Analysis and improvement of digital control stability for master-slave manipulator system

International Nuclear Information System (INIS)

Yoshida, Koichi; Yabuta, Tetsuro

1992-01-01

Some bilateral controls of master-slave system have been designed, which can realize high-fidelity telemanipulation as if the operator were manipulating the object directly. While usual robot systems are controlled by software-servo system using digital computer, little work has been published on design and analysis for digital control of these systems, which must consider time-delay of sensor signals and zero order hold effect of command signals on actuators. This paper presents a digital control analysis for single degree of freedom master-slave system including impedance models of both the human operator and the task object, which clarifies some index for the stability. The stability result shows a virtual master-slave system concepts, which improve the digital control stability. We first analyze a dynamic control method of master-slave system in discrete-time system for the stability problem, which can realize high-fidelity telemanipulation in the continuous-time. Secondly, using the results of the stability analysis, the robust control scheme for master-slave system is proposed, and the validity of this scheme is finally confirmed by the simulation. Consequently, it would be considered that any combination of master and slave modules with dynamic model of these manipulators is possible to construct the stable master-slave system. (author)

Force Reflection Control for Master/Slave Tele-manipulators

International Nuclear Information System (INIS)

Kang, Min Sig; Kim, Doo Ho; Choi, Sun Il; Kim, Nam Hyung; Lee, Jong Bee

2009-04-01

This report concerns on a master/slave tele-manipulator which is used in highly hazardous hot cell. To design a force reflection and fine tracking control for the master-slave telemanipulator, the following has been carried out. (1) Variation of the moment of inertia of each link in the operating angle range, (2) Variation of the gratitational torque of each link in the operating angle range, (3) Dynamic characteristic analysis of the master-slave manipulator controlled by an output PD-control through a modal analysis, (4) Optimal static output feedback PD-control design by using modal analysis, (5) Controller design for each joint, (6) Adams-MatLab Simulink simulation model development. The results this project are as follows: (1) Program for analysis of the moment of inertia of each link in the operating angle range and simulation results, (2) Program for analysis of the gratitational torque of each link in the operating angle range and simulation results, (3) Dynamic characteristic of the master-slave manipulator controlled by an output PD-control through a modal analysis, (4) Program for designing optimal output PD-control by using modal analysis, (5) Controller designed for each joint, (6) Adams-MatLab Simulink simulation model, (7) Simulation results form output PD-control, etc

Output synchronization of chaotic systems under nonvanishing perturbations

Energy Technology Data Exchange (ETDEWEB)

Lopez-Mancilla, Didier [Departamento de Ciencias Exactas y Tecnologicas, Centro Universitario de los Lagos, Universidad de Guadalajara (CULagos-UdeG), Enrique Diaz de Leon s/n, 47460 Lagos de Moreno, Jal. (Mexico)], E-mail: didier@uabc.mx; Cruz-Hernandez, Cesar [Electronics and Telecommunications Department, Scientific Research and Advanced Studies of Ensenada (CICESE), Km. 107, Carretera Tijuana-Ensenada, 22860 Ensenada, B.C. (Mexico)], E-mail: ccruz@cicese.mx

2008-08-15

In this paper, an analysis for chaos synchronization under nonvanishing perturbations is presented. In particular, we use model-matching approach from nonlinear control theory for output synchronization of identical and nonidentical chaotic systems under nonvanishing perturbations in a master-slave configuration. We show that the proposed approach is indeed suitable to synchronize a class of perturbed slaves with a chaotic master system; that is the synchronization error trajectories remain bounded if the perturbations satisfy some conditions. In order to illustrate this robustness synchronization property, we present two cases of study: (i) for identical systems, a pair of coupled Roessler systems, the first like a master and the other like a perturbed slave, and (ii) for nonidentical systems, a Chua's circuit driving a Roessler/slave system with a perturbed control law, in both cases a quantitative analysis on the perturbation is included.

Output synchronization of chaotic systems under nonvanishing perturbations

International Nuclear Information System (INIS)

Lopez-Mancilla, Didier; Cruz-Hernandez, Cesar

2008-01-01

In this paper, an analysis for chaos synchronization under nonvanishing perturbations is presented. In particular, we use model-matching approach from nonlinear control theory for output synchronization of identical and nonidentical chaotic systems under nonvanishing perturbations in a master-slave configuration. We show that the proposed approach is indeed suitable to synchronize a class of perturbed slaves with a chaotic master system; that is the synchronization error trajectories remain bounded if the perturbations satisfy some conditions. In order to illustrate this robustness synchronization property, we present two cases of study: (i) for identical systems, a pair of coupled Roessler systems, the first like a master and the other like a perturbed slave, and (ii) for nonidentical systems, a Chua's circuit driving a Roessler/slave system with a perturbed control law, in both cases a quantitative analysis on the perturbation is included

Research of the master-slave robot surgical system with the function of force feedback.

Science.gov (United States)

Shi, Yunyong; Zhou, Chaozheng; Xie, Le; Chen, Yongjun; Jiang, Jun; Zhang, Zhenfeng; Deng, Ze

2017-12-01

Surgical robots lack force feedback, which may lead to operation errors. In order to improve surgical outcomes, this research developed a new master-slave surgical robot, which was designed with an integrated force sensor. The new structure designed for the master-slave robot employs a force feedback mechanism. A six-dimensional force sensor was mounted on the tip of the slave robot's actuator. Sliding model control was adopted to control the slave robot. According to the movement of the master system manipulated by the surgeon, the slave's movement and the force feedback function were validated. The motion was completed, the standard deviation was calculated, and the force data were detected. Hence, force feedback was realized in the experiment. The surgical robot can help surgeons to complete trajectory motions with haptic sensation. Copyright © 2017 John Wiley & Sons, Ltd.

Models for Master-Slave Clock Distribution Networks with Third-Order Phase-Locked Loops

OpenAIRE

Piqueira, José Roberto Castilho; de Carvalho Freschi, Marcela

2007-01-01

The purpose of this work is to study the processing and transmission of clock signals in networks of geographically distributed nodes, in order to derive conditions for frequency and phase synchronization between the nodes. The focus is on the master-slave architecture, which presents a priority scheme of clock distribution. One-way master-slave (OWMS ) and two-way master-slave (TWMS) chains are studied, considering that the slave nodes are third-order phase-locked loops...

Parallel control method for a bilateral master-slave manipulator

International Nuclear Information System (INIS)

Miyazaki, Tomohiro; Hagihara, Shiro

1989-01-01

In this paper, a new control method for a bilateral master-slave manipulator is proposed. The proposed method yields stable and fast response of the control system. These are essential to obtain a precise position control and a sensitive force reflection control. In the conventional position-force control method, each control loop of the master and the slave arms are connected in series to construct a bilateral control loop. Therefore the total phase lag through the bilateral control loop becomes twice as much as that of one arm control. Such phase lag makes the control system unstable and control performance worse. To improve the stability and the control performance, we propose 'parallel control method.' In the proposed method, the control loops of the master and the slave arms are connected in parallel so that the total phase lag is reduced to as much as that of one arm. The stability condition of the proposed method is studied and it is proved that the stability of this method can be guaranteed independent of the rigidness of a reaction surface and the position/force ratio between the master and the slave arms while the stability of the conventional method depends on them. (author)

MA-23-6000: underwater bilateral servo master slave manipulator

International Nuclear Information System (INIS)

Vertut, Jean

The different types of manipulators, recent data on their dexterity and the underwater work possible with servo master slave manipulators are reviewed. The general specifications of the manipulator MA 23-6000 designed for the machine ERIC II are given [fr

Bilateral control of master-slave manipulators for ideal kinesthetic coupling

International Nuclear Information System (INIS)

Yokokohji, Yasuyoshi; Yoshikawa, Tsuneo

1991-01-01

The way to control master-slave manipulators affects considerably to the maneuverability of the master-slave systems. The ideal state of master-slave systems can be regarded that the operator can operate the system as if he were directly manipulating the object which is actually existing at the remote site. In other saying, the system must be coupled with the operator to give the ideal kinesthetic sense so that he can perceive the object. So far, several researches discussed about the ideal states of master-slave systems in their own descriptions. However, there is few exact discussion about how close the ideal state can be achieved actually or what kind of control scheme should be designed in order to achieve it. In this paper, we propose a control scheme which can achieve the ideal kinesthetic coupling with the operator and realize three ideal responses which were previously defined by the authors. Secondly, we show the stability of the system controlled by the proposed scheme by using the concept of passivity. We then discuss about the system stability when the sensor signals are pass through the filters. Lastly, the validity of the proposed scheme is confirmed by simulations. (author)

Bilateral control of master-slave manipulators for ideal kinesthetic coupling

Energy Technology Data Exchange (ETDEWEB)

Yokokohji, Yasuyoshi; Yoshikawa, Tsuneo (Kyoto Univ. (Japan). Faculty of Engineering)

1991-01-01

The way to control master-slave manipulators affects considerably to the maneuverability of the master-slave systems. The ideal state of master-slave systems can be regarded that the operator can operate the system as if he were directly manipulating the object which is actually existing at the remote site. In other saying, the system must be coupled with the operator to give the ideal kinesthetic sense so that he can perceive the object. So far, several researches discussed about the ideal states of master-slave systems in their own descriptions. However, there is few exact discussion about how close the ideal state can be achieved actually or what kind of control scheme should be designed in order to achieve it. In this paper, we propose a control scheme which can achieve the ideal kinesthetic coupling with the operator and realize three ideal responses which were previously defined by the authors. Secondly, we show the stability of the system controlled by the proposed scheme by using the concept of passivity. We then discuss about the system stability when the sensor signals are pass through the filters. Lastly, the validity of the proposed scheme is confirmed by simulations. (author).

Multi-control modes for a master-slave manipulator with different configurations and its maneuverability

International Nuclear Information System (INIS)

Matsuhira, Nobuto; Asakura, Makoto; Bamba, Hiroyuki

1995-01-01

The new master-slave control method is proposed on multi-control modes for a master-slave manipulator with different configurations. A virtual internal model following control is applied to position symmetrical bilateral control. In our method, a master-slave control mode (MS-mode), a joystick control mode (JS-mode), a master arm offset mode (OM-mode), and a servo hold mode (LK-mode) are able to be realized by operating the desired output values of the virtual internal models in a common control algorithm. There is compliant characteristic between the master and slave models. In the result of evaluation experiments between the MS-mode and the JS-mode, although the MS-mode is superior to the JS-mode in manipulating a fine task, our JS-mode is found to be useful to carry out such a task compared with a conventional JS-mode which only directs the rates for the slave arm. In the JS-mode, the slave arm moves to the position where the reaction force of the slave arm and the operating force of the master arm are balanced. Thus, it is possible either to control an overload for an object and to control the contact force. The validity of the proposed method is verified. (author)

Synchronization of chaotic systems involving fractional operators of Liouville-Caputo type with variable-order

Science.gov (United States)

Coronel-Escamilla, A.; Gómez-Aguilar, J. F.; Torres, L.; Escobar-Jiménez, R. F.; Valtierra-Rodríguez, M.

2017-12-01

In this paper, we propose a state-observer-based approach to synchronize variable-order fractional (VOF) chaotic systems. In particular, this work is focused on complete synchronization with a so-called unidirectional master-slave topology. The master is described by a dynamical system in state-space representation whereas the slave is described by a state observer. The slave is composed of a master copy and a correction term which in turn is constituted of an estimation error and an appropriate gain that assures the synchronization. The differential equations of the VOF chaotic system are described by the Liouville-Caputo and Atangana-Baleanu-Caputo derivatives. Numerical simulations involving the synchronization of Rössler oscillators, Chua's systems and multi-scrolls are studied. The simulations show that different chaotic behaviors can be obtained if different smooths functions defined in the interval (0 , 1 ] are used as the variable order of the fractional derivatives. Furthermore, simulations show that the VOF chaotic systems can be synchronized.

Development of master slave system for interventional radiology with force-rate control

International Nuclear Information System (INIS)

Ide, Masaru; Zobel, P.B.; Claudio, P.D.; Mohri, Makoto; Komeda, Takashi

2010-01-01

The objective of this study is to develop a master-slave system for a catheter-guided operation, which is performed by using radiology, through the vascular system. When the master-slave system is used, the surgeon is not exposed to x-rays during the operation. The master tool is managed by an operator away from the slave tool, which is near the patient. The system must provide a realistic picture to the surgeon, particularly in term of force information because this operation is performed by observing three-dimensional fields on a two-dimensional monitor. In this paper, we describe the development of a master slave system that involves the use of force-rate control for guiding the catheter without using force sensors. The master tool has a force-display function. This system can be controlled by force and velocity controlling; hence, this system realized an innovative mechanism and algorism. Finally, the preliminary experiment indicated that the new control method was effective. Further, the force display was stable and achieved fast response. (author)

A new reduced-order observer for the synchronization of nonlinear chaotic systems: An application to secure communications

Energy Technology Data Exchange (ETDEWEB)

Castro-Ramírez, Joel, E-mail: ingcastro.7@gmail.com [Universidad Politécnica de Tlaxcala Av. Universidad Politecnica de Tlaxcala No.1, San Pedro Xalcaltzinco, Tepeyanco, Tlaxcala, C.P. 90180 (Mexico); Martínez-Guerra, Rafael, E-mail: rguerra@ctrl.cinvestav.mx [Departamento de Control Automático CINVESTAV-IPN, A.P. 14-740, D.F., México C.P. 07360 (Mexico); Cruz-Victoria, Juan Crescenciano, E-mail: juancrescenciano.cruz@uptlax.edu.mx [Universidad Politécnica de Tlaxcala Av. Universidad Politécnica de Tlaxcala No.1, San Pedro Xalcaltzinco, Tepeyanco, Tlaxcala, C.P. 90180 (Mexico)

2015-10-15

This paper deals with the master-slave synchronization scheme for partially known nonlinear chaotic systems, where the unknown dynamics is considered as the master system and we propose the slave system structure which estimates the unknown states. It introduced a new reduced order observer, using the concept of Algebraic Observability; we applied the results to a Sundarapandian chaotic system, and by means of some numerical simulations we show the effectiveness of the suggested approach. Finally, the proposed observer is utilized for encryption, where encryption key is the master system and decryption key is the slave system.

A new reduced-order observer for the synchronization of nonlinear chaotic systems: An application to secure communications

International Nuclear Information System (INIS)

Castro-Ramírez, Joel; Martínez-Guerra, Rafael; Cruz-Victoria, Juan Crescenciano

2015-01-01

This paper deals with the master-slave synchronization scheme for partially known nonlinear chaotic systems, where the unknown dynamics is considered as the master system and we propose the slave system structure which estimates the unknown states. It introduced a new reduced order observer, using the concept of Algebraic Observability; we applied the results to a Sundarapandian chaotic system, and by means of some numerical simulations we show the effectiveness of the suggested approach. Finally, the proposed observer is utilized for encryption, where encryption key is the master system and decryption key is the slave system

Experimental pulse synchronisation of two chaotic circuits

CERN Document Server

Fortuna, L; Rizzo, A

2003-01-01

In this work a novel synchronisation scheme for chaotic systems is presented. Taking inspiration from the system decomposition approach, the master and slave are connected via a switch which allows to alternate the signal fed into the slave between the master signal and the slave signal itself. The switching frequency has been taken into account as a control parameter to characterise the synchronisation properties of the system. Experimental results, performed on real Chua's circuits, confirm the validity of the approach, emphasising the fact that synchronisation is achieved for switching frequencies greater than a certain threshold.

Experimental pulse synchronisation of two chaotic circuits

International Nuclear Information System (INIS)

Fortuna, L.; Frasca, M.; Rizzo, A.

2003-01-01

In this work a novel synchronisation scheme for chaotic systems is presented. Taking inspiration from the system decomposition approach, the master and slave are connected via a switch which allows to alternate the signal fed into the slave between the master signal and the slave signal itself. The switching frequency has been taken into account as a control parameter to characterise the synchronisation properties of the system. Experimental results, performed on real Chua's circuits, confirm the validity of the approach, emphasising the fact that synchronisation is achieved for switching frequencies greater than a certain threshold

Master-slave exponential synchronization of delayed complex-valued memristor-based neural networks via impulsive control.

Science.gov (United States)

Li, Xiaofan; Fang, Jian-An; Li, Huiyuan

2017-09-01

This paper investigates master-slave exponential synchronization for a class of complex-valued memristor-based neural networks with time-varying delays via discontinuous impulsive control. Firstly, the master and slave complex-valued memristor-based neural networks with time-varying delays are translated to two real-valued memristor-based neural networks. Secondly, an impulsive control law is constructed and utilized to guarantee master-slave exponential synchronization of the neural networks. Thirdly, the master-slave synchronization problems are transformed into the stability problems of the master-slave error system. By employing linear matrix inequality (LMI) technique and constructing an appropriate Lyapunov-Krasovskii functional, some sufficient synchronization criteria are derived. Finally, a numerical simulation is provided to illustrate the effectiveness of the obtained theoretical results. Copyright © 2017 Elsevier Ltd. All rights reserved.

Nonlinear observer for synchronization of chaotic systems with application to secure data transmission

Science.gov (United States)

Aguilar-López, Ricardo; Martínez-Guerra, Rafael; Perez-Pinacho, Claudia A.

2014-06-01

The main issue of this work is related with the design of a class of nonlinear observer in order to synchronize chaotic dynamical systems in a master-slave scheme, considering different initial conditions. The oscillator of Chen is proposed as a benchmark model and a bounded-type observer is proposed to reach synchronicity between both two chaotic systems. The proposed observer contains a proportional and sigmoid form of a bounded function of the synchronization error in order to provide asymptotic synchronization with a satisfactory performance. Some numerical simulations were carrying out in order to show the operation of the proposed methodology, with possible applications to secure data communications issues.

Control system for the Fermilab Master-Slave servo manipulator

International Nuclear Information System (INIS)

Ducar, R.J.

1977-01-01

A control system for the Fermilab Master-Slave servo manipulator was developed. This new system offers a significant improvement in operational performance over the extant servo design with additional emphasis on simplicity of operation and maintainability. The servo manipulator is force-reflecting in each of the seven independent bilateral motions. Master force multiplication is automatically increased as the slave force is increased to its fifty pound capacity. The design incorporates triac control of the low inertia two-phase servomotors and makes extensive use of digital circuits in the servo loops. The manipulator is utilized in servicing radioactive beam-line targeting equipment

Parallel processing data network of master and slave transputers controlled by a serial control network

Science.gov (United States)

Crosetto, Dario B.

1996-01-01

The present device provides for a dynamically configurable communication network having a multi-processor parallel processing system having a serial communication network and a high speed parallel communication network. The serial communication network is used to disseminate commands from a master processor (100) to a plurality of slave processors (200) to effect communication protocol, to control transmission of high density data among nodes and to monitor each slave processor's status. The high speed parallel processing network is used to effect the transmission of high density data among nodes in the parallel processing system. Each node comprises a transputer (104), a digital signal processor (114), a parallel transfer controller (106), and two three-port memory devices. A communication switch (108) within each node (100) connects it to a fast parallel hardware channel (70) through which all high density data arrives or leaves the node.

Multisynchronization of chaotic oscillators via nonlinear observer approach.

Science.gov (United States)

Aguilar-López, Ricardo; Martínez-Guerra, Rafael; Mata-Machuca, Juan L

2014-01-01

The goal of this work is to synchronize a class of chaotic oscillators in a master-slave scheme, under different initial conditions, considering several slaves systems. The Chen oscillator is employed as a benchmark model and a nonlinear observer is proposed to reach synchronicity between the master and the slaves' oscillators. The proposed observer contains a proportional and integral form of a bounded function of the synchronization error in order to provide asymptotic synchronization with a satisfactory performance. Numerical experiments were carried out to show the operation of the considered methodology.

Modification for collection of master-slave synchronized chaotic systems

International Nuclear Information System (INIS)

Guo Rongwei; Li Gang

2009-01-01

In this paper, based on the adaptive-feedback control method, we synchronize two identical chaotic systems. In comparison with the previous methods such as the open-plus-closed-loop (OPCL) method, the present control scheme is simple, and therefore it is easily implemented in practice. At last, a group of chaotic systems are used to demonstrate the effectiveness of this method.

Synchronization of the unified chaotic systems using a sliding mode controller

International Nuclear Information System (INIS)

Zribi, Mohamed; Smaoui, Nejib; Salim, Haitham

2009-01-01

The unified chaotic system incorporates the behaviors of the Lorenz, the Chen and the Lue chaotic systems. This paper deals with the synchronization of two identical unified chaotic systems where the slave system is assumed to have a single input. A sliding mode controller is proposed to synchronize the two systems. The asymptotic convergence to zero of the errors between the states of the master and the slave systems is shown. Simulations results are presented to illustrate the proposed controller; they indicate that the designed controller is able to synchronize the unified chaotic systems. Also, simulation results show that the proposed control scheme is robust to random bounded disturbances acting on the master system. Moreover, the proposed scheme is applied to the secure communications field, where simulation results indicate that the proposed scheme is effective.

Remote heterodyne millimeter-wave over fiber based OFDM-PON with master-to-slave injected dual-mode colorless FPLD pair.

Science.gov (United States)

Chen, Hsiang-Yu; Chi, Yu-Chieh; Lin, Gong-Ru

2015-08-24

A remote heterodyne millimeter-wave (MMW) carrier at 47.7 GHz over fiber synthesized with the master-to-slave injected dual-mode colorless FPLD pair is proposed, which enables the future connection between the wired fiber-optic 64-QAM OFDM-PON at 24 Gb/s with the MMW 4-QAM OFDM wireless network at 2 Gb/s. Both the single- and dual-mode master-to-slave injection-locked colorless FPLD pairs are compared to optimize the proposed 64-QAM OFDM-PON. For the unamplified single-mode master, the slave colorless FPLD successfully performs the 64-QAM OFDM data at 24 Gb/s with EVM, SNR and BER of 8.5%, 21.5 dB and 2.9 × 10(-3), respectively. In contrast, the dual-mode master-to-slave injection-locked colorless FPLD pair with amplified and unfiltered master can transmit 64-QAM OFDM data at 18 Gb/s over 25-km SMF to provide EVM, SNR and BER of 8.2%, 21.8 dB and 2.2 × 10(-3), respectively. For the dual-mode master-to-slave injection-locked colorless FPLD pair, even though the modal dispersion occurred during 25-km SMF transmission makes it sacrifice the usable OFDM bandwidth by only 1 GHz, which guarantees the sufficient encoding bitrate for the optically generated MMW carrier to implement the fusion of MMW wireless LAN and DWDM-PON with cost-effective and compact architecture. As a result, the 47.7-GHz MMW carrier remotely beat from the dual-mode master-to-slave injection-locked colorless FPLD pair exhibits an extremely narrow bandwidth of only 0.48 MHz. After frequency down-conversion operation, the 47.7-GHz MMW carrier successfully delivers 4-QAM OFDM data up to 2 Gb/s with EVM, SNR and BER of 33.5%, 9.51 dB and 1.4 × 10(-3), respectively.

Gabor fusion master slave optical coherence tomography

DEFF Research Database (Denmark)

Cernat, Ramona; Bradu, Adrian; Israelsen, Niels Møller

2017-01-01

This paper describes the application of the Gabor filtering protocol to a Master/Slave (MS) swept source optical coherence tomography (SS)-OCT system at 1300 nm. The MS-OCT system delivers information from selected depths, a property that allows operation similar to that of a time domain OCT system......, where dynamic focusing is possible. The Gabor filtering processing following collection of multiple data from different focus positions is different from that utilized by a conventional swept source OCT system using a Fast Fourier transform (FFT) to produce an A-scan. Instead of selecting the bright...

Shape synchronization control for three-dimensional chaotic systems

International Nuclear Information System (INIS)

Huang, Yuanyuan; Wang, Yinhe; Chen, Haoguang; Zhang, Siying

2016-01-01

This paper aims to the three-dimensional continuous chaotic system and shape of the chaotic attractor by utilizing the basic theory of plane curves in classical differential geometry, the continuous controller is synthesized for the master–slave synchronization in shape. This means that the slave system can possess the same shape of state trajectory with the master system via the continuous controller. The continuous controller is composed of three sub-controllers, which respectively correspond to the master–slave synchronization in shape for the three projective curves of the chaotic attractor onto the three coordinate planes. Moreover, the proposed shape synchronization technique as well as application of control scheme to secure communication is also demonstrated in this paper, where numerical simulation results show the proposed control method works well.

A Hybrid Double-Layer Master-Slave Model For Multicore-Node Clusters

International Nuclear Information System (INIS)

Liu Gang; Schmider, Hartmut; Edgecombe, Kenneth E

2012-01-01

The Double-Layer Master-Slave Model (DMSM) is a suitable hybrid model for executing a workload that consists of multiple independent tasks of varying length on a cluster consisting of multicore nodes. In this model, groups of individual tasks are first deployed to the cluster nodes through an MPI based Master-Slave model. Then, each group is processed by multiple threads on the node through an OpenMP based All-Slave approach. The lack of thread safety of most MPI libraries has to be addressed by a judicious use of OpenMP critical regions and locks. The HPCVL DMSM Library implements this model in Fortran and C. It requires a minimum of user input to set up the framework for the model and to define the individual tasks. Optionally, it supports the dynamic distribution of task-related data and the collection of results at runtime. This library is freely available as source code. Here, we outline the working principles of the library and on a few examples demonstrate its capability to efficiently distribute a workload on a distributed-memory cluster with shared-memory nodes.

Master-Slave synchronization of robot manipulators: experimental results

NARCIS (Netherlands)

Bondhus, A.K.; Pettersen, K.Y.; Nijmeijer, H.

2005-01-01

This paper presents experimental results for master-slave synchronization of two robot manipulators using a recently developed observer-controller scheme. The paper aims to investigate the value and the limitations of the theory. In particular, the theoretical result of uniform ultimate boundedness

Design and control of MR haptic master/slave robot system for minimally invasive surgery

Science.gov (United States)

Uhm, Chang-Ho; Nguyen, Phoung Bac; Choi, Seung-Bok

2013-04-01

In this work, magnetorheological (MR) haptic master and slave robot for minimally invasive surgery (MIS) have been designed and tested. The proposed haptic master consists of four actuators; three MR brakes featuring gimbal structure for 3-DOF rotation motion(X, Y and Z axes) and one MR linear actuator for 1-DOF translational motion. The proposed slave robot which is connected with the haptic master has vertically multi- joints, and it consists of four DC servomotors; three for positioning endoscope and one for spinning motion. We added a fixed bar with a ball joint on the base of the slave for the endoscope position at the patient's abdomen to maintain safety. A gimbal structure at the end of the slave robotic arm for the last joint rotates freely with respect to the pivot point of the fixed bar. This master-slave system runs as if a teleoperation system through TCP/IP connection, programmed by LabVIEW. In order to achieve the desired position trajectory, a proportional-integral-derivative (PID) controller is designed and implemented. It has been demonstrated that the effective tracking control performances for the desired motion are well achieved and presented in time domain. At last, an experiment in virtual environments is undertaken to investigate the effectiveness of the MR haptic master device for MIS system.

Concept for a large master/slave-controlled robotic hand

Science.gov (United States)

Grissom, William A.; Abdallah, Mahmoud A.; White, Carl L.

1988-01-01

A strategy is presented for the design and construction of a large master/slave-controlled, five-finger robotic hand. Each of the five fingers will possess four independent axes each driven by a brushless DC servomotor and, thus, four degrees-of-freedom. It is proposed that commercially available components be utilized as much as possible to fabricate a working laboratory model of the device with an anticipated overall length of two-to-four feet (0.6 to 1.2 m). The fingers are to be designed so that proximity, tactile, or force/torque sensors can be imbedded in their structure. In order to provide for the simultaneous control of the twenty independent hand joints, a multilevel master/slave control strategy is proposed in which the operator wears a specially instrumented glove which produces control signals corresponding to the finger configurations and which is capable of conveying sensor feedback signals to the operator. Two dexterous hand master devices are currently commercially available for this application with both undergoing continuing development. A third approach to be investigated for the master control mode is the use of real-time image processing of a specially patterned master glove to provide the respective control signals for positioning the multiple finger joints.

Physiological control of dual rotary pumps as a biventricular assist device using a master/slave approach.

Science.gov (United States)

Stevens, Michael C; Wilson, Stephen; Bradley, Andrew; Fraser, John; Timms, Daniel

2014-09-01

Dual rotary left ventricular assist devices (LVADs) can provide biventricular mechanical support during heart failure. Coordination of left and right pump speeds is critical not only to avoid ventricular suction and to match cardiac output with demand, but also to ensure balanced systemic and pulmonary circulatory volumes. Physiological control systems for dual LVADs must meet these objectives across a variety of clinical scenarios by automatically adjusting left and right pump speeds to avoid catastrophic physiological consequences. In this study we evaluate a novel master/slave physiological control system for dual LVADs. The master controller is a Starling-like controller, which sets flow rate as a function of end-diastolic ventricular pressure (EDP). The slave controller then maintains a linear relationship between right and left EDPs. Both left/right and right/left master/slave combinations were evaluated by subjecting them to four clinical scenarios (rest, postural change, Valsalva maneuver, and exercise) simulated in a mock circulation loop. The controller's performance was compared to constant-rotational-speed control and two other dual LVAD control systems: dual constant inlet pressure and dual Frank-Starling control. The results showed that the master/slave physiological control system produced fewer suction events than constant-speed control (6 vs. 62 over a 7-min period). Left/right master/slave control had lower risk of pulmonary congestion than the other control systems, as indicated by lower maximum EDPs (15.1 vs. 25.2-28.4 mm Hg). During exercise, master/slave control increased total flow from 5.2 to 10.1 L/min, primarily due to an increase of left and right pump speed. Use of the left pump as the master resulted in fewer suction events and lower EDPs than when the right pump was master. Based on these results, master/slave control using the left pump as the master automatically adjusts pump speed to avoid suction and increases pump flow

Bilateral control of master-slave manipulators with constant time delay.

Science.gov (United States)

Forouzantabar, A; Talebi, H A; Sedigh, A K

2012-01-01

This paper presents a novel teleoperation controller for a nonlinear master-slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the passivity based architecture upon the earlier work of Lee and Spong (2006) [14] to improve position tracking and consequently transparency in the face of disturbances and environmental contacts. The proposed controller employs a PID controller in each side to overcome some limitations of a PD controller and guarantee an improved performance. Moreover, by using Fourier transform and Parseval's identity in the frequency domain, we demonstrate that this new PID controller preserves the passivity of the system. Simulation and semi-experimental results show that the PID controller tracking performance is superior to that of the PD controller tracking performance in slave/environmental contacts. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

Synchronization in reduced-order of chaotic systems via control approaches based on high-order sliding-mode observer

Energy Technology Data Exchange (ETDEWEB)

Rodriguez, A. [Electrical Engineering Doctoral Program, Mechanical and Electrical Engineering Faculty, Autonomous University of Nuevo Leon, 66450 San Nicolas de los Garza, N.L. (Mexico)], E-mail: angelrdz@gmail.com; De Leon, J. [Electrical Engineering Doctoral Program, Mechanical and Electrical Engineering Faculty, Autonomous University of Nuevo Leon, 66450 San Nicolas de los Garza, N.L. (Mexico)], E-mail: drjleon@gmail.com; Fridman, L. [Department of Control, Division of Electrical Engineering, Engineering Faculty, National Autonomous University of Mexico, 04510 Mexico City (Mexico)], E-mail: lfridman@servidor.unam.mx

2009-12-15

The reduced-order synchronization problem of two chaotic systems (master-slave) with different dimension and relative degree is considered. A control scheme based on a high-order sliding-mode observer-identifier and a feedback state controller is proposed, where the trajectories of slave can be synchronized with a canonical projection of the master. Thus, the reduced-order synchronization is achieved in spite of master/slave mismatches. Simulation results are provided in order to illustrate the performance of the proposed synchronization scheme.

Synchronization in reduced-order of chaotic systems via control approaches based on high-order sliding-mode observer

International Nuclear Information System (INIS)

Rodriguez, A.; De Leon, J.; Fridman, L.

2009-01-01

The reduced-order synchronization problem of two chaotic systems (master-slave) with different dimension and relative degree is considered. A control scheme based on a high-order sliding-mode observer-identifier and a feedback state controller is proposed, where the trajectories of slave can be synchronized with a canonical projection of the master. Thus, the reduced-order synchronization is achieved in spite of master/slave mismatches. Simulation results are provided in order to illustrate the performance of the proposed synchronization scheme.

Anticipating synchronization in a chain of chaotic oscillators with switching parameters

Energy Technology Data Exchange (ETDEWEB)

Pyragienė, T., E-mail: tatjana.pyragiene@ftmc.lt; Pyragas, K.

2015-12-18

A new coupling scheme for anticipating synchronization of chaotic systems is proposed. The scheme consists of a master system and two in series coupled slave systems with periodically switching parameters. The scheme does not require the presence of any time-delay terms either in a master or in slave systems and provides long-term anticipation. The value of anticipation time as well as the conditions of synchronization are derived in an analytical form. Analytical results are tested by numerical experiments with the chaotic Rössler and Lorenz systems as well as the Hindmarsh–Rose neuron in a regime of chaotic bursting. Also a robustness of the scheme with respect to parameter mismatch and noise is demonstrated. - Highlights: • A new coupling scheme for anticipating chaotic synchronization is proposed. • The scheme consists of three coupled systems with periodically switching parameters. • Long-term anticipation is achieved without using time-delay terms. • The method is verified for the Rössler, Lorenz and Hindmarsh–Rose neuron systems.

Anticipating synchronization in a chain of chaotic oscillators with switching parameters

International Nuclear Information System (INIS)

Pyragienė, T.; Pyragas, K.

2015-01-01

A new coupling scheme for anticipating synchronization of chaotic systems is proposed. The scheme consists of a master system and two in series coupled slave systems with periodically switching parameters. The scheme does not require the presence of any time-delay terms either in a master or in slave systems and provides long-term anticipation. The value of anticipation time as well as the conditions of synchronization are derived in an analytical form. Analytical results are tested by numerical experiments with the chaotic Rössler and Lorenz systems as well as the Hindmarsh–Rose neuron in a regime of chaotic bursting. Also a robustness of the scheme with respect to parameter mismatch and noise is demonstrated. - Highlights: • A new coupling scheme for anticipating chaotic synchronization is proposed. • The scheme consists of three coupled systems with periodically switching parameters. • Long-term anticipation is achieved without using time-delay terms. • The method is verified for the Rössler, Lorenz and Hindmarsh–Rose neuron systems.

Multisynchronization of Chaotic Oscillators via Nonlinear Observer Approach

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Ricardo Aguilar-López

2014-01-01

Full Text Available The goal of this work is to synchronize a class of chaotic oscillators in a master-slave scheme, under different initial conditions, considering several slaves systems. The Chen oscillator is employed as a benchmark model and a nonlinear observer is proposed to reach synchronicity between the master and the slaves’ oscillators. The proposed observer contains a proportional and integral form of a bounded function of the synchronization error in order to provide asymptotic synchronization with a satisfactory performance. Numerical experiments were carried out to show the operation of the considered methodology.

Analysis, synchronisation and circuit design of a new highly nonlinear chaotic system

Science.gov (United States)

Mobayen, Saleh; Kingni, Sifeu Takougang; Pham, Viet-Thanh; Nazarimehr, Fahimeh; Jafari, Sajad

2018-02-01

This paper investigates a three-dimensional autonomous chaotic flow without linear terms. Dynamical behaviour of the proposed system is investigated through eigenvalue structures, phase portraits, bifurcation diagram, Lyapunov exponents and basin of attraction. For a suitable choice of the parameters, the proposed system can exhibit anti-monotonicity, periodic oscillations and double-scroll chaotic attractor. Basin of attraction of the proposed system shows that the chaotic attractor is self-excited. Furthermore, feasibility of double-scroll chaotic attractor in the real word is investigated by using the OrCAD-PSpice software via an electronic implementation of the proposed system. A good qualitative agreement is illustrated between the numerical simulations and the OrCAD-PSpice results. Finally, a finite-time control method based on dynamic sliding surface for the synchronisation of master and slave chaotic systems in the presence of external disturbances is performed. Using the suggested control technique, the superior master-slave synchronisation is attained. Illustrative simulation results on the studied chaotic system are presented to indicate the effectiveness of the suggested scheme.

Robust master-slave synchronization for general uncertain delayed dynamical model based on adaptive control scheme.

Science.gov (United States)

Wang, Tianbo; Zhou, Wuneng; Zhao, Shouwei; Yu, Weiqin

2014-03-01

In this paper, the robust exponential synchronization problem for a class of uncertain delayed master-slave dynamical system is investigated by using the adaptive control method. Different from some existing master-slave models, the considered master-slave system includes bounded unmodeled dynamics. In order to compensate the effect of unmodeled dynamics and effectively achieve synchronization, a novel adaptive controller with simple updated laws is proposed. Moreover, the results are given in terms of LMIs, which can be easily solved by LMI Toolbox in Matlab. A numerical example is given to illustrate the effectiveness of the method. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Towards generalized synchronization of strictly different chaotic systems

Energy Technology Data Exchange (ETDEWEB)

Femat, R. [Matematicas Aplicadas y Sistemas Computacionales, IPICYT, Apdo. Postal 3-90, 78291 Tangamanga, San Luis Potosi S.L.P. (Mexico)]. E-mail: rfemat@ipicyt.edu.mx; Kocarev, L. [Institute for Nonlinear Science, University of California, San Diego, 9500 Gilman Drive, La Jolla, CA 92093-0402 (United States)]. E-mail: lkocarev@ucsd.edu; Gerven, L. van [Department of Mechanical Engineering, Technische Universiteit Eindhoven (Netherlands); Monsivais-Perez, M.E. [Matematicas Aplicadas y Sistemas Computacionales, IPICYT, Camino a la Presa San Jose 2055, 78216 Lomas 4a Sec., San Luis Potosi S.L.P. (Mexico)

2005-07-11

This contribution addresses the problem of the generalized synchronization (GS) in different chaotic systems, and departs from chaotic systems in a triangular from, which can be derived from Lie derivatives. A state-feedback (full knowledge of both master and slave systems) scheme is designed, which achieves GS. The work includes illustrative examples; moreover an experimental setup is used to corroborate the obtained results.

Study on real-time force feedback for a master-slave interventional surgical robotic system.

Science.gov (United States)

Guo, Shuxiang; Wang, Yuan; Xiao, Nan; Li, Youxiang; Jiang, Yuhua

2018-04-13

In robot-assisted catheterization, haptic feedback is important, but is currently lacking. In addition, conventional interventional surgical robotic systems typically employ a master-slave architecture with an open-loop force feedback, which results in inaccurate control. We develop herein a novel real-time master-slave (RTMS) interventional surgical robotic system with a closed-loop force feedback that allows a surgeon to sense the true force during remote operation, provide adequate haptic feedback, and improve control accuracy in robot-assisted catheterization. As part of this system, we also design a unique master control handle that measures the true force felt by a surgeon, providing the basis for the closed-loop control of the entire system. We use theoretical and empirical methods to demonstrate that the proposed RTMS system provides a surgeon (using the master control handle) with a more accurate and realistic force sensation, which subsequently improves the precision of the master-slave manipulation. The experimental results show a substantial increase in the control accuracy of the force feedback and an increase in operational efficiency during surgery.

DBMS Development of Irradiated Materials and Spare parts on master-slave manipulator in IMEF

Energy Technology Data Exchange (ETDEWEB)

Choo, Y. S.; Kim, D. S.; Jung, Y. H.; Kim, H. M.; Yoo, B. O.; Baik, S. J.; Hong, K. P.; Ahn, S. B.; Ryu, W. S. [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2008-12-15

The data of irradiated specimens(include nuclear fuel) which are transported from research reactor and commercial power reactor and the spare parts of the master-slave manipulator for the IMEF facility, which is operated since 1996, were controlled and managed through the Hangul and Excel software. But it is recommended to use a special program, which is developed for DBMS, for the beneficial control and systematic management of all irradiated specimens, especially assuming the increase of specimen's kind and amount by increasing customers in the near future. This report summarized the whole logical and physical processes and results about following items : - Management System of Irradiated Materials including nuclear fuel - Management System of spare parts for the master-slave manipulator.

Projective Synchronization of N-Dimensional Chaotic Fractional-Order Systems via Linear State Error Feedback Control

Directory of Open Access Journals (Sweden)

Baogui Xin

2012-01-01

Full Text Available Based on linear feedback control technique, a projective synchronization scheme of N-dimensional chaotic fractional-order systems is proposed, which consists of master and slave fractional-order financial systems coupled by linear state error variables. It is shown that the slave system can be projectively synchronized with the master system constructed by state transformation. Based on the stability theory of linear fractional order systems, a suitable controller for achieving synchronization is designed. The given scheme is applied to achieve projective synchronization of chaotic fractional-order financial systems. Numerical simulations are given to verify the effectiveness of the proposed projective synchronization scheme.

Path planning of master-slave manipulator using graphic simulator

International Nuclear Information System (INIS)

Lee, J. Y.; Kim, S. H.; Song, T. K.; Park, B. S.; Yoon, J. S.

2002-01-01

To handle the high level radioactive materials such as spent fuels remotely, the master-slave manipulator is generally used as a remote handling equipment in the hot cell. To analyze the motion and to implement the training system by virtual reality technology, the simulator for M-S manipulator using the computer graphics is developed. The parts are modelled in 3-D graphics, assembled, and kinematics are assigned. The inverse kinematics of the manipulator is defined, and the slave of manipulator is coupled with master by the manipulator's specification. Also, the virtual work cell is implemented in the graphical environment which is the same as the real environment and the path planning method using the function of the collision detection for a manipulator are proposed. This graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management

Experimental Evaluation of Novel Master-Slave Configurations for Position Control under Random Network Delay and Variable Load for Teleoperation

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Ahmet Kuzu

2014-01-01

Full Text Available This paper proposes two novel master-slave configurations that provide improvements in both control and communication aspects of teleoperation systems to achieve an overall improved performance in position control. The proposed novel master-slave configurations integrate modular control and communication approaches, consisting of a delay regulator to address problems related to variable network delay common to such systems, and a model tracking control that runs on the slave side for the compensation of uncertainties and model mismatch on the slave side. One of the configurations uses a sliding mode observer and the other one uses a modified Smith predictor scheme on the master side to ensure position transparency between the master and slave, while reference tracking of the slave is ensured by a proportional-differentiator type controller in both configurations. Experiments conducted for the networked position control of a single-link arm under system uncertainties and randomly varying network delays demonstrate significant performance improvements with both configurations over the past literature.

Design of a 7-DOF slave robot integrated with a magneto-rheological haptic master

Science.gov (United States)

Hwang, Yong-Hoon; Cha, Seung-Woo; Kang, Seok-Rae; Choi, Seung-Bok

2017-04-01

In this study, a 7-DOF slave robot integrated with the haptic master is designed and its dynamic motion is controlled. The haptic master is made using a controllable magneto-rheological (MR) clutch and brake and it provides the surgeon with a sense of touch by using both kinetic and kinesthetic information. Due to the size constraint of the slave robot, a wire actuating is adopted to make the desired motion of the end-effector which has 3-DOF instead of a conventional direct-driven motor. Another motions of the link parts that have 4-DOF use direct-driven motor. In total system, for working as a haptic device, the haptic master need to receive the information of repulsive forces applied on the slave robot. Therefore, repulsive forces on the end-effector are sensed by using three uniaxial torque transducer inserted in the wire actuating system and another repulsive forces applied on link part are sensed by using 6-axis transducer that is able to sense forces and torques. Using another 6-axis transducer, verify the reliability of force information on final end of slave robot. Lastly, integrated with a MR haptic master, psycho-physical test is conducted by different operators who can feel the different repulsive force or torque generated from the haptic master which is equivalent to the force or torque occurred on the end-effector to demonstrate the effectiveness of the proposed system.

Acquisition through common slave (servus communis)

OpenAIRE

Bogunović Mirjana B.

2016-01-01

Common slave (servus communis) is a slave who belongs to two masters. Both masters may entirely dispose with the slave because their joint ownership allows it. However, acquisitions through common slave (servus communis) is not that clear. Does a slave evenly oblige co-masters or only the master on whose behalf he has acted? Is it possible for a slave to work in the interest of one master and oblige another? Who does the unconscientious slave correspond to, the third party or a betrayed maste...

Exponential Synchronization of Networked Chaotic Delayed Neural Network by a Hybrid Event Trigger Scheme.

Science.gov (United States)

Fei, Zhongyang; Guan, Chaoxu; Gao, Huijun; Zhongyang Fei; Chaoxu Guan; Huijun Gao; Fei, Zhongyang; Guan, Chaoxu; Gao, Huijun

2018-06-01

This paper is concerned with the exponential synchronization for master-slave chaotic delayed neural network with event trigger control scheme. The model is established on a network control framework, where both external disturbance and network-induced delay are taken into consideration. The desired aim is to synchronize the master and slave systems with limited communication capacity and network bandwidth. In order to save the network resource, we adopt a hybrid event trigger approach, which not only reduces the data package sending out, but also gets rid of the Zeno phenomenon. By using an appropriate Lyapunov functional, a sufficient criterion for the stability is proposed for the error system with extended ( , , )-dissipativity performance index. Moreover, hybrid event trigger scheme and controller are codesigned for network-based delayed neural network to guarantee the exponential synchronization between the master and slave systems. The effectiveness and potential of the proposed results are demonstrated through a numerical example.

Leveraging master-slave OpenFlow controller arrangement to improve control plane resiliency in SD-EONs.

Science.gov (United States)

Chen, Xiaoliang; Zhao, Bin; Ma, Shoujiang; Chen, Cen; Hu, Daoyun; Zhou, Wenshuang; Zhu, Zuqing

2015-03-23

In this paper, we study how to improve the control plane resiliency of software-defined elastic optical networks (SD-EONs) and design a master-slave OpenFlow (OF) controller arrangement. Specifically, we introduce two OF controllers (OF-Cs), i.e., the master and slave OF-Cs, and make them work in a collaborative way to protect the SD-EON against controller failures. We develop a controller communication protocol (CCP) to facilitate the cooperation of the two OF-Cs. With the CCP, the master OF-C (M-OF-C) can synchronize network status to the slave OF-C (S-OF-C) in real time, while S-OF-C can quickly detect the failure of M-OF-C and take over the network control and management (NC&M) tasks timely to avoid service disruption. We implement the proposed framework in an SD-EON control plane testbed built with high-performance servers, and perform NC&M experiments with different network failure scenarios to demonstrate its effectiveness. Experimental results indicate that the proposed system can restore services in both the data and control planes of SD-EON jointly while maintaining relatively good scalability. To the best of our knowledge, this is the first demonstration that realizes control plane resiliency in SD-EONs.

Acquisition through common slave (servus communis

Directory of Open Access Journals (Sweden)

Bogunović Mirjana B.

2016-01-01

Full Text Available Common slave (servus communis is a slave who belongs to two masters. Both masters may entirely dispose with the slave because their joint ownership allows it. However, acquisitions through common slave (servus communis is not that clear. Does a slave evenly oblige co-masters or only the master on whose behalf he has acted? Is it possible for a slave to work in the interest of one master and oblige another? Who does the unconscientious slave correspond to, the third party or a betrayed master? This paper will analyze the opinions of two Roman iurists, which will partly solve doubts that this institute causes.

Global pulse synchronization of chaotic oscillators through fast-switching: theory and experiments

International Nuclear Information System (INIS)

Porfiri, Maurizio; Fiorilli, Francesca

2009-01-01

We study pulse synchronization of chaotic systems in master-slave configuration. The slave system is unidirectionally coupled to the master system through an intermittent linear error feedback coupling, whose gain matrix periodically switches among a finite set of constant matrices. Using Lyapunov-stability theory, fast-switching techniques, and the concept of matrix measure, we derive sufficient conditions for global synchronization. The derived conditions are specialized to the case of Chua's circuits. An inductorless realization of coupled Chua's circuits is developed to illustrate the effectiveness of the proposed approach.

Cooperative Path Planning and Constraints Analysis for Master-Slave Industrial Robots

Directory of Open Access Journals (Sweden)

Yahui Gan

2012-09-01

Full Text Available A strategy of cooperative path planning for a master-slave multiple robot system is presented in this paper. The path planning method is based on motion constraints between the end-effectors of cooperative robots. Cooperation motions have been classified into three types by relative motions between end-effectors of master and slave robots, which is concurrent cooperation, coupled synchronous cooperation and combined synchronous cooperation. Based on this classification, position /orientation constraints and joint velocity constraints are explored in-depth here. In order to validate the path planning method and the theoretical developments in motion constraints analysis, representative experiments based on two industrial robots, Motoman VA1400 and HP20, are provided at the end of the paper. The experimental results have proved both the effectiveness of the path planning method and the correctness of the constraints analysis.

A novel quasi-master-slave control frame for PV-storage independent microgrid

DEFF Research Database (Denmark)

Yang, Jian; Yuan, Wenbin; Sun, Yao

2018-01-01

In microgrid, photovoltaic (PV) and storage are always combined as a droop-controlled ideal source, which is not very practical. Alternatively, this paper introduces a PV-storage independent system via allocating the PV-storage separately. For this structure, a novel quasi-master-slave control...... frame is proposed without communication. Storages work as master voltage sources, and PVs operate as current controlled voltage sources (CCVS). For the slave PVs, a MPPT-based power droop control and an adaptive reactive power control are proposed. Thus, PVs can simultaneously achieve maximum energy...... is analyzed to design the physical and control parameters, such as, the minimum capacitance value of DC side, droop coefficients. Finally, simulation and experimental results are presented to verify the system effectiveness....

Development of MR compatible laparoscope robot using master-slave control method

International Nuclear Information System (INIS)

Toyoda, Kazutaka; Jaeheon, Chung; Murata, Masaharu; Odaira, Takeshi; Hashizume, Makoto; Ieiri, Satoshi

2011-01-01

Recently, MRI guided robotic surgery has been studied. This surgery uses MRI, a surgical navigation system and a surgical robot system intraoperatively for realization of safer and assured surgeries. We have developed a MR compatible laparoscope robot and 4DOF master manipulator (master) independently. So, in this research we report system integration of the master and the laparoscope robot. The degrees of freedom between the master and the laparoscope robot is the same (4DOF), so that the relation of orientation between master and laparoscope robot is one to one. The network communication method between the master and the laparoscope robot is UDP connection based on TCP/IP protocol for reduction of communication delay. In future work we will do experiments of operability of master-slave laparoscope robot system. (author)

Partial synchronization of different chaotic oscillators using robust PID feedback

Energy Technology Data Exchange (ETDEWEB)

Aguilar-Lopez, Ricardo [Departamento de Energia, Universidad Autonoma Metropolitana - Azcapotzalco, San Pablo 180, Reynosa-Tamaulipas, Azcapotzalco, 02200 Mexico, D.F. (Mexico)]. E-mail: raguilar@correo.azc.uam.mx; Martinez-Guerra, Rafael [Departamento de Control Automatico, CINVESTAV IPN, Apartado Postal 14-740, Mexico, D.F. C.P. 07360 (Mexico)]. E-mail: rguerra@ctrl.cinvestav.mx

2007-07-15

This work deals with the partial synchronization problem of two different chaotic oscillators considering model uncertainties in the slave system via control approach. The slave system is forced to follow the master signal via a linearizing controller based on model uncertainty reconstructor which leads to proportional-integral-derivative (PID) control structure. This reconstructor is related with a proportional-derivative (PD) reduced-order observer, it would be considered as a sub-slave system for the original slave of the synchronization procedure. The asymptotic performance of the synchronization methodology is proven via the dynamic of the synchronization error. Numerical experiment illustrates the closed-loop behavior of the proposed methodology.

Partial synchronization of different chaotic oscillators using robust PID feedback

International Nuclear Information System (INIS)

Aguilar-Lopez, Ricardo; Martinez-Guerra, Rafael

2007-01-01

This work deals with the partial synchronization problem of two different chaotic oscillators considering model uncertainties in the slave system via control approach. The slave system is forced to follow the master signal via a linearizing controller based on model uncertainty reconstructor which leads to proportional-integral-derivative (PID) control structure. This reconstructor is related with a proportional-derivative (PD) reduced-order observer, it would be considered as a sub-slave system for the original slave of the synchronization procedure. The asymptotic performance of the synchronization methodology is proven via the dynamic of the synchronization error. Numerical experiment illustrates the closed-loop behavior of the proposed methodology

Complexity Analysis of a Master-Slave Oligopoly Model and Chaos Control

Directory of Open Access Journals (Sweden)

Junhai Ma

2014-01-01

Full Text Available We establish a master-slave oligopoly game model with an upstream monopoly whose output is considered and two downstream oligopolies whose prices are considered. The existence and the local stable region of the Nash equilibrium point are investigated. The complex dynamic properties, such as bifurcation and chaos, are analyzed using bifurcation diagrams, the largest Lyapunov exponent diagrams, and the strange attractor graph. We further analyze the long-run average profit of the three firms and find that they are all optimal in the stable region. In addition, delay feedback control method and limiter control method are used in nondelayed model to control chaos. Furthermore, a delayed master-slave oligopoly game model is considered, and the three firms’ profit in various conditions is analyzed. We find that suitable delayed parameters are important for eliminating chaos and maximizing the profit of the players.

Control of an ER haptic master in a virtual slave environment for minimally invasive surgery applications

International Nuclear Information System (INIS)

Han, Young-Min; Choi, Seung-Bok

2008-01-01

This paper presents the control performance of an electrorheological (ER) fluid-based haptic master device connected to a virtual slave environment that can be used for minimally invasive surgery (MIS). An already developed haptic joint featuring controllable ER fluid and a spherical joint mechanism is adopted for the master system. Medical forceps and an angular position measuring device are devised and integrated with the joint to establish the MIS master system. In order to embody a human organ in virtual space, a volumetric deformable object is used. The virtual object is then mathematically formulated by a shape-retaining chain-linked (S-chain) model. After evaluating the reflection force, computation time and compatibility with real-time control, the haptic architecture for MIS is established by incorporating the virtual slave with the master device so that the reflection force for the object of the virtual slave and the desired position for the master operator are transferred to each other. In order to achieve the desired force trajectories, a sliding mode controller is formulated and then experimentally realized. Tracking control performances for various force trajectories are evaluated and presented in the time domain

Robust Exponential Synchronization for a Class of Master-Slave Distributed Parameter Systems with Spatially Variable Coefficients and Nonlinear Perturbation

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Chengdong Yang

2015-01-01

Full Text Available This paper addresses the exponential synchronization problem of a class of master-slave distributed parameter systems (DPSs with spatially variable coefficients and spatiotemporally variable nonlinear perturbation, modeled by a couple of semilinear parabolic partial differential equations (PDEs. With a locally Lipschitz constraint, the perturbation is a continuous function of time, space, and system state. Firstly, a sufficient condition for the robust exponential synchronization of the unforced semilinear master-slave PDE systems is investigated for all admissible nonlinear perturbations. Secondly, a robust distributed proportional-spatial derivative (P-sD state feedback controller is desired such that the closed-loop master-slave PDE systems achieve exponential synchronization. Using Lyapunov’s direct method and the technique of integration by parts, the main results of this paper are presented in terms of spatial differential linear matrix inequalities (SDLMIs. Finally, two numerical examples are provided to show the effectiveness of the proposed methods applied to the robust exponential synchronization problem of master-slave PDE systems with nonlinear perturbation.

Robust synchronization of chaotic systems via adaptive sliding mode control

International Nuclear Information System (INIS)

Yan, J.-J.; Hung, M.-L.; Chiang, T.-Y.; Yang, Y.-S.

2006-01-01

This Letter investigates the synchronization problem for a general class of chaotic systems. Using the sliding mode control technique, an adaptive control law is established to guarantee synchronization of the master and slave systems even when unknown parameters and external disturbances are present. In contrast to the previous works, the structure of slave system is simple and need not be identical to the master system. Furthermore, a novel proportional-integral (PI) switching surface is proposed to simplify the task of assigning the performance of the closed-loop error system in sliding mode. An illustrative example of Chua's circuit is given to demonstrate the effectiveness of the proposed synchronization scheme

Complex-enhanced chaotic signals with time-delay signature suppression based on vertical-cavity surface-emitting lasers subject to chaotic optical injection

Science.gov (United States)

Chen, Jianjun; Duan, Yingni; Zhong, Zhuqiang

2018-03-01

A chaotic system is constructed on the basis of vertical-cavity surface-emitting lasers (VCSELs), where a slave VCSEL subject to chaotic optical injection (COI) from a master VCSEL with the external feedback. The complex degree (CD) and time-delay signature (TDS) of chaotic signals generated by this chaotic system are investigated numerically via permutation entropy (PE) and self-correlation function (SF) methods, respectively. The results show that, compared with master VCSEL subject to optical feedback, complex-enhanced chaotic signals with TDS suppression can be achieved for S-VCSEL subject to COI. Meanwhile, the influences of several controllable parameters on the evolution maps of CD of chaotic signals are carefully considered. It is shown that the CD of chaotic signals for S-VCSEL is always higher than that for M-VCSEL due to the CIO effect. The TDS of chaotic signals can be significantly suppressed by choosing the reasonable parameters in this system. Furthermore, TDS suppression and high CD chaos can be obtained simultaneously in the specific parameter ranges. The results confirm that this chaotic system may effectively improve the security of a chaos-based communication scheme.

Synchronization of two chaotic systems: Dynamic compensator approach

International Nuclear Information System (INIS)

Chen, C.-K.; Lai, T.-W.; Yan, J.-J.; Liao, T.-L.

2009-01-01

This study is concerned with the identical synchronization problem for a class of chaotic systems. A dynamic compensator is proposed to achieve the synchronization between master and slave chaotic systems using only the accessible output variables. A sufficient condition is also proposed to ensure the global synchronization. Furthermore, the strictly positive real (SPR) restriction, which is normally required in most of the observer-based synchronization schemes, is released in our approach. Two numerical examples are included to illustrate the proposed scheme.

Chaos synchronization of a chaotic system via nonlinear control

International Nuclear Information System (INIS)

Park, Ju H.

2005-01-01

In this letter, the problem of chaos synchronization of a chaotic system which is proposed by Lue et al. [Int J Bifurcat Chaos 2004;14:1507] is considered. A novel nonlinear controller is designed based on the Lyapunov stability theory. The proposed controller ensures that the states of the controlled chaotic slave system asymptotically synchronizes the states of the master system. A numerical example is given to illuminate the design procedure and advantage of the result derived

Novel adaptive feedback synchronization scheme for a class of chaotic systems with and without parametric uncertainty

International Nuclear Information System (INIS)

Handa, Himesh; Sharma, B.B.

2016-01-01

Highlights: • New adaptive control design strategy to address chaotic system synchronization in master-slave configuration. • To derive control structure using model reference adaptive control like approach. • Extension of results to address general case with known and unknown system parameters. • Application of proposed strategy to chaotic systems. - Abstract: In this paper, a new adaptive feedback control design technique for the synchronization of a class of chaotic systems in master–slave configuration is proposed. The controller parameters are assumed to be unknown and are evolved using adaptation laws so as to achieve synchronization. To replicate real system operation, uncertainties are considered in both master as well as salve system parameters and adaptation laws for uncertain parameters are analytically derived using Lyapunov stability theory. The proposed strategy is derived by mimicking model reference adaptive control like structure for synchronization problem. To validate the methodology, two Genesio–Tesi systems and two Rossler's Prototype-4 systems are considered in master–slave configuration for synchronization. The analysis is done first with known system parameters and then uncertainties in system parameters are considered. Finally, detailed simulation results are provided to illustrate the effectiveness of the proposed results.

Laboratory services series: a master-slave manipulator maintenance program

International Nuclear Information System (INIS)

Jenness, R.G.; Hicks, R.E.; Wicker, C.D.

1976-12-01

The volume of master slave manipulator maintenance at Oak Ridge National Laboratory has necessitated the establishment of a repair facility and organization of a specially trained group of craftsmen. Emphasis on cell containment requires the use of manipulator boots and development of precise procedures for accomplishing the maintenance of 287 installed units. A very satisfactory computer programmed maintenance system has been established at the Laboratory to provide an economical approach to preventive maintenance

Secure Image Encryption Based On a Chua Chaotic Noise Generator

Directory of Open Access Journals (Sweden)

A. S. Andreatos

2013-10-01

Full Text Available This paper presents a secure image cryptography telecom system based on a Chua's circuit chaotic noise generator. A chaotic system based on synchronised Master–Slave Chua's circuits has been used as a chaotic true random number generator (CTRNG. Chaotic systems present unpredictable and complex behaviour. This characteristic, together with the dependence on the initial conditions as well as the tolerance of the circuit components, make CTRNGs ideal for cryptography. In the proposed system, the transmitter mixes an input image with chaotic noise produced by a CTRNG. Using thresholding techniques, the chaotic signal is converted to a true random bit sequence. The receiver must be able to reproduce exactly the same chaotic noise in order to subtract it from the received signal. This becomes possible with synchronisation between the two Chua's circuits: through the use of specific techniques, the trajectory of the Slave chaotic system can be bound to that of the Master circuit producing (almost identical behaviour. Additional blocks have been used in order to make the system highly parameterisable and robust against common attacks. The whole system is simulated in Matlab. Simulation results demonstrate satisfactory performance, as well as, robustness against cryptanalysis. The system works with both greyscale and colour jpg images.

Design, implementation and testing of master slave robotic surgical system

International Nuclear Information System (INIS)

Ali, S.A.

2015-01-01

The autonomous manipulation of the medical robotics is needed to draw up a complete surgical plan in development. The autonomy of the robot comes from the fact that once the plan is drawn up off-line, it is the servo loops, and only these, that control the actions of the robot online, based on instantaneous control signals and measurements provided by the vision or force sensors. Using only these autonomous techniques in medical and surgical robotics remain relatively limited for two main reasons: Predicting complexity of the gestures, and human Safety. Therefore, Modern research in haptic force feedback in medical robotics is aimed to develop medical robots capable of performing remotely, what a surgeon does by himself. These medical robots are supposed to work exactly in the manner that a surgeon does in daily routine. In this paper the master slave tele-robotic system is designed and implemented with accuracy and stability by using 6DOF (Six Degree of Freedom) haptic force feedback devices. The master slave control strategy, haptic devices integration, application software designing using Visual C++ and experimental setup are considered. Finally, results are presented the stability, accuracy and repeatability of the system. (author)

Design, Implementation and Testing of Master Slave Robotic Surgical System

Directory of Open Access Journals (Sweden)

Syed Amjad Ali

2015-01-01

Full Text Available The autonomous manipulation of the medical robotics is needed to draw up a complete surgical plan in development. The autonomy of the robot comes from the fact that once the plan is drawn up off-line, it is the servo loops, and only these, that control the actions of the robot online, based on instantaneous control signals and measurements provided by the vision or force sensors. Using only these autonomous techniques in medical and surgical robotics remain relatively limited for two main reasons: Predicting complexity of the gestures, and human Safety. Therefore, Modern research in haptic force feedback in medical robotics is aimed to develop medical robots capable of performing remotely, what a surgeon does by himself. These medical robots are supposed to work exactly in the manner that a surgeon does in daily routine. In this paper the master slave tele-robotic system is designed and implemented with accuracy and stability by using 6DOF (Six Degree of Freedom haptic force feedback devices. The master slave control strategy, haptic devices integration, application software designing using Visual C++ and experimental setup are considered. Finally, results are presented the stability, accuracy and repeatability of the system

Master slave manipulator maintenance at the Defense Waste Processing Facility

International Nuclear Information System (INIS)

Lethco, A.J.; Beasley, K.M.

1991-01-01

Equipment has been developed and tested to provide transport, installation, removal, decontamination, and repair for the master slave manipulators that are required for thirty-five discrete work locations in the 221-S Vitrification Building of the Defense Waste Processing Facility at the Westinghouse Savannah River Company. This specialized equipment provides a standardized scheme for work locations at different elevations with two types of manipulators

An Experimental Study on Operability of Master-Slave Manipulator System using Human–in–the-Loop Type Simulator

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Tashiro Yosuke

2017-01-01

Full Text Available Double arm Master-Slave (M-S manipulator has been attracted the attention of the robotics researchers today. The micro surgery is one of the big targets which M-S manipulator is expected to effectively perform. This paper describes about the human in the loop (HIL simulator consisted of the prototype master manipulator and the virtual simulator of slave manipulator. Today, we have a challenge injecting drugs to a chick embryo’s blood vessels that are enough cultured in an artificial eggshell. The M-S manipulator is expected to apply for such a work like a micro surgery, ex. catching a blood vessel and sticking a cylinder. The embryo is extremely sensitive so that M-S manipulator should have both high operability and high accuracy movement. To evaluate the M-S manipulator quantitatively, we develop the human in the loop (HIL simulator. The simulator is consisted with the prototype master manipulator and the virtual slave manipulator.

A novel control framework for nonlinear time-delayed dual-master/single-slave teleoperation.

Science.gov (United States)

Ghorbanian, A; Rezaei, S M; Khoogar, A R; Zareinejad, M; Baghestan, K

2013-03-01

A novel trilateral control architecture for the Dual-master/Single-slave teleoperation is proposed in this paper. This framework has been used in surgical training and rehabilitation applications. In this structure, the slave motion has been controlled by weighted summation of signals transmitted by the operator referring to task control authority through the dominance factors. The nonlinear dynamics for telemanipulators are considered which were considered as disregarded issues in previous studies of this field. Bounded variable time-delay has been considered which affects the transmitted signals in the communication channels. Two types of controllers have been offered and an appropriate stability analysis for each controller has been demonstrated. The first controller includes Proportional with dissipative gains (P+d). The second one contains Proportional and Derivative with dissipative gains (PD+d). In both cases, the stability of the trilateral control framework is preserved by choosing appropriate controller's gains. It is shown that these controllers attempt to coordinate the positions of telemanipulators in the free motion condition. The stability of the Dual-master/Single-slave teleoperation has been proved by an appropriate Lyapunov like function and the stability conditions have been studied. In addition the proposed PD+d control architecture is modified for trilateral teleoperation with internet communication between telemanipulators that caused such communication complications as packet loss, data duplication and swapping. A number of experiments have been conducted with various levels of dominance factor to validate the effectiveness of the new control architecture. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Synchronization Between Two Different Switched Chaotic Systems By Switching Control

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Du Li Ming

2016-01-01

Full Text Available This paper is concerned with the synchronization problem of two different switched chaotic systems, considering the general case that the master-slave switched chaotic systems have uncertainties. Two basic problems are considered: one is projective synchronization of switched chaotic systems under arbitrary switching; the other is projective synchronization of switched chaotic systems by design of switching when synchronization cannot achieved by using any subsystems alone. For the two problems, common Lyapunov function method and multiple Lyapunov function method are used respectively, an adaptive control scheme has been presented, some sufficient synchronization conditions are attainted, and the switching signal is designed. Finally, the numerical simulation is provide to show the effectiveness of our method.

A world first. Industrial operation of computer-aided master-slave manipulator at the La Hague recycling plant

International Nuclear Information System (INIS)

Brueziere, Jerome; Thro, Jean Francois; Brudieu, Marie-Anne; Piolain, Gerard; Geffard, Franck; Garrec, Philippe; Measson, Yvan; Coudray, Alain; Lelann, Eric

2011-01-01

Since the beginning of industrial nuclear plants like recycling, mechanical master-slave manipulators have been widely used for operation and maintenance in hot cells, in conjunction with shielding windows. In the La Hague plant for instance, all hot cells where maintenance is or could be required are fitted with shielding windows and through-wall telescopic master-slave manipulators. This well mastered solution, if used by highly skilled workers, has demonstrated its capability to perform all the maintenance tasks required, as long as equipment and tools inside the cell were designed accordingly. However, this technology has also shown significant limitations in terms of capacity, flexibility, efficiency and reliability. In order to improve those characteristics, AREVA and CEA have developed together a new technology: computer-aided master-slave manipulators. By replacing the traditional mechanical link, between the 'slave arm' in the cell and the 'master arm', with motors, sensors and electronics, this new tool improves load capacity and provides added flexibility and efficiency, while protecting the slave arm from overload and therefore improving reliability. In addition, this new device was developed to be fully compatible with current La Hague configuration. After developing and testing this solution in realistic but inactive environment, by performing all kinds of operation and maintenance activities with trained workers, the first generation tool was improved by incorporating feed-back and suggestions from operators. Second generation system was then developed, and first introduced in 2010 in an active cell of the La Hague plant, namely a vitrification cell. After a few months in operation, feedback from manufacturing staff was so positive that implementation of several new arms was decided for 2011. This paper will describe how this development benefited from the existing know-how and component library jointly developed by AREVA and CEA, as well as the main

Remote handling devices for use behind shielding walls. Master-slave manipulators with three pivots, dimensions

International Nuclear Information System (INIS)

1993-08-01

The standardized general dimensions as recommended in this standard will facilitate the planning and construction of shielding rooms in which master-slave manipulators as specified in this standard are to be used, as well as the interchangeability of these instruments. It will also help to shorten the time of delivery in the initial supply of maser-slave manipulators for these rooms and in the supply of replacement parts. (orig.) [de

Development the interface system of master-slave manipulator and external input device on the graphic simulator

International Nuclear Information System (INIS)

Song, T. J.; Lee, J. Y.; Kim, S. H.; Yoon, J. S.

2002-01-01

The master-slave manipulator is the generally used as remote handling device in the hot cell, in which the high level radioactive materials such as spent fuels are handled. To analyze the motion of remote handling device and to simulate the remote handling operation task in the hot cell, the 3D graphic simulator which has been installed the master-slave manipulator is established. Also the interface program of external input device with 6 DOF(degree of Freedom) is developed and connected to graphic simulator with LLTI(Low Level Tele-operation Interface) which provides a uniquely optimized, high speed, bidirectional communication interface to one or more of system and processes

Design of frequency-encoded data-based optical master-slave-JK flip-flop using polarization switch

Science.gov (United States)

Mandal, Sumana; Mandal, Dhoumendra; Mandal, Mrinal Kanti; Garai, Sisir Kumar

2017-06-01

An optical data processing and communication system provides enormous potential bandwidth and a very high processing speed, and it can fulfill the demands of the present generation. For an optical computing system, several data processing units that work in the optical domain are essential. Memory elements are undoubtedly essential to storing any information. Optical flip-flops can store one bit of optical information. From these flip-flop registers, counters can be developed. Here, the authors proposed an optical master-slave (MS)-JK flip-flop with the help of two-input and three-input optical NAND gates. Optical NAND gates have been developed using semiconductor optical amplifiers (SOAs). The nonlinear polarization switching property of an SOA has been exploited here, and it acts as a polarization switch in the proposed scheme. A frequency encoding technique is adopted for representing data. A specific frequency of an optical signal represents a binary data bit. This technique of data representation is helpful because frequency is the fundamental property of a signal, and it remains unaltered during reflection, refraction, absorption, etc. throughout the data propagation. The simulated results enhance the admissibility of the scheme.

Natural orifice transgastric endoscopic wedge hepatic resection in an experimental model using an intuitively controlled master and slave transluminal endoscopic robot (MASTER).

Science.gov (United States)

Phee, S J; Ho, K Y; Lomanto, D; Low, S C; Huynh, V A; Kencana, A P; Yang, K; Sun, Z L; Chung, S C Sydney

2010-09-01

The lack of triangulation of standard endoscopic devices limits the degree of freedom for surgical maneuvers during natural orifice transluminal endoscopic surgery (NOTES). This study explored the feasibility of adapting an intuitively controlled master and slave transluminal endoscopic robot (MASTER) the authors developed to facilitate wedge hepatic resection in NOTES. The MASTER consists of a master controller, a telesurgical workstation, and a slave manipulator that holds two end-effectors: a grasper, and a monopolar electrocautery hook. The master controller is attached to the wrist and fingers of the operator and connected to the manipulator by electrical and wire cables. Movements of the operator are detected and converted into control signals driving the slave manipulator via a tendon-sheath power transmission mechanism allowing nine degrees of freedom. Using this system, wedge hepatic resection was performed through the transgastric route on two female pigs under general anesthesia. Entry into the peritoneal cavity was via a 10-mm incision made on the anterior wall of the stomach by the electrocautery hook. Wedge hepatic resection was performed using the robotic grasper and hook. Hemostasis was achieved with the electrocautery hook. After the procedure, the resected liver tissue was retrieved through the mouth using the grasper. Using the MASTER, transgastric wedge hepatic resection was successfully performed on two pigs with no laparoscopic assistance. The entire procedure took 9.4 min (range, 8.5-10.2 min), with 7.1 min (range, 6-8.2 min) spent on excision of the liver tissue. The robotics-controlled device was able to grasp, retract, and excise the liver specimen successfully in the desired plane. This study demonstrated for the first time that the MASTER could effectively mitigate the technical constraints normally encountered in NOTES procedures. With it, the triangulation of surgical tools and the manipulation of tissue became easy, and wedge hepatic

The Strategy of Inverter Seamless Mode Switching in Master-Slave Independent Micro-grid

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Jiang Hanhong

2018-01-01

Full Text Available In order to realize the uninterruptible power supply in the master-slave independent micro-grid system, the micro-grid inverter needs to realize the mode switching of the grid-connection/grid-disconnection. How to reduce the transient oscillation during switching, so as to effectively achieve seamless mode switching is a key issue to be solved. In this paper, a typical master-slave control independent micro-grid is used as an example, the strategy of mode switching is improved in two aspects. On the one hand, the state-following algorithm is adopted to improve the switching strategy of the outer loop. On the other hand, the current inner loop is taken by the H∞ robust controller to improve the robustness of the controller. Compared with the traditional PI control mode switching, this paper illustrates the feasibility of the proposed strategy through the simulation and experiment verification. The improvement strategy in this paper can effectively reduce the voltage and current oscillation during mode switching.

Reaction Force/Torque Sensing in a Master-Slave Robot System without Mechanical Sensors

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Kyoko Shibata

2010-07-01

Full Text Available In human-robot cooperative control systems, force feedback is often necessary in order to achieve high precision and high stability. Usually, traditional robot assistant systems implement force feedback using force/torque sensors. However, it is difficult to directly mount a mechanical force sensor on some working terminals, such as in applications of minimally invasive robotic surgery, micromanipulation, or in working environments exposed to radiation or high temperature. We propose a novel force sensing mechanism for implementing force feedback in a master-slave robot system with no mechanical sensors. The system consists of two identical electro-motors with the master motor powering the slave motor to interact with the environment. A bimanual coordinated training platform using the new force sensing mechanism was developed and the system was verified in experiments. Results confirm that the proposed mechanism is capable of achieving bilateral force sensing and mirror-image movements of two terminals in two reverse control directions.

The slave-girls who enslaved the free-born: Slave-girls and their masters in Islamic literature (Las esclavas que esclavizaron a los nacidos libres: Esclavas y sus amos en la literatura islámica

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Aram A. Shahin

2015-06-01

Full Text Available Abstract: Slave-girls, and in particular singing slave-girls, hold a prominent place in Islamic literary sources. These sources provide quite a number of stories in which the masters of slave-girls fall deeply in love with them, and then, when faced with the prospect of separation or are indeed separated from them, humble themselves and risk losing their honour, all of their wealth, and even their own lives in order to be reunited with the girl whom they love. In some stories, intelligent and learned slave-girls take the initiative to preserve their relationships with their masters who are often depicted as inept and clueless. In the end, the girl is typically given her freedom and marries her master. Although the men are the legal masters of the slave-girls, it seems that there is an inversion of the master/slave roles in the tales and that it is the slave-girl who controls the destiny of both.Resumen: Las esclavas, con mención especial de las que cantan, tienen un lugar de preferencia en las fuentes literarias islamistas. Estas fuentes proveen un gran número de cuentos en los que los amos de estas esclavas se enamoran de ellas y luego al afrontarse la posibilidad de separación, y de hecho los dos se encuentran separados, se humillan y corren el riesgo de perder su honor, toda su riqueza y hasta sus propias vidas para reunirse con la chica que aman. En algunos cuentos, esclavas listas y doctas toman la iniciativa para preservar sus relaciones con los dueños, quienes parecen ser torpes y negados. A fin de cuentas, la chica suele recibir su libertad y se casa con el amo. A pesar de ser el amo legal de las esclavas, parece que hay una inversión de los papeles de amo/esclavo en estos cuentos y es la esclava la que controla el destino de los dos.

Impulsive control of time-delay systems using delayed impulse and its application to impulsive master-slave synchronization

International Nuclear Information System (INIS)

Sun Jitao; Han Qinglong; Jiang Xiefu

2008-01-01

This Letter is concerned with impulsive control of a class of nonlinear time-delay systems. Some uniform stability criteria for the closed-loop time-delay system under delayed impulsive control are derived by using piecewise Lyapunov functions. Then the criteria are applied to impulsive master-slave synchronization of some secure communication systems with transmission delays and sample delays under delayed impulsive control. Two numerical examples are given to illustrate the effectiveness of the derived results

Adaptive H∞ synchronization of chaotic systems via linear and nonlinear feedback control

International Nuclear Information System (INIS)

Fu Shi-Hui; Lu Qi-Shao; Du Ying

2012-01-01

Adaptive H ∞ synchronization of chaotic systems via linear and nonlinear feedback control is investigated. The chaotic systems are redesigned by using the generalized Hamiltonian systems and observer approach. Based on Lyapunov's stability theory, linear and nonlinear feedback control of adaptive H ∞ synchronization is established in order to not only guarantee stable synchronization of both master and slave systems but also reduce the effect of external disturbance on an H ∞ -norm constraint. Adaptive H ∞ synchronization of chaotic systems via three kinds of control is investigated with applications to Lorenz and Chen systems. Numerical simulations are also given to identify the effectiveness of the theoretical analysis. (general)

A Parallel Encryption Algorithm Based on Piecewise Linear Chaotic Map

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Xizhong Wang

2013-01-01

Full Text Available We introduce a parallel chaos-based encryption algorithm for taking advantage of multicore processors. The chaotic cryptosystem is generated by the piecewise linear chaotic map (PWLCM. The parallel algorithm is designed with a master/slave communication model with the Message Passing Interface (MPI. The algorithm is suitable not only for multicore processors but also for the single-processor architecture. The experimental results show that the chaos-based cryptosystem possesses good statistical properties. The parallel algorithm provides much better performance than the serial ones and would be useful to apply in encryption/decryption file with large size or multimedia.

Control system design concepts for improving bilateral characteristics of master-slave manipulators

International Nuclear Information System (INIS)

Hewitt, J.E.; Siva, K.V.

1986-01-01

The paper concerns control system design concepts for improving bilateral characteristics of master-slave manipulators. In particular, the article concentrates on the identification of the remote manipulative process itself from studying direct manipulation with hand tools. Bilateral servo loop systems in operator controlled manipular systems are discussed, as well as Bond Graph modelling techniques. The performance of different kinds of bilateral servos are compared. (U.K.)

Cooperative Control of Multi-Master-Slave Islanded Microgrid with Power Quality Enhancement Based on Conservative Power Theory

DEFF Research Database (Denmark)

Mortezaei, Ali; Simoes, Marcelo; Savaghebi, Mehdi

2018-01-01

Cooperative control of power converters in a microgrid offers power quality enhancement at sensitive load buses. Such cooperation is particularly important in the presence of reactive, nonlinear and unbalanced loads. In this paper, a multi-master-slave-based control of Distributed Generators (DGs...... in a selective control strategy able to share each current component with desired percentage among the microgrid inverters. Simulation results are presented to demonstrate the effectiveness of the proposed method.......) interface converters in a three-phase four-wire islanded microgrid using the Conservative Power Theory (CPT) is proposed. Inverters located in close proximity operate as a group in master-salve mode. Slaves inject the available energy and compensate selectively unwanted current components of local loads...

A low cost general purpose portable programmable master/slave manipulative appliance

International Nuclear Information System (INIS)

Cameron, W.

1984-01-01

The TRIUMF 100 μA 500 MeV cyclotron, located at the University of British Columbia, required a low cost, portable master/slave manipulative capability for experimental beam line servicing. A programmable capability was also required for the hot cell manipulators. A general purpose unit was developed that might also have applications in light manufacturing and medical rehabilitation. The project now in prototype testing represents a modular portable robot costing less than $5000 that is lead-through-teach programmable by either a master controller or hands-on lead-through. Task programs are stored and retrieved on any 32 k personal computer. An on-board proportional integral derivative controller (Motorola 6809 based) gives discrete positioning of the six degrees of freedom 2 kg capacity end effector

Flexible high-speed FASTBUS master for data read-out and preprocessing

International Nuclear Information System (INIS)

Wurz, A.; Manner, R.

1990-01-01

This paper describes a single slot FASTBUS master module. It can be used for read-out and preprocessing of data that are read out from FASTBUS modules, e.g., and ADC system. The module consists of a 25 MHz, 32-bit processor MC 68030 with cache memory and memory management, a floating point coprocessor MC68882, 4 MBytes of main memory, and FASTBUS master and slave interfaces. In addition, a DMA controller for read-out of FASTBUS data is provided. The processor allows I/O via serial ports, a 16-bit parallel port, and a transputer link. Additional interfaces are planned. The main memory is multi-ported and can be accessed directly by the CPU, the FASTBUS, and external masters via the high-speed local bus that is accessible by way of a connector. The FASTBUS interface supports most of the standard operations in master and slave mode

H∞ synchronization of chaotic systems via dynamic feedback approach

International Nuclear Information System (INIS)

Lee, S.M.; Ji, D.H.; Park, Ju H.; Won, S.C.

2008-01-01

This Letter considers H ∞ synchronization of a general class of chaotic systems with external disturbance. Based on Lyapunov theory and linear matrix inequality (LMI) formulation, the novel feedback controller is established to not only guarantee stable synchronization of both master and slave systems but also reduce the effect of external disturbance to an H ∞ norm constraint. A dynamic feedback control scheme is proposed for H ∞ synchronization in chaotic systems for the first time. Then, a criterion for existence of the controller is given in terms of LMIs. Finally, a numerical simulation is presented to show the effectiveness of the proposed chaos synchronization scheme

Synchronization of chaotic neural networks via output or state coupling

International Nuclear Information System (INIS)

Lu Hongtao; Leeuwen, C. van

2006-01-01

We consider the problem of global exponential synchronization between two identical chaotic neural networks that are linearly and unidirectionally coupled. We formulate a general framework for the synchronization problem in which one chaotic neural network, working as the driving system (or master), sends its output or state values to the other, which serves as the response system (or slave). We use Lyapunov functions to establish general theoretical conditions for designing the coupling matrix. Neither symmetry nor negative (positive) definiteness of the coupling matrix are required; under less restrictive conditions, the two coupled chaotic neural networks can achieve global exponential synchronization regardless of their initial states. Detailed comparisons with existing results are made and numerical simulations are carried out to demonstrate the effectiveness of the established synchronization laws

Master-slave tele-tongs

International Nuclear Information System (INIS)

1992-05-01

In a 'hot laboratory', manipulation is concerned with mechanical devices, controlled by a human operator and used to move or manipulate radioactive objects without direct contact. Master-slave Manipulators and Tele-tongs are devices permitting a worker on one side of the shield of a 'hotcell' or a 'gloves-box', to carry out safe laboratory operations, with radioactive materials on the other side. This instrument is used mainly for remote-manipulation purposes, that is, to handle elements, substances or equipment across a protective wall. A typical example of its use is the fractioning of radioisotopes (for medical and agricultural purposes), or the handling of toxic substances, the fractioning and/or mixing of noxious components constituting a health hazard for operators, etc. Mechanic-type manipulator and tongs usually operated in pairs, endowed with a high level of sensitivity which enables the operator, duly protected, to perform what would otherwise be hazardous and delicate tasks. INVAP manipulators are suitable for all king of installations with 'hot-cells' or 'gloves-box'. INVAP manipulators were developed to meet the problem of introducing it through the shielding wall of the 'hotcells' or 'gloves-box', without violating shielding integrity. To prevent any possibility of contamination, the telemanipulator has been lined with an airtight sheath or booting, also especially developed by INVAP for this instrument. Moreover, it has developed a special set of tools for booting- changing under perfectly safe conditions

Finite-Time Synchronizing Control for Chaotic Neural Networks

Directory of Open Access Journals (Sweden)

Chao Zhang

2014-01-01

Full Text Available This paper addresses the finite-time synchronizing problem for a class of chaotic neural networks. In a real communication network, parameters of the master system may be time-varying and the system may be perturbed by external disturbances. A simple high-gain observer is designed to track all the nonlinearities, unknown system functions, and disturbances. Then, a dynamic active compensatory controller is proposed and by using the singular perturbation theory, the control method can guarantee the finite-time stability of the error system between the master system and the slave system. Finally, two illustrative examples are provided to show the effectiveness and applicability of the proposed scheme.

The gamma oscillation: master or slave?

Science.gov (United States)

Schroeder, Charles E; Lakatos, Peter

2009-06-01

The idea that gamma enhancement reflects a state of high neuronal excitability and synchrony, critical for active brain operations, sets gamma up as a "master" or executor process that determines whether an input is effectively integrated and an effective output is generated. However, gamma amplitude is often coupled to the phase of lower frequency delta or theta oscillations, which would make gamma a "slave" to lower frequency activity. Gamma enslavement is productive and typical during rhythmic mode brain operations; when a predictable rhythm is in play, low and mid-frequency oscillations can be entrained and their excitability fluctuations of put to work in sensory and motor functions. When there is no task relevant rhythm that the system can entrain to, low frequency oscillations become detrimental to processing. Then, a continuous (vigilance) mode of operation is implemented; the system's sensitivity is maximized by suppressing lower frequency oscillations and exploiting continuous gamma band oscillations. Each mode has costs and benefits, and the brain shifts dynamically between them in accord with task demands.

Robust networked H∞ synchronization of nonidentical chaotic Lur'e systems

International Nuclear Information System (INIS)

Yang De-Dong

2014-01-01

We mainly investigate the robust networked H ∞ synchronization problem of nonidentical chaotic Lur'e systems. In the design of the synchronization scheme, some network characteristics, such as nonuniform sampling, transmission-induced delays, and data packet dropouts, are considered. The parameters of master—slave chaotic Lur'e systems often allow differences. The sufficient condition in terms of linear matrix inequality (LMI) is obtained to guarantee the dissipative synchronization of nonidentical chaotic Lur'e systems in network environments. A numerical example is given to illustrate the validity of the proposed method. (general)

Parameter identification based synchronization for a class of chaotic systems with offset vectors

International Nuclear Information System (INIS)

Chen Cailian; Feng Gang; Guan Xinping

2004-01-01

Based on a parameter identification scheme, a novel synchronization method is presented for a class of chaotic systems with offset vectors which can be represented by the so-called T-S fuzzy model. It is shown that the slave system can synchronize the master system and the unknown parameters of the master system can be identified simultaneously. The delayed feedback technique is also developed in order to reduce the energy and time required for the identification and synchronization. Numerical simulations demonstrate the effectiveness of the proposed method

Black start research of the wind and storage system based on the dual master-slave control

Science.gov (United States)

Leng, Xue; Shen, Li; Hu, Tian; Liu, Li

2018-02-01

Black start is the key to solving the problem of large-scale power failure, while the introduction of new renewable clean energy as a black start power supply was a new hotspot. Based on the dual master-slave control strategy, the wind and storage system was taken as the black start reliable power, energy storage and wind combined to ensure the stability of the micorgrid systems, to realize the black start. In order to obtain the capacity ratio of the storage in the small system based on the dual master-slave control strategy, and the black start constraint condition of the wind and storage combined system, obtain the key points of black start of wind storage combined system, but also provide reference and guidance for the subsequent large-scale wind and storage combined system in black start projects.

A Simple Hybrid Synchronization for a Class of Chaotic Financial Systems

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Jiming Zheng

2017-01-01

Full Text Available It is an important to achieve the hybrid synchronization of the chaotic financial system. Chaos synchronization is equivalent to the error system which is asymptotically stable. The hybrid synchronization for a class of finance chaotic systems is discussed. First, a simple single variable controller is obtained to synchronize two identical chaotic financial systems with different initial conditions. Second, a novel algorithm is proposed to determine the variables of the master system that should antisynchronize with corresponding variables of the slave system and use this algorithm to determine the corresponding variables in the chaotic financial systems. The hybrid synchronization of the chaotic financial systems is realized by a simple controller. At the same time, different controllers can implement the chaotic financial system hybrid synchronization. In comparison with the existing results, the obtained controllers in this paper are simpler than those of the existing results. Finally, numerical simulations show the effectiveness of the proposed results.

Master-slave control with trajectory planning and Bouc-Wen model for tracking control of piezo-driven stage

Science.gov (United States)

Lu, Xiaojun; Liu, Changli; Chen, Lei

2018-04-01

In this paper, a redundant Piezo-driven stage having 3RRR compliant mechanism is introduced, we propose the master-slave control with trajectory planning (MSCTP) strategy and Bouc-Wen model to improve its micro-motion tracking performance. The advantage of the proposed controller lies in that its implementation only requires a simple control strategy without the complexity of modeling to avoid the master PEA's tracking error. The dynamic model of slave PEA system with Bouc-Wen hysteresis is established and identified via particle swarm optimization (PSO) approach. The Piezo-driven stage with operating period T=1s and 2s is implemented to track a prescribed circle. The simulation results show that MSCTP with Bouc-Wen model reduces the trajectory tracking errors to the range of the accuracy of our available measurement.

An improved condition for master-slave synchronization of Lur'e systems with time delay

International Nuclear Information System (INIS)

Xiang, Ji; Li, Yanjun; Wei, Wei

2007-01-01

In this Letter, a new sufficient condition is proposed for master-slave synchronization of Lur'e system with time delay. This condition is constructed on the new integral inequality method such that the obtained result is much sharper than that in [M.E.Y. Yalcin, J.A.K. Suykens, J. Vandewalle, Int. J. Bifur. Chaos 11 (2001) 1707

Hypergraph+: An Improved Hypergraph-Based Task-Scheduling Algorithm for Massive Spatial Data Processing on Master-Slave Platforms

Directory of Open Access Journals (Sweden)

Bo Cheng

2016-08-01

Full Text Available Spatial data processing often requires massive datasets, and the task/data scheduling efficiency of these applications has an impact on the overall processing performance. Among the existing scheduling strategies, hypergraph-based algorithms capture the data sharing pattern in a global way and significantly reduce total communication volume. Due to heterogeneous processing platforms, however, single hypergraph partitioning for later scheduling may be not optimal. Moreover, these scheduling algorithms neglect the overlap between task execution and data transfer that could further decrease execution time. In order to address these problems, an extended hypergraph-based task-scheduling algorithm, named Hypergraph+, is proposed for massive spatial data processing. Hypergraph+ improves upon current hypergraph scheduling algorithms in two ways: (1 It takes platform heterogeneity into consideration offering a metric function to evaluate the partitioning quality in order to derive the best task/file schedule; and (2 It can maximize the overlap between communication and computation. The GridSim toolkit was used to evaluate Hypergraph+ in an IDW spatial interpolation application on heterogeneous master-slave platforms. Experiments illustrate that the proposed Hypergraph+ algorithm achieves on average a 43% smaller makespan than the original hypergraph scheduling algorithm but still preserves high scheduling efficiency.

Master--slave manipulators and remote maintenance at the Oak Ridge National Laboratory

International Nuclear Information System (INIS)

Jenness, R.G.; Wicker, C.D.

1975-01-01

The volume of master-slave manipulator maintenance at Oak Ridge National Laboratory has necessitated the establishment of a repair facility and the organization of a specially trained group of craftsmen. Emphasis on cell containment requires the use of manipulator boots and the development of precise procedures for accomplishing the maintenance of 283 installed units. To provide the most economical type of preventive maintenance, a very satisfactory computer-programmed maintenance system has been established at the Laboratory. (auth)

‘My master and Miss … warn’t nothing but poor white trash’ : poor white slaveholders and their slaves in the antebellum South

OpenAIRE

Plath, Lydia

2017-01-01

While the majority of enslaved people lived on large plantations, there were a significant minority who lived on smaller farms where they and their families were the only slaves owned by their master (or mistress). This article uses 22 Works Progress Administration (WPA) interviews conducted in the 1930s with former slaves from across the South to investigate the lives of enslaved people living with masters or mistresses that they described as ‘poor’, and argues that enslaved experiences on s...

On the synchronization of identical and non-identical 4-D chaotic systems using arrow form matrix

International Nuclear Information System (INIS)

Hammami, S.; Ben Saad, K.; Benrejeb, M.

2009-01-01

Using the Borne and Gentina practical criterion associated with the Benrejeb canonical arrow form matrix, to derive the stability property of dynamic complex systems, a new strategy of control is formulated for chaos synchronization of two identical Lorenz Stenflo systems and two new four-dimensional chaotic systems, namely the Qi chaotic systems. The designed controller ensures that the state variables of both controlled chaotic slave Lorenz Stenflo and Qi systems globally synchronizes with the state variables of the master systems, respectively. It is also shown that Qi system globally synchronizes with Lorenz Stenflo system under the afforded generalized strategy of control. Numerical simulations are carried out to assess the performance of the proposed contributions in the important field of chaotic synchronization.

Hardware implementation of Lorenz circuit systems for secure chaotic communication applications.

Science.gov (United States)

Chen, Hsin-Chieh; Liau, Ben-Yi; Hou, Yi-You

2013-02-18

This paper presents the synchronization between the master and slave Lorenz chaotic systems by slide mode controller (SMC)-based technique. A proportional-integral (PI) switching surface is proposed to simplify the task of assigning the performance of the closed-loop error system in sliding mode. Then, extending the concept of equivalent control and using some basic electronic components, a secure communication system is constructed. Experimental results show the feasibility of synchronizing two Lorenz circuits via the proposed SMC. 

Visualization of virtual slave manipulator using the master input device

International Nuclear Information System (INIS)

Kim, S. H.; Song, T. K.; Lee, J. Y.; Yoon, J. S.

2003-01-01

To handle the high level radioactive materials such a spent fuel, the Master-Slave Manipulators (MSM) are widely used as a remote handling device in nuclear facilities such as the hot cell with sealed and shielded space. In this paper, the Digital Mockup which simulates the remote operation of the Advanced Conditioning Process(ACP) is developed. Also, the workspace and the motion of the slave manipulator, as well as, the remote operation task should be analyzed. The process equipment of ACP and Maintenance/Handling Device are drawn in 3D CAD models using IGRIP. Modeling device of manipulator is assigned with various mobiles attributes such as a relative position, kinematics constraints, and a range of mobility. The 3D graphic simulator using the external input device of space ball displays the movement of manipulator. To connect the external input device to the graphic simulator, the interface program of external input device with 6 DOF is deigned using the Low Level Tele-operation Interface (LLTI). The experimental result shows that the developed simulation system gives much-improved human interface characteristics and shows satisfactory response characteristics in terms of synchronization speed. This should be useful for the development of work's education system in the virtual environment

Generalized Synchronization of Nonlinear Chaotic Systems through Natural Bioinspired Controlling Strategy

Directory of Open Access Journals (Sweden)

Shih-Yu Li

2015-01-01

Full Text Available A novel bioinspired control strategy design is proposed for generalized synchronization of nonlinear chaotic systems, combining the bioinspired stability theory, fuzzy modeling, and a novel, simple-form Lyapunov control function design of derived high efficient, heuristic and bioinspired controllers. Three main contributions are concluded: (1 apply the bioinspired stability theory to further analyze the stability of fuzzy error systems; the high performance of controllers has been shown in previous study by Li and Ge 2009, (2 a new Lyapunov control function based on bioinspired stability theory is designed to achieve synchronization without using traditional LMI method, which is a simple linear homogeneous function of states and the process of designing controller to synchronize two fuzzy chaotic systems becomes much simpler, and (3 three different situations of synchronization are proposed; classical master and slave Lorenz systems, slave Chen’s system, and Rossler’s system as functional system are illustrated to further show the effectiveness and feasibility of our novel strategy. The simulation results show that our novel control strategy can be applied to different and complicated control situations with high effectiveness.

Hardware Implementation of Lorenz Circuit Systems for Secure Chaotic Communication Applications

Directory of Open Access Journals (Sweden)

Yi-You Hou

2013-02-01

Full Text Available This paper presents the synchronization between the master and slave Lorenz chaotic systems by slide mode controller (SMC-based technique. A proportional-integral (PI switching surface is proposed to simplify the task of assigning the performance of the closed-loop error system in sliding mode. Then, extending the concept of equivalent control and using some basic electronic components, a secure communication system is constructed. Experimental results show the feasibility of synchronizing two Lorenz circuits via the proposed SMC.

Robust synchronization of unified chaotic systems via sliding mode control

International Nuclear Information System (INIS)

Yan Junjuh; Yang Yisung; Chiang Tsungying; Chen Chingyuan

2007-01-01

This paper investigates the chaos synchronization problem for a class of uncertain master-slave unified chaotic systems. Based on the sliding mode control technique, a robust control scheme is established which guarantees the occurrence of a sliding motion of error states even when the parameter uncertainty and external perturbation are present. Furthermore, a novel proportional-integral (PI) switching surface is introduced for determining the synchronization performance of systems in the sliding mode motion. Simulation results are proposed to demonstrate the effectiveness of the method

Neural-adaptive control of single-master-multiple-slaves teleoperation for coordinated multiple mobile manipulators with time-varying communication delays and input uncertainties.

Science.gov (United States)

Li, Zhijun; Su, Chun-Yi

2013-09-01

In this paper, adaptive neural network control is investigated for single-master-multiple-slaves teleoperation in consideration of time delays and input dead-zone uncertainties for multiple mobile manipulators carrying a common object in a cooperative manner. Firstly, concise dynamics of teleoperation systems consisting of a single master robot, multiple coordinated slave robots, and the object are developed in the task space. To handle asymmetric time-varying delays in communication channels and unknown asymmetric input dead zones, the nonlinear dynamics of the teleoperation system are transformed into two subsystems through feedback linearization: local master or slave dynamics including the unknown input dead zones and delayed dynamics for the purpose of synchronization. Then, a model reference neural network control strategy based on linear matrix inequalities (LMI) and adaptive techniques is proposed. The developed control approach ensures that the defined tracking errors converge to zero whereas the coordination internal force errors remain bounded and can be made arbitrarily small. Throughout this paper, stability analysis is performed via explicit Lyapunov techniques under specific LMI conditions. The proposed adaptive neural network control scheme is robust against motion disturbances, parametric uncertainties, time-varying delays, and input dead zones, which is validated by simulation studies.

Master-Leader-Slave Cuckoo Search with Parameter Control for ANN Optimization and Its Real-World Application to Water Quality Prediction.

Directory of Open Access Journals (Sweden)

Najmeh Sadat Jaddi

Full Text Available Artificial neural networks (ANNs have been employed to solve a broad variety of tasks. The selection of an ANN model with appropriate weights is important in achieving accurate results. This paper presents an optimization strategy for ANN model selection based on the cuckoo search (CS algorithm, which is rooted in the obligate brood parasitic actions of some cuckoo species. In order to enhance the convergence ability of basic CS, some modifications are proposed. The fraction Pa of the n nests replaced by new nests is a fixed parameter in basic CS. As the selection of Pa is a challenging issue and has a direct effect on exploration and therefore on convergence ability, in this work the Pa is set to a maximum value at initialization to achieve more exploration in early iterations and it is decreased during the search to achieve more exploitation in later iterations until it reaches the minimum value in the final iteration. In addition, a novel master-leader-slave multi-population strategy is used where the slaves employ the best fitness function among all slaves, which is selected by the leader under a certain condition. This fitness function is used for subsequent Lévy flights. In each iteration a copy of the best solution of each slave is migrated to the master and then the best solution is found by the master. The method is tested on benchmark classification and time series prediction problems and the statistical analysis proves the ability of the method. This method is also applied to a real-world water quality prediction problem with promising results.

Master-Leader-Slave Cuckoo Search with Parameter Control for ANN Optimization and Its Real-World Application to Water Quality Prediction.

Science.gov (United States)

Jaddi, Najmeh Sadat; Abdullah, Salwani; Abdul Malek, Marlinda

2017-01-01

Artificial neural networks (ANNs) have been employed to solve a broad variety of tasks. The selection of an ANN model with appropriate weights is important in achieving accurate results. This paper presents an optimization strategy for ANN model selection based on the cuckoo search (CS) algorithm, which is rooted in the obligate brood parasitic actions of some cuckoo species. In order to enhance the convergence ability of basic CS, some modifications are proposed. The fraction Pa of the n nests replaced by new nests is a fixed parameter in basic CS. As the selection of Pa is a challenging issue and has a direct effect on exploration and therefore on convergence ability, in this work the Pa is set to a maximum value at initialization to achieve more exploration in early iterations and it is decreased during the search to achieve more exploitation in later iterations until it reaches the minimum value in the final iteration. In addition, a novel master-leader-slave multi-population strategy is used where the slaves employ the best fitness function among all slaves, which is selected by the leader under a certain condition. This fitness function is used for subsequent Lévy flights. In each iteration a copy of the best solution of each slave is migrated to the master and then the best solution is found by the master. The method is tested on benchmark classification and time series prediction problems and the statistical analysis proves the ability of the method. This method is also applied to a real-world water quality prediction problem with promising results.

A seal for a master-slave manipulator

International Nuclear Information System (INIS)

Chilvers, D.; Morrison, D.M.

1980-01-01

A replaceable gaiter which may be used in sealing the hot side of an isolation enclosure which is associated with a master-slave manipulator comprises a locking ring having an outer circumferential wall formed with at least one circumferentially extending, pivotable locking member and with an axially extending, pivotable locking member. This locking ring is interconnected with a sealing ring so as to allow a predetermined degree of rotation of the sealing ring with respect to the locking ring, relative axial movement between the sealing and locking rings is prevented. Apparatus for emplacing or replacing such a gaiter in an isolation enclosure is also provided; this apparatus comprises an elongate cylindrical body provided at one end thereof with pins adapted to cooperate with recesses formed in a gaiter and at the other end with a template formed with upper and lower diametrally opposed arcuate slots. The template contains an axially extending screw threaded member and the arrangement is such that axial movement of the template with respect to the elongate body is possible, while angular displacement between the template and the elongate body is prevented. (author)

Runaway Slave Advertisements: Teaching from Primary Documents

Science.gov (United States)

Costa, Tom; Doyle, Brooke

2004-01-01

In this article, the authors discuss how children can learn from runaway slave advertisements. The advertisements for runaway slaves that masters placed in eighteenth- and nineteenth-century newspapers are among the documentary sources available to teachers for studying the lives of African-American slaves. Such advertisements often describe a…

Control and switching synchronization of fractional order chaotic systems using active control technique

KAUST Repository

Radwan, A.G.; Moaddy, K.; Salama, Khaled N.; Momani, S.; Hashim, I.

2013-01-01

This paper discusses the continuous effect of the fractional order parameter of the Lü system where the system response starts stable, passing by chaotic behavior then reaching periodic response as the fractional-order increases. In addition, this paper presents the concept of synchronization of different fractional order chaotic systems using active control technique. Four different synchronization cases are introduced based on the switching parameters. Also, the static and dynamic synchronizations can be obtained when the switching parameters are functions of time. The nonstandard finite difference method is used for the numerical solution of the fractional order master and slave systems. Many numeric simulations are presented to validate the concept for different fractional order parameters.

Control and switching synchronization of fractional order chaotic systems using active control technique

KAUST Repository

Radwan, A.G.

2013-03-13

This paper discusses the continuous effect of the fractional order parameter of the Lü system where the system response starts stable, passing by chaotic behavior then reaching periodic response as the fractional-order increases. In addition, this paper presents the concept of synchronization of different fractional order chaotic systems using active control technique. Four different synchronization cases are introduced based on the switching parameters. Also, the static and dynamic synchronizations can be obtained when the switching parameters are functions of time. The nonstandard finite difference method is used for the numerical solution of the fractional order master and slave systems. Many numeric simulations are presented to validate the concept for different fractional order parameters.

Design of optimised backstepping controller for the synchronisation of chaotic Colpitts oscillator using shark smell algorithm

Science.gov (United States)

Fouladi, Ehsan; Mojallali, Hamed

2018-01-01

In this paper, an adaptive backstepping controller has been tuned to synchronise two chaotic Colpitts oscillators in a master-slave configuration. The parameters of the controller are determined using shark smell optimisation (SSO) algorithm. Numerical results are presented and compared with those of particle swarm optimisation (PSO) algorithm. Simulation results show better performance in terms of accuracy and convergence for the proposed optimised method compared to PSO optimised controller or any non-optimised backstepping controller.

A novel sort of adaptive complex synchronizations of two indistinguishable chaotic complex nonlinear models with uncertain parameters and its applications in secure communications

Science.gov (United States)

Mahmoud, Emad E.; Abood, Fatimah S.

In this paper, we will demonstrate the adaptive complex anti-lag synchronization (CALS) of two indistinguishable complex chaotic nonlinear systems with the parameters which are uncertain. The significance of CALS is not advised well in the literature yet. The CALS contains or consolidate two sorts of synchronizations (anti-lag synchronization ALS and lag synchronization LS). The state variable of the master system synchronizes with an alternate state variable of the slave system. Depending on the function of Lyapunov, a plan is orchestrated to achieve CALS of chaotic attractors of complex systems with unverifiable parameters. CALS of two indistinguishable complexes of Lü systems is viewed as, for example, an occasion for affirming the likelihood of the plan exhibited. In physics, we can see complex chaotic systems in numerous different applications, for example, applied sciences or engineering. With a specific end goal to affirm the proposed synchronization plan viability and demonstrate the hypothetical outcomes, we can compute the numerical simulation. The above outcomes will give the hypothetical establishment to the secure communication applications. CALS of complex chaotic systems in which a state variable of the master system synchronizes with an alternate state variable of the slave system is an encouraging sort of synchronization as it contributes excellent security in secure communication. Amid this secure communication, the synchronization between transmitter and collector is shut and message signals are recouped. The encryption and restoration of the signals are simulated numerically.

Transparent Higher Order Sliding Mode Control for Nonlinear Master-Slave Systems without Velocity Measurement

Directory of Open Access Journals (Sweden)

Luis G. Garcia-Valdovinos

2015-04-01

Full Text Available Transparency has been a major objective in bilateral teleoperation systems, even in the absence of time delay induced by the communication channel, since a high degree of transparency would allow humans to drive the remote teleoperator as if he or she were directly interacting with the remote environment, with the remote teleoperator as a physical and sensorial extension of the operator. When fast convergence of position and force tracking errors are ensured by the control system, then complete transparency is obtained, which would ideally guarantee humans to be tightly kinaesthetically coupled. In this paper a model-free Cartesian second order sliding mode (SOSM PD control scheme for nonlinear master-slave systems is presented. The proposed scheme does not rely on velocity measurements and attains very fast convergence of position trajectories, with bounded tracking of force trajectories, rendering a high degree of transparency with lesser knowledge of the system. The degree of transparency can easily be improved by tuning a feedback gain in the force loop. A unique energy storage function is introduced; such that a similar Cartesian-based controller is implemented in the master and slave sides. The resulting properties of the Cartesian control structure allows the human operator to input directly Cartesian variables, which makes clearer the kinaesthetic coupling, thus the proposed controller becomes a suitable candidate for practical implementation. The performance of the proposed scheme is evaluated in a semi-experimental setup.

Chaotic system synchronization with an unknown master model using a hybrid HOD active control approach

Energy Technology Data Exchange (ETDEWEB)

Du Shengzhi [Department of EAD, ICT Faculty, Tshwane University of Technology, Pretoria 0001 (South Africa); French South Africa Technical Institute of Electronics (F' SATIE), Tshwane University of Technology, Pretoria 0001 (South Africa)], E-mail: dushengzhi@gmail.com; Wyk, Barend J. van; Qi Guoyuan; Tu Chunling [French South Africa Technical Institute of Electronics (F' SATIE), Tshwane University of Technology, Pretoria 0001 (South Africa)

2009-11-15

In this paper, a hybrid method using active control and a High Order Differentiator (HOD) methodology is proposed to synchronize chaotic systems. Compared to some traditional active control methods, this new method can synchronize chaotic systems where only output states of the master system are available, i.e. the system is considered a black box. The HOD is used to estimate the derivative information of the master system followed by an active control methodology relying on HOD information. The Qi hyperchaotic system is used to verify the performance of this hybrid method. The proposed method is also compared to some traditional methods. Experimental results show that the proposed method has high synchronization precision and speed and is robust against uncertainties in the master system. The circus implements of the proposed synchronizing scheme are included in this paper. The simulation results show the feasibility of the proposed scheme.

A Master-Slave Surveillance System to Acquire Panoramic and Multiscale Videos

Directory of Open Access Journals (Sweden)

Yu Liu

2014-01-01

Full Text Available This paper describes a master-slave visual surveillance system that uses stationary-dynamic camera assemblies to achieve wide field of view and selective focus of interest. In this system, the fish-eye panoramic camera is capable of monitoring a large area, and the PTZ dome camera has high mobility and zoom ability. In order to achieve the precise interaction, preprocessing spatial calibration between these two cameras is required. This paper introduces a novel calibration approach to automatically calculate a transformation matrix model between two coordinate systems by matching feature points. In addition, a distortion correction method based on Midpoint Circle Algorithm is proposed to handle obvious horizontal distortion in the captured panoramic image. Experimental results using realistic scenes have demonstrated the efficiency and applicability of the system with real-time surveillance.

TELEsarPHONE: Mutual Telexistence Master-Slave Communication System Based on Retroreflective Projection Technology

Science.gov (United States)

Tachi, Susumu; Kawakami, Naoki; Nii, Hideaki; Watanabe, Kouichi; Minamizawa, Kouta

TELEsarPHONE is a conceptual prototype of a mutual telexistence system, designed for face-to-face telecommunication via robots. Because of the development of telexistence technology, we can acquire a feeling that we are present in several actual remote places using remote robots as our surrogates and can work and act freely there. However, people in the place where someone telexists using a robot see only the robot, and they cannot feel the existence of the telexisting person. Mutual telexistence aims to solve this problem so that the existence of a telexisting person (visitor) is apparent to the people in the remote environment by providing mutual sensations of presence. On the basis of the concept of mutual telexistence, we have designed and developed a prototype of a telexistence master-slave system for remote communication by applying retroreflective projection technology. In the TELEsarPHONE system, the face and chest of the slave robot TELESAR II are covered by retroreflective material. To provide the feeling of existence, the real-time image of the visitor is projected onto the robot so that people can see the visitor in real time.

Dual arm master controller for a bilateral servo-manipulator

Science.gov (United States)

Kuban, Daniel P.; Perkins, Gerald S.

1989-01-01

A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences therebetween. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed.

Dual arm master controller for a bilateral servo-manipulator

International Nuclear Information System (INIS)

Kuban, D.P.; Perkins, G.S.

1989-01-01

A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences there between. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed. 13 figs

Electrical implementation of a complete synchronization dynamic system

International Nuclear Information System (INIS)

Goncalves, C; Neto, L G

2011-01-01

This work presents an electrical implementation of complete synchronization systems, proposing a master/slave synchronization of two identical particle-in-a-box electronic circuits, exhibiting a rich chaotic behaviour. This behaviour was measured, and also emulated, and the results were compared. Just a few works in literature describe experimental measurements of chaotic systems. The master/slave electronic circuits employed have a very simple electronic implementation and results show a complete synchronization of the system.

Real-time calibration-free C-scan images of the eye fundus using Master Slave swept source optical coherence tomography

Science.gov (United States)

Bradu, Adrian; Kapinchev, Konstantin; Barnes, Fred; Garway-Heath, David F.; Rajendram, Ranjan; Keane, Pearce; Podoleanu, Adrian G.

2015-03-01

Recently, we introduced a novel Optical Coherence Tomography (OCT) method, termed as Master Slave OCT (MS-OCT), specialized for delivering en-face images. This method uses principles of spectral domain interfereometry in two stages. MS-OCT operates like a time domain OCT, selecting only signals from a chosen depth only while scanning the laser beam across the eye. Time domain OCT allows real time production of an en-face image, although relatively slowly. As a major advance, the Master Slave method allows collection of signals from any number of depths, as required by the user. The tremendous advantage in terms of parallel provision of data from numerous depths could not be fully employed by using multi core processors only. The data processing required to generate images at multiple depths simultaneously is not achievable with commodity multicore processors only. We compare here the major improvement in processing and display, brought about by using graphic cards. We demonstrate images obtained with a swept source at 100 kHz (which determines an acquisition time [Ta] for a frame of 200×200 pixels2 of Ta =1.6 s). By the end of the acquired frame being scanned, using our computing capacity, 4 simultaneous en-face images could be created in T = 0.8 s. We demonstrate that by using graphic cards, 32 en-face images can be displayed in Td 0.3 s. Other faster swept source engines can be used with no difference in terms of Td. With 32 images (or more), volumes can be created for 3D display, using en-face images, as opposed to the current technology where volumes are created using cross section OCT images.

Projective Synchronization of Chaotic Discrete Dynamical Systems via Linear State Error Feedback Control

Directory of Open Access Journals (Sweden)

Baogui Xin

2015-04-01

Full Text Available A projective synchronization scheme for a kind of n-dimensional discrete dynamical system is proposed by means of a linear feedback control technique. The scheme consists of master and slave discrete dynamical systems coupled by linear state error variables. A kind of novel 3-D chaotic discrete system is constructed, to which the test for chaos is applied. By using the stability principles of an upper or lower triangular matrix, two controllers for achieving projective synchronization are designed and illustrated with the novel systems. Lastly some numerical simulations are employed to validate the effectiveness of the proposed projective synchronization scheme.

Dynamical control of chaos by slave-master feedback

International Nuclear Information System (INIS)

Behnia, S.; Akhshani, A.

2009-01-01

Techniques for stabilizing unstable state in nonlinear dynamical systems using small perturbations fall into three general categories: feedback, non-feedback schemes, and a combination of feedback and non-feedback. However, the general problem of finding conditions for creation or suppression of chaos still remains open. We describe a method for dynamical control of chaos. This method is based on a definition of the hierarchy of solvable chaotic maps with dynamical parameter as a control parameter. In order to study the new mechanism of control of chaotic process, Kolmogorov-Sinai entropy of the chaotic map with dynamical parameter based on discussion the properties of invariant measure have been calculated and confirmed by calculation of Lyapunov exponents. The introduced chaotic maps can be used as dynamical control.

A modified implementation of tristate inverter based static master-slave flip-flop with improved power-delay-area product.

Science.gov (United States)

Singh, Kunwar; Tiwari, Satish Chandra; Gupta, Maneesha

2014-01-01

The paper introduces novel architectures for implementation of fully static master-slave flip-flops for low power, high performance, and high density. Based on the proposed structure, traditional C(2)MOS latch (tristate inverter/clocked inverter) based flip-flop is implemented with fewer transistors. The modified C(2)MOS based flip-flop designs mC(2)MOSff1 and mC(2)MOSff2 are realized using only sixteen transistors each while the number of clocked transistors is also reduced in case of mC(2)MOSff1. Postlayout simulations indicate that mC(2)MOSff1 flip-flop shows 12.4% improvement in PDAP (power-delay-area product) when compared with transmission gate flip-flop (TGFF) at 16X capacitive load which is considered to be the best design alternative among the conventional master-slave flip-flops. To validate the correct behaviour of the proposed design, an eight bit asynchronous counter is designed to layout level. LVS and parasitic extraction were carried out on Calibre, whereas layouts were implemented using IC station (Mentor Graphics). HSPICE simulations were used to characterize the transient response of the flip-flop designs in a 180 nm/1.8 V CMOS technology. Simulations were also performed at 130 nm, 90 nm, and 65 nm to reveal the scalability of both the designs at modern process nodes.

A fastbus master based on a risc microprocessor

International Nuclear Information System (INIS)

Cerrito, L.; Chorowicz, V.; Lebbolo, H.; Vallereau, A.

1990-01-01

SISIFUS is a general purpose Fastbus Master and Slave able to perform any operation on both Fastbus segments. Master operations are directed either by the processor or by two fast sequencers. A Block Mover function is implemented allowing direct data block transfers between two Slaves. SISIFUS uses the AM 29000 RISC microprocessor which can execute every assembler instruction in 40ns. The on-board monitor/debugger allows programs to be written in assembler from a terminal connected to the module or written in C and cross compiled on a host computer (PC)

Adaptive Backstepping Controller Design for the Anti-Synchronization of Identical WINDMI Chaotic Systems with Unknown Parameters and its SPICE Implementation

Directory of Open Access Journals (Sweden)

S. Vaidyanathan

2014-11-01

Full Text Available This paper derives new results for the adaptive backstepping controller design for the anti-synchronization of identical WINDMI systems (Wind-Magnetosphere-Ionosphere models with unknown parameters and also details the SPICE implementation of the proposed adaptive backstepping controller. In the anti-synchronization of chaotic systems, the sum of the outputs of master and slave systems is made to converge asymptotically to zero with time. The adaptive controller design for the anti-synchronization of identical WINDMI systems with unknown parameters has been established by applying Lyapunov stability theory. MATLAB simulations have been shown for the illustration of the adaptive anti-synchronizing backstepping controller for identical WINDMI chaotic systems. Finally, the proposed controller has been implemented using SPICE and circuit simulation results have been detailed.

Self-tuning in master-slave synchronization of high-precision stage systems

NARCIS (Netherlands)

Heertjes, M.F.; Temizer, B.; Schneiders, M.G.E.

2013-01-01

For synchronization of high-precision stage systems, in particular the synchronization between a wafer and a reticle stage system of a wafer scanner, a master–slave controller design is presented. The design consists of a synchronization controller based on FIR filters and a data-driven self-tuning

Remote telerobotic replacement for master-slave manipulator

International Nuclear Information System (INIS)

Heckendorn, F.M.; Iverson, D.C.; LaValle, D.R.

1997-01-01

A remotely replaceable telerobotic manipulator (TRM) has been developed and deployed at the Defense Waste Processing Facility (DWPF) in support of its radioactive operation. The TRM replaces a Master-Slave Manipulator (MSM). The TRM is in use for both routine and recovery operations for the radioactive waste vitrification melter, the primary production device within the DWPF. The arm was designed for deployment and operation using an existing MSM penetration. This replacement of an existing MSM with a high power robotic device demonstrates the capability to perform similar replacement in other operating facilities. The MSM's were originally deployed in the DWPF to perform routine light capacity tasks. During the testing phase of the DWPF, prior to its radioactive startup in 5/96, the need to remove glass deposits that can form at the melter discharge during filling of glass containment canisters was identified. The combination of high radiation and contamination in the DWPF melter cell during radioactive operation eliminated personnel entry as a recovery option. Therefore remote cleaning methods had to be devised. The MSM's had neither the reach nor the strength required for this task. It became apparent that a robust manipulator arm would be required for recovery from these potential melter discharge pluggage events. The existing wall penetrations, used for the MSM's, could not be altered for seismic and radiological reasons. The new manipulator was required to be of considerable reach, due to existing physical layout, and strength, due to the glass removal requirement. Additionally, the device would have to compatible with high radiation and remote crane installation. The physical size of the manipulator and the weight of components must be consistent with the existing facilities. It was recognized early-on that a manipulator of sufficient strength to recover from a pluggage event would require robotic functions to constrain undesirable motions

Importance sampling of rare events in chaotic systems

DEFF Research Database (Denmark)

Leitão, Jorge C.; Parente Lopes, João M.Viana; Altmann, Eduardo G.

2017-01-01

space of chaotic systems. As examples of our general framework we compute the distribution of finite-time Lyapunov exponents (in different chaotic maps) and the distribution of escape times (in transient-chaos problems). Our methods sample exponentially rare states in polynomial number of samples (in......Finding and sampling rare trajectories in dynamical systems is a difficult computational task underlying numerous problems and applications. In this paper we show how to construct Metropolis-Hastings Monte-Carlo methods that can efficiently sample rare trajectories in the (extremely rough) phase...... both low- and high-dimensional systems). An open-source software that implements our algorithms and reproduces our results can be found in reference [J. Leitao, A library to sample chaotic systems, 2017, https://github.com/jorgecarleitao/chaospp]....

A novel adaptive synchronization control of a class of master-slave large-scale systems with unknown channel time-delay

Science.gov (United States)

Shen, Qikun; Zhang, Tianping

2015-05-01

The paper addresses a practical issue for adaptive synchronization in master-slave large-scale systems with constant channel time-delay., and a novel adaptive synchronization control scheme is proposed to guarantee the synchronization errors asymptotically converge to the origin, in which the matching condition as in the related literatures is not necessary. The real value of channel time-delay can be estimated online by a proper adaptation mechanism, which removes the conditions that the channel time-delay should be known exactly as in existing works. Finally, simulation results demonstrate the effectiveness of the approach.

food for thought: interpreting the parable of the loyal and wise slave

African Journals Online (AJOL)

42Who then is the faithful [and] wise slave whom the master put over his household to give [them] food on time? 43Blessed is that slave .... 2.2 Will you be able to manage? On the literal ..... God's plan to ensure the survival of Joseph's brothers.

Control of 4-DOF MR haptic master for medical application

Science.gov (United States)

Oh, Jong-Seok; Choi, Seung-Hyun; Choi, Seung-Bok

2014-03-01

In this work, magnetorheological (MR) based haptic master for robot-assisted minimally invasive surgery (RMIS) is proposed and analyzed. Using a controllable MR fluid, the masters can generate a reflection force with the 4-DOF motion. The proposed master consists of two actuators: MR clutch featuring gimbal mechanism for 2-DOF rotational motion (X and Y axes) and MR clutch attached at gripper of gimbal structures for 1-DOF rotational motion (Z axis) and 1-DOF translational motion. After analyzing the dynamic motion by integrating mechanical and physical properties of the actuators, torque model of the proposed haptic master is derived. For realization of master-slave system, an encoder which can measure position information is integrated with the MR haptic master. In the RMIS system, the measured position is converted as a command signal and sent to the slave robot. In this work, slave and organ of patient are modeled in virtual space. In order to embody a human organ into virtual space, a volumetric deformable object is mathematically formulated by a shape retaining chain linked (S-chain) model. Accordingly, the haptic architecture is established by incorporating the virtual slave with the master device in which the reflection force and desired position originated from the object of the virtual slave and operator of the master, respectively, are transferred to each other. In order to achieve the desired force trajectories, a proportional-integral-derivative (PID) controller is designed and implemented. It has been demonstrated that the effective tracking control performance for the desired motion of reflection force is well presented in time domain.

Design of secure digital communication systems using chaotic modulation, cryptography and chaotic synchronization

International Nuclear Information System (INIS)

Chien, T.-I.; Liao, T.-L.

2005-01-01

This paper presents a secure digital communication system based on chaotic modulation, cryptography, and chaotic synchronization techniques. The proposed system consists of a Chaotic Modulator (CM), a Chaotic Secure Transmitter (CST), a Chaotic Secure Receiver (CSR) and a Chaotic Demodulator (CDM). The CM module incorporates a chaotic system and a novel Chaotic Differential Peaks Keying (CDPK) modulation scheme to generate analog patterns corresponding to the input digital bits. The CST and CSR modules are designed such that a single scalar signal is transmitted in the public channel. Furthermore, by giving certain structural conditions of a particular class of chaotic system, the CST and the nonlinear observer-based CSR with an appropriate observer gain are constructed to synchronize with each other. These two slave systems are driven simultaneously by the transmitted signal and are designed to synchronize and generate appropriate cryptography keys for encryption and decryption purposes. In the CDM module, a nonlinear observer is designed to estimate the chaotic modulating system in the CM. A demodulation mechanism is then applied to decode the transmitted input digital bits. The effectiveness of the proposed scheme is demonstrated through the numerical simulation of an illustrative communication system. Synchronization between the chaotic circuits of the transmitter and receiver modules is guaranteed through the Lyapunov stability theorem. Finally, the security features of the proposed system in the event of attack by an intruder in either the time domain or the frequency domain are discussed

Penggantian Slave Arm Ms-manipulator Hotcell Uji 02 Dan 03 Irm

OpenAIRE

Gogo, Antonio; Basiran

2015-01-01

─ The replacement of the failure slave arm unit of MS-manipulator in hot cell 02 and 03 of Radiometallurgy Installations (IRM) has been done. This replacement purposes in order to refunctioned the failure MS-manipulator (5 units) in examination hot cell 02 and 03. The slave arm unit of MS-manipulator in examination hot cell 02 and 03 using a hanging device so it is impossible to pulled the slave arm units out to the operating area. The handling process cover; setting zero position on master a...

Circuit Implementation of Coronary Artery Chaos Phenomenon and Optimal PID Synchronization Controller Design

Directory of Open Access Journals (Sweden)

Cheng-Yu Yeh

2012-01-01

Full Text Available This study aimed at the implementation and synchronization control of cardiac circuit. First, the MATLAB-Simulink was used to simulate the dynamic behavior of cardiac chaotic circuit, and simple electronic modules were used to implement the cardiac system. Then the Particle Swarm Optimization (PSO was used to seek for the proportional, integral, and derivative gains of optimal PID controller, and the PID controller which could synchronize the slave cardiac circuit and the master cardiac circuit was obtained, in order to synchronize the master/slave chaotic cardiac circuits. This method can be provided for cardiac doctors to diagnose and medicate cardiac abnormality.

Global chaos synchronization of electro-mechanical gyrostat systems via variable substitution control

International Nuclear Information System (INIS)

Chen Yun; Wu Xiaofeng; Liu Zhong

2009-01-01

This paper studies global synchronization of non-autonomous chaotic electro-mechanical gyrostat systems via variable substitution control. A master-slave non-autonomous synchronization scheme with variable substitution control is mathematically presented. Based on the scheme, some sufficient algebraic criteria for global chaos synchronization of master and slave electro-mechanical gyrostat systems via various single-variable coupling are derived. The effectiveness of the obtained criteria is numerically illustrated by the examples.

Chaos synchronization in RCL-shunted Josephson junction via active control

International Nuclear Information System (INIS)

Ucar, Ahmet; Lonngren, Karl E.; Bai, E.-W.

2007-01-01

This paper investigates the synchronization of coupled RCL-shunted Josephson junction that is of interest in high-frequency applications. A nonlinear controller is developed in order to achieve the desired behavior. The synchronization is obtained using the slave-master technique and the controller ensures that the states of the controlled chaotic slave system exponentially synchronize with the state of the master system. Numerical simulations are illustrate and verify the proposed method

Slaves to Big Data. Or Are We?

Directory of Open Access Journals (Sweden)

Mireille Hildebrandt

2013-10-01

Full Text Available

In this contribution, the notion of Big Data is discussed in relation to the monetisation of personal data. The claim of some proponents, as well as adversaries, that Big Data implies that ‘n = all’, meaning that we no longer need to rely on samples because we have all the data, is scrutinised and found to be both overly optimistic and unnecessarily pessimistic. A set of epistemological and ethical issues is presented, focusing on the implications of Big Data for our perception, cognition, fairness, privacy and due process. The article then looks into the idea of user-centric personal data management to investigate to what extent it provides solutions for some of the problems triggered by the Big Data conundrum. Special attention is paid to the core principle of data protection legislation, namely purpose binding. Finally, this contribution seeks to inquire into the influence of Big Data politics on self, mind and society, and asks how we can prevent ourselves from becoming slaves to Big Data.

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

Science.gov (United States)

Ibeas, Asier; de la Sen, Manuel

2006-10-01

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

Development of Pneumatic Robot Hand and Construction of Master-Slave System

Science.gov (United States)

Tsujiuchi, Nobutaka; Koizumi, Takayuki; Nishino, Shinya; Komatsubara, Hiroyuki; Kudawara, Tatsuwo; Hirano, Masanori

Recently, research and development has focused on robots that work in place of people. It is necessary for robots to perform the same flexible motions as people. Additionally, such robots need to incorporate high-level safety features in order not to injure people. For creation of such robots, we need to develop a robot hand that functions like a human hand. At the same time, this type of robot hand can be used as an artificial hand. Here, we present artificial muscle-type pneumatic actuators as the driving source of a robot hand that is both safe and flexible. Some development of robot hands using pneumatic actuators has already taken place. But, until now, when a pneumatic actuator is used, a big compressor is needed. So, the driving system also needs to be big; enlargement of the driving system is a major problem. Consequently, in this research, we develop a low-pressure, low-volume pneumatic actuator for driving a robot hand that works flexibly and safely on the assumption that it will be in contact with people. We develop a five-fingered robot hand with pneumatic actuators. And, we construct a master-slave system to enable the robot hand to perform the same operations as a human hand. We make a 1-link arm that has one degree of freedom using a pneumatic actuator, and construct a control system for the 1-link arm and verify its control performance.

Exponential synchronization of chaotic Lur'e systems with time-varying delay via sampled-data control

International Nuclear Information System (INIS)

Rakkiyappan, R.; Sivasamy, R.; Lakshmanan, S.

2014-01-01

In this paper, we study the exponential synchronization of chaotic Lur'e systems with time-varying delays via sampled-data control by using sector nonlinearties. In order to make full use of information about sampling intervals and interval time-varying delays, new Lyapunov—Krasovskii functionals with triple integral terms are introduced. Based on the convex combination technique, two kinds of synchronization criteria are derived in terms of linear matrix inequalities, which can be efficiently solved via standard numerical software. Finally, three numerical examples are provided to demonstrate the less conservatism and effectiveness of the proposed results

Exoskeleton master controller with force-reflecting telepresence

Science.gov (United States)

Burke, James B.; Bartholet, Stephen J.; Nelson, David K.

1992-01-01

A thorough understanding of the requirements for successful master-slave robotic systems is becoming increasingly desirable. Such systems can aid in the accomplishment of tasks that are hazardous or inaccessible to humans. Although a history of use has proven master-slave systems to be viable, system requirements and the impact of specifications on the human factors side of system performance are not well known. In support of the next phase of teleoperation research being conducted at the Armstrong Research Laboratory, a force-reflecting, seven degree of freedom exoskeleton for master-slave teleoperation has been concepted, and is presently being developed. The exoskeleton has a unique kinematic structure that complements the structure of the human arm. It provides a natural means for teleoperating a dexterous, possibly redundant manipulator. It allows ease of use without operator fatigue and faithfully follows human arm and wrist motions. Reflected forces and moments are remotely transmitted to the operator hand grip using a cable transmission scheme. This paper presents the exoskeleton concept and development results to date. Conceptual design, hardware, algorithms, computer architecture, and software are covered.

Slave Breeding

OpenAIRE

Sutch, Richard

1986-01-01

This paper reviews the historical work on slave breeding in the ante-bellum United States. Slave breeding consisted of interference in the sexual life of slaves by their owners with the intent and result of increasing the number of slave children born. The weight of evidence suggests that slave breeding occurred in sufficient force to raise the rate of growth of the American slave population despite evidence that only a minority of slave-owners engaged in such practices.

Proposed master-slave and automated remote handling system for high-temperature gas-cooled reactor fuel refabrication

International Nuclear Information System (INIS)

Grundmann, J.G.

1974-01-01

The Oak Ridge National Laboratory's Thorium-Uranium Recycle Facility (TURF) will be used to develop High-Temperature Gas-Cooled Reactor (HTGR) fuel recycle technology which can be applied to future HTGR commercial fuel recycling plants. To achieve recycle capabilities it is necessary to develop an effective material handling system to remotely transport equipment and materials and to perform maintenance tasks within a hot cell facility. The TURF facility includes hot cells which contain remote material handling equipment. To extend the capabilities of this equipment, the development of a master-slave manipulator and a 3D-TV system is necessary. Additional work entails the development of computer controls to provide: automatic execution of tasks, automatic traverse of material handling equipment, automatic 3D-TV camera sighting, and computer monitoring of in-cell equipment positions to prevent accidental collisions. A prototype system which will be used in the development of the above capabilities is presented. (U.S.)

Dynamics of unidirectionally coupled bistable Henon maps

International Nuclear Information System (INIS)

Sausedo-Solorio, J.M.; Pisarchik, A.N.

2011-01-01

We study dynamics of two bistable Henon maps coupled in a master-slave configuration. In the case of coexistence of two periodic orbits, the slave map evolves into the master map state after transients, which duration determines synchronization time and obeys a -1/2 power law with respect to the coupling strength. This scaling law is almost independent of the map parameter. In the case of coexistence of chaotic and periodic attractors, very complex dynamics is observed, including the emergence of new attractors as the coupling strength is increased. The attractor of the master map always exists in the slave map independently of the coupling strength. For a high coupling strength, complete synchronization can be achieved only for the attractor similar to that of the master map. -- Highlights: → We study dynamics of two bistable Henon maps coupled in a master-slave configuration. → Synchronization time for periodic orbits obeys a -1/2 power law with respect to coupling. → For a high coupling strength, the slave map remains bistable. → Complete synchronization can be achieved only when both maps stay at the same attractor.

Double lens collimator solar feedback sensor and master slave configuration: Development of compact and low cost two axis solar tracking system for CPV applications

KAUST Repository

Burhan, Muhammad

2016-08-31

The conventional CPV systems, as big unit design, are only suitable to be installed in the open regions, like desert areas. This gigantic system design restricts their use on the rooftop of commercial and residential buildings, unlike the conventional PV systems. This paper proposes a compact but highly accurate and cheap two axis solar tracking system, designed for CPV system field operation. The proposed system is designed and verified for tracking accuracy requirement of 0.3 degrees, and has maximum capability of as high as 0.1 degrees tracking accuracy. High tracking accuracy is ensured using in-house built double lens collimator solar feedback sensor, within a fraction of the cost of commercial solar tracking sensors. A hybrid tracking algorithm is developed in C-programming using astronomical and optical solar tracking methods. As compact CPV system design demands larger number of tracking units, for same power capacity of system. Therefore, a master slave control configuration is also proposed for the CPV field operation. Only master tracker will be equipped with the expensive tracking devices, while the required tracking information will be sent to all of the slave trackers using wireless communication through ZigBee devices. With detailed optical design, simulation and control strategy, a prototype of the proposed CPV tracking system is developed, experimentally investigated and verified for tracking accuracy for outdoor operation at the rooftop. (C) 2016 Elsevier Ltd. All rights reserved.

Development of master-slave energy management strategy based on fuzzy logic hysteresis state machine and differential power processing compensation for a PEMFC-LIB-SC hybrid tramway

International Nuclear Information System (INIS)

Peng, Fei; Zhao, Yuanzhe; Li, Xiaopeng; Liu, Zhixiang; Chen, Weirong; Liu, Yang; Zhou, Donghua

2017-01-01

Highlights: •A power system model for the PEMFC based commercial hybrid tramway was established. •An energy management strategy based on master FuHSM and slave DPPC was proposed. •The optimal OER operation of PEMFC subsystem was achieved. •The real-time EMS based HCM optimization was achieved. •The influence on system fuel economy and PEMFC performance degradation was verified. -- Abstract: A hybrid power system configuration based on proton exchange membrane fuel cell (PEMFC), lion-lithium battery (LIB) and supercapacitor (SC) was designed without grid connection for the hybrid tramway. To adapt to the rapid load power change and achieve higher fuel efficiency and optimal oxygen excess ratio (OER) operation of the PEMFC power subsystem, a master-slave energy management strategy based on fuzzy logic hysteresis state machine (FuHSM) and differential power processing compensation (DPPC) was proposed for the hybrid tramway, effectively taking into consideration of the dynamic response and optimum OER tracing of the integrated PEMFC subsystem. The master FuHSM controller was utilized to grantee the optimal power coordination of the multiple power sources and the slave DPPC controller was responsible for further compensating the load power demand to enhance the dynamic performance and bus voltage stability. Furthermore, the equivalent H 2 consumption minimization optimization considering characteristics of the proposed energy management strategy was realized by means of EIA-PSO algorithm to further improve the fuel economy of the overall hybrid power system. The results demonstrate that the proposed energy management strategy can guarantee the stability of the hybrid power system throughout the driving cycle. In addition, more efficient power coordination dynamics among the PEMFC, LIB and SC subsystems could be achieved without additional performance degradation of the integrated PEMFC subsystem, and the results of the comparisons with other control strategies

Real-time multi-target ranging based on chaotic polarization laser radars in the drive-response VCSELs.

Science.gov (United States)

Zhong, Dongzhou; Xu, Geliang; Luo, Wei; Xiao, Zhenzhen

2017-09-04

According to the principle of complete chaos synchronization and the theory of Hilbert phase transformation, we propose a novel real-time multi-target ranging scheme by using chaotic polarization laser radar in the drive-response vertical-cavity surface-emitting lasers (VCSELs). In the scheme, to ensure each polarization component (PC) of the master VCSEL (MVCSEL) to be synchronized steadily with that of the slave VCSEL, the output x-PC and y-PC from the MVCSEL in the drive system and those in the response system are modulated by the linear electro-optic effect simultaneously. Under this condition, by simulating the influences of some key parameters of the system on the synchronization quality and the relative errors of the two-target ranging, related operating parameters can be optimized. The x-PC and the y-PC, as two chaotic radar sources, are used to implement the real-time ranging for two targets. It is found that the measured distances of the two targets at arbitrary position exhibit strong real-time stability and only slight jitter. Their resolutions are up to millimeters, and their relative errors are very small and less than 2.7%.

On the possibility of producing true real-time retinal cross-sectional images using a graphics processing unit enhanced master-slave optical coherence tomography system.

Science.gov (United States)

Bradu, Adrian; Kapinchev, Konstantin; Barnes, Frederick; Podoleanu, Adrian

2015-07-01

In a previous report, we demonstrated master-slave optical coherence tomography (MS-OCT), an OCT method that does not need resampling of data and can be used to deliver en face images from several depths simultaneously. In a separate report, we have also demonstrated MS-OCT's capability of producing cross-sectional images of a quality similar to those provided by the traditional Fourier domain (FD) OCT technique, but at a much slower rate. Here, we demonstrate that by taking advantage of the parallel processing capabilities offered by the MS-OCT method, cross-sectional OCT images of the human retina can be produced in real time. We analyze the conditions that ensure a true real-time B-scan imaging operation and demonstrate in vivo real-time images from human fovea and the optic nerve, with resolution and sensitivity comparable to those produced using the traditional FD-based method, however, without the need of data resampling.

Optimal Exponential Synchronization of Chaotic Systems with Multiple Time Delays via Fuzzy Control

Directory of Open Access Journals (Sweden)

Feng-Hsiag Hsiao

2013-01-01

Full Text Available This study presents an effective approach to realize the optimal exponential synchronization of multiple time-delay chaotic (MTDC systems. First, a neural network (NN model is employed to approximate the MTDC system. Then, a linear differential inclusion (LDI state-space representation is established for the dynamics of the NN model. Based on this LDI state-space representation, this study proposes a delay-dependent exponential stability criterion of the error system derived in terms of Lyapunov’s direct method to ensure that the trajectories of the slave system can approach those of the master system. Subsequently, the stability condition of this criterion is reformulated into a linear matrix inequality (LMI. Based on the LMI, a fuzzy controller is synthesized not only to realize the exponential synchronization but also to achieve the optimal performance by minimizing the disturbance attenuation level. Finally, a numerical example with simulations is provided to illustrate the concepts discussed throughout this work.

New MA 23 master-slave manipulators with servo control and force feedback. Their application in routine work and in scheduled and exceptional operations

International Nuclear Information System (INIS)

Vertut, J.; Marchal, P.; Debrie, G.; Kissel, Ph.

1976-01-01

Manipulators of this type manufactured 10-15 years ago were not a success, their widespread introduction having been prevented by their excessive weight, too low capacity, too extensive electronics and high price. The MA 22 system, based on the Virgule device, led to the development of a new technology which combines high reliability with excellent performance, very small electronics and high-torque d.c. motors. The second generation, MA 23, is characterized by a substantially improved mechanism, enabling maximum advantage to be derived from the servo control and making it possible to reproduce, at unlimited distance and with very high slave strength, the dexterity displaced by light master-slave manipulators on the operator side. The authors describe the equipment and indicate the various possibilites for its use in facilities. Long-term development and testing is also being directed towards under-water operation and industrial automatic manipulation. The equipment described opens up a totally new potential for the development of remote-controlled intervention devices, and the authors refer to work on these lines in the Federal Republic of Germany and in France. The research and development effort will also be concerned with penetration into inaccessible parts of facilities. (author)

Don't bleach chaotic data

International Nuclear Information System (INIS)

Theiler, J.; Eubank, S.

1993-01-01

A common first step in time series signal analysis involves digitally filtering the data to remove linear correlations. The residual data is spectrally white (it is ''bleached''), but in principle retains the nonlinear structure of the original time series. It is well known that simple linear autocorrelation can give rise to spurious results in algorithms for estimating nonlinear invariants, such as fractal dimension and Lyapunov exponents. In theory, bleached data avoids these pitfalls. But in practice, bleaching obscures the underlying deterministic structure of a low-dimensional chaotic process. This appears to be a property of the chaos itself, since nonchaotic data are not similarly affected. The adverse effects of bleaching are demonstrated in a series of numerical experiments on known chaotic data. Some theoretical aspects are also discussed

Exponential Synchronization for Stochastic Neural Networks with Mixed Time Delays and Markovian Jump Parameters via Sampled Data

Directory of Open Access Journals (Sweden)

Yingwei Li

2014-01-01

Full Text Available The exponential synchronization issue for stochastic neural networks (SNNs with mixed time delays and Markovian jump parameters using sampled-data controller is investigated. Based on a novel Lyapunov-Krasovskii functional, stochastic analysis theory, and linear matrix inequality (LMI approach, we derived some novel sufficient conditions that guarantee that the master systems exponentially synchronize with the slave systems. The design method of the desired sampled-data controller is also proposed. To reflect the most dynamical behaviors of the system, both Markovian jump parameters and stochastic disturbance are considered, where stochastic disturbances are given in the form of a Brownian motion. The results obtained in this paper are a little conservative comparing the previous results in the literature. Finally, two numerical examples are given to illustrate the effectiveness of the proposed methods.

Multivalued synchronization by Poincaré coupling

Science.gov (United States)

Ontañón-García, L. J.; Campos-Cantón, E.; Femat, R.; Campos-Cantón, I.; Bonilla-Marín, M.

2013-10-01

This work presents multivalued chaotic synchronization via coupling based on the Poincaré plane. The coupling is carried out by an underdamped signal, triggered every crossing event of the trajectory of the master system through a previously defined Poincaré plane. A master-slave system is explored, and the synchronization between the systems is detected via the auxiliary system approach and the maximum conditional Lyapunov exponent. Due to the response to specific conditions two phenomena may be obtained: univalued and multivalued synchronization. Since the Lyapunov exponent is not enough to detect these two phenomena, the distance between the pieces of trajectories of the slave and auxiliary systems with different initial conditions is also used as a tool for the detection of multivalued synchronization. Computer simulations using the benchmark chaotic systems of Lorenz and Rössler are used to exemplify the approach proposed.

Dual arm master controller development

Science.gov (United States)

Kuban, D. P.; Perkins, G. S.

1985-01-01

The advanced servomanipulator (ASM) slave was designed with an anthropomorphic stance gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape driven manipulators. Studies were performed which addressed to human factor design and performance tradeoffs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented.

Intraocular robotic interventional surgical system (IRISS): Mechanical design, evaluation, and master-slave manipulation.

Science.gov (United States)

Wilson, Jason T; Gerber, Matthew J; Prince, Stephen W; Chen, Cheng-Wei; Schwartz, Steven D; Hubschman, Jean-Pierre; Tsao, Tsu-Chin

2018-02-01

Since the advent of robotic-assisted surgery, the value of using robotic systems to assist in surgical procedures has been repeatedly demonstrated. However, existing technologies are unable to perform complete, multi-step procedures from start to finish. Many intraocular surgical steps continue to be manually performed. An intraocular robotic interventional surgical system (IRISS) capable of performing various intraocular surgical procedures was designed, fabricated, and evaluated. Methods were developed to evaluate the performance of the remote centers of motion (RCMs) using a stereo-camera setup and to assess the accuracy and precision of positioning the tool tip using an optical coherence tomography (OCT) system. The IRISS can simultaneously manipulate multiple surgical instruments, change between mounted tools using an onboard tool-change mechanism, and visualize the otherwise invisible RCMs to facilitate alignment of the RCM to the surgical incision. The accuracy of positioning the tool tip was measured to be 0.205±0.003 mm. The IRISS was evaluated by trained surgeons in a remote surgical theatre using post-mortem pig eyes and shown to be effective in completing many key steps in a variety of intraocular surgical procedures as well as being capable of performing an entire cataract extraction from start to finish. The IRISS represents a necessary step towards fully automated intraocular surgery and demonstrated accurate and precise master-slave manipulation for cataract removal and-through visual feedback-retinal vein cannulation. Copyright © 2017 John Wiley & Sons, Ltd.

Delay-Dependent Exponential Optimal Synchronization for Nonidentical Chaotic Systems via Neural-Network-Based Approach

Directory of Open Access Journals (Sweden)

Feng-Hsiag Hsiao

2013-01-01

Full Text Available A novel approach is presented to realize the optimal exponential synchronization of nonidentical multiple time-delay chaotic (MTDC systems via fuzzy control scheme. A neural-network (NN model is first constructed for the MTDC system. Then, a linear differential inclusion (LDI state-space representation is established for the dynamics of the NN model. Based on this LDI state-space representation, a delay-dependent exponential stability criterion of the error system derived in terms of Lyapunov's direct method is proposed to guarantee that the trajectories of the slave system can approach those of the master system. Subsequently, the stability condition of this criterion is reformulated into a linear matrix inequality (LMI. According to the LMI, a fuzzy controller is synthesized not only to realize the exponential synchronization but also to achieve the optimal performance by minimizing the disturbance attenuation level at the same time. Finally, a numerical example with simulations is given to demonstrate the effectiveness of our approach.

A Study of Accuracy and Time Delay for Bilateral Master-Slave Industrial Robotic Arm Manipulator System

Directory of Open Access Journals (Sweden)

Mansor Nuratiqa Natrah

2018-01-01

Full Text Available Bilateral master-slave industrial robotic arm manipulator system is an advanced technology used to help human to interact with environments that are unreachable to human, due to its remoteness or perilous. The system has been used in different areas such as tele-surgery, autonomous tele-operation for sea and space operation and handling explosive or high radiation operation fields. It is beneficial both for science and society. Remarkably, the system is not common and generally used in Malaysia. Likewise, the number of research conducted that focused about this technology in our country manufacturing industry are not yet discovered and existent. The implementation of this bilateral manipulator system in an industrial robot could be useful for industrial imminent and development over our country and people, specifically for production yield size and human operative. Hence, the study of bilateral robotic arm manipulator system in an industrial robot and analyzation of its performance and time delay in 3 differ controllers will be discussed to attest the efficiency and its effectiveness on the said design system. The experiment conducted was on KUKA youBot arm in V-Rep simulation with three different controllers (P, PD, PID.

Design of an adaptive finite-time controller for synchronization of two identical/different non-autonomous chaotic flywheel governor systems

International Nuclear Information System (INIS)

Aghababa Mohammad Pourmahmood

2012-01-01

The centrifugal flywheel governor (CFG) is a mechanical device that automatically controls the speed of an engine and avoids the damage caused by sudden change of load torque. It has been shown that this system exhibits very rich and complex dynamics such as chaos. This paper investigates the problem of robust finite-time synchronization of non-autonomous chaotic CFGs. The effects of unknown parameters, model uncertainties and external disturbances are fully taken into account. First, it is assumed that the parameters of both master and slave CFGs have the same value and a suitable adaptive finite-time controller is designed. Second, two CFGs are synchronized with the parameters of different values via a robust adaptive finite-time control approach. Finally, some numerical simulations are used to demonstrate the effectiveness and robustness of the proposed finite-time controllers. (general)

Dual arm master controller concept

International Nuclear Information System (INIS)

Kuban, D.P.; Perkins, G.S.

1984-01-01

The Advanced Servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. 6 references, 3 figures

Finite-time synchronization of Lorenz chaotic systems: theory and circuits

International Nuclear Information System (INIS)

Louodop, Patrick; Fotsin, Hilaire; Kountchou, Michaux; Bowong, Samuel

2013-01-01

This paper addresses the problem of finite-time master–slave synchronization of Lorenz chaotic systems from a control theoretic point of view. We propose a family of feedback couplings which accomplish the synchronization of Lorenz chaotic systems based on Lyapunov stability theory. These feedback couplings are based on non-periodic functions. A finite horizon can be arbitrarily established by ensuring that chaos synchronization is achieved at established time. An advantage is that some of the proposed feedback couplings are simple and easy to implement. Both mathematical investigations and numerical simulations followed by a Pspice experiment are presented to show the feasibility of the proposed method. (paper)

Nonlinear dynamic behaviors of an optically injected vertical-cavity surface-emitting laser

International Nuclear Information System (INIS)

Li Xiaofeng; Pan Wei; Luo Bin; Ma Dong; Wang Yong; Li Nuohan

2006-01-01

Nonlinear dynamics of a vertical-cavity surface-emitting laser (VCSEL) with external optical injection are studied numerically. We consider a master-slave configuration where the dynamic characteristics of the slave are affected by the optical injection from the master, and we also establish the corresponding Simulink model. The period-doubling route as well as the period-halving route is observed, where the regular, double-periodic, and chaotic pulsings are found. By adjusting the injection strength properly, the laser can be controlled to work at a given state. The effects of frequency detuning on the nonlinear behaviors are also investigated in terms of the bifurcation diagrams of photon density with the frequency detuning. For weak injection case, the nonlinear dynamics shown by the laser are quite different when the value of frequency detuning varies contrarily (positive and negative direction). If the optical injection is strong enough, the slave can be locked by the master even though the frequency detuning is relatively large

Study of chaos in chaotic satellite systems

Indian Academy of Sciences (India)

Ayub Khan

2017-12-27

Dec 27, 2017 ... through strange attractor which is framed of the com- plex patterns. The one ... jectory of the Slave satellite be the measured attitude of the Master satellite [12 ... Bifurcation occurs when a tiny smooth change is made to the parameter .... negative and one of these tends to zero which is the required condition ...

Projective synchronization of chaotic systems with bidirectional ...

Indian Academy of Sciences (India)

2Department of Applied Mathematics, University of Calcutta, 92, A.P.C. Road,. Kolkata 700 009, India. ∗ ... versal phenomenon in a variety of natural and engineering systems [4]. Over the past two decades ..... Now, following the rule for the construction of master–slave system, we obtain the master system as. ˙x1 = x2 + ...

The Development of radiation hardened tele-robot system - Development of teleoperating technology using a universal master

Energy Technology Data Exchange (ETDEWEB)

Choi, Yong Je; Yang, Hyun Suk [Yonsei University, Seoul (Korea)

1999-04-01

A force-reflecting universal master for a teleoperating system has been designed and constructed, which can be used as an effective command input device for teleoperated robots. This report presents a full detail of the mechanism design and experiments related to the development of the force-reflecting masters. A real time virtual graphics display system which can be used as a powerful tool to predict any potential dangers and also to prevent an accident in advance has been developed and interfaced with the master. In order to transmit the force information of the slave to the operator effectively, the force-reflecting algorithm has been suggested and tested on the teleoperating system. The various master-slave systems have been tested in order to develop an efficient control algorithm for a teleoperating system with a force-reflecting master. A compliant device with the force/torque sensor capability has been also developed, which can be used as a passive position/force hybrid control device and as a sensor acquiring valid contact information of a slave with an environment. Experimental results showed that the developed teleoperating technology can be applied to a teleoperator system which interacts with the real environment. 21 refs., 103 figs., 2 tabs. (Author)

A novel image encryption algorithm based on synchronized random bit generated in cascade-coupled chaotic semiconductor ring lasers

Science.gov (United States)

Li, Jiafu; Xiang, Shuiying; Wang, Haoning; Gong, Junkai; Wen, Aijun

2018-03-01

In this paper, a novel image encryption algorithm based on synchronization of physical random bit generated in a cascade-coupled semiconductor ring lasers (CCSRL) system is proposed, and the security analysis is performed. In both transmitter and receiver parts, the CCSRL system is a master-slave configuration consisting of a master semiconductor ring laser (M-SRL) with cross-feedback and a solitary SRL (S-SRL). The proposed image encryption algorithm includes image preprocessing based on conventional chaotic maps, pixel confusion based on control matrix extracted from physical random bit, and pixel diffusion based on random bit stream extracted from physical random bit. Firstly, the preprocessing method is used to eliminate the correlation between adjacent pixels. Secondly, physical random bit with verified randomness is generated based on chaos in the CCSRL system, and is used to simultaneously generate the control matrix and random bit stream. Finally, the control matrix and random bit stream are used for the encryption algorithm in order to change the position and the values of pixels, respectively. Simulation results and security analysis demonstrate that the proposed algorithm is effective and able to resist various typical attacks, and thus is an excellent candidate for secure image communication application.

Dual arm master controller development

International Nuclear Information System (INIS)

Kuban, D.P.; Perkins, G.S.

1985-01-01

The advanced servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. This work was performed as part of the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory. 5 refs., 7 figs., 1 tab

An integrated high performance Fastbus slave interface

International Nuclear Information System (INIS)

Christiansen, J.; Ljuslin, C.

1993-01-01

A high performance CMOS Fastbus slave interface ASIC (Application Specific Integrated Circuit) supporting all addressing and data transfer modes defined in the IEEE 960 - 1986 standard is presented. The FAstbus Slave Integrated Circuit (FASIC) is an interface between the asynchronous Fastbus and a clock synchronous processor/memory bus. It can work stand-alone or together with a 32 bit microprocessor. The FASIC is a programmable device enabling its direct use in many different applications. A set of programmable address mapping windows can map Fastbus addresses to convenient memory addresses and at the same time act as address decoding logic. Data rates of 100 MBytes/sec to Fastbus can be obtained using an internal FIFO in the FASIC to buffer data between the two buses during block transfers. Message passing from Fastbus to a microprocessor on the slave module is supported. A compact (70 mm x 170 mm) Fastbus slave piggy back sub-card interface including level conversion between ECL and TTL signal levels has been implemented using surface mount components and the 208 pin FASIC chip

Linear model correction: A method for transferring a near-infrared multivariate calibration model without standard samples

Science.gov (United States)

Liu, Yan; Cai, Wensheng; Shao, Xueguang

2016-12-01

Calibration transfer is essential for practical applications of near infrared (NIR) spectroscopy because the measurements of the spectra may be performed on different instruments and the difference between the instruments must be corrected. For most of calibration transfer methods, standard samples are necessary to construct the transfer model using the spectra of the samples measured on two instruments, named as master and slave instrument, respectively. In this work, a method named as linear model correction (LMC) is proposed for calibration transfer without standard samples. The method is based on the fact that, for the samples with similar physical and chemical properties, the spectra measured on different instruments are linearly correlated. The fact makes the coefficients of the linear models constructed by the spectra measured on different instruments are similar in profile. Therefore, by using the constrained optimization method, the coefficients of the master model can be transferred into that of the slave model with a few spectra measured on slave instrument. Two NIR datasets of corn and plant leaf samples measured with different instruments are used to test the performance of the method. The results show that, for both the datasets, the spectra can be correctly predicted using the transferred partial least squares (PLS) models. Because standard samples are not necessary in the method, it may be more useful in practical uses.

The Hegelian inquiring system and a critical triangulation tool for the internet information slave: a design science study

NARCIS (Netherlands)

Wijnhoven, Alphonsus B.J.M.

2012-01-01

This article discusses people's understanding of reality by representations from the Internet. The Hegelian inquiry system is used here to explain the nature of informing on the Internet as activities of information masters to influence information slaves' opinions and as activities of information

Dynamics of chaotic strings

International Nuclear Information System (INIS)

Schaefer, Mirko

2011-01-01

The main topic of this thesis is the investigation of dynamical properties of coupled Tchebycheff map networks. The results give insights into the chaotic string model and its network generalization from a dynamical point of view. As a first approach, discrete symmetry transformations of the model are studied. These transformations are formulated in a general way in order to be also applicable to similar dynamics on bipartite network structures. The dynamics is studied numerically via Lyapunov measures, spatial correlations, and ergodic properties. It is shown that the zeros of the interaction energy are distinguished only with respect to this specific observable, but not by a more general dynamical principle. The original chaotic string model is defined on a one-dimensional lattice (ring-network) as the underlying network topology. This thesis studies a modification of the model based on the introduction of tunable disorder. The effects of inhomogeneous coupling weights as well as small-world perturbations of the ring-network structure on the interaction energy are discussed. Synchronization properties of the chaotic string model and its network generalization are studied in later chapters of this thesis. The analysis is based on the master stability formalism, which relates the stability of the synchronized state to the spectral properties of the network. Apart from complete synchronization, where the dynamics at all nodes of the network coincide, also two-cluster synchronization on bipartite networks is studied. For both types of synchronization it is shown that depending on the type of coupling the synchronized dynamics can display chaotic as well as periodic or quasi-periodic behaviour. The semi-analytical calculations reveal that the respective synchronized states are often stable for a wide range of coupling values even for the ring-network, although the respective basins of attraction may inhabit only a small fraction of the phase space. To provide

Force Control and Nonlinear Master-Slave Force Profile to Manage an Admittance Type Multi-Fingered Haptic User Interface

Energy Technology Data Exchange (ETDEWEB)

Anthony L. Crawford

2012-08-01

Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be accomplished in remote and/or hazardous environments, such as hot cells, glove boxes, decommissioning, explosives disarmament, and space to name a few. In order to achieve this end the research presented in this paper has developed an admittance type exoskeleton like multi-fingered haptic hand user interface that secures the user’s palm and provides 3-dimensional force feedback to the user’s fingertips. Atypical to conventional haptic hand user interfaces that limit themselves to integrating the human hand’s characteristics just into the system’s mechanical design this system also perpetuates that inspiration into the designed user interface’s controller. This is achieved by manifesting the property differences of manipulation and grasping activities as they pertain to the human hand into a nonlinear master-slave force relationship. The results presented in this paper show that the admittance-type system has sufficient bandwidth that it appears nearly transparent to the user when the user is in free motion and when the system is subjected to a manipulation task, increased performance is achieved using the nonlinear force relationship compared to the traditional linear scaling techniques implemented in the vast majority of systems.

Design of High-Security USB Flash Drives Based on Chaos Authentication

Directory of Open Access Journals (Sweden)

Teh-Lu Liao

2018-05-01

Full Text Available This paper aims to propose a novel design of high-security USB flash drives with the chaos authentication. A chaos authentication approach with the non-linear encryption and decryption function design is newly proposed and realized based on the controller design of chaos synchronization. To complete the design of high-security USB flash drives, first, we introduce six parameters into the original Henon map to adjust and obtain richer chaotic state responses. Then a discrete sliding mode scheme is proposed to solve the synchronization problem of discrete hyperchaotic Henon maps. The proposed sliding mode controller can ensure the synchronization of the master-slave Henon maps. The selection of the switching surface and the existence of the sliding motion are also addressed. Finally, the obtained results are applied to design a new high-security USB flash drive with chaos authentication. We built discrete hyperchaotic Henon maps in the smartphone (master and microcontroller (slave, respectively. The Bluetooth module is used to communicate between the master and the slave to achieve chaos synchronization such that the same random and dynamical chaos signal can be simultaneously obtained at both the USB flash drive and smartphone, and pass the chaos authentication. When users need to access data in the flash drive, they can easily enable the encryption APP in the smartphone (master for chaos authentication. After completing the chaos synchronization and authentication, the ARM-based microcontroller allows the computer to access the data in the high-security USB flash drive.

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master-Slave Systems.

Science.gov (United States)

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master-slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user's wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a

Dual arm master controller concept: consolidated fuel reprocessing program

International Nuclear Information System (INIS)

Kuban, D.P.; Perkins, G.S.

1984-04-01

The Advanced Servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features result in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. 6 references, 3 figures

Data Quality- and Master Data Management - A Hospital Case.

Science.gov (United States)

Arthofer, Klaus; Girardi, Dominic

2017-01-01

Poor data quality prevents the analysis of data for decisions which are critical for business. It also has a negative impact on business processes. Nevertheless the maturity level of data quality- and master data management is still insufficient in many organizations nowadays. This article discusses the corresponding maturity of companies and a management cycle integrating data quality- and master data management in a case dealing with benchmarking in hospitals. In conclusion if data quality and master data are not properly managed, structured data should not be acquired in the first place due to the added expense and complexity.

A New Finite-Time Observer for Nonlinear Systems: Applications to Synchronization of Lorenz-Like Systems

Directory of Open Access Journals (Sweden)

Ricardo Aguilar-López

2016-01-01

Full Text Available This paper proposes a synchronization methodology of two chaotic oscillators under the framework of identical synchronization and master-slave configuration. The proposed methodology is based on state observer design under the frame of control theory; the observer structure provides finite-time synchronization convergence by cancelling the upper bounds of the main nonlinearities of the chaotic oscillator. The above is showed via an analysis of the dynamic of the so called synchronization error. Numerical experiments corroborate the satisfactory results of the proposed scheme.

Function projective lag synchronization of fractional-order chaotic systems

International Nuclear Information System (INIS)

Wang Sha; Yu Yong-Guang; Wang Hu; Rahmani Ahmed

2014-01-01

Function projective lag synchronization of different structural fractional-order chaotic systems is investigated. It is shown that the slave system can be synchronized with the past states of the driver up to a scaling function matrix. According to the stability theorem of linear fractional-order systems, a nonlinear fractional-order controller is designed for the synchronization of systems with the same and different dimensions. Especially, for two different dimensional systems, the synchronization is achieved in both reduced and increased dimensions. Three kinds of numerical examples are presented to illustrate the effectiveness of the scheme. (general)

A Generalized Slave-Particle Method

Science.gov (United States)

Georgescu, Alexandru Bogdan; Ismail-Beigi, Sohrab

2015-03-01

Two slave-particle methods, namely the slave-rotor and the slave-spin approaches, have been of recent interest in the computational correlated electron community. Both methods solve Hubbard-type models and go beyond the single-particle approximations by describing aspects of correlated electron behavior in a computationally efficient manner. We present a generalized slave-particle formalism that connects the the two while reproducing the results of each method in the appropriate limit. The framework automatically corrects the problematic small U behavior of the slave-rotor approach while reproducing its behavior in situations where it has been found physically relevant (e.g., for nickelate heterostructures). This work is supported by the National Science Foundation through Grant MRSEC NSF DMR-1119826.

Design and implementation of EP-based PID controller for chaos synchronization of Rikitake circuit systems.

Science.gov (United States)

Hou, Yi-You

2017-09-01

This article addresses an evolutionary programming (EP) algorithm technique-based and proportional-integral-derivative (PID) control methods are established to guarantee synchronization of the master and slave Rikitake chaotic systems. For PID synchronous control, the evolutionary programming (EP) algorithm is used to find the optimal PID controller parameters k p , k i , k d by integrated absolute error (IAE) method for the convergence conditions. In order to verify the system performance, the basic electronic components containing operational amplifiers (OPAs), resistors, and capacitors are used to implement the proposed chaotic Rikitake systems. Finally, the experimental results validate the proposed Rikitake chaotic synchronization approach. Copyright © 2017. Published by Elsevier Ltd.

Chaos synchronization of nonlinear Bloch equations

International Nuclear Information System (INIS)

Park, Ju H.

2006-01-01

In this paper, the problem of chaos synchronization of Bloch equations is considered. A novel nonlinear controller is designed based on the Lyapunov stability theory. The proposed controller ensures that the states of the controlled chaotic slave system asymptotically synchronizes the states of the master system. A numerical example is given to illuminate the design procedure and advantage of the result derived

Security analysis of chaotic communication systems based on Volterra-Wiener-Korenberg model

International Nuclear Information System (INIS)

Lei Min; Meng Guang; Feng Zhengjin

2006-01-01

Pseudo-randomicity is an important cryptological characteristic for proof of encryption algorithms. This paper proposes a nonlinear detecting method based on Volterra-Wiener-Korenberg model and suggests an autocorrelation function to analyze the pseudo-randomicity of chaotic secure systems under different sampling interval. The results show that: (1) the increase of the order of the chaotic transmitter will not necessarily result in a high degree of security; (2) chaotic secure systems have higher and stronger pseudo-randomicity at sparse sampling interval due to the similarity of chaotic time series to the noise; (3) Volterra-Wiener-Korenberg method can also give a further appropriate sparse sampling interval for improving the security of chaotic secure communication systems. For unmasking chaotic communication systems, the Volterra-Wiener-Korenberg technique can be applied to analyze the chaotic time series with surrogate data

Master-slave synchronization of Lorenz systems using a single controller

International Nuclear Information System (INIS)

Oancea, Servilia; Grosu, Florin; Lazar, Anca; Grosu, Ioan

2009-01-01

A single controller for synchronization of two Lorenz systems is obtained by using Lyapunov function. Numerical results are given for the all three cases with one controller in each equation. Controller contains two or three variables of the master system.

Chaotic Synchronization in Nearest-Neighbor Coupled Networks of 3D CNNs

OpenAIRE

Serrano-Guerrero, H.; Cruz-Hernández, C.; López-Gutiérrez, R.M.; Cardoza-Avendaño, L.; Chávez-Pérez, R.A.

2013-01-01

In this paper, a synchronization of Cellular Neural Networks (CNNs) in nearest-neighbor coupled arrays, is numerically studied. Synchronization of multiple chaotic CNNs is achieved by appealing to complex systems theory. In particular, we consider dynamical networks composed by 3D CNNs, as interconnected nodes, where the interactions in the networks are defined by coupling the first state of each node. Four cases of interest are considered: i) synchronization without chaotic master, ii) maste...

Cascade Chaotic System With Applications.

Science.gov (United States)

Zhou, Yicong; Hua, Zhongyun; Pun, Chi-Man; Chen, C L Philip

2015-09-01

Chaotic maps are widely used in different applications. Motivated by the cascade structure in electronic circuits, this paper introduces a general chaotic framework called the cascade chaotic system (CCS). Using two 1-D chaotic maps as seed maps, CCS is able to generate a huge number of new chaotic maps. Examples and evaluations show the CCS's robustness. Compared with corresponding seed maps, newly generated chaotic maps are more unpredictable and have better chaotic performance, more parameters, and complex chaotic properties. To investigate applications of CCS, we introduce a pseudo-random number generator (PRNG) and a data encryption system using a chaotic map generated by CCS. Simulation and analysis demonstrate that the proposed PRNG has high quality of randomness and that the data encryption system is able to protect different types of data with a high-security level.

Control-oriented approaches to anticipating synchronization of chaotic deterministic ratchets

Energy Technology Data Exchange (ETDEWEB)

Xu Shiyun [State Key Lab for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, College of Engineering, Peking University, Beijing 100871 (China)], E-mail: xushiyun@pku.edu.cn; Yang Ying [State Key Lab for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, College of Engineering, Peking University, Beijing 100871 (China)], E-mail: yy@mech.pku.edu.cn; Song Lei [State Key Lab for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, College of Engineering, Peking University, Beijing 100871 (China)

2009-06-15

In virtue of techniques derived from nonlinear control system theory, we establish conditions under which one could obtain anticipating synchronization between two periodically driven deterministic ratchets that are able to exhibit directed transport with a finite velocity. Criteria are established in order to guarantee the anticipating synchronization property of such systems as well as characterize phase space dynamics of the ratchet transporting behaviors. These results allow one to predict the chaotic direct transport features of particles on a ratchet potential using a copy of the same system that performs as a slave, which are verified through numerical simulation.

Mastering Emotions: The Emotional Politics of Slavery

OpenAIRE

Dwyer, Erin

2012-01-01

Mastering Emotions: The Emotional Politics of Slavery explores how the emotions and affective norms of the Antebellum South were conditioned upon and constructed through the institution of slavery. Though slavery is a subject wrought with emotion, there has been no focus in recent historical scholarship on the affective dimensions of slavery. Studies in the history of emotion have also largely ignored slavery. My intervention in these fields reveals the ways that both slaveholders and slaves ...

Extraction of dynamical equations from chaotic data

International Nuclear Information System (INIS)

Rowlands, G.; Sprott, J.C.

1991-02-01

A method is described for extracting from a chaotic time series a system of equations whose solution reproduces the general features of the original data even when these are contaminated with noise. The equations facilitate calculation of fractal dimension, Lyapunov exponents and short-term predictions. The method is applied to data derived from numerical solutions of the Logistic equation, the Henon equations, the Lorenz equations and the Roessler equations. 10 refs., 5 figs

Chaotic data analysis of heart R-R interval EKG data

International Nuclear Information System (INIS)

Frison, T.W.; Peng, C.K.; Goldberger, A.; Katz, R.A.

1996-01-01

Cardiac beat-to-beat interval data is analyzed with a chaotic data analysis toolkit. The embedding dimension of ten data sets from healthy subjects is 7 or at most 8. Ten of the eleven pathological data sets have an embedding dimension of 9 or greater. Statistically, the first local minimum of average mutual information for healthy hearts is larger than the pathological cases. But, there is a large standard deviation for this metric that blurs the distinction between the healthy and pathological data. copyright 1996 American Institute of Physics

"[No] doctor but my master": Health reform and antislavery rhetoric in Harriet Jacobs's Incidents in the life of a slave girl.

Science.gov (United States)

Berry, Sarah L

2014-03-01

This essay examines Harriet Jacobs's Incidents in the Life of a Slave Girl (1861) in light of new archival findings on the medical practices of Dr. James Norcom (Dr. Flint in the narrative). While critics have sharply defined the feminist politics of Jacobs's sexual victimization and resistance, they have overlooked her medical experience in slavery and her participation in reform after escape. I argue that Jacobs uses the rhetoric of a woman-led health reform movement underway during the 1850s to persuade her readers to end slavery. This essay reconstructs both contexts, revealing that Jacobs links enslaved women's physical and sexual vulnerability with her female readers' fears of male doctors' threats to modesty and of their standard bleed-and-purge treatments. Jacobs illustrates that slavery damages women's health as much as heroic medicine, and thus merits the political activism of her readers. Specifically, Jacobs dramatizes her conflicts with the rapacious physician-master at moments that are crucial to women's health: marriage, pregnancy, childbirth, and motherhood. Ultimately, this essay advances a new understanding of the role of health reform in social change: it galvanized other movements such as women's rights and abolition, particularly around issues of bodily autonomy for women and African Americans.

Implementation of an integrated op-amp based chaotic neuron model and observation of its chaotic dynamics

International Nuclear Information System (INIS)

Jung, Jinwoo; Lee, Jewon; Song, Hanjung

2011-01-01

This paper presents a fully integrated circuit implementation of an operational amplifier (op-amp) based chaotic neuron model with a bipolar output function, experimental measurements, and analyses of its chaotic behavior. The proposed chaotic neuron model integrated circuit consists of several op-amps, sample and hold circuits, a nonlinear function block for chaotic signal generation, a clock generator, a nonlinear output function, etc. Based on the HSPICE (circuit program) simulation results, approximated empirical equations for analyses were formulated. Then, the chaotic dynamical responses such as bifurcation diagrams, time series, and Lyapunov exponent were calculated using these empirical equations. In addition, we performed simulations about two chaotic neuron systems with four synapses to confirm neural network connections and got normal behavior of the chaotic neuron such as internal state bifurcation diagram according to the synaptic weight variation. The proposed circuit was fabricated using a 0.8-μm single poly complementary metal-oxide semiconductor technology. Measurements of the fabricated single chaotic neuron with ±2.5 V power supplies and a 10 kHz sampling clock frequency were carried out and compared with the simulated results.

Chaotic Boltzmann machines

Science.gov (United States)

Suzuki, Hideyuki; Imura, Jun-ichi; Horio, Yoshihiko; Aihara, Kazuyuki

2013-01-01

The chaotic Boltzmann machine proposed in this paper is a chaotic pseudo-billiard system that works as a Boltzmann machine. Chaotic Boltzmann machines are shown numerically to have computing abilities comparable to conventional (stochastic) Boltzmann machines. Since no randomness is required, efficient hardware implementation is expected. Moreover, the ferromagnetic phase transition of the Ising model is shown to be characterised by the largest Lyapunov exponent of the proposed system. In general, a method to relate probabilistic models to nonlinear dynamics by derandomising Gibbs sampling is presented. PMID:23558425

An integrated high performance fastbus slave interface

International Nuclear Information System (INIS)

Christiansen, J.; Ljuslin, C.

1992-01-01

A high performance Fastbus slave interface ASIC is presented. The Fastbus slave integrated circuit (FASIC) is a programmable device, enabling its direct use in many different applications. The FASIC acts as an interface between Fastbus and a 'standard' processor/memory bus. It can work stand-alone or together with a microprocessor. A set of address mapping windows can map Fastbus addresses to convenient memory addresses and at the same time act as address decoding logic. Data rates of 100 MBytes/s to Fastbus can be obtained using an internal FIFO buffer in the FASIC. (orig.)

Eager protocol on a cache pipeline dataflow

Science.gov (United States)

Ohmacht, Martin; Sugavanam, Krishnan

2012-11-13

A master device sends a request to communicate with a slave device to a switch. The master device waits for a period of cycles the switch takes to decide whether the master device can communicate with the slave device, and the master device sends data associated with the request to communicate at least after the period of cycles has passed since the master device sent the request to communicate to the switch without waiting to receive an acknowledgment from the switch that the master device can communicate with the slave device.

Chaotic reconfigurable ZCMT precoder for OFDM data encryption and PAPR reduction

Science.gov (United States)

Chen, Han; Yang, Xuelin; Hu, Weisheng

2017-12-01

A secure orthogonal frequency division multiplexing (OFDM) transmission scheme precoded by chaotic Zadoff-Chu matrix transform (ZCMT) is proposed and demonstrated. It is proved that the reconfigurable ZCMT matrices after row/column permutations can be applied as an alternative precoder for peak-to-average power ratio (PAPR) reduction. The permutations and the reconfigurable parameters in ZCMT matrix are generated by a hyper digital chaos, in which a huge key space of ∼ 10800 is created for physical-layer OFDM data encryption. An encrypted data transmission of 8.9 Gb/s optical OFDM signals is successfully demonstrated over 20 km standard single-mode fiber (SSMF) for 16-QAM. The BER performance of the encrypted signals is improved by ∼ 2 dB (BER@ 10-3), which is mainly attributed to the effective reduction of PAPR via chaotic ZCMT precoding. Moreover, the chaotic ZCMT precoding scheme requires no sideband information, thus the spectrum efficiency is enhanced during transmission.

Facultative slave-making ants Formica sanguinea label their slaves with own recognition cues instead of employing the strategy of chemical mimicry.

Science.gov (United States)

Włodarczyk, Tomasz; Szczepaniak, Lech

2017-01-01

Slave-making ant species use the host workforce to ensure normal colony functioning. Slaves are robbed as pupae from their natal nest and after eclosion, assume the parasite colony as their own. A possible factor promoting the successful integration of slaves into a foreign colony is congruence with the slave-makers in terms of cuticular hydrocarbons, which are known to play the role of recognition cues in social insects. Such an adaptation is observed in the obligate slave-making ant species, which are chemically adjusted to their slaves. To date, however, no reports have been available on facultative slave-making species, which represent an earlier stage of the evolution of slavery. Such an example is Formica sanguinea, which exploit F. fusca colonies as their main source of a slave workforce. Our results show that F. sanguinea ants have a distinct cuticular hydrocarbon profile, which contains compounds not present in free-living F. fusca ants from potential target nests. Moreover, enslaved F. fusca ants acquire hydrocarbons from their slave-making nestmates to such an extent that they become chemically differentiated from free-living, conspecific ants. Our study shows that F. sanguinea ants promote their own recognition cues in their slaves, rather than employing the strategy of chemical mimicry. Possible reasons why F. sanguinea is not chemically well adjusted to its main host species are discussed in this paper. Copyright © 2016 Elsevier Ltd. All rights reserved.

Multivariable PD controller design for fast chaos synchronization of Lur'e systems

International Nuclear Information System (INIS)

Wen, Guilin; Wang, Qing-Guo; He, Yong; Ye, Zhen

2007-01-01

In this Letter, a strategy for fast master-slave synchronization is proposed for Lur'e systems under PD control based on the free-weighting matrix approach and the S-procedure. The purpose of the derivative action is to improve the closed-loop stability and speed synchronization response. The proposed strategy covers the existing result for the proportional control alone as a special case. This approach is illustrated by the Chua's chaotic circuit system

Le charme slave

Directory of Open Access Journals (Sweden)

Antonella Mauri

2012-09-01

Full Text Available Antonella Mauri analyse l’image des femmes slaves immigrées en Italie telle qu’elle apparaît à travers la publicité, la littérature romanesque (La ballata dei lavavetri de Peter Del monte, Luce Profuga de Valerio Aiolli, Pornokiller de Bruno Ventavoli, le cinéma, la bande dessinée (Danilo Maramotti, image qu’elle oppose aux résultats d’une enquête qu’elle a menée sur le terrain. Elle s’interroge en particulier sur la permanence des stéréotypes liés à la femme slave.

Water in the Cratonic Mantle: Insights from FTIR Data on Lac De Gras Xenoliths (Slave Craton, Canada)

Science.gov (United States)

Peslier, Anne H.; Brandon, Alan D.; Schaffer, Lillian Aurora; O'Reilly, Suzanne Yvette; Griffin, William L.; Morris, Richard V.; Graff, Trevor G.; Agresti, David G.

2014-01-01

The mantle lithosphere beneath the cratonic part of continents is the deepest (> 200 km) and oldest (>2-3 Ga) on Earth, remaining a conundrum as to how these cratonic roots could have resisted delamination by asthenospheric convection over time. Water, or trace H incorporated in mineral defects, could be a key player in the evolution of continental lithosphere because it influences melting and rheology of the mantle. Mantle xenoliths from the Lac de Gras kimberlite in the Slave craton were analyzed by FTIR. The cratonic mantle beneath Lac de Gras is stratified with shallow (water contents extending to higher values than those from the shallow ones. The FTIR spectra of olivines from the shallow samples have more prominent Group II OH bands compared to the olivines from the deep samples, consistent with a more oxidized mantle environment. The range of olivine water content is similar to that observed in Kaapvaal craton peridotites at the same depths (129-184 km) but does not extend to as high values as those from Udachnaya (Siberian craton). The Slave, Kaapvaal and Siberian cratons will be compared in terms of water content distribution, controls and role in cratonic root longevity.

Operating force information on-line acquisition of a novel slave manipulator for vascular interventional surgery.

Science.gov (United States)

Zhao, Yan; Guo, Shuxiang; Xiao, Nan; Wang, Yuxin; Li, Youxiang; Jiang, Yuhua

2018-04-02

Vascular interventional surgery has its advantages compared to traditional operation. Master-slave robotic technology can further improve the operation accuracy, efficiency and safety of this complicated and high risk surgery. However, on-line acquisition of operating force information of catheter and guidewire remains to be a significant obstacle on the path to enhancing robotic surgery safety. Thus, a novel slave manipulator is proposed in this paper to realize on-line sensing of guidewire torsional operating torque and axial operation force during robotic assisted operations. A strain sensor is specially designed to detect the small scale torsional operation torque with low rotational frequency. Additionally, the axial operating force is detected via a load cell, which is incorporated into a sliding mechanism to eliminate the influence of friction. For validation, calibration and performance evaluation experiments are conducted. The results indicate that the proposed operation torque and force detection device is effective. Thus, it can provide the foundation for enabling accurate haptic feedback to the surgeon to improve surgical safety.

Stochastic processes, slaves and supersymmetry

International Nuclear Information System (INIS)

Drummond, I T; Horgan, R R

2012-01-01

We extend the work of Tănase-Nicola and Kurchan on the structure of diffusion processes and the associated supersymmetry algebra by examining the responses of a simple statistical system to external disturbances of various kinds. We consider both the stochastic differential equations (SDEs) for the process and the associated diffusion equation. The influence of the disturbances can be understood by augmenting the original SDE with an equation for slave variables. The evolution of the slave variables describes the behaviour of line elements carried along in the stochastic flow. These line elements, together with the associated surface and volume elements constructed from them, provide the basis of the supersymmetry properties of the theory. For ease of visualization, and in order to emphasize a helpful electromagnetic analogy, we work in three dimensions. The results are all generalizable to higher dimensions and can be specialized to one and two dimensions. The electromagnetic analogy is a useful starting point for calculating asymptotic results at low temperature that can be compared with direct numerical evaluations. We also examine the problems that arise in a direct numerical simulation of the stochastic equation together with the slave equations. We pay special attention to the dependence of the slave variable statistics on temperature. We identify in specific models the critical temperature below which the slave variable distribution ceases to have a variance and consider the effect on estimates of susceptibilities. (paper)

Genetic evidence of African slavery at the beginning of the trans-Atlantic slave trade.

Science.gov (United States)

Martiniano, Rui; Coelho, Catarina; Ferreira, Maria Teresa; Neves, Maria João; Pinhasi, Ron; Bradley, Daniel G

2014-08-08

An archaeological excavation in Valle da Gafaria (Lagos, Portugal), revealed two contiguous burial places outside the medieval city walls, dating from the 15(th)-17(th) centuries AD: one was interpreted as a Leprosarium cemetery and the second as an urban discard deposit, where signs of violent, unceremonious burials suggested that these remains may belong to slaves captured in Africa by the Portuguese. We obtained random short autosomal sequence reads from seven individuals: two from the latter site and five from the Leprosarium and used these to call SNP identities and estimate ancestral affinities with modern reference data. The Leprosarium site samples were less preserved but gave some probability of both African and European ancestry. The two discard deposit burials each gave African affinity signals, which were further refined toward modern West African or Bantu genotyped samples. These data from distressed burials illustrate an African contribution to a low status stratum of Lagos society at a time when this port became a hub of the European trade in African slaves which formed a precursor to the transatlantic transfer of millions.

Multiple Model-Based Synchronization Approaches for Time Delayed Slaving Data in a Space Launch Vehicle Tracking System

Directory of Open Access Journals (Sweden)

Haryong Song

2016-01-01

Full Text Available Due to the inherent characteristics of the flight mission of a space launch vehicle (SLV, which is required to fly over very large distances and have very high fault tolerances, in general, SLV tracking systems (TSs comprise multiple heterogeneous sensors such as radars, GPS, INS, and electrooptical targeting systems installed over widespread areas. To track an SLV without interruption and to hand over the measurement coverage between TSs properly, the mission control system (MCS transfers slaving data to each TS through mission networks. When serious network delays occur, however, the slaving data from the MCS can lead to the failure of the TS. To address this problem, in this paper, we propose multiple model-based synchronization (MMS approaches, which take advantage of the multiple motion models of an SLV. Cubic spline extrapolation, prediction through an α-β-γ filter, and a single model Kalman filter are presented as benchmark approaches. We demonstrate the synchronization accuracy and effectiveness of the proposed MMS approaches using the Monte Carlo simulation with the nominal trajectory data of Korea Space Launch Vehicle-I.

BioSampling Data from LHP Cruises

Data.gov (United States)

National Oceanic and Atmospheric Administration, Department of Commerce — This data set includes separate bioSampling logs from each LHP Bottomfishing cruise both within and outside of the Main Hawaiian Islands, as well as a master file...

A digital bandlimited chaos-based communication system

Science.gov (United States)

Fontes, Rodrigo T.; Eisencraft, Marcio

2016-08-01

In recent years, many communication systems that use a function to encode an information in a chaotic signal were proposed. Since every transmission channel is bandlimited in nature, it is required to determine and to control the chaotic signal spectrum. This way, a bandlimited chaos-based communication system (CBCS) was proposed using digital filters and chaotic synchronization. As the filters modify the original chaotic system, it is necessary to study how their insertion affects chaotic synchronization. In this work, we present a digital discrete-time bandlimited CBCS system analysis, considering practical settings encountered in conventional communication systems. The proposed system is based on master-slave chaotic synchronization and the required conditions for its synchronization is obtained analytically for a general K-dimensional chaos generator map. The performance of this system is evaluated in terms of bit error rate. As a way to improve the signal to noise ratio, we also propose to filter the out-of-band noise in the receiver. Numerical simulations show the advantages of using such a scheme.

Dynamic synchronization of a time-evolving optical network of chaotic oscillators.

Science.gov (United States)

Cohen, Adam B; Ravoori, Bhargava; Sorrentino, Francesco; Murphy, Thomas E; Ott, Edward; Roy, Rajarshi

2010-12-01

We present and experimentally demonstrate a technique for achieving and maintaining a global state of identical synchrony of an arbitrary network of chaotic oscillators even when the coupling strengths are unknown and time-varying. At each node an adaptive synchronization algorithm dynamically estimates the current strength of the net coupling signal to that node. We experimentally demonstrate this scheme in a network of three bidirectionally coupled chaotic optoelectronic feedback loops and we present numerical simulations showing its application in larger networks. The stability of the synchronous state for arbitrary coupling topologies is analyzed via a master stability function approach. © 2010 American Institute of Physics.

Manipulator Comparative Testing Program: Final report

International Nuclear Information System (INIS)

Draper, J.V.; Handel, S.J.; Sundstrom, E.; Herndon, J.N; Fujita, Y.; Maeda, M.

1987-02-01

The manipulator systems tested included the Meidensha BILARM 83A, the Central Research Laboratories Model M-2, and the GCA PaR Systems Model 6000. Six manipulator and control mode combinations were evaluated: (1) the BILARM in master/slave mode without force reflection, (2) the BILARM in master/slave mode with force reflection, (3) the Model M-2 in master/slave mode without force reflection, (4) the Model M-2 in master/slave mode with force reflection, (5) the BILARM with switchbox controls, and (6) the PaR 6000 with switchbox controls. The experiments examined differences between master/slave systems with and without force reflection and differences between master/slave systems and switchbox-controlled systems. A fourth experiment examined the relative contributions of the remote viewing system and the manipulator system to the performance of remote handling tasks. Results of the experiments showed that operators using the Model M-2 in master/slave mode had significantly faster times to completion than operators using the BILARM in master/slave mode, with about the same error rate per trial. Operators were slower using the BILARM with force reflection than without it, and they committed more errors. There was no statistically significant difference between force-reflection and nonforce-reflection conditions for the M-2 manipulator for any of the performance criteria. Tasks and procedures used in this testing were not sensitive to differences within any single system. No inferences about the effect of force reflection on remote task performance should be made from these data. The two manipulator systems in switchbox mode had significantly slower times to completion than any system in master/slave mode, with approximately the same error rate per trial. There were no significant differences between the BILARM in switchbox mode and the PaR arm

The health of the American slave examined by means of Union Army medical statistics.

Science.gov (United States)

Freemon, F R

1985-01-01

The health status of the American slave in the 19th century remains unclear despite extensive historical research. Better knowledge of slave health would provide a clearer picture of the life of the slave, a better understanding of the 19th-century medicine, and possibly even clues to the health problems of modern blacks. This article hopes to contribute to the literature by examining another source of data. Slaves entering the Union Army joined an organization with standardized medical care that generated extensive statistical information. Review of these statistics answers questions about the health of young male blacks at the time American slavery ended.

Master data extraction and adaptation based on collected production data in manufacturing execution systems

OpenAIRE

Dimitrov, T.; Baumann, M.; Schenk, M.

2010-01-01

This paper presents an approach to extraction and correction of manufacturing master data, needed by Manufacturing Execution Systems (MES) to control and schedule the production. The implementation of the created schedule and the improvement of Key Performance Indicators depends strongly on the quality of the master data. The master data of most enterprises ages or the enterprises cannot fully provide it, because a highly manual expense for statistical analysis and administration is needed. T...

From Narrative Slave to Movie: Adaptation Theory

OpenAIRE

Fathu Rahman, Dr.,M.Hum.

2017-01-01

Twelve Years a Slave is one of literary works that adapted in movie version with the same title. Twelve Years a Slave is a work was written by Solomon Northup which is based on his journey life when he was become slave for Twelve Years. In 2013, this work was adapted into movie by English film director with the same title. In the process of adapting a literary works into movie, it will be occurs many changes due the differences between two mediums. Although it ...

MD3M: The Master Data Management Maturity Model

NARCIS (Netherlands)

Spruit, Marco|info:eu-repo/dai/nl/297391879; Pietzka, Katharina

2015-01-01

This research aims to assess the master data maturity of an organization. It is based on thorough literature study to derive the main concepts and best practices in master data maturity assessment. A maturity matrix relating 13 focus areas and 65 capabilities was designed and validated. Furthermore,

Yesterday's slaves

DEFF Research Database (Denmark)

2011-01-01

This film explores the birth of a new ethnic group, the Gando. The Gando are a Fulfulde-speaking group of slave descendants that emerged politically in the context of democratic decentralisation reform. Today, Gando, who were once seen as a sub-group of Fulani or Baatombu/Boo people, claim...

Secure Communication Based on a Hybrid of Chaos and Ica Encryptions

Science.gov (United States)

Chen, Wei Ching; Yuan, John

Chaos and independent component analysis (ICA) encryptions are two novel schemes for secure communications. In this paper, a new scheme combining chaos and ICA techniques is proposed to enhance the security level during communication. In this scheme, a master chaotic system is embedded at the transmitter. The message signal is mixed with a chaotic signal and a Gaussian white noise into two mixed signals and then transmitted to the receiver through the public channels. A signal for synchronization is transmitted through another public channel to the receiver where a slave chaotic system is embedded to reproduce the chaotic signal. A modified ICA is used to recover the message signal at the receiver. Since only two of the three transmitted signals contain the information of message signal, a hacker would not be able to retrieve the message signal by using ICA even though all the transmitted signals are intercepted. Spectrum analyses are used to prove that the message signal can be securely hidden under this scheme.

Control of repulsive force in a virtual environment using an electrorheological haptic master for a surgical robot application

Science.gov (United States)

Oh, Jong-Seok; Choi, Seung-Hyun; Choi, Seung-Bok

2014-01-01

This paper presents control performances of a new type of four-degrees-of-freedom (4-DOF) haptic master that can be used for robot-assisted minimally invasive surgery (RMIS). By adopting a controllable electrorheological (ER) fluid, the function of the proposed master is realized as a haptic feedback as well as remote manipulation. In order to verify the efficacy of the proposed master and method, an experiment is conducted with deformable objects featuring human organs. Since the use of real human organs is difficult for control due to high cost and moral hazard, an excellent alternative method, the virtual reality environment, is used for control in this work. In order to embody a human organ in the virtual space, the experiment adopts a volumetric deformable object represented by a shape-retaining chain linked (S-chain) model which has salient properties such as fast and realistic deformation of elastic objects. In haptic architecture for RMIS, the desired torque/force and desired position originating from the object of the virtual slave and operator of the haptic master are transferred to each other. In order to achieve the desired torque/force trajectories, a sliding mode controller (SMC) which is known to be robust to uncertainties is designed and empirically implemented. Tracking control performances for various torque/force trajectories from the virtual slave are evaluated and presented in the time domain.

Control of repulsive force in a virtual environment using an electrorheological haptic master for a surgical robot application

International Nuclear Information System (INIS)

Oh, Jong-Seok; Choi, Seung-Hyun; Choi, Seung-Bok

2014-01-01

This paper presents control performances of a new type of four-degrees-of-freedom (4-DOF) haptic master that can be used for robot-assisted minimally invasive surgery (RMIS). By adopting a controllable electrorheological (ER) fluid, the function of the proposed master is realized as a haptic feedback as well as remote manipulation. In order to verify the efficacy of the proposed master and method, an experiment is conducted with deformable objects featuring human organs. Since the use of real human organs is difficult for control due to high cost and moral hazard, an excellent alternative method, the virtual reality environment, is used for control in this work. In order to embody a human organ in the virtual space, the experiment adopts a volumetric deformable object represented by a shape-retaining chain linked (S-chain) model which has salient properties such as fast and realistic deformation of elastic objects. In haptic architecture for RMIS, the desired torque/force and desired position originating from the object of the virtual slave and operator of the haptic master are transferred to each other. In order to achieve the desired torque/force trajectories, a sliding mode controller (SMC) which is known to be robust to uncertainties is designed and empirically implemented. Tracking control performances for various torque/force trajectories from the virtual slave are evaluated and presented in the time domain. (paper)

Implementation of time-delay interferometry for LISA

International Nuclear Information System (INIS)

Tinto, Massimo; Shaddock, Daniel A.; Sylvestre, Julien; Armstrong, J.W.

2003-01-01

We discuss the baseline optical configuration for the Laser Interferometer Space Antenna (LISA) mission, in which the lasers are not free-running, but rather one of them is used as the main frequency reference generator (the master) and the remaining five as slaves, these being phase-locked to the master (the master-slave configuration). Under the condition that the frequency fluctuations due to the optical transponders can be made negligible with respect to the secondary LISA noise sources (mainly proof-mass and shot noises), we show that the entire space of interferometric combinations LISA can generate when operated with six independent lasers (the one-way method) can also be constructed with the master-slave system design. The corresponding hardware trade-off analysis for these two optical designs is presented, which indicates that the two sets of systems needed for implementing the one-way method, and the master-slave configuration, are essentially identical. Either operational mode could therefore be implemented without major implications on the hardware configuration. We then derive the required accuracies of armlength knowledge, time synchronization of the onboard clocks, sampling times and time-shifts needed for effectively implementing time-delay interferometry for LISA. We find that an armlength accuracy of about 16 meters, a synchronization accuracy of about 50 ns, and the time jitter due to a presently existing space qualified clock will allow the suppression of the frequency fluctuations of the lasers below to the level identified by the secondary noise sources. A new procedure for sampling the data in such a way to avoid the problem of having time shifts that are not integer multiples of the sampling time is also introduced, addressing one of the concerns about the implementation of time-delay interferometry

Slave songs: Codes of resistance

OpenAIRE

Bayer, Sidney Konrad

2010-01-01

When slaves were forcibly taken from their homes in Africa and brought to North America to live, work, and die in servitude, they brought with them their culture. This included music and dance, which had been used for generations to express their feelings. Africans still use songs to criticize, to protest, for social commentary, and to resist oppression. Slaves used a variety of means to protest and resist their condition; for example, secret meetings, songs which encouraged escape and sabota...

Mastering SQL Server 2014 data mining

CERN Document Server

Bassan, Amarpreet Singh

2014-01-01

If you are a developer who is working on data mining for large companies and would like to enhance your knowledge of SQL Server Data Mining Suite, this book is for you. Whether you are brand new to data mining or are a seasoned expert, you will be able to master the skills needed to build a data mining solution.

Dendroclimatology of the Slave River Delta, Northwest Territories, Canada

Science.gov (United States)

Jarvis, S.; Buhay, W. M.; Blair, D.; Tardif, J.; Bailey, D.

2004-05-01

It is well documented that changing hydrological conditions impact delta ecosystems. Such changes can also affect local inhabitants who have historical connections to the area and its resources. During the summer of 2003 a multifaceted paleo-environmental project was initiated to reconstruct the frequencies of floods and droughts in the Slave River Delta (SRD), Northwest Territories, Canada. The project goal is to forecast future hydrological and ecological conditions in the SRD in light of anticipated climate change and increasing demand on water resources. With the intent of expanding the climate history of the SRD, this particular aspect of the project will employ white spruce tree-ring chronologies constructed from six sites visited within the delta. Work is currently in progress to build a master chronology estimated to span over 300 years. In addition, a climate model for the SRD is also being developed and will be highlighted.

An Integrated Approach Using Chaotic Map & Sample Value Difference Method for Electrocardiogram Steganography and OFDM Based Secured Patient Information Transmission.

Science.gov (United States)

Pandey, Anukul; Saini, Barjinder Singh; Singh, Butta; Sood, Neetu

2017-10-18

This paper presents a patient's confidential data hiding scheme in electrocardiogram (ECG) signal and its subsequent wireless transmission. Patient's confidential data is embedded in ECG (called stego-ECG) using chaotic map and the sample value difference approach. The sample value difference approach effectually hides the patient's confidential data in ECG sample pairs at the predefined locations. The chaotic map generates these predefined locations through the use of selective control parameters. Subsequently, the wireless transmission of the stego-ECG is analyzed using the Orthogonal Frequency Division Multiplexing (OFDM) system in a Rayleigh fading scenario for telemedicine applications. Evaluation of proposed method on all 48 records of MIT-BIH arrhythmia ECG database demonstrates that the embedding does not alter the diagnostic features of cover ECG. The secret data imperceptibility in stego-ECG is evident through the statistical and clinical performance measures. Statistical measures comprise of Percentage Root-mean-square Difference (PRD), Peak Signal to Noise Ratio (PSNR), and Kulback-Leibler Divergence (KL-Div), etc. while clinical metrics includes wavelet Energy Based Diagnostic Distortion (WEDD) and Wavelet based Weighted PRD (WWPRD). The various channel Signal-to-Noise Ratio scenarios are simulated for wireless communication of stego-ECG in OFDM system. The proposed method over all the 48 records of MIT-BIH arrhythmia database resulted in average, PRD = 0.26, PSNR = 55.49, KL-Div = 3.34 × 10 -6 , WEDD = 0.02, and WWPRD = 0.10 with secret data size of 21Kb. Further, a comparative analysis of proposed method and recent existing works was also performed. The results clearly, demonstrated the superiority of proposed method.

Brazilian census sources and the ownership of slaves in the 1870s

Directory of Open Access Journals (Sweden)

Leite Marcondes, Renato

2011-04-01

Full Text Available There exists a significant group of sources of a census nature for the study of slavery in the 1870s. These sources derive mainly from the registration of slaves that was established by the Law of the Free Womb of 1871. In this article, we discuss the different ways of presenting registration information. We analyze a sample of the registered slave population, including 69 towns from different parts of the country that total a little over 112,000 slaves and 25, 000 slave holders. In addition to characterizing the demographic profile of the slaves that make up the sample, we verify the ownership of slaves.

Existe un conjunto expresivo de fuentes de carácter censal para el estudio de la esclavitud en la década de 1870 en Brasil. Estas fuentes derivan, principalmente, de la matrícula de los esclavos determinada por la Ley de Vientre Libre de 1871. En este artículo discutimos las diferentes formas de presentación de las informaciones de la matrícula. Analizamos una muestra de la población esclava matriculada, comprendiendo 69 localidades de diferentes partes del país que totalizan poco más de 112.000 esclavos y 25.000 esclavistas. Al caracterizar el perfil demográfico de los esclavos de nuestra muestra, comprobamos la propiedad de esclavos. [pt] Existe um conjunto expressivo de fontes de caráter censitário para o estudo da escravidão da década de 1870. Estas fontes derivam, principalmente, da matrícula dos escravos determinada pela Lei do Ventre Livre de 1871. Neste artigo discutimos as diferentes formas de apresentação das informações da matrícula. Analisamos uma amostra da população escrava matriculada, compreendendo 69 localidades de diferentes partes do país que totalizam pouco mais de 112 mil escravos e 25 mil escravistas. Além caracterizar o perfil demográfico dos escravos da amostra, verificamos a posse de cativos.

Adaptive synchronization between two different order and topology dynamical systems

International Nuclear Information System (INIS)

Bowong, S.; Moukam Kakmeni, F.M.; Yamapi, R.

2006-07-01

This contribution studies adaptive synchronization between two dynamical systems of different order whose topological structure is also different. By order we mean the number of first order differential equations. The problem is closely related to the synchronization of strictly different systems. The master system is given by a sixth order equation with chaotic behavior whereas the slave system is a fourth-order nonautonomous with rational nonlinear terms. Based on the Lyapunov stability theory, sufficient conditions for the synchronization have been analyzed theoretically and numerically. (author)

Synchronization of identical chaotic systems through external chaotic driving

International Nuclear Information System (INIS)

Patidar, V.; Sud, K.K.

2005-11-01

In recent years, the study of synchronization of identical chaotic systems subjected to a common fluctuating random driving signal has drawn considerable interest. In this communication, we report that it is possible to achieve synchronization between two identical chaotic systems, which are not coupled directly but subjected to an external chaotic signal. The external chaotic signal may be obtained from any chaotic system identical or non-identical to both identical chaotic systems. Results of numerical simulations on well known Roessler and jerk dynamical systems have been presented. (author)

“Slave Mothers”, Partus Sequitur Ventrem, and the Naturalization of Slave Reproduction in Nineteenth-Century Brazil

Directory of Open Access Journals (Sweden)

Martha S. Santos

Full Text Available Abstract Through an examination of slaveholders’ discourses on the need to find ways to replenish the slave labor force after the 1831 legal suppression of the African trade, this article demonstrates the centrality of female slave reproduction to the most significant debates on slavery and emancipation during the nineteenth century. Through tropes and metaphors that appealed to nature, this slaveholding discourse emphasized reproduction and mothering labor as the “natural” function of enslaved women - a function that would also serve to pacify rebellious male slaves. This work also demonstrates that, within a context of intensified symbolic value of enslaved women’s reproduction, slaveholders and jurists emphasized the validity of the legal device partus sequitur ventrem in order to communicate a notion of the legality of slavery, precisely at the time of increasing delegitimation of the institution, both within and outside Brazil.

A data transmission system for the centrifuge enrichment plant safeguards project

International Nuclear Information System (INIS)

Hesse, E.W.

1987-04-01

A novel data transmission system was developed to enable the Australian Safeguards Office (ASO) in Sydney to monitor remotely the running of an experimental enrichment facility at the Lucas Heights Reserch Laboratories, using Telecom telephone lines. The system allowed ASO to monitor the enrichment, flows and activity in sensitive areas of the plant by means of a master computer at ASO and a slave computer at Lucas Heights. The slave computer sent requested data and scanned video pictures to determine intrusive changes to the plant. Detailed descriptions of the transmission system and method of operation are given, together with an outline of experience obtained during a three-month surveillance of the facility

Digital chaotic sequence generator based on coupled chaotic systems

International Nuclear Information System (INIS)

Shu-Bo, Liu; Jing, Sun; Jin-Shuo, Liu; Zheng-Quan, Xu

2009-01-01

Chaotic systems perform well as a new rich source of cryptography and pseudo-random coding. Unfortunately their digital dynamical properties would degrade due to the finite computing precision. Proposed in this paper is a modified digital chaotic sequence generator based on chaotic logistic systems with a coupling structure where one chaotic subsystem generates perturbation signals to disturb the control parameter of the other one. The numerical simulations show that the length of chaotic orbits, the output distribution of chaotic system, and the security of chaotic sequences have been greatly improved. Moreover the chaotic sequence period can be extended at least by one order of magnitude longer than that of the uncoupled logistic system and the difficulty in decrypting increases 2 128 *2 128 times indicating that the dynamical degradation of digital chaos is effectively improved. A field programmable gate array (FPGA) implementation of an algorithm is given and the corresponding experiment shows that the output speed of the generated chaotic sequences can reach 571.4 Mbps indicating that the designed generator can be applied to the real-time video image encryption. (general)

A synchronous serial bus for multidimensional array acoustic logging tool

Science.gov (United States)

Men, Baiyong; Ju, Xiaodong; Lu, Junqiang; Qiao, Wenxiao

2016-12-01

In high-temperature and spatial borehole applications, a distributed structure is employed in a multidimensional array acoustic logging tool (MDALT) based on a phased array technique for electronic systems. However, new challenges, such as synchronous multichannel data acquisition, multinode real-time control and bulk data transmission in a limited interval, have emerged. To address these challenges, we developed a synchronous serial bus (SSB) in this study. SSB works in a half-duplex mode via a master-slave architecture. It also consists of a single master, several slaves, a differential clock line and a differential data line. The clock line is simplex, whereas the data line is half-duplex and synchronous to the clock line. A reliable communication between the master and the slaves with real-time adjustment of synchronisation is achieved by rationally designing the frame format and protocol of communication and by introducing a scramble code and a Hamming error-correcting code. The control logic of the master and the slaves is realized in field programmable gate array (FPGA) or complex programmable logic device (CPLD). The clock speed of SSB is 10 MHz, the effective data rate of the bulk data transmission is over 99%, and the synchronous errors amongst the slaves are less than 10 ns. Room-temperature test, high-temperature test (175 °C) and field test demonstrate that the proposed SSB is qualified for MDALT.

Slave equations for spin models

International Nuclear Information System (INIS)

Catterall, S.M.; Drummond, I.T.; Horgan, R.R.

1992-01-01

We apply an accelerated Langevin algorithm to the simulation of continuous spin models on the lattice. In conjunction with the evolution equation for the spins we use slave equations to compute estimators for the connected correlation functions of the model. In situations for which the symmetry of the model is sufficiently strongly broken by an external field these estimators work well and yield a signal-to-noise ratio for the Green function at large time separations more favourable than that resulting from the standard method. With the restoration of symmetry, however, the slave equation estimators exhibit an intrinsic instability associated with the growth of a power law tail in the probability distributions for the measured quantities. Once this tail has grown sufficiently strong it results in a divergence of the variance of the estimator which then ceases to be useful for measurement purposes. The instability of the slave equation method in circumstances of weak symmetry breaking precludes its use in determining the mass gap in non-linear sigma models. (orig.)

Implementing a Self- Checking PROFIBUS Slave

OpenAIRE

Krug, Margrit R.; Lubaszewski, Marcelo S.; Ferreira, Jose M.; Alves, Gustavo R.

2000-01-01

This work presents the study and preliminary results of the high level implementation of a self-checking Profibus slave. From an existing VHDL description of the device, a test strategy was studied and implemented, so that the whole circuit has embedded test structures capable to perform at-speed test of the slave. In this paper, we show the used test strategies and implementation results achieved from a synthesis process in a FPGA environment. info:eu-repo/semantics/publishedVersion

Surgical bedside master console for neurosurgical robotic system.

Science.gov (United States)

Arata, Jumpei; Kenmotsu, Hajime; Takagi, Motoki; Hori, Tatsuya; Miyagi, Takahiro; Fujimoto, Hideo; Kajita, Yasukazu; Hayashi, Yuichiro; Chinzei, Kiyoyuki; Hashizume, Makoto

2013-01-01

We are currently developing a neurosurgical robotic system that facilitates access to residual tumors and improves brain tumor removal surgical outcomes. The system combines conventional and robotic surgery allowing for a quick conversion between the procedures. This concept requires a new master console that can be positioned at the surgical bedside and be sterilized. The master console was developed using new technologies, such as a parallel mechanism and pneumatic sensors. The parallel mechanism is a purely passive 5-DOF (degrees of freedom) joystick based on the author's haptic research. The parallel mechanism enables motion input of conventional brain tumor removal surgery with a compact, intuitive interface that can be used in a conventional surgical environment. In addition, the pneumatic sensors implemented on the mechanism provide an intuitive interface and electrically isolate the tool parts from the mechanism so they can be easily sterilized. The 5-DOF parallel mechanism is compact (17 cm width, 19cm depth, and 15cm height), provides a 505,050 mm and 90° workspace and is highly backdrivable (0.27N of resistance force representing the surgical motion). The evaluation tests revealed that the pneumatic sensors can properly measure the suction strength, grasping force, and hand contact. In addition, an installability test showed that the master console can be used in a conventional surgical environment. The proposed master console design was shown to be feasible for operative neurosurgery based on comprehensive testing. This master console is currently being tested for master-slave control with a surgical robotic system.

Advertising of slave trade in the Romanian principalities

Directory of Open Access Journals (Sweden)

Marian Petcu

2014-12-01

Full Text Available This study deals with the thorny issue of the history of our country – the Gypsy slave trade, as it was presented in the press (1837-1844. We have identified a number of advertisements that reflect the type of trade, its form, prices for slaves, and institutions involved in such transactions. All this information is presented in a variety of contexts: the writings of foreign travelers, responses of public authorities, official documents. Studied documents leave no doubt as to the intention of the authorities to assimilate the Gypsies. There is also highlighted the role of the press as an intermediary in the Gypsy slave trade. Since we are talking about semi-official publications (Cantor de Avis şi Comerţ, Vestitorul Românesc, Albina Românească, it should be understood that these transactions were carried out with the consent of the heads of the relevant state entities. The study also highlights the stages of freeing the slaves.

Boundaries and opportunities: comparing slave family formation in the antebellum South.

Science.gov (United States)

Pargas, Damian Alan

2008-07-01

Our understanding of the marriage strategies and family formation of enslaved people remains clouded by disagreement among contemporary scholars. A perusal of the historical literature suggests that two issues lay at the root of this disagreement: First, scholars disagree over the extent to which slave family life was shaped by the external factors of slavery, or rather slave agency; and second, scholars appear reluctant to abandon their singular views of the slave family. This article addresses both of these gaps by formulating a middle ground in the slave agency debate and by redefining the slave family in plural form. An analysis of the boundaries and opportunities for family formation in northern Virginia and lowcountry South Carolina, this study shows that while the establishment of co-residential two-parent households was the ideal for slaves, not all were able to realize that ideal, and those that could not adapted their marriage strategies and family lives accordingly.

Chaos synchronization of uncertain chaotic systems using composite nonlinear feedback based integral sliding mode control.

Science.gov (United States)

Mobayen, Saleh

2018-06-01

This paper proposes a combination of composite nonlinear feedback and integral sliding mode techniques for fast and accurate chaos synchronization of uncertain chaotic systems with Lipschitz nonlinear functions, time-varying delays and disturbances. The composite nonlinear feedback method allows accurate following of the master chaotic system and the integral sliding mode control provides invariance property which rejects the perturbations and preserves the stability of the closed-loop system. Based on the Lyapunov- Krasovskii stability theory and linear matrix inequalities, a novel sufficient condition is offered for the chaos synchronization of uncertain chaotic systems. This method not only guarantees the robustness against perturbations and time-delays, but also eliminates reaching phase and avoids chattering problem. Simulation results demonstrate that the suggested procedure leads to a great control performance. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Synchronization of an Inertial Neural Network With Time-Varying Delays and Its Application to Secure Communication.

Science.gov (United States)

Lakshmanan, Shanmugam; Prakash, Mani; Lim, Chee Peng; Rakkiyappan, Rajan; Balasubramaniam, Pagavathigounder; Nahavandi, Saeid

2018-01-01

In this paper, synchronization of an inertial neural network with time-varying delays is investigated. Based on the variable transformation method, we transform the second-order differential equations into the first-order differential equations. Then, using suitable Lyapunov-Krasovskii functionals and Jensen's inequality, the synchronization criteria are established in terms of linear matrix inequalities. Moreover, a feedback controller is designed to attain synchronization between the master and slave models, and to ensure that the error model is globally asymptotically stable. Numerical examples and simulations are presented to indicate the effectiveness of the proposed method. Besides that, an image encryption algorithm is proposed based on the piecewise linear chaotic map and the chaotic inertial neural network. The chaotic signals obtained from the inertial neural network are utilized for the encryption process. Statistical analyses are provided to evaluate the effectiveness of the proposed encryption algorithm. The results ascertain that the proposed encryption algorithm is efficient and reliable for secure communication applications.

Identifying and Evaluating Chaotic Behavior in Hydro-Meteorological Processes

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Soojun Kim

2015-01-01

Full Text Available The aim of this study is to identify and evaluate chaotic behavior in hydro-meteorological processes. This study poses the two hypotheses to identify chaotic behavior of the processes. First, assume that the input data is the significant factor to provide chaotic characteristics to output data. Second, assume that the system itself is the significant factor to provide chaotic characteristics to output data. For solving this issue, hydro-meteorological time series such as precipitation, air temperature, discharge, and storage volume were collected in the Great Salt Lake and Bear River Basin, USA. The time series in the period of approximately one year were extracted from the original series using the wavelet transform. The generated time series from summation of sine functions were fitted to each series and used for investigating the hypotheses. Then artificial neural networks had been built for modeling the reservoir system and the correlation dimension was analyzed for the evaluation of chaotic behavior between inputs and outputs. From the results, we found that the chaotic characteristic of the storage volume which is output is likely a byproduct of the chaotic behavior of the reservoir system itself rather than that of the input data.

Hanford Site Environmental Surveillance Master Sampling Schedule for Calendar Year 2006

Energy Technology Data Exchange (ETDEWEB)

Bisping, Lynn E.

2006-01-27

This document contains the calendar year 2006 schedules for the routine and non-routine collection of samples for the Surface Environmental Surveillance Project (SESP) and Drinking Water Monitoring Project. Each section includes sampling locations, sample types, and analyses to be performed. In some cases, samples are scheduled on a rotating basis and may not be collected in 2006 in which case the anticipated year for collection is provided. The project document package (PDP) for Surface Environmental Surveillance contains the milestone control log for the issuing of CY06 Environmental Surveillance Master Sampling Schedule WBS 4.2.3.21.3.03, milestone: RL00430306 (4830106-12).

Forms and Practices of Slave Trade in Swaziland in the 19th Century

African Journals Online (AJOL)

Trade in slaves was a response to market forces in the world. A culture that developed from trade in slaves extended to future generations whose lives were degraded. Cases of slaves who rose above their social stations in the slave trade era are non-existent. In Swaziland Mswati II used his military to raid for captives

Yellow fever, Asia and the East African slave trade.

Science.gov (United States)

Cathey, John T; Marr, John S

2014-05-01

Yellow fever is endemic in parts of sub-Saharan Africa and South America, yet its principal vectors--species of mosquito of the genus Aedes--are found throughout tropical and subtropical latitudes. Phylogenetic analyses indicate that yellow fever originated in Africa and that its spread to the New World coincided with the slave trade, but why yellow fever has never appeared in Asia remains a mystery. None of several previously proposed explanations for its absence there is considered satisfactory. We contrast the trans-Atlantic slave trade, and trade across the Sahara and to the Arabian Peninsula and Mesopotamia, with that to Far East and Southeast Asian ports before abolition of the African slave trade, and before the scientific community understood the transmission vector of yellow fever and the viral life cycle, and the need for shipboard mosquito control. We propose that these differences in slave trading had a primary role in the avoidance of yellow fever transmission into Asia in the centuries before the 20(th) century. The relatively small volume of the Black African slave trade between Africa and East and Southeast Asia has heretofore been largely ignored. Although focal epidemics may have occurred, the volume was insufficient to reach the threshold for endemicity.

Modeling Correlation Effects in Nickelates with Slave Particles

Science.gov (United States)

Georgescu, Alexandru Bogdan; Ismail-Beigi, Sohrab

Nickelate interfaces display interesting electronic properties including orbital ordering similar to that of cuprate superconductors and thickness dependent metal-insulator transitions. One-particle band theory calculations do not include dynamic localized correlation effects on the nickel sites and thus often incorrectly predict metallic systems or incorrect ARPES spectra. Building on two previous successful slave-particle treatments of local correlations, we present a generalized slave-particle method that includes prior models and allows us to produce new intermediate models. The computational efficiency of these slave-boson methods means that one can readily study correlation effects in complex heterostructures. We show some predictions of these methods for the electronic structure of bulk and thin film nickelates. Work supported by NSF Grant MRSEC DMR-1119826.

EPOS IP - Data, Data Products, Services and Software (DDSS Master Table)

Science.gov (United States)

Michalek, Jan; Atakan, Kuvvet

2017-04-01

The "European Plate Observing System - Implementation Phase" (EPOS IP, 2014-2019) project is about building a pan-European infrastructure for accessing solid Earth science data. This ambitious plan started in 2002 already with a Conception Phase and continued by an EPOS PP (Preparatory Phase, 2010-2014) where about 20 partners joined the project. The current EPOS IP project includes 47 partners plus 6 associate partners from 25 countries from all over Europe and several international organizations (ORFEUS, EMSC, EUREF). However, the community contributing to the EPOS integration plan is larger than the official partnership of EPOS IP project, because more countries are represented by the international organizations and because within each country there are several research institutions involved. The list of Data, Data Products, Services and Software (DDSS) provided by individual institutions, consortia or organizations which will become part of the EPOS system are currently collected in document called DDSS Master Table. There are 10 work packages (WP8-WP17) creating the Thematic Core Services (TCS) always grouped by a specific topic: Seismology, Near Fault Observatories, GNSS Data and Products, Volcano Observations, Satellite Data, Geomagnetic Observations, Anthropogenic Hazards, Geological Information and Modelling, Multi-scale laboratories and Geo-Energy Test Beds for Low Carbon Energy. Each of this group declared a list of DDSS elements which are about to be implemented. Currently there are about 455 DDSS elements in the DDSS Master Table. These DDSS elements are of different maturity and about 122 are declared by TCS groups to be ready for implementation which means that the data are well described with metadata, following the standards specific for their domain and, in the best case, with some services allowing their access already. The DDSS elements differ by its complexity as well. The DDSS Master Table serves as an overview of the DDSS elements and

Output Choice of a Chaotic Jerk Circuit Used as Transmitter in Data Secure Communications

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DATCU, O.

2015-11-01

Full Text Available Usually, when analyzing a data series, dynamical systems theory is used to reconstruct the state space of the original system. This work aims to determine which of a chaotic system's states is best suited as output when transmitting secret messages. This is the first step prior to designing an actual communication scheme. As an example, the three states of Sprott's jerk circuit are analyzed in terms of the local observability they ensure for the original dynamics when transmitted as a scalar data series. Results show that its first two states enable accurate estimation of the transmitter's dynamics at the receiving end. However, its third state generates, in some regions of the state space, a non-invertible transformation between the original state space and the one the receiver sees. This is due to the exponential nonlinearities present in this state's derivatives. Given that these nonlinearities remain inaccessible to the receiver, they are neglected in order to allow the partial reconstruction of the dynamics of the transmitter. But, since these nonlinearities are essential for the chaotic behavior, this makes the third state unusable for cryptographic purposes. This analysis may be applied to any bipolar junction transistor or diode based chaotic circuit.

PERANCANGAN REPLIKASI BASIS DATA MYSQL DENGAN MEKANISME PENGAMANAN MENGGUNAKAN SSL ENCRYPTION

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Herman Yuliansyah

2014-01-01

Full Text Available Karena faktor pentingnya data dan informasi pada organisasi small medium business (SMB, maka diperlukan suatu replikasi basis data sehingga jika terjadi suatu keadaan force majure, organisasi tersebut tidak akan mengalami kehilangan data. Replikasi basis data ini melibatkan paling sedikit 2 sistem basis data yang terhubung dalam suatu jaringan komputer. Konsep CIA Triad yaitu Confidentiality, Integrity dan Availability, merupakan dasar keamanan untuk mengelola data dan informasi. Keterkaitan antara faktor replikasi data dan keamanan informasi sangat perlu diperhatikan untuk diteliti lebih lanjut sehingga diharapkan dapat meningkatkan faktor keamanan data dalam jaringan komputer.Metodologi yang digunakan dalam penelitian ini yaitu dengan melakukan pengumpulan data terkait topik penelitian melalui studi pustaka, observasi, dan membuat pengujian di laboratorium dengan membuat simulasi replikasi basis data tanpa mekasnisme pengamanan dan melakukan pengujian keamanan komunikasinya kemudian membandingkannya dengan replikasi data dengan mekanisme pengamanan dengan SSL serta melakukan pengujian keamanan komunikasinya melalui proses penyadapan paket data yang dikirimkan dari server master dan server slave.Hasil dari penelitian ini dapat disimpulkan yaitu replikasi basis data MySQL dengan tanpa mekanisme pengamanan SSL memunculkan celah kemanan karena pesan yang dikirimkan dalam bentuk pesan plain tidak tersantikan. Sedangkan melalui penambahan dukungan SSL telah memberikan manfaat keamanan terhadap replikasi basis data MySQL, hal ini dibuktikan bahwa hasil proses penyadapan pesan terlihat paket data yang dikomunikasikan dari server master ke server slave sudah dalam keadaan terenkripsi.Kata Kunci : Replikasi basis data, MySQL, SSL Encryption.

Multiblock

International Nuclear Information System (INIS)

Perten, H.; Phillips, T.; Bradick, J.

1990-01-01

In an effort to reduce the sheer volume of data being read, large data acquisition systems often have sparsification algorithms on board the individual Fastbus slaves. At readout time, only a few words of data are read out from each slave; some slaves have no data at all. The bottleneck in Fastbus readout systems typically lies in operations other than the actual readout of given slave's data buffers: selection of slaves containing data, primary addressing, secondary addressing, response to SS = 2 (data buffer empty). These operations may take as much as several 100 usec to complete. When thousands of words are read from each slave's data buffer, this time may not be significant; in sparse readout system it is unacceptably large. This paper reports on Multiblock that is protocol operating under Fastbus that addresses this problem. Originally called Megablock, it was developed for the Mega experiment to allow readout of 28 KB of data from approximately 200 modules in under 7.8 msec. A group of slaves may be configured as part of a Multiblock by setting appropriate bits in their CSRs. At readout time, the Fastbus master reads only from the leftmost (highest Geographical Address) slave in the block, called the Primary link. When this slave's buffer is empty, control is automatically passed to the next Multiblock slave to the right (Middle link) and so on until the last slave in the block is reached (End link). This slave issues SS = 2 when empty. Thus, the slaves within a Multiblock appear to the Fastbus Master to be all part of the Primary link; alternatively, this slave may be thought of as having a large virtual data buffer that includes the buffers of the other slaves within the Multiblock. Control is passed from link to link over the daisy chain lines. The B lines (DLB, DRB) carry a signal from left to right called TransferStrobe (TS); the A lines (DLA, DRA) carry its handshake from right to left called TransferAcKnowledge (TK)

Data transmission system with encryption by chaotic sequences

Directory of Open Access Journals (Sweden)

Politans’kyy R. L.

2014-06-01

Full Text Available Protection of transferable information in the telecommunication systems is possible by its imposition of coding sequence on a plaintext. Encryption of pseudorandom sequences can be performed by using generation algorithms which are implemented on the basis of the phenomenon of dynamical chaos, which is sensitive to changes in the initial conditions. One of the major problems encountered in the construction of secure communication systems is to provide synchronization between the receiving and transmitting parties of communication systems. Improvement of methods of hidden data transfer based on the systems with chaotic synchronization is the important task of research in the field of information and telecommunication systems based on chaos. This article shows an implementation of a data transmission system, encrypted by sequences, generated on the basis of one-dimensional discrete chaotic maps with ensuring synchronization of the transmitting and receiving sides of the system. In this system realization of synchronization is offered by a transmission through certain time domains of current value of xn generated by a logistic reflection. Xn transmission period depends on computer speed and distance between subscribers of the system. Its value is determined by transmitting a test message before the session. Infallible reception of test message indicates the optimal choice of a transmission period of the current value of xn. Selection period is done at the program level. For the construction of communication network modern software was used, in particular programming language Delphi 7.0. The work of the system is shown on the example of information transmission between the users of the system. The system operates in real time full duplex mode at any hardware implementation of Internet access. It is enough for the users of the system to specify IP address only.

Nonlinear generalized synchronization of chaotic systems by pure error dynamics and elaborate nondiagonal Lyapunov function

International Nuclear Information System (INIS)

Ge Zhengming; Chang Chingming

2009-01-01

By applying pure error dynamics and elaborate nondiagonal Lyapunov function, the nonlinear generalized synchronization is studied in this paper. Instead of current mixed error dynamics in which master state variables and slave state variables are presented, the nonlinear generalized synchronization can be obtained by pure error dynamics without auxiliary numerical simulation. The elaborate nondiagonal Lyapunov function is applied rather than current monotonous square sum Lyapunov function deeply weakening the powerfulness of Lyapunov direct method. Both autonomous and nonautonomous double Mathieu systems are used as examples with numerical simulations.

SLAVERY AND CIVIL LAW IN THE ANTEBELLUM SOUTH—TWO CASE STUDIES

OpenAIRE

Harvey Gresham Hudspeth

2006-01-01

Antebellum slave law addressed fugitive slaves and criminal offenses committed by masters against slaves and by slaves against masters. Moreover, slaves were both merchandise and personal property that fell under civil monetary statutes pertaining to sales fraud and personal damage to private property. Judgment in two civil cases heard in West Tennessee during the late 185Os turn on such statutes.

Synchronization approach for chaotic time-varying delay system based on Wirtinger inequality

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Zhanshan Zhao

2017-01-01

Full Text Available A novel control approach based on Wirtinger inequality is designed for nonlinear chaos synchronization time delay system. In order to reduce the conservatism for the stability criterion, a Lyapunov–Krasovskii functional with triple-integral term is constructed. The improved Wirtinger inequality is used to reduce the conservative which is caused by Jensen inequality, and a stability criterion is proposed by reciprocally convex method. Furthermore, a state feedback controller is designed to synchronize the master-slave systems based on the proposed criteria through cone complementary linearization approach. Finally, a simulation for Lorenz chaos time delay system is given to prove the validity based on the proposed synchronization control approach.

New Constraints on Upper Mantle Structure Underlying the Diamondiferous Central Slave Craton, Canada, from Teleseismic Body Wave Tomography

Science.gov (United States)

Esteve, C.; Schaeffer, A. J.; Audet, P.

2017-12-01

Over the past number of decades, the Slave Craton (Canada) has been extensively studied for its diamondiferous kimberlites. Not only are diamonds a valuable resource, but their kimberlitic host rocks provide an otherwise unique direct source of information on the deep upper mantle (and potentially transition zone). Many of the Canadian Diamond mines are located within the Slave Craton. As a result of the propensity for diamondiferous kimberlites, it is imperative to probe the deep mantle structure beneath the Slave Craton. This work is further motivated by the increase in high-quality broadband seismic data across the Northern Canadian Cordillera over the past decade. To this end we have generated a P and S body wave tomography model of the Slave Craton and its surroundings. Furthermore, tomographic inversion techniques are growing ever more capable of producing high resolution Earth models which capture detailed structure and dynamics across a range of scale lengths. Here, we present preliminary results on the structure of the upper mantle underlying the Slave Craton. These results are generated using data from eight different seismic networks such as the Canadian National Seismic Network (CNSN), Yukon Northwest Seismic Network (YNSN), older Portable Observatories for Lithospheric Analysis and Reseach Investigating Seismicity (POLARIS), Regional Alberta Observatory for Earthquake Studies Network (RV), USArray Transportable Array (TA), older Canadian Northwest Experiment (CANOE), Batholith Broadband (XY) and the Yukon Observatory (YO). This regional model brings new insights about the upper mantle structure beneath the Slave Craton, Canada.

A new chaotic cryptosystem

International Nuclear Information System (INIS)

Wei Jun; Liao Xiaofeng; Wong, Kwok-wo; Xiang Tao

2006-01-01

Based on the study of some previously proposed chaotic encryption algorithms, we found that it is dangerous to mix chaotic state or iteration number of the chaotic system with ciphertext. In this paper, a new chaotic cryptosystem is proposed. Instead of simply mixing the chaotic signal of the proposed chaotic cryptosystem with the ciphertext, a noise-like variable is utilized to govern the encryption and decryption processes. This adds statistical sense to the new cryptosystem. Numerical simulations show that the new cryptosystem is practical whenever efficiency, ciphertext length or security is concerned

Chaotic time series. Part II. System Identification and Prediction

Directory of Open Access Journals (Sweden)

Bjørn Lillekjendlie

1994-10-01

Full Text Available This paper is the second in a series of two, and describes the current state of the art in modeling and prediction of chaotic time series. Sample data from deterministic non-linear systems may look stochastic when analysed with linear methods. However, the deterministic structure may be uncovered and non-linear models constructed that allow improved prediction. We give the background for such methods from a geometrical point of view, and briefly describe the following types of methods: global polynomials, local polynomials, multilayer perceptrons and semi-local methods including radial basis functions. Some illustrative examples from known chaotic systems are presented, emphasising the increase in prediction error with time. We compare some of the algorithms with respect to prediction accuracy and storage requirements, and list applications of these methods to real data from widely different areas.

Landing on the Beaches: the Functioning of the Brazilian Slave Trade After 1831

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Marcus J. M. de Carvalho

2012-12-01

Full Text Available After 1831, the slave trade moved to natural harbors on the littoral, where it employed scores of people catering, healing, guarding the survivors, burying the dead. Smaller boats also helped the slave ships to reach the coast. The local population found new opportunities of employment and trade. Slave dealers had to buy or rent those lands, or associate themselves with their owners. The illegal slave trade would change the local economy and politics.

The Genomic Legacy of the Transatlantic Slave Trade in the Yungas Valley of Bolivia.

Directory of Open Access Journals (Sweden)

Tanja Heinz

Full Text Available During the period of the Transatlantic Slave Trade (TAST some enslaved Africans were forced to move to Upper Peru (nowadays Bolivia. At first they were sent to Potosí, but later to the tropical Yungas valley where the Spanish colonizers established a so-called "hacienda system" that was based on slave labor, including African-descendants. Due to their isolation, very little attention has been paid so far to 'Afro-Bolivian' communities either within the research field of TAST or in genetic population studies. In this study, a total of 105 individuals from the Yungas were sequenced for their mitochondrial DNA (mtDNA control region, and mitogenomes were obtained for a selected subset of these samples. We also genotyped 46 Ancestry Informative Markers (AIM in order to investigate continental ancestry at the autosomal level. In addition, Y-chromosome STR and SNP data for a subset of the same individuals was also available from the literature. The data indicate that the partitioning of mtDNA ancestry in the Yungas differs significantly from that in the rest of the country: 81% Native American, 18% African, and 1% European. Interestingly, the great majority of 'Afro-descendant' mtDNA haplotypes in the Yungas (84% concentrates in the locality of Tocaña. This high proportion of African ancestry in the Tocaña is also manifested in the Y-chromosome (44% and in the autosomes (56%. In sharp contrast with previous studies on the TAST, the ancestry of about 1/3 of the 'Afro-Bolivian' mtDNA haplotypes can be traced back to East and South East Africa, which may be at least partially explained by the Arab slave trade connected to the TAST.

Distribution of Off-Diagonal Cross Sections in Quantum Chaotic Scattering: Exact Results and Data Comparison.

Science.gov (United States)

Kumar, Santosh; Dietz, Barbara; Guhr, Thomas; Richter, Achim

2017-12-15

The recently derived distributions for the scattering-matrix elements in quantum chaotic systems are not accessible in the majority of experiments, whereas the cross sections are. We analytically compute distributions for the off-diagonal cross sections in the Heidelberg approach, which is applicable to a wide range of quantum chaotic systems. Thus, eventually, we fully solve a problem that already arose more than half a century ago in compound-nucleus scattering. We compare our results with data from microwave and compound-nucleus experiments, particularly addressing the transition from isolated resonances towards the Ericson regime of strongly overlapping ones.

SLAVERY AND CIVIL LAW IN THE ANTEBELLUM SOUTH—TWO CASE STUDIES

Directory of Open Access Journals (Sweden)

Harvey Gresham Hudspeth

2006-01-01

Full Text Available Antebellum slave law addressed fugitive slaves and criminal offenses committed by masters against slaves and by slaves against masters. Moreover, slaves were both merchandise and personal property that fell under civil monetary statutes pertaining to sales fraud and personal damage to private property. Judgment in two civil cases heard in West Tennessee during the late 185Os turn on such statutes.

Dynamic Parameter-Control Chaotic System.

Science.gov (United States)

Hua, Zhongyun; Zhou, Yicong

2016-12-01

This paper proposes a general framework of 1-D chaotic maps called the dynamic parameter-control chaotic system (DPCCS). It has a simple but effective structure that uses the outputs of a chaotic map (control map) to dynamically control the parameter of another chaotic map (seed map). Using any existing 1-D chaotic map as the control/seed map (or both), DPCCS is able to produce a huge number of new chaotic maps. Evaluations and comparisons show that chaotic maps generated by DPCCS are very sensitive to their initial states, and have wider chaotic ranges, better unpredictability and more complex chaotic behaviors than their seed maps. Using a chaotic map of DPCCS as an example, we provide a field-programmable gate array design of this chaotic map to show the simplicity of DPCCS in hardware implementation, and introduce a new pseudo-random number generator (PRNG) to investigate the applications of DPCCS. Analysis and testing results demonstrate the excellent randomness of the proposed PRNG.

Building Chaotic Model From Incomplete Time Series

Science.gov (United States)

Siek, Michael; Solomatine, Dimitri

2010-05-01

This paper presents a number of novel techniques for building a predictive chaotic model from incomplete time series. A predictive chaotic model is built by reconstructing the time-delayed phase space from observed time series and the prediction is made by a global model or adaptive local models based on the dynamical neighbors found in the reconstructed phase space. In general, the building of any data-driven models depends on the completeness and quality of the data itself. However, the completeness of the data availability can not always be guaranteed since the measurement or data transmission is intermittently not working properly due to some reasons. We propose two main solutions dealing with incomplete time series: using imputing and non-imputing methods. For imputing methods, we utilized the interpolation methods (weighted sum of linear interpolations, Bayesian principle component analysis and cubic spline interpolation) and predictive models (neural network, kernel machine, chaotic model) for estimating the missing values. After imputing the missing values, the phase space reconstruction and chaotic model prediction are executed as a standard procedure. For non-imputing methods, we reconstructed the time-delayed phase space from observed time series with missing values. This reconstruction results in non-continuous trajectories. However, the local model prediction can still be made from the other dynamical neighbors reconstructed from non-missing values. We implemented and tested these methods to construct a chaotic model for predicting storm surges at Hoek van Holland as the entrance of Rotterdam Port. The hourly surge time series is available for duration of 1990-1996. For measuring the performance of the proposed methods, a synthetic time series with missing values generated by a particular random variable to the original (complete) time series is utilized. There exist two main performance measures used in this work: (1) error measures between the actual

Spontaneous Synchronization in Two Mutually Coupled Memristor-Based Chua’s Circuits: Numerical Investigations

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Eleonora Bilotta

2014-01-01

Full Text Available Chaotic dynamics of numerous memristor-based circuits is widely reported in literature. Recently, some works have appeared which study the problem of synchronization control of these systems in a master-slave configuration. In the present paper, the spontaneous dynamic behavior of two chaotic memristor-based Chua’s circuits, mutually interacting through a coupling resistance, was studied via computer simulations in order to study possible self-organized synchronization phenomena. The used memristor is a flux controlled memristor with a cubic nonlinearity, and it can be regarded as a time-varying memductance. The memristor, in effect, retains memory of its past dynamic and any difference in the initial conditions of the two circuits results in different values of the corresponding memductances. In this sense, due to the memory effect of the memristor, even if coupled circuits have the same parameters they do not constitute two completely identical chaotic oscillators. As is known, for nonidentical chaotic systems, in addition to complete synchronizations (CS other weaker forms of synchronization which provide correlations between the signals of the two systems can also occur. Depending on initial conditions and coupling strength, both chaotic and nonchaotic synchronization are observed for the system considered in this work.

The chaotic environment

International Nuclear Information System (INIS)

Cook, A.

1990-09-01

An elementary account of the origin of chaotic behaviour in classical dynamics is given with examples from geophysics, and in conclusion some thoughts about what can be predicted of chaotic behaviour and what sorts of arguments can be used to guide human behaviour in chaotic conditions are presented. 4 refs

Slave trading and slavery in the Dutch colonial empire: A global comparison

Directory of Open Access Journals (Sweden)

Rik van Welie

2008-12-01

Full Text Available Compares slave trading and slavery in the Dutch colonial empire, specifically between the former trading and territorial domains of the West India Company (WIC, the Americas and West Africa, and of the East India Company (VOC, South East Asia, the Indian Ocean region, and South and East Africa. Author presents the latest quantitative assessments concerning the Dutch transatlantic as well as Indian Ocean World slave trade, placing the volume, direction, and characteristics of the forced migration in a historical context. He describes how overall the Dutch were a second-rate player in Atlantic slavery, though in certain periods more important, with according to recent estimates a total of about 554.300 slaves being transported by the Dutch to the Americas. He indicates that while transatlantic slave trade and slavery received much scholarly attention resulting in detailed knowledge, the slave trade and slavery in the Indian Ocean World by the Dutch is comparatively underresearched. Based on demand-side estimates throughout Dutch colonies of the Indonesian archipelago and elsewhere, he deduces that probably close to 500.000 slaves were transported by the Dutch in the Indian Ocean World. In addition, the author points at important differences between the nature and contexts of slavery, as in the VOC domains slavery was mostly of an urban and domestic character, contrary to its production base in the Americas. Slavery further did in the VOC areas not have a rigid racial identification like in WIC areas, with continuing, postslavery effects, and allowed for more flexibility, while unlike the plantation colonies in the Caribbean, as Suriname, not imported slaves but indigenous peoples formed the majority. He also points at relative exceptions, e.g. imported slaves for production use in some VOC territories, as the Banda islands and the Cape colony, and a certain domestic and urban focus of slavery in Curaçao.

Parameters identification and adaptive full state hybrid projective synchronization of chaotic (hyper-chaotic) systems

International Nuclear Information System (INIS)

Hu Manfeng; Xu Zhenyuan; Zhang Rong; Hu Aihua

2007-01-01

Based on the active control idea and the invariance principle of differential equations, a general scheme of adaptive full state hybrid projective synchronization (FSHPS) and parameters identification of a class of chaotic (hyper-chaotic) systems with linearly dependent uncertain parameters is proposed in this Letter. With this effective scheme parameters identification and FSHPS of chaotic and hyper-chaotic systems can be realized simultaneously. Numerical simulations on the chaotic Chen system and the hyper-chaotic Chen system are presented to verify the effectiveness of the proposed scheme

SAS essentials mastering SAS for data analytics

CERN Document Server

Elliott, Alan C

2015-01-01

A step-by-step introduction to using SAS® statistical software as a foundational approach to data analysis and interpretation Presenting a straightforward introduction from the ground up, SAS® Essentials: Mastering SAS for Data Analytics, Second Edition illustrates SAS using hands-on learning techniques and numerous real-world examples. Keeping different experience levels in mind, the highly-qualified author team has developed the book over 20 years of teaching introductory SAS courses. Divided into two sections, the first part of the book provides an introduction to data manipulation, st

The American Slave Narrative. Dramatic Resource Material for the Classroom

Science.gov (United States)

Polsky, Milton

1976-01-01

Notes that the story of the black runaway who escapes the slave status under great risk to live as a free man or woman comprises one of the most meaningful chapters in United States history. The slave narrative genre offers resource material which all children should find compelling and inspiring. (Author/AM)

A Review of the Conflicting Theories on the Slave Family.

Science.gov (United States)

Davis, David Brion

1997-01-01

Historians' changing perceptions of the quality of slave family life are reviewed as they developed from World War I to the present day, noting the paternalism that marked historians' thinking in post-War period, and the romanticism that characterizes some later writings. Controversy over slave family structures continues in present-day studies.…

The Slave Ship Manuelita and the Story of a Yoruba Community, 1833-1834

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Olatunji Ojo

Full Text Available Abstract: In 1833, a Cuban slave ship, the Manuelita, which embarked over 500 slaves in Lagos was seized and condemned by the Anglo-Spanish slave court. After the personal details of the Africans ‘liberated’ from the ship had been collected by court officials some of them were transported aboard the same ship to Trinidad as indentured workers and apprentices. Drawing on materials from the African Origins Database this paper investigates who these Africans were, where they came from, and what their stories highlight about slaving operations in the Lagos hinterland and the Americas in the age of abolition.

AMAZON HADOOP FRAMEWORK USED IN BUSINESS FOR BIG DATA ANALYSIS

OpenAIRE

Ankush Verma*, Dr Neelesh Jain

2017-01-01

The Amazon MapReduce programming model, introduced by Amazon, a simple and efficient way of performing distributed computation over large data sets on the web especially for e-commerce. Amazon EMR work on Master/Slave Architecture using Amazon EMR for map and reduce big data. Amazon EC2 use cloud computing is a central part of designed web service that provides resizable compute capacity in the cloud. Here we also discuss about the Benefit and limitation of using Amazon EMR. Amazon S3 use eas...

A design method of bilateral control system with uncertain dynamics of environments

International Nuclear Information System (INIS)

Yamada, Kou; Iida, Noriyuki; Kudou, Naoki

2002-01-01

In the present paper, we examine a design method for master-slave systems of bilateral control systems. In master-slave systems, human operator works to achieve tasks via the master and the salve system. The salve system contacts the environment and works the tasks. According to past studies, when the dynamics of environment is treated as uncertainties, the number of unstable poles of the slave system is required to be equivalent to that of the slave system with the dynamics of the environment. In some cases, the number of unstable poles of the slave system with the dynamics of environment is different from that of the slave system. We propose a simple design method of bilateral control systems such that the number of unstable poles of the slave system with the dynamics of environmental is different from that of the slave system without the dynamics of the environment. (author)

Empirical Analysis of High Efficient Remote Cloud Data Center Backup Using HBase and Cassandra

OpenAIRE

Chang, Bao Rong; Tsai, Hsiu-Fen; Chen, Chia-Yen; Guo, Cin-Long

2015-01-01

HBase, a master-slave framework, and Cassandra, a peer-to-peer (P2P) framework, are the two most commonly used large-scale distributed NoSQL databases, especially applicable to the cloud computing with high flexibility and scalability and the ease of big data processing. Regarding storage structure, different structure adopts distinct backup strategy to reduce the risks of data loss. This paper aims to realize high efficient remote cloud data center backup using HBase and Cassandra, and in or...

Detecting chaos in irregularly sampled time series.

Science.gov (United States)

Kulp, C W

2013-09-01

Recently, Wiebe and Virgin [Chaos 22, 013136 (2012)] developed an algorithm which detects chaos by analyzing a time series' power spectrum which is computed using the Discrete Fourier Transform (DFT). Their algorithm, like other time series characterization algorithms, requires that the time series be regularly sampled. Real-world data, however, are often irregularly sampled, thus, making the detection of chaotic behavior difficult or impossible with those methods. In this paper, a characterization algorithm is presented, which effectively detects chaos in irregularly sampled time series. The work presented here is a modification of Wiebe and Virgin's algorithm and uses the Lomb-Scargle Periodogram (LSP) to compute a series' power spectrum instead of the DFT. The DFT is not appropriate for irregularly sampled time series. However, the LSP is capable of computing the frequency content of irregularly sampled data. Furthermore, a new method of analyzing the power spectrum is developed, which can be useful for differentiating between chaotic and non-chaotic behavior. The new characterization algorithm is successfully applied to irregularly sampled data generated by a model as well as data consisting of observations of variable stars.

A reversible-jump Markov chain Monte Carlo algorithm for 1D inversion of magnetotelluric data

Science.gov (United States)

Mandolesi, Eric; Ogaya, Xenia; Campanyà, Joan; Piana Agostinetti, Nicola

2018-04-01

full advantage of parallel computer architectures. In case of a large number of data, a master/slave appoach can be used, where the master CPU samples the parameter space and the slave CPUs compute forward solutions.

3-D Structure of the Slave and Rae Cratons Provides Clues to Their Construction

Science.gov (United States)

Snyder, D. B.

2013-12-01

Deep geologic structures within cratons that make up continental cores were long neglected. Recently acquired geophysical data from large observational arrays and geochemical data resulting from exploration for diamond has now made possible co-registration of large-scale (400-km depth), truly 3-dimensional data sets. P-waves, surface waves and magnetotelluric observations provide 3-D wavespeed and conductivity models. Multi-azimuthal receiver functions map seismic discontinuity surfaces in 3-D. Xenolith suites erupted in kimberlites provide rock samples at key lithospheric depths, albeit at sparsely distributed locations. These multi-disciplinary models are becoming available for several key cratons worldwide; here the deep structure of the Slave and Rae cratons of the Canadian Shield is described. Lithospheric layers with tapered, wedge-shaped margins are common. Slave craton layers are sub-horizontal and indicate construction of the craton core at 2.7 Ga by underthrusting and flat stacking of lithosphere. The central Rae craton has predominantly dipping discontinuities that indicate construction at 1.9 Ga by thrusting similar to that observed in crustal ';thick-skinned' fold-and-thrust belts. 3-D mapping of conductivity and metasomatism, the latter via mineral recrystallization and resetting of isotopic ages, overprints primary structures in both cratons. Distribution of more conductivitve mantle suggests that assumed causative pervasive metasomatism occurs at 100-200 km depths with ';chimneys' reaching to shallower depths, typically in locations where kimberlites or mineralization has occurred.

"A dictate of both interest and mercy"? Slave hospitals in the antebellum South.

Science.gov (United States)

Kenny, Stephen C

2010-01-01

As a contribution to debates on slave health and welfare, this article investigates the variety, functions, and overall significance of infirmaries for the enslaved in the antebellum South. Newspapers, case histories, and surviving institutional records of antebellum Southern infirmaries providing medical treatment for slaves offer a unique opportunity to examine the development of modern American medicine within the "peculiar institution," and to explore a complex site of interactions between the enslaved, physicians, and slave owners. The world of the medical college hospital in South Carolina and an experimenting clinic in Alabama are reconstructed using newspapers and medical case histories. The Patient Register of the Hotel Dieu (1859-64) and the Admission Book of Touro Infirmary (1855-60) are used to highlight the types of enslaved patients sent to these two New Orleans commercial hospitals and to explore connections between the practice of medicine and the business of slave trading in the city. In addition to providing physicians with a steady income, slave infirmaries were key players in the domestic slave trade, as well as mechanisms for professionalization and the mobilization of medical ideas in the American South.

A Model for Semantic Equivalence Discovery for Harmonizing Master Data

Science.gov (United States)

Piprani, Baba

IT projects often face the challenge of harmonizing metadata and data so as to have a "single" version of the truth. Determining equivalency of multiple data instances against the given type, or set of types, is mandatory in establishing master data legitimacy in a data set that contains multiple incarnations of instances belonging to the same semantic data record . The results of a real-life application define how measuring criteria and equivalence path determination were established via a set of "probes" in conjunction with a score-card approach. There is a need for a suite of supporting models to help determine master data equivalency towards entity resolution—including mapping models, transform models, selection models, match models, an audit and control model, a scorecard model, a rating model. An ORM schema defines the set of supporting models along with their incarnation into an attribute based model as implemented in an RDBMS.

Quantum-chaotic cryptography

Science.gov (United States)

de Oliveira, G. L.; Ramos, R. V.

2018-03-01

In this work, it is presented an optical scheme for quantum key distribution employing two synchronized optoelectronic oscillators (OEO) working in the chaotic regime. The produced key depends on the chaotic dynamic, and the synchronization between Alice's and Bob's OEOs uses quantum states. An attack on the synchronization signals will disturb the synchronization of the chaotic systems increasing the error rate in the final key.

Chaotic phenomena in plasmas

International Nuclear Information System (INIS)

Kawai, Y.

1991-08-01

It has recently been recognized that the research on various aspects of chaotic dynamics grows rapidly as one of some areas in nonlinear science. On the other hands, the plasma has long been called a treasure-house of nonlinear phenomena, so it is easy to imagine that the plasma is abundant in chaotic phenomena. In fact, the research on plasma chaos is going on, such as the research on the stochastic magnetic field and the chaotic orbit in the toroidal helical system, as well as the research in other experiments. To review the present status of the research on plasma chaos and to make clear the basic common physics, a working group was organized in 1990 as a collaboration research of National Institute for Fusion Science. This is the report on its activity in 1990, with a stress on experimental data obtained in basic plasma experiments and RFP, and on the relaxed theories and computer simulations. (author)

Synchronization properties of coupled chaotic neurons: The role of random shared input

International Nuclear Information System (INIS)

Kumar, Rupesh; Bilal, Shakir; Ramaswamy, Ram

2016-01-01

Spike-time correlations of neighbouring neurons depend on their intrinsic firing properties as well as on the inputs they share. Studies have shown that periodically firing neurons, when subjected to random shared input, exhibit asynchronicity. Here, we study the effect of random shared input on the synchronization of weakly coupled chaotic neurons. The cases of so-called electrical and chemical coupling are both considered, and we observe a wide range of synchronization behaviour. When subjected to identical shared random input, there is a decrease in the threshold coupling strength needed for chaotic neurons to synchronize in-phase. The system also supports lag–synchronous states, and for these, we find that shared input can cause desynchronization. We carry out a master stability function analysis for a network of such neurons and show agreement with the numerical simulations. The contrasting role of shared random input for complete and lag synchronized neurons is useful in understanding spike-time correlations observed in many areas of the brain.

Synchronization properties of coupled chaotic neurons: The role of random shared input

Energy Technology Data Exchange (ETDEWEB)

Kumar, Rupesh [School of Computational and Integrative Sciences, Jawaharlal Nehru University, New Delhi 110067 (India); Bilal, Shakir [Department of Physics and Astrophysics, University of Delhi, Delhi 110 007 (India); Ramaswamy, Ram [School of Computational and Integrative Sciences, Jawaharlal Nehru University, New Delhi 110067 (India); School of Physical Sciences, Jawaharlal Nehru University, New Delhi 110067 (India)

2016-06-15

Spike-time correlations of neighbouring neurons depend on their intrinsic firing properties as well as on the inputs they share. Studies have shown that periodically firing neurons, when subjected to random shared input, exhibit asynchronicity. Here, we study the effect of random shared input on the synchronization of weakly coupled chaotic neurons. The cases of so-called electrical and chemical coupling are both considered, and we observe a wide range of synchronization behaviour. When subjected to identical shared random input, there is a decrease in the threshold coupling strength needed for chaotic neurons to synchronize in-phase. The system also supports lag–synchronous states, and for these, we find that shared input can cause desynchronization. We carry out a master stability function analysis for a network of such neurons and show agreement with the numerical simulations. The contrasting role of shared random input for complete and lag synchronized neurons is useful in understanding spike-time correlations observed in many areas of the brain.

A new visual feedback-based magnetorheological haptic master for robot-assisted minimally invasive surgery

Science.gov (United States)

Choi, Seung-Hyun; Kim, Soomin; Kim, Pyunghwa; Park, Jinhyuk; Choi, Seung-Bok

2015-06-01

In this study, we developed a novel four-degrees-of-freedom haptic master using controllable magnetorheological (MR) fluid. We also integrated the haptic master with a vision device with image processing for robot-assisted minimally invasive surgery (RMIS). The proposed master can be used in RMIS as a haptic interface to provide the surgeon with a sense of touch by using both kinetic and kinesthetic information. The slave robot, which is manipulated with a proportional-integrative-derivative controller, uses a force sensor to obtain the desired forces from tissue contact, and these desired repulsive forces are then embodied through the MR haptic master. To verify the effectiveness of the haptic master, the desired force and actual force are compared in the time domain. In addition, a visual feedback system is implemented in the RMIS experiment to distinguish between the tumor and organ more clearly and provide better visibility to the operator. The hue-saturation-value color space is adopted for the image processing since it is often more intuitive than other color spaces. The image processing and haptic feedback are realized on surgery performance. In this work, tumor-cutting experiments are conducted under four different operating conditions: haptic feedback on, haptic feedback off, image processing on, and image processing off. The experimental realization shows that the performance index, which is a function of pixels, is different in the four operating conditions.

Study on Complex Advertising and Price Competition Dual-Channel Supply Chain Models Considering the Overconfidence Manufacturer

Directory of Open Access Journals (Sweden)

Junhai Ma

2016-01-01

Full Text Available In order to explore how the manufacturers make decisions when two manufacturers compete for local advertising investment, we examine two noncooperative models (Stackelberg and Nash game and propose a cost sharing contract to investigate channel competition of dual-channel supply chain. The dominant power between manufacturer and retailer and the effect of channel competition strategy on price are mainly discussed. In addition, dynamic system concepts are integrated into Stackelberg game model based on bounded rational mechanism. We analyze the local stability and find that the stability level of the dual-channel supply chains depends crucially on the price adjustment speed, the level of demand uncertainty, and the risk preference. The outcome shows that, under the master-slave game model, the profits of manufacturers are greater than that under decentralized decision-making mode, and the profits of retailers under master-slave game model are less than that under decentralized decision-making mode. The profits of manufacturers and retailers in the stable region are greater than that in unstable region. Finally, the delay feedback control method is utilized and effectively controls the chaotic behavior of dual-channel supply chain model. The results have theoretical and practical significance for the game models in terms of advertising and price competition.

SLAC Scanner Processor applications in the data acquisition system for the upgraded Mark II detector

International Nuclear Information System (INIS)

Barklow, T.; Glanzman, T.; Lankford, A.J.; Riles, K.

1985-09-01

The SLAC Scanner Processor is a general purpose, programmable FASTBUS crate/cable master/slave module. This device plays a central role in the readout, buffering and pre-processing of data from the upgraded Mark II detector's new central drift chamber. In addition to data readout, the SSPs assist in a variety of other services, such as detector calibration, FASTBUS system management, FASTBUS system initialization and verification, and FASTBUS module testing. 9 refs., 1 fig., 2 tabs

Chaotic invasive weed optimization algorithm with application to parameter estimation of chaotic systems

International Nuclear Information System (INIS)

Ahmadi, Mohamadreza; Mojallali, Hamed

2012-01-01

Highlights: ► A new meta-heuristic optimization algorithm. ► Integration of invasive weed optimization and chaotic search methods. ► A novel parameter identification scheme for chaotic systems. - Abstract: This paper introduces a novel hybrid optimization algorithm by taking advantage of the stochastic properties of chaotic search and the invasive weed optimization (IWO) method. In order to deal with the weaknesses associated with the conventional method, the proposed chaotic invasive weed optimization (CIWO) algorithm is presented which incorporates the capabilities of chaotic search methods. The functionality of the proposed optimization algorithm is investigated through several benchmark multi-dimensional functions. Furthermore, an identification technique for chaotic systems based on the CIWO algorithm is outlined and validated by several examples. The results established upon the proposed scheme are also supplemented which demonstrate superior performance with respect to other conventional methods.

Operating gains achieved by a new generation of remotely controlled manipulators

International Nuclear Information System (INIS)

Djedidi, A.; Selliez-Vandernotte, C.; Malcolm, F.

2014-01-01

A high performance remotely controlled mechanical master slave arm with direct transmission via cable and transmission rods has been converted to a new generation manipulator with electrical master slave arm and motion module with integrated software. The redesigned powered manipulator with software control improves efficiency and ergonomics while increasing operating field space. The mechanical master arm has been replaced by an electrical robotic master arm using haptic technology. The movements initiated by the operator are transmitted in real time to the slave arm via the servo-motors inside the motion module. The mechanical link between master and slave is eliminated and some mechanical constraints have been replaced by software applications. The operator benefits from an improved working position and vibration filtering plus full range high performance force feedback with reduced effort requirement. (authors)

Fuzzy logic controller to improve powerline communication

Science.gov (United States)

Tirrito, Salvatore

2015-12-01

The Power Line Communications (PLC) technology allows the use of the power grid in order to ensure the exchange of data information among devices. This work proposes an approach, based on Fuzzy Logic, that dynamically manages the amplitude of the signal, with which each node transmits, by processing the master-slave link quality measured and the master-slave distance. The main objective of this is to reduce both the impact of communication interferences induced and power consumption.

Reconfigurable chaotic logic gates based on novel chaotic circuit

International Nuclear Information System (INIS)

Behnia, S.; Pazhotan, Z.; Ezzati, N.; Akhshani, A.

2014-01-01

Highlights: • A novel method for implementing logic gates based on chaotic maps is introduced. • The logic gates can be implemented without any changes in the threshold voltage. • The chaos-based logic gates may serve as basic components of future computing devices. - Abstract: The logical operations are one of the key issues in today’s computer architecture. Nowadays, there is a great interest in developing alternative ways to get the logic operations by chaos computing. In this paper, a novel implementation method of reconfigurable logic gates based on one-parameter families of chaotic maps is introduced. The special behavior of these chaotic maps can be utilized to provide same threshold voltage for all logic gates. However, there is a wide interval for choosing a control parameter for all reconfigurable logic gates. Furthermore, an experimental implementation of this nonlinear system is presented to demonstrate the robustness of computing capability of chaotic circuits

Slave-particle quantization and sum rules in the t-J model

International Nuclear Information System (INIS)

Le Guillou, J.C.; Ragoucy, E.

1994-12-01

In the framework of constrained systems, the classical Hamiltonian formulation of slave-particle models and their correct quantization are given. The electron-momentum distribution function in the t-J and Hubbard models is then studied in the framework of slave-particle approaches and within the decoupling scheme. It is shown that criticisms which have been addressed in this context coming from a violation of the sum rule for the physical electron are not valid. Due to the correct quantization rules for the slave-particles, the sum rule for the physical electron is indeed obeyed, both exactly and within the decoupling scheme. (author). 15 refs

Chaotic dynamics of respiratory sounds

International Nuclear Information System (INIS)

Ahlstrom, C.; Johansson, A.; Hult, P.; Ask, P.

2006-01-01

There is a growing interest in nonlinear analysis of respiratory sounds (RS), but little has been done to justify the use of nonlinear tools on such data. The aim of this paper is to investigate the stationarity, linearity and chaotic dynamics of recorded RS. Two independent data sets from 8 + 8 healthy subjects were recorded and investigated. The first set consisted of lung sounds (LS) recorded with an electronic stethoscope and the other of tracheal sounds (TS) recorded with a contact accelerometer. Recurrence plot analysis revealed that both LS and TS are quasistationary, with the parts corresponding to inspiratory and expiratory flow plateaus being stationary. Surrogate data tests could not provide statistically sufficient evidence regarding the nonlinearity of the data. The null hypothesis could not be rejected in 4 out of 32 LS cases and in 15 out of 32 TS cases. However, the Lyapunov spectra, the correlation dimension (D 2 ) and the Kaplan-Yorke dimension (D KY ) all indicate chaotic behavior. The Lyapunov analysis showed that the sum of the exponents was negative in all cases and that the largest exponent was found to be positive. The results are partly ambiguous, but provide some evidence of chaotic dynamics of RS, both concerning LS and TS. The results motivate continuous use of nonlinear tools for analysing RS data

Chaotic dynamics of respiratory sounds

Energy Technology Data Exchange (ETDEWEB)

Ahlstrom, C. [Department of Biomedical Engineering, Linkoepings Universitet, IMT/LIU, Universitetssjukhuset, S-58185 Linkoeping (Sweden) and Biomedical Engineering, Orebro University Hospital, S-70185 Orebro (Sweden)]. E-mail: christer@imt.liu.se; Johansson, A. [Department of Biomedical Engineering, Linkoepings Universitet, IMT/LIU, Universitetssjukhuset, S-58185 Linkoeping (Sweden); Hult, P. [Department of Biomedical Engineering, Linkoepings Universitet, IMT/LIU, Universitetssjukhuset, S-58185 Linkoeping (Sweden); Biomedical Engineering, Orebro University Hospital, S-70185 Orebro (Sweden); Ask, P. [Department of Biomedical Engineering, Linkoepings Universitet, IMT/LIU, Universitetssjukhuset, S-58185 Linkoeping (Sweden); Biomedical Engineering, Orebro University Hospital, S-70185 Orebro (Sweden)

2006-09-15

There is a growing interest in nonlinear analysis of respiratory sounds (RS), but little has been done to justify the use of nonlinear tools on such data. The aim of this paper is to investigate the stationarity, linearity and chaotic dynamics of recorded RS. Two independent data sets from 8 + 8 healthy subjects were recorded and investigated. The first set consisted of lung sounds (LS) recorded with an electronic stethoscope and the other of tracheal sounds (TS) recorded with a contact accelerometer. Recurrence plot analysis revealed that both LS and TS are quasistationary, with the parts corresponding to inspiratory and expiratory flow plateaus being stationary. Surrogate data tests could not provide statistically sufficient evidence regarding the nonlinearity of the data. The null hypothesis could not be rejected in 4 out of 32 LS cases and in 15 out of 32 TS cases. However, the Lyapunov spectra, the correlation dimension (D {sub 2}) and the Kaplan-Yorke dimension (D {sub KY}) all indicate chaotic behavior. The Lyapunov analysis showed that the sum of the exponents was negative in all cases and that the largest exponent was found to be positive. The results are partly ambiguous, but provide some evidence of chaotic dynamics of RS, both concerning LS and TS. The results motivate continuous use of nonlinear tools for analysing RS data.

Free and Slave Labor in the Antebellum South: Perfect Substitutes or Different Inputs?

OpenAIRE

Field, Elizabeth B

1988-01-01

The substitutability between free and slave labor is examined, and the permissibility of aggregating the two in to a single labor variab le is investigated, using a translog production function. Slaves on large cotton farms worked in gangs; free labor was not observed to do so. Despite this, previous research has aggregated free and slave labor, and employed functional forms imposing strong restrictions on substitution. Estimation of the translog function shows that simple additive aggregatio...

Fast encryption of image data using chaotic Kolmogorov flows

Science.gov (United States)

Scharinger, Josef

1998-04-01

To guarantee security and privacy in image and video archival applications, efficient bulk encryption techniques are necessary which are easily implementable in soft- and hardware and are able to cope with the vast amounts of data involved. Experience has shown that block-oriented symmetric product ciphers constitute an adequate design paradigm for resolving this task, since they can offer a very high level of security as well as very high encryption rates. In this contribution we introduce a new product cipher which encrypts large blocks of plain text by repeated intertwined application of substitution and permutation operations. While almost all of the current product ciphers use fixed permutation operations on small data blocks, our approach involves parametrizable permutations on large data blocks induced by specific chaotic systems. By combining these highly unstable dynamics with an adaption of a very fast shift register based pseudo-random number generator, we obtain a new class of computationally secure product ciphers which offer many features that make them superior to contemporary bulk encryption systems when aiming at efficient image and video data encryption.

A functional integral approach without slave bosons to the Anderson model

International Nuclear Information System (INIS)

Nguyen Ngoc Thuan; Nguyen Toan Thang; Coqblin, B.; Bhattacharjee, A.; Hoang Anh Tuan.

1994-06-01

We developed the technique of the functional integral method without slave bosons for the Periodic Anderson Model (PAM) suggested by Sarker for treating the Hubbard Model. This technique allowed us to obtain an analytical expression of Green functions containing U-dependence that is omitted in the formalism with slave bosons. (author). 9 refs

'Slavery and the Slave Trade in Ikale, Yorubaland': A Rejoinder | Ojo ...

African Journals Online (AJOL)

slave trade— Atlantic, Saharan, Indian Ocean and intra-African — underpinned and transformed specific societies, is a subject of debate. In Yorubaland, was there a very strong and almost unbroken link between the institutions of slavery and slave trade and the history of Ikale, a southeastern Yoruba district? That is, did ...

Redesigning a Flexible Material Master Data Application with Language Dependency

Directory of Open Access Journals (Sweden)

Mihaela Muntean

2016-06-01

Full Text Available Based on some inconveniences identified within a material master data application of theSAP MM module, the current paper proposes an alternative technical solution for designing thepopup layout screen of the material master data application with respect to language dependency.The application should present the text of all tabs, areas and fields in the desired language based onthe user logon preferences. Also it has been implemented a possibility to sort the data in the desiredorder, so the customer isn’t forced, as before, to search for a certain field, when updating certainmaterials. The proposed solution suggests the use of five database tables, combined within threemaintenance views, which build a view cluster. The advantage of the redesigned application consistsof easier maintainability of the data (fields, areas and tabs can be easily added, deleted, reorderedand renamed and all the data within the view cluster can be translated into any language supportedby the system.

Marginality and Social Rejection in Amiri Baraka's Slave Ship

Directory of Open Access Journals (Sweden)

Hamid Hammad Abed

2016-11-01

Full Text Available Marginality and social rejection are the most influential matters exploited by Baraka to intentionally criticize the American society.  More often than not, these two matters have become the scenes of major or minor acts of humiliation and dehumanization that threaten to violate the ethical rules of living. This paper aims at investigating the impact of marginality and social rejection on a number of black characters in Baraka's Slave Ship who are brought to America to be sold as commodities. It is divided into two sections and conclusion. Section one deals with Amiri Baraka’s dramatic thought and experience of marginality within the American society. The textual analysis of Slave Ship is investigated in section two. The significance of the study lies in its textual exploration of the impact of marginality and social rejection in subverting the American dream of democracy, freedom, and equality in Baraka’s Slave Ship.

Stages of chaotic synchronization.

Science.gov (United States)

Tang, D. Y.; Dykstra, R.; Hamilton, M. W.; Heckenberg, N. R.

1998-09-01

In an experimental investigation of the response of a chaotic system to a chaotic driving force, we have observed synchronization of chaos of the response system in the forms of generalized synchronization, phase synchronization, and lag synchronization to the driving signal. In this paper we compare the features of these forms of synchronized chaos and study their relations and physical origins. We found that different forms of chaotic synchronization could be interpreted as different stages of nonlinear interaction between the coupled chaotic systems. (c) 1998 American Institute of Physics.

Detection of chaotic dynamics in human gait signals from mobile devices

Science.gov (United States)

DelMarco, Stephen; Deng, Yunbin

2017-05-01

The ubiquity of mobile devices offers the opportunity to exploit device-generated signal data for biometric identification, health monitoring, and activity recognition. In particular, mobile devices contain an Inertial Measurement Unit (IMU) that produces acceleration and rotational rate information from the IMU accelerometers and gyros. These signals reflect motion properties of the human carrier. It is well-known that the complexity of bio-dynamical systems gives rise to chaotic dynamics. Knowledge of chaotic properties of these systems has shown utility, for example, in detecting abnormal medical conditions and neurological disorders. Chaotic dynamics has been found, in the lab, in bio-dynamical systems data such as electrocardiogram (heart), electroencephalogram (brain), and gait data. In this paper, we investigate the following question: can we detect chaotic dynamics in human gait as measured by IMU acceleration and gyro data from mobile phones? To detect chaotic dynamics, we perform recurrence analysis on real gyro and accelerometer signal data obtained from mobile devices. We apply the delay coordinate embedding approach from Takens' theorem to reconstruct the phase space trajectory of the multi-dimensional gait dynamical system. We use mutual information properties of the signal to estimate the appropriate delay value, and the false nearest neighbor approach to determine the phase space embedding dimension. We use a correlation dimension-based approach together with estimation of the largest Lyapunov exponent to make the chaotic dynamics detection decision. We investigate the ability to detect chaotic dynamics for the different one-dimensional IMU signals, across human subject and walking modes, and as a function of different phone locations on the human carrier.

The Improvement of Telerobotic System Behavior in Contact with Remote Environment by Extension of an Impedance Controller

Directory of Open Access Journals (Sweden)

Nedim Osmic

2008-11-01

Full Text Available The teleoperation (telerobotic systems often face two key challenges: the existence of communication delays between the master and slave site as well as the addition of force feedback to improve the user’s sense of presence. The first goal of this paper is that the slave manipulator should track the position of the master manipulator and the second goal is that the environmental force acting on the slave, when it contacts a remote environment, be accurately transmitted to the master. For solving both problems we proposed the symmetric impedance matched teleoperation systems with a wave filter in feedback loop. Simulations results using a single-degree of freedom master/slave system are presented showing the performance of the resulting system.

An Intuitive Robot Teleoperation System for Nuclear Power Plant Decommissioning

International Nuclear Information System (INIS)

Lee, Chang-hyuk; Gu, Taehyeong; Lee, Kyung-min; Ye, Sung-Joon; Bang, Young-bong

2017-01-01

A robot teleoperation system consists of a master device and a slave robot. The master device senses human intention and delivers it to the salve robot. A haptic device and an exoskeletal robot are widely used as the master device. The slave robot carries out operations delivered by the master device. It should guarantee enough degree of freedom (DOF) to perform the instructed operation and mobility in the environment inside the nuclear plant, such as flat surfaces and stairs. A 7-DOF robotic arm is commonly used as the slave device. This paper proposed a robot teleoperation system for nuclear power plant decommissioning. It discussed an experiment that was performed to validate the system's usability. The operator wearing the exoskeletal master device at the master site controlled the slave robot enabling it to move on a flat surface, climb/descend stairs, and move obstacles. The proposed robot teleoperation system can also be used in hazardous working environments where the use of such robots would be beneficial to human health and safety. In the future, research studies on the protection against radiation that damages the slave robot should be conducted.

Evidence for bifurcation and universal chaotic behavior in nonlinear semiconducting devices

International Nuclear Information System (INIS)

Testa, J.; Perez, J.; Jeffries, C.

1982-01-01

Bifurcations, chaos, and extensive periodic windows in the chaotic regime are observed for a driven LRC circuit, the capacitive element being a nonlinear varactor diode. Measurements include power spectral analysis; real time amplitude data; phase portraits; and a bifurcation diagram, obtained by sampling methods. The effects of added external noise are studied. These data yield experimental determinations of several of the universal numbers predicted to characterize nonlinear systems having this route to chaos

Chaotic examination

Science.gov (United States)

Bildirici, Melike; Sonustun, Fulya Ozaksoy; Sonustun, Bahri

2018-01-01

In the regards of chaos theory, new concepts such as complexity, determinism, quantum mechanics, relativity, multiple equilibrium, complexity, (continuously) instability, nonlinearity, heterogeneous agents, irregularity were widely questioned in economics. It is noticed that linear models are insufficient for analyzing unpredictable, irregular and noncyclical oscillations of economies, and for predicting bubbles, financial crisis, business cycles in financial markets. Therefore, economists gave great consequence to use appropriate tools for modelling non-linear dynamical structures and chaotic behaviors of the economies especially in macro and the financial economy. In this paper, we aim to model the chaotic structure of exchange rates (USD-TL and EUR-TL). To determine non-linear patterns of the selected time series, daily returns of the exchange rates were tested by BDS during the period from January 01, 2002 to May 11, 2017 which covers after the era of the 2001 financial crisis. After specifying the non-linear structure of the selected time series, it was aimed to examine the chaotic characteristic for the selected time period by Lyapunov Exponents. The findings verify the existence of the chaotic structure of the exchange rate returns in the analyzed time period.

A new visual feedback-based magnetorheological haptic master for robot-assisted minimally invasive surgery

International Nuclear Information System (INIS)

Choi, Seung-Hyun; Kim, Soomin; Kim, Pyunghwa; Park, Jinhyuk; Choi, Seung-Bok

2015-01-01

In this study, we developed a novel four-degrees-of-freedom haptic master using controllable magnetorheological (MR) fluid. We also integrated the haptic master with a vision device with image processing for robot-assisted minimally invasive surgery (RMIS). The proposed master can be used in RMIS as a haptic interface to provide the surgeon with a sense of touch by using both kinetic and kinesthetic information. The slave robot, which is manipulated with a proportional-integrative-derivative controller, uses a force sensor to obtain the desired forces from tissue contact, and these desired repulsive forces are then embodied through the MR haptic master. To verify the effectiveness of the haptic master, the desired force and actual force are compared in the time domain. In addition, a visual feedback system is implemented in the RMIS experiment to distinguish between the tumor and organ more clearly and provide better visibility to the operator. The hue-saturation-value color space is adopted for the image processing since it is often more intuitive than other color spaces. The image processing and haptic feedback are realized on surgery performance. In this work, tumor-cutting experiments are conducted under four different operating conditions: haptic feedback on, haptic feedback off, image processing on, and image processing off. The experimental realization shows that the performance index, which is a function of pixels, is different in the four operating conditions. (paper)

Stability of operation versus temperature of a three-phase clock-driven chaotic circuit

International Nuclear Information System (INIS)

Zhou Ji-Chao; Son Hyunsik; Song Han Jung; Kim Namtae

2013-01-01

We evaluate the influence of temperature on the behavior of a three-phase clock-driven metal—oxide—semiconductor (MOS) chaotic circuit. The chaotic circuit consists of two nonlinear functions, a level shifter, and three sample and hold blocks. It is necessary to analyze a CMOS-based chaotic circuit with respect to variation in temperature for stability because the circuit is sensitive to the behavior of the circuit design parameters. The temperature dependence of the proposed chaotic circuit is investigated via the simulation program with integrated circuit emphasis (SPICE) using 0.6-μm CMOS process technology with a 5-V power supply and a 20-kHz clock frequency. The simulation results demonstrate the effects of temperature on the chaotic dynamics of the proposed chaotic circuit. The time series, frequency spectra, bifurcation phenomena, and Lyapunov exponent results are provided. (general)

Disordered chaotic strings

DEFF Research Database (Denmark)

Schäfer, Mirko; Greiner, Martin

2011-01-01

to chaotic strings. Inhomogeneous coupling weights as well as small-world perturbations of the ring-network structure are discussed. It is found that certain combinations of coupling and network disorder preserve the empirical relationship between chaotic strings and the weak and strong sector...

Driving with head-slaved camera system

NARCIS (Netherlands)

Oving, A.B.; Erp, J.B.F. van

2001-01-01

In a field experiment, we tested the effectiveness of a head-slaved camera system for driving an armoured vehicle under armour. This system consists of a helmet-mounted display (HMD), a headtracker, and a motion platform with two cameras. Subjects performed several driving tasks on paved and in

Design of a 4-DOF MR haptic master for application to robot surgery: virtual environment work

Science.gov (United States)

Oh, Jong-Seok; Choi, Seung-Hyun; Choi, Seung-Bok

2014-09-01

This paper presents the design and control performance of a novel type of 4-degrees-of-freedom (4-DOF) haptic master in cyberspace for a robot-assisted minimally invasive surgery (RMIS) application. By using a controllable magnetorheological (MR) fluid, the proposed haptic master can have a feedback function for a surgical robot. Due to the difficulty in utilizing real human organs in the experiment, the cyberspace that features the virtual object is constructed to evaluate the performance of the haptic master. In order to realize the cyberspace, a volumetric deformable object is represented by a shape-retaining chain-linked (S-chain) model, which is a fast volumetric model and is suitable for real-time applications. In the haptic architecture for an RMIS application, the desired torque and position induced from the virtual object of the cyberspace and the haptic master of real space are transferred to each other. In order to validate the superiority of the proposed master and volumetric model, a tracking control experiment is implemented with a nonhomogenous volumetric cubic object to demonstrate that the proposed model can be utilized in real-time haptic rendering architecture. A proportional-integral-derivative (PID) controller is then designed and empirically implemented to accomplish the desired torque trajectories. It has been verified from the experiment that tracking the control performance for torque trajectories from a virtual slave can be successfully achieved.

Design of a 4-DOF MR haptic master for application to robot surgery: virtual environment work

International Nuclear Information System (INIS)

Oh, Jong-Seok; Choi, Seung-Hyun; Choi, Seung-Bok

2014-01-01

This paper presents the design and control performance of a novel type of 4-degrees-of-freedom (4-DOF) haptic master in cyberspace for a robot-assisted minimally invasive surgery (RMIS) application. By using a controllable magnetorheological (MR) fluid, the proposed haptic master can have a feedback function for a surgical robot. Due to the difficulty in utilizing real human organs in the experiment, the cyberspace that features the virtual object is constructed to evaluate the performance of the haptic master. In order to realize the cyberspace, a volumetric deformable object is represented by a shape-retaining chain-linked (S-chain) model, which is a fast volumetric model and is suitable for real-time applications. In the haptic architecture for an RMIS application, the desired torque and position induced from the virtual object of the cyberspace and the haptic master of real space are transferred to each other. In order to validate the superiority of the proposed master and volumetric model, a tracking control experiment is implemented with a nonhomogenous volumetric cubic object to demonstrate that the proposed model can be utilized in real-time haptic rendering architecture. A proportional-integral-derivative (PID) controller is then designed and empirically implemented to accomplish the desired torque trajectories. It has been verified from the experiment that tracking the control performance for torque trajectories from a virtual slave can be successfully achieved. (paper)

Processing EOS MLS Level-2 Data

Science.gov (United States)

Snyder, W. Van; Wu, Dong; Read, William; Jiang, Jonathan; Wagner, Paul; Livesey, Nathaniel; Schwartz, Michael; Filipiak, Mark; Pumphrey, Hugh; Shippony, Zvi

2006-01-01

A computer program performs level-2 processing of thermal-microwave-radiance data from observations of the limb of the Earth by the Earth Observing System (EOS) Microwave Limb Sounder (MLS). The purpose of the processing is to estimate the composition and temperature of the atmosphere versus altitude from .8 to .90 km. "Level-2" as used here is a specialists f term signifying both vertical profiles of geophysical parameters along the measurement track of the instrument and processing performed by this or other software to generate such profiles. Designed to be flexible, the program is controlled via a configuration file that defines all aspects of processing, including contents of state and measurement vectors, configurations of forward models, measurement and calibration data to be read, and the manner of inverting the models to obtain the desired estimates. The program can operate in a parallel form in which one instance of the program acts a master, coordinating the work of multiple slave instances on a cluster of computers, each slave operating on a portion of the data. Optionally, the configuration file can be made to instruct the software to produce files of simulated radiances based on state vectors formed from sets of geophysical data-product files taken as input.

Chaotic spectroscopy

International Nuclear Information System (INIS)

Doron, E.; Smilanski, U.

1991-11-01

We discuss the spectra of quantized chaotic billiards from the point of view of scattering theory. We show that the spectral and resonance density functions both fluctuate about a common mean. A semiclassical treatment explains this in terms of classical scattering trajectories and periodic orbits of the poincare scattering map. This formalism is used to interpret recent experiments where the spectra of chaotic cavities where measured by microwave scattering. (author)

Chaos-based communications using semiconductor lasers subject to feedback from an integrated double cavity

International Nuclear Information System (INIS)

Tronciu, V Z; Mirasso, Claudio R; Colet, Pere

2008-01-01

We report the results of numerical investigations of the dynamical behaviour of an integrated device composed of a semiconductor laser and a double cavity that provides optical feedback. Due to the influence of the feedback, under the appropriate conditions, the system displays chaotic behaviour appropriate for chaos-based communications. The optimal conditions for chaos generation are identified. It is found that the double cavity feedback requires lower feedback strengths for developing high complexity chaos when compared with a single cavity. The synchronization of two unidirectional coupled (master-slave) systems and the influence of parameters mismatch on the synchronization quality are also studied. Finally, examples of message encoding and decoding are presented and discussed

Synchronization of chaotic systems

International Nuclear Information System (INIS)

Pecora, Louis M.; Carroll, Thomas L.

2015-01-01

We review some of the history and early work in the area of synchronization in chaotic systems. We start with our own discovery of the phenomenon, but go on to establish the historical timeline of this topic back to the earliest known paper. The topic of synchronization of chaotic systems has always been intriguing, since chaotic systems are known to resist synchronization because of their positive Lyapunov exponents. The convergence of the two systems to identical trajectories is a surprise. We show how people originally thought about this process and how the concept of synchronization changed over the years to a more geometric view using synchronization manifolds. We also show that building synchronizing systems leads naturally to engineering more complex systems whose constituents are chaotic, but which can be tuned to output various chaotic signals. We finally end up at a topic that is still in very active exploration today and that is synchronization of dynamical systems in networks of oscillators

Carrier phase altimetry using Zeppelin based GNSS-R observations and water gauge reference data

Science.gov (United States)

Semmling, Maximilian; Schön, Steffen; Beckheinrich, Jamila; Beyerle, Georg; Ge, Maorong; Wickert, Jens

2014-05-01

The increasing number of transmitters in global navigation satellite systems (GNSS), like GPS, Galileo, Glonass or Compass, provide observations with an increasing coverage for positioning but also for remote sensing. A space based GNSS remote sensing application is radio occultation, a limb sounding method. Globally distributed vertical profiles of temperature, water vapour and electron density are provided operationally for weather forecast and ionospheric monitoring. Another application is GNSS reflectometry (GNSS-R) that is currently developed especially for ocean remote sensing. The high reflection coefficient of water is crucial for GNSS-R. This study presents a method that uses GNSS phase observations for lake altimetry with the potential for ocean application. Phase observations are deduced from a GORS (GNSS Occultaction Reflectometry Scatterometry) receiver in Master-Slave-Configuration. The Master sampling dedicated for direct signal acquisition is connected to an up-looking antenna with right hand circular polarization (RHCP). Two Slave samplings dedicated for acquisition of the reflected signals are connected to down-looking antennas with right- and left-hand circular polarization (RHCP and LHCP). Based on in-phase and quad-phase (I, Q) sample components, an altimetric phase residual is retrieved. This residual can be related to the height of the reflecting surface. An altimetric challenge arises from the unknown ambiguity of phase residuals that introduces a height bias. The presented study uses ancillary data deduced from water gauges to mitigate the ambiguity bias. Reference tracks are formed by linear surface height interpolation between the water gauge stations. At crossover points of reflection tracks with reference tracks a phase ambiguity estimate is determined for bias mitigation. For this study airborne GNSS measurements were conducted aboard a Zeppelin NT (New Technology) airship with a geodetic receiver for navigation and a GORS receiver for

Russia's Literary Genius Alexander Pushkin: The Great-Grandson of an African Slave.

Science.gov (United States)

Lounsbery, Anne

2000-01-01

Alexander Pushkin, Russia's most celebrated literary figure, descended from an African slave. On both parents' sides, he was related to Avram Petrovich Gannibal, who was born to an African prince and abducted to become a slave to a Russian diplomat. Pushkin chose to pride himself on both his aristocratic life and his African ancestry. (SM)

Uniqueness and permanence dream of Brazilian slave society (XIX Century

Directory of Open Access Journals (Sweden)

Ênio José da Costa Brito

2014-09-01

Full Text Available Within a sequence of studies on slavery in Brazil in 50 years, we have the original study on the political dimension of this slavery from original documentation (Annals and Archives carried forward by Tamis Parron. In the nineteenth century occurred, according to the author, a politicization of slaveholding issues rather than the development of a policy of slavery. The smuggling of slaves and the defense of slavery are too significant to be set aside by historiography events. To Parron, external aspects such as change in American policy slavery and the position of England clearly interfered in the internal politics of Brazil. However, to the author, what existed was not only the defense of slavery with the clear involvement of the state, but also political game scenes by those who had different opinions. Some indirect events such as the Land Law   and the domestic slave trade were part of a politicization of the issue of slavery and consequently, the maintenance of the slave society.

Wit and Humor in the Slave Narratives

Science.gov (United States)

Dance, Daryl

1977-01-01

Notes that although the slave narratives were usually intended to serve in the cause of abolition, not all of them were bitter, unrelieved tirades against the institution of slavery, but rather there were frequently moments of relieving laughter. (Author)

Map of important transactions and master data in SAP ERP

OpenAIRE

Schermann, Michael

2015-01-01

This image represents the most important transactions and master data in SAP ERP as a tube map. As such, it covers most of the content of Magal & Word (2012) Integrated Business Processes with ERP Systems. Wiley, Hoboken, NJ, USA.

Power Forecasting of Combined Heating and Cooling Systems Based on Chaotic Time Series

Directory of Open Access Journals (Sweden)

Liu Hai

2015-01-01

Full Text Available Theoretic analysis shows that the output power of the distributed generation system is nonlinear and chaotic. And it is coupled with the microenvironment meteorological data. Chaos is an inherent property of nonlinear dynamic system. A predicator of the output power of the distributed generation system is to establish a nonlinear model of the dynamic system based on real time series in the reconstructed phase space. Firstly, chaos should be detected and quantified for the intensive studies of nonlinear systems. If the largest Lyapunov exponent is positive, the dynamical system must be chaotic. Then, the embedding dimension and the delay time are chosen based on the improved C-C method. The attractor of chaotic power time series can be reconstructed based on the embedding dimension and delay time in the phase space. By now, the neural network can be trained based on the training samples, which are observed from the distributed generation system. The neural network model will approximate the curve of output power adequately. Experimental results show that the maximum power point of the distributed generation system will be predicted based on the meteorological data. The system can be controlled effectively based on the prediction.

Telerobotic control of a dextrous manipulator using master and six-DOF hand-controllers for space assembly and servicing tasks

Science.gov (United States)

O'Hara, John M.

1987-01-01

Two studies were conducted evaluating methods of controlling a telerobot; bilateral force reflecting master controllers and proportional rate six degrees of freedom (DOF) hand controllers. The first study compared the controllers on performance of single manipulator arm tasks, a peg-in-the-hole task, and simulated satellite orbital replacement unit changeout. The second study, a Space Station truss assembly task, required simultaneous operation of both manipulator arms (all 12 DOFs) and complex multiaxis slave arm movements. Task times were significantly longer and fewer errors were committed with the hand controllers. The hand controllers were also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers were rated significantly higher in physical workload. There were no significant differences in ratings of manipulator control quality.

The variation of the density functions on chaotic spheres in chaotic space-like Minkowski space time

International Nuclear Information System (INIS)

El-Ahmady, A.E.

2007-01-01

In this article we introduce types of chaotic spheres in chaotic space-like Minkowski space time M n+1 . The variations of the density functions under the folding of these chaotic spheres are defined. The foldings restriction imposed on the density function are also discussed. The relations between the folding of geometry and pure chaotic manifolds are deduced. Some theorems concerning these relations are presented

Development of teleoperated cleanup system

International Nuclear Information System (INIS)

Kim, Ki Ho; Park, J. J.; Yang, M. S.; Kwon, H. J.

2005-01-01

This report describes the development of a teleoperated cleanup system for use in a highly radioactive environment of DFDF(DUPIC Fuel Demonstration Facility) at KAERI where direct human access to the in-cell is strictly limited. The teleoperated cleanup system was designed to remotely remove contaminants placed or fixed on the floor surface of the hot-cell by mopping them with wet cloth. This cleanup system consists of a mopping slave, a mopping master and a control console. The mopping slave located at the in-cell comprises a mopping tool with a mopping cloth and a mobile platform, which were constructed in modules to facilitate maintenance. The mopping master that is an input device to control the mopping slave has kinematic dissimilarity with the mopping slave. The control console provides a means of bilateral control flows and communications between the mopping master and the mopping slave. In operation, the human operator from the out-of-cell performs a series of decontamination tasks remotely by manipulating the mopping slave located in-cell via a mopping master, having a sense of real mopping. The environmental and mechanical design considerations, and control systems of the developed teleoperated cleanup system are also described

Interband optical pulse injection locking of quantum dot mode-locked semiconductor laser.

Science.gov (United States)

Kim, Jimyung; Delfyett, Peter J

2008-07-21

We experimentally demonstrate optical clock recovery from quantum dot mode-locked semiconductor lasers by interband optical pulse injection locking. The passively mode-locked slave laser oscillating on the ground state or the first excited state transition is locked through the injection of optical pulses generated via the opposite transition bands, i.e. the first excited state or the ground state transition from the hybridly mode-locked master laser, respectively. When an optical pulse train generated via the first excited state from the master laser is injected to the slave laser oscillating via ground state, the slave laser shows an asymmetric locking bandwidth around the nominal repetition rate of the slave laser. In the reverse injection case of, i.e. the ground state (master laser) to the first excited state (slave laser), the slave laser does not lock even though both lasers oscillate at the same cavity frequency. In this case, the slave laser only locks to higher injection rates as compared to its own nominal repetition rate, and also shows a large locking bandwidth of 6.7 MHz.

Fast physical random bit generation with chaotic semiconductor lasers

Science.gov (United States)

Uchida, Atsushi; Amano, Kazuya; Inoue, Masaki; Hirano, Kunihito; Naito, Sunao; Someya, Hiroyuki; Oowada, Isao; Kurashige, Takayuki; Shiki, Masaru; Yoshimori, Shigeru; Yoshimura, Kazuyuki; Davis, Peter

2008-12-01

Random number generators in digital information systems make use of physical entropy sources such as electronic and photonic noise to add unpredictability to deterministically generated pseudo-random sequences. However, there is a large gap between the generation rates achieved with existing physical sources and the high data rates of many computation and communication systems; this is a fundamental weakness of these systems. Here we show that good quality random bit sequences can be generated at very fast bit rates using physical chaos in semiconductor lasers. Streams of bits that pass standard statistical tests for randomness have been generated at rates of up to 1.7 Gbps by sampling the fluctuating optical output of two chaotic lasers. This rate is an order of magnitude faster than that of previously reported devices for physical random bit generators with verified randomness. This means that the performance of random number generators can be greatly improved by using chaotic laser devices as physical entropy sources.

LHCb: SPECS: a Serial Protocol for the Experiment Control System of LHCb

CERN Multimedia

Charlet, D

2007-01-01

The SPECS is a single master, multi slave serial bus. It communicates between an unique master and up to 32 slaves (limit fixed by the address range), at a 10 MHz rate, thanks to 4 different unidirectional lines.

Development of a Control System for PRIDE Remote Servo-manipulator

International Nuclear Information System (INIS)

Lee, Jong Kwang; Park, Byung Suk; Lee, Hyo Jik; Kim, Kyung Tae; Kim, Sung Hyun; Park, Hee Sung; Kim, Young Hwan; Jung, Jae Hoo; Kim, Ki Ho; Kim, Ho Dong

2009-12-01

KAERI is developing the PRIDE(PyRoprocess Integrated inactive DEmonstration) facility to verify the integrated performance of full Pyroprocess flow. A main process cell in the PRIDE facility will be filled with argon gas which prohibits direct access by human operators. Therefore, all the operation and maintenance of the process equipment is performed remotely through a master-slave manipulation. This research focuses on the design, fabrication, and interface of a control system which integrates several hardware systems such as a dual arm master-slave servo-manipulator, a horizontally moving transporter for a master manipulator, a bridge transporter for a slave manipulator, a chain hoist, camera systems and their display system, a manual console, and a pendant, etc. Also, a bilateral force-reflection controller considering an elasticity and vibration modes of wire cable has been developed for master-slave remote manipulation. The results obtained in this study will be applied for the force-reflection control of the bridge-transported master-slave servo-manipulator system for use in the PRIDE facility. Since this research is an essential work in robotics related fields, the results would be widely used for developing power manipulators and process automation equipment

The development of radiation hardened robot for nuclear facility - Development of embedded controller for hydraulic robot

Energy Technology Data Exchange (ETDEWEB)

Kim, Byung Kook; Kim, Jae Kwon [Korea Advanced Institute of Science and Technology, Taejon (Korea)

2000-04-01

We designed and implemented a reliable hierarchical control system for hydraulic robots for nuclear power plant maintenance. In hazardous environments such as nuclear power plants, robot systems or automated equipment should be used instead of human being for maintenance and repair. Such robot should guarantee high reliability in hazardous environments such as high radiation or high temperature. The overall system is composed of three hierarchical subsystems: i) supervisory controller in safe zone for operator interaction with monitoring and commanding and graphic user interface, ii) master controller in semi-hazardous zone for control function, and iii) slave controller in hazardous zone for sensing and actuation. These subsystems are connected with suitable communication channels: a) master-slave communication channel implemented with CAN (Control Area Network) and b) supervisory-master communication with Ethernet. The master and the slave controllers construct a feedback closed-loop control system. In order to improve reliability, the slave controller is duplicated using cold-standby scheme, and master-slave communication channel is also duplicated. The overall system is implemented harmonically, and we obtained fast control interval of 1msec, which is sufficient for high-performance real-time control. 12 refs., 58 figs., 13 tabs. (Author)

Development of a Control System for PRIDE Remote Servo-manipulator

Energy Technology Data Exchange (ETDEWEB)

Lee, Jong Kwang; Park, Byung Suk; Lee, Hyo Jik; Kim, Kyung Tae; Kim, Sung Hyun; Park, Hee Sung; Kim, Young Hwan; Jung, Jae Hoo; Kim, Ki Ho; Kim, Ho Dong

2009-12-15

KAERI is developing the PRIDE(PyRoprocess Integrated inactive DEmonstration) facility to verify the integrated performance of full Pyroprocess flow. A main process cell in the PRIDE facility will be filled with argon gas which prohibits direct access by human operators. Therefore, all the operation and maintenance of the process equipment is performed remotely through a master-slave manipulation. This research focuses on the design, fabrication, and interface of a control system which integrates several hardware systems such as a dual arm master-slave servo-manipulator, a horizontally moving transporter for a master manipulator, a bridge transporter for a slave manipulator, a chain hoist, camera systems and their display system, a manual console, and a pendant, etc. Also, a bilateral force-reflection controller considering an elasticity and vibration modes of wire cable has been developed for master-slave remote manipulation. The results obtained in this study will be applied for the force-reflection control of the bridge-transported master-slave servo-manipulator system for use in the PRIDE facility. Since this research is an essential work in robotics related fields, the results would be widely used for developing power manipulators and process automation equipment.

Slaves immersed in a liberal ideology.

Science.gov (United States)

Daly, Leslie Kim

2012-01-01

Paradigm debates have been featured in the nursing literature for over four decades. There are at least two opposing paradigms specific to nursing that have remained central in these debates. Advocates of the unitary perspective (or simultaneity paradigm) consider their theories to be more philosophically advanced and contemporary alternatives when compared to the older more traditional ideas characteristic of models they describe as originating from the totality paradigm. In the context of these debates, I focus on some theoretical positions embedded in the unitary perspective, noting their limitations with respect to integrating the individual and social mandates of nursing; nurses are responsible not only for individual health-related needs, but also for the health of the collective. I explore two hypotheses that may explain the powers of endurance of the unitary perspective. Paley, who outlines the origins of nurses' 'slave morality', inspires the first hypothesis. The second hypothesis speaks to the location of nursing knowledge development in the context of liberal ideology. In this work, I outline key conceptualizations of the unitary perspective in order to clearly illustrate the limitations of the unitary perspective for nurses' social mandate. Then, I explore how slave morality and liberal ideological assumptions might both work to sustain the unitary perspective. A paradigm for nursing must have utility in addressing both the health-related needs of individuals, and for addressing the health of the collective. To this end, I advance suggestions in three areas: first, to transform nurses' slave morality to more honest and noble aspirations; second, to examine liberal ideological premises; and third, to end paradigm debate by resituating elements of the unitary perspective to the level of mid-range theory, where it could be most effective for research and practice with specific populations. © 2011 Blackwell Publishing Ltd.

Advances and applications in chaotic systems

CERN Document Server

Volos, Christos

2016-01-01

This book reports on the latest advances and applications of chaotic systems. It consists of 25 contributed chapters by experts who are specialized in the various topics addressed in this book. The chapters cover a broad range of topics of chaotic systems such as chaos, hyperchaos, jerk systems, hyperjerk systems, conservative and dissipative systems, circulant chaotic systems, multi-scroll chaotic systems, finance chaotic system, highly chaotic systems, chaos control, chaos synchronization, circuit realization and applications of chaos theory in secure communications, mobile robot, memristors, cellular neural networks, etc. Special importance was given to chapters offering practical solutions, modeling and novel control methods for the recent research problems in chaos theory. This book will serve as a reference book for graduate students and researchers with a basic knowledge of chaos theory and control systems. The resulting design procedures on the chaotic systems are emphasized using MATLAB software.

Using Chaotic System in Encryption

Science.gov (United States)

Findik, Oğuz; Kahramanli, Şirzat

In this paper chaotic systems and RSA encryption algorithm are combined in order to develop an encryption algorithm which accomplishes the modern standards. E.Lorenz's weather forecast' equations which are used to simulate non-linear systems are utilized to create chaotic map. This equation can be used to generate random numbers. In order to achieve up-to-date standards and use online and offline status, a new encryption technique that combines chaotic systems and RSA encryption algorithm has been developed. The combination of RSA algorithm and chaotic systems makes encryption system.

Elementary chaotic snap flows

International Nuclear Information System (INIS)

Munmuangsaen, Buncha; Srisuchinwong, Banlue

2011-01-01

Highlights: → Five new elementary chaotic snap flows and a generalization of an existing chaotic snap flow have been presented. → Three of all are conservative systems whilst three others are dissipative systems. → Four cases need only a single control parameter and a single nonlinearity. → A cubic case in a jerk representation requires only two terms and a single nonlinearity. - Abstract: Hyperjerk systems with 4th-order derivative of the form x .... =f(x ... ,x .. ,x . ,x) have been referred to as snap systems. Five new elementary chaotic snap flows and a generalization of an existing flow are presented through an extensive numerical search. Four of these flows demonstrate elegant simplicity of a single control parameter based on a single nonlinearity of a quadratic, a piecewise-linear or an exponential type. Two others demonstrate elegant simplicity of all unity-in-magnitude parameters based on either a single cubic nonlinearity or three cubic nonlinearities. The chaotic snap flow with a single cubic nonlinearity requires only two terms and can be transformed to its equivalent dynamical form of only five terms which have a single nonlinearity. An advantage is that such a chaotic flow offers only five terms even though the (four) dimension is high. Three of the chaotic snap flows are characterized as conservative systems whilst three others are dissipative systems. Basic dynamical properties are described.

Entity information life cycle for big data master data management and information integration

CERN Document Server

Talburt, John R

2015-01-01

Entity Information Life Cycle for Big Data walks you through the ins and outs of managing entity information so you can successfully achieve master data management (MDM) in the era of big data. This book explains big data's impact on MDM and the critical role of entity information management system (EIMS) in successful MDM. Expert authors Dr. John R. Talburt and Dr. Yinle Zhou provide a thorough background in the principles of managing the entity information life cycle and provide practical tips and techniques for implementing an EIMS, strategies for exploiting distributed processing to hand

From determinism and probability to chaos: chaotic evolution towards philosophy and methodology of chaotic optimization.

Science.gov (United States)

Pei, Yan

2015-01-01

We present and discuss philosophy and methodology of chaotic evolution that is theoretically supported by chaos theory. We introduce four chaotic systems, that is, logistic map, tent map, Gaussian map, and Hénon map, in a well-designed chaotic evolution algorithm framework to implement several chaotic evolution (CE) algorithms. By comparing our previous proposed CE algorithm with logistic map and two canonical differential evolution (DE) algorithms, we analyse and discuss optimization performance of CE algorithm. An investigation on the relationship between optimization capability of CE algorithm and distribution characteristic of chaotic system is conducted and analysed. From evaluation result, we find that distribution of chaotic system is an essential factor to influence optimization performance of CE algorithm. We propose a new interactive EC (IEC) algorithm, interactive chaotic evolution (ICE) that replaces fitness function with a real human in CE algorithm framework. There is a paired comparison-based mechanism behind CE search scheme in nature. A simulation experimental evaluation is conducted with a pseudo-IEC user to evaluate our proposed ICE algorithm. The evaluation result indicates that ICE algorithm can obtain a significant better performance than or the same performance as interactive DE. Some open topics on CE, ICE, fusion of these optimization techniques, algorithmic notation, and others are presented and discussed.

From Determinism and Probability to Chaos: Chaotic Evolution towards Philosophy and Methodology of Chaotic Optimization

Science.gov (United States)

2015-01-01

We present and discuss philosophy and methodology of chaotic evolution that is theoretically supported by chaos theory. We introduce four chaotic systems, that is, logistic map, tent map, Gaussian map, and Hénon map, in a well-designed chaotic evolution algorithm framework to implement several chaotic evolution (CE) algorithms. By comparing our previous proposed CE algorithm with logistic map and two canonical differential evolution (DE) algorithms, we analyse and discuss optimization performance of CE algorithm. An investigation on the relationship between optimization capability of CE algorithm and distribution characteristic of chaotic system is conducted and analysed. From evaluation result, we find that distribution of chaotic system is an essential factor to influence optimization performance of CE algorithm. We propose a new interactive EC (IEC) algorithm, interactive chaotic evolution (ICE) that replaces fitness function with a real human in CE algorithm framework. There is a paired comparison-based mechanism behind CE search scheme in nature. A simulation experimental evaluation is conducted with a pseudo-IEC user to evaluate our proposed ICE algorithm. The evaluation result indicates that ICE algorithm can obtain a significant better performance than or the same performance as interactive DE. Some open topics on CE, ICE, fusion of these optimization techniques, algorithmic notation, and others are presented and discussed. PMID:25879067

From Determinism and Probability to Chaos: Chaotic Evolution towards Philosophy and Methodology of Chaotic Optimization

Directory of Open Access Journals (Sweden)

Yan Pei

2015-01-01

Full Text Available We present and discuss philosophy and methodology of chaotic evolution that is theoretically supported by chaos theory. We introduce four chaotic systems, that is, logistic map, tent map, Gaussian map, and Hénon map, in a well-designed chaotic evolution algorithm framework to implement several chaotic evolution (CE algorithms. By comparing our previous proposed CE algorithm with logistic map and two canonical differential evolution (DE algorithms, we analyse and discuss optimization performance of CE algorithm. An investigation on the relationship between optimization capability of CE algorithm and distribution characteristic of chaotic system is conducted and analysed. From evaluation result, we find that distribution of chaotic system is an essential factor to influence optimization performance of CE algorithm. We propose a new interactive EC (IEC algorithm, interactive chaotic evolution (ICE that replaces fitness function with a real human in CE algorithm framework. There is a paired comparison-based mechanism behind CE search scheme in nature. A simulation experimental evaluation is conducted with a pseudo-IEC user to evaluate our proposed ICE algorithm. The evaluation result indicates that ICE algorithm can obtain a significant better performance than or the same performance as interactive DE. Some open topics on CE, ICE, fusion of these optimization techniques, algorithmic notation, and others are presented and discussed.

[The suicide of slaves in São Paulo during the last two decades of slavery].

Science.gov (United States)

Oliveira, Saulo Veiga; Oda, Ana Maria Galdini Raimundo

2008-01-01

News stories printed in Gazeta de Campinas (1871-1887) are used to investigate the views expressed at the time of the suicides of captives and freedmen in São Paulo province, and to discuss the data available. As suicide is a form of human behavior which cannot be reduced to one single explanation, it does not seem justifiable that amongst the slaves, these cases should also be taken as self-explanatory because of the conditions in which they occurred. By noting the circumstances in which these acts took place, it is hoped that the fallacy of oversimplified explanations can be belied, which refer to the suicide of slaves as quite simply being due to a 'dislike of captivity'.

A simple chaotic delay differential equation

International Nuclear Information System (INIS)

Sprott, J.C.

2007-01-01

The simplest chaotic delay differential equation with a sinusoidal nonlinearity is described, including the route to chaos, Lyapunov exponent spectrum, and chaotic diffusion. It is prototypical of many other high-dimensional chaotic systems

Initial conditions for chaotic inflation

International Nuclear Information System (INIS)

Brandenberger, R.; Kung, J.; Feldman, H.

1991-01-01

In contrast to many other inflationary Universe models, chaotic inflation does not depend on fine tuning initial conditions. Within the context of linear perturbation theory, it is shown that chaotic inflation is stable towards both metric and matter perturbations. Neglecting gravitational perturbations, it is shown that chaotic inflation is an attractor in initial condition space. (orig.)

Applications of Chaotic Dynamics in Robotics

Directory of Open Access Journals (Sweden)

Xizhe Zang

2016-03-01

Full Text Available This article presents a summary of applications of chaos and fractals in robotics. Firstly, basic concepts of deterministic chaos and fractals are discussed. Then, fundamental tools of chaos theory used for identifying and quantifying chaotic dynamics will be shared. Principal applications of chaos and fractal structures in robotics research, such as chaotic mobile robots, chaotic behaviour exhibited by mobile robots interacting with the environment, chaotic optimization algorithms, chaotic dynamics in bipedal locomotion and fractal mechanisms in modular robots will be presented. A brief survey is reported and an analysis of the reviewed publications is also presented.

Development master arm of 2-DOF planar parallel manipulator for In-Vitro Fertilization

Science.gov (United States)

Thamrongaphichartkul, Kitti; Vongbunyong, Supachai; Nuntakarn, Lalana

2018-01-01

Micromanipulator is a mechanical device used for manipulating miniature objects in the order of micron. It is widely used in In-Vitro Fertilization (IVF) in which sperms will be held in a micro-needle and penetrate to an oocyte for fertilization. IVF needs to be performed by high skill embryologists to control the movement of the needle accurately due to the lack of tactile perception of the user. Haptic device is a device that can transmit and simulate position, velocity and force in order to enhance interaction between the user and system. However, commercially available haptic devices have unnecessary degrees of freedom and limited workspace which are inappropriate for IVF process. This paper focuses on development of a haptic device for using in IVF process. It will be used as a master arm for the master-slave system for IVF process in order to enhance the ability of users to control the micromanipulator. As a result, the embryologist is able to carry out the IVF process more effectively with having tactile perception.

Quantifying chaotic dynamics from integrate-and-fire processes

Energy Technology Data Exchange (ETDEWEB)

Pavlov, A. N. [Department of Physics, Saratov State University, Astrakhanskaya Str. 83, 410012 Saratov (Russian Federation); Saratov State Technical University, Politehnicheskaya Str. 77, 410054 Saratov (Russian Federation); Pavlova, O. N. [Department of Physics, Saratov State University, Astrakhanskaya Str. 83, 410012 Saratov (Russian Federation); Mohammad, Y. K. [Department of Physics, Saratov State University, Astrakhanskaya Str. 83, 410012 Saratov (Russian Federation); Tikrit University Salahudin, Tikrit Qadisiyah, University Str. P.O. Box 42, Tikrit (Iraq); Kurths, J. [Potsdam Institute for Climate Impact Research, Telegraphenberg A 31, 14473 Potsdam (Germany); Institute of Physics, Humboldt University Berlin, 12489 Berlin (Germany)

2015-01-15

Characterizing chaotic dynamics from integrate-and-fire (IF) interspike intervals (ISIs) is relatively easy performed at high firing rates. When the firing rate is low, a correct estimation of Lyapunov exponents (LEs) describing dynamical features of complex oscillations reflected in the IF ISI sequences becomes more complicated. In this work we discuss peculiarities and limitations of quantifying chaotic dynamics from IF point processes. We consider main factors leading to underestimated LEs and demonstrate a way of improving numerical determining of LEs from IF ISI sequences. We show that estimations of the two largest LEs can be performed using around 400 mean periods of chaotic oscillations in the regime of phase-coherent chaos. Application to real data is discussed.

Synchronizing tracking control for flexible joint robots via estimated state feedback

NARCIS (Netherlands)

Rodriguez Angeles, A.; Nijmeijer, H.

2004-01-01

In this paper, we propose a synchronization controller for flexible joint robots, which are interconnected in a master-slave scheme. The synchronization controller is based on feedback linearization and only requires measurements of the master and slave link positions, since the velocities and

Complicating Slavery: Teaching with Runaway Slave Advertisements.

Science.gov (United States)

Mason, Matthew; Koman, Rita G.

2003-01-01

Presents a lesson plan that teaches students about slavery in the colonial United States. Focuses on the differences between slavery in the northern and southern parts of the country. Explains that the lesson includes and uses slave advertisements to teach about slavery. Offers additional resources. (CMK)

Chaotic system optimal tracking using data-based synchronous method with unknown dynamics and disturbances

International Nuclear Information System (INIS)

Song Ruizhuo; Wei Qinglai

2017-01-01

We develop an optimal tracking control method for chaotic system with unknown dynamics and disturbances. The method allows the optimal cost function and the corresponding tracking control to update synchronously. According to the tracking error and the reference dynamics, the augmented system is constructed. Then the optimal tracking control problem is defined. The policy iteration (PI) is introduced to solve the min-max optimization problem. The off-policy adaptive dynamic programming (ADP) algorithm is then proposed to find the solution of the tracking Hamilton–Jacobi–Isaacs (HJI) equation online only using measured data and without any knowledge about the system dynamics. Critic neural network (CNN), action neural network (ANN), and disturbance neural network (DNN) are used to approximate the cost function, control, and disturbance. The weights of these networks compose the augmented weight matrix, and the uniformly ultimately bounded (UUB) of which is proven. The convergence of the tracking error system is also proven. Two examples are given to show the effectiveness of the proposed synchronous solution method for the chaotic system tracking problem. (paper)

Identifying Chaotic FitzHugh–Nagumo Neurons Using Compressive Sensing

Directory of Open Access Journals (Sweden)

Ri-Qi Su

2014-07-01

Full Text Available We develop a completely data-driven approach to reconstructing coupled neuronal networks that contain a small subset of chaotic neurons. Such chaotic elements can be the result of parameter shift in their individual dynamical systems and may lead to abnormal functions of the network. To accurately identify the chaotic neurons may thus be necessary and important, for example, applying appropriate controls to bring the network to a normal state. However, due to couplings among the nodes, the measured time series, even from non-chaotic neurons, would appear random, rendering inapplicable traditional nonlinear time-series analysis, such as the delay-coordinate embedding method, which yields information about the global dynamics of the entire network. Our method is based on compressive sensing. In particular, we demonstrate that identifying chaotic elements can be formulated as a general problem of reconstructing the nodal dynamical systems, network connections and all coupling functions, as well as their weights. The working and efficiency of the method are illustrated by using networks of non-identical FitzHugh–Nagumo neurons with randomly-distributed coupling weights.

A Data Gathering Scheme in Wireless Sensor Networks Based on Synchronization of Chaotic Spiking Oscillator Networks

International Nuclear Information System (INIS)

Nakano, Hidehiro; Utani, Akihide; Miyauchi, Arata; Yamamoto, Hisao

2011-01-01

This paper studies chaos-based data gathering scheme in multiple sink wireless sensor networks. In the proposed scheme, each wireless sensor node has a simple chaotic oscillator. The oscillators generate spike signals with chaotic interspike intervals, and are impulsively coupled by the signals via wireless communication. Each wireless sensor node transmits and receives sensor information only in the timing of the couplings. The proposed scheme can exhibit various chaos synchronous phenomena and their breakdown phenomena, and can effectively gather sensor information with the significantly small number of transmissions and receptions compared with the conventional scheme. Also, the proposed scheme can flexibly adapt various wireless sensor networks not only with a single sink node but also with multiple sink nodes. This paper introduces our previous works. Through simulation experiments, we show effectiveness of the proposed scheme and discuss its development potential.

A new chaotic secure communication scheme

International Nuclear Information System (INIS)

Hua Changchun; Yang Bo; Ouyang Gaoxiang; Guan Xinping

2005-01-01

A new chaotic secure communication scheme is constructed. Unified chaotic system is used to encrypt the emitted signal. Different from the existing chaotic secure communication methods, the useful information is embodied in the parameter of chaotic systems in this Letter. The receiver is designed which can succeed in recovering the former signal. Finally computer simulations are done to verify the proposed methods, and the results show that the obtained theoretic results are feasible and efficient

Two-colour high-speed asynchronous optical sampling based on offset-stabilized Yb:KYW and Ti:sapphire oscillators.

Science.gov (United States)

Krauß, N; Schäfer, G; Flock, J; Kliebisch, O; Li, C; Barros, H G; Heinecke, D C; Dekorsy, T

2015-07-13

We present a high-speed asynchronous optical sampling system, based on two different Kerr-lens mode-locked lasers with a GHz repetition rate: An Yb:KYW oscillator and a Ti:sapphire oscillator are synchronized in a master-slave configuration at a repetition rate offset of a few kHz. This system enables two-colour pump-probe measurements with resulting noise floors below 10⁻⁶ at a data aquisition time of 5 seconds. The measured temporal resolution within the 1 ns time window is below 350 fs, including a timing jitter of less than 50 fs. The system is applied to investigate zone-folded coherent acoustic phonons in two different semiconductor superlattices in transmission geometry at a probe wavelength far below the bandgap of the superlattice constituents. The lifetime of the phonon modes with a zero wave vector and frequencies in the range from 100 GHz to 500 GHz are measured at room temperature and compared with previous work.

An "Epeleptick" bondswoman: fits, slavery, and power in the antebellum South.

Science.gov (United States)

Boster, Dea H

2009-01-01

Epilepsy, as nineteenth-century observers understood the disease construct, was a feared diagnosis associated with insanity and uncontrollability. Cases of epileptic fits in slaves-whether they were considered genuine or feigned- highlighted deep struggles among white masters, physicians, and slaves themselves over the control of African American bodies. Some slaves who experienced fits were subjected to prolonged experimental treatments at the hands of physicians and white masters. Although Southern medical sources largely ignored the connection between epilepsy and trauma in slaves, abolitionists and ex-slave narratives published in the North used epilepsy as a representation of the institution's cruelty. Some white observers thought that slaves with epilepsy were prone to malingering; epileptic fits were also a tool of slave resistance and had a significant role in slave sale negotiations. I use the case study of a fifteen-year-old bondswoman in Virginia, diagnosed with epilepsy in 1843, to illustrate the significance of the disease in the lives of African American slaves.

Nonlocal, yet translation invariant, constraints for rotationally invariant slave bosons

Science.gov (United States)

Ayral, Thomas; Kotliar, Gabriel

The rotationally-invariant slave boson (RISB) method is a lightweight framework allowing to study the low-energy properties of complex multiorbital problems currently out of the reach of more comprehensive, yet more computationally demanding methods such as dynamical mean field theory. In the original formulation of this formalism, the slave-boson constraints can be made nonlocal by enlarging the unit cell and viewing the quantum states enclosed in this new unit cell as molecular levels. In this work, we extend RISB to constraints which are nonlocal while preserving translation invariance. We apply this extension to the Hubbard model.

A novel image block cryptosystem based on a spatiotemporal chaotic system and a chaotic neural network

International Nuclear Information System (INIS)

Wang Xing-Yuan; Bao Xue-Mei

2013-01-01

In this paper, we propose a novel block cryptographic scheme based on a spatiotemporal chaotic system and a chaotic neural network (CNN). The employed CNN comprises a 4-neuron layer called a chaotic neuron layer (CNL), where the spatiotemporal chaotic system participates in generating its weight matrix and other parameters. The spatiotemporal chaotic system used in our scheme is the typical coupled map lattice (CML), which can be easily implemented in parallel by hardware. A 160-bit-long binary sequence is used to generate the initial conditions of the CML. The decryption process is symmetric relative to the encryption process. Theoretical analysis and experimental results prove that the block cryptosystem is secure and practical, and suitable for image encryption. (general)

Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback.

Science.gov (United States)

Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S

2013-01-01

This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N.

Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback

Science.gov (United States)

Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S.

2014-01-01

This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N. PMID:25126446

Fashion Retail Master Data Model and Business Development

DEFF Research Database (Denmark)

Hovmøller, Harald; Tambo, Torben

2014-01-01

Retailing, and particularly fashion retailing, is changing into a much more technology driven business model using omni-channel retailing approaches. Also analytical and data-driven marketing is on the rise. However, there has not been paid a lot of attention to the underlying and underpinning...... datastructures, the characteristics for fashion retailing, the relationship between static and dynamic data, and the governance of this. This paper is analysing and discussing the data dimension of fashion retailing with focus on data-model development, master data management and the impact of this on business...... development in the form of increased operational effectiveness, better adaptation the omni-channel environment and improved alignment between the business strategy and the supporting data. The paper presents a case study of a major European fashion retail and wholesale company that is in the process...

Correlation control theory of chaotic laser systems

International Nuclear Information System (INIS)

Li Fuli.

1986-04-01

A novel control theory of chaotic systems is studied. The correlation functions are calculated and used as feedback signals of the chaotic lasers. Computer experiments have shown that in this way the chaotic systems can be controlled to have time-independent output when the external control parameters are in chaotic domain. (author)

A Proposed Chaotic-Switched Turbo Coding Design and Its Application for Half-Duplex Relay Channel

Directory of Open Access Journals (Sweden)

Tamer H. M. Soliman

2015-01-01

Full Text Available Both reliability and security are two important subjects in modern digital communications, each with a variety of subdisciplines. In this paper we introduce a new proposed secure turbo coding system which combines chaotic dynamics and turbo coding reliability together. As we utilize the chaotic maps as a tool for hiding and securing the coding design in turbo coding system, this proposed system model can provide both data secrecy and data reliability in one process to combat problems in an insecure and unreliable data channel link. To support our research, we provide different schemes to design a chaotic secure reliable turbo coding system which we call chaotic-switched turbo coding schemes. In these schemes the design of turbo codes chaotically changed depending on one or more chaotic maps. Extensions of these chaotic-switched turbo coding schemes to half-duplex relay systems are also described. Results of simulations of these new secure turbo coding schemes are compared to classical turbo codes with the same coding parameters and the proposed system is able to achieve secured reasonable bit error rate performance when it is made to switch between different puncturing and design configuration parameters especially with low switching rates.

Experimental chaotic quantification in bistable vortex induced vibration systems

Science.gov (United States)

Huynh, B. H.; Tjahjowidodo, T.

2017-02-01

The study of energy harvesting by means of vortex induced vibration systems has been initiated a few years ago and it is considered to be potential as a low water current energy source. The energy harvester is realized by exposing an elastically supported blunt structure under water flow. However, it is realized that the system will only perform at a limited operating range (water flow) that is attributed to the resonance phenomenon that occurs only at a frequency that corresponds to the fluid flow. An introduction of nonlinear elements seems to be a prominent solution to overcome the problem. Among many nonlinear elements, a bistable spring is known to be able to improve the harvested power by a vortex induced vibrations (VIV) based energy converter at the low velocity water flows. However, it is also observed that chaotic vibrations will occur at different operating ranges that will erratically diminish the harvested power and cause a difficulty in controlling the system that is due to the unpredictability in motions of the VIV structure. In order to design a bistable VIV energy converter with improved harvested power and minimum negative effect of chaotic vibrations, the bifurcation map of the system for varying governing parameters is highly on demand. In this study, chaotic vibrations of a VIV energy converter enhanced by a bistable stiffness element are quantified in a wide range of the governing parameters, i.e. damping and bistable gap. Chaotic vibrations of the bistable VIV energy converter are simulated by utilization of a wake oscillator model and quantified based on the calculation of the Lyapunov exponent. Ultimately, a series of experiments of the system in a water tunnel, facilitated by a computer-based force-feedback testing platform, is carried out to validate the existence of chaotic responses. The main challenge in dealing with experimental data is in distinguishing chaotic response from noise-contaminated periodic responses as noise will smear

Environmental surveillance master sampling schedule

International Nuclear Information System (INIS)

Bisping, L.E.

1995-02-01

Environmental surveillance of the Hanford Site and surrounding areas is conducted by the Pacific Northwest Laboratory (PNL) for the U.S. Department of Energy (DOE). This document contains the planned 1994 schedules for routine collection of samples for the Surface Environmental Surveillance Project (SESP), Drinking Water Project, and Ground-Water Surveillance Project. Samples are routinely collected for the SESP and analyzed to determine the quality of air, surface water, soil, sediment, wildlife, vegetation, foodstuffs, and farm products at Hanford Site and surrounding communities. The responsibility for monitoring onsite drinking water falls outside the scope of the SESP. PNL conducts the drinking water monitoring project concurrent with the SESP to promote efficiency and consistency, utilize expertise developed over the years, and reduce costs associated with management, procedure development, data management, quality control, and reporting. The ground-water sampling schedule identifies ground-water sampling .events used by PNL for environmental surveillance of the Hanford Site. Sampling is indicated as annual, semi-annual, quarterly, or monthly in the sampling schedule. Some samples are collected and analyzed as part of ground-water monitoring and characterization programs at Hanford (e.g. Resources Conservation and Recovery Act (RCRA), Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA), or Operational). The number of samples planned by other programs are identified in the sampling schedule by a number in the analysis column and a project designation in the Cosample column. Well sampling events may be merged to avoid redundancy in cases where sampling is planned by both-environmental surveillance and another program

Environmental surveillance master sampling schedule

Energy Technology Data Exchange (ETDEWEB)

Bisping, L.E.

1995-02-01

Environmental surveillance of the Hanford Site and surrounding areas is conducted by the Pacific Northwest Laboratory (PNL) for the U.S. Department of Energy (DOE). This document contains the planned 1994 schedules for routine collection of samples for the Surface Environmental Surveillance Project (SESP), Drinking Water Project, and Ground-Water Surveillance Project. Samples are routinely collected for the SESP and analyzed to determine the quality of air, surface water, soil, sediment, wildlife, vegetation, foodstuffs, and farm products at Hanford Site and surrounding communities. The responsibility for monitoring onsite drinking water falls outside the scope of the SESP. PNL conducts the drinking water monitoring project concurrent with the SESP to promote efficiency and consistency, utilize expertise developed over the years, and reduce costs associated with management, procedure development, data management, quality control, and reporting. The ground-water sampling schedule identifies ground-water sampling .events used by PNL for environmental surveillance of the Hanford Site. Sampling is indicated as annual, semi-annual, quarterly, or monthly in the sampling schedule. Some samples are collected and analyzed as part of ground-water monitoring and characterization programs at Hanford (e.g. Resources Conservation and Recovery Act (RCRA), Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA), or Operational). The number of samples planned by other programs are identified in the sampling schedule by a number in the analysis column and a project designation in the Cosample column. Well sampling events may be merged to avoid redundancy in cases where sampling is planned by both-environmental surveillance and another program.

Compensation of position errors in passivity based teleoperation over packet switched communication networks

NARCIS (Netherlands)

Secchi, C; Stramigioli, Stefano; Fantuzzi, C.

Because of the use of scattering based communication channels, passivity based telemanipulation systems can be subject to a steady state position error between master and slave robots. In this paper, we consider the case in which the passive master and slave sides communicate through a packet

Chaos control and synchronization of two neurons exposed to ELF external electric field

International Nuclear Information System (INIS)

Wang Jiang; Zhang Ting; Che Yanqiu

2007-01-01

Chaos control and synchronization of two unidirectional coupled neurons exposed to ELF electrical field via nonlinear control technique is investigated. Based on results of space-time characteristics of trans-membrane voltage, the variation of cell trans-membrane voltage exposed to extremely low frequency (ELF) electric field is analyzed. The dynamical behaviors of the modified Hodgkin-Huxley (HH) model are identified under the periodic ELF electric field using both analytical and numerical analysis. Then, using the results of the analysis, a nonlinear feedback linearization control scheme and a modified adaptive control strategy are designed to synchronize the two unidirectional coupled neurons and stabilize the chaotic trajectory of the slave system to desired periodic orbit of the master system. The simulation results demonstrated the efficiency of the proposed algorithms

A modified chaos-based communication scheme using Hamiltonian forms and observer

International Nuclear Information System (INIS)

Lopez-Mancilla, D; Cruz-Hernandez, C; Posadas-Castillo, C

2005-01-01

In this work, a modified chaos-based communication scheme is presented. In particular, we use the modified scheme proposed by Lopez-Mancilla and Cruz-Hernandez (2005), that improves the basic scheme for chaotic masking using a single transmission channel proposed by Cuomo and coworkers (1993). It is extended for a special class of Generalized Hamiltonian systems. Substantial differences that significantly affect the reception quality of the sent message, with or without considering noise effect in the transmission channel are given. We use two Hamiltonian Lorenz systems unidirectionally coupled, the first like a master/transmitter system and the other like a slave/receiver system in order to illustrate with numerical simulations the effectiveness of the modified scheme, using chaos synchronization with Hamiltonian forms and observer

A modified chaos-based communication scheme using Hamiltonian forms and observer

Energy Technology Data Exchange (ETDEWEB)

Lopez-Mancilla, D [Engineering Faculty, Baja California Autonomous University (UABC), Km. 103, Carretera Tijuana-Ensenada, 22860, Ensenada, B.C. (Mexico); Cruz-Hernandez, C [Telematics Direction, Scientific Research and Advanced Studies of Ensenada (CICESE), Km. 107 Carretera Tijuana-Ensenada, 22860 Ensenada, B.C. (Mexico); Posadas-Castillo, C [Engineering Faculty, Baja California Autonomous University (UABC), Km. 103, Carretera Tijuana-Ensenada, 22860, Ensenada, B.C. (Mexico); Faculty of Engineering Mechanic and Electrical (FIME), Nuevo Leon Autonomous University (UANL), Pedro de alba s/n Cd. Universitaria San Nicolas de los Garza N.L. (Mexico)

2005-01-01

In this work, a modified chaos-based communication scheme is presented. In particular, we use the modified scheme proposed by Lopez-Mancilla and Cruz-Hernandez (2005), that improves the basic scheme for chaotic masking using a single transmission channel proposed by Cuomo and coworkers (1993). It is extended for a special class of Generalized Hamiltonian systems. Substantial differences that significantly affect the reception quality of the sent message, with or without considering noise effect in the transmission channel are given. We use two Hamiltonian Lorenz systems unidirectionally coupled, the first like a master/transmitter system and the other like a slave/receiver system in order to illustrate with numerical simulations the effectiveness of the modified scheme, using chaos synchronization with Hamiltonian forms and observer.

X-slave boson approach to the periodic Anderson model

International Nuclear Information System (INIS)

Franco, R.; Figueira, M.S.; Foglio, M.E.

2001-01-01

The periodic anderson model (PAM) in the limit U=∞, can be studied by employing the Hubbard X operators to project out the unwanted states. In a previous work, we have studied the cumulant expansion of this Hamiltonian employing the hybridization as a perturbation, but probability conservation of the local states (completeness) is not usually satisfied when partial expansions like the 'chain approximation (CHA)' are employed. To consider this problem, we use a technique similar to the one employed by Coleman to treat the same problem with slave-bosons in the mean-field approximation. Assuming a particular renormalization for hybridization, we obtain a description that avoids an unwanted phase transition that appears in the mean-field slave-boson method at intermediate temperatures

Dynamic control of chaotic resonators

KAUST Repository

Di Falco, A.; Bruck, R.; Liu, C.; Muskens, O.; Fratalocchi, Andrea

2016-01-01

We report on the all-optical control of chaotic optical resonators based on silicon on insulator (SOI) platform. We show that simple non-chaotic cavities can be tuned to exhibit chaotic behavior via intense optical pump- ing, inducing a local change of refractive index. To this extent we have fabricated a number of devices and demonstrated experimentally and theoretically that chaos can be triggered on demand on an optical chip. © 2016 SPIE.

Dynamic control of chaotic resonators

KAUST Repository

Di Falco, A.

2016-02-16

We report on the all-optical control of chaotic optical resonators based on silicon on insulator (SOI) platform. We show that simple non-chaotic cavities can be tuned to exhibit chaotic behavior via intense optical pump- ing, inducing a local change of refractive index. To this extent we have fabricated a number of devices and demonstrated experimentally and theoretically that chaos can be triggered on demand on an optical chip. © 2016 SPIE.

A fast chaotic encryption scheme based on piecewise nonlinear chaotic maps

International Nuclear Information System (INIS)

Behnia, S.; Akhshani, A.; Ahadpour, S.; Mahmodi, H.; Akhavan, A.

2007-01-01

In recent years, a growing number of discrete chaotic cryptographic algorithms have been proposed. However, most of them encounter some problems such as the lack of robustness and security. In this Letter, we introduce a new image encryption algorithm based on one-dimensional piecewise nonlinear chaotic maps. The system is a measurable dynamical system with an interesting property of being either ergodic or having stable period-one fixed point. They bifurcate from a stable single periodic state to chaotic one and vice versa without having usual period-doubling or period-n-tippling scenario. Also, we present the KS-entropy of this maps with respect to control parameter. This algorithm tries to improve the problem of failure of encryption such as small key space, encryption speed and level of security

A Radiation Hardened Housekeeping Slave Node (RH-HKSN) ASIC

Data.gov (United States)

National Aeronautics and Space Administration — This projects seeks to continue the development of the Radiation Hardened Housekeeping Slave Node (RH-HKSN) ASIC. The effort has taken parallel paths by implementing...

Anti-synchronization between different chaotic complex systems

International Nuclear Information System (INIS)

Liu Ping; Liu Shutang

2011-01-01

Many studies on the anti-synchronization of nonlinear real dynamic systems have been carried out, whereas the anti-synchronization of chaotic complex systems has not been studied extensively. In this work, the anti-synchronization between a new chaotic complex system and a complex Lorenz system and that between a new chaotic complex system and a complex Lue system were separately investigated by active control and nonlinear control methods, and explicit expressions were derived for the controllers that are used to achieve the anti-synchronization of chaotic complex systems. These expressions were tested numerically and excellent agreement was found. Concerning the new chaotic complex system, we discuss its dynamical properties including dissipation, chaotic behavior, fixed points, and their stability and invariance.

Bodies of Knowledge: The Influence of Slaves on the Antebellum Medical Community

OpenAIRE

Mitchell, Sarah

1997-01-01

The influence of slaves on the south is well documented in areas such as agriculture, music, diet, religion and language. This thesis extends the list to include medicine. It also suggests that the importance of cultural transfer to America from places other than Europe has been overlooked in the history of medicine. The medical influence of slaves took the form of botanical remedies, many of them with an African origin, and were disseminated through the tr...

The "Geometries" of trade: Metropolitan commerce and slave trade in Angola (1796-1807

Directory of Open Access Journals (Sweden)

Maximiliano M. Menz

2012-06-01

Full Text Available The article presents a comparative analysis of customs records of Portugal and Angola between 1796 and 1807 and shows that the metropolis was responsible for more than half of the financing of slave trade in Angola during this period. In addition, it discusses issues related to the financing of ranson and transportation of slaves, reviewing the participation of colonial merchants in the business.

A 1550-nm all-optical VCSEL-to-VCSEL wavelength conversion of a 8.5-Gb/s data signal and transmission over a 24.7-km fibre

Science.gov (United States)

Boiyo, D. Kiboi; Isoe, G. M.; Gamatham, R. R. G.; Leitch, A. W. R.; Gibbon, T. B.

2016-02-01

For the first time, we demonstrate, VCSEL-to-VCSEL wavelength conversion within the low attenuation 1550 nm window, including transmission over fibre and bit error rate (BER) performance characterization. We experimentally demonstrate a low injection power optical wavelength conversion by injecting an optical beam from a signal carrier master vertical cavity surface-emitting laser (VCSEL) into the side-mode of the slave VCSEL. This technique solves the challenge of wavelength collisions and also provides wavelength re-use in typical wavelength division multiplexed (WDM) systems. This paper, for the first time, uses two 1550 nm VCSELs with tunability range of 3 nm for a 5-9.8 mA bias current. The master VCSEL is modulated with a non-return-to-zero (NRZ) pseudo-random binary sequence (PRBS_27-1) 8.5 Gb/s data. A data conversion penalty of 1.1 dB is realized when a 15 dBm injection beam is used. The transmission performance of the converted wavelength from the slave VCSEL is evaluated using BER measurement at a 10-9 threshold. A 0.5 dB transmission penalty of the converted wavelength data is realized in an 8.5 Gb/s transmission over 24.7 km. This work is vital for optical fibre systems that may require wavelength switching for transmission of data signals.

Visibility graphlet approach to chaotic time series

Energy Technology Data Exchange (ETDEWEB)

Mutua, Stephen [Business School, University of Shanghai for Science and Technology, Shanghai 200093 (China); Computer Science Department, Masinde Muliro University of Science and Technology, P.O. Box 190-50100, Kakamega (Kenya); Gu, Changgui, E-mail: gu-changgui@163.com, E-mail: hjyang@ustc.edu.cn; Yang, Huijie, E-mail: gu-changgui@163.com, E-mail: hjyang@ustc.edu.cn [Business School, University of Shanghai for Science and Technology, Shanghai 200093 (China)

2016-05-15

Many novel methods have been proposed for mapping time series into complex networks. Although some dynamical behaviors can be effectively captured by existing approaches, the preservation and tracking of the temporal behaviors of a chaotic system remains an open problem. In this work, we extended the visibility graphlet approach to investigate both discrete and continuous chaotic time series. We applied visibility graphlets to capture the reconstructed local states, so that each is treated as a node and tracked downstream to create a temporal chain link. Our empirical findings show that the approach accurately captures the dynamical properties of chaotic systems. Networks constructed from periodic dynamic phases all converge to regular networks and to unique network structures for each model in the chaotic zones. Furthermore, our results show that the characterization of chaotic and non-chaotic zones in the Lorenz system corresponds to the maximal Lyapunov exponent, thus providing a simple and straightforward way to analyze chaotic systems.

Environmental surveillance master sampling schedule

International Nuclear Information System (INIS)

Bisping, L.E.

1994-02-01

This document contains the planned 1994 schedules for routine collection of samples for the Surface Environmental Surveillance Project (SESP), Drinking Water Project, and Ground-Water Surveillance Project. Samples are routinely collected for the SESP and analyzed to determine the quality of air, surface water, soil, sediment, wildlife, vegetation, foodstuffs, and farm products at Hanford Site and surrounding communities. The responsibility for monitoring the onsite drinking water falls outside the scope of the SESP. The Hanford Environmental Health Foundation is responsible for monitoring the nonradiological parameters as defined in the National Drinking Water Standards while PNL conducts the radiological monitoring of the onsite drinking water. PNL conducts the drinking water monitoring project concurrent with the SESP to promote efficiency and consistency, utilize the expertise developed over the years, and reduce costs associated with management, procedure development, data management, quality control and reporting. The ground-water sampling schedule identifies ground-water sampling events used by PNL for environmental surveillance of the Hanford Site

Environmental surveillance master sampling schedule

Energy Technology Data Exchange (ETDEWEB)

Bisping, L.E.

1994-02-01

This document contains the planned 1994 schedules for routine collection of samples for the Surface Environmental Surveillance Project (SESP), Drinking Water Project, and Ground-Water Surveillance Project. Samples are routinely collected for the SESP and analyzed to determine the quality of air, surface water, soil, sediment, wildlife, vegetation, foodstuffs, and farm products at Hanford Site and surrounding communities. The responsibility for monitoring the onsite drinking water falls outside the scope of the SESP. The Hanford Environmental Health Foundation is responsible for monitoring the nonradiological parameters as defined in the National Drinking Water Standards while PNL conducts the radiological monitoring of the onsite drinking water. PNL conducts the drinking water monitoring project concurrent with the SESP to promote efficiency and consistency, utilize the expertise developed over the years, and reduce costs associated with management, procedure development, data management, quality control and reporting. The ground-water sampling schedule identifies ground-water sampling events used by PNL for environmental surveillance of the Hanford Site.

A Simple Instrumentation System for Large Structure Vibration Monitoring

Directory of Open Access Journals (Sweden)

Didik R. Santoso

2010-12-01

Full Text Available Traditional instrumentation systems used for monitoring vibration of large-scale infrastructure building such as bridges, railway, and others structural building, generally have a complex design. Makes it simple would be very useful both in terms of low-cost and easy maintenance. This paper describes how to develop the instrumentation system. The system is built based on distributed network, with field bus topology, using single-master multi-slave architecture. Master is a control unit, built based on a PC equipped with RS-485 interface. Slave is a sensing unit; each slave was built by integrating a 3-axis vibration sensor with a microcontroller based data acquisition system. Vibration sensor is designed using the main components of a MEMS accelerometer. While the software is developed for two functions: as a control system hardware and data processing. To verify performance of the developed instrumentation system, several laboratory tests have been performed. The result shows that the system has good performance.

Quantitative Measures of Chaotic Charged Particle Dynamics in the Magnetotail

Science.gov (United States)

Holland, D. L.; Martin, R. F., Jr.; Burris, C.

2017-12-01

It has long been noted that the motion of charged particles in magnetotail-like magnetic fields is chaotic, however, efforts to quantify the degree of chaos have had conflicting conclusions. In this paper we re-examine the question by focusing on quantitative measures of chaos. We first examine the percentage of orbits that enter the chaotic region of phase space and the average trapping time of those particles. We then examine the average exponential divergence rate (AEDR) of the chaotic particles between their first and last crossing of the mid-plane. We show that at resonant energies where the underlying phase space has a high degree of symmetry, only a small number of particle enter the chaotic region, but they are trapped for long periods of time and the time asymptotic value of the AEDR is very close to the average value of the AEDR. At the off-resonant energies where the phase space is highly asymmetric, the majority of the particle enter the chaotic region for fairly short periods of time and the time asymptotic value of the AEDR is much smaller than the average value. The root cause is that in the resonant case, the longest-lived orbits tend interact with the current many times and sample the entire chaotic region, whereas in the non-resonant case the longest-lived orbits only interact with the current sheet a small number of times but have very long mirrorings where the motion is nearly regular. Additionally we use an ad-hoc model where we model the current sheet as a Lorentz scattering system with each interaction with the current sheet being considered as a "collision". We find that the average kick per collision is greatest at off-resonant energies. Finally, we propose a chaos parameter as the product of the AEDR times the average chaotic particle trapping time times the percentage of orbits that are chaotic. We find that this takes on peak values at the resonant energies.

Implementation on Electronic Circuits and RTR Pragmatical Adaptive Synchronization: Time-Reversed Uncertain Dynamical Systems' Analysis and Applications

Directory of Open Access Journals (Sweden)

Shih-Yu Li

2013-01-01

Full Text Available We expose the chaotic attractors of time-reversed nonlinear system, further implement its behavior on electronic circuit, and apply the pragmatical asymptotically stability theory to strictly prove that the adaptive synchronization of given master and slave systems with uncertain parameters can be achieved. In this paper, the variety chaotic motions of time-reversed Lorentz system are investigated through Lyapunov exponents, phase portraits, and bifurcation diagrams. For further applying the complex signal in secure communication and file encryption, we construct the circuit to show the similar chaotic signal of time-reversed Lorentz system. In addition, pragmatical asymptotically stability theorem and an assumption of equal probability for ergodic initial conditions (Ge et al., 1999, Ge and Yu, 2000, and Matsushima, 1972 are proposed to strictly prove that adaptive control can be accomplished successfully. The current scheme of adaptive control—by traditional Lyapunov stability theorem and Barbalat lemma, which are used to prove the error vector—approaches zero, as time approaches infinity. However, the core question—why the estimated or given parameters also approach to the uncertain parameters—remains without answer. By the new stability theory, those estimated parameters can be proved approaching the uncertain values strictly, and the simulation results are shown in this paper.

Hierarchical energy management system for stand-alone hybrid system based on generation costs and cascade control

International Nuclear Information System (INIS)

Torreglosa, J.P.; García, P.; Fernández, L.M.; Jurado, F.

2014-01-01

Highlights: • We present an energy management system for a stand-alone WT/PV/hydrogen/battery hybrid system. • Hierarchical control composed by master and slave control strategies. • Control assures reliable electricity support for stand-alone applications subject to technical and economic criteria. - Abstract: This paper presents an energy management system (EMS) for stand-alone hybrid systems composed by photovoltaic (PV) solar panels and a wind turbine (WT) as primary energy sources and two energy storage systems, which are a hydrogen system and a battery. The hydrogen system is composed of fuel cell (FC), electrolyzer and hydrogen storage tank. The EMS is a hierarchical control composed by a master control strategy and a slave control strategy. On the one hand, the master control generates the reference powers to meet several premises (such as to satisfy the load power demand, and to maintain the hydrogen tank level and the state of charge (SOC) of the battery between their target margins), taking also into account economic aspects to discriminate between using the battery or hydrogen system. On the other hand, the slave control modifies the reference powers generated by the master control according to the energy sources dynamic limitations, and maintains the DC bus voltage at its reference value. The models, implemented in MATLAB-Simulink environment, have been developed from commercially available components. To check the viability of the proposed EMS, two kinds of simulations were carried out: (1) A long-term simulation of 25 years (expected lifetime of the system) with a sample time of one hour to validate the master control of the EMS; and (2) A short-term simulation with sudden net power variations to validate the slave control of the EMS

Decontamination and renovation of the Master/Slave Manipulator Repair Shop and the Chemical Crane Room at the West Valley Demonstration Project. Final topical report, June 1982-June 1983

International Nuclear Information System (INIS)

Phillips, E.C.; Golden, M.P.

1986-01-01

This report describes the decontamination and renovation of the Master/Slave Manipulator Repair Shop (MSMRS) and the Chemical Crane Room (CCR) at the WVDP from radioactively contaminated conditions to essentially shirt sleeve environments. In both cases, subsequent use recontaminated the rooms. Before decontamination, general exposure rates as high as 20 mrad/hr and surface contamination as high as 10 5 dpm/100 cm 2 were measured in the MSMRS, while general exposure rates in the CCR were 50 to 100 mrad/hr with hot spots as high as 2000 mrad/hr. Smearable levels on the floor in each room were in the range of 10 5 to 10 6 dpm per 100/cm 2 . Respiratory protection was mandatory for entry into the CCR. The MSMRS, located at the north end of the Process Building on ground elevation, is needed for the refurbishment of plant manipulators and other equipment. The MSMRS has been decontaminated and renovated as follows: all tools, equipment and furnishings were removed, the walls were stripped and repainted, and the contaminated concrete floor was removed and disposal of as low-level waste. A new concrete floor was poured and a stainless steel liner covering the entire floor and extending 45.7 cm up the walls was added to provide the WVDP with a shop facility that can be easily decontaminated. Decontamination of the MSMRS has been completed and the facility is available for service. The CCR, located at the north end of the Chemical Process Cell (CPC) is for the storage and servicing of two bridge cranes used in the CPC. Decontamination and exposure reduction in the CCR has been completed using vacuum cleaning, damp wipe down, and surface grinding followed by shielding and painting

Studies in astronomical time series analysis. IV - Modeling chaotic and random processes with linear filters

Science.gov (United States)

Scargle, Jeffrey D.

1990-01-01

While chaos arises only in nonlinear systems, standard linear time series models are nevertheless useful for analyzing data from chaotic processes. This paper introduces such a model, the chaotic moving average. This time-domain model is based on the theorem that any chaotic process can be represented as the convolution of a linear filter with an uncorrelated process called the chaotic innovation. A technique, minimum phase-volume deconvolution, is introduced to estimate the filter and innovation. The algorithm measures the quality of a model using the volume covered by the phase-portrait of the innovation process. Experiments on synthetic data demonstrate that the algorithm accurately recovers the parameters of simple chaotic processes. Though tailored for chaos, the algorithm can detect both chaos and randomness, distinguish them from each other, and separate them if both are present. It can also recover nonminimum-delay pulse shapes in non-Gaussian processes, both random and chaotic.

Evidence for tuberculosis in 18th/19th century slaves in Anse Sainte-Marguerite (Guadeloupe - French Western Indies).

Science.gov (United States)

Lösch, Sandra; Kim, Mi-Ra; Dutour, Olivier; Courtaud, Patrice; Maixner, Frank; Romon, Thomas; Sola, Christophe; Zink, Albert

2015-06-01

During the American colonization in the 18th and 19th century, Africans were captured and shipped to America. Harsh living and working conditions often led to chronic diseases and high mortality rates. Slaves in the Caribbean were forced to work mainly on sugar plantations. They were buried in cemeteries like Anse Sainte-Marguerite on the isle of Grande-Terre (Guadeloupe) which was examined by archaeologists and physical anthropologists. Morphological studies on osseous remains of 148 individuals revealed 15 cases with signs for bone tuberculosis and a high frequency of periosteal reactions which indicates early stages of the disease. 11 bone samples from these cemeteries were analysed for ancient DNA. The samples were extracted with established procedures and examined for the cytoplasmic multicopy β-actin gene and Mycobacterium tuberculosis complex DNA (IS 6110) by PCR. An amplification product for M. tuberculosis with the size of 123 bp was obtained. Sequencing confirmed the result. This study shows evidence of M. tuberculosis complex DNA in a Caribbean slave population. Copyright © 2015 Elsevier Ltd. All rights reserved.

VizieR Online Data Catalog: SKY2000 Master Catalog, Version 5 (Myers+ 2006)

Science.gov (United States)

Myers, J. R.; Sande, C. B.; Miller, A. C.; Warren, W. H., Jr.; Tracewell, D. A.

2015-02-01

The SKYMAP Star Catalog System consists of a Master Catalog stellar database and a collection of utility software designed to create and maintain the database and to generate derivative mission star catalogs (run catalogs). It contains an extensive compilation of information on almost 300000 stars brighter than 8.0mag. The original SKYMAP Master Catalog was generated in the early 1970's. Incremental updates and corrections were made over the following years but the first complete revision of the source data occurred with Version 4.0. This revision also produced a unique, consolidated source of astrometric information which can be used by the astronomical community. The derived quantities were removed and wideband and photometric data in the R (red) and I (infrared) systems were added. Version 4 of the SKY2000 Master Catalog was completed in April 2002; it marks the global replacement of the variability identifier and variability data fields. More details can be found in the description file sky2kv4.pdf. The SKY2000 Version 5 Revision 4 Master Catalog differs from Revision 3 in that MK and HD spectral types have been added from the Catalogue of Stellar Spectral Classifications (B. A. Skiff of Lowell Observatory, 2005), which has been assigned source code 50 in this process. 9622 entries now have MK types from this source, while 3976 entries have HD types from this source. SKY2000 V5 R4 also differs globally from preceding MC versions in that the Galactic coordinate computations performed by UPDATE have been increased in accuracy, so that differences from the same quantities from other sources are now typically in the last decimal places carried in the MC. This version supersedes the previous versions 1(V/95), 2(V/102), 3(V/105) and 4(V/109). (6 data files).

The Memory of MICE: The Configuration Database

International Nuclear Information System (INIS)

Wilson, A J; Colling, D J; Hanlet, P

2012-01-01

The configuration database (CDB) is the memory of the Muon Ionisation Cooling Experiment (MICE). Its principle aim is to store temporal data associated with the running of the experiment; these data are used throughout the life cycle of experiment, from running the experiment through data analysis. The CDB also serves as a moderator in the MICE state machine by defining allowable operating states of subsystems depending on the overall state of MICE and other subsystems. Master and slave CDBs, with multiple mirrored pair raid arrays, have been set up in different parts of the site to increase resilience, as well as off site backups. Access to the CDB is via a Python API, which communicates with a WSDL interface provided by a web-service on the CDB. The priority is to ensure availability of the CDB in the experiment control room. The master CDB is located in the MICE control where it is only used by the running experiment. In the event of the failure of the master, the slave can easily be promoted to master. Read only access to the CDB for data analysis and reconstruction is provided by the slave which has an up to the minute copy of the data. As MICE is a precision experiment which will measure a 10% muon cooling effect with 1% precision, it is imperative that we minimize our systematic errors; the CDB will ensure reproducible and documented running conditions in a highly resilient manner. A description of the hardware and software used in the the MICE CDB will be described in what follows.

Modeling of Coupled Chaotic Oscillators

International Nuclear Information System (INIS)

Lai, Y.; Grebogi, C.

1999-01-01

Chaotic dynamics may impose severe limits to deterministic modeling by dynamical equations of natural systems. We give theoretical argument that severe modeling difficulties may occur for high-dimensional chaotic systems in the sense that no model is able to produce reasonably long solutions that are realized by nature. We make these ideas concrete by investigating systems of coupled chaotic oscillators. They arise in many situations of physical and biological interests, and they also arise from discretization of nonlinear partial differential equations. copyright 1999 The American Physical Society

Feature Selection via Chaotic Antlion Optimization.

Directory of Open Access Journals (Sweden)

Hossam M Zawbaa

Full Text Available Selecting a subset of relevant properties from a large set of features that describe a dataset is a challenging machine learning task. In biology, for instance, the advances in the available technologies enable the generation of a very large number of biomarkers that describe the data. Choosing the more informative markers along with performing a high-accuracy classification over the data can be a daunting task, particularly if the data are high dimensional. An often adopted approach is to formulate the feature selection problem as a biobjective optimization problem, with the aim of maximizing the performance of the data analysis model (the quality of the data training fitting while minimizing the number of features used.We propose an optimization approach for the feature selection problem that considers a "chaotic" version of the antlion optimizer method, a nature-inspired algorithm that mimics the hunting mechanism of antlions in nature. The balance between exploration of the search space and exploitation of the best solutions is a challenge in multi-objective optimization. The exploration/exploitation rate is controlled by the parameter I that limits the random walk range of the ants/prey. This variable is increased iteratively in a quasi-linear manner to decrease the exploration rate as the optimization progresses. The quasi-linear decrease in the variable I may lead to immature convergence in some cases and trapping in local minima in other cases. The chaotic system proposed here attempts to improve the tradeoff between exploration and exploitation. The methodology is evaluated using different chaotic maps on a number of feature selection datasets. To ensure generality, we used ten biological datasets, but we also used other types of data from various sources. The results are compared with the particle swarm optimizer and with genetic algorithm variants for feature selection using a set of quality metrics.

Understanding and Mastering Dynamics in Computing Grids Processing Moldable Tasks with User-Level Overlay

CERN Document Server

Moscicki, Jakub Tomasz

Scientic communities are using a growing number of distributed systems, from lo- cal batch systems, community-specic services and supercomputers to general-purpose, global grid infrastructures. Increasing the research capabilities for science is the raison d'^etre of such infrastructures which provide access to diversied computational, storage and data resources at large scales. Grids are rather chaotic, highly heterogeneous, de- centralized systems where unpredictable workloads, component failures and variability of execution environments are commonplace. Understanding and mastering the hetero- geneity and dynamics of such distributed systems is prohibitive for end users if they are not supported by appropriate methods and tools. The time cost to learn and use the interfaces and idiosyncrasies of dierent distributed environments is another challenge. Obtaining more reliable application execution times and boosting parallel speedup are important to increase the research capabilities of scientic communities. L...

Chaotic secure content-based hidden transmission of biometric templates

International Nuclear Information System (INIS)

Khan, Muhammad Khurram; Zhang Jiashu; Tian Lei

2007-01-01

The large-scale proliferation of biometric verification systems creates a demand for effective and reliable security and privacy of its data. Like passwords and PIN codes, biometric data is also not secret and if it is compromised, the integrity of the whole verification system could be at high risk. To address these issues, this paper presents a novel chaotic secure content-based hidden transmission scheme of biometric data. Encryption and data hiding techniques are used to improve the security and secrecy of the transmitted templates. Secret keys are generated by the biometric image and used as the parameter value and initial condition of the chaotic map, and each transaction session has different secret keys to protect from the attacks. Two chaotic maps are incorporated for the encryption to resolve the finite word length effect and to improve the system's resistance against attacks. Encryption is applied on the biometric templates before hiding into the cover/host images to make them secure, and then templates are hidden into the cover image. Experimental results show that the security, performance, and accuracy of the presented scheme are encouraging comparable with other methods found in the current literature

Chaotic secure content-based hidden transmission of biometric templates

Energy Technology Data Exchange (ETDEWEB)

Khan, Muhammad Khurram [Research Group for Biometrics and Security, Sichuan Province Key Lab of Signal and Information Processing, Southwest Jiaotong University, Chengdu 610031, Sichuan (China)]. E-mail: khurram.khan@scientist.com; Zhang Jiashu [Research Group for Biometrics and Security, Sichuan Province Key Lab of Signal and Information Processing, Southwest Jiaotong University, Chengdu 610031, Sichuan (China); Tian Lei [Research Group for Biometrics and Security, Sichuan Province Key Lab of Signal and Information Processing, Southwest Jiaotong University, Chengdu 610031, Sichuan (China)

2007-06-15

The large-scale proliferation of biometric verification systems creates a demand for effective and reliable security and privacy of its data. Like passwords and PIN codes, biometric data is also not secret and if it is compromised, the integrity of the whole verification system could be at high risk. To address these issues, this paper presents a novel chaotic secure content-based hidden transmission scheme of biometric data. Encryption and data hiding techniques are used to improve the security and secrecy of the transmitted templates. Secret keys are generated by the biometric image and used as the parameter value and initial condition of the chaotic map, and each transaction session has different secret keys to protect from the attacks. Two chaotic maps are incorporated for the encryption to resolve the finite word length effect and to improve the system's resistance against attacks. Encryption is applied on the biometric templates before hiding into the cover/host images to make them secure, and then templates are hidden into the cover image. Experimental results show that the security, performance, and accuracy of the presented scheme are encouraging comparable with other methods found in the current literature.

Studies in Chaotic adiabatic dynamics

International Nuclear Information System (INIS)

Jarzynski, C.

1994-01-01

Chaotic adiabatic dynamics refers to the study of systems exhibiting chaotic evolution under slowly time-dependent equations of motion. In this dissertation the author restricts his attention to Hamiltonian chaotic adiabatic systems. The results presented are organized around a central theme, namely, that the energies of such systems evolve diffusively. He begins with a general analysis, in which he motivates and derives a Fokker-Planck equation governing this process of energy diffusion. He applies this equation to study the open-quotes goodnessclose quotes of an adiabatic invariant associated with chaotic motion. This formalism is then applied to two specific examples. The first is that of a gas of noninteracting point particles inside a hard container that deforms slowly with time. Both the two- and three-dimensional cases are considered. The results are discussed in the context of the Wall Formula for one-body dissipation in nuclear physics, and it is shown that such a gas approaches, asymptotically with time, an exponential velocity distribution. The second example involves the Fermi mechanism for the acceleration of cosmic rays. Explicit evolution equations are obtained for the distribution of cosmic ray energies within this model, and the steady-state energy distribution that arises when this equation is modified to account for the injection and removal of cosmic rays is discussed. Finally, the author re-examines the multiple-time-scale approach as applied to the study of phase space evolution under a chaotic adiabatic Hamiltonian. This leads to a more rigorous derivation of the above-mentioned Fokker-Planck equation, and also to a new term which has relevance to the problem of chaotic adiabatic reaction forces (the forces acting on slow, heavy degrees of freedom due to their coupling to light, fast chaotic degrees)

Regularized forecasting of chaotic dynamical systems

International Nuclear Information System (INIS)

Bollt, Erik M.

2017-01-01

While local models of dynamical systems have been highly successful in terms of using extensive data sets observing even a chaotic dynamical system to produce useful forecasts, there is a typical problem as follows. Specifically, with k-near neighbors, kNN method, local observations occur due to recurrences in a chaotic system, and this allows for local models to be built by regression to low dimensional polynomial approximations of the underlying system estimating a Taylor series. This has been a popular approach, particularly in context of scalar data observations which have been represented by time-delay embedding methods. However such local models can generally allow for spatial discontinuities of forecasts when considered globally, meaning jumps in predictions because the collected near neighbors vary from point to point. The source of these discontinuities is generally that the set of near neighbors varies discontinuously with respect to the position of the sample point, and so therefore does the model built from the near neighbors. It is possible to utilize local information inferred from near neighbors as usual but at the same time to impose a degree of regularity on a global scale. We present here a new global perspective extending the general local modeling concept. In so doing, then we proceed to show how this perspective allows us to impose prior presumed regularity into the model, by involving the Tikhonov regularity theory, since this classic perspective of optimization in ill-posed problems naturally balances fitting an objective with some prior assumed form of the result, such as continuity or derivative regularity for example. This all reduces to matrix manipulations which we demonstrate on a simple data set, with the implication that it may find much broader context.

Manipulators for production and research

International Nuclear Information System (INIS)

Munro, Ian

1987-01-01

The development of caves or cells and master-slave manipulators to handle radioactive materials is discussed. Some of the most recent advances are described. A manipulator arm, a master-slave manipulator and a servomanipulator mounted on a manipulator are illustrated. Future developments are discussed - these include resolved tip control for the manipulator. (UK)

Smart Power Management of DC Microgrids in Future Milligrids

DEFF Research Database (Denmark)

Peyghami, Saeed; Mokhtari, Hossein; Davari, Pooya

2016-01-01

In this paper a novel droop approach for power management in low voltage dc MicroGrids (MGs) based on a master-slave concept is presented. A virtual frequency is injected by a master unit, which is proportional to its output power. Other slave units determine their output power according to the c...

Chaotic advection in the ocean

Energy Technology Data Exchange (ETDEWEB)

Koshel' , Konstantin V; Prants, Sergei V [V.I. Il' ichev Pacific Oceanological Institute, Far-Eastern Division of the Russian Academy of Sciences, Vladivostok (Russian Federation)

2006-11-30

The problem of chaotic advection of passive scalars in the ocean and its topological, dynamical, and fractal properties are considered from the standpoint of the theory of dynamical systems. Analytic and numerical results on Lagrangian transport and mixing in kinematic and dynamic chaotic advection models are described for meandering jet currents, topographical eddies in a barotropic ocean, and a two-layer baroclinic ocean. Laboratory experiments on hydrodynamic flows in rotating tanks as an imitation of geophysical chaotic advection are described. Perspectives of a dynamical system approach in physical oceanography are discussed. (reviews of topical problems)

Characterizing chaotic melodies in automatic music composition

Science.gov (United States)

Coca, Andrés E.; Tost, Gerard O.; Zhao, Liang

2010-09-01

In this paper, we initially present an algorithm for automatic composition of melodies using chaotic dynamical systems. Afterward, we characterize chaotic music in a comprehensive way as comprising three perspectives: musical discrimination, dynamical influence on musical features, and musical perception. With respect to the first perspective, the coherence between generated chaotic melodies (continuous as well as discrete chaotic melodies) and a set of classical reference melodies is characterized by statistical descriptors and melodic measures. The significant differences among the three types of melodies are determined by discriminant analysis. Regarding the second perspective, the influence of dynamical features of chaotic attractors, e.g., Lyapunov exponent, Hurst coefficient, and correlation dimension, on melodic features is determined by canonical correlation analysis. The last perspective is related to perception of originality, complexity, and degree of melodiousness (Euler's gradus suavitatis) of chaotic and classical melodies by nonparametric statistical tests.

An efficient chaotic source coding scheme with variable-length blocks

International Nuclear Information System (INIS)

Lin Qiu-Zhen; Wong Kwok-Wo; Chen Jian-Yong

2011-01-01

An efficient chaotic source coding scheme operating on variable-length blocks is proposed. With the source message represented by a trajectory in the state space of a chaotic system, data compression is achieved when the dynamical system is adapted to the probability distribution of the source symbols. For infinite-precision computation, the theoretical compression performance of this chaotic coding approach attains that of optimal entropy coding. In finite-precision implementation, it can be realized by encoding variable-length blocks using a piecewise linear chaotic map within the precision of register length. In the decoding process, the bit shift in the register can track the synchronization of the initial value and the corresponding block. Therefore, all the variable-length blocks are decoded correctly. Simulation results show that the proposed scheme performs well with high efficiency and minor compression loss when compared with traditional entropy coding. (general)

RISC processing in Fastbus

International Nuclear Information System (INIS)

Atiya, M.; Haggerty, J.; Ng, C.; Sambamurti, A.; Strzelinski, R.

1990-01-01

This paper reports on the designed, construction and testing microprocessor based controller for data acquisition and analysis conforming to the IEEE-960 Fastbus standard. The controller uses the RISC AM29000 processor and the Am29027 floating point co-processor. The module functions as a Fastbus slave and is used for analysis and filtering of digitially sampled waveforms acquired in a large system of high performance transient digitizers (over 200 channels, each sampling at 500 MHz. with 8 bits of dynamic range). With modifications the module can operate as a Fastbus master

Predicting chaotic time series

International Nuclear Information System (INIS)

Farmer, J.D.; Sidorowich, J.J.

1987-01-01

We present a forecasting technique for chaotic data. After embedding a time series in a state space using delay coordinates, we ''learn'' the induced nonlinear mapping using local approximation. This allows us to make short-term predictions of the future behavior of a time series, using information based only on past values. We present an error estimate for this technique, and demonstrate its effectiveness by applying it to several examples, including data from the Mackey-Glass delay differential equation, Rayleigh-Benard convection, and Taylor-Couette flow

The chaotic points and XRD analysis of Hg-based superconductors

Energy Technology Data Exchange (ETDEWEB)

Aslan, Oe [Anatuerkler Educational Consultancy and Trading Company, Orhan Veli Kanik Cad., 6/1, Kavacik 34810 Beykoz, Istanbul (Turkey); Oezdemir, Z Gueven [Physics Department, Yildiz Technical University, Davutpasa Campus, Esenler 34210, Istanbul (Turkey); Keskin, S S [Department of Environmental Eng., University of Marmara, Ziverbey, 34722, Istanbul (Turkey); Onbasli, Ue, E-mail: ozdenaslan@yahoo.co [Physics Department, University of Marmara, Ridvan Pasa Cad. 3. Sok. 85/12 Goztepe, Istanbul (Turkey)

2009-03-01

In this article, high T{sub c} mercury based cuprate superconductors with different oxygen doping rates have been examined by means of magnetic susceptibility (magnetization) versus temperature data and X-ray diffraction pattern analysis. The under, optimally and over oxygen doping procedures have been defined from the magnetic susceptibility versus temperature data of the superconducting sample by extracting the Meissner critical transition temperature, T{sub c} and the paramagnetic Meissner temperature, T{sub PME}, so called as the critical quantum chaos points. Moreover, the optimally oxygen doped samples have been investigated under both a.c. and d.c. magnetic fields. The related a.c. data for virgin(uncut) and cut samples with optimal doping have been obtained under a.c. magnetic field of 1 Gauss. For the cut sample with the rectangular shape, the chaotic points have been found to occur at 122 and 140 K, respectively. The Meissner critical temperature of 140 K is the new world record for the high temperature oxide superconductors under normal atmospheric pressure. Moreover, the crystallographic lattice parameters of superconducting samples have a crucial importance in calculating Josephson penetration depth determined by the XRD patterns. From the XRD data obtained for under and optimally doped samples, the crystal symmetries have been found in tetragonal structure.

A non-correlator-based digital communication system using interleaved chaotic differential peaks keying (I-CDPK) modulation and chaotic synchronization

International Nuclear Information System (INIS)

Chien, T.-I; Hung, Y.-C.; Liao, T.-L.

2006-01-01

This paper presents a novel non-correlator-based digital communication system with the application of interleaved chaotic differential peaks keying (I-CDPK) modulation technique. The proposed communication system consists of four major modules: I-CDPK modulator (ICM), frequency modulation (FM) transmitter, FM receiver and I-CDPK demodulator (ICDM). In the ICM module, there are four components: a chaotic circuit to generate the chaotic signals, A/D converter, D/A converter and a digital processing mechanism to control all signal flows and performs I-CDPK modulation corresponding to the input digital bits. For interleaving every input digital bit set, every state of the chaotic system is used to represent one portion of it, but only a scalar state variable (i.e. the system output) is sent to the ICDM's chaotic circuit through both FM transmitter and FM receiver. An observer-based chaotic synchronization scheme is designed to synchronize the chaotic circuits of the ICM and ICDM. Meanwhile, the bit detector in ICDM is devoted to recover the transmitted input digital bits. Some numerical simulations of an illustrative communication system are given to demonstrate its theoretical effectiveness. Furthermore, the performance of bit error rate of the proposed system is analyzed and compared with those of the correlator-based communication systems adopting coherent binary phase shift keying (BPSK) and coherent differential chaotic shift keying (DCSK) schemes

Scaling of chaotic multiplicity: A new observation in high-energy interactions

International Nuclear Information System (INIS)

Ghosh, D.; Ghosh, P.; Roy, J.

1990-01-01

We analyze high-energy-interaction data to study the dependence of chaotic multiplicity on the pseudorapidity window and propose a new scaling function bar Ψ(bar z)=left-angle n 1 right-angle/left-angle n right-angle max where left-angle n 1 right-angle is the chaotic multiplicity and bar z=left-angle n right-angle/left-angle n right-angle max is the reduced multiplicity, following the quantum-optical concept of particle production. It has been observed that the proposed ''chaotic multiplicity scaling'' is obeyed by pp, p bar p, and AA collisions at different available energies

[Illness and death: slaves in the city of Pelotas, 1870-1880].

Science.gov (United States)

Loner, Beatriz Ana; Gill, Lorena Almeida; Scheer, Micaele Irene

2012-12-01

The article analyzes diseases presented by slaves hospitalized at Santa Casa de Misericórdia in Pelotas. The focus is on the workers at 'charqueadas' (processing plants for dried meat), whose harsh and rigid work regimen had serious health consequences. Although we can find many descriptions of beef processing at 'charqueadas', we find less evidence of concerns about how slave labor was employed at these plants. By analyzing the period from 1870 to 1880, based on hospital records, travelers' observations, and newspaper reports, the article intends to contribute towards a better understanding of the health conditions of captives in the southern part of the state of Rio Grande do Sul.

Arbitration in crossbar interconnect for low latency

Science.gov (United States)

Ohmacht, Martin; Sugavanam, Krishnan

2013-02-05

A system and method and computer program product for reducing the latency of signals communicated through a crossbar switch, the method including using at slave arbitration logic devices associated with Slave devices for which access is requested from one or more Master devices, two or more priority vector signals cycled among their use every clock cycle for selecting one of the requesting Master devices and updates the respective priority vector signal used every clock cycle. Similarly, each Master for which access is requested from one or more Slave devices, can have two or more priority vectors and can cycle among their use every clock cycle to further reduce latency and increase throughput performance via the crossbar.

Color image encryption based on Coupled Nonlinear Chaotic Map

International Nuclear Information System (INIS)

Mazloom, Sahar; Eftekhari-Moghadam, Amir Masud

2009-01-01

Image encryption is somehow different from text encryption due to some inherent features of image such as bulk data capacity and high correlation among pixels, which are generally difficult to handle by conventional methods. The desirable cryptographic properties of the chaotic maps such as sensitivity to initial conditions and random-like behavior have attracted the attention of cryptographers to develop new encryption algorithms. Therefore, recent researches of image encryption algorithms have been increasingly based on chaotic systems, though the drawbacks of small key space and weak security in one-dimensional chaotic cryptosystems are obvious. This paper proposes a Coupled Nonlinear Chaotic Map, called CNCM, and a novel chaos-based image encryption algorithm to encrypt color images by using CNCM. The chaotic cryptography technique which used in this paper is a symmetric key cryptography with a stream cipher structure. In order to increase the security of the proposed algorithm, 240 bit-long secret key is used to generate the initial conditions and parameters of the chaotic map by making some algebraic transformations to the key. These transformations as well as the nonlinearity and coupling structure of the CNCM have enhanced the cryptosystem security. For getting higher security and higher complexity, the current paper employs the image size and color components to cryptosystem, thereby significantly increasing the resistance to known/chosen-plaintext attacks. The results of several experimental, statistical analysis and key sensitivity tests show that the proposed image encryption scheme provides an efficient and secure way for real-time image encryption and transmission.

Six axis force feedback input device

Science.gov (United States)

Ohm, Timothy (Inventor)

1998-01-01

The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functions as a master robot manipulator of a microsurgical teleoperated robot system including a slave robot manipulator coupled to an amplifier chassis, which is coupled to a control chassis, which is coupled to a workstation with a graphical user interface. The amplifier chassis is coupled to the motors of the master robot manipulator and the control chassis is coupled to the encoders of the master robot manipulator. A force feedback can be applied to the input device and can be generated from the slave robot to enable a user to operate the slave robot via the input device without physically viewing the slave robot. Also, the force feedback can be generated from the workstation to represent fictitious forces to constrain the input device's control of the slave robot to be within imaginary predetermined boundaries.

Stochastic and Chaotic Relaxation Oscillations

NARCIS (Netherlands)

Grasman, J.; Roerdink, J.B.T.M.

1988-01-01

For relaxation oscillators stochastic and chaotic dynamics are investigated. The effect of random perturbations upon the period is computed. For an extended system with additional state variables chaotic behavior can be expected. As an example, the Van der Pol oscillator is changed into a

Approximating chaotic saddles for delay differential equations.

Science.gov (United States)

Taylor, S Richard; Campbell, Sue Ann

2007-04-01

Chaotic saddles are unstable invariant sets in the phase space of dynamical systems that exhibit transient chaos. They play a key role in mediating transport processes involving scattering and chaotic transients. Here we present evidence (long chaotic transients and fractal basins of attraction) of transient chaos in a "logistic" delay differential equation. We adapt an existing method (stagger-and-step) to numerically construct the chaotic saddle for this system. This is the first such analysis of transient chaos in an infinite-dimensional dynamical system, and in delay differential equations in particular. Using Poincaré section techniques we illustrate approaches to visualizing the saddle set, and confirm that the saddle has the Cantor-like fractal structure consistent with a chaotic saddle generated by horseshoe-type dynamics.

Approximating chaotic saddles for delay differential equations

Science.gov (United States)

Taylor, S. Richard; Campbell, Sue Ann

2007-04-01

Chaotic saddles are unstable invariant sets in the phase space of dynamical systems that exhibit transient chaos. They play a key role in mediating transport processes involving scattering and chaotic transients. Here we present evidence (long chaotic transients and fractal basins of attraction) of transient chaos in a “logistic” delay differential equation. We adapt an existing method (stagger-and-step) to numerically construct the chaotic saddle for this system. This is the first such analysis of transient chaos in an infinite-dimensional dynamical system, and in delay differential equations in particular. Using Poincaré section techniques we illustrate approaches to visualizing the saddle set, and confirm that the saddle has the Cantor-like fractal structure consistent with a chaotic saddle generated by horseshoe-type dynamics.

New robust chaotic system with exponential quadratic term

International Nuclear Information System (INIS)

Bao Bocheng; Li Chunbiao; Liu Zhong; Xu Jianping

2008-01-01

This paper proposes a new robust chaotic system of three-dimensional quadratic autonomous ordinary differential equations by introducing an exponential quadratic term. This system can display a double-scroll chaotic attractor with only two equilibria, and can be found to be robust chaotic in a very wide parameter domain with positive maximum Lyapunov exponent. Some basic dynamical properties and chaotic behaviour of novel attractor are studied. By numerical simulation, this paper verifies that the three-dimensional system can also evolve into periodic and chaotic behaviours by a constant controller. (general)

Slave-boson method for the Hubbard model: Resonating-valence-bond state and high-temperature superconductivity

International Nuclear Information System (INIS)

Kapitonov, V.S.

1991-01-01

This paper offers a formulation of mean-field theory for the Hubbard model that is different from the one developed in the work of Anderson. The modified slave-boson method is used. The advantage of the method is that it is not necessary to exclude doubly occupied sites by using the approximately canonical transformation. In the proposed theory, Cooper pairs and the energy gap are a result of the condensation of the slave Bose field that describes doubly occupied sites. Here, the modified slave-boson method is used to describe the metal-insulator and metal-superconductor phase transitions in the Hubbard model. Expressions are derived for the energy gap and phase-transition temperature

Global Change Master Directory (GCMD) Keywords and Their Applications in Earth Science Data Discovery

Science.gov (United States)

Aleman, A.

2017-12-01

This presentation will provide an overview and discussion of the Global Change Master Directory (GCMD) Keywords and their applications in Earth science data discovery. The GCMD Keywords are a hierarchical set of controlled keywords covering the Earth science disciplines, including: science keywords, service keywords, data centers, projects, location, data resolution, instruments and platforms. Controlled vocabularies (keywords) help users accurately, consistently and comprehensively categorize their data and also allow for the precise search and subsequent retrieval of data. The GCMD Keywords are a community resource and are developed collaboratively with input from various stakeholders, including GCMD staff, keyword users and metadata providers. The GCMD Keyword Landing Page and GCMD Keyword Community Forum provide access to keyword resources and an area for discussion of topics related to the GCMD Keywords. See https://earthdata.nasa.gov/about/gcmd/global-change-master-directory-gcmd-keywords

Chaotic scattering and quantum dynamics

International Nuclear Information System (INIS)

Doron, Eyal.

1992-11-01

The main concern of this thesis is the application of the semiclassical approximation to quantum chaotic scattering systems. We deal with two separate, although interconnected, subjects. The first subject dealt with is the semiclassical characterization of the fluctuations of the S matrix. A particular important parameter is the magnetic field B, and we show how the correlation length and line shape of S matrix elements under a change of B may be derived. An effect which is present in many physical wave systems is absorption of energy flux. We show how absorption affects both the reflectivity and the scattering phase and time delay of a scattering system. In the second part of the thesis, we show how the formalism and results obtained from chaotic scattering can be applied to the investigation of closed chaotic systems, and in particular to chaotic billiards. The semiclassical expansion for billiards is presented. In the last part of the thesis we deal with the statistics of S matrices of chaotic scattering systems. The main message of this work is that scattering matrix, and its classical counterpart the Poincare Scattering Map can be used to yield a powerful formulation of the quantum mechanical dynamics of bounded systems. (author)

On dynamics analysis of a new chaotic attractor

International Nuclear Information System (INIS)

Zhou Wuneng; Xu Yuhua; Lu Hongqian; Pan Lin

2008-01-01

In this Letter, a new chaotic system is discussed. Some basic dynamical properties, such as Lyapunov exponents, Poincare mapping, fractal dimension, bifurcation diagram, continuous spectrum and chaotic dynamical behaviors of the new chaotic system are studied, either numerically or analytically. The obtained results show clearly that the system discussed in this Letter is a new chaotic system and deserves a further detailed investigation

INTER-INTEGRATED CIRCUIT (I2C SEBAGAI SISTEM KOMUNIKASI MULTI-MIKROKONTROLER MENGGUNAKAN PLATFORM ARDUINO DAN MATLAB

Directory of Open Access Journals (Sweden)

I Nyoman Kusuma Wardana

2016-06-01

Full Text Available Pada aplikasi yang menggunakan mikrokontroler sebagai perangkat utama, pengguna sering dihadapkan pada masalah kurangnya jumlah pin yang tersedia pada suatu mikrokontoler. Terdapat dua alternatif yang dapat dilakukan ketika penggunaan pin menjadi masalah yang krusial, yaitu dengan mengganti jenis mikrokontroler atau menggunakan lebih dari satu buah mikrokontroler (multi-mikrokontroler. Kedua alternatif ini memiliki keunggulan dan kelemahannya masing-masing. Pada penelitian ini, penggunaan protokol Inter-integrated Circuit (I2C akan diterapkan untuk sistem multi-mikrokontroler dan multi-sensor menggunakan Platform Arduino yang terkontrol MATLAB. Sebuah Master dan dua buah slave akan diuji pada penelitian ini. Master dan Slave akan sepenuhnya dikontrol menggunakan MATLAB. Kedua slave akan ditanamkan program Arduino, sedangkan Master akan menggunakan program MATLAB. Hasil dari penelitian ini menunjukkan bahwa kedua Slave dapat dikontrol dengan baik, baik membaca sensor yang terpasang maupun mengontrol LED. Sistem komunikasi secara I2C telah terbangun dengan baik.

Hypogenetic chaotic jerk flows

International Nuclear Information System (INIS)

Li, Chunbiao; Sprott, Julien Clinton; Xing, Hongyan

2016-01-01

Removing the amplitude or polarity information in the feedback loop of a jerk structure shows that special nonlinearities with partial information in the variable can also lead to chaos. Some striking properties are found for this kind of hypogenetic chaotic jerk flow, including multistability of symmetric coexisting attractors from an asymmetric structure, hidden attractors with respect to equilibria but with global attraction, easy amplitude control, and phase reversal which is convenient for chaos applications. - Highlights: • Hypogenetic chaotic jerk flows with incomplete feedback of amplitude or polarity are obtained. • Multistability of symmetric coexisting attractors from an asymmetric structure is found. • Some jerk systems have hidden attractors with respect to equilibria but have global attraction. • These chaotic jerk flows have the properties of amplitude control and phase reversal.

A chaotic stream cipher and the usage in video protection

International Nuclear Information System (INIS)

Lian Shiguo; Sun Jinsheng; Wang Jinwei; Wang Zhiquan

2007-01-01

In this paper, a chaotic stream cipher is constructed and used to encrypt video data selectively. The stream cipher based on a discrete piecewise linear chaotic map satisfies the security requirement of cipher design. The video encryption scheme based on the stream cipher is secure in perception, efficient and format compliant, which is suitable for practical video protection. The video encryption scheme's performances prove the stream cipher's practicability

TOWARDS THRESHOLD FREQUENCY IN CHAOTIC COLPITTS OSCILLATOR

DEFF Research Database (Denmark)

Lindberg, Erik; Tamasevicius, Arunas; Mykolaitis, Gytis

2007-01-01

A novel version of chaotic Colpitts oscillator is described. Instead of a linear loss resistor, it includes an extra inductor and diode in the collector circuit of the transistor. The modified circuit in comparison with the common Colpitts oscillator may generate chaotic oscillations at the funda......A novel version of chaotic Colpitts oscillator is described. Instead of a linear loss resistor, it includes an extra inductor and diode in the collector circuit of the transistor. The modified circuit in comparison with the common Colpitts oscillator may generate chaotic oscillations...

Symmetric encryption algorithms using chaotic and non-chaotic generators: A review.

Science.gov (United States)

Radwan, Ahmed G; AbdElHaleem, Sherif H; Abd-El-Hafiz, Salwa K

2016-03-01

This paper summarizes the symmetric image encryption results of 27 different algorithms, which include substitution-only, permutation-only or both phases. The cores of these algorithms are based on several discrete chaotic maps (Arnold's cat map and a combination of three generalized maps), one continuous chaotic system (Lorenz) and two non-chaotic generators (fractals and chess-based algorithms). Each algorithm has been analyzed by the correlation coefficients between pixels (horizontal, vertical and diagonal), differential attack measures, Mean Square Error (MSE), entropy, sensitivity analyses and the 15 standard tests of the National Institute of Standards and Technology (NIST) SP-800-22 statistical suite. The analyzed algorithms include a set of new image encryption algorithms based on non-chaotic generators, either using substitution only (using fractals) and permutation only (chess-based) or both. Moreover, two different permutation scenarios are presented where the permutation-phase has or does not have a relationship with the input image through an ON/OFF switch. Different encryption-key lengths and complexities are provided from short to long key to persist brute-force attacks. In addition, sensitivities of those different techniques to a one bit change in the input parameters of the substitution key as well as the permutation key are assessed. Finally, a comparative discussion of this work versus many recent research with respect to the used generators, type of encryption, and analyses is presented to highlight the strengths and added contribution of this paper.

Complex economic dynamics: Chaotic saddle, crisis and intermittency

International Nuclear Information System (INIS)

Chian, Abraham C.-L.; Rempel, Erico L.; Rogers, Colin

2006-01-01

Complex economic dynamics is studied by a forced oscillator model of business cycles. The technique of numerical modeling is applied to characterize the fundamental properties of complex economic systems which exhibit multiscale and multistability behaviors, as well as coexistence of order and chaos. In particular, we focus on the dynamics and structure of unstable periodic orbits and chaotic saddles within a periodic window of the bifurcation diagram, at the onset of a saddle-node bifurcation and of an attractor merging crisis, and in the chaotic regions associated with type-I intermittency and crisis-induced intermittency, in non-linear economic cycles. Inside a periodic window, chaotic saddles are responsible for the transient motion preceding convergence to a periodic or a chaotic attractor. The links between chaotic saddles, crisis and intermittency in complex economic dynamics are discussed. We show that a chaotic attractor is composed of chaotic saddles and unstable periodic orbits located in the gap regions of chaotic saddles. Non-linear modeling of economic chaotic saddle, crisis and intermittency can improve our understanding of the dynamics of financial intermittency observed in stock market and foreign exchange market. Characterization of the complex dynamics of economic systems is a powerful tool for pattern recognition and forecasting of business and financial cycles, as well as for optimization of management strategy and decision technology

Synchronization control of Hodgkin-Huxley neurons exposed to ELF electric field

International Nuclear Information System (INIS)

Che Yanqiu; Wang Jiang; Zhou Sisi; Deng Bin

2009-01-01

This paper presents an adaptive neural network H ∞ control for unidirectional synchronization of modified Hodgkin-Huxley (HH) neurons exposed to extremely low frequency (ELF) electric field. The proposed modified HH neurons exhibit periodic and chaotic dynamics in response to sinusoidal electric field stimulation. Based on the Lyapunov stability theory, we derive the updated laws of neural network for approximating the nonlinear uncertain functions of the error dynamical system. The H ∞ design technique makes the controller robust to unmodeled dynamics, disturbances and approximate errors. The proposed controller not only ensures closed-loop stability, but also guarantees an H ∞ performance for the synchronization error system. The states of the controlled slave system exponentially synchronize with that of the master one after control. The simulation results demonstrate the validity of the proposed method.

Fractional order control and synchronization of chaotic systems

CERN Document Server

Vaidyanathan, Sundarapandian; Ouannas, Adel

2017-01-01

The book reports on the latest advances in and applications of fractional order control and synchronization of chaotic systems, explaining the concepts involved in a clear, matter-of-fact style. It consists of 30 original contributions written by eminent scientists and active researchers in the field that address theories, methods and applications in a number of research areas related to fractional order control and synchronization of chaotic systems, such as: fractional chaotic systems, hyperchaotic systems, complex systems, fractional order discrete chaotic systems, chaos control, chaos synchronization, jerk circuits, fractional chaotic systems with hidden attractors, neural network, fuzzy logic controllers, behavioral modeling, robust and adaptive control, sliding mode control, different types of synchronization, circuit realization of chaotic systems, etc. In addition to providing readers extensive information on chaos fundamentals, fractional calculus, fractional differential equations, fractional contro...

Numeric processor and text manipulator for the ''MASTER CONTROL'' data-base-management system

International Nuclear Information System (INIS)

Kuhn, R.W.

1976-01-01

The numeric and text processor of the MASTER CONTROL (MCP) data-base-management system permits the user to define fields and arrays that are functionally dependent on the data retained in a data base. This allows the storage of only the essential and unique information and data, and the calculation of derivable quantities as required. The derived quantity can be expressed as an arithmetic expression, that is, a functional relationship. Functions can be multiply subscripted and can be embedded within other functions at up to 58 levels. They can be stored either semi-permanently in a repertoire of functional relations, or they can be defined interactively from a terminal and used immediately for searching on the derived value. The processor also permits the conversion of literal strings into numbers, and vice versa. In addition, the user can define dictionaries that allow the expansion of keyed sentinels associated with records in the data base into fully descriptive expressions. This option can be used for cost-effective searching and data compaction. The functional definitions are reduced to Polish notation and stored in a disk file from which they are either retrieved on demand and evaluated according to the data of records specified or used in any given MASTER CONTROL command. The language used for the definitions of the numeric processor is essentially FORTRAN; most of the standard functions and over two dozen special functions are thus available. The functional processor provides a powerful technique for the integration of text and data for energy research and for scientific and technological work in general. MASTER CONTROL is operational at the Lawrence Livermore Laboratory (LLL) and at the Los Alamos Scientific Laboratory (LASL). 6 figures, 1 table

Chaotic interactions of self-replicating RNA.

Science.gov (United States)

Forst, C V

1996-03-01

A general system of high-order differential equations describing complex dynamics of replicating biomolecules is given. Symmetry relations and coordinate transformations of general replication systems leading to topologically equivalent systems are derived. Three chaotic attractors observed in Lotka-Volterra equations of dimension n = 3 are shown to represent three cross-sections of one and the same chaotic regime. Also a fractal torus in a generalized three-dimensional Lotka-Volterra Model has been linked to one of the chaotic attractors. The strange attractors are studied in the equivalent four-dimensional catalytic replicator network. The fractal torus has been examined in adapted Lotka-Volterra equations. Analytic expressions are derived for the Lyapunov exponents of the flow in the replicator system. Lyapunov spectra for different pathways into chaos has been calculated. In the generalized Lotka-Volterra system a second inner rest point--coexisting with (quasi)-periodic orbits--can be observed; with an abundance of different bifurcations. Pathways from chaotic tori, via quasi-periodic tori, via limit cycles, via multi-periodic orbits--emerging out of periodic doubling bifurcations--to "simple" chaotic attractors can be found.

Slave trade and slavery on the Swahili coast (1500-1750)

OpenAIRE

Vernet, Thomas

2009-01-01

This paper offers a reappraisal of the slave trade networks linked to the Swahili Coast before the mid-eighteenth century. It is based on extensive research carried out in Portuguese archives and other material.

Eigenfunctions in chaotic quantum systems

Energy Technology Data Exchange (ETDEWEB)

Baecker, Arnd

2007-07-01

The structure of wavefunctions of quantum systems strongly depends on the underlying classical dynamics. In this text a selection of articles on eigenfunctions in systems with fully chaotic dynamics and systems with a mixed phase space is summarized. Of particular interest are statistical properties like amplitude distribution and spatial autocorrelation function and the implication of eigenfunction structures on transport properties. For systems with a mixed phase space the separation into regular and chaotic states does not always hold away from the semiclassical limit, such that chaotic states may completely penetrate into the region of the regular island. The consequences of this flooding are discussed and universal aspects highlighted. (orig.)

Eigenfunctions in chaotic quantum systems

International Nuclear Information System (INIS)

Baecker, Arnd

2007-01-01

The structure of wavefunctions of quantum systems strongly depends on the underlying classical dynamics. In this text a selection of articles on eigenfunctions in systems with fully chaotic dynamics and systems with a mixed phase space is summarized. Of particular interest are statistical properties like amplitude distribution and spatial autocorrelation function and the implication of eigenfunction structures on transport properties. For systems with a mixed phase space the separation into regular and chaotic states does not always hold away from the semiclassical limit, such that chaotic states may completely penetrate into the region of the regular island. The consequences of this flooding are discussed and universal aspects highlighted. (orig.)

Applications of chaotic neurodynamics in pattern recognition

Science.gov (United States)

Baird, Bill; Freeman, Walter J.; Eeckman, Frank H.; Yao, Yong

1991-08-01

Network algorithms and architectures for pattern recognition derived from neural models of the olfactory system are reviewed. These span a range from highly abstract to physiologically detailed, and employ the kind of dynamical complexity observed in olfactory cortex, ranging from oscillation to chaos. A simple architecture and algorithm for analytically guaranteed associative memory storage of analog patterns, continuous sequences, and chaotic attractors in the same network is described. A matrix inversion determines network weights, given prototype patterns to be stored. There are N units of capacity in an N node network with 3N2 weights. It costs one unit per static attractor, two per Fourier component of each sequence, and three to four per chaotic attractor. There are no spurious attractors, and for sequences there is a Liapunov function in a special coordinate system which governs the approach of transient states to stored trajectories. Unsupervised or supervised incremental learning algorithms for pattern classification, such as competitive learning or bootstrap Widrow-Hoff can easily be implemented. The architecture can be ''folded'' into a recurrent network with higher order weights that can be used as a model of cortex that stores oscillatory and chaotic attractors by a Hebb rule. Network performance is demonstrated by application to the problem of real-time handwritten digit recognition. An effective system with on-line learning has been written by Eeckman and Baird for the Macintosh. It utilizes static, oscillatory, and/or chaotic attractors of two kinds--Lorenze attractors, or attractors resulting from chaotically interacting oscillatory modes. The successful application to an industrial pattern recognition problem of a network architecture of considerable physiological and dynamical complexity, developed by Freeman and Yao, is described. The data sets of the problem come in three classes of difficulty, and performance of the biological network is

Modified and fuzzified general problem solver for the 'monkey and banana' problem, 1

International Nuclear Information System (INIS)

Sano, Norihide; Takahashi, Ryoichi.

1991-01-01

The master-and-slave control system should be extensively implemented for the in-service inspection of operating nuclear power stations or the decommission of retired plants. The performance of this system depends on the intelligent slave. In this paper the degree of intelligence is approximated by the given amount of prior knowledge or suggestions. This paper aims at improving the general problem solver (GPS) by incorporating the learning process in order to solve the puzzle of the 'monkey and banana'. The monkey in this puzzle may be a reasonable alternative to represent the intelligent slave. Also, this paper deals with fuzzified problem solving since the master's command is not always crisp to the slave. (author)

Estimating Neonatal Mortality Rates from the Heights of Children: The Case of American Slaves

OpenAIRE

Richard H. Steckel

1985-01-01

Underenumeration of vital events is a problem familiar topeople who work with historical demographic records. This paper proposes a method for recovering information about neonatal mortality.The approach utilizes average heights of young children to predict the birth weight of American slaves. The results suggest that slave newborns weighed on average about 5.1 pounds, which places them among the poorest populations of developing countries in the mid-twentieth century. The birth weight distri...

The American Slave Narrative: Exciting Resource Material for the Classroom

Science.gov (United States)

Polsky, Milton

1975-01-01

An exploration of the educational value of the American slave narrative, offering suggestions as to how these materials can be integrated with a variety of classroom activities--music, art, writing, debate, dramatization and dance. (EH)

On synchronization of three chaotic systems

International Nuclear Information System (INIS)

Yan Jianping; Li Changpin

2005-01-01

In this paper, a simple but efficient method is applied to the synchronization of three chaotic systems, i.e., the chaotic Lorenz, Chua, and Chen systems. Numerical simulations show this method works very well

Hash function based on piecewise nonlinear chaotic map

International Nuclear Information System (INIS)

Akhavan, A.; Samsudin, A.; Akhshani, A.

2009-01-01

Chaos-based cryptography appeared recently in the early 1990s as an original application of nonlinear dynamics in the chaotic regime. In this paper, an algorithm for one-way hash function construction based on piecewise nonlinear chaotic map with a variant probability parameter is proposed. Also the proposed algorithm is an attempt to present a new chaotic hash function based on multithreaded programming. In this chaotic scheme, the message is connected to the chaotic map using probability parameter and other parameters of chaotic map such as control parameter and initial condition, so that the generated hash value is highly sensitive to the message. Simulation results indicate that the proposed algorithm presented several interesting features, such as high flexibility, good statistical properties, high key sensitivity and message sensitivity. These properties make the scheme a suitable choice for practical applications.

Chaotic Zones around Rotating Small Bodies

Energy Technology Data Exchange (ETDEWEB)

Lages, José; Shevchenko, Ivan I. [Institut UTINAM, Observatoire des Sciences de l’Univers THETA, CNRS, Université de Franche-Comté, Besançon F-25030 (France); Shepelyansky, Dima L., E-mail: jose.lages@utinam.cnrs.fr [Laboratoire de Physique Théorique du CNRS, IRSAMC, Université de Toulouse, UPS, Toulouse F-31062 (France)

2017-06-01

Small bodies of the solar system, like asteroids, trans-Neptunian objects, cometary nuclei, and planetary satellites, with diameters smaller than 1000 km usually have irregular shapes, often resembling dumb-bells or contact binaries. The spinning of such a gravitating dumb-bell creates around it a zone of chaotic orbits. We determine its extent analytically and numerically. We find that the chaotic zone swells significantly if the rotation rate is decreased; in particular, the zone swells more than twice if the rotation rate is decreased 10 times with respect to the “centrifugal breakup” threshold. We illustrate the properties of the chaotic orbital zones in examples of the global orbital dynamics about asteroid 243 Ida (which has a moon, Dactyl, orbiting near the edge of the chaotic zone) and asteroid 25143 Itokawa.

Master Data Management Model in Company: Challenges and Opportunity

Directory of Open Access Journals (Sweden)

Indrajani Indrajani

2015-12-01

Full Text Available The purpose of this research is to analyze, design, and implement Master Data Management (MDM model for company, which include database processing that will be used in the quality of data customer and produce single view of customer. The research method used is literature study from a variety of journals, books, e-books, and articles on the internet. Also, fact finding techniques are done, such as by analyze, collect, and examine the documents, interviews, and observations. Then, other research methods used to analyze and design MDM model are using cleansing and matching technique. The result obtained from this research is animplementation MDM model for the company, where if implemented, will improve the quality of data significantly. The conclusion which can be obtained from this research is that MDM is one of the factors thatcan improve the quality of customer data.

Slaves, Contrabands, and Freedmen: Union Policy in the Civil War

National Research Council Canada - National Science Library

Howard, Michelle

1998-01-01

This study examines Union slave policy in the Civil War. Prior to the initiation of hostilities, President Abraham Lincoln stated that the conflict between the states was over the preservation of the Union, and not over...

Balanced articulated manipulator

International Nuclear Information System (INIS)

Francois, Daniel; Germond, J.-C.; Marchal, Paul; Vertut, Jean.

1976-01-01

The description is given of a manipulator of the type comprising a master arm and a slave arm, capable of working in a containment restricted by a wall fitted with an aperture to introduce the slave arm into the containment. According to the invention this manipulator is permanently balanced irrespective of its distortions when it is secured to the wall of the containment in which it is desired to work. The entire manipulator is also balanced when being set up and when moved outside the containment, in relation to a supporting axle. This result is achieved in a simplified manner by giving homothetic shapes to the various component parts of the slave and master arms, the master arm having at least one balancing weight [fr

Gender Issues and the Slave Narratives: "Incidents in the Life" and "Narrative of the Life" Compared.

Science.gov (United States)

DeGout, Yasmin Y.

The differences between early African American narratives written by women and those written by men can be seen in a comparison of Harriet A. Jacobs's "Incidents in the Life of a Slave Girl, Written by Herself" and Frederick Douglass's "Narrative of the Life of Frederick Douglass, An American Slave." A comparison of these works…

Trans-Colonial Collaboration and Slave Narrative: Mary Prince Revisited

Directory of Open Access Journals (Sweden)

Michelle Gadpaille

2011-10-01

Full Text Available In 1831 in London, two formidable women met: Mary Prince, an ex-slave from Bermuda, who had crossed the Atlantic to a qualified freedom, and Susanna Strickland, an English writer. The narrative that emerged from this meeting was The History of Mary Prince, which played a role in the fight for slave emancipation in the British Empire. Prince disappeared once the battle was won, while Strickland emigrated to Upper Canada and, as Susanna Moodie, became an often quoted 19th century Canadian writer. Prince dictated, Strickland copied, and the whole was lightly edited by Thomas Pringle, the anti-slavery publisher at whose house the meeting took place. This is the standard account. In contesting this version, the paper aims to reinstate Moodie as co-creator of the collaborative Mary Prince text by considering multiple accounts of the meeting with Prince and to place the work in the context of Moodie’s pre- and post-emigration oeuvre on both sides of the Atlantic.

Statistical methods of parameter estimation for deterministically chaotic time series

Science.gov (United States)

Pisarenko, V. F.; Sornette, D.

2004-03-01

We discuss the possibility of applying some standard statistical methods (the least-square method, the maximum likelihood method, and the method of statistical moments for estimation of parameters) to deterministically chaotic low-dimensional dynamic system (the logistic map) containing an observational noise. A “segmentation fitting” maximum likelihood (ML) method is suggested to estimate the structural parameter of the logistic map along with the initial value x1 considered as an additional unknown parameter. The segmentation fitting method, called “piece-wise” ML, is similar in spirit but simpler and has smaller bias than the “multiple shooting” previously proposed. Comparisons with different previously proposed techniques on simulated numerical examples give favorable results (at least, for the investigated combinations of sample size N and noise level). Besides, unlike some suggested techniques, our method does not require the a priori knowledge of the noise variance. We also clarify the nature of the inherent difficulties in the statistical analysis of deterministically chaotic time series and the status of previously proposed Bayesian approaches. We note the trade off between the need of using a large number of data points in the ML analysis to decrease the bias (to guarantee consistency of the estimation) and the unstable nature of dynamical trajectories with exponentially fast loss of memory of the initial condition. The method of statistical moments for the estimation of the parameter of the logistic map is discussed. This method seems to be the unique method whose consistency for deterministically chaotic time series is proved so far theoretically (not only numerically).

Slaves, Contrabands, and Freedmen: Union Policy in the Civil War

National Research Council Canada - National Science Library

Howard, Michelle

1998-01-01

This study examines Union slave policy in the Civil War. Prior to the initiation of hostilities, President Abraham Lincoln stated that the conflict between the states was over the preservation of the Union, and not over slavery...

Unstable periodic orbits and chaotic economic growth

International Nuclear Information System (INIS)

Ishiyama, K.; Saiki, Y.

2005-01-01

We numerically find many unstable periodic solutions embedded in a chaotic attractor in a macroeconomic growth cycle model of two countries with different fiscal policies, and we focus on a special type of the unstable periodic solutions. It is confirmed that chaotic behavior represented by the model is qualitatively and quantitatively related to the unstable periodic solutions. We point out that the structure of a chaotic solution is dissolved into a class of finite unstable periodic solutions picked out among a large number of periodic solutions. In this context it is essential for the unstable periodic solutions to be embedded in the chaotic attractor

Cryptography with chaotic mixing

International Nuclear Information System (INIS)

Oliveira, Luiz P.L. de; Sobottka, Marcelo

2008-01-01

We propose a cryptosystem based on one-dimensional chaotic maps of the form H p (x)=r p -1 0G0r p (x) defined in the interval [0, 10 p ) for a positive integer parameter p, where G(x)=10x(mod10) and r p (x)= p √(x), which is a topological conjugacy between G and the shift map σ on the space Σ of the sequences with 10 symbols. There are three advantages in comparison with the recently proposed cryptosystem based on chaotic logistic maps F μ (x)=μx(1-x) with 3 p is always chaotic for all parameters p, (b) the knowledge of an ergodic measure allows assignments of the alphabetic symbols to equiprobable sites of H p 's domain and (c) for each p, the security of the cryptosystem is manageable against brute force attacks

Kinect technology for hand tracking control of surgical robots: technical and surgical skill comparison to current robotic masters.

Science.gov (United States)

Kim, Yonjae; Leonard, Simon; Shademan, Azad; Krieger, Axel; Kim, Peter C W

2014-06-01

Current surgical robots are controlled by a mechanical master located away from the patient, tracking surgeon's hands by wire and pulleys or mechanical linkage. Contactless hand tracking for surgical robot control is an attractive alternative, because it can be executed with minimal footprint at the patient's bedside without impairing sterility, while eliminating current disassociation between surgeon and patient. We compared technical and technologic feasibility of contactless hand tracking to the current clinical standard master controllers. A hand-tracking system (Kinect™-based 3Gear), a wire-based mechanical master (Mantis Duo), and a clinical mechanical linkage master (da Vinci) were evaluated for technical parameters with strong clinical relevance: system latency, static noise, robot slave tremor, and controller range. Five experienced surgeons performed a skill comparison study, evaluating the three different master controllers for efficiency and accuracy in peg transfer and pointing tasks. da Vinci had the lowest latency of 89 ms, followed by Mantis with 374 ms and 3Gear with 576 ms. Mantis and da Vinci produced zero static error. 3Gear produced average static error of 0.49 mm. The tremor of the robot used by the 3Gear and Mantis system had a radius of 1.7 mm compared with 0.5 mm for da Vinci. The three master controllers all had similar range. The surgeons took 1.98 times longer to complete the peg transfer task with the 3Gear system compared with Mantis, and 2.72 times longer with Mantis compared with da Vinci (p value 2.1e-9). For the pointer task, surgeons were most accurate with da Vinci with average error of 0.72 mm compared with Mantis's 1.61 mm and 3Gear's 2.41 mm (p value 0.00078). Contactless hand-tracking technology as a surgical master can execute simple surgical tasks. Whereas traditional master controllers outperformed, given that contactless hand-tracking is a first-generation technology, clinical potential is promising and could

The Antarctic Master Directory -- the Electronic Card Catalog of Antarctic Data

Science.gov (United States)

Scharfen, G.; Bauer, R.

2003-12-01

The Antarctic Master Directory (AMD) is a Web-based, searchable record of thousands of Antarctic data descriptions. These data descriptions contain information about what data were collected, where they were collected, when they were collected, who the scientists are, who the point of contact is, how to get the data, and information about the format of the data and what documentation and bibliographic information exists. With this basic descriptive information about content and access for thousands of Antarctic scientific data sets, the AMD is a resource for scientists to advertise the data they have collected and to search for data they need. The AMD has been created by more than twenty nations which conduct research in the Antarctic under the auspices of the Antarctic Treaty. It is a part of the International Directory Network/Global Change Master Directory (IDN/GCMD). Using the AMD is easy. Users can search on subject matter key words, data types, geographic place-names, temporal or spatial ranges, or conduct free-text searches. To search the AMD go to: http://gcmd.nasa.gov/Data/portals/amd/. Contributing your own data descriptions for Antarctic data that you have collected is also easy. Scientists can start by submitting a short data description first (as a placeholder in the AMD, and to satisfy National Science Foundation (NSF) reporting requirements), and then add to, modify or update their record whenever it is appropriate. An easy to use on-line tool and a simple tutorial are available at: http://nsidc.org/usadcc. With NSF Office of Polar Programs (OPP) funding, the National Snow and Ice Data Center (NSIDC) operates the U.S. Antarctic Data Coordination Center (USADCC), partly to assist scientists in using and contributing to the AMD. The USADCC website is at http://nsidc.org/usadcc.

Qualitative feature extractions of chaotic systems

International Nuclear Information System (INIS)

Vicha, T.; Dohnal, M.

2008-01-01

The theory of chaos offers useful tools for systems analysis. However, models of complex systems are based on a network of inconsistent, space and uncertain knowledge items. Traditional quantitative methods of chaos analysis are therefore not applicable. The paper by the same authors [Vicha T, Dohnal M. Qualitative identification of chaotic systems behaviours. Chaos, Solitons and Fractals, in press, [Log. No. 601019] ] presents qualitative interpretation of some chaos concepts. There are only three qualitative values positive/increasing, negative/decreasing and zero/constant. It means that any set of qualitative multidimensional descriptions of unsteady state behaviours is discrete and finite. A finite upper limit exists for the total number of qualitatively distinguishable scenarios. A set of 21 published chaotic models is solved qualitatively and 21 sets of all existing qualitative scenarios are presented. The intersection of all 21 scenario sets is empty. There is no such a behaviour which is common for all 21 models. The set of 21 qualitative models (e.g. Lorenz, Roessler) can be used to compare chaotic behaviours of an unknown qualitative model with them to evaluate if its chaotic behaviours is close to e.g. Lorenz chaotic model and how much

Master plans for pedestrian and bicycle transportation: community characteristics.

Science.gov (United States)

Steinman, Lesley; Doescher, Mark; Levinger, David; Perry, Cynthia; Carter, Louise; Eyler, Amy; Aytur, Semra; Cradock, Angie L I; Evenson, Kelly R; Heinrich, Katie; Kerr, Jacqueline; Litt, Jill; Severcan, Yucel; Voorhees, Carolyn

2010-03-01

Recent research demonstrates the importance of targeting the built environment to support individual physical activity, particularly for people experiencing health disparities. Master plans to promote biking and/or pedestrians (BPMPs) are a potential method for environmental change. This descriptive study aims to provide a snapshot of plan attributes and better understand demographic, social and transportation characteristics of communities with BPMPs. We collected a census sample of BPMPs from 4 states. Population and commuting data were obtained from national statistics. 294 master plans were included, with most plans representing municipalities. 62% of plans targeted biking only, one-fifth targeted biking and walking, and 15% targeted walking only. The sampled locations have a similar demographic profile as the overall U.S. for median age and household income, people of color, high school education, and income inequality. The degree of racial diversity of sampled communities is slightly less than the U.S. average and the percentage of people who walk to work were slightly higher. Given that communities with master plans have a similar profile as the overall U.S., BPMPs could feasibly be spread to communities throughout the country. Further research is planned to describe BPMPs in detail toward informing future plan development.