On the centrality of disturbance rejection in automatic control.

PubMed

Gao, Zhiqiang

2014-07-01

In this paper, it is shown that the problem of automatic control is, in essence, that of disturbance rejection, with the notion of disturbance generalized to symbolize the uncertainties, both internal and external to the plant. A novel, unifying concept of disturbance rejector is proposed to compliment the traditional notion of controller. The new controller-rejector pair is shown to be a powerful organizing principle in the realm of automatic control, leading to a Copernican moment where the model-centric design philosophy is replaced by the one that is control-centric in the following sense: the controller is designed for a canonical model and is fixed; the difference between the plant and the canonical model is deemed as disturbance and rejected. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Application of a disturbance-rejection controller for robotic-enhanced limb rehabilitation trainings.

PubMed

Madoński, R; Kordasz, M; Sauer, P

2014-07-01

The paper presents an application of a special case of an Active Disturbance Rejection Controller (ADRC) in governing a proper realization of basic limb rehabilitation trainings. The experimental study is performed on a model of a flexible joint manipulator, whose behavior resembles a real robotic rehabilitation device. The multidimensional character of the considered assisting mechanism makes it a nontrivial modeling and control problem. However, by the use of the ADRC approach, the modeling uncertainty in the plant is partially decoupled from the system, which increases the robustness of the whole control framework against both internal and external disturbances. © 2013 ISA. Published by ISA. All rights reserved.

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

NASA Astrophysics Data System (ADS)

Lin, Tsung-Chih

2010-12-01

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

Active disturbance rejection control for output force creep characteristics of ionic polymer metal composites

NASA Astrophysics Data System (ADS)

Xiong, Yan; Chen, Yang; Sun, Zhiyong; Hao, Lina; Dong, Jie

2014-07-01

Ionic polymer metal composites (IPMCs) are a type of electroactive polymer (EAP) that can be used as both sensors and actuators. An IPMC has enormous potential application in the field of biomimetic robotics, medical devices, and so on. However, an IPMC actuator has a great number of disadvantages, such as creep and time-variation, making it vulnerable to external disturbances. In addition, the complex actuation mechanism makes it difficult to model and the demand of the control algorithm is laborious to implement. In this paper, we obtain a creep model of the IPMC by means of model identification based on the method of creep operator linear superposition. Although the mathematical model is not approximate to the IPMC accurate model, it is accurate enough to be used in MATLAB to prove the control algorithm. A controller based on the active disturbance rejection control (ADRC) method is designed to solve the drawbacks previously given. Because the ADRC controller is separate from the mathematical model of the controlled plant, the control algorithm has the ability to complete disturbance estimation and compensation. Some factors, such as all external disturbances, uncertainty factors, the inaccuracy of the identification model and different kinds of IPMCs, have little effect on controlling the output block force of the IPMC. Furthermore, we use the particle swarm optimization algorithm to adjust ADRC parameters so that the IPMC actuator can approach the desired block force with unknown external disturbances. Simulations and experimental examples validate the effectiveness of the ADRC controller.

A robust momentum management and attitude control system for the space station

NASA Technical Reports Server (NTRS)

Speyer, J. L.; Rhee, Ihnseok

1991-01-01

A game theoretic controller is synthesized for momentum management and attitude control of the Space Station in the presence of uncertainties in the moments of inertia. Full state information is assumed since attitude rates are assumed to be very assurately measured. By an input-output decomposition of the uncertainty in the system matrices, the parameter uncertainties in the dynamic system are represented as an unknown gain associated with an internal feedback loop (IFL). The input and output matrices associated with the IFL form directions through which the uncertain parameters affect system response. If the quadratic form of the IFL output augments the cost criterion, then enhanced parameter robustness is anticipated. By considering the input and the input disturbance from the IFL as two noncooperative players, a linear-quadratic differential game is constructed. The solution in the form of a linear controller is used for synthesis. Inclusion of the external disturbance torques results in a dynamic feedback controller which consists of conventional PID (proportional integral derivative) control and cyclic disturbance rejection filters. It is shown that the game theoretic design allows large variations in the inertias in directions of importance.

Robust momentum management and attitude control system for the Space Station

NASA Technical Reports Server (NTRS)

Rhee, Ihnseok; Speyer, Jason L.

1992-01-01

A game theoretic controller is synthesized for momentum management and attitude control of the Space Station in the presence of uncertainties in the moments of inertia. Full state information is assumed since attitude rates are assumed to be very accurately measured. By an input-output decomposition of the uncertainty in the system matrices, the parameter uncertainties in the dynamic system are represented as an unknown gain associated with an internal feedback loop (IFL). The input and output matrices associated with the IFL form directions through which the uncertain parameters affect system response. If the quadratic form of the IFL output augments the cost criterion, then enhanced parameter robustness is anticipated. By considering the input and the input disturbance from the IFL as two noncooperative players, a linear-quadratic differential game is constructed. The solution in the form of a linear controller is used for synthesis. Inclusion of the external disturbance torques results in a dynamic feedback controller which consists of conventional PID (proportional integral derivative) control and cyclic disturbance rejection filters. It is shown that the game theoretic design allows large variations in the inertias in directions of importance.

Combined input shaping and feedback control for double-pendulum systems

NASA Astrophysics Data System (ADS)

Mar, Robert; Goyal, Anurag; Nguyen, Vinh; Yang, Tianle; Singhose, William

2017-02-01

A control system combining input shaping and feedback is developed for double-pendulum systems subjected to external disturbances. The proposed control method achieves fast point-to-point response similar to open-loop input-shaping control. It also minimizes transient deflections during the motion of the system, and disturbance-induced residual swing using the feedback control. Effects of parameter variations such as the mass ratio of the double pendulum, the suspension length ratio, and the move distance were studied via numerical simulation. The most important results were also verified with experiments on a small-scale crane. The controller effectively suppresses the disturbances and is robust to modelling uncertainties and task variations.

Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

PubMed Central

Ai, Qingsong; Zhu, Chengxiang; Zuo, Jie; Liu, Quan; Xie, Sheng Q.; Yang, Ming

2017-01-01

A rehabilitation robot plays an important role in relieving the therapists’ burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles’ good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF) parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs). To solve the PM’s nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC) method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions. PMID:29283406

Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot.

PubMed

Ai, Qingsong; Zhu, Chengxiang; Zuo, Jie; Meng, Wei; Liu, Quan; Xie, Sheng Q; Yang, Ming

2017-12-28

A rehabilitation robot plays an important role in relieving the therapists' burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles' good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF) parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs). To solve the PM's nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC) method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions.

Vehicle active steering control research based on two-DOF robust internal model control

NASA Astrophysics Data System (ADS)

Wu, Jian; Liu, Yahui; Wang, Fengbo; Bao, Chunjiang; Sun, Qun; Zhao, Youqun

2016-07-01

Because of vehicle's external disturbances and model uncertainties, robust control algorithms have obtained popularity in vehicle stability control. The robust control usually gives up performance in order to guarantee the robustness of the control algorithm, therefore an improved robust internal model control(IMC) algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness. The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties. In order to separate the design process of model tracking from the robustness design process, the improved 2 degree of freedom(DOF) robust internal model controller structure is given from the standard Youla parameterization. Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm, on the basis of a nonlinear vehicle simulation model with a magic tyre model. Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance, which can enhance the vehicle stability and handling, regardless of variations of the vehicle model parameters and the external crosswind interferences. Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained.

Adaptive nonsingular terminal sliding mode controller for micro/nanopositioning systems driven by linear piezoelectric ceramic motors.

PubMed

Safa, Alireza; Abdolmalaki, Reza Yazdanpanah; Shafiee, Saeed; Sadeghi, Behzad

2018-06-01

In the field of nanotechnology, there is a growing demand to provide precision control and manipulation of devices with the ability to interact with complex and unstructured environments at micro/nano-scale. As a result, ultrahigh-precision positioning stages have been turned into a key requirement of nanotechnology. In this paper, linear piezoelectric ceramic motors (LPCMs) are adopted to drive micro/nanopositioning stages since they have the ability to achieve high precision in addition to being versatile to be implemented over a wide range of applications. In the establishment of a control scheme for such manipulation systems, the presence of friction, parameter uncertainties, and external disturbances prevent the systems from providing the desired positioning accuracy. The work in this paper focuses on the development of a control framework that addresses these issues as it uses the nonsingular terminal sliding mode technique for the precise position tracking problem of an LPCM-driven positioning stage with friction, uncertain parameters, and external disturbances. The developed control algorithm exhibits the following two attractive features. First, upper bounds of system uncertainties/perturbations are adaptively estimated in the proposed controller; thus, prior knowledge about uncertainty/disturbance bounds is not necessary. Second, the discontinuous signum function is transferred to the time derivative of the control input and the continuous control signal is obtained after integration; consequently, the chattering phenomenon, which presents a major handicap to the implementation of conventional sliding mode control in real applications, is alleviated without deteriorating the robustness of the system. The stability of the controlled system is analyzed, and the convergence of the position tracking error to zero is analytically proven. The proposed control strategy is experimentally validated and compared to the existing control approaches. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

A synthesis theory for the externally excited adaptive system /EEAS/

NASA Technical Reports Server (NTRS)

Horowitz, I. M.; Smay, J. W.; Shapiro, A.

1974-01-01

The externally excited adaptive system (EEAS) is a two-degree-of-freedom feedback system with a nonlinearity which is saturated hard by an external periodic signal. Under certain conditions, the EEAS responds quasi-linearly to command and plant disturbance signals, permitting the development of a quantitative synthesis theory for satisfying system tolerances despite large plant uncertainty. The great advantage of the EEAS is its zero sensitivity to plant gain variations, a property it shares with the self-oscillating adaptive system (SOAS). The EEAS is, however, more flexible than the SOAS in satisfying the quasi-linearity constraints. The essential difference is that in the EEAS the loop transmission bandwidth is not rigorously tied to the 'carrier' signal, as it is in the SOAS. There is a class of problems for which the EEAS is superior to the purely linear system, which in turn is superior to the SOAS. The superiority of the EEAS over the SOAS is especially marked in the case of significant plant disturbances, which generally vitiate a SOAS design.

Reusable Launch Vehicle Control In Multiple Time Scale Sliding Modes

NASA Technical Reports Server (NTRS)

Shtessel, Yuri; Hall, Charles; Jackson, Mark

2000-01-01

A reusable launch vehicle control problem during ascent is addressed via multiple-time scaled continuous sliding mode control. The proposed sliding mode controller utilizes a two-loop structure and provides robust, de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of bounded external disturbances and plant uncertainties. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues placement. Overall stability of a two-loop control system is addressed. An optimal control allocation algorithm is designed that allocates torque commands into end-effector deflection commands, which are executed by the actuators. The dual-time scale sliding mode controller was designed for the X-33 technology demonstration sub-orbital launch vehicle in the launch mode. Simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in presence of external disturbances and vehicle inertia uncertainties. This is a significant advancement in performance over that achieved with linear, gain scheduled control systems currently being used for launch vehicles.

Direct adaptive robust tracking control for 6 DOF industrial robot with enhanced accuracy.

PubMed

Yin, Xiuxing; Pan, Li

2018-01-01

A direct adaptive robust tracking control is proposed for trajectory tracking of 6 DOF industrial robot in the presence of parametric uncertainties, external disturbances and uncertain nonlinearities. The controller is designed based on the dynamic characteristics in the working space of the end-effector of the 6 DOF robot. The controller includes robust control term and model compensation term that is developed directly based on the input reference or desired motion trajectory. A projection-type parametric adaptation law is also designed to compensate for parametric estimation errors for the adaptive robust control. The feasibility and effectiveness of the proposed direct adaptive robust control law and the associated projection-type parametric adaptation law have been comparatively evaluated based on two 6 DOF industrial robots. The test results demonstrate that the proposed control can be employed to better maintain the desired trajectory tracking even in the presence of large parametric uncertainties and external disturbances as compared with PD controller and nonlinear controller. The parametric estimates also eventually converge to the real values along with the convergence of tracking errors, which further validate the effectiveness of the proposed parametric adaption law. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive sensor-fault tolerant control for a class of multivariable uncertain nonlinear systems.

PubMed

Khebbache, Hicham; Tadjine, Mohamed; Labiod, Salim; Boulkroune, Abdesselem

2015-03-01

This paper deals with the active fault tolerant control (AFTC) problem for a class of multiple-input multiple-output (MIMO) uncertain nonlinear systems subject to sensor faults and external disturbances. The proposed AFTC method can tolerate three additive (bias, drift and loss of accuracy) and one multiplicative (loss of effectiveness) sensor faults. By employing backstepping technique, a novel adaptive backstepping-based AFTC scheme is developed using the fact that sensor faults and system uncertainties (including external disturbances and unexpected nonlinear functions caused by sensor faults) can be on-line estimated and compensated via robust adaptive schemes. The stability analysis of the closed-loop system is rigorously proven using a Lyapunov approach. The effectiveness of the proposed controller is illustrated by two simulation examples. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Extended state observer based robust adaptive control on SE(3) for coupled spacecraft tracking maneuver with actuator saturation and misalignment

NASA Astrophysics Data System (ADS)

Zhang, Jianqiao; Ye, Dong; Sun, Zhaowei; Liu, Chuang

2018-02-01

This paper presents a robust adaptive controller integrated with an extended state observer (ESO) to solve coupled spacecraft tracking maneuver in the presence of model uncertainties, external disturbances, actuator uncertainties including magnitude deviation and misalignment, and even actuator saturation. More specifically, employing the exponential coordinates on the Lie group SE(3) to describe configuration tracking errors, the coupled six-degrees-of-freedom (6-DOF) dynamics are developed for spacecraft relative motion, in which a generic fully actuated thruster distribution is considered and the lumped disturbances are reconstructed by using anti-windup technique. Then, a novel ESO, developed via second order sliding mode (SOSM) technique and adding linear correction terms to improve the performance, is designed firstly to estimate the disturbances in finite time. Based on the estimated information, an adaptive fast terminal sliding mode (AFTSM) controller is developed to guarantee the almost global asymptotic stability of the resulting closed-loop system such that the trajectory can be tracked with all the aforementioned drawbacks addressed simultaneously. Finally, the effectiveness of the controller is illustrated through numerical examples.

Wire rope tension control of hoisting systems using a robust nonlinear adaptive backstepping control scheme.

PubMed

Zhu, Zhen-Cai; Li, Xiang; Shen, Gang; Zhu, Wei-Dong

2018-01-01

This paper concerns wire rope tension control of a double-rope winding hoisting system (DRWHS), which consists of a hoisting system employed to realize a transportation function and an electro-hydraulic servo system utilized to adjust wire rope tensions. A dynamic model of the DRWHS is developed in which parameter uncertainties and external disturbances are considered. A comparison between simulation results using the dynamic model and experimental results using a double-rope winding hoisting experimental system is given in order to demonstrate accuracy of the dynamic model. In order to improve the wire rope tension coordination control performance of the DRWHS, a robust nonlinear adaptive backstepping controller (RNABC) combined with a nonlinear disturbance observer (NDO) is proposed. Main features of the proposed combined controller are: (1) using the RNABC to adjust wire rope tensions with consideration of parameter uncertainties, whose parameters are designed online by adaptive laws derived from Lyapunov stability theory to guarantee the control performance and stability of the closed-loop system; and (2) introducing the NDO to deal with uncertain external disturbances. In order to demonstrate feasibility and effectiveness of the proposed controller, experimental studies have been conducted on the DRWHS controlled by an xPC rapid prototyping system. Experimental results verify that the proposed controller exhibits excellent performance on wire rope tension coordination control compared with a conventional proportional-integral (PI) controller and adaptive backstepping controller. Copyright © 2017 ISA. All rights reserved.

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

NASA Astrophysics Data System (ADS)

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

2017-09-01

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

Advanced Control Synthesis for Reverse Osmosis Water Desalination Processes.

PubMed

Phuc, Bui Duc Hong; You, Sam-Sang; Choi, Hyeung-Six; Jeong, Seok-Kwon

2017-11-01

  In this study, robust control synthesis has been applied to a reverse osmosis desalination plant whose product water flow and salinity are chosen as two controlled variables. The reverse osmosis process has been selected to study since it typically uses less energy than thermal distillation. The aim of the robust design is to overcome the limitation of classical controllers in dealing with large parametric uncertainties, external disturbances, sensor noises, and unmodeled process dynamics. The analyzed desalination process is modeled as a multi-input multi-output (MIMO) system with varying parameters. The control system is decoupled using a feed forward decoupling method to reduce the interactions between control channels. Both nominal and perturbed reverse osmosis systems have been analyzed using structured singular values for their stabilities and performances. Simulation results show that the system responses meet all the control requirements against various uncertainties. Finally the reduced order controller provides excellent robust performance, with achieving decoupling, disturbance attenuation, and noise rejection. It can help to reduce the membrane cleanings, increase the robustness against uncertainties, and lower the energy consumption for process monitoring.

Uncertainty analysis and robust trajectory linearization control of a flexible air-breathing hypersonic vehicle

NASA Astrophysics Data System (ADS)

Pu, Zhiqiang; Tan, Xiangmin; Fan, Guoliang; Yi, Jianqiang

2014-08-01

Flexible air-breathing hypersonic vehicles feature significant uncertainties which pose huge challenges to robust controller designs. In this paper, four major categories of uncertainties are analyzed, that is, uncertainties associated with flexible effects, aerodynamic parameter variations, external environmental disturbances, and control-oriented modeling errors. A uniform nonlinear uncertainty model is explored for the first three uncertainties which lumps all uncertainties together and consequently is beneficial for controller synthesis. The fourth uncertainty is additionally considered in stability analysis. Based on these analyses, the starting point of the control design is to decompose the vehicle dynamics into five functional subsystems. Then a robust trajectory linearization control (TLC) scheme consisting of five robust subsystem controllers is proposed. In each subsystem controller, TLC is combined with the extended state observer (ESO) technique for uncertainty compensation. The stability of the overall closed-loop system with the four aforementioned uncertainties and additional singular perturbations is analyzed. Particularly, the stability of nonlinear ESO is also discussed from a Liénard system perspective. At last, simulations demonstrate the great control performance and the uncertainty rejection ability of the robust scheme.

Rendezvous with connectivity preservation for multi-robot systems with an unknown leader

NASA Astrophysics Data System (ADS)

Dong, Yi

2018-02-01

This paper studies the leader-following rendezvous problem with connectivity preservation for multi-agent systems composed of uncertain multi-robot systems subject to external disturbances and an unknown leader, both of which are generated by a so-called exosystem with parametric uncertainty. By combining internal model design, potential function technique and adaptive control, two distributed control strategies are proposed to maintain the connectivity of the communication network, to achieve the asymptotic tracking of all the followers to the output of the unknown leader system, as well as to reject unknown external disturbances. It is also worth to mention that the uncertain parameters in the multi-robot systems and exosystem are further allowed to belong to unknown and unbounded sets when applying the second fully distributed control law containing a dynamic gain inspired by high-gain adaptive control or self-tuning regulator.

Nonlinear robust control of hypersonic aircrafts with interactions between flight dynamics and propulsion systems.

PubMed

Li, Zhaoying; Zhou, Wenjie; Liu, Hao

2016-09-01

This paper addresses the nonlinear robust tracking controller design problem for hypersonic vehicles. This problem is challenging due to strong coupling between the aerodynamics and the propulsion system, and the uncertainties involved in the vehicle dynamics including parametric uncertainties, unmodeled model uncertainties, and external disturbances. By utilizing the feedback linearization technique, a linear tracking error system is established with prescribed references. For the linear model, a robust controller is proposed based on the signal compensation theory to guarantee that the tracking error dynamics is robustly stable. Numerical simulation results are given to show the advantages of the proposed nonlinear robust control method, compared to the robust loop-shaping control approach. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Optimal second order sliding mode control for nonlinear uncertain systems.

PubMed

Das, Madhulika; Mahanta, Chitralekha

2014-07-01

In this paper, a chattering free optimal second order sliding mode control (OSOSMC) method is proposed to stabilize nonlinear systems affected by uncertainties. The nonlinear optimal control strategy is based on the control Lyapunov function (CLF). For ensuring robustness of the optimal controller in the presence of parametric uncertainty and external disturbances, a sliding mode control scheme is realized by combining an integral and a terminal sliding surface. The resulting second order sliding mode can effectively reduce chattering in the control input. Simulation results confirm the supremacy of the proposed optimal second order sliding mode control over some existing sliding mode controllers in controlling nonlinear systems affected by uncertainty. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

ADRC for spacecraft attitude and position synchronization in libration point orbits

NASA Astrophysics Data System (ADS)

Gao, Chen; Yuan, Jianping; Zhao, Yakun

2018-04-01

This paper addresses the problem of spacecraft attitude and position synchronization in libration point orbits between a leader and a follower. Using dual quaternion, the dimensionless relative coupled dynamical model is derived considering computation efficiency and accuracy. Then a model-independent dimensionless cascade pose-feedback active disturbance rejection controller is designed to spacecraft attitude and position tracking control problems considering parameter uncertainties and external disturbances. Numerical simulations for the final approach phase in spacecraft rendezvous and docking and formation flying are done, and the results show high-precision tracking errors and satisfactory convergent rates under bounded control torque and force which validate the proposed approach.

Adaptive relative pose control of spacecraft with model couplings and uncertainties

NASA Astrophysics Data System (ADS)

Sun, Liang; Zheng, Zewei

2018-02-01

The spacecraft pose tracking control problem for an uncertain pursuer approaching to a space target is researched in this paper. After modeling the nonlinearly coupled dynamics for relative translational and rotational motions between two spacecraft, position tracking and attitude synchronization controllers are developed independently by using a robust adaptive control approach. The unknown kinematic couplings, parametric uncertainties, and bounded external disturbances are handled with adaptive updating laws. It is proved via Lyapunov method that the pose tracking errors converge to zero asymptotically. Spacecraft close-range rendezvous and proximity operations are introduced as an example to validate the effectiveness of the proposed control approach.

Experimental Test of Entropic Noise-Disturbance Uncertainty Relations for Spin-1/2 Measurements.

PubMed

Sulyok, Georg; Sponar, Stephan; Demirel, Bülent; Buscemi, Francesco; Hall, Michael J W; Ozawa, Masanao; Hasegawa, Yuji

2015-07-17

Information-theoretic definitions for noise and disturbance in quantum measurements were given in [Phys. Rev. Lett. 112, 050401 (2014)] and a state-independent noise-disturbance uncertainty relation was obtained. Here, we derive a tight noise-disturbance uncertainty relation for complementary qubit observables and carry out an experimental test. Successive projective measurements on the neutron's spin-1/2 system, together with a correction procedure which reduces the disturbance, are performed. Our experimental results saturate the tight noise-disturbance uncertainty relation for qubits when an optimal correction procedure is applied.

Control of variable speed variable pitch wind turbine based on a disturbance observer

NASA Astrophysics Data System (ADS)

Ren, Haijun; Lei, Xin

2017-11-01

In this paper, a novel sliding mode controller based on disturbance observer (DOB) to optimize the efficiency of variable speed variable pitch (VSVP) wind turbine is developed and analyzed. Due to the highly nonlinearity of the VSVP system, the model is linearly processed to obtain the state space model of the system. Then, a conventional sliding mode controller is designed and a DOB is added to estimate wind speed. The proposed control strategy can successfully deal with the random nature of wind speed, the nonlinearity of VSVP system, the uncertainty of parameters and external disturbance. Via adding the observer to the sliding mode controller, it can greatly reduce the chattering produced by the sliding mode switching gain. The simulation results show that the proposed control system has the effectiveness and robustness.

Robust output feedback stabilization for a flexible marine riser system.

PubMed

Zhao, Zhijia; Liu, Yu; Guo, Fang

2017-12-06

The aim of this paper is to develop a boundary control for the vibration reduction of a flexible marine riser system in the presence of parametric uncertainties and system states obtained inaccurately. To this end, an adaptive output feedback boundary control is proposed to suppress the riser's vibration fusing with observer-based backstepping, high-gain observers and robust adaptive control theory. In addition, the parameter adaptive laws are designed to compensate for the system parametric uncertainties, and the disturbance observer is introduced to mitigate the effects of external environmental disturbance. The uniformly bounded stability of the closed-loop system is achieved through rigorous Lyapunov analysis without any discretisation or simplification of the dynamics in the time and space, and the state observer error is ensured to exponentially converge to zero as time grows to infinity. In the end, the simulation and comparison studies are carried out to illustrate the performance of the proposed control under the proper choice of the design parameters. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Sliding Mode Control of Fractional-Order Delayed Memristive Chaotic System with Uncertainty and Disturbance

NASA Astrophysics Data System (ADS)

Ding, Da-Wei; Liu, Fang-Fang; Chen, Hui; Wang, Nian; Liang, Dong

2017-12-01

In this paper, a simplest fractional-order delayed memristive chaotic system is proposed in order to control the chaos behaviors via sliding mode control strategy. Firstly, we design a sliding mode control strategy for the fractional-order system with time delay to make the states of the system asymptotically stable. Then, we obtain theoretical analysis results of the control method using Lyapunov stability theorem which guarantees the asymptotic stability of the non-commensurate order and commensurate order system with and without uncertainty and an external disturbance. Finally, numerical simulations are given to verify that the proposed sliding mode control method can eliminate chaos and stabilize the fractional-order delayed memristive system in a finite time. Supported by the National Nature Science Foundation of China under Grant No. 61201227, Funding of China Scholarship Council, the Natural Science Foundation of Anhui Province under Grant No. 1208085M F93, 211 Innovation Team of Anhui University under Grant Nos. KJTD007A and KJTD001B

Neural network disturbance observer-based distributed finite-time formation tracking control for multiple unmanned helicopters.

PubMed

Wang, Dandan; Zong, Qun; Tian, Bailing; Shao, Shikai; Zhang, Xiuyun; Zhao, Xinyi

2018-02-01

The distributed finite-time formation tracking control problem for multiple unmanned helicopters is investigated in this paper. The control object is to maintain the positions of follower helicopters in formation with external interferences. The helicopter model is divided into a second order outer-loop subsystem and a second order inner-loop subsystem based on multiple-time scale features. Using radial basis function neural network (RBFNN) technique, we first propose a novel finite-time multivariable neural network disturbance observer (FMNNDO) to estimate the external disturbance and model uncertainty, where the neural network (NN) approximation errors can be dynamically compensated by adaptive law. Next, based on FMNNDO, a distributed finite-time formation tracking controller and a finite-time attitude tracking controller are designed using the nonsingular fast terminal sliding mode (NFTSM) method. In order to estimate the second derivative of the virtual desired attitude signal, a novel finite-time sliding mode integral filter is designed. Finally, Lyapunov analysis and multiple-time scale principle ensure the realization of control goal in finite-time. The effectiveness of the proposed FMNNDO and controllers are then verified by numerical simulations. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Examining Dark Triad traits in relation to sleep disturbances, anxiety sensitivity and intolerance of uncertainty in young adults.

PubMed

Sabouri, Sarah; Gerber, Markus; Lemola, Sakari; Becker, Stephen P; Shamsi, Mahin; Shakouri, Zeinab; Sadeghi Bahmani, Dena; Kalak, Nadeem; Holsboer-Trachsler, Edith; Brand, Serge

2016-07-01

The Dark Triad (DT) describes a set of three closely related personality traits, Machiavellianism, narcissism, and psychopathy. The aim of this study was to examine the associations between DT traits, sleep disturbances, anxiety sensitivity and intolerance of uncertainty. A total of 341 adults (M=29years) completed a series of questionnaires related to the DT traits, sleep disturbances, anxiety sensitivity, and intolerance of uncertainty. A higher DT total score was associated with increased sleep disturbances, and higher scores for anxiety sensitivity and intolerance of uncertainty. In regression analyses Machiavellianism and psychopathy were predictors of sleep disturbances, anxiety sensitivity, and intolerance of uncertainty. Results indicate that specific DT traits, namely Machiavellianism and psychopathy, are associated with sleep disturbances, anxiety sensitivity and intolerance of uncertainty in young adults. Copyright © 2016 Elsevier Inc. All rights reserved.

Research on H2 speed governor for diesel engine of marine power station

NASA Astrophysics Data System (ADS)

Huang, Man-Lei

2007-09-01

The frequency stability of a marine power system is determined by the dynamic characteristic of the diesel engine speed regulation system in a marine power station. In order to reduce the effect of load disturbances and improve the dynamic precision of a diesel engine speed governor, a controller was designed for a diesel engine speed regulation system using H2 control theory. This transforms the specifications of the system into a standard H2 control problem. Firstly, the mathematical model of a diesel engine speed regulation system using an H2 speed governor is presented. To counter external disturbances and model uncertainty, the design of an H2 speed governor rests on the problem of mixed sensitivity. Computer simulation verified that the H2 speed governor improves the dynamic precision of a system and the ability to adapt to load disturbances, thus enhancing the frequency stability of marine power systems.

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.

I Meant to Do That: Determining the Intentions of Action in the Face of Disturbances

PubMed Central

Horowitz, Justin; Patton, James

2015-01-01

Our actions often do not match our intentions when there are external disturbances such as turbulence. We derived a novel modeling approach for determining this motor intent from targeted reaching motions that are disturbed by an unexpected force. First, we demonstrated how to mathematically invert both feedforward (predictive) and feedback controls to obtain an intended trajectory. We next examined the model’s sensitivity to a realistic range of parameter uncertainties, and found that the expected inaccuracy due to all possible parameter mis-estimations was less than typical movement-to-movement variations seen when humans reach to similar targets. The largest sensitivity arose mainly from uncertainty in joint stiffnesses. Humans cannot change their intent until they acquire sensory feedback, therefore we tested the hypothesis that a straight-line intent should be evident for at least the first 120 milliseconds following the onset of a disturbance. As expected, the intended trajectory showed no change from undisturbed reaching for more than 150 milliseconds after the disturbance onset. Beyond this point, however, we detected a change in intent in five out of eight subjects, surprisingly even when the hand is already near the target. Knowing such an intent signal is broadly applicable: enhanced human-machine interaction, the study of impaired intent in neural disorders, the real-time determination (and manipulation) of error in training, and complex systems that embody planning such as brain machine interfaces, team sports, crowds, or swarms. In addition, observing intent as it changes might act as a window into the mechanisms of planning, correction, and learning. PMID:26327405

Decentralized adaptive robust control based on sliding mode and nonlinear compensator for the control of ankle movement using functional electrical stimulation of agonist-antagonist muscles

NASA Astrophysics Data System (ADS)

Kobravi, Hamid-Reza; Erfanian, Abbas

2009-08-01

A decentralized control methodology is designed for the control of ankle dorsiflexion and plantarflexion in paraplegic subjects with electrical stimulation of tibialis anterior and calf muscles. Each muscle joint is considered as a subsystem and individual controllers are designed for each subsystem. Each controller operates solely on its associated subsystem, with no exchange of information between the subsystems. The interactions between the subsystems are taken as external disturbances for each isolated subsystem. In order to achieve robustness with respect to external disturbances, unmodeled dynamics, model uncertainty and time-varying properties of muscle-joint dynamics, a robust control framework is proposed which is based on the synergistic combination of an adaptive nonlinear compensator with a sliding mode control and is referred to as an adaptive robust control. Extensive simulations and experiments on healthy and paraplegic subjects were performed to demonstrate the robustness against the time-varying properties of muscle-joint dynamics, day-to-day variations, subject-to-subject variations, fast convergence, stability and tracking accuracy of the proposed method. The results indicate that the decentralized robust control provides excellent tracking control for different reference trajectories and can generate control signals to compensate the muscle fatigue and reject the external disturbance. Moreover, the controller is able to automatically regulate the interaction between agonist and antagonist muscles under different conditions of operating without any preprogrammed antagonist activities.

Decentralized adaptive robust control based on sliding mode and nonlinear compensator for the control of ankle movement using functional electrical stimulation of agonist-antagonist muscles.

PubMed

Kobravi, Hamid-Reza; Erfanian, Abbas

2009-08-01

A decentralized control methodology is designed for the control of ankle dorsiflexion and plantarflexion in paraplegic subjects with electrical stimulation of tibialis anterior and calf muscles. Each muscle joint is considered as a subsystem and individual controllers are designed for each subsystem. Each controller operates solely on its associated subsystem, with no exchange of information between the subsystems. The interactions between the subsystems are taken as external disturbances for each isolated subsystem. In order to achieve robustness with respect to external disturbances, unmodeled dynamics, model uncertainty and time-varying properties of muscle-joint dynamics, a robust control framework is proposed which is based on the synergistic combination of an adaptive nonlinear compensator with a sliding mode control and is referred to as an adaptive robust control. Extensive simulations and experiments on healthy and paraplegic subjects were performed to demonstrate the robustness against the time-varying properties of muscle-joint dynamics, day-to-day variations, subject-to-subject variations, fast convergence, stability and tracking accuracy of the proposed method. The results indicate that the decentralized robust control provides excellent tracking control for different reference trajectories and can generate control signals to compensate the muscle fatigue and reject the external disturbance. Moreover, the controller is able to automatically regulate the interaction between agonist and antagonist muscles under different conditions of operating without any preprogrammed antagonist activities.

6 DOF synchronized control for spacecraft formation flying with input constraint and parameter uncertainties.

PubMed

Lv, Yueyong; Hu, Qinglei; Ma, Guangfu; Zhou, Jiakang

2011-10-01

This paper treats the problem of synchronized control of spacecraft formation flying (SFF) in the presence of input constraint and parameter uncertainties. More specifically, backstepping based robust control is first developed for the total 6 DOF dynamic model of SFF with parameter uncertainties, in which the model consists of relative translation and attitude rotation. Then this controller is redesigned to deal with the input constraint problem by incorporating a command filter such that the generated control could be implementable even under physical or operating constraints on the control input. The convergence of the proposed control algorithms is proved by the Lyapunov stability theorem. Compared with conventional methods, illustrative simulations of spacecraft formation flying are conducted to verify the effectiveness of the proposed approach to achieve the spacecraft track the desired attitude and position trajectories in a synchronized fashion even in the presence of uncertainties, external disturbances and control saturation constraint. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive dynamic surface control of flexible-joint robots using self-recurrent wavelet neural networks.

PubMed

Yoo, Sung Jin; Park, Jin Bae; Choi, Yoon Ho

2006-12-01

A new method for the robust control of flexible-joint (FJ) robots with model uncertainties in both robot dynamics and actuator dynamics is proposed. The proposed control system is a combination of the adaptive dynamic surface control (DSC) technique and the self-recurrent wavelet neural network (SRWNN). The adaptive DSC technique provides the ability to overcome the "explosion of complexity" problem in backstepping controllers. The SRWNNs are used to observe the arbitrary model uncertainties of FJ robots, and all their weights are trained online. From the Lyapunov stability analysis, their adaptation laws are induced, and the uniformly ultimately boundedness of all signals in a closed-loop adaptive system is proved. Finally, simulation results for a three-link FJ robot are utilized to validate the good position tracking performance and robustness against payload uncertainties and external disturbances of the proposed control system.

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.

Robust control of nonlinear MAGLEV suspension system with mismatched uncertainties via DOBC approach.

PubMed

Yang, Jun; Zolotas, Argyrios; Chen, Wen-Hua; Michail, Konstantinos; Li, Shihua

2011-07-01

Robust control of a class of uncertain systems that have disturbances and uncertainties not satisfying "matching" condition is investigated in this paper via a disturbance observer based control (DOBC) approach. In the context of this paper, "matched" disturbances/uncertainties stand for the disturbances/uncertainties entering the system through the same channels as control inputs. By properly designing a disturbance compensation gain, a novel composite controller is proposed to counteract the "mismatched" lumped disturbances from the output channels. The proposed method significantly extends the applicability of the DOBC methods. Rigorous stability analysis of the closed-loop system with the proposed method is established under mild assumptions. The proposed method is applied to a nonlinear MAGnetic LEViation (MAGLEV) suspension system. Simulation shows that compared to the widely used integral control method, the proposed method provides significantly improved disturbance rejection and robustness against load variation. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

Disturbance, the uncertainty principle and quantum optics

NASA Technical Reports Server (NTRS)

Martens, Hans; Demuynck, Willem M.

1993-01-01

It is shown how a disturbance-type uncertainty principle can be derived from an uncertainty principle for joint measurements. To achieve this, we first clarify the meaning of 'inaccuracy' and 'disturbance' in quantum mechanical measurements. The case of photon number and phase is treated as an example, and it is applied to a quantum non-demolition measurement using the optical Kerr effect.

SU-F-J-10: Sliding Mode Control of a SMA Actuated Active Flexible Needle for Medical Procedures

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

Podder, T

Purpose: In medical interventional procedures such as brachytherapy, ablative therapies and biopsy precise steering and accurate placement of needles are very important for anatomical obstacle avoidance and accurate targeting. This study presents the efficacy of a sliding mode controller for Shape Memory Alloy (SMA) actuated flexible needle for medical procedures. Methods: Second order system dynamics of the SMA actuated active flexible needle was used for deriving the sliding mode control equations. Both proportional-integral-derivative (PID) and adaptive PID sliding mode control (APIDSMC) algorithms were developed and implemented. The flexible needle was attached at the end of a 6 DOF robotic system.more » Through LabView programming environment, the control commands were generated using the PID and APIDSMC algorithms. Experiments with artificial tissue mimicking phantom were performed to evaluate the performance of the controller. The actual needle tip position was obtained using an electromagnetic (EM) tracking sensor (Aurora, NDI, waterloo, Canada) at a sampling period of 1ms. During experiment, external disturbances were created applying force and thermal shock to investigate the robustness of the controllers. Results: The root mean square error (RMSE) values for APIDSMC and PID controllers were 0.75 mm and 0.92 mm, respectively, for sinusoidal reference input. In the presence of external disturbances, the APIDSMC controller showed much smoother and less overshooting response compared to that of the PID controller. Conclusion: Performance of the APIDSMC was superior to the PID controller. The APIDSMC was proved to be more effective controller in compensating the SMA uncertainties and external disturbances with clinically acceptable thresholds.« less

Type-2 fuzzy logic control of a 2-DOF helicopter (TRMS system)

NASA Astrophysics Data System (ADS)

Zeghlache, Samir; Kara, Kamel; Saigaa, Djamel

2014-09-01

The helicopter dynamic includes nonlinearities, parametric uncertainties and is subject to unknown external disturbances. Such complicated dynamics involve designing sophisticated control algorithms that can deal with these difficulties. In this paper, a type 2 fuzzy logic PID controller is proposed for TRMS (twin rotor mimo system) control problem. Using triangular membership functions and based on a human operator experience, two controllers are designed to control the position of the yaw and the pitch angles of the TRMS. Simulation results are given to illustrate the effectiveness of the proposed control scheme.

Robust tracking control of a magnetically suspended rigid body

NASA Technical Reports Server (NTRS)

Lim, Kyong B.; Cox, David E.

1994-01-01

This study is an application of H-infinity and micro-synthesis for designing robust tracking controllers for the Large Angle Magnetic Suspension Test Facility. The modeling, design, analysis, simulation, and testing of a control law that guarantees tracking performance under external disturbances and model uncertainties is investigated. The type of uncertainties considered and the tracking performance metric used is discussed. This study demonstrates the tradeoff between tracking performance at low frequencies and robustness at high frequencies. Two sets of controllers were designed and tested. The first set emphasized performance over robustness, while the second set traded off performance for robustness. Comparisons of simulation and test results are also included. Current simulation and experimental results indicate that reasonably good robust tracking performance can be attained for this system using multivariable robust control approach.

Adaptive relative pose control for autonomous spacecraft rendezvous and proximity operations with thrust misalignment and model uncertainties

NASA Astrophysics Data System (ADS)

Sun, Liang; Zheng, Zewei

2017-04-01

An adaptive relative pose control strategy is proposed for a pursue spacecraft in proximity operations on a tumbling target. Relative position vector between two spacecraft is required to direct towards the docking port of the target while the attitude of them must be synchronized. With considering the thrust misalignment of pursuer, an integrated controller for relative translational and relative rotational dynamics is developed by using norm-wise adaptive estimations. Parametric uncertainties, unknown coupled dynamics, and bounded external disturbances are compensated online by adaptive update laws. It is proved via Lyapunov stability theory that the tracking errors of relative pose converge to zero asymptotically. Numerical simulations including six degrees-of-freedom rigid body dynamics are performed to demonstrate the effectiveness of the proposed controller.

Effect of Extended State Observer and Automatic Voltage Regulator on Synchronous Machine Connected to Infinite Bus Power System

NASA Astrophysics Data System (ADS)

Angu, Rittu; Mehta, R. K.

2018-04-01

This paper presents a robust controller known as Extended State Observer (ESO) in order to improve the stability and voltage regulation of a synchronous machine connected to an infinite bus power system through a transmission line. The ESO-based control scheme is implemented with an automatic voltage regulator in conjunction with an excitation system to enhance the damping of low frequency power system oscillations, as the Power System Stabilizer (PSS) does. The implementation of PSS excitation control techniques however requires reliable information about the entire states, though they are not always directly measureable. To address this issue, the proposed ESO provides the estimate of system states as well as disturbance state together in order to improve not only the damping but also compensates system efficiently in presence of parameter uncertainties and external disturbances. The Closed-Loop Poles (CLPs) of the system have been assigned by the symmetric root locus technique, with the desired level of system damping provided by the dominant CLPs. The performance of the system is analyzed through simulating at different operating conditions. The control method is not only capable of providing zero estimation error in steady-state, but also shows robustness in tracking the reference command under parametric variations and external disturbances. Illustrative examples have been provided to demonstrate the effectiveness of the developed methodology.

Compensation of significant parametric uncertainties using sliding mode online learning

NASA Astrophysics Data System (ADS)

Schnetter, Philipp; Kruger, Thomas

An augmented nonlinear inverse dynamics (NID) flight control strategy using sliding mode online learning for a small unmanned aircraft system (UAS) is presented. Because parameter identification for this class of aircraft often is not valid throughout the complete flight envelope, aerodynamic parameters used for model based control strategies may show significant deviations. For the concept of feedback linearization this leads to inversion errors that in combination with the distinctive susceptibility of small UAS towards atmospheric turbulence pose a demanding control task for these systems. In this work an adaptive flight control strategy using feedforward neural networks for counteracting such nonlinear effects is augmented with the concept of sliding mode control (SMC). SMC-learning is derived from variable structure theory. It considers a neural network and its training as a control problem. It is shown that by the dynamic calculation of the learning rates, stability can be guaranteed and thus increase the robustness against external disturbances and system failures. With the resulting higher speed of convergence a wide range of simultaneously occurring disturbances can be compensated. The SMC-based flight controller is tested and compared to the standard gradient descent (GD) backpropagation algorithm under the influence of significant model uncertainties and system failures.

Performance analysis of two-degree of freedom fractional order PID controllers for robotic manipulator with payload.

PubMed

Sharma, Richa; Gaur, Prerna; Mittal, A P

2015-09-01

The robotic manipulators are multi-input multi-output (MIMO), coupled and highly nonlinear systems. The presence of external disturbances and time-varying parameters adversely affects the performance of these systems. Therefore, the controller designed for these systems should effectively deal with such complexities, and it is an intriguing task for control engineers. This paper presents two-degree of freedom fractional order proportional-integral-derivative (2-DOF FOPID) controller scheme for a two-link planar rigid robotic manipulator with payload for trajectory tracking task. The tuning of all controller parameters is done using cuckoo search algorithm (CSA). The performance of proposed 2-DOF FOPID controllers is compared with those of their integer order designs, i.e., 2-DOF PID controllers, and with the traditional PID controllers. In order to show effectiveness of proposed scheme, the robustness testing is carried out for model uncertainties, payload variations with time, external disturbance and random noise. Numerical simulation results indicate that the 2-DOF FOPID controllers are superior to their integer order counterparts and the traditional PID controllers. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Combined feedforward and model-assisted active disturbance rejection control for non-minimum phase system.

PubMed

Sun, Li; Li, Donghai; Gao, Zhiqiang; Yang, Zhao; Zhao, Shen

2016-09-01

Control of the non-minimum phase (NMP) system is challenging, especially in the presence of modelling uncertainties and external disturbances. To this end, this paper presents a combined feedforward and model-assisted Active Disturbance Rejection Control (MADRC) strategy. Based on the nominal model, the feedforward controller is used to produce a tracking performance that has minimum settling time subject to a prescribed undershoot constraint. On the other hand, the unknown disturbances and uncertain dynamics beyond the nominal model are compensated by MADRC. Since the conventional Extended State Observer (ESO) is not suitable for the NMP system, a model-assisted ESO (MESO) is proposed based on the nominal observable canonical form. The convergence of MESO is proved in time domain. The stability, steady-state characteristics and robustness of the closed-loop system are analyzed in frequency domain. The proposed strategy has only one tuning parameter, i.e., the bandwidth of MESO, which can be readily determined with a prescribed robustness level. Some comparative examples are given to show the efficacy of the proposed method. This paper depicts a promising prospect of the model-assisted ADRC in dealing with complex systems. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Biofuel production system with operation flexibility: Evaluation of economic and environmental performance under external disturbance

NASA Astrophysics Data System (ADS)

Kou, Nannan

Biomass derived liquid hydrocarbon fuel (biofuel) has been accepted as an effective way to mitigate the reliance on petroleum and reduce the greenhouse gas emissions. An increasing demand for second generation biofuels, produced from ligno-cellulosic feedstock and compatible with current infrastructure and vehicle technologies, addresses two major challenges faced by the current US transportation sector: energy security and global warming. However, biofuel production is subject to internal disturbances (feedstock supply and commodity market) and external factors (energy market). The biofuel industry has also heavily relied on government subsidy during the early development stages. In this dissertation, I investigate how to improve the economic and environmental performance of biorefineries (and biofuel plant), as well as enhance its survivability under the external disturbances. Three types of disturbance are considered: (1) energy market fluctuation, (2) subsidy policy uncertainty, and (3) extreme weather conditions. All three factors are basically volatile, dynamic, and even unpredictable, which makes them difficult to model and have been largely ignored to date. Instead, biofuel industry and biofuel research are intensively focused on improving feedstock conversion efficiency and capital cost efficiency while assuming these advancements alone will successfully generate higher profit and thus foster the biofuel industry. The collapse of the largest corn ethanol biofuel company, Verasun Energy, in 2008 calls into question this efficiency-driven approach. A detailed analysis has revealed that although the corn ethanol plants operated by Verasun adopted the more efficient (i.e. higher ethanol yield per bushel of corn and lower capital cost) dry-mill technology, they could not maintain a fair profit margin under fluctuating market condition which made ethanol production unprofitable. This is because dry-mill plant converts a single type of biomass feedstock (corn grain) into a single primary product (ethanol). The traditional lower efficient (i.e. lower ethanol yield per bushel of corn and higher capital cost) wet-mill plant has a more diverse and adjustable product portfolio i.e. corn syrup, starch, and ethanol. The fact that only the dry-mill corn ethanol plants have bankrupted while the wet-mill corn ethanol plants have survived the late 2000s economy recession suggests that the higher conversion efficiency achieved by the dry-mill production mode has jeopardized operational flexibility, a design operational feature I agree that is indispensable for the biofuel plant's long term profit and viability. Based on the analysis of corn ethanol production, operational flexibility has been proposed as a key strategy for the next generation biofuel plants to improve its lifetime economic performance, as well as to enhance its survivability under external disturbances. This strategy requires the biofuel plant to adopt a flexible feedstock management, making it possible to utilize alternative types of biomass feedstock when the primary feedstock supply is disturbed. Biofuel plants also need to produce a wider range of final products that could meet the preference variation that either comes from the energy market or from the subsidy policy. Aspen Plus model based numerical simulations have been carried out for a thermochemical ethanol plant and a Fischer Tropsch plant (both are assumed to be located in southwest Indiana) to test this strategy under the external disturbances of extreme weather impact, different energy price projections and various subsidy policy combinations. For the thermochemical ethanol plant, effects of extreme weather conditions are mainly evaluated. It has been shown that this strategy could effectively increase the net present value of the biofuel plant and significantly decrease the GHG emission comparing with the traditional single-feedstock strategy, when the extreme weather conditions are considered. It has also been demonstrated that this strategy could significantly decrease the possibility for the biofuel plant to bankrupt. For the Fischer Tropsch diesel plant, all the three external disturbances have been examined. It has been learned that operational flexibility through full capacity power co-generation, flexible feedstock management and hydrogen production by natural gas autothermal reforming could maximize the net present value under the influence of the external disturbances. Thus it is suggested that the future biofuel plant should adopt operational flexibility to increase the lifetime economic performance and to enhance the survivability under the influence of external disturbance.

What drives uncertainty in model diagnoses of carbon dynamics in southern US forests: climate, vegetation, disturbance, or model parameters?

NASA Astrophysics Data System (ADS)

Zhou, Y.; Gu, H.; Williams, C. A.

2017-12-01

Results from terrestrial carbon cycle models have multiple sources of uncertainty, each with its behavior and range. Their relative importance and how they combine has received little attention. This study investigates how various sources of uncertainty propagate, temporally and spatially, in CASA-Disturbance (CASA-D). CASA-D simulates the impact of climatic forcing and disturbance legacies on forest carbon dynamics with the following steps. Firstly, we infer annual growth and mortality rates from measured biomass stocks (FIA) over time and disturbance (e.g., fire, harvest, bark beetle) to represent annual post-disturbance carbon fluxes trajectories across forest types and site productivity settings. Then, annual carbon fluxes are estimated from these trajectories by using time since disturbance which is inferred from biomass (NBCD 2000) and disturbance maps (NAFD, MTBS and ADS). Finally, we apply monthly climatic scalars derived from default CASA to temporally distribute annual carbon fluxes to each month. This study assesses carbon flux uncertainty from two sources: driving data including climatic and forest biomass inputs, and three most sensitive parameters in CASA-D including maximum light use efficiency, temperature sensitivity of soil respiration (Q10) and optimum temperature identified by using EFAST (Extended Fourier Amplitude Sensitivity Testing). We quantify model uncertainties from each, and report their relative importance in estimating forest carbon sink/source in southeast United States from 2003 to 2010.

Sliding mode control for generalized robust synchronization of mismatched fractional order dynamical systems and its application to secure transmission of voice messages.

PubMed

Muthukumar, P; Balasubramaniam, P; Ratnavelu, K

2017-07-26

This paper proposes a generalized robust synchronization method for different dimensional fractional order dynamical systems with mismatched fractional derivatives in the presence of function uncertainty and external disturbance by a designing sliding mode controller. Based on the proposed theory of generalized robust synchronization criterion, a novel audio cryptosystem is proposed for sending or sharing voice messages secretly via insecure channel. Numerical examples are given to verify the potency of the proposed theories. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Contact-force distribution optimization and control for quadruped robots using both gradient and adaptive neural networks.

PubMed

Li, Zhijun; Ge, Shuzhi Sam; Liu, Sibang

2014-08-01

This paper investigates optimal feet forces' distribution and control of quadruped robots under external disturbance forces. First, we formulate a constrained dynamics of quadruped robots and derive a reduced-order dynamical model of motion/force. Consider an external wrench on quadruped robots; the distribution of required forces and moments on the supporting legs of a quadruped robot is handled as a tip-point force distribution and used to equilibrate the external wrench. Then, a gradient neural network is adopted to deal with the optimized objective function formulated as to minimize this quadratic objective function subjected to linear equality and inequality constraints. For the obtained optimized tip-point force and the motion of legs, we propose the hybrid motion/force control based on an adaptive neural network to compensate for the perturbations in the environment and approximate feedforward force and impedance of the leg joints. The proposed control can confront the uncertainties including approximation error and external perturbation. The verification of the proposed control is conducted using a simulation.

Artificial Immune System Approaches for Aerospace Applications

NASA Technical Reports Server (NTRS)

KrishnaKumar, Kalmanje; Koga, Dennis (Technical Monitor)

2002-01-01

Artificial Immune Systems (AIS) combine a priori knowledge with the adapting capabilities of biological immune system to provide a powerful alternative to currently available techniques for pattern recognition, modeling, design, and control. Immunology is the science of built-in defense mechanisms that are present in all living beings to protect against external attacks. A biological immune system can be thought of as a robust, adaptive system that is capable of dealing with an enormous variety of disturbances and uncertainties. Biological immune systems use a finite number of discrete "building blocks" to achieve this adaptiveness. These building blocks can be thought of as pieces of a puzzle which must be put together in a specific way-to neutralize, remove, or destroy each unique disturbance the system encounters. In this paper, we outline AIS models that are immediately applicable to aerospace problems and identify application areas that need further investigation.

Single neural adaptive controller and neural network identifier based on PSO algorithm for spherical actuators with 3D magnet array

NASA Astrophysics Data System (ADS)

Yan, Liang; Zhang, Lu; Zhu, Bo; Zhang, Jingying; Jiao, Zongxia

2017-10-01

Permanent magnet spherical actuator (PMSA) is a multi-variable featured and inter-axis coupled nonlinear system, which unavoidably compromises its motion control implementation. Uncertainties such as external load and friction torque of ball bearing and manufacturing errors also influence motion performance significantly. Therefore, the objective of this paper is to propose a controller based on a single neural adaptive (SNA) algorithm and a neural network (NN) identifier optimized with a particle swarm optimization (PSO) algorithm to improve the motion stability of PMSA with three-dimensional magnet arrays. The dynamic model and computed torque model are formulated for the spherical actuator, and a dynamic decoupling control algorithm is developed. By utilizing the global-optimization property of the PSO algorithm, the NN identifier is trained to avoid locally optimal solution and achieve high-precision compensations to uncertainties. The employment of the SNA controller helps to reduce the effect of compensation errors and convert the system to a stable one, even if there is difference between the compensations and uncertainties due to external disturbances. A simulation model is established, and experiments are conducted on the research prototype to validate the proposed control algorithm. The amplitude of the parameter perturbation is set to 5%, 10%, and 15%, respectively. The strong robustness of the proposed hybrid algorithm is validated by the abundant simulation data. It shows that the proposed algorithm can effectively compensate the influence of uncertainties and eliminate the effect of inter-axis couplings of the spherical actuator.

Optimal control of mode transition for four-wheel-drive hybrid electric vehicle with dry dual-clutch transmission

NASA Astrophysics Data System (ADS)

Zhao, Zhiguo; Lei, Dan; Chen, Jiayi; Li, Hangyu

2018-05-01

When the four-wheel-drive hybrid electric vehicle (HEV) equipped with a dry dual clutch transmission (DCT) is in the mode transition process from pure electrical rear wheel drive to front wheel drive with engine or hybrid drive, the problem of vehicle longitudinal jerk is prominent. A mode transition robust control algorithm which resists external disturbance and model parameter fluctuation has been developed, by taking full advantage of fast and accurate torque (or speed) response of three electrical power sources and getting the clutch of DCT fully involved in the mode transition process. Firstly, models of key components of driveline system have been established, and the model of five-degrees-of-freedom vehicle longitudinal dynamics has been built by using a Uni-Tire model. Next, a multistage optimal control method has been produced to realize the decision of engine torque and clutch-transmitted torque. The sliding-mode control strategy for measurable disturbance has been proposed at the stage of engine speed dragged up. Meanwhile, the double tracking control architecture that integrates the model calculating feedforward control with H∞ robust feedback control has been presented at the stage of speed synchronization. Finally, the results from Matlab/Simulink software and hardware-in-the-loop test both demonstrate that the proposed control strategy for mode transition can not only coordinate the torque among different power sources and clutch while minimizing vehicle longitudinal jerk, but also provide strong robustness to model uncertainties and external disturbance.

Evaluation of growth disturbances of Picea abies (L.) Karst. to disturbances caused by landslide movements

NASA Astrophysics Data System (ADS)

Šilhán, Karel

2017-01-01

Dendrogeomorphic methods are frequently used in landslide analyses. Although methods of landslide dating based on tree rings are well developed, they still indicated many questions. The aim of this study was to evaluate the frequently used theoretical scheme based on the event-response relationship. Seventy-four individuals of Norway spruce (Picea abies (L.) Karst.) exhibiting visible external disturbance, were sampled on the Girová landslide (the largest historical flow-like landslide in the Czech Republic). This landslide reactivated in May 2010, and post-landslide tree growth responses were studied in detail. These growth responses were compared with the intensity and occurrence of visible external tree disturbance: tilted stems, damaged root systems, and decapitation. Twenty-nine trees (39.2%) died within one to four years following the 2010 landslide movement. The trees that died following the landslide movement were significantly younger and displayed significantly greater stem tilting than the live trees. Abrupt growth suppression was a more-frequent response among the dead trees, whereas growth release dominated among the live trees. Only two trees (2.7%) created no reaction wood in response to the landslide movement. Forty-four percent of the trees started to produce reaction wood structure after a delay, which generally spanned one year. Some eccentric growth was evident in the tree rings of the landslide year and was significant in the first years following the landslide movement. Missing rings were observed only on the upper sides of the stems, and no false tree rings were observed. The results confirm the general validity of event-response relationship, nevertheless this study points out the limitations and uncertainties of this generally accepted working scheme.

New Passivity Criteria for Fuzzy Bam Neural Networks with Markovian Jumping Parameters and Time-Varying Delays

NASA Astrophysics Data System (ADS)

Vadivel, P.; Sakthivel, R.; Mathiyalagan, K.; Thangaraj, P.

2013-02-01

This paper addresses the problem of passivity analysis issue for a class of fuzzy bidirectional associative memory (BAM) neural networks with Markovian jumping parameters and time varying delays. A set of sufficient conditions for the passiveness of the considered fuzzy BAM neural network model is derived in terms of linear matrix inequalities by using the delay fractioning technique together with the Lyapunov function approach. In addition, the uncertainties are inevitable in neural networks because of the existence of modeling errors and external disturbance. Further, this result is extended to study the robust passivity criteria for uncertain fuzzy BAM neural networks with time varying delays and uncertainties. These criteria are expressed in the form of linear matrix inequalities (LMIs), which can be efficiently solved via standard numerical software. Two numerical examples are provided to demonstrate the effectiveness of the obtained results.

Optimality based repetitive controller design for track-following servo system of optical disk drives.

PubMed

Chen, Wentao; Zhang, Weidong

2009-10-01

In an optical disk drive servo system, to attenuate the external periodic disturbances induced by inevitable disk eccentricity, repetitive control has been used successfully. The performance of a repetitive controller greatly depends on the bandwidth of the low-pass filter included in the repetitive controller. However, owing to the plant uncertainty and system stability, it is difficult to maximize the bandwidth of the low-pass filter. In this paper, we propose an optimality based repetitive controller design method for the track-following servo system with norm-bounded uncertainties. By embedding a lead compensator in the repetitive controller, both the system gain at periodic signal's harmonics and the bandwidth of the low-pass filter are greatly increased. The optimal values of the repetitive controller's parameters are obtained by solving two optimization problems. Simulation and experimental results are provided to illustrate the effectiveness of the proposed method.

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.

Study of the outlook for the development of the gas industry in Russia and analysis of risk associated with this process

NASA Astrophysics Data System (ADS)

Eliseeva, O. A.; Luk'yanova, A. S.; Tarasov, A. E.

2010-12-01

The gas industry in Russia will develop under conditions of the persistence of existing risks and emergence of the new ones caused by the world financial crisis, increased uncertainty in estimating world prices for natural gas, together with disturbed balance between interests of gas producers and consumers, and threat of loss of the competitiveness of Russian natural gas on foreign markets. In this context, in choosing a strategy of the development of the gas industry and its production-and-financial program, it is necessary to carry out a risk analysis of optimum decisions. Specific features of carrying out a risk analysis and results of the risk analysis of strategic decisions that would provide enhanced steadiness and the effectiveness of the development of the gas industry under conditions of the uncertainty of both external and internal factors are presented.

Fractional order uncertainty estimator based hierarchical sliding mode design for a class of fractional order non-holonomic chained system.

PubMed

Deepika; Kaur, Sandeep; Narayan, Shiv

2018-06-01

This paper proposes a novel fractional order sliding mode control approach to address the issues of stabilization as well as tracking of an N-dimensional extended chained form of fractional order non-holonomic system. Firstly, the hierarchical fractional order terminal sliding manifolds are selected to procure the desired objectives in finite time. Then, a sliding mode control law is formulated which provides robustness against various system uncertainties or external disturbances. In addition, a novel fractional order uncertainty estimator is deduced mathematically to estimate and mitigate the effects of uncertainties, which also excludes the requirement of their upper bounds. Due to the omission of discontinuous control action, the proposed algorithm ensures a chatter-free control input. Moreover, the finite time stability of the closed loop system has been proved analytically through well known Mittag-Leffler and Fractional Lyapunov theorems. Finally, the proposed methodology is validated with MATLAB simulations on two examples including an application of fractional order non-holonomic wheeled mobile robot and its performances are also compared with the existing control approach. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

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.

Adaptive output feedback control of flexible-joint robots using neural networks: dynamic surface design approach.

PubMed

Yoo, Sung Jin; Park, Jin Bae; Choi, Yoon Ho

2008-10-01

In this paper, we propose a new robust output feedback control approach for flexible-joint electrically driven (FJED) robots via the observer dynamic surface design technique. The proposed method only requires position measurements of the FJED robots. To estimate the link and actuator velocity information of the FJED robots with model uncertainties, we develop an adaptive observer using self-recurrent wavelet neural networks (SRWNNs). The SRWNNs are used to approximate model uncertainties in both robot (link) dynamics and actuator dynamics, and all their weights are trained online. Based on the designed observer, the link position tracking controller using the estimated states is induced from the dynamic surface design procedure. Therefore, the proposed controller can be designed more simply than the observer backstepping controller. From the Lyapunov stability analysis, it is shown that all signals in a closed-loop adaptive system are uniformly ultimately bounded. Finally, the simulation results on a three-link FJED robot are presented to validate the good position tracking performance and robustness of the proposed control system against payload uncertainties and external disturbances.

The robust model predictive control based on mixed H2/H∞ approach with separated performance formulations and its ISpS analysis

NASA Astrophysics Data System (ADS)

Li, Dewei; Li, Jiwei; Xi, Yugeng; Gao, Furong

2017-12-01

In practical applications, systems are always influenced by parameter uncertainties and external disturbance. Both the H2 performance and the H∞ performance are important for the real applications. For a constrained system, the previous designs of mixed H2/H∞ robust model predictive control (RMPC) optimise one performance with the other performance requirement as a constraint. But the two performances cannot be optimised at the same time. In this paper, an improved design of mixed H2/H∞ RMPC for polytopic uncertain systems with external disturbances is proposed to optimise them simultaneously. In the proposed design, the original uncertain system is decomposed into two subsystems by the additive character of linear systems. Two different Lyapunov functions are used to separately formulate the two performance indices for the two subsystems. Then, the proposed RMPC is designed to optimise both the two performances by the weighting method with the satisfaction of the H∞ performance requirement. Meanwhile, to make the design more practical, a simplified design is also developed. The recursive feasible conditions of the proposed RMPC are discussed and the closed-loop input state practical stable is proven. The numerical examples reflect the enlarged feasible region and the improved performance of the proposed design.

An H-infinity approach to optimal control of oxygen and carbon dioxide contents in blood

NASA Astrophysics Data System (ADS)

Rigatos, Gerasimos; Siano, Pierluigi; Selisteanu, Dan; Precup, Radu

2016-12-01

Nonlinear H-infinity control is proposed for the regulation of the levels of oxygen and carbon dioxide in the blood of patients undergoing heart surgery and extracorporeal blood circulation. The levels of blood gases are administered through a membrane oxygenator and the control inputs are the externally supplied oxygen, the aggregate gas supply (oxygen plus nitrogen), and the blood flow which is regulated by a blood pump. The proposed control method is based on linearization of the oxygenator's dynamical model through Taylor series expansion and the computation of Jacobian matrices. The local linearization points are defined by the present value of the oxygenator's state vector and the last value of the control input that was exerted on this system. The modelling errors due to linearization are considered as disturbances which are compensated by the robustness of the control loop. Next, for the linearized model of the oxygenator an H-infinity control input is computed at each iteration of the control algorithm through the solution of an algebraic Riccati equation. With the use of Lyapunov stability analysis it is demonstrated that the control scheme satisfies the H-infinity tracking performance criterion, which signifies improved robustness against modelling uncertainty and external disturbances. Moreover, under moderate conditions the asymptotic stability of the control loop is also proven.

Robust fractional order sliding mode control of doubly-fed induction generator (DFIG)-based wind turbines.

PubMed

Ebrahimkhani, Sadegh

2016-07-01

Wind power plants have nonlinear dynamics and contain many uncertainties such as unknown nonlinear disturbances and parameter uncertainties. Thus, it is a difficult task to design a robust reliable controller for this system. This paper proposes a novel robust fractional-order sliding mode (FOSM) controller for maximum power point tracking (MPPT) control of doubly fed induction generator (DFIG)-based wind energy conversion system. In order to enhance the robustness of the control system, uncertainties and disturbances are estimated using a fractional order uncertainty estimator. In the proposed method a continuous control strategy is developed to achieve the chattering free fractional order sliding-mode control, and also no knowledge of the uncertainties and disturbances or their bound is assumed. The boundedness and convergence properties of the closed-loop signals are proven using Lyapunov׳s stability theory. Simulation results in the presence of various uncertainties were carried out to evaluate the effectiveness and robustness of the proposed control scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Detectability and Interpretational Uncertainties: Considerations in Gauging the Impacts of Land Disturbance on Streamflow

EPA Science Inventory

Hydrologic impacts of land disturbance and management can be confounded by rainfall variability. As a consequence, attempts to gauge and quantify these effects through streamflow monitoring are typically subject to uncertainties. This paper addresses the quantification and deline...

Semi-globally input-to-state stable controller design for flexible spacecraft attitude stabilization under bounded disturbances

NASA Astrophysics Data System (ADS)

Hu, Qinglei

2010-02-01

Semi-globally input-to-state stable (ISS) control law is derived for flexible spacecraft attitude maneuvers in the presence of parameter uncertainties and external disturbances. The modified rodrigues parameters (MRP) are used as the kinematic variables since they are nonsingular for all possible rotations. This novel simple control is a proportional-plus-derivative (PD) type controller plus a sign function through a special Lyapunov function construction involving the sum of quadratic terms in the angular velocities, kinematic parameters, modal variables and the cross state weighting. A sufficient condition under which this nonlinear PD-type control law can render the system semi-globally input-to-state stable is provided such that the closed-loop system is robust with respect to any disturbance within a quantifiable restriction on the amplitude, as well as the set of initial conditions, if the control gains are designed appropriately. In addition to detailed derivations of the new controllers design and a rigorous sketch of all the associated stability and attitude convergence proofs, extensive simulation studies have been conducted to validate the design and the results are presented to highlight the ensuring closed-loop performance benefits when compared with the conventional control schemes.

A Study on the Effects of J2 Perturbations on a Drag-Free Control System for Spacecraft in Low Earth Orbit

NASA Technical Reports Server (NTRS)

Vess, Melissa Fleck; Starin, Scott R.

2003-01-01

Low Earth Orbit (LEO) missions provide a unique means of gathering information about many of Earth s aspects such as climate, atmosphere, and gravitational field. Among the greatest challenges of LEO missions are designing, predicting, and maintaining the spacecraft orbit. The predominant perturbative forces acting on a spacecraft in LEO are J2 and higher order gravitational components, the effects of which are fairly easy to predict, and atmospheric drag, which causes the greatest uncertainty in predicting spacecraft ephemeris. The continuously varying atmospheric drag requires increased spacecraft tracking in order to accurately predict spacecraft location. In addition, periodic propulsive maneuvers typically must be planned and performed to counteract the effects of drag on the spacecraft orbit. If the effects of drag could be continuously and autonomously counteracted, the uncertainty in ephemeris due to atmospheric drag would essentially be eliminated from the spacecraft dynamics. One method of autonomous drag compensation that has been implemented on some missions is drag-free control. Drag-free control of a spacecraft was initially proposed in the 1960's and is discussed extensively by Lange. His drag-free control architecture consists of a free-floating proof mass enclosed within a spacecraft, isolating it from external disturbance forces such as atmospheric drag and solar radiation pressure. Under ideal conditions, internal disturbance forces can be ignored or mitigated, and the orbit of the proof mass depends only on gravitational forces. A sensor associated with the proof mass senses the movement of the spacecraft relative to the proof mass. Using the sensor measurements, the spacecraft is forced to follow the orbit of the proof mass by using low thrust propulsion, thus counteracting any non-gravitational disturbance forces. If the non-gravitational disturbance forces are successfully removed, the spacecraft s orbit will be affected only by well-known gravitational forces and will thus be easier to predict.

Robust output tracking control of a laboratory helicopter for automatic landing

NASA Astrophysics Data System (ADS)

Liu, Hao; Lu, Geng; Zhong, Yisheng

2014-11-01

In this paper, robust output tracking control problem of a laboratory helicopter for automatic landing in high seas is investigated. The motion of the helicopter is required to synchronise with that of an oscillating platform, e.g. the deck of a vessel subject to wave-induced motions. A robust linear time-invariant output feedback controller consisting of a nominal controller and a robust compensator is designed. The robust compensator is introduced to restrain the influences of parametric uncertainties, nonlinearities and external disturbances. It is shown that robust stability and robust tracking property can be achieved simultaneously. Experimental results on the laboratory helicopter for automatic landing demonstrate the effectiveness of the designed control approach.

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.

Sliding Mode Control of the X-33 with an Engine Failure

NASA Technical Reports Server (NTRS)

Shtessel, Yuri B.; Hall, Charles E.

2000-01-01

Ascent flight control of the X-3 is performed using two XRS-2200 linear aerospike engines. in addition to aerosurfaces. The baseline control algorithms are PID with gain scheduling. Flight control using an innovative method. Sliding Mode Control. is presented for nominal and engine failed modes of flight. An easy to implement, robust controller. requiring no reconfiguration or gain scheduling is demonstrated through high fidelity flight simulations. The proposed sliding mode controller utilizes a two-loop structure and provides robust. de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of engine failure, bounded external disturbances (wind gusts) and uncertain matrix of inertia. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues. Conditions that restrict engine failures to robustness domain of the sliding mode controller are derived. Overall stability of a two-loop flight control system is assessed. Simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in the presence of external disturbances and vehicle inertia uncertainties, as well as the single engine failed case. The designed robust controller will significantly reduce the time and cost associated with flying new trajectory profiles or orbits, with new payloads, and with modified vehicles

PDF Weaving - Linking Inventory Data and Monte Carlo Uncertainty Analysis in the Study of how Disturbance Affects Forest Carbon Storage

NASA Astrophysics Data System (ADS)

Healey, S. P.; Patterson, P.; Garrard, C.

2014-12-01

Altered disturbance regimes are likely a primary mechanism by which a changing climate will affect storage of carbon in forested ecosystems. Accordingly, the National Forest System (NFS) has been mandated to assess the role of disturbance (harvests, fires, insects, etc.) on carbon storage in each of its planning units. We have developed a process which combines 1990-era maps of forest structure and composition with high-quality maps of subsequent disturbance type and magnitude to track the impact of disturbance on carbon storage. This process, called the Forest Carbon Management Framework (ForCaMF), uses the maps to apply empirically calibrated carbon dynamics built into a widely used management tool, the Forest Vegetation Simulator (FVS). While ForCaMF offers locally specific insights into the effect of historical or hypothetical disturbance trends on carbon storage, its dependence upon the interaction of several maps and a carbon model poses a complex challenge in terms of tracking uncertainty. Monte Carlo analysis is an attractive option for tracking the combined effects of error in several constituent inputs as they impact overall uncertainty. Monte Carlo methods iteratively simulate alternative values for each input and quantify how much outputs vary as a result. Variation of each input is controlled by a Probability Density Function (PDF). We introduce a technique called "PDF Weaving," which constructs PDFs that ensure that simulated uncertainty precisely aligns with uncertainty estimates that can be derived from inventory data. This hard link with inventory data (derived in this case from FIA - the US Forest Service Forest Inventory and Analysis program) both provides empirical calibration and establishes consistency with other types of assessments (e.g., habitat and water) for which NFS depends upon FIA data. Results from the NFS Northern Region will be used to illustrate PDF weaving and insights gained from ForCaMF about the role of disturbance in carbon storage.

SU-F-T-185: Study of the Robustness of a Proton Arc Technique Based On PBS Beams

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

Wang, Z; Zheng, Y

Purpose: One potential technique to realize proton arc is through using PBS beams from many directions to form overlaid Bragg peak (OBP) spots and placing these OBP spots throughout the target volume to achieve desired dose distribution. In this study, we analyzed the robustness of this proton arc technique. Methods: We used a cylindrical water phantom of 20 cm in radius in our robustness analysis. To study the range uncertainty effect, we changed the density of the phantom by ±3%. To study the setup uncertainty effect, we shifted the phantom by 3 & 5 mm. We also combined the rangemore » and setup uncertainties (3mm/±3%). For each test plan, we performed dose calculation for the nominal and 6 disturbed scenarios. Two test plans were used, one with single OBP spot and the other consisting of 121 OBP spots covering a 10×10cm{sup 2} area. We compared the dose profiles between the nominal and disturbed scenarios to estimate the impact of the uncertainties. Dose calculation was performed with Gate/GEANT based Monte Carlo software in cloud computing environment. Results: For each of the 7 scenarios, we simulated 100k & 10M events for plans consisting of single OBP spot and 121 OBP spots respectively. For single OBP spot, the setup uncertainty had minimum impact on the spot’s dose profile while range uncertainty had significant impact on the dose profile. For plan consisting of 121 OBP spots, similar effect was observed but the extent of disturbance was much less compared to single OBP spot. Conclusion: For PBS arc technique, range uncertainty has significantly more impact than setup uncertainty. Although single OBP spot can be severely disturbed by the range uncertainty, the overall effect is much less when a large number of OBP spots are used. Robustness optimization for PBS arc technique should consider range uncertainty with priority.« less

Discontinuous Observers Design for Finite-Time Consensus of Multiagent Systems With External Disturbances.

PubMed

Liu, Xiaoyang; Ho, Daniel W C; Cao, Jinde; Xu, Wenying

This brief investigates the problem of finite-time robust consensus (FTRC) for second-order nonlinear multiagent systems with external disturbances. Based on the global finite-time stability theory of discontinuous homogeneous systems, a novel finite-time convergent discontinuous disturbed observer (DDO) is proposed for the leader-following multiagent systems. The states of the designed DDO are then used to design the control inputs to achieve the FTRC of nonlinear multiagent systems in the presence of bounded disturbances. The simulation results are provided to validate the effectiveness of these theoretical results.This brief investigates the problem of finite-time robust consensus (FTRC) for second-order nonlinear multiagent systems with external disturbances. Based on the global finite-time stability theory of discontinuous homogeneous systems, a novel finite-time convergent discontinuous disturbed observer (DDO) is proposed for the leader-following multiagent systems. The states of the designed DDO are then used to design the control inputs to achieve the FTRC of nonlinear multiagent systems in the presence of bounded disturbances. The simulation results are provided to validate the effectiveness of these theoretical results.

Simulating the impacts of disturbances on forest carbon cycling in North America: Processes, data, models, and challenges

USGS Publications Warehouse

Liu, Shuguang; Bond-Lamberty, Ben; Hicke, Jeffrey A.; Vargas, Rodrigo; Zhao, Shuqing; Chen, Jing; Edburg, Steven L.; Hu, Yueming; Liu, Jinxun; McGuire, A. David; Xiao, Jingfeng; Keane, Robert; Yuan, Wenping; Tang, Jianwu; Luo, Yiqi; Potter, Christopher; Oeding, Jennifer

2011-01-01

Forest disturbances greatly alter the carbon cycle at various spatial and temporal scales. It is critical to understand disturbance regimes and their impacts to better quantify regional and global carbon dynamics. This review of the status and major challenges in representing the impacts of disturbances in modeling the carbon dynamics across North America revealed some major advances and challenges. First, significant advances have been made in representation, scaling, and characterization of disturbances that should be included in regional modeling efforts. Second, there is a need to develop effective and comprehensive process‐based procedures and algorithms to quantify the immediate and long‐term impacts of disturbances on ecosystem succession, soils, microclimate, and cycles of carbon, water, and nutrients. Third, our capability to simulate the occurrences and severity of disturbances is very limited. Fourth, scaling issues have rarely been addressed in continental scale model applications. It is not fully understood which finer scale processes and properties need to be scaled to coarser spatial and temporal scales. Fifth, there are inadequate databases on disturbances at the continental scale to support the quantification of their effects on the carbon balance in North America. Finally, procedures are needed to quantify the uncertainty of model inputs, model parameters, and model structures, and thus to estimate their impacts on overall model uncertainty. Working together, the scientific community interested in disturbance and its impacts can identify the most uncertain issues surrounding the role of disturbance in the North American carbon budget and develop working hypotheses to reduce the uncertainty

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.

Adaptive Robust Output Feedback Control for a Marine Dynamic Positioning System Based on a High-Gain Observer.

PubMed

Du, Jialu; Hu, Xin; Liu, Hongbo; Chen, C L Philip

2015-11-01

This paper develops an adaptive robust output feedback control scheme for dynamically positioned ships with unavailable velocities and unknown dynamic parameters in an unknown time-variant disturbance environment. The controller is designed by incorporating the high-gain observer and radial basis function (RBF) neural networks in vectorial backstepping method. The high-gain observer provides the estimations of the ship position and heading as well as velocities. The RBF neural networks are employed to compensate for the uncertainties of ship dynamics. The adaptive laws incorporating a leakage term are designed to estimate the weights of RBF neural networks and the bounds of unknown time-variant environmental disturbances. In contrast to the existing results of dynamic positioning (DP) controllers, the proposed control scheme relies only on the ship position and heading measurements and does not require a priori knowledge of the ship dynamics and external disturbances. By means of Lyapunov functions, it is theoretically proved that our output feedback controller can control a ship's position and heading to the arbitrarily small neighborhood of the desired target values while guaranteeing that all signals in the closed-loop DP control system are uniformly ultimately bounded. Finally, simulations involving two ships are carried out, and simulation results demonstrate the effectiveness of the proposed control scheme.

Combined effects of environmental disturbance and climate warming on insect herbivory in mountain birch in subarctic forests: Results of 26-year monitoring.

PubMed

Kozlov, M V; Zverev, V; Zvereva, E L

2017-12-01

Both pollution and climate affect insect-plant interactions, but the combined effects of these two abiotic drivers of global change on insect herbivory remain almost unexplored. From 1991 to 2016, we monitored the population densities of 25 species or species groups of insects feeding on mountain birch (Betula pubescens ssp. czerepanovii) in 29 sites and recorded leaf damage by insects in 21 sites in subarctic forests around the nickel-copper smelter at Monchegorsk, north-western Russia. The leaf-eating insects demonstrated variable, and sometimes opposite, responses to pollution-induced forest disturbance and to climate variations. Consequently, we did not discover any general trend in herbivory along the disturbance gradient. Densities of eight species/species groups correlated with environmental disturbance, but these correlations weakened from 1991 to 2016, presumably due to the fivefold decrease in emissions of sulphur dioxide and heavy metals from the smelter. The densities of externally feeding defoliators decreased from 1991 to 2016 and the densities of leafminers increased, while the leaf roller densities remained unchanged. Consequently, no overall temporal trend in the abundance of birch-feeding insects emerged despite a 2-3°C elevation in spring temperatures. Damage to birch leaves by insects decreased during the observation period in heavily disturbed forests, did not change in moderately disturbed forests and tended to increase in pristine forests. The temporal stability of insect-plant interactions, quantified by the inverse of the coefficient of among-year variations of herbivore population densities and of birch foliar damage, showed a negative correlation with forest disturbance. We conclude that climate differently affects insect herbivory in heavily stressed versus pristine forests, and that herbivorous insects demonstrate diverse responses to environmental disturbance and climate variations. This diversity of responses, in combination with the decreased stability of insect-plant interactions, increases the uncertainty in predictions on the impacts of global change on forest damage by insects. Copyright © 2017 Elsevier B.V. All rights reserved.

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.

Robust H∞ output-feedback control for path following of autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Hu, Chuan; Jing, Hui; Wang, Rongrong; Yan, Fengjun; Chadli, Mohammed

2016-03-01

This paper presents a robust H∞ output-feedback control strategy for the path following of autonomous ground vehicles (AGVs). Considering the vehicle lateral velocity is usually hard to measure with low cost sensor, a robust H∞ static output-feedback controller based on the mixed genetic algorithms (GA)/linear matrix inequality (LMI) approach is proposed to realize the path following without the information of the lateral velocity. The proposed controller is robust to the parametric uncertainties and external disturbances, with the parameters including the tire cornering stiffness, vehicle longitudinal velocity, yaw rate and road curvature. Simulation results based on CarSim-Simulink joint platform using a high-fidelity and full-car model have verified the effectiveness of the proposed control approach.

Integral sliding mode-based attitude coordinated tracking for spacecraft formation with communication delays

NASA Astrophysics Data System (ADS)

Zhang, Jian; Hu, Qinglei; Xie, Wenbo

2017-11-01

This paper investigates the attitude coordinated tracking control for a group of rigid spacecraft under directed communication topology, in which inertia uncertainties, external disturbances, input saturation and constant time-delays between the formation members are handled. Initially, the nominal system with communication delays is studied. A delay-dependent controller is proposed by using Lyapunov-Krasovskii function and sufficient condition for system stability is derived. Then, an integral sliding manifold is designed and adaptive control approach is employed to deal with the total perturbation. Meanwhile, the boundary layer method is introduced to alleviate the unexpected chattering as system trajectories cross the switching surface. Finally, numerical simulation results are presented to validate the effectiveness and robustness of the proposed control strategy.

H Infinity Control of Magnetic Bearings to Ensure Both System and External Periodic Disturbance Robustness

NASA Technical Reports Server (NTRS)

Jiang, Yuhong; Zmood, R. B.

1996-01-01

Both self-excited and forced disturbances often lead to severe rotor vibrations in a magnetic bearing systems with long slender shafts. This problem has been studied using the H-infinity method, and stability with good robustness can be achieved for the linearized model of a magnetic bearing when small transient disturbances are applied. In this paper, the H-infinity control method for self-excited and forced disturbances is first reviewed. It is then applied to the control of a magnetic bearing rotor system. In modelling the system, the shaft is first discretized into 18 finite elements and then three levels of condensation are applied. This leads to a system with three masses and three compliant elements which can be described by six state variable coordinates. Simulation of the resultant system design has been performed at speeds up to 10,000 rpm. Disturbances in terms of different initial displacements, initial impulses, and external periodic inputs have been imposed. The simulation results show that good stability can be achieved under these different transient disturbances using the proposed controller while at the same time reducing the sensitivity to external periodic disturbances.

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.

Novel bio-inspired smart control for hazard mitigation of civil structures

NASA Astrophysics Data System (ADS)

Kim, Yeesock; Kim, Changwon; Langari, Reza

2010-11-01

In this paper, a new bio-inspired controller is proposed for vibration mitigation of smart structures subjected to ground disturbances (i.e. earthquakes). The control system is developed through the integration of a brain emotional learning (BEL) algorithm with a proportional-integral-derivative (PID) controller and a semiactive inversion (Inv) algorithm. The BEL algorithm is based on the neurologically inspired computational model of the amygdala and the orbitofrontal cortex. To demonstrate the effectiveness of the proposed hybrid BEL-PID-Inv control algorithm, a seismically excited building structure equipped with a magnetorheological (MR) damper is investigated. The performance of the proposed hybrid BEL-PID-Inv control algorithm is compared with that of passive, PID, linear quadratic Gaussian (LQG), and BEL control systems. In the simulation, the robustness of the hybrid BEL-PID-Inv control algorithm in the presence of modeling uncertainties as well as external disturbances is investigated. It is shown that the proposed hybrid BEL-PID-Inv control algorithm is effective in improving the dynamic responses of seismically excited building structure-MR damper systems.

Active Fault Tolerant Control for Ultrasonic Piezoelectric Motor

NASA Astrophysics Data System (ADS)

Boukhnifer, Moussa

2012-07-01

Ultrasonic piezoelectric motor technology is an important system component in integrated mechatronics devices working on extreme operating conditions. Due to these constraints, robustness and performance of the control interfaces should be taken into account in the motor design. In this paper, we apply a new architecture for a fault tolerant control using Youla parameterization for an ultrasonic piezoelectric motor. The distinguished feature of proposed controller architecture is that it shows structurally how the controller design for performance and robustness may be done separately which has the potential to overcome the conflict between performance and robustness in the traditional feedback framework. A fault tolerant control architecture includes two parts: one part for performance and the other part for robustness. The controller design works in such a way that the feedback control system will be solely controlled by the proportional plus double-integral PI2 performance controller for a nominal model without disturbances and H∞ robustification controller will only be activated in the presence of the uncertainties or an external disturbances. The simulation results demonstrate the effectiveness of the proposed fault tolerant control architecture.

An adaptive robust controller for time delay maglev transportation systems

NASA Astrophysics Data System (ADS)

Milani, Reza Hamidi; Zarabadipour, Hassan; Shahnazi, Reza

2012-12-01

For engineering systems, uncertainties and time delays are two important issues that must be considered in control design. Uncertainties are often encountered in various dynamical systems due to modeling errors, measurement noises, linearization and approximations. Time delays have always been among the most difficult problems encountered in process control. In practical applications of feedback control, time delay arises frequently and can severely degrade closed-loop system performance and in some cases, drives the system to instability. Therefore, stability analysis and controller synthesis for uncertain nonlinear time-delay systems are important both in theory and in practice and many analytical techniques have been developed using delay-dependent Lyapunov function. In the past decade the magnetic and levitation (maglev) transportation system as a new system with high functionality has been the focus of numerous studies. However, maglev transportation systems are highly nonlinear and thus designing controller for those are challenging. The main topic of this paper is to design an adaptive robust controller for maglev transportation systems with time-delay, parametric uncertainties and external disturbances. In this paper, an adaptive robust control (ARC) is designed for this purpose. It should be noted that the adaptive gain is derived from Lyapunov-Krasovskii synthesis method, therefore asymptotic stability is guaranteed.

Selection of sampling rate for digital control of aircrafts

NASA Technical Reports Server (NTRS)

Katz, P.; Powell, J. D.

1974-01-01

The considerations in selecting the sample rates for digital control of aircrafts are identified and evaluated using the optimal discrete method. A high performance aircraft model which includes a bending mode and wind gusts was studied. The following factors which influence the selection of the sampling rates were identified: (1) the time and roughness response to control inputs; (2) the response to external disturbances; and (3) the sensitivity to variations of parameters. It was found that the time response to a control input and the response to external disturbances limit the selection of the sampling rate. The optimal discrete regulator, the steady state Kalman filter, and the mean response to external disturbances are calculated.

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.

Stabilization and synchronization for a mechanical system via adaptive sliding mode control.

PubMed

Song, Zhankui; Sun, Kaibiao; Ling, Shuai

2017-05-01

In this paper, we investigate the synchronization problem of chaotic centrifugal flywheel governor with parameters uncertainty and lumped disturbances. A slave centrifugal flywheel governor system is considered as an underactuated following-system which a control input is designed to follow a master centrifugal flywheel governor system. To tackle lumped disturbances and uncertainty parameters, a novel synchronization control law is developed by employing sliding mode control strategy and Nussbaum gain technique. Adaptation updating algorithms are derived in the sense of Lyapunov stability analysis such that the lumped disturbances can be suppressed and the adverse effect caused by uncertainty parameters can be compensated. In addition, the synchronization tracking-errors are proven to converge to a small neighborhood of the origin. Finally, simulation results demonstrate the effectiveness of the proposed control scheme. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Fuzzy attitude control of solar sail via linear matrix inequalities

NASA Astrophysics Data System (ADS)

Baculi, Joshua; Ayoubi, Mohammad A.

2017-09-01

This study presents a fuzzy tracking controller based on the Takagi-Sugeno (T-S) fuzzy model of the solar sail. First, the T-S fuzzy model is constructed by linearizing the existing nonlinear equations of motion of the solar sail. Then, the T-S fuzzy model is used to derive the state feedback controller gains for the Twin Parallel Distributed Compensation (TPDC) technique. The TPDC tracks and stabilizes the attitude of the solar sail to any desired state in the presence of parameter uncertainties and external disturbances while satisfying actuator constraints. The performance of the TPDC is compared to a PID controller that is tuned using the Ziegler-Nichols method. Numerical simulation shows the TPDC outperforms the PID controller when stabilizing the solar sail to a desired state.

Adaptive quaternion tracking with nonlinear extended state observer

NASA Astrophysics Data System (ADS)

Bai, Yu-liang; Wang, Xiao-gang; Xu, Jiang-tao; Cui, Nai-gang

2017-10-01

This paper addresses the problem of attitude tracking for spacecraft in the presence of uncertainties in moments of inertia and environmental disturbances. An adaptive quaternion tracking control is combined with a nonlinear extended state observer and the disturbances compensated for in each sampling period. The tracking controller is proved to asymptotically track a prescribed motion in the presence of these uncertainties. Simulations of a nano-spacecraft demonstrate a significant improvement in pointing accuracy and tracking error when compared to a conventional attitude controller. The proposed tracking control is completely deterministic, simple to implement, does not require knowledge of the uncertainties and does not suffer from chattering.

Control of AUVs using differential flatness theory and the derivative-free nonlinear Kalman Filter

NASA Astrophysics Data System (ADS)

Rigatos, Gerasimos; Raffo, Guilerme

2015-12-01

The paper proposes nonlinear control and filtering for Autonomous Underwater Vessels (AUVs) based on differential flatness theory and on the use of the Derivative-free nonlinear Kalman Filter. First, it is shown that the 6-DOF dynamic model of the AUV is a differentially flat one. This enables its transformation into the linear canonical (Brunovsky) form and facilitates the design of a state feedback controller. A problem that has to be dealt with is the uncertainty about the parameters of the AUV's dynamic model, as well the external perturbations which affect its motion. To cope with this, it is proposed to use a disturbance observer which is based on the Derivative-free nonlinear Kalman Filter. The considered filtering method consists of the standard Kalman Filter recursion applied on the linearized model of the vessel and of an inverse transformation based on differential flatness theory, which enables to obtain estimates of the state variables of the initial nonlinear model of the vessel. The Kalman Filter-based disturbance observer performs simultaneous estimation of the non-measurable state variables of the AUV and of the perturbation terms that affect its dynamics. By estimating such disturbances, their compensation is also succeeded through suitable modification of the feedback control input. The efficiency of the proposed AUV control and estimation scheme is confirmed through simulation experiments.

Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems.

PubMed

Chen, Mou; Wu, Qing-Xian; Cui, Rong-Xin

2013-03-01

In this paper, the terminal sliding mode tracking control is proposed for the uncertain single-input and single-output (SISO) nonlinear system with unknown external disturbance. For the unmeasured disturbance of nonlinear systems, terminal sliding mode disturbance observer is presented. The developed disturbance observer can guarantee the disturbance approximation error to converge to zero in the finite time. Based on the output of designed disturbance observer, the terminal sliding mode tracking control is presented for uncertain SISO nonlinear systems. Subsequently, terminal sliding mode tracking control is developed using disturbance observer technique for the uncertain SISO nonlinear system with control singularity and unknown non-symmetric input saturation. The effects of the control singularity and unknown input saturation are combined with the external disturbance which is approximated using the disturbance observer. Under the proposed terminal sliding mode tracking control techniques, the finite time convergence of all closed-loop signals are guaranteed via Lyapunov analysis. Numerical simulation results are given to illustrate the effectiveness of the proposed terminal sliding mode tracking control. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Monte Carlo simulation for uncertainty estimation on structural data in implicit 3-D geological modeling, a guide for disturbance distribution selection and parameterization

NASA Astrophysics Data System (ADS)

Pakyuz-Charrier, Evren; Lindsay, Mark; Ogarko, Vitaliy; Giraud, Jeremie; Jessell, Mark

2018-04-01

Three-dimensional (3-D) geological structural modeling aims to determine geological information in a 3-D space using structural data (foliations and interfaces) and topological rules as inputs. This is necessary in any project in which the properties of the subsurface matters; they express our understanding of geometries in depth. For that reason, 3-D geological models have a wide range of practical applications including but not restricted to civil engineering, the oil and gas industry, the mining industry, and water management. These models, however, are fraught with uncertainties originating from the inherent flaws of the modeling engines (working hypotheses, interpolator's parameterization) and the inherent lack of knowledge in areas where there are no observations combined with input uncertainty (observational, conceptual and technical errors). Because 3-D geological models are often used for impactful decision-making it is critical that all 3-D geological models provide accurate estimates of uncertainty. This paper's focus is set on the effect of structural input data measurement uncertainty propagation in implicit 3-D geological modeling. This aim is achieved using Monte Carlo simulation for uncertainty estimation (MCUE), a stochastic method which samples from predefined disturbance probability distributions that represent the uncertainty of the original input data set. MCUE is used to produce hundreds to thousands of altered unique data sets. The altered data sets are used as inputs to produce a range of plausible 3-D models. The plausible models are then combined into a single probabilistic model as a means to propagate uncertainty from the input data to the final model. In this paper, several improved methods for MCUE are proposed. The methods pertain to distribution selection for input uncertainty, sample analysis and statistical consistency of the sampled distribution. Pole vector sampling is proposed as a more rigorous alternative than dip vector sampling for planar features and the use of a Bayesian approach to disturbance distribution parameterization is suggested. The influence of incorrect disturbance distributions is discussed and propositions are made and evaluated on synthetic and realistic cases to address the sighted issues. The distribution of the errors of the observed data (i.e., scedasticity) is shown to affect the quality of prior distributions for MCUE. Results demonstrate that the proposed workflows improve the reliability of uncertainty estimation and diminish the occurrence of artifacts.

Decentralized finite-time attitude synchronization for multiple rigid spacecraft via a novel disturbance observer.

PubMed

Zong, Qun; Shao, Shikai

2016-11-01

This paper investigates decentralized finite-time attitude synchronization for a group of rigid spacecraft by using quaternion with the consideration of environmental disturbances, inertia uncertainties and actuator saturation. Nonsingular terminal sliding mode (TSM) is used for controller design. Firstly, a theorem is proven that there always exists a kind of TSM that converges faster than fast terminal sliding mode (FTSM) for quaternion-descripted attitude control system. Controller with this kind of TSM has faster convergence and reduced computation than FTSM controller. Then, combining with an adaptive parameter estimation strategy, a novel terminal sliding mode disturbance observer is proposed. The proposed disturbance observer needs no upper bound information of the lumped uncertainties or their derivatives. On the basis of undirected topology and the disturbance observer, decentralized attitude synchronization control laws are designed and all attitude errors are ensured to converge to small regions in finite time. As for actuator saturation problem, an auxiliary variable is introduced and accommodated by the disturbance observer. Finally, simulation results are given and the effectiveness of the proposed control scheme is testified. Copyright © 2016. Published by Elsevier Ltd.

The Effects of Slackline Balance Training on Postural Control in Older Adults.

PubMed

Thomas, Monika; Kalicinski, Michael

2016-07-01

The present study investigated whether slackline training enhances postural control in older adults. Twenty-four participants were randomized into an intervention and a control group. The intervention group received 6 weeks of slackline training, two times per week. Pre-post measurement included the time of different standing positions on a balance platform with and without an external disturbance and the acceleration of the balance platform. Results showed significantly improved standing times during one-leg stance without external disturbance and a significantly reduced acceleration of the balance platform for the intervention group after the training period during tandem stance with and without an external disturbance. We conclude that slackline training in older adults has a positive impact on postural control and thus on the reduction of fall risk.

Extended state observer-based motion synchronisation control for hybrid actuation system of large civil aircraft

NASA Astrophysics Data System (ADS)

Wang, Xingjian; Shi, Cun; Wang, Shaoping

2017-07-01

Hybrid actuation system with dissimilar redundant actuators, which is composed of a hydraulic actuator (HA) and an electro-hydrostatic actuator (EHA), has been applied on modern civil aircraft to improve the reliability. However, the force fighting problem arises due to different dynamic performances between HA and EHA. This paper proposes an extended state observer (ESO)-based motion synchronisation control method. To cope with the problem of unavailability of the state signals, the well-designed ESO is utilised to observe the HA and EHA state variables which are unmeasured. In particular, the extended state of ESO can estimate the lumped effect of the unknown external disturbances acting on the control surface, the nonlinear dynamics, uncertainties, and the coupling term between HA and EHA. Based on the observed states of ESO, motion synchronisation controllers are presented to make HA and EHA to simultaneously track the desired motion trajectories, which are generated by a trajectory generator. Additionally, the unknown disturbances and the coupling terms can be compensated by using the extended state of the proposed ESO. Finally, comparative simulation results indicate that the proposed ESO-based motion synchronisation controller can achieve great force fighting reduction between HA and EHA.

Optimal Groundwater Extraction under Uncertainty and a Spatial Stock Externality

EPA Science Inventory

We introduce a model that incorporates two important elements to estimating welfare gains from groundwater management: stochasticity and a spatial stock externality. We estimate welfare gains resulting from optimal management under uncertainty as well as a gradual stock externali...

Robust Fuzzy Logic Stabilization with Disturbance Elimination

PubMed Central

Danapalasingam, Kumeresan A.

2014-01-01

A robust fuzzy logic controller is proposed for stabilization and disturbance rejection in nonlinear control systems of a particular type. The dynamic feedback controller is designed as a combination of a control law that compensates for nonlinear terms in a control system and a dynamic fuzzy logic controller that addresses unknown model uncertainties and an unmeasured disturbance. Since it is challenging to derive a highly accurate mathematical model, the proposed controller requires only nominal functions of a control system. In this paper, a mathematical derivation is carried out to prove that the controller is able to achieve asymptotic stability by processing state measurements. Robustness here refers to the ability of the controller to asymptotically steer the state vector towards the origin in the presence of model uncertainties and a disturbance input. Simulation results of the robust fuzzy logic controller application in a magnetic levitation system demonstrate the feasibility of the control design. PMID:25177713

Almost output regulation of LFT systems via gain-scheduling control

NASA Astrophysics Data System (ADS)

Yuan, Chengzhi; Duan, Chang; Wu, Fen

2018-05-01

Output regulation of general uncertain systems is a meaningful yet challenging problem. In spite of the rich literature in the field, the problem has not yet been addressed adequately due to the lack of an effective design mechanism. In this paper, we propose a new design framework for almost output regulation of uncertain systems described in the general form of linear fractional transformation (LFT) with time-varying parametric uncertainties and unknown external perturbations. A novel semi-LFT gain-scheduling output regulator structure is proposed, such that the associated control synthesis conditions guaranteeing both output regulation and ? disturbance attenuation performance are formulated as a set of linear matrix inequalities (LMIs) plus parameter-dependent linear matrix equations, which can be solved separately. A numerical example has been used to demonstrate the effectiveness of the proposed approach.

Optimal second order sliding mode control for linear uncertain systems.

PubMed

Das, Madhulika; Mahanta, Chitralekha

2014-11-01

In this paper an optimal second order sliding mode controller (OSOSMC) is proposed to track a linear uncertain system. The optimal controller based on the linear quadratic regulator method is designed for the nominal system. An integral sliding mode controller is combined with the optimal controller to ensure robustness of the linear system which is affected by parametric uncertainties and external disturbances. To achieve finite time convergence of the sliding mode, a nonsingular terminal sliding surface is added with the integral sliding surface giving rise to a second order sliding mode controller. The main advantage of the proposed OSOSMC is that the control input is substantially reduced and it becomes chattering free. Simulation results confirm superiority of the proposed OSOSMC over some existing. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

A dynamic load estimation method for nonlinear structures with unscented Kalman filter

NASA Astrophysics Data System (ADS)

Guo, L. N.; Ding, Y.; Wang, Z.; Xu, G. S.; Wu, B.

2018-02-01

A force estimation method is proposed for hysteretic nonlinear structures. The equation of motion for the nonlinear structure is represented in state space and the state variable is augmented by the unknown the time history of external force. Unscented Kalman filter (UKF) is improved for the force identification in state space considering the ill-condition characteristic in the computation of square roots for the covariance matrix. The proposed method is firstly validated by a numerical simulation study of a 3-storey nonlinear hysteretic frame excited by periodic force. Each storey is supposed to follow a nonlinear hysteretic model. The external force is identified and the measurement noise is considered in this case. Then a case of a seismically isolated building subjected to earthquake excitation and impact force is studied. The isolation layer performs nonlinearly during the earthquake excitation. Impact force between the seismically isolated structure and the retaining wall is estimated with the proposed method. Uncertainties such as measurement noise, model error in storey stiffness and unexpected environmental disturbances are considered. A real-time substructure testing of an isolated structure is conducted to verify the proposed method. In the experimental study, the linear main structure is taken as numerical substructure while the one of the isolations with additional mass is taken as the nonlinear physical substructure. The force applied by the actuator on the physical substructure is identified and compared with the measured value from the force transducer. The method proposed in this paper is also validated by shaking table test of a seismically isolated steel frame. The acceleration of the ground motion as the unknowns is identified by the proposed method. Results from both numerical simulation and experimental studies indicate that the UKF based force identification method can be used to identify external excitations effectively for the nonlinear structure with accurate results even with measurement noise, model error and environmental disturbances.

Approaching control for tethered space robot based on disturbance observer using super twisting law

NASA Astrophysics Data System (ADS)

Hu, Yongxin; Huang, Panfeng; Meng, Zhongjie; Wang, Dongke; Lu, Yingbo

2018-05-01

Approaching control is a key mission for the tethered space robot to perform the task of removing space debris. But the uncertainties of the TSR such as the change of model parameter have an important effect on the approaching mission. Considering the space tether and the attitude of the gripper, the dynamic model of the TSR is derived using Lagrange method. Then a disturbance observer is designed to estimate the uncertainty based on STW control method. Using the disturbance observer, a controller is designed, and the performance is compared with the dynamic inverse controller which turns out that the proposed controller performs better. Numerical simulation validates the feasibility of the proposed controller on the position and attitude tracking of the TSR.

Reliable spacecraft rendezvous without velocity measurement

NASA Astrophysics Data System (ADS)

He, Shaoming; Lin, Defu

2018-03-01

This paper investigates the problem of finite-time velocity-free autonomous rendezvous for spacecraft in the presence of external disturbances during the terminal phase. First of all, to address the problem of lack of relative velocity measurement, a robust observer is proposed to estimate the unknown relative velocity information in a finite time. It is shown that the effect of external disturbances on the estimation precision can be suppressed to a relatively low level. With the reconstructed velocity information, a finite-time output feedback control law is then formulated to stabilize the rendezvous system. Theoretical analysis and rigorous proof show that the relative position and its rate can converge to a small compacted region in finite time. Numerical simulations are performed to evaluate the performance of the proposed approach in the presence of external disturbances and actuator faults.

Hotspots of Community Change: Temporal Dynamics Are Spatially Variable in Understory Plant Composition of a California Oak Woodland

PubMed Central

Spotswood, Erica N.; Bartolome, James W.; Allen-Diaz, Barbara

2015-01-01

Community response to external drivers such climate and disturbance can lead to fluctuations in community composition, or to directional change. Temporal dynamics can be influenced by a combination of drivers operating at multiple spatial scales, including external landscape scale drivers, local abiotic conditions, and local species pools. We hypothesized that spatial variation in these factors can create heterogeneity in temporal dynamics within landscapes. We used understory plant species composition from an 11 year dataset from a California oak woodland to compare plots where disturbance was experimentally manipulated with the removal of livestock grazing and a prescribed burn. We quantified three properties of temporal variation: compositional change (reflecting the appearance and disappearance of species), temporal fluctuation, and directional change. Directional change was related most strongly to disturbance type, and was highest at plots where grazing was removed during the study. Temporal fluctuations, compositional change, and directional change were all related to intrinsic abiotic factors, suggesting that some locations are more responsive to external drivers than others. Temporal fluctuations and compositional change were linked to local functional composition, indicating that environmental filters can create subsets of the local species pool that do not respond in the same way to external drivers. Temporal dynamics are often assumed to be relatively static at the landscape scale, provided disturbance and climate are continuous. This study shows that local and landscape scale factors jointly influence temporal dynamics creating hotspots that are particularly responsive to climate and disturbance. Thus, adequate predictions of response to disturbance or to changing climate will only be achieved by considering how factors at multiple spatial scales influence community resilience and recovery. PMID:26222069

Hotspots of Community Change: Temporal Dynamics Are Spatially Variable in Understory Plant Composition of a California Oak Woodland.

PubMed

Spotswood, Erica N; Bartolome, James W; Allen-Diaz, Barbara

2015-01-01

Community response to external drivers such climate and disturbance can lead to fluctuations in community composition, or to directional change. Temporal dynamics can be influenced by a combination of drivers operating at multiple spatial scales, including external landscape scale drivers, local abiotic conditions, and local species pools. We hypothesized that spatial variation in these factors can create heterogeneity in temporal dynamics within landscapes. We used understory plant species composition from an 11 year dataset from a California oak woodland to compare plots where disturbance was experimentally manipulated with the removal of livestock grazing and a prescribed burn. We quantified three properties of temporal variation: compositional change (reflecting the appearance and disappearance of species), temporal fluctuation, and directional change. Directional change was related most strongly to disturbance type, and was highest at plots where grazing was removed during the study. Temporal fluctuations, compositional change, and directional change were all related to intrinsic abiotic factors, suggesting that some locations are more responsive to external drivers than others. Temporal fluctuations and compositional change were linked to local functional composition, indicating that environmental filters can create subsets of the local species pool that do not respond in the same way to external drivers. Temporal dynamics are often assumed to be relatively static at the landscape scale, provided disturbance and climate are continuous. This study shows that local and landscape scale factors jointly influence temporal dynamics creating hotspots that are particularly responsive to climate and disturbance. Thus, adequate predictions of response to disturbance or to changing climate will only be achieved by considering how factors at multiple spatial scales influence community resilience and recovery.

Model-free adaptive sliding mode controller design for generalized projective synchronization of the fractional-order chaotic system via radial basis function neural networks

NASA Astrophysics Data System (ADS)

Wang, L. M.

2017-09-01

A novel model-free adaptive sliding mode strategy is proposed for a generalized projective synchronization (GPS) between two entirely unknown fractional-order chaotic systems subject to the external disturbances. To solve the difficulties from the little knowledge about the master-slave system and to overcome the bad effects of the external disturbances on the generalized projective synchronization, the radial basis function neural networks are used to approach the packaged unknown master system and the packaged unknown slave system (including the external disturbances). Consequently, based on the slide mode technology and the neural network theory, a model-free adaptive sliding mode controller is designed to guarantee asymptotic stability of the generalized projective synchronization error. The main contribution of this paper is that a control strategy is provided for the generalized projective synchronization between two entirely unknown fractional-order chaotic systems subject to the unknown external disturbances, and the proposed control strategy only requires that the master system has the same fractional orders as the slave system. Moreover, the proposed method allows us to achieve all kinds of generalized projective chaos synchronizations by turning the user-defined parameters onto the desired values. Simulation results show the effectiveness of the proposed method and the robustness of the controlled system.

Adaptive Control Based Harvesting Strategy for a Predator-Prey Dynamical System.

PubMed

Sen, Moitri; Simha, Ashutosh; Raha, Soumyendu

2018-04-23

This paper deals with designing a harvesting control strategy for a predator-prey dynamical system, with parametric uncertainties and exogenous disturbances. A feedback control law for the harvesting rate of the predator is formulated such that the population dynamics is asymptotically stabilized at a positive operating point, while maintaining a positive, steady state harvesting rate. The hierarchical block strict feedback structure of the dynamics is exploited in designing a backstepping control law, based on Lyapunov theory. In order to account for unknown parameters, an adaptive control strategy has been proposed in which the control law depends on an adaptive variable which tracks the unknown parameter. Further, a switching component has been incorporated to robustify the control performance against bounded disturbances. Proofs have been provided to show that the proposed adaptive control strategy ensures asymptotic stability of the dynamics at a desired operating point, as well as exact parameter learning in the disturbance-free case and learning with bounded error in the disturbance prone case. The dynamics, with uncertainty in the death rate of the predator, subjected to a bounded disturbance has been simulated with the proposed control strategy.

Input Shaping enhanced Active Disturbance Rejection Control for a twin rotor multi-input multi-output system (TRMS).

PubMed

Yang, Xiaoyan; Cui, Jianwei; Lao, Dazhong; Li, Donghai; Chen, Junhui

2016-05-01

In this paper, a composite control based on Active Disturbance Rejection Control (ADRC) and Input Shaping is presented for TRMS with two degrees of freedom (DOF). The control tasks consist of accurately tracking desired trajectories and obtaining disturbance rejection in both horizontal and vertical planes. Due to un-measurable states as well as uncertainties stemming from modeling uncertainty and unknown disturbance torques, ADRC is employed, and feed-forward Input Shaping is used to improve the dynamical response. In the proposed approach, because the coupling effects are maintained in controller derivation, there is no requirement to decouple the TRMS into horizontal and vertical subsystems, which is usually performed in the literature. Finally, the proposed method is implemented on the TRMS platform, and the results are compared with those of PID and ADRC in a similar structure. The experimental results demonstrate the effectiveness of the proposed method. The operation of the controller allows for an excellent set-point tracking behavior and disturbance rejection with system nonlinearity and complex coupling conditions. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Leader-Follower Formation Control of UUVs with Model Uncertainties, Current Disturbances, and Unstable Communication

PubMed Central

Yan, Zheping; Xu, Da; Chen, Tao; Zhang, Wei; Liu, Yibo

2018-01-01

Unmanned underwater vehicles (UUVs) have rapidly developed as mobile sensor networks recently in the investigation, survey, and exploration of the underwater environment. The goal of this paper is to develop a practical and efficient formation control method to improve work efficiency of multi-UUV sensor networks. Distributed leader-follower formation controllers are designed based on a state feedback and consensus algorithm. Considering that each vehicle is subject to model uncertainties and current disturbances, a second-order integral UUV model with a nonlinear function is established using the state feedback linearized method under current disturbances. For unstable communication among UUVs, communication failure and acoustic link noise interference are considered. Two-layer random switching communication topologies are proposed to solve the problem of communication failure. For acoustic link noise interference, accurate representation of valid communication information and noise stripping when designing controllers is necessary. Effective communication topology weights are designed to represent the validity of communication information interfered by noise. Utilizing state feedback and noise stripping, sufficient conditions for design formation controllers are proposed to ensure UUV formation achieves consensus under model uncertainties, current disturbances, and unstable communication. The stability of formation controllers is proven by the Lyapunov-Razumikhin theorem, and the validity is verified by simulation results. PMID:29473919

Disturbance ecology in the Northern Rockies: One perspective

Treesearch

Al Harvey; Penny Morgan

2001-01-01

Since early 1900s forestry, ecology and related professions have been aware that external disturbances had important effects on the development of vegetation. However, the integral part they play in ecosystem development and sustainability across time and space was largely underappreciated. Failure to provide appropriate disturbances can place stable and productive...

Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

PubMed Central

Lee, Ji Min; Park, Sung Hwan; Kim, Jong Shik

2013-01-01

A robust control scheme is proposed for the position control of the electrohydrostatic actuator (EHA) when considering hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. To reduce overshoot due to a saturation of electric motor and to realize robustness against load disturbance and lumped system uncertainties such as varying parameters and modeling error, this paper proposes an adaptive antiwindup PID sliding mode scheme as a robust position controller for the EHA system. An optimal PID controller and an optimal anti-windup PID controller are also designed to compare control performance. An EHA prototype is developed, carrying out system modeling and parameter identification in designing the position controller. The simply identified linear model serves as the basis for the design of the position controllers, while the robustness of the control systems is compared by experiments. The adaptive anti-windup PID sliding mode controller has been found to have the desired performance and become robust against hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. PMID:23983640

Quantum uncertainty switches on or off the error-disturbance tradeoff

NASA Astrophysics Data System (ADS)

Zhang, Yu-Xiang; Su, Zu-En; Zhu, Xuanmin; Wu, Shengjun; Chen, Zeng-Bing

2016-06-01

The indeterminacy of quantum mechanics was originally presented by Heisenberg through the tradeoff between the measuring error of the observable A and the consequential disturbance to the value of another observable B. This tradeoff now has become a popular interpretation of the uncertainty principle. However, the historic idea has never been exactly formulated previously and is recently called into question. A theory built upon operational and state-relevant definitions of error and disturbance is called for to rigorously reexamine the relationship. Here by putting forward such natural definitions, we demonstrate both theoretically and experimentally that there is no tradeoff if the outcome of measuring B is more uncertain than that of A. Otherwise, the tradeoff will be switched on and well characterized by the Jensen-Shannon divergence. Our results reveal the hidden effect of the uncertain nature possessed by the measured state, and conclude that the state-relevant relation between error and disturbance is not almosteverywhere a tradeoff as people usually believe.

Error-tradeoff and error-disturbance relations for incompatible quantum measurements.

PubMed

Branciard, Cyril

2013-04-23

Heisenberg's uncertainty principle is one of the main tenets of quantum theory. Nevertheless, and despite its fundamental importance for our understanding of quantum foundations, there has been some confusion in its interpretation: Although Heisenberg's first argument was that the measurement of one observable on a quantum state necessarily disturbs another incompatible observable, standard uncertainty relations typically bound the indeterminacy of the outcomes when either one or the other observable is measured. In this paper, we quantify precisely Heisenberg's intuition. Even if two incompatible observables cannot be measured together, one can still approximate their joint measurement, at the price of introducing some errors with respect to the ideal measurement of each of them. We present a tight relation characterizing the optimal tradeoff between the error on one observable vs. the error on the other. As a particular case, our approach allows us to characterize the disturbance of an observable induced by the approximate measurement of another one; we also derive a stronger error-disturbance relation for this scenario.

ISS Quasi-steady Accelerometric Data as a Tool for the Detection of External Disturbances During the Period 2009-2016

NASA Astrophysics Data System (ADS)

Marín, M.; Dubert, D.; Simón, M. J.; Ollé, J.; Gavaldà, Jna.; Ruiz, X.

2018-04-01

The present work aims to investigate the degree of correlation existing between the information contained in the ISS reduced quasi-steady accelerometric data and different external mechanical disturbances (reboostings, dockings/undockings, berthings/deberthings and Extra Vehicular Activities), compiled for the period 2009 to 2016. The eight hour mean (Mean8h) and the eight hour root mean square (RMS8h) acceleration values, considered as reduced data, have been extracted from the quasi-steady records provided by NASA Principal Investigator Microgravity Services website. The advantage of applying the present strategy is to drastically reduce the amount of information to be processed all along these eight years. The Mean8h values have been used for the evaluation of trends as function of time while the RMS8h ones were used to define the level (weak, medium and strong) of the different kind of external mechanical disturbances considered. These criteria has been applied for approximately four hundred selected disturbances, compiled in the Appendix. Results indicate that reboosting is always detected as a strong disturbance, while dockings/undockings, as weak ones, having lower, though detectable level, depending on the type of spacecraft considered. Extra Vehicular Activities are undetectable by the use of this reduced quasi-steady approach. The inverse problem, in other words, knowing the value of the RMS8h one could try to predict the kind of disturbance responsible of it, is thus feasible except for berthing/deberthings and Extra Vehicular Activities.

Takagi-Sugeno fuzzy model based robust dissipative control for uncertain flexible spacecraft with saturated time-delay input.

PubMed

Xu, Shidong; Sun, Guanghui; Sun, Weichao

2017-01-01

In this paper, the problem of robust dissipative control is investigated for uncertain flexible spacecraft based on Takagi-Sugeno (T-S) fuzzy model with saturated time-delay input. Different from most existing strategies, T-S fuzzy approximation approach is used to model the nonlinear dynamics of flexible spacecraft. Simultaneously, the physical constraints of system, like input delay, input saturation, and parameter uncertainties, are also taken care of in the fuzzy model. By employing Lyapunov-Krasovskii method and convex optimization technique, a novel robust controller is proposed to implement rest-to-rest attitude maneuver for flexible spacecraft, and the guaranteed dissipative performance enables the uncertain closed-loop system to reject the influence of elastic vibrations and external disturbances. Finally, an illustrative design example integrated with simulation results are provided to confirm the applicability and merits of the developed control strategy. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Robust H(∞) positional control of 2-DOF robotic arm driven by electro-hydraulic servo system.

PubMed

Guo, Qing; Yu, Tian; Jiang, Dan

2015-11-01

In this paper an H∞ positional feedback controller is developed to improve the robust performance under structural and parametric uncertainty disturbance in electro-hydraulic servo system (EHSS). The robust control model is described as the linear state-space equation by upper linear fractional transformation. According to the solution of H∞ sub-optimal control problem, the robust controller is designed and simplified to lower order linear model which is easily realized in EHSS. The simulation and experimental results can validate the robustness of this proposed method. The comparison result with PI control shows that the robust controller is suitable for this EHSS under the critical condition where the desired system bandwidth is higher and the external load of the hydraulic actuator is closed to its limited capability. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Vehicle lateral motion regulation under unreliable communication links based on robust H∞ output-feedback control schema

NASA Astrophysics Data System (ADS)

Li, Cong; Jing, Hui; Wang, Rongrong; Chen, Nan

2018-05-01

This paper presents a robust control schema for vehicle lateral motion regulation under unreliable communication links via controller area network (CAN). The communication links between the system plant and the controller are assumed to be imperfect and therefore the data packet dropouts occur frequently. The paper takes the form of parallel distributed compensation and treats the dropouts as random binary numbers that form Bernoulli distribution. Both of the tire cornering stiffness uncertainty and external disturbances are considered to enhance the robustness of the controller. In addition, a robust H∞ static output-feedback control approach is proposed to realize the lateral motion control with relative low cost sensors. The stochastic stability of the closed-loop system and conservation of the guaranteed H∞ performance are investigated. Simulation results based on CarSim platform using a high-fidelity and full-car model verify the effectiveness of the proposed control approach.

A model predictive speed tracking control approach for autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Zhu, Min; Chen, Huiyan; Xiong, Guangming

2017-03-01

This paper presents a novel speed tracking control approach based on a model predictive control (MPC) framework for autonomous ground vehicles. A switching algorithm without calibration is proposed to determine the drive or brake control. Combined with a simple inverse longitudinal vehicle model and adaptive regulation of MPC, this algorithm can make use of the engine brake torque for various driving conditions and avoid high frequency oscillations automatically. A simplified quadratic program (QP) solving algorithm is used to reduce the computational time, and the approach has been applied in a 16-bit microcontroller. The performance of the proposed approach is evaluated via simulations and vehicle tests, which were carried out in a range of speed-profile tracking tasks. With a well-designed system structure, high-precision speed control is achieved. The system can robustly model uncertainty and external disturbances, and yields a faster response with less overshoot than a PI controller.

Distributed attitude synchronization of formation flying via consensus-based virtual structure

NASA Astrophysics Data System (ADS)

Cong, Bing-Long; Liu, Xiang-Dong; Chen, Zhen

2011-06-01

This paper presents a general framework for synchronized multiple spacecraft rotations via consensus-based virtual structure. In this framework, attitude control systems for formation spacecrafts and virtual structure are designed separately. Both parametric uncertainty and external disturbance are taken into account. A time-varying sliding mode control (TVSMC) algorithm is designed to improve the robustness of the actual attitude control system. As for the virtual attitude control system, a behavioral consensus algorithm is presented to accomplish the attitude maneuver of the entire formation and guarantee a consistent attitude among the local virtual structure counterparts during the attitude maneuver. A multiple virtual sub-structures (MVSSs) system is introduced to enhance current virtual structure scheme when large amounts of spacecrafts are involved in the formation. The attitude of spacecraft is represented by modified Rodrigues parameter (MRP) for its non-redundancy. Finally, a numerical simulation with three synchronization situations is employed to illustrate the effectiveness of the proposed strategy.

On-Line Robust Modal Stability Prediction using Wavelet Processing

NASA Technical Reports Server (NTRS)

Brenner, Martin J.; Lind, Rick

1998-01-01

Wavelet analysis for filtering and system identification has been used to improve the estimation of aeroservoelastic stability margins. The conservatism of the robust stability margins is reduced with parametric and nonparametric time- frequency analysis of flight data in the model validation process. Nonparametric wavelet processing of data is used to reduce the effects of external disturbances and unmodeled dynamics. Parametric estimates of modal stability are also extracted using the wavelet transform. Computation of robust stability margins for stability boundary prediction depends on uncertainty descriptions derived from the data for model validation. The F-18 High Alpha Research Vehicle aeroservoelastic flight test data demonstrates improved robust stability prediction by extension of the stability boundary beyond the flight regime. Guidelines and computation times are presented to show the efficiency and practical aspects of these procedures for on-line implementation. Feasibility of the method is shown for processing flight data from time- varying nonstationary test points.

Bioterrorism Preparedness in Public Health: Knowledge Needs for Robust Transformations

ERIC Educational Resources Information Center

Ipe, Minu

2007-01-01

The typical response of organizations dealing with external uncertainty is to develop strategies to adapt to the situation and focus on regaining a stable state. A crucial element of responding successfully to external uncertainties is to identify changes in knowledge needs within core organizational processes. This paper discusses the changing…

Advanced NASA Earth Science Mission Concept for Vegetation 3D Structure, Biomass and Disturbance

NASA Technical Reports Server (NTRS)

Ranson, K. Jon

2007-01-01

Carbon in forest canopies represents about 85% of the total carbon in the Earth's aboveground biomass (Olson et al., 1983). A major source of uncertainty in global carbon budgets derives from large errors in the current estimates of these carbon stocks (IPCC, 2001). The magnitudes and distributions of terrestrial carbon storage along with changes in sources and sinks for atmospheric C02 due to land use change remain the most significant uncertainties in Earth's carbon budget. These uncertainties severely limit accurate terrestrial carbon accounting; our ability to evaluate terrestrial carbon management schemes; and the veracity of atmospheric C02 projections in response to further fossil fuel combustion and other human activities. Measurements of vegetation three-dimensional (3D) structural characteristics over the Earth's land surface are needed to estimate biomass and carbon stocks and to quantify biomass recovery following disturbance. These measurements include vegetation height, the vertical profile of canopy elements (i.e., leaves, stems, branches), andlor the volume scattering of canopy elements. They are critical for reducing uncertainties in the global carbon budget. Disturbance by natural phenomena, such as fire or wind, as well as by human activities, such as forest harvest, and subsequent recovery, complicate the quantification of carbon storage and release. The resulting spatial and temporal heterogeneity of terrestrial biomass and carbon in vegetation make it very difficult to estimate terrestrial carbon stocks and quantify their dynamics. Vegetation height profiles and disturbance recovery patterns are also required to assess ecosystem health and characterize habitat. The three-dimensional structure of vegetation provides habitats for many species and is a control on biodiversity. Canopy height and structure influence habitat use and specialization, two fundamental processes that modify species richness and abundance across ecosystems. Accurate and consistent 3D measurements of forest structure at the landscape scale are needed for assessing impacts to animal habitats and biodiversity following disturbance.

Form of the compensatory stepping response to repeated laterally directed postural disturbances.

PubMed

Hurt, Christopher P; Rosenblatt, Noah J; Grabiner, Mark D

2011-10-01

A compensatory stepping response (CSR) is a common strategy to restore dynamic stability in response to a postural disturbance. Currently, few studies have investigated the CSR to laterally directed disturbances delivered to subjects during quiet standing. The purpose of this study was to characterize the CSR of younger adults following exposure to a series of similar laterally directed disturbances for which no instructions were given with regard to the recovery response. We hypothesized that in the absence of externally applied constraints to the recovery response, subjects would be equally as likely to perform a crossover step as a sidestep sequence (SSS). We further hypothesized that there would be an asymmetry in arm abduction that would be dependent on the disturbance direction. Finally, we were interested in characterizing the effect of practice on the CSR to repeated disturbances. Ten younger adults were exposed to thirty laterally directed platform disturbances that forced a stepping response. Subjects responded by primarily utilizing a SSS that differs from previously reported results. Further, five of the ten subjects utilized a different recovery response that was dependent on the direction of the disturbance (i.e., left or right). Greater arm abduction was characterized for the arm in the direction of the external disturbance in comparison with the contralateral arm. Lastly, subjects modified their recovery response to this task within 12 disturbances. Taken together, these results suggest that recovery responses to laterally directed disturbances can be quickly modified but can be quite variable between and within subjects.

Observation of trends in biomass loss as a result of disturbance in the conterminous U.S.: 1986-2004

Treesearch

Scott L. Powell; Warren B. Cohen; Robert E. Kennedy; Sean P. Healey; Chengquan Huang

2013-01-01

The critical role of forests in the global carbon cycle is well known, but significant uncertainties remain about the specific role of disturbance, in part because of the challenge of incorporating spatial and temporal detail in the characterization of disturbance processes. In this study, we link forest inventory data to remote sensing data to derive estimates of pre...

Anti-disturbance rapid vibration suppression of the flexible aerial refueling hose

NASA Astrophysics Data System (ADS)

Su, Zikang; Wang, Honglun; Li, Na

2018-05-01

As an extremely dangerous phenomenon in autonomous aerial refueling (AAR), the flexible refueling hose vibration caused by the receiver aircraft's excessive closure speed should be suppressed once it appears. This paper proposed a permanent magnet synchronous motor (PMSM) based refueling hose servo take-up system for the vibration suppression of the flexible refueling hose. A rapid back-stepping based anti-disturbance nonsingular fast terminal sliding mode (NFTSM) control scheme with a specially established finite-time convergence NFTSM observer is proposed for the PMSM based hose servo take-up system under uncertainties and disturbances. The unmeasured load torque and other disturbances in the PMSM system are reconstituted by the NFTSM observer and to be compensated during the controller design. Then, with the back-stepping technique, a rapid anti-disturbance NFTSM controller is proposed for the PMSM angular tracking to improve the tracking error convergence speed and tracking precision. The proposed vibration suppression scheme is then applied to PMSM based hose servo take-up system for the refueling hose vibration suppression in AAR. Simulation results show the proposed scheme can suppress the hose vibration rapidly and accurately even the system is exposed to strong uncertainties and probe position disturbances, it is more competitive in tracking accuracy, tracking error convergence speed and robustness.

Robust control of burst suppression for medical coma

NASA Astrophysics Data System (ADS)

Westover, M. Brandon; Kim, Seong-Eun; Ching, ShiNung; Purdon, Patrick L.; Brown, Emery N.

2015-08-01

Objective. Medical coma is an anesthetic-induced state of brain inactivation, manifest in the electroencephalogram by burst suppression. Feedback control can be used to regulate burst suppression, however, previous designs have not been robust. Robust control design is critical under real-world operating conditions, subject to substantial pharmacokinetic and pharmacodynamic parameter uncertainty and unpredictable external disturbances. We sought to develop a robust closed-loop anesthesia delivery (CLAD) system to control medical coma. Approach. We developed a robust CLAD system to control the burst suppression probability (BSP). We developed a novel BSP tracking algorithm based on realistic models of propofol pharmacokinetics and pharmacodynamics. We also developed a practical method for estimating patient-specific pharmacodynamics parameters. Finally, we synthesized a robust proportional integral controller. Using a factorial design spanning patient age, mass, height, and gender, we tested whether the system performed within clinically acceptable limits. Throughout all experiments we subjected the system to disturbances, simulating treatment of refractory status epilepticus in a real-world intensive care unit environment. Main results. In 5400 simulations, CLAD behavior remained within specifications. Transient behavior after a step in target BSP from 0.2 to 0.8 exhibited a rise time (the median (min, max)) of 1.4 [1.1, 1.9] min; settling time, 7.8 [4.2, 9.0] min; and percent overshoot of 9.6 [2.3, 10.8]%. Under steady state conditions the CLAD system exhibited a median error of 0.1 [-0.5, 0.9]%; inaccuracy of 1.8 [0.9, 3.4]%; oscillation index of 1.8 [0.9, 3.4]%; and maximum instantaneous propofol dose of 4.3 [2.1, 10.5] mg kg-1. The maximum hourly propofol dose was 4.3 [2.1, 10.3] mg kg-1 h-1. Performance fell within clinically acceptable limits for all measures. Significance. A CLAD system designed using robust control theory achieves clinically acceptable performance in the presence of realistic unmodeled disturbances and in spite of realistic model uncertainty, while maintaining infusion rates within acceptable safety limits.

Robust control of burst suppression for medical coma

PubMed Central

Westover, M Brandon; Kim, Seong-Eun; Ching, ShiNung; Purdon, Patrick L; Brown, Emery N

2015-01-01

Objective Medical coma is an anesthetic-induced state of brain inactivation, manifest in the electroencephalogram by burst suppression. Feedback control can be used to regulate burst suppression, however, previous designs have not been robust. Robust control design is critical under real-world operating conditions, subject to substantial pharmacokinetic and pharmacodynamic parameter uncertainty and unpredictable external disturbances. We sought to develop a robust closed-loop anesthesia delivery (CLAD) system to control medical coma. Approach We developed a robust CLAD system to control the burst suppression probability (BSP). We developed a novel BSP tracking algorithm based on realistic models of propofol pharmacokinetics and pharmacodynamics. We also developed a practical method for estimating patient-specific pharmacodynamics parameters. Finally, we synthesized a robust proportional integral controller. Using a factorial design spanning patient age, mass, height, and gender, we tested whether the system performed within clinically acceptable limits. Throughout all experiments we subjected the system to disturbances, simulating treatment of refractory status epilepticus in a real-world intensive care unit environment. Main results In 5400 simulations, CLAD behavior remained within specifications. Transient behavior after a step in target BSP from 0.2 to 0.8 exhibited a rise time (the median (min, max)) of 1.4 [1.1, 1.9] min; settling time, 7.8 [4.2, 9.0] min; and percent overshoot of 9.6 [2.3, 10.8]%. Under steady state conditions the CLAD system exhibited a median error of 0.1 [−0.5, 0.9]%; inaccuracy of 1.8 [0.9, 3.4]%; oscillation index of 1.8 [0.9, 3.4]%; and maximum instantaneous propofol dose of 4.3 [2.1, 10.5] mg kg−1. The maximum hourly propofol dose was 4.3 [2.1, 10.3] mg kg−1 h−1. Performance fell within clinically acceptable limits for all measures. Significance A CLAD system designed using robust control theory achieves clinically acceptable performance in the presence of realistic unmodeled disturbances and in spite of realistic model uncertainty, while maintaining infusion rates within acceptable safety limits. PMID:26020243

The H I chronicles of LITTLE THINGS blue compact dwarf galaxies

NASA Astrophysics Data System (ADS)

Ashley, Trisha Lynn

Star formation occurs when the gas (mostly atomic hydrogen; H I) in a galaxy becomes disturbed, forming regions of high density gas, which then collapses to form stars. In dwarf galaxies it is still uncertain which processes contribute to star formation and how much they contribute to star formation. Blue compact dwarf (BCD) galaxies are low mass, low shear, gas rich galaxies that have high star formation rates when compared to other dwarf galaxies. What triggers the dense burst of star formation in BCDs but not other dwarfs is not well understood. It is often suggested that BCDs may have their starburst triggered by gravitational interactions with other galaxies, dwarf-dwarf galaxy mergers, or consumption of intergalactic gas. However, there are BCDs that appear isolated with respect to other galaxies, making an external disturbance unlikely. Here, I study six apparently isolated BCDs from the LITTLE THINGS sample in an attempt to understand what has triggered their burst of star formation. LITTLE THINGS is an H I survey of 41 dwarf galaxies. Each galaxy has high angular and velocity resolution H I data from the Very Large Array (VLA) telescope and ancillary stellar data. I use these data to study the detailed morphology and kinematics of each galaxy, looking for signatures of starburst triggers. In addition to the VLA data, I have collected Green Bank Telescope data for the six BCDs. These high sensitivity, low resolution data are used to search the surrounding area of each galaxy for extended emission and possible nearby companion galaxies. The VLA data show evidence that each BCD has likely experienced some form of external disturbance despite their apparent isolation. These external disturbances potentially seen in the sample include: ongoing/advanced dwarf-dwarf mergers, an interaction with an unknown external object, and external gas consumption. The GBT data result in no nearby, separate H I companions at the sensitivity of the data. These data therefore suggest that even though these BCDs appear isolated, they have not been evolving in isolation. It is possible that these external disturbances may have triggered the starbursts that defines them as BCDs.

Dynamic output feedback control of a flexible air-breathing hypersonic vehicle via T-S fuzzy approach

NASA Astrophysics Data System (ADS)

Hu, Xiaoxiang; Wu, Ligang; Hu, Changhua; Wang, Zhaoqiang; Gao, Huijun

2014-08-01

By utilising Takagi-Sugeno (T-S) fuzzy set approach, this paper addresses the robust H∞ dynamic output feedback control for the non-linear longitudinal model of flexible air-breathing hypersonic vehicles (FAHVs). The flight control of FAHVs is highly challenging due to the unique dynamic characteristics, and the intricate couplings between the engine and fight dynamics and external disturbance. Because of the dynamics' enormous complexity, currently, only the longitudinal dynamics models of FAHVs have been used for controller design. In this work, T-S fuzzy modelling technique is utilised to approach the non-linear dynamics of FAHVs, then a fuzzy model is developed for the output tracking problem of FAHVs. The fuzzy model contains parameter uncertainties and disturbance, which can approach the non-linear dynamics of FAHVs more exactly. The flexible models of FAHVs are difficult to measure because of the complex dynamics and the strong couplings, thus a full-order dynamic output feedback controller is designed for the fuzzy model. A robust H∞ controller is designed for the obtained closed-loop system. By utilising the Lyapunov functional approach, sufficient solvability conditions for such controllers are established in terms of linear matrix inequalities. Finally, the effectiveness of the proposed T-S fuzzy dynamic output feedback control method is demonstrated by numerical simulations.

Investigation into Model-Based Fuzzy Logic Control

DTIC Science & Technology

1993-12-01

of the linearized plant as a function of r ................... 3-3 3.2. Model of Compensator G (s) with r externally defined .................... 3-4...and three zeros will be added to the compensator. 3-3 he Figure 3.2 Model of Compensator G (s) with r externally defined The form of the compensator...with disturbance rejection is: = (s2 + a + r )(8 + 45)f G (s) + + - (3.3) a(s + 4.5)(a + 200+ Notice that in order to achieve disturbance rejection yet

DETECTABILITY AND UNCERTAINTIES IN THE ESTIMATION OF THE IMPACTS OF LAND DISTURBANCES ON CATCHMENT RUNOFF

EPA Science Inventory

Interpretation of the impacts of land disturbances on hydrology is confounded by climate variations. Clear definition of the anthropogenic impacts has been difficult, especially in cases where a clearly defined base line or reference point is absent. This study investigates the d...

Distributed optimisation problem with communication delay and external disturbance

NASA Astrophysics Data System (ADS)

Tran, Ngoc-Tu; Xiao, Jiang-Wen; Wang, Yan-Wu; Yang, Wu

2017-12-01

This paper investigates the distributed optimisation problem for the multi-agent systems (MASs) with the simultaneous presence of external disturbance and the communication delay. To solve this problem, a two-step design scheme is introduced. In the first step, based on the internal model principle, the internal model term is constructed to compensate the disturbance asymptotically. In the second step, a distributed optimisation algorithm is designed to solve the distributed optimisation problem based on the MASs with the simultaneous presence of disturbance and communication delay. Moreover, in the proposed algorithm, each agent interacts with its neighbours through the connected topology and the delay occurs during the information exchange. By utilising Lyapunov-Krasovskii functional, the delay-dependent conditions are derived for both slowly and fast time-varying delay, respectively, to ensure the convergence of the algorithm to the optimal solution of the optimisation problem. Several numerical simulation examples are provided to illustrate the effectiveness of the theoretical results.

Extended observer based on adaptive second order sliding mode control for a fixed wing UAV.

PubMed

Castañeda, Herman; Salas-Peña, Oscar S; León-Morales, Jesús de

2017-01-01

This paper addresses the design of attitude and airspeed controllers for a fixed wing unmanned aerial vehicle. An adaptive second order sliding mode control is proposed for improving performance under different operating conditions and is robust in presence of external disturbances. Moreover, this control does not require the knowledge of disturbance bounds and avoids overestimation of the control gains. Furthermore, in order to implement this controller, an extended observer is designed to estimate unmeasurable states as well as external disturbances. Additionally, sufficient conditions are given to guarantee the closed-loop stability of the observer based control. Finally, using a full 6 degree of freedom model, simulation results are obtained where the performance of the proposed method is compared against active disturbance rejection based on sliding mode control. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Complex Visual Data Analysis, Uncertainty, and Representation

DTIC Science & Technology

2007-01-01

McNeill, D. (1992). Hand and mind: What gestures reveal about thought. Chicago, IL, USA: University of Chicago Press. Neisser , U . (1976). Cognition and...and Uncertainty 5 representations than on other external representations, and cognitive science talks about this interaction as affordances ( Neisser ...the human body fit into the structure of the external environment to explain human cognition and performance (Gibson, 1979; Neisser

Funnel Libraries for Real-Time Robust Feedback Motion Planning

DTIC Science & Technology

2016-07-21

motion plans for a robot that are guaranteed to suc- ceed despite uncertainty in the environment, parametric model uncertainty, and disturbances...resulting funnel library is then used to sequentially compose motion plans at runtime while ensuring the safety of the robot . A major advantage of...the work presented here is that by explicitly taking into account the effect of uncertainty, the robot can evaluate motion plans based on how vulnerable

Stabilization of a Quadrotor With Uncertain Suspended Load Using Sliding Mode Control

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

Zhou, Xu; Liu, Rui; Zhang, Jiucai

2016-08-21

The stability and trajectory control of a quadrotor carrying a suspended load with a fixed known mass has been extensively studied in recent years. However, the load mass is not always known beforehand in practical applications. This mass uncertainty brings uncertain disturbances to the quadrotor system, causing existing controllers to have a worse performance or to be collapsed. To improve the quadrotor's stability in this situation, we investigate the impacts of the uncertain load mass on the quadrotor. By comparing the simulation results of two controllers -- the proportional-derivative (PD) controller and the sliding mode controller (SMC) driven by amore » sliding mode disturbance of observer (SMDO), the quadrotor's performance is verified to be worse as the uncertainty increases. The simulation results also show a controller with stronger robustness against disturbances is better for practical applications.« less

Modeling dynamic behavior of superconducting maglev systems under external disturbances

NASA Astrophysics Data System (ADS)

Huang, Chen-Guang; Xue, Cun; Yong, Hua-Dong; Zhou, You-He

2017-08-01

For a maglev system, vertical and lateral displacements of the levitation body may simultaneously occur under external disturbances, which often results in changes in the levitation and guidance forces and even causes some serious malfunctions. To fully understand the effect of external disturbances on the levitation performance, in this work, we build a two-dimensional numerical model on the basis of Newton's second law of motion and a mathematical formulation derived from magnetoquasistatic Maxwell's equations together with a nonlinear constitutive relation between the electric field and the current density. By using this model, we present an analysis of dynamic behavior for two typical maglev systems consisting of an infinitely long superconductor and a guideway of different arrangements of infinitely long parallel permanent magnets. The results show that during the vertical movement, the levitation force is closely associated with the flux motion and the moving velocity of the superconductor. After being disturbed at the working position, the superconductor has a disturbance-induced initial velocity and then starts to periodically vibrate in both lateral and vertical directions. Meanwhile, the lateral and vertical vibration centers gradually drift along their vibration directions. The larger the initial velocity, the faster their vibration centers drift. However, the vertical drift of the vertical vibration center seems to be independent of the direction of the initial velocity. In addition, due to the lateral and vertical drifts, the equilibrium position of the superconductor in the maglev systems is not a space point but a continuous range.

Harmonization of forest disturbance datasets of the conterminous USA from 1986 to 2011

USGS Publications Warehouse

Soulard, Christopher E.; Acevedo, William; Cohen, Warren B.; Yang, Zhiqiang; Stehman, Stephen V.; Taylor, Janis L.

2017-01-01

Several spatial forest disturbance datasets exist for the conterminous USA. The major problem with forest disturbance mapping is that variability between map products leads to uncertainty regarding the actual rate of disturbance. In this article, harmonized maps were produced from multiple data sources (i.e., Global Forest Change, LANDFIRE Vegetation Disturbance, National Land Cover Database, Vegetation Change Tracker, and Web-Enabled Landsat Data). The harmonization process involved fitting common class ontologies and determining spatial congruency to produce forest disturbance maps for four time intervals (1986–1992, 1992–2001, 2001–2006, and 2006–2011). Pixels mapped as disturbed for two or more datasets were labeled as disturbed in the harmonized maps. The primary advantage gained by harmonization was improvement in commission error rates relative to the individual disturbance products. Disturbance omission errors were high for both harmonized and individual forest disturbance maps due to underlying limitations in mapping subtle disturbances with Landsat classification algorithms. To enhance the value of the harmonized disturbance products, we used fire perimeter maps to add information on the cause of disturbance.

Harmonization of forest disturbance datasets of the conterminous USA from 1986 to 2011.

PubMed

Soulard, Christopher E; Acevedo, William; Cohen, Warren B; Yang, Zhiqiang; Stehman, Stephen V; Taylor, Janis L

2017-04-01

Several spatial forest disturbance datasets exist for the conterminous USA. The major problem with forest disturbance mapping is that variability between map products leads to uncertainty regarding the actual rate of disturbance. In this article, harmonized maps were produced from multiple data sources (i.e., Global Forest Change, LANDFIRE Vegetation Disturbance, National Land Cover Database, Vegetation Change Tracker, and Web-Enabled Landsat Data). The harmonization process involved fitting common class ontologies and determining spatial congruency to produce forest disturbance maps for four time intervals (1986-1992, 1992-2001, 2001-2006, and 2006-2011). Pixels mapped as disturbed for two or more datasets were labeled as disturbed in the harmonized maps. The primary advantage gained by harmonization was improvement in commission error rates relative to the individual disturbance products. Disturbance omission errors were high for both harmonized and individual forest disturbance maps due to underlying limitations in mapping subtle disturbances with Landsat classification algorithms. To enhance the value of the harmonized disturbance products, we used fire perimeter maps to add information on the cause of disturbance.

Disturbances and Contradictions in an Online Conference

ERIC Educational Resources Information Center

Carr, Tony; Ludvigsen, Sten Runar

2017-01-01

This article analyses participant experiences and statements about perceived problems in two online conferences to identify tensions and disturbances relating to external factors, conference technology, online discussions and design choices and then considers the underlying contradictions within the conference systems which generate both positive…

Probabilistic accident consequence uncertainty analysis -- Uncertainty assessment for deposited material and external doses. Volume 2: Appendices

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

Goossens, L.H.J.; Kraan, B.C.P.; Cooke, R.M.

1997-12-01

The development of two new probabilistic accident consequence codes, MACCS and COSYMA, was completed in 1990. These codes estimate the consequence from the accidental releases of radiological material from hypothesized accidents at nuclear installations. In 1991, the US Nuclear Regulatory Commission and the Commission of the European Communities began cosponsoring a joint uncertainty analysis of the two codes. The ultimate objective of this joint effort was to systematically develop credible and traceable uncertainty distributions for the respective code input variables. A formal expert judgment elicitation and evaluation process was identified as the best technology available for developing a library ofmore » uncertainty distributions for these consequence parameters. This report focuses on the results of the study to develop distribution for variables related to the MACCS and COSYMA deposited material and external dose models. This volume contains appendices that include (1) a summary of the MACCS and COSYMA consequence codes, (2) the elicitation questionnaires and case structures, (3) the rationales and results for the panel on deposited material and external doses, (4) short biographies of the experts, and (5) the aggregated results of their responses.« less

Analysis of chaos in high-dimensional wind power system.

PubMed

Wang, Cong; Zhang, Hongli; Fan, Wenhui; Ma, Ping

2018-01-01

A comprehensive analysis on the chaos of a high-dimensional wind power system is performed in this study. A high-dimensional wind power system is more complex than most power systems. An 11-dimensional wind power system proposed by Huang, which has not been analyzed in previous studies, is investigated. When the systems are affected by external disturbances including single parameter and periodic disturbance, or its parameters changed, chaotic dynamics of the wind power system is analyzed and chaotic parameters ranges are obtained. Chaos existence is confirmed by calculation and analysis of all state variables' Lyapunov exponents and the state variable sequence diagram. Theoretical analysis and numerical simulations show that the wind power system chaos will occur when parameter variations and external disturbances change to a certain degree.

Estimating uncertainties in watershed studies

Treesearch

John Campbell; Ruth Yanai; Mark Green

2011-01-01

Small watersheds have been used widely to quantify chemical fluxes and cycling in terrestrial ecosystems for about the past half century. The small watershed approach has been valuable in characterizing hydrologic and nutrient budgets, for instance, in estimating the net gain or loss of solutes in response to disturbance. However, the uncertainty in these ecosystem...

Fires following bark beetles: Factors controlling severity and disturbance interactions in ponderosa pine

Treesearch

Carolyn H. Sieg; Rodman R. Linn; Francois Pimont; Chad M. Hoffman; Joel D. McMillin; Judith Winterkamp; L. Scott Baggett

2017-01-01

Previous studies have suggested that bark beetles and fires can be interacting disturbances, whereby bark beetle-caused tree mortality can alter the risk and severity of subsequent wildland fires. However, there remains considerable uncertainty around the type and magnitude of the interaction between fires following bark beetle attacks, especially in drier forest types...

Distinction between Externally vs. Internally Guided Decision-Making: Operational Differences, Meta-Analytical Comparisons and Their Theoretical Implications

PubMed Central

Nakao, Takashi; Ohira, Hideki; Northoff, Georg

2012-01-01

Most experimental studies of decision-making have specifically examined situations in which a single less-predictable correct answer exists (externally guided decision-making under uncertainty). Along with such externally guided decision-making, there are instances of decision-making in which no correct answer based on external circumstances is available for the subject (internally guided decision-making). Such decisions are usually made in the context of moral decision-making as well as in preference judgment, where the answer depends on the subject’s own, i.e., internal, preferences rather than on external, i.e., circumstantial, criteria. The neuronal and psychological mechanisms that allow guidance of decisions based on more internally oriented criteria in the absence of external ones remain unclear. This study was undertaken to compare decision-making of these two kinds empirically and theoretically. First, we reviewed studies of decision-making to clarify experimental–operational differences between externally guided and internally guided decision-making. Second, using multi-level kernel density analysis, a whole-brain-based quantitative meta-analysis of neuroimaging studies was performed. Our meta-analysis revealed that the neural network used predominantly for internally guided decision-making differs from that for externally guided decision-making under uncertainty. This result suggests that studying only externally guided decision-making under uncertainty is insufficient to account for decision-making processes in the brain. Finally, based on the review and results of the meta-analysis, we discuss the differences and relations between decision-making of these two types in terms of their operational, neuronal, and theoretical characteristics. PMID:22403525

Adaptive tracking control of leader-following linear multi-agent systems with external disturbances

NASA Astrophysics Data System (ADS)

Lin, Hanquan; Wei, Qinglai; Liu, Derong; Ma, Hongwen

2016-10-01

In this paper, the consensus problem for leader-following linear multi-agent systems with external disturbances is investigated. Brownian motions are used to describe exogenous disturbances. A distributed tracking controller based on Riccati inequalities with an adaptive law for adjusting coupling weights between neighbouring agents is designed for leader-following multi-agent systems under fixed and switching topologies. In traditional distributed static controllers, the coupling weights depend on the communication graph. However, coupling weights associated with the feedback gain matrix in our method are updated by state errors between neighbouring agents. We further present the stability analysis of leader-following multi-agent systems with stochastic disturbances under switching topology. Most traditional literature requires the graph to be connected all the time, while the communication graph is only assumed to be jointly connected in this paper. The design technique is based on Riccati inequalities and algebraic graph theory. Finally, simulations are given to show the validity of our method.

Non-linear feedback control of the p53 protein-mdm2 inhibitor system using the derivative-free non-linear Kalman filter.

PubMed

Rigatos, Gerasimos G

2016-06-01

It is proven that the model of the p53-mdm2 protein synthesis loop is a differentially flat one and using a diffeomorphism (change of state variables) that is proposed by differential flatness theory it is shown that the protein synthesis model can be transformed into the canonical (Brunovsky) form. This enables the design of a feedback control law that maintains the concentration of the p53 protein at the desirable levels. To estimate the non-measurable elements of the state vector describing the p53-mdm2 system dynamics, the derivative-free non-linear Kalman filter is used. Moreover, to compensate for modelling uncertainties and external disturbances that affect the p53-mdm2 system, the derivative-free non-linear Kalman filter is re-designed as a disturbance observer. The derivative-free non-linear Kalman filter consists of the Kalman filter recursion applied on the linearised equivalent of the protein synthesis model together with an inverse transformation based on differential flatness theory that enables to retrieve estimates for the state variables of the initial non-linear model. The proposed non-linear feedback control and perturbations compensation method for the p53-mdm2 system can result in more efficient chemotherapy schemes where the infusion of medication will be better administered.

A robust H∞ control-based hierarchical mode transition control system for plug-in hybrid electric vehicle

NASA Astrophysics Data System (ADS)

Yang, Chao; Jiao, Xiaohong; Li, Liang; Zhang, Yuanbo; Chen, Zheng

2018-01-01

To realize a fast and smooth operating mode transition process from electric driving mode to engine-on driving mode, this paper presents a novel robust hierarchical mode transition control method for a plug-in hybrid electric bus (PHEB) with pre-transmission parallel hybrid powertrain. Firstly, the mode transition process is divided into five stages to clearly describe the powertrain dynamics. Based on the dynamics models of powertrain and clutch actuating mechanism, a hierarchical control structure including two robust H∞ controllers in both upper layer and lower layer is proposed. In upper layer, the demand clutch torque can be calculated by a robust H∞controller considering the clutch engaging time and the vehicle jerk. While in lower layer a robust tracking controller with L2-gain is designed to perform the accurate position tracking control, especially when the parameters uncertainties and external disturbance occur in the clutch actuating mechanism. Simulation and hardware-in-the-loop (HIL) test are carried out in a traditional driving condition of PHEB. Results show that the proposed hierarchical control approach can obtain the good control performance: mode transition time is greatly reduced with the acceptable jerk. Meanwhile, the designed control system shows the obvious robustness with the uncertain parameters and disturbance. Therefore, the proposed approach may offer a theoretical reference for the actual vehicle controller.

A new continuous sliding mode control approach with actuator saturation for control of 2-DOF helicopter system.

PubMed

Sadala, S P; Patre, B M

2018-03-01

The 2-degree of freedom (DOF) helicopter system is a typical higher-order, multi-variable, nonlinear and strong coupled control system. The helicopter dynamics also includes parametric uncertainties and is subject to unknown external disturbances. Such complicated system requires designing a sophisticated control algorithm that can handle these difficulties. This paper presents a new robust control algorithm which is a combination of two continuous control techniques, composite nonlinear feedback (CNF) and super-twisting control (STC) methods. In the existing integral sliding mode (ISM) based CNF control law, the discontinuous term exhibits chattering which is not desirable for many practical applications. As the continuity of well known STC reduces chattering in the system, the proposed strategy is beneficial over the current ISM based CNF control law which has a discontinuous term. Two controllers with integral sliding surface are designed to control the position of the pitch and the yaw angles of the 2- DOF helicopter. The adequacy of this specific combination has been exhibited through general analysis, simulation and experimental results of 2-DOF helicopter setup. The acquired results demonstrate the good execution of the proposed controller regarding stabilization, following reference input without overshoot against actuator saturation and robustness concerning to the limited matched disturbances. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Research on the effect of the external magnetic field in the joule balance at NIM

NASA Astrophysics Data System (ADS)

Xu, Jinxin; You, Qiang; Li, Zhengkun; Bai, Yang; Lu, Yunfeng; Zhang, Zhonghua; He, Qing

2018-06-01

The first determination of the Planck constant with the second generation of the joule balance, NIM-2, was completed in 2017 with an uncertainty of 2.4  ×  10‑7. Due to the movement of the magnet during the measurement process, the effect of the external field is a critical problem in NIM-2. At present, the electromagnet system is used in NIM-2. By taking the average of the results with positive and negative exciting currents, the uncertainty from the external field is reduced to 1.7  ×  10‑7, which is still the largest source in the uncertainty budget as all the other items are less than 1  ×  10‑7. In the near future, a permanent magnet system will be applied in NIM-2 and the main field cannot be reversed. Although the coupling of the external magnetic field in the permanent magnet system is about 40 times less than that in the electromagnet system, further reduction of this effect is still required in the permanent magnet system. In this paper, the effect of the external field is analyzed in both an electromagnet system and a permanent magnet system based on simulations and experiments. Then, the methods of magnetic shielding and compensation coils are proposed and simulated in the permanent magnet system. The results show that it may be possible to reduce the uncertainty of the external field to less than 2  ×  10‑8 in the permanent magnet system by employing the two methods.

Estimating ecosystem carbon change in the Conterminous United States based on 40 years of land-use change and disturbance

NASA Astrophysics Data System (ADS)

Sleeter, B. M.; Rayfield, B.; Liu, J.; Sherba, J.; Daniel, C.; Frid, L.; Wilson, T. S.; Zhu, Z.

2016-12-01

Since 1970, the combined changes in land use, land management, climate, and natural disturbances have dramatically altered land cover in the United States, resulting in the potential for significant changes in terrestrial carbon storage and flux between ecosystems and the atmosphere. Processes including urbanization, agricultural expansion and contraction, and forest management have had impacts - both positive and negative - on the amount of natural vegetation, the age structure of forests, and the amount of impervious cover. Anthropogenic change coupled with climate-driven changes in natural disturbance regimes, particularly the frequency and severity of wildfire, together determine the spatio-temporal patterns of land change and contribute to changing ecosystem carbon dynamics. Quantifying this effect and its associated uncertainties is fundamental to developing a rigorous and transparent carbon monitoring and assessment programs. However, large-scale systematic inventories of historical land change and their associated uncertainties are sparse. To address this need, we present a newly developed modeling framework, the Land Use and Carbon Scenario Simulator (LUCAS). The LUCAS model integrates readily available high quality, empirical land-change data into a stochastic space-time simulation model representing land change feedbacks on carbon cycling in terrestrial ecosystems. We applied the LUCAS model to estimate regional scale changes in carbon storage, atmospheric flux, and net biome production in 84 ecological regions of the conterminous United States for the period 1970-2015. The model was parameterized using a newly available set of high resolution (30 m) land-change data, compiled from Landsat remote sensing imagery, including estimates of uncertainty. Carbon flux parameters for each ecological region were derived from the IBIS dynamic global vegetation model with full carbon cycle accounting. This paper presents our initial findings describing regional and temporal changes and variability in carbon storage and flux resulting from land use change and disturbance between 1973 and 2015. Additionally, based on stochastic simulations we quantify and present key sources of uncertainty in the estimation of terrestrial ecosystem carbon dynamics.

Robust adaptive precision motion control of hydraulic actuators with valve dead-zone compensation.

PubMed

Deng, Wenxiang; Yao, Jianyong; Ma, Dawei

2017-09-01

This paper addresses the high performance motion control of hydraulic actuators with parametric uncertainties, unmodeled disturbances and unknown valve dead-zone. By constructing a smooth dead-zone inverse, a robust adaptive controller is proposed via backstepping method, in which adaptive law is synthesized to deal with parametric uncertainties and a continuous nonlinear robust control law to suppress unmodeled disturbances. Since the unknown dead-zone parameters can be estimated by adaptive law and then the effect of dead-zone can be compensated effectively via inverse operation, improved tracking performance can be expected. In addition, the disturbance upper bounds can also be updated online by adaptive laws, which increases the controller operability in practice. The Lyapunov based stability analysis shows that excellent asymptotic output tracking with zero steady-state error can be achieved by the developed controller even in the presence of unmodeled disturbance and unknown valve dead-zone. Finally, the proposed control strategy is experimentally tested on a servovalve controlled hydraulic actuation system subjected to an artificial valve dead-zone. Comparative experimental results are obtained to illustrate the effectiveness of the proposed control scheme. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

External costs of PM2.5 pollution in Beijing, China: Uncertainty analysis of multiple health impacts and costs.

PubMed

Yin, Hao; Pizzol, Massimo; Xu, Linyu

2017-07-01

Some cities in China are facing serious air pollution problems including high concentrations of particles, SO 2 and NO x . Exposure to PM2.5, one of the primary air pollutants in many cities in China, is highly correlated with various adverse health impacts and ultimately represents a cost for society. The aim of this study is to assess health impacts and external costs related to PM2.5 pollution in Beijing, China with different baseline concentrations and valuation methods. The idea is to provide a reasonable estimate of the total health impacts and external cost due to PM2.5 pollution, as well as a quantification of the relevant uncertainty. PM2.5 concentrations were retrieved for the entire 2012 period in 16 districts of Beijing. The various PM2.5 related health impacts were identified and classified to avoid double counting. Exposure-response coefficients were then obtained from literature. Both the value of statistical life (VSL) and the amended human capital (AHC) approach were applied for external costs estimation, which could provide the upper and lower bound of the external costs due to PM2.5. To fully understand the uncertainty levels, the external cost distribution was determined via Monte Carlo simulation based on the uncertainty of the parameters such as PM2.5 concentration, exposure-response coefficients, and economic cost per case. The results showed that the external costs were equivalent to around 0.3% (AHC, China's guideline: C 0  = 35 μg/m 3 ) to 0.9% (VSL, WHO guideline: C 0  = 10 μg/m 3 ) of regional GDP depending on the valuation method and on the assumed baseline PM2.5 concentration (C 0 ). Among all the health impacts, the economic loss due to premature deaths accounted for more than 80% of the overall external costs. The results of this study could help policymakers prioritizing the PM2.5 pollution control interventions and internalize the external costs through the application of economic policy instruments. Copyright © 2017 Elsevier Ltd. All rights reserved.

Adaptive sliding mode back-stepping pitch angle control of a variable-displacement pump controlled pitch system for wind turbines.

PubMed

Yin, Xiu-xing; Lin, Yong-gang; Li, Wei; Liu, Hong-wei; Gu, Ya-jing

2015-09-01

A variable-displacement pump controlled pitch system is proposed to mitigate generator power and flap-wise load fluctuations for wind turbines. The pitch system mainly consists of a variable-displacement hydraulic pump, a fixed-displacement hydraulic motor and a gear set. The hydraulic motor can be accurately regulated by controlling the pump displacement and fluid flows to change the pitch angle through the gear set. The detailed mathematical representation and dynamic characteristics of the proposed pitch system are thoroughly analyzed. An adaptive sliding mode pump displacement controller and a back-stepping stroke piston controller are designed for the proposed pitch system such that the resulting pitch angle tracks its desired value regardless of external disturbances and uncertainties. The effectiveness and control efficiency of the proposed pitch system and controllers have been verified by using realistic dataset of a 750 kW research wind turbine. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Robust automatic control system of vessel descent-rise device for plant with distributed parameters “cable – towed underwater vehicle”

NASA Astrophysics Data System (ADS)

Chupina, K. V.; Kataev, E. V.; Khannanov, A. M.; Korshunov, V. N.; Sennikov, I. A.

2018-05-01

The paper is devoted to a problem of synthesis of the robust control system for a distributed parameters plant. The vessel descent-rise device has a heave compensation function for stabilization of the towed underwater vehicle on a set depth. A sea state code, parameters of the underwater vehicle and cable vary during underwater operations, the vessel heave is a stochastic process. It means that the plant and external disturbances have uncertainty. That is why it is necessary to use the robust theory for synthesis of an automatic control system, but without use of traditional methods of optimization, because this cable has distributed parameters. The offered technique has allowed one to design an effective control system for stabilization of immersion depth of the towed underwater vehicle for various degrees of sea roughness and to provide its robustness to deviations of parameters of the vehicle and cable’s length.

Research on Robust Control Strategies for VSC-HVDC

NASA Astrophysics Data System (ADS)

Zhu, Kaicheng; Bao, Hai

2018-01-01

In the control system of VSC-HVDC, the phase locked loop provides phase signals to voltage vector control and trigger pulses to generate the required reference phase. The PLL is a typical second-order system. When the system is in unstable state, it will oscillate, make the trigger angle shift, produce harmonic, and make active power and reactive power coupled. Thus, considering the external disturbances introduced by the PLL in VSC-HVDC control system, the parameter perturbations of the controller and the model uncertainties, a H∞ robust controller of mixed sensitivity optimization problem is designed by using the Hinf function provided by the robust control toolbox. Then, compare it with the proportional integral controller through the MATLAB simulation experiment. By contrast, when the H∞ robust controller is added, active and reactive power of the converter station can track the change of reference values more accurately and quickly, and reduce overshoot. When the step change of active and reactive power occurs, mutual influence is reduced and better independent regulation is achieved.

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.

Design and analysis of adaptive Super-Twisting sliding mode control for a microgyroscope.

PubMed

Feng, Zhilin; Fei, Juntao

2018-01-01

This paper proposes a novel adaptive Super-Twisting sliding mode control for a microgyroscope under unknown model uncertainties and external disturbances. In order to improve the convergence rate of reaching the sliding surface and the accuracy of regulating and trajectory tracking, a high order Super-Twisting sliding mode control strategy is employed, which not only can combine the advantages of the traditional sliding mode control with the Super-Twisting sliding mode control, but also guarantee that the designed control system can reach the sliding surface and equilibrium point in a shorter finite time from any initial state and avoid chattering problems. In consideration of unknown parameters of micro gyroscope system, an adaptive algorithm based on Lyapunov stability theory is designed to estimate the unknown parameters and angular velocity of microgyroscope. Finally, the effectiveness of the proposed scheme is demonstrated by simulation results. The comparative study between adaptive Super-Twisting sliding mode control and conventional sliding mode control demonstrate the superiority of the proposed method.

Robust Fault Detection Using Robust Z1 Estimation and Fuzzy Logic

NASA Technical Reports Server (NTRS)

Curry, Tramone; Collins, Emmanuel G., Jr.; Selekwa, Majura; Guo, Ten-Huei (Technical Monitor)

2001-01-01

This research considers the application of robust Z(sub 1), estimation in conjunction with fuzzy logic to robust fault detection for an aircraft fight control system. It begins with the development of robust Z(sub 1) estimators based on multiplier theory and then develops a fixed threshold approach to fault detection (FD). It then considers the use of fuzzy logic for robust residual evaluation and FD. Due to modeling errors and unmeasurable disturbances, it is difficult to distinguish between the effects of an actual fault and those caused by uncertainty and disturbance. Hence, it is the aim of a robust FD system to be sensitive to faults while remaining insensitive to uncertainty and disturbances. While fixed thresholds only allow a decision on whether a fault has or has not occurred, it is more valuable to have the residual evaluation lead to a conclusion related to the degree of, or probability of, a fault. Fuzzy logic is a viable means of determining the degree of a fault and allows the introduction of human observations that may not be incorporated in the rigorous threshold theory. Hence, fuzzy logic can provide a more reliable and informative fault detection process. Using an aircraft flight control system, the results of FD using robust Z(sub 1) estimation with a fixed threshold are demonstrated. FD that combines robust Z(sub 1) estimation and fuzzy logic is also demonstrated. It is seen that combining the robust estimator with fuzzy logic proves to be advantageous in increasing the sensitivity to smaller faults while remaining insensitive to uncertainty and disturbances.

State Estimation of International Space Station Centrifuge Rotor With Incomplete Knowledge of Disturbance Inputs

NASA Technical Reports Server (NTRS)

Sullivan, Michael J.

2005-01-01

This thesis develops a state estimation algorithm for the Centrifuge Rotor (CR) system where only relative measurements are available with limited knowledge of both rotor imbalance disturbances and International Space Station (ISS) thruster disturbances. A Kalman filter is applied to a plant model augmented with sinusoidal disturbance states used to model both the effect of the rotor imbalance and the 155 thrusters on the CR relative motion measurement. The sinusoidal disturbance states compensate for the lack of the availability of plant inputs for use in the Kalman filter. Testing confirms that complete disturbance modeling is necessary to ensure reliable estimation. Further testing goes on to show that increased estimator operational bandwidth can be achieved through the expansion of the disturbance model within the filter dynamics. In addition, Monte Carlo analysis shows the varying levels of robustness against defined plant/filter uncertainty variations.

Precision pointing of scientific instruments on space station: The LFGGREC perspective

NASA Technical Reports Server (NTRS)

Blackwell, C. C.; Sirlin, S. W.; Laskin, R. A.

1988-01-01

An application of Lyapunov function-gradient-generated robustness-enhancing control (LFGGREC) is explored. The attention is directed to a reduced-complexity representation of the pointing problem presented by the system composed of the Space Infrared Telescope Facility gimbaled to a space station configuration. Uncertainties include disturbance forces applied in the crew compartment area and control moments applied to adjacent scientific payloads (modeled as disturbance moments). Also included are uncertainties in gimbal friction and in the structural component of the system, as reflected in the inertia matrix, the damping matrix, and the stiffness matrix, and the effect of the ignored vibrational dynamics of the structure. The emphasis is on the adaptation of LFGGREC to this particular configuration and on the robustness analysis.

Improving LADCP Velocity Profiles with External Attitude Sensors

NASA Astrophysics Data System (ADS)

Thurnherr, A. M.; Goszczko, I.

2016-12-01

Data collected with Acoustic Doppler Current Profilers installed on CTD rosettes and lowered through the water column (LADCP systems) are routinely used to derive full-depth profiles of ocean velocity. In addition to the uncertainties arising from random noise in the along-beam velocity measurements, LADCP derived velocities are commonly contaminated by bias errors due to imperfectly measured instrument attitude (pitch, roll and heading). Of particular concern are the heading measurements because it is not usually feasible to calibrate the internal ADCP compasses with the instruments installed on a CTD rosette, away from the magnetic disturbances of the ship as well as the current-carrying winch wire. Heading data from dual-headed LADCP systems, which consist of upward and downward-pointing ADCPs installed on the same rosette, commonly indicate heading-dependent compass errors with amplitudes exceeding 10 degrees. In an attempt to reduce LADCP velocity errors, over 200 full-depth profiles were collected during several recent projects, including GO-SHIP, DIMES and ECOGIG, with an inexpensive (<$200) external magnetometer/accelerometer package. The resulting data permit full compass calibrations (for both hard- and soft-iron effects) from in-situ profile data and yields improved pitch and roll measurements. Results indicate greatly reduced inconsistencies between the data from the two ADCPs (horizontal-velocity processing residuals), as well as smaller biases in vertical -velocity (w) measurements. In addition, the external magnetometer package allows processing of some LADCP data collected in regions where the horizontal magnitude of the earth's magnetic field is insufficient for the ADCPs internal compasses to work at all.

Self-evaluations of factors promoting and disturbing sleep: an epidemiological survey in Finland.

PubMed

Urponen, H; Vuori, I; Hasan, J; Partinen, M

1988-01-01

The purpose of this epidemiological survey (N = 1600) was to describe the factors which middle-aged urban people in Finland perceived as promoting or disturbing sleep. The response rate was 75%. The results suggested that quality of sleep is determined by numerous factors; social and psychological factors, health status, external sleeping conditions, life style and living habits. Every third respondent felt that exercise had a positive impact on sleep. Second in importance were reading and listening to music. Furthermore, sauna, shower and bath, stability in life, psychological factors, positive experience in work, satisfactory sexual life and good and quiet sleeping environment were reported to have positive effects on sleep. Men considered work-related pressure and fatigue (20%) as the most important factor disturbing falling asleep or quality of sleep. In women's ranking work problems appeared no sooner than in the third place. Women reported worries, interpersonal problems, and marital and family discord as the most disturbing factors to sleep (37%). Coffee in the evening had a negative effect on falling asleep. Although a 'nightcap' was considered to improve relaxation on falling sleep, men ranked alcohol as the fourth disturbing factor. Other disturbing factors were stress, irregularities in everyday life because of social events, travelling or atypical catnaps. Eating and exercising too heavily or too late in the evening were found to disturb sleep. On the other hand, temporary lack of exercise seemed to impair the quality of sleep. As external factors disturbing sleep the subjects considered noise light, too high room temperature, tight clothing, unfamiliar sleeping environment and restless children.(ABSTRACT TRUNCATED AT 250 WORDS)

A Low Cost Approach to the Design of Autopilot for Hypersonic Glider

NASA Astrophysics Data System (ADS)

Liang, Wang; Weihua, Zhang; Ke, Peng; Donghui, Wang

2017-12-01

This paper proposes a novel integrated guidance and control (IGC) approach to improve the autopilot design with low cost for hypersonic glider in dive and pull-up phase. The main objective is robust and adaptive tracking of flight path angle (FPA) under severe flight scenarios. Firstly, the nonlinear IGC model is developed with a second order actuator dynamics. Then the adaptive command filtered back-stepping control is implemented to deal with the large aerodynamics coefficient uncertainties, control surface uncertainties and unmatched time-varying disturbances. For the autopilot, a back-stepping sliding mode control is designed to track the control surface deflection, and a nonlinear differentiator is used to avoid direct differentiating the control input. Through a series of 6-DOF numerical simulations, it’s shown that the proposed scheme successfully cancels out the large uncertainties and disturbances in tracking different kinds of FPA trajectory. The contribution of this paper lies in the application and determination of nonlinear integrated design of guidance and control system for hypersonic glider.

Sleep Disturbance in Children with Rett Syndrome: A Qualitative Investigation of the Parental Experience

ERIC Educational Resources Information Center

McDougall, Allyson; Kerr, Alison M.; Espie, Colin A.

2005-01-01

Background: Sleep problems in children with intellectual disability can be precipitated and maintained by intrinsic and external factors. The present study comprised a qualitative investigation of the experiences of parents of children with Rett syndrome, a neurodevelopmental disorder where sleep disturbance is common. Method: Audio-taped…

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.

Intelligent control of a multi-degree-of freedom reaction compensating platform system using fuzzy logic

NASA Technical Reports Server (NTRS)

Choi, Benjamin B.; Lawrence, Charles; Lin, Yueh-Jaw

1994-01-01

This paper presents the development of a general-purpose fuzzy logic (FL) control methodology for isolating the external vibratory disturbances of space-based devices. According to the desired performance specifications, a full investigation regarding the development of an FL controller was done using different scenarios, such as variances of passive reaction-compensating components and external disturbance load. It was shown that the proposed FL controller is robust in that the FL-controlled system closely follows the prespecified ideal reference model. The comparative study also reveals that the FL-controlled system achieves significant improvement in reducing vibrations over passive systems.

Disturbance observer-based adaptive sliding mode hybrid projective synchronisation of identical fractional-order financial systems

NASA Astrophysics Data System (ADS)

Khan, Ayub; Tyagi, Arti

2018-05-01

In this paper, we have studied the hybrid projective synchronisation for incommensurate, integer and commensurate fractional-order financial systems with unknown disturbance. To tackle the problem of unknown bounded disturbance, fractional-order disturbance observer is designed to approximate the unknown disturbance. Further, we have introduced simple sliding mode surface and designed adaptive sliding mode controllers incorporating with the designed fractional-order disturbance observer to achieve a bounded hybrid projective synchronisation between two identical fractional-order financial model with different initial conditions. It is shown that the slave system with disturbance can be synchronised with the projection of the master system generated through state transformation. Simulation results are presented to ensure the validity and effectiveness of the proposed sliding mode control scheme in the presence of external bounded unknown disturbance. Also, synchronisation error for commensurate, integer and incommensurate fractional-order financial systems is studied in numerical simulation.

Using a detailed uncertainty analysis to adjust mapped rates of forest disturbance derived from Landsat time series data (Invited)

NASA Astrophysics Data System (ADS)

Cohen, W. B.; Yang, Z.; Stehman, S.; Huang, C.; Healey, S. P.

2013-12-01

Forest ecosystem process models require spatially and temporally detailed disturbance data to accurately predict fluxes of carbon or changes in biodiversity over time. A variety of new mapping algorithms using dense Landsat time series show great promise for providing disturbance characterizations at an annual time step. These algorithms provide unprecedented detail with respect to timing, magnitude, and duration of individual disturbance events, and causal agent. But all maps have error and disturbance maps in particular can have significant omission error because many disturbances are relatively subtle. Because disturbance, although ubiquitous, can be a relatively rare event spatially in any given year, omission errors can have a great impact on mapped rates. Using a high quality reference disturbance dataset, it is possible to not only characterize map errors but also to adjust mapped disturbance rates to provide unbiased rate estimates with confidence intervals. We present results from a national-level disturbance mapping project (the North American Forest Dynamics project) based on the Vegetation Change Tracker (VCT) with annual Landsat time series and uncertainty analyses that consist of three basic components: response design, statistical design, and analyses. The response design describes the reference data collection, in terms of the tool used (TimeSync), a formal description of interpretations, and the approach for data collection. The statistical design defines the selection of plot samples to be interpreted, whether stratification is used, and the sample size. Analyses involve derivation of standard agreement matrices between the map and the reference data, and use of inclusion probabilities and post-stratification to adjust mapped disturbance rates. Because for NAFD we use annual time series, both mapped and adjusted rates are provided at an annual time step from ~1985-present. Preliminary evaluations indicate that VCT captures most of the higher intensity disturbances, but that many of the lower intensity disturbances (thinnings, stress related to insects and disease, etc.) are missed. Because lower intensity disturbances are a large proportion of the total set of disturbances, adjusting mapped disturbance rates to include these can be important for inclusion in ecosystem process models. The described statistical disturbance rate adjustments are aspatial in nature, such that the basic underlying map is unchanged. For spatially explicit ecosystem modeling, such adjustments, although important, can be difficult to directly incorporate. One approach for improving the basic underlying map is an ensemble modeling approach that uses several different complementary maps, each derived from a different algorithm and having their own strengths and weaknesses relative to disturbance magnitude and causal agent of disturbance. We will present results from a pilot study associated with the Landscape Change Monitoring System (LCMS), an emerging national-level program that builds upon NAFD and the well-established Monitoring Trends in Burn Severity (MTBS) program.

Moving Beyond 2% Uncertainty: A New Framework for Quantifying Lidar Uncertainty

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

Newman, Jennifer F.; Clifton, Andrew

2017-03-08

Remote sensing of wind using lidar is revolutionizing wind energy. However, current generations of wind lidar are ascribed a climatic value of uncertainty, which is based on a poor description of lidar sensitivity to external conditions. In this presentation, we show how it is important to consider the complete lidar measurement process to define the measurement uncertainty, which in turn offers the ability to define a much more granular and dynamic measurement uncertainty. This approach is a progression from the 'white box' lidar uncertainty method.

An uncertainty analysis of air pollution externalities from road transport in Belgium in 2010.

PubMed

Int Panis, L; De Nocker, L; Cornelis, E; Torfs, R

2004-12-01

Although stricter standards for vehicles will reduce emissions to air significantly by 2010, a number of problems will remain, especially related to particulate concentrations in cities, ground-level ozone, and CO(2). To evaluate the impacts of new policy measures, tools need to be available that assess the potential benefits of these measures in terms of the vehicle fleet, fuel choice, modal choice, kilometers driven, emissions, and the impacts on public health and related external costs. The ExternE accounting framework offers the most up to date and comprehensive methodology to assess marginal external costs of energy-related pollutants. It combines emission models, air dispersion models at local and regional scales with dose-response functions and valuation rules. Vito has extended this accounting framework with data and models related to the future composition of the vehicle fleet and transportation demand to evaluate the impact of new policy proposals on air quality and aggregated (total) external costs by 2010. Special attention was given to uncertainty analysis. The uncertainty for more than 100 different parameters was combined in Monte Carlo simulations to assess the range of possible outcomes and the main drivers of these results. Although the impacts from emission standards and total fleet mileage look dominant at first, a number of other factors were found to be important as well. This includes the number of diesel vehicles, inspection and maintenance (high-emitter cars), use of air conditioning, and heavy duty transit traffic.

The Origins of Mental Toughness - Prosocial Behavior and Low Internalizing and Externalizing Problems at Age 5 Predict Higher Mental Toughness Scores at Age 14.

PubMed

Sadeghi Bahmani, Dena; Hatzinger, Martin; Gerber, Markus; Lemola, Sakari; Clough, Peter J; Perren, Sonja; von Klitzing, Kay; von Wyl, Agnes; Holsboer-Trachsler, Edith; Brand, Serge

2016-01-01

The concept of mental toughness (MT) has gained increasing importance among groups other than elite athletes by virtue of its psychological importance and explanatory power for a broad range of health-related behaviors. However, no study has focused so far on the psychological origins of MT. Therefore, the aims of the present study were: to explore, to what extent the psychological profiles of preschoolers aged five were associated with both (1) MT scores and (2) sleep disturbances at age 14, and 3) to explore possible gender differences. Nine years after their first assessment at age five (preschoolers), a total of 77 adolescents (mean age: 14.35 years; SD = 1.22; 42% females) took part in this follow-up study. At baseline, both parents and teachers completed the Strengths and Difficulties Questionnaire (SDQ), covering internalizing and externalizing problems, hyperactivity, negative peer relationships, and prosocial behavior. At follow-up, participants completed a booklet of questionnaires covering socio-demographic data, MT, and sleep disturbances. Higher prosocial behavior, lower negative peer relationships, and lower internalizing and externalizing problems at age five, as rated by parents and teachers, were associated with self-reported higher MT and lower sleep disturbances at age 14. At age 14, and relative to males, females had lower MT scores and reported more sleep disturbances. The pattern of results suggests that MT traits during adolescence may have their origins in the pre-school years.

Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

NASA Astrophysics Data System (ADS)

Yao, Jianyong

2018-06-01

Hydraulic servo system plays a significant role in industries, and usually acts as a core point in control and power transmission. Although linear theory-based control methods have been well established, advanced controller design methods for hydraulic servo system to achieve high performance is still an unending pursuit along with the development of modern industry. Essential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, due to benefit from prior knowledge of the servo valve controlled hydraulic system. In this paper, a discussion for challenges in model-based nonlinear control, latest developments and brief perspectives of hydraulic servo systems are presented: Modelling uncertainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying disturbance; some specific requirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed and integrated, theoretical analysis and lots of applications reveal their powerful capability to solve pertinent problems; and at the end, some perspectives and associated research topics (measurement noise, constraints, inner valve dynamics, input nonlinearity, etc.) in nonlinear hydraulic servo control are briefly explored and discussed.

Locus of control, quality of life, anxiety, and depression among Malaysian breast cancer patients: The mediating role of uncertainty.

PubMed

Pahlevan Sharif, Saeed

2017-04-01

The main objective of this study was to investigate the mediating role of uncertainty in the relationship between locus of control with quality of life, anxiety, and depression. A descriptive and correlational survey was conducted in a private hospital in Kuala Lumpur, Malaysia. A convenience sample of 118 Malaysian breast cancer patients voluntarily participated in the study and responded to a set of questionnaires including: socio-demographic questionnaire, the short form of Locus of Control Scale, the Functional Assessment of Cancer Therapy-Breast (FACT-B), the Hospital Anxiety and Depression Scale (HADS), and the Short-Form Mishel Uncertainty in Illness Scale (SF-MUIS). The results revealed that breast cancer patients with higher internal locus of control and lower external locus of control experience a higher quality of life, lower anxiety, and lower depression. Also, uncertainty mediated the relationship between locus of control with quality of life and depression (quasi-significant). The findings indicated the need for early, targeted psychological interventions seeking to gradually shift cancer patients' locus of control from external to internal in order to improve their quality of life and reduce their depression and anxiety. Moreover, health care providers by providing relevant information to cancer patients, especially for externally oriented patients, can reduce their uncertainty which in turn would improve their quality of life. Copyright © 2017 Elsevier Ltd. All rights reserved.

Quadratic stabilisability of multi-agent systems under switching topologies

NASA Astrophysics Data System (ADS)

Guan, Yongqiang; Ji, Zhijian; Zhang, Lin; Wang, Long

2014-12-01

This paper addresses the stabilisability of multi-agent systems (MASs) under switching topologies. Necessary and/or sufficient conditions are presented in terms of graph topology. These conditions explicitly reveal how the intrinsic dynamics of the agents, the communication topology and the external control input affect stabilisability jointly. With the appropriate selection of some agents to which the external inputs are applied and the suitable design of neighbour-interaction rules via a switching topology, an MAS is proved to be stabilisable even if so is not for each of uncertain subsystem. In addition, a method is proposed to constructively design a switching rule for MASs with norm-bounded time-varying uncertainties. The switching rules designed via this method do not rely on uncertainties, and the switched MAS is quadratically stabilisable via decentralised external self-feedback for all uncertainties. With respect to applications of the stabilisability results, the formation control and the cooperative tracking control are addressed. Numerical simulations are presented to demonstrate the effectiveness of the proposed results.

Shale Gas Development and Brook Trout: Scaling Best Management Practices to Anticipate Cumulative Effects

USGS Publications Warehouse

Smith, David; Snyder, Craig D.; Hitt, Nathaniel P.; Young, John A.; Faulkner, Stephen P.

2012-01-01

Shale gas development may involve trade-offs between energy development and benefits provided by natural ecosystems. However, current best management practices (BMPs) focus on mitigating localized ecological degradation. We review evidence for cumulative effects of natural gas development on brook trout (Salvelinus fontinalis) and conclude that BMPs should account for potential watershed-scale effects in addition to localized influences. The challenge is to develop BMPs in the face of uncertainty in the predicted response of brook trout to landscape-scale disturbance caused by gas extraction. We propose a decision-analysis approach to formulating BMPs in the specific case of relatively undisturbed watersheds where there is consensus to maintain brook trout populations during gas development. The decision analysis was informed by existing empirical models that describe brook trout occupancy responses to landscape disturbance and set bounds on the uncertainty in the predicted responses to shale gas development. The decision analysis showed that a high efficiency of gas development (e.g., 1 well pad per square mile and 7 acres per pad) was critical to achieving a win-win solution characterized by maintaining brook trout and maximizing extraction of available gas. This finding was invariant to uncertainty in predicted response of brook trout to watershed-level disturbance. However, as the efficiency of gas development decreased, the optimal BMP depended on the predicted response, and there was considerable potential value in discriminating among predictive models through adaptive management or research. The proposed decision-analysis framework provides an opportunity to anticipate the cumulative effects of shale gas development, account for uncertainty, and inform management decisions at the appropriate spatial scales.

Mothers' Judgments of Students with Emotional Disturbance and Social Maladjustment/Conduct Disorder: Comparisons of Target Students and Siblings

ERIC Educational Resources Information Center

Easler, Ray C., Jr.; Medway, Frederic J.

2004-01-01

In response to United States special education law requirements, this study attempted to differentiate emotionally disturbed and socially maladjusted students using parent ratings on the FACES III and a newly developed interview measure of primarily internalizing and externalizing behaviors. Forty mothers of students in special education and 40…

Comparison of external costs between dry tomb and bioreactor landfills: taking intergenerational effects seriously.

PubMed

Méry, Jacques; Bayer, Stefan

2005-12-01

Dry tomb and bioreactor landfills were analyzed with respect to their external costs in an intergenerational cost-benefit analysis in a partial framework which enabled a sounder comparison to be carried out between these two technologies from a socio-economic viewpoint. Obviously, this approach was only a first step for building a comprehensive basis of any environmental as well as fiscal policy in the field of waste management. All external costs are identified and evaluated in three different scenarios, corresponding to a worst case, a best guess and a best case. Obviously, discounting is crucial with respect to an intergenerational perspective. Generation-adjusted discounting (GAD) was applied to take into account equity as well as efficiency criteria, in order to deal with three different types of uncertainties that are decisive in waste policy decisions: a physical uncertainty is captured by introducing our three different scenarios; a macroeconomic uncertainty is taken into consideration by calculating present values using different real growth rates; and a microeconomic uncertainty is taken into account by considering individual peculiarities reflected in their subjective time preference rate. The findings show, that whenever there is a low real GDP growth of less than 1%, the bioreactor is generally superior to the dry tomb (lower present values of external costs). This statement becomes more valid as the growth rate decreases. However, whenever there are high positive growth rates, it is the dry tomb technology which is superior to the bioreactor system.

Leader-follower formation control of underactuated surface vehicles based on sliding mode control and parameter estimation.

PubMed

Sun, Zhijian; Zhang, Guoqing; Lu, Yu; Zhang, Weidong

2018-01-01

This paper studies the leader-follower formation control of underactuated surface vehicles with model uncertainties and environmental disturbances. A parameter estimation and upper bound estimation based sliding mode control scheme is proposed to solve the problem of the unknown plant parameters and environmental disturbances. For each of these leader-follower formation systems, the dynamic equations of position and attitude are analyzed using coordinate transformation with the aid of the backstepping technique. All the variables are guaranteed to be uniformly ultimately bounded stable in the closed-loop system, which is proven by the distribution design Lyapunov function synthesis. The main advantages of this approach are that: first, parameter estimation based sliding mode control can enhance the robustness of the closed-loop system in presence of model uncertainties and environmental disturbances; second, a continuous function is developed to replace the signum function in the design of sliding mode scheme, which devotes to reduce the chattering of the control system. Finally, numerical simulations are given to demonstrate the effectiveness of the proposed method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Distress correlates with the degree of chest pain: a description of patients awaiting revascularisation.

PubMed

Bengtson, A; Herlitz, J; Karlsson, T; Hjalmarson, A

1996-03-01

To describe various symptoms other than pain among consecutive patients on the waiting list for possible coronary revascularisation in relation to estimated severity of chest pain. All patients were sent a postal questionnaire for symptom evaluation. All patients in western Sweden on the waiting list in September 1990 who had been referred for coronary angiography or coronary revascularisation (n = 904). 88% of the patients reported chest pain symptoms that limited their daily activities to a greater or lesser degree. Various psychological symptoms including anxiety and depression were strongly associated with the severity of pain (P < 0.001), as were sleep disturbances (P < 0.001), and dyspnoea and various psychosomatic symptoms (P < 0.001). Nevertheless only 44% of the patients reported chest pain as the major disruptive symptom, whereas the remaining 56% reported uncertainty about the future, fear, or unspecified symptoms as being the most disturbing. In a consecutive series of patients on the waiting list for possible coronary revascularisation, half the participants reported that uncertainty and fear were more disturbing than chest pain.

Distributed Optimization for a Class of Nonlinear Multiagent Systems With Disturbance Rejection.

PubMed

Wang, Xinghu; Hong, Yiguang; Ji, Haibo

2016-07-01

The paper studies the distributed optimization problem for a class of nonlinear multiagent systems in the presence of external disturbances. To solve the problem, we need to achieve the optimal multiagent consensus based on local cost function information and neighboring information and meanwhile to reject local disturbance signals modeled by an exogenous system. With convex analysis and the internal model approach, we propose a distributed optimization controller for heterogeneous and nonlinear agents in the form of continuous-time minimum-phase systems with unity relative degree. We prove that the proposed design can solve the exact optimization problem with rejecting disturbances.

Sliding mode disturbance observer-enhanced adaptive control for the air-breathing hypersonic flight vehicle

NASA Astrophysics Data System (ADS)

An, Hao; Wang, Changhong; Fidan, Baris

2017-10-01

This paper presents a backstepping procedure to design an adaptive controller for the air-breathing hypersonic flight vehicle (AHFV) subject to external disturbances and actuator saturations. In each step, a sliding mode exact disturbance observer (SMEDO) is exploited to exactly estimate the lumped disturbance in finite time. Specific dynamics are introduced to handle the possible actuator saturations. Based on SMEDO and introduced dynamics, an adaptive control law is designed, along with the consideration on ;explosion of complexity; in backstepping design. The developed controller is equipped with fast disturbance rejection and great capability to accommodate the saturated actuators, which also lead to a wider application scope. A simulation study is provided to show the effectiveness and superiority of the proposed controller.

The Effects of a Bibliotherapy Intervention Compared to a Psycho-Educational Intervention to Improve Awareness of Self for Students with Emotional Disturbance in a Special Day School

ERIC Educational Resources Information Center

Kerr, Rhonda Moore

2017-01-01

Students with emotional disturbances often present with internalizing behaviors, such as anxiety, and externalizing behaviors, such as verbally or physically aggressive behaviors, which lead to challenges establishing and maintaining satisfactory relationships with peers and adults. These challenging relationships also present unique disciplinary…

Kuiper Airborne Observatory's Telescope Stabilization System: Disturbance Sensitivity Reduction Via Velocity Loop Feedback

NASA Technical Reports Server (NTRS)

Lawrence, David P.; Tsui, K. C.; Tucker, John; Mancini, Ronald E. (Technical Monitor)

1995-01-01

In July of 1994 the Kuiper Airborne Observatory's (KAO) Telescope Stabilization System (TSS) was upgraded to meet performance goals necessary to view the Shoemaker-Levy 9 comet collision with Jupiter. The KAO is a modified C-141 Aircraft supporting a 36 inch Infrared telescope used to gather and analyze astronomical data. Before the upgrade, the TSS exhibited approximately a 10 arc-second resolution pointing accuracy. The majority of the inaccuracy was attributable to aircraft vibration and wind buffeting entering through the aircraft's telescope door opening; in other words, the TSS was overly sensitive to external disturbances. Because of power limitations and noise requirements, improving the pointing accuracy of the telescope required more sophistication than simply raising the bandwidth as some classical control strategies might suggest. Instead, relationships were developed between the disturbance sensitivity and closed loop transfer functions. These relationships suggested that employing velocity feedback along with an increase in current loop gain would dramatically improve the pointing resolution of the TSS by decreasing the control system's sensitivity to external disturbances. With the implementation of some classical control techniques and the above philosophy, the KAO's TSS's resolution was improved to approximately 2-3 arc-seconds.

The Disturbing Effect of the Stray Magnetic Fields on Magnetoimpedance Sensors

PubMed Central

Wang, Tao; Zhou, Yong; Lei, Chong; Zhi, Shaotao; Guo, Lei; Li, Hengyu; Wu, Zhizheng; Xie, Shaorong; Luo, Jun; Pu, Huayan

2016-01-01

The disturbing effect of the stray magnetic fields of Fe-based amorphous ribbons on the giant magnetoimpedance (GMI) sensor has been investigated systematically in this paper. Two simple methods were used for examining the disturbing effect of the stray magnetic fields of ribbons on the GMI sensor. In order to study the influence of the stray magnetic fields on the GMI effect, the square-shaped amorphous ribbons were tested in front, at the back, on the left and on the top of a meander-line GMI sensor made up of soft ferromagnetic films, respectively. Experimental results show that the presence of ribbons in front or at the back of GMI sensor shifts the GMI curve to a lower external magnetic field. On the contrary, the presence of ribbons on the left or on the top of the GMI sensor shifts the GMI curve to a higher external magnetic field, which is related to the coupling effect of the external magnetic field and the stray magnetic fields. The influence of the area and angle of ribbons on GMI was also studied in this work. The GMI sensor exhibits high linearity for detection of the stray magnetic fields, which has made it feasible to construct a sensitive magnetometer for detecting the typical stray magnetic fields of general soft ferromagnetic materials. PMID:27763498

Robust pre-specified time synchronization of chaotic systems by employing time-varying switching surfaces in the sliding mode control scheme

NASA Astrophysics Data System (ADS)

Khanzadeh, Alireza; Pourgholi, Mahdi

2016-08-01

In the conventional chaos synchronization methods, the time at which two chaotic systems are synchronized, is usually unknown and depends on initial conditions. In this work based on Lyapunov stability theory a sliding mode controller with time-varying switching surfaces is proposed to achieve chaos synchronization at a pre-specified time for the first time. The proposed controller is able to synchronize chaotic systems precisely at any time when we want. Moreover, by choosing the time-varying switching surfaces in a way that the reaching phase is eliminated, the synchronization becomes robust to uncertainties and exogenous disturbances. Simulation results are presented to show the effectiveness of the proposed method of stabilizing and synchronizing chaotic systems with complete robustness to uncertainty and disturbances exactly at a pre-specified time.

Robust adaptive tracking control for nonholonomic mobile manipulator with uncertainties.

PubMed

Peng, Jinzhu; Yu, Jie; Wang, Jie

2014-07-01

In this paper, mobile manipulator is divided into two subsystems, that is, nonholonomic mobile platform subsystem and holonomic manipulator subsystem. First, the kinematic controller of the mobile platform is derived to obtain a desired velocity. Second, regarding the coupling between the two subsystems as disturbances, Lyapunov functions of the two subsystems are designed respectively. Third, a robust adaptive tracking controller is proposed to deal with the unknown upper bounds of parameter uncertainties and disturbances. According to the Lyapunov stability theory, the derived robust adaptive controller guarantees global stability of the closed-loop system, and the tracking errors and adaptive coefficient errors are all bounded. Finally, simulation results show that the proposed robust adaptive tracking controller for nonholonomic mobile manipulator is effective and has good tracking capacity. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Robust integral variable structure controller and pulse-width pulse-frequency modulated input shaper design for flexible spacecraft with mismatched uncertainty/disturbance.

PubMed

Hu, Qinglei

2007-10-01

This paper presents a dual-stage control system design method for the flexible spacecraft attitude maneuvering control by use of on-off thrusters and active vibration control by input shaper. In this design approach, attitude control system and vibration suppression were designed separately using lower order model. As a stepping stone, an integral variable structure controller with the assumption of knowing the upper bounds of the mismatched lumped perturbation has been designed which ensures exponential convergence of attitude angle and angular velocity in the presence of bounded uncertainty/disturbances. To reconstruct estimates of the system states for use in a full information variable structure control law, an asymptotic variable structure observer is also employed. In addition, the thruster output is modulated in pulse-width pulse-frequency so that the output profile is similar to the continuous control histories. For actively suppressing the induced vibration, the input shaping technique is used to modify the existing command so that less vibration will be caused by the command itself, which only requires information about the vibration frequency and damping of the closed-loop system. The rationale behind this hybrid control scheme is that the integral variable structure controller can achieve good precision pointing, even in the presence of uncertainties/disturbances, whereas the shaped input attenuator is applied to actively suppress the undesirable vibrations excited by the rapid maneuvers. Simulation results for the spacecraft model show precise attitude control and vibration suppression.

The Origins of Mental Toughness – Prosocial Behavior and Low Internalizing and Externalizing Problems at Age 5 Predict Higher Mental Toughness Scores at Age 14

PubMed Central

Sadeghi Bahmani, Dena; Hatzinger, Martin; Gerber, Markus; Lemola, Sakari; Clough, Peter J.; Perren, Sonja; von Klitzing, Kay; von Wyl, Agnes; Holsboer-Trachsler, Edith; Brand, Serge

2016-01-01

Background: The concept of mental toughness (MT) has gained increasing importance among groups other than elite athletes by virtue of its psychological importance and explanatory power for a broad range of health-related behaviors. However, no study has focused so far on the psychological origins of MT. Therefore, the aims of the present study were: to explore, to what extent the psychological profiles of preschoolers aged five were associated with both (1) MT scores and (2) sleep disturbances at age 14, and 3) to explore possible gender differences. Method: Nine years after their first assessment at age five (preschoolers), a total of 77 adolescents (mean age: 14.35 years; SD = 1.22; 42% females) took part in this follow-up study. At baseline, both parents and teachers completed the Strengths and Difficulties Questionnaire (SDQ), covering internalizing and externalizing problems, hyperactivity, negative peer relationships, and prosocial behavior. At follow-up, participants completed a booklet of questionnaires covering socio-demographic data, MT, and sleep disturbances. Results: Higher prosocial behavior, lower negative peer relationships, and lower internalizing and externalizing problems at age five, as rated by parents and teachers, were associated with self-reported higher MT and lower sleep disturbances at age 14. At age 14, and relative to males, females had lower MT scores and reported more sleep disturbances. Conclusion: The pattern of results suggests that MT traits during adolescence may have their origins in the pre-school years. PMID:27605919

Routine internal- and external-quality control data in clinical laboratories for estimating measurement and diagnostic uncertainty using GUM principles.

PubMed

Magnusson, Bertil; Ossowicki, Haakan; Rienitz, Olaf; Theodorsson, Elvar

2012-05-01

Healthcare laboratories are increasingly joining into larger laboratory organizations encompassing several physical laboratories. This caters for important new opportunities for re-defining the concept of a 'laboratory' to encompass all laboratories and measurement methods measuring the same measurand for a population of patients. In order to make measurement results, comparable bias should be minimized or eliminated and measurement uncertainty properly evaluated for all methods used for a particular patient population. The measurement as well as diagnostic uncertainty can be evaluated from internal and external quality control results using GUM principles. In this paper the uncertainty evaluations are described in detail using only two main components, within-laboratory reproducibility and uncertainty of the bias component according to a Nordtest guideline. The evaluation is exemplified for the determination of creatinine in serum for a conglomerate of laboratories both expressed in absolute units (μmol/L) and relative (%). An expanded measurement uncertainty of 12 μmol/L associated with concentrations of creatinine below 120 μmol/L and of 10% associated with concentrations above 120 μmol/L was estimated. The diagnostic uncertainty encompasses both measurement uncertainty and biological variation, and can be estimated for a single value and for a difference. This diagnostic uncertainty for the difference for two samples from the same patient was determined to be 14 μmol/L associated with concentrations of creatinine below 100 μmol/L and 14 % associated with concentrations above 100 μmol/L.

Different top-down approaches to estimate measurement uncertainty of whole blood tacrolimus mass concentration values.

PubMed

Rigo-Bonnin, Raül; Blanco-Font, Aurora; Canalias, Francesca

2018-05-08

Values of mass concentration of tacrolimus in whole blood are commonly used by the clinicians for monitoring the status of a transplant patient and for checking whether the administered dose of tacrolimus is effective. So, clinical laboratories must provide results as accurately as possible. Measurement uncertainty can allow ensuring reliability of these results. The aim of this study was to estimate measurement uncertainty of whole blood mass concentration tacrolimus values obtained by UHPLC-MS/MS using two top-down approaches: the single laboratory validation approach and the proficiency testing approach. For the single laboratory validation approach, we estimated the uncertainties associated to the intermediate imprecision (using long-term internal quality control data) and the bias (utilizing a certified reference material). Next, we combined them together with the uncertainties related to the calibrators-assigned values to obtain a combined uncertainty for, finally, to calculate the expanded uncertainty. For the proficiency testing approach, the uncertainty was estimated in a similar way that the single laboratory validation approach but considering data from internal and external quality control schemes to estimate the uncertainty related to the bias. The estimated expanded uncertainty for single laboratory validation, proficiency testing using internal and external quality control schemes were 11.8%, 13.2%, and 13.0%, respectively. After performing the two top-down approaches, we observed that their uncertainty results were quite similar. This fact would confirm that either two approaches could be used to estimate the measurement uncertainty of whole blood mass concentration tacrolimus values in clinical laboratories. Copyright © 2018 The Canadian Society of Clinical Chemists. Published by Elsevier Inc. All rights reserved.

Environmental trade-offs of tunnels vs cut-and-cover subways

USGS Publications Warehouse

Walton, M.

1978-01-01

Heavy construction projects in cities entail two kinds of cost - internal cost, which can be defined in terms of payments from one set of parties to another, and external cost, which is the cost borne by the community at large as the result of disutilities entailed in construction and operation. Environmental trade-offs involve external costs, which are commonly difficult to measure. Cut-and-cover subway construction probably entails higher external and internal cost than deep tunnel construction in many urban geological environments, but uncertainty concerning the costs and environmental trade-offs of tunneling leads to limited and timid use of tunneling by American designers. Thus uncertainty becomes a major trade-off which works against tunneling. The reverse is true in Sweden after nearly 30 years of subway construction. Econometric methods for measuring external costs exist in principle, but are limited in application. Economic theory based on market pressure does not address the real problem of urban environmental trade-offs. Nevertheless, the problem of uncertainty can be addressed by comparative studies of estimated and as-built costs of cut-and-cover vs tunnel projects and a review of environmental issues associated with such construction. Such a study would benefit the underground construction industry and the design of transportation systems. It would also help solve an aspect of the urban problem. ?? 1978.

Active disturbance rejection controller for chemical reactor

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

Both, Roxana; Dulf, Eva H.; Muresan, Cristina I., E-mail: roxana.both@aut.utcluj.ro

2015-03-10

In the petrochemical industry, the synthesis of 2 ethyl-hexanol-oxo-alcohols (plasticizers alcohol) is of high importance, being achieved through hydrogenation of 2 ethyl-hexenal inside catalytic trickle bed three-phase reactors. For this type of processes the use of advanced control strategies is suitable due to their nonlinear behavior and extreme sensitivity to load changes and other disturbances. Due to the complexity of the mathematical model an approach was to use a simple linear model of the process in combination with an advanced control algorithm which takes into account the model uncertainties, the disturbances and command signal limitations like robust control. However themore » resulting controller is complex, involving cost effective hardware. This paper proposes a simple integer-order control scheme using a linear model of the process, based on active disturbance rejection method. By treating the model dynamics as a common disturbance and actively rejecting it, active disturbance rejection control (ADRC) can achieve the desired response. Simulation results are provided to demonstrate the effectiveness of the proposed method.« less

Parameterization of Model Validating Sets for Uncertainty Bound Optimizations. Revised

NASA Technical Reports Server (NTRS)

Lim, K. B.; Giesy, D. P.

2000-01-01

Given measurement data, a nominal model and a linear fractional transformation uncertainty structure with an allowance on unknown but bounded exogenous disturbances, easily computable tests for the existence of a model validating uncertainty set are given. Under mild conditions, these tests are necessary and sufficient for the case of complex, nonrepeated, block-diagonal structure. For the more general case which includes repeated and/or real scalar uncertainties, the tests are only necessary but become sufficient if a collinearity condition is also satisfied. With the satisfaction of these tests, it is shown that a parameterization of all model validating sets of plant models is possible. The new parameterization is used as a basis for a systematic way to construct or perform uncertainty tradeoff with model validating uncertainty sets which have specific linear fractional transformation structure for use in robust control design and analysis. An illustrative example which includes a comparison of candidate model validating sets is given.

Robust tracking control of an IPMC actuator using nonsingular terminal sliding mode

NASA Astrophysics Data System (ADS)

Khawwaf, Jasim; Zheng, Jinchuan; Lu, Renquan; Al-Ghanimi, Ali; Kazem, Bahaa I.; Man, Zhihong

2017-09-01

Ionic polymer metal composite (IPMC) is a highly innovative material that has recently gained attention in many fields such as medical, biomimetic, and micro/nano underwater applications. The main characteristic of IPMC lies in its ability to achieve a large deflection under a fairly low driving voltage. Moreover, its agile, light weight, noiseless and flexible features render it well suited for certain specific applications. Like other smart materials, such as piezoelectric ceramics, IPMC could be used in actuators or sensors. In this paper, we study the application of IPMC as an actuator for underwater use. The goal is to develop a robust feedback controller for the IPMC actuator to track a desired reference whilst dealing with the uncertainties due to the inherent actuator nonlinearity, external disturbance or the variations of working environment. To this end, we first present a nominal model of the IPMC actuator through experimental identification. Next, a nonsingular terminal sliding mode controller is proposed. Lastly, experimental studies are conducted to verify the tracking accuracy and robustness of the designed controller.

Sliding mode control of electromagnetic tethered satellite formation

NASA Astrophysics Data System (ADS)

Hallaj, Mohammad Amin Alandi; Assadian, Nima

2016-08-01

This paper investigates the control of tethered satellite formation actuated by electromagnetic dipoles and reaction wheels using the robust sliding mode control technique. Generating electromagnetic forces and moments by electric current coils provides an attractive control actuation alternative for tethered satellite system due to the advantages of no propellant consumption and no obligatory rotational motion. Based on a dumbbell model of tethered satellite in which the flexibility and mass of the tether is neglected, the equations of motion in Cartesian coordinate are derived. In this model, the J2 perturbation is taken into account. The far-field and mid-field models of electromagnetic forces and moments of two satellites on each other and the effect of the Earth's magnetic field are presented. A robust sliding mode controller is designed for precise trajectory tracking purposes and to deal with the electromagnetic force and moment uncertainties and external disturbances due to the Earth's gravitational and magnetic fields inaccuracy. Numerical simulation results are presented to validate the effectiveness of the developed controller and its superiority over the linear controller.

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

PubMed

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

2016-05-03

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

A robust observer based on H∞ filtering with parameter uncertainties combined with Neural Networks for estimation of vehicle roll angle

NASA Astrophysics Data System (ADS)

Boada, Beatriz L.; Boada, Maria Jesus L.; Vargas-Melendez, Leandro; Diaz, Vicente

2018-01-01

Nowadays, one of the main objectives in road transport is to decrease the number of accident victims. Rollover accidents caused nearly 33% of all deaths from passenger vehicle crashes. Roll Stability Control (RSC) systems prevent vehicles from untripped rollover accidents. The lateral load transfer is the main parameter which is taken into account in the RSC systems. This parameter is related to the roll angle, which can be directly measured from a dual-antenna GPS. Nevertheless, this is a costly technique. For this reason, roll angle has to be estimated. In this paper, a novel observer based on H∞ filtering in combination with a neural network (NN) for the vehicle roll angle estimation is proposed. The design of this observer is based on four main criteria: to use a simplified vehicle model, to use signals of sensors which are installed onboard in current vehicles, to consider the inaccuracy in the system model and to attenuate the effect of the external disturbances. Experimental results show the effectiveness of the proposed observer.

Suppression of the noise-induced effects in an electrostatic micro-plate using an adaptive back-stepping sliding mode control.

PubMed

Nwagoum Tuwa, Peguy Roussel; Woafo, P

2018-01-01

In this work, an adaptive backstepping sliding mode control approach is applied through the piezoelectric layer in order to control and to stabilize an electrostatic micro-plate. The mathematical model of the system by taking into account the small fluctuations in the gap considered as bounded noise is carried out. The accuracy of the proposed modal equation is proven using the method of lines. By using both approaches, the effects of noise are presented. It is found that they lead to pull-in instability as well as to random chaos. A suitable backstepping approach to improve the tracking performance is integrated to the adaptive sliding mode control in order to eliminate chattering phenomena and reinforce the robustness of the system in presence of uncertainties and external random disturbances. It is proved that all the variables of the closed-loop system are bounded and the system can follow the given reference signals as close as possible. Numerical simulations are provided to show the effectiveness of proposed controller. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Finite-time fault tolerant attitude stabilization control for rigid spacecraft.

PubMed

Huo, Xing; Hu, Qinglei; Xiao, Bing

2014-03-01

A sliding mode based finite-time control scheme is presented to address the problem of attitude stabilization for rigid spacecraft in the presence of actuator fault and external disturbances. More specifically, a nonlinear observer is first proposed to reconstruct the amplitude of actuator faults and external disturbances. It is proved that precise reconstruction with zero observer error is achieved in finite time. Then, together with the system states, the reconstructed information is used to synthesize a nonsingular terminal sliding mode attitude controller. The attitude and the angular velocity are asymptotically governed to zero with finite-time convergence. A numerical example is presented to demonstrate the effectiveness of the proposed scheme. © 2013 Published by ISA on behalf of ISA.

Fractional Order PIλDμ Control for Maglev Guiding System

NASA Astrophysics Data System (ADS)

Hu, Qing; Hu, Yuwei

To effectively suppress the external disturbances and parameter perturbation problem of the maglev guiding system, and improve speed and robustness, the electromagnetic guiding system is exactly linearized using state feedback method, Fractional calculus theory is introduced, the order of integer order PID control was extended to the field of fractional, then fractional order PIλDμ Controller was presented, Due to the extra two adjustable parameters compared with traditional PID controller, fractional order PIλDμ controllers were expected to show better control performance. The results of the computer simulation show that the proposed controller suppresses the external disturbances and parameter perturbation of the system effectively; the system response speed was increased; at the same time, it had flexible structure and stronger robustness.

Design of permanent magnet synchronous motor speed loop controller based on sliding mode control algorithm

NASA Astrophysics Data System (ADS)

Qiang, Jiang; Meng-wei, Liao; Ming-jie, Luo

2018-03-01

Abstract.The control performance of Permanent Magnet Synchronous Motor will be affected by the fluctuation or changes of mechanical parameters when PMSM is applied as driving motor in actual electric vehicle,and external disturbance would influence control robustness.To improve control dynamic quality and robustness of PMSM speed control system, a new second order integral sliding mode control algorithm is introduced into PMSM vector control.The simulation results show that, compared with the traditional PID control,the modified control scheme optimized has better control precision and dynamic response ability and perform better with a stronger robustness facing external disturbance,it can effectively solve the traditional sliding mode variable structure control chattering problems as well.

Interplay of single particle and collective response in molecular dynamics simulation of dusty plasma system

NASA Astrophysics Data System (ADS)

Maity, Srimanta; Das, Amita; Kumar, Sandeep; Tiwari, Sanat Kumar

2018-04-01

The collective response of the plasma medium is well known and has been explored extensively in the context of dusty plasma medium. On the other hand, the individual particle response associated with the collisional character giving rise to the dissipative phenomena has not been explored adequately. In this paper, two-dimensional molecular dynamics simulation of dust particles interacting via Yukawa potential has been considered. It has been shown that disturbances induced in a dust crystal elicit both collective and single particle responses. Generation of a few particles moving at speeds considerably higher than acoustic and/or shock speed (excited by the external disturbance) is observed. This is an indication of a single particle response. Furthermore, as these individual energetic particles propagate, the dust crystal is observed to crack along their path. Initially when the energy is high, these particles generate secondary energetic particles by the collisional scattering process. However, ultimately as these particles slow down they excite a collective response in the dust medium at secondary locations in a region which is undisturbed by the primary external disturbance. The condition when the cracking of the crystal stops and collective excitations get initiated has been identified quantitatively. The trailing collective primary disturbances would thus often encounter a disturbed medium with secondary and tertiary collective perturbations, thereby suffering significant modification in its propagation. It is thus clear that there is an interesting interplay (other than mere dissipation) between the single particle and collective response which governs the dynamics of any disturbance introduced in the medium.

A meta-analysis of soil microbial biomass responses to forest disturbances

PubMed Central

Holden, Sandra R.; Treseder, Kathleen K.

2013-01-01

Climate warming is likely to increase the frequency and severity of forest disturbances, with uncertain consequences for soil microbial communities and their contribution to ecosystem C dynamics. To address this uncertainty, we conducted a meta-analysis of 139 published soil microbial responses to forest disturbances. These disturbances included abiotic (fire, harvesting, storm) and biotic (insect, pathogen) disturbances. We hypothesized that soil microbial biomass would decline following forest disturbances, but that abiotic disturbances would elicit greater reductions in microbial biomass than biotic disturbances. In support of this hypothesis, across all published studies, disturbances reduced soil microbial biomass by an average of 29.4%. However, microbial responses differed between abiotic and biotic disturbances. Microbial responses were significantly negative following fires, harvest, and storms (48.7, 19.1, and 41.7% reductions in microbial biomass, respectively). In contrast, changes in soil microbial biomass following insect infestation and pathogen-induced tree mortality were non-significant, although biotic disturbances were poorly represented in the literature. When measured separately, fungal and bacterial responses to disturbances mirrored the response of the microbial community as a whole. Changes in microbial abundance following disturbance were significantly positively correlated with changes in microbial respiration. We propose that the differential effect of abiotic and biotic disturbances on microbial biomass may be attributable to differences in soil disruption and organic C removal from forests among disturbance types. Altogether, these results suggest that abiotic forest disturbances may significantly decrease soil microbial abundance, with corresponding consequences for microbial respiration. Further studies are needed on the effect of biotic disturbances on forest soil microbial communities and soil C dynamics. PMID:23801985

Enhanced IMC design of load disturbance rejection for integrating and unstable processes with slow dynamics.

PubMed

Liu, Tao; Gao, Furong

2011-04-01

In view of the deficiencies in existing internal model control (IMC)-based methods for load disturbance rejection for integrating and unstable processes with slow dynamics, a modified IMC-based controller design is proposed to deal with step- or ramp-type load disturbance that is often encountered in engineering practices. By classifying the ways through which such load disturbance enters into the process, analytical controller formulae are correspondingly developed, based on a two-degree-of-freedom (2DOF) control structure that allows for separate optimization of load disturbance rejection from setpoint tracking. An obvious merit is that there is only a single adjustable parameter in the proposed controller, which in essence corresponds to the time constant of the closed-loop transfer function for load disturbance rejection, and can be monotonically tuned to meet a good trade-off between disturbance rejection performance and closed-loop robust stability. At the same time, robust tuning constraints are given to accommodate process uncertainties in practice. Illustrative examples from the recent literature are used to show effectiveness and merits of the proposed method for different cases of load disturbance. Copyright © 2010. Published by Elsevier Ltd.

A set-theoretic model reference adaptive control architecture for disturbance rejection and uncertainty suppression with strict performance guarantees

NASA Astrophysics Data System (ADS)

Arabi, Ehsan; Gruenwald, Benjamin C.; Yucelen, Tansel; Nguyen, Nhan T.

2018-05-01

Research in adaptive control algorithms for safety-critical applications is primarily motivated by the fact that these algorithms have the capability to suppress the effects of adverse conditions resulting from exogenous disturbances, imperfect dynamical system modelling, degraded modes of operation, and changes in system dynamics. Although government and industry agree on the potential of these algorithms in providing safety and reducing vehicle development costs, a major issue is the inability to achieve a-priori, user-defined performance guarantees with adaptive control algorithms. In this paper, a new model reference adaptive control architecture for uncertain dynamical systems is presented to address disturbance rejection and uncertainty suppression. The proposed framework is predicated on a set-theoretic adaptive controller construction using generalised restricted potential functions.The key feature of this framework allows the system error bound between the state of an uncertain dynamical system and the state of a reference model, which captures a desired closed-loop system performance, to be less than a-priori, user-defined worst-case performance bound, and hence, it has the capability to enforce strict performance guarantees. Examples are provided to demonstrate the efficacy of the proposed set-theoretic model reference adaptive control architecture.

A disturbance observer-based adaptive control approach for flexure beam nano manipulators.

PubMed

Zhang, Yangming; Yan, Peng; Zhang, Zhen

2016-01-01

This paper presents a systematic modeling and control methodology for a two-dimensional flexure beam-based servo stage supporting micro/nano manipulations. Compared with conventional mechatronic systems, such systems have major control challenges including cross-axis coupling, dynamical uncertainties, as well as input saturations, which may have adverse effects on system performance unless effectively eliminated. A novel disturbance observer-based adaptive backstepping-like control approach is developed for high precision servo manipulation purposes, which effectively accommodates model uncertainties and coupling dynamics. An auxiliary system is also introduced, on top of the proposed control scheme, to compensate the input saturations. The proposed control architecture is deployed on a customized-designed nano manipulating system featured with a flexure beam structure and voice coil actuators (VCA). Real time experiments on various manipulating tasks, such as trajectory/contour tracking, demonstrate precision errors of less than 1%. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Reduced-order model based active disturbance rejection control of hydraulic servo system with singular value perturbation theory.

PubMed

Wang, Chengwen; Quan, Long; Zhang, Shijie; Meng, Hongjun; Lan, Yuan

2017-03-01

Hydraulic servomechanism is the typical mechanical/hydraulic double-dynamics coupling system with the high stiffness control and mismatched uncertainties input problems, which hinder direct applications of many advanced control approaches in the hydraulic servo fields. In this paper, by introducing the singular value perturbation theory, the original double-dynamics coupling model of the hydraulic servomechanism was reduced to a integral chain system. So that, the popular ADRC (active disturbance rejection control) technology could be directly applied to the reduced system. In addition, the high stiffness control and mismatched uncertainties input problems are avoided. The validity of the simplified model is analyzed and proven theoretically. The standard linear ADRC algorithm is then developed based on the obtained reduced-order model. Extensive comparative co-simulations and experiments are carried out to illustrate the effectiveness of the proposed method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Uncertainty and sensitivity analysis of control strategies using the benchmark simulation model No1 (BSM1).

PubMed

Flores-Alsina, Xavier; Rodriguez-Roda, Ignasi; Sin, Gürkan; Gernaey, Krist V

2009-01-01

The objective of this paper is to perform an uncertainty and sensitivity analysis of the predictions of the Benchmark Simulation Model (BSM) No. 1, when comparing four activated sludge control strategies. The Monte Carlo simulation technique is used to evaluate the uncertainty in the BSM1 predictions, considering the ASM1 bio-kinetic parameters and influent fractions as input uncertainties while the Effluent Quality Index (EQI) and the Operating Cost Index (OCI) are focused on as model outputs. The resulting Monte Carlo simulations are presented using descriptive statistics indicating the degree of uncertainty in the predicted EQI and OCI. Next, the Standard Regression Coefficients (SRC) method is used for sensitivity analysis to identify which input parameters influence the uncertainty in the EQI predictions the most. The results show that control strategies including an ammonium (S(NH)) controller reduce uncertainty in both overall pollution removal and effluent total Kjeldahl nitrogen. Also, control strategies with an external carbon source reduce the effluent nitrate (S(NO)) uncertainty increasing both their economical cost and variability as a trade-off. Finally, the maximum specific autotrophic growth rate (micro(A)) causes most of the variance in the effluent for all the evaluated control strategies. The influence of denitrification related parameters, e.g. eta(g) (anoxic growth rate correction factor) and eta(h) (anoxic hydrolysis rate correction factor), becomes less important when a S(NO) controller manipulating an external carbon source addition is implemented.

Beyond the competition-colonization trade-off: linking multiple trait response to disturbance characteristics.

PubMed

Seifan, Merav; Seifan, Tal; Schiffers, Katja; Jeltsch, Florian; Tielbörger, Katja

2013-02-01

Disturbances' role in shaping communities is well documented but highly disputed. We suggest replacing the overused two-trait trade-off approach with a functional group scheme, constructed from combinations of four key traits that represent four classes of species' responses to disturbances. Using model results and field observations from sites affected by two highly different disturbances, we demonstrated that popular dichotomous trade-offs are not sufficient to explain community dynamics, even if some emerge under certain conditions. Without disturbances, competition was only sufficient to predict species survival but not relative success, which required some escape mechanism (e.g., long-term dormancy). With highly predictable and large-scale disturbances, successful species showed a combination of high individual tolerance to disturbance and, more surprisingly, high competitive ability. When disturbances were less predictable, high individual tolerance and long-term seed dormancy were favored, due to higher environmental uncertainty. Our study demonstrates that theories relying on a small number of predefined trade-offs among traits (e.g., competition-colonization trade-off) may lead to unrealistic results. We suggest that the understanding of disturbance-community relationships can be significantly improved by employing sets of relevant trait assemblies instead of the currently common approach in which trade-offs are assumed in advance.

The Structure of Personality Disorders in Individuals with Posttraumatic Stress Disorder

PubMed Central

Wolf, Erika J.; Miller, Mark W.; Brown, Timothy A.

2015-01-01

Research on the structure of personality disorders (PDs) has relied primarily on exploratory analyses to evaluate trait-based models of the factors underlying the covariation of these disorders. This study used confirmatory factor analysis to evaluate whether a model that included both PD traits and a general personality dysfunction factor would account for the comorbidity of the PDs better than a trait-only model. It also examined if the internalizing/externalizing model of psychopathology, developed previously through research on the structure of Axis I disorders, might similarly account for the covariation of the Axis II disorders in a sample of 245 veterans and non-veterans with posttraumatic stress disorder. Results indicated that the best fitting model was a modified bifactor structure composed of nine lower-order common factors. These factors indexed pathology ranging from aggression to dependency, with the correlations among them accounted for by higher-order Internalizing and Externalizing factors. Further, a general factor, reflecting a construct that we termed boundary disturbance, accounted for additional variance and covariance across nearly all the indicators. The Internalizing, Externalizing, and Boundary Disturbance factors evidenced differential associations with trauma-related covariates. These findings suggest continuity in the underlying structure of psychopathology across DSM-IV Axes I & II and provide empirical evidence of a pervasive, core disturbance in the boundary between self and other across the PDs. PMID:22448802

Back-stepping active disturbance rejection control design for integrated missile guidance and control system via reduced-order ESO.

PubMed

Xingling, Shao; Honglun, Wang

2015-07-01

This paper proposes a novel composite integrated guidance and control (IGC) law for missile intercepting against unknown maneuvering target with multiple uncertainties and control constraint. First, by using back-stepping technique, the proposed IGC law design is separated into guidance loop and control loop. The unknown target maneuvers and variations of aerodynamics parameters in guidance and control loop are viewed as uncertainties, which are estimated and compensated by designed model-assisted reduced-order extended state observer (ESO). Second, based on the principle of active disturbance rejection control (ADRC), enhanced feedback linearization (FL) based control law is implemented for the IGC model using the estimates generated by reduced-order ESO. In addition, performance analysis and comparisons between ESO and reduced-order ESO are examined. Nonlinear tracking differentiator is employed to construct the derivative of virtual control command in the control loop. Third, the closed-loop stability for the considered system is established. Finally, the effectiveness of the proposed IGC law in enhanced interception performance such as smooth interception course, improved robustness against multiple uncertainties as well as reduced control consumption during initial phase are demonstrated through simulations. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Challenges of including nitrogen effects on decomposition in earth system models

NASA Astrophysics Data System (ADS)

Hobbie, S. E.

2011-12-01

Despite the importance of litter decomposition for ecosystem fertility and carbon balance, key uncertainties remain about how this fundamental process is affected by nitrogen (N) availability. Nevertheless, resolving such uncertainties is critical for mechanistic inclusion of such processes in earth system models, towards predicting the ecosystem consequences of increased anthropogenic reactive N. Towards that end, we have conducted a series of experiments examining nitrogen effects on litter decomposition. We found that both substrate N and externally supplied N (regardless of form) accelerated the initial decomposition rate. Faster initial decomposition rates were linked to the higher activity of carbohydrate-degrading enzymes associated with externally supplied N and the greater relative abundances of Gram negative and Gram positive bacteria associated with green leaves and externally supplied organic N (assessed using phospholipid fatty acid analysis, PLFA). By contrast, later in decomposition, externally supplied N slowed decomposition, increasing the fraction of slowly decomposing litter and reducing lignin-degrading enzyme activity and relative abundances of Gram negative and Gram positive bacteria. Our results suggest that elevated atmospheric N deposition may have contrasting effects on the dynamics of different soil carbon pools, decreasing mean residence times of active fractions comprising very fresh litter, while increasing those of more slowly decomposing fractions including more processed litter. Incorporating these contrasting effects of N on decomposition processes into models is complicated by lingering uncertainties about how these effects generalize across ecosystems and substrates.

A probabilistic technique for the assessment of complex dynamic system resilience

NASA Astrophysics Data System (ADS)

Balchanos, Michael Gregory

In the presence of operational uncertainty, one of the greatest challenges in systems engineering is to ensure system effectiveness, mission capability and survivability for large scale, complex system architectures. Historic events such as the 2003 Northeastern Blackout, and the 2005 Hurricane Katrina, have underlined the great importance of system safety, and survivability. With safety management currently applied on a reactive basis to emerging incidents and risk challenges, there is a paradigm shift from passive, reactive and diagnosis-based approaches to the development of architectures that will autonomously manage safety and survivability through active, proactive and prognosis-based engineering solutions. The shift aims to bring safety considerations early in the engineering design process, in order to reduce retrofitting and additional safety certification costs, increase flexibility in risk management, and essentially make safety be "built-in" the design. As a possible enabling research direction, resilience engineering is an emerging discipline, pertinent to safety management, which offers alternative insights on the design of more safe and survivable system architectures. Conceptually, resilience engineering brings new perspectives on the understanding of system safety, accidents, failures, performance degradations and risk. A resilient system can "absorb" the impact of change due to unexpected disturbances, while it "adapts" to change, in order to maintain the system's physical integrity and capability to carry on with its mission. The leading hypothesis advocates that if a complex dynamic system is more resilient, then it would be more survivable, thus more effective, despite the unexpected disturbances that could affect its normal operating conditions. For investigating the impact of more resilient systems on survivability and safety, a framework for theoretical resilience estimations has been formulated. It constitutes the basis for quantitative techniques for total system resilience evaluation, based on scenario-based, dynamic system simulations. Physics-based Modeling and Simulation (M&S) is applied for dynamical system behavior analysis, which includes system performance, health monitoring, damage propagation and overall mission capability. For the development of the assessment framework and testing of a resilience assessment technique, a small-scale canonical problem has been formulated, involving a computational model of a degradable and reconfigurable spring-mass-damper SDOF system, in a multiple main and redundant spring configuration. A rule-based feedback controller is responsible for system performance recovery, through the application of different reconfiguration strategies and strategic activation of the necessary main or redundant springs. Uncertainty effects on system operation are introduced through disturbance factors, such as external forces with varying magnitude, input frequency, event duration and occurrence time. Such factors are the basis for scenario formulation, in support of a Monte Carlo simulation analysis. Case studies with varying levels of damping and different reconfiguration strategies, involve the investigation of operational uncertainty effects on system performance, mission capability, and system survivability. These studies furthermore explore uncertainty effects on resilience functions that describe the system's capacities on "restoring" mission capability, on "absorbing" the effects of changing conditions, and on "adapting" to the occurring change. The proposed resilience assessment technique or the Topological Investigation for Resilient and Effective Systems, through Increased Architecture Survivability (TIRESIAS) is then applied and demonstrated for a naval system application, in the form of a reduced scale, reconfigurable cooling network of a naval combatant. Uncertainty effects are modeled through combinations of different number of network fluid leaks. The TIRESIAS approach on the system baseline (32-control valve configuration) has allowed for the investigation of leak effects on survival times, mission capability degradations, as well as the resilience function capacities. As part of the technique demonstration, case studies were conducted for different architecture configurations, which have been generated for different total number of control valves and valve locations on the topology.

Adding temporally localized noise can enhance the contribution of target knowledge on contrast detection.

PubMed

Silvestre, Daphné; Cavanagh, Patrick; Arleo, Angelo; Allard, Rémy

2017-02-01

External noise paradigms are widely used to characterize sensitivity by comparing the effect of a variable on contrast threshold when it is limited by internal versus external noise. A basic assumption of external noise paradigms is that the processing properties are the same in low and high noise. However, recent studies (e.g., Allard & Cavanagh, 2011; Allard & Faubert, 2014b) suggest that this assumption could be violated when using spatiotemporally localized noise (i.e., appearing simultaneously and at the same location as the target) but not when using spatiotemporally extended noise (i.e., continuously displayed, full-screen, dynamic noise). These previous findings may have been specific to the crowding and 0D noise paradigms that were used, so the purpose of the current study is to test if this violation of noise-invariant processing also occurs in a standard contrast detection task in white noise. The rationale of the current study is that local external noise triggers the use of recognition rather than detection and that a recognition process should be more affected by uncertainty about the shape of the target than one involving detection. To investigate the contribution of target knowledge on contrast detection, the effect of orientation uncertainty was evaluated for a contrast detection task in the absence of noise and in the presence of spatiotemporally localized or extended noise. A larger orientation uncertainty effect was observed with temporally localized noise than with temporally extended noise or with no external noise, indicating a change in the nature of the processing for temporally localized noise. We conclude that the use of temporally localized noise in external noise paradigms risks triggering a shift in process, invalidating the noise-invariant processing required for the paradigm. If, instead, temporally extended external noise is used to match the properties of internal noise, no such processing change occurs.

Generation of capillary instabilities by external disturbances in a liquid jet. Ph.D. Thesis - State Univ. of N.Y.

NASA Technical Reports Server (NTRS)

Leib, S. J.

1985-01-01

The receptivity problem in a circular liquid jet is considered. A time harmonic axial pressure gradient is imposed on the steady, parallel flow of a jet of liquid emerging from a circular duct. Using a technique developed in plasma physics a casual solution to the forced problem is obtained over certain ranges of Weber number for a number of mean velocity profiles. This solution contains a term which grows exponentially in the downstream direction and can be identified with a capillary instability wave. Hence, it is found that the externally imposed disturbances can indeed trigger instability waves in a liquid jet. The amplitude of the instability wave generated relative to the amplitude of the forcing is computed numerically for a number of cases.

Dynamic response of a Mach 2.5 axisymmetric inlet and turbojet engine with a poppet-value controlled inlet stability bypass system when subjected to internal and external airflow transients

NASA Technical Reports Server (NTRS)

Sanders, B. W.

1980-01-01

The throat of a Mach 2.5 inlet that was attached to a turbojet engine was fitted with a poppet-valve-controlled stability bypass system that was designed to provide a large, stable airflow range. Propulsion system response and stability bypass performance were determined for several transient airflow disturbances, both internal and external. Internal airflow disturbances included reductions in overboard bypass airflow, power lever angle, and primary-nozzle area as well as compressor stall. For reference, data are also included for a conventional, fixed-exit bleed system. The poppet valves greatly increased inlet stability and had no adverse effects on propulsion system performance. Limited unstarted-inlet bleed performance data are presented.

Social desirability response tendencies in psychiatric inpatient children.

PubMed

Mabe, P A; Treiber, F A

1989-03-01

This study examined the substantive features of children's social desirability (SD) tendencies that could influence the nature and severity of psychopathology. Examinations of substantive features of SD responding in an inpatient child psychiatry unit (N = 76) suggested that higher scores on the Children's Social Desirability questionnaire were associated strongly with (1) lower mental age; (2) higher scores on self-reported social competence; (3) lower scores on self-reported anger; and (4) lower scores on parent-reported externalization behavioral disturbance. Results were interpreted as suggesting that SD responding for child inpatients may reflect a mixed picture of negative features of cognitive and social immaturity that could affect adversely their ability to judge their own and others' social behavior and of positive features of less external behavioral disturbance and more prosocial attitudes and behaviors.

Mechanical properties of cocoons constructed consecutively by a single silkworm caterpillar, Bombyx mori

NASA Astrophysics Data System (ADS)

Huang, S. Q.; Zhao, H. P.; Feng, X. Q.; Cui, W.; Lin, Z.; Xu, M. Q.

2008-04-01

Most animals have the ability to adapt, to some extends and in different ways, the variation or disturbance of environment. In our experiments, we forced a silkworm caterpillar to spin two, three or four thin cocoons by taking it out from the cocoon being constructed. The mechanical properties of these cocoons were studied by static tensile tests and dynamic mechanical thermal analysis. Though external disturbances may cause the decrease in the total weight of silk spun by the silkworm, a gradual enhancement was interestingly found in the mechanical properties of these thin cocoons. Scanning electron microscopy observations of the fractured specimens of the cocoons showed that there exist several different energy dissipation mechanisms occurred simultaneously at macro-, meso-, and micro-scales, yielding a superior capacity of cocoons to adsorb the energy of possible attacks from the outside and to protect efficiently its pupa against damage. Through evolution of millions of years, therefore, the silkworm Bombyx mori seems to have gained the ability to adapt external disturbances and to redesign a new cocoon with optimized protective function when its first cocoon has been damaged for some reasons.

Robust current control-based generalized predictive control with sliding mode disturbance compensation for PMSM drives.

PubMed

Liu, Xudong; Zhang, Chenghui; Li, Ke; Zhang, Qi

2017-11-01

This paper addresses the current control of permanent magnet synchronous motor (PMSM) for electric drives with model uncertainties and disturbances. A generalized predictive current control method combined with sliding mode disturbance compensation is proposed to satisfy the requirement of fast response and strong robustness. Firstly, according to the generalized predictive control (GPC) theory based on the continuous time model, a predictive current control method is presented without considering the disturbance, which is convenient to be realized in the digital controller. In fact, it's difficult to derive the exact motor model and parameters in the practical system. Thus, a sliding mode disturbance compensation controller is studied to improve the adaptiveness and robustness of the control system. The designed controller attempts to combine the merits of both predictive control and sliding mode control, meanwhile, the controller parameters are easy to be adjusted. Lastly, the proposed controller is tested on an interior PMSM by simulation and experiment, and the results indicate that it has good performance in both current tracking and disturbance rejection. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Noise and disturbance of qubit measurements: An information-theoretic characterization

NASA Astrophysics Data System (ADS)

Abbott, Alastair A.; Branciard, Cyril

2016-12-01

Information-theoretic definitions for the noise associated with a quantum measurement and the corresponding disturbance to the state of the system have recently been introduced [F. Buscemi et al., Phys. Rev. Lett. 112, 050401 (2014), 10.1103/PhysRevLett.112.050401]. These definitions are invariant under relabeling of measurement outcomes, and lend themselves readily to the formulation of state-independent uncertainty relations both for the joint estimate of observables (noise-noise relations) and the noise-disturbance tradeoff. Here we derive such relations for incompatible qubit observables, which we prove to be tight in the case of joint estimates, and present progress towards fully characterizing the noise-disturbance tradeoff. In doing so, we show that the set of obtainable noise-noise values for such observables is convex, whereas the conjectured form for the set of obtainable noise-disturbance values is not. Furthermore, projective measurements are not optimal with respect to the joint-measurement noise or noise-disturbance tradeoffs. Interestingly, it seems that four-outcome measurements are needed in the former case, whereas three-outcome measurements are optimal in the latter.

Compositional diversity of rehabilitated tropical lands supports multiple ecosystem services and buffers uncertainties

PubMed Central

Knoke, Thomas; Paul, Carola; Hildebrandt, Patrick; Calvas, Baltazar; Castro, Luz Maria; Härtl, Fabian; Döllerer, Martin; Hamer, Ute; Windhorst, David; Wiersma, Yolanda F.; Curatola Fernández, Giulia F.; Obermeier, Wolfgang A.; Adams, Julia; Breuer, Lutz; Mosandl, Reinhard; Beck, Erwin; Weber, Michael; Stimm, Bernd; Haber, Wolfgang; Fürst, Christine; Bendix, Jörg

2016-01-01

High landscape diversity is assumed to increase the number and level of ecosystem services. However, the interactions between ecosystem service provision, disturbance and landscape composition are poorly understood. Here we present a novel approach to include uncertainty in the optimization of land allocation for improving the provision of multiple ecosystem services. We refer to the rehabilitation of abandoned agricultural lands in Ecuador including two types of both afforestation and pasture rehabilitation, together with a succession option. Our results show that high compositional landscape diversity supports multiple ecosystem services (multifunction effect). This implicitly provides a buffer against uncertainty. Our work shows that active integration of uncertainty is only important when optimizing single or highly correlated ecosystem services and that the multifunction effect on landscape diversity is stronger than the uncertainty effect. This is an important insight to support a land-use planning based on ecosystem services. PMID:27292766

Compositional diversity of rehabilitated tropical lands supports multiple ecosystem services and buffers uncertainties.

PubMed

Knoke, Thomas; Paul, Carola; Hildebrandt, Patrick; Calvas, Baltazar; Castro, Luz Maria; Härtl, Fabian; Döllerer, Martin; Hamer, Ute; Windhorst, David; Wiersma, Yolanda F; Curatola Fernández, Giulia F; Obermeier, Wolfgang A; Adams, Julia; Breuer, Lutz; Mosandl, Reinhard; Beck, Erwin; Weber, Michael; Stimm, Bernd; Haber, Wolfgang; Fürst, Christine; Bendix, Jörg

2016-06-13

High landscape diversity is assumed to increase the number and level of ecosystem services. However, the interactions between ecosystem service provision, disturbance and landscape composition are poorly understood. Here we present a novel approach to include uncertainty in the optimization of land allocation for improving the provision of multiple ecosystem services. We refer to the rehabilitation of abandoned agricultural lands in Ecuador including two types of both afforestation and pasture rehabilitation, together with a succession option. Our results show that high compositional landscape diversity supports multiple ecosystem services (multifunction effect). This implicitly provides a buffer against uncertainty. Our work shows that active integration of uncertainty is only important when optimizing single or highly correlated ecosystem services and that the multifunction effect on landscape diversity is stronger than the uncertainty effect. This is an important insight to support a land-use planning based on ecosystem services.

Intrusive thoughts in obsessive-compulsive disorder and eating disorder patients: a differential analysis.

PubMed

García-Soriano, Gemma; Roncero, Maria; Perpiñá, Conxa; Belloch, Amparo

2014-05-01

The present study aims to compare the unwanted intrusions experienced by obsessive-compulsive (OCD) and eating disorder (ED) patients, their appraisals, and their control strategies and analyse which variables predict the intrusions' disruption and emotional disturbance in each group. Seventy-nine OCD and 177 ED patients completed two equivalent self-reports designed to assess OCD-related and ED-related intrusions, their dysfunctional appraisals, and associated control strategies. OCD and ED patients experienced intrusions with comparable frequency and emotional disturbance, but OCD patients experienced greater disruption. Differences appeared between groups on some appraisals and control strategies. Intolerance to uncertainty (OCD group) and thought importance (ED group) predicted their respective emotional disturbance and disruption. Additionally, control importance (OCD group) and thought-action fusion moral (OCD and ED groups) predicted their emotional disturbance. OCD and ED share the presence of intrusions; however, different variables explain why they are disruptive and emotionally disturbing. Cognitive intrusions require further investigation as a transdiagnostic variable. Copyright © 2014 John Wiley & Sons, Ltd and Eating Disorders Association.

Proof of Heisenberg's error-disturbance relation.

PubMed

Busch, Paul; Lahti, Pekka; Werner, Reinhard F

2013-10-18

While the slogan "no measurement without disturbance" has established itself under the name of the Heisenberg effect in the consciousness of the scientifically interested public, a precise statement of this fundamental feature of the quantum world has remained elusive, and serious attempts at rigorous formulations of it as a consequence of quantum theory have led to seemingly conflicting preliminary results. Here we show that despite recent claims to the contrary [L. Rozema et al, Phys. Rev. Lett. 109, 100404 (2012)], Heisenberg-type inequalities can be proven that describe a tradeoff between the precision of a position measurement and the necessary resulting disturbance of momentum (and vice versa). More generally, these inequalities are instances of an uncertainty relation for the imprecisions of any joint measurement of position and momentum. Measures of error and disturbance are here defined as figures of merit characteristic of measuring devices. As such they are state independent, each giving worst-case estimates across all states, in contrast to previous work that is concerned with the relationship between error and disturbance in an individual state.

Analytical Assessment for Transient Stability Under Stochastic Continuous Disturbances

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

Ju, Ping; Li, Hongyu; Gan, Chun

Here, with the growing integration of renewable power generation, plug-in electric vehicles, and other sources of uncertainty, increasing stochastic continuous disturbances are brought to power systems. The impact of stochastic continuous disturbances on power system transient stability attracts significant attention. To address this problem, this paper proposes an analytical assessment method for transient stability of multi-machine power systems under stochastic continuous disturbances. In the proposed method, a probability measure of transient stability is presented and analytically solved by stochastic averaging. Compared with the conventional method (Monte Carlo simulation), the proposed method is many orders of magnitude faster, which makes itmore » very attractive in practice when many plans for transient stability must be compared or when transient stability must be analyzed quickly. Also, it is found that the evolution of system energy over time is almost a simple diffusion process by the proposed method, which explains the impact mechanism of stochastic continuous disturbances on transient stability in theory.« less

Global SWOT Data Assimilation of River Hydrodynamic Model; the Twin Simulation Test of CaMa-Flood

NASA Astrophysics Data System (ADS)

Ikeshima, D.; Yamazaki, D.; Kanae, S.

2016-12-01

CaMa-Flood is a global scale model for simulating hydrodynamics in large scale rivers. It can simulate river hydrodynamics such as river discharge, flooded area, water depth and so on by inputting water runoff derived from land surface model. Recently many improvements at parameters or terrestrial data are under process to enhance the reproducibility of true natural phenomena. However, there are still some errors between nature and simulated result due to uncertainties in each model. SWOT (Surface water and Ocean Topography) is a satellite, which is going to be launched in 2021, can measure open water surface elevation. SWOT observed data can be used to calibrate hydrodynamics model at river flow forecasting and is expected to improve model's accuracy. Combining observation data into model to calibrate is called data assimilation. In this research, we developed data-assimilated river flow simulation system in global scale, using CaMa-Flood as river hydrodynamics model and simulated SWOT as observation data. Generally at data assimilation, calibrating "model value" with "observation value" makes "assimilated value". However, the observed data of SWOT satellite will not be available until its launch in 2021. Instead, we simulated the SWOT observed data using CaMa-Flood. Putting "pure input" into CaMa-Flood produce "true water storage". Extracting actual daily swath of SWOT from "true water storage" made simulated observation. For "model value", we made "disturbed water storage" by putting "noise disturbed input" to CaMa-Flood. Since both "model value" and "observation value" are made by same model, we named this twin simulation. At twin simulation, simulated observation of "true water storage" is combined with "disturbed water storage" to make "assimilated value". As the data assimilation method, we used ensemble Kalman filter. If "assimilated value" is closer to "true water storage" than "disturbed water storage", the data assimilation can be marked effective. Also by changing the input disturbance of "disturbed water storage", acceptable rate of uncertainty at the input may be discussed.

Microbial Communities Are Well Adapted to Disturbances in Energy Input

PubMed Central

Vallino, Joseph J.

2016-01-01

ABSTRACT Although microbial systems are well suited for studying concepts in ecological theory, little is known about how microbial communities respond to long-term periodic perturbations beyond diel oscillations. Taking advantage of an ongoing microcosm experiment, we studied how methanotrophic microbial communities adapted to disturbances in energy input over a 20-day cycle period. Sequencing of bacterial 16S rRNA genes together with quantification of microbial abundance and ecosystem function were used to explore the long-term dynamics (510 days) of methanotrophic communities under continuous versus cyclic chemical energy supply. We observed that microbial communities appeared inherently well adapted to disturbances in energy input and that changes in community structure in both treatments were more dependent on internal dynamics than on external forcing. The results also showed that the rare biosphere was critical to seeding the internal community dynamics, perhaps due to cross-feeding or other strategies. We conclude that in our experimental system, internal feedbacks were more important than external drivers in shaping the community dynamics over time, suggesting that ecosystems can maintain their function despite inherently unstable community dynamics. IMPORTANCE Within the broader ecological context, biological communities are often viewed as stable and as only experiencing succession or replacement when subject to external perturbations, such as changes in food availability or the introduction of exotic species. Our findings indicate that microbial communities can exhibit strong internal dynamics that may be more important in shaping community succession than external drivers. Dynamic “unstable” communities may be important for ecosystem functional stability, with rare organisms playing an important role in community restructuring. Understanding the mechanisms responsible for internal community dynamics will certainly be required for understanding and manipulating microbiomes in both host-associated and natural ecosystems. PMID:27822558

Evaluation and implementation of triple‐channel radiochromic film dosimetry in brachytherapy

PubMed Central

Bradley, David; Nisbet, Andrew

2014-01-01

The measurement of dose distributions in clinical brachytherapy, for the purpose of quality control, commissioning or dosimetric audit, is challenging and requires development. Radiochromic film dosimetry with a commercial flatbed scanner may be suitable, but careful methodologies are required to control various sources of uncertainty. Triple‐channel dosimetry has recently been utilized in external beam radiotherapy to improve the accuracy of film dosimetry, but its use in brachytherapy, with characteristic high maximum doses, steep dose gradients, and small scales, has been less well researched. We investigate the use of advanced film dosimetry techniques for brachytherapy dosimetry, evaluating uncertainties and assessing the mitigation afforded by triple‐channel dosimetry. We present results on postirradiation film darkening, lateral scanner effect, film surface perturbation, film active layer thickness, film curling, and examples of the measurement of clinical brachytherapy dose distributions. The lateral scanner effect in brachytherapy film dosimetry can be very significant, up to 23% dose increase at 14 Gy, at ± 9 cm lateral from the scanner axis for simple single‐channel dosimetry. Triple‐channel dosimetry mitigates the effect, but still limits the useable width of a typical scanner to less than 8 cm at high dose levels to give dose uncertainty to within 1%. Triple‐channel dosimetry separates dose and dose‐independent signal components, and effectively removes disturbances caused by film thickness variation and surface perturbations in the examples considered in this work. The use of reference dose films scanned simultaneously with brachytherapy test films is recommended to account for scanner variations from calibration conditions. Postirradiation darkening, which is a continual logarithmic function with time, must be taken into account between the reference and test films. Finally, films must be flat when scanned to avoid the Callier‐like effects and to provide reliable dosimetric results. We have demonstrated that radiochromic film dosimetry with GAFCHROMIC EBT3 film and a commercial flatbed scanner is a viable method for brachytherapy dose distribution measurement, and uncertainties may be reduced with triple‐channel dosimetry and specific film scan and evaluation methodologies. PACS numbers: 87.55.Qr, 87.56.bg, 87.55.km PMID:25207417

Environmental Uncertainty and External Resource Acquisition: Implications for a Developing Research University.

ERIC Educational Resources Information Center

Bjork, Lars G.

External resource acquisition was investigated as one factor associated with the development of the University of New Mexico from an undergraduate teaching institution toward becoming a nationally-ranked graduate research university. A longitudinal, ethnohistorical study was undertaken for the 1967-1978 period. The qualitative research methodology…

Scanning the Business External Environment for Information: Evidence from Greece

ERIC Educational Resources Information Center

Kourteli, Liana

2005-01-01

Introduction: This paper examines the business external environment scanning theory for information in the context of Greece. Method. A questionnaire was developed to explore the relationships between general and task business environment, perceived uncertainty, scanning strategy, and sources of information with respect to type of environment,…

Assessment of uncertainties in radiation-induced cancer risk predictions at clinically relevant doses

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

Nguyen, J.; Moteabbed, M.; Paganetti, H., E-mail: hpaganetti@mgh.harvard.edu

2015-01-15

Purpose: Theoretical dose–response models offer the possibility to assess second cancer induction risks after external beam therapy. The parameters used in these models are determined with limited data from epidemiological studies. Risk estimations are thus associated with considerable uncertainties. This study aims at illustrating uncertainties when predicting the risk for organ-specific second cancers in the primary radiation field illustrated by choosing selected treatment plans for brain cancer patients. Methods: A widely used risk model was considered in this study. The uncertainties of the model parameters were estimated with reported data of second cancer incidences for various organs. Standard error propagationmore » was then subsequently applied to assess the uncertainty in the risk model. Next, second cancer risks of five pediatric patients treated for cancer in the head and neck regions were calculated. For each case, treatment plans for proton and photon therapy were designed to estimate the uncertainties (a) in the lifetime attributable risk (LAR) for a given treatment modality and (b) when comparing risks of two different treatment modalities. Results: Uncertainties in excess of 100% of the risk were found for almost all organs considered. When applied to treatment plans, the calculated LAR values have uncertainties of the same magnitude. A comparison between cancer risks of different treatment modalities, however, does allow statistically significant conclusions. In the studied cases, the patient averaged LAR ratio of proton and photon treatments was 0.35, 0.56, and 0.59 for brain carcinoma, brain sarcoma, and bone sarcoma, respectively. Their corresponding uncertainties were estimated to be potentially below 5%, depending on uncertainties in dosimetry. Conclusions: The uncertainty in the dose–response curve in cancer risk models makes it currently impractical to predict the risk for an individual external beam treatment. On the other hand, the ratio of absolute risks between two modalities is less sensitive to the uncertainties in the risk model and can provide statistically significant estimates.« less

A study of the relationship between parental bonding, self-concept and eating disturbances in Norwegian and American college populations.

PubMed

Perry, Judith A; Silvera, David H; Neilands, Torsten B; Rosenvinge, Jan H; Hanssen, Tina

2008-01-01

This study investigated the relationship between bonding patterns and self-concept, and the influence of these constructs on a measure of sub-clinical eating disturbances. Undergraduate students from the United States (N=166) and Norway (N=233) were given self-report questionnaires that included measures of parental bonding, locus of control, self-concept clarity, self-esteem, and disturbed cognitions associated with eating. A structural equation model showed the expected pattern, with bonding predicting self-concept and self-concept predicting eating disturbances. The model fit equally well for samples from both countries and for both genders. This model links the pattern of low care and overprotective parental bonding indicators mediated through a self-concept defined by a lack of self-understanding, low self-esteem, and external locus of control to increased risk of eating disturbances for college aged men and women.

Disturbed Fossil Group Galaxy NGC 1132

NASA Astrophysics Data System (ADS)

Kim, Dong-Woo; Anderson, Craig; Burke, Doug; Fabbiano, Giuseppina; Fruscione, Antonella; Lauer, Jen; McCollough, Michael; Morgan, Doug; Mossman, Amy; O’Sullivan, Ewan; Paggi, Alessandro; Vrtilek, Saeqa; Trinchieri, Ginevra

2018-02-01

We have analyzed the Chandra archival data of NGC 1132, a well-known fossil group, i.e., a system expected to be old and relaxed long after the giant elliptical galaxy assembly. Instead, the Chandra data reveal that the hot gas morphology is disturbed and asymmetrical, with a cold front following a possible bow shock. We discuss possible origins of the disturbed hot halo, including sloshing by a nearby object, merger, ram pressure by external hotter gas, and nuclear outburst. We consider that the first two mechanisms are likely explanations for the disturbed hot halo, with a slight preference for a minor merger with a low impact parameter because of the match with simulations and previous optical observations. In this case, NGC 1132 may be a rare example of unusual late mergers seen in recent simulations. Regardless of the origin of the disturbed hot halo, the paradigm of the fossil system needs to be reconsidered.

Disturbance-driven Changes in Soil Exoenzyme Activity and Biogeochemistry of Colorado Forests

NASA Astrophysics Data System (ADS)

Lybrand, R. A.; Gallery, R. E.; Trahan, N. A.; Dynes, E.; Moore, D. J.

2015-12-01

Forest disturbances alter rates of organic matter decomposition by microbes, which introduces uncertainty to the fate of soil carbon and aboveground carbon stocks. Quantifying soil microbial response to disturbance will reduce this uncertainty in dynamic, heterogeneous ecosystems. Here, we assessed how potential exoenzyme activities and biogeochemistry vary across Colorado landscapes disturbed by insect, fire, and flooding. We sampled 56 plots that spanned a burn severity gradient following the 2012 High Park Fire and a beetle kill chronosequence. Topsoil biogeochemistry, potential exoenzyme activity, and microbial biomass were quantified within each plot, and for a subset of 16 plots visited before and after a 2014 rainfall event. Terrain variables were generated from a LiDAR-derived DTM. Our results documented a shift in exoenzyme activity that corresponded to fire-driven changes in pH, which averaged 4.8 ± 0.2 in unburned plots to 6.3 ± 0.4 in severe burn plots. Stepwise multiple linear regressions were employed to predict exoenzyme activity using principal components derived from biogeochemical and terrain variables. The models explained up to 50% of the variance in exoenzyme activity, with the strongest relationships identified for phosphatase and the carbon degrading enzymes, β-Glucosidase and 4-MUB-β-D-cellobioside. The unexplained variance may result from the legacy of disturbance across sites. For example, burned and unburned plots presented contrasting geochemical responses to the 2014 rainfall event. Specifically, PO43- did not differ significantly between the burned and unburned plots in the pre-flood soils. Interestingly, PO43- was significantly different between the two groups in the post-flood soils due to a decrease in PO43- at the unburned plots and a slight increase at the burned plots. Similar trends were recognized for DIN and NH4+ in the burned and unburned sites yet the beetle kill plots exhibited little geochemical response pre- and post-flood. Our results demonstrate that exoenzyme activities are controlled, in part, by topography and disturbance-driven changes in biogeochemistry. Future work will examine how microclimate and disturbance history, such as undocumented flood events, contribute to soil ecological and geochemical variability across complex terrain.

Detecting Forest Disturbance Events from MODIS and Landsat Time Series for the Conterminous United States

NASA Astrophysics Data System (ADS)

Zhang, G.; Ganguly, S.; Saatchi, S. S.; Hagen, S. C.; Harris, N.; Yu, Y.; Nemani, R. R.

2013-12-01

Spatial and temporal patterns of forest disturbance and regrowth processes are key for understanding aboveground terrestrial vegetation biomass and carbon stocks at regional-to-continental scales. The NASA Carbon Monitoring System (CMS) program seeks key input datasets, especially information related to impacts due to natural/man-made disturbances in forested landscapes of Conterminous U.S. (CONUS), that would reduce uncertainties in current carbon stock estimation and emission models. This study provides a end-to-end forest disturbance detection framework based on pixel time series analysis from MODIS (Moderate Resolution Imaging Spectroradiometer) and Landsat surface spectral reflectance data. We applied the BFAST (Breaks for Additive Seasonal and Trend) algorithm to the Normalized Difference Vegetation Index (NDVI) data for the time period from 2000 to 2011. A harmonic seasonal model was implemented in BFAST to decompose the time series to seasonal and interannual trend components in order to detect abrupt changes in magnitude and direction of these components. To apply the BFAST for whole CONUS, we built a parallel computing setup for processing massive time-series data using the high performance computing facility of the NASA Earth Exchange (NEX). In the implementation process, we extracted the dominant deforestation events from the magnitude of abrupt changes in both seasonal and interannual components, and estimated dates for corresponding deforestation events. We estimated the recovery rate for deforested regions through regression models developed between NDVI values and time since disturbance for all pixels. A similar implementation of the BFAST algorithm was performed over selected Landsat scenes (all Landsat cloud free data was used to generate NDVI from atmospherically corrected spectral reflectances) to demonstrate the spatial coherence in retrieval layers between MODIS and Landsat. In future, the application of this largely parallel disturbance detection setup will facilitate large scale processing and wall-to-wall mapping of forest disturbance and regrowth of Landsat data for the whole of CONUS. This exercise will aid in improving the present capabilities of the NASA CMS effort in reducing uncertainties in national-level estimates of biomass and carbon stocks.

Exploring Ackermann and LQR stability control of stochastic state-space model of hexacopter equipped with robotic arm

NASA Astrophysics Data System (ADS)

Ibrahim, I. N.; Akkad, M. A. Al; Abramov, I. V.

2018-05-01

This paper discusses the control of Unmanned Aerial Vehicles (UAVs) for active interaction and manipulation of objects. The manipulator motion with an unknown payload was analysed concerning force and moment disturbances, which influence the mass distribution, and the centre of gravity (CG). Therefore, a general dynamics mathematical model of a hexacopter was formulated where a stochastic state-space model was extracted in order to build anti-disturbance controllers. Based on the compound pendulum method, the disturbances model that simulates the robotic arm with a payload was inserted into the stochastic model. This study investigates two types of controllers in order to study the stability of a hexacopter. A controller based on Ackermann’s method and the other - on the linear quadratic regulator (LQR) approach - were presented. The latter constitutes a challenge for UAV control performance especially with the presence of uncertainties and disturbances.

Mechanics of Boundary Layer Transition. Part 5: Boundary Layer Stability theory in incompressible and compressible flow

NASA Technical Reports Server (NTRS)

Mack, L. M.

1967-01-01

The fundamentals of stability theory, its chief results, and the physical mechanisms at work are presented. The stability theory of the laminar boundary determines whether a small disturbance introduced into the boundary layer will amplify or damp. If the disturbance damps, the boundary layer remains laminar. If the disturbance amplifies, and by a sufficient amount, then transition to turbulence eventually takes place. The stability theory establishes those states of the boundary layer which are most likely to lead to transition, identifys those frequencies which are the most dangerous, and indicates how the external parameters can best be changed to avoid transition.

Interpretation of discrepancies in mass spectroscopy data obtained from different experimental configurations

NASA Technical Reports Server (NTRS)

Russell, John M.

1993-01-01

Many helium mass spectrometer leak detectors at KSC employ sampling systems that feature hand held sniffer probes. Authors of general leakage-testing literature recommend sniffer probes for leak location but not for quantitative leakage measurement. Their use in the latter application at KSC involves assumptions that may be subtle. The purpose of the research effort reported herein was to establish the significance of indicated leak rates displayed by sniffer-probe equipped leak detectors and to determine whether the use of alternative hardware or testing procedures may reduce the uncertainty of leakage measurements made with them. The report classifies probe-type sampling systems for helium leak detectors according to their internal plumbing (direct or branched), presents a basic analysis of the fluid dynamics in the sampling system in the branched-conduit case, describes the usual test method for measuring the internal supply-to-sample flowrate ratio (a.k.a permeation ratio), and describes a concept for a sponge-tipped probe whose external supply-to-sample flowrate ratio promises to be lower than that of a simple-ended probe. One conclusion is that the main source of uncertainty in the use of probe-type sampling systems for leakage measurement is uncertainty in the external supply-to-sample flowrate ratio. In contrast, the present method for measuring the internal supply-to-sample flowrate ratio is quantitative and satisfactory. The implication is that probes of lower external supply-to-sample flowrate ratio must be developed before this uncertainty may be reduced significantly.

78 FR 56202 - Ecological Restoration Policy

Federal Register 2010, 2011, 2012, 2013, 2014

2013-09-12

... natural disturbances, and uncertainty related to climate and other environmental change. On September 22... environmental conditions, such as those driven by a changing climate and increasing human uses. Restoration is... regimes; and likely future environments resulting from climate change and increasing human uses. Although...

The Near-Earth Meteoroid Flux, Speed Distribution, and Uncertainty

NASA Technical Reports Server (NTRS)

Moorhead, Althea; Cooke, William J.; Brown, Peter G.; Campbell-Brown, Margaret; Moser, Danielle E.

2016-01-01

Meteoroids are known to pose a threat to spacecraft; they can puncture components, disturb spacecraft attitude, and possibly create secondary electrical effects. Accurate environment models are therefore critical for mitigating meteoroid-related risks. While there are several meteoroid environment models available for assessing spacecraft risk, the uncertainties associated with these models are not well understood. Because meteoroid properties are derived from indirect observations such as meteors and impact craters, the uncertainty in the meteoroid flux is potentially quite large. We combine existing meteoroid flux measurements with new radar and optical meteor data to improve our characterization of the meteoroid flux onto the Earth and its velocity distribution. We use data extracted from the NASA all-sky network, the Canadian Automated Meteor Observatory, and the Canadian Meteor Orbit Radar. We improve our characterization of the observed meteoroid speed distribution by incorporating modern descriptions of the ionization efficiency (e.g., Thomas et al., 2016). We also present estimates of the uncertainties associated with our meteoroid flux distribution. Finally, we discuss the implications for spacecraft. Our model is constrained by the cratering rate on the space-facing surface of LDEF, and thus the risk posed to spacecraft by meteoroid-induced physical damage is the least uncertain component of our model. Other sources of risk, however, may vary. For instance, a lower average meteoroid speed would require a higher meteoroid mass flux in order to match the LDEF crater counts, leading to higher predicted rates of attitude disturbances.

When 1+1 can be >2: Uncertainties compound when simulating climate, fisheries and marine ecosystems

NASA Astrophysics Data System (ADS)

Evans, Karen; Brown, Jaclyn N.; Sen Gupta, Alex; Nicol, Simon J.; Hoyle, Simon; Matear, Richard; Arrizabalaga, Haritz

2015-03-01

Multi-disciplinary approaches that combine oceanographic, biogeochemical, ecosystem, fisheries population and socio-economic models are vital tools for modelling whole ecosystems. Interpreting the outputs from such complex models requires an appreciation of the many different types of modelling frameworks being used and their associated limitations and uncertainties. Both users and developers of particular model components will often have little involvement or understanding of other components within such modelling frameworks. Failure to recognise limitations and uncertainties associated with components and how these uncertainties might propagate throughout modelling frameworks can potentially result in poor advice for resource management. Unfortunately, many of the current integrative frameworks do not propagate the uncertainties of their constituent parts. In this review, we outline the major components of a generic whole of ecosystem modelling framework incorporating the external pressures of climate and fishing. We discuss the limitations and uncertainties associated with each component of such a modelling system, along with key research gaps. Major uncertainties in modelling frameworks are broadly categorised into those associated with (i) deficient knowledge in the interactions of climate and ocean dynamics with marine organisms and ecosystems; (ii) lack of observations to assess and advance modelling efforts and (iii) an inability to predict with confidence natural ecosystem variability and longer term changes as a result of external drivers (e.g. greenhouse gases, fishing effort) and the consequences for marine ecosystems. As a result of these uncertainties and intrinsic differences in the structure and parameterisation of models, users are faced with considerable challenges associated with making appropriate choices on which models to use. We suggest research directions required to address these uncertainties, and caution against overconfident predictions. Understanding the full impact of uncertainty makes it clear that full comprehension and robust certainty about the systems themselves are not feasible. A key research direction is the development of management systems that are robust to this unavoidable uncertainty.

Locus of control and self-esteem in depressed, low-income African-American women.

PubMed

Goodman, S H; Cooley, E L; Sewell, D R; Leavitt, N

1994-06-01

Depressed, schizophrenic, and well low-income, African-American women were studied in an effort to extend previous hypotheses of the association between depression and the two personality constructs of low self-esteem and externality to this population. Subjects were 113 low income African-American women including 26 who had been diagnosed as depressed, 54 diagnosed as schizophrenic, and 33 well women. Locus of control was measured with the Adult Nowicki-Strickland Internal-External Control Scale (Nowicki & Duke, 1974). Self-esteem was measured with the Rosenberg Self-Esteem Scale (Rosenberg, 1965). Contrary to predictions, a diagnosis of schizophrenia, but not depression, was associated with more external locus of control. For self-esteem, severity of disturbance, rather than diagnosis, seemed to be of primary importance. Also, lower self-esteem scores were correlated significantly with higher levels of externality for both depressed and schizophrenic women but not for well controls. The present study indicates that self-esteem and locus of control are related to depression differently in low socio-economic status (SES) African-American women than in previously studied middle SES depressed whites. The findings emphasize the need for more normative studies to clarify the complex relations among SES, race, emotional disturbance, self-esteem, and locus of control.

? observer-based decentralised fuzzy control design for nonlinear interconnected systems: an application to vehicle dynamics

NASA Astrophysics Data System (ADS)

Latrach, Chedia; Kchaou, Mourad; Guéguen, Hervé

2017-05-01

In this study, a decentralised output learning control strategy for a class of nonlinear interconnected systems is studied. Based on Takagi-Sugeno fuzzy (TS) model to approximate the considered interconnected nonlinear systems, a decentralised observer-based control scheme is designed to override the external disturbances such that the ? performance is achieved. The appealing attributes of this approach include: (1) the closed-loop system exhibits a robustness against nonlinear interconnections and external disturbance, (2) by one-step procedure, the gain matrices of observer and controller are obtained on a single step. In simulation results, the controller design is evaluated on the steering stability of a car where the nonlinear model describes the side slip, roll and yaw motions of the automotive vehicle equipped with four-wheel-steering and active suspension.

[The effects of noise on sleep and their possible repercussions on health].

PubMed

Muzet, Alain

2006-11-01

Sleep is a physiological recuperative state susceptible to be disturbed or reduced in length under external stimuli, such as noise, one of the most frequent ambient factors. Sleep disturbance is often accompanied by a reduced quality of the following waking period. The health effects of prolonged exposure to noise concern life quality, as expressed subjectively by the sleeper, as well as probable effect on cardiovascular function through a non specific aggression related to stress.

ENHANCEMENT OF A SUNSPOT LIGHT WALL WITH EXTERNAL DISTURBANCES

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

Yang, Shuhong; Zhang, Jun; Erdélyi, Robert, E-mail: shuhongyang@nao.cas.cn

Based on the Interface Region Imaging Spectrograph observations, we study the response of a solar sunspot light wall to external disturbances. A flare occurrence near the light wall caused material to erupt from the lower solar atmosphere into the corona. Some material falls back to the solar surface and hits the light bridge (i.e., the base of the light wall), then sudden brightenings appear at the wall base followed by the rise of wall top, leading to an increase of the wall height. Once the brightness of the wall base fades, the height of the light wall begins to decrease.more » Five hours later, another nearby flare takes place, and a bright channel is formed that extends from the flare toward the light bridge. Although no obvious material flow along the bright channel is found, some ejected material is conjectured to reach the light bridge. Subsequently, the wall base brightens and the wall height begins to increase again. Once more, when the brightness of the wall base decays, the wall top fluctuates to lower heights. We suggest, based on the observed cases, that the interaction of falling material and ejected flare material with the light wall results in the brightenings of wall base and causes the height of the light wall to increase. Our results reveal that the light wall can be not only powered by the linkage of p -mode from below the photosphere, but may also be enhanced by external disturbances, such as falling material.« less

Adaptive output-based command shaping for sway control of a 3D overhead crane with payload hoisting and wind disturbance

NASA Astrophysics Data System (ADS)

Abdullahi, Auwalu M.; Mohamed, Z.; Selamat, H.; Pota, Hemanshu R.; Zainal Abidin, M. S.; Ismail, F. S.; Haruna, A.

2018-01-01

Payload hoisting and wind disturbance during crane operations are among the challenging factors that affect a payload sway and thus, affect the crane's performance. This paper proposes a new online adaptive output-based command shaping (AOCS) technique for an effective payload sway reduction of an overhead crane under the influence of those effects. This technique enhances the previously developed output-based command shaping (OCS) which was effective only for a fixed system and without external disturbances. Unlike the conventional input shaping design technique which requires the system's natural frequency and damping ratio, the proposed technique is designed by using the output signal and thus, an online adaptive algorithm can be formulated. To test the effectiveness of the AOCS, experiments are carried out using a laboratory overhead crane with a payload hoisting in the presence of wind, and with different payloads. The superiority of the method is confirmed by 82% and 29% reductions in the overall sway and the maximum transient sway respectively, when compared to the OCS, and two robust input shapers namely Zero Vibration Derivative-Derivative and Extra-Insensitive shapers. Furthermore, the method demonstrates a uniform crane's performance under all conditions. It is envisaged that the proposed method can be very useful in designing an effective controller for a crane system with an unknown payload and under the influence of external disturbances.

Experimental investigation of the inlet detector configuration variation in the flow field at Mach 1.9

NASA Technical Reports Server (NTRS)

Hwang, Kyu C.; Tiwari, Surrendra N.; Miley, Stanley J.

1995-01-01

In recent years, active research has been conducted to study the technological feasibility of supersonic laminar flow control on the wing of the High Speed Civil Transport (HSCT). For this study, the F-16XL has been chosen due to its highly swept crank wing planform that closely resembles the HSCT configurations. During flights, it is discovered that the shock wave generated from the aircraft inlet introduces disturbances on the wing where the data acquisition is conducted. The flow field about a supersonic inlet is characterized by a complex three dimensional pattern of shock waves generated by the geometrical configuration of a deflector and a cowl lip. Hence, in this study, experimental method is employed to investigate the effects of the variation of deflector configuration on the flow field, and consequently, the possibility of diverting the incoming shock-disturbances away from the test section. In the present experiments, a model composed of a simple circular tube with a triangular deflector is designed to study the deflector length and the deflector base width variation in the flow field. Experimental results indicate that the lowest external pressure ratio is observed at the junction where the deflector lip and the inlet cowl lip merge. Also, it is noted that the external pressure ratio, the internal pressure ratio, the coefficient of spillage drag, and the shock standoff distance decrease as the deflector length increases. In addition, the Redefined Total Pressure Recovery Ratio (RTPRR) increases with an increase in the deflector length. Results from the study of the effect of the deflector's base width variation on the flow field indicate that the lowest external pressure ratio is observed at the junction between the inlet cowl lip and the deflector lip. As the base width of the deflector increases, the external pressure ratio at 0 rotation increases, whereas the external pressure ratio at 180 rotation decreases. In addition, the internal pressure ratio and the coefficient of spillage drag decrease as the base width of the deflector increases. However, RTPRR and shock standoff distance increase as the base width increases. In conclusion, as deflector dimensions vary, distinctive patterns in the pressure variation around the inlet deflector are observed. With an increase in the deflector length and base width, the magnitude of shock-disturbances are weakened due to a decrease in the external pressure ratio. Also, as the deflector length and base width increase, a smaller bow shock angle is formed. Therefore, the inlet shock wave formation would be significantly altered, and consequently, shock disturbances on the wing test section can be avoided through appropriately designing the deflector.

GRACE Mission Design: Impact of Uncertainties in Disturbance Environment and Satellite Force Models

NASA Technical Reports Server (NTRS)

Mazanek, Daniel D.; Kumar, Renjith R.; Seywald, Hans; Qu, Min

2000-01-01

The Gravity Recovery and Climate Experiment (GRACE) primary mission will be performed by making measurements of the inter-satellite range change between two co-planar, low altitude, near-polar orbiting satellites. Understanding the uncertainties in the disturbance environment, particularly the aerodynamic drag and torques, is critical in several mission areas. These include an accurate estimate of the spacecraft orbital lifetime, evaluation of spacecraft attitude control requirements, and estimation of the orbital maintenance maneuver frequency necessitated by differences in the drag forces acting on both satellites. The FREEMOL simulation software has been developed and utilized to analyze and suggest design modifications to the GRACE spacecraft. Aerodynamic accommodation bounding analyses were performed and worst-case envelopes were obtained for the aerodynamic torques and the differential ballistic coefficients between the leading and trailing GRACE spacecraft. These analyses demonstrate how spacecraft aerodynamic design and analysis can benefit from a better understanding of spacecraft surface accommodation properties, and the implications for mission design constraints such as formation spacing control.

Experiments for improved positioning by means of integrated Doppler satellite observations and the NNSS broadcast ephemeris

NASA Technical Reports Server (NTRS)

Arur, M. G.

1977-01-01

An effort to improve station position recovery using broadcast ephemeris in Doppler data reduction was studied. A comparison of precise and broadcast ephemerides, treating the former as the standard, yielded information about the state disturbance that can be associated with the broadcast ephemeris. Statistical information about the state disturbance was used with current observational data for improved position recovery. The rank deficiency problem encountered in the short arc geodetic adjustment procedure was analysed and it was deduced that the fundamental rank deficiency is six, scale information being derivable from the wavelength of transmission. Coordinate differences between stations coobserving a pass are estimable. The uncertainty of the broadcast ephemeris, now in the WGS72 system, was assessed. It was conservatively estimated that its positional uncertainty may vary between 19 to 26 m in-track, 15 to 20 m cross-track and 9 to 10 m in radial directions depending on the incidence of the epoch of observations in the interinjection period.

Tire Force Estimation using a Proportional Integral Observer

NASA Astrophysics Data System (ADS)

Farhat, Ahmad; Koenig, Damien; Hernandez-Alcantara, Diana; Morales-Menendez, Ruben

2017-01-01

This paper addresses a method for detecting critical stability situations in the lateral vehicle dynamics by estimating the non-linear part of the tire forces. These forces indicate the road holding performance of the vehicle. The estimation method is based on a robust fault detection and estimation approach which minimize the disturbance and uncertainties to residual sensitivity. It consists in the design of a Proportional Integral Observer (PIO), while minimizing the well known H ∞ norm for the worst case uncertainties and disturbance attenuation, and combining a transient response specification. This multi-objective problem is formulated as a Linear Matrix Inequalities (LMI) feasibility problem where a cost function subject to LMI constraints is minimized. This approach is employed to generate a set of switched robust observers for uncertain switched systems, where the convergence of the observer is ensured using a Multiple Lyapunov Function (MLF). Whilst the forces to be estimated can not be physically measured, a simulation scenario with CarSimTM is presented to illustrate the developed method.

Fault-tolerant nonlinear adaptive flight control using sliding mode online learning.

PubMed

Krüger, Thomas; Schnetter, Philipp; Placzek, Robin; Vörsmann, Peter

2012-08-01

An expanded nonlinear model inversion flight control strategy using sliding mode online learning for neural networks is presented. The proposed control strategy is implemented for a small unmanned aircraft system (UAS). This class of aircraft is very susceptible towards nonlinearities like atmospheric turbulence, model uncertainties and of course system failures. Therefore, these systems mark a sensible testbed to evaluate fault-tolerant, adaptive flight control strategies. Within this work the concept of feedback linearization is combined with feed forward neural networks to compensate for inversion errors and other nonlinear effects. Backpropagation-based adaption laws of the network weights are used for online training. Within these adaption laws the standard gradient descent backpropagation algorithm is augmented with the concept of sliding mode control (SMC). Implemented as a learning algorithm, this nonlinear control strategy treats the neural network as a controlled system and allows a stable, dynamic calculation of the learning rates. While considering the system's stability, this robust online learning method therefore offers a higher speed of convergence, especially in the presence of external disturbances. The SMC-based flight controller is tested and compared with the standard gradient descent backpropagation algorithm in the presence of system failures. Copyright © 2012 Elsevier Ltd. All rights reserved.

A flatness-based control approach to drug infusion for cardiac function regulation

NASA Astrophysics Data System (ADS)

Rigatos, Gerasimos; Zervos, Nikolaos; Melkikh, Alexey

2016-12-01

A new control method based on differential flatness theory is developed in this article, aiming at solving the problem of regulation of haemodynamic parameters, Actually control of the cardiac output (volume of blood pumped out by heart per unit of time) and of the arterial blood pressure is achieved through the administered infusion of cardiovascular drugs, such as dopamine and sodium nitroprusside. Time delays between the control inputs and the system's outputs are taken into account. Using the principle of dynamic extension, which means that by considering certain control inputs and their derivatives as additional state variables, a state-space description for the heart's function is obtained. It is proven that the dynamic model of the heart is a differentially flat one. This enables its transformation into a linear canonical and decoupled form, for which the design of a stabilizing feedback controller becomes possible. The proposed feedback controller is of proven stability and assures fast and accurate tracking of the reference setpoints by the outputs of the heart's dynamic model. Moreover, by using a Kalman Filter-based disturbances' estimator, it becomes possible to estimate in real-time and compensate for the model uncertainty and external perturbation inputs that affect the heart's model.

A system-level approach for embedded memory robustness

NASA Astrophysics Data System (ADS)

Mariani, Riccardo; Boschi, Gabriele

2005-11-01

New ultra-deep submicron technologies are bringing not only new advantages such extraordinary transistor densities or unforeseen performances, but also new uncertainties such soft-error susceptibility, modelling complexity, coupling effects, leakage contribution and increased sensitivity to internal and external disturbs. Nowadays, embedded memories are taking profit of such new technologies and they are more and more used in systems: therefore as robustness and reliability requirement increase, memory systems must be protected against different kind of faults (permanent and transient) and that should be done in an efficient way. It means that reliability and costs, such overhead and performance degradation, must be efficiently tuned based on the system and on the application. Moreover, the new emerging norms for safety-critical applications such IEC 61508 are requiring precise answers in terms of robustness also in the case of memory systems. In this paper, classical protection techniques for error detection and correction are enriched with a system-aware approach, where the memory system is analyzed based on its role in the application. A configurable memory protection system is presented, together with the results of its application to a proof-of-concept architecture. This work has been developed in the framework of MEDEA+ T126 project called BLUEBERRIES.

Adaptive tracking control for active suspension systems with non-ideal actuators

NASA Astrophysics Data System (ADS)

Pan, Huihui; Sun, Weichao; Jing, Xingjian; Gao, Huijun; Yao, Jianyong

2017-07-01

As a critical component of transportation vehicles, active suspension systems are instrumental in the improvement of ride comfort and maneuverability. However, practical active suspensions commonly suffer from parameter uncertainties (e.g., the variations of payload mass and suspension component parameters), external disturbances and especially the unknown non-ideal actuators (i.e., dead-zone and hysteresis nonlinearities), which always significantly deteriorate the control performance in practice. To overcome these issues, this paper synthesizes an adaptive tracking control strategy for vehicle suspension systems to achieve suspension performance improvements. The proposed control algorithm is formulated by developing a unified framework of non-ideal actuators rather than a separate way, which is a simple yet effective approach to remove the unexpected nonlinear effects. From the perspective of practical implementation, the advantages of the presented controller for active suspensions include that the assumptions on the measurable actuator outputs, the prior knowledge of nonlinear actuator parameters and the uncertain parameters within a known compact set are not required. Furthermore, the stability of the closed-loop suspension system is theoretically guaranteed by rigorous mathematical analysis. Finally, the effectiveness of the presented adaptive control scheme is confirmed using comparative numerical simulation validations.

Mean deviation coupling synchronous control for multiple motors via second-order adaptive sliding mode control.

PubMed

Li, Lebao; Sun, Lingling; Zhang, Shengzhou

2016-05-01

A new mean deviation coupling synchronization control strategy is developed for multiple motor control systems, which can guarantee the synchronization performance of multiple motor control systems and reduce complexity of the control structure with the increasing number of motors. The mean deviation coupling synchronization control architecture combining second-order adaptive sliding mode control (SOASMC) approach is proposed, which can improve synchronization control precision of multiple motor control systems and make speed tracking errors, mean speed errors of each motor and speed synchronization errors converge to zero rapidly. The proposed control scheme is robustness to parameter variations and random external disturbances and can alleviate the chattering phenomena. Moreover, an adaptive law is employed to estimate the unknown bound of uncertainty, which is obtained in the sense of Lyapunov stability theorem to minimize the control effort. Performance comparisons with master-slave control, relative coupling control, ring coupling control, conventional PI control and SMC are investigated on a four-motor synchronization control system. Extensive comparative results are given to shown the good performance of the proposed control scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

The Eminent Genius in History: The Critical Role of Creative Development

ERIC Educational Resources Information Center

Simonton, Dean Keith

1978-01-01

Research on the sociocultural context of creative development is reviewed; and external influences on creative development are seen to include Availability of role models, political fragmentation, civil disturbances, and political instability. (CL)

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.

Filament Tension and Phase Locking of Meandering Scroll Waves

NASA Astrophysics Data System (ADS)

Dierckx, Hans; Biktasheva, I. V.; Verschelde, H.; Panfilov, A. V.; Biktashev, V. N.

2017-12-01

Meandering spiral waves are often observed in excitable media such as the Belousov-Zhabotinsky reaction and cardiac tissue. We derive a theory for drift dynamics of meandering rotors in general reaction-diffusion systems and apply it to two types of external disturbances: an external field and curvature-induced drift in three dimensions. We find two distinct regimes: with small filament curvature, meandering scroll waves exhibit filament tension, whose sign determines the stability and drift direction. In the regimes of strong external fields or meandering motion close to resonance, however, phase locking of the meander pattern is predicted and observed.

Filament Tension and Phase Locking of Meandering Scroll Waves.

PubMed

Dierckx, Hans; Biktasheva, I V; Verschelde, H; Panfilov, A V; Biktashev, V N

2017-12-22

Meandering spiral waves are often observed in excitable media such as the Belousov-Zhabotinsky reaction and cardiac tissue. We derive a theory for drift dynamics of meandering rotors in general reaction-diffusion systems and apply it to two types of external disturbances: an external field and curvature-induced drift in three dimensions. We find two distinct regimes: with small filament curvature, meandering scroll waves exhibit filament tension, whose sign determines the stability and drift direction. In the regimes of strong external fields or meandering motion close to resonance, however, phase locking of the meander pattern is predicted and observed.

Rationale for a GRAVSAT-MAGSAT mission: A perspective on the problem of external/internal transient field effects

NASA Technical Reports Server (NTRS)

Hermance, J. F.

1985-01-01

The Earth's magnetic field at MAGSAT altitudes not only has contributions from the Earth's core and static magnetization in the lithosphere, but also from external electric current systems in the ionosphere and magnetosphere, along with induced electric currents flowing in the conducting earth. Hermance assessed these last two contributions; the external time-varying fields and their associated internal counter-parts which are electromagnetically induced. It is readily recognized that during periods of magnetic disturbance, external currents often contribute from 10's to 100's of nanoteslas (gammas) to observations of the Earth's field. Since static anomalies from lithospheric magnetization are of this same magnitude or less, these external source fields must be taken into account when attempting to delineate gross structural features in the crust.

Tracking problem for electromechanical system under influence of external perturbations

NASA Astrophysics Data System (ADS)

Kochetkov, Sergey A.; Krasnova, Svetlana A.; Utkin, Victor A.

2017-01-01

For electromechanical objects the new control algorithms (vortex algprithms) are developed on the base of discontinuous functions. The distinctive feature of these algorithms is providing of asymptotical convergence of the output variables to zero under influence of unknown bounded disturbances of prescribed class. The advantages of proposed approach is demonstrated for direct current motor with permanent excitation. It is shown that inner variables of the system converge to unknown bounded disturbances and guarantee asymptotical convergence of output variables to zero.

Vibration sensing using a tapered bend-insensitive fiber based Mach-Zehnder interferometer.

PubMed

Xu, Yanping; Lu, Ping; Qin, Zengguang; Harris, Jeremie; Baset, Farhana; Lu, Ping; Bhardwaj, Vedula Ravi; Bao, Xiaoyi

2013-02-11

In this study, a novel fiber-optic sensor consisting of a tapered bend-insensitive fiber based Mach-Zehnder interferometer is presented to realize damped and continuous vibration measurement. The double cladding structure and the central coating region of the in-fiber interferometer ensure an enhanced mechanical strength, reduced external disturbance, and a more uniform spectrum. A damped vibration frequency range of 29-60 Hz as well as continuous vibration disturbances ranging from 1 Hz up to 500 kHz are successfully demonstrated.

Effects of space weather on GOCE electrostatic gravity gradiometer measurements

NASA Astrophysics Data System (ADS)

Ince, E. Sinem; Pagiatakis, Spiros D.

2016-12-01

We examine the presence of residual nongravitational signatures in gravitational gradients measured by GOCE electrostatic gravity gradiometer. These signatures are observed over the magnetic poles during geomagnetically active days and can contaminate the trace of the gravitational gradient tensor by up to three to five times the expected noise level of the instrument (˜ 11 mE). We investigate these anomalies in the gradiometer measurements along many satellite tracks and examine possible causes using external datasets, such as interplanetary electric field measurements from the ACE (advanced composition explorer) and WIND spacecraft, and Poynting vector (flux) estimated from equivalent ionospheric currents derived from spherical elementary current systems over North America and Greenland. We show that the variations in the east-west and vertical electrical currents and Poynting vector components at the satellite position are highly correlated with the disturbances observed in the gradiometer measurements. The results presented in this paper reveal that the disturbances are due to intense ionospheric current variations that are enhanced by increased solar activity that causes a very dynamic drag environment. Moreover, successful modelling and removal of a high percentage of these disturbances are possible using external geomagnetic field observations.

Adaptive Neural Network Control of a Flapping Wing Micro Aerial Vehicle With Disturbance Observer.

PubMed

He, Wei; Yan, Zichen; Sun, Changyin; Chen, Yunan

2017-10-01

The research of this paper works out the attitude and position control of the flapping wing micro aerial vehicle (FWMAV). Neural network control with full state and output feedback are designed to deal with uncertainties in this complex nonlinear FWMAV dynamic system and enhance the system robustness. Meanwhile, we design disturbance observers which are exerted into the FWMAV system via feedforward loops to counteract the bad influence of disturbances. Then, a Lyapunov function is proposed to prove the closed-loop system stability and the semi-global uniform ultimate boundedness of all state variables. Finally, a series of simulation results indicate that proposed controllers can track desired trajectories well via selecting appropriate control gains. And the designed controllers possess potential applications in FWMAVs.

Lucrative Partnerships

ERIC Educational Resources Information Center

Halliday, Stephen

2009-01-01

The economic debacle of September 2008 left in its wake major economic losses at both corporate and personal finance levels. Equally disturbing, a looming economic uncertainty ensures this: fund-raisers will need to work even harder and smarter to capture dollars. Although higher-education institutions have a track record of weathering these…

Robust control of seismically excited cable stayed bridges with MR dampers

NASA Astrophysics Data System (ADS)

YeganehFallah, Arash; Khajeh Ahamd Attari, Nader

2017-03-01

In recent decades active and semi-active structural control are becoming attractive alternatives for enhancing performance of civil infrastructures subjected to seismic and winds loads. However, in order to have reliable active and semi-active control, there is a need to include information of uncertainties in design of the controller. In real world for civil structures, parameters such as loading places, stiffness, mass and damping are time variant and uncertain. These uncertainties in many cases model as parametric uncertainties. The motivation of this research is to design a robust controller for attenuating the vibrational responses of civil infrastructures, regarding their dynamical uncertainties. Uncertainties in structural dynamic’s parameters are modeled as affine uncertainties in state space modeling. These uncertainties are decoupled from the system through Linear Fractional Transformation (LFT) and are assumed to be unknown input to the system but norm bounded. The robust H ∞ controller is designed for the decoupled system to regulate the evaluation outputs and it is robust to effects of uncertainties, disturbance and sensors noise. The cable stayed bridge benchmark which is equipped with MR damper is considered for the numerical simulation. The simulated results show that the proposed robust controller can effectively mitigate undesired uncertainties effects on systems’ responds under seismic loading.

Performance and Reliability Optimization for Aerospace Systems subject to Uncertainty and Degradation

NASA Technical Reports Server (NTRS)

Miller, David W.; Uebelhart, Scott A.; Blaurock, Carl

2004-01-01

This report summarizes work performed by the Space Systems Laboratory (SSL) for NASA Langley Research Center in the field of performance optimization for systems subject to uncertainty. The objective of the research is to develop design methods and tools to the aerospace vehicle design process which take into account lifecycle uncertainties. It recognizes that uncertainty between the predictions of integrated models and data collected from the system in its operational environment is unavoidable. Given the presence of uncertainty, the goal of this work is to develop means of identifying critical sources of uncertainty, and to combine these with the analytical tools used with integrated modeling. In this manner, system uncertainty analysis becomes part of the design process, and can motivate redesign. The specific program objectives were: 1. To incorporate uncertainty modeling, propagation and analysis into the integrated (controls, structures, payloads, disturbances, etc.) design process to derive the error bars associated with performance predictions. 2. To apply modern optimization tools to guide in the expenditure of funds in a way that most cost-effectively improves the lifecycle productivity of the system by enhancing the subsystem reliability and redundancy. The results from the second program objective are described. This report describes the work and results for the first objective: uncertainty modeling, propagation, and synthesis with integrated modeling.

Chance-Constrained Guidance With Non-Convex Constraints

NASA Technical Reports Server (NTRS)

Ono, Masahiro

2011-01-01

Missions to small bodies, such as comets or asteroids, require autonomous guidance for descent to these small bodies. Such guidance is made challenging by uncertainty in the position and velocity of the spacecraft, as well as the uncertainty in the gravitational field around the small body. In addition, the requirement to avoid collision with the asteroid represents a non-convex constraint that means finding the optimal guidance trajectory, in general, is intractable. In this innovation, a new approach is proposed for chance-constrained optimal guidance with non-convex constraints. Chance-constrained guidance takes into account uncertainty so that the probability of collision is below a specified threshold. In this approach, a new bounding method has been developed to obtain a set of decomposed chance constraints that is a sufficient condition of the original chance constraint. The decomposition of the chance constraint enables its efficient evaluation, as well as the application of the branch and bound method. Branch and bound enables non-convex problems to be solved efficiently to global optimality. Considering the problem of finite-horizon robust optimal control of dynamic systems under Gaussian-distributed stochastic uncertainty, with state and control constraints, a discrete-time, continuous-state linear dynamics model is assumed. Gaussian-distributed stochastic uncertainty is a more natural model for exogenous disturbances such as wind gusts and turbulence than the previously studied set-bounded models. However, with stochastic uncertainty, it is often impossible to guarantee that state constraints are satisfied, because there is typically a non-zero probability of having a disturbance that is large enough to push the state out of the feasible region. An effective framework to address robustness with stochastic uncertainty is optimization with chance constraints. These require that the probability of violating the state constraints (i.e., the probability of failure) is below a user-specified bound known as the risk bound. An example problem is to drive a car to a destination as fast as possible while limiting the probability of an accident to 10(exp -7). This framework allows users to trade conservatism against performance by choosing the risk bound. The more risk the user accepts, the better performance they can expect.

Effective techniques for the identification and accommodation of disturbances

NASA Technical Reports Server (NTRS)

Johnson, C. D.

1989-01-01

The successful control of dynamic systems such as space stations, or launch vehicles, requires a controller design methodology that acknowledges and addresses the disruptive effects caused by external and internal disturbances that inevitably act on such systems. These disturbances, technically defined as uncontrollable inputs, typically vary with time in an uncertain manner and usually cannot be directly measured in real time. A relatively new non-statistical technique for modeling, and (on-line) identification, of those complex uncertain disturbances that are not as erratic and capricious as random noise is described. This technique applies to multi-input cases and to many of the practical disturbances associated with the control of space stations, or launch vehicles. Then, a collection of smart controller design techniques that allow controlled dynamic systems, with possible multi-input controls, to accommodate (cope with) such disturbances with extraordinary effectiveness are associated. These new smart controllers are designed by non-statistical techniques and typically turn out to be unconventional forms of dynamic linear controllers (compensators) with constant coefficients. The simplicity and reliability of linear, constant coefficient controllers is well-known in the aerospace field.

New Constraints from the Seychelles on the Timing and Magnitude of Peak Global Mean Sea Level during the Last Interglacial

NASA Astrophysics Data System (ADS)

Vyverberg, K.; Dechnik, B.; Dutton, A.; Webster, J.; Zwartz, D.; Edwards, R. L.

2016-12-01

Projecting the rate of future sea-level rise remains a primary challenge associated with continued climate change. However, uncertainties remain in our understanding of the rate of polar ice sheet retreat in warmer-than-present climates. To address this issue, we present a new sea level reconstruction from the tectonically stable granitic Seychelles based on Last Interglacial coral ages and elevations within their sedimentary and stratigraphic context, including estimates of paleo-water depth based on newly defined coralgal assemblages. The reef facies analyzed here has a narrow and shallow paleowater depth range (<2 m) providing increased control on the absolute position of sea level during this time period. Corrected for local glacial isostatic adjustment effects including the fingerprint associated with polar ice sheet mass loss, corals found in primary growth position within in situ coralgal reef framework confirm that global mean sea level (GMSL) was nearly 6 m above present early in the interglacial period. Each coral was dated in triplicate and screened for anomalous U-series geochemistry parameters. The combination of age-elevation data with the sedimentary micro and macro facies and stratigraphic analysis reveals a sea-level rise over 5-6 thousand years that is punctuated by repeated episodes of reef disturbance. These episodes are marked stratigraphically by coral rubble layers or extensive lateral encrustations of Millepora sp. that are infested with coral-dwelling barnacles. These disturbance layers may have been generated through internal reef processes and/or external agents, including coral disease, bleaching, predation, hurricanes, or sub-aerial exposure. In total, these new observations provide improved constraints on the timing, magnitude, and rates of sea-level rise during the Last Interglacial.

Partial and total actuator faults accommodation for input-affine nonlinear process plants.

PubMed

Mihankhah, Amin; Salmasi, Farzad R; Salahshoor, Karim

2013-05-01

In this paper, a new fault-tolerant control system is proposed for input-affine nonlinear plants based on Model Reference Adaptive System (MRAS) structure. The proposed method has the capability to accommodate both partial and total actuator failures along with bounded external disturbances. In this methodology, the conventional MRAS control law is modified by augmenting two compensating terms. One of these terms is added to eliminate the nonlinear dynamic, while the other is reinforced to compensate the distractive effects of the total actuator faults and external disturbances. In addition, no Fault Detection and Diagnosis (FDD) unit is needed in the proposed method. Moreover, the control structure has good robustness capability against the parameter variation. The performance of this scheme is evaluated using a CSTR system and the results were satisfactory. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

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.

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.

Combined feedforward and feedback control of a redundant, nonlinear, dynamic musculoskeletal system.

PubMed

Blana, Dimitra; Kirsch, Robert F; Chadwick, Edward K

2009-05-01

A functional electrical stimulation controller is presented that uses a combination of feedforward and feedback for arm control in high-level injury. The feedforward controller generates the muscle activations nominally required for desired movements, and the feedback controller corrects for errors caused by muscle fatigue and external disturbances. The feedforward controller is an artificial neural network (ANN) which approximates the inverse dynamics of the arm. The feedback loop includes a PID controller in series with a second ANN representing the nonlinear properties and biomechanical interactions of muscles and joints. The controller was designed and tested using a two-joint musculoskeletal model of the arm that includes four mono-articular and two bi-articular muscles. Its performance during goal-oriented movements of varying amplitudes and durations showed a tracking error of less than 4 degrees in ideal conditions, and less than 10 degrees even in the case of considerable fatigue and external disturbances.

Intrinsic nonlinearity and method of disturbed observations in inverse problems of celestial mechanics

NASA Astrophysics Data System (ADS)

Avdyushev, Victor A.

2017-12-01

Orbit determination from a small sample of observations over a very short observed orbital arc is a strongly nonlinear inverse problem. In such problems an evaluation of orbital uncertainty due to random observation errors is greatly complicated, since linear estimations conventionally used are no longer acceptable for describing the uncertainty even as a rough approximation. Nevertheless, if an inverse problem is weakly intrinsically nonlinear, then one can resort to the so-called method of disturbed observations (aka observational Monte Carlo). Previously, we showed that the weaker the intrinsic nonlinearity, the more efficient the method, i.e. the more accurate it enables one to simulate stochastically the orbital uncertainty, while it is strictly exact only when the problem is intrinsically linear. However, as we ascertained experimentally, its efficiency was found to be higher than that of other stochastic methods widely applied in practice. In the present paper we investigate the intrinsic nonlinearity in complicated inverse problems of Celestial Mechanics when orbits are determined from little informative samples of observations, which typically occurs for recently discovered asteroids. To inquire into the question, we introduce an index of intrinsic nonlinearity. In asteroid problems it evinces that the intrinsic nonlinearity can be strong enough to affect appreciably probabilistic estimates, especially at the very short observed orbital arcs that the asteroids travel on for about a hundredth of their orbital periods and less. As it is known from regression analysis, the source of intrinsic nonlinearity is the nonflatness of the estimation subspace specified by a dynamical model in the observation space. Our numerical results indicate that when determining asteroid orbits it is actually very slight. However, in the parametric space the effect of intrinsic nonlinearity is exaggerated mainly by the ill-conditioning of the inverse problem. Even so, as for the method of disturbed observations, we conclude that it practically should be still entirely acceptable to adequately describe the orbital uncertainty since, from a geometrical point of view, the efficiency of the method directly depends only on the nonflatness of the estimation subspace and it gets higher as the nonflatness decreases.

Response diversity can increase ecological resilience to disturbance in coral reefs.

PubMed

Baskett, Marissa L; Fabina, Nicholas S; Gross, Kevin

2014-08-01

Community-level resilience depends on the interaction between multiple populations that vary in individual responses to disturbance. For example, in tropical reefs, some corals can survive higher stress (resistance) while others exhibit faster recovery (engineering resilience) following disturbances such as thermal stress. While each type will negatively affect the other through competition, each might also benefit the other by reducing the potential for an additional competitor such as macroalgae to invade after a disturbance. To determine how community composition affects ecological resilience, we modeled coral-macroalgae interactions given either a resistant coral, a resilient coral, or both together. Having both coral types (i.e., response diversity) can lead to observable enhanced ecological resilience if (1) the resilient coral is not a superior competitor and (2) disturbance levels are high enough such that the resilient coral would collapse when considered alone. This enhanced resilience occurs through competitor-enabled rescue where each coral increases the potential for the other to recover from disturbance through external recruitment, such that both corals benefit from the presence of each other in terms of total cover and resilience. Therefore, conservation management aimed at protecting resilience under global change requires consideration of both diversity and connectivity between sites experiencing differential disturbance.

Receptivity and Forced Response to Acoustic Disturbances in High-Speed Boundary Layers

NASA Technical Reports Server (NTRS)

Balakumar, P.; King, Rudolph A.; Chou, Amanda; Owens, Lewis R.; Kegerise, Michael A.

2016-01-01

Supersonic boundary-layer receptivity to freestream acoustic disturbances is investigated by solving the Navier-Stokes equations for Mach 3.5 flow over a sharp flat plate and a 7-deg half-angle cone. The freestream disturbances are generated from a wavy wall placed at the nozzle wall. The freestream acoustic disturbances radiated by the wavy wall are obtained by solving the linearized Euler equations. The results for the flat plate show that instability modes are generated at all the incident angles ranging from zero to highly oblique. However, the receptivity coefficient decreases by about 20 times when the incident angle increases from zero to a highly oblique angle of 68 degrees. The results for the cone show that no instability modes are generated when the acoustic disturbances impinge the cone obliquely. The results show that the perturbations generated inside the boundary layer by the acoustic disturbances are the response of the boundary layer to the external forcing. The amplitude of the forced disturbances inside the boundary layer are about 2.5 times larger than the incoming field for zero azimuthal wavenumber and they are about 1.5 times for large azimuthal wavenumbers.

When do business units benefit more from collective citizenship behavior of management teams? An upper echelons perspective.

PubMed

Liu, Wu; Gong, Yaping; Liu, Jun

2014-05-01

Drawing upon the notion of managerial discretion from upper echelons theory, we theorize which external contingencies moderate the relationship between collective organizational citizenship behavior (COCB) and unit performance. Focusing on business unit (BU) management teams, we hypothesize that COCB of BU management teams enhances BU performance and that this impact depends on environmental uncertainty and BU management-team decision latitude, 2 determinants of managerial discretion. In particular, the positive effect of COCB is stronger when environmental uncertainty or the BU management-team decision latitude is greater. Time-lagged data from 109 BUs of a telecommunications company support the hypotheses. Additional exploratory analysis shows that the positive moderating effect of environmental uncertainty is further amplified at higher levels of BU management-team decision latitude. Overall, this study extends the internally focused view in the micro OCB literature by introducing external contingencies for the COCB-unit-performance relationship. (c) 2014 APA, all rights reserved.

Expert elicitation of population-level effects of disturbance

USGS Publications Warehouse

Fleishman, Erica; Burgman, Mark; Runge, Michael C.; Schick, Robert S; Krauss, Scott; Popper, Arthur N.; Hawkins, Anthony

2016-01-01

Expert elicitation is a rigorous method for synthesizing expert knowledge to inform decision making and is reliable and practical when field data are limited. We evaluated the feasibility of applying expert elicitation to estimate population-level effects of disturbance on marine mammals. Diverse experts estimated parameters related to mortality and sublethal injury of North Atlantic right whales (Eubalaena glacialis). We are now eliciting expert knowledge on the movement of right whales among geographic regions to parameterize a spatial model of health. Expert elicitation complements methods such as simulation models or extrapolations from other species, sometimes with greater accuracy and less uncertainty.

Optimisation of lateral car dynamics taking into account parameter uncertainties

NASA Astrophysics Data System (ADS)

Busch, Jochen; Bestle, Dieter

2014-02-01

Simulation studies on an active all-wheel-steering car show that disturbance of vehicle parameters have high influence on lateral car dynamics. This motivates the need of robust design against such parameter uncertainties. A specific parametrisation is established combining deterministic, velocity-dependent steering control parameters with partly uncertain, velocity-independent vehicle parameters for simultaneous use in a numerical optimisation process. Model-based objectives are formulated and summarised in a multi-objective optimisation problem where especially the lateral steady-state behaviour is improved by an adaption strategy based on measurable uncertainties. The normally distributed uncertainties are generated by optimal Latin hypercube sampling and a response surface based strategy helps to cut down time consuming model evaluations which offers the possibility to use a genetic optimisation algorithm. Optimisation results are discussed in different criterion spaces and the achieved improvements confirm the validity of the proposed procedure.

The role of historical fire disturbance in the carbon dynamics of the pan-boreal region: A process-based analysis

USGS Publications Warehouse

Balshi, M. S.; McGuire, A.D.; Zhuang, Q.; Melillo, J.; Kicklighter, D.W.; Kasischke, E.; Wirth, C.; Flannigan, M.; Harden, J.; Clein, Joy S.; Burnside, T.J.; McAllister, J.; Kurz, W.A.; Apps, M.; Shvidenko, A.

2007-01-01

Wildfire is a common occurrence in ecosystems of northern high latitudes, and changes in the fire regime of this region have consequences for carbon feedbacks to the climate system. To improve our understanding of how wildfire influences carbon dynamics of this region, we used the process-based Terrestrial Ecosystem Model to simulate fire emissions and changes in carbon storage north of 45??N from the start of spatially explicit historically recorded fire records in the twentieth century through 2002, and evaluated the role of fire in the carbon dynamics of the region within the context of ecosystem responses to changes in atmospheric CO2 concentration and climate. Our analysis indicates that fire plays an important role in interannual and decadal scale variation of source/sink relationships of northern terrestrial ecosystems and also suggests that atmospheric CO2 may be important to consider in addition to changes in climate and fire disturbance. There are substantial uncertainties in the effects of fire on carbon storage in our simulations. These uncertainties are associated with sparse fire data for northern Eurasia, uncertainty in estimating carbon consumption, and difficulty in verifying assumptions about the representation of fires that occurred prior to the start of the historical fire record. To improve the ability to better predict how fire will influence carbon storage of this region in the future, new analyses of the retrospective role of fire in the carbon dynamics of northern high latitudes should address these uncertainties. Copyright 2007 by the American Geophysical Union.

Predicting the unpredictable: potential climate change impacts on vegetation in the Pacific Northwest

Treesearch

Marie Oliver; David W. Peterson; Becky Kerns

2016-01-01

Earth's climate is changing, as evidenced by warming temperatures, increased temperature variability, fluctuating precipitation patterns, and climate-related environmental disturbances. And with considerable uncertainty about the future, Forest Service land managers are now considering climate change adaptation in their planning efforts. They want practical...

Accounting for shared and unshared dosimetric uncertainties in the dose response for ultrasound-detected thyroid nodules after exposure to radioactive fallout.

PubMed

Land, Charles E; Kwon, Deukwoo; Hoffman, F Owen; Moroz, Brian; Drozdovitch, Vladimir; Bouville, André; Beck, Harold; Luckyanov, Nicholas; Weinstock, Robert M; Simon, Steven L

2015-02-01

Dosimetic uncertainties, particularly those that are shared among subgroups of a study population, can bias, distort or reduce the slope or significance of a dose response. Exposure estimates in studies of health risks from environmental radiation exposures are generally highly uncertain and thus, susceptible to these methodological limitations. An analysis was published in 2008 concerning radiation-related thyroid nodule prevalence in a study population of 2,994 villagers under the age of 21 years old between August 1949 and September 1962 and who lived downwind from the Semipalatinsk Nuclear Test Site in Kazakhstan. This dose-response analysis identified a statistically significant association between thyroid nodule prevalence and reconstructed doses of fallout-related internal and external radiation to the thyroid gland; however, the effects of dosimetric uncertainty were not evaluated since the doses were simple point "best estimates". In this work, we revised the 2008 study by a comprehensive treatment of dosimetric uncertainties. Our present analysis improves upon the previous study, specifically by accounting for shared and unshared uncertainties in dose estimation and risk analysis, and differs from the 2008 analysis in the following ways: 1. The study population size was reduced from 2,994 to 2,376 subjects, removing 618 persons with uncertain residence histories; 2. Simulation of multiple population dose sets (vectors) was performed using a two-dimensional Monte Carlo dose estimation method; and 3. A Bayesian model averaging approach was employed for evaluating the dose response, explicitly accounting for large and complex uncertainty in dose estimation. The results were compared against conventional regression techniques. The Bayesian approach utilizes 5,000 independent realizations of population dose vectors, each of which corresponds to a set of conditional individual median internal and external doses for the 2,376 subjects. These 5,000 population dose vectors reflect uncertainties in dosimetric parameters, partly shared and partly independent, among individual members of the study population. Risk estimates for thyroid nodules from internal irradiation were higher than those published in 2008, which results, to the best of our knowledge, from explicitly accounting for dose uncertainty. In contrast to earlier findings, the use of Bayesian methods led to the conclusion that the biological effectiveness for internal and external dose was similar. Estimates of excess relative risk per unit dose (ERR/Gy) for males (177 thyroid nodule cases) were almost 30 times those for females (571 cases) and were similar to those reported for thyroid cancers related to childhood exposures to external and internal sources in other studies. For confirmed cases of papillary thyroid cancers (3 in males, 18 in females), the ERR/Gy was also comparable to risk estimates from other studies, but not significantly different from zero. These findings represent the first reported dose response for a radiation epidemiologic study considering all known sources of shared and unshared errors in dose estimation and using a Bayesian model averaging (BMA) method for analysis of the dose response.

Landscape Disturbance History and Belowground Carbon Dynamics.

NASA Astrophysics Data System (ADS)

Marin-Spiotta, E.; Smith, A. P.; Atkinson, E. E.; Chaopricha, N. T.

2014-12-01

Earth system models vary in their predictions of carbon (C) uptake and release by the terrestrial biosphere, partly due to great uncertainties in the response of soils, one of the largest C reservoirs. The world's soils play a major role in the exchange of greenhouse gases with the atmosphere, in sustaining primary production, and in providing food security. Despite this, the sensitivity of soils to disturbance is highly uncertain. One reason for this is geographic variability in the importance of different mechanisms regulating soil C turnover. Most of our understanding of factors influencing soil organic C dynamics comes from research in temperate soils, despite the major role of tropical soils in the global C cycle. Even in the tropics, the diversity of soil environments is grossly underrepresented in the literature. This has important implications for predictions of soil C change across latitudes. We discuss results from the response of soil C pools and microbial communities to land use legacies on two contrasting tropical soil environments. Uncertainties in the response of soil C to disturbance also stem from a historic focus on shallow depths and the assumption that deep soil C is unreactive to landscape change. Growing evidence indicates that soil C pools in deep mineral horizons can be sensitive to changes in land cover and climate. This realization highlights the need to reassess the source of soil C at depth and the processes contributing to its stabilization. We discuss results from the interaction between multiple disturbances: drought, fire and erosion, on the accumulation of soil C at depths beyond those typically included in regional or global inventories. Our data show that deep soil C can be reactive and be a potential source of C if reconnected to the atmosphere. A deeper, mechanistic appreciation for a landscape's history of disturbance is critical for predicting feedbacks between the terrestrial biosphere and the climate system.

Sensitivity of equilibrium profile reconstruction to motional Stark effect measurements

NASA Astrophysics Data System (ADS)

Batha, S. H.; Levinton, F. M.; Hirshman, S. P.; Bell, M. G.; Wieland, R. M.

1996-09-01

The magnetic-field pitch-angle profile, gamma p(R) identical to tan-1(Bpol/Btor), is measured on TFTR using a motional Stark effect (MSE) polarimeter. Measured pitch angle profiles, along with kinetic profiles and external magnetic measurements, are used to compute a self-consistent equilibrium using the free-boundary variational moments equilibrium code VMEC. Uncertainties in the q profile due to uncertainties in gamma P(R), magnetic measurements and kinetic measurements are found to be small. Subsequent uncertainties in the VMEC-calculated current density and shear profiles are also small

Quasi-minimal active disturbance rejection control of MIMO perturbed linear systems based on differential neural networks and the attractive ellipsoid method.

PubMed

Salgado, Iván; Mera-Hernández, Manuel; Chairez, Isaac

2017-11-01

This study addresses the problem of designing an output-based controller to stabilize multi-input multi-output (MIMO) systems in the presence of parametric disturbances as well as uncertainties in the state model and output noise measurements. The controller design includes a linear state transformation which separates uncertainties matched to the control input and the unmatched ones. A differential neural network (DNN) observer produces a nonlinear approximation of the matched perturbation and the unknown states simultaneously in the transformed coordinates. This study proposes the use of the Attractive Ellipsoid Method (AEM) to optimize the gains of the controller and the gain observer in the DNN structure. As a consequence, the obtained control input minimizes the convergence zone for the estimation error. Moreover, the control design uses the estimated disturbance provided by the DNN to obtain a better performance in the stabilization task in comparison with a quasi-minimal output feedback controller based on a Luenberger observer and a sliding mode controller. Numerical results pointed out the advantages obtained by the nonlinear control based on the DNN observer. The first example deals with the stabilization of an academic linear MIMO perturbed system and the second example stabilizes the trajectories of a DC-motor into a predefined operation point. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Designing a capacitated multi-configuration logistics network under disturbances and parameter uncertainty: a real-world case of a drug supply chain

NASA Astrophysics Data System (ADS)

Shishebori, Davood; Babadi, Abolghasem Yousefi

2018-03-01

This study investigates the reliable multi-configuration capacitated logistics network design problem (RMCLNDP) under system disturbances, which relates to locating facilities, establishing transportation links, and also allocating their limited capacities to the customers conducive to provide their demand on the minimum expected total cost (including locating costs, link constructing costs, and also expected costs in normal and disturbance conditions). In addition, two types of risks are considered; (I) uncertain environment, (II) system disturbances. A two-level mathematical model is proposed for formulating of the mentioned problem. Also, because of the uncertain parameters of the model, an efficacious possibilistic robust optimization approach is utilized. To evaluate the model, a drug supply chain design (SCN) is studied. Finally, an extensive sensitivity analysis was done on the critical parameters. The obtained results show that the efficiency of the proposed approach is suitable and is worthwhile for analyzing the real practical problems.

Towards ground-truthing of spaceborne estimates of above-ground life biomass and leaf area index in tropical rain forests

NASA Astrophysics Data System (ADS)

Köhler, P.; Huth, A.

2010-08-01

The canopy height h of forests is a key variable which can be obtained using air- or spaceborne remote sensing techniques such as radar interferometry or LIDAR. If new allometric relationships between canopy height and the biomass stored in the vegetation can be established this would offer the possibility for a global monitoring of the above-ground carbon content on land. In the absence of adequate field data we use simulation results of a tropical rain forest growth model to propose what degree of information might be generated from canopy height and thus to enable ground-truthing of potential future satellite observations. We here analyse the correlation between canopy height in a tropical rain forest with other structural characteristics, such as above-ground life biomass (AGB) (and thus carbon content of vegetation) and leaf area index (LAI) and identify how correlation and uncertainty vary for two different spatial scales. The process-based forest growth model FORMIND2.0 was applied to simulate (a) undisturbed forest growth and (b) a wide range of possible disturbance regimes typically for local tree logging conditions for a tropical rain forest site on Borneo (Sabah, Malaysia) in South-East Asia. In both undisturbed and disturbed forests AGB can be expressed as a power-law function of canopy height h (AGB = a · hb) with an r2 ~ 60% if data are analysed in a spatial resolution of 20 m × 20 m (0.04 ha, also called plot size). The correlation coefficient of the regression is becoming significant better in the disturbed forest sites (r2 = 91%) if data are analysed hectare wide. There seems to exist no functional dependency between LAI and canopy height, but there is also a linear correlation (r2 ~ 60%) between AGB and the area fraction of gaps in which the canopy is highly disturbed. A reasonable agreement of our results with observations is obtained from a comparison of the simulations with permanent sampling plot (PSP) data from the same region and with the large-scale forest inventory in Lambir. We conclude that the spaceborne remote sensing techniques such as LIDAR and radar interferometry have the potential to quantify the carbon contained in the vegetation, although this calculation contains due to the heterogeneity of the forest landscape structural uncertainties which restrict future applications to spatial averages of about one hectare in size. The uncertainties in AGB for a given canopy height are here 20-40% (95% confidence level) corresponding to a standard deviation of less than ± 10%. This uncertainty on the 1 ha-scale is much smaller than in the analysis of 0.04 ha-scale data. At this small scale (0.04 ha) AGB can only be calculated out of canopy height with an uncertainty which is at least of the magnitude of the signal itself due to the natural spatial heterogeneity of these forests.

An Adaptive Orientation Estimation Method for Magnetic and Inertial Sensors in the Presence of Magnetic Disturbances

PubMed Central

Fan, Bingfei; Li, Qingguo; Wang, Chao; Liu, Tao

2017-01-01

Magnetic and inertial sensors have been widely used to estimate the orientation of human segments due to their low cost, compact size and light weight. However, the accuracy of the estimated orientation is easily affected by external factors, especially when the sensor is used in an environment with magnetic disturbances. In this paper, we propose an adaptive method to improve the accuracy of orientation estimations in the presence of magnetic disturbances. The method is based on existing gradient descent algorithms, and it is performed prior to sensor fusion algorithms. The proposed method includes stationary state detection and magnetic disturbance severity determination. The stationary state detection makes this method immune to magnetic disturbances in stationary state, while the magnetic disturbance severity determination helps to determine the credibility of magnetometer data under dynamic conditions, so as to mitigate the negative effect of the magnetic disturbances. The proposed method was validated through experiments performed on a customized three-axis instrumented gimbal with known orientations. The error of the proposed method and the original gradient descent algorithms were calculated and compared. Experimental results demonstrate that in stationary state, the proposed method is completely immune to magnetic disturbances, and in dynamic conditions, the error caused by magnetic disturbance is reduced by 51.2% compared with original MIMU gradient descent algorithm. PMID:28534858

The impact of early behavior disturbances on academic achievement in high school.

PubMed

Breslau, Joshua; Miller, Elizabeth; Breslau, Naomi; Bohnert, Kipling; Lucia, Victoria; Schweitzer, Julie

2009-06-01

Previous research has indicated that childhood behavioral disturbances predict lower scores on academic tests and curtail educational attainment. It is unknown which types of childhood behavioral problems are most likely to predict these outcomes. An ethnically diverse cohort was assessed at 6 years of age for behavioral problems and IQ and at 17 years of age for academic achievement in math and reading. Of the original cohort of 823 children, 693 (84%) had complete data. Multiple regressions were used to estimate associations of attention and internalizing and externalizing problems at age 6 and with math and reading achievement at age 17, adjusting for IQ and indicators of family socioeconomic status. Adjusting for IQ, inner-city community, and maternal education and marital status, teacher ratings of attention, internalizing behavior, and externalizing problems at age 6 significantly predict math and reading achievement at age 17. When types of problems are examined simultaneously, attention problems predict math and reading achievement with little attenuation, whereas the influence of externalizing and internalizing problems is materially reduced and not significant. Interventions that target attention problems at school entry should be tested as a potential avenue for improving educational achievement.

Exploring prediction uncertainty of spatial data in geostatistical and machine learning Approaches

NASA Astrophysics Data System (ADS)

Klump, J. F.; Fouedjio, F.

2017-12-01

Geostatistical methods such as kriging with external drift as well as machine learning techniques such as quantile regression forest have been intensively used for modelling spatial data. In addition to providing predictions for target variables, both approaches are able to deliver a quantification of the uncertainty associated with the prediction at a target location. Geostatistical approaches are, by essence, adequate for providing such prediction uncertainties and their behaviour is well understood. However, they often require significant data pre-processing and rely on assumptions that are rarely met in practice. Machine learning algorithms such as random forest regression, on the other hand, require less data pre-processing and are non-parametric. This makes the application of machine learning algorithms to geostatistical problems an attractive proposition. The objective of this study is to compare kriging with external drift and quantile regression forest with respect to their ability to deliver reliable prediction uncertainties of spatial data. In our comparison we use both simulated and real world datasets. Apart from classical performance indicators, comparisons make use of accuracy plots, probability interval width plots, and the visual examinations of the uncertainty maps provided by the two approaches. By comparing random forest regression to kriging we found that both methods produced comparable maps of estimated values for our variables of interest. However, the measure of uncertainty provided by random forest seems to be quite different to the measure of uncertainty provided by kriging. In particular, the lack of spatial context can give misleading results in areas without ground truth data. These preliminary results raise questions about assessing the risks associated with decisions based on the predictions from geostatistical and machine learning algorithms in a spatial context, e.g. mineral exploration.

Large-Amplitude Long-Wave Instability of a Supersonic Shear Layer

NASA Technical Reports Server (NTRS)

Messiter, A. F.

1995-01-01

For sufficiently high Mach numbers, small disturbances on a supersonic vortex sheet are known to grow in amplitude because of slow nonlinear wave steepening. Under the same external conditions, linear theory predicts slow growth of long-wave disturbances to a thin supersonic shear layer. An asymptotic formulation is given here which adds nonzero shear-layer thickness to the weakly nonlinear formulation for a vortex sheet. Spatial evolution is considered, for a spatially periodic disturbance having amplitude of the same order, in Reynolds number, as the shear-layer thickness. A quasi-equilibrium inviscid nonlinear critical layer is found, with effects of diffusion and slow growth appearing through nonsecularity condition. Other limiting cases are also considered, in an attempt to determine a relationship between the vortex-sheet limit and the long-wave limit for a thin shear layer; there appear to be three special limits, corresponding to disturbances of different amplitudes at different locations along the shear layer.

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.

Development and Implementation of a Formal Framework for Bottom-up Uncertainty Analysis of Input Emissions: Case Study of Residential Wood Combustion

NASA Astrophysics Data System (ADS)

Zhao, S.; Mashayekhi, R.; Saeednooran, S.; Hakami, A.; Ménard, R.; Moran, M. D.; Zhang, J.

2016-12-01

We have developed a formal framework for documentation, quantification, and propagation of uncertainties in upstream emissions inventory data at various stages leading to the generation of model-ready gridded emissions through emissions processing software such as the EPA's SMOKE (Sparse Matrix Operator Kernel Emissions) system. To illustrate this framework we present a proof-of-concept case study of a bottom-up quantitative assessment of uncertainties in emissions from residential wood combustion (RWC) in the U.S. and Canada. Uncertainties associated with key inventory parameters are characterized based on existing information sources, including the American Housing Survey (AHS) from the U.S. Census Bureau, Timber Products Output (TPO) surveys from the U.S. Forest Service, TNS Canadian Facts surveys, and the AP-42 emission factor document from the U.S. EPA. The propagation of uncertainties is based on Monte Carlo simulation code external to SMOKE. Latin Hypercube Sampling (LHS) is implemented to generate a set of random realizations of each RWC inventory parameter, for which the uncertainties are assumed to be normally distributed. Random realizations are also obtained for each RWC temporal and chemical speciation profile and spatial surrogate field external to SMOKE using the LHS approach. SMOKE outputs for primary emissions (e.g., CO, VOC) using both RWC emission inventory realizations and perturbed temporal and chemical profiles and spatial surrogates show relative uncertainties of about 30-50% across the U.S. and about 70-100% across Canada. Positive skewness values (up to 2.7) and variable kurtosis values (up to 4.8) were also found. Spatial allocation contributes significantly to the overall uncertainty, particularly in Canada. By applying this framework we are able to produce random realizations of model-ready gridded emissions that along with available meteorological ensembles can be used to propagate uncertainties through chemical transport models. The approach described here provides an effective means for formal quantification of uncertainties in estimated emissions from various source sectors and for continuous documentation, assessment, and reduction of emission uncertainties.

Control of thermal therapies with moving power deposition field.

PubMed

Arora, Dhiraj; Minor, Mark A; Skliar, Mikhail; Roemer, Robert B

2006-03-07

A thermal therapy feedback control approach to control thermal dose using a moving power deposition field is developed and evaluated using simulations. A normal tissue safety objective is incorporated in the controller design by imposing constraints on temperature elevations at selected normal tissue locations. The proposed control technique consists of two stages. The first stage uses a model-based sliding mode controller that dynamically generates an 'ideal' power deposition profile which is generally unrealizable with available heating modalities. Subsequently, in order to approximately realize this spatially distributed idealized power deposition, a constrained quadratic optimizer is implemented to compute intensities and dwell times for a set of pre-selected power deposition fields created by a scanned focused transducer. The dwell times for various power deposition profiles are dynamically generated online as opposed to the commonly employed a priori-decided heating strategies. Dynamic intensity and trajectory generation safeguards the treatment outcome against modelling uncertainties and unknown disturbances. The controller is designed to enforce simultaneous activation of multiple normal tissue temperature constraints by rapidly switching between various power deposition profiles. The hypothesis behind the controller design is that the simultaneous activation of multiple constraints substantially reduces treatment time without compromising normal tissue safety. The controller performance and robustness with respect to parameter uncertainties is evaluated using simulations. The results demonstrate that the proposed controller can successfully deliver the desired thermal dose to the target while maintaining the temperatures at the user-specified normal tissue locations at or below the maximum allowable values. Although demonstrated for the case of a scanned focused ultrasound transducer, the developed approach can be extended to other heating modalities with moving deposition fields, such as external and interstitial ultrasound phased arrays, multiple radiofrequency needle applicators and microwave antennae.

Generalized internal model robust control for active front steering intervention

NASA Astrophysics Data System (ADS)

Wu, Jian; Zhao, Youqun; Ji, Xuewu; Liu, Yahui; Zhang, Lipeng

2015-03-01

Because of the tire nonlinearity and vehicle's parameters' uncertainties, robust control methods based on the worst cases, such as H ∞, µ synthesis, have been widely used in active front steering control, however, in order to guarantee the stability of active front steering system (AFS) controller, the robust control is at the cost of performance so that the robust controller is a little conservative and has low performance for AFS control. In this paper, a generalized internal model robust control (GIMC) that can overcome the contradiction between performance and stability is used in the AFS control. In GIMC, the Youla parameterization is used in an improved way. And GIMC controller includes two sections: a high performance controller designed for the nominal vehicle model and a robust controller compensating the vehicle parameters' uncertainties and some external disturbances. Simulations of double lane change (DLC) maneuver and that of braking on split- µ road are conducted to compare the performance and stability of the GIMC control, the nominal performance PID controller and the H ∞ controller. Simulation results show that the high nominal performance PID controller will be unstable under some extreme situations because of large vehicle's parameters variations, H ∞ controller is conservative so that the performance is a little low, and only the GIMC controller overcomes the contradiction between performance and robustness, which can both ensure the stability of the AFS controller and guarantee the high performance of the AFS controller. Therefore, the GIMC method proposed for AFS can overcome some disadvantages of control methods used by current AFS system, that is, can solve the instability of PID or LQP control methods and the low performance of the standard H ∞ controller.

Statistical validation and an empirical model of hydrogen production enhancement found by utilizing passive flow disturbance in the steam-reformation process

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

Erickson, Paul A.; Liao, Chang-hsien

2007-11-15

A passive flow disturbance has been proven to enhance the conversion of fuel in a methanol-steam reformer. This study presents a statistical validation of the experiment based on a standard 2{sup k} factorial experiment design and the resulting empirical model of the enhanced hydrogen producing process. A factorial experiment design was used to statistically analyze the effects and interactions of various input factors in the experiment. Three input factors, including the number of flow disturbers, catalyst size, and reactant flow rate were investigated for their effects on the fuel conversion in the steam-reformation process. Based on the experimental results, anmore » empirical model was developed and further evaluated with an uncertainty analysis and interior point data. (author)« less

Disturbance Accommodating Adaptive Control with Application to Wind Turbines

NASA Technical Reports Server (NTRS)

Frost, Susan

2012-01-01

Adaptive control techniques are well suited to applications that have unknown modeling parameters and poorly known operating conditions. Many physical systems experience external disturbances that are persistent or continually recurring. Flexible structures and systems with compliance between components often form a class of systems that fail to meet standard requirements for adaptive control. For these classes of systems, a residual mode filter can restore the ability of the adaptive controller to perform in a stable manner. New theory will be presented that enables adaptive control with accommodation of persistent disturbances using residual mode filters. After a short introduction to some of the control challenges of large utility-scale wind turbines, this theory will be applied to a high-fidelity simulation of a wind turbine.

Circadian Rhythm Disturbances in Mood Disorders: Insights into the Role of the Suprachiasmatic Nucleus

PubMed Central

2017-01-01

Circadian rhythm disturbances are a common symptom among individuals with mood disorders. The suprachiasmatic nucleus (SCN), in the ventral part of the anterior hypothalamus, orchestrates physiological and behavioral circadian rhythms. The SCN consists of self-sustaining oscillators and receives photic and nonphotic cues, which entrain the SCN to the external environment. In turn, through synaptic and hormonal mechanisms, the SCN can drive and synchronize circadian rhythms in extra-SCN brain regions and peripheral tissues. Thus, genetic or environmental perturbations of SCN rhythms could disrupt brain regions more closely related to mood regulation and cause mood disturbances. Here, we review clinical and preclinical studies that provide evidence both for and against a causal role for the SCN in mood disorders. PMID:29230328

Harmonization of Multiple Forest Disturbance Data to Create a 1986-2011 Database for the Conterminous United States

NASA Astrophysics Data System (ADS)

Soulard, C. E.; Acevedo, W.; Yang, Z.; Cohen, W. B.; Stehman, S. V.; Taylor, J. L.

2015-12-01

A wide range of spatial forest disturbance data exist for the conterminous United States, yet inconsistencies between map products arise because of differing programmatic objectives and methodologies. Researchers on the Land Change Research Project (LCRP) are working to assess spatial agreement, characterize uncertainties, and resolve discrepancies between these national level datasets, in regard to forest disturbance. Disturbance maps from the Global Forest Change (GFC), Landfire Vegetation Disturbance (LVD), National Land Cover Dataset (NLCD), Vegetation Change Tracker (VCT), Web-enabled Landsat Data (WELD), and Monitoring Trends in Burn Severity (MTBS) were harmonized using a pixel-based data fusion process. The harmonization process reconciled forest harvesting, forest fire, and remaining forest disturbance across four intervals (1986-1992, 1992-2001, 2001-2006, and 2006-2011) by relying on convergence of evidence across all datasets available for each interval. Pixels with high agreement across datasets were retained, while moderate-to-low agreement pixels were visually assessed and either manually edited using reference imagery or discarded from the final disturbance map(s). National results show that annual rates of forest harvest and overall fire have increased over the past 25 years. Overall, this study shows that leveraging the best elements of readily-available data improves forest loss monitoring relative to using a single dataset to monitor forest change, particularly by reducing commission errors.

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.

Establishing security of quantum key distribution without monitoring disturbance

NASA Astrophysics Data System (ADS)

Koashi, Masato

2015-10-01

In conventional quantum key distribution (QKD) protocols, the information leak to an eavesdropper is estimated through the basic principle of quantum mechanics dictated in the original version of Heisenberg's uncertainty principle. The amount of leaked information on a shared sifted key is bounded from above essentially by using information-disturbance trade-off relations, based on the amount of signal disturbance measured via randomly sampled or inserted probe signals. Here we discuss an entirely different avenue toward the private communication, which does not rely on the information disturbance trade-off relations and hence does not require a monitoring of signal disturbance. The independence of the amount of privacy amplification from that of disturbance tends to give it a high tolerance on the channel noises. The lifting of the burden of precise statistical estimation of disturbance leads to a favorable finite-key-size effect. A protocol based on the novel principle can be implemented by only using photon detectors and classical optics tools: a laser, a phase modulator, and an interferometer. The protocol resembles the differential-phase-shift QKD protocol in that both share a simple binary phase shift keying on a coherent train of weak pulses from a laser. The difference lies in the use of a variable-delay interferometer in the new protocol, which randomly changes the combination of pulse pairs to be superposed. This extra randomness has turned out to be enough to upper-bound the information extracted by the eavesdropper, regardless of how they have disturbed the quantum signal.

Robust linear quadratic designs with respect to parameter uncertainty

NASA Technical Reports Server (NTRS)

Douglas, Joel; Athans, Michael

1992-01-01

The authors derive a linear quadratic regulator (LQR) which is robust to parametric uncertainty by using the overbounding method of I. R. Petersen and C. V. Hollot (1986). The resulting controller is determined from the solution of a single modified Riccati equation. It is shown that, when applied to a structural system, the controller gains add robustness by minimizing the potential energy of uncertain stiffness elements, and minimizing the rate of dissipation of energy through uncertain damping elements. A worst-case disturbance in the direction of the uncertainty is also considered. It is proved that performance robustness has been increased with the robust LQR when compared to a mismatched LQR design where the controller is designed on the nominal system, but applied to the actual uncertain system.

Scientific Uncertainties in Climate Change Detection and Attribution Studies

NASA Astrophysics Data System (ADS)

Santer, B. D.

2017-12-01

It has been claimed that the treatment and discussion of key uncertainties in climate science is "confined to hushed sidebar conversations at scientific conferences". This claim is demonstrably incorrect. Climate change detection and attribution studies routinely consider key uncertainties in observational climate data, as well as uncertainties in model-based estimates of natural variability and the "fingerprints" in response to different external forcings. The goal is to determine whether such uncertainties preclude robust identification of a human-caused climate change fingerprint. It is also routine to investigate the impact of applying different fingerprint identification strategies, and to assess how detection and attribution results are impacted by differences in the ability of current models to capture important aspects of present-day climate. The exploration of the uncertainties mentioned above will be illustrated using examples from detection and attribution studies with atmospheric temperature and moisture.

Robust and real-time control of magnetic bearings for space engines

NASA Technical Reports Server (NTRS)

Sinha, Alok; Wang, Kon-Well; Mease, K.; Lewis, S.

1991-01-01

Currently, NASA Lewis Research Center is developing magnetic bearings for Space Shuttle Main Engine (SSME) turbopumps. The control algorithms which have been used are based on either the proportional-intergral-derivative control (PID) approach or the linear quadratic (LQ) state space approach. These approaches lead to an acceptable performance only when the system model is accurately known, which is seldom true in practice. For example, the rotor eccentricity, which is a major source of vibration at high speeds, cannot be predicted accurately. Furthermore, the dynamics of a rotor shaft, which must be treated as a flexible system to model the elastic rotor shaft, is infinite dimensional in theory and the controller can only be developed on the basis of a finite number of modes. Therefore, the development of the control system is further complicated by the possibility of closed loop system instability because of residual or uncontrolled modes, the so called spillover problem. Consequently, novel control algorithms for magnetic bearings are being developed to be robust to inevitable parametric uncertainties, external disturbances, spillover phenomenon and noise. Also, as pointed out earlier, magnetic bearings must exhibit good performance at a speed over 30,000 rpm. This implies that the sampling period available for the design of a digital control system has to be of the order of 0.5 milli-seconds. Therefore, feedback coefficients and other required controller parameters have to be computed off-line so that the on-line computational burden is extremely small. The development of the robust and real-time control algorithms is based on the sliding mode control theory. In this method, a dynamic system is made to move along a manifold of sliding hyperplanes to the origin of the state space. The number of sliding hyperplanes equals that of actuators. The sliding mode controller has two parts; linear state feedback and nonlinear terms. The nonlinear terms guarantee that the systems would reach the intersection of all sliding hyperplanes and remain on it when bounds on the errors in the system parameters and external disturbances are known. The linear part of the control drives the system to the origin of state space. Another important feature is that the controller parameter can be computed off-line. Consequently, on-line computational burden is small.

Invasive perennial grasses in Quercus garryana meadows of southwestern British Columbia: prospects for restoration

Treesearch

Andrew MacDougall

2002-01-01

Garry oak (Quercus garryana) meadows of the Pacific Northwest are heavily invaded but the dynamics surrounding this ecosystem transformation are poorly understood. Of particular uncertainty is the role of the invasive species in structuring the community, and the potential stability of this invasive-dominated system when disturbed. Clarifying such...

The Humanism of Rational Emotive Behavior Therapy and Other Cognitive Behavior Therapies.

ERIC Educational Resources Information Center

Ellis, Albert

1996-01-01

Describes aspects of rational emotive behavior therapy (REBT). REBT shows how people can both create and uncreate many of their emotional disturbances. It is a theory of personality which avoids devotion to any kind of magic and supernaturalism and emphasizes unconditional self-acceptance, antiabsolutism, uncertainty, and human fallibility. (RJM)

The role of forest disturbance in global forest mortality and terrestrial carbon fluxes

NASA Astrophysics Data System (ADS)

Pugh, Thomas; Arneth, Almut; Smith, Benjamin; Poulter, Benjamin

2017-04-01

Large-scale forest disturbance dynamics such as insect outbreaks, wind-throw and fires, along with anthropogenic disturbances such as logging, have been shown to turn forests from carbon sinks into intermittent sources, often quite dramatically so. There is also increasing evidence that disturbance regimes in many regions are changing as a result of climatic change and human land-management practices. But how these landscape-scale events fit into the wider picture of global tree mortality is not well understood. Do such events dominate global carbon turnover, or are their effects highly regional? How sensitive is global terrestrial carbon exchange to realistic changes in the occurrence rate of such disturbances? Here, we combine recent advances in global satellite observations of stand-replacing forest disturbances and in compilations of forest inventory data, with a global terrestrial ecosystem model which incorporates an explicit representation of the role of disturbance in forest dynamics. We find that stand-replacing disturbances account for a fraction of wood carbon turnover that varies spatially from less than 5% in the tropical rainforest to ca. 50% in the mid latitudes, and as much as 90% in some heavily-managed regions. We contrast the size of the land-atmosphere carbon flux due to this disturbance with other components of the terrestrial carbon budget. In terms of sensitivity, we find a quasi log-linear relationship of disturbance rate to total carbon storage. Relatively small changes in disturbance rates at all latitudes have marked effects on vegetation carbon storage, with potentially very substantial implications for the global terrestrial carbon sink. Our results suggest a surprisingly small effect of disturbance type on large-scale forest vegetation dynamics and carbon storage, with limited evidence of widespread increases in nitrogen limitation as a result of increasing future disturbance. However, the influence of disturbance type on soil carbon stocks is very large, illustrating the importance of further efforts to distinguish disturbance drivers at the global scale. Setting our knowledge of forest disturbance into the wider uncertainty in forest mortality processes generally, we offer a perspective for improving understanding of the role of disturbance in global forest carbon cycling.

Uncertainty and sensitivity analysis for two-phase flow in the vicinity of the repository in the 1996 performance assessment for the Waste Isolation Pilot Plant: Disturbed conditions

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

HELTON,JON CRAIG; BEAN,J.E.; ECONOMY,K.

2000-05-22

Uncertainty and sensitivity analysis results obtained in the 1996 performance assessment (PA) for the Waste Isolation Pilot Plant (WIPP) are presented for two-phase flow in the vicinity of the repository under disturbed conditions resulting from drilling intrusions. Techniques based on Latin hypercube sampling, examination of scatterplots, stepwise regression analysis, partial correlation analysis and rank transformations are used to investigate brine inflow, gas generation repository pressure, brine saturation and brine and gas outflow. Of the variables under study, repository pressure and brine flow from the repository to the Culebra Dolomite are potentially the most important in PA for the WIPP. Subsequentmore » to a drilling intrusion repository pressure was dominated by borehole permeability and generally below the level (i.e., 8 MPa) that could potentially produce spallings and direct brine releases. Brine flow from the repository to the Culebra Dolomite tended to be small or nonexistent with its occurrence and size also dominated by borehole permeability.« less

Sliding Mode Fault Tolerant Control with Adaptive Diagnosis for Aircraft Engines

NASA Astrophysics Data System (ADS)

Xiao, Lingfei; Du, Yanbin; Hu, Jixiang; Jiang, Bin

2018-03-01

In this paper, a novel sliding mode fault tolerant control method is presented for aircraft engine systems with uncertainties and disturbances on the basis of adaptive diagnostic observer. By taking both sensors faults and actuators faults into account, the general model of aircraft engine control systems which is subjected to uncertainties and disturbances, is considered. Then, the corresponding augmented dynamic model is established in order to facilitate the fault diagnosis and fault tolerant controller design. Next, a suitable detection observer is designed to detect the faults effectively. Through creating an adaptive diagnostic observer and based on sliding mode strategy, the sliding mode fault tolerant controller is constructed. Robust stabilization is discussed and the closed-loop system can be stabilized robustly. It is also proven that the adaptive diagnostic observer output errors and the estimations of faults converge to a set exponentially, and the converge rate greater than some value which can be adjusted by choosing designable parameters properly. The simulation on a twin-shaft aircraft engine verifies the applicability of the proposed fault tolerant control method.

Hierarchical Bayesian modeling of ionospheric TEC disturbances as non-stationary processes

NASA Astrophysics Data System (ADS)

Seid, Abdu Mohammed; Berhane, Tesfahun; Roininen, Lassi; Nigussie, Melessew

2018-03-01

We model regular and irregular variation of ionospheric total electron content as stationary and non-stationary processes, respectively. We apply the method developed to SCINDA GPS data set observed at Bahir Dar, Ethiopia (11.6 °N, 37.4 °E) . We use hierarchical Bayesian inversion with Gaussian Markov random process priors, and we model the prior parameters in the hyperprior. We use Matérn priors via stochastic partial differential equations, and use scaled Inv -χ2 hyperpriors for the hyperparameters. For drawing posterior estimates, we use Markov Chain Monte Carlo methods: Gibbs sampling and Metropolis-within-Gibbs for parameter and hyperparameter estimations, respectively. This allows us to quantify model parameter estimation uncertainties as well. We demonstrate the applicability of the method proposed using a synthetic test case. Finally, we apply the method to real GPS data set, which we decompose to regular and irregular variation components. The result shows that the approach can be used as an accurate ionospheric disturbance characterization technique that quantifies the total electron content variability with corresponding error uncertainties.

Simulating the effects of fire disturbance and vegetation recovery on boreal ecosystem carbon fluxes

NASA Astrophysics Data System (ADS)

Yi, Y.; Kimball, J. S.; Jones, L. A.; Zhao, M.

2011-12-01

Fire related disturbance and subsequent vegetation recovery has a major influence on carbon storage and land-atmosphere CO2 fluxes in boreal ecosystems. We applied a synthetic approach combining tower eddy covariance flux measurements, satellite remote sensing and model reanalysis surface meteorology within a terrestrial carbon model framework to estimate fire disturbance and recovery effects on boreal ecosystem carbon fluxes including gross primary production (GPP), ecosystem respiration and net CO2 exchange (NEE). A disturbance index based on MODIS land surface temperature and NDVI was found to coincide with vegetation recovery status inferred from tower chronosequence sites. An empirical algorithm was developed to track ecosystem recovery status based on the disturbance index and used to nudge modeled net primary production (NPP) and surface soil organic carbon stocks from baseline steady-state conditions. The simulations were conducted using a satellite based terrestrial carbon flux model driven by MODIS NDVI and MERRA reanalysis daily surface meteorology inputs. The MODIS (MCD45) burned area product was then applied for mapping recent (post 2000) regional disturbance history, and used with the disturbance index to define vegetation disturbance and recovery status. The model was then applied to estimate regional patterns and temporal changes in terrestrial carbon fluxes across the entire northern boreal forest and tundra domain. A sensitivity analysis was conducted to assess the relative importance of fire disturbance and recovery on regional carbon fluxes relative to assumed steady-state conditions. The explicit representation of disturbance and recovery effects produces more accurate NEE predictions than the baseline steady-state simulations and reduces uncertainty regarding the purported missing carbon sink in the high latitudes.

A new fuzzy-disturbance observer-enhanced sliding controller for vibration control of a train-car suspension with magneto-rheological dampers

NASA Astrophysics Data System (ADS)

Nguyen, Sy Dzung; Choi, Seung-Bok; Nguyen, Quoc Hung

2018-05-01

Semi-active train-car suspensions are always impacted negatively by uncertainty and disturbance (UAD). In order to deal with this, we propose a novel optimal fuzzy disturbance observer-enhanced sliding mode controller (FDO-SMC) for magneto-rheological damper (MRD)-based semi-active train-car suspensions subjected to UAD whose variability rate may be high but bounded. The two main parts of the FDO-SMC are an adaptive sliding mode controller (ad-SMC) and an optimal fuzzy disturbance observer (op-FDO). As the first step, the initial structures of the sliding mode controller (SMC) and disturbance observer (DO) are built. Adaptive update laws for the SMC and DO are then set up synchronously via Lyapunov stability analysis. Subsequently, an optimal fuzzy system (op-FS) is designed to fully implement a parameter constraint mechanism so as to guarantee the system stability converging to the desired state even if the UAD variability rate increases in a given range. As a result, both the ad-SMC and op-FDO are formulated. It is shown from the comparative work with existing controllers that the proposed method provides the best vibration control capability with relatively low consumed power.

Torque equilibrium attitudes for the Space Station

NASA Technical Reports Server (NTRS)

Thompson, Roger C.

1993-01-01

All spacecraft orbiting in a low earth orbit (LEO) experience external torques due to environmental effects. Examples of these torques include those induced by aerodynamic, gravity-gradient, and solar forces. It is the gravity-gradient and aerodynamic torques that produce the greatest disturbances to the attitude of a spacecraft in LEO, and large asymmetric spacecraft, such as the space station, are affected to a greater degree because the magnitude of the torques will, in general, be larger in proportion to the moments of inertia. If left unchecked, these torques would cause the attitude of the space station to oscillate in a complex manner and the resulting motion would destroy the micro-gravity environment as well as prohibit the orbiter from docking. The application of control torques will maintain the proper attitude, but the controllers have limited momentum capacity. When any controller reaches its limit, propellant must then be used while the device is reset to a zero or negatively-biased momentum state. Consequently, the rate at which momentum is accumulated is a significant factor in the amount of propellant used and the frequency of resupply necessary to operate the station. A torque profile in which the area curve for a positive torque is not equal to the area under the curve for a negative torque is 'biased,' and the consequent momentum build-up about that axis is defined as secular momentum because it continues to grow with time. Conversely, when the areas are equal, the momentum is cyclic and bounded. A Torque Equilibrium Attitude (TEA) is thus defined as an attitude at which the external torques 'balance' each other as much as possible, and which will result in lower momentum growth in the controllers. Ideally, the positive and negative external moments experienced by a spacecraft at the TEA would exactly cancel each other out and small cyclic control torques would be required only for precise attitude control. Over time, the only momentum build-up in the controllers would be due to electro-mechanical losses within the device. However, the atmospheric torques are proportional to the density of the atmosphere and the density varies with the orbital position, time of day, time of year, and the solar cycle. In addition, there are unmodeled disturbances and uncertainties in the mass and inertias. Therefore, there is no constant attitude that will completely balance the environmental torques and the dynamic TEA cannot be solved in closed form. The objective of this research was to determine a method to calculate a dynamic TEA such that the rate of momentum build-up in the controllers would be minimized and to implement this method in the MATRIX(x) simulation software by Integrated Systems, Inc.

Protein labeling reactions in electrochemical microchannel flow: Numerical simulation and uncertainty propagation

NASA Astrophysics Data System (ADS)

Debusschere, Bert J.; Najm, Habib N.; Matta, Alain; Knio, Omar M.; Ghanem, Roger G.; Le Maître, Olivier P.

2003-08-01

This paper presents a model for two-dimensional electrochemical microchannel flow including the propagation of uncertainty from model parameters to the simulation results. For a detailed representation of electroosmotic and pressure-driven microchannel flow, the model considers the coupled momentum, species transport, and electrostatic field equations, including variable zeta potential. The chemistry model accounts for pH-dependent protein labeling reactions as well as detailed buffer electrochemistry in a mixed finite-rate/equilibrium formulation. Uncertainty from the model parameters and boundary conditions is propagated to the model predictions using a pseudo-spectral stochastic formulation with polynomial chaos (PC) representations for parameters and field quantities. Using a Galerkin approach, the governing equations are reformulated into equations for the coefficients in the PC expansion. The implementation of the physical model with the stochastic uncertainty propagation is applied to protein-labeling in a homogeneous buffer, as well as in two-dimensional electrochemical microchannel flow. The results for the two-dimensional channel show strong distortion of sample profiles due to ion movement and consequent buffer disturbances. The uncertainty in these results is dominated by the uncertainty in the applied voltage across the channel.

Prediction of disturbed eating attitudes in adolescent girls: a 3-year longitudinal study of eating patterns, self-esteem and coping.

PubMed

Halvarsson-Edlund, K; Sjödén, P-O; Lunner, K

2008-06-01

The purpose was to examine the extent to which yearly assessments of eating patterns and attitudes, self-esteem and coping strategies over a 3-year period among adolescent girls predicted the degree of disturbed eating attitudes at the year 3-assessment. Our main hypothesis was that such attitudes year 3 would be predicted by eating attitudes, restrained, emotional, and external eating behaviour, as well as by low self-esteem and coping by acting out or avoidance. Three-hundred and seventy- eight Swedish adolescent girls were assessed once a year for three years. The results suggest that eating patterns and attitudes were the strongest predictors of disturbed eating attitudes year 3. Self-esteem and coping had a limited predictive value for eating attitudes year 3, and the effect of self-esteem appeared to be mediated by coping. The results suggest that early eating patterns (e.g., more disturbed eating attitudes and restrained eating behaviors) and attitudes are potentially important predictors for the development of more serious eating disturbances among adolescent girls.

Towards ground-truthing of spaceborne estimates of above-ground biomass and leaf area index in tropical rain forests

NASA Astrophysics Data System (ADS)

Köhler, P.; Huth, A.

2010-05-01

The canopy height of forests is a key variable which can be obtained using air- or spaceborne remote sensing techniques such as radar interferometry or lidar. If new allometric relationships between canopy height and the biomass stored in the vegetation can be established this would offer the possibility for a global monitoring of the above-ground carbon content on land. In the absence of adequate field data we use simulation results of a tropical rain forest growth model to propose what degree of information might be generated from canopy height and thus to enable ground-truthing of potential future satellite observations. We here analyse the correlation between canopy height in a tropical rain forest with other structural characteristics, such as above-ground biomass (AGB) (and thus carbon content of vegetation) and leaf area index (LAI). The process-based forest growth model FORMIND2.0 was applied to simulate (a) undisturbed forest growth and (b) a wide range of possible disturbance regimes typically for local tree logging conditions for a tropical rain forest site on Borneo (Sabah, Malaysia) in South-East Asia. It is found that for undisturbed forest and a variety of disturbed forests situations AGB can be expressed as a power-law function of canopy height h (AGB=a·hb) with an r2~60% for a spatial resolution of 20 m×20 m (0.04 ha, also called plot size). The regression is becoming significant better for the hectare wide analysis of the disturbed forest sites (r2=91%). There seems to exist no functional dependency between LAI and canopy height, but there is also a linear correlation (r2~60%) between AGB and the area fraction in which the canopy is highly disturbed. A reasonable agreement of our results with observations is obtained from a comparison of the simulations with permanent sampling plot data from the same region and with the large-scale forest inventory in Lambir. We conclude that the spaceborne remote sensing techniques have the potential to quantify the carbon contained in the vegetation, although this calculation contains due to the heterogeneity of the forest landscape structural uncertainties which restrict future applications to spatial averages of about one hectare in size. The uncertainties in AGB for a given canopy height are here 20-40% (95% confidence level) corresponding to a standard deviation of less than ±10%. This uncertainty on the 1 ha-scale is much smaller than in the analysis of 0.04 ha-scale data. At this small scale (0.04 ha) AGB can only be calculated out of canopy height with an uncertainty which is at least of the magnitude of the signal itself due to the natural spatial heterogeneity of these forests.

Accounting for Shared and Unshared Dosimetric Uncertainties in the Dose Response for Ultrasound-Detected Thyroid Nodules after Exposure to Radioactive Fallout

PubMed Central

Hoffman, F. Owen; Moroz, Brian; Drozdovitch, Vladimir; Bouville, André; Beck, Harold; Luckyanov, Nicholas; Weinstock, Robert M.; Simon, Steven L.

2015-01-01

Dosimetic uncertainties, particularly those that are shared among subgroups of a study population, can bias, distort or reduce the slope or significance of a dose response. Exposure estimates in studies of health risks from environmental radiation exposures are generally highly uncertain and thus, susceptible to these methodological limitations. An analysis was published in 2008 concerning radiation-related thyroid nodule prevalence in a study population of 2,994 villagers under the age of 21 years old between August 1949 and September 1962 and who lived downwind from the Semi-palatinsk Nuclear Test Site in Kazakhstan. This dose-response analysis identified a statistically significant association between thyroid nodule prevalence and reconstructed doses of fallout-related internal and external radiation to the thyroid gland; however, the effects of dosimetric uncertainty were not evaluated since the doses were simple point “best estimates”. In this work, we revised the 2008 study by a comprehensive treatment of dosimetric uncertainties. Our present analysis improves upon the previous study, specifically by accounting for shared and unshared uncertainties in dose estimation and risk analysis, and differs from the 2008 analysis in the following ways: 1. The study population size was reduced from 2,994 to 2,376 subjects, removing 618 persons with uncertain residence histories; 2. Simulation of multiple population dose sets (vectors) was performed using a two-dimensional Monte Carlo dose estimation method; and 3. A Bayesian model averaging approach was employed for evaluating the dose response, explicitly accounting for large and complex uncertainty in dose estimation. The results were compared against conventional regression techniques. The Bayesian approach utilizes 5,000 independent realizations of population dose vectors, each of which corresponds to a set of conditional individual median internal and external doses for the 2,376 subjects. These 5,000 population dose vectors reflect uncertainties in dosimetric parameters, partly shared and partly independent, among individual members of the study population. Risk estimates for thyroid nodules from internal irradiation were higher than those published in 2008, which results, to the best of our knowledge, from explicitly accounting for dose uncertainty. In contrast to earlier findings, the use of Bayesian methods led to the conclusion that the biological effectiveness for internal and external dose was similar. Estimates of excess relative risk per unit dose (ERR/Gy) for males (177 thyroid nodule cases) were almost 30 times those for females (571 cases) and were similar to those reported for thyroid cancers related to childhood exposures to external and internal sources in other studies. For confirmed cases of papillary thyroid cancers (3 in males, 18 in females), the ERR/Gy was also comparable to risk estimates from other studies, but not significantly different from zero. These findings represent the first reported dose response for a radiation epidemiologic study considering all known sources of shared and unshared errors in dose estimation and using a Bayesian model averaging (BMA) method for analysis of the dose response. PMID:25574587

Pupil-linked arousal is driven by decision uncertainty and alters serial choice bias

NASA Astrophysics Data System (ADS)

Urai, Anne E.; Braun, Anke; Donner, Tobias H.

2017-03-01

While judging their sensory environments, decision-makers seem to use the uncertainty about their choices to guide adjustments of their subsequent behaviour. One possible source of these behavioural adjustments is arousal: decision uncertainty might drive the brain's arousal systems, which control global brain state and might thereby shape subsequent decision-making. Here, we measure pupil diameter, a proxy for central arousal state, in human observers performing a perceptual choice task of varying difficulty. Pupil dilation, after choice but before external feedback, reflects three hallmark signatures of decision uncertainty derived from a computational model. This increase in pupil-linked arousal boosts observers' tendency to alternate their choice on the subsequent trial. We conclude that decision uncertainty drives rapid changes in pupil-linked arousal state, which shape the serial correlation structure of ongoing choice behaviour.

In-flight alignment using H ∞ filter for strapdown INS on aircraft.

PubMed

Pei, Fu-Jun; Liu, Xuan; Zhu, Li

2014-01-01

In-flight alignment is an effective way to improve the accuracy and speed of initial alignment for strapdown inertial navigation system (INS). During the aircraft flight, strapdown INS alignment was disturbed by lineal and angular movements of the aircraft. To deal with the disturbances in dynamic initial alignment, a novel alignment method for SINS is investigated in this paper. In this method, an initial alignment error model of SINS in the inertial frame is established. The observability of the system is discussed by piece-wise constant system (PWCS) theory and observable degree is computed by the singular value decomposition (SVD) theory. It is demonstrated that the system is completely observable, and all the system state parameters can be estimated by optimal filter. Then a H ∞ filter was designed to resolve the uncertainty of measurement noise. The simulation results demonstrate that the proposed algorithm can reach a better accuracy under the dynamic disturbance condition.

Assessing the responses of coastal cetaceans to the construction of offshore wind turbines.

PubMed

Thompson, Paul M; Lusseau, David; Barton, Tim; Simmons, Dave; Rusin, Jan; Bailey, Helen

2010-08-01

The expansion of offshore renewables has raised concerns over potential disturbance to coastal cetaceans. In this study, we used passive acoustic monitoring to assess whether cetaceans responded to pile-driving noise during the installation of two 5MW offshore wind turbines off NE Scotland in 2006. Monitoring was carried out at both the turbine site and a control site in 2005, 2006 and 2007. Harbour porpoises occurred regularly around the turbine site in all years, but there was some evidence that porpoises did respond to disturbance from installation activities. We use these findings to highlight how uncertainty over cetacean distribution and the scale of disturbance effects constrains opportunities for B-A-C-I studies. We explore alternative approaches to assessing the impact of offshore wind farm upon cetaceans, and make recommendations for the research and monitoring that will be required to underpin future developments. Copyright 2010 Elsevier Ltd. All rights reserved.

Tracking control of WMRs on loose soil based on mixed H2/H∞ control with longitudinal slip ratio estimation

NASA Astrophysics Data System (ADS)

Gao, Haibo; Chen, Chao; Ding, Liang; Li, Weihua; Yu, Haitao; Xia, Kerui; Liu, Zhen

2017-11-01

Wheeled mobile robots (WMRs) often suffer from the longitudinal slipping when moving on the loose soil of the surface of the moon during exploration. Longitudinal slip is the main cause of WMRs' delay in trajectory tracking. In this paper, a nonlinear extended state observer (NESO) is introduced to estimate the longitudinal velocity in order to estimate the slip ratio and the derivative of the loss of velocity which are used in modelled disturbance compensation. Owing to the uncertainty and disturbance caused by estimation errors, a multi-objective controller using the mixed H2/H∞ method is employed to ensure the robust stability and performance of the WMR system. The final inputs of the trajectory tracking consist of the feedforward compensation, compensation for the modelled disturbances and designed multi-objective control inputs. Finally, the simulation results demonstrate the effectiveness of the controller, which exhibits a satisfactory tracking performance.

[Characteristics of eating behavior in overweight young people with biliary tract diseases among Bashkortostan population].

PubMed

Volevach, L V; Khismatullina, G Ia; Uliamaeva, V V; Gur'ev, R D; Kamalova, A A

2014-01-01

The goal of the present research was to study the types of nutritional behavior disturbances in overweight patients with the pathology biliary tract. 132 patients with chronic noncalculous cholecystitis aged from 18 to 35 were examined. The comprehensive clinical examination was conducted and types of eating behavior disturbances with the help DEBQ test (Dutch Eating Behavior Questionnaire) were examined. It was discovered that disturbances of eating behavior are observed in 82,9 percent of normal weight patients, in 100 percent of overweight and in 93,3 percent of patients with obesity. Restraint and emotional eating are more often observed in obesity. External eating is more often observed in overweight and normal weight persons than that emotional eating. Rational eating is rarely observed in all groups of examined persons.

Active shielding to reduce low frequency disturbances in direct current near biomagnetic measurements

NASA Astrophysics Data System (ADS)

Platzek, D.; Nowak, H.; Giessler, F.; Röther, J.; Eiselt, M.

1999-05-01

Measurements of dc near biomagnetic fields are disturbed by low frequency noise that is not reduced sufficiently by most of the magnetically shielded rooms or gradiometers. For this reason an active shielding system has been developed at the Biomagnetic Center of the University of Jena. This work describes the principle of the active shielding system and demonstrates its properties concerning the attenuation of disturbing fields, frequency range, and some applications in biomedical measurements. We achieved a reduction of external low frequency magnetic fields by more than 50 dB and an attenuation of the field gradient by about 25 dB. This active shielding enables measurements of near dc biomagnetic fields in investigations of periinfarct depolarizations after ischemic stroke and spreading depression in migraine patients.

Origin of the Livelihood Dilemma for Local Fisherman in Poyang Lake Wetland: a Ramsar Site in China

NASA Astrophysics Data System (ADS)

Xie, Dongming; Zhou, Guohong; Zhou, Yangming; Chen, Yayun; Jia, Junsong

2018-01-01

Poyang Lake is one of the first Ramsar sites in China; it has plenty of natural resources that support the survival of local residents. However, local fisherman have encountered a livelihood dilemma, as natural resources have declined, obviously because of the change in the ecological environment and anthropic disturbance. We seek to explain what lead to livelihood dilemma to the local fishermen, so semi-structured interviews, questionnaire surveys, Geographic information system (GIS), Remote sensing (RS), Global position system (GPS), and department data were used to analyze the internal and external factors for these dilemmas. The results explained the external factors including the exhaustion of natural resources, the drying up of wetlands, landscape fragmentation, water contamination, and disturbance through anthropic behavior; the internal factors included the ageing of fishermen, poor cultural quality, conservative ideas, and unreasonable fishing practices. Eco-compensation, industry transformation, and capacity innovation may help to resolve livelihood dilemmas for the local fisherman of the Poyang Lake wetlands.

Adaptive fixed-time trajectory tracking control of a stratospheric airship.

PubMed

Zheng, Zewei; Feroskhan, Mir; Sun, Liang

2018-05-01

This paper addresses the fixed-time trajectory tracking control problem of a stratospheric airship. By extending the method of adding a power integrator to a novel adaptive fixed-time control method, the convergence of a stratospheric airship to its reference trajectory is guaranteed to be achieved within a fixed time. The control algorithm is firstly formulated without the consideration of external disturbances to establish the stability of the closed-loop system in fixed-time and demonstrate that the convergence time of the airship is essentially independent of its initial conditions. Subsequently, a smooth adaptive law is incorporated into the proposed fixed-time control framework to provide the system with robustness to external disturbances. Theoretical analyses demonstrate that under the adaptive fixed-time controller, the tracking errors will converge towards a residual set in fixed-time. The results of a comparative simulation study with other recent methods illustrate the remarkable performance and superiority of the proposed control method. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Phase compensation with fiber optic surface profile acquisition and reconstruction system

NASA Astrophysics Data System (ADS)

Bo, En; Duan, Fajie; Feng, Fan; Lv, Changrong; Xiao, Fu; Huang, Tingting

2015-02-01

A fiber-optic sinusoidal phase modulating (SPM) interferometer was proposed for the acquisition and reconstruction of three-dimensional (3-D) surface profile. Sinusoidal phase modulation was induced by controlling the injection current of light source. The surface profile was constructed on the basis of fringe projection. Fringe patterns are vulnerable to external disturbances such as mechanical vibration and temperature fluctuation, which cause phase drift in the interference signal and decrease measuring accuracy. A closed-loop feedback phase compensation system was built. In the subsystem, the initial phase of the interference signal, which was caused by the initial optical path difference between interference arms, could be demodulated using phase generated carrier (PGC) method and counted out using coordinated rotation digital computer (CORDIC) , then a compensation voltage was generated for the PZT driver. The bias value of external disturbances superimposed on fringe patterns could be reduced to about 50 mrad, and the phase stability for interference fringes was less than 6 mrad. The feasibility for real-time profile measurement has been verified.

HOx radical chemistry in oxidation flow reactors with low-pressure mercury lamps systematically examined by modeling

NASA Astrophysics Data System (ADS)

Peng, Z.; Day, D. A.; Stark, H.; Li, R.; Palm, B. B.; Brune, W. H.; Jimenez, J. L.

2015-04-01

Oxidation flow reactors (OFRs) using OH produced from low-pressure Hg lamps at 254 nm (OFR254) or both 185 and 254 nm (OFR185) are commonly used in atmospheric chemistry and other fields. OFR254 requires the addition of externally formed O3 since OH is formed from O3 photolysis, while OFR185 does not since O2 can be photolyzed to produce O3 and OH can also be formed from H2O photolysis. In this study, we use a plug-flow kinetic model to investigate OFR properties under a very wide range of conditions applicable to both field and laboratory studies. We show that the radical chemistry in OFRs can be characterized as a function of UV light intensity, H2O concentration, and total external OH reactivity (OHRext, e.g., from VOCs, NOx, and SO2). OH exposure is decreased by added external OH reactivity. OFR185 is especially sensitive to this effect at low UV intensity due to low primary OH production. OFR254 can be more resilient against OH suppression at high injected O3 (e.g., 70 ppm), as a larger primary OH source from O3, as well as enhanced recycling of HO2 to OH, make external perturbations to the radical chemistry less significant. However if the external OH reactivity in OFR254 is much larger than OH reactivity from injected O3, OH suppression can reach two orders of magnitude. For a typical input of 7 ppm O3 (OHRO3 = 10 s-1) ten-fold OH suppression is observed at OHRext ∼ 100 s-1, which is similar or lower than used in many laboratory studies. This finding may have important implications for the interpretation of past laboratory studies, as applying OHexp measurements acquired under different conditions could lead to over an order-of-magnitude error in the estimated OHexp. The uncertainties of key model outputs due to uncertainty in all rate constants and absorption cross-sections in the model are within ± 25% for OH exposure and within ± 60% for other parameters. These uncertainties are small relative to the dynamic range of outputs. Uncertainty analysis shows that most of the uncertainty is contributed by photolysis rates of O3, O2, and H2O and reactions of OH and HO2 with themselves or with some abundant species, i.e., O3 and H2O2. Using HOx-recycling vs. destructive external OH reactivity only leads to small changes in OHexp under most conditions. Changing the identity (rate constant) of external OH reactants can result in substantial changes in OHexp due to different reductions in OH suppression as the reactant is consumed. We also report two equations for estimating OH exposure in OFR254. We find that the equation estimating OHexp from measured O3 consumption performs better than an alternative equation that does not use it, and thus recommend measuring both input and output O3 concentrations in OFR254 experiments. This study contributes to establishing a firm and systematic understanding of the gas-phase HOx and Ox chemistry in these reactors, and enables better experiment planning and interpretation as well as improved design of future reactors.

Torque coordinating robust control of shifting process for dry dual clutch transmission equipped in a hybrid car

NASA Astrophysics Data System (ADS)

Zhao, Z.-G.; Chen, H.-J.; Yang, Y.-Y.; He, L.

2015-09-01

For a hybrid car equipped with dual clutch transmission (DCT), the coordination control problems of clutches and power sources are investigated while taking full advantage of the integrated starter generator motor's fast response speed and high accuracy (speed and torque). First, a dynamic model of the shifting process is established, the vehicle acceleration is quantified according to the intentions of the driver, and the torque transmitted by clutches is calculated based on the designed disengaging principle during the torque phase. Next, a robust H∞ controller is designed to ensure speed synchronisation despite the existence of model uncertainties, measurement noise, and engine torque lag. The engine torque lag and measurement noise are used as external disturbances to initially modify the output torque of the power source. Additionally, during the torque switch phase, the torque of the power sources is smoothly transitioned to the driver's demanded torque. Finally, the torque of the power sources is further distributed based on the optimisation of system efficiency, and the throttle opening of the engine is constrained to avoid sharp torque variations. The simulation results verify that the proposed control strategies effectively address the problem of coordinating control of clutches and power sources, establishing a foundation for the application of DCT in hybrid cars.

Intelligent nonsingular terminal sliding-mode control using MIMO Elman neural network for piezo-flexural nanopositioning stage.

PubMed

Lin, Faa-Jeng; Lee, Shih-Yang; Chou, Po-Huan

2012-12-01

The objective of this study is to develop an intelligent nonsingular terminal sliding-mode control (INTSMC) system using an Elman neural network (ENN) for the threedimensional motion control of a piezo-flexural nanopositioning stage (PFNS). First, the dynamic model of the PFNS is derived in detail. Then, to achieve robust, accurate trajectory-tracking performance, a nonsingular terminal sliding-mode control (NTSMC) system is proposed for the tracking of the reference contours. The steady-state response of the control system can be improved effectively because of the addition of the nonsingularity in the NTSMC. Moreover, to relax the requirements of the bounds and discard the switching function in NTSMC, an INTSMC system using a multi-input-multioutput (MIMO) ENN estimator is proposed to improve the control performance and robustness of the PFNS. The ENN estimator is proposed to estimate the hysteresis phenomenon and lumped uncertainty, including the system parameters and external disturbance of the PFNS online. Furthermore, the adaptive learning algorithms for the training of the parameters of the ENN online are derived using the Lyapunov stability theorem. In addition, two robust compensators are proposed to confront the minimum reconstructed errors in INTSMC. Finally, some experimental results for the tracking of various contours are given to demonstrate the validity of the proposed INTSMC system for PFNS.

Stabilization of business cycles of finance agents using nonlinear optimal control

NASA Astrophysics Data System (ADS)

Rigatos, G.; Siano, P.; Ghosh, T.; Sarno, D.

2017-11-01

Stabilization of the business cycles of interconnected finance agents is performed with the use of a new nonlinear optimal control method. First, the dynamics of the interacting finance agents and of the associated business cycles is described by a modeled of coupled nonlinear oscillators. Next, this dynamic model undergoes approximate linearization round a temporary operating point which is defined by the present value of the system's state vector and the last value of the control inputs vector that was exerted on it. The linearization procedure is based on Taylor series expansion of the dynamic model and on the computation of Jacobian matrices. The modelling error, which is due to the truncation of higher-order terms in the Taylor series expansion is considered as a disturbance which is compensated by the robustness of the control loop. Next, for the linearized model of the interacting finance agents, an H-infinity feedback controller is designed. The computation of the feedback control gain requires the solution of an algebraic Riccati equation at each iteration of the control algorithm. Through Lyapunov stability analysis it is proven that the control scheme satisfies an H-infinity tracking performance criterion, which signifies elevated robustness against modelling uncertainty and external perturbations. Moreover, under moderate conditions the global asymptotic stability features of the control loop are proven.

Development of a multi-degree-of-freedom micropositioning, vibration isolation and vibration suppression system

NASA Astrophysics Data System (ADS)

Jaensch, M.; Lampérth, M. U.

2007-04-01

This paper describes the design and performance testing of a micropositioning, vibration isolation and suppression system, which can be used to position a piece of equipment with sub-micrometre accuracy and stabilize it against various types of external disturbance. The presented demonstrator was designed as part of a novel extremely open pre-polarization magnetic resonance imaging (MRI) scanner. The active control system utilizes six piezoelectric actuators, wide-bandwidth optical fibre displacement sensors and a very fast digital field programmable gate array (FPGA) controller. A PID feedback control algorithm with emphasis on a very high level of integral gain is employed. Due to the high external forces expected, the whole structure is designed to be as stiff as possible, including a novel hard mount approach with parallel passive damping for the suspension of the payload. The performance of the system is studied theoretically and experimentally. The sensitive equipment can be positioned in six degrees of freedom with an accuracy of ± 0.2 µm. External disturbances acting on the support structure or the equipment itself are attenuated in three degrees of freedom by more than -20 dB within a bandwidth of 0-200 Hz. Excellent impulse rejection and input tracking are demonstrated as well.

Exploratory modeling of forest disturbance scenarios in central Oregon using computational experiments in GIS

Treesearch

Deana D. Pennington

2007-01-01

Exploratory modeling is an approach used when process and/or parameter uncertainties are such that modeling attempts at realistic prediction are not appropriate. Exploratory modeling makes use of computational experimentation to test how varying model scenarios drive model outcome. The goal of exploratory modeling is to better understand the system of interest through...

Forest disturbance and North American carbon flux

Treesearch

S. N. Goward; J. G. Masek; W. Cohen; G. Moisen; G. J. Collatz; S. Healey; R. A. Houghton; C. Huang; R. Kennedy; B. Law; S. Powell; D. Turner; M. A. Wulder

2008-01-01

North America's forests are thought to be a significant sink for atmospheric carbon. Currently, the rate of sequestration by forests on the continent has been estimated at 0.23 petagrams of carbon per year, though the uncertainty about this estimate is nearly 50%. This offsets about 13% of the fossil fuel emissions from the continent [Pacala et al., 2007]. However...

Managing uncertainty in climate-driven ecological models to inform adaptation to climate change

Treesearch

Jeremy S. Littell; Donald McKenzie; Becky K. Kerns; Samuel Cushman; Charles G. Shaw

2011-01-01

The impacts of climate change on forest ecosystems are likely to require changes in forest planning and natural resource management. Changes in tree growth, disturbance extent and intensity, and eventually species distributions are expected. In natural resource management and planning, ecosystem models are typically used to provide a "best estimate" about how...

A systematic framework for Monte Carlo simulation of remote sensing errors map in carbon assessments

Treesearch

S. Healey; P. Patterson; S. Urbanski

2014-01-01

Remotely sensed observations can provide unique perspective on how management and natural disturbance affect carbon stocks in forests. However, integration of these observations into formal decision support will rely upon improved uncertainty accounting. Monte Carlo (MC) simulations offer a practical, empirical method of accounting for potential remote sensing errors...

Argo Development Program.

DTIC Science & Technology

1986-06-01

nonlinear form and account for uncertainties in model parameters, structural simplifications of the model, and disturbances. This technique summarizes...SHARPS system. *The take into account the coupling between axes two curves are nearly identical, except that the without becoming unwieldy. The low...are mainly caused by errors and control errors and accounts for the bandwidth limitations and the simulated current. observed offsets. The overshoot

Anthropogenic disturbance and biodiversity of marine benthic communities in Antarctica: a regional comparison.

PubMed

Stark, Jonathan S; Kim, Stacy L; Oliver, John S

2014-01-01

The impacts of two Antarctic stations in different regions, on marine sediment macrofaunal communities were compared: McMurdo, a very large station in the Ross Sea; and Casey, a more typical small station in East Antarctica. Community structure and diversity were compared along a gradient of anthropogenic disturbance from heavily contaminated to uncontaminated locations. We examined some of the inherent problems in comparing data from unrelated studies, such as different sampling methods, spatial and temporal scales of sampling and taxonomic uncertainty. These issues generated specific biases which were taken into account when interpreting patterns. Control sites in the two regions had very different communities but both were dominated by crustaceans. Community responses to anthropogenic disturbance (sediment contamination by metals, oils and sewage) were also different. At McMurdo the proportion of crustaceans decreased in disturbed areas and polychaetes became dominant, whereas at Casey, crustaceans increased in response to disturbance, largely through an increase in amphipods. Despite differing overall community responses there were some common elements. Ostracods, cumaceans and echinoderms were sensitive to disturbance in both regions. Capitellid, dorvelleid and orbiniid polychaetes were indicative of disturbed sites. Amphipods, isopods and tanaids had different responses at each station. Biodiversity and taxonomic distinctness were significantly lower at disturbed locations in both regions. The size of the impact, however, was not related to the level of contamination, with a larger reduction in biodiversity at Casey, the smaller, less polluted station. The impacts of small stations, with low to moderate levels of contamination, can thus be as great as those of large or heavily contaminated stations. Regional broad scale environmental influences may be important in determining the composition of communities and thus their response to disturbance, but there are some generalizations regarding responses which will aid future management of stations.

Effects of biotic disturbances on forest carbon cycling in the United States and Canada

USGS Publications Warehouse

Vogelmann, James E.; Allen, Craig D.; Hicke, Jeffrey A.; Desai, Ankur R.; Dietze, Michael C.; Hall, Ronald J.; ,

2012-01-01

Forest insects and pathogens are major disturbance agents that have affected millions of hectares in North America in recent decades, implying significant impacts to the carbon (C) cycle. Here, we review and synthesize published studies of the effects of biotic disturbances on forest C cycling in the United States and Canada. Primary productivity in stands was reduced, sometimes considerably, immediately following insect or pathogen attack. After repeated growth reductions caused by some insects or pathogens or a single infestation by some bark beetle species, tree mortality occurred, altering productivity and decomposition. In the years following disturbance, primary productivity in some cases increased rapidly as a result of enhanced growth by surviving vegetation, and in other cases increased slowly because of lower forest regrowth. In the decades following tree mortality, decomposition increased as a result of the large amount of dead organic matter. Net ecosystem productivity decreased immediately following attack, with some studies reporting a switch to a C source to the atmosphere, and increased afterward as the forest regrew and dead organic matter decomposed. Large variability in C cycle responses arose from several factors, including type of insect or pathogen, time since disturbance, number of trees affected, and capacity of remaining vegetation to increase growth rates following outbreak. We identified significant knowledge gaps, including limited understanding of carbon cycle impacts among different biotic disturbance types (particularly pathogens), their impacts at landscape and regional scales, and limited capacity to predict disturbance events and their consequences for carbon cycling. We conclude that biotic disturbances can have major impacts on forest C stocks and fluxes and can be large enough to affect regional C cycling. However, additional research is needed to reduce the uncertainties associated with quantifying biotic disturbance effects on the North American C budget.

Virtual reality simulation of fuzzy-logic control during underwater dynamic positioning

NASA Astrophysics Data System (ADS)

Thekkedan, Midhin Das; Chin, Cheng Siong; Woo, Wai Lok

2015-03-01

In this paper, graphical-user-interface (GUI) software for simulation and fuzzy-logic control of a remotely operated vehicle (ROV) using MATLAB™ GUI Designing Environment is proposed. The proposed ROV's GUI platform allows the controller such as fuzzy-logic control systems design to be compared with other controllers such as proportional-integral-derivative (PID) and sliding-mode controller (SMC) systematically and interactively. External disturbance such as sea current can be added to improve the modelling in actual underwater environment. The simulated results showed the position responses of the fuzzy-logic control exhibit reasonable performance under the sea current disturbance.

Analytical Method of Approximating the Motion of a Spinning Vehicle with Variable Mass and Inertia Properties Acted Upon by Several Disturbing Parameters

NASA Technical Reports Server (NTRS)

Buglia, James J.; Young, George R.; Timmons, Jesse D.; Brinkworth, Helen S.

1961-01-01

An analytical method has been developed which approximates the dispersion of a spinning symmetrical body in a vacuum, with time-varying mass and inertia characteristics, under the action of several external disturbances-initial pitching rate, thrust misalignment, and dynamic unbalance. The ratio of the roll inertia to the pitch or yaw inertia is assumed constant. Spin was found to be very effective in reducing the dispersion due to an initial pitch rate or thrust misalignment, but was completely Ineffective in reducing the dispersion of a dynamically unbalanced body.

On the Environmental Realizability of Algebraically Growing Disturbances and Their Relation to Klebanoff Modes

NASA Technical Reports Server (NTRS)

Goldstein, Marvin E.; Wundrow, David W.

1998-01-01

A theoretical explanation of some experimentally observed phenomena associated with the so-called Klebanoff modes is obtained by analyzing the flow over a finite thickness flat plate resulting from a small-amplitude distortion imposed on the upstream mean flow. The analysis shows (among other things) how the stretching of the vortex lines around the plate leads to streamwise vorticity at the plate surface, which then produces a streamwise velocity perturbation within the boundary layer that can be related to the experimentally observed Klebanoff mode. The complete evolution of this flow must be found by solving the boundary-region equations of Kemp (1951) and Davis and Rubin (1980), but a limiting analytical solution can also be obtained. Since the initial growth of the boundary-layer disturbance is nearly algebraic, our results demonstrate how the algebraically growing disturbances promoted by Landahl and others can be generated by a realistic external-disturbance environment. The relationship between these results and various bypass transition mechanisms is discussed.

Disturbance torque rejection properties of the NASA/JPL 70-meter antenna axis servos

NASA Technical Reports Server (NTRS)

Hill, R. E.

1989-01-01

Analytic methods for evaluating pointing errors caused by external disturbance torques are developed and applied to determine the effects of representative values of wind and friction torque. The expressions relating pointing errors to disturbance torques are shown to be strongly dependent upon the state estimator parameters, as well as upon the state feedback gain and the flow versus pressure characteristics of the hydraulic system. Under certain conditions, when control is derived from an uncorrected estimate of integral position error, the desired type 2 servo properties are not realized and finite steady-state position errors result. Methods for reducing these errors to negligible proportions through the proper selection of control gain and estimator correction parameters are demonstrated. The steady-state error produced by a disturbance torque is found to be directly proportional to the hydraulic internal leakage. This property can be exploited to provide a convenient method of determining system leakage from field measurements of estimator error, axis rate, and hydraulic differential pressure.

Relationships between Stress and Immunity

USDA-ARS?s Scientific Manuscript database

Stress, as it relates to bodily functions, has been defined as the sum of all biologic reactions to physical, emotional, or mental stimuli that disturb an individual’s homeostasis. Therefore, a stressor can be defined as any internal or external stimuli or threat that disrupts homeostasis of the bod...

Inflatable bladder provides accurate calibration of pressure switch

NASA Technical Reports Server (NTRS)

Smith, N. J.

1965-01-01

Calibration of a pressure switch is accurately checked by a thin-walled circular bladder. It is placed in the pressure switch and applies force to the switch diaphragm when expanded by an external pressure source. The disturbance to the normal operation of the switch is minimal.

Serving Students with or At-Risk for Emotional and Behavior Disorders: Future Challenges.

ERIC Educational Resources Information Center

Lane, Kathleen Lynne L.; Gresham, Frank M.; O'Shaughnessy, Tam E.

2002-01-01

Four challenges in the emotional/behavioral disorders field are discussed: implementation of empirically validated screening procedures; better understanding of the curriculum and instruction currently used to educate students with emotional disturbances; investigation of the relationship between underachievement and externalizing behaviors; and…

Active disturbance rejection control based robust output feedback autopilot design for airbreathing hypersonic vehicles.

PubMed

Tian, Jiayi; Zhang, Shifeng; Zhang, Yinhui; Li, Tong

2018-03-01

Since motion control plant (y (n) =f(⋅)+d) was repeatedly used to exemplify how active disturbance rejection control (ADRC) works when it was proposed, the integral chain system subject to matched disturbances is always regarded as a canonical form and even misconstrued as the only form that ADRC is applicable to. In this paper, a systematic approach is first presented to apply ADRC to a generic nonlinear uncertain system with mismatched disturbances and a robust output feedback autopilot for an airbreathing hypersonic vehicle (AHV) is devised based on that. The key idea is to employ the feedback linearization (FL) and equivalent input disturbance (EID) technique to decouple nonlinear uncertain system into several subsystems in canonical form, thus it would be much easy to directly design classical/improved linear/nonlinear ADRC controller for each subsystem. It is noticed that all disturbances are taken into account when implementing FL rather than just omitting that in previous research, which greatly enhances controllers' robustness against external disturbances. For autopilot design, ADRC strategy enables precise tracking for velocity and altitude reference command in the presence of severe parametric perturbations and atmospheric disturbances only using measurable output information. Bounded-input-bounded-output (BIBO) stable is analyzed for closed-loop system. To illustrate the feasibility and superiority of this novel design, a series of comparative simulations with some prominent and representative methods are carried out on a benchmark longitudinal AHV model. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Overview of the AVT-191 Project to Assess Sensitivity Analysis and Uncertainty Quantification Methods for Military Vehicle Design

NASA Technical Reports Server (NTRS)

Benek, John A.; Luckring, James M.

2017-01-01

A NATO symposium held in 2008 identified many promising sensitivity analysis and un-certainty quantification technologies, but the maturity and suitability of these methods for realistic applications was not known. The STO Task Group AVT-191 was established to evaluate the maturity and suitability of various sensitivity analysis and uncertainty quantification methods for application to realistic problems of interest to NATO. The program ran from 2011 to 2015, and the work was organized into four discipline-centric teams: external aerodynamics, internal aerodynamics, aeroelasticity, and hydrodynamics. This paper presents an overview of the AVT-191 program content.

Summary Findings from the AVT-191 Project to Assess Sensitivity Analysis and Uncertainty Quantification Methods for Military Vehicle Design

NASA Technical Reports Server (NTRS)

Benek, John A.; Luckring, James M.

2017-01-01

A NATO symposium held in Greece in 2008 identified many promising sensitivity analysis and uncertainty quantification technologies, but the maturity and suitability of these methods for realistic applications was not clear. The NATO Science and Technology Organization, Task Group AVT-191 was established to evaluate the maturity and suitability of various sensitivity analysis and uncertainty quantification methods for application to realistic vehicle development problems. The program ran from 2011 to 2015, and the work was organized into four discipline-centric teams: external aerodynamics, internal aerodynamics, aeroelasticity, and hydrodynamics. This paper summarizes findings and lessons learned from the task group.

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.

Imprecise Probability Methods for Weapons UQ

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

Picard, Richard Roy; Vander Wiel, Scott Alan

Building on recent work in uncertainty quanti cation, we examine the use of imprecise probability methods to better characterize expert knowledge and to improve on misleading aspects of Bayesian analysis with informative prior distributions. Quantitative approaches to incorporate uncertainties in weapons certi cation are subject to rigorous external peer review, and in this regard, certain imprecise probability methods are well established in the literature and attractive. These methods are illustrated using experimental data from LANL detonator impact testing.

An approach for estimating measurement uncertainty in medical laboratories using data from long-term quality control and external quality assessment schemes.

PubMed

Padoan, Andrea; Antonelli, Giorgia; Aita, Ada; Sciacovelli, Laura; Plebani, Mario

2017-10-26

The present study was prompted by the ISO 15189 requirements that medical laboratories should estimate measurement uncertainty (MU). The method used to estimate MU included the: a) identification of quantitative tests, b) classification of tests in relation to their clinical purpose, and c) identification of criteria to estimate the different MU components. Imprecision was estimated using long-term internal quality control (IQC) results of the year 2016, while external quality assessment schemes (EQAs) results obtained in the period 2015-2016 were used to estimate bias and bias uncertainty. A total of 263 measurement procedures (MPs) were analyzed. On the basis of test purpose, in 51 MPs imprecision only was used to estimate MU; in the remaining MPs, the bias component was not estimable for 22 MPs because EQAs results did not provide reliable statistics. For a total of 28 MPs, two or more MU values were calculated on the basis of analyte concentration levels. Overall, results showed that uncertainty of bias is a minor factor contributing to MU, the bias component being the most relevant contributor to all the studied sample matrices. The model chosen for MU estimation allowed us to derive a standardized approach for bias calculation, with respect to the fitness-for-purpose of test results. Measurement uncertainty estimation could readily be implemented in medical laboratories as a useful tool in monitoring the analytical quality of test results since they are calculated using a combination of both the long-term imprecision IQC results and bias, on the basis of EQAs results.

Physical and Hydraulic Properties at Recently Burned and Long-Unburned Boreal Forest Areas in Interior Alaska, USA

NASA Astrophysics Data System (ADS)

Ebel, B. A.; Koch, J. C.; Walvoord, M. A.

2017-12-01

Boreal forest regions in interior Alaska, USA are subject to recurring wildfire disturbance and climate shifts. These "press" and "pulse" disturbances impact water, solute, carbon, and energy fluxes, with feedbacks and consequences that are not adequately characterized. The NASA Arctic Boreal Vulnerability Experiment (ABoVE) seeks to understand susceptibility to disturbance in boreal regions. Subsurface physical and hydraulic properties are among the largest uncertainties in cryohydrogeologic modeling aiming to predict impacts of disturbance in Arctic and boreal regions. We address this research gap by characterizing physical and hydraulic properties of soil across a gradient of sites covering disparate soil textures and wildfire disturbance in interior Alaska. Samples were collected in the field within the domain of the NASA ABoVE project and analyzed in the laboratory. Physical properties measured include soil organic matter fraction, soil-particle size distribution, dry bulk density, and saturated soil-water content. Hydraulic properties measured include soil-water retention and field-saturated hydraulic conductivity using tension infiltrometers (-1 cm applied pressure head). The physical and hydraulic properties provide the foundation for site conceptual model development, cryohydrogeologic model parameterization, and integration with geophysical data. This foundation contributes to the NASA ABoVE objectives of understanding the underlying physical processes that control vulnerability in Arctic and Boreal landscapes.

Detection of photosynthetic responses of cool-temperate forests following extreme climate events using Bayesian inversion

NASA Astrophysics Data System (ADS)

Toda, M.; Knohl, A.; Herbst, M.; Keenan, T. F.; Yokozawa, M.

2016-12-01

The increase in extreme climate events associated with ongoing global warming may create severe damage to terrestrial ecosystems, changing plant structure and the eco-physiological functions that regulate ecosystem carbon exchange. However, most damage is usually due to moderate, rather than catastrophic, disturbances. The nature of plant functional responses to such disturbances, and the resulting effects on the terrestrial carbon cycle, remain poorly understood. To unravel the scientific question, tower-based eddy covariance data in the cool-temperate forests were used to constrain plant eco-physiological parameters in a persimoneous ecosystem model that may have affected carbon dynamics following extreme climate events using the statistic Bayesian inversion approach. In the present study, we raised two types of extreme events relevant for cool-temperate regions, i.e. a typhoon with mechanistic foliage destraction and a heat wave with severe drought. With appropriate evaluation of parameter and predictive uncertainties, the inversion analysis shows annual trajectory of activated photosynthetic responses following climate extremes compared the pre-disturbance state in each forest. We address that forests with moderate disturbance show substantial and rapid photosynthetic recovery, enhanced productivity, and, thus, ecosystem carbon exchange, although the effect of extreme climatic events varies depending on the stand successional phase and the type, intensity, timing and legacy of the disturbance.

A Framework for Understanding Experiments

DTIC Science & Technology

2008-06-01

operations. Experiments that emphasize free play and uncertainty in scenarios reflect conditions found in existent operations and satisfy external...validity Requirement 4, the ability to relate results. Conversely, experiments emphasizing similar conditions with diminished free play across multiple

Criterion 1: Conservation of biological diversity

Treesearch

Stephen R. Shifley; Francisco X. Aguilar; Nianfu Song; Susan I. Stewart; David J. Nowak; Dale D. Gormanson; W. Keith Moser; Sherri Wormstead; Eric J. Greenfield

2012-01-01

Biological diversity, or biodiversity, is the variety of life. It encompasses the variability among living organisms and includes diversity within species, among species, and among ecosystems. High biodiversity enables a forest ecosystem to respond to external influences, absorb and recover from disturbances, and still maintain essential ecosystem processes such as...

Connect-disconnect coupling for preadjusted rigid shafts

NASA Technical Reports Server (NTRS)

Bajkowski, F. W.; Holmberg, A.

1969-01-01

Coupling device enables a rigid shaft to be connected to or disconnected from a fixed base without disturbing the point of adjustment of the shaft in a socket or causing the shaft to rotate. The coupling consists of an externally threaded, internally slotted boss extending from the fixed base.

THE QUANTIFICATION OF AQUEOUS TRACERS IN LABORATORY AQUIFER MODELS USING LIGHT TRANSMISSION VISUALIZATION METHOD

EPA Science Inventory

The quantification of solute concentrations in laboratory aquifer models has been largely limited to the use of sampling ports, from which samples are collected for external analysis. One of the drawbacks to this method is that the act of sampling may disturb plume dynamics and ...

Influence of mechanical noise inside a scanning electron microscope.

PubMed

de Faria, Marcelo Gaudenzi; Haddab, Yassine; Le Gorrec, Yann; Lutz, Philippe

2015-04-01

The scanning electron microscope is becoming a popular tool to perform tasks that require positioning, manipulation, characterization, and assembly of micro-components. However, some of these applications require a higher level of performance with respect to dynamics and precision of positioning. One limiting factor is the presence of unidentified noises and disturbances. This work aims to study the influence of mechanical disturbances generated by the environment and by the microscope, identifying how these can affect elements in the vacuum chamber. To achieve this objective, a dedicated setup, including a high-resolution vibrometer, was built inside the microscope. This work led to the identification and quantification of main disturbances and noise sources acting on a scanning electron microscope. Furthermore, the effects of external acoustic excitations were analysed. Potential applications of these results include noise compensation and real-time control for high accuracy tasks.

Dynamic analysis of elastic rubber tired car wheel breaking under variable normal load

NASA Astrophysics Data System (ADS)

Fedotov, A. I.; Zedgenizov, V. G.; Ovchinnikova, N. I.

2017-10-01

The purpose of the paper is to analyze the dynamics of the braking of the wheel under normal load variations. The paper uses a mathematical simulation method according to which the calculation model of an object as a mechanical system is associated with a dynamically equivalent schematic structure of the automatic control. Transfer function tool analyzing structural and technical characteristics of an object as well as force disturbances were used. It was proved that the analysis of dynamic characteristics of the wheel subjected to external force disturbances has to take into account amplitude and phase-frequency characteristics. Normal load variations impact car wheel braking subjected to disturbances. The closer slip to the critical point is, the higher the impact is. In the super-critical area, load variations cause fast wheel blocking.

Entropic uncertainty and measurement reversibility

NASA Astrophysics Data System (ADS)

Berta, Mario; Wehner, Stephanie; Wilde, Mark M.

2016-07-01

The entropic uncertainty relation with quantum side information (EUR-QSI) from (Berta et al 2010 Nat. Phys. 6 659) is a unifying principle relating two distinctive features of quantum mechanics: quantum uncertainty due to measurement incompatibility, and entanglement. In these relations, quantum uncertainty takes the form of preparation uncertainty where one of two incompatible measurements is applied. In particular, the ‘uncertainty witness’ lower bound in the EUR-QSI is not a function of a post-measurement state. An insightful proof of the EUR-QSI from (Coles et al 2012 Phys. Rev. Lett. 108 210405) makes use of a fundamental mathematical consequence of the postulates of quantum mechanics known as the non-increase of quantum relative entropy under quantum channels. Here, we exploit this perspective to establish a tightening of the EUR-QSI which adds a new state-dependent term in the lower bound, related to how well one can reverse the action of a quantum measurement. As such, this new term is a direct function of the post-measurement state and can be thought of as quantifying how much disturbance a given measurement causes. Our result thus quantitatively unifies this feature of quantum mechanics with the others mentioned above. We have experimentally tested our theoretical predictions on the IBM quantum experience and find reasonable agreement between our predictions and experimental outcomes.

Performance evaluation of GIM-TEC assimilation of the IRI-Plas model at two equatorial stations in the American sector

NASA Astrophysics Data System (ADS)

Adebiyi, S. J.; Adebesin, B. O.; Ikubanni, S. O.; Joshua, B. W.

2017-05-01

Empirical models of the ionosphere, such as the International Reference Ionosphere (IRI) model, play a vital role in evaluating the environmental effect on the operation of space-based communication and navigation technologies. The IRI extended to Plasmasphere (IRI-Plas) model can be adjusted with external data to update its electron density profile while still maintaining the overall integrity of the model representations. In this paper, the performance of the total electron content (TEC) assimilation option of the IRI-Plas at two equatorial stations, Jicamarca, Peru (geographic: 12°S, 77°W, dip angle 0.8°) and Cachoeira Paulista, Brazil (Geographic: 22.7°S, 45°W, dip angle -26°), is examined during quiet and disturbed conditions. TEC, F2 layer critical frequency (foF2), and peak height (hmF2) predicted when the model is operated without external input were used as a baseline in our model evaluation. Results indicate that TEC predicted by the assimilation option generally produced smaller estimation errors compared to the "no extra input" option during quiet and disturbed conditions. Generally, the error is smaller at the equatorial trough than near the crest for both quiet and disturbed days. With assimilation option, there is a substantial improvement of storm time estimations when compared with quiet time predictions. The improvement is, however, independent on storm's severity. Furthermore, the modeled foF2 and hmF2 are generally poor with TEC assimilation, particularly the hmF2 prediction, at the two locations during both quiet and disturbed conditions. Consequently, IRI-Plas model assimilated with TEC value only may not be sufficient where more realistic instantaneous values of peak parameters are required.

Response of mountain Picea abies forests to stand-replacing bark beetle outbreaks: Neighbourhood effects lead to self-replacement

Treesearch

Thorsten Zeppenfeld; Miroslav Svoboda; R. Justin DeRose; Marco Heurich; Jorg Muller; Pavla Cizkova; Martin Stary; Radek Bace; Daniel C. Donato

2015-01-01

Large, severe disturbances drive many forest ecosystems over the long term, but pose management uncertainties when human experience with them is limited. Recent continent-scale outbreaks of bark beetles across the temperate Northern Hemisphere have raised major concerns as to whether coniferous forests will regenerate back towards pre-outbreak condition and...

Sliding mode based trajectory linearization control for hypersonic reentry vehicle via extended disturbance observer.

PubMed

Xingling, Shao; Honglun, Wang

2014-11-01

This paper proposes a novel hybrid control framework by combing observer-based sliding mode control (SMC) with trajectory linearization control (TLC) for hypersonic reentry vehicle (HRV) attitude tracking problem. First, fewer control consumption is achieved using nonlinear tracking differentiator (TD) in the attitude loop. Second, a novel SMC that employs extended disturbance observer (EDO) to counteract the effect of uncertainties using a new sliding surface which includes the estimation error is integrated to address the tracking error stabilization issues in the attitude and angular rate loop, respectively. In addition, new results associated with EDO are examined in terms of dynamic response and noise-tolerant performance, as well as estimation accuracy. The key feature of the proposed compound control approach is that chattering free tracking performance with high accuracy can be ensured for HRV in the presence of multiple uncertainties under control constraints. Based on finite time convergence stability theory, the stability of the resulting closed-loop system is well established. Also, comparisons and extensive simulation results are presented to demonstrate the effectiveness of the control strategy. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Uncertainty and sensitivity analysis for two-phase flow in the vicinity of the repository in the 1996 performance assessment for the Waste Isolation Pilot Plant: Undisturbed conditions

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

HELTON,JON CRAIG; BEAN,J.E.; ECONOMY,K.

2000-05-19

Uncertainty and sensitivity analysis results obtained in the 1996 performance assessment for the Waste Isolation Pilot Plant are presented for two-phase flow the vicinity of the repository under undisturbed conditions. Techniques based on Latin hypercube sampling, examination of scatterplots, stepwise regression analysis, partial correlation analysis and rank transformation are used to investigate brine inflow, gas generation repository pressure, brine saturation and brine and gas outflow. Of the variables under study, repository pressure is potentially the most important due to its influence on spallings and direct brine releases, with the uncertainty in its value being dominated by the extent to whichmore » the microbial degradation of cellulose takes place, the rate at which the corrosion of steel takes place, and the amount of brine that drains from the surrounding disturbed rock zone into the repository.« less

Effects of Moist Convection on Hurricane Predictability

NASA Technical Reports Server (NTRS)

Zhang, Fuqing; Sippel, Jason A.

2008-01-01

This study exemplifies inherent uncertainties in deterministic prediction of hurricane formation and intensity. Such uncertainties could ultimately limit the predictability of hurricanes at all time scales. In particular, this study highlights the predictability limit due to the effects on moist convection of initial-condition errors with amplitudes far smaller than those of any observation or analysis system. Not only can small and arguably unobservable differences in the initial conditions result in different routes to tropical cyclogenesis, but they can also determine whether or not a tropical disturbance will significantly develop. The details of how the initial vortex is built can depend on chaotic interactions of mesoscale features, such as cold pools from moist convection, whose timing and placement may significantly vary with minute initial differences. Inherent uncertainties in hurricane forecasts illustrate the need for developing advanced ensemble prediction systems to provide event-dependent probabilistic forecasts and risk assessment.

Investigation of MAGSAT and TRIAD magnetometer data to provide corrective information on high-lattitude external fields

NASA Technical Reports Server (NTRS)

Potemra, T. A. (Principal Investigator); Sugiura, M.; Zanettic, L. J.

1982-01-01

Disturbances in the MAGSAT magnetometer data set due to high latitude phenomena were evaluated. Much of the categorization of disturbances due to Birkeland currents, ionospheric Hall currents, fine structure and wave phenomena was done with the MAGSAT data catalog. A color graphics technique was developed for the display of disturbances from multiple orbits, from which one can infer a 'global-image' of the current systems of the auroral zone. The MAGSAT 4/81 magnetic field model appears to represent the Earth's main field at high latitudes very well for the epoch 1980. MAGSAT's low altitude allows analysis of disturbances in the magnetometer data due to ionospheric electrojet currents. These current distributions were modeled properly for single events as a precursor to the inference of the Birkeland current system. MAGSAT's orbit was approximately shared with that of the Navy/APL TRIAD satellite. This allowed space-time studies of the magnetic disturbance signatures to be performed, the result being an approximately 75% agreement in, as well as high frequency of, signatures due to Birkeland currents. Thus the field-aligned currents are a steady-state participant in the Earth's magnetospheric current system.

Nonlinear fractional order proportion-integral-derivative active disturbance rejection control method design for hypersonic vehicle attitude control

NASA Astrophysics Data System (ADS)

Song, Jia; Wang, Lun; Cai, Guobiao; Qi, Xiaoqiang

2015-06-01

Near space hypersonic vehicle model is nonlinear, multivariable and couples in the reentry process, which are challenging for the controller design. In this paper, a nonlinear fractional order proportion integral derivative (NFOPIλDμ) active disturbance rejection control (ADRC) strategy based on a natural selection particle swarm (NSPSO) algorithm is proposed for the hypersonic vehicle flight control. The NFOPIλDμ ADRC method consists of a tracking-differentiator (TD), an NFOPIλDμ controller and an extended state observer (ESO). The NFOPIλDμ controller designed by combining an FOPIλDμ method and a nonlinear states error feedback control law (NLSEF) is to overcome concussion caused by the NLSEF and conversely compensate the insufficiency for relatively simple and rough signal processing caused by the FOPIλDμ method. The TD is applied to coordinate the contradiction between rapidity and overshoot. By attributing all uncertain factors to unknown disturbances, the ESO can achieve dynamic feedback compensation for these disturbances and thus reduce their effects. Simulation results show that the NFOPIλDμ ADRC method can make the hypersonic vehicle six-degree-of-freedom nonlinear model track desired nominal signals accurately and fast, has good stability, dynamic properties and strong robustness against external environmental disturbances.

Relationship of external influence to parental distress in decision making regarding children with a life-threatening illness.

PubMed

Miller, Victoria A; Luce, Mary Frances; Nelson, Robert M

2011-01-01

To examine the relationship of external influence to parental distress when making a decision about research or treatment for a child with a life-threatening illness and to test potential moderators of this relationship. Parents (n = 219) who made a decision about research or treatment for a child completed measures of external influence, distress, decision-making preference, and coping. More external influence was associated with more hostility, uncertainty, and confusion. Decision-making preference and coping style moderated the relationship between external influence and distress: More external influence was associated with more distress when decision-making preference was low and task-focused coping was high. External influence appears to be related to distress in parents making research and treatment decisions for children with life-threatening illnesses. However, it is important to consider parent characteristics, such as decision-making preference and coping style, when examining the effects of contextual factors on distress during decision making.

Mentalization and the left inferior frontal gyrus and insula.

PubMed

McAdams, Carrie J; Harper, Jessica A; Van Enkevort, Erin

2018-05-01

To determine if an interpersonal attribution bias associated with self-perception, the externalizing bias, was related to neural activations during mentalization. A functional magnetic resonance imaging task involving verbal appraisals measured neural activations when thinking about oneself and others in 59 adults, including healthy women as well as women with and recovered from anorexia nervosa. Whole-brain regressions correlated brain function during mentalization with the externalizing bias measured using the Internal, Personal, and Situational Attributions Questionnaire. Women with anorexia nervosa had a lower externalizing bias, demonstrating a tendency to self-attribute more negative than positive social interactions, unlike the other groups. The externalizing bias was correlated with activation of the left inferior frontal gyrus and posterior insula, when comparing thinking about others evaluating oneself with direct self-evaluation. Externalizing biases may provide an office-based assay reflecting neurocognitive disturbances in social self-perception that are common during anorexia nervosa. Copyright © 2018 John Wiley & Sons, Ltd and Eating Disorders Association.

Effect of Slow External Flow on Flame Spreading over Solid Material: Opposed Spreading over Polyethylene Wire Insulation

NASA Technical Reports Server (NTRS)

Fujita, O.; Nishizawa, K.; Ito, K.; Olson, S. L.; Kashigawa, T.

2001-01-01

The effect of slow external flow on solid combustion is very important from the view of fire safety in space because the solid material in spacecraft is generally exposed to the low air flow for ventilation. Further, the effect of low external flow on fuel combustion is generally fundamental information for industrial combustion system, such as gas turbine, boiler incinerator and so on. However, it is difficult to study the effect of low external flow on solid combustion in normal gravity, because the buoyancy-induced flow strongly disturbs the flow field, especially for low flow velocity. In this research therefore, the effect of slow external flow on opposed flame spreading over polyethylene (PE) wire insulation have been investigated in microgravity. The microgravity environment was provided by Japan Microgravity Center (JAMIC) in Japan and KC-135 at NASA GRC. The tested flow velocity range is 0-30cm/s with different oxygen concentration and inert gas component.

Modeling mountain pine beetle disturbance in Glacier National Park using multiple lines of evidence

USGS Publications Warehouse

Assal, Timothy; Sibold, Jason

2013-01-01

Temperate forest ecosystems are subject to various disturbances which contribute to ecological legacies that can have profound effects on the structure of the ecosystem. Impacts of disturbance can vary widely in extent, duration and severity over space and time. Given that global climate change is expected to increase rates of forest disturbance, an understanding of these events are critical in the interpretation of contemporary forest patterns and those of the near future. We seek to understand the impact of the 1970s mountain pine beetle outbreak on the landscape of Glacier National Park and investigate any connection between this event and subsequent decades of extensive wildfire. The lack of spatially explicit data on the mountain pine beetle disturbance represents a major data gap and inhibits our ability to test for correlations between outbreak severity and fire severity. To overcome this challenge, we utilized multiple lines of evidence to model forest canopy mortality as a proxy for outbreak severity. We used historical aerial and landscape photos, reports, aerial survey data, a six year collection of Landsat imagery and abiotic data in combination with regression analysis. The use of remotely sensed data is critical in large areas where subsequent disturbance (fire) has erased some of the evidence from the landscape. Results indicate that this method is successful in capturing the spatial heterogeneity of the outbreak in a topographically complex landscape. Furthermore, this study provides an example on the use of existing data to reduce levels of uncertainty associated with an historic disturbance.

Results of the space shuttle vehicle ascent air data system probe calibration test using a 0.07-scale external tank forebody model (68T) in the AEDC 16-foot transonic wind tunnel (IA-310), volume 2

NASA Technical Reports Server (NTRS)

Collette, J. G. R.

1991-01-01

A recalibration of the Space Shuttle Vehicle Ascent Air Data System probe was conducted in the Arnold Engineering and Development Center (AEDC) transonic wind tunnel. The purpose was to improve on the accuracy of the previous calibration in order to reduce the existing uncertainties in the system. A probe tip attached to a 0.07-scale External Tank Forebody model was tested at angles of attack of -8 to +4 degrees and sideslip angles of -4 to +4 degrees. High precision instrumentation was used to acquire pressure data at discrete Mach numbers ranging from 0.6 to 1.55. Pressure coefficient uncertainties were estimated at less than 0.0020. Additional information is given in tabular form.

Results of the space shuttle vehicle ascent air data system probe calibration test using a 0.07-scale external tank forebody model (68T) in the AEDC 16-foot transonic wind tunnel (IA-310), volume 1

NASA Technical Reports Server (NTRS)

Collette, J. G. R.

1991-01-01

A recalibration of the Space Shuttle Vehicle Ascent Air Data System probe was conducted in the Arnold Engineering Development Center (AEDC) transonic wind tunnel. The purpose was to improve on the accuracy of the previous calibration in order to reduce the existing uncertainties in the system. A probe tip attached to a 0.07-scale External Tank Forebody model was tested at angles of attack of -8 to +4 degrees and sideslip angles of -4 to +4 degrees. High precision instrumentation was used to acquire pressure data at discrete Mach numbers ranging from 0.6 to 1.55. Pressure coefficient uncertainties were estimated at less than 0.0020. Data is given in graphical and tabular form.

Antecedents of role conflict in compliance-enhancing organizations.

PubMed

Kirkhaug, Rudi

2009-12-01

Compliance-enhancing organizations such as the military and police are characterized by guiding and controlling employees, and they increasingly tend to control and restrict employees' behavior when exposed to external uncertainty. Restrictions on employees' behavior are intended to increase efficiency, safety, and combat readiness through reducing misunderstandings and conflicts. However, many writers have argued that the most natural reaction to external unpredictability and uncertainty is internal flexibility and utilizing the entire range of employees' qualifications. The question raised in this study is whether restrictions imply that employees feel they are subject to incompatible work conditions and are deprived of resources and opportunities to execute their everyday responsibilities and thereby experience role conflict. Hierarchical regression analyses performed on data from 71 police and 71 army officers showed that rules and routines that were perceived as restrictive or coercive better explained role conflict among employees than either leadership loyalty, commitment, and rules or routines that were perceived as enabling.

Teaching and Learning Economic Creativity: How to Overcome Uncertainty in Realizing Creative New Concepts That Have a Value? How the CRAP System--Coordination & Registration of Action Points--and External Assessment Generates Possible Solutions to Create Value of New Concepts

ERIC Educational Resources Information Center

Roelofs, Henk; Nieuwenhuis, Adriaan

2016-01-01

How do we identify tools that can overcome uncertainty in realizing value with students using their "idea creativity" in generating and developing ideas in new concepts? Tools that better fit in the mindset of the new generations. The major question of idea creativity, especially in an educational environment is: How to determine and…

A drag-free Lo-Lo satellite system for improved gravity field measurements

NASA Technical Reports Server (NTRS)

Fischell, R. E.; Pisacane, V. L.

1978-01-01

At very low altitudes, the effect of atmospheric drag results in drastically reduced orbit lifetimes and considerable uncertainty in satellite motions. The concept suggested herein employs a DISturbance COmpensation System (DISCOS) on each of a pair of satellites at very low altitudes to provide refined measurements of the earth's gravitational field. The DISCOS maintains the satellites in orbit and essentially eliminates motion uncertainties due mostly to drag and to a lesser extent from solar radiation pressure. By a closed-loop measurement of the relative rangerate between the two low satellites, one can determine the earth's gravitational field with a considerably greater accuracy than could be obtained by tracking a single satellite.

Chattering-Free Sliding Mode Control with Unmodeled Dynamics

NASA Technical Reports Server (NTRS)

Krupp, Don; Shtessel, Yuri B.

1999-01-01

Sliding mode control systems are valued for their robust accommodation of uncertainties and their ability to reject disturbances. In this paper, a design methodology is proposed to eliminate the chattering phenomenon affecting sliding mode controlled plants with input unmodeled actuator dynamics of second order or greater. The proposed controller design is based on the relative degrees of the plant and the unmodeled actuator dynamics and the ranges of the uncertainties of the plant and actuator. The controller utilizes the pass filter characteristics of the physical actuating device to provide a smoothing effect on the discontinuous control signal rather than introducing any artificial dynamics into the controller design thus eliminating chattering in the system's output response.

Stand Replacing Disturbance History from Object-Based Image Analysis (OBIA) of LiDAR Data

NASA Astrophysics Data System (ADS)

Sanchez Lopez, N.; Hudak, A. T.; Boschetti, L.

2016-12-01

Spatially explicit information on the location, the extent, and the time since a stand replacing forest disturbance occured all have the potential to improve the accuracy of carbon cycle models, and ultimately to reduce the uncertainties in the global carbon budget (Frolking et al., 2009). Earth observation optical satellite data offers a unique opportunity for systematic monitoring of stand-replacing disturbances (Hansen et al., 2013) by detecting the abrupt spectral changes induced by the disturbance, but discriminates poorly between stands of different age, as spectral response of optical data saturates on closed canopy forests. Thus, the potential of optical satellite data to reconstruct the disturbance history of a forest is limited by the short time series of suitable data (starting with the launch of Landsat-1 in 1972). In contrast, LIDAR data directly reflects stand characteristics such as height and density that can be correlated to the time since disturbance. In this study we focus on Object Based Image Analysis (OBIA) of LiDAR data to identify forest stands (objects) based on the age since the last disturbance, to test whether it is possible to extend the disturbance history of a forest beyond what is possible with Landsat data. The study area was located in the Clear Creek watershed and the Selway River & Elk Creek ( 54,000 ha) inside the Nez Perce-Clearwater National Forests (Idaho), using airborne LiDAR data collected in 2009 (Clear Creek watershed) and 2012 (Selway River & Elk Creek). Extensive datasets of disturbances are available over the study area: decadal maps of stand-replacing fires compiled from historical photographs are available from 1870 to 1940, and yearly clearcut maps compiled from timber harvest records are available from 1950 as part of the US Forest Service FACTS (Forest ACtivity Tracking System) dataset. Additionally, a field campaign was conducted in the summer of 2016 to collect additional measurements on plots of known disturbance age, in order to better understand regrowth patterns following a disturbance and to estimate the actual age of the regeneration. This paper will present the initial results of the comparison between LIDAR-estimated disturbance maps, and historical and field data.

External Influences on Modeled and Observed Cloud Trends

NASA Technical Reports Server (NTRS)

Marvel, Kate; Zelinka, Mark; Klein, Stephen A.; Bonfils, Celine; Caldwell, Peter; Doutriaux, Charles; Santer, Benjamin D.; Taylor, Karl E.

2015-01-01

Understanding the cloud response to external forcing is a major challenge for climate science. This crucial goal is complicated by intermodel differences in simulating present and future cloud cover and by observational uncertainty. This is the first formal detection and attribution study of cloud changes over the satellite era. Presented herein are CMIP5 (Coupled Model Intercomparison Project - Phase 5) model-derived fingerprints of externally forced changes to three cloud properties: the latitudes at which the zonally averaged total cloud fraction (CLT) is maximized or minimized, the zonal average CLT at these latitudes, and the height of high clouds at these latitudes. By considering simultaneous changes in all three properties, the authors define a coherent multivariate fingerprint of cloud response to external forcing and use models from phase 5 of CMIP (CMIP5) to calculate the average time to detect these changes. It is found that given perfect satellite cloud observations beginning in 1983, the models indicate that a detectable multivariate signal should have already emerged. A search is then made for signals of external forcing in two observational datasets: ISCCP (International Satellite Cloud Climatology Project) and PATMOS-x (Advanced Very High Resolution Radiometer (AVHRR) Pathfinder Atmospheres - Extended). The datasets are both found to show a poleward migration of the zonal CLT pattern that is incompatible with forced CMIP5 models. Nevertheless, a detectable multivariate signal is predicted by models over the PATMOS-x time period and is indeed present in the dataset. Despite persistent observational uncertainties, these results present a strong case for continued efforts to improve these existing satellite observations, in addition to planning for new missions.

Identification of a molecular pH sensor in coral.

PubMed

Barott, Katie L; Barron, Megan E; Tresguerres, Martin

2017-11-15

Maintaining stable intracellular pH (pHi) is essential for homeostasis, and requires the ability to both sense pH changes that may result from internal and external sources, and to regulate downstream compensatory pH pathways. Here we identified the cAMP-producing enzyme soluble adenylyl cyclase (sAC) as the first molecular pH sensor in corals. sAC protein was detected throughout coral tissues, including those involved in symbiosis and calcification. Application of a sAC-specific inhibitor caused significant and reversible pHi acidosis in isolated coral cells under both dark and light conditions, indicating sAC is essential for sensing and regulating pHi perturbations caused by respiration and photosynthesis. Furthermore, pHi regulation during external acidification was also dependent on sAC activity. Thus, sAC is a sensor and regulator of pH disturbances from both metabolic and external origin in corals. Since sAC is present in all coral cell types, and the cAMP pathway can regulate virtually every aspect of cell physiology through post-translational modifications of proteins, sAC is likely to trigger multiple homeostatic mechanisms in response to pH disturbances. This is also the first evidence that sAC modulates pHi in any non-mammalian animal. Since corals are basal metazoans, our results indicate this function is evolutionarily conserved across animals. © 2017 The Author(s).

Soil disturbance alters plant community composition and decreases mycorrhizal carbon allocation in a sandy grassland.

PubMed

Schnoor, Tim Krone; Mårtensson, Linda-Maria; Olsson, Pål Axel

2011-11-01

We have studied how disturbance by ploughing and rotavation affects the carbon (C) flow to arbuscular mycorrhizal (AM) fungi in a dry, semi-natural grassland. AM fungal biomass was estimated using the indicator neutral lipid fatty acid (NLFA) 16:1ω5, and saprotrophic fungal biomass using NLFA 18:2ω6,9. We labeled vegetation plots with (13)CO(2) and studied the C flow to the signature fatty acids as well as uptake and allocation in plants. We found that AM fungal biomass in roots and soil decreased with disturbance, while saprotrophic fungal biomass in soil was not influenced by disturbance. Rotavation decreased the (13)C enrichment in NLFA 16:1ω5 in soil, but (13)C enrichment in the AM fungal indicator NLFA 16:1ω5 in roots or soil was not influenced by any other disturbance. In roots, (13)C enrichment was consistently higher in NLFA 16:1ω5 than in crude root material. Grasses (mainly Festuca brevipila) decreased as a result of disturbance, while non-mycorrhizal annual forbs increased. This decreases the potential for mycorrhizal C sequestration and may have been the main reason for the reduced mycorrhizal C allocation found in disturbed plots. Disturbance decreased the soil ammonium content but did not change the pH, nitrate or phosphate availability. The overall effect of disturbance on C allocation was that more of the C in AM fungal mycelium was directed to the external phase. Furthermore, the functional identity of the plants seemed to play a minor role in the C cycle as no differences were seen between different groups, although annuals contained less AM fungi than the other groups.

PIV Uncertainty Methodologies for CFD Code Validation at the MIR Facility

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

Sabharwall, Piyush; Skifton, Richard; Stoots, Carl

2013-12-01

Currently, computational fluid dynamics (CFD) is widely used in the nuclear thermal hydraulics field for design and safety analyses. To validate CFD codes, high quality multi dimensional flow field data are essential. The Matched Index of Refraction (MIR) Flow Facility at Idaho National Laboratory has a unique capability to contribute to the development of validated CFD codes through the use of Particle Image Velocimetry (PIV). The significance of the MIR facility is that it permits non intrusive velocity measurement techniques, such as PIV, through complex models without requiring probes and other instrumentation that disturb the flow. At the heart ofmore » any PIV calculation is the cross-correlation, which is used to estimate the displacement of particles in some small part of the image over the time span between two images. This image displacement is indicated by the location of the largest peak. In the MIR facility, uncertainty quantification is a challenging task due to the use of optical measurement techniques. Currently, this study is developing a reliable method to analyze uncertainty and sensitivity of the measured data and develop a computer code to automatically analyze the uncertainty/sensitivity of the measured data. The main objective of this study is to develop a well established uncertainty quantification method for the MIR Flow Facility, which consists of many complicated uncertainty factors. In this study, the uncertainty sources are resolved in depth by categorizing them into uncertainties from the MIR flow loop and PIV system (including particle motion, image distortion, and data processing). Then, each uncertainty source is mathematically modeled or adequately defined. Finally, this study will provide a method and procedure to quantify the experimental uncertainty in the MIR Flow Facility with sample test results.« less

A decision method based on uncertainty reasoning of linguistic truth-valued concept lattice

NASA Astrophysics Data System (ADS)

Yang, Li; Xu, Yang

2010-04-01

Decision making with linguistic information is a research hotspot now. This paper begins by establishing the theory basis for linguistic information processing and constructs the linguistic truth-valued concept lattice for a decision information system, and further utilises uncertainty reasoning to make the decision. That is, we first utilise the linguistic truth-valued lattice implication algebra to unify the different kinds of linguistic expressions; second, we construct the linguistic truth-valued concept lattice and decision concept lattice according to the concrete decision information system and third, we establish the internal and external uncertainty reasoning methods and talk about the rationality of them. We apply these uncertainty reasoning methods into decision making and present some generation methods of decision rules. In the end, we give an application of this decision method by an example.

The "Incestuous Family" Revisited: A Critical Analysis of Family Therapy Myths.

ERIC Educational Resources Information Center

James, Kerrie; MacKinnon, Laurie

1990-01-01

Critiques family therapy literature concerning incest. Identifies pervasive myths claiming that (1) fathers and mothers are pathologically disturbed or inadequate; (2) incest is caused by separation and loss; (3) family isolation or a rigid external boundary explains incest; and (4) incest serves a function in maintaining family organization.…

Gender Disparities in Mental Health Service Use of Puerto Rican Children and Adolescents

ERIC Educational Resources Information Center

Cabiya, Jose J.; Canino, Glorisa; Chavez, Ligra; Ramirez, Rafael; Alegria, Margenta; Shrout, Patrick; Hohman, Ann; Bravo, Milagros; Bauermeister, Jose J.; Maritinez-Taboas, Alfonso

2006-01-01

Background: Differences in service utilization indicating that boys use more mental health services than girls were analyzed to see if they could be explained by known correlates of service use. These correlates were arranged into individual (severe emotional disturbance, level of impairment and externalizing disorders), family (parental…

THE QUANTIFICATION OF AQUEOUS TRACERS IN LABORATORY AQUIFER MODELS USING A LIGHT TRANSMISSION VISUALIZATION METHOD - 3

EPA Science Inventory

The quantification of solute concentrations in laboratory aquifer models has been largely limited to the use of sampling ports, from which samples are collected for external analysis. One of the drawbacks to this method is that the act of sampling may disturb plume dynamics and ...

THE QUANTIFICATION OF AQUEOUS TRACERS IN LABORATORY AQUIFER MODELS USING A LIGHT TRANSMISSION VISUALIZATION METHOD - 2

EPA Science Inventory

The quantification of solute concentrations in laboratory aquifer models has been largely limited to the use of sampling ports, from which samples are collected for external analysis. One of the drawbacks to this method is that the act of sampling may disturb plume dynamics and ...

THE QUANTIFICATION OF AQUEOUS TRACERS IN LABORATORY AQUIFER MODELS USING A LIGHT TRANSMISSION VISUALIZATION METHOD - 1

EPA Science Inventory

The quantification of solute concentrations in laboratory aquifer models has been largely limited to the use of sampling ports, from which samples are collected for external analysis. One of the drawbacks to this method is that the act of sampling may disturb plume dynamics and ...

Exponential H(infinity) synchronization of general discrete-time chaotic neural networks with or without time delays.

PubMed

Qi, Donglian; Liu, Meiqin; Qiu, Meikang; Zhang, Senlin

2010-08-01

This brief studies exponential H(infinity) synchronization of a class of general discrete-time chaotic neural networks with external disturbance. On the basis of the drive-response concept and H(infinity) control theory, and using Lyapunov-Krasovskii (or Lyapunov) functional, state feedback controllers are established to not only guarantee exponential stable synchronization between two general chaotic neural networks with or without time delays, but also reduce the effect of external disturbance on the synchronization error to a minimal H(infinity) norm constraint. The proposed controllers can be obtained by solving the convex optimization problems represented by linear matrix inequalities. Most discrete-time chaotic systems with or without time delays, such as Hopfield neural networks, cellular neural networks, bidirectional associative memory networks, recurrent multilayer perceptrons, Cohen-Grossberg neural networks, Chua's circuits, etc., can be transformed into this general chaotic neural network to be H(infinity) synchronization controller designed in a unified way. Finally, some illustrated examples with their simulations have been utilized to demonstrate the effectiveness of the proposed methods.

Shift work and sleep disorder among textile mill workers in Bahir Dar, northwest Ethiopia.

PubMed

Abebe, Y; Fantahun, M

1999-07-01

To assess the length and quality of sleep among shift workers at Bahir Dar textile mill. A cross sectional study using structured questionnaire that contained sociodemographic variables, duration of work, work schedule, number of sleeping hours, sleep disorders, and associated reasons for such disorders. A textile mill in Bahir Dar, northwest Ethiopia. Three-hundred ninety four random sample of production workers of the mill. Sleep disorders, and the impact of external and home environment on sleep. The mean duration of work in the factory was 25.4 +/- 7.1 years. Ninety-seven per cent of the study population work in a rotating eight hourly shift system. The mean number of hours a worker sleeps after a worked shift was 5.1 +/- 2.3. Two hundred thirty (58.4%) claimed to experience a sleep disorder. Sleep disturbance was significantly associated with rotating shift work, external environmental noise, and working in the spinning department. The majority of the workers in Bahir Dar textile mill experienced sleep disturbances as detailed in the study methodology.

Optimal Robust Motion Controller Design Using Multiobjective Genetic Algorithm

PubMed Central

Svečko, Rajko

2014-01-01

This paper describes the use of a multiobjective genetic algorithm for robust motion controller design. Motion controller structure is based on a disturbance observer in an RIC framework. The RIC approach is presented in the form with internal and external feedback loops, in which an internal disturbance rejection controller and an external performance controller must be synthesised. This paper involves novel objectives for robustness and performance assessments for such an approach. Objective functions for the robustness property of RIC are based on simple even polynomials with nonnegativity conditions. Regional pole placement method is presented with the aims of controllers' structures simplification and their additional arbitrary selection. Regional pole placement involves arbitrary selection of central polynomials for both loops, with additional admissible region of the optimized pole location. Polynomial deviation between selected and optimized polynomials is measured with derived performance objective functions. A multiobjective function is composed of different unrelated criteria such as robust stability, controllers' stability, and time-performance indexes of closed loops. The design of controllers and multiobjective optimization procedure involve a set of the objectives, which are optimized simultaneously with a genetic algorithm—differential evolution. PMID:24987749

An LMI approach to design H(infinity) controllers for discrete-time nonlinear systems based on unified models.

PubMed

Liu, Meiqin; Zhang, Senlin

2008-10-01

A unified neural network model termed standard neural network model (SNNM) is advanced. Based on the robust L(2) gain (i.e. robust H(infinity) performance) analysis of the SNNM with external disturbances, a state-feedback control law is designed for the SNNM to stabilize the closed-loop system and eliminate the effect of external disturbances. The control design constraints are shown to be a set of linear matrix inequalities (LMIs) which can be easily solved by various convex optimization algorithms (e.g. interior-point algorithms) to determine the control law. Most discrete-time recurrent neural network (RNNs) and discrete-time nonlinear systems modelled by neural networks or Takagi and Sugeno (T-S) fuzzy models can be transformed into the SNNMs to be robust H(infinity) performance analyzed or robust H(infinity) controller synthesized in a unified SNNM's framework. Finally, some examples are presented to illustrate the wide application of the SNNMs to the nonlinear systems, and the proposed approach is compared with related methods reported in the literature.

Vibration attenuation of the NASA Langley evolutionary structure experiment using H(sub infinity) and structured singular value (micron) robust multivariable control techniques

NASA Technical Reports Server (NTRS)

Balas, Gary J.

1992-01-01

The use is studied of active control to attenuate structural vibrations of the NASA Langley Phase Zero Evolutionary Structure due to external disturbance excitations. H sub infinity and structured singular value (mu) based control techniques are used to analyze and synthesize control laws for the NASA Langley Controls Structures Interaction (CSI) Evolutionary Model (CEM). The CEM structure experiment provides an excellent test bed to address control design issues for large space structures. Specifically, control design for structures with numerous lightly damped, coupled flexible modes, collocated and noncollocated sensors and actuators and stringent performance specifications. The performance objectives are to attenuate the vibration of the structure due to external disturbances, and minimize the actuator control force. The control design problem formulation for the CEM Structure uses a mathematical model developed with finite element techniques. A reduced order state space model for the control design is formulated from the finite element model. It is noted that there are significant variations between the design model and the experimentally derived transfer function data.

Uncertainty Quantification of Non-linear Oscillation Triggering in a Multi-injector Liquid-propellant Rocket Combustion Chamber

NASA Astrophysics Data System (ADS)

Popov, Pavel; Sideris, Athanasios; Sirignano, William

2014-11-01

We examine the non-linear dynamics of the transverse modes of combustion-driven acoustic instability in a liquid-propellant rocket engine. Triggering can occur, whereby small perturbations from mean conditions decay, while larger disturbances grow to a limit-cycle of amplitude that may compare to the mean pressure. For a deterministic perturbation, the system is also deterministic, computed by coupled finite-volume solvers at low computational cost for a single realization. The randomness of the triggering disturbance is captured by treating the injector flow rates, local pressure disturbances, and sudden acceleration of the entire combustion chamber as random variables. The combustor chamber with its many sub-fields resulting from many injector ports may be viewed as a multi-scale complex system wherein the developing acoustic oscillation is the emergent structure. Numerical simulation of the resulting stochastic PDE system is performed using the polynomial chaos expansion method. The overall probability of unstable growth is assessed in different regions of the parameter space. We address, in particular, the seven-injector, rectangular Purdue University experimental combustion chamber. In addition to the novel geometry, new features include disturbances caused by engine acceleration and unsteady thruster nozzle flow.

In-Flight Alignment Using H ∞ Filter for Strapdown INS on Aircraft

PubMed Central

Pei, Fu-Jun; Liu, Xuan; Zhu, Li

2014-01-01

In-flight alignment is an effective way to improve the accuracy and speed of initial alignment for strapdown inertial navigation system (INS). During the aircraft flight, strapdown INS alignment was disturbed by lineal and angular movements of the aircraft. To deal with the disturbances in dynamic initial alignment, a novel alignment method for SINS is investigated in this paper. In this method, an initial alignment error model of SINS in the inertial frame is established. The observability of the system is discussed by piece-wise constant system (PWCS) theory and observable degree is computed by the singular value decomposition (SVD) theory. It is demonstrated that the system is completely observable, and all the system state parameters can be estimated by optimal filter. Then a H ∞ filter was designed to resolve the uncertainty of measurement noise. The simulation results demonstrate that the proposed algorithm can reach a better accuracy under the dynamic disturbance condition. PMID:24511300

Integrating Remote Sensing, Field Observations, and Models to Understand Disturbance and Climate Effects on the Carbon Balance of the West Coast U.S.

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

Cohen, Warren

2014-07-03

As an element of NACP research, the proposed investigation is a two pronged approach that derives and evaluates a regional carbon (C) budget for Oregon, Washington, and California. Objectives are (1) Use multiple data sources, including AmeriFlux data, inventories, and multispectral remote sensing data to investigate trends in carbon storage and exchanges of CO2 and water with variation in climate and disturbance history; (2) Develop and apply regional modeling that relies on these multiple data sources to reduce uncertainty in spatial estimates of carbon storage and NEP, and relative contributions of terrestrial ecosystems and anthropogenic emissions to atmospheric CO2 inmore » the region; (3) Model terrestrial carbon processes across the region, using the Biome-BGC terrestrial ecosystem model, and an atmospheric inverse modeling approach to estimate variation in rate and timing of terrestrial uptake and feedbacks to the atmosphere in response to climate and disturbance.« less

Integrating Remote Sensing, Field Observations, and Models to Understand Disturbance and Climate Effects on the Carbon Balance of the West Coast U.S., Final Report

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

Beverly E. Law

2011-10-05

As an element of NACP research, the proposed investigation is a two pronged approach that derives and evaluates a regional carbon (C) budget for Oregon, Washington, and California. Objectives are (1) Use multiple data sources, including AmeriFlux data, inventories, and multispectral remote sensing data to investigate trends in carbon storage and exchanges of CO2 and water with variation in climate and disturbance history; (2) Develop and apply regional modeling that relies on these multiple data sources to reduce uncertainty in spatial estimates of carbon storage and NEP, and relative contributions of terrestrial ecosystems and anthropogenic emissions to atmospheric CO2 inmore » the region; (3) Model terrestrial carbon processes across the region, using the Biome-BGC terrestrial ecosystem model, and an atmospheric inverse modeling approach to estimate variation in rate and timing of terrestrial uptake and feedbacks to the atmosphere in response to climate and disturbance.« less

Assessment of Power Quality based on Fuzzy Logic and Discrete Wavelet Transform for Nonstationary Disturbances

NASA Astrophysics Data System (ADS)

Sinha, Pampa; Nath, Sudipta

2010-10-01

The main aspects of power system delivery are reliability and quality. If all the customers of a power system get uninterrupted power through the year then the system is considered to be reliable. The term power quality may be referred to as maintaining near sinusoidal voltage at rated frequency at the consumers end. The power component definitions are defined according to the IEEE Standard 1459-2000 both for single phase and three phase unbalanced systems based on Fourier Transform (FFT). In the presence of nonstationary power quality (PQ) disturbances results in accurate values due to its sensitivity to the spectral leakage problem. To overcome these limitations the power quality components are calculated using Discrete Wavelet Transform (DWT). In order to handle the uncertainties associated with electric power systems operations fuzzy logic has been incorporated in this paper. A new power quality index has been introduced here which can assess the power quality under nonstationary disturbances.

A new smooth robust control design for uncertain nonlinear systems with non-vanishing disturbances

NASA Astrophysics Data System (ADS)

Xian, Bin; Zhang, Yao

2016-06-01

In this paper, we consider the control problem for a general class of nonlinear system subjected to uncertain dynamics and non-varnishing disturbances. A smooth nonlinear control algorithm is presented to tackle these uncertainties and disturbances. The proposed control design employs the integral of a nonlinear sigmoid function to compensate the uncertain dynamics, and achieve a uniformly semi-global practical asymptotic stable tracking control of the system outputs. A novel Lyapunov-based stability analysis is employed to prove the convergence of the tracking errors and the stability of the closed-loop system. Numerical simulation results on a two-link robot manipulator are presented to illustrate the performance of the proposed control algorithm comparing with the layer-boundary sliding mode controller and the robust of integration of sign of error control design. Furthermore, real-time experiment results for the attitude control of a quadrotor helicopter are also included to confirm the effectiveness of the proposed algorithm.

Finite-time adaptive sliding mode force control for electro-hydraulic load simulator based on improved GMS friction model

NASA Astrophysics Data System (ADS)

Kang, Shuo; Yan, Hao; Dong, Lijing; Li, Changchun

2018-03-01

This paper addresses the force tracking problem of electro-hydraulic load simulator under the influence of nonlinear friction and uncertain disturbance. A nonlinear system model combined with the improved generalized Maxwell-slip (GMS) friction model is firstly derived to describe the characteristics of load simulator system more accurately. Then, by using particle swarm optimization (PSO) algorithm ​combined with the system hysteresis characteristic analysis, the GMS friction parameters are identified. To compensate for nonlinear friction and uncertain disturbance, a finite-time adaptive sliding mode control method is proposed based on the accurate system model. This controller has the ability to ensure that the system state moves along the nonlinear sliding surface to steady state in a short time as well as good dynamic properties under the influence of parametric uncertainties and disturbance, which further improves the force loading accuracy and rapidity. At the end of this work, simulation and experimental results are employed to demonstrate the effectiveness of the proposed sliding mode control strategy.

Examining wildlife responses to phenology and wildfire using a landscape-scale camera trap network

USGS Publications Warehouse

Villarreal, Miguel L.; Gass, Leila; Norman, Laura; Sankeya, Joel B.; Wallace, Cynthia S.A.; McMacken, Dennis; Childs, Jack L.; Petrakis, Roy E.

2012-01-01

Between 2001 and 2009, the Borderlands Jaguar Detection Project deployed 174 camera traps in the mountains of southern Arizona to record jaguar activity. In addition to jaguars, the motion-activated cameras, placed along known wildlife travel routes, recorded occurrences of ~ 20 other animal species. We examined temporal relationships of white-tailed deer (Odocoileus virginianus) and javelina (Pecari tajacu) to landscape phenology (as measured by monthly Normalized Difference Vegetation Index data) and the timing of wildfire (Alambre Fire of 2007). Mixed model analyses suggest that temporal dynamics of these two species were related to vegetation phenology and natural disturbance in the Sky Island region, information important for wildlife managers faced with uncertainty regarding changing climate and disturbance regimes.

Integrated assessment and consultation for the preoperative patient.

PubMed

Silverman, David G; Rosenbaum, Stanley H

2009-12-01

Assessment of the presurgical patient requires interdisciplinary cooperation over the continuum of documentation and optimization of existing disorders, determination of patient resilience and reserve, and planning for subsequent interventions and care. For many patients, evident or suspected morbidities or anticipated surgical disturbance warrant specialty consultation. There may be uncertainty as to the optimal processes for a given patient, a limitation attributable to myriad factors, not the least of which is that there is often a paucity of evidence that is directly relevant to a given patient in a given setting. The present article discusses these limitations and describes a framework for documentation, optimization, risk assessment, and planning, as well as a uniform grading of existing morbidities and anticipated perioperative disturbances for patients requiring integrated assessment and consultation.

Integrated assessment and consultation for the preoperative patient.

PubMed

Silverman, David G; Rosenbaum, Stanley H

2009-09-01

Assessment of the presurgical patient requires interdisciplinary cooperation over the continuum of documentation and optimization of existing disorders, determination of patient resilience and reserve, and planning for subsequent interventions and care. For many patients, evident or suspected morbidities or anticipated surgical disturbance warrant specialty consultation. There may be uncertainty as to the optimal processes for a given patient, a limitation attributable to myriad factors, not the least of which is that there is often a paucity of evidence that is directly relevant to a given patient in a given setting. The present article discusses these limitations and describes a framework for documentation, optimization, risk assessment, and planning, as well as a uniform grading of existing morbidities and anticipated perioperative disturbances for patients requiring integrated assessment and consultation.

Brain limbic system-based intelligent controller application to lane change manoeuvre

NASA Astrophysics Data System (ADS)

Kim, Changwon; Langari, Reza

2011-12-01

This paper presents the application of a novel neuromorphic control strategy for lane change manoeuvres in the highway environment. The lateral dynamics of a vehicle with and without wind disturbance are derived and utilised to implement a control strategy based on the brain limbic system. To show the robustness of the proposed controller, several disturbance conditions including wind, uncertainty in the cornering stiffness, and changes in the vehicle mass are investigated. To demonstrate the performance of the suggested strategy, simulation results of the proposed method are compared with the human driver model-based control scheme, which has been discussed in the literature. The simulation results demonstrate the superiority of the proposed controller in energy efficiency, driving comfort, and robustness.

The Interaction Between the Magnetosphere of Mars and that of Comet Siding Spring

NASA Astrophysics Data System (ADS)

Holmstrom, M.; Futaana, Y.; Barabash, S. V.

2015-12-01

On 19 October 2014 the comet Siding Spring flew by Mars. This was a unique opportunity to study the interaction between a cometary and a planetary magnetosphere. Here we model the magnetosphere of the comet using a hybrid plasma solver (ions as particles, electrons as a fluid). The undisturbed upstream solar wind ion conditions are estimated from observations by ASPERA-3/IMA on Mars Express during several orbits. It is found that Mars probably passed through a solar wind that was disturbed by the comet during the flyby. The uncertainty derives from that the size of the disturbed solar wind region in the comet simulation is sensitive to the assumed upstream solar wind conditions, especially the solar wind proton density.

Youth Screen Time and Behavioral Health Problems: The Role of Sleep Duration and Disturbances.

PubMed

Parent, Justin; Sanders, Wesley; Forehand, Rex

2016-05-01

The purpose of this study was to examine the indirect effect of youth screen time (e.g., television, computers, smartphones, video games, and tablets) on behavioral health problems (i.e., internalizing, externalizing, and peer problems) through sleep duration and disturbances. The authors assessed a community sample of parents with a child in one of the following three developmental stages: young childhood (3-7 yrs; N = 209), middle childhood (8-12 yrs; N = 202), and adolescence (13-17 yrs; N = 210). Path analysis was used to test the hypothesized indirect effect model. Findings indicated that, regardless of the developmental stage of the youth, higher levels of youth screen time were associated with more sleep disturbances, which, in turn, were linked to higher levels of youth behavioral health problems. Children who have increased screen time are more likely to have poor sleep quality and problem behaviors.

Influence of mechanical noise inside a scanning electron microscope

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

Gaudenzi de Faria, Marcelo; Haddab, Yassine, E-mail: yassine.haddab@femto-st.fr; Le Gorrec, Yann

The scanning electron microscope is becoming a popular tool to perform tasks that require positioning, manipulation, characterization, and assembly of micro-components. However, some of these applications require a higher level of performance with respect to dynamics and precision of positioning. One limiting factor is the presence of unidentified noises and disturbances. This work aims to study the influence of mechanical disturbances generated by the environment and by the microscope, identifying how these can affect elements in the vacuum chamber. To achieve this objective, a dedicated setup, including a high-resolution vibrometer, was built inside the microscope. This work led to themore » identification and quantification of main disturbances and noise sources acting on a scanning electron microscope. Furthermore, the effects of external acoustic excitations were analysed. Potential applications of these results include noise compensation and real-time control for high accuracy tasks.« less

An historically consistent and broadly applicable MRV system based on LiDAR sampling and Landsat time-series

Treesearch

W. Cohen; H. Andersen; S. Healey; G. Moisen; T. Schroeder; C. Woodall; G. Domke; Z. Yang; S. Stehman; R. Kennedy; C. Woodcock; Z. Zhu; J. Vogelmann; D. Steinwand; C. Huang

2014-01-01

The authors are developing a REDD+ MRV system that tests different biomass estimation frameworks and components. Design-based inference from a costly fi eld plot network was compared to sampling with LiDAR strips and a smaller set of plots in combination with Landsat for disturbance monitoring. Biomass estimation uncertainties associated with these different data sets...

Effect of in-situ disturbance within the soil mass on the stress-strain behaviour of silty soil

NASA Astrophysics Data System (ADS)

Noor, Sarah T.; Rabika Rahman, SS; Nahar, Sabiqun

2018-04-01

To date, different techniques have been evolved to collect soil in undisturbed condition so that the in-situ soil behaviour can be determined by carrying out laboratory tests. For the same reason, the execution of undisturbed soil sampling in practice is given a lot of efforts. However, this study brings the fact into consideration that the in-situ soil condition may not remain constant, rather it might vary time to time, because of different internal or external reasons. For example, the internal stress state of soil layers, existing below or above the swelling soil layer, become modified during shrinking and swelling resulting from drying and wetting of swelling clay, respectively. Further, foundations of building may transfer cyclic loads (generated by vibration installed in the building) to the soil below the foundation. Therefore, this study investigates the effects of stress-strain behaviour due to the disturbances on the shear strength of the soil with respect to that of undisturbed specimens. The shear strength of disturbed soil shows deviation from that of undisturbed specimen depending on the different parameters defining the severity of disturbance.

Selecting and Improving Quasi-Experimental Designs in Effectiveness and Implementation Research.

PubMed

Handley, Margaret A; Lyles, Courtney R; McCulloch, Charles; Cattamanchi, Adithya

2018-04-01

Interventional researchers face many design challenges when assessing intervention implementation in real-world settings. Intervention implementation requires holding fast on internal validity needs while incorporating external validity considerations (such as uptake by diverse subpopulations, acceptability, cost, and sustainability). Quasi-experimental designs (QEDs) are increasingly employed to achieve a balance between internal and external validity. Although these designs are often referred to and summarized in terms of logistical benefits, there is still uncertainty about (a) selecting from among various QEDs and (b) developing strategies to strengthen the internal and external validity of QEDs. We focus here on commonly used QEDs (prepost designs with nonequivalent control groups, interrupted time series, and stepped-wedge designs) and discuss several variants that maximize internal and external validity at the design, execution and implementation, and analysis stages.

Apparatus For Linewidth Reduction in Distributed Feedback or Distributed Bragg Reflector Semiconductor Lasers Using Vertical Emission

NASA Technical Reports Server (NTRS)

Cook, Anthony L. (Inventor); Hendricks, Herbert D. (Inventor)

2000-01-01

The linewidth of a distributed feedback semiconductor laser or a distributed Bragg reflector laser having one or more second order gratings is reduced by using an external cavity to couple the vertical emission back into the laser. This method and device prevent disturbance of the main laser beam, provide unobstructed access to laser emission for the formation of the external cavity, and do not require a very narrow heat sink. Any distributed Bragg reflector semiconductor laser or distributed feedback semiconductor laser that can produce a vertical emission through the epitaxial material and through a window in the top metallization can be used. The external cavity can be formed with an optical fiber or with a lens and a mirror or grating.

Method and Apparatus for Linewidth Reduction in Distributed Feedback or Distributed Bragg Reflector Semiconductor Lasers using Vertical Emission

NASA Technical Reports Server (NTRS)

Cook, Anthony L. (Inventor); Hendricks, Herbert D. (Inventor)

1998-01-01

The linewidth of a distributed feedback semiconductor laser or a distributed Bragg reflector laser having one or more second order gratings is reduced by using an external cavity to couple the vertical emission back into the laser. This method and device prevent disturbance of the main laser beam. provide unobstructed access to laser emission for the formation of the external cavity. and do not require a very narrow heat sink. Any distributed Bragg reflector semiconductor laser or distributed feedback semiconductor laser that can produce a vertical emission through the epitaxial material and through a window in the top metallization can be used. The external cavity can be formed with an optical fiber or with a lens and a mirror of grating.

NASA/DOD Aerospace Knowledge Diffusion Research Project. Paper 36: Technical uncertainty as a correlate of information use by US industry-affiliated aerospace engineers and scientists

NASA Technical Reports Server (NTRS)

Pinelli, Thomas E.; Glassman, Nanci A.; Affelder, Linda O.; Hecht, Laura M.; Kennedy, John M.; Barclay, Rebecca O.

1994-01-01

This paper reports the results of an exploratory study that investigated the influence of technical uncertainty on the use of information and information sources by U.S. industry-affiliated aerospace engineers and scientists in completing or solving a project, task, or problem. Data were collected through a self-administered questionnaire. Survey participants were U.S. aerospace engineers and scientists whose names appeared on the Society of Automotive Engineers (SAE) mailing list. The results support the findings of previous research and the following study assumptions. Information and information-source use differ for projects, problems, and tasks with high and low technical uncertainty. As technical uncertainty increases, information-source use changes from internal to external and from informal to formal sources. As technical uncertainty increases, so too does the use of federally funded aerospace research and development (R&D). The use of formal information sources to learn about federally funded aerospace R&D differs for projects, problems, and tasks with high and low technical uncertainty.

Uncertainty in Bohr's response to the Heisenberg microscope

NASA Astrophysics Data System (ADS)

Tanona, Scott

2004-09-01

In this paper, I analyze Bohr's account of the uncertainty relations in Heisenberg's gamma-ray microscope thought experiment and address the question of whether Bohr thought uncertainty was epistemological or ontological. Bohr's account seems to allow that the electron being investigated has definite properties which we cannot measure, but other parts of his Como lecture seem to indicate that he thought that electrons are wave-packets which do not have well-defined properties. I argue that his account merges the ontological and epistemological aspects of uncertainty. However, Bohr reached this conclusion not from positivism, as perhaps Heisenberg did, but because he was led to that conclusion by his understanding of the physics in terms of nonseparability and the correspondence principle. Bohr argued that the wave theory from which he derived the uncertainty relations was not to be taken literally, but rather symbolically, as an expression of the limited applicability of classical concepts to parts of entangled quantum systems. Complementarity and uncertainty are consequences of the formalism, properly interpreted, and not something brought to the physics from external philosophical views.

Development of a real-time internal and external marker tracking system for particle therapy: a phantom study using patient tumor trajectory data

PubMed Central

Cho, Junsang; Cheon, Wonjoong; Ahn, Sanghee; Jung, Hyunuk; Sheen, Heesoon; Park, Hee Chul

2017-01-01

Abstract Target motion–induced uncertainty in particle therapy is more complicated than that in X-ray therapy, requiring more accurate motion management. Therefore, a hybrid motion-tracking system that can track internal tumor motion and as well as an external surrogate of tumor motion was developed. Recently, many correlation tests between internal and external markers in X-ray therapy have been developed; however, the accuracy of such internal/external marker tracking systems, especially in particle therapy, has not yet been sufficiently tested. In this article, the process of installing an in-house hybrid internal/external motion-tracking system is described and the accuracy level of tracking system was acquired. Our results demonstrated that the developed in-house external/internal combined tracking system has submillimeter accuracy, and can be clinically used as a particle therapy system as well as a simulation system for moving tumor treatment. PMID:28201522

Uncertainty and risk in wildland fire management: a review.

PubMed

Thompson, Matthew P; Calkin, Dave E

2011-08-01

Wildland fire management is subject to manifold sources of uncertainty. Beyond the unpredictability of wildfire behavior, uncertainty stems from inaccurate/missing data, limited resource value measures to guide prioritization across fires and resources at risk, and an incomplete scientific understanding of ecological response to fire, of fire behavior response to treatments, and of spatiotemporal dynamics involving disturbance regimes and climate change. This work attempts to systematically align sources of uncertainty with the most appropriate decision support methodologies, in order to facilitate cost-effective, risk-based wildfire planning efforts. We review the state of wildfire risk assessment and management, with a specific focus on uncertainties challenging implementation of integrated risk assessments that consider a suite of human and ecological values. Recent advances in wildfire simulation and geospatial mapping of highly valued resources have enabled robust risk-based analyses to inform planning across a variety of scales, although improvements are needed in fire behavior and ignition occurrence models. A key remaining challenge is a better characterization of non-market resources at risk, both in terms of their response to fire and how society values those resources. Our findings echo earlier literature identifying wildfire effects analysis and value uncertainty as the primary challenges to integrated wildfire risk assessment and wildfire management. We stress the importance of identifying and characterizing uncertainties in order to better quantify and manage them. Leveraging the most appropriate decision support tools can facilitate wildfire risk assessment and ideally improve decision-making. Published by Elsevier Ltd.

A throat-bypass stability-bleed system using relief valves to increase the transient stability of a mixed-compression inlet. [YF-12 aircraft inlet tests in the Lewis 10 by 10 ft supersonic wind tunnel

NASA Technical Reports Server (NTRS)

Neiner, G. H.; Dustin, M. O.; Cole, G. L.

1979-01-01

A stability-bleed system was installed in a YF-12 flight inlet that was subjected to internal and external airflow disturbances in the NASA Lewis 10 by 10 foot supersonic wind tunnel. The purpose of the system is to allow higher inlet performance while maintaining a substantial tolerance (without unstart) to internal and external disturbances. At Mach numbers of 2.47 and 2.76, the inlet tolerance to decreases in diffuser-exit corrected airflow was increased by approximately 10 percent of the operating-point airflow. The stability-bleed system complemented the terminal-shock-control system of the inlet and did not show interaction problems. For disturbances which caused a combined decrease in Mach number and increase in angle of attack, the system with valves operative kept the inlet started 4 to 28 times longer than with the valves inoperative. Hence, the stability system provides additional time for the inlet control system to react and prevent unstart. This was observed for initial Mach numbers of 2.55 and 2.68. For slow increase in angle of attack at Mach 2.47 and 2.76, the system kept the inlet started beyond the steady-state unstart angle. However, the maximum transient angles of attack without unstart could not be determined because wind-tunnel mechanical-stop limits for angle of attack were reached.

Exposure Factors Handbook (1996, External Review Draft)

EPA Science Inventory

This handbook provided a summary of the available statistical data on various factors used in assessing human exposure.

Volume I, General Factors, includes an introduction and discussion of uncertainty and provides data for drinking water consumption, soil ingestion, inha...

Reliability of Current Biokinetic and Dosimetric Models for Radionuclides: A Pilot Study

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

Leggett, Richard Wayne; Eckerman, Keith F; Meck, Robert A.

2008-10-01

This report describes the results of a pilot study of the reliability of the biokinetic and dosimetric models currently used by the U.S. Nuclear Regulatory Commission (NRC) as predictors of dose per unit internal or external exposure to radionuclides. The study examines the feasibility of critically evaluating the accuracy of these models for a comprehensive set of radionuclides of concern to the NRC. Each critical evaluation would include: identification of discrepancies between the models and current databases; characterization of uncertainties in model predictions of dose per unit intake or unit external exposure; characterization of variability in dose per unit intakemore » or unit external exposure; and evaluation of prospects for development of more accurate models. Uncertainty refers here to the level of knowledge of a central value for a population, and variability refers to quantitative differences between different members of a population. This pilot study provides a critical assessment of models for selected radionuclides representing different levels of knowledge of dose per unit exposure. The main conclusions of this study are as follows: (1) To optimize the use of available NRC resources, the full study should focus on radionuclides most frequently encountered in the workplace or environment. A list of 50 radionuclides is proposed. (2) The reliability of a dose coefficient for inhalation or ingestion of a radionuclide (i.e., an estimate of dose per unit intake) may depend strongly on the specific application. Multiple characterizations of the uncertainty in a dose coefficient for inhalation or ingestion of a radionuclide may be needed for different forms of the radionuclide and different levels of information of that form available to the dose analyst. (3) A meaningful characterization of variability in dose per unit intake of a radionuclide requires detailed information on the biokinetics of the radionuclide and hence is not feasible for many infrequently studied radionuclides. (4) The biokinetics of a radionuclide in the human body typically represents the greatest source of uncertainty or variability in dose per unit intake. (5) Characterization of uncertainty in dose per unit exposure is generally a more straightforward problem for external exposure than for intake of a radionuclide. (6) For many radionuclides the most important outcome of a large-scale critical evaluation of databases and biokinetic models for radionuclides is expected to be the improvement of current models. Many of the current models do not fully or accurately reflect available radiobiological or physiological information, either because the models are outdated or because they were based on selective or uncritical use of data or inadequate model structures. In such cases the models should be replaced with physiologically realistic models that incorporate a wider spectrum of information.« less

Backstepping Design of Adaptive Neural Fault-Tolerant Control for MIMO Nonlinear Systems.

PubMed

Gao, Hui; Song, Yongduan; Wen, Changyun

In this paper, an adaptive controller is developed for a class of multi-input and multioutput nonlinear systems with neural networks (NNs) used as a modeling tool. It is shown that all the signals in the closed-loop system with the proposed adaptive neural controller are globally uniformly bounded for any external input in . In our control design, the upper bound of the NN modeling error and the gains of external disturbance are characterized by unknown upper bounds, which is more rational to establish the stability in the adaptive NN control. Filter-based modification terms are used in the update laws of unknown parameters to improve the transient performance. Finally, fault-tolerant control is developed to accommodate actuator failure. An illustrative example applying the adaptive controller to control a rigid robot arm shows the validation of the proposed controller.In this paper, an adaptive controller is developed for a class of multi-input and multioutput nonlinear systems with neural networks (NNs) used as a modeling tool. It is shown that all the signals in the closed-loop system with the proposed adaptive neural controller are globally uniformly bounded for any external input in . In our control design, the upper bound of the NN modeling error and the gains of external disturbance are characterized by unknown upper bounds, which is more rational to establish the stability in the adaptive NN control. Filter-based modification terms are used in the update laws of unknown parameters to improve the transient performance. Finally, fault-tolerant control is developed to accommodate actuator failure. An illustrative example applying the adaptive controller to control a rigid robot arm shows the validation of the proposed controller.

Adaptation of multijoint coordination during standing balance in healthy young and healthy old individuals

PubMed Central

Pasma, J. H.; Schouten, A. C.; Aarts, R. G. K. M.; Meskers, C. G. M.; Maier, A. B.; van der Kooij, H.

2015-01-01

Standing balance requires multijoint coordination between the ankles and hips. We investigated how humans adapt their multijoint coordination to adjust to various conditions and whether the adaptation differed between healthy young participants and healthy elderly. Balance was disturbed by push/pull rods, applying two continuous and independent force disturbances at the level of the hip and between the shoulder blades. In addition, external force fields were applied, represented by an external stiffness at the hip, either stabilizing or destabilizing the participants' balance. Multivariate closed-loop system-identification techniques were used to describe the neuromuscular control mechanisms by quantifying the corrective joint torques as a response to body sway, represented by frequency response functions (FRFs). Model fits on the FRFs resulted in an estimation of time delays, intrinsic stiffness, reflexive stiffness, and reflexive damping of both the ankle and hip joint. The elderly generated similar corrective joint torques but had reduced body sway compared with the young participants, corresponding to the increased FRF magnitude with age. When a stabilizing or destabilizing external force field was applied at the hip, both young and elderly participants adapted their multijoint coordination by lowering or respectively increasing their neuromuscular control actions around the ankles, expressed in a change of FRF magnitude. However, the elderly adapted less compared with the young participants. Model fits on the FRFs showed that elderly had higher intrinsic and reflexive stiffness of the ankle, together with higher time delays of the hip. Furthermore, the elderly adapted their reflexive stiffness around the ankle joint less compared with young participants. These results imply that elderly were stiffer and were less able to adapt to external force fields. PMID:26719084

Uncertainty quantification and propagation in a complex human-environment system driven by fire and climate

NASA Astrophysics Data System (ADS)

Terando, A. J.; Reich, B. J.; Pacifici, K.

2013-12-01

Fire is an important disturbance process in many coupled natural-human systems. Changes in the frequency and severity of fires due to anthropogenic climate change could have significant costs to society and the plant and animal communities that are adapted to a particular fire regime Planning for these changes requires a robust model of the relationship between climate and fire that accounts for multiple sources of uncertainty that are present when simulating ecological and climatological processes. Here we model how anthropogenic climate change could affect the wildfire regime for a region in the Southeast US whose natural ecosystems are dependent on frequent, low-intensity fires while humans are at risk from large catastrophic fires. We develop a modeling framework that incorporates three major sources of uncertainty: (1) uncertainty in the ecological drivers of expected monthly area burned, (2) uncertainty in the environmental drivers influencing the probability of an extreme fire event, and (3) structural uncertainty in different downscaled climate models. In addition we use two policy-relevant emission scenarios (climate stabilization and 'business-as-usual') to characterize the uncertainty in future greenhouse gas forcings. We use a Bayesian framework to incorporate different sources of uncertainty including simulation of predictive errors and Stochastic Search Variable Selection. Our results suggest that although the mean process remains stationary, the probability of extreme fires declines through time, owing to the persistence of high atmospheric moisture content during the peak fire season that dampens the effect of increasing temperatures. Including multiple sources of uncertainty leads to wide prediction intervals, but is potentially more useful for decision-makers that will require adaptation strategies that are robust to rapid but uncertain climate and ecological change.

Intercepting moving targets: does memory from practice in a specific condition of target displacement affect movement timing?

PubMed

de Azevedo Neto, Raymundo Machado; Teixeira, Luis Augusto

2011-05-01

This investigation aimed at assessing the extent to which memory from practice in a specific condition of target displacement modulates temporal errors and movement timing of interceptive movements. We compared two groups practicing with certainty of future target velocity either in unchanged target velocity or in target velocity decrease. Following practice, both experimental groups were probed in the situations of unchanged target velocity and target velocity decrease either under the context of certainty or uncertainty about target velocity. Results from practice showed similar improvement of temporal accuracy between groups, revealing that target velocity decrease did not disturb temporal movement organization when fully predictable. Analysis of temporal errors in the probing trials indicated that both groups had higher timing accuracy in velocity decrease in comparison with unchanged velocity. Effect of practice was detected by increased temporal accuracy of the velocity decrease group in situations of decreased velocity; a trend consistent with the expected effect of practice was observed for temporal errors in the unchanged velocity group and in movement initiation at a descriptive level. An additional point of theoretical interest was the fast adaptation in both groups to a target velocity pattern different from that practiced. These points are discussed under the perspective of integration of vision and motor control by means of an internal forward model of external motion.

Robust control of integrated motor-transmission powertrain system over controller area network for automotive applications

NASA Astrophysics Data System (ADS)

Zhu, Xiaoyuan; Zhang, Hui; Cao, Dongpu; Fang, Zongde

2015-06-01

Integrated motor-transmission (IMT) powertrain system with directly coupled motor and gearbox is a good choice for electric commercial vehicles (e.g., pure electric buses) due to its potential in motor size reduction and energy efficiency improvement. However, the controller design for powertrain oscillation damping becomes challenging due to the elimination of damping components. On the other hand, as controller area network (CAN) is commonly adopted in modern vehicle system, the network-induced time-varying delays that caused by bandwidth limitation will further lead to powertrain vibration or even destabilize the powertrain control system. Therefore, in this paper, a robust energy-to-peak controller is proposed for the IMT powertrain system to address the oscillation damping problem and also attenuate the external disturbance. The control law adopted here is based on a multivariable PI control, which ensures the applicability and performance of the proposed controller in engineering practice. With the linearized delay uncertainties characterized by polytopic inclusions, a delay-free closed-loop augmented system is established for the IMT powertrain system under discrete-time framework. The proposed controller design problem is then converted to a static output feedback (SOF) controller design problem where the feedback control gains are obtained by solving a set of linear matrix inequalities (LMIs). The effectiveness as well as robustness of the proposed controller is demonstrated by comparing its performance against that of a conventional PI controller.

An adaptive PID like controller using mix locally recurrent neural network for robotic manipulator with variable payload.

PubMed

Sharma, Richa; Kumar, Vikas; Gaur, Prerna; Mittal, A P

2016-05-01

Being complex, non-linear and coupled system, the robotic manipulator cannot be effectively controlled using classical proportional-integral-derivative (PID) controller. To enhance the effectiveness of the conventional PID controller for the nonlinear and uncertain systems, gains of the PID controller should be conservatively tuned and should adapt to the process parameter variations. In this work, a mix locally recurrent neural network (MLRNN) architecture is investigated to mimic a conventional PID controller which consists of at most three hidden nodes which act as proportional, integral and derivative node. The gains of the mix locally recurrent neural network based PID (MLRNNPID) controller scheme are initialized with a newly developed cuckoo search algorithm (CSA) based optimization method rather than assuming randomly. A sequential learning based least square algorithm is then investigated for the on-line adaptation of the gains of MLRNNPID controller. The performance of the proposed controller scheme is tested against the plant parameters uncertainties and external disturbances for both links of the two link robotic manipulator with variable payload (TL-RMWVP). The stability of the proposed controller is analyzed using Lyapunov stability criteria. A performance comparison is carried out among MLRNNPID controller, CSA optimized NNPID (OPTNNPID) controller and CSA optimized conventional PID (OPTPID) controller in order to establish the effectiveness of the MLRNNPID controller. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Moving across scales: Challenges and opportunities in upscaling carbon fluxes

NASA Astrophysics Data System (ADS)

Naithani, K. J.

2016-12-01

Light use efficiency (LUE) type models are commonly used to upscale terrestrial C fluxes and estimate regional and global C budgets. Model parameters are often estimated for each land cover type (LCT) using flux observations from one or more eddy covariance towers, and then spatially extrapolated by integrating land cover, meteorological, and remotely sensed data. Decisions regarding the type of input data (spatial resolution of land cover data, spatial and temporal length of flux data), representation of landscape structure (land use vs. disturbance regime), and the type of modeling framework (common risk vs. hierarchical) all influence the estimates CO2 fluxes and the associated uncertainties, but are rarely considered together. This work presents a synthesis of past and present efforts for upscaling CO2 fluxes and associated uncertainties in the ChEAS (Chequamegon Ecosystem Atmosphere Study) region in northern Wisconsin and the Upper Peninsula of Michigan. This work highlights two key future research needs. First, the characterization of uncertainties due to all of the abovementioned factors reflects only a (hopefully relevant) subset the overall uncertainties. Second, interactions among these factors are likely critical, but are poorly represented by the tower network at landscape scales. Yet, results indicate significant spatial and temporal heterogeneity of uncertainty in CO2 fluxes which can inform carbon management efforts and prioritize data needs.

Missing Rings, Synchronous Growth, and Ecological Disturbance in a 36-Year Pitch Pine (Pinus rigida) Provenance Study

Treesearch

Caroline Leland; John Hom; Nicholas Skowronski; F. Thomas Ledig; Paul J. Krusic; Edward R. Cook; Dario Martin-Benito; Javier Martin-Fernandez; Neil Pederson; Dusan Gomory

2016-01-01

Provenance studies are an increasingly important analog for understanding how trees adapted to particular climatic conditions might respond to climate change. Dendrochronological analysis can illuminate differences among trees from different seed sources in terms of absolute annual growth and sensitivity to external growth factors. We analyzed annual radial growth of...

Enforced Clonality Confers a Fitness Advantage

PubMed Central

Martínková, Jana; Klimešová, Jitka

2016-01-01

In largely clonal plants, splitting of a maternal plant into potentially independent plants (ramets) is usually spontaneous; however, such fragmentation also occurs in otherwise non-clonal species due to application of external force. This process might play an important yet largely overlooked role for otherwise non-clonal plants by providing a mechanism to regenerate after disturbance. Here, in a 5-year garden experiment on two short-lived, otherwise non-clonal species, Barbarea vulgaris and Barbarea stricta, we compared the fitness of plants fragmented by simulated disturbance (“enforced ramets”) both with plants that contemporaneously originate in seed and with individuals unscathed by the disturbance event. Because the ability to regrow from fragments is related to plant age and stored reserves, we compared the effects of disturbance applied during three different ontogenetic stages of the plants. In B. vulgaris, enforced ramet fitness was higher than the measured fitness values of both uninjured plants and plants established from seed after the disturbance. This advantage decreased with increasing plant age at the time of fragmentation. In B. stricta, enforced ramet fitness was lower than or similar to fitness of uninjured plants and plants grown from seed. Our results likely reflect the habitat preferences of the study species, as B. vulgaris occurs in anthropogenic, disturbed habitats where body fragmentation is more probable and enforced clonality thus more advantageous than in the more natural habitats preferred by B. stricta. Generalizing from our results, we see that increased fitness yielded by enforced clonality would confer an evolutionary advantage in the face of disturbance, especially in habitats where a seed bank has not been formed, e.g., during invasion or colonization. Our results thus imply that enforced clonality should be taken into account when studying population dynamics and life strategies of otherwise non-clonal species in disturbed habitats. PMID:26858732

Managing Uncertainty: Thinking and Planning Strategically.

ERIC Educational Resources Information Center

Lorenzo, Albert L.

1993-01-01

Argues that rapid change and tight resources demand reality-based planning, rather than planning models that ignore internal and external customers or emphasize process over product. Describes the Strategic Guidance Model (SGM) which provides colleges with strategic visioning, organizational assessment, environmental scanning, quality improvement,…

Predicting Mountainous Watershed Biogeochemical Dynamics, Including Response to Droughts and Early Snowmelt

NASA Astrophysics Data System (ADS)

Hubbard, S. S.; Williams, K. H.; Long, P.; Agarwal, D.; Banfield, J. F.; Beller, H. R.; Bouskill, N.; Brodie, E.; Maxwell, R. M.; Nico, P. S.; Steefel, C. I.; Steltzer, H.; Tokunaga, T. K.; Wainwright, H. M.

2016-12-01

Climate change, extreme weather, land-use change, and other perturbations are significantly reshaping interactions with in watersheds throughout the world. While mountainous watersheds are recognized as the water towers for the world, hydrological processes in watersheds also mediate biogeochemical processes that support all terrestrial life. Developing predictive understanding of watershed hydrological and biogeochemical functioning is challenging, as complex interactions occurring within a heterogeneous watershed can lead to a cascade of effects on downstream water availability and quality. Although these interactions can have significant implications for energy production, agriculture, water quality, and other benefits valued by society, uncertainty associated with predicting watershed function is high. The Watershed Function project aims to substantially reduce this uncertainty through developing a predictive understanding of how mountainous watersheds retain and release downgradient water, nutrients, carbon, and metals. In particular, the project is exploring how early snowmelt, drought, and other disturbances will influence mountainous watershed dynamics at seasonal to decadal timescales. The Watershed Function project is being carried out in a headwater mountainous catchment of the Upper Colorado River Basin, within a watershed characterized by significant gradients in elevation, vegetation and hydrogeology. A system-within system project perspective posits that the integrated watershed response to disturbances can be adequately predicted through consideration of interactions and feedbacks occurring within a limited number of subsystems, each having distinct vegetation-subsurface biogeochemical-hydrological characteristics. A key technological goal is the development of scale-adaptive simulation capabilities that can incorporate genomic information where and when it is useful for predicting the overall watershed response to disturbance. Through developing and integrating new microbial ecology, geochemical, hydrological, ecohydrological, computational and geophysical approaches, the project is developing new insights about biogeochemical dynamics from genome to watershed scales.

A statistical approach to determining energetic outer radiation belt electron precipitation fluxes

NASA Astrophysics Data System (ADS)

Simon Wedlund, Mea; Clilverd, Mark A.; Rodger, Craig J.; Cresswell-Moorcock, Kathy; Cobbett, Neil; Breen, Paul; Danskin, Donald; Spanswick, Emma; Rodriguez, Juan V.

2014-05-01

Subionospheric radio wave data from an Antarctic-Arctic Radiation-Belt (Dynamic) Deposition VLF Atmospheric Research Konsortia (AARDDVARK) receiver located in Churchill, Canada, is analyzed to determine the characteristics of electron precipitation into the atmosphere over the range 3 < L < 7. The study advances previous work by combining signals from two U.S. transmitters from 20 July to 20 August 2010, allowing error estimates of derived electron precipitation fluxes to be calculated, including the application of time-varying electron energy spectral gradients. Electron precipitation observations from the NOAA POES satellites and a ground-based riometer provide intercomparison and context for the AARDDVARK measurements. AARDDVARK radiowave propagation data showed responses suggesting energetic electron precipitation from the outer radiation belt starting 27 July 2010 and lasting ~20 days. The uncertainty in >30 keV precipitation flux determined by the AARDDVARK technique was found to be ±10%. Peak >30 keV precipitation fluxes of AARDDVARK-derived precipitation flux during the main and recovery phase of the largest geomagnetic storm, which started on 4 August 2010, were >105 el cm-2 s-1 sr-1. The largest fluxes observed by AARDDVARK occurred on the dayside and were delayed by several days from the start of the geomagnetic disturbance. During the main phase of the disturbances, nightside fluxes were dominant. Significant differences in flux estimates between POES, AARDDVARK, and the riometer were found after the main phase of the largest disturbance, with evidence provided to suggest that >700 keV electron precipitation was occurring. Currently the presence of such relativistic electron precipitation introduces some uncertainty in the analysis of AARDDVARK data, given the assumption of a power law electron precipitation spectrum.

Selective Logging, Fire, and Biomass in Amazonia

NASA Technical Reports Server (NTRS)

Houghton, R. A.

1999-01-01

Biomass and rates of disturbance are major factors in determining the net flux of carbon between terrestrial ecosystems and the atmosphere, and neither of them is well known for most of the earth's surface. Satellite data over large areas are beginning to be used systematically to measure rates of two of the most important types of disturbance, deforestation and reforestation, but these are not the only types of disturbance that affect carbon storage. Other examples include selective logging and fire. In northern mid-latitude forests, logging and subsequent regrowth of forests have, in recent decades, contributed more to the net flux of carbon between terrestrial ecosystems and the atmosphere than any other type of land use. In the tropics logging is also becoming increasingly important. According to the FAO/UNEP assessment of tropical forests, about 25% of total area of productive forests have been logged one or more times in the 60-80 years before 1980. The fraction must be considerably greater at present. Thus, deforestation by itself accounts for only a portion of the emissions carbon from land. Furthermore, as rates of deforestation become more accurately measured with satellites, uncertainty in biomass will become the major factor accounting for the remaining uncertainty in estimates of carbon flux. An approach is needed for determining the biomass of terrestrial ecosystems. 3 Selective logging is increasingly important in Amazonia, yet it has not been included in region-wide, satellite-based assessments of land-cover change, in part because it is not as striking as deforestation. Nevertheless, logging affects terrestrial carbon storage both directly and indirectly. Besides the losses of carbon directly associated with selective logging, logging also increases the likelihood of fire.

Sampling design considerations for demographic studies: a case of colonial seabirds

USGS Publications Warehouse

Kendall, William L.; Converse, Sarah J.; Doherty, Paul F.; Naughton, Maura B.; Anders, Angela; Hines, James E.; Flint, Elizabeth

2009-01-01

For the purposes of making many informed conservation decisions, the main goal for data collection is to assess population status and allow prediction of the consequences of candidate management actions. Reducing the bias and variance of estimates of population parameters reduces uncertainty in population status and projections, thereby reducing the overall uncertainty under which a population manager must make a decision. In capture-recapture studies, imperfect detection of individuals, unobservable life-history states, local movement outside study areas, and tag loss can cause bias or precision problems with estimates of population parameters. Furthermore, excessive disturbance to individuals during capture?recapture sampling may be of concern because disturbance may have demographic consequences. We address these problems using as an example a monitoring program for Black-footed Albatross (Phoebastria nigripes) and Laysan Albatross (Phoebastria immutabilis) nesting populations in the northwestern Hawaiian Islands. To mitigate these estimation problems, we describe a synergistic combination of sampling design and modeling approaches. Solutions include multiple capture periods per season and multistate, robust design statistical models, dead recoveries and incidental observations, telemetry and data loggers, buffer areas around study plots to neutralize the effect of local movements outside study plots, and double banding and statistical models that account for band loss. We also present a variation on the robust capture?recapture design and a corresponding statistical model that minimizes disturbance to individuals. For the albatross case study, this less invasive robust design was more time efficient and, when used in combination with a traditional robust design, reduced the standard error of detection probability by 14% with only two hours of additional effort in the field. These field techniques and associated modeling approaches are applicable to studies of most taxa being marked and in some cases have individually been applied to studies of birds, fish, herpetofauna, and mammals.

The response of tree ring δ15N to whole-watershed urea fertilization at the Fernow Experimental Forest, WV

Treesearch

Mark B. Burnham; Brenden E. McNeil; Mary Beth Adams; William T. Peterjohn

2016-01-01

Plant tissue δ15N is frequently used as a proxy for N availability and N cycle dynamics, and the δ15N signature of tree rings could potentially be used to reconstruct past changes in the N cycle due to forest disturbance or anthropogenic N deposition. However, there are substantial uncertainties regarding how effectively...

Stochastic simulation of ecohydrological interactions between vegetation and groundwater

NASA Astrophysics Data System (ADS)

Dwelle, M. C.; Ivanov, V. Y.; Sargsyan, K.

2017-12-01

The complex interactions between groundwater and vegetation in the Amazon rainforest may yield vital ecophysiological interactions in specific landscape niches such as buffering plant water stress during dry season or suppression of water uptake due to anoxic conditions. Representation of such processes is greatly impacted by both external and internal sources of uncertainty: inaccurate data and subjective choice of model representation. The models that can simulate these processes are complex and computationally expensive, and therefore make it difficult to address uncertainty using traditional methods. We use the ecohydrologic model tRIBS+VEGGIE and a novel uncertainty quantification framework applied to the ZF2 watershed near Manaus, Brazil. We showcase the capability of this framework for stochastic simulation of vegetation-hydrology dynamics. This framework is useful for simulation with internal and external stochasticity, but this work will focus on internal variability of groundwater depth distribution and model parameterizations. We demonstrate the capability of this framework to make inferences on uncertain states of groundwater depth from limited in situ data, and how the realizations of these inferences affect the ecohydrological interactions between groundwater dynamics and vegetation function. We place an emphasis on the probabilistic representation of quantities of interest and how this impacts the understanding and interpretation of the dynamics at the groundwater-vegetation interface.

Forest Disturbance Across the Conterminous United States from 1985-2012: The Emerging Dominance of Forest Decline

NASA Technical Reports Server (NTRS)

Cohen, Warren B.; Yang, Zhiqiang; Stehman, Stephen; Schroeder, Todd; Bell, David M.; Masek, Jeffrey; Huang, Chengquan; Meigs, Garrett W.

2015-01-01

Evidence of shifting dominance among major forest disturbance agent classes regionally to globally has been emerging in the literature. For example, climate-related stress and secondary stressors on forests (e.g., insect and disease, fire) have dramatically increased since the turn of the century globally, while harvest rates in the western US and elsewhere have declined. For shifts to be quantified, accurate historical forest disturbance estimates are required as a baseline for examining current trends. We report annual disturbance rates (with uncertainties) in the aggregate and by major change causal agent class for the conterminous US and five geographic subregions between 1985 and 2012. Results are based on human interpretations of Landsat time series from a probability sample of 7200 plots (30 m) distributed throughout the study area. Forest disturbance information was recorded with a Landsat time series visualization and data collection tool that incorporates ancillary high-resolution data. National rates of disturbance varied between 1.5% and 4.5% of forest area per year, with trends being strongly affected by shifting dominance among specific disturbance agent influences at the regional scale. Throughout the time series, national harvest disturbance rates varied between one and two percent, and were largely a function of harvest in the more heavily forested regions of the US (Mountain West, Northeast, and Southeast). During the first part of the time series, national disturbance rates largely reflected trends in harvest disturbance. Beginning in the mid-90s, forest decline-related disturbances associated with diminishing forest health (e.g., physiological stress leading to tree canopy cover loss, increases in tree mortality above background levels), especially in the Mountain West and Lowland West regions of the US, increased dramatically. Consequently, national disturbance rates greatly increased by 2000, and remained high for much of the decade. Decline-related disturbance rates reached as high as 8% per year in the western regions during the early-2000s. Although low compared to harvest and decline, fire disturbance rates also increased in the early- to mid-2000s. We segmented annual decline-related disturbance rates to distinguish between newly impacted areas and areas undergoing gradual but consistent decline over multiple years. We also translated Landsat reflectance change into tree canopy cover change information for greater relevance to ecosystem modelers and forest managers, who can derive better understanding of forest-climate interactions and better adapt management strategies to changing climate regimes. Similar studies could be carried out for other countries where there are sufficient Landsat data and historic temporal snapshots of high-resolution imagery.

A walk on the wild side: Disturbance dynamics and the conservation and management of European mountain forest ecosystems☆

PubMed Central

Kulakowski, Dominik; Seidl, Rupert; Holeksa, Jan; Kuuluvainen, Timo; Nagel, Thomas A.; Panayotov, Momchil; Svoboda, Miroslav; Thorn, Simon; Vacchiano, Giorgio; Whitlock, Cathy; Wohlgemuth, Thomas; Bebi, Peter

2017-01-01

Mountain forests are among the most important ecosystems in Europe as they support numerous ecological, hydrological, climatic, social, and economic functions. They are unique relatively natural ecosystems consisting of long-lived species in an otherwise densely populated human landscape. Despite this, centuries of intensive forest management in many of these forests have eclipsed evidence of natural processes, especially the role of disturbances in long-term forest dynamics. Recent trends of land abandonment and establishment of protected forests have coincided with a growing interest in managing forests in more natural states. At the same time, the importance of past disturbances highlighted in an emerging body of literature, and recent increasing disturbances due to climate change are challenging long-held views of dynamics in these ecosystems. Here, we synthesize aspects of this Special Issue on the ecology of mountain forest ecosystems in Europe in the context of broader discussions in the field, to present a new perspective on these ecosystems and their natural disturbance regimes. Most mountain forests in Europe, for which long-term data are available, show a strong and long-term effect of not only human land use but also of natural disturbances that vary by orders of magnitude in size and frequency. Although these disturbances may kill many trees, the forests themselves have not been threatened. The relative importance of natural disturbances, land use, and climate change for ecosystem dynamics varies across space and time. Across the continent, changing climate and land use are altering forest cover, forest structure, tree demography, and natural disturbances, including fires, insect outbreaks, avalanches, and wind disturbances. Projected continued increases in forest area and biomass along with continued warming are likely to further promote forest disturbances. Episodic disturbances may foster ecosystem adaptation to the effects of ongoing and future climatic change. Increasing disturbances, along with trends of less intense land use, will promote further increases in coarse woody debris, with cascading positive effects on biodiversity, edaphic conditions, biogeochemical cycles, and increased heterogeneity across a range of spatial scales. Together, this may translate to disturbance-mediated resilience of forest landscapes and increased biodiversity, as long as climate and disturbance regimes remain within the tolerance of relevant species. Understanding ecological variability, even imperfectly, is integral to anticipating vulnerabilities and promoting ecological resilience, especially under growing uncertainty. Allowing some forests to be shaped by natural processes may be congruent with multiple goals of forest management, even in densely settled and developed countries. PMID:28860677

A walk on the wild side: Disturbance dynamics and the conservation and management of European mountain forest ecosystems.

PubMed

Kulakowski, Dominik; Seidl, Rupert; Holeksa, Jan; Kuuluvainen, Timo; Nagel, Thomas A; Panayotov, Momchil; Svoboda, Miroslav; Thorn, Simon; Vacchiano, Giorgio; Whitlock, Cathy; Wohlgemuth, Thomas; Bebi, Peter

2017-03-15

Mountain forests are among the most important ecosystems in Europe as they support numerous ecological, hydrological, climatic, social, and economic functions. They are unique relatively natural ecosystems consisting of long-lived species in an otherwise densely populated human landscape. Despite this, centuries of intensive forest management in many of these forests have eclipsed evidence of natural processes, especially the role of disturbances in long-term forest dynamics. Recent trends of land abandonment and establishment of protected forests have coincided with a growing interest in managing forests in more natural states. At the same time, the importance of past disturbances highlighted in an emerging body of literature, and recent increasing disturbances due to climate change are challenging long-held views of dynamics in these ecosystems. Here, we synthesize aspects of this Special Issue on the ecology of mountain forest ecosystems in Europe in the context of broader discussions in the field, to present a new perspective on these ecosystems and their natural disturbance regimes. Most mountain forests in Europe, for which long-term data are available, show a strong and long-term effect of not only human land use but also of natural disturbances that vary by orders of magnitude in size and frequency. Although these disturbances may kill many trees, the forests themselves have not been threatened. The relative importance of natural disturbances, land use, and climate change for ecosystem dynamics varies across space and time. Across the continent, changing climate and land use are altering forest cover, forest structure, tree demography, and natural disturbances, including fires, insect outbreaks, avalanches, and wind disturbances. Projected continued increases in forest area and biomass along with continued warming are likely to further promote forest disturbances. Episodic disturbances may foster ecosystem adaptation to the effects of ongoing and future climatic change. Increasing disturbances, along with trends of less intense land use, will promote further increases in coarse woody debris, with cascading positive effects on biodiversity, edaphic conditions, biogeochemical cycles, and increased heterogeneity across a range of spatial scales. Together, this may translate to disturbance-mediated resilience of forest landscapes and increased biodiversity, as long as climate and disturbance regimes remain within the tolerance of relevant species. Understanding ecological variability, even imperfectly, is integral to anticipating vulnerabilities and promoting ecological resilience, especially under growing uncertainty. Allowing some forests to be shaped by natural processes may be congruent with multiple goals of forest management, even in densely settled and developed countries.

High temperature thermocouple and heat flux gauge using a unique thin film-hardware hot juncture

NASA Technical Reports Server (NTRS)

Liebert, C. H.; Holanda, R.; Hippensteele, S. A.; Andracchio, C. A.

1984-01-01

A special thin film-hardware material thermocouple (TC) and heat flux gauge concept for a reasonably high temperature and high flux flat plate heat transfer experiment was fabricated and tested to gauge temperatures of 911 K. This concept was developed for minimal disturbance of boundary layer temperature and flow over the plates and minimal disturbance of heat flux through the plates. Comparison of special heat flux gauge Stanton number output at steady-state conditions with benchmark literature data was good and agreement was within a calculated uncertainty of the measurement system. Also, good agreement of special TC and standard TC outputs was obtained and the results are encouraging. Oxidation of thin film thermoelements was a primary failure mode after about 5 of operation.

Modeling and advanced sliding mode controls of crawler cranes considering wire rope elasticity and complicated operations

NASA Astrophysics Data System (ADS)

Tuan, Le Anh; Lee, Soon-Geul

2018-03-01

In this study, a new mathematical model of crawler cranes is developed for heavy working conditions, with payload-lifting and boom-hoisting motions simultaneously activated. The system model is built with full consideration of wind disturbances, geometrical nonlinearities, and cable elasticities of cargo lifting and boom luffing. On the basis of this dynamic model, three versions of sliding mode control are analyzed and designed to control five system outputs with only two inputs. When used in complicated operations, the effectiveness of the controllers is analyzed using analytical investigation and numerical simulation. Results indicate the effectiveness of the control algorithms and the proposed dynamic model. The control algorithms asymptotically stabilize the system with finite-time convergences, remaining robust amid disturbances and parametric uncertainties.

High-temperature thermocouple and heat flux gauge using a unique thin film-hardware hot junction

NASA Technical Reports Server (NTRS)

Liebert, C. H.; Holanda, R.; Hippensteele, S. A.; Andracchio, C. A.

1985-01-01

A special thin film-hardware material thermocouple (TC) and heat flux gauge concept for a reasonably high temperature and high flux flat plate heat transfer experiment was fabricated and tested to gauge temperatures of 911 K. This concept was developed for minimal disturbance of boundary layer temperature and flow over the plates and minimal disturbance of heat flux through the plates. Comparison of special heat flux gauge Stanton number output at steady-state conditions with benchmark literature data was good and agreement was within a calculated uncertainty of the measurement system. Also, good agreement of special TC and standard TC outputs was obtained and the results are encouraging. Oxidation of thin film thermoelements was a primary failure mode after about 5 of operation.

Variable Speed CMG Control of a Dual-Spin Stabilized Unconventional VTOL Air Vehicle

NASA Technical Reports Server (NTRS)

Lim, Kyong B.; Moerder, Daniel D.; Shin, J-Y.

2004-01-01

This paper describes an approach based on using both bias momentum and multiple control moment gyros for controlling the attitude of statically unstable thrust-levitated vehicles in hover or slow translation. The stabilization approach described in this paper uses these internal angular momentum transfer devices for stability, augmented by thrust vectoring for trim and other outer loop control functions, including CMG stabilization/ desaturation under persistent external disturbances. Simulation results show the feasibility of (1) improved vehicle performance beyond bias momentum assisted vector thrusting control, and (2) using control moment gyros to significantly reduce the external torque required from the vector thrusting machinery.

New Remote Sensing Methods for Labeling Disturbance Agents in Appalachian Forests

NASA Astrophysics Data System (ADS)

Hughes, M. J.; Hayes, D. J.

2014-12-01

Forests in the eastern United States are species rich and affected by a variety of disturbance agents such as fire, invasive insects, diseases, and storm events. Millions of hectares of forest are disturbed each year, altering the forest carbon sink and changing forest nutrient cycles. The magnitude and direction of these changes, though, can be different for different disturbance agents. For example, trees that burn in severe fire rapidly release stored carbon into the atmosphere whereas standing deadwood from insect attacks decompose slowly while atmospheric carbon is fixed in regenerating vegetation. The diagnosis and attribution of these processes require accurate and reliable estimates of the extent and frequency of different disturbance agents. Here, a new method is presented that classifies disturbance events identified using time-series analysis of Landsat TM imagery. The method exploits information about changes in the canopy heterogeneity as measured by several texture indices within forest patches. Classifiers were trained using data from the US Forest Service Aerial Detection Surveys and currently differentiate between fires, southern pine beetle, gypsy moth, hemlock woolly adelgid, beech bark disease, anthracnose, and storm events. In addition, the classifier returns a value of 'uncertain' when it is unable to make a clear determination, which is currently approximately 10% of identified disturbances. Classification accuracy for the remainder is 81%, though is variable between agents. For example, the classifier performs well in identifying southern pine beetle and gypsy moth affected areas, but poorly in identifying storms. Reliabilities are similar to accuracies for each agent. The results presented are the first yearly, regional-scale estimates of forest disturbance partitioned by disturbance agent. We find good correspondence with previously described patterns of disturbance and distribution, including direct observational evidence of their predicted periodicities over entire ecoregions. Such estimates are vital for forest monitoring and to better understand the role of the dynamic forest carbon sink in order to reduce uncertainty in atmospheric carbon models. Future work must focus on the inclusion of direct anthropogenic changes such as harvest and urbanization.

Model-based adaptive sliding mode control of the subcritical boiler-turbine system with uncertainties.

PubMed

Tian, Zhen; Yuan, Jingqi; Xu, Liang; Zhang, Xiang; Wang, Jingcheng

2018-05-25

As higher requirements are proposed for the load regulation and efficiency enhancement, the control performance of boiler-turbine systems has become much more important. In this paper, a novel robust control approach is proposed to improve the coordinated control performance for subcritical boiler-turbine units. To capture the key features of the boiler-turbine system, a nonlinear control-oriented model is established and validated with the history operation data of a 300 MW unit. To achieve system linearization and decoupling, an adaptive feedback linearization strategy is proposed, which could asymptotically eliminate the linearization error caused by the model uncertainties. Based on the linearized boiler-turbine system, a second-order sliding mode controller is designed with the super-twisting algorithm. Moreover, the closed-loop system is proved robustly stable with respect to uncertainties and disturbances. Simulation results are presented to illustrate the effectiveness of the proposed control scheme, which achieves excellent tracking performance, strong robustness and chattering reduction. Copyright © 2018. Published by Elsevier Ltd.

Life-after-death beliefs and self motivations.

PubMed

Echebarría Echabe, Agustin; Perez, Saioa

2017-01-01

An experimental study was designed to ascertain whether three self-motives (death-thoughts avoidance, self-uncertainty reduction, and need-for-control) are irreducible motives or examples of a more basic primary motive with regard to their relationship to life-after-death (LAD) beliefs. The study explored the impact of the three self-motives on adherence to LAD beliefs through three mediators: self-esteem, feelings of disquiet, and thoughts-accessibility (thoughts of death, need-for-control, and uncertainty). Participants were randomly assigned to write about their own death, a time they felt uncertain, a time they felt powerless, or about a toothache episode. The mediators (accessibility of disturbing thoughts, feelings of disquiet-uncertainty, and self-esteem) were measured next. The dependent variable selected was endorsement of LAD beliefs. Results showed that the cognitive and emotional responses produced by the activation of the three motives were similar. The three motives increased the accessibility of uncertain-related thoughts that, in turn, increased the adherence to LAD.

Terminal altitude maximization for Mars entry considering uncertainties

NASA Astrophysics Data System (ADS)

Cui, Pingyuan; Zhao, Zeduan; Yu, Zhengshi; Dai, Juan

2018-04-01

Uncertainties present in the Mars atmospheric entry process may cause state deviations from the nominal designed values, which will lead to unexpected performance degradation if the trajectory is designed merely based on the deterministic dynamic model. In this paper, a linear covariance based entry trajectory optimization method is proposed considering the uncertainties presenting in the initial states and parameters. By extending the elements of the state covariance matrix as augmented states, the statistical behavior of the trajectory is captured to reformulate the performance metrics and path constraints. The optimization problem is solved by the GPOPS-II toolbox in MATLAB environment. Monte Carlo simulations are also conducted to demonstrate the capability of the proposed method. Primary trading performances between the nominal deployment altitude and its dispersion can be observed by modulating the weights on the dispersion penalty, and a compromised result referring to maximizing the 3σ lower bound of the terminal altitude is achieved. The resulting path constraints also show better satisfaction in a disturbed environment compared with the nominal situation.

H2/H∞ control for grid-feeding converter considering system uncertainty

NASA Astrophysics Data System (ADS)

Li, Zhongwen; Zang, Chuanzhi; Zeng, Peng; Yu, Haibin; Li, Shuhui; Fu, Xingang

2017-05-01

Three-phase grid-feeding converters are key components to integrate distributed generation and renewable power sources to the power utility. Conventionally, proportional integral and proportional resonant-based control strategies are applied to control the output power or current of a GFC. But, those control strategies have poor transient performance and are not robust against uncertainties and volatilities in the system. This paper proposes a H2/H∞-based control strategy, which can mitigate the above restrictions. The uncertainty and disturbance are included to formulate the GFC system state-space model, making it more accurate to reflect the practical system conditions. The paper uses a convex optimisation method to design the H2/H∞-based optimal controller. Instead of using a guess-and-check method, the paper uses particle swarm optimisation to search a H2/H∞ optimal controller. Several case studies implemented by both simulation and experiment can verify the superiority of the proposed control strategy than the traditional PI control methods especially under dynamic and variable system conditions.

A study of occurrence rates of Electromagnetic Interference (EMI) to aircraft with a focus on HIRF (external) High Intensity Radiated Fields

NASA Technical Reports Server (NTRS)

Shooman, Martin L.

1994-01-01

This report presents the methodology and results of a subjective study done by Polytechnic University to investigate Electromagnetic Interference (EMI) events on aircraft. The results cover various types of EMI from on-board aircraft systems, passenger carry-on devices, and externally generated disturbances. The focus of the study, however, was on externally generated EMI, termed High Intensity Radiated Fields (HIRF), from radars, radio and television transmitters, and other man-made emitters of electromagnetic energy. The study methodology used an anonymous questionnaire distributed to experts to gather the data. This method is known as the Delphi or Consensus Estimation technique. The questionnaire was sent to an expert population of 230 and there were 57 respondents. Details of the questionnaire, a few anecdotes, and the statistical results of the study are presented.

Enterprise Information Technology Organizational Flexibility: Managing Uncertainty and Change

ERIC Educational Resources Information Center

Patten, Karen Prast

2009-01-01

Chief Information Officers (CIOs) lead enterprise information technology organizations (EITOs) in today's dynamic competitive business environment. CIOs deal with external and internal environmental changes, changing internal customer needs, and rapidly changing technology. New models for the organization include flexibility and suggest that CIOs…

Searching for resilience: addressing the impacts of changing disturbance regimes on forest ecosystem services

PubMed Central

Seidl, Rupert; Spies, Thomas A.; Peterson, David L.; Stephens, Scott L.; Hicke, Jeffrey A.

2016-01-01

Summary 1. The provisioning of ecosystem services to society is increasingly under pressure from global change. Changing disturbance regimes are of particular concern in this context due to their high potential impact on ecosystem structure, function and composition. Resilience-based stewardship is advocated to address these changes in ecosystem management, but its operational implementation has remained challenging. 2. We review observed and expected changes in disturbance regimes and their potential impacts on provisioning, regulating, cultural and supporting ecosystem services, concentrating on temperate and boreal forests. Subsequently, we focus on resilience as a powerful concept to quantify and address these changes and their impacts, and present an approach towards its operational application using established methods from disturbance ecology. 3. We suggest using the range of variability concept – characterizing and bounding the long-term behaviour of ecosystems – to locate and delineate the basins of attraction of a system. System recovery in relation to its range of variability can be used to measure resilience of ecosystems, allowing inferences on both engineering resilience (recovery rate) and monitoring for regime shifts (directionality of recovery trajectory). 4. It is important to consider the dynamic nature of these properties in ecosystem analysis and management decision-making, as both disturbance processes and mechanisms of resilience will be subject to changes in the future. Furthermore, because ecosystem services are at the interface between natural and human systems, the social dimension of resilience (social adaptive capacity and range of variability) requires consideration in responding to changing disturbance regimes in forests. 5. Synthesis and applications. Based on examples from temperate and boreal forests we synthesize principles and pathways for fostering resilience to changing disturbance regimes in ecosystem management. We conclude that future work should focus on testing and implementing these pathways in different contexts to make ecosystem services provisioning more robust to changing disturbance regimes and advance our understanding of how to cope with change and uncertainty in ecosystem management. PMID:26966320

Asymptotic tracking and disturbance rejection of the blood glucose regulation system.

PubMed

Ashley, Brandon; Liu, Weijiu

2017-07-01

Type 1 diabetes patients need external insulin to maintain blood glucose within a narrow range from 65 to 108 mg/dl (3.6 to 6.0 mmol/l). A mathematical model for the blood glucose regulation is required for integrating a glucose monitoring system into insulin pump technology to form a closed-loop insulin delivery system on the feedback of the blood glucose, the so-called "artificial pancreas". The objective of this paper is to treat the exogenous glucose from food as a glucose disturbance and then develop a closed-loop feedback and feedforward control system for the blood glucose regulation system subject to the exogenous glucose disturbance. For this, a mathematical model for the glucose disturbance is proposed on the basis of experimental data, and then incorporated into an existing blood glucose regulation model. Because all the eigenvalues of the disturbance model have zero real parts, the center manifold theory is used to establish blood glucose regulator equations. We then use their solutions to synthesize a required feedback and feedforward controller to reject the disturbance and asymptotically track a constant glucose reference of 90  mg/dl. Since the regulator equations are nonlinear partial differential equations and usually impossible to solve analytically, a linear approximation solution is obtained. Our numerical simulations show that, under the linear approximate feedback and feedforward controller, the blood glucose asymptotically tracks its desired level of 90 mg/dl approximately. Copyright © 2017 Elsevier Inc. All rights reserved.

Predictive momentum management for a space station measurement and computation requirements

NASA Technical Reports Server (NTRS)

Adams, John Carl

1986-01-01

An analysis is made of the effects of errors and uncertainties in the predicting of disturbance torques on the peak momentum buildup on a space station. Models of the disturbance torques acting on a space station in low Earth orbit are presented, to estimate how accurately they can be predicted. An analysis of the torque and momentum buildup about the pitch axis of the Dual Keel space station configuration is formulated, and a derivation of the Average Torque Equilibrium Attitude (ATEA) is presented, for the case of no MRMS (Mobile Remote Manipulation System) motion, Y vehicle axis MRMS motion, and Z vehicle axis MRMS motion. Results showed the peak momentum buildup to be approximately 20000 N-m-s and to be relatively insensitive to errors in the predicting torque models, for Z axis motion of the MRMS was found to vary significantly with model errors, but not exceed a value of approximately 15000 N-m-s for the Y axis MRMS motion with 1 deg attitude hold error. Minimum peak disturbance momentum was found not to occur at the ATEA angle, but at a slightly smaller angle. However, this minimum peak momentum attitude was found to produce significant disturbance momentum at the end of the predicting time interval.

Impact of deforestation and climate on the Amazon Basin's above-ground biomass during 1993-2012.

PubMed

Exbrayat, Jean-François; Liu, Yi Y; Williams, Mathew

2017-11-15

Since the 1960s, large-scale deforestation in the Amazon Basin has contributed to rising global CO 2 concentrations and to climate change. Recent advances in satellite observations enable estimates of gross losses of above-ground biomass (AGB) stocks due to deforestation. However, because of simultaneous regrowth, the net contribution of deforestation emissions to rising atmospheric CO 2 concentrations is poorly quantified. Climate change may also reduce the potential for forest regeneration in previously disturbed regions. Here, we address these points of uncertainty with a machine-learning approach that combines satellite observations of AGB with climate data across the Amazon Basin to reconstruct annual maps of potential AGB during 1993-2012, the above-ground C storage potential of the undisturbed landscape. We derive a 2.2 Pg C loss of AGB over the study period, and, for the regions where these losses occur, we estimate a 0.7 Pg C reduction in potential AGB. Thus, climate change has led to a decline of ~1/3 in the capacity of these disturbed forests to recover and recapture the C lost in disturbances during 1993-2012. Our approach further shows that annual variations in land use change mask the natural relationship between the El Niño/Southern Oscillation and AGB stocks in disturbed regions.

Sleep disturbances and cognitive decline: recommendations on clinical assessment and the management.

PubMed

Guarnieri, Biancamaria; Cerroni, Gianluigi; Sorbi, Sandro

2015-01-01

In 2004, in Genoa (Italy), the Italian Dementia Research Association (SINDem) was born. The first congress of this new scientific society took place in Rome in 2006. SINDem soon recognized the importance to investigate sleep problems in cognitive decline and created a national "sleep study group "composed by neurologists and sleep specialists. In 2012, The SINDem study group, in close relationship with the Italian Association of sleep medicine (AIMS), published the study "Prevalence of sleep disturbances in mild cognitive impairment and dementing disorders: a multicenter Italian clinical cross-sectional study on 431 patients ", confirming the high prevalence of sleep disturbances in a wide Italian population of persons with cognitive decline. The study was supported by a grant from the Italian Minister of Health and was conducted with the fundamental contribution of the Italian National Research Center (CNR). In 2014, the same group published the paper "Recommendations of the Sleep Study Group of the Italian Dementia Research Association (SINDem) on clinical assessment and management of sleep disorders in individuals with mild cognitive impairment and dementia: a clinical review". The recommendations are wide and directed to professionals (neurologists but not exclusively) to try to establish uniform levels of care, promote collaborative studies into areas of uncertainty, and define the qualitative characteristics of Dementia Reference Centers about sleep disturbances.

How well does your model capture the terrestrial ecosystem dynamics of the Arctic-Boreal Region?

NASA Astrophysics Data System (ADS)

Stofferahn, E.; Fisher, J. B.; Hayes, D. J.; Huntzinger, D. N.; Schwalm, C.

2016-12-01

The Arctic-Boreal Region (ABR) is a major source of uncertainties for terrestrial biosphere model (TBM) simulations. These uncertainties are precipitated by a lack of observational data from the region, affecting the parameterizations of cold environment processes in the models. Addressing these uncertainties requires a coordinated effort of data collection and integration of the following key indicators of the ABR ecosystem: disturbance, flora / fauna and related ecosystem function, carbon pools and biogeochemistry, permafrost, and hydrology. We are developing a model-data integration framework for NASA's Arctic Boreal Vulnerability Experiment (ABoVE), wherein data collection for the key ABoVE indicators is driven by matching observations and model outputs to the ABoVE indicators. The data are used as reference datasets for a benchmarking system which evaluates TBM performance with respect to ABR processes. The benchmarking system utilizes performance metrics to identify intra-model and inter-model strengths and weaknesses, which in turn provides guidance to model development teams for reducing uncertainties in TBM simulations of the ABR. The system is directly connected to the International Land Model Benchmarking (ILaMB) system, as an ABR-focused application.

The Screening Test for Emotional Problems--Teacher-Report Version (Step-T): Studies of Reliability and Validity

ERIC Educational Resources Information Center

Erford, Bradley T.; Butler, Caitlin; Peacock, Elizabeth

2015-01-01

The Screening Test for Emotional Problems-Teacher Version (STEP-T) was designed to identify students aged 7-17 years with wide-ranging emotional disturbances. Coefficients alpha and test-retest reliability were adequate for all subscales except Anxiety. The hypothesized five-factor model fit the data very well and external aspects of validity were…

Control by model error estimation

NASA Technical Reports Server (NTRS)

Likins, P. W.; Skelton, R. E.

1976-01-01

Modern control theory relies upon the fidelity of the mathematical model of the system. Truncated modes, external disturbances, and parameter errors in linear system models are corrected by augmenting to the original system of equations an 'error system' which is designed to approximate the effects of such model errors. A Chebyshev error system is developed for application to the Large Space Telescope (LST).

Conflict in the Classroom: The Education of At-Risk and Troubled Students. Fifth Edition.

ERIC Educational Resources Information Center

Long, Nicholas J.; Morse, William C.

This collection of over 60 readings on the education of students with emotional disturbances is organized into nine chapters. In each chapter, the articles are bound together by the humanistic ties of psychoeducation, which involves a concern for both the inner life and the external behavior. The book aims to make school time effective enough to…

An advanced robust method for speed control of switched reluctance motor

NASA Astrophysics Data System (ADS)

Zhang, Chao; Ming, Zhengfeng; Su, Zhanping; Cai, Zhuang

2018-05-01

This paper presents an advanced robust controller for the speed system of a switched reluctance motor (SRM) in the presence of nonlinearities, speed ripple, and external disturbances. It proposes that the adaptive fuzzy control is applied to regulate the motor speed in the outer loop, and the detector is used to obtain rotor detection in the inner loop. The new fuzzy logic tuning rules are achieved from the experience of the operator and the knowledge of the specialist. The fuzzy parameters are automatically adjusted online according to the error and its change of speed in the transient period. The designed detector can obtain the rotor's position accurately in each phase module. Furthermore, a series of contrastive simulations are completed between the proposed controller and proportion integration differentiation controller including low speed, medium speed, and high speed. Simulations show that the proposed robust controller enables the system reduced by at least 3% in overshoot, 6% in rise time, and 20% in setting time, respectively, and especially under external disturbances. Moreover, an actual SRM control system is constructed at 220 V 370 W. The experiment results further prove that the proposed robust controller has excellent dynamic performance and strong robustness.

Heat-transfer test results for a .0275-scale space shuttle external tank with a 10 deg/40 deg double cone-ogive nose in the NASA/AMES 3.5-foot hypersonic wind tunnel (FH14), volume 2

NASA Technical Reports Server (NTRS)

Carroll, H. R.

1977-01-01

A .0275 scale forebody model of the new baseline configuration of the space shuttle external tank vent cap configuration was tested to determine the flow field due to the double cone configuration. The tests were conducted in a 3.5 foot hypersonic wind tunnel at alpha = -5 deg, -4.59 deg, 0 deg, 5 deg, and 10 deg; beta = 0 deg, -3 deg, -5.51 deg, -6 deg, -9 deg, and +6 deg; nominal freestream Reynolds numbers per foot of 1.5 x 1 million, 3.0 x 1 million, and 5.0 x 1 million; and a nominal Mach number of 5. Separation and reattached flow from thermocouple data, shadowgraphs, and oil flows indicate that separation begins about 80% from the tip of the 10 deg cone, then reattaches on the vent cap and produces fully turbulent flow over most of the model forebody. The hardware disturbs the flow over a much larger area than present TPS application has assumed. A correction to the flow disturbance was experimentally suggested from the results of an additional test run.

[Mediagenic psychoses].

PubMed

Talmon, Y; Abrahams, A; Guy, N

1994-07-01

Disturbances of psychotic intensity resulting from external trauma at times of crisis and tension have been described in the literature, particularly in combat reactions, including the Saddam syndrome. Acute psychoses as reactions to mystical-religious fervor have also been described. We describe 2 clusters of patients admitted with an acute, delusional, psychotic picture against the background of the Vanunu treason trial and later the strong messianic expectations aroused among the followers of the Rebbe of Lubavitch. Both of these events received extensive coverage in the Israeli press and electronic telecommunication media. The emergence of the mental disturbances and the content of the psychoses were linked to the particularly strident and dramatic media coverage of these 2 events. The impact of the reports of wide-spread messianic fantasies in the contemporary news bulletins on those with preexisting premorbid sensitivity was sufficient to trigger the psychoses. The delusional content was topical, and not that of the traditional psychotic delusions such as that of being Napoleon. This emphasizes that not only an authentic major external trauma such as a war is capable of triggering psychosis, but also emotionladen, stressful news items, frequently repeated in the media (such as reports of espionage or messianic fervor), may have similar effects.

Position and attitude tracking control for a quadrotor UAV.

PubMed

Xiong, Jing-Jing; Zheng, En-Hui

2014-05-01

A synthesis control method is proposed to perform the position and attitude tracking control of the dynamical model of a small quadrotor unmanned aerial vehicle (UAV), where the dynamical model is underactuated, highly-coupled and nonlinear. Firstly, the dynamical model is divided into a fully actuated subsystem and an underactuated subsystem. Secondly, a controller of the fully actuated subsystem is designed through a novel robust terminal sliding mode control (TSMC) algorithm, which is utilized to guarantee all state variables converge to their desired values in short time, the convergence time is so small that the state variables are acted as time invariants in the underactuated subsystem, and, a controller of the underactuated subsystem is designed via sliding mode control (SMC), in addition, the stabilities of the subsystems are demonstrated by Lyapunov theory, respectively. Lastly, in order to demonstrate the robustness of the proposed control method, the aerodynamic forces and moments and air drag taken as external disturbances are taken into account, the obtained simulation results show that the synthesis control method has good performance in terms of position and attitude tracking when faced with external disturbances. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

When the firm prevents the crash: Avoiding market collapse with partial control.

PubMed

Levi, Asaf; Sabuco, Juan; A F Sanjuán, Miguel

2017-01-01

Market collapse is one of the most dramatic events in economics. Such a catastrophic event can emerge from the nonlinear interactions between the economic agents at the micro level of the economy. Transient chaos might be a good description of how a collapsing market behaves. In this work, we apply a new control method, the partial control method, with the goal of avoiding this disastrous event. Contrary to common control methods that try to influence the system from the outside, here the market is controlled from the bottom up by one of the most basic components of the market-the firm. This is the first time that the partial control method is applied on a strictly economical system in which we also introduce external disturbances. We show how the firm is capable of controlling the system avoiding the collapse by only adjusting the selling price of the product or the quantity of production in accordance to the market circumstances. Additionally, we demonstrate how a firm with a large market share is capable of influencing the demand achieving price stability across the retail and wholesale markets. Furthermore, we prove that the control applied in both cases is much smaller than the external disturbances.

Uncertainties in Parameters Estimated with Neural Networks: Application to Strong Gravitational Lensing

DOE PAGES

Perreault Levasseur, Laurence; Hezaveh, Yashar D.; Wechsler, Risa H.

2017-11-15

In Hezaveh et al. (2017) we showed that deep learning can be used for model parameter estimation and trained convolutional neural networks to determine the parameters of strong gravitational lensing systems. Here we demonstrate a method for obtaining the uncertainties of these parameters. We review the framework of variational inference to obtain approximate posteriors of Bayesian neural networks and apply it to a network trained to estimate the parameters of the Singular Isothermal Ellipsoid plus external shear and total flux magnification. We show that the method can capture the uncertainties due to different levels of noise in the input data,more » as well as training and architecture-related errors made by the network. To evaluate the accuracy of the resulting uncertainties, we calculate the coverage probabilities of marginalized distributions for each lensing parameter. By tuning a single hyperparameter, the dropout rate, we obtain coverage probabilities approximately equal to the confidence levels for which they were calculated, resulting in accurate and precise uncertainty estimates. Our results suggest that neural networks can be a fast alternative to Monte Carlo Markov Chains for parameter uncertainty estimation in many practical applications, allowing more than seven orders of magnitude improvement in speed.« less

Uncertainties in Parameters Estimated with Neural Networks: Application to Strong Gravitational Lensing

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

Perreault Levasseur, Laurence; Hezaveh, Yashar D.; Wechsler, Risa H.

In Hezaveh et al. (2017) we showed that deep learning can be used for model parameter estimation and trained convolutional neural networks to determine the parameters of strong gravitational lensing systems. Here we demonstrate a method for obtaining the uncertainties of these parameters. We review the framework of variational inference to obtain approximate posteriors of Bayesian neural networks and apply it to a network trained to estimate the parameters of the Singular Isothermal Ellipsoid plus external shear and total flux magnification. We show that the method can capture the uncertainties due to different levels of noise in the input data,more » as well as training and architecture-related errors made by the network. To evaluate the accuracy of the resulting uncertainties, we calculate the coverage probabilities of marginalized distributions for each lensing parameter. By tuning a single hyperparameter, the dropout rate, we obtain coverage probabilities approximately equal to the confidence levels for which they were calculated, resulting in accurate and precise uncertainty estimates. Our results suggest that neural networks can be a fast alternative to Monte Carlo Markov Chains for parameter uncertainty estimation in many practical applications, allowing more than seven orders of magnitude improvement in speed.« less

Entropic uncertainty relation of a two-qutrit Heisenberg spin model in nonuniform magnetic fields and its dynamics under intrinsic decoherence

NASA Astrophysics Data System (ADS)

Zhang, Zuo-Yuan; Wei, DaXiu; Liu, Jin-Ming

2018-06-01

The precision of measurements for two incompatible observables in a physical system can be improved with the assistance of quantum memory. In this paper, we investigate the quantum-memory-assisted entropic uncertainty relation for a spin-1 Heisenberg model in the presence of external magnetic fields, the systemic quantum entanglement (characterized by the negativity) is analyzed as contrast. Our results show that for the XY spin chain in thermal equilibrium, the entropic uncertainty can be reduced by reinforcing the coupling between the two particles or decreasing the temperature of the environment. At zero-temperature, the strong magnetic field can result in the growth of the entropic uncertainty. Moreover, in the Ising case, the variation trends of the uncertainty are relied on the choices of anisotropic parameters. Taking the influence of intrinsic decoherence into account, we find that the strong coupling accelerates the inflation of the uncertainty over time, whereas the high magnetic field contributes to its reduction during the temporal evolution. Furthermore, we also verify that the evolution behavior of the entropic uncertainty is roughly anti-correlated with that of the entanglement in the whole dynamical process. Our results could offer new insights into quantum precision measurement for the high spin solid-state systems.

Adaptive control of dynamical synchronization on evolving networks with noise disturbances

NASA Astrophysics Data System (ADS)

Yuan, Wu-Jie; Zhou, Jian-Fang; Sendiña-Nadal, Irene; Boccaletti, Stefano; Wang, Zhen

2018-02-01

In real-world networked systems, the underlying structure is often affected by external and internal unforeseen factors, making its evolution typically inaccessible. An adaptive strategy was introduced for maintaining synchronization on unpredictably evolving networks [Sorrentino and Ott, Phys. Rev. Lett. 100, 114101 (2008), 10.1103/PhysRevLett.100.114101], which yet does not consider the noise disturbances widely existing in networks' environments. We provide here strategies to control dynamical synchronization on slowly and unpredictably evolving networks subjected to noise disturbances which are observed at the node and at the communication channel level. With our strategy, the nodes' coupling strength is adaptively adjusted with the aim of controlling synchronization, and according only to their received signal and noise disturbances. We first provide a theoretical analysis of the control scheme by introducing an error potential function to seek for the minimization of the synchronization error. Then, we show numerical experiments which verify our theoretical results. In particular, it is found that our adaptive strategy is effective even for the case in which the dynamics of the uncontrolled network would be explosive (i.e., the states of all the nodes would diverge to infinity).

Sleep disturbances among offshore fleet workers: a questionnaire-based survey.

PubMed

Hansen, Jakob Hønborg; Holmen, Ingunn Marie

2011-01-01

BACKGROUND. Shift work is related to fatigue and desynchronization with the external environment. This study investigates how 6-h shifts and 12-h shifts affects sleep and safety in workers onboard offshore supply vessels, and if any differences exist between the two working schedules. MATERIAL AND METHODS. A questionnaire study was carried out in the North Sea, Australia, Africa, South America, and the Far East, with 577 participants. The offshore fleet workers gave information on parameters related to sleep disturbances, causes of sleep disturbances, and safety. Regional differences in these parameters were also investigated. RESULTS. Workers on 6-hour shifts reported significantly more sleep problems than 12-hour shift workers did (p 〈 0.01). The 6-hour workers were more affected by noise (p 〈 0.01) and shift-work itself (p 〈 0.01). CONCLUSIONS. Those working 6-hour shifts suffer more from sleep disturbances than those on 12-hour shifts, but this is not reflected in the perception of safety within the individual. Noise and shift-work itself is more of a problem in the 12-hour workers. Differences in safety culture and work morale are likely to cause the differences between regions.

Experiments in Developing Wakes

DTIC Science & Technology

2014-04-27

uncorrected and the right is corrected. The top row plots Mrms and the bottom row Wrms. All axis scales are the same. The measurements in a...water (dashed). Timesteps are M= 0, 0.52, 1.03, 1.89. The top row plots Mrms and the bottom row Wrm*. The uncertainty in velocity profile...reconstructions, which ought to be uniform vertically, is about 10% of the peak disturbance quantity. The profile from pure water does not differ

Adaptive robust control of a class of non-affine variable-speed variable-pitch wind turbines with unmodeled dynamics.

PubMed

Bagheri, Pedram; Sun, Qiao

2016-07-01

In this paper, a novel synthesis of Nussbaum-type functions, and an adaptive radial-basis function neural network is proposed to design controllers for variable-speed, variable-pitch wind turbines. Dynamic equations of the wind turbine are highly nonlinear, uncertain, and affected by unknown disturbance sources. Furthermore, the dynamic equations are non-affine with respect to the pitch angle, which is a control input. To address these problems, a Nussbaum-type function, along with a dynamic control law are adopted to resolve the non-affine nature of the equations. Moreover, an adaptive radial-basis function neural network is designed to approximate non-parametric uncertainties. Further, the closed-loop system is made robust to unknown disturbance sources, where no prior knowledge of disturbance bound is assumed in advance. Finally, the Lyapunov stability analysis is conducted to show the stability of the entire closed-loop system. In order to verify analytical results, a simulation is presented and the results are compared to both a PI and an existing adaptive controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Development of a real-time internal and external marker tracking system for particle therapy: a phantom study using patient tumor trajectory data.

PubMed

Cho, Junsang; Cheon, Wonjoong; Ahn, Sanghee; Jung, Hyunuk; Sheen, Heesoon; Park, Hee Chul; Han, Youngyih

2017-09-01

Target motion-induced uncertainty in particle therapy is more complicated than that in X-ray therapy, requiring more accurate motion management. Therefore, a hybrid motion-tracking system that can track internal tumor motion and as well as an external surrogate of tumor motion was developed. Recently, many correlation tests between internal and external markers in X-ray therapy have been developed; however, the accuracy of such internal/external marker tracking systems, especially in particle therapy, has not yet been sufficiently tested. In this article, the process of installing an in-house hybrid internal/external motion-tracking system is described and the accuracy level of tracking system was acquired. Our results demonstrated that the developed in-house external/internal combined tracking system has submillimeter accuracy, and can be clinically used as a particle therapy system as well as a simulation system for moving tumor treatment. © The Author 2017. Published by Oxford University Press on behalf of The Japan Radiation Research Society and Japanese Society for Radiation Oncology.

Transition to turbulence under low-pressure turbine conditions.

PubMed

Simon, T W; Kaszeta, R W

2001-05-01

In this paper, the topic of laminar to turbulent flow transition, as applied to the design of gas turbines, is discussed. Transition comes about when a flow becomes sufficiently unstable that the orderly vorticity structure of the laminar layer becomes randomly oriented. Vorticity with a streamwise component leads to rapid growth of eddies of a wide range of sizes and eventually to turbulent flow. Under "natural" transition, infinitesimal disturbances of selected frequencies grow. "Bypass transition" is a term coined to describe a similar process, but one driven by strong external disturbances. Transition proceeds so rapidly that the processes associated with "natural" transition seem to be "bypassed." Because the flow environment in the turbine is disturbed by wakes from upstream airfoils, eddies from combustor flows, jets from film cooling, separation zones on upstream airfoils and steps in the duct walls, transition is of the bypass mode. In this paper, we discuss work that has been done to characterize and model bypass transition, as applied to the turbine environment.

Error mechanism analyses of an ultra-precision stage for high speed scan motion over a large stroke

NASA Astrophysics Data System (ADS)

Wang, Shaokai; Tan, Jiubin; Cui, Jiwen

2015-02-01

Reticle Stage (RS) is designed to complete scan motion with high speed in nanometer-scale over a large stroke. Comparing with the allowable scan accuracy of a few nanometers, errors caused by any internal or external disturbances are critical and must not be ignored. In this paper, RS is firstly introduced in aspects of mechanical structure, forms of motion, and controlling method. Based on that, mechanisms of disturbances transferred to final servo-related error in scan direction are analyzed, including feedforward error, coupling between the large stroke stage (LS) and the short stroke stage (SS), and movement of measurement reference. Especially, different forms of coupling between SS and LS are discussed in detail. After theoretical analysis above, the contributions of these disturbances to final error are simulated numerically. The residual positioning error caused by feedforward error in acceleration process is about 2 nm after settling time, the coupling between SS and LS about 2.19 nm, and the movements of MF about 0.6 nm.

Bringing social standards into project evaluation under dynamic uncertainty.

PubMed

Knudsen, Odin K; Scandizzo, Pasquale L

2005-04-01

Society often sets social standards that define thresholds of damage to society or the environment above which compensation must be paid to the state or other parties. In this article, we analyze the interdependence between the use of social standards and investment evaluation under dynamic uncertainty where a negative externality above a threshold established by society requires an assessment and payment of damages. Under uncertainty, the party considering implementing a project or new technology must not only assess when the project is economically efficient to implement but when to abandon a project that could potentially exceed the social standard. Using real-option theory and simple models, we demonstrate how such a social standard can be integrated into cost-benefit analysis through the use of a development option and a liability option coupled with a damage function. Uncertainty, in fact, implies that both parties interpret the social standard as a target for safety rather than an inflexible barrier that cannot be overcome. The larger is the uncertainty, in fact, the greater will be the tolerance for damages in excess of the social standard from both parties.