output-feedback control design is to manage the coupling problems between unmeasurable velocities and unknown wheel perturbation effects. These problems are avoided by using the adaptive technique and the function approximation property based on fuzzy logic systems. From the Lyapunov stability analysis, it is shown that point tracking errors of each robot and synchronisation errors for the desired formation converge to an adjustable neighbourhood of the origin, while all signals in the controlled closed-loop system are semiglobally uniformly ultimately bounded.

An Incentive-based Online Optimization Framework for Distribution Grids

DOE PAGES

Zhou, Xinyang; Dall'Anese, Emiliano; Chen, Lijun; ...

2017-10-09

This article formulates a time-varying social-welfare maximization problem for distribution grids with distributed energy resources (DERs) and develops online distributed algorithms to identify (and track) its solutions. In the considered setting, network operator and DER-owners pursue given operational and economic objectives, while concurrently ensuring that voltages are within prescribed limits. The proposed algorithm affords an online implementation to enable tracking of the solutions in the presence of time-varying operational conditions and changing optimization objectives. It involves a strategy where the network operator collects voltage measurements throughout the feeder to build incentive signals for the DER-owners in real time; DERs thenmore » adjust the generated/consumed powers in order to avoid the violation of the voltage constraints while maximizing given objectives. Stability of the proposed schemes is analytically established and numerically corroborated.« less

An Incentive-based Online Optimization Framework for Distribution Grids

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

Zhou, Xinyang; Dall'Anese, Emiliano; Chen, Lijun

This article formulates a time-varying social-welfare maximization problem for distribution grids with distributed energy resources (DERs) and develops online distributed algorithms to identify (and track) its solutions. In the considered setting, network operator and DER-owners pursue given operational and economic objectives, while concurrently ensuring that voltages are within prescribed limits. The proposed algorithm affords an online implementation to enable tracking of the solutions in the presence of time-varying operational conditions and changing optimization objectives. It involves a strategy where the network operator collects voltage measurements throughout the feeder to build incentive signals for the DER-owners in real time; DERs thenmore » adjust the generated/consumed powers in order to avoid the violation of the voltage constraints while maximizing given objectives. Stability of the proposed schemes is analytically established and numerically corroborated.« less

lop-DWI: A Novel Scheme for Pre-Processing of Diffusion-Weighted Images in the Gradient Direction Domain.

PubMed

Sepehrband, Farshid; Choupan, Jeiran; Caruyer, Emmanuel; Kurniawan, Nyoman D; Gal, Yaniv; Tieng, Quang M; McMahon, Katie L; Vegh, Viktor; Reutens, David C; Yang, Zhengyi

2014-01-01

We describe and evaluate a pre-processing method based on a periodic spiral sampling of diffusion-gradient directions for high angular resolution diffusion magnetic resonance imaging. Our pre-processing method incorporates prior knowledge about the acquired diffusion-weighted signal, facilitating noise reduction. Periodic spiral sampling of gradient direction encodings results in an acquired signal in each voxel that is pseudo-periodic with characteristics that allow separation of low-frequency signal from high frequency noise. Consequently, it enhances local reconstruction of the orientation distribution function used to define fiber tracks in the brain. Denoising with periodic spiral sampling was tested using synthetic data and in vivo human brain images. The level of improvement in signal-to-noise ratio and in the accuracy of local reconstruction of fiber tracks was significantly improved using our method.

Method and apparatus for configuration control of redundant robots

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1991-01-01

A method and apparatus to control a robot or manipulator configuration over the entire motion based on augmentation of the manipulator forward kinematics is disclosed. A set of kinematic functions is defined in Cartesian or joint space to reflect the desirable configuration that will be achieved in addition to the specified end-effector motion. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. A task-based adaptive scheme is then utilized to directly control the configuration variables so as to achieve tracking of some desired reference trajectories throughout the robot motion. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The present invention can also be used for optimization of any kinematic objective function, or for satisfaction of a set of kinematic inequality constraints, as in an obstacle avoidance problem. In contrast to pseudoinverse-based methods, the configuration control scheme ensures cyclic motion of the manipulator, which is an essential requirement for repetitive operations. The control law is simple and computationally very fast, and does not require either the complex manipulator dynamic model or the complicated inverse kinematic transformation. The configuration control scheme can alternatively be implemented in joint space.

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

PubMed

Chen, Mou; Tao, Gang

2016-08-01

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

Variational Continuous Assimilation of TMI and SSM/I Rain Rates: Impact on GEOS-3 Hurricane Analyses and Forecasts

NASA Technical Reports Server (NTRS)

Hou, Arthur Y.; Zhang, Sara Q.; Reale, Oreste

2003-01-01

We describe a variational continuous assimilation (VCA) algorithm for assimilating tropical rainfall data using moisture and temperature tendency corrections as the control variable to offset model deficiencies. For rainfall assimilation, model errors are of special concern since model-predicted precipitation is based on parameterized moist physics, which can have substantial systematic errors. This study examines whether a VCA scheme using the forecast model as a weak constraint offers an effective pathway to precipitation assimilation. The particular scheme we exarnine employs a '1+1' dimension precipitation observation operator based on a 6-h integration of a column model of moist physics from the Goddard Earth Observing System (GEOS) global data assimilation system DAS). In earlier studies, we tested a simplified version of this scheme and obtained improved monthly-mean analyses and better short-range forecast skills. This paper describes the full implementation ofthe 1+1D VCA scheme using background and observation error statistics, and examines how it may improve GEOS analyses and forecasts of prominent tropical weather systems such as hurricanes. Parallel assimilation experiments with and without rainfall data for Hurricanes Bonnie and Floyd show that assimilating 6-h TMI and SSM/I surfice rain rates leads to more realistic storm features in the analysis, which, in turn, provide better initial conditions for 5-day storm track prediction and precipitation forecast. These results provide evidence that addressing model deficiencies in moisture tendency may be crucial to making effective use of precipitation information in data assimilation.

Sensitivity of CAM5-simulated Arctic clouds and radiation to ice nucleation parameterization

DOE PAGES

Xie, Shaocheng; Liu, Xiaohong; Zhao, Chuanfeng; ...

2013-08-06

Sensitivity of Arctic clouds and radiation in the Community Atmospheric Model, version 5, to the ice nucleation process is examined by testing a new physically based ice nucleation scheme that links the variation of ice nuclei (IN) number concentration to aerosol properties. The default scheme parameterizes the IN concentration simply as a function of ice supersaturation. The new scheme leads to a significant reduction in simulated IN concentration at all latitudes while changes in cloud amounts and properties are mainly seen at high- and midlatitude storm tracks. In the Arctic, there is a considerable increase in midlevel clouds and amore » decrease in low-level clouds, which result from the complex interaction among the cloud macrophysics, microphysics, and large-scale environment. The smaller IN concentrations result in an increase in liquid water path and a decrease in ice water path caused by the slowdown of the Bergeron–Findeisen process in mixed-phase clouds. Overall, there is an increase in the optical depth of Arctic clouds, which leads to a stronger cloud radiative forcing (net cooling) at the top of the atmosphere. The comparison with satellite data shows that the new scheme slightly improves low-level cloud simulations over most of the Arctic but produces too many midlevel clouds. Considerable improvements are seen in the simulated low-level clouds and their properties when compared with Arctic ground-based measurements. As a result, issues with the observations and the model–observation comparison in the Arctic region are discussed.« less

Gravitational wave searches using the DSN (Deep Space Network)

NASA Technical Reports Server (NTRS)

Nelson, S. J.; Armstrong, J. W.

1988-01-01

The Deep Space Network Doppler spacecraft link is currently the only method available for broadband gravitational wave searches in the 0.01 to 0.001 Hz frequency range. The DSN's role in the worldwide search for gravitational waves is described by first summarizing from the literature current theoretical estimates of gravitational wave strengths and time scales from various astrophysical sources. Current and future detection schemes for ground based and space based detectors are then discussed. Past, present, and future planned or proposed gravitational wave experiments using DSN Doppler tracking are described. Lastly, some major technical challenges to improve gravitational wave sensitivities using the DSN are discussed.

Fuzzy-PI-based centralised control of semi-isolated FP-SEPIC/ZETA BDC in a PV/battery hybrid system

NASA Astrophysics Data System (ADS)

Mahendran, Venmathi; Ramabadran, Ramaprabha

2016-11-01

Multiport converters with centralised controller have been most commonly used in stand-alone photovoltaic (PV)/battery hybrid system to supply the load smoothly without any disturbances. This study presents the performance analysis of four-port SEPIC/ZETA bidirectional converter (FP-SEPIC/ZETA BDC) using various types of centralised control schemes like Fuzzy tuned proportional integral controller (Fuzzy-PI), fuzzy logic controller (FLC) and conventional proportional integral (PI) controller. The proposed FP-SEPIC/ZETA BDC with various control strategy is derived for simultaneous power management of a PV source using distributed maximum power point tracking (DMPPT) algorithm, a rechargeable battery, and a load by means of centralised controller. The steady state and the dynamic response of the FP-SEPIC/ZETA BDC are analysed using three different types of controllers under line and load regulation. The Fuzzy-PI-based control scheme improves the dynamic response of the system when compared with the FLC and the conventional PI controller. The power balance between the ports is achieved by pseudorandom carrier modulation scheme. The response of the FP-SEPIC/ZETA BDC is also validated experimentally using hardware prototype model of 500 W system. The effectiveness of the control strategy is validated using simulation and experimental results.

Adaptive Gain-based Stable Power Smoothing of a DFIG

DOE PAGES

Muljadi, Eduard; Lee, Hyewon; Hwang, Min; ...

2017-11-01

In a power system that has a high wind penetration, the output power fluctuation of a large-scale wind turbine generator (WTG) caused by the varying wind speed increases the maximum frequency deviation, which is an important metric to assess the quality of electricity, because of the reduced system inertia. This paper proposes a stable power-smoothing scheme of a doubly-fed induction generator (DFIG) that can suppress the maximum frequency deviation, particularly for a power system with a high wind penetration. To do this, the proposed scheme employs an additional control loop relying on the system frequency deviation that operates in combinationmore » with the maximum power point tracking control loop. To improve the power-smoothing capability while guaranteeing the stable operation of a DFIG, the gain of the additional loop is modified with the rotor speed and frequency deviation. The gain is set to be high if the rotor speed and/or frequency deviation is large. Here, the simulation results based on the IEEE 14-bus system demonstrate that the proposed scheme significantly lessens the output power fluctuation of a WTG under various scenarios by modifying the gain with the rotor speed and frequency deviation, and thereby it can regulate the frequency deviation within a narrow range.« less

Adaptive Gain-based Stable Power Smoothing of a DFIG

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

Muljadi, Eduard; Lee, Hyewon; Hwang, Min

In a power system that has a high wind penetration, the output power fluctuation of a large-scale wind turbine generator (WTG) caused by the varying wind speed increases the maximum frequency deviation, which is an important metric to assess the quality of electricity, because of the reduced system inertia. This paper proposes a stable power-smoothing scheme of a doubly-fed induction generator (DFIG) that can suppress the maximum frequency deviation, particularly for a power system with a high wind penetration. To do this, the proposed scheme employs an additional control loop relying on the system frequency deviation that operates in combinationmore » with the maximum power point tracking control loop. To improve the power-smoothing capability while guaranteeing the stable operation of a DFIG, the gain of the additional loop is modified with the rotor speed and frequency deviation. The gain is set to be high if the rotor speed and/or frequency deviation is large. Here, the simulation results based on the IEEE 14-bus system demonstrate that the proposed scheme significantly lessens the output power fluctuation of a WTG under various scenarios by modifying the gain with the rotor speed and frequency deviation, and thereby it can regulate the frequency deviation within a narrow range.« less

Intelligent control of PV system on the basis of the fuzzy recurrent neuronet*

NASA Astrophysics Data System (ADS)

Engel, E. A.; Kovalev, I. V.; Engel, N. E.

2016-04-01

This paper presents the fuzzy recurrent neuronet for PV system’s control. Based on the PV system’s state, the fuzzy recurrent neural net tracks the maximum power point under random perturbations. The validity and advantages of the proposed intelligent control of PV system are demonstrated by numerical simulations. The simulation results show that the proposed intelligent control of PV system achieves real-time control speed and competitive performance, as compared to a classical control scheme on the basis of the perturbation & observation algorithm.

Study on the key technology of grain logistics tracking system

NASA Astrophysics Data System (ADS)

Zhen, Tong; Ge, Hongyi; Jiang, Yuying; Che, Yi

2010-07-01

In recent year, with the rapid development of GIS technology, more and more programming problems depend on the GIS technology and professional model system. The solution of auxiliary programming problem by using GIS technology, which has become very popular. GIS is an important tool and technology, that captures, stores, analyzes, manages, and presents data that are linked to location. A grain logistics distribution system based on GIS is established, which provides a visualization scheme during the process of grain circulation and supports users making decision and analyzing for grain logistics enterprise.

Pointing Reference Scheme for Free-Space Optical Communications Systems

NASA Technical Reports Server (NTRS)

Wright, Malcolm; Ortiz, Gerardo; Jeganathan, Muthu

2006-01-01

A scheme is proposed for referencing the propagation direction of the transmit laser signal in pointing a free-space optical communications terminal. This recently developed scheme enables the use of low-cost, commercial silicon-based sensors for tracking the direction of the transmit laser, regardless of the transmit wavelength. Compared with previous methods, the scheme offers some advantages of less mechanical and optical complexity and avoids expensive and exotic sensor technologies. In free-space optical communications, the transmit beam must be accurately pointed toward the receiver in order to maintain the communication link. The current approaches to achieve this function call for part of the transmit beam to be split off and projected onto an optical sensor used to infer the pointed direction. This requires that the optical sensor be sensitive to the wavelength of the transmit laser. If a different transmit wavelength is desired, for example to obtain a source capable of higher data rates, this can become quite impractical because of the unavailability or inefficiency of sensors at these wavelengths. The innovation proposed here decouples this requirement by allowing any transmit wavelength to be used with any sensor. We have applied this idea to a particular system that transmits at the standard telecommunication wavelength of 1,550 nm and uses a silicon-based sensor, sensitive from 0.5 to 1.0 micrometers, to determine the pointing direction. The scheme shown in the figure involves integrating a low-power 980-nm reference or boresight laser beam coupled to the 1,550-nm transmit beam via a wavelength-division-multiplexed fiber coupler. Both of these signals propagate through the optical fiber where they achieve an extremely high level of co-alignment before they are launched into the telescope. The telescope uses a dichroic beam splitter to reflect the 980- nm beam onto the silicon image sensor (a quad detector, charge-coupled device, or active-pixel-sensor array) while the 1,550- nm signal beam is transmitted through the optical assembly toward the remotely located receiver. Since the 980-nm reference signal originates from the same single-mode fiber-coupled source as the transmit signal, its position on the sensor is used to accurately determine the propagation direction of the transmit signal. The optics are considerably simpler in the proposed scheme due to the use of a single aperture for transmitting and receiving. Moreover, the issue of mechanical misalignment does not arise because the reference signal and transmitted laser beams are inherently co-aligned. The beam quality of the 980-nm reference signal used for tracking is required to be circularly symmetric and stable at the tracking-plane sensor array in order to minimize error in the centroiding algorithm of the pointing system. However, since the transmit signal is delivered through a fiber that supports a single mode at 1,550 nm, propagation of higher order 980-nm modes is possible. Preliminary analysis shows that the overall mode profile is dominated by the fundamental mode, giving a near symmetric profile. The instability of the mode was also measured and found to be negligible in comparison to the other error contributions in the centroid position on the sensor array.

Diffraction analysis and evaluation of several focus- and track-error detection schemes for magneto-optical disk systems

NASA Technical Reports Server (NTRS)

Bernacki, Bruce E.; Mansuripur, M.

1992-01-01

A commonly used tracking method on pre-grooved magneto-optical (MO) media is the push-pull technique, and the astigmatic method is a popular focus-error detection approach. These two methods are analyzed using DIFFRACT, a general-purpose scalar diffraction modeling program, to observe the effects on the error signals due to focusing lens misalignment, Seidel aberrations, and optical crosstalk (feedthrough) between the focusing and tracking servos. Using the results of the astigmatic/push-pull system as a basis for comparison, a novel focus/track-error detection technique that utilizes a ring toric lens is evaluated as well as the obscuration method (focus error detection only).

Dual S and Ku-band tracking feed for a TDRS reflector antenna

NASA Technical Reports Server (NTRS)

Pullara, J. C.; Bales, C. W.; Kefalas, G. P.; Uyehara, M.

1974-01-01

The results are presented of a trade study designed to identify a synchronous satellite antenna system suitable for receiving and transmitting data from lower orbiting satellites at both S- and K sub u-bands simultaneously as part of the Tracking and Data Relay Satellite System. All related problems associated with maintaining a data link between two satellites with a K sub u-band half-power beamwidth of 0.4 db are considered including data link maintenance techniques, beam pointing accuracies, gimbal and servo errors, solar heating, angle tracking schemes, acquisition problems and aids, tracking accuracies versus SNR, antenna feed designs, equipment designs, weight and power budgets, and detailed candidate antenna system designs.

Exploiting coastal altimetry to improve the surface circulation scheme over the central Mediterranean Sea

NASA Astrophysics Data System (ADS)

Jebri, Fatma; Birol, Florence; Zakardjian, Bruno; Bouffard, Jérome; Sammari, Cherif

2016-07-01

This work is the first study exploiting along track altimetry data to observe and monitor coastal ocean features over the transition area between the western and eastern Mediterranean Basins. The relative performances of both the AVISO and the X-TRACK research regional altimetric data sets are compared using in situ observations. Both products are cross validated with tide gauge records. The altimeter-derived geostrophic velocities are also compared with observations from a moored Acoustic Doppler Current Profiler. Results indicate the good potential of satellite altimetry to retrieve dynamic features over the area. However, X-TRACK shows a more homogenous data coverage than AVISO, with longer time series in the 50 km coastal band. The seasonal evolution of the surface circulation is therefore analyzed by conjointly using X-TRACK data and remotely sensed sea surface temperature observations. This combined data set clearly depicts different current regimes and bifurcations, which allows us to propose a new seasonal circulation scheme for the central Mediterranean. The analysis shows variations of the path and temporal behavior of the main circulation features: the Atlantic Tunisian Current, the Atlantic Ionian Stream, the Atlantic Libyan Current, and the Sidra Gyre. The resulting bifurcating veins of these currents are also discussed, and a new current branch is observed for the first time.

Accurate orbit determination strategies for the tracking and data relay satellites

NASA Technical Reports Server (NTRS)

Oza, D. H.; Bolvin, D. T.; Lorah, J. M.; Lee, T.; Doll, C. E.

1995-01-01

The National Aeronautics and Space Administration (NASA) has developed the Tracking and Data Relay Satellite (TDRS) System (TDRSS) for tracking and communications support of low Earth-orbiting satellites. TDRSS has the operational capability of providing 85% coverage for TDRSS-user spacecraft. TDRSS currently consists of five geosynchronous spacecraft and the White Sands Complex (WSC) at White Sands, New Mexico. The Bilateration Ranging Transponder System (BRTS) provides range and Doppler measurements for each TDRS. The ground-based BRTS transponders are tracked as if they were TDRSS-user spacecraft. Since the positions of the BRTS transponders are known, their radiometric tracking measurements can be used to provide a well-determined ephemeris for the TDRS spacecraft. For high-accuracy orbit determination of a TDRSS user, such as the Ocean Topography Experiment (TOPEX)/Poseidon spacecraft, high-accuracy TDRS orbits are required. This paper reports on successive refinements in improved techniques and procedures leading to more accurate TDRS orbit determination strategies using the Goddard Trajectory Determination System (GTDS). These strategies range from the standard operational solution using only the BRTS tracking measurements to a sophisticated iterative process involving several successive simultaneous solutions for multiple TDRSs and a TDRSS-user spacecraft. Results are presented for GTDS-generated TDRS ephemerides produced in simultaneous solutions with the TOPEX/Poseidon spacecraft. Strategies with different user spacecraft, as well as schemes for recovering accurate TDRS orbits following a TDRS maneuver, are also presented. In addition, a comprehensive assessment and evaluation of alternative strategies for TDRS orbit determination, excluding BRTS tracking measurements, are presented.

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

NASA Astrophysics Data System (ADS)

Kapoor, Neha; Ohri, Jyoti

2017-02-01

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

Robust visual tracking using a contextual boosting approach

NASA Astrophysics Data System (ADS)

Jiang, Wanyue; Wang, Yin; Wang, Daobo

2018-03-01

In recent years, detection-based image trackers have been gaining ground rapidly, thanks to its capacity of incorporating a variety of image features. Nevertheless, its tracking performance might be compromised if background regions are mislabeled as foreground in the training process. To resolve this problem, we propose an online visual tracking algorithm designated to improving the training label accuracy in the learning phase. In the proposed method, superpixels are used as samples, and their ambiguous labels are reassigned in accordance with both prior estimation and contextual information. The location and scale of the target are usually determined by confidence map, which is doomed to shrink since background regions are always incorporated into the bounding box. To address this dilemma, we propose a cross projection scheme via projecting the confidence map for target detecting. Moreover, the performance of the proposed tracker can be further improved by adding rigid-structured information. The proposed method is evaluated on the basis of the OTB benchmark and the VOT2016 benchmark. Compared with other trackers, the results appear to be competitive.

Improved Spatial Registration and Target Tracking Method for Sensors on Multiple Missiles.

PubMed

Lu, Xiaodong; Xie, Yuting; Zhou, Jun

2018-05-27

Inspired by the problem that the current spatial registration methods are unsuitable for three-dimensional (3-D) sensor on high-dynamic platform, this paper focuses on the estimation for the registration errors of cooperative missiles and motion states of maneuvering target. There are two types of errors being discussed: sensor measurement biases and attitude biases. Firstly, an improved Kalman Filter on Earth-Centered Earth-Fixed (ECEF-KF) coordinate algorithm is proposed to estimate the deviations mentioned above, from which the outcomes are furtherly compensated to the error terms. Secondly, the Pseudo Linear Kalman Filter (PLKF) and the nonlinear scheme the Unscented Kalman Filter (UKF) with modified inputs are employed for target tracking. The convergence of filtering results are monitored by a position-judgement logic, and a low-pass first order filter is selectively introduced before compensation to inhibit the jitter of estimations. In the simulation, the ECEF-KF enhancement is proven to improve the accuracy and robustness of the space alignment, while the conditional-compensation-based PLKF method is demonstrated to be the optimal performance in target tracking.

From Motion to Photons in 80 Microseconds: Towards Minimal Latency for Virtual and Augmented Reality.

PubMed

Lincoln, Peter; Blate, Alex; Singh, Montek; Whitted, Turner; State, Andrei; Lastra, Anselmo; Fuchs, Henry

2016-04-01

We describe an augmented reality, optical see-through display based on a DMD chip with an extremely fast (16 kHz) binary update rate. We combine the techniques of post-rendering 2-D offsets and just-in-time tracking updates with a novel modulation technique for turning binary pixels into perceived gray scale. These processing elements, implemented in an FPGA, are physically mounted along with the optical display elements in a head tracked rig through which users view synthetic imagery superimposed on their real environment. The combination of mechanical tracking at near-zero latency with reconfigurable display processing has given us a measured average of 80 µs of end-to-end latency (from head motion to change in photons from the display) and also a versatile test platform for extremely-low-latency display systems. We have used it to examine the trade-offs between image quality and cost (i.e. power and logical complexity) and have found that quality can be maintained with a fairly simple display modulation scheme.

Robust tuning of robot control systems

NASA Technical Reports Server (NTRS)

Minis, I.; Uebel, M.

1992-01-01

The computed torque control problem is examined for a robot arm with flexible, geared, joint drive systems which are typical in many industrial robots. The standard computed torque algorithm is not directly applicable to this class of manipulators because of the dynamics introduced by the joint drive system. The proposed approach to computed torque control combines a computed torque algorithm with torque controller at each joint. Three such control schemes are proposed. The first scheme uses the joint torque control system currently implemented on the robot arm and a novel form of the computed torque algorithm. The other two use the standard computed torque algorithm and a novel model following torque control system based on model following techniques. Standard tasks and performance indices are used to evaluate the performance of the controllers. Both numerical simulations and experiments are used in evaluation. The study shows that all three proposed systems lead to improved tracking performance over a conventional PD controller.

Nonlinear Adaptive PID Control for Greenhouse Environment Based on RBF Network

PubMed Central

Zeng, Songwei; Hu, Haigen; Xu, Lihong; Li, Guanghui

2012-01-01

This paper presents a hybrid control strategy, combining Radial Basis Function (RBF) network with conventional proportional, integral, and derivative (PID) controllers, for the greenhouse climate control. A model of nonlinear conservation laws of enthalpy and matter between numerous system variables affecting the greenhouse climate is formulated. RBF network is used to tune and identify all PID gain parameters online and adaptively. The presented Neuro-PID control scheme is validated through simulations of set-point tracking and disturbance rejection. We compare the proposed adaptive online tuning method with the offline tuning scheme that employs Genetic Algorithm (GA) to search the optimal gain parameters. The results show that the proposed strategy has good adaptability, strong robustness and real-time performance while achieving satisfactory control performance for the complex and nonlinear greenhouse climate control system, and it may provide a valuable reference to formulate environmental control strategies for actual application in greenhouse production. PMID:22778587

Conformal Electromagnetic Particle in Cell: A Review

DOE PAGES

Meierbachtol, Collin S.; Greenwood, Andrew D.; Verboncoeur, John P.; ...

2015-10-26

We review conformal (or body-fitted) electromagnetic particle-in-cell (EM-PIC) numerical solution schemes. Included is a chronological history of relevant particle physics algorithms often employed in these conformal simulations. We also provide brief mathematical descriptions of particle-tracking algorithms and current weighting schemes, along with a brief summary of major time-dependent electromagnetic solution methods. Several research areas are also highlighted for recommended future development of new conformal EM-PIC methods.

Detection of convective initiation using Meteosat SEVIRI: implementation in and verification with the tracking and nowcasting algorithm Cb-TRAM

NASA Astrophysics Data System (ADS)

Merk, D.; Zinner, T.

2013-02-01

In this paper a new detection scheme for Convective Initation (CI) under day and night conditions is presented. The new algorithm combines the strengths of two existing methods for detecting Convective Initation with geostationary satellite data and uses the channels of the Spinning Enhanced Visible and Infrared Imager (SEVIRI) onboard Meteosat Second Generation (MSG). For the new algorithm five infrared criteria from the Satellite Convection Analysis and Tracking algorithm (SATCAST) and one High Resolution Visible channel (HRV) criteria from Cb-TRAM were adapted. This set of criteria aims for identifying the typical development of quickly developing convective cells in an early stage. The different criteria include timetrends of the 10.8 IR channel and IR channel differences as well as their timetrends. To provide the trend fields an optical flow based method is used, the Pyramidal Matching algorithm which is part of Cb-TRAM. The new detection scheme is implemented in Cb-TRAM and is verified for seven days which comprise different weather situations in Central Europe. Contrasted with the original early stage detection scheme of Cb-TRAM skill scores are provided. From the comparison against detections of later thunderstorm stages, which are also provided by Cb-TRAM, a decrease in false prior warnings (false alarm ratio) from 91 to 81% is presented, an increase of the critical success index from 7.4 to 12.7%, and a decrease of the BIAS from 320 to 146% for normal scan mode. Similar trends are found for rapid scan mode. Most obvious is the decline of false alarms found for synoptic conditions with upper cold air masses triggering convection.

Detection of convective initiation using Meteosat SEVIRI: implementation in and verification with the tracking and nowcasting algorithm Cb-TRAM

NASA Astrophysics Data System (ADS)

Merk, D.; Zinner, T.

2013-08-01

In this paper a new detection scheme for convective initiation (CI) under day and night conditions is presented. The new algorithm combines the strengths of two existing methods for detecting CI with geostationary satellite data. It uses the channels of the Spinning Enhanced Visible and Infrared Imager (SEVIRI) onboard Meteosat Second Generation (MSG). For the new algorithm five infrared (IR) criteria from the Satellite Convection Analysis and Tracking algorithm (SATCAST) and one high-resolution visible channel (HRV) criteria from Cb-TRAM were adapted. This set of criteria aims to identify the typical development of quickly developing convective cells in an early stage. The different criteria include time trends of the 10.8 IR channel, and IR channel differences, as well as their time trends. To provide the trend fields an optical-flow-based method is used: the pyramidal matching algorithm, which is part of Cb-TRAM. The new detection scheme is implemented in Cb-TRAM, and is verified for seven days which comprise different weather situations in central Europe. Contrasted with the original early-stage detection scheme of Cb-TRAM, skill scores are provided. From the comparison against detections of later thunderstorm stages, which are also provided by Cb-TRAM, a decrease in false prior warnings (false alarm ratio) from 91 to 81% is presented, an increase of the critical success index from 7.4 to 12.7%, and a decrease of the BIAS from 320 to 146% for normal scan mode. Similar trends are found for rapid scan mode. Most obvious is the decline of false alarms found for the synoptic class "cold air" masses.

Dedicated ultrasound speckle tracking to study tendon displacement

NASA Astrophysics Data System (ADS)

Korstanje, Jan-Wiebe H.; Selles, Ruud W.; Stam, Henk J.; Hovius, Steven E. R.; Bosch, Johan G.

2009-02-01

Ultrasound can be used to study tendon and muscle movement. However, quantization is mostly based on manual tracking of anatomical landmarks such as the musculotendinous junction, limiting the applicability to a small number of muscle-tendon units. The aim of this study is to quantify tendon displacement without employing anatomical landmarks, using dedicated speckle tracking in long B-mode image sequences. We devised a dedicated two-dimensional multikernel block-matching scheme with subpixel accuracy to handle large displacements over long sequences. Images were acquired with a Philips iE33 with a 7 MHz linear array and a VisualSonics Vevo 770 using a 40 MHz mechanical probe. We displaced the flexor digitorum superficialis of two pig cadaver forelegs with three different velocities (4,10 and 16 mm/s) over 3 distances (5, 10, 15 mm). As a reference, we manually determined the total displacement of an injected hyperechogenic bullet in the tendons. We automatically tracked tendon parts with and without markers and compared results to the true displacement. Using the iE33, mean tissue displacement underestimations for the three different velocities were 2.5 +/- 1.0%, 1.7 +/- 1.1% and 0.7 +/- 0.4%. Using the Vevo770, mean tissue displacement underestimations were 0.8 +/- 1.3%, 0.6 +/- 0.3% and 0.6 +/- 0.3%. Marker tracking displacement underestimations were only slightly smaller, showing limited tracking drift for non-marker tendon tissue as well as for markers. This study showed that our dedicated speckle tracking can quantify extensive tendon displacement with physiological velocities without anatomical landmarks with good accuracy for different types of ultrasound configurations. This technique allows tracking of a much larger range of muscle-tendon units than by using anatomical landmarks.

Man-in-the-loop study of filtering in airborne head tracking tasks

NASA Technical Reports Server (NTRS)

Lifshitz, S.; Merhav, S. J.

1992-01-01

A human-factors study is conducted of problems due to vibrations during the use of a helmet-mounted display (HMD) in tracking tasks whose major factors are target motion and head vibration. A method is proposed for improving aiming accuracy in such tracking tasks on the basis of (1) head-motion measurement and (2) the shifting of the reticle in the HMD in ways that inhibit much of the involuntary apparent motion of the reticle, relative to the target, and the nonvoluntary motion of the teleoperated device. The HMD inherently furnishes the visual feedback required by this scheme.

Conflict-Aware Scheduling Algorithm

NASA Technical Reports Server (NTRS)

Wang, Yeou-Fang; Borden, Chester

2006-01-01

conflict-aware scheduling algorithm is being developed to help automate the allocation of NASA s Deep Space Network (DSN) antennas and equipment that are used to communicate with interplanetary scientific spacecraft. The current approach for scheduling DSN ground resources seeks to provide an equitable distribution of tracking services among the multiple scientific missions and is very labor intensive. Due to the large (and increasing) number of mission requests for DSN services, combined with technical and geometric constraints, the DSN is highly oversubscribed. To help automate the process, and reduce the DSN and spaceflight project labor effort required for initiating, maintaining, and negotiating schedules, a new scheduling algorithm is being developed. The scheduling algorithm generates a "conflict-aware" schedule, where all requests are scheduled based on a dynamic priority scheme. The conflict-aware scheduling algorithm allocates all requests for DSN tracking services while identifying and maintaining the conflicts to facilitate collaboration and negotiation between spaceflight missions. These contrast with traditional "conflict-free" scheduling algorithms that assign tracks that are not in conflict and mark the remainder as unscheduled. In the case where full schedule automation is desired (based on mission/event priorities, fairness, allocation rules, geometric constraints, and ground system capabilities/ constraints), a conflict-free schedule can easily be created from the conflict-aware schedule by removing lower priority items that are in conflict.

Tracking the visual focus of attention for a varying number of wandering people.

PubMed

Smith, Kevin; Ba, Sileye O; Odobez, Jean-Marc; Gatica-Perez, Daniel

2008-07-01

We define and address the problem of finding the visual focus of attention for a varying number of wandering people (VFOA-W), determining where the people's movement is unconstrained. VFOA-W estimation is a new and important problem with mplications for behavior understanding and cognitive science, as well as real-world applications. One such application, which we present in this article, monitors the attention passers-by pay to an outdoor advertisement. Our approach to the VFOA-W problem proposes a multi-person tracking solution based on a dynamic Bayesian network that simultaneously infers the (variable) number of people in a scene, their body locations, their head locations, and their head pose. For efficient inference in the resulting large variable-dimensional state-space we propose a Reversible Jump Markov Chain Monte Carlo (RJMCMC) sampling scheme, as well as a novel global observation model which determines the number of people in the scene and localizes them. We propose a Gaussian Mixture Model (GMM) and Hidden Markov Model (HMM)-based VFOA-W model which use head pose and location information to determine people's focus state. Our models are evaluated for tracking performance and ability to recognize people looking at an outdoor advertisement, with results indicating good performance on sequences where a moderate number of people pass in front of an advertisement.

Adaptive low-rank subspace learning with online optimization for robust visual tracking.

PubMed

Liu, Risheng; Wang, Di; Han, Yuzhuo; Fan, Xin; Luo, Zhongxuan

2017-04-01

In recent years, sparse and low-rank models have been widely used to formulate appearance subspace for visual tracking. However, most existing methods only consider the sparsity or low-rankness of the coefficients, which is not sufficient enough for appearance subspace learning on complex video sequences. Moreover, as both the low-rank and the column sparse measures are tightly related to all the samples in the sequences, it is challenging to incrementally solve optimization problems with both nuclear norm and column sparse norm on sequentially obtained video data. To address above limitations, this paper develops a novel low-rank subspace learning with adaptive penalization (LSAP) framework for subspace based robust visual tracking. Different from previous work, which often simply decomposes observations as low-rank features and sparse errors, LSAP simultaneously learns the subspace basis, low-rank coefficients and column sparse errors to formulate appearance subspace. Within LSAP framework, we introduce a Hadamard production based regularization to incorporate rich generative/discriminative structure constraints to adaptively penalize the coefficients for subspace learning. It is shown that such adaptive penalization can significantly improve the robustness of LSAP on severely corrupted dataset. To utilize LSAP for online visual tracking, we also develop an efficient incremental optimization scheme for nuclear norm and column sparse norm minimizations. Experiments on 50 challenging video sequences demonstrate that our tracker outperforms other state-of-the-art methods. Copyright © 2017 Elsevier Ltd. All rights reserved.

Sonic boom prediction for the Langley Mach 2 low-boom configuration

NASA Technical Reports Server (NTRS)

Madson, Michael D.

1992-01-01

Sonic boom pressure signatures and aerodynamic force data for the Langley Mach 2 low sonic boom configuration were computed using the TranAir full-potential code. A solution-adaptive Cartesian grid scheme is utilized to compute off-body flow field data. Computations were performed with and without nacelles at several angles of attack. Force and moment data were computed to measure nacelle effects on the aerodynamic characteristics and sonic boom footprints of the model. Pressure signatures were computed both on and off ground-track. Near-field pressure signature computations on ground-track were in good agreement with experimental data. Computed off ground-track signatures showed that maximum pressure peaks were located off ground-track and were significantly higher than the signatures on ground-track. Bow shocks from the nacelle inlets increased lift and drag, and also increased the magnitude of the maximum pressure both on and off ground-track.

Ontology-based automatic identification of public health-related Turkish tweets.

PubMed

Küçük, Emine Ela; Yapar, Kürşad; Küçük, Dilek; Küçük, Doğan

2017-04-01

Social media analysis, such as the analysis of tweets, is a promising research topic for tracking public health concerns including epidemics. In this paper, we present an ontology-based approach to automatically identify public health-related Turkish tweets. The system is based on a public health ontology that we have constructed through a semi-automated procedure. The ontology concepts are expanded through a linguistically motivated relaxation scheme as the last stage of ontology development, before being integrated into our system to increase its coverage. The ultimate lexical resource which includes the terms corresponding to the ontology concepts is used to filter the Twitter stream so that a plausible tweet subset, including mostly public-health related tweets, can be obtained. Experiments are carried out on two million genuine tweets and promising precision rates are obtained. Also implemented within the course of the current study is a Web-based interface, to track the results of this identification system, to be used by the related public health staff. Hence, the current social media analysis study has both technical and practical contributions to the significant domain of public health. Copyright © 2017 Elsevier Ltd. All rights reserved.

A control method for bilateral teleoperating systems

NASA Astrophysics Data System (ADS)

Strassberg, Yesayahu

1992-01-01

The thesis focuses on control of bilateral master-slave teleoperators. The bilateral control issue of teleoperators is studied and a new scheme that overcomes basic unsolved problems is proposed. A performance measure, based on the multiport modeling method, is introduced in order to evaluate and understand the limitations of earlier published bilateral control laws. Based on the study evaluating the different methods, the objective of the thesis is stated. The proposed control law is then introduced, its ideal performance is demonstrated, and conditions for stability and robustness are derived. It is shown that stability, desired performance, and robustness can be obtained under the assumption that the deviation of the model from the actual system satisfies certain norm inequalities and the measurement uncertainties are bounded. The proposed scheme is validated by numerical simulation. The simulated system is based on the configuration of the RAL (Robotics and Automation Laboratory) telerobot. From the simulation results it is shown that good tracking performance can be obtained. In order to verify the performance of the proposed scheme when applied to a real hardware system, an experimental setup of a three degree of freedom master-slave teleoperator (i.e. three degree of freedom master and three degree of freedom slave robot) was built. Three basic experiments were conducted to verify the performance of the proposed control scheme. The first experiment verified the master control law and its contribution to the robustness and performance of the entire system. The second experiment demonstrated the actual performance of the system while performing a free motion teleoperating task. From the experimental results, it is shown that the control law has good performance and is robust to uncertainties in the models of the master and slave.

Feasibility study of an integrated optic switching center. [satellite tracking application

NASA Technical Reports Server (NTRS)

1979-01-01

The design of a high data rate switching center for a satellite tracking station is discussed. The feasibility of a switching network using an integrated switching matrix is assessed. The preferred integrated optical switching scheme was found to be an electro-optic Bragg diffraction switch. To ascertain the advantages of the integrated optics switching center, its properties are compared to those of opto-electronic and to electronics switching networks.

A Standard-Compliant Virtual Meeting System with Active Video Object Tracking

NASA Astrophysics Data System (ADS)

Lin, Chia-Wen; Chang, Yao-Jen; Wang, Chih-Ming; Chen, Yung-Chang; Sun, Ming-Ting

2002-12-01

This paper presents an H.323 standard compliant virtual video conferencing system. The proposed system not only serves as a multipoint control unit (MCU) for multipoint connection but also provides a gateway function between the H.323 LAN (local-area network) and the H.324 WAN (wide-area network) users. The proposed virtual video conferencing system provides user-friendly object compositing and manipulation features including 2D video object scaling, repositioning, rotation, and dynamic bit-allocation in a 3D virtual environment. A reliable, and accurate scheme based on background image mosaics is proposed for real-time extracting and tracking foreground video objects from the video captured with an active camera. Chroma-key insertion is used to facilitate video objects extraction and manipulation. We have implemented a prototype of the virtual conference system with an integrated graphical user interface to demonstrate the feasibility of the proposed methods.

3D CAFE modeling of grain structures: application to primary dendritic and secondary eutectic solidification

NASA Astrophysics Data System (ADS)

Carozzani, T.; Digonnet, H.; Gandin, Ch-A.

2012-01-01

A three-dimensional model is presented for the prediction of grain structures formed in casting. It is based on direct tracking of grain boundaries using a cellular automaton (CA) method. The model is fully coupled with a solution of the heat flow computed with a finite element (FE) method. Several unique capabilities are implemented including (i) the possibility to track the development of several types of grain structures, e.g. dendritic and eutectic grains, (ii) a coupling scheme that permits iterations between the FE method and the CA method, and (iii) tabulated enthalpy curves for the solid and liquid phases that offer the possibility to work with multicomponent alloys. The present CAFE model is also fully parallelized and runs on a cluster of computers. Demonstration is provided by direct comparison between simulated and recorded cooling curves for a directionally solidified aluminum-7 wt% silicon alloy.

A compact eyetracked optical see-through head-mounted display

NASA Astrophysics Data System (ADS)

Hua, Hong; Gao, Chunyu

2012-03-01

An eye-tracked head-mounted display (ET-HMD) system is able to display virtual images as a classical HMD does, while additionally tracking the gaze direction of the user. There is ample evidence that a fully-integrated ETHMD system offers multi-fold benefits, not only to fundamental scientific research but also to emerging applications of such technology. For instance eyetracking capability in HMDs adds a very valuable tool and objective metric for scientists to quantitatively assess user interaction with 3D environments and investigate the effectiveness of various 3D visualization technologies for various specific tasks including training, education, and augmented cognition tasks. In this paper, we present an innovative optical approach to the design of an optical see-through ET-HMD system based on freeform optical technology and an innovative optical scheme that uniquely combines the display optics with the eye imaging optics. A preliminary design of the described ET-HMD system will be presented.

Applying a Space-Based Security Recovery Scheme for Critical Homeland Security Cyberinfrastructure Utilizing the NASA Tracking and Data Relay (TDRS) Based Space Network

NASA Technical Reports Server (NTRS)

Shaw, Harry C.; McLaughlin, Brian; Stocklin, Frank; Fortin, Andre; Israel, David; Dissanayake, Asoka; Gilliand, Denise; LaFontaine, Richard; Broomandan, Richard; Hyunh, Nancy

2015-01-01

Protection of the national infrastructure is a high priority for cybersecurity of the homeland. Critical infrastructure such as the national power grid, commercial financial networks, and communications networks have been successfully invaded and re-invaded from foreign and domestic attackers. The ability to re-establish authentication and confidentiality of the network participants via secure channels that have not been compromised would be an important countermeasure to compromise of our critical network infrastructure. This paper describes a concept of operations by which the NASA Tracking and Data Relay (TDRS) constellation of spacecraft in conjunction with the White Sands Complex (WSC) Ground Station host a security recovery system for re-establishing secure network communications in the event of a national or regional cyberattack. Users would perform security and network restoral functions via a Broadcast Satellite Service (BSS) from the TDRS constellation. The BSS enrollment only requires that each network location have a receive antenna and satellite receiver. This would be no more complex than setting up a DIRECTTV-like receiver at each network location with separate network connectivity. A GEO BSS would allow a mass re-enrollment of network nodes (up to nationwide) simultaneously depending upon downlink characteristics. This paper details the spectrum requirements, link budget, notional assets and communications requirements for the scheme. It describes the architecture of such a system and the manner in which it leverages off of the existing secure infrastructure which is already in place and managed by the NASAGSFC Space Network Project.

A Class of Prediction-Correction Methods for Time-Varying Convex Optimization

NASA Astrophysics Data System (ADS)

Simonetto, Andrea; Mokhtari, Aryan; Koppel, Alec; Leus, Geert; Ribeiro, Alejandro

2016-09-01

This paper considers unconstrained convex optimization problems with time-varying objective functions. We propose algorithms with a discrete time-sampling scheme to find and track the solution trajectory based on prediction and correction steps, while sampling the problem data at a constant rate of $1/h$, where $h$ is the length of the sampling interval. The prediction step is derived by analyzing the iso-residual dynamics of the optimality conditions. The correction step adjusts for the distance between the current prediction and the optimizer at each time step, and consists either of one or multiple gradient steps or Newton steps, which respectively correspond to the gradient trajectory tracking (GTT) or Newton trajectory tracking (NTT) algorithms. Under suitable conditions, we establish that the asymptotic error incurred by both proposed methods behaves as $O(h^2)$, and in some cases as $O(h^4)$, which outperforms the state-of-the-art error bound of $O(h)$ for correction-only methods in the gradient-correction step. Moreover, when the characteristics of the objective function variation are not available, we propose approximate gradient and Newton tracking algorithms (AGT and ANT, respectively) that still attain these asymptotical error bounds. Numerical simulations demonstrate the practical utility of the proposed methods and that they improve upon existing techniques by several orders of magnitude.

A Method for Using Player Tracking Data in Basketball to Learn Player Skills and Predict Team Performance.

PubMed

Skinner, Brian; Guy, Stephen J

2015-01-01

Player tracking data represents a revolutionary new data source for basketball analysis, in which essentially every aspect of a player's performance is tracked and can be analyzed numerically. We suggest a way by which this data set, when coupled with a network-style model of the offense that relates players' skills to the team's success at running different plays, can be used to automatically learn players' skills and predict the performance of untested 5-man lineups in a way that accounts for the interaction between players' respective skill sets. After developing a general analysis procedure, we present as an example a specific implementation of our method using a simplified network model. While player tracking data is not yet available in the public domain, we evaluate our model using simulated data and show that player skills can be accurately inferred by a simple statistical inference scheme. Finally, we use the model to analyze games from the 2011 playoff series between the Memphis Grizzlies and the Oklahoma City Thunder and we show that, even with a very limited data set, the model can consistently describe a player's interactions with a given lineup based only on his performance with a different lineup.

A Method for Using Player Tracking Data in Basketball to Learn Player Skills and Predict Team Performance

PubMed Central

Skinner, Brian; Guy, Stephen J.

2015-01-01

Player tracking data represents a revolutionary new data source for basketball analysis, in which essentially every aspect of a player’s performance is tracked and can be analyzed numerically. We suggest a way by which this data set, when coupled with a network-style model of the offense that relates players’ skills to the team’s success at running different plays, can be used to automatically learn players’ skills and predict the performance of untested 5-man lineups in a way that accounts for the interaction between players’ respective skill sets. After developing a general analysis procedure, we present as an example a specific implementation of our method using a simplified network model. While player tracking data is not yet available in the public domain, we evaluate our model using simulated data and show that player skills can be accurately inferred by a simple statistical inference scheme. Finally, we use the model to analyze games from the 2011 playoff series between the Memphis Grizzlies and the Oklahoma City Thunder and we show that, even with a very limited data set, the model can consistently describe a player’s interactions with a given lineup based only on his performance with a different lineup. PMID:26351846

Classification between Failed Nodes and Left Nodes in Mobile Asset Tracking Systems †

PubMed Central

Kim, Kwangsoo; Jin, Jae-Yeon; Jin, Seong-il

2016-01-01

Medical asset tracking systems track a medical device with a mobile node and determine its status as either in or out, because it can leave a monitoring area. Due to a failed node, this system may decide that a mobile asset is outside the area, even though it is within the area. In this paper, an efficient classification method is proposed to separate mobile nodes disconnected from a wireless sensor network between nodes with faults and a node that actually has left the monitoring region. The proposed scheme uses two trends extracted from the neighboring nodes of a disconnected mobile node. First is the trend in a series of the neighbor counts; the second is that of the ratios of the boundary nodes included in the neighbors. Based on such trends, the proposed method separates failed nodes from mobile nodes that are disconnected from a wireless sensor network without failures. The proposed method is evaluated using both real data generated from a medical asset tracking system and also using simulations with the network simulator (ns-2). The experimental results show that the proposed method correctly differentiates between failed nodes and nodes that are no longer in the monitoring region, including the cases that the conventional methods fail to detect. PMID:26901200

Jersey number detection in sports video for athlete identification

NASA Astrophysics Data System (ADS)

Ye, Qixiang; Huang, Qingming; Jiang, Shuqiang; Liu, Yang; Gao, Wen

2005-07-01

Athlete identification is important for sport video content analysis since users often care about the video clips with their preferred athletes. In this paper, we propose a method for athlete identification by combing the segmentation, tracking and recognition procedures into a coarse-to-fine scheme for jersey number (digital characters on sport shirt) detection. Firstly, image segmentation is employed to separate the jersey number regions with its background. And size/pipe-like attributes of digital characters are used to filter out candidates. Then, a K-NN (K nearest neighbor) classifier is employed to classify a candidate into a digit in "0-9" or negative. In the recognition procedure, we use the Zernike moment features, which are invariant to rotation and scale for digital shape recognition. Synthetic training samples with different fonts are used to represent the pattern of digital characters with non-rigid deformation. Once a character candidate is detected, a SSD (smallest square distance)-based tracking procedure is started. The recognition procedure is performed every several frames in the tracking process. After tracking tens of frames, the overall recognition results are combined to determine if a candidate is a true jersey number or not by a voting procedure. Experiments on several types of sports video shows encouraging result.

User guide for MODPATH version 6 - A particle-tracking model for MODFLOW

USGS Publications Warehouse

Pollock, David W.

2012-01-01

MODPATH is a particle-tracking post-processing model that computes three-dimensional flow paths using output from groundwater flow simulations based on MODFLOW, the U.S. Geological Survey (USGS) finite-difference groundwater flow model. This report documents MODPATH version 6. Previous versions were documented in USGS Open-File Reports 89-381 and 94-464. The program uses a semianalytical particle-tracking scheme that allows an analytical expression of a particle's flow path to be obtained within each finite-difference grid cell. A particle's path is computed by tracking the particle from one cell to the next until it reaches a boundary, an internal sink/source, or satisfies another termination criterion. Data input to MODPATH consists of a combination of MODFLOW input data files, MODFLOW head and flow output files, and other input files specific to MODPATH. Output from MODPATH consists of several output files, including a number of particle coordinate output files intended to serve as input data for other programs that process, analyze, and display the results in various ways. MODPATH is written in FORTRAN and can be compiled by any FORTRAN compiler that fully supports FORTRAN-2003 or by most commercially available FORTRAN-95 compilers that support the major FORTRAN-2003 language extensions.

A Comparative Study of Mindfulness Efficiency Based on Islamic-Spiritual Schemes and Group Cognitive Behavioral Therapy on Reduction of Anxiety and Depression in Pregnant Women.

PubMed

Aslami, Elahe; Alipour, Ahmad; Najib, Fatemeh Sadat; Aghayosefi, Alireza

2017-04-01

Anxiety and depression during the pregnancy period are among the factors affecting the pregnancy undesirable outcomes and delivery. One way of controlling anxiety and depression is mindfulness and cognitive behavioral therapy. The purpose of this study was to compare the efficiency of mindfulness based on the Islamic-spiritual schemas and group cognitive behavioral therapy on reduction of anxiety and depression in pregnant women. The research design was semi-experimental in the form of pretest-posttest using a control group. Among the pregnant women in the 16th to 32nd weeks of pregnancy who referred to the health center, 30 pregnant women with high anxiety level and 30 pregnant women with high depression participated in the research. Randomly 15 participants with high depression and 15 participants with high anxiety were considered in the intervention group under the treatment of mindfulness based on Islamic-spiritual schemes. In addition, 15 participants with high scores regarding depression and 15 with high scores in anxiety were considered in the other group. .The control group consisted of 15 pregnant women with high anxiety and depression. Beck anxiety-depression questionnaire was used in two steps of pre-test and post-test. Data were analyzed using SPSS, version 20, and P≤0.05 was considered as significant. The results of multivariate analysis of variance test and tracking Tokey test showed that there was a significant difference between the mean scores of anxiety and depression in the two groups of mindfulness based on spiritual- Islamic scheme (P<0.001) and the group of cognitive behavioral therapy with each other (P<0.001) and with the control group(P<0.001). The mean of anxiety and depression scores decreased in the intervention group, but it increased in the control group. Both therapy methods were effective in reduction of anxiety and depression of pregnant women, but the effect of mindfulness based on spiritual- Islamic schemes was more.

Evaluation of tactual displays for flight control

NASA Technical Reports Server (NTRS)

Levison, W. H.; Tanner, R. B.; Triggs, T. J.

1973-01-01

Manual tracking experiments were conducted to determine the suitability of tactual displays for presenting flight-control information in multitask situations. Although tracking error scores are considerably greater than scores obtained with a continuous visual display, preliminary results indicate that inter-task interference effects are substantially less with the tactual display in situations that impose high visual scanning workloads. The single-task performance degradation found with the tactual display appears to be a result of the coding scheme rather than the use of the tactual sensory mode per se. Analysis with the state-variable pilot/vehicle model shows that reliable predictions of tracking errors can be obtained for wide-band tracking systems once the pilot-related model parameters have been adjusted to reflect the pilot-display interaction.

Tracking prominent points in image sequences

NASA Astrophysics Data System (ADS)

Hahn, Michael

1994-03-01

Measuring image motion and inferring scene geometry and camera motion are main aspects of image sequence analysis. The determination of image motion and the structure-from-motion problem are tasks that can be addressed independently or in cooperative processes. In this paper we focus on tracking prominent points. High stability, reliability, and accuracy are criteria for the extraction of prominent points. This implies that tracking should work quite well with those features; unfortunately, the reality looks quite different. In the experimental investigations we processed a long sequence of 128 images. This mono sequence is taken in an outdoor environment at the experimental field of Mercedes Benz in Rastatt. Different tracking schemes are explored and the results with respect to stability and quality are reported.

Decentralized Adaptive Control For Robots

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

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

Financing Maternal Health and Family Planning: Are We on the Right Track? Evidence from the Reproductive Health Subaccounts in Mexico, 2003–2012

PubMed Central

Aracena-Genao, Belkis; del Río-Zolezzi, Aurora

2016-01-01

Objective To analyze whether the changes observed in the level and distribution of resources for maternal health and family planning (MHFP) programs from 2003 to 2012 were consistent with the financial goals of the related policies. Materials and Methods A longitudinal descriptive analysis of the Mexican Reproductive Health Subaccounts 2003–2012 was performed by financing scheme and health function. Financing schemes included social security, government schemes, household out-of-pocket (OOP) payments, and private insurance plans. Functions were preventive care, including family planning, antenatal and puerperium health services, normal and cesarean deliveries, and treatment of complications. Changes in the financial imbalance indicators covered by MHFP policy were tracked: (a) public and OOP expenditures as percentages of total MHFP spending; (b) public expenditure per woman of reproductive age (WoRA, 15–49 years) by financing scheme; (c) public expenditure on treating complications as a percentage of preventive care; and (d) public expenditure on WoRA at state level. Statistical analyses of trends and distributions were performed. Results Public expenditure on government schemes grew by approximately 300%, and the financial imbalance between populations covered by social security and government schemes decreased. The financial burden on households declined, particularly among households without social security. Expenditure on preventive care grew by 16%, narrowing the financing gap between treatment of complications and preventive care. Finally, public expenditure per WoRA for government schemes nearly doubled at the state level, although considerable disparities persist. Conclusions Changes in the level and distribution of MHFP funding from 2003 to 2012 were consistent with the relevant policy goals. However, improving efficiency requires further analysis to ascertain the impact of investments on health outcomes. This, in turn, will require better financial data systems as a precondition for improving the monitoring and accountability functions in Mexico. PMID:26812646

Sliding Window Generalized Kernel Affine Projection Algorithm Using Projection Mappings

NASA Astrophysics Data System (ADS)

Slavakis, Konstantinos; Theodoridis, Sergios

2008-12-01

Very recently, a solution to the kernel-based online classification problem has been given by the adaptive projected subgradient method (APSM). The developed algorithm can be considered as a generalization of a kernel affine projection algorithm (APA) and the kernel normalized least mean squares (NLMS). Furthermore, sparsification of the resulting kernel series expansion was achieved by imposing a closed ball (convex set) constraint on the norm of the classifiers. This paper presents another sparsification method for the APSM approach to the online classification task by generating a sequence of linear subspaces in a reproducing kernel Hilbert space (RKHS). To cope with the inherent memory limitations of online systems and to embed tracking capabilities to the design, an upper bound on the dimension of the linear subspaces is imposed. The underlying principle of the design is the notion of projection mappings. Classification is performed by metric projection mappings, sparsification is achieved by orthogonal projections, while the online system's memory requirements and tracking are attained by oblique projections. The resulting sparsification scheme shows strong similarities with the classical sliding window adaptive schemes. The proposed design is validated by the adaptive equalization problem of a nonlinear communication channel, and is compared with classical and recent stochastic gradient descent techniques, as well as with the APSM's solution where sparsification is performed by a closed ball constraint on the norm of the classifiers.

Radar-derived Quantitative Precipitation Estimation in Complex Terrain over the Eastern Tibetan Plateau

NASA Astrophysics Data System (ADS)

Gou, Y.

2017-12-01

Quantitative Precipitation Estimation (QPE) is one of the important applications of weather radars. However, in complex terrain such as Tibetan Plateau, it is a challenging task to obtain an optimal Z-R relation due to the complex space time variability in precipitation microphysics. This paper develops two radar QPE schemes respectively based on Reflectivity Threshold (RT) and Storm Cell Identification and Tracking (SCIT) algorithms using observations from 11 Doppler weather radars and 3294 rain gauges over the Eastern Tibetan Plateau (ETP). These two QPE methodologies are evaluated extensively using four precipitation events that are characterized by different meteorological features. Precipitation characteristics of independent storm cells associated with these four events, as well as the storm-scale differences, are investigated using short-term vertical profiles of reflectivity clusters. Evaluation results show that the SCIT-based rainfall approach performs better than the simple RT-based method in all precipitation events in terms of score comparison using validation gauge measurements as references, with higher correlation (than 75.74%), lower mean absolute error (than 82.38%) and root-mean-square error (than 89.04%) of all the comparative frames. It is also found that the SCIT-based approach can effectively mitigate the radar QPE local error and represent precipitation spatiotemporal variability better than RT-based scheme.

Applications of artificial intelligence in safe human-robot interactions.

PubMed

Najmaei, Nima; Kermani, Mehrdad R

2011-04-01

The integration of industrial robots into the human workspace presents a set of unique challenges. This paper introduces a new sensory system for modeling, tracking, and predicting human motions within a robot workspace. A reactive control scheme to modify a robot's operations for accommodating the presence of the human within the robot workspace is also presented. To this end, a special class of artificial neural networks, namely, self-organizing maps (SOMs), is employed for obtaining a superquadric-based model of the human. The SOM network receives information of the human's footprints from the sensory system and infers necessary data for rendering the human model. The model is then used in order to assess the danger of the robot operations based on the measured as well as predicted human motions. This is followed by the introduction of a new reactive control scheme that results in the least interferences between the human and robot operations. The approach enables the robot to foresee an upcoming danger and take preventive actions before the danger becomes imminent. Simulation and experimental results are presented in order to validate the effectiveness of the proposed method.

Flatness-based embedded adaptive fuzzy control of turbocharged diesel engines

NASA Astrophysics Data System (ADS)

Rigatos, Gerasimos; Siano, Pierluigi; Arsie, Ivan

2014-10-01

In this paper nonlinear embedded control for turbocharged Diesel engines is developed with the use of Differential flatness theory and adaptive fuzzy control. It is shown that the dynamic model of the turbocharged Diesel engine is differentially flat and admits dynamic feedback linearization. It is also shown that the dynamic model can be written in the linear Brunovsky canonical form for which a state feedback controller can be easily designed. To compensate for modeling errors and external disturbances an adaptive fuzzy control scheme is implemanted making use of the transformed dynamical system of the diesel engine that is obtained through the application of differential flatness theory. Since only the system's output is measurable the complete state vector has to be reconstructed with the use of a state observer. It is shown that a suitable learning law can be defined for neuro-fuzzy approximators, which are part of the controller, so as to preserve the closed-loop system stability. With the use of Lyapunov stability analysis it is proven that the proposed observer-based adaptive fuzzy control scheme results in H∞ tracking performance.

Development of TiO2 containing hardmasks through plasma-enhanced atomic layer deposition

NASA Astrophysics Data System (ADS)

De Silva, Anuja; Seshadri, Indira; Chung, Kisup; Arceo, Abraham; Meli, Luciana; Mendoza, Brock; Sulehria, Yasir; Yao, Yiping; Sunder, Madhana; Truong, Hoa; Matham, Shravan; Bao, Ruqiang; Wu, Heng; Felix, Nelson M.; Kanakasabapathy, Sivananda

2017-04-01

With the increasing prevalence of complex device integration schemes, trilayer patterning with a solvent strippable hardmask can have a variety of applications. Spin-on metal hardmasks have been the key enabler for selective removal through wet strip when active areas need to be protected from dry etch damage. As spin-on metal hardmasks require a dedicated track to prevent metal contamination and are limited in their ability to scale down thickness without compromising on defectivity, there has been a need for a deposited hardmask solution. Modulation of film composition through deposition conditions enables a method to create TiO2 films with wet etch tunability. This paper presents a systematic study on development and characterization of plasma-enhanced atomic layer deposited (PEALD) TiO2-based hardmasks for patterning applications. We demonstrate lithographic process window, pattern profile, and defectivity evaluation for a trilayer scheme patterned with PEALD-based TiO2 hardmask and its performance under dry and wet strip conditions. Comparable structural and electrical performance is shown for a deposited versus a spin-on metal hardmask.

Development of TiO2 containing hardmasks through PEALD deposition

NASA Astrophysics Data System (ADS)

De Silva, Anuja; Seshadri, Indira; Chung, Kisup; Arceo, Abraham; Meli, Luciana; Mendoza, Brock; Sulehria, Yasir; Yao, Yiping; Sunder, Madhana; Truong, Hao; Matham, Shravan; Bao, Ruqiang; Wu, Heng; Felix, Nelson M.; Kanakasabapathy, Sivananda

2017-03-01

With the increasing prevalence of complex device integration schemes, tri layer patterning with a solvent strippable hardmask can have a variety of applications. Spin-on metal hardmasks have been the key enabler for selective removal through wet strip when active areas need to be protected from dry etch damage. As spin-on metal hardmasks require a dedicated track to prevent metal contamination, and are limited in their ability to scale down thickness without comprising on defectivity, there has been a need for a deposited hardmask solution. Modulation of film composition through deposition conditions enables a method to create TiO2 films with wet etch tunability. This paper presents a systematic study on development and characterization of PEALD deposited TiO2-based hardmasks for patterning applications. We demonstrate lithographic process window, pattern profile, and defectivity evaluation for a tri layer scheme patterned with PEALD based TiO2 hardmask and its performance under dry and wet strip conditions. Comparable structural and electrical performance is shown for a deposited vs a spin-on metal hardmask.

Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV

PubMed Central

Ali, Zain Anwar; Wang, Daobo; Aamir, Muhammad

2016-01-01

In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV). The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST) controller with model reference adaptive control (MRAC), in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controller. Brushless direct current (BLDC) motors are installed in the triangular frame of the tri-rotor UAV, which helps maintain control on its motion and different altitude and attitude changes, similar to rotorcrafts. MRAC-based MIT rule is proposed for system stability. Moreover, the proposed hybrid controller with nonlinear flight dynamics is shown in the presence of translational and rotational velocity components. The performance of the proposed algorithm is demonstrated via MATLAB simulations, in which the proposed fuzzy hybrid controller is compared with the existing adaptive RST controller. It shows that our proposed algorithm has better transient performance with zero steady-state error, and fast convergence towards stability. PMID:27171084

A computer code for multiphase all-speed transient flows in complex geometries. MAST version 1.0

NASA Technical Reports Server (NTRS)

Chen, C. P.; Jiang, Y.; Kim, Y. M.; Shang, H. M.

1991-01-01

The operation of the MAST code, which computes transient solutions to the multiphase flow equations applicable to all-speed flows, is described. Two-phase flows are formulated based on the Eulerian-Lagrange scheme in which the continuous phase is described by the Navier-Stokes equation (or Reynolds equations for turbulent flows). Dispersed phase is formulated by a Lagrangian tracking scheme. The numerical solution algorithms utilized for fluid flows is a newly developed pressure-implicit algorithm based on the operator-splitting technique in generalized nonorthogonal coordinates. This operator split allows separate operation on each of the variable fields to handle pressure-velocity coupling. The obtained pressure correction equation has the hyperbolic nature and is effective for Mach numbers ranging from the incompressible limit to supersonic flow regimes. The present code adopts a nonstaggered grid arrangement; thus, the velocity components and other dependent variables are collocated at the same grid. A sequence of benchmark-quality problems, including incompressible, subsonic, transonic, supersonic, gas-droplet two-phase flows, as well as spray-combustion problems, were performed to demonstrate the robustness and accuracy of the present code.

Performance Assessment of Model-Based Optimal Feedforward and Feedback Current Profile Control in NSTX-U using the TRANSP Code

NASA Astrophysics Data System (ADS)

Ilhan, Z.; Wehner, W. P.; Schuster, E.; Boyer, M. D.; Gates, D. A.; Gerhardt, S.; Menard, J.

2015-11-01

Active control of the toroidal current density profile is crucial to achieve and maintain high-performance, MHD-stable plasma operation in NSTX-U. A first-principles-driven, control-oriented model describing the temporal evolution of the current profile has been proposed earlier by combining the magnetic diffusion equation with empirical correlations obtained at NSTX-U for the electron density, electron temperature, and non-inductive current drives. A feedforward + feedback control scheme for the requlation of the current profile is constructed by embedding the proposed nonlinear, physics-based model into the control design process. Firstly, nonlinear optimization techniques are used to design feedforward actuator trajectories that steer the plasma to a desired operating state with the objective of supporting the traditional trial-and-error experimental process of advanced scenario planning. Secondly, a feedback control algorithm to track a desired current profile evolution is developed with the goal of adding robustness to the overall control scheme. The effectiveness of the combined feedforward + feedback control algorithm for current profile regulation is tested in predictive simulations carried out in TRANSP. Supported by PPPL.

Preliminary Analysis of Ground-based Orbit Determination Accuracy for the Wide Field Infrared Survey Telescope (WFIRST)

NASA Technical Reports Server (NTRS)

Sease, Brad

2017-01-01

The Wide Field Infrared Survey Telescope is a 2.4-meter telescope planned for launch to the Sun-Earth L2 point in 2026. This paper details a preliminary study of the achievable accuracy for WFIRST from ground-based orbit determination routines. The analysis here is divided into two segments. First, a linear covariance analysis of early mission and routine operations provides an estimate of the tracking schedule required to meet mission requirements. Second, a simulated operations scenario gives insight into the expected behavior of a daily Extended Kalman Filter orbit estimate over the first mission year given a variety of potential momentum unloading schemes.

Preliminary Analysis of Ground-Based Orbit Determination Accuracy for the Wide Field Infrared Survey Telescope (WFIRST)

NASA Technical Reports Server (NTRS)

Sease, Bradley; Myers, Jessica; Lorah, John; Webster, Cassandra

2017-01-01

The Wide Field Infrared Survey Telescope is a 2.4-meter telescope planned for launch to the Sun-Earth L2 point in 2026. This paper details a preliminary study of the achievable accuracy for WFIRST from ground-based orbit determination routines. The analysis here is divided into two segments. First, a linear covariance analysis of early mission and routine operations provides an estimate of the tracking schedule required to meet mission requirements. Second, a simulated operations'' scenario gives insight into the expected behavior of a daily Extended Kalman Filter orbit estimate over the first mission year given a variety of potential momentum unloading schemes.

Mass spectrometry based on a coupled Cooper-pair box and nanomechanical resonator system

NASA Astrophysics Data System (ADS)

Jiang, Cheng; Chen, Bin; Li, Jin-Jin; Zhu, Ka-Di

2011-10-01

Nanomechanical resonators (NRs) with very high frequency have a great potential for mass sensing with unprecedented sensitivity. In this study, we propose a scheme for mass sensing based on the NR capacitively coupled to a Cooper-pair box (CPB) driven by two microwave currents. The accreted mass landing on the resonator can be measured conveniently by tracking the resonance frequency shifts because of mass changes in the signal absorption spectrum. We demonstrate that frequency shifts induced by adsorption of ten 1587 bp DNA molecules can be well resolved in the absorption spectrum. Integration with the CPB enables capacitive readout of the mechanical resonance directly on the chip.

Guidance concepts for time-based flight operations

NASA Technical Reports Server (NTRS)

Vicroy, Dan D.

1990-01-01

Airport congestion and the associated delays are severe in today's airspace system and are expected to increase. NASA and the FAA is investigating various methods of alleviating this problem through new technology and operational procedures. One concept for improving airspace productivity is time-based control of aircraft. Research to date has focused primarily on the development of time-based flight management systems and Air Traffic Control operational procedures. Flight operations may, however, require special onboard guidance in order to satisfy the Air Traffic Control imposed time constraints. The results are presented of a simulation study aimed at evaluating several time-based guidance concepts in terms of tracking performance, pilot workload, and subjective preference. The guidance concepts tested varied in complexity from simple digital time-error feedback to an advanced time-referenced-energy guidance scheme.

Robust In-Flight Sensor Fault Diagnostics for Aircraft Engine Based on Sliding Mode Observers

PubMed Central

Chang, Xiaodong; Huang, Jinquan; Lu, Feng

2017-01-01

For a sensor fault diagnostic system of aircraft engines, the health performance degradation is an inevitable interference that cannot be neglected. To address this issue, this paper investigates an integrated on-line sensor fault diagnostic scheme for a commercial aircraft engine based on a sliding mode observer (SMO). In this approach, one sliding mode observer is designed for engine health performance tracking, and another for sensor fault reconstruction. Both observers are employed in in-flight applications. The results of the former SMO are analyzed for post-flight updating the baseline model of the latter. This idea is practical and feasible since the updating process does not require the algorithm to be regulated or redesigned, so that ground-based intervention is avoided, and the update process is implemented in an economical and efficient way. With this setup, the robustness of the proposed scheme to the health degradation is much enhanced and the latter SMO is able to fulfill sensor fault reconstruction over the course of the engine life. The proposed sensor fault diagnostic system is applied to a nonlinear simulation of a commercial aircraft engine, and its effectiveness is evaluated in several fault scenarios. PMID:28398255

Robust In-Flight Sensor Fault Diagnostics for Aircraft Engine Based on Sliding Mode Observers.

PubMed

Chang, Xiaodong; Huang, Jinquan; Lu, Feng

2017-04-11

For a sensor fault diagnostic system of aircraft engines, the health performance degradation is an inevitable interference that cannot be neglected. To address this issue, this paper investigates an integrated on-line sensor fault diagnostic scheme for a commercial aircraft engine based on a sliding mode observer (SMO). In this approach, one sliding mode observer is designed for engine health performance tracking, and another for sensor fault reconstruction. Both observers are employed in in-flight applications. The results of the former SMO are analyzed for post-flight updating the baseline model of the latter. This idea is practical and feasible since the updating process does not require the algorithm to be regulated or redesigned, so that ground-based intervention is avoided, and the update process is implemented in an economical and efficient way. With this setup, the robustness of the proposed scheme to the health degradation is much enhanced and the latter SMO is able to fulfill sensor fault reconstruction over the course of the engine life. The proposed sensor fault diagnostic system is applied to a nonlinear simulation of a commercial aircraft engine, and its effectiveness is evaluated in several fault scenarios.

A morphing-based scheme for large deformation analysis with stereo-DIC

NASA Astrophysics Data System (ADS)

Genovese, Katia; Sorgente, Donato

2018-05-01

A key step in the DIC-based image registration process is the definition of the initial guess for the non-linear optimization routine aimed at finding the parameters describing the pixel subset transformation. This initialization may result very challenging and possibly fail when dealing with pairs of largely deformed images such those obtained from two angled-views of not-flat objects or from the temporal undersampling of rapidly evolving phenomena. To address this problem, we developed a procedure that generates a sequence of intermediate synthetic images for gradually tracking the pixel subset transformation between the two extreme configurations. To this scope, a proper image warping function is defined over the entire image domain through the adoption of a robust feature-based algorithm followed by a NURBS-based interpolation scheme. This allows a fast and reliable estimation of the initial guess of the deformation parameters for the subsequent refinement stage of the DIC analysis. The proposed method is described step-by-step by illustrating the measurement of the large and heterogeneous deformation of a circular silicone membrane undergoing axisymmetric indentation. A comparative analysis of the results is carried out by taking as a benchmark a standard reference-updating approach. Finally, the morphing scheme is extended to the most general case of the correspondence search between two largely deformed textured 3D geometries. The feasibility of this latter approach is demonstrated on a very challenging case: the full-surface measurement of the severe deformation (> 150% strain) suffered by an aluminum sheet blank subjected to a pneumatic bulge test.

Adaptive critic neural network-based object grasping control using a three-finger gripper.

PubMed

Jagannathan, S; Galan, Gustavo

2004-03-01

Grasping of objects has been a challenging task for robots. The complex grasping task can be defined as object contact control and manipulation subtasks. In this paper, object contact control subtask is defined as the ability to follow a trajectory accurately by the fingers of a gripper. The object manipulation subtask is defined in terms of maintaining a predefined applied force by the fingers on the object. A sophisticated controller is necessary since the process of grasping an object without a priori knowledge of the object's size, texture, softness, gripper, and contact dynamics is rather difficult. Moreover, the object has to be secured accurately and considerably fast without damaging it. Since the gripper, contact dynamics, and the object properties are not typically known beforehand, an adaptive critic neural network (NN)-based hybrid position/force control scheme is introduced. The feedforward action generating NN in the adaptive critic NN controller compensates the nonlinear gripper and contact dynamics. The learning of the action generating NN is performed on-line based on a critic NN output signal. The controller ensures that a three-finger gripper tracks a desired trajectory while applying desired forces on the object for manipulation. Novel NN weight tuning updates are derived for the action generating and critic NNs so that Lyapunov-based stability analysis can be shown. Simulation results demonstrate that the proposed scheme successfully allows fingers of a gripper to secure objects without the knowledge of the underlying gripper and contact dynamics of the object compared to conventional schemes.

Comparison of the Effects of RAS vs. Kain-Fritsch Convective Schemes on Katrina Forecasts with GEOS-5

NASA Technical Reports Server (NTRS)

Miller, Timothy L.; Cohen, Charles; Paxton, Jessica; Robertson, F. R. (Pete)

2009-01-01

Global forecasts were made with the 0.25-degree latitude version of GEOS-5, with the RAS scheme and with the Kain-Fritsch scheme. Examination was made of the Katrina (2005) hurricane simulation. Replacement of the RAS convective scheme with the K-F scheme results in a much more vigorous Katrina, closer to reality. Still, the result is not as vigorous as reality. In terms of wind maximum, the gap was closed by 50%. The result seems to be due to the RAS scheme drying out the boundary layer, thus hampering the grid-scale secondary circulation and attending cyclone development. The RAS case never developed a full warm core, whereas the K-F case did. Not shown here: The K-F scheme also resulted in a more vigorous storm than when GEOS-5 is run with no convective parameterization. Also not shown: An experiment in which the RAS firing level was moved up by 3 model levels resulted in a stronger, warm-core storm, though not as strong as the K-F case. Effects on storm track were noticed, but not studied.

Shunt flow evaluation in congenital heart disease based on two-dimensional speckle tracking.

PubMed

Fadnes, Solveig; Nyrnes, Siri Ann; Torp, Hans; Lovstakken, Lasse

2014-10-01

High-frame-rate ultrasound speckle tracking was used for quantification of peak velocity in shunt flows resulting from septal defects in congenital heart disease. In a duplex acquisition scheme implemented on a research scanner, unfocused transmit beams and full parallel receive beamforming were used to achieve a frame rate of 107 frames/s for full field-of-view flow images with high accuracy, while also ensuring high-quality focused B-mode tissue imaging. The setup was evaluated in vivo for neonates with atrial and ventricular septal defects. The shunt position was automatically tracked in B-mode images and further used in blood speckle tracking to obtain calibrated shunt flow velocities throughout the cardiac cycle. Validation toward color flow imaging and pulsed wave Doppler with manual angle correction indicated that blood speckle tracking could provide accurate estimates of shunt flow velocities. The approach was less biased by clutter filtering compared with color flow imaging and was able to provide velocity estimates beyond the Nyquist range. Possible placements of sample volumes (and angle corrections) for conventional Doppler resulted in a peak shunt velocity variations of 0.49-0.56 m/s for the ventricular septal defect of patient 1 and 0.38-0.58 m/s for the atrial septal defect of patient 2. In comparison, the peak velocities found from speckle tracking were 0.77 and 0.33 m/s for patients 1 and 2, respectively. Results indicated that complex intraventricular flow velocity patterns could be quantified using high-frame-rate speckle tracking of both blood and tissue movement. This could potentially help increase diagnostic accuracy and decrease inter-observer variability when measuring peak velocity in shunt flows. Copyright © 2014 World Federation for Ultrasound in Medicine & Biology. Published by Elsevier Inc. All rights reserved.

AMY trigger system

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

Sakai, Yoshihide

1989-04-01

A trigger system of the AMY detector at TRISTAN e{sup +}e{sup -} collider is described briefly. The system uses simple track segment and shower cluster counting scheme to classify events to be triggered. It has been operating successfully since 1987.

Experiment definition phase shuttle laboratory LDRL 10.6 experiment

NASA Technical Reports Server (NTRS)

1974-01-01

System optimization is reported along with mission and parameter requirements. Link establishment and maintenance requirements are discussed providing an acquisition and tracking scheme. The shuttle terminal configurations are considered and are included in the experiment definition.

Design Method of Digital Optimal Control Scheme and Multiple Paralleled Bridge Type Current Amplifier for Generating Gradient Magnetic Fields in MRI Systems

NASA Astrophysics Data System (ADS)

Watanabe, Shuji; Takano, Hiroshi; Fukuda, Hiroya; Hiraki, Eiji; Nakaoka, Mutsuo

This paper deals with a digital control scheme of multiple paralleled high frequency switching current amplifier with four-quadrant chopper for generating gradient magnetic fields in MRI (Magnetic Resonance Imaging) systems. In order to track high precise current pattern in Gradient Coils (GC), the proposal current amplifier cancels the switching current ripples in GC with each other and designed optimum switching gate pulse patterns without influences of the large filter current ripple amplitude. The optimal control implementation and the linear control theory in GC current amplifiers have affinity to each other with excellent characteristics. The digital control system can be realized easily through the digital control implementation, DSPs or microprocessors. Multiple-parallel operational microprocessors realize two or higher paralleled GC current pattern tracking amplifier with optimal control design and excellent results are given for improving the image quality of MRI systems.

Control of a flexible bracing manipulator: Integration of current research work to realize the bracing manipulator

NASA Technical Reports Server (NTRS)

Kwon, Dong-Soo

1991-01-01

All research results about flexible manipulator control were integrated to show a control scenario of a bracing manipulator. First, dynamic analysis of a flexible manipulator was done for modeling. Second, from the dynamic model, the inverse dynamic equation was derived, and the time domain inverse dynamic method was proposed for the calculation of the feedforward torque and the desired flexible coordinate trajectories. Third, a tracking controller was designed by combining the inverse dynamic feedforward control with the joint feedback control. The control scheme was applied to the tip position control of a single link flexible manipulator for zero and non-zero initial condition cases. Finally, the contact control scheme was added to the position tracking control. A control scenario of a bracing manipulator is provided and evaluated through simulation and experiment on a single link flexible manipulator.

Online track detection in triggerless mode for INO

NASA Astrophysics Data System (ADS)

Jain, A.; Padmini, S.; Joseph, A. N.; Mahesh, P.; Preetha, N.; Behere, A.; Sikder, S. S.; Majumder, G.; Behera, S. P.

2018-03-01

The India based Neutrino Observatory (INO) is a proposed particle physics research project to study the atmospheric neutrinos. INO-Iron Calorimeter (ICAL) will consist of 28,800 detectors having 3.6 million electronic channels expected to activate with 100 Hz single rate, producing data at a rate of 3 GBps. Data collected contains a few real hits generated by muon tracks and the remaining noise-induced spurious hits. Estimated reduction factor after filtering out data of interest from generated data is of the order of 103. This makes trigger generation critical for efficient data collection and storage. Trigger is generated by detecting coincidence across multiple channels satisfying trigger criteria, within a small window of 200 ns in the trigger region. As the probability of neutrino interaction is very low, track detection algorithm has to be efficient and fast enough to process 5 × 106 events-candidates/s without introducing significant dead time, so that not even a single neutrino event is missed out. A hardware based trigger system is presently proposed for on-line track detection considering stringent timing requirements. Though the trigger system can be designed with scalability, a lot of hardware devices and interconnections make it a complex and expensive solution with limited flexibility. A software based track detection approach working on the hit information offers an elegant solution with possibility of varying trigger criteria for selecting various potentially interesting physics events. An event selection approach for an alternative triggerless readout scheme has been developed. The algorithm is mathematically simple, robust and parallelizable. It has been validated by detecting simulated muon events for energies of the range of 1 GeV-10 GeV with 100% efficiency at a processing rate of 60 μs/event on a 16 core machine. The algorithm and result of a proof-of-concept for its faster implementation over multiple cores is presented. The paper also discusses about harnessing the computing capabilities of multi-core computing farm, thereby optimizing number of nodes required for the proposed system.

Lagrangian Particle Tracking Simulation for Warm-Rain Processes in Quasi-One-Dimensional Domain

NASA Astrophysics Data System (ADS)

Kunishima, Y.; Onishi, R.

2017-12-01

Conventional cloud simulations are based on the Euler method and compute each microphysics process in a stochastic way assuming infinite numbers of particles within each numerical grid. They therefore cannot provide the Lagrangian statistics of individual particles in cloud microphysics (i.e., aerosol particles, cloud particles, and rain drops) nor discuss the statistical fluctuations due to finite number of particles. We here simulate the entire precipitation process of warm-rain, with tracking individual particles. We use the Lagrangian Cloud Simulator (LCS), which is based on the Euler-Lagrangian framework. In that framework, flow motion and scalar transportation are computed with the Euler method, and particle motion with the Lagrangian one. The LCS tracks particle motions and collision events individually with considering the hydrodynamic interaction between approaching particles with a superposition method, that is, it can directly represent the collisional growth of cloud particles. It is essential for trustworthy collision detection to take account of the hydrodynamic interaction. In this study, we newly developed a stochastic model based on the Twomey cloud condensation nuclei (CCN) activation for the Lagrangian tracking simulation and integrated it into the LCS. Coupling with the Euler computation for water vapour and temperature fields, the initiation and condensational growth of water droplets were computed in the Lagrangian way. We applied the integrated LCS for a kinematic simulation of warm-rain processes in a vertically-elongated domain of, at largest, 0.03×0.03×3000 (m3) with horizontal periodicity. Aerosol particles with a realistic number density, 5×107 (m3), were evenly distributed over the domain at the initial state. Prescribed updraft at the early stage initiated development of a precipitating cloud. We have confirmed that the obtained bulk statistics fairly agree with those from a conventional spectral-bin scheme for a vertical column domain. The centre of the discussion will be the Lagrangian statistics which is collected from the individual behaviour of the tracked particles.

Hybrid estimation of complex systems.

PubMed

Hofbaur, Michael W; Williams, Brian C

2004-10-01

Modern automated systems evolve both continuously and discretely, and hence require estimation techniques that go well beyond the capability of a typical Kalman Filter. Multiple model (MM) estimation schemes track these system evolutions by applying a bank of filters, one for each discrete system mode. Modern systems, however, are often composed of many interconnected components that exhibit rich behaviors, due to complex, system-wide interactions. Modeling these systems leads to complex stochastic hybrid models that capture the large number of operational and failure modes. This large number of modes makes a typical MM estimation approach infeasible for online estimation. This paper analyzes the shortcomings of MM estimation, and then introduces an alternative hybrid estimation scheme that can efficiently estimate complex systems with large number of modes. It utilizes search techniques from the toolkit of model-based reasoning in order to focus the estimation on the set of most likely modes, without missing symptoms that might be hidden amongst the system noise. In addition, we present a novel approach to hybrid estimation in the presence of unknown behavioral modes. This leads to an overall hybrid estimation scheme for complex systems that robustly copes with unforeseen situations in a degraded, but fail-safe manner.

A new performance index for the repetitive motion of mobile manipulators.

PubMed

Xiao, Lin; Zhang, Yunong

2014-02-01

A mobile manipulator is a robotic device composed of a mobile platform and a stationary manipulator fixed to the platform. To achieve the repetitive motion control of mobile manipulators, the mobile platform and the manipulator have to realize the repetitive motion simultaneously. To do so, a novel quadratic performance index is, for the first time, designed and presented in this paper, of which the effectiveness is analyzed by following a neural dynamics method. Then, a repetitive motion scheme is proposed by combining the criterion, physical constraints, and integrated kinematical equations of mobile manipulators, which is further reformulated as a quadratic programming (QP) subject to equality and bound constraints. In addition, two important Bridge theorems are established to prove that such a QP can be converted equivalently into a linear variational inequality, and then equivalently into a piecewise-linear projection equation (PLPE). A real-time numerical algorithm based on PLPE is thus developed and applied for the online solution of the resultant QP. Two tracking-path tasks demonstrate the effectiveness and accuracy of the repetitive motion scheme. In addition, comparisons between the nonrepetitive and repetitive motion further validate the superiority and novelty of the proposed scheme.

Iterative learning-based decentralized adaptive tracker for large-scale systems: a digital redesign approach.

PubMed

Tsai, Jason Sheng-Hong; Du, Yan-Yi; Huang, Pei-Hsiang; Guo, Shu-Mei; Shieh, Leang-San; Chen, Yuhua

2011-07-01

In this paper, a digital redesign methodology of the iterative learning-based decentralized adaptive tracker is proposed to improve the dynamic performance of sampled-data linear large-scale control systems consisting of N interconnected multi-input multi-output subsystems, so that the system output will follow any trajectory which may not be presented by the analytic reference model initially. To overcome the interference of each sub-system and simplify the controller design, the proposed model reference decentralized adaptive control scheme constructs a decoupled well-designed reference model first. Then, according to the well-designed model, this paper develops a digital decentralized adaptive tracker based on the optimal analog control and prediction-based digital redesign technique for the sampled-data large-scale coupling system. In order to enhance the tracking performance of the digital tracker at specified sampling instants, we apply the iterative learning control (ILC) to train the control input via continual learning. As a result, the proposed iterative learning-based decentralized adaptive tracker not only has robust closed-loop decoupled property but also possesses good tracking performance at both transient and steady state. Besides, evolutionary programming is applied to search for a good learning gain to speed up the learning process of ILC. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

Incorporating TPC observed parameters and QuikSCAT surface wind observations into hurricane initialization using 4D-VAR approaches

NASA Astrophysics Data System (ADS)

Park, Kyungjeen

This study aims to develop an objective hurricane initialization scheme which incorporates not only forecast model constraints but also observed features such as the initial intensity and size. It is based on the four-dimensional variational (4D-Var) bogus data assimilation (BDA) scheme originally proposed by Zou and Xiao (1999). The 4D-Var BDA consists of two steps: (i) specifying a bogus sea level pressure (SLP) field based on parameters observed by the Tropical Prediction Center (TPC) and (ii) assimilating the bogus SLP field under a forecast model constraint to adjust all model variables. This research focuses on improving the specification of the bogus SLP indicated in the first step. Numerical experiments are carried out for Hurricane Bonnie (1998) and Hurricane Gordon (2000) to test the sensitivity of hurricane track and intensity forecasts to specification of initial vortex. Major results are listed below: (1) A linear regression model is developed for determining the size of initial vortex based on the TPC observed radius of 34kt. (2) A method is proposed to derive a radial profile of SLP from QuikSCAT surface winds. This profile is shown to be more realistic than ideal profiles derived from Fujita's and Holland's formulae. (3) It is found that it takes about 1 h for hurricane prediction model to develop a conceptually correct hurricane structure, featuring a dominant role of hydrostatic balance at the initial time and a dynamic adjustment in less than 30 minutes. (4) Numerical experiments suggest that track prediction is less sensitive to the specification of initial vortex structure than intensity forecast. (5) Hurricane initialization using QuikSCAT-derived initial vortex produced a reasonably good forecast for hurricane landfall, with a position error of 25 km and a 4-h delay at landfalling. (6) Numerical experiments using the linear regression model for the size specification considerably outperforms all the other formulations tested in terms of the intensity prediction for both Hurricanes. For examples, the maximum track error is less than 110 km during the entire three-day forecasts for both hurricanes. The simulated Hurricane Gordon using the linear regression model made a nearly perfect landfall, with no position error and only 1-h error in landfalling time. (7) Diagnosis of model output indicates that the initial vortex specified by the linear regression model produces larger surface fluxes of sensible heat, latent heat and moisture, as well as stronger downward angular momentum transport than all the other schemes do. These enhanced energy supplies offset the energy lost caused by friction and gravity wave propagation, allowing for the model to maintain a strong and realistic hurricane during the entire forward model integration.

Challenges associated with the prediction of tropical storms in the Bay of Bengal when using the WRF model

NASA Astrophysics Data System (ADS)

Machineni, N.; Veldore, V.; Mesquita, M. D. S.

2016-12-01

Accuracy in predicting tropical cyclones over low lying coastal regions is pivotal for understanding storm tracks and their subsequent impacts. The present study highlights the challenges in predicting the Bay of Bengal (BOB) cyclone "AILA" (during 23rd to 25th May 2009) using the Weather Research and Forecast model, Advanced research core module (WRF-ARW). The model configuration uses a two-way interactive nested domain with 10 km resolution over BOB. Its initial and boundary conditions are driven from the NCEP FNL operational global analysis data at every 6 hours. A total of 74 sensitivity experiments were conducted to test the following factors and levels: a) parametrization schemes: two microphysics and two cumulus physics schemes used to select appropriate combination over study region, b) model domain:including/excluding Himalayas, c) vertical resolution: eight various increasing/decreasing vertical levels have been carried out to evaluate the storm track dependencies on these factors, d) domain size: and increasing (decreasing) the grid points of model domain in east-west direction shows that approximately 50-100 km track difference for every two points. Our results show that, the experiments including the Himalayas provide a better representation of cyclone track and speed. In order to reduce the computational time required to do such tremendous amount of experiment, we hypothesize to use statistical tools of experimental design which can involve all the factors that determine the cyclone tracks. A proper experimental design might provide unbiased results and also we might need less number of experiments.

Challenges associated with the prediction of tropical storms in the Bay of Bengal when using the WRF model

NASA Astrophysics Data System (ADS)

Machineni, Nehru; Veldore, Vidyunmala; Mesquita, Michel d. S.

2017-04-01

Accuracy in predicting tropical cyclones over low lying coastal regions is pivotal for understanding storm tracks and their subsequent impacts. The present study highlights the challenges in predicting the Bay of Bengal (BOB) cyclone "AILA" (during 23rd to 25th May 2009) using the Weather Research and Forecast model, Advanced research core module (WRF-ARW). The model configuration uses a two-way interactive nested domain with 10 km resolution over BOB. Its initial and boundary conditions are driven from the NCEP FNL operational global analysis data at every 6 hours. A total of 74 sensitivity experiments were conducted to test the following factors and levels: a) parametrization schemes: two microphysics and two cumulus physics schemes used to select appropriate combination over study region, b) model domain:including/excluding Himalayas, c) vertical resolution: eight various increasing/decreasing vertical levels have been carried out to evaluate the storm track dependencies on these factors, d) domain size: and increasing (decreasing) the grid points of model domain in east-west direction shows that approximately 50-100 km track difference for every two points. Our results show that, the experiments including the Himalayas provide a better representation of cyclone track and speed. In order to reduce the computational time required to do such tremendous amount of experiment, we hypothesize to use statistical tools of experimental design which can involve all the factors that determine the cyclone tracks. A proper experimental design might provide unbiased results and also we might need less number of experiments.

Kinematically Optimal Robust Control of Redundant Manipulators

NASA Astrophysics Data System (ADS)

Galicki, M.

2017-12-01

This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

Preliminary design and implementation of the baseline digital baseband architecture for advanced deep space transponders

NASA Technical Reports Server (NTRS)

Nguyen, T. M.; Yeh, H.-G.

1993-01-01

The baseline design and implementation of the digital baseband architecture for advanced deep space transponders is investigated and identified. Trade studies on the selection of the number of bits for the analog-to-digital converter (ADC) and optimum sampling schemes are presented. In addition, the proposed optimum sampling scheme is analyzed in detail. Descriptions of possible implementations for the digital baseband (or digital front end) and digital phase-locked loop (DPLL) for carrier tracking are also described.

Adaptive terminal sliding mode control for hypersonic flight vehicles with strictly lower convex function based nonlinear disturbance observer.

PubMed

Wu, Yun-Jie; Zuo, Jing-Xing; Sun, Liang-Hua

2017-11-01

In this paper, the altitude and velocity tracking control of a generic hypersonic flight vehicle (HFV) is considered. A novel adaptive terminal sliding mode controller (ATSMC) with strictly lower convex function based nonlinear disturbance observer (SDOB) is proposed for the longitudinal dynamics of HFV in presence of both parametric uncertainties and external disturbances. First, for the sake of enhancing the anti-interference capability, SDOB is presented to estimate and compensate the equivalent disturbances by introducing a strictly lower convex function. Next, the SDOB based ATSMC (SDOB-ATSMC) is proposed to guarantee the system outputs track the reference trajectory. Then, stability of the proposed control scheme is analyzed by the Lyapunov function method. Compared with other HFV control approaches, key novelties of SDOB-ATSMC are that a novel SDOB is proposed and drawn into the (virtual) control laws to compensate the disturbances and that several adaptive laws are used to deal with the differential explosion problem. Finally, it is illustrated by the simulation results that the new method exhibits an excellent robustness and a better disturbance rejection performance than the convention approach. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Reinforcement learning neural-network-based controller for nonlinear discrete-time systems with input constraints.

PubMed

He, Pingan; Jagannathan, S

2007-04-01

A novel adaptive-critic-based neural network (NN) controller in discrete time is designed to deliver a desired tracking performance for a class of nonlinear systems in the presence of actuator constraints. The constraints of the actuator are treated in the controller design as the saturation nonlinearity. The adaptive critic NN controller architecture based on state feedback includes two NNs: the critic NN is used to approximate the "strategic" utility function, whereas the action NN is employed to minimize both the strategic utility function and the unknown nonlinear dynamic estimation errors. The critic and action NN weight updates are derived by minimizing certain quadratic performance indexes. Using the Lyapunov approach and with novel weight updates, the uniformly ultimate boundedness of the closed-loop tracking error and weight estimates is shown in the presence of NN approximation errors and bounded unknown disturbances. The proposed NN controller works in the presence of multiple nonlinearities, unlike other schemes that normally approximate one nonlinearity. Moreover, the adaptive critic NN controller does not require an explicit offline training phase, and the NN weights can be initialized at zero or random. Simulation results justify the theoretical analysis.

Developing a disease outbreak event corpus.

PubMed

Conway, Mike; Kawazoe, Ai; Chanlekha, Hutchatai; Collier, Nigel

2010-09-28

In recent years, there has been a growth in work on the use of information extraction technologies for tracking disease outbreaks from online news texts, yet publicly available evaluation standards (and associated resources) for this new area of research have been noticeably lacking. This study seeks to create a "gold standard" data set against which to test how accurately disease outbreak information extraction systems can identify the semantics of disease outbreak events. Additionally, we hope that the provision of an annotation scheme (and associated corpus) to the community will encourage open evaluation in this new and growing application area. We developed an annotation scheme for identifying infectious disease outbreak events in news texts. An event--in the context of our annotation scheme--consists minimally of geographical (eg, country and province) and disease name information. However, the scheme also allows for the rich encoding of other domain salient concepts (eg, international travel, species, and food contamination). The work resulted in a 200-document corpus of event-annotated disease outbreak reports that can be used to evaluate the accuracy of event detection algorithms (in this case, for the BioCaster biosurveillance online news information extraction system). In the 200 documents, 394 distinct events were identified (mean 1.97 events per document, range 0-25 events per document). We also provide a download script and graphical user interface (GUI)-based event browsing software to facilitate corpus exploration. In summary, we present an annotation scheme and corpus that can be used in the evaluation of disease outbreak event extraction algorithms. The annotation scheme and corpus were designed both with the particular evaluation requirements of the BioCaster system in mind as well as the wider need for further evaluation resources in this growing research area.

The tracking analysis in the Q-weak experiment

NASA Astrophysics Data System (ADS)

Pan, J.; Androic, D.; Armstrong, D. S.; Asaturyan, A.; Averett, T.; Balewski, J.; Beaufait, J.; Beminiwattha, R. S.; Benesch, J.; Benmokhtar, F.; Birchall, J.; Carlini, R. D.; Cates, G. D.; Cornejo, J. C.; Covrig, S.; Dalton, M. M.; Davis, C. A.; Deconinck, W.; Diefenbach, J.; Dowd, J. F.; Dunne, J. A.; Dutta, D.; Duvall, W. S.; Elaasar, M.; Falk, W. R.; Finn, J. M.; Forest, T.; Gaskell, D.; Gericke, M. T. W.; Grames, J.; Gray, V. M.; Grimm, K.; Guo, F.; Hoskins, J. R.; Johnston, K.; Jones, D.; Jones, M.; Jones, R.; Kargiantoulakis, M.; King, P. M.; Korkmaz, E.; Kowalski, S.; Leacock, J.; Leckey, J.; Lee, A. R.; Lee, J. H.; Lee, L.; MacEwan, S.; Mack, D.; Magee, J. A.; Mahurin, R.; Mammei, J.; Martin, J. W.; McHugh, M. J.; Meekins, D.; Mei, J.; Michaels, R.; Micherdzinska, A.; Mkrtchyan, A.; Mkrtchyan, H.; Morgan, N.; Myers, K. E.; Narayan, A.; Ndukum, L. Z.; Nelyubin, V.; Nuruzzaman; van Oers, W. T. H.; Opper, A. K.; Page, S. A.; Pan, J.; Paschke, K. D.; Phillips, S. K.; Pitt, M. L.; Poelker, M.; Rajotte, J. F.; Ramsay, W. D.; Roche, J.; Sawatzky, B.; Seva, T.; Shabestari, M. H.; Silwal, R.; Simicevic, N.; Smith, G. R.; Solvignon, P.; Spayde, D. T.; Subedi, A.; Subedi, R.; Suleiman, R.; Tadevosyan, V.; Tobias, W. A.; Tvaskis, V.; Waidyawansa, B.; Wang, P.; Wells, S. P.; Wood, S. A.; Yang, S.; Young, R. D.; Zhamkochyan, S.

2016-12-01

The Q-weak experiment at Jefferson Laboratory measured the parity violating asymmetry ( A P V ) in elastic electron-proton scattering at small momentum transfer squared ( Q 2=0.025 ( G e V/ c)2), with the aim of extracting the proton's weak charge ({Q^p_W}) to an accuracy of 5 %. As one of the major uncertainty contribution sources to {Q^p_W}, Q 2 needs to be determined to ˜1 % so as to reach the proposed experimental precision. For this purpose, two sets of high resolution tracking chambers were employed in the experiment, to measure tracks before and after the magnetic spectrometer. Data collected by the tracking system were then reconstructed with dedicated software into individual electron trajectories for experimental kinematics determination. The Q-weak kinematics and the analysis scheme for tracking data are briefly described here. The sources that contribute to the uncertainty of Q 2 are discussed, and the current analysis status is reported.

Model-independent position domain sliding mode control for contour tracking of robotic manipulator

NASA Astrophysics Data System (ADS)

Yue, W. H.; Pano, V.; Ouyang, P. R.; Hu, Y. Q.

2017-01-01

In this paper, a new position domain feedback type sliding mode control (PDC-SMC) law is proposed for contour tracking control of multi-DOF (degree of freedom) nonlinear robotic manipulators focusing on the improvement of contour tracking performances. One feature of the proposed control law is its model-independent control scheme that can avoid calculation of the feedforward part in a standard SMC. The new control law takes the advantages of the high contour tracking performance of PD type feedback position domain control (PDC) and the robustness of SMC. Stability analysis is performed using the Lyapunov stability theory, and simulation studies are conducted to verify the effectiveness of the developed PDC-SMC control system. In addition, the effects of control parameters of the SMC on system performances are studied.

Observing rotation and deformation of sea ice with synthetic aperture radar

NASA Technical Reports Server (NTRS)

Vesecky, J. F.; Samadani, R.; Daida, J. M.; Smith, M. P.; Bracewell, R. N.

1987-01-01

The ESA's ERS-1 satellite will carry SARs over the polar regions; an important component in the use of these data is an automated scheme for the extraction of sea ice velocity fields from a sequence of SAR images of the same geographical region. The image pyramid area-correlation hierarchical method is noted to be vulnerable to uncertainties for sea ice rotations greater than 10-15 deg between SAR observations. Rotation-invariant methods can successfully track isolated floes in the marginal ice zone. Hu's (1962) invariant moments are also worth considering as a possible basis for rotation-invariant tracking methods. Feature tracking is inherently robust for tracking rotating sea ice, but is limited when features are floe-lead boundaries. A variety of techniques appears neccessary.

Computing eddy-driven effective diffusivity using Lagrangian particles

DOE PAGES

Wolfram, Phillip J.; Ringler, Todd D.

2017-08-14

A novel method to derive effective diffusivity from Lagrangian particle trajectory data sets is developed and then analyzed relative to particle-derived meridional diffusivity for eddy-driven mixing in an idealized circumpolar current. Quantitative standard dispersion- and transport-based mixing diagnostics are defined, compared and contrasted to motivate the computation and use of effective diffusivity derived from Lagrangian particles. We compute the effective diffusivity by first performing scalar transport on Lagrangian control areas using stored trajectories computed from online Lagrangian In-situ Global High-performance particle Tracking (LIGHT) using the Model for Prediction Across Scales Ocean (MPAS-O). Furthermore, the Lagrangian scalar transport scheme is comparedmore » against an Eulerian scalar transport scheme. Spatially-variable effective diffusivities are computed from resulting time-varying cumulative concentrations that vary as a function of cumulative area. The transport-based Eulerian and Lagrangian effective diffusivity diagnostics are found to be qualitatively consistent with the dispersion-based diffusivity. All diffusivity estimates show a region of increased subsurface diffusivity within the core of an idealized circumpolar current and results are within a factor of two of each other. The Eulerian and Lagrangian effective diffusivities are most similar; smaller and more spatially diffused values are obtained with the dispersion-based diffusivity computed with particle clusters.« less

Computing eddy-driven effective diffusivity using Lagrangian particles

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

Wolfram, Phillip J.; Ringler, Todd D.

A novel method to derive effective diffusivity from Lagrangian particle trajectory data sets is developed and then analyzed relative to particle-derived meridional diffusivity for eddy-driven mixing in an idealized circumpolar current. Quantitative standard dispersion- and transport-based mixing diagnostics are defined, compared and contrasted to motivate the computation and use of effective diffusivity derived from Lagrangian particles. We compute the effective diffusivity by first performing scalar transport on Lagrangian control areas using stored trajectories computed from online Lagrangian In-situ Global High-performance particle Tracking (LIGHT) using the Model for Prediction Across Scales Ocean (MPAS-O). Furthermore, the Lagrangian scalar transport scheme is comparedmore » against an Eulerian scalar transport scheme. Spatially-variable effective diffusivities are computed from resulting time-varying cumulative concentrations that vary as a function of cumulative area. The transport-based Eulerian and Lagrangian effective diffusivity diagnostics are found to be qualitatively consistent with the dispersion-based diffusivity. All diffusivity estimates show a region of increased subsurface diffusivity within the core of an idealized circumpolar current and results are within a factor of two of each other. The Eulerian and Lagrangian effective diffusivities are most similar; smaller and more spatially diffused values are obtained with the dispersion-based diffusivity computed with particle clusters.« less

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

NASA Astrophysics Data System (ADS)

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

1995-06-01

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

Accommodating Sensor Bias in MRAC for State Tracking

NASA Technical Reports Server (NTRS)

Patre, Parag; Joshi, Suresh M.

2011-01-01

The problem of accommodating unknown sensor bias is considered in a direct model reference adaptive control (MRAC) setting for state tracking using state feedback. Sensor faults can occur during operation, and if the biased state measurements are directly used with a standard MRAC control law, neither closed-loop signal boundedness, nor asymptotic tracking can be guaranteed and the resulting tracking errors may be unbounded or unacceptably large. A modified MRAC law is proposed, which combines a bias estimator with control gain adaptation, and it is shown that signal boundedness can be accomplished, although the tracking error may not go to zero. Further, for the case wherein an asymptotically stable sensor bias estimator is available, an MRAC control law is proposed to accomplish asymptotic tracking and signal boundedness. Such a sensor bias estimator can be designed if additional sensor measurements are available, as illustrated for the case wherein bias is present in the rate gyro and airspeed measurements. Numerical example results are presented to illustrate each of the schemes.

A Novel Sensor Selection and Power Allocation Algorithm for Multiple-Target Tracking in an LPI Radar Network

PubMed Central

She, Ji; Wang, Fei; Zhou, Jianjiang

2016-01-01

Radar networks are proven to have numerous advantages over traditional monostatic and bistatic radar. With recent developments, radar networks have become an attractive platform due to their low probability of intercept (LPI) performance for target tracking. In this paper, a joint sensor selection and power allocation algorithm for multiple-target tracking in a radar network based on LPI is proposed. It is found that this algorithm can minimize the total transmitted power of a radar network on the basis of a predetermined mutual information (MI) threshold between the target impulse response and the reflected signal. The MI is required by the radar network system to estimate target parameters, and it can be calculated predictively with the estimation of target state. The optimization problem of sensor selection and power allocation, which contains two variables, is non-convex and it can be solved by separating power allocation problem from sensor selection problem. To be specific, the optimization problem of power allocation can be solved by using the bisection method for each sensor selection scheme. Also, the optimization problem of sensor selection can be solved by a lower complexity algorithm based on the allocated powers. According to the simulation results, it can be found that the proposed algorithm can effectively reduce the total transmitted power of a radar network, which can be conducive to improving LPI performance. PMID:28009819

Direct energy balance based active disturbance rejection control for coal-fired power plant.

PubMed

Sun, Li; Hua, Qingsong; Li, Donghai; Pan, Lei; Xue, Yali; Lee, Kwang Y

2017-09-01

The conventional direct energy balance (DEB) based PI control can fulfill the fundamental tracking requirements of the coal-fired power plant. However, it is challenging to deal with the cases when the coal quality variation is present. To this end, this paper introduces the active disturbance rejection control (ADRC) to the DEB structure, where the coal quality variation is deemed as a kind of unknown disturbance that can be estimated and mitigated promptly. Firstly, the nonlinearity of a recent power plant model is analyzed based on the gap metric, which provides guidance on how to set the pressure set-point in line with the power demand. Secondly, the approximate decoupling effect of the DEB structure is analyzed based on the relative gain analysis in frequency domain. Finally, the synthesis of the DEB based ADRC control system is carried out based on multi-objective optimization. The optimized ADRC results show that the integrated absolute error (IAE) indices of the tracking performances in both loops can be simultaneously improved, in comparison with the DEB based PI control and H ∞ control system. The regulation performance in the presence of the coal quality variation is significantly improved under the ADRC control scheme. Moreover, the robustness of the proposed strategy is shown comparable with the H ∞ control. Copyright © 2017. Published by Elsevier Ltd.

Indirect adaptive soft computing based wavelet-embedded control paradigms for WT/PV/SOFC in a grid/charging station connected hybrid power system.

PubMed

Mumtaz, Sidra; Khan, Laiq; Ahmed, Saghir; Bader, Rabiah

2017-01-01

This paper focuses on the indirect adaptive tracking control of renewable energy sources in a grid-connected hybrid power system. The renewable energy systems have low efficiency and intermittent nature due to unpredictable meteorological conditions. The domestic load and the conventional charging stations behave in an uncertain manner. To operate the renewable energy sources efficiently for harvesting maximum power, instantaneous nonlinear dynamics should be captured online. A Chebyshev-wavelet embedded NeuroFuzzy indirect adaptive MPPT (maximum power point tracking) control paradigm is proposed for variable speed wind turbine-permanent synchronous generator (VSWT-PMSG). A Hermite-wavelet incorporated NeuroFuzzy indirect adaptive MPPT control strategy for photovoltaic (PV) system to extract maximum power and indirect adaptive tracking control scheme for Solid Oxide Fuel Cell (SOFC) is developed. A comprehensive simulation test-bed for a grid-connected hybrid power system is developed in Matlab/Simulink. The robustness of the suggested indirect adaptive control paradigms are evaluated through simulation results in a grid-connected hybrid power system test-bed by comparison with conventional and intelligent control techniques. The simulation results validate the effectiveness of the proposed control paradigms.

Indirect adaptive soft computing based wavelet-embedded control paradigms for WT/PV/SOFC in a grid/charging station connected hybrid power system

PubMed Central

Khan, Laiq; Ahmed, Saghir; Bader, Rabiah

2017-01-01

This paper focuses on the indirect adaptive tracking control of renewable energy sources in a grid-connected hybrid power system. The renewable energy systems have low efficiency and intermittent nature due to unpredictable meteorological conditions. The domestic load and the conventional charging stations behave in an uncertain manner. To operate the renewable energy sources efficiently for harvesting maximum power, instantaneous nonlinear dynamics should be captured online. A Chebyshev-wavelet embedded NeuroFuzzy indirect adaptive MPPT (maximum power point tracking) control paradigm is proposed for variable speed wind turbine-permanent synchronous generator (VSWT-PMSG). A Hermite-wavelet incorporated NeuroFuzzy indirect adaptive MPPT control strategy for photovoltaic (PV) system to extract maximum power and indirect adaptive tracking control scheme for Solid Oxide Fuel Cell (SOFC) is developed. A comprehensive simulation test-bed for a grid-connected hybrid power system is developed in Matlab/Simulink. The robustness of the suggested indirect adaptive control paradigms are evaluated through simulation results in a grid-connected hybrid power system test-bed by comparison with conventional and intelligent control techniques. The simulation results validate the effectiveness of the proposed control paradigms. PMID:28877191

An analytical model for train-induced ground vibrations from railways

NASA Astrophysics Data System (ADS)

Karlström, A.; Boström, A.

2006-04-01

To investigate ground vibrations from railways an analytical approach is taken. The ground is modelled as a stratified half-space with linearly viscoelastic layers. On top of the ground a rectangular embankment is placed, supporting the rails and the sleepers. The rails are modelled as Euler-Bernoulli beams where the propagating forces (wheel loads) are acting and the sleepers are modelled with an anisotropic Kirchhoff plate. The solution is based on Fourier transforms in time and along the track. In the transverse direction the fields in the embankment are developed in Fourier series and in the half-space with Fourier transforms. The resulting numerical scheme is very efficient, permitting displacement fields far outside the track to be calculated. Numerical examples are given for an X2 train that operates at the site Ledsgard in Sweden. The displacements are simulated at 70 and 200 km/h and are compared with the displacements from simpler models. The simulations are also validated against measurements, with very good agreement. At 70 km/h the track displacements agree almost exactly and at 200 km/h the displacements are a very good approximation of the measurement.

Combined line-of-sight error and angular position to generate feedforward control for a charge-coupled device-based tracking loop

NASA Astrophysics Data System (ADS)

Tang, Tao; Cai, Huaxiang; Huang, Yongmei; Ren, Ge

2015-10-01

A feedforward control based on data fusion is proposed to enhance closed-loop performance. The target trajectory as the observed value of a Kalman filter is recovered by synthesizing line-of-sight error and angular position from the encoder. A Kalman filter based on a Singer acceleration model is employed to estimate the target velocity. In this control scheme, the control stability is influenced by the bandwidth of the Kalman filter and time misalignment. The transfer function of the Kalman filter in the frequency domain is built for analyzing the closed loop stability, which shows that the Kalman filter is the major factor that affects the control stability. The feedforward control proposed here is verified through simulations and experiments.

Evaluating the performance of Sentinel-3 SRAL SAR Altimetry in the Coastal and Open Ocean, and developing improved retrieval methods - The ESA SCOOP Project.

NASA Astrophysics Data System (ADS)

Benveniste, J.; Cotton, D.; Moreau, T.; Varona, E.; Roca, M.; Cipollini, P.; Cancet, M.; Martin, F.; Fenoglio-Marc, L.; Naeije, M.; Fernandes, J.; Restano, M.; Ambrozio, A.

2016-12-01

The ESA Sentinel-3 satellite, launched in February 2016 as a part of the Copernicus programme, is the second satellite to operate a SAR mode altimeter. The Sentinel 3 Synthetic Aperture Radar Altimeter (SRAL) is based on the heritage from Cryosat-2, but this time complemented by a Microwave Radiometer (MWR) to provide a wet troposphere correction, and operating at Ku and C-Bands to provide an accurate along-track ionospheric correction. Together this instrument package, including both GPS and DORIS instruments for accurate positioning, allows accurate measurements of sea surface height over the ocean, as well as measurements of significant wave height and surface wind speed. SCOOP (SAR Altimetry Coastal & Open Ocean Performance) is a project funded under the ESA SEOM (Scientific Exploitation of Operational Missions) Programme Element, started in September 2015, to characterise the expected performance of Sentinel-3 SRAL SAR mode altimeter products, in the coastal zone and open-ocean, and then to develop and evaluate enhancements to the baseline processing scheme in terms of improvements to ocean measurements. There is also a work package to develop and evaluate an improved Wet Troposphere correction for Sentinel-3, based on the measurements from the on-board MWR, further enhanced mostly in the coastal and polar regions using third party data, and provide recommendations for use. At the end of the project recommendations for further developments and implementations will be provided through a scientific roadmap. In this presentation we provide an overview of the SCOOP project, highlighting the key deliverables and discussing the potential impact of the results in terms of the application of delay-Doppler (SAR) altimeter measurements over the open-ocean and coastal zone. We also present the initial results from the project, including: Key findings from a review of the current "state-of-the-art" for SAR altimetry, Specification of the initial "reference" delay-Doppler and echo modelling /retracking processing schemes, Evaluation of the initial Test Data Set in the Open Ocean and Coastal Zone Overview of modifications planned to the reference delay-Doppler and echo modelling/ re-tracking processing schemes.

On the Deployment and Noise Filtering of Vehicular Radar Application for Detection Enhancement in Roads and Tunnels.

PubMed

Kim, Young-Duk; Son, Guk-Jin; Song, Chan-Ho; Kim, Hee-Kang

2018-03-11

Recently, radar technology has attracted attention for the realization of an intelligent transportation system (ITS) to monitor, track, and manage vehicle traffic on the roads as well as adaptive cruise control (ACC) and automatic emergency braking (AEB) for driving assistance of vehicles. However, when radar is installed on roads or in tunnels, the detection performance is significantly dependent on the deployment conditions and environment around the radar. In particular, in the case of tunnels, the detection accuracy for a moving vehicle drops sharply owing to the diffuse reflection of radio frequency (RF) signals. In this paper, we propose an optimal deployment condition based on height and tilt angle as well as a noise-filtering scheme for RF signals so that the performance of vehicle detection can be robust against external conditions on roads and in tunnels. To this end, first, we gather and analyze the misrecognition patterns of the radar by tracking a number of randomly selected vehicles on real roads. In order to overcome the limitations, we implement a novel road watch module (RWM) that is easily integrated into a conventional radar system such as Delphi ESR. The proposed system is able to perform real-time distributed data processing of the target vehicles by providing independent queues for each object of information that is incoming from the radar RF. Based on experiments with real roads and tunnels, the proposed scheme shows better performance than the conventional method with respect to the detection accuracy and delay time. The implemented system also provides a user-friendly interface to monitor and manage all traffic on roads and in tunnels. This will accelerate the popularization of future ITS services.

On the Deployment and Noise Filtering of Vehicular Radar Application for Detection Enhancement in Roads and Tunnels

PubMed Central

Kim, Young-Duk; Son, Guk-Jin; Song, Chan-Ho

2018-01-01

Recently, radar technology has attracted attention for the realization of an intelligent transportation system (ITS) to monitor, track, and manage vehicle traffic on the roads as well as adaptive cruise control (ACC) and automatic emergency braking (AEB) for driving assistance of vehicles. However, when radar is installed on roads or in tunnels, the detection performance is significantly dependent on the deployment conditions and environment around the radar. In particular, in the case of tunnels, the detection accuracy for a moving vehicle drops sharply owing to the diffuse reflection of radio frequency (RF) signals. In this paper, we propose an optimal deployment condition based on height and tilt angle as well as a noise-filtering scheme for RF signals so that the performance of vehicle detection can be robust against external conditions on roads and in tunnels. To this end, first, we gather and analyze the misrecognition patterns of the radar by tracking a number of randomly selected vehicles on real roads. In order to overcome the limitations, we implement a novel road watch module (RWM) that is easily integrated into a conventional radar system such as Delphi ESR. The proposed system is able to perform real-time distributed data processing of the target vehicles by providing independent queues for each object of information that is incoming from the radar RF. Based on experiments with real roads and tunnels, the proposed scheme shows better performance than the conventional method with respect to the detection accuracy and delay time. The implemented system also provides a user-friendly interface to monitor and manage all traffic on roads and in tunnels. This will accelerate the popularization of future ITS services. PMID:29534483

Research on simulation technology of full-path infrared tail flame tracking of photoelectric theodolite in complicated environment

NASA Astrophysics Data System (ADS)

Wu, Hai-ying; Zhang, San-xi; Liu, Biao; Yue, Peng; Weng, Ying-hui

2018-02-01

The photoelectric theodolite is an important scheme to realize the tracking, detection, quantitative measurement and performance evaluation of weapon systems in ordnance test range. With the improvement of stability requirements for target tracking in complex environment, infrared scene simulation with high sense of reality and complex interference has become an indispensable technical way to evaluate the track performance of photoelectric theodolite. And the tail flame is the most important infrared radiation source of the weapon system. The dynamic tail flame with high reality is a key element for the photoelectric theodolite infrared scene simulation and imaging tracking test. In this paper, an infrared simulation method for the full-path tracking of tail flame by photoelectric theodolite is proposed aiming at the faint boundary, irregular, multi-regulated points. In this work, real tail images are employed. Simultaneously, infrared texture conversion technology is used to generate DDS texture for a particle system map. Thus, dynamic real-time tail flame simulation results with high fidelity from the theodolite perspective can be gained in the tracking process.

Continuous fractional-order Zero Phase Error Tracking Control.

PubMed

Liu, Lu; Tian, Siyuan; Xue, Dingyu; Zhang, Tao; Chen, YangQuan

2018-04-01

A continuous time fractional-order feedforward control algorithm for tracking desired time varying input signals is proposed in this paper. The presented controller cancels the phase shift caused by the zeros and poles of controlled closed-loop fractional-order system, so it is called Fractional-Order Zero Phase Tracking Controller (FZPETC). The controlled systems are divided into two categories i.e. with and without non-cancellable (non-minimum-phase) zeros which stand in unstable region or on stability boundary. Each kinds of systems has a targeted FZPETC design control strategy. The improved tracking performance has been evaluated successfully by applying the proposed controller to three different kinds of fractional-order controlled systems. Besides, a modified quasi-perfect tracking scheme is presented for those systems which may not have available future tracking trajectory information or have problem in high frequency disturbance rejection if the perfect tracking algorithm is applied. A simulation comparison and a hardware-in-the-loop thermal peltier platform are shown to validate the practicality of the proposed quasi-perfect control algorithm. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

System frequency support of permanent magnet synchronous generator-based wind power plant

NASA Astrophysics Data System (ADS)

Wu, Ziping

With ever-increasing penetration of wind power into modern electric grids all over the world, a trending replacement of conventional synchronous generators by large wind power plants will likely result in the poor overall frequency regulation performance. On the other hand, permanent magnet synchronous generator wind Turbine System (PMSG-WTG) with full power back to back converters tends to become one of the most promising wind turbine technologies thanks to various advantages. It possesses a significant amount of kinetic energy stored in the rotating mass of turbine blades, which can be utilized to enhance the total inertia of power system. Additionally, the deloaded operation and decoupled control of active and reactive power make it possible for PMSG-WTG to provide a fast frequency regulation through full-power converter. First of all, a comprehensive and in-depth survey is conducted to analyze the motivations for incorporating the inertial response and frequency regulation of VSWT into the system frequency regulation. Besides, control classifications, fundamental control concepts and advanced control schemes implemented for auxiliary frequency support of individual WT or wind power plant are elaborated along with a comparison of the potential frequency regulation capabilities of four major types of WTs. Secondly, a Controls Advanced Research Turbine2-Permanent Magnet Synchronous Generator wind turbine (CART2-PMSG) integrated model representing the typical configuration and operation characteristics of PMSG-WT is established in Matlab/Simulink,. Meanwhile, two different rotor-side converter control schemes, including rotor speed-based control and active power-based control, are integrated into this CART2-PMSG integrated model to perform Maximum Power Point Tracking (MPPT) operation over a wide range of wind speeds, respectively. Thirdly, a novel comprehensive frequency regulation (CFR) control scheme is developed and implemented into the CART2-PMSG model based on rotor speed control. The proposed control scheme is achieved through the coordinated control between rotor speed and modified pitch angle in accordance with different specified wind speed modes. Fourth, an improved inertial control method based on the maximum power point tracking operation curve is introduced to boost the overall frequency support capability of PMSG-WTGs based on rotor speed control. Fifth, a novel control method based on the torque limit (TLC) is proposed for the purpose of maximizing the wind turbine (WT)'s inertial response. To avoid the SFD caused by the deloaded operation of WT, a small-scale battery energy storage system (BESS) model is established and implemented to eliminate this impact and meanwhile assist the restoration of wind turbine to MPPT mode by means of coordinated control strategy between BESS and PMSG-WTG. Last but not the least, all three types of control strategies are implemented in the CART2-PMSG integrated model based on rotor speed control or active power control respectively to evaluate their impacts on the wind turbine's structural loads during the frequency regulation process. Simulation results demonstrate that all the proposed methods can enhance the overall frequency regulation performance while imposing very slight negative impact on the major mechanical components of the wind turbine.

Remote Distributed Vibration Sensing Through Opaque Media Using Permanent Magnets

DOE PAGES

Chen, Yi; Mazumdar, Anirban; Brooks, Carlton F.; ...

2018-04-05

Vibration sensing is critical for a variety of applications from structural fatigue monitoring to understanding the modes of airplane wings. In particular, remote sensing techniques are needed for measuring the vibrations of multiple points simultaneously, assessing vibrations inside opaque metal vessels, and sensing through smoke clouds and other optically challenging environments. Here, in this paper, we propose a method which measures high-frequency displacements remotely using changes in the magnetic field generated by permanent magnets. We leverage the unique nature of vibration tracking and use a calibrated local model technique developed specifically to improve the frequency-domain estimation accuracy. The results showmore » that two-dimensional local models surpass the dipole model in tracking high-frequency motions. A theoretical basis for understanding the effects of electronic noise and error due to correlated variables is generated in order to predict the performance of experiments prior to implementation. Simultaneous measurements of up to three independent vibrating components are shown. The relative accuracy of the magnet-based displacement tracking with respect to the video tracking ranges from 40 to 190 μm when the maximum displacements approach ±5 mm and when sensor-to-magnet distances vary from 25 to 36 mm. Finally, vibration sensing inside an opaque metal vessel and mode shape changes due to damage on an aluminum beam are also studied using the wireless permanent-magnet vibration sensing scheme.« less

Multi-resolution model-based traffic sign detection and tracking

NASA Astrophysics Data System (ADS)

Marinas, Javier; Salgado, Luis; Camplani, Massimo

2012-06-01

In this paper we propose an innovative approach to tackle the problem of traffic sign detection using a computer vision algorithm and taking into account real-time operation constraints, trying to establish intelligent strategies to simplify as much as possible the algorithm complexity and to speed up the process. Firstly, a set of candidates is generated according to a color segmentation stage, followed by a region analysis strategy, where spatial characteristic of previously detected objects are taken into account. Finally, temporal coherence is introduced by means of a tracking scheme, performed using a Kalman filter for each potential candidate. Taking into consideration time constraints, efficiency is achieved two-fold: on the one side, a multi-resolution strategy is adopted for segmentation, where global operation will be applied only to low-resolution images, increasing the resolution to the maximum only when a potential road sign is being tracked. On the other side, we take advantage of the expected spacing between traffic signs. Namely, the tracking of objects of interest allows to generate inhibition areas, which are those ones where no new traffic signs are expected to appear due to the existence of a TS in the neighborhood. The proposed solution has been tested with real sequences in both urban areas and highways, and proved to achieve higher computational efficiency, especially as a result of the multi-resolution approach.

Remote Distributed Vibration Sensing Through Opaque Media Using Permanent Magnets

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

Chen, Yi; Mazumdar, Anirban; Brooks, Carlton F.

Vibration sensing is critical for a variety of applications from structural fatigue monitoring to understanding the modes of airplane wings. In particular, remote sensing techniques are needed for measuring the vibrations of multiple points simultaneously, assessing vibrations inside opaque metal vessels, and sensing through smoke clouds and other optically challenging environments. Here, in this paper, we propose a method which measures high-frequency displacements remotely using changes in the magnetic field generated by permanent magnets. We leverage the unique nature of vibration tracking and use a calibrated local model technique developed specifically to improve the frequency-domain estimation accuracy. The results showmore » that two-dimensional local models surpass the dipole model in tracking high-frequency motions. A theoretical basis for understanding the effects of electronic noise and error due to correlated variables is generated in order to predict the performance of experiments prior to implementation. Simultaneous measurements of up to three independent vibrating components are shown. The relative accuracy of the magnet-based displacement tracking with respect to the video tracking ranges from 40 to 190 μm when the maximum displacements approach ±5 mm and when sensor-to-magnet distances vary from 25 to 36 mm. Finally, vibration sensing inside an opaque metal vessel and mode shape changes due to damage on an aluminum beam are also studied using the wireless permanent-magnet vibration sensing scheme.« less

Software manual for operating particle displacement tracking data acquisition and reduction system

NASA Technical Reports Server (NTRS)

Wernet, Mark P.

1991-01-01

The software manual is presented. The necessary steps required to record, analyze, and reduce Particle Image Velocimetry (PIV) data using the Particle Displacement Tracking (PDT) technique are described. The new PDT system is an all electronic technique employing a CCD video camera and a large memory buffer frame-grabber board to record low velocity (less than or equal to 20 cm/s) flows. Using a simple encoding scheme, a time sequence of single exposure images are time coded into a single image and then processed to track particle displacements and determine 2-D velocity vectors. All the PDT data acquisition, analysis, and data reduction software is written to run on an 80386 PC.

Research on application of several tracking detectors in APT system

NASA Astrophysics Data System (ADS)

Liu, Zhi

2005-01-01

APT system is the key technology in free space optical communication system, and acquisition and tracking detector is the key component in PAT system. There are several candidate detectors that can be used in PAT system, such as CCD, QAPD and CMOS Imager etc. The characteristics of these detectors are quite different, i.e., the structures and the working schemes. This paper gives thoroughly compare of the usage and working principle of CCD and CMOS imager, and discusses the key parameters like tracking error, noise analyses, power analyses etc. Conclusion is given at the end of this paper that CMOS imager is a good candidate detector for PAT system in free space optical communication system.

Advection of Microphysical Scalars in Terminal Area Simulation System (TASS)

NASA Technical Reports Server (NTRS)

Ahmad, Nashat N.; Proctor, Fred H.

2011-01-01

The Terminal Area Simulation System (TASS) is a large eddy scale atmospheric flow model with extensive turbulence and microphysics packages. It has been applied successfully in the past to a diverse set of problems ranging from prediction of severe convective events (Proctor et al. 2002), tracking storms and for simulating weapons effects such as the dispersion and fallout of fission debris (Bacon and Sarma 1991), etc. More recently, TASS has been used for predicting the transport and decay of wake vortices behind aircraft (Proctor 2009). An essential part of the TASS model is its comprehensive microphysics package, which relies on the accurate computation of microphysical scalar transport. This paper describes an evaluation of the Leonard scheme implemented in the TASS model for transporting microphysical scalars. The scheme is validated against benchmark cases with exact solutions and compared with two other schemes - a Monotone Upstream-centered Scheme for Conservation Laws (MUSCL)-type scheme after van Leer and LeVeque's high-resolution wave propagation method. Finally, a comparison between the schemes is made against an incident of severe tornadic super-cell convection near Del City, Oklahoma.

Mass sensing based on a circuit cavity electromechanical system

NASA Astrophysics Data System (ADS)

Jiang, Cheng; Chen, Bin; Li, Jin-Jin; Zhu, Ka-Di

2011-10-01

We present a scheme for mass sensing based on a circuit cavity electromechanical system where a free-standing, flexible aluminium membrane is capacitively coupled to a superconducting microwave cavity. Integration with the microwave cavity enables capacitive readout of the mechanical resonance directly on the chip. A microwave pump field and a second probe field are simultaneously applied to the cavity. The accreted mass landing on the membrane can be measured conveniently by tracking the mechanical resonance frequency shifts due to mass changes in the probe transmission spectrum. The mass responsivity for the membrane is 0.72 Hz/ag and we demonstrate that frequency shifts induced by adsorption of one hundred 1587 bp DNA molecules can be well resolved in the probe transmission spectrum.

Bayesian cloud detection for MERIS, AATSR, and their combination

NASA Astrophysics Data System (ADS)

Hollstein, A.; Fischer, J.; Carbajal Henken, C.; Preusker, R.

2014-11-01

A broad range of different of Bayesian cloud detection schemes is applied to measurements from the Medium Resolution Imaging Spectrometer (MERIS), the Advanced Along-Track Scanning Radiometer (AATSR), and their combination. The cloud masks were designed to be numerically efficient and suited for the processing of large amounts of data. Results from the classical and naive approach to Bayesian cloud masking are discussed for MERIS and AATSR as well as for their combination. A sensitivity study on the resolution of multidimensional histograms, which were post-processed by Gaussian smoothing, shows how theoretically insufficient amounts of truth data can be used to set up accurate classical Bayesian cloud masks. Sets of exploited features from single and derived channels are numerically optimized and results for naive and classical Bayesian cloud masks are presented. The application of the Bayesian approach is discussed in terms of reproducing existing algorithms, enhancing existing algorithms, increasing the robustness of existing algorithms, and on setting up new classification schemes based on manually classified scenes.

Overview of the relevant CFD work at Thiokol Corporation

NASA Technical Reports Server (NTRS)

Chwalowski, Pawel; Loh, Hai-Tien

1992-01-01

An in-house developed proprietary advanced computational fluid dynamics code called SHARP (Trademark) is a primary tool for many flow simulations and design analyses. The SHARP code is a time dependent, two dimensional (2-D) axisymmetric numerical solution technique for the compressible Navier-Stokes equations. The solution technique in SHARP uses a vectorizable implicit, second order accurate in time and space, finite volume scheme based on an upwind flux-difference splitting of a Roe-type approximated Riemann solver, Van Leer's flux vector splitting, and a fourth order artificial dissipation scheme with a preconditioning to accelerate the flow solution. Turbulence is simulated by an algebraic model, and ultimately the kappa-epsilon model. Some other capabilities of the code are 2-D two-phase Lagrangian particle tracking and cell blockages. Extensive development and testing has been conducted on the 3-D version of the code with flow, combustion, and turbulence interactions. The emphasis here is on the specific applications of SHARP in Solid Rocket Motor design. Information is given in viewgraph form.

Synchronization of multiple 3-DOF helicopters under actuator faults and saturations with prescribed performance.

PubMed

Yang, Huiliao; Jiang, Bin; Yang, Hao; Liu, Hugh H T

2018-04-01

The distributed cooperative control strategy is proposed to make the networked nonlinear 3-DOF helicopters achieve the attitude synchronization in the presence of actuator faults and saturations. Based on robust adaptive control, the proposed control method can both compensate the uncertain partial loss of control effectiveness and deal with the system uncertainties. To address actuator saturation problem, the control scheme is designed to ensure that the saturation constraint on the actuation will not be violated during the operation in spite of the actuator faults. It is shown that with the proposed control strategy, both the tracking errors of the leading helicopter and the attitude synchronization errors of each following helicopter are bounded in the existence of faulty actuators and actuator saturations. Moreover, the state responses of the entire group would not exceed the predesigned performance functions which are totally independent from the underlaying interaction topology. Simulation results illustrate the effectiveness of the proposed control scheme. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

A New Turbo-shaft Engine Control Law during Variable Rotor Speed Transient Process

NASA Astrophysics Data System (ADS)

Hua, Wei; Miao, Lizhen; Zhang, Haibo; Huang, Jinquan

2015-12-01

A closed-loop control law employing compressor guided vanes is firstly investigated to solve unacceptable fuel flow dynamic change in single fuel control for turbo-shaft engine here, especially for rotorcraft in variable rotor speed process. Based on an Augmented Linear Quadratic Regulator (ALQR) algorithm, a dual-input, single-output robust control scheme is proposed for a turbo-shaft engine, involving not only the closed loop adjustment of fuel flow but also that of compressor guided vanes. Furthermore, compared to single fuel control, some digital simulation cases using this new scheme about variable rotor speed have been implemented on the basis of an integrated system of helicopter and engine model. The results depict that the command tracking performance to the free turbine rotor speed can be asymptotically realized. Moreover, the fuel flow transient process has been significantly improved, and the fuel consumption has been dramatically cut down by more than 2% while keeping the helicopter level fight unchanged.

Characterization of Signal Quality Monitoring Techniques for Multipath Detection in GNSS Applications.

PubMed

Pirsiavash, Ali; Broumandan, Ali; Lachapelle, Gérard

2017-07-05

The performance of Signal Quality Monitoring (SQM) techniques under different multipath scenarios is analyzed. First, SQM variation profiles are investigated as critical requirements in evaluating the theoretical performance of SQM metrics. The sensitivity and effectiveness of SQM approaches for multipath detection and mitigation are then defined and analyzed by comparing SQM profiles and multipath error envelopes for different discriminators. Analytical discussions includes two discriminator strategies, namely narrow and high resolution correlator techniques for BPSK(1), and BOC(1,1) signaling schemes. Data analysis is also carried out for static and kinematic scenarios to validate the SQM profiles and examine SQM performance in actual multipath environments. Results show that although SQM is sensitive to medium and long-delay multipath, its effectiveness in mitigating these ranges of multipath errors varies based on tracking strategy and signaling scheme. For short-delay multipath scenarios, the multipath effect on pseudorange measurements remains mostly undetected due to the low sensitivity of SQM metrics.

Neural network-based position synchronised internal force control scheme for cooperative manipulator system

NASA Astrophysics Data System (ADS)

Wang, Jin; Xu, Fan; Lu, GuoDong

2017-09-01

More complex problems of simultaneous position and internal force control occur with cooperative manipulator systems than that of a single one. In the presence of unwanted parametric and modelling uncertainties as well as external disturbances, a decentralised position synchronised force control scheme is proposed. With a feedforward neural network estimating engine, a precise model of the system dynamics is not required. Unlike conventional cooperative or synchronised controllers, virtual position and virtual synchronisation errors are introduced for internal force tracking control and task space position synchronisation. Meanwhile joint space synchronisation and force measurement are unnecessary. Together with simulation studies and analysis, the position and the internal force errors are shown to asymptotically converge to zero. Moreover, the controller exhibits different characteristics with selected synchronisation factors. Under certain settings, it can deal with temporary cooperation by an intelligent retreat mechanism, where less internal force would occur and rigid collision can be avoided. Using a Lyapunov stability approach, the controller is proven to be robust in face of the aforementioned uncertainties.

Improvement of forecast skill for severe weather by merging radar-based extrapolation and storm-scale NWP corrected forecast

NASA Astrophysics Data System (ADS)

Wang, Gaili; Wong, Wai-Kin; Hong, Yang; Liu, Liping; Dong, Jili; Xue, Ming

2015-03-01

The primary objective of this study is to improve the performance of deterministic high resolution rainfall forecasts caused by severe storms by merging an extrapolation radar-based scheme with a storm-scale Numerical Weather Prediction (NWP) model. Effectiveness of Multi-scale Tracking and Forecasting Radar Echoes (MTaRE) model was compared with that of a storm-scale NWP model named Advanced Regional Prediction System (ARPS) for forecasting a violent tornado event that developed over parts of western and much of central Oklahoma on May 24, 2011. Then the bias corrections were performed to improve the forecast accuracy of ARPS forecasts. Finally, the corrected ARPS forecast and radar-based extrapolation were optimally merged by using a hyperbolic tangent weight scheme. The comparison of forecast skill between MTaRE and ARPS in high spatial resolution of 0.01° × 0.01° and high temporal resolution of 5 min showed that MTaRE outperformed ARPS in terms of index of agreement and mean absolute error (MAE). MTaRE had a better Critical Success Index (CSI) for less than 20-min lead times and was comparable to ARPS for 20- to 50-min lead times, while ARPS had a better CSI for more than 50-min lead times. Bias correction significantly improved ARPS forecasts in terms of MAE and index of agreement, although the CSI of corrected ARPS forecasts was similar to that of the uncorrected ARPS forecasts. Moreover, optimally merging results using hyperbolic tangent weight scheme further improved the forecast accuracy and became more stable.

Robust detection and tracking of annotations for outdoor augmented reality browsing.

PubMed

Langlotz, Tobias; Degendorfer, Claus; Mulloni, Alessandro; Schall, Gerhard; Reitmayr, Gerhard; Schmalstieg, Dieter

2011-08-01

A common goal of outdoor augmented reality (AR) is the presentation of annotations that are registered to anchor points in the real world. We present an enhanced approach for registering and tracking such anchor points, which is suitable for current generation mobile phones and can also successfully deal with the wide variety of viewing conditions encountered in real life outdoor use. The approach is based on on-the-fly generation of panoramic images by sweeping the camera over the scene. The panoramas are then used for stable orientation tracking, while the user is performing only rotational movements. This basic approach is improved by several new techniques for the re-detection and tracking of anchor points. For the re-detection, specifically after temporal variations, we first compute a panoramic image with extended dynamic range, which can better represent varying illumination conditions. The panorama is then searched for known anchor points, while orientation tracking continues uninterrupted. We then use information from an internal orientation sensor to prime an active search scheme for the anchor points, which improves matching results. Finally, global consistency is enhanced by statistical estimation of a global rotation that minimizes the overall position error of anchor points when transforming them from the source panorama in which they were created, to the current view represented by a new panorama. Once the anchor points are redetected, we track the user's movement using a novel 3-degree-of-freedom orientation tracking approach that combines vision tracking with the absolute orientation from inertial and magnetic sensors. We tested our system using an AR campus guide as an example application and provide detailed results for our approach using an off-the-shelf smartphone. Results show that the re-detection rate is improved by a factor of 2 compared to previous work and reaches almost 90% for a wide variety of test cases while still keeping the ability to run at interactive frame rates.

Robust detection and tracking of annotations for outdoor augmented reality browsing

PubMed Central

Langlotz, Tobias; Degendorfer, Claus; Mulloni, Alessandro; Schall, Gerhard; Reitmayr, Gerhard; Schmalstieg, Dieter

2011-01-01

A common goal of outdoor augmented reality (AR) is the presentation of annotations that are registered to anchor points in the real world. We present an enhanced approach for registering and tracking such anchor points, which is suitable for current generation mobile phones and can also successfully deal with the wide variety of viewing conditions encountered in real life outdoor use. The approach is based on on-the-fly generation of panoramic images by sweeping the camera over the scene. The panoramas are then used for stable orientation tracking, while the user is performing only rotational movements. This basic approach is improved by several new techniques for the re-detection and tracking of anchor points. For the re-detection, specifically after temporal variations, we first compute a panoramic image with extended dynamic range, which can better represent varying illumination conditions. The panorama is then searched for known anchor points, while orientation tracking continues uninterrupted. We then use information from an internal orientation sensor to prime an active search scheme for the anchor points, which improves matching results. Finally, global consistency is enhanced by statistical estimation of a global rotation that minimizes the overall position error of anchor points when transforming them from the source panorama in which they were created, to the current view represented by a new panorama. Once the anchor points are redetected, we track the user's movement using a novel 3-degree-of-freedom orientation tracking approach that combines vision tracking with the absolute orientation from inertial and magnetic sensors. We tested our system using an AR campus guide as an example application and provide detailed results for our approach using an off-the-shelf smartphone. Results show that the re-detection rate is improved by a factor of 2 compared to previous work and reaches almost 90% for a wide variety of test cases while still keeping the ability to run at interactive frame rates. PMID:21976781

Highly scalable multichannel mesh electronics for stable chronic brain electrophysiology

PubMed Central

Fu, Tian-Ming; Hong, Guosong; Viveros, Robert D.; Zhou, Tao

2017-01-01

Implantable electrical probes have led to advances in neuroscience, brain−machine interfaces, and treatment of neurological diseases, yet they remain limited in several key aspects. Ideally, an electrical probe should be capable of recording from large numbers of neurons across multiple local circuits and, importantly, allow stable tracking of the evolution of these neurons over the entire course of study. Silicon probes based on microfabrication can yield large-scale, high-density recording but face challenges of chronic gliosis and instability due to mechanical and structural mismatch with the brain. Ultraflexible mesh electronics, on the other hand, have demonstrated negligible chronic immune response and stable long-term brain monitoring at single-neuron level, although, to date, it has been limited to 16 channels. Here, we present a scalable scheme for highly multiplexed mesh electronics probes to bridge the gap between scalability and flexibility, where 32 to 128 channels per probe were implemented while the crucial brain-like structure and mechanics were maintained. Combining this mesh design with multisite injection, we demonstrate stable 128-channel local field potential and single-unit recordings from multiple brain regions in awake restrained mice over 4 mo. In addition, the newly integrated mesh is used to validate stable chronic recordings in freely behaving mice. This scalable scheme for mesh electronics together with demonstrated long-term stability represent important progress toward the realization of ideal implantable electrical probes allowing for mapping and tracking single-neuron level circuit changes associated with learning, aging, and neurodegenerative diseases. PMID:29109247

Influence of ultrasound speckle tracking strategies for motion and strain estimation.

PubMed

Curiale, Ariel H; Vegas-Sánchez-Ferrero, Gonzalo; Aja-Fernández, Santiago

2016-08-01

Speckle Tracking is one of the most prominent techniques used to estimate the regional movement of the heart based on ultrasound acquisitions. Many different approaches have been proposed, proving their suitability to obtain quantitative and qualitative information regarding myocardial deformation, motion and function assessment. New proposals to improve the basic algorithm usually focus on one of these three steps: (1) the similarity measure between images and the speckle model; (2) the transformation model, i.e. the type of motion considered between images; (3) the optimization strategies, such as the use of different optimization techniques in the transformation step or the inclusion of structural information. While many contributions have shown their good performance independently, it is not always clear how they perform when integrated in a whole pipeline. Every step will have a degree of influence over the following and hence over the final result. Thus, a Speckle Tracking pipeline must be analyzed as a whole when developing novel methods, since improvements in a particular step might be undermined by the choices taken in further steps. This work presents two main contributions: (1) We provide a complete analysis of the influence of the different steps in a Speckle Tracking pipeline over the motion and strain estimation accuracy. (2) The study proposes a methodology for the analysis of Speckle Tracking systems specifically designed to provide an easy and systematic way to include other strategies. We close the analysis with some conclusions and recommendations that can be used as an orientation of the degree of influence of the models for speckle, the transformation models, interpolation schemes and optimization strategies over the estimation of motion features. They can be further use to evaluate and design new strategy into a Speckle Tracking system. Copyright © 2016 Elsevier B.V. All rights reserved.

Suppression of biodynamic interference in head-tracked teleoperation

NASA Technical Reports Server (NTRS)

Lifshitz, S.; Merhav, S. J.; Grunwald, A. J.; Tucker, G. E.; Tischler, M. B.

1991-01-01

The utility of helmet-tracked sights to provide pointing commands for teleoperation of cameras, lasers, or antennas in aircraft is degraded by the presence of uncommanded, involuntary heat motion, referred to as biodynamic interference. This interference limits the achievable precision required in pointing tasks. The noise contributions due to biodynamic interference consists of an additive component which is correlated with aircraft vibration and an uncorrelated, nonadditive component, referred to as remnant. An experimental simulation study is described which investigated the improvements achievable in pointing and tracking precision using dynamic display shifting in the helmet-mounted display. The experiment was conducted in a six degree of freedom motion base simulator with an emulated helmet-mounted display. Highly experienced pilot subjects performed precision head-pointing tasks while manually flying a visual flight-path tracking task. Four schemes using adaptive and low-pass filtering of the head motion were evaluated to determine their effects on task performance and pilot workload in the presence of whole-body vibration characteristic of helicopter flight. The results indicate that, for tracking tasks involving continuously moving targets, improvements of up to 70 percent can be achieved in percent on-target dwelling time and of up to 35 percent in rms tracking error, with the adaptive plus low-pass filter configuration. The results with the same filter configuration for the task of capturing randomly-positioned, stationary targets show an increase of up to 340 percent in the number of targets captured and an improvement of up to 24 percent in the average capture time. The adaptive plus low-pass filter combination was considered to exhibit the best overall display dynamics by each of the subjects.

Speed tracking and synchronization of multiple motors using ring coupling control and adaptive sliding mode control.

PubMed

Li, Le-Bao; Sun, Ling-Ling; Zhang, Sheng-Zhou; Yang, Qing-Quan

2015-09-01

A new control approach for speed tracking and synchronization of multiple motors is developed, by incorporating an adaptive sliding mode control (ASMC) technique into a ring coupling synchronization control structure. This control approach can stabilize speed tracking of each motor and synchronize its motion with other motors' motion so that speed tracking errors and synchronization errors converge to zero. Moreover, an adaptive law is exploited to estimate the unknown bound of uncertainty, which is obtained in the sense of Lyapunov stability theorem to minimize the control effort and attenuate chattering. Performance comparisons with parallel control, relative coupling control and conventional PI control are investigated on a four-motor synchronization control system. Extensive simulation results show the effectiveness of the proposed control scheme. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

AN EXACT PEAK CAPTURING AND OSCILLATION-FREE SCHEME TO SOLVE ADVECTION-DISPERSION TRANSPORT EQUATIONS

EPA Science Inventory

An exact peak capturing and essentially oscillation-free (EPCOF) algorithm, consisting of advection-dispersion decoupling, backward method of characteristics, forward node tracking, and adaptive local grid refinement, is developed to solve transport equations. This algorithm repr...

Blood pulse wave velocity and pressure sensing via fiber based and free space based optical sensors

NASA Astrophysics Data System (ADS)

Sirkis, Talia; Beiderman, Yevgeny; Agdarov, Sergey; Beiderman, Yafim; Zalevsky, Zeev

2017-02-01

Continuous noninvasive measurement of vital bio-signs, such as cardiopulmonary parameters, is an important tool in evaluation of the patient's physiological condition and health monitoring. On the demand of new enabling technologies, some works have been done in continuous monitoring of blood pressure and pulse wave velocity. In this paper, we introduce two techniques for non-contact sensing of vital bio signs. In the first approach the optical sensor is based on single mode in-fibers Mach-Zehnder interferometer (MZI) to detect heartbeat, respiration and pulse wave velocity (PWV). The introduced interferometer is based on a new implanted scheme. It replaces the conventional MZI realized by inserting of discontinuities in the fiber to break the total internal reflection and scatter/collect light. The proposed fiber sensor was successfully incorporated into shirt to produce smart clothing. The measurements obtained from the smart clothing could be obtained in comfortable manner and there is no need to have an initial calibration or a direct contact between the sensor and the skin of the tested individual. In the second concept we show a remote noncontact blood pulse wave velocity and pressure measurement based on tracking the temporal changes of reflected secondary speckle patterns produced in human skin when illuminated by a laser beams. In both concept experimental validation of the proposed schemes is shown and analyzed.

Digital Baseband Architecture For Transponder

NASA Technical Reports Server (NTRS)

Nguyen, Tien M.; Yeh, Hen-Geul

1995-01-01

Proposed advanced transponder for long-distance radio communication system with turnaround ranging contains carrier-signal-tracking loop including baseband digital "front end." For reduced cost, transponder includes analog intermediate-frequency (IF) section and analog automatic gain control (AGC) loop at first of two IF mixers. However, second IF mixer redesigned to ease digitization of baseband functions. To conserve power and provide for simpler and smaller transponder hardware, baseband digital signal-processing circuits designed to implement undersampling scheme. Furthermore, sampling scheme and sampling frequency chosen so redesign involves minimum modification of command-detector unit (CDU).

Shuttle Ku-band bent-pipe implementation considerations. [for Space Shuttle digital communication systems

NASA Technical Reports Server (NTRS)

Batson, B. H.; Seyl, J. W.; Huth, G. K.

1977-01-01

This paper describes an approach for relay of data-modulated subcarriers from Shuttle payloads through the Shuttle Ku-band communications subsystem (and subsequently through a tracking and data relay satellite system to a ground terminal). The novelty is that a channel originally provided for baseband digital data is shown to be suitable for this purpose; the resulting transmission scheme is referred to as a narrowband bent-pipe scheme. Test results demonstrating the validity of the narrowband bent-pipe mode are presented, and limitations on system performance are described.

Corrections to the General (2,4) and (4,4) FDTD Schemes

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

Meierbachtol, Collin S.; Smith, William S.; Shao, Xuan-Min

The sampling weights associated with two general higher order FDTD schemes were derived by Smith, et al. and published in a IEEE Transactions on Antennas and Propagation article in 2012. Inconsistencies between governing equations and their resulting solutions were discovered within the article. In an effort to track down the root cause of these inconsistencies, the full three-dimensional, higher order FDTD dispersion relation was re-derived using Mathematica TM. During this process, two errors were identi ed in the article. Both errors are highlighted in this document. The corrected sampling weights are also provided. Finally, the original stability limits provided formore » both schemes are corrected, and presented in a more precise form. It is recommended any future implementations of the two general higher order schemes provided in the Smith, et al. 2012 article should instead use the sampling weights and stability conditions listed in this document.« less

Matching by linear programming and successive convexification.

PubMed

Jiang, Hao; Drew, Mark S; Li, Ze-Nian

2007-06-01

We present a novel convex programming scheme to solve matching problems, focusing on the challenging problem of matching in a large search range and with cluttered background. Matching is formulated as metric labeling with L1 regularization terms, for which we propose a novel linear programming relaxation method and an efficient successive convexification implementation. The unique feature of the proposed relaxation scheme is that a much smaller set of basis labels is used to represent the original label space. This greatly reduces the size of the searching space. A successive convexification scheme solves the labeling problem in a coarse to fine manner. Importantly, the original cost function is reconvexified at each stage, in the new focus region only, and the focus region is updated so as to refine the searching result. This makes the method well-suited for large label set matching. Experiments demonstrate successful applications of the proposed matching scheme in object detection, motion estimation, and tracking.

Tracking the blue: a MLST approach to characterise the Pseudomonas fluorescens group.

PubMed

Andreani, N A; Martino, M E; Fasolato, L; Carraro, L; Montemurro, F; Mioni, R; Bordin, P; Cardazzo, B

2014-05-01

The Pseudomonas fluorescens group comprises several closely related species that are involved in food contamination and spoilage. Specifically, the interest in P. fluorescens as a spoiler of dairy products increased after the cases of "blue mozzarella" that occurred in Italy in 2010. A Multilocus Sequence Typing (MLST) scheme was developed and applied to characterise 136 isolates (reference strains and food borne isolates) at strain level, to reveal the genetic relationships among them and to disclose any possible genetic clustering of phenotypic markers involved in food spoilage (protease, lipase, lecithinase activities and pigmented or fluorescent molecule production). The production of dark blue diffusible pigment was evaluated on several bacterial culture media and directly on mozzarella cheese. The MLST scheme provided precise genotyping at the strain level, and the population analyses of the concatenated sequences allowed major taxa to be defined. This approach was revealed to be suitable for tracking the strains according to their origin, such as dairy plants or food matrices. The genetic analysis revealed the presence of a connection between the blue pigment production and a specific phylogenetic cluster. The development of the online database specific to the P. fluorescens group (http://pubmlst.org/pfluorescens) will facilitate the application of the scheme and the sharing of the data. Copyright © 2013 Elsevier Ltd. All rights reserved.

Reprint of 'Tracking the blue: a MLST approach to characterise the Pseudomonas fluorescens group'.

PubMed

Andreani, N A; Martino, M E; Fasolato, L; Carraro, L; Montemurro, F; Mioni, R; Bordin, P; Cardazzo, B

2015-02-01

The Pseudomonas fluorescens group comprises several closely related species that are involved in food contamination and spoilage. Specifically, the interest in P. fluorescens as a spoiler of dairy products increased after the cases of "blue mozzarella" that occurred in Italy in 2010. A Multilocus Sequence Typing (MLST) scheme was developed and applied to characterise 136 isolates (reference strains and food borne isolates) at strain level, to reveal the genetic relationships among them and to disclose any possible genetic clustering of phenotypic markers involved in food spoilage (protease, lipase, lecithinase activities and pigmented or fluorescent molecule production). The production of dark blue diffusible pigment was evaluated on several bacterial culture media and directly on mozzarella cheese. The MLST scheme provided precise genotyping at the strain level, and the population analyses of the concatenated sequences allowed major taxa to be defined. This approach was revealed to be suitable for tracking the strains according to their origin, such as dairy plants or food matrices. The genetic analysis revealed the presence of a connection between the blue pigment production and a specific phylogenetic cluster. The development of the online database specific to the P. fluorescens group (http://pubmlst.org/pfluorescens) will facilitate the application of the scheme and the sharing of the data. Copyright © 2014. Published by Elsevier Ltd.