WorldWideScience

Sample records for actuated traffic signal controllers

  1. Light signals for road traffic control.

    OpenAIRE

    Schreuder, D.A.

    1981-01-01

    Signals for road traffic control are a major constituent of the modern traffic scene, particularly in built-up areas. A vast amount of research has been executed in the last two decennia, resulting in a fairly generally accepted view on what the requirements for effective traffic lights are. For the French translation see B 19780

  2. Distributed traffic signal control using fuzzy logic

    Science.gov (United States)

    Chiu, Stephen

    1992-01-01

    We present a distributed approach to traffic signal control, where the signal timing parameters at a given intersection are adjusted as functions of the local traffic condition and of the signal timing parameters at adjacent intersections. Thus, the signal timing parameters evolve dynamically using only local information to improve traffic flow. This distributed approach provides for a fault-tolerant, highly responsive traffic management system. The signal timing at an intersection is defined by three parameters: cycle time, phase split, and offset. We use fuzzy decision rules to adjust these three parameters based only on local information. The amount of change in the timing parameters during each cycle is limited to a small fraction of the current parameters to ensure smooth transition. We show the effectiveness of this method through simulation of the traffic flow in a network of controlled intersections.

  3. Cellular Automata Based Traffic Flow Simulation and Actuated Signal Control Strategy%基于CA方法的交通流数值模拟及信号灯感应控制策略研究

    Institute of Scientific and Technical Information of China (English)

    陈晨; 陈建桥

    2011-01-01

    According to the theory of cellular automata ( CA), the urban traffic flows at 4 intersections were investigated and a set of discrete equations were proposed to describe the traffic dynamics. The effect of two signal control strategies, i.e., synchronous timing control and actuated control, on traffic flow were discussed. Simulation results show that ( 1 ) the effect of signal control strategies is related to the density of traffic flow; (2) and there exists a certain range of actuated control parameters in which the efficiency of traffic flow can be optimized. Therefore, in order to ensure the efficiency of traffic flow, one the proper signal control strategy should be chosen for different global densities of traffic flow.%采用细胞自动机方法(Cellular Automata:CA)模拟含4个路口的城市道路交通流状态,并通过离散方程描述车辆的运动过程.研究了信号灯控制策略(同步定时控制及感应控制)对交通流状态的影响.数值模拟结果表明,信号灯对交通流的影响与道路中车辆密度有关,同时,感应控制参数的选取存在一合理的取值范围,可优化交通流通行效率.因此,为保证交通流的通行效率,应针对不同的车辆密度,选取适当的信号灯控制方式.

  4. FL-FN-MOGA Based Traffic Signal Control

    Institute of Scientific and Technical Information of China (English)

    魏武; 张毅

    2003-01-01

    In this paper, a traffic signal control method based on fuzzy logic (FL), fuzzy-neuro (FN) and multi-objective genetic algorithms (MOGA) for an isolated four-approach intersection with through and left-turning movements is presented. This method has an adaptive signal timing ability, and can make adjustments to signal timing in response to observed changes. The "urgency degree" term, which can describe the different user's demand for green time is used in decision-making by which strategy of signal timing can be determined. Using a fuzzy logic controller, we can determine whether to extend or terminate the current signal phase and select the sequences of phases. In this paper, a method based on fuzzy-neuro can be used to predict traffic parameters used in fuzzy logic controller. The feasibility of using a multi-objective genetic algorithm (MOGA) to find a group of optimizing sets of parameters for fuzzy logic controller depending on different objects is also demonstrated. Simulation results show that the proposed methed is effecfive to adjust the signal timing in response to changing traffic conditions on a real-time basis, and the controller can produce lower vehicle delays and percentage of stopped vehicles than a traffic-actuated controller.

  5. The fully actuated traffic control problem solved by global optimization and complementarity

    Science.gov (United States)

    Ribeiro, Isabel M.; de Lurdes de Oliveira Simões, Maria

    2016-02-01

    Global optimization and complementarity are used to determine the signal timing for fully actuated traffic control, regarding effective green and red times on each cycle. The average values of these parameters can be used to estimate the control delay of vehicles. In this article, a two-phase queuing system for a signalized intersection is outlined, based on the principle of minimization of the total waiting time for the vehicles. The underlying model results in a linear program with linear complementarity constraints, solved by a sequential complementarity algorithm. Departure rates of vehicles during green and yellow periods were treated as deterministic, while arrival rates of vehicles were assumed to follow a Poisson distribution. Several traffic scenarios were created and solved. The numerical results reveal that it is possible to use global optimization and complementarity over a reasonable number of cycles and determine with efficiency effective green and red times for a signalized intersection.

  6. A Two-Stage Fuzzy Logic Control Method of Traffic Signal Based on Traffic Urgency Degree

    OpenAIRE

    Yan Ge

    2014-01-01

    City intersection traffic signal control is an important method to improve the efficiency of road network and alleviate traffic congestion. This paper researches traffic signal fuzzy control method on a single intersection. A two-stage traffic signal control method based on traffic urgency degree is proposed according to two-stage fuzzy inference on single intersection. At the first stage, calculate traffic urgency degree for all red phases using traffic urgency evaluation module and select t...

  7. Traffic Signals Control with Adaptive Fuzzy Controller in Urban Road Network

    Institute of Scientific and Technical Information of China (English)

    LI Yan; FAN Xiao-ping

    2008-01-01

    An adaptive fuzzy logic controller (AFC) is presented for the signal control of the urban traffic network.The AFC is composed of the signal control system-oriented control level and the signal controller-oriented fuzzy rules regulation level.The control level decides the signal tunings in an intersection with a fuzzy logic controller.The regulation level optimizes the fuzzy rules by the Adaptive Rule Module in AFC according to both the system performance index in current control period and the traffic flows in the last one.Consequently the system performances are improved.A weight coefficient controller (WCC) is also developed to describe the interactions of traffic flow among the adjacent intersections.So the AFC combined with the WCC can be applied in a road network for signal timings.Simulations of the AFC on a real traffic scenario have been conducted.Simulation results indicate that the adaptive controller for traffic control shows better performance than the actuated one.

  8. Autonomous Traffic Signal Control Model with Neural Network Analogy

    CERN Document Server

    Ohira, T

    1997-01-01

    We propose here an autonomous traffic signal control model based on analogy with neural networks. In this model, the length of cycle time period of traffic lights at each signal is autonomously adapted. We find a self-organizing collective behavior of such a model through simulation on a one-dimensional lattice model road: traffic congestion is greatly diffused when traffic signals have such autonomous adaptability with suitably tuned parameters. We also find that effectiveness of the system emerges through interactions between units and shows a threshold transition as a function of proportion of adaptive signals in the model.

  9. An extended signal control strategy for urban network traffic flow

    Science.gov (United States)

    Yan, Fei; Tian, Fuli; Shi, Zhongke

    2016-03-01

    Traffic flow patterns are in general repeated on a daily or weekly basis. To improve the traffic conditions by using the inherent repeatability of traffic flow, a novel signal control strategy for urban networks was developed via iterative learning control (ILC) approach. Rigorous analysis shows that the proposed learning control method can guarantee the asymptotic convergence. The impacts of the ILC-based signal control strategy on the macroscopic fundamental diagram (MFD) were analyzed by simulations on a test road network. The results show that the proposed ILC strategy can evenly distribute the accumulation in the network and improve the network mobility.

  10. Joint optimization traffic signal control for an urban arterial road

    Institute of Scientific and Technical Information of China (English)

    LI Yin-fei; CHEN Shu-ping

    2009-01-01

    This paper considers the optimal traffic signal setting for an urban arterial road. By introducing the concepts of synchronization rate and non-synchronization degree, a mathematical model is constructed and an optimization problem is posed. Then, a new iterative algorithm is developed to solve this optimal traffic control signal setting problem. Convergence properties for this iterative algorithm are established. Finally, a numerical example is solved to illustrate the effectiveness of the method.

  11. Urban Intersection Traffic Signal Control Based on Fuzzy Logic

    Institute of Scientific and Technical Information of China (English)

    魏武; 张毅; 张佐; 宋靖雁

    2002-01-01

    This paper presents a fuzzy logic adaptive traffic signal control method for an isolated four-approach intersection with through and left-turning movements. In the proposed method, the fuzzy logic controller can make adjustments to signal timing in response to observed changes. The "urgency degree" term that can describe different user's demands for a green light is used in the fuzzy logic decision-making. In addition, a three-level fuzzy controller model decides whether to extend or terminate the current signal phase and the sequence of phases. Simulation results show that the fuzzy controller can adjust its signal timing in response to changing traffic conditions on a real-time basis and that the proposed fuzzy logic controller leads to less vehicle delays and a lower percentage of stopped vehicles.

  12. Vehicle Delay Estimation for an Isolated Intersection under Actuated Signal Control

    Directory of Open Access Journals (Sweden)

    Shumin Feng

    2014-01-01

    Full Text Available Vehicle delay at an actuated signal control (ASC intersection is analyzed and computed with the aim of reflecting the effects of ASC and optimizing its parameters. The operation characteristics of traffic flows at the intersections serve as the foundation to present the mechanism of vehicle delay under the ASC; given that the arrival of vehicles obeys the Poisson distribution, probability algorithms of vehicle delay are put forward under the semi-ASC and fully ASC depending on discretization of green time. Computation process is illustrated by case study and CORSIM simulation experiments. Finally, the primary results indicate that the appropriate control modes can decrease vehicle delay, which is significantly affected by unit extension. Hopefully, the study will provide useful information for selecting different ASC modes and optimizing signal control parameters.

  13. Traffic Congestion Evaluation and Signal Control Optimization Based on Wireless Sensor Networks: Model and Algorithms

    Directory of Open Access Journals (Sweden)

    Wei Zhang

    2012-01-01

    Full Text Available This paper presents the model and algorithms for traffic flow data monitoring and optimal traffic light control based on wireless sensor networks. Given the scenario that sensor nodes are sparsely deployed along the segments between signalized intersections, an analytical model is built using continuum traffic equation and develops the method to estimate traffic parameter with the scattered sensor data. Based on the traffic data and principle of traffic congestion formation, we introduce the congestion factor which can be used to evaluate the real-time traffic congestion status along the segment and to predict the subcritical state of traffic jams. The result is expected to support the timing phase optimization of traffic light control for the purpose of avoiding traffic congestion before its formation. We simulate the traffic monitoring based on the Mobile Century dataset and analyze the performance of traffic light control on VISSIM platform when congestion factor is introduced into the signal timing optimization model. The simulation result shows that this method can improve the spatial-temporal resolution of traffic data monitoring and evaluate traffic congestion status with high precision. It is helpful to remarkably alleviate urban traffic congestion and decrease the average traffic delays and maximum queue length.

  14. Model predictive control for hybrid vehicle ecological driving using traffic signal and road slope information

    Institute of Scientific and Technical Information of China (English)

    Kaijiang YU; Junqi YANG; Daisuke YAMAGUCHI

    2015-01-01

    This paper presents development of a control system for ecological driving of a hybrid vehicle. Prediction using traffic signal and road slope information is considered to improve the fuel economy. It is assumed that the automobile receives traffic signal information from intelligent transportation systems (ITS). Model predictive control is used to calculate optimal vehicle control inputs using traffic signal and road slope information. The performance of the proposed method was analyzed through computer simulation results. Both the fuel economy and the driving profile are optimized using the proposed approach. It was observed that fuel economy was improved compared with driving of a typical human driving model.

  15. Effects of speed bottleneck on traffic flow with feedback control signal

    Science.gov (United States)

    Zhu, Kangli; Bi, Jiantao; Wu, Jianjun; Li, Shubin

    2016-09-01

    Various car-following models (CMs) have been developed to capture the complex characteristics of microscopic traffic flow, among which the coupled map CM can better reveal and reflect various phenomena of practical traffic flow. Capacity change at bottleneck contributes to high-density traffic flow upstream the bottleneck and contains very complex dynamic behavior. In this paper, we analyze the effect of speed bottleneck on the spatial-temporal evolution characteristics of traffic flow, and propose a method to reduce traffic congestion with the feedback control signal based on CM. Simulation results highlight the potential of using the feedback signal to control the stop-and-go wave and furthermore to alleviate the traffic congestion effectively.

  16. Cellular metabolic and autophagic pathways: traffic control by redox signaling.

    Science.gov (United States)

    Dodson, Matthew; Darley-Usmar, Victor; Zhang, Jianhua

    2013-10-01

    It has been established that the key metabolic pathways of glycolysis and oxidative phosphorylation are intimately related to redox biology through control of cell signaling. Under physiological conditions glucose metabolism is linked to control of the NADH/NAD redox couple, as well as providing the major reductant, NADPH, for thiol-dependent antioxidant defenses. Retrograde signaling from the mitochondrion to the nucleus or cytosol controls cell growth and differentiation. Under pathological conditions mitochondria are targets for reactive oxygen and nitrogen species and are critical in controlling apoptotic cell death. At the interface of these metabolic pathways, the autophagy-lysosomal pathway functions to maintain mitochondrial quality and generally serves an important cytoprotective function. In this review we will discuss the autophagic response to reactive oxygen and nitrogen species that are generated from perturbations of cellular glucose metabolism and bioenergetic function.

  17. Multiobjective Traffic Signal Control Model for Intersection Based on Dynamic Turning Movements Estimation

    Directory of Open Access Journals (Sweden)

    Pengpeng Jiao

    2014-01-01

    Full Text Available The real-time traffic signal control for intersection requires dynamic turning movements as the basic input data. It is impossible to detect dynamic turning movements directly through current traffic surveillance systems, but dynamic origin-destination (O-D estimation can obtain it. However, the combined models of dynamic O-D estimation and real-time traffic signal control are rare in the literature. A framework for the multiobjective traffic signal control model for intersection based on dynamic O-D estimation (MSC-DODE is presented. A state-space model using Kalman filtering is first formulated to estimate the dynamic turning movements; then a revised sequential Kalman filtering algorithm is designed to solve the model, and the root mean square error and mean percentage error are used to evaluate the accuracy of estimated dynamic turning proportions. Furthermore, a multiobjective traffic signal control model is put forward to achieve real-time signal control parameters and evaluation indices. Finally, based on practical survey data, the evaluation indices from MSC-DODE are compared with those from Webster method. The actual and estimated turning movements are further input into MSC-DODE, respectively, and results are also compared. Case studies show that results of MSC-DODE are better than those of Webster method and are very close to unavailable actual values.

  18. Overcoming the Pigou-Downs Paradox Using Advanced Traffic Signal Control

    Science.gov (United States)

    Fowdur, S. C.; Rughooputh, S. D. D. V.

    2013-06-01

    Expansion of a road network has often been observed to cause more congestion and has led researchers to the formulation of traffic paradoxes such as the Pigou-Downs and the Braess paradoxes. In this paper, we present an application of advanced traffic signal control (ATSC) to overcome the Pigou-Downs paradox. Port Louis, the capital city of Mauritius is used to investigate the effect of using a harbor bridge to by-pass the city center. Using traffic cellular automata (TCA) simulations it has been shown how, if traffic is only gradually deviated along the by-pass, an overall longer travel time and decreased flux would result. By making use of ATSC, which involves traffic lights that sense the number of vehicles accumulated in the queue, better travel times and fluxes are achieved.

  19. From Cellular Attractor Selection to Adaptive Signal Control for Traffic Networks

    Science.gov (United States)

    Tian, Daxin; Zhou, Jianshan; Sheng, Zhengguo; Wang, Yunpeng; Ma, Jianming

    2016-03-01

    The management of varying traffic flows essentially depends on signal controls at intersections. However, design an optimal control that considers the dynamic nature of a traffic network and coordinates all intersections simultaneously in a centralized manner is computationally challenging. Inspired by the stable gene expressions of Escherichia coli in response to environmental changes, we explore the robustness and adaptability performance of signalized intersections by incorporating a biological mechanism in their control policies, specifically, the evolution of each intersection is induced by the dynamics governing an adaptive attractor selection in cells. We employ a mathematical model to capture such biological attractor selection and derive a generic, adaptive and distributed control algorithm which is capable of dynamically adapting signal operations for the entire dynamical traffic network. We show that the proposed scheme based on attractor selection can not only promote the balance of traffic loads on each link of the network but also allows the global network to accommodate dynamical traffic demands. Our work demonstrates the potential of bio-inspired intelligence emerging from cells and provides a deep understanding of adaptive attractor selection-based control formation that is useful to support the designs of adaptive optimization and control in other domains.

  20. Estimating airflow rates in air-handling units from actuator control signals

    Energy Technology Data Exchange (ETDEWEB)

    Tan, Huiling; Dexter, Arthur [University of Oxford (United Kingdom). Department of Engineering Science

    2006-10-15

    The design and accuracy of simple airflow estimators that are based on actuator control signals are investigated. A computer simulation of the air-circuits of a variable-air-volume air-conditioning system is developed and validated experimentally. The simulation is used to examine the relationship between the supply airflow, the extract airflow and the inlet airflow, and the control signals for the fans and the mixing-box dampers in the air-handling unit (AHU). Based on the simulation results, linear estimators are proposed for the estimation of airflow rates in AHUs. The accuracy of the linear estimators, which are calibrated using measured data collected from the air-conditioning system during testing and balancing, is examined using data collected from a full-scale air-conditioning system. The results show that the estimation errors are less than 8% of full-scale. (author)

  1. Traffic flow model at fixed control signals with discrete service time distribution

    Directory of Open Access Journals (Sweden)

    Lucky I. Igbinosun

    2016-04-01

    Full Text Available Most of the models of road traffic flow at fixed-cycle controlled intersection assume stationary distributions and provide steady state results. The assumption that a constant number of vehicles can leave the system during the green phase is unrealistic in real life situations. A discrete time queuing model was developed to describe the operation of traffic flow at a road intersection with fixed-cycle signalized control and to account for the randomness in the number of vehicles that can leave the system. The results show the expected queue size in the system when the traffic is light and for a busy period, respectively. For the light period, when the traffic intensity is less than one, it takes a shorter green cycle time for vehicles to clear up than during high traffic intensity (the road junction is saturated. Increasing the number of cars that can leave the junction at the turn of the green phase reduces the number of cycle times before the queue is cleared.

  2. Traffic Signal Using Smart Agent System

    OpenAIRE

    Cheonshik Kim; You S. Hong

    2008-01-01

    In this research, we propose an electro-sensitive traffic light using the smart agent algorithm to reduce traffic congestion and traffic accidents. The multi-agent system approach can provide a new and preferable solution. The proposed method adaptively controls the cycle of traffic signals even though the traffic volume varies. Consequently, we reduce the car waiting time and start-up delay time using fuzzy control of feedback data. In particular, we have designed and implemented a system to...

  3. Organic traffic control

    OpenAIRE

    Prothmann, Holger

    2011-01-01

    Modern cities cannot be imagined without traffic lights controlling the road network. To handle the network's changing demands efficiently, the signal plan specification needs to be shifted from the design time to the run-time of a signal system. The generic observer/controller architecture proposed for Organic Computing facilitates this shift. A two-levelled learning mechanism optimises signal plans on-line while a distributed coordination mechanism establishes green waves in the road network.

  4. Traffic Signal Using Smart Agent System

    Directory of Open Access Journals (Sweden)

    Cheonshik Kim

    2008-01-01

    Full Text Available In this research, we propose an electro-sensitive traffic light using the smart agent algorithm to reduce traffic congestion and traffic accidents. The multi-agent system approach can provide a new and preferable solution. The proposed method adaptively controls the cycle of traffic signals even though the traffic volume varies. Consequently, we reduce the car waiting time and start-up delay time using fuzzy control of feedback data. In particular, we have designed and implemented a system to create optimum traffic signals in congested conditions. The effectiveness of this method was shown through simulation of multiple intersections.

  5. Traffic Signals in Motorcycle Dependent Cities

    OpenAIRE

    Do, Quoc Cuong

    2009-01-01

    Traffic signal control was first invented in 1868 in Great Britain. Then, it has quickly spread across many other countries, what are now usually developed countries. Therefore, during a long history of development, traffic signals usually have been dealing with traffic in which four-wheel vehicles play an important role in motorised traffic. However, as a result of an unequal development among countries, many Motorcycle Dependent Cities (MDCs) nowadays still exist mostly in the developing co...

  6. Distributed structural control using multilayered piezoelectric actuators

    Science.gov (United States)

    Cudney, Harley H.; Inman, Daniel J.; Oshman, Yaakov

    1990-01-01

    A method of segmenting piezoelectric sensors and actuators is proposed which can preclude the currently experienced cancelation of sensor signals, or the reduction of actuator effectiveness, due to the integration of the property undergoing measurement or control. The segmentation method is demonstrated by a model developed for beam structures, to which multiple layers of piezoelectric materials are attached. A numerical study is undertaken of increasing active and passive damping of a beam using the segmented sensors and actuators over unsegmented sensors and actuators.

  7. An RFID-Based Intelligent Vehicle Speed Controller Using Active Traffic Signals

    Directory of Open Access Journals (Sweden)

    Joshué Pérez

    2010-06-01

    Full Text Available These days, mass-produced vehicles benefit from research on Intelligent Transportation System (ITS. One prime example of ITS is vehicle Cruise Control (CC, which allows it to maintain a pre-defined reference speed, to economize on fuel or energy consumption, to avoid speeding fines, or to focus all of the driver’s attention on the steering of the vehicle. However, achieving efficient Cruise Control is not easy in roads or urban streets where sudden changes of the speed limit can happen, due to the presence of unexpected obstacles or maintenance work, causing, in inattentive drivers, traffic accidents. In this communication we present a new Infrastructure to Vehicles (I2V communication and control system for intelligent speed control, which is based upon Radio Frequency Identification (RFID technology for identification of traffic signals on the road, and high accuracy vehicle speed measurement with a Hall effect-based sensor. A fuzzy logic controller, based on sensor fusion of the information provided by the I2V infrastructure, allows the efficient adaptation of the speed of the vehicle to the circumstances of the road. The performance of the system is checked empirically, with promising results.

  8. A Simulation-Based Framework for the Cooperation of VMS Travel Guidance and Traffic Signal Control

    Directory of Open Access Journals (Sweden)

    Meng Li

    2014-01-01

    Full Text Available Nowadays, both travel guidance systems and traffic signal control systems are quite common for urban traffic management. In order to achieve collaborative effect, different models had been proposed in the last two decades. In recent years, with the development of variable message sign (VMS technology, more and more VMS panels are installed on major arterials to provide highly visible and concise graphs or text messages to drivers, especially in developing countries. To discover drivers’ responses to VMS, we establish a drivers’ en route diversion model according to a stated-preference survey. Basically, we proposed a cooperative mechanism and systematic framework of VMS travel guidance and major arterials signal operations. And then a two-stage nested optimization problem is formulated. To solve this optimization problem, a simulation-based optimization method is adopted to optimize the cooperative strategies with TRANSIMS. The proposed method is applied to the real network of Tianjin City comprising of 30 nodes and 46 links. Simulations show that this new method could well improve the network condition by 26.3%. And analysis reveals that GA with nested dynamic programming is an effective technique to solve the optimization problem.

  9. Design of Pedestrian Road Crossing System with Actuated Signal Control%路段感应式信号控制行人过街系统设计

    Institute of Scientific and Technical Information of China (English)

    何赏璐; 郑长江; 过秀成; 李岩; 杨洁

    2012-01-01

    A novel pedestrian crossing system based on the actuated signal control is designed to improve the safety and efficiency of pedestrian crossing. This system achieves the functions of real-time detection pedestrian and vehicle with video and loops. Then, the actuated pedestrian signal timing plan is carried out. Three relevant auxiliary facilities, deceleration zone crosswalk, channel lighting system and smart sidewalk barrier are designed to protect pedestrian safety and improve traffic efficiency by separating pedestrian from vehicles temporally and spatially.%为保障路段行人安全过街,提高行人过街效率,设计了基于感应控制的路段行人安全过街系统.该系统分别采用视频和感应线圈实现对过街行人和路段车辆的自动检测,并据此设计行人过街感应信号控制方案,辅以“减速带式”人行横道、路段行人过街通道灯和智能人行道护栏3种过街辅助设施,实现时空上的人车分离.

  10. MATLAB Simulation of Fuzzy Traffic Controller for Multilane Isolated Intersection

    Directory of Open Access Journals (Sweden)

    Azura Che Soh/Lai Guan Rhung

    2010-07-01

    Full Text Available This paper presents a MATLAB simulation of fuzzy traffic controller for controlling traffic flow at multilane isolated signalized intersection. The controller is developed based on the waiting time and vehicles queue length at current green phase, and vehicles queue lengths at the other phases. For control strategy, the controllercontrols the traffic light timings and phase sequence to ensure smooth flow of traffic with minimal waiting time, queue length and delay time. In this research, the isolated intersection model used consists of two lanes in each approach. Each approach has two different values of vehicles queue length and waiting time, respectively, at the intersection. The maximum values of vehicles queue length and waiting times are selected as the inputs to controller for optimized control of traffic flows at the intersection. A traffic model and fuzzy traffic controller are developed to evaluate the performance of traffic controllers underdifferent conditions. In the end, by comparing the experimental result obtained by the vehicle-actuated controller (VAC and fuzzy traffic controller (FTC which improves significant performance for intersections, we confirmed the efficiency of our intelligent controller based fuzzy inference system.

  11. Iterative Learning Control Approach for Signaling Split in Urban Traffic Networks with Macroscopic Fundamental Diagrams

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    Fei Yan

    2015-01-01

    Full Text Available Recent analysis of field experiments in cities revealed that a macroscopic fundamental diagram (MFD relating network outflow and network vehicle accumulation exists in the urban traffic networks. It has been further confirmed that an MFD is well defined if the network has regular network topology and homogeneous spatial distribution of vehicle accumulation. However, many real urban networks have different levels of heterogeneity in the spatial distribution of vehicle accumulation. In order to improve the mobility in heterogeneously congested networks, we propose an iterative learning control approach for signaling split, which aims at distributing the accumulation in the networks as homogeneously as possible and ensuring the networks have a larger outflow. The asymptotic convergence of the proposed approach is proved by rigorous analysis and the effectiveness is further demonstrated by extensive simulations.

  12. The role of optimization to control traffic signals setting on capacity and flow at peak hours at intersections

    Directory of Open Access Journals (Sweden)

    Pegah Jafari Haghighatpour

    2015-06-01

    Full Text Available Control the pre timing of traffic signals has many advantages because of its responsiveness to traffic demands, short cycles, and effective use of capacity leading to and recovering from oversaturation and amenability to aggressive transit priority. Traffic congestion in urban road and freeway networks leads to a strong degradation of the network infrastructure and accordingly reduced throughput, which can be countered via suitable control measures and strategies. Coordination between intersections in a central system increases capacity, appropriate traffic flow and reduce total delays of vehicles. Scats system has been installed in many world intersections, and many researchers have done about the advantages of it to decrease delays and travel times at intersection. SCATS is a modular system and development of this is possible. Now in Tehran's this system is used and traffic conditions matches on it. Traffic signal timing schedule gives in this system as default and although this system is capable of adapting to the moment traffic but in terms of super saturation and during peak hours due to the lack of optimization, default program around intersection has caused widespread congestion at intersection. In this paper, two intersections of East and West of Tehran have been selected, and in two different situations, the flow to capacity ratio of traffic signal timing has been investigated before and after optimization. Simulation by AIMSUN and optimization by SYNCHRO software is done. After optimization can be observed that if before the pre-defined schedule for SCATS, this plan for each intersection of the volume of traffic at peak hours has been optimized, a great reduction in delay and increase in capacity can be observed at intersections. For example, delay time reduction has been occurred about 14.77 in AM peak time and 12.65 in PM peak time at GOLBARG-DARDASHT intersection.

  13. 平面交叉口的另一种交通信号控制%Traffic flow equilibrium saturation when the traffic signal control

    Institute of Scientific and Technical Information of China (English)

    李雪佳; 秦敏

    2012-01-01

      建立可改变信号周期的交通流模型,利用最优控制理论和算法给出优化的信号配时控制策略,其结果与传统的信号配时设计非常接近。%  Establish may alter the signal cycle of the traffic flow model, using the optimal control theory and algorithm are presented to optimize the signal timing control strategy, the result with the traditional signal timing design is very close.

  14. SOLUTION OF SIGNAL UNCERTAINTY PROBLEM AT ANALYTICAL DESIGN OF CONSECUTIVE COMPENSATOR IN PIEZO ACTUATOR CONTROL

    Directory of Open Access Journals (Sweden)

    S.V. Bystrov

    2016-05-01

    Full Text Available Subject of Research.We present research results for the signal uncertainty problem that naturally arises for the developers of servomechanisms, including analytical design of serial compensators, delivering the required quality indexes for servomechanisms. Method. The problem was solved with the use of Besekerskiy engineering approach, formulated in 1958. This gave the possibility to reduce requirements for input signal composition of servomechanisms by using only two of their quantitative characteristics, such as maximum speed and acceleration. Information about input signal maximum speed and acceleration allows entering into consideration the equivalent harmonic input signal with calculated amplitude and frequency. In combination with requirements for maximum tracking error, the amplitude and frequency of the equivalent harmonic effects make it possible to estimate analytically the value of the amplitude characteristics of the system by error and then convert it to amplitude characteristic of open-loop system transfer function. While previously Besekerskiy approach was mainly used in relation to the apparatus of logarithmic characteristics, we use this approach for analytical synthesis of consecutive compensators. Main Results. Proposed technique is used to create analytical representation of "input–output" and "error–output" polynomial dynamic models of the designed system. In turn, the desired model of the designed system in the "error–output" form of analytical representation of transfer functions is the basis for the design of consecutive compensator, that delivers the desired placement of state matrix eigenvalues and, consequently, the necessary set of dynamic indexes for the designed system. The given procedure of consecutive compensator analytical design on the basis of Besekerskiy engineering approach under conditions of signal uncertainty is illustrated by an example. Practical Relevance. The obtained theoretical results are

  15. 路口交通流不均衡饱和时的交通信号控制%Traffic Flow Equilibrium Saturation in Traffic Signal Control

    Institute of Scientific and Technical Information of China (English)

    李雪佳

    2012-01-01

    Aiming at the existing intersection queue, and different directions of traffic flow is not balanced, queue length sum minimum sum of traffic flow model are built, and 2 kinds of optimization of signal timing control strategy are presented by using the optimal control theory and algorithms.%针对交叉路口存在排队车辆,且不同方向上的交通流不均衡,建立排队长度总和达到最小的交通流模型,利用最优控制理论和算法给出两种优化的信号配时控制策略。

  16. Controlled Traffic Farming

    OpenAIRE

    Controlled Traffic Farming Europe

    2011-01-01

    Metadata only record Controlled Traffic Farming (CTF) is a farming method used to reduce soil compaction, decrease inputs, and improve soil structure when coupled with reduced-till or no-till practices. This practices utilizes permanent traffic/wheel zones to limit soil compaction to a specific area. This website provides practical information on CTF, case studies, workshops, and links to additional resources.

  17. Miniaturized Swimming Soft Robot with Complex Movement Actuated and Controlled by Remote Light Signals.

    Science.gov (United States)

    Huang, Chaolei; Lv, Jiu-an; Tian, Xiaojun; Wang, Yuechao; Yu, Yanlei; Liu, Jie

    2015-01-01

    Powering and communication with micro robots to enable complex functions is a long-standing challenge as the size of robots continues to shrink. Physical connection of wires or components needed for wireless communication are complex and limited by the size of electronic and energy storage devices, making miniaturization of robots difficult. To explore an alternative solution, we designed and fabricated a micro soft swimming robot with both powering and controlling functions provided by remote light, which does not carry any electronic devices and batteries. In this approach, a polymer film containing azobenzene chromophore which is sensitive to ultra-violet (UV) light works as "motor", and the UV light and visible light work as "power and signal lines". Periodically flashing UV light and white light drives the robot flagellum periodically to swing to eventually push forward the robot in the glass tube filled with liquid. The gripper on robot head can be opened or closed by lights to grab and carry the load. This kind of remotely light-driven approach realizes complex driving and controlling of micro robotic structures, making it possible to design and fabricate even smaller robots. It will have great potential among applications in the micro machine and robot fields. PMID:26633758

  18. Miniaturized Swimming Soft Robot with Complex Movement Actuated and Controlled by Remote Light Signals

    Science.gov (United States)

    Huang, Chaolei; Lv, Jiu-An; Tian, Xiaojun; Wang, Yuechao; Yu, Yanlei; Liu, Jie

    2015-12-01

    Powering and communication with micro robots to enable complex functions is a long-standing challenge as the size of robots continues to shrink. Physical connection of wires or components needed for wireless communication are complex and limited by the size of electronic and energy storage devices, making miniaturization of robots difficult. To explore an alternative solution, we designed and fabricated a micro soft swimming robot with both powering and controlling functions provided by remote light, which does not carry any electronic devices and batteries. In this approach, a polymer film containing azobenzene chromophore which is sensitive to ultra-violet (UV) light works as “motor”, and the UV light and visible light work as “power and signal lines”. Periodically flashing UV light and white light drives the robot flagellum periodically to swing to eventually push forward the robot in the glass tube filled with liquid. The gripper on robot head can be opened or closed by lights to grab and carry the load. This kind of remotely light-driven approach realizes complex driving and controlling of micro robotic structures, making it possible to design and fabricate even smaller robots. It will have great potential among applications in the micro machine and robot fields.

  19. Pneumatic actuator with hydraulic control

    Science.gov (United States)

    Everett, Hobart R., Jr.

    1992-11-01

    The present invention provides a pneumatically powered actuator having hydraulic control for both locking and controlling the velocity of an output rod without any sponginess. The invention includes a double-acting pneumatic actuator having a bore, a piston slidably engaged within the bore, and a control rod connected to the piston. The double-acting pneumatic actuator is mounted to a frame. A first double-acting hydraulic actuator having a bore, a piston slidably engaged within the bore, and a follower rod mounted to the piston is mounted to the frame such that the follower rod is fixedly connected to the control rod. The maximum translation of the piston within the bore of the first double-acting hydraulic actuator provides a volumetric displacement V1. The present invention also includes a second double-acting hydraulic actuator having a bore, a piston slidably engaged within the bore, and an output rod mounted to the piston. The maximum translation of the piston within the bore of the second double-acting hydraulic actuator provides a volumetric displacement V2, where V2=V1. A pair of fluid ports in each of the first and second double-acting hydraulic cylinders are operably connected by fluid conduits, one of which includes a valve circuit which may be used to control the velocity of the output rod or to lock the output rod in a static position by regulating the flow of hydraulic fluid between the double-acting cylinders.

  20. Control of Adjustable Compliant Actuators

    Directory of Open Access Journals (Sweden)

    Berno J.E. Misgeld

    2014-05-01

    Full Text Available Adjustable compliance or variable stiffness actuators comprise an additional element to elastically decouple the actuator from the load and are increasingly applied to human-centered robotic systems. The advantages of such actuators are of paramount importance in rehabilitation robotics, where requirements demand safe interaction between the therapy system and the patient. Compliant actuator systems enable the minimization of large contact forces arising, for example, from muscular spasticity and have the ability to periodically store and release energy in cyclic movements. In order to overcome the loss of bandwidth introduced by the elastic element and to guarantee a higher range in force/torque generation, new actuator designs consider variable or nonlinear stiffness elements, respectively. These components cannot only be adapted to the walking speed or the patient condition, but also entail additional challenges for feedback control. This paper introduces a novel design method for an impedance-based controller that fulfills the control objectives and compares the performance and robustness to a classical cascaded control approach. The new procedure is developed using a non-standard positive-real Η2 controller design and is applied to a loop-shaping approach. Robust norm optimal controllers are designed with regard to the passivity of the actuator load-impedance transfer function and the servo control problem. Classical cascaded and positive-real Η2 controller designs are validated and compared in simulations and in a test bench using a passive elastic element of varying stiffness.

  1. Multi-Agent Look-Ahead Traffic-Adaptive Control

    NARCIS (Netherlands)

    Van Katwijk, R.T.

    2008-01-01

    The objective of this thesis is to create a distributed, multi-agent, approach to traffic control. This PhD thesis' focus is on the control of a network instrumented by traffic signals.A thorough literature study has been performed, reviewing the current state of the art in traffic signal control.

  2. Chaotic Control of Network Traffic

    Institute of Scientific and Technical Information of China (English)

    YANG Tan; CUI Yi-Dong; JIN Yue-Hui; CHENG Shi-Duan

    2009-01-01

    A method of chaotic control on network traffic is presented.By this method,the chaotic network traffic can be controlled to a pre-assigned equilibrium point according to chaotic prediction and the largest Lyapunov exponent of the traffic on congested link is reduced,thereby the probability of traffic burst and network congestion can be reduced.Numerical examples show that this method is effective.

  3. Analysis of Reconfigured Control Loop with a Virtual Actuator

    Directory of Open Access Journals (Sweden)

    Anna Filasova

    2011-01-01

    Full Text Available Control reconfiguration changes the control structure in response to a fault detected in the plant. This becomes necessary, because a major fault like loss of an actuator breaks the corresponding control loop and therefore renders the whole system inoperable.  An important aim of control reconfiguration is to change the control structure as little as possible, since every change bears the potential of practical problems. The proposed solution is to keep the original controller in the loop and to add an extension called virtual actuator that implements the necessary changes of the control structure. The virtual actuator translates between the signals of the nominal controller and the signal of the faulty plants. This paper is concerned with the analysis of reconfigured loop with a virtual actuator for the system with the faulty actuator. The proposed analysis is illustrated on numerical example.

  4. Coordinated control model of regional traffic signals%交通区域协调控制模型

    Institute of Scientific and Technical Information of China (English)

    刘芹; 徐建闽

    2012-01-01

    为提高交通区域通行效率,构建了适合各种交通状态的区域信号协调控制模型。以区域交叉口总排队车辆数与区域总输出车辆数为性能指标,考虑上下周期排队车辆数、各交叉口闭合相位差与有效绿灯时间,建立了模型约束条件。利用粒子群算法初始化有效绿灯时间与滞留车辆数,采用模拟退火算法求解有效绿灯时间,在不同交通状态下对某交叉口路网进行了仿真。仿真结果表明:与TRANSYT模型相比,低峰时段,采用本文模型排队车辆数降低了5.3%,区域总输出车辆数增加了5.5%;高峰时段,排队车辆数降低了17.9%,区域总输出车辆数增加了33.4%。交叉口的信号方案优化结果表明:与TRANSYT模型相比,采用本文模型时,各车道饱和度均降低,平均为1.8%,最大排队车辆数平均降低2.9%。分析结果表明:本文模型在各种交通状态下都是有效的,特别是在高峰状态下,控制效果优于TRANSYT模型。%In order to improve the traffic efficiency of traffic area, a coordinated control model of regional signals was constructed under all kinds of traffic conditions. The total queue vehicle number and the total output vehicle number of regional intersection were used as performance indexes of the model. The constraint conditions of the model were established by considering the variable relationship of the adjacent cycle queue vehicle numbers, closed phase difference of intersections and effective green time. The effective green time and waiting vehicle number were initialized by particle swarm algorithm. The effective green time was solved by simulated annealing algorithm. The road network of a certain intersection was simulated under different traffic states. Simulation result shows that the queue vehicle number reduces by 5.3% and the total output vehicle number of region increases by 5.5% in low peak period compared with the TRANSYT model. The queue vehicle number reduces by

  5. Connected variable speed limits control and vehicle acceleration control to resolve moving jams

    NARCIS (Netherlands)

    Wang, M.; Daamen, W.; Hoogendoorn, S.P.; Van Arem, B.

    2015-01-01

    The vision of intelligent vehicles traveling in road networks has prompted numerous concepts to control future traffic flow, one of which is the in-vehicle actuation of traffic control signals. The key of this concept is using intelligent vehicles as actuators for traffic control systems, replacing

  6. Traffic signals - alternative method for emissions reduction; Liikennevaloillako paeaestoet alas

    Energy Technology Data Exchange (ETDEWEB)

    Niittymaeki, J. [Helsinki Univ. of Technology, Espoo (Finland)

    2001-07-01

    Traffic signalling is a process, which adapts to the prevailing traffic. The objective of traffic signalling is to direct traffic as safely as possible through a road junction. Other objectives are to maximize the road capacity, to clarify the traffic, and to effect the selection of routs. The target of design and timing of traffic signalling is to minimize the delays of the traffic. However, traffic signalling increases the emissions and fuel consumption. Traditionally the traffic adaptive control has been arranged on the basis of the extension principle, which means the extension of the green light as long as there is demand for the signal, however, only to a set maximum time. In practice the systems seeks an adequate distance in the traffic for cutting off the green light. New methods, such as mathematical optimization, fuzzy logic, neural networks and generic algorithms have been included traffic signalling. These new methods have proven to be 10-20% more efficient than the old ones. Results of the researches have shown that it is possible to achieve significant savings in social economy, including savings in fuels consumption and environmental impacts of the traffic, by development/renovation of traffic signalling. This article reviews the studies carried out in Finland on traffic signalling. A typical driving process through a signalized road junction: deceleration, idle running, acceleration and steady driving. The emissions of these phases differ from each other. Gasoline-fueled cars equipped with catalyst produces significantly more CO during idle running than in the other phases, and the HC content is highest during deceleration. On the other hand NO{sub x} formation is highest during acceleration. Formation of CO, HC and aldehydes is lowest during steady driving, and the formation of NO{sub x} during deceleration. CO and NO{sub x} emissions of diesel engines are highest during acceleration, and HC emissions during idle running. Total emissions of diesel

  7. Traffic Monitoring and Control Using RFID

    Directory of Open Access Journals (Sweden)

    Gaurav Thakur

    2013-09-01

    Full Text Available Traffic congestion and tidal flow management were recognized as major problems in modern urban areas, which have caused much frustration and loss of man hours. The operation of standard traffic lights which are currently deployed in many junctions, are based on predetermined timing schemes, which are fixed during the installation and remain until further resetting. The timing is no more than a default setup to control what may be considered as normal traffic. Although every road junction by necessity requires different traffic light timing setup, many existing systems operate with a default sequence. To design an intelligent and efficient traffic control system, a number of parameters that represent the status of the road conditions must be identified and taken into consideration. Approach: In order to solve the problem an intelligent RFID traffic control has been developed. This project is based on monitoring the traffic density at the signal using RFID Reader. RFID tags which is placed (instead of number plate at each vehicle will serve as the unique number of vehicle .Reader will count the number of tags at the signal and take decision of increasing or decreasing the signal time .This reader is also use to find the violation(VIN of violator of the signal. Each passive tag will have certain number of bytes information will be different for different vehicles. Whenever any tag will approach any signal, reader will take that bytes of information and simultaneously will also increment the number of vehicles for making decision to change the signal timing. Each tag of data will be stored in main memory (database.This unique data will also help in determining the violator of the signal .Thus it will save human efforts and resources to a greater extent and reduce waiting of the people at the signal. After implementation of this project, now all people waiting at the signal will get proper time (green light according to the traffic density

  8. 一种新型嵌入式网络信号机研究与设计%Study and Design of Embedded Network Traffic Signal Controller

    Institute of Scientific and Technical Information of China (English)

    肖圣兵; 陈锋

    2012-01-01

    Traffic signal controller is one of the main foundations for Intelligent Traffic System. In order to meet intellectualization and network requirements, a novel embedded network signal controller is investigated. ARM and CPLD are used to design hardware structure of signal controller, and humanized user interface is developed using QT/Embedded based on touch screen. Multiple communication interfaces are supported and the communication protocol is defined by XML. The mode of two level conflict check is introduced to avoid green conflict. Single point fuzzy control module is developed to deal with dynamic traffic flow, so as to increase traffic capacity in intersection. Connecting to traffic simulation software that simulates the actual intersectiont experiments show that traffic signal controller works stably, and has excellent performance.%交通信号机是智能交通系统的基础之一,为了满足信号机的网络化和智能化的要求,研究并提出了一种新型的嵌入式网络信号机,该信号机的硬件结构采用ARM和CPLD,以触摸屏为基础采用QT/Embedded设计了人性化的人机接口,信号机支持多种通信接口,其协议采用XML予以定义;为了避免绿冲突,以两级模式进行冲突判断;单点模糊控制机制的设计能够适应动态的交通流状况,有效提高交叉口的通行能力;连接交通仿真软件,模拟实际路口,实验显示该信号机工作稳定,性能优越.

  9. The anti-motility signaling mechanism of TGFβ3 that controls cell traffic during skin wound healing

    Directory of Open Access Journals (Sweden)

    Arum Han

    2012-09-01

    When skin is wounded, migration of epidermal keratinocytes at the wound edge initiates within hours, whereas migration of dermal fibroblasts toward the wounded area remains undetectable until several days later. This “cell type traffic” regulation ensures proper healing of the wound, as disruptions of the regulation could either cause delay of wound healing or result in hypertrophic scars. TGFβ3 is the critical traffic controller that selectively halts migration of the dermal, but not epidermal, cells to ensure completion of wound re-epithelialization prior to wound remodeling. However, the mechanism of TGFβ3's anti-motility signaling has never been investigated. We report here that activated TβRII transmits the anti-motility signal of TGFβ3 in full to TβRI, since expression of the constitutively activated TβRI-TD mutant was sufficient to replace TGFβ3 to block PDGF-bb-induced dermal fibroblast migration. Second, the three components of R-Smad complex are all required. Individual downregulation of Smad2, Smad3 or Smad4 prevented TGFβ3 from inhibiting dermal fibroblast migration. Third, Protein Kinase Array allowed us to identify the protein kinase A (PKA as a specific downstream effector of R-Smads in dermal fibroblasts. Activation of PKA alone blocked PDGF-bb-induced dermal fibroblast migration, just like TGFβ3. Downregulation of PKA's catalytic subunit nullified the anti-motility signaling of TGFβ3. This is the first report on anti-motility signaling mechanism by TGFβ family cytokines. Significance of this finding is not only limited to wound healing but also to other human disorders, such as heart attack and cancer, where the diseased cells have often managed to avoid the anti-motility effect of TGFβ.

  10. Study on Control Algorithm of Traffic Signals at Intersections Based on Optimizing Sub-area Traffic Flows%基于子区域交通流优化的交叉口信号控制研究

    Institute of Scientific and Technical Information of China (English)

    臧利林; 朱文兴

    2012-01-01

    In order to reduce average delay time of passing vehicles and improve urban area traffic efficiency, considering actual geographical characteristics of intersections and sub-area traffic data, a control model for traffic signals at intersections was built based on optimizing sub-area traffic flows, and genetic algorithm was used to find out the optimal solution of the model. With traffic signals coordination of neighboring intersections considered, vehicle minimal delay time was chosen as the optimization object in the model. HCM2000 was adopted to calculate vehicle delay time and Robertson model was embedded in the optimization procedure, which ensured the proposed model to be feasible and effective. VC+ 3- 6. 0 software was applied to programm and calculate an optimal control plan for traffic signals at intersections. Finally, simulation by CORSIM was implemented to verifythe validity of the control plan. The results show that the proposed model can obtain better traffic efficiency than the coordination control method based on existing common cycle, and provides a new signal control idea at intersections for urban traffic.%为了减少车辆平均延误时间,提高城市区域交通通行效率,结合实际交叉口地理特征和区域交通流数据,建立了一种基于子区域交通流优化的交叉口信号控制模型,并应用遗传算法获得模型的最优解。在模型中,考虑相邻交叉口信号之间的协调,以车辆平均延误时间最小为优化目标,采用HCM2000延误计算方法,并在优化过程中嵌入Robertson车队离散模型,保证提出模型的可行性和有效性。在VC++6.0中编写程序,获得交叉口信号最优控制方案,最后通过CORSIM仿真证明该控制方案的优劣。结果表明:与现有基于共同周期的协调控制方法相比,所提出的模型能够获得更优的交通效益,为区域交通信号控制提供了一种新的思路。

  11. Intelligent traffic control system using PLC

    Science.gov (United States)

    Barz, C.; Todea, C.; Latinovic, T.; Preradovic, D. M.; Deaconu, S.; Berdie, A.

    2016-08-01

    The paper presents the traffic control system controlled through a PLC which takes the signals from different sensors on roads. The global system developed ensures the coordination of four intersections, setting a path that respects coordination type green light, the integration of additional sensors, the implementation of probes radar to inform traffic participants about recommended speed for accessing the green state located in the intersection that will follow to cross.

  12. Transputer Control of Hydraulic Actuators and Robots

    DEFF Research Database (Denmark)

    Conrad, Finn

    1996-01-01

    Results from a Danish mechatronics research program entitled IMCIA - Intelligent Control and Intelligent Actuators. The objective is development of intelligent actuators for intelligent motion control. A mechatronics test facility with a transputer controlled hydraulic robot suiteable for real......-time experiments and evaluation of control laws and algorithms is presented. Concepts of intelligent motion control and intelligent hydraulic actuators are proposed. Promising experimental path-tracking results obtained from model-based adaptive control algorithms are presented and discussed....

  13. Controlling Disorder in Traffic Flow by Perturbation

    Institute of Scientific and Technical Information of China (English)

    LI Ke-Ping; GAO Zi-You; CHEN Tian-Lun

    2004-01-01

    We propose a new technique for controlling disorder in traffic system. A kind of control signal which can be considered as a perturbation has been designated at a given site (perturbation point) of the single-lane highway. When a vehicle passes the perturbation point at a time, the velocity of the vehicle will be changed at the next time by the perturbation. This technique is tested for the deterministic NaSch traffic model. The simulation results indicate that the traffic system can be transited from the disorder states to the order states, such as fixed-point, periodic motion, etc.

  14. Microprocessor controlled proof-mass actuator

    Science.gov (United States)

    Horner, Garnett C.

    1987-01-01

    The objective of the microprocessor controlled proof-mass actuator is to develop the capability to mount a small programmable device on laboratory models. This capability will allow research in the active control of flexible structures. The approach in developing the actuator will be to mount all components as a single unit. All sensors, electronic and control devices will be mounted with the actuator. The goal for the force output capability of the actuator will be one pound force. The programmable force actuator developed has approximately a one pound force capability over the usable frequency range, which is above 2 Hz.

  15. Two-layer hierarchical control solutions for traffic signal%面向交通信号的两层递阶控制解决方案

    Institute of Scientific and Technical Information of China (English)

    戈军; 周莲英

    2015-01-01

    针对现有交通信号控制系统的诸多不足,提出了一种用于交通信号控制的两层递阶多Agent系统解决方案。通过将交通网络进行区域划分,利用底层Agent控制各交叉口,顶层Agent控制区域,从而实现两层递阶控制。底层Agent采用经典Q学习同步学习最优策略,顶层Agent利用Tile Coding非凡的连续空间处理能力,实现Q学习的动作值函数逼近方法。仿真实验结果表明,该分层递阶控制不但提高了交通信号控制系统效率,而且也为大规模应用提供了很好的可伸缩解决方案。%In view of the existing deficiencies of traffic signal control system, this paper proposes two-layer hierarchical multi-Agent system solution for traffic signal control. Through regional division of the traffic network, it uses the bottom level Agent to control the intersection, the top level Agent to control areas, so as to achieve the two-layer hierarchical con-trol. The bottom level Agent uses the classical Q-learning to synchronize the optimal strategy, the top level Agent utilizes the special continuous space processing ability of Tile Coding to achieve Q learning of action value function approxima-tion method. The simulation test results show that, the hierarchical control not only improves the efficiency of traffic signal control system, but also provides a good scalable solution for large-scale applications.

  16. Modelling of urban traffic networkof signalized intersections

    OpenAIRE

    Ocran, Abena Kwantwiwaa

    2013-01-01

    This report presents how traffic network of signalized intersection in a chosen urban area called Tema is synchronized. Using a modular approach, two different types of traffic intersection commonly found in an urban area were modelled i.e. a simple intersection and a complex intersection. A direct road, even though not an intersection, was also included in the modelling because it’s commonly found in an urban area plus it connects any two intersections. Each of these scenarios was modelled u...

  17. System and method for traffic signal timing estimation

    KAUST Repository

    Dumazert, Julien

    2015-12-30

    A method and system for estimating traffic signals. The method and system can include constructing trajectories of probe vehicles from GPS data emitted by the probe vehicles, estimating traffic signal cycles, combining the estimates, and computing the traffic signal timing by maximizing a scoring function based on the estimates. Estimating traffic signal cycles can be based on transition times of the probe vehicles starting after a traffic signal turns green.

  18. Distributed learning and multi-objectivity in traffic light control

    Science.gov (United States)

    Brys, Tim; Pham, Tong T.; Taylor, Matthew E.

    2014-01-01

    Traffic jams and suboptimal traffic flows are ubiquitous in modern societies, and they create enormous economic losses each year. Delays at traffic lights alone account for roughly 10% of all delays in US traffic. As most traffic light scheduling systems currently in use are static, set up by human experts rather than being adaptive, the interest in machine learning approaches to this problem has increased in recent years. Reinforcement learning (RL) approaches are often used in these studies, as they require little pre-existing knowledge about traffic flows. Distributed constraint optimisation approaches (DCOP) have also been shown to be successful, but are limited to cases where the traffic flows are known. The distributed coordination of exploration and exploitation (DCEE) framework was recently proposed to introduce learning in the DCOP framework. In this paper, we present a study of DCEE and RL techniques in a complex simulator, illustrating the particular advantages of each, comparing them against standard isolated traffic actuated signals. We analyse how learning and coordination behave under different traffic conditions, and discuss the multi-objective nature of the problem. Finally we evaluate several alternative reward signals in the best performing approach, some of these taking advantage of the correlation between the problem-inherent objectives to improve performance.

  19. Stochastic control of traffic patterns

    DEFF Research Database (Denmark)

    Gaididei, Yuri B.; Gorria, Carlos; Berkemer, Rainer;

    2013-01-01

    A stochastic modulation of the safety distance can reduce traffic jams. It is found that the effect of random modulation on congestive flow formation depends on the spatial correlation of the noise. Jam creation is suppressed for highly correlated noise. The results demonstrate the advantage...... of heterogeneous performance of the drivers in time as well as individually. This opens the possibility for the construction of technical tools to control traffic jam formation....

  20. Study on Signal Intersection Traffic Flow Characteristics in Ice Conditions

    Directory of Open Access Journals (Sweden)

    Rui Ouyang

    2014-07-01

    Full Text Available As the component of urban transportation network, the intersection is the main part of traffic accidents and the bottleneck of restricting the smoothness of the transportation system. There are signalized intersection and non-signalized intersection, and the former is the main form at the intersection. So the evaluation of the service level under ice and snowfall conditions is significant. In the paper, we analysis the basic parameter of intersection signal control and operating characteristics of straight, right turn, left turn traffic flow in ice and snow condition, and we propose a traffic delay time model. On this basis, according to the snowfall intensity and respectively to the lanes and the whole intersection traffic flow as the object of study, we study the average delay in signal intersection in normal weather, slight snow, heavy snow and blizzard. With snow and ice conditions as starting point, the paper calculates the traffic capacities of signalized intersection under various snow and ice conditions. We compare the results of the calculation model and the actual measurement results, finally get the conclusion: the average delay time model can better express the vehicle at signalized intersection, in which the maximum deviation is 16.73%, and only appear once, twice the maximum deviation is 13.58%, and calibrate the snow and cold weather delayed mixed model.

  1. Position Control of Single Pneumatic Muscle Actuator

    Institute of Scientific and Technical Information of China (English)

    FAN Wei; PENG Guang-zheng; NING Ru-xin

    2005-01-01

    The PID, fuzzy, self-organized fuzzy and self-organized fuzzy-PID controllers are adopted in the position control of single pneumatic muscle actuator. Experiments show that the self-organized fuzzy-PID is obviously effective for the position control of single pneumatic muscle actuator, which can realize precision within 0.3 mm and withstand 18N variable load plus about 36N fixed load. It is relatively precise and robust.

  2. Distributed Air Traffic Control Simulator

    Directory of Open Access Journals (Sweden)

    R. Radovanović

    2013-06-01

    Full Text Available During initial training air traffic control students acquire theoretical knowledge in various fields including air traffic management, aircraft performance, air traffic control equipment and systems, navigation and others. This paper proposes a simulator and explains its use and features that allows students to gain a practical insight into their coursework in order to complement their training. The goal of the simulator is to realistically implement all the key functionalities needed to cover the topics that were presented in class. The simulator offers a user friendly, distributed, and multi-role environment that can be deployed on regular PCs. Moreover, this paper discusses and resolves some of the main conceptual and implementational issues that were faced during simulator development.

  3. Vibration control of a flexible structure with electromagnetic actuators

    DEFF Research Database (Denmark)

    Gruzman, Maurício; Santos, Ilmar

    2016-01-01

    This work presents the model of a shear-frame-type structure composed of six flexible beams and three rigid masses. Fixed on the ground, outside the structure, two voltage-controlled electromagnetic actuators are used for vibration control. To model the flexible beams, unidimensional finite...... elements were used. Nonlinear equations for the actuator electromagnetic force, noise in the position sensor, time delays for the control signal update and voltage saturation were also considered in the model. For controlling purposes, a discrete linear quadratic regulator combined with a predictive full...

  4. Biomimetic photo-actuation: sensing, control and actuation in sun-tracking plants

    International Nuclear Information System (INIS)

    Although the actuation mechanisms that drive plant movement have been investigated from a biomimetic perspective, few studies have looked at the wider sensing and control systems that regulate this motion. This paper examines photo-actuation—actuation induced by, and controlled with light—through a review of the sun-tracking functions of the Cornish Mallow. The sun-tracking movement of the Cornish Mallow leaf results from an extraordinarily complex—yet extremely elegant—process of signal perception, generation, filtering and control. Inspired by this process, a concept for a simplified biomimetic analogue of this leaf is proposed: a multifunctional structure employing chemical sensing, signal transmission, and control of composite hydrogel actuators. We present this multifunctional structure, and show that the success of the concept will require improved selection of materials and structural design. This device has application in the solar-tracking of photovoltaic panels for increased energy yield. More broadly it is envisaged that the concept of chemical sensing and control can be expanded beyond photo-actuation to many other stimuli, resulting in new classes of robust solid-state devices. (paper)

  5. Bluff Body Flow Control Using Plasma Actuators

    Science.gov (United States)

    Thomas, Flint

    2005-11-01

    In this study, the use of single dielectric barrier discharge plasma actuators for the control of bluff body flow separation is investigated. In particular, surface mounted plasma actuators are used to reduce both drag and unsteady vortex shedding from circular cylinders in cross-flow. It is demonstrated that the plasma-induced surface blowing gives rise to a local Coanda effect that promotes the maintenance of flow attachment. Large reductions in vortex shedding and drag are demonstrated for Reynolds numbers ˜ 10^410^5. Both steady and unsteady plasma-induced surface blowing is explored. Results are presented from experiments involving both two and four surface mounted actuators.

  6. A Simulated System for Traffic Signal Management Based on Integrating GIS & WSN Techniques

    Directory of Open Access Journals (Sweden)

    Ahmed S. Elmotelb

    2016-01-01

    Full Text Available Traffic signals management systems (TSMS are traffic systems based on cameras, infrared sensors and satellite systems. Such systems have been lacking the ability of real-time data collection and support. This paper proposes a solution to the traffic signal management problem using combined techniques that combines both GIS information with WSN based techniques. This combination provide appropriate techniques and tools that will enhance the capabilities of traffic jam prevention, early detection, efficient surveillance, efficient spread control, and fast termination of possible hazards. Consequently, this work proposes a new methodology thrown merging WSN and GIS techniques to produce valuable information for traffic signals management systems purposes.

  7. Bumpless switching control for switched systems with partial actuator failures

    Science.gov (United States)

    Qi, Yiwen; Bao, Wen; Zhang, Qingxin; Chang, Juntao

    2016-11-01

    This study is concerned with the bumpless transfer problem for switched systems with partial actuator failures, in order to obtain smooth system performance output transition. Taking into account that the system requires a controller switching from current sub-controller to a fault-tolerant sub-controller after actuator fault. And bumpless transfer for control input cannot be traditionally designed when the actuator fault occurs, while performance smoothing can be considered and it is actually the ultimate goal of bumpless transfer. Specifically, the actuator fault model is firstly established and partial actuator fault is considered. Then, the system performance output signal is deemed as the main design variable of bumpless transfer, and closed-loop control systems both previous and after controller switching are constructed. Moreover, by using model matching thought and the adaptive sliding mode control technique, a bumpless transfer compensator design strategy is given to drive the performance output variable (after controller switching) to track the one of reference model. At last, simulation results of numeric and application examples demonstrate the effectiveness of the proposed bumpless transfer strategy.

  8. Mirrors Containing Biomimetic Shape-Control Actuators

    Science.gov (United States)

    Bar-Cohen, Yoseph; Mouroulis, Pantazis; Bao, Xiaoqi; Sherrit, Stewart

    2003-01-01

    Curved mirrors of a proposed type would comprise lightweight sheets or films containing integral, biologically inspired actuators for controlling their surface figures. These mirrors could be useful in such applications as collection of solar energy, focusing of radio beams, and (provided sufficient precision could be achieved) imaging. These mirrors were originally intended for use in outer space, but it should also be possible to develop terrestrial versions. Several prior NASA Tech Briefs articles have described a variety of approaches to the design of curved, lightweight mirrors containing integral shape-control actuators. The primary distinction between the present approach and the prior approaches lies in the actuator design concept, which involves shapes and movements reminiscent of those of a variety of small, multi-armed animals. The shape and movement of an actuator of this type can also be characterized as reminiscent of that of an umbrella. This concept can be further characterized as a derivative of that of multifinger grippers, the fingers of which are bimorph bending actuators (see Figure 1). The fingers of such actuators can be strips containing any of a variety of materials that have been investigated for use as actuators, including such electroactive polymers as ionomeric polymer/metal composites (IPMCs), ferroelectric polymers, and grafted elastomers. A mirror according to this proposal would be made from a sheet of one of the actuator composites mentioned above. The design would involve many variables, including the pre-curvature and stiffness of the mirror sheet, the required precision of figure control, the required range of variation in focal length (see Figure 2), the required precision of figure control for imaging or non-imaging use, the bending and twisting moments needed to effect the required deformations, and voltage-tomoment coefficients of the actuators, and the voltages accordingly required for actuation. A typical design would call

  9. NEW POSSIBILITIES OF RAILWAY TRAFFIC CONTROL SYSTEMS

    Directory of Open Access Journals (Sweden)

    Lionginas LIUDVINAVIČIUS

    2016-06-01

    Full Text Available This article analyses the train traffic control systems in 1435 mm and 1520 mm gauge railways. The article analyses the aspects of train traffic control and locomotive energy saving by using the coordinates of track profile change that have been received from GPS. In the article, achievements of Lithuanian railways (LG in the area of train traffic control optimisation are presented.

  10. NEW POSSIBILITIES OF RAILWAY TRAFFIC CONTROL SYSTEMS

    OpenAIRE

    Lionginas LIUDVINAVIČIUS; Stasys DAILYDKA; Aleksander SŁADKOWSKI

    2016-01-01

    This article analyses the train traffic control systems in 1435 mm and 1520 mm gauge railways. The article analyses the aspects of train traffic control and locomotive energy saving by using the coordinates of track profile change that have been received from GPS. In the article, achievements of Lithuanian railways (LG) in the area of train traffic control optimisation are presented.

  11. Multi-objective actuator placement optimization for local sound control evaluated in a stochastic domain

    OpenAIRE

    Airaksinen, Tuomas; Aittokoski, Timo

    2012-01-01

    A method to find optimal locations and properties of anti-noise actuators in a local noise control system is considered. The local noise control performance is approximated by an approach based on a finite element method, attempting to estimate the average performance of an optimal active noise control (ANC) system. Local noise control uses a fixed number of circular actuators that are located on the boundary of a three-dimensional enclosed acoustic space. Actuator signals are used to minimiz...

  12. Three-phase theory of city traffic: Moving synchronized flow patterns in under-saturated city traffic at signals

    Science.gov (United States)

    Kerner, Boris S.

    2014-03-01

    Three-phase traffic flow theory of city traffic has been developed. Based on simulations of a stochastic microscopic traffic flow model, features of moving synchronized flow patterns (MSP) have been studied, which are responsible for a random time-delayed breakdown of a green-wave (GW) organized in a city. A possibility of GW control leading to the prevention of GW breakdown has been demonstrated. A diagram of traffic breakdown in under-saturated traffic (transition from under- to over-saturated city traffic) at the signal has been found; the diagram presents regions of the average arrival flow rate, within which traffic breakdown can occur, in dependence of parameters of the time-function of the arrival flow rate or/and signal parameters. Physical reasons for a crucial difference between results of classical theory of city traffic and three-phase theory are explained. In particular, we have found that under-saturated traffic at the signal can exist during a long time interval, when the average arrival flow rate is larger than the capacity of the classical theory; the classical capacity is equal to a minimum capacity in three-phase theory. Within a range of the average arrival flow rate between the minimum and maximum signal capacities, under-saturated traffic is in a metastable state with respect to traffic breakdown. We have distinguished the following possible causes for the metastability of under-saturated traffic: (i) The arrival flow rate during the green phase is larger than the saturation flow rate. (ii) The length of the upstream front of a queue at the signal is a finite value. (iii) The outflow rate from a MSP (the rate of MSP discharge) is larger than the saturation flow rate.

  13. Traffic Signal Synchronization in the Saturated High-Density Grid Road Network

    Directory of Open Access Journals (Sweden)

    Xiaojian Hu

    2015-01-01

    Full Text Available Most existing traffic signal synchronization strategies do not perform well in the saturated high-density grid road network (HGRN. Traffic congestion often occurs in the saturated HGRN, and the mobility of the network is difficult to restore. In order to alleviate traffic congestion and to improve traffic efficiency in the network, the study proposes a regional traffic signal synchronization strategy, named the long green and long red (LGLR traffic signal synchronization strategy. The essence of the strategy is to control the formation and dissipation of queues and to maximize the efficiency of traffic flows at signalized intersections in the saturated HGRN. With this strategy, the same signal control timing plan is used at all signalized intersections in the HGRN, and the straight phase of the control timing plan has a long green time and a long red time. Therefore, continuous traffic flows can be maintained when vehicles travel, and traffic congestion can be alleviated when vehicles stop. Using the strategy, the LGLR traffic signal synchronization model is developed, with the objective of minimizing the number of stops. Finally, the simulation is executed to analyze the performance of the model by comparing it to other models, and the superiority of the LGLR model is evident in terms of delay, number of stops, queue length, and overall performance in the saturated HGRN.

  14. Traffic signal synchronization in the saturated high-density grid road network.

    Science.gov (United States)

    Hu, Xiaojian; Lu, Jian; Wang, Wei; Zhirui, Ye

    2015-01-01

    Most existing traffic signal synchronization strategies do not perform well in the saturated high-density grid road network (HGRN). Traffic congestion often occurs in the saturated HGRN, and the mobility of the network is difficult to restore. In order to alleviate traffic congestion and to improve traffic efficiency in the network, the study proposes a regional traffic signal synchronization strategy, named the long green and long red (LGLR) traffic signal synchronization strategy. The essence of the strategy is to control the formation and dissipation of queues and to maximize the efficiency of traffic flows at signalized intersections in the saturated HGRN. With this strategy, the same signal control timing plan is used at all signalized intersections in the HGRN, and the straight phase of the control timing plan has a long green time and a long red time. Therefore, continuous traffic flows can be maintained when vehicles travel, and traffic congestion can be alleviated when vehicles stop. Using the strategy, the LGLR traffic signal synchronization model is developed, with the objective of minimizing the number of stops. Finally, the simulation is executed to analyze the performance of the model by comparing it to other models, and the superiority of the LGLR model is evident in terms of delay, number of stops, queue length, and overall performance in the saturated HGRN.

  15. 30 CFR 56.9100 - Traffic control.

    Science.gov (United States)

    2010-07-01

    ... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Traffic control. 56.9100 Section 56.9100 Mineral Resources MINE SAFETY AND HEALTH ADMINISTRATION, DEPARTMENT OF LABOR METAL AND NONMETAL MINE... Dumping Traffic Safety § 56.9100 Traffic control. To provide for the safe movement of...

  16. Cylinder Flow Control Using Plasma Actuators

    Science.gov (United States)

    Kozlov, Alexey; Thomas, Flint

    2007-11-01

    In this study the results of flow control experiments utilizing single dielectric barrier discharge plasma actuators to control flow separation and unsteady vortex shedding from a circular cylinder in cross-flow are reported. Two optimized quartz dielectric plasma actuators mounted on the cylinder surface utilizing an improved saw-tooth waveform high-voltage generator allowed flow control at Reynolds number approaching supercritical. Using either steady or unsteady actuation, it is demonstrated that the plasma-induced surface blowing gives rise to a local Coanda effect that promotes the maintenance of flow attachment. PIV based flow fields and wake velocity profiles obtained with hot-wire anemometry show large reductions in vortex shedding, wake width and turbulence intensity.

  17. Traffic routes and signals for the tonoplast.

    Science.gov (United States)

    Pedrazzini, Emanuela; Komarova, Nataliya Y; Rentsch, Doris; Vitale, Alessandro

    2013-06-01

    Tonoplast, the membrane delimiting plant vacuoles, regulates ion, water and nutrient movement between the cytosol and the vacuolar lumen through the activity of its membrane proteins. Correct traffic of proteins from the endoplasmic reticulum (ER) to the tonoplast requires (i) approval by the ER quality control, (ii) motifs for exit from the ER and (iii) motifs that promote sorting to the tonoplast. Recent evidence suggests that this traffic follows different pathways that are protein-specific and could also reflect vacuole specialization for lytic or storage function. The routes can be distinguished based on their sensitivity to drugs such as brefeldin A and C834 as well as using mutant plants that are defective in adaptor proteins of vesicle coats, or dominant-negative mutants of Rab GTPases.

  18. A Sarsa(λ)-Based Control Model for Real-Time Traffic Light Coordination

    OpenAIRE

    Xiaoke Zhou; Fei Zhu; Quan Liu; Yuchen Fu; Wei Huang

    2014-01-01

    Traffic problems often occur due to the traffic demands by the outnumbered vehicles on road. Maximizing traffic flow and minimizing the average waiting time are the goals of intelligent traffic control. Each junction wants to get larger traffic flow. During the course, junctions form a policy of coordination as well as constraints for adjacent junctions to maximize their own interests. A good traffic signal timing policy is helpful to solve the problem. However, as there are so many factors t...

  19. Control Software for Piezo Stepping Actuators

    Science.gov (United States)

    Shields, Joel F.

    2013-01-01

    A control system has been developed for the Space Interferometer Mission (SIM) piezo stepping actuator. Piezo stepping actuators are novel because they offer extreme dynamic range (centimeter stroke with nanometer resolution) with power, thermal, mass, and volume advantages over existing motorized actuation technology. These advantages come with the added benefit of greatly reduced complexity in the support electronics. The piezo stepping actuator consists of three fully redundant sets of piezoelectric transducers (PZTs), two sets of brake PZTs, and one set of extension PZTs. These PZTs are used to grasp and move a runner attached to the optic to be moved. By proper cycling of the two brake and extension PZTs, both forward and backward moves of the runner can be achieved. Each brake can be configured for either a power-on or power-off state. For SIM, the brakes and gate of the mechanism are configured in such a manner that, at the end of the step, the actuator is in a parked or power-off state. The control software uses asynchronous sampling of an optical encoder to monitor the position of the runner. These samples are timed to coincide with the end of the previous move, which may consist of a variable number of steps. This sampling technique linearizes the device by avoiding input saturation of the actuator and makes latencies of the plant vanish. The software also estimates, in real time, the scale factor of the device and a disturbance caused by cycling of the brakes. These estimates are used to actively cancel the brake disturbance. The control system also includes feedback and feedforward elements that regulate the position of the runner to a given reference position. Convergence time for smalland medium-sized reference positions (less than 200 microns) to within 10 nanometers can be achieved in under 10 seconds. Convergence times for large moves (greater than 1 millimeter) are limited by the step rate.

  20. Comparison of Two Methods of Traffic Signal Design Cycle

    Directory of Open Access Journals (Sweden)

    María Liliana Alba Menéndez

    2013-02-01

    Full Text Available To satisfy the traffic demand in intersections, with safety and efficiency it is common to use a signallike control device, such that the right of using the common space of the intersections is assignedalternatively to the currents of such traffic flow that they cross. In Cuba, for the calculation of the cyclelength and the phases of the signal the Method of Poisson is used, based on the probability ofrandom arrivals of vehicles to the access point, developed in the 50th century. Presently many countriesuse the Method developed by Webster in England during 60th century, based on empiric observationsthen and unto today has proven effective, where an optimal cycle length is calculated, that is minimumdelays and better levels of service.In this study several intersections in Havana with high levels ofcomplexity were studied, the cycle length and the intervals of green were calculated by each method,the parameters that define the quality of the operation were determined in each method. The resultwill be vital in the strategic planning as see fit the National Centre of Traffic Engineering in thedesigning of traffic lights, with efficiency in road traffic.

  1. Output constrained IMC controllers in control systems of electromechanical actuators

    Institute of Scientific and Technical Information of China (English)

    Piotr M MARUSAK; Suwat KUNTANAPREEDA

    2015-01-01

    Electromechanical actuators are widely used in many industrial applications. There are usually some constraints existing in a designed system. This paper proposes a simple method to design constrained controllers for electromechanical actuators. The controllers merge the ideas exploited in internal model control and model predictive control. They are designed using the standard control system structure with unity negative feedback. The structure of the controllers is relatively simple as well as the design process. The output constraint handling mechanism is based on prediction of the control plant behavior many time steps ahead. The mechanism increases control performance and safety of the control plant. The benefits offered by the proposed controllers have been demonstrated in real-life experiments carried out in control systems of two electromechanical actuators:a DC motor and an electrohydraulic actuator.

  2. Signal Controlled Urban Traffic Network Model with Random Update Rule%信号灯随机更新的城市交通网络模型

    Institute of Scientific and Technical Information of China (English)

    盘薇; 贾丽斯; 薛郁

    2016-01-01

    【目的】改进二维元胞自动机模型(BML模型),使其更好模拟实际城市交通网络。【方法】利用元胞自动机方法,建立信号灯随机更新的城市交通网络模型。【结果】数值模拟发现,信号灯的同步对城市交通网络的影响较大,且随机更新的引入使得网络系统的临界密度大幅度降低。【结论】同时调整信号灯的分布和信号变换周期能有效控制交通网络,解决由于信号灯随机更新所造成的系统临界密度变小的问题。%Objective]An improved two-dimensional cellular automaton model (BML model) was proposed to better simulate real urban traffic network.[Methods]Aiming at the urban traf-fic congestion problem and using the cellular automata method,a traffic signal model with ran-dom update rule was established to study the urban traffic network.[Results]Simulation results showed that the synchronization of the traffic signal has great influence on the traffic system, and the introduction of random update rule significantly reduces the critical density of phase transition.[Conclusion]When the roads are crowed by cars,simultaneous adj usting of signal ar-rangements and periods provides a possible way for relaxing the traffic congestion.

  3. Synthetic jet actuation for load control

    NARCIS (Netherlands)

    Vries, de H.; Weide, van der E.T.A.; Hoeijmakers, H.W.M.

    2014-01-01

    The reduction of wind turbine blade loads is an important issue in the reduction of the costs of energy production. Reduction of the loads of a non-cyclic nature requires so-called smart rotor control, which involves the application of distributed actuators and sensors to provide fast and local chan

  4. Satellite Attitude Control Using Only Electromagnetic Actuation

    DEFF Research Database (Denmark)

    Wisniewski, Rafal

    The primary purpose of this work was to develop control laws for three axis stabilization of a magnetic actuated satellite. This was achieved by a combination of linear and nonlinear system theory. In order to reach this goal new theoretical results were produced in both fields. The focus...... was that interaction between the Earth's magnetic field and a magnetic field generated by a set of coils in the satellite can be used for actuation. Magnetic torquing was found attractive for generation of control torques on small satellites, since magnetic control systems are relatively lightweight, require low power...... part of the thesis. Its design was based on sliding mode control theory. The essence of the sliding control presented in the thesis was to split the controller design into two steps: a sliding manifold design and a sliding condition design. The emphasis was on the sliding condition design, which...

  5. Emergency vehicle traffic signal preemption system

    Science.gov (United States)

    Bachelder, Aaron D. (Inventor); Foster, Conrad F. (Inventor)

    2011-01-01

    An emergency vehicle traffic light preemption system for preemption of traffic lights at an intersection to allow safe passage of emergency vehicles. The system includes a real-time status monitor of an intersection which is relayed to a control module for transmission to emergency vehicles as well as to a central dispatch office. The system also provides for audio warnings at an intersection to protect pedestrians who may not be in a position to see visual warnings or for various reasons cannot hear the approach of emergency vehicles. A transponder mounted on an emergency vehicle provides autonomous control so the vehicle operator can attend to getting to an emergency and not be concerned with the operation of the system. Activation of a priority-code (i.e. Code-3) situation provides communications with each intersection being approached by an emergency vehicle and indicates whether the intersection is preempted or if there is any conflict with other approaching emergency vehicles. On-board diagnostics handle various information including heading, speed, and acceleration sent to a control module which is transmitted to an intersection and which also simultaneously receives information regarding the status of an intersection. Real-time communications and operations software allow central and remote monitoring, logging, and command of intersections and vehicles.

  6. Modelling and control of road traffic networks

    OpenAIRE

    Haut, Bertrand

    2007-01-01

    Road traffic networks offer a particularly challenging research subject to the control community. The traffic congestion around big cities is constantly increasing and is now becoming a major problem. However, the dynamics of a road network exhibit some complex behaviours such as nonlinearities, delays and saturation effects that prevent the use of some classical control algorithms. This thesis presents different models and control algorithms used for road traffic networks. The dynamics ar...

  7. A Proposed Model for Traffic Signal Preemption Using Global Positioning System (GPS

    Directory of Open Access Journals (Sweden)

    Nikhil Mascarenhas

    2013-07-01

    Full Text Available A Traffic Signal Preemption system is an automated system that allows normal operation of traffic lights at automated signalized intersection s to be preempted. Preemption of signals is generally done to assist emergency vehicles, such a s ambulances, so that response times are reduced and right-of-way is provided in a smooth an d controlled manner. This paper proposes an innovative and cost-effective server-centric mod el to facilitate preemption using a simple mobile phone app which uses Global Positioning Syst em (GPS and a microcontroller which controls traffic signals.

  8. A Sarsa(λ-Based Control Model for Real-Time Traffic Light Coordination

    Directory of Open Access Journals (Sweden)

    Xiaoke Zhou

    2014-01-01

    Full Text Available Traffic problems often occur due to the traffic demands by the outnumbered vehicles on road. Maximizing traffic flow and minimizing the average waiting time are the goals of intelligent traffic control. Each junction wants to get larger traffic flow. During the course, junctions form a policy of coordination as well as constraints for adjacent junctions to maximize their own interests. A good traffic signal timing policy is helpful to solve the problem. However, as there are so many factors that can affect the traffic control model, it is difficult to find the optimal solution. The disability of traffic light controllers to learn from past experiences caused them to be unable to adaptively fit dynamic changes of traffic flow. Considering dynamic characteristics of the actual traffic environment, reinforcement learning algorithm based traffic control approach can be applied to get optimal scheduling policy. The proposed Sarsa(λ-based real-time traffic control optimization model can maintain the traffic signal timing policy more effectively. The Sarsa(λ-based model gains traffic cost of the vehicle, which considers delay time, the number of waiting vehicles, and the integrated saturation from its experiences to learn and determine the optimal actions. The experiment results show an inspiring improvement in traffic control, indicating the proposed model is capable of facilitating real-time dynamic traffic control.

  9. A Sarsa(λ)-based control model for real-time traffic light coordination.

    Science.gov (United States)

    Zhou, Xiaoke; Zhu, Fei; Liu, Quan; Fu, Yuchen; Huang, Wei

    2014-01-01

    Traffic problems often occur due to the traffic demands by the outnumbered vehicles on road. Maximizing traffic flow and minimizing the average waiting time are the goals of intelligent traffic control. Each junction wants to get larger traffic flow. During the course, junctions form a policy of coordination as well as constraints for adjacent junctions to maximize their own interests. A good traffic signal timing policy is helpful to solve the problem. However, as there are so many factors that can affect the traffic control model, it is difficult to find the optimal solution. The disability of traffic light controllers to learn from past experiences caused them to be unable to adaptively fit dynamic changes of traffic flow. Considering dynamic characteristics of the actual traffic environment, reinforcement learning algorithm based traffic control approach can be applied to get optimal scheduling policy. The proposed Sarsa(λ)-based real-time traffic control optimization model can maintain the traffic signal timing policy more effectively. The Sarsa(λ)-based model gains traffic cost of the vehicle, which considers delay time, the number of waiting vehicles, and the integrated saturation from its experiences to learn and determine the optimal actions. The experiment results show an inspiring improvement in traffic control, indicating the proposed model is capable of facilitating real-time dynamic traffic control. PMID:24592183

  10. STUDY ON THE CONTROL OF SINGLE PNEUMATIC MUSCLE ACTUATOR

    Institute of Scientific and Technical Information of China (English)

    Fan Wei; Peng Guangzheng; Chai Senchun; Ning Ruxin

    2003-01-01

    The control of single pneumatic muscle actuator is studied, as one basic part of research on the parallel-robot arthrosis actuated by pneumatic muscle actuators. Experiments show that a self-modified fuzzy-PID controller is obviously effective for its position servo and a simple PID controller is good for its force track.

  11. Traffic breakdown at a signal: classical theory versus the three-phase theory of city traffic

    International Nuclear Information System (INIS)

    Physical reasons for a crucial difference between the results of a three-phase theory developed recently (Kerner 2011 Phys. Rev. E 84 045102(R); 2013 Europhys. Lett. 102 28010; 2014 Physica A 397 76) and the classical theory are explained. Microscopic characteristics of traffic passing a traffic signal during the green signal phase and their dependence on the duration of the green phase have been found. It turns out that a moving synchronized flow pattern (MSP), which occurs in under-saturated traffic at the signal, causes ‘compression’ of traffic flow: the rate of MSP discharge can be considerably larger than the saturation flow rate of the classical traffic theory of city traffic. This leads to a considerably larger rate of traffic passing the signal in comparison with the saturation flow rate. This effect together with traffic behavior at the upstream queue front explains the metastability of under-saturated traffic with respect to a random time-delayed traffic breakdown. (paper)

  12. Traffic breakdown at a signal: classical theory versus the three-phase theory of city traffic

    Science.gov (United States)

    Kerner, Boris S.; Klenov, Sergey L.; Schreckenberg, Michael

    2014-03-01

    Physical reasons for a crucial difference between the results of a three-phase theory developed recently (Kerner 2011 Phys. Rev. E 84 045102(R); 2013 Europhys. Lett. 102 28010; 2014 Physica A 397 76) and the classical theory are explained. Microscopic characteristics of traffic passing a traffic signal during the green signal phase and their dependence on the duration of the green phase have been found. It turns out that a moving synchronized flow pattern (MSP), which occurs in under-saturated traffic at the signal, causes ‘compression’ of traffic flow: the rate of MSP discharge can be considerably larger than the saturation flow rate of the classical traffic theory of city traffic. This leads to a considerably larger rate of traffic passing the signal in comparison with the saturation flow rate. This effect together with traffic behavior at the upstream queue front explains the metastability of under-saturated traffic with respect to a random time-delayed traffic breakdown.

  13. Fpga-based control of piezoelectric actuators

    Directory of Open Access Journals (Sweden)

    Juhász László

    2011-01-01

    Full Text Available In many industrial applications like semiconductor production and optical inspection systems, the availability of positioning systems capable to follow trajectory paths in the range of several centimetres, featuring at the same time a nanometre-range precision, is demanding. Pure piezoelectric stages and standard positioning systems with motor and spindle are not able to meet such requirements, because of the small operation range and inadequacies like backlash and friction. One concept for overcoming these problems consists of a hybrid positioning system built through the integration of a DC-drive in series with a piezoelectric actuator. The wide range of potential applications enables a considerable market potential for such an actuator, but due to the high variety of possible positioned objects and dynamic requirements, the required control complexity may be significant. In this paper, a real-time capable state-space control concept for the piezoelectric actuators, embedded in such a hybrid micropositioning system, is presented. The implementation of the controller together with a real-time capable hysteresis compensation measure is performed using a low-budget FPGA-board, whereas the superimposed integrated controller is realized with a dSPACE RCP-system. The advantages of the designed control over a traditional proportional-integral control structure are proven through experimental results using a commercially available hybrid micropositioning system. Positioning results by different dynamic requirements featuring positioning velocities from 1 μm/s up to 5 cm/s are given.

  14. Self——adaptive Control Method for Traffic Signal at Single Intersection Based on Cloud Model Adaptive%基于云模型的单路口交通信号自适应控制方法研究

    Institute of Scientific and Technical Information of China (English)

    刘罗仁; 罗金玲

    2011-01-01

    为了减少车辆通过路口的延误,提出了一种基于云模型的单路口交通信号自适应控制方法;使用云模型作为信号控制的基础模型,利用云模型中的正态云发生器和前件云发生器算法分别对道路交通信息进行处理并产生自适应的控制规则,以实现单路口交通信号的自适应控制;通过仿真实验,结果表明,使用云模型作为控制方法,比较传统控制方式更具智能化,更接近于人脑思维过程的控制方法,这也是将来交通信号控制的发展方向.%In order to reduce traffic delays through the intersection, this paper presents, a single intersection based on cloud model adaptive traffic signal control. Signal control using the cloud model as the basis model, the cloud model in the normal cloud generator and the former pieces of cloud generator algorithms are processed on road traffic information and generates adaptive control rules in order to achieve a single self-intersection traffic signal adaptive control. The simulation experiment results show that the control method using the cloud model as the more traditional control method is more intelligent, more close to the brain control the process of thinking, this is the future direction of development of traffic signal control.

  15. Actuator topology design using the controllability Gramian

    DEFF Research Database (Denmark)

    Alves da Silveira, Otávio Augusto; Ono Fonseca, Jun Sérgio; Santos, Ilmar

    2015-01-01

    system. Analytical sensitivities for the finite element model are derived for the objective function and constraints. Results are shown for two dimensional vibration control of a short beam with varying number of electrodes (control inputs) and vibration modes.......This work develops a methodology for the optimal design of actuators for the vibration control of flexible structures. The objective is the maximization of a measure of the controllability Gramian. The test case is the embedding of piezoelectric inserts in elastic structures for vibration control...

  16. CONTROLLING TRAFFIC FLOW IN MULTILANE-ISOLATED INTERSECTION USING ANFIS APPROACH TECHNIQUES

    Directory of Open Access Journals (Sweden)

    G. R. LAI

    2015-08-01

    Full Text Available Many controllers have applied the Adaptive Neural-Fuzzy Inference System (ANFIS concept for optimizing the controller performance. However, there are less traffic signal controllers developed using the ANFIS concept. ANFIS traffic signal controller with its fuzzy rule base and its ability to learn from a set of sample data could improve the performance of Existing traffic signal controlling system to reduce traffic congestions at most of the busy traffic intersections in city such as Kuala Lumpur, Malaysia. The aim of this research is to develop an ANFIS traffic signals controller for multilane-isolated four approaches intersections in order to ease traffic congestions at traffic intersections. The new concept to generate sample data for ANFIS training is introduced in this research. The sample data is generated based on fuzzy rules and can be analysed using tree diagram. This controller is simulated on multilane-isolated traffic intersection model developed using M/M/1 queuing theory and its performance in terms of average waiting time, queue length and delay time are compared with traditional controllers and fuzzy controller. Simulation result shows that the average waiting time, queue length, and delay time of ANFIS traffic signal controller are the lowest as compared to the other three controllers. In conclusion, the efficiency and performance of ANFIS controller are much better than that of fuzzy and traditional controllers in different traffic volumes.

  17. Satellite Attitude Control Using Only Electromagnetic Actuation

    OpenAIRE

    Wisniewski, Rafal

    1997-01-01

    The primary purpose of this work was to develop control laws for three axis stabilization of a magnetic actuated satellite. This was achieved by a combination of linear and nonlinear system theory. In order to reach this goal new theoretical results were produced in both fields. The focus of the work was on the class of periodic systems reflecting orbital motion of the satellite. In addition to a theoretical treatment, the thesis contains a large portion of application considerations. The con...

  18. Flexible parylene actuator for micro adaptive flow control

    OpenAIRE

    Pornsin-Sirirak, T. N.; Tai, Y. C.; Nassef, H.; Ho, C M

    2001-01-01

    This paper describes the first flexible parylene electrostatic actuator valves intended for micro adaptive flow control for the future use on the wings of micro-air-vehicle (MAV). The actuator diaphragm is made of two layers of parylene membranes with offset vent holes. Without electrostatic actuation, air can move freely from one side of the skin to the other side through the vent holes. With actuation, these vent holes are sealed and the airflow is controlled. The membrane behaves as a comp...

  19. The Analysis of Rail Traffic Control Systems

    Directory of Open Access Journals (Sweden)

    Darius Gaidelis

    2011-04-01

    Full Text Available The systems used for rail traffic control are compared. Their advantages and disadvantages are analysed. The present and future development of rail traffic control systems in various countries is considered. The possibility of adapting these microprocessor-based traffic control systems to the conditions of Lithuania is analysed. For this purpose, the analysis of goods transported by Lithuanian railways is made, and the non-uniform amount of goods transported on different road sections is evaluated. The number of the delayed trains due to the failure of traffic control systems in recent years is determined, the cost of installing a new microprocessor-based traffic control system at the railway station, as well as its repay time and the demand for employees are calculated. Article in Lithuanian

  20. HIGH LEVEL MODELLING OF REAL TIME TRAFFIC LIGHT CONTROLLER

    Directory of Open Access Journals (Sweden)

    ADITYA MANDLOI

    2012-12-01

    Full Text Available The objective of this paper is to design and implement traffic control system. The system developed is able to sense the presence of vehicles within certain range by setting the appropriate duration for the traffic signals to react accordingly. By employing logical functions to calculate the appropriate timing for the signals toilluminate, the system can help to solve the problem of traffic congestion. The use of FPGAs (Field Programmable Gate Arrays is an interesting new phenomenon in VLSI development. FPGAs offer all of thefeatures needed to implement most complex designs. Hardware simulation tests were successfully performed on the algorithm implemented into a FPGA (Field Programmable Gate Arrays. The main object of the paper is to design a Real Time Traffic Light Controller (RTTLC using VHDL and implement the RTTLC in XILINX SPARTAN - 3 FPGA.

  1. Synthetic jet actuation for load control

    Science.gov (United States)

    de Vries, H.; van der Weide, E. T. A.; Hoeijmakers, H. W. M.

    2014-12-01

    The reduction of wind turbine blade loads is an important issue in the reduction of the costs of energy production. Reduction of the loads of a non-cyclic nature requires so-called smart rotor control, which involves the application of distributed actuators and sensors to provide fast and local changes in aerodynamic performance. This paper investigates the use of synthetic jets for smart rotor control. Synthetic jets are formed by ingesting low-momentum fluid from the boundary layer along the blade into a cavity and subsequently ejecting this fluid with a higher momentum. We focus on the observed flow phenomena and the ability to use these to obtain the desired changes of the aerodynamic properties of a blade section. To this end, numerical simulations and wind tunnel experiments of synthetic jet actuation on a non-rotating NACA0018 airfoil have been performed. The synthetic jets are long spanwise slits, located close to the trailing edge and directed perpendicularly to the surface of the airfoil. Due to limitations of the present experimental setup in terms of performance of the synthetic jets, the main focus is on the numerical flow simulations. The present results show that high-frequency synthetic jet actuation close to the trailing edge can induce changes in the effective angle of attack up to approximately 2.9°.

  2. Position and torque tracking: series elastic actuation versus model-based-controlled hydraulic actuation.

    Science.gov (United States)

    Otten, Alexander; van Vuuren, Wieke; Stienen, Arno; van Asseldonk, Edwin; Schouten, Alfred; van der Kooij, Herman

    2011-01-01

    Robotics used for diagnostic measurements on, e.g. stroke survivors, require actuators that are both stiff and compliant. Stiffness is required for identification purposes, and compliance to compensate for the robots dynamics, so that the subject can move freely while using the robot. A hydraulic actuator can act as a position (stiff) or a torque (compliant) actuator. The drawback of a hydraulic actuator is that it behaves nonlinear. This article examines two methods for controlling a nonlinear hydraulic actuator. The first method that is often applied uses an elastic element (i.e. spring) connected in series with the hydraulic actuator so that the torque can be measured as the deflection of the spring. This torque measurement is used for proportional integral control. The second method of control uses the inverse of the model of the actuator as a linearizing controller. Both methods are compared using simulation results. The controller designed for the series elastic hydraulic actuator is faster to implement, but only shows good performance for the working range for which the controller is designed due to the systems nonlinear behavior. The elastic element is a limiting factor when designing a position controller due to its low torsional stiffness. The model-based controller linearizes the nonlinear system and shows good performance when used for torque and position control. Implementing the model-based controller does require building and validating of the detailed model. PMID:22275654

  3. 动态交通分配与信号控制的组合模型及算法研究%Research on Combined Dynamic Traffic Assignment and Signal Control

    Institute of Scientific and Technical Information of China (English)

    连爱萍; 高自友

    2005-01-01

    This paper presents a generalized bi-level programming model of combined dynamic traffic assignment and traffic signal control, and especially analyzes a procedure for determining the equilibrium queuing delays on saturated links for dynamic network signal control satisfying the FIFO (first-in-first-out) rule. The chaotic optimal algorithm proposed in this paper can not only present the optimal signal settings, but also calculate, at each interval, the link inflow rates and outflow rates for the dynamic user optimal problem, and provide real-time information for the travelers. Finally, a numerical example is given to illustrate the application of the proposed model and solution algorithm,and comparison shows that this model has better system performance.

  4. Modeling and control of precision actuators

    CERN Document Server

    Kiong, Tan Kok

    2013-01-01

    IntroductionGrowing Interest in Precise ActuatorsTypes of Precise ActuatorsApplications of Precise ActuatorsNonlinear Dynamics and ModelingHysteresisCreepFrictionForce RipplesIdentification and Compensation of Preisach Hysteresis in Piezoelectric ActuatorsSVD-Based Identification and Compensation of Preisach HysteresisHigh-Bandwidth Identification and Compensation of Hysteretic Dynamics in Piezoelectric ActuatorsConcluding RemarksIdentification and Compensation of Frict

  5. SMART VIDEO SURVEILLANCE SYSTEM FOR VEHICLE DETECTION AND TRAFFIC FLOW CONTROL

    OpenAIRE

    Shafie, A. A.; Ali, M.H.; FADHLAN HAFIZ; ROSLIZAR M. ALI

    2011-01-01

    Traffic signal light can be optimized using vehicle flow statistics obtained by Smart Video Surveillance Software (SVSS). This research focuses on efficient traffic control system by detecting and counting the vehicle numbers at various times and locations. At present, one of the biggest problems in the main city in any country is the traffic jam during office hour and office break hour. Sometimes it can be seen that the traffic signal green light is still ON even though there is no vehicle c...

  6. Mechatronics and Bioinspiration in Actuator Design and Control

    Directory of Open Access Journals (Sweden)

    J. L. Pons

    2008-01-01

    Full Text Available Actuators are components of motion control systems in which mechatronics plays a crucial role. They can be regarded as a paradigmatic case in which this mechatronic approach is required. Furthermore, actuator technologies can get new sources of inspiration from nature (bioinspiration. Biological systems are the result of an evolutionary process and show excellent levels of performance. In this paper, we analyse the actuator as a bioinspired mechatronic system through analogies between mechatronics and biological actuating mechanisms that include hierarchical control of actuators, switched control of power flow and some transduction principles. Firstly, some biological models are introduced as a source of inspiration for setting up both actuation principles and control technologies. Secondly, a particular actuator technology, the travelling wave ultrasonic motor, is taken to illustrate this approach. Eventually, the last section draws some conclusions and points out future directions.

  7. Model Predictive Control for Integrating Traffic Control Measures

    NARCIS (Netherlands)

    Hegyi, A.

    2004-01-01

    Dynamic traffic control measures, such as ramp metering and dynamic speed limits, can be used to better utilize the available road capacity. Due to the increasing traffic volumes and the increasing number of traffic jams the interaction between the control measures has increased such that local cont

  8. Increasing Market Penetration of LED Traffic Signals in New York State: Review of Articles and Information on LED Traffic Signals

    OpenAIRE

    Bullough, John D; Suozzo, Margaret

    2002-01-01

    A primary purpose of this review is to identify and summarize recently published information about the use and performance of light-emitting diode (LED) traffic signals. It consists of two sections: a synopsis of experiences of municipalities using LED traffic signals in 1999 and 2000, and a discussion of technical, economic and market issues surrounding the deployment of LED signals. This review includes articles and reports published in 1999 and 2000.

  9. Traffic Light Control by Multiagent Reinforcement Learning Systems

    NARCIS (Netherlands)

    Bakker, B.; Whiteson, S.; Kester, L.J.H.M.; Groen, F.C.A.

    2010-01-01

    Traffic light control is one of the main means of controlling road traffic. Improving traffic control is important because it can lead to higher traffic throughput and reduced traffic congestion. This chapter describes multiagent reinforcement learning techniques for automatic optimization of traffi

  10. Traffic light control by multiagent reinforcement learning systems

    NARCIS (Netherlands)

    B. Bakker; S. Whiteson; L. Kester; F.C.A. Groen

    2010-01-01

    Traffic light control is one of the main means of controlling road traffic. Improving traffic control is important because it can lead to higher traffic throughput and reduced traffic congestion. This chapter describes multiagent reinforcement learning techniques for automatic optimization of traffi

  11. Intelligent control of an IPMC actuated manipulator using emotional learning-based controller

    Science.gov (United States)

    Shariati, Azadeh; Meghdari, Ali; Shariati, Parham

    2008-08-01

    In this research an intelligent emotional learning controller, Takagi- Sugeno- Kang (TSK) is applied to govern the dynamics of a novel Ionic-Polymer Metal Composite (IPMC) actuated manipulator. Ionic-Polymer Metal Composites are active actuators that show very large deformation in existence of low applied voltage. In this research, a new IPMC actuator is considered and applied to a 2-dof miniature manipulator. This manipulator is designed for miniature tasks. The control system consists of a set of neurofuzzy controller whose parameters are adapted according to the emotional learning rules, and a critic with task to assess the present situation resulted from the applied control action in terms of satisfactory achievement of the control goals and provides the emotional signal (the stress). The controller modifies its characteristics so that the critic's stress decreased.

  12. Variable Frequency Diverter Actuation for Flow Control

    Science.gov (United States)

    Culley, Dennis E.

    2006-01-01

    The design and development of an actively controlled fluidic actuator for flow control applications is explored. The basic device, with one input and two output channels, takes advantage of the Coanda effect to force a fluid jet to adhere to one of two axi-symmetric surfaces. The resultant flow is bi-stable, producing a constant flow from one output channel, until a disturbance force applied at the control point causes the flow to switch to the alternate output channel. By properly applying active control the output flows can be manipulated to provide a high degree of modulation over a wide and variable range of frequency and duty cycle. In this study the momentary operative force is applied by small, high speed isolation valves of which several different types are examined. The active fluidic diverter actuator is shown to work in several configurations including that in which the operator valves are referenced to atmosphere as well as to a source common with the power stream.

  13. Optimizing urban traffic control using a rational agent

    Institute of Scientific and Technical Information of China (English)

    Salvador IBARRA-MARTÍNEZ; José A. CASTÁN-ROCHA; Julio LARIA-MENCHACA

    2014-01-01

    This paper is devoted to developing and evaluating a set of technologies with the objective of designing a method-ology for the implementation of sophisticated traffic lights by means of rational agents. These devices would be capable of op-timizing the behavior of a junction with multiple traffic signals, reaching a higher level of autonomy without losing reliability, accuracy, or efficiency in the offered services. In particular, each rational agent in a traffic signal will be able to analyze the requirements and constraints of the road, in order to know its level of demand. With such information, the rational agent will adapt its light cycles with the view of accomplishing more fluid traffic patterns and minimizing the pollutant environmental emissions produced by vehicles while they are stopped at a red light, through using a case-based reasoning (CBR) adaptation. This paper also integrates a microscopic simulator developed to run a set of tests in order to compare the presented methodology with traditional traffic control methods. Two study cases are shown to demonstrate the efficiency of the introduced approach, increasing vehicular mobility and reducing harmful activity for the environment. For instance, in the first scenario, taking into account the studied traffic volumes, our approach increases mobility by 23%and reduces emissions by 35%. When the roads are managed by sophisticated traffic lights, a better level of service and considerable environmental benefits are achieved, demon-strating the utility of the presented approach.

  14. Actuation precision control of SMA actuators used for shape control of inflatable SAR antenna

    Science.gov (United States)

    Peng, Fujun; Jiang, Xin-Xiang; Hu, Yan-Ru; Ng, Alfred

    2008-09-01

    Shape memory alloy (SMA) actuators have found a wide range of applications due to their unique properties such as high force, long stroke, small size, light weight, silent operation, etc. However, their poor stability and controllability make them a challenge to achieve accurate actuation. This paper presents a simple control strategy based on the idea of adjusting the SMA wire temperature as fast as possible. This strategy is simple, stable, and requires no hysteresis model or thermal model. This strategy is tested with displacement output, and the effects of updating rate and input current on control accuracy are also discussed. Tests are also performed in a thermal vacuum chamber, and the results indicate that the required current for effectively activating SMA actuator is smaller than that in air environment. This control strategy is then used for adjusting boundary tensions of a small membrane synthetic aperture radar (SAR) antenna model. Results show that, under this control strategy, SMA wire actuators can exert desired tensions with very good accuracy.

  15. Prognostics Enhanced Reconfigurable Control of Electro-Mechanical Actuators

    Data.gov (United States)

    National Aeronautics and Space Administration — Actuator systems are employed widely in aerospace, transportation and industrial processes to provide power to critical loads, such as aircraft control surfaces....

  16. Self-organized control of traffic signals based on reinforcement learning and genetic algorithm%基于再励学习和遗传算法的交通信号自组织控制

    Institute of Scientific and Technical Information of China (English)

    欧海涛; 杨煜普; 张文渊; 许晓鸣

    2000-01-01

    提出一种将再励学习与遗传算法相结合的遗传再励学习方法对交通信号进行自组织控制再励学习是针对每一个道路交叉口交通流的优化,修正每个信号灯周期的绿性比;而遗传算法产生局部学习过程的全局优化标准,即是修正信号灯周期的大小这种方法克服了现有的控制方法需要大量数据传输通讯、准确的交通模型等缺陷,将局部优化和全局优化统一起来通过计算机仿真实验表明了方法的有效性%A combination algorithm of reinforcement learning and genetic algorithm is proposed in this paper to self-organized control of the traffic signals.Reinforcement learning focuses on the optimization of an intersection traffic flow which modified the split of traffic signal cycle,while the genetic algorithm are intended to introduce a global optimization criterion to each of the local learning processes which modified the cycle itself of traffic signals.This method overcome the drawbacks in existing control methods such as huge data transfer and communication,accurately traffic model and so on,and unified the local optimization and global optimization.Through the computer simulation,the effectiveness of method is demonstated.

  17. Position control of ionic polymer metal composite actuator based on neuro-fuzzy system

    Science.gov (United States)

    Nguyen, Truong-Thinh; Yang, Young-Soo; Oh, Il-Kwon

    2009-07-01

    This paper describes the application of Neuro-Fuzzy techniques for controlling an IPMC cantilever configuration under water to improve tracking ability for an IPMC actuator. The controller was designed using an Adaptive Neuro-Fuzzy Controller (ANFC). The measured input data based including the tip-displacements and electrical signals have been recorded for generating the training in the ANFC. These data were used for training the ANFC to adjust the membership functions in the fuzzy control algorithm. The comparison between actual and reference values obtained from the ANFC gave satisfactory results, which showed that Adaptive Neuro-Fuzzy algorithm is reliable in controlling IPMC actuator. In addition, experimental results show that the ANFC performed better than the pure fuzzy controller (PFC). Present results show that the current adaptive neuro-fuzzy controller can be successfully applied to the real-time control of the ionic polymer metal composite actuator for which the performance degrades under long-term actuation.

  18. Traffic Control in ATM Networks : Engineering Impacts of Realistic Traffic Processes

    OpenAIRE

    Jena, Ajit K.; Popescu, Adrian; Pruthi, Parag; Erramilli, Ashok

    1996-01-01

    This paper reviews the current state of the art in the rapidly developing areas of ATM traffic controls and traffic modeling, and identifies future research areas to facilitate the implementation of control methods that can support a desired quality of service without sacrificing network utilizations. Two sets of issues are identified, one on the impacts of realistic traffic on the efficacy of traffic controls in supporting specific traffic management objectives, and the other dealing with th...

  19. Theory of self-organized traffic at light signal

    CERN Document Server

    Kerner, Boris S

    2012-01-01

    Based on numerical simulations of a three-phase traffic flow model, a probabilistic theory of traffic at the light signal is developed. We have found that very complex spatiotemporal self-organized phenomena determine features of city traffic. We have revealed that the breakdown of {\\it green wave} in a city is initiated by the emergence of a moving synchronized flow pattern (MSP) within the green wave. It turns out that a sequence of F$\\rightarrow$S$\\rightarrow$J transitions (F -- free flow, S -- synchronized flow, J -- moving queue) lead to traffic breakdown at the light signal. Both spontaneous and induced breakdowns of the green wave have been found. From a study of a variety of scenarios for arrival traffic, we have found that there are the infinite number of capacities of traffic at the light signal, which are in a capacity range between a minimum capacity and maximum capacity; each of the capacities gives a flow rate at which under-saturated traffic is in a metastable state with respect to the transiti...

  20. Fuzzy control of electro-mechanical gearbox actuator

    Institute of Scientific and Technical Information of China (English)

    G Iordanidis; P H Mellor; D Holliday; P M Churn

    2003-01-01

    In this paper, a prototype direct-drive electro-mechanical actuator is proposed to select gears in a high performance gearbox. Because of the nonlinear behavior of the actuator, a fuzzy logic controller is adopted. The result of simulation has proved that the dynamic response obtained using the fuzzy controller is much faster than that obtained using traditional PD controller.

  1. Thrust vector control using electric actuation

    Science.gov (United States)

    Bechtel, Robert T.; Hall, David K.

    1995-01-01

    Presently, gimbaling of launch vehicle engines for thrust vector control is generally accomplished using a hydraulic system. In the case of the space shuttle solid rocket boosters and main engines, these systems are powered by hydrazine auxiliary power units. Use of electromechanical actuators would provide significant advantages in cost and maintenance. However, present energy source technologies such as batteries are heavy to the point of causing significant weight penalties. Utilizing capacitor technology developed by the Auburn University Space Power Institute in collaboration with the Auburn CCDS, Marshall Space Flight Center (MSFC) and Auburn are developing EMA system components with emphasis on high discharge rate energy sources compatible with space shuttle type thrust vector control requirements. Testing has been done at MSFC as part of EMA system tests with loads up to 66000 newtons for pulse times of several seconds. Results show such an approach to be feasible providing a potential for reduced weight and operations costs for new launch vehicles.

  2. Tubular dielectric elastomer actuator for active fluidic control

    Science.gov (United States)

    McCoul, David; Pei, Qibing

    2015-10-01

    We report a novel low-profile, biomimetic dielectric elastomer tubular actuator capable of actively controlling hydraulic flow. The tubular actuator has been established as a reliable tunable valve, pinching a secondary silicone tube completely shut in the absence of a fluidic pressure bias or voltage, offering a high degree of resistance against fluidic flow, and able to open and completely remove this resistance to flow with an applied low power actuation voltage. The system demonstrates a rise in pressure of ∼3.0 kPa when the dielectric elastomer valve is in the passive, unactuated state, and there is a quadratic fall in this pressure with increasing actuation voltage, until ∼0 kPa is reached at 2.4 kV. The device is reliable for at least 2000 actuation cycles for voltages at or below 2.2 kV. Furthermore, modeling of the actuator and fluidic system yields results consistent with the observed experimental dependence of intrasystem pressure on input flow rate, actuator prestretch, and actuation voltage. To our knowledge, this is the first actuator of its type that can control fluid flow by directly actuating the walls of a tube. Potential applications may include an implantable artificial sphincter, part of a peristaltic pump, or a computerized valve for fluidic or pneumatic control.

  3. 采用系统科学方法优化交通信号灯的控制策略%Optimization Control Strategy of Traffic Signal with System Scientific Methods

    Institute of Scientific and Technical Information of China (English)

    张世良

    2012-01-01

    In order to control vehicles easily pass in the intersection,on the basis of the introduction of system structure for traffic signal lamp,run mode and workflow,this paper analyzes different ways in system control which can use different operation patterns at different times to adaptively control vehicle pass time.Traffic induction strategies which can use different open moment according to the space between the two intersections is used to reduce waiting time for vehicle,improve pass efficiency and ensure efficient circulation in the whole traffic system,and other traffic information,such as vehicle speed,type and traffic by vehicle labels can provide basic data of traffic forecast for the road long-term planning and is signality to direct intelligent traffic control.%为了控制车辆在交叉路口顺畅通行,本文在介绍交通信号灯系统结构、运行模式及工作流程的基础上,分析了系统控制中不同策略的方法,使用在不同的时段采用不同的路口控制模式,自适应地控制车辆通行时间,并根据路口间距采用不同的开启时刻以及使用交通诱导策略,减少车辆等待时间,提高车辆通行效率,保证整个交通系统的高效流通,而且通过车载标签及时掌握的车速、车型和交通量等交通信息可以为该路段远期规划的交通预测提供基础数据,对智能交通控制具有很大的指导意义。

  4. Photostrictive actuators for photonic control of shallow spherical shells

    Science.gov (United States)

    Shih, Hui-Ru; Tzou, Horn-Sen

    2007-10-01

    Photostrictive materials, exhibiting light-induced strain, are of interest for the future generation of wireless remote control photo-actuators. Photostrictive actuators are expected to be used as the driving component in optically controlled flexible structures. In this paper, the photonic control of flexible spherical shells using discrete photostrictive actuators is investigated. This paper presents a coupled opto-piezothermoelastic shell theory that incorporates photovoltaic, pyroelectric and piezoelectric effects, and has the capability to predict the response of a spherical shell driven by the photostrictive actuators. In this study, the effects of actuator location as well as membrane and bending components on the control action have been analyzed. The results obtained indicate that the control forces are mode and location dependent. Analysis also shows that the membrane control action is much more significant than the bending control action.

  5. Review of actuators for high speed active flow control

    Institute of Scientific and Technical Information of China (English)

    WANG Lin; LUO ZhenBing; XIA ZhiXun; LIU Bing; DENG Xiong

    2012-01-01

    Actuators are one of the key points for the development of active flow control technology.Efficient methods of high speed flow control can provide enhanced propulsive efficiency and at the same time enable safe and maneuverable high speed flight.The development of high speed flight technology promotes the emergence of novel and robust actuators.This review introduces the state of the art in the development of actuators that can be used in high speed active flow control.The classification and different operation criteria of the actuators are discussed.The specifications,mechanisms and applications of various popular actuator types including fluidic,mechanical,and plasma actuators are described.Based on the realistic need of high speed flow control and the existing results of actuators,a new actuator design method is proposed.At last,the merits and drawbacks of the actuators are summarized and some suggestions on the development of active flow control technology are put forward.

  6. Traffic Flow Control In Automated Highway Systems

    OpenAIRE

    Alvarez, Luis; Horowitz, Roberto

    1997-01-01

    This report studies the problem of traffic control in the Automated Highway System (AHS) hierarchical architecture of the California PATH program. A link layer controller for the PATH AHS architecture is presented. It is shown that the proposed control laws stabilize the vehicular density and flow around predetermined profiles.

  7. CATS-based Air Traffic Controller Agents

    Science.gov (United States)

    Callantine, Todd J.

    2002-01-01

    This report describes intelligent agents that function as air traffic controllers. Each agent controls traffic in a single sector in real time; agents controlling traffic in adjoining sectors can coordinate to manage an arrival flow across a given meter fix. The purpose of this research is threefold. First, it seeks to study the design of agents for controlling complex systems. In particular, it investigates agent planning and reactive control functionality in a dynamic environment in which a variety perceptual and decision making skills play a central role. It examines how heuristic rules can be applied to model planning and decision making skills, rather than attempting to apply optimization methods. Thus, the research attempts to develop intelligent agents that provide an approximation of human air traffic controller behavior that, while not based on an explicit cognitive model, does produce task performance consistent with the way human air traffic controllers operate. Second, this research sought to extend previous research on using the Crew Activity Tracking System (CATS) as the basis for intelligent agents. The agents use a high-level model of air traffic controller activities to structure the control task. To execute an activity in the CATS model, according to the current task context, the agents reference a 'skill library' and 'control rules' that in turn execute the pattern recognition, planning, and decision-making required to perform the activity. Applying the skills enables the agents to modify their representation of the current control situation (i.e., the 'flick' or 'picture'). The updated representation supports the next activity in a cycle of action that, taken as a whole, simulates air traffic controller behavior. A third, practical motivation for this research is to use intelligent agents to support evaluation of new air traffic control (ATC) methods to support new Air Traffic Management (ATM) concepts. Current approaches that use large, human

  8. Signal optimization in urban transports: TASEP with traffic lights

    CERN Document Server

    Arita, Chikashi; Santen, Ludger

    2016-01-01

    We consider the exclusion process on a ring with time-dependent defective bonds at which the hoping rate periodically switches between zero and one. This system models main roads in city traffics, intersecting with perpendicular streets. We explore basic properties of the system, in particular dependence of the vehicular flow on the parameters of signalization as well as the system size and the car density. We investigate various types of the spatial distribution of the vehicular density, and show existence of a shock profile. We also measure waiting time behind traffic lights, and examine its relationship with the traffic flow.

  9. Robust Force Control of Series Elastic Actuators

    Directory of Open Access Journals (Sweden)

    Andrea Calanca

    2014-07-01

    Full Text Available Force-controlled series elastic actuators (SEA are widely used in novel human-robot interaction (HRI applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces. This paper proposes a force control approach that guarantees the stability and robustness of the coupled human-robot system, based on sliding-mode control (SMC, considering the human dynamics as a disturbance to reject. We propose a chattering free solution that employs simple task models to obtain high performance, comparable with second order solutions. Theoretical stability is proven within the sliding mode framework, and predictability is reached by avoiding the reaching phase by design. Furthermore, safety is introduced by a proper design of the sliding surface. The practical feasibility of the approach is shown using an SEA prototype coupled with a human impedance in severe stress tests. To show the quality of the approach, we report a comparison with state-of-the-art second order SMC, passivity-based control and adaptive control solutions.

  10. A system look at electromechanical actuation for primary flight control

    NARCIS (Netherlands)

    Lomonova, E.A.

    1997-01-01

    An overview is presented of the emergence of the ALL Electric flight control system (FCS) or power-by-wire (PBW) concept. The concept of fly-by-power refers to the actuator using electrical rather than hydraulic power. The development of the primary flight control Electromechanical Actuators (EMAs)

  11. Mechatronics and Bioinspiration in Actuator Design and Control

    OpenAIRE

    J. L. Pons; A. Forner-Cordero; Rocon, E.; Moreno, J. C.

    2008-01-01

    Actuators are components of motion control systems in which mechatronics plays a crucial role. They can be regarded as a paradigmatic case in which this mechatronic approach is required. Furthermore, actuator technologies can get new sources of inspiration from nature (bioinspiration). Biological systems are the result of an evolutionary process and show excellent levels of performance. In this paper, we analyse the actuator as a bioinspired mechatronic system through analogies between mechat...

  12. 47 CFR 2.402 - Control of distress traffic.

    Science.gov (United States)

    2010-10-01

    ... 47 Telecommunication 1 2010-10-01 2010-10-01 false Control of distress traffic. 2.402 Section 2... distress traffic. The control of distress traffic is the responsibility of the mobile station in distress... distress call. These stations may, however, delegate the control of the distress traffic to another station....

  13. 36 CFR 4.12 - Traffic control devices.

    Science.gov (United States)

    2010-07-01

    ... 36 Parks, Forests, and Public Property 1 2010-07-01 2010-07-01 false Traffic control devices. 4.12... VEHICLES AND TRAFFIC SAFETY § 4.12 Traffic control devices. Failure to comply with the directions of a traffic control device is prohibited unless otherwise directed by the superintendent....

  14. 36 CFR 1004.12 - Traffic control devices.

    Science.gov (United States)

    2010-07-01

    ... 36 Parks, Forests, and Public Property 3 2010-07-01 2010-07-01 false Traffic control devices. 1004.12 Section 1004.12 Parks, Forests, and Public Property PRESIDIO TRUST VEHICLES AND TRAFFIC SAFETY § 1004.12 Traffic control devices. Failure to comply with the directions of a traffic control device...

  15. Evaluation of Intersection Traffic Control Measures through Simulation

    Science.gov (United States)

    Asaithambi, Gowri; Sivanandan, R.

    2015-12-01

    Modeling traffic flow is stochastic in nature due to randomness in variables such as vehicle arrivals and speeds. Due to this and due to complex vehicular interactions and their manoeuvres, it is extremely difficult to model the traffic flow through analytical methods. To study this type of complex traffic system and vehicle interactions, simulation is considered as an effective tool. Application of homogeneous traffic models to heterogeneous traffic may not be able to capture the complex manoeuvres and interactions in such flows. Hence, a microscopic simulation model for heterogeneous traffic is developed using object oriented concepts. This simulation model acts as a tool for evaluating various control measures at signalized intersections. The present study focuses on the evaluation of Right Turn Lane (RTL) and Channelised Left Turn Lane (CLTL). A sensitivity analysis was performed to evaluate RTL and CLTL by varying the approach volumes, turn proportions and turn lane lengths. RTL is found to be advantageous only up to certain approach volumes and right-turn proportions, beyond which it is counter-productive. CLTL is found to be advantageous for lower approach volumes for all turn proportions, signifying the benefits of CLTL. It is counter-productive for higher approach volume and lower turn proportions. This study pinpoints the break-even points for various scenarios. The developed simulation model can be used as an appropriate intersection lane control tool for enhancing the efficiency of flow at intersections. This model can also be employed for scenario analysis and can be valuable to field traffic engineers in implementing vehicle-type based and lane-based traffic control measures.

  16. Multi-Objective Optimization of Traffic Signal Timing for Oversaturated Intersection

    Directory of Open Access Journals (Sweden)

    Yan Li

    2013-01-01

    Full Text Available For the purpose of improving the efficiency of traffic signal control for isolate intersection under oversaturated conditions, a multi-objective optimization algorithm for traffic signal control is proposed. Throughput maximum and average queue ratio minimum are selected as the optimization objectives of the traffic signal control under oversaturated condition. A simulation environment using VISSIM SCAPI was utilized to evaluate the convergence and the optimization results under various settings and traffic conditions. It is written by C++/CRL to connect the simulation software VISSIM and the proposed algorithm. The simulation results indicated that the signal timing plan generated by the proposed algorithm has good efficiency in managing the traffic flow at oversaturated intersection than the commonly utilized signal timing optimization software Synchro. The update frequency applied in the simulation environment was 120 s, and it can meet the requirements of signal timing plan update in real filed. Thus, the proposed algorithm has the capability of searching Pareto front of the multi-objective problem domain under both normal condition and over-saturated condition.

  17. Operating the railway traffic control system

    Directory of Open Access Journals (Sweden)

    Anton PEPEVNIK

    2011-01-01

    Full Text Available Due to the valid traffic policy and development strategy of the Republic of Slovenia, the Slovenian Railways have to consider the developmental and strategic aims of European railways. The perspective of progress is basically determined by skimming the European system development, by taking over the European system and managing the railway traffic in the connection with the European railway system.Technology and organization of the railway traffic system present the sum of all technological and organizational elements and processes that takes part in providing aims of the system. The aims are defined as solving transport problems in railway system. The term system is defined, from the formal mathematical viewpoint, as a whole that is usually complicated or even very much complicated. Therefore, the railway system is complex as well, and that is why it has to be managed precisely. In the narrow sense of meaning, technology and work organization both comprises a variety of means and procedures to realize basic activity that can be seen as a perfect unit, and that can be the process of passengers and freight transport in a transport system.Because of the prompt development of microelectronics and computer engineering, a new generation of electronic signal-safety devices appeared.All these changes from the past few years that have been introduced into railway technology, enable railway to become attractive and competitive to other means of traffic. Therefore, the Slovenian Railways have to follow novelties in traffic technology development and gradually modernize its railway network.

  18. Acoustic Signal based Traffic Density State Estimation using SVM

    Directory of Open Access Journals (Sweden)

    Prashant Borkar

    2013-06-01

    Full Text Available Based on the information present in cumulative acoustic signal acquired from a roadside-installed single microphone, this paper considers the problem of vehicular traffic density state estimation. The occurrence and mixture weightings of traffic noise signals (Tyre, Engine, Air Turbulence, Exhaust, and Honks etc are determined by the prevalent traffic density conditions on the road segment. In this work, we extract the short-term spectral envelope features of the cumulative acoustic signals using MFCC (Mel-Frequency Cepstral Coefficients. Support Vector Machines (SVM is used as classifier is used to model the traffic density state as Low (40 Km/h and above, Medium (20-40 Km/h, and Heavy (0-20 Km/h. For the developing geographies where the traffic is non-lane driven and chaotic, other techniques (magnetic loop detectors are inapplicable. SVM classifier with different kernels are used to classify the acoustic signal segments spanning duration of 20–40 s, which results in average classification accuracy of 96.67% for Quadratic kernel function and 98.33% for polynomial kernel function, when entire frames are considered for classification.

  19. Integrated high voltage power supply utilizing burst mode control and its performance impact on dielectric electro active polymer actuators

    DEFF Research Database (Denmark)

    Andersen, Thomas; Rødgaard, Martin Schøler; Andersen, Michael A. E.;

    a burst mode control technique. Controlling and driving a DEAP actuator between 250V to 2.5kV is demonstrated, where discrete like voltage change and voltage ripple is observed, which is introduced by the burst mode control. Measurements of the actuator strain-force reveal that the voltage ripples...... translates to small strain-force ripples. Nevertheless the driver demonstrates good capabilities of following an input reference signal, as well as having the size to fit inside a 110 mm x 32 mm cylindrical InLastor Push actuator, forming a “low voltage” DEAP actuator....

  20. 47 CFR 80.325 - Control of distress traffic.

    Science.gov (United States)

    2010-10-01

    ... 47 Telecommunication 5 2010-10-01 2010-10-01 false Control of distress traffic. 80.325 Section 80... Safety Procedures § 80.325 Control of distress traffic. (a) Distress traffic consists of all messages relating to the immediate assistance required by the mobile station in distress. In distress traffic,...

  1. Non-Contact Linear Actuator Position Sensor Having a PID-Compensating Controller

    Science.gov (United States)

    Alhorn, Dean C. (Inventor); Howard, David E. (Inventor)

    2001-01-01

    A position sensor or controller generates a response signal in existing armature windings of an actuator and detects the response signal to determine the position of the armature. To generate the response signal, the actuator includes a sensor excitation winding near the armature. Two sensor excitation windings can be provided, above and below the armature, to cancel out z components and thus allow for a variable gap. The sensor excitation winding or windings are supplied with an excitation signal to induce the response signal in the armature windings. The response signal is derived by differentially amplifying and frequency filtering a raw output of the armature windings. The response signal is demodulated to determine position. If a position controller rather than a mere sensor is desired, the position signal can be buffered, PID compensated, amplified, and fed back to the armature windings.

  2. A Fundamental Study on Area Traffic Control System

    OpenAIRE

    HONDA, Yoshiaki

    1992-01-01

    To save traffic congestion, this report aims at the area traffic control which increasesarea. traffic capacity without expansion of traffic facilities. This method is called AREATRAFFIC CONTROL SYSTEM.Optimum solutions for the area control system are obtained by the use of operationsresearch method. But above calculation time takes too long to fit this optimumregulation to present traffic pattern.In this report, optimization is made by the approximate solution which is composedof the first op...

  3. Jet Vectoring Control Using a Novel Synthetic Jet Actuator

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    A primary air jet vectoring control system with a novel synthetic jet actuator (SJA) is presented and simulated numerically. The results show that, in comparison with an existing traditional synthetic jet actuator, which is able to perform the duty of either "push" or "pull", one novel synthetic jet actuator can fulfill both "push" and "pull" functions to vector the primary jet by shifting a slide block inside it. Therefore, because the new actuator possesses greater efficiency, it has potentiality to replace the existing one in various applications, such as thrust vectoring and the reduction of thermal signature. Moreover, as the novel actuator can fulfill those functions that the existing one can not, it may well be expected to popularize it into more flow control systems.

  4. Model and control of tendon actuated robots

    OpenAIRE

    Palli, Gianluca

    2007-01-01

    The use of tendons for the transmission of the forces and the movements in robotic devices has been investigated from several researchers all over the world. The interest in this kind of actuation modality is based on the possibility of optimizing the position of the actuators with respect to the moving part of the robot, in the reduced weight, high reliability, simplicity in the mechanic design and, finally, in the reduced cost of the resulting kinematic chain. After a brie...

  5. 车路协同下基于交通密度的交叉口交通信号控制方法与仿真%Traffic Signal Control Method and Simulation Based on Traffic Density in Cooperative Vehicle Infrastructure System

    Institute of Scientific and Technical Information of China (English)

    林晓辉

    2014-01-01

    车路协同环境下路侧单元可实时获取车辆的位置、速度等信息,为改进交通信号控制提供了机遇和条件。本文借助感应控制方法的思路,以单个交叉口为研究对象,提出车路协同下基于交通密度的交通信号控制方法,该算法将依据交叉口进口道的交通密度,实时选择车流放行方向,并依据排队消散时间确定进口放行绿灯时间。为验证算法的有效性,以虎门大道---连升路交叉口为例,利用Vissim交通仿真软件,对高峰、平峰、低峰等3个交通需求分别进行仿真建模,并分别分析同一交通需求下,本文算法与感应控制方式、定时控制方式的平均行程时间、平均延误时间、平均停车次数及平均排队长度等各项交通信号控制指标优劣。仿真结果表明:在不同交通需求下,与感应控制方式、定时控制方式相比,本文算法各项交通信号控制指标均有明显的改善。%In a cooperative vehicle infrastructure system ( CVIS) , the road site unit can get the information about the position and speed of vehicles , which provides opportunities and conditions for improving traffic signal control .A single intersection is taken as the research object in this paper .A traffic signal control method is proposed based on traffic density in the CVIS by means of induction control method .This algo-rithm can choose the direction of flow based on the biggest traffic density of the import lanes , and deter-mine entrance green time by the queue dissipation time .In order to verify the effectiveness of the algo-rithm, Humen-Liansheng intersection is taken as an example .Simulation models for the peak , flat peak, and low peak are built respectively by using the Vissim traffic simulation software .Analysis is also conduc-ted to evaluate the traffic signal control indexes for the proposed algorithm , the induction control method , and the fix control mode under the same

  6. The Use of Audible Traffic Signals in the United States.

    Science.gov (United States)

    Peck, A. F.; Uslan, M.

    1990-01-01

    This paper discusses audible traffic signals (ATS) and their use by visually impaired pedestrians in the United States and other countries. Areas of concern are noted, including the types of intersections at which ATS should be installed, the locations of poles and buttons for activating the system, and the specific type of device used.…

  7. Multiagent Reinforcement Learning for Urban Traffic Control Using Coordination Graphs

    OpenAIRE

    Kuyer, Lior; Whiteson, Shimon; Bakker, Bram; Vlassis, Nikos

    2008-01-01

    Since traffic jams are ubiquitous in the modern world, optimizing, the behavior of traffic lights for efficient traffic flow is a critically important goal. Though most current traffic lights use simple heuristic protocols, more efficient controllers can be discovered automatically via multiagent reinforcement learning where each agent controls a single traffic light. However, in previous work on this approach, agents select only locally optimal actions without coordinating their behavior. Th...

  8. Situational Leadership in Air Traffic Control

    Science.gov (United States)

    Arvidsson, Marcus; Johansson, Curt R.; Ek, Asa; Akselsson, Roland

    2007-01-01

    In high-risk environments such as air traffic control, leadership on different levels plays a certain role in establishing, promoting, and maintaining a good safety culture. The current study aimed to investigate how leadership styles, leadership style adaptability, and over and under task leadership behavior differed across situations, operative conditions, leadership structures, and working tasks in an air traffic control setting. Study locations were two air traffic control centers in Sweden with different operational conditions and leadership structures, and an administrative air traffic management unit. Leadership was measured with a questionnaire based on Leader Effectiveness and Adaptability Description (LEAD; Blanchard, Zigarmi & Zigarmi, 2003; Hersey & Blanchard, 1988). The results showed that the situation had strong impact on the leadership in which the leadership behavior was more relationship oriented in Success and Group situations than in Hardship and Individual situations. The leadership adaptability was further superior in Success and Individual situations compared with Hardship and Group situations. Operational conditions, leadership structures and working tasks were, on the other hand, not associated with leadership behavior.

  9. Multiagent reinforcement learning for urban traffic control using coordination graphs

    NARCIS (Netherlands)

    L. Kuyer; S. Whiteson; B. Bakker; N. Vlassis

    2008-01-01

    Since traffic jams are ubiquitous in the modern world, optimizing the behavior of traffic lights for efficient traffic flow is a critically important goal. Though most current traffic lights use simple heuristic protocols, more efficient controllers can be discovered automatically via multiagent rei

  10. Compact Fluidic Actuator Arrays for Flow Control Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The overall objective of the proposed research is to design, develop and demonstrate fluidic actuator arrays for aerodynamic separation control and drag reduction....

  11. Compact Fluidic Actuator Arrays For Flow Control Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The overall objective of the proposed research is to design, develop and demonstrate fluidic actuator arrays for aerodynamic separation control and drag reduction....

  12. Adaptive Non-linear Control of Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Hansen, Poul Erik; Conrad, Finn

    1998-01-01

    Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF).......Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF)....

  13. Infiuence of Bicycle Traffic on Capacity of Typical Signalized Intersection

    Institute of Scientific and Technical Information of China (English)

    CHEN Xiaoming; SHAO Chunfu; YUE Hao

    2007-01-01

    Bicycle traffic has a significant effect on the capacity of signalized intersections. This paper divides the influence of bicyclists on vehicular flow into four types with the time durations estimated based on probability, shock wave, and gap acceptance theory. Vehicular saturation flow rate is predicted for various conditions on the basis of the speed-flow curve for the capacity of typical intersections influenced by bicycle traffic.The model overcomes the limitations of the Highway Capacity Manual (HCM, 2000) method for left-turns due to data collection, and takes into account the effect of trapped bicycles on the through vehicular traffic.The numerical results show that the left-turn and through capacities predicted by the model are lower than those of the HCM method. The right-turn capacity is close to that of the HCM method at Iow bicycle volumes and higher than that of the HCM method at high bicycle volumes.

  14. Self-Organized Control of Irregular or Perturbed Network Traffic

    OpenAIRE

    Helbing, Dirk; Lämmer, Stefan; Lebacque, Jean-Patrick

    2005-01-01

    We present a fluid-dynamic model for the simulation of urban traffic networks with road sections of different lengths and capacities. The model allows one to efficiently simulate the transitions between free and congested traffic, taking into account congestion-responsive traffic assignment and adaptive traffic control. We observe dynamic traffic patterns which significantly depend on the respective network topology. Synchronization is only one interesting example and implies the emergence of...

  15. Piezoelectric actuators control applications of smart materials

    CERN Document Server

    Choi, Seung-Bok

    2010-01-01

    Newer classes of smart materials are beginning to display the capacity for self-repair, self-diagnosis, self-multiplication, and self-degradation. While there are other candidates, piezoelectric actuators and sensors are proving to be the best choice. This title details the authors' research and development in this area.

  16. Bio-inspired bending actuator for controlling conical nose shape using piezoelectric patches.

    Science.gov (United States)

    Na, Tae-Won; Jung, Jin-Young; Oh, Ii-Kwon

    2014-10-01

    In this paper, a bio-inspired bending actuator was designed and fabricated using piezoelectric patches and cantilever-shaped beam for controlling nose shape. The aim of this study is to investigate the use of the bending actuator. PZT and single crystal PMN-PT actuators were used to generate translational strain and shear stress. The piezoelectric patches were attached on the clamped cantilever beam to convert their translational strains to bending motion of the beam. First, finite element analysis was performed to identify and to make an accurate estimate of the feasibility on the bending actuation by applying various voltages and frequencies. Based on the results of the FEM analysis, the experiments were also performed. Static voltages and dynamic voltages with various frequencies were applied to the bending actuators with PZTs and PMN-PTs, and the rotation angles of the nose connected to the top of bending actuators were measured, respectively. As the results, the bending actuator using PMN-PT patches showed better performances in all cases. With the increases of signal frequency and input voltage, the rotation angle also found to be increased. Especially at the frequency of 5 Hz and input voltage of 600 V, the nose generated the maximum rotation angle of 3.15 degree. PMID:25942810

  17. An Unconventional Inchworm Actuator Based on PZT/ERFs Control Technology

    OpenAIRE

    Guojun Liu; Yanyan Zhang; Jianfang Liu; Jianqiao Li; Chunxiu Tang; Tengfei Wang; Xuhao Yang

    2016-01-01

    An unconventional inchworm actuator for precision positioning based on piezoelectric (PZT) actuation and electrorheological fluids (ERFs) control technology is presented. The actuator consists of actuation unit (PZT stack pump), fluid control unit (ERFs valve), and execution unit (hydraulic actuator). In view of smaller deformation of PZT stack, a new structure is designed for actuation unit, which integrates the advantages of two modes (namely, diaphragm type and piston type) of the volume c...

  18. On reliable control system designs. Ph.D. Thesis; [actuators

    Science.gov (United States)

    Birdwell, J. D.

    1978-01-01

    A mathematical model for use in the design of reliable multivariable control systems is discussed with special emphasis on actuator failures and necessary actuator redundancy levels. The model consists of a linear time invariant discrete time dynamical system. Configuration changes in the system dynamics are governed by a Markov chain that includes transition probabilities from one configuration state to another. The performance index is a standard quadratic cost functional, over an infinite time interval. The actual system configuration can be deduced with a one step delay. The calculation of the optimal control law requires the solution of a set of highly coupled Riccati-like matrix difference equations. Results can be used for off-line studies relating the open loop dynamics, required performance, actuator mean time to failure, and functional or identical actuator redundancy, with and without feedback gain reconfiguration strategies.

  19. Influence of Link Flow and Traffic Signal Control on the Forecast of Travel Time%流量和信号控制对运行时间预测的影响

    Institute of Scientific and Technical Information of China (English)

    徐丽群; 杨兆升; 管德永

    2001-01-01

    通过对实际交通状况的分析,说明路线运行时间不仅是路线交通流量的函数,而且是由于交叉口信号控制引起延误的函数。%The use of ATIS (Advanced Traveler Information Systems) for urban traffic management means that tripmakers can get in real time the pre-trip information and en-route information to ch oose the optimal route and reduce their travel time. Hence, reliable and frequently updated travel time information is the basis of effec tive implementation of ATIS. This paper proposes the method of foreca sting travel time at signalized network and concludes that travel time is not only the function of flow but also the function of delay caused by signal control at intersection.

  20. A Complete Analysis for Pump Controlled Single Rod Actuators

    OpenAIRE

    Çalışkan,Hakan; Balkan, Tuna; Platin, Bülent E.

    2016-01-01

    In the current study a variable speed pump controlled hydrostatic circuit where an underlapped shuttle valve is utilized to compensate the unequal flow rate of a single rod actuator is analyzed. Parameters of the shuttle valve are included in the system analysis, rather than treating it as an ideal switching element as handled in literature. A linearized model of the system is obtained. An inverse kinematic model, which calculates the required pump drive speed for a desired actuator speed and...

  1. Fluidic actuators for active flow control on airframe

    Science.gov (United States)

    Schueller, M.; Weigel, P.; Lipowski, M.; Meyer, M.; Schlösser, P.; Bauer, M.

    2016-04-01

    One objective of the European Projects AFLoNext and Clean Sky 2 is to apply Active Flow Control (AFC) on the airframe in critical aerodynamic areas such as the engine/wing junction or the outer wing region for being able to locally improve the aerodynamics in certain flight conditions. At the engine/wing junction, AFC is applied to alleviate or even eliminate flow separation at low speeds and high angle of attacks likely to be associated with the integration of underwing- mounted Ultra High Bypass Ratio (UHBR) engines and the necessary slat-cut-outs. At the outer wing region, AFC can be used to allow more aggressive future wing designs with improved performance. A relevant part of the work on AFC concepts for airframe application is the development of suitable actuators. Fluidic Actuated Flow Control (FAFC) has been introduced as a Flow Control Technology that influences the boundary layer by actively blowing air through slots or holes out of the aircraft skin. FAFC actuators can be classified by their Net Mass Flux and accordingly divided into ZNMF (Zero Net Mass Flux) and NZNMF (Non Zero Net-Mass-Flux) actuators. In the frame of both projects, both types of the FAFC actuator concepts are addressed. In this paper, the objectives of AFC on the airframe is presented and the actuators that are used within the project are discussed.

  2. DESIGN AND ANALYSIS OF NOVEL ACTIVE ACTUATOR TO CONTROL LOW FREQUENCY VIBRATIONS OF SHAFT SYSTEM

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    Aiming at providing with high-load capability in active vibration control of large-scale rotor system, a new type of active actuator to simultaneously reduce the dangers of low frequency flexural and torsional vibrations is designed. The actuator employs electro-hydraulic system and can provide a high and circumferential load. To initialize new research, the characteristics of various kinds of active actuators to control rotor shaft vibration are briefly introduced. The purpose of this paper is to introduce the preliminary results via presenting the structure, functions and operating principles, in particular, the working process of the electro-hydraulic system of the new actuator which includes a set of high speed electromagnetic valves and a series of sloping cone-shaped openings, and presenting the transmission relationships among the control parameters from control signals into the valves to active load onto shaft. The course of the work is dynamic, and a series of spatial forces and moments are put on the shaft to get an external resultant force to reduce excitations that induce vibration of shafts. By checking states of vibration, the actuator can control the impulse width and the interval of injection time for applying different control force to a vibration shaft in two circumference directions through the regulating action of a set of combination directional control valves. The results from simulating analysis and experiment show evidence of that this design can satisfy the case of active process of decreasing of flexural and torsional vibrations.

  3. Design and Simulation of a Decentralized Railway Traffic Control System

    Directory of Open Access Journals (Sweden)

    T. Kara

    2016-04-01

    Full Text Available With the increasing use of railway transportation, various methods have been developed for the control and management of train traffic. Train traffic control systems that are currently in use are overwhelmingly centralized systems. In this study, the development of the general structure of railway traffic control techniques is examined, centralized and decentralized control systems are investigated, and an alternative train traffic control system, the Decentralized Train Traffic Management System (DTMS, is suggested. Simulation results on the possible application of the proposed method to a railway line in South-East Turkey are employed to evaluate the performance of the developed system.

  4. Dielectric barrier discharge plasma actuator for flow control

    Science.gov (United States)

    Opaits, Dmitry Florievich

    Electrohydrodynamic (EHD) and magnetohydrodynamic phenomena are being widely studied for aerodynamic applications. The major effects of these phenomena are heating of the gas, body force generation, and enthalpy addition or extraction, [1, 2, 3]. In particular, asymmetric dielectric barrier discharge (DBD) plasma actuators are known to be effective EHD device in aerodynamic control, [4, 5]. Experiments have demonstrated their effectiveness in separation control, acoustic noise reduction, and other aeronautic applications. In contrast to conventional DBD actuators driven by sinusoidal voltages, we proposed and used a voltage profile consisting of nanosecond pulses superimposed on dc bias voltage. This produces what is essentially a non-self-sustained discharge: the plasma is generated by repetitive short pulses, and the pushing of the gas occurs primarily due to the bias voltage. The advantage of this non-self-sustained discharge is that the parameters of ionizing pulses and the driving bias voltage can be varied independently, which adds flexibility to control and optimization of the actuators performance. Experimental studies were conducted of a flow induced in a quiescent room air by a single DBD actuator. A new approach for non-intrusive diagnostics of plasma actuator induced flows in quiescent gas was proposed, consisting of three elements coupled together: the Schlieren technique, burst mode of plasma actuator operation, and 2-D numerical fluid modeling. During the experiments, it was found that DBD performance is severely limited by surface charge accumulation on the dielectric. Several ways to mitigate the surface charge were found: using a reversing DC bias potential, three-electrode configuration, slightly conductive dielectrics, and semi conductive coatings. Force balance measurements proved the effectiveness of the suggested configurations and advantages of the new voltage profile (pulses+bias) over the traditional sinusoidal one at relatively low

  5. Control techniques for an automated mixed traffic vehicle

    Science.gov (United States)

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

    1977-01-01

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

  6. Development of an Actuator for Flow Control Utilizing Detonation

    Science.gov (United States)

    Lonneman, Patrick J.; Cutler, Andrew D.

    2004-01-01

    Active flow control devices including mass injection systems and zero-net-mass flux actuators (synthetic jets) have been employed to delay flow separation. These devices are capable of interacting with low-speed, subsonic flows, but situations exist where a stronger crossflow interaction is needed. Small actuators that utilize detonation of premixed fuel and oxidizer should be capable of producing supersonic exit jet velocities. An actuator producing exit velocities of this magnitude should provide a more significant interaction with transonic and supersonic crossflows. This concept would be applicable to airfoils on high-speed aircraft as well as inlet and diffuser flow control. The present work consists of the development of a detonation actuator capable of producing a detonation in a single shot (one cycle). Multiple actuator configurations, initial fill pressures, oxidizers, equivalence ratios, ignition energies, and the addition of a turbulence generating device were considered experimentally and computationally. It was found that increased initial fill pressures and the addition of a turbulence generator aided in the detonation process. The actuators successfully produced Chapman-Jouguet detonations and wave speeds on the order of 3000 m/s.

  7. Self-Organized Control of Irregular or Perturbed Network Traffic

    CERN Document Server

    Helbing, D; Lebacque, J P; Helbing, Dirk; L\\"ammer, Stefan; Lebacque, Jean-Patrick

    2005-01-01

    We present a fluid-dynamic model for the simulation of urban traffic networks with road sections of different lengths and capacities. The model allows one to efficiently simulate the transitions between free and congested traffic, taking into account congestion-responsive traffic assignment and adaptive traffic control. We observe dynamic traffic patterns which significantly depend on the respective network topology. Synchronization is only one interesting example and implies the emergence of green waves. In this connection, we will discuss adaptive strategies of traffic light control which can considerably improve throughputs and travel times, using self-organization principles based on local interactions between vehicles and traffic lights. Similar adaptive control principles can be applied to other queueing networks such as production systems. In fact, we suggest to turn push operation of traffic systems into pull operation: By removing vehicles as fast as possible from the network, queuing effects can be ...

  8. Fault-tolerant Control of Discrete-time LPV systems using Virtual Actuators and Sensors

    DEFF Research Database (Denmark)

    Tabatabaeipour, Mojtaba; Stoustrup, Jakob; Bak, Thomas

    2015-01-01

    , it transforms the output of the controller for the faulty system such that the stability and performance goals are preserved. Input-to-state stabilizing LPV gains of the virtual actuator and sensor are obtained by solving linear matrix inequalities (LMIs). We show that separate design of these gains guarantees...... the plant and the nominal controller. The reconfiguration block is realized by an LPV virtual actuator and an LPV virtual sensor. Its goal is to transform the signals from the faulty system such that its behavior is similar to that of the nominal system from the viewpoint of the controller. Furthermore...... the input-to-state stability (ISS) of the closed-loop reconfigured system. Moreover, we obtain performances in terms of the ISS gains for the virtual actuator, the virtual sensor and their interconnection. Minimizing these performances is formulated as convex optimization problems subject to LMI constraints...

  9. Magnetic Actuators and Suspension for Space Vibration Control

    Science.gov (United States)

    Knospe, Carl R.; Allaire, Paul E.; Lewis, David W.

    1993-01-01

    The research on microgravity vibration isolation performed at the University of Virginia is summarized. This research on microgravity vibration isolation was focused in three areas: (1) the development of new actuators for use in microgravity isolation; (2) the design of controllers for multiple-degree-of-freedom active isolation; and (3) the construction of a single-degree-of-freedom test rig with umbilicals. Described are the design and testing of a large stroke linear actuator; the conceptual design and analysis of a redundant coarse-fine six-degree-of-freedom actuator; an investigation of the control issues of active microgravity isolation; a methodology for the design of multiple-degree-of-freedom isolation control systems using modern control theory; and the design and testing of a single-degree-of-freedom test rig with umbilicals.

  10. Modeling Traffic Flow and Management at Un-signalized, Signalized and Roundabout Road Intersections

    Directory of Open Access Journals (Sweden)

    R. Kakooza

    2005-01-01

    Full Text Available Traffic congestion continues to hinder economic and social development and also has a negative impact on the environment. A simple mathematical model is used to analyze the different types of road intersections in terms of their Performance in relation to managing traffic congestion and to establish the condition for stability of the road intersections after sufficiently longer periods of time (steady-state. In the analysis, single and double lane un-signalized, signalized and roundabout intersections are evaluated on the basis of their performance (expected number of vehicles and waiting time. Experimental scenarios are carefully designed to analyze the performance of the different types of intersections. It is noted that under light traffic, roundabout intersections perform better than un-signalized and signalized in terms of easing congestion. However under heavy traffic, signalized intersection perform better in terms of easing traffic congestion compared to un-signalized and roundabout intersections. It is further noted that for stability of a road intersection, the proportion of the time a road link stopping at an intersection is delayed should not exceed the utilization factor (the ratio of the arrival rate of vehicles to the product of number of service channels and service rate.

  11. Interaction of multiple actuators for synchronized switching damping control

    Science.gov (United States)

    Cazzulani, Gabriele; Braghin, Francesco; Mazzocchi, Fabrizio

    2016-04-01

    The semi-active Synchronized Switching Damping (SSD) family is based on a nonlinear shunting circuit applied to piezoelectric actuators, where the circuit characteristics are switched along the vibration cycles of the structure. SSD offers many advantages with respect to other vibration suppression techniques using piezoelectric actuators. Indeed, multiple modes can be suppressed with a relatively simple system and with very low power consumption. This allows the realization of self-powered control systems, without the need of wiring and external power supply. Moreover, the characteristics of this control strategy make it very robust to the variation of the dynamic characteristics of the structure, outperforming the classic passive linear shunts. Different SSD techniques have been developed, varying the circuit characteristics and the switching logic. Although this control family has been studied for many years, all the works are limited to the single actuator case, losing in generality with respect to many practical cases. For this reason, the aim of this work is to apply SSD control with multiple actuators and to study the interaction of the actuators and their shunting circuits in order to optimize the damping performance. The study will be performed numerically and then an experimental setup will be realized to test the proposed solutions.

  12. Decentralized event-triggered control over wireless sensor/actuator networks

    CERN Document Server

    Mazo, Manuel

    2010-01-01

    In recent years we have witnessed a move of the major industrial automation providers into the wireless domain. While most of these companies already offer wireless products for measurement and monitoring purposes, the ultimate goal is to be able to close feedback loops over wireless networks interconnecting sensors, computation devices, and actuators. In this paper we present a decentralized event-triggered implementation, over sensor/actuator networks, of centralized nonlinear controllers. Event-triggered control has been recently proposed as an alternative to the more traditional periodic execution of control tasks. In a typical event-triggered implementation, the control signals are kept constant until the violation of a condition on the state of the plant triggers the re-computation of the control signals. The possibility of reducing the number of re-computations, and thus of transmissions, while guaranteeing desired levels of performance makes event-triggered control very appealing in the context of sen...

  13. 14 CFR 129.21 - Control of traffic.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Control of traffic. 129.21 Section 129.21... of traffic. (a) Subject to applicable immigration laws and regulations, each foreign air carrier must... communications with its aircraft and must assist station operators in directing traffic....

  14. Modeling and control of a self-sensing polymer metal composite actuator

    International Nuclear Information System (INIS)

    An ion polymer metal composite (IPMC) is an electro-active polymer (EAP) that bends in response to a small applied electrical field as a result of mobility of cations in the polymer network and vice versa. One drawback in the use of an IPMC is the sensing problem for such a small size actuator. The aim of this paper is to develop a physical model for a self-sensing IPMC actuator and to verify its applicability for practical position control. Firstly, ion dynamics inside a polymer membrane is investigated with an asymmetric solution in the presence of distributed surface resistance. Based on this analysis, a modified equivalent circuit and a simple configuration to realize the self-sensing IPMC actuator are proposed. Mathematical modelling and experimental evaluation indicate that the bending curvature can be obtained accurately using several feedback voltage signals along with the IPMC length. Finally, the controllability of the developed self-sensing IPMC actuator is investigated using a robust position control. Experimental results prove that the self-sensing characteristics can be applied in engineering control problems to provide a more convenient sensing method for IPMC actuating systems. (paper)

  15. Design of Transputer Controllers for Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Conrad, Finn

    1996-01-01

    The paper deals with how transputers can be applied for fast controllers for hydraulic actuator systems. A general transputer-based control systems including a data acquisition transputer subsystem is presented. An application case: development of a mechatronic test facility with a fast hydraulic...

  16. Electromechanical actuator concept for the controlled and direct actuation of a hydraulic main stage

    OpenAIRE

    Ermert, Markus

    2016-01-01

    Hydraulic main stages for off highway machines have usually electromagnetic driven pilot valves. You rarely find stepper motor driven pilot systems that are directly positioning the main spool in the sectional control valve. The presented concept shows the development of an actuator in a unique setup to fulfill the requirements of most off- highway applications. Precise positioning, strength, speed and fail safe requirements were the main goals of the concept. The concept has a two phase BLDC...

  17. Flutter and vibration control of an aluminum plate wing by piezoceramic actuators

    Science.gov (United States)

    Sanda, Tomio; Takahashi, Kosaku

    1998-07-01

    We carried out tests and analysis of flutter and vibration control of rectangular aluminum plate wing. The dimensions of the plate wing (420.0 X 140.0 X 1.0 mmt) were determined based on the wind tunnel size and blowing air velocity. The plate wing was driven by eight piezoceramic actuators bonded on the surfaces at the wing root part. Acceleration sensor was located at the wing tip and the signal was sent to digital signal processor through filters and control signal was sent to power amplifier. Amplified signal drove the piezoceramic actuator and suppressed vibration of the plate wing. System consist of structure, piezoceramic actuator and unsteady aerodynamic force was modeled into the standard form of modern control theory. Piezoceramic actuator's force was modeled using analogy of thermal analysis. Unsteady aerodynamic force in case of flutter control was calculated by DLM (frequency domain), then transformed to Roger's approximation for the purpose of time domain analysis. Full order control law consist of optimum regulator and Kalman's filter was reduced to low order law for practical use. First, we carried out the test for vibration control. In this case, structural damping ratio of the system increased remarkably in both case of gain control and reduced LQG control. Using gain control, that of the system increased up to 0.3. Second, we carried out the wind tunnel test of flutter control. Flutter speed at test increased about 2.9 m/s (10.8%, in calculation 12.2%) using reduced LQG controller.

  18. Active control of structural vibration by piezoelectric stack actuators

    Institute of Scientific and Technical Information of China (English)

    NIU Jun-chuan; ZHAO Guo-qun; HU Xia-xia

    2005-01-01

    This paper presents a general analytical model of flexible isolation system for application to the installation of high-speed machines and lightweight structures. Piezoelectric stack actuators are employed in the model to achieve vibration control of flexible structures, and dynamic characteristics are also investigated. Mobility technique is used to derive the governing equations of the system. The power flow transmitted into the foundation is solved and considered as a cost function to achieve optimal control of vibration isolation. Some numerical simulations revealed that the analytical model is effective as piezoelectric stack actuators can achieve substantial vibration attenuation by selecting proper value of the input voltage.

  19. A system look at electromechanical actuation for primary flight control

    OpenAIRE

    Lomonova, E.A.

    1997-01-01

    An overview is presented of the emergence of the ALL Electric flight control system (FCS) or power-by-wire (PBW) concept. The concept of fly-by-power refers to the actuator using electrical rather than hydraulic power. The development of the primary flight control Electromechanical Actuators (EMAs) is one of the essential steps in the implementation of the ALL Electric Aircraft. There is a great deal of interest in the application of brushless motors (BM) with rare-earth magnet rotors using e...

  20. Operation Regimes and Slower-is-Faster-Effect in the Control of Traffic Intersections

    OpenAIRE

    Helbing, Dirk; Mazloumian, Amin

    2009-01-01

    The efficiency of traffic flows in urban areas is known to crucially depend on signal operation. Here, elements of signal control are discussed, based on the minimization of overall travel times or vehicle queues. Interestingly, we find different operation regimes, some of which involve a "slower-is-faster effect", where a delayed switching reduces the average travel times. These operation regimes characterize different ways of organizing traffic flows in urban road networks. Besides the opti...

  1. Vibration control for precision manufacturing using piezoelectric actuators

    Energy Technology Data Exchange (ETDEWEB)

    Martinez, D.R.; Hinnerichs, T.D.; Redmond, J.M.

    1995-12-31

    Piezoelectric actuators provide high frequency, force, and stiffness capabilities along with reasonable Stroke limits, all of which can be used to increase performance levels in precision manufacturing systems. This paper describes two examples of embedding piezoelectric actuators in structural components for vibration control. One example involves suppressing the self excited chatter phenomenon in the metal cutting process of a milling machine and the other involves damping vibrations induced by rigid body stepping of a photolithography platen. Finite element modeling and analyses are essential for locating and sizing the actuators and permit further simulation studies of the response of the dynamic system. Experimental results are given for embedding piezoelectric actuators in a cantilevered bar configuration, which was used as a surrogate machine tool structure. These results are incorporated into a previously developed milling process simulation and the effect of the control on the cutting process stability diagram is quantified. Experimental results are also given for embedding three piezoelectric actuators in a surrogate photolithography platen to suppress vibrations. These results demonstrate the potential benefit that can be realized by applying advances from the field of adaptive structures to problems in precision manufacturing.

  2. Design and control of hybrid actuation lower limb exoskeleton

    Directory of Open Access Journals (Sweden)

    Hipolito Aguilar-Sierra

    2015-06-01

    Full Text Available In this article, two types of actuators are applied for a lower limb exoskeleton. They are DC motors with the harmonic drive and the pneumatic artificial muscles. This combination takes advantages of both the harmonic drive and the pneumatic artificial muscle. It provides both high accuracy position control and high ratio of strength and weight. The shortcomings of the two actuators are overcome by the hybrid actuation, for example, low control accuracy and modeling difficult of pneumatic artificial muscle, compactness, and structural flexibility of DC motors. The design and modeling processes are discussed to show the proposed exoskeleton can increase the strength of human lower limbs. Experiments and analysis of the exoskeleton are given to evaluate the effectiveness of the design and modeling.

  3. Optimal actuator location of minimum norm controls for heat equation with general controlled domain

    Science.gov (United States)

    Guo, Bao-Zhu; Xu, Yashan; Yang, Dong-Hui

    2016-09-01

    In this paper, we study optimal actuator location of the minimum norm controls for a multi-dimensional heat equation with control defined in the space L2 (Ω × (0 , T)). The actuator domain is time-varying in the sense that it is only required to have a prescribed Lebesgue measure for any moment. We select an optimal actuator location so that the optimal control takes its minimal norm over all possible actuator domains. We build a framework of finding the Nash equilibrium so that we can develop a sufficient and necessary condition to characterize the optimal relaxed solutions for both actuator location and corresponding optimal control of the open-loop system. The existence and uniqueness of the optimal classical solutions are therefore concluded. As a result, we synthesize both optimal actuator location and corresponding optimal control into a time-varying feedbacks.

  4. An efficient method to detect periodic behavior in botnet traffic by analyzing control plane traffic

    Science.gov (United States)

    AsSadhan, Basil; Moura, José M.F.

    2013-01-01

    Botnets are large networks of bots (compromised machines) that are under the control of a small number of bot masters. They pose a significant threat to Internet’s communications and applications. A botnet relies on command and control (C2) communications channels traffic between its members for its attack execution. C2 traffic occurs prior to any attack; hence, the detection of botnet’s C2 traffic enables the detection of members of the botnet before any real harm happens. We analyze C2 traffic and find that it exhibits a periodic behavior. This is due to the pre-programmed behavior of bots that check for updates to download them every T seconds. We exploit this periodic behavior to detect C2 traffic. The detection involves evaluating the periodogram of the monitored traffic. Then applying Walker’s large sample test to the periodogram’s maximum ordinate in order to determine if it is due to a periodic component or not. If the periodogram of the monitored traffic contains a periodic component, then it is highly likely that it is due to a bot’s C2 traffic. The test looks only at aggregate control plane traffic behavior, which makes it more scalable than techniques that involve deep packet inspection (DPI) or tracking the communication flows of different hosts. We apply the test to two types of botnet, tinyP2P and IRC that are generated by SLINGbot. We verify the periodic behavior of their C2 traffic and compare it to the results we get on real traffic that is obtained from a secured enterprise network. We further study the characteristics of the test in the presence of injected HTTP background traffic and the effect of the duty cycle on the periodic behavior. PMID:25685512

  5. Adaptive active control of periodic vibration using maglev actuators

    Science.gov (United States)

    An, Fengyan; Sun, Hongling; Li, Xiaodong

    2012-04-01

    In this paper, active control of periodic vibration is implemented using maglev actuators which exhibit inherent nonlinear behaviors. A multi-channel feedforward control algorithm is proposed to solve these nonlinear problems, in which maglev actuators are treated as single-input-single-output systems with unknown time-varying nonlinearities. A radial basis function network is used by the algorithm as its controller, whose parameters are adapted only with the model of the linear system in the secondary path. Compared with the strategies in the conventional magnetic-levitation system control as well as nonlinear active noise/vibration control, the proposed algorithm has the advantage that the nonlinear modeling procedure of maglev actuators and the usage of displacement sensors could be both avoided. Numerical simulations and real-time experiments are carried out based on a multiple-degree-of-freedom vibration isolation system. The results show that the proposed algorithm not only could efficiently compensate for the actuators' time-varying nonlinearities, but also has the ability to greatly attenuate the energy of periodic vibration.

  6. A knowledge-based system for controlling automobile traffic

    Science.gov (United States)

    Maravas, Alexander; Stengel, Robert F.

    1994-01-01

    Transportation network capacity variations arising from accidents, roadway maintenance activity, and special events as well as fluctuations in commuters' travel demands complicate traffic management. Artificial intelligence concepts and expert systems can be useful in framing policies for incident detection, congestion anticipation, and optimal traffic management. This paper examines the applicability of intelligent route guidance and control as decision aids for traffic management. Basic requirements for managing traffic are reviewed, concepts for studying traffic flow are introduced, and mathematical models for modeling traffic flow are examined. Measures for quantifying transportation network performance levels are chosen, and surveillance and control strategies are evaluated. It can be concluded that automated decision support holds great promise for aiding the efficient flow of automobile traffic over limited-access roadways, bridges, and tunnels.

  7. Optical Sensor/Actuator Locations for Active Structural Acoustic Control

    Science.gov (United States)

    Padula, Sharon L.; Palumbo, Daniel L.; Kincaid, Rex K.

    1998-01-01

    Researchers at NASA Langley Research Center have extensive experience using active structural acoustic control (ASAC) for aircraft interior noise reduction. One aspect of ASAC involves the selection of optimum locations for microphone sensors and force actuators. This paper explains the importance of sensor/actuator selection, reviews optimization techniques, and summarizes experimental and numerical results. Three combinatorial optimization problems are described. Two involve the determination of the number and position of piezoelectric actuators, and the other involves the determination of the number and location of the sensors. For each case, a solution method is suggested, and typical results are examined. The first case, a simplified problem with simulated data, is used to illustrate the method. The second and third cases are more representative of the potential of the method and use measured data. The three case studies and laboratory test results establish the usefulness of the numerical methods.

  8. Geometry adaptive control of a composite reflector using PZT actuator

    Science.gov (United States)

    Lan, Lan; Jiang, Shuidong; Zhou, Yang; Fang, Houfei; Tan, Shujun; Wu, Zhigang

    2015-04-01

    Maintaining geometrical high precision for a graphite fiber reinforced composite (GFRC) reflector is a challenging task. Although great efforts have been placed to improve the fabrication precision, geometry adaptive control for a reflector is becoming more and more necessary. This paper studied geometry adaptive control for a GFRC reflector with piezoelectric ceramic transducer (PZT) actuators assembled on the ribs. In order to model the piezoelectric effect in finite element analysis (FEA), a thermal analogy was used in which the temperature was applied to simulate the actuation voltage, and the piezoelectric constant was mimicked by a Coefficient of Thermal Expansion (CTE). PZT actuator's equivalent model was validated by an experiment. The deformations of a triangular GFRC specimen with three PZT actuators were also measured experimentally and compared with that of simulation. This study developed a multidisciplinary analytical model, which includes the composite structure, thermal, thermal deformation and control system, to perform an optimization analysis and design for the adaptive GFRC reflector by considering the free vibration, gravity deformation and geometry controllability.

  9. Structural/control system optimization with variable actuator masses

    Science.gov (United States)

    Jin, Ik M.; Sepulveda, Abdon E.

    1993-01-01

    A method is presented to integrate the design space for structural/control system optimization problems in the case of linear state feedback control. Nonstructural lumped masses and control system design variables as well as structural sizing variables are all treated equally as independent design variables in the optimization process. Structural and control design variable linking schemes are used in order to avoid a prohibitively large increase in the total number of independent design variables. When actuator masses are treated as nonstructural lumped mass design variables, special consideration is given to the relation between the transient peak responses and the required actuator masses which is formulated as a behavior constraint form. The original nonlinear mathematical programming problem based on a finite element formulation and linear state feedback is replaced by a sequence of explicit approximate problems exploiting various approximation concepts such as design variable linkings, temporary constraint deletion and first order Taylor series expansion of nonlinear behavior constraints in terms of intermediate design variables. Examples which involve a variety of dynamic behavior constraints (including constraints on closed-loop eigenvalues, peak transient displacements, peak actuator forces, and relations between the peak responses and the actuator masses) are effectively solved by using the method presented.

  10. Flow Separation Control on Airfoil With Pulsed Nanosecond Discharge Actuator

    NARCIS (Netherlands)

    Correale, G.; Popov, I.B.; Ratikin, A.E.; Starikovskii, A.Y.; Hulshoff, S.J.; Veldhuis, L.L.M.

    2011-01-01

    An experimental study of flow separation control with a nanosecond pulse plasma actuator was performed in wind-tunnel experiments. The discharge used had a pulse width of 12 ns and rising time of 3 ns with voltage up to 12 kV. Repetition frequency was adjustable up to 10 kHz. The first series of exp

  11. Iterative process control and sensor evaluation for deep drawing tools with integrated piezoelectric actuators

    Directory of Open Access Journals (Sweden)

    Bäume Tobias

    2016-01-01

    Full Text Available Due to the design-driven increase in complexity of forming car body parts, it becomes more difficult to ensure a stable forming process. Piezoelectric actuators can influence the material flow of stamping parts effectively. In this article the implementation of piezoelectric actuators in a large scale sheet metal forming tool of a car manufacturer is described. Additionally, it is shown that part quality can be assessed with the help of triangulation laser sensors, which are mounted on the blankholder. The resulting flange draw-in signals were processed and used to adopt the applying actuator force iteratively to reduce the occurrence of cracks. It was shown that process control helped to improve the quality of the stamping parts significantly.

  12. Tractor controls actuating force limits for Indian operators.

    Science.gov (United States)

    Mehta, C R; Pandey, M M; Tiwari, P S; Gite, L P; Khadatkar, Abhijit

    2011-01-01

    In four-wheel tractors, proper design of controls is important for comfortable and safe operation of the tractor. The design involves location and dimensions of controls as well as strength limits for operating these controls. The present study was aimed to quantify human strength for operation of tractor controls and to recommend the maximum control actuating forces for normal operation of tractors based on strength capability of 3,423 Indian male agricultural workers. The 5th percentile values of strength parameters i.e. leg strength sitting (left and right), foot strength sitting (right), torque strength (both hands) sitting, push strength (left hand and right hand) sitting and pull strength (left hand and right hand) sitting of agricultural workers collected using a strength measurement set-up were taken into consideration for the study. It was recommended that the maximum actuating forces for normal operation of frequently operated brake and clutch pedals of tractors should not exceed 260 N and 125 N based on 5th percentile values of right and left leg strength of male agricultural workers, respectively. The maximum actuating force required in steering wheel operation should not exceed 51 N based on 5th percentile value of torque strength (both hands) sitting of workers. The maximum actuating forces required for operating frequently operated levers viz. gear selection, speed selection, hydraulic control and hand throttle of Indian tractors should not exceed 46 N, 46 N, 25 N and 25 N, respectively. It may be concluded that the maximum actuating force limits as given in Bureau of Indian Standards IS 10703 are very high as compared to the findings of the study based on strength data of Indian male operators, which highlight the need to revise the standard. PMID:21697615

  13. Attitude control for part actuator failure of agile small satellite

    Institute of Scientific and Technical Information of China (English)

    J. R. Zhang; A. Rachid; Y. Zhang

    2008-01-01

    The stability and singularity problem of agile small satellite (ASS) with actuator failure is discussed in this paper. Firstly, the three-axis stabilized controller of an ASS is designed, where micro control moment gyros (MCMG's) in pyramid configuration (PC) is used as the actuator. By using the same controller and steering law, the control results before and after one gyro fails are compared by simulation. The variation of singular momentum envelope before and after one gyro fails is also compared. The simulation results show that the failure intensively decreases the capacity of output torque, which leads to the emergence of more singular points and the rapid saturation of MCMG's. Finally, the parameters of system controller are changed to compare the control effect.

  14. An integrated electroactive polymer sensor-actuator: design, model-based control, and performance characterization

    Science.gov (United States)

    Hunt, A.; Chen, Z.; Tan, X.; Kruusmaa, M.

    2016-03-01

    Ionic electroactive polymers (IEAPs), particularly ionic polymer-metal composites (IPMCs) and carbon-polymer composites (CPCs), bend when a voltage is applied on their electrodes, and conversely, they generate an electrical signal when subjected to a mechanical bending. In this work we study and compare the capabilities of IPMC and CPC actuators and sensors in closed-loop control applications. We propose and realize an integrated IEAP sensor-actuator design, characterize its performance using three different materials, and compare the results. The design consists of two short IEAP actuators and one sensor mechanically coupled together in a parallel configuration, and an attached rigid extension significantly longer than the IEAPs. This allows the device to be compliant, simple to construct, lightweight, easy to miniaturize, and functionally similar to a one-degree-of-freedom rotational joint. For control design and accurate position sensing in feedback experiments, we adapt physics-based and control-oriented models of actuation and sensing dynamics, and perform experiments to identify their parameters. In performance characterization, both model-based {H}∞ control and proportional-integral control are explored. System responses to step inputs, sinusoids, and random references are measured, and long-duration sinusoidal tracking experiments are performed. The results show that, while IEAP position sensing is stable for only a limited time-span, H ∞ control significantly improves the performance of the device.

  15. Proactive Traffic Information Control in Emergency Evacuation Network

    Directory of Open Access Journals (Sweden)

    Zhengfeng Huang

    2015-01-01

    Full Text Available Traffic demand in emergency evacuation is usually too large to be effectively managed with reactive traffic information control methods. These methods adapt to the road traffic passively by publishing real-time information without consideration of the routing behavior feedback produced by evacuees. Other remedy measures have to be prepared in case of nonrecurring congestion under these methods. To use the network capacity fully to mitigate near-future evacuation traffic congestion, we propose proactive traffic information control (PTIC model. Based on the mechanism between information and routing behavior feedback, this model can change the route choice of evacuees in advance by dissipating strategic traffic information. Generally, the near-future traffic condition is difficult to accurately predict because it is uncertain in evacuation. Assume that the value of traffic information obeys certain distribution within a range, and then real-time traffic information may reflect the most-likely near-future traffic condition. Unlike the real-time information, the proactive traffic information is a selection within the range to achieve a desired level of the road network performance index (total system travel time. In the aspect of the solution algorithm, differential equilibrium decomposed optimization (D-EDO is proposed to compare with other heuristic methods. A field study on a road network around a large stadium is used to validate the PTIC.

  16. Towards Autonomous Control of Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Hansen, Poul Erik; Conrad, Finn

    1998-01-01

    Presentation of new developed control algorithms to increase autonomy and intelligence of hydraulic control systems. A refinement of relaytuning method is used to determine the control parameters of a lag/lead controller and a poleplacement controller. Further, a fail-safe function is developed...

  17. Evaluation of linear DC motor actuators for control of large space structures

    OpenAIRE

    Ide, Eric Nelson

    1988-01-01

    This thesis examines the use of a linear DC motor as a proof mass actuator for the control of large space structures. A model for the actuator, including the current and force compensation used, is derived. Because of the force compensation, the actuator is unstable when placed on a structure. Relative position feedback is used for actuator stabilization. This method of compensation couples the actuator to the mast in a feedback configuration. Three compensator designs are prop...

  18. Research on an Urban Traffic Control System Based on DGPS

    Institute of Scientific and Technical Information of China (English)

    张锦; 张姝慧; 曹继红

    2002-01-01

    The basic principles of GPS (Global Positioning System) and DGPS (Differential GPS) are described. The principle and structure of vehicle navigation systems, and its application to the urban traffic flow guidance are analyzed. Then, an area-coordinated adaptive control system based on DGPS and a traffic flow guidance information system based on DGPS are put forward, and their working principles and functions are researched. This is to provides a new way for the development of urban road traffic control systems.

  19. Synaptic membrane rafts: traffic lights for local neurotrophin signalling?

    Directory of Open Access Journals (Sweden)

    Barbara eZonta

    2013-10-01

    Full Text Available Lipid rafts, cholesterol and lipid rich microdomains, are believed to play important roles as platforms for the partitioning of transmembrane and synaptic proteins involved in synaptic signalling, plasticity and maintenance. There is increasing evidence of a physical interaction between post-synaptic densities and post-synaptic lipid rafts. Localization of proteins within lipid rafts is highly regulated, and therefore lipid rafts may function as traffic lights modulating and fine-tuning neuronal signalling. The tyrosine kinase neurotrophin receptors (Trk and the low-affinity p75 neurotrophin receptor (p75NTR are enriched in neuronal lipid rafts together with the intermediates of downstream signalling pathways, suggesting a possible role of rafts in neurotrophin signalling. Moreover, neurotrophins and their receptors are involved in the regulation of cholesterol metabolism. Cholesterol is an important component of lipid rafts and its depletion leads to gradual loss of synapses, underscoring the importance of lipid rafts for proper neuronal function. Here, we review and discuss the idea that translocation of neurotrophin receptors in synaptic rafts may account for the selectivity of their transduced signals.

  20. Modelling and control of double-cone dielectric elastomer actuator

    Science.gov (United States)

    Branz, F.; Francesconi, A.

    2016-09-01

    Among various dielectric elastomer devices, cone actuators are of large interest for their multi-degree-of-freedom design. These objects combine the common advantages of dielectric elastomers (i.e. solid-state actuation, self-sensing capability, high conversion efficiency, light weight and low cost) with the possibility to actuate more than one degree of freedom in a single device. The potential applications of this feature in robotics are huge, making cone actuators very attractive. This work focuses on rotational degrees of freedom to complete existing literature and improve the understanding of such aspect. Simple tools are presented for the performance prediction of the device: finite element method simulations and interpolating relations have been used to assess the actuator steady-state behaviour in terms of torque and rotation as a function of geometric parameters. Results are interpolated by fit relations accounting for all the relevant parameters. The obtained data are validated through comparison with experimental results: steady-state torque and rotation are determined at a given high voltage actuation. In addition, the transient response to step input has been measured and, as a result, the voltage-to-torque and the voltage-to-rotation transfer functions are obtained. Experimental data are collected and used to validate the prediction capability of the transfer function in terms of time response to step input and frequency response. The developed static and dynamic models have been employed to implement a feedback compensator that controls the device motion; the simulated behaviour is compared to experimental data, resulting in a maximum prediction error of 7.5%.

  1. Simulation and control of an electro-hydraulic actuated clutch

    Science.gov (United States)

    Balau, Andreea-Elena; Caruntu, Constantin-Florin; Lazar, Corneliu

    2011-08-01

    The basic function of any type of automotive transmission is to transfer the engine torque to the vehicle with the desired ratio smoothly and efficiently and the most common control devices inside the transmission are clutches and hydraulic pistons. The automatic control of the clutch engagement plays a crucial role in Automatic Manual Transmission (AMT) vehicles, being seen as an increasingly important enabling technology for the automotive industry. It has a major role in automatic gear shifting and traction control for improved safety, drivability and comfort and, at the same time, for fuel economy. In this paper, a model for a wet clutch actuated by an electro-hydraulic valve used by Volkswagen for automatic transmissions is presented. Starting from the developed model, a simulator was implemented in Matlab/Simulink and the model was validated against data obtained from a test-bench provided by Continental Automotive Romania, which includes the Volkswagen wet clutch actuated by the electro-hydraulic valve. Then, a predictive control strategy is applied to the model of the electro-hydraulic actuated clutch with the aims of controlling the clutch piston displacement and decreasing the influence of the network-induced delays on the control performances. The simulation results obtained with the proposed method are compared with the ones obtained with different networked controllers and it is shown that the strategy proposed in this paper can indeed improve the performances of the control system.

  2. Output-Based Control of Robots with Variable Stiffness Actuation

    Directory of Open Access Journals (Sweden)

    Gianluca Palli

    2011-01-01

    Full Text Available The output-based control of a redundant robotic manipulator with relevant and adjustable joint stiffness is addressed. The proposed controller is configured as a cascade system that allows the decoupling of the actuators dynamics from the arm dynamics and the consequent reduction of the order of the manipulator dynamic model. Moreover, the proposed controller does not require the knowledge of the whole robot state: only the positions of the actuators and of the joints are necessary. This approach represents a significant simplification with respect to previously proposed state feedback techniques. The problem of controlling simultaneously the position trajectory and the desired stiffness in both the joint and work space is investigated, and the relations between the manipulator redundancy and the selection of both the joint and work space stiffness of the manipulator are discussed. The effectiveness of the proposed approach is verified by simulations of a 3 degrees of freedom planar manipulator.

  3. Biomimetic Control of Mechanical Systems Equipped with Musculotendon Actuators

    Institute of Scientific and Technical Information of China (English)

    Javier Moreno-Valenzuela; Adriana Salinas-Avila

    2011-01-01

    This paper addresses the problem of modelling, control, and simulation of a mechanical system actuated by an agonist-antagonist musculotendon subsystem. Contraction dynamics is given by case I of Zajac's model. Saturated semi positive proportional-derivative-type controllers with switching as neural excitation inputs are proposed. Stability theory of switched system and SOSTOOLS, which is a sum of squares optimization toolbox of Matlab, are used to determine the stability of the obtained closed-loop system. To corroborate the obtained theoretical results numerical simulations are carried out. As additional contribution, the discussed ideas are applied to the biomimetic control of a DC motor, i.e., the position control is addressed assuming the presence of musculotendon actuators. Real-experiments corroborate the expected results.

  4. Heavy traffic on a controlled motorway

    CERN Document Server

    Kelly, F P

    2010-01-01

    Unlimited access to a motorway network can, in overloaded conditions, cause a loss of capacity. Ramp metering (signals on slip roads to control access to the motorway) can help avoid this loss of capacity. The design of ramp metering strategies has several features in common with the design of access control mechanisms in communication networks. Inspired by models and rate control mechanisms developed for Internet congestion control, we propose a Brownian network model as an approximate model for a controlled motorway and consider it operating under a proportionally fair ramp metering policy.We present an analysis of the performance of this model.

  5. Control of a perturbed under-actuated mechanical system

    KAUST Repository

    Zayane, Chadia

    2015-11-05

    In this work, the trajectory tracking problem for an under-actuated mechanical system in presence of unknown input disturbances is addressed. The studied inertia wheel inverted pendulum falls in the class of non minimum phase systems. The proposed high order sliding mode control architecture including a controller and differentiator allows to track accurately the predefined trajectory and to stabilize the internal dynamics. The robustness of the proposed approach is illustrated through different perturbation and output noise configurations.

  6. 3-D Separation Control using Spatially-Compact, Pulsed Actuation

    Science.gov (United States)

    Woo, George T. K.; Glezer, Ari

    2013-11-01

    The dynamics of controlled 3-D transitory attachment of stalled flow over a dynamically pitching 2-D airfoil are investigated in wind tunnel experiments. Pulsed actuation is effected over a spanwise fraction of the separated domain on a time scale that is an order of magnitude shorter than the airfoil's characteristic convective time scale using surface-integrated pulsed, combustion-driven actuator jets. The formation, evolution, and advection of vorticity concentrations over the airfoil and in its near wake are computed from high-resolution, phase-locked PIV measurements of the flow field in multiple cross-stream planes. It is shown that transitory attachment spreads toward the outboard, unactuated flow domains and exceeds the spanwise width of the actuation. The attachment is preceded by the formation of 3-D vortical structures that are advected and shed into the near wake. The effect of the actuation on the variation of the lift and pitching moment during the pitching cycle is altered significantly with its phase delay relative to the airfoil's pitching motion and can significantly mitigate the adverse aerodynamic effects of the dynamic stall. Supported by AFOSR.

  7. Selective data collection in vehicular networks for traffic control applications

    CERN Document Server

    Płaczek, Bartłomiej

    2011-01-01

    Vehicular sensor network (VSN) is an emerging technology, which combines wireless communication offered by vehicular ad hoc networks (VANET) with sensing devices installed in vehicles. VSN creates a huge opportunity to extend the road-side sensor infrastructure of existing traffic control systems. The efficient use of the wireless communication medium is one of the basic issues in VSN applications development. This paper introduces a novel method of selective data collection for traffic control applications, which provides a significant reduction in data amounts transmitted through VSN. The underlying idea is to detect the necessity of data transfers on the basis of uncertainty determination of the traffic control decisions. According to the proposed approach, sensor data are transmitted from vehicles to the control node only at selected time moments. Data collected in VSN are processed using on-line traffic simulation technique, which enables traffic flow prediction, performance evaluation of control strateg...

  8. Protein-based microhydraulic transport for controllable actuation

    Science.gov (United States)

    Sundaresan, Vishnu Baba; Leo, Donald J.

    2006-03-01

    Plants have the ability to develop large mechanical force from chemical energy available with bio-fuels. The energy released by the cleavage of a terminal phosphate ion during the hydrolysis of a bio- fuel assists the transport of ions and fluids in cellular homeostasis. Materials that develop pressure and hence strain similar to the response of plants to an external stimuli are classified as nastic materials. Calculations for controlled actuation of an active material inspired by biological transport mechanism demonstrated the feasibility of developing such a material with actuation energy densities on the order of 100 kJ/m 3. The mathematical model for a simplified proof of concept actuator referred to as micro hydraulic actuator uses ion transporters extracted from plants reconstituted on a synthetic bilayer lipid membrane (BLM). Thermodynamic model of the concept actuator predicted the ability to develop 5 percent normalized deformation in thickness of the micro- hydraulic actuator. Controlled fluid transport through AtSUT4 (Proton-sucrose co-transporter from Arabidopsis thaliana) reconstituted on a 1-Palmitoyl-2-Oleoyl-sn-Glycero-3-[Phospho-L- Serine] (Sodium Salt) (POPS), 1-Palmitoyl-2-Oleoyl-sn-Glycero-3- Phosphoethanolamine (POPE) BLM on a porous lead silicate glass plate (50μm with 61μm pitch) was driven by proton gradient. Bulk fluid flux of 1.2 μl/min was observed for each microliter of AtSUT4 transporter suspension (16.6 mg/ml in pH7.0 medium) reconstituted on the BLM. The flux rate is observed to be dependent on the concentration of sucrose present in pH4 buffer. Flux rate of 10 μl/min is observed for 5 mM sucrose in the first 10 minutes. The observed flux scales linearly with BLM area and the amount of proteins reconstituted on the lipid membrane. This article details the next step in the development of the micro hydraulic actuator - fluid transport driven by exergonic Adenosine triphosphate (ATP) hydrolysis reaction in the presence of ATP

  9. Airfoil Roll Control by Bang-Bang Optimal Control Method with Plasma Actuators

    CERN Document Server

    Wei, Qingkai; Chen, Bao; Huang, Xun

    2012-01-01

    The bang-bang optimal control method was proposed for glow discharge plasma actuators, taking account of practical issues, such as limited actuation states with instantaneously varied aerodynamic control performance. Hence, the main contribution of this Note is to integrate flight control with active flow control in particular for plasma actuators. Flow control effects were examined in wind tunnel experiments, which show that the plasma authority for flow control is limited. Flow control effects are only obvious at pitch angles near stall. However, flight control simulations suggest that even those small plasma-induced roll moments can satisfactorily fulfill the maneuver tasks and meet flight quality specifications. In addition, the disturbance from volatile plasma-induced roll moments can be rejected. Hence, the proposed bang-bang control method is a promising candidate of control design methodology for plasma actuators.

  10. Capacity Reliability of Signalized Intersections with Mixed Traffic Conditions

    Institute of Scientific and Technical Information of China (English)

    CHEN Xiaoming; SHAO Chunfu; LI Da; DONG Chunjiao

    2009-01-01

    The reliability of capacity of signalized intersections in mixed traffic conditions involving vehicles, bicycles, and pedestrians was investigated to complete the conventional, deterministic capacity calculations. Simulations using VISSIM provided estimates of capacity distributions, and demonstrated the effects of the analysis intervals on the distributions. With the random vehicle arrivals taken into account, a capacity reli-ability assessment method was given as a function. Assessments were also performed regarding the effects of the conflicting pedestrian and bicycle volumes on capacity reliability. The simulation indicates that the pe-destrians and bicycles result in greater random fluctuations of exclusive tuming lane capacities, but have less effect on the variability of shared lane capacities. Normal distributions can be used to model the capaci-ties for intervals not less than 10 min. At higher vehicular volumes, the capacity reliability is more sensitive to the mean and standard deviation of the pedestrian and bicycle volumes.

  11. Free-form Light Actuators — Fabrication and Control of Actuation in Microscopic Scale

    Science.gov (United States)

    Zeng, Hao; Wasylczyk, Piotr; Parmeggiani, Camilla; Martella, Daniele; Wiersma, Diederik Sybolt

    2016-01-01

    Liquid crystalline elastomers (LCEs) are smart materials capable of reversible shape-change in response to external stimuli, and have attracted researchers' attention in many fields. Most of the studies focused on macroscopic LCE structures (films, fibers) and their miniaturization is still in its infancy. Recently developed lithography techniques, e.g., mask exposure and replica molding, only allow for creating 2D structures on LCE thin films. Direct laser writing (DLW) opens access to truly 3D fabrication in the microscopic scale. However, controlling the actuation topology and dynamics at the same length scale remains a challenge. In this paper we report on a method to control the liquid crystal (LC) molecular alignment in the LCE microstructures of arbitrary three-dimensional shape. This was made possible by a combination of direct laser writing for both the LCE structures as well as for micrograting patterns inducing local LC alignment. Several types of grating patterns were used to introduce different LC alignments, which can be subsequently patterned into the LCE structures. This protocol allows one to obtain LCE microstructures with engineered alignments able to perform multiple opto-mechanical actuation, thus being capable of multiple functionalities. Applications can be foreseen in the fields of tunable photonics, micro-robotics, lab-on-chip technology and others. PMID:27285398

  12. Free-form Light Actuators - Fabrication and Control of Actuation in Microscopic Scale.

    Science.gov (United States)

    Zeng, Hao; Wasylczyk, Piotr; Parmeggiani, Camilla; Martella, Daniele; Wiersma, Diederik Sybolt

    2016-01-01

    Liquid crystalline elastomers (LCEs) are smart materials capable of reversible shape-change in response to external stimuli, and have attracted researchers' attention in many fields. Most of the studies focused on macroscopic LCE structures (films, fibers) and their miniaturization is still in its infancy. Recently developed lithography techniques, e.g., mask exposure and replica molding, only allow for creating 2D structures on LCE thin films. Direct laser writing (DLW) opens access to truly 3D fabrication in the microscopic scale. However, controlling the actuation topology and dynamics at the same length scale remains a challenge. In this paper we report on a method to control the liquid crystal (LC) molecular alignment in the LCE microstructures of arbitrary three-dimensional shape. This was made possible by a combination of direct laser writing for both the LCE structures as well as for micrograting patterns inducing local LC alignment. Several types of grating patterns were used to introduce different LC alignments, which can be subsequently patterned into the LCE structures. This protocol allows one to obtain LCE microstructures with engineered alignments able to perform multiple opto-mechanical actuation, thus being capable of multiple functionalities. Applications can be foreseen in the fields of tunable photonics, micro-robotics, lab-on-chip technology and others. PMID:27285398

  13. Hydraulic engine valve actuation system including independent feedback control

    Science.gov (United States)

    Marriott, Craig D

    2013-06-04

    A hydraulic valve actuation assembly may include a housing, a piston, a supply control valve, a closing control valve, and an opening control valve. The housing may define a first fluid chamber, a second fluid chamber, and a third fluid chamber. The piston may be axially secured to an engine valve and located within the first, second and third fluid chambers. The supply control valve may control a hydraulic fluid supply to the piston. The closing control valve may be located between the supply control valve and the second fluid chamber and may control fluid flow from the second fluid chamber to the supply control valve. The opening control valve may be located between the supply control valve and the second fluid chamber and may control fluid flow from the supply control valve to the second fluid chamber.

  14. A natural basis for efficient brain-actuated control

    Science.gov (United States)

    Makeig, S.; Enghoff, S.; Jung, T. P.; Sejnowski, T. J.

    2000-01-01

    The prospect of noninvasive brain-actuated control of computerized screen displays or locomotive devices is of interest to many and of crucial importance to a few 'locked-in' subjects who experience near total motor paralysis while retaining sensory and mental faculties. Currently several groups are attempting to achieve brain-actuated control of screen displays using operant conditioning of particular features of the spontaneous scalp electroencephalogram (EEG) including central mu-rhythms (9-12 Hz). A new EEG decomposition technique, independent component analysis (ICA), appears to be a foundation for new research in the design of systems for detection and operant control of endogenous EEG rhythms to achieve flexible EEG-based communication. ICA separates multichannel EEG data into spatially static and temporally independent components including separate components accounting for posterior alpha rhythms and central mu activities. We demonstrate using data from a visual selective attention task that ICA-derived mu-components can show much stronger spectral reactivity to motor events than activity measures for single scalp channels. ICA decompositions of spontaneous EEG would thus appear to form a natural basis for operant conditioning to achieve efficient and multidimensional brain-actuated control in motor-limited and locked-in subjects.

  15. Dielectric Barrier Discharge Plasma Actuator for Flow Control

    Science.gov (United States)

    Opaits, Dmitry, F.

    2012-01-01

    This report is Part II of the final report of NASA Cooperative Agreement contract no. NNX07AC02A. It includes a Ph.D. dissertation. The period of performance was January 1, 2007 to December 31, 2010. Part I of the final report is the overview published as NASA/CR-2012- 217654. Asymmetric dielectric barrier discharge (DBD) plasma actuators driven by nanosecond pulses superimposed on dc bias voltage are studied experimentally. This produces non-self-sustained discharge: the plasma is generated by repetitive short pulses, and the pushing of the gas occurs primarily due to the bias voltage. The parameters of ionizing pulses and the driving bias voltage can be varied independently, which adds flexibility to control and optimization of the actuators performance. The approach consisted of three elements coupled together: the Schlieren technique, burst mode of plasma actuator operation, and 2-D numerical fluid modeling. During the experiments, it was found that DBD performance is severely limited by surface charge accumulation on the dielectric. Several ways to mitigate the surface charge were found: using a reversing DC bias potential, three-electrode configuration, slightly conductive dielectrics, and semi conductive coatings. Force balance measurements proved the effectiveness of the suggested configurations and advantages of the new voltage profile (pulses+bias) over the traditional sinusoidal one at relatively low voltages. In view of practical applications certain questions have been also addressed, such as electrodynamic effects which accompany scaling of the actuators to real size models, and environmental effects of ozone production by the plasma actuators.

  16. Conformal grasping using feedback controlled bubble actuator array

    Science.gov (United States)

    Carrigan, Wei; Stein, Richard; Mittal, Manoj; Wijesundara, Muthu B. J.

    2014-06-01

    This paper presents an implementation of a bubble actuator array (BAA) based active robotic skin, a modular system, onto existing low cost robotic end-effectors or prosthetic hands for conformal grasping of objects. The active skin is comprised of pneumatically controlled polyurethane rubber bubbles with overlaid sensors for feedback control. Sensor feedback allows the BAA based robotic skin to conformally grasp an object with an explicit uniform force distribution. The bubble actuator array reported here is capable of applying up to 4N of force at each point of contact and tested for conformally grasping objects with a radius of curvature up to 57.15mm. Once integrated onto a two-finger gripper with one degree of freedom (DOF), the active skin was shown to reduce point of contact forces of up to 50% for grasped objects.

  17. Tracking control of the hydraulically actuated flexible manipulator

    International Nuclear Information System (INIS)

    The remediation of single-shell radioactive waste storage tanks is one of the urgent tasks of the Department of Energy that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this remediation task. Because high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has been designed to compensate for the hydraulic actuator dynamics by using a load-compensated velocity feedforward loop and to increase the bandwidth by using a pressure feed backloop. Shaping filter techniques have been applied as a feedforward controller to avoid structural vibrations during operation. Among various types of shaping filter methods investigated an approach, referred to as a ''feedforward simulation filter'' that uses embedded simulation, has been presented

  18. Traffic Modelling for Moving-Block Train Control System

    Institute of Scientific and Technical Information of China (English)

    TANG Tao; LI Ke-Ping

    2007-01-01

    This paper presents a new cellular automaton (CA) model for train control system simulation.In the proposed CA model,the driver reactions to train movements are captured by some updated rules.The space-time diagram of traffic flow and the trajectory of train movement is used to obtain insight into the characteristic behavior of railway traffic flow.A number of simulation results demonstrate that the proposed CA model can be successfully used for the simulations of railway traffic.Not only the characteristic behavior of railway traffic flow can be reproduced,but also the simulation values of the minimum time headway are close to the theoretical values.

  19. Traffic Modelling for Moving-Block Train Control System

    International Nuclear Information System (INIS)

    This paper presents a new cellular automaton (CA) model for train control system simulation. In the proposed CA model, the driver reactions to train movements are captured by some updated rules. The space-time diagram of traffic flow and the trajectory of train movement is used to obtain insight into the characteristic behavior of railway traffic flow. A number of simulation results demonstrate that the proposed CA model can be successfully used for the simulations of railway traffic. Not only the characteristic behavior of railway traffic flow can be reproduced, but also the simulation values of the minimum time headway are close to the theoretical values.

  20. Detecting Approaching Vehicles at Streets with No Traffic Control

    Science.gov (United States)

    Emerson, Robert Wall; Sauerburger, Dona

    2008-01-01

    This study assessed the ability of people with visual impairments to reliably detect oncoming traffic at crossing situations with no traffic control. In at least one condition, the participants could not hear vehicles to afford a safe crossing time when sound levels were as quiet as possible. Significant predictors of detection accounted for a…

  1. Sensor for a traffic response system and traffic control system using a sensor

    NARCIS (Netherlands)

    Heijningen, A.W.P. van; Kleijweg, J.C.M.

    2007-01-01

    Traffic is sensed using a signal from a wave reflection detection device to classify road users into different types. Classification is performed dependent on statistical properties of reflections. Preferably reflections are resolved into reflections for different combinations of position and speed,

  2. A Dynamic Traffic Signal Timing Model and its Algorithm for Junction of Urban Road

    DEFF Research Database (Denmark)

    Cai, Yanguang; Cai, Hao

    2012-01-01

    As an important part of Intelligent Transportation System, the scientific traffic signal timing of junction can improve the efficiency of urban transport. This paper presents a novel dynamic traffic signal timing model. According to the characteristics of the model, hybrid chaotic quantum...... evolutionary algorithm, genetic algorithms and particle swarm optimization....

  3. Active Flow Control Using Sweeping Jet Actuators on a Semi-Span Wing Model

    Science.gov (United States)

    Melton, LaTunia Pack; Koklu, Mehti

    2016-01-01

    Wind tunnel experiments were performed using active flow control on an unswept semispan wing model with a 30% chord trailing edge flap to aid in the selection of actuators for a planned high Reynolds number experiment. Two sweeping jet actuator sizes were investigated to determine the influence of actuator size on the active flow control system efficiency. Sweeping jet actuators with orifice sizes of 1 mm x 2 mm and 2 mm x 4 mm were selected because of the differences in actuator jet sweep angle. The parameters that were varied include actuator momentum, freestream velocity, and trailing edge flap deflection angle. Steady and unsteady pressure data, Particle Image Velocimetry data, and force and moment data were acquired to assess the performance of the two actuators. In addition to the wind tunnel experiments, benchtop studies of the actuators were performed to characterize the jets produced by each actuator. Benchtop investigations of the smaller actuator reveal that the jet exiting the actuator has a reduced sweep angle compared to published data for larger versions of this type of actuator. The larger actuator produces an oscillating jet that attaches to the external di?user walls at low supply pressures and produces the expected sweep angles. The AFC results using the smaller actuators show that while the actuators can control flow separation, the selected spacing of 3.3 cm may be too large due to the reduced sweep angle. In comparison, the spacing for the larger actuators, 6.6 cm, appears to be optimal for the Mach numbers investigated. Particle Image Velocimetry results are presented and show how the wall jets produced by the actuators cause the flow to attach to the flap surface.

  4. Design of feedback control systems for unstable plants with saturating actuators

    Science.gov (United States)

    Kapasouris, Petros; Athans, Michael; Stein, Gunter

    1988-01-01

    A new control design methodology is introduced for multi-input/multi-output systems with unstable open loop plants and saturating actuators. A control system is designed using well known linear control theory techniques and then a reference prefilter is introduced so that when the references are sufficiently small, the control system operates linearly as designated. For signals large enough to cause saturations, the control law is modified in such a way to ensure stability and to preserve, to the extent possible, the behavior of the linear control design. Key benefits of this methodology are: the modified feedback system never produces saturating control signals, integrators and/or slow dynamics in the compensator never windup, the directionaL properties of the controls are maintained, and the closed loop system has certain guaranteed stability properties. The advantages of the new design methodology are illustrated in the simulation of an approximation of the AFTI-16 (Advanced Fighter Technology Integration) aircraft multivariable longitudinal dynamics.

  5. A Network Traffic Control Enhancement Approach over Bluetooth Networks

    DEFF Research Database (Denmark)

    Son, L.T.; Schiøler, Henrik; Madsen, Ole Brun;

    2003-01-01

    This paper analyzes network traffic control issues in Bluetooth data networks as convex optimization problem. We formulate the problem of maximizing of total network flows and minimizing the costs of flows. An adaptive distributed network traffic control scheme is proposed as an approximated...... solution of the stated optimization problem that satisfies quality of service requirements and topologically induced constraints in Bluetooth networks, such as link capacity and node resource limitations. The proposed scheme is decentralized and complies with frequent changes of topology as well...... as capacity limitations and flow requirements in the network. Simulation shows that the performance of Bluetooth networks could be improved by applying the adaptive distributed network traffic control scheme...

  6. 77 FR 28460 - National Standards for Traffic Control Devices; the Manual on Uniform Traffic Control Devices for...

    Science.gov (United States)

    2012-05-14

    ..., 2010, request for comments on traffic control compliance dates published at 75 FR 74128. As a result... dates. \\1\\ 75 FR 74128, November 30, 2010. After reviewing and considering the nearly 600 letters... representatives, traffic engineering consultants, and private citizens, on August 31, 2011, the FHWA published...

  7. Effort and Collective Creation: Experience in Air Traffic Control Work

    OpenAIRE

    Alice Itani

    2015-01-01

    How can work also represent a perspective of creation? We start from the hypothesis that air traffic controllers make an effort to cope with very hard work and to develop improvement processes when carrying out the activity, which can be considered creation. Our objective is to analyze the working conditions of air traffic controllers starting from the experience of the controller. There is effort, which is above all both cognitive and physical, of an activity developed with mental representa...

  8. Wireless magnetic sensors applied in the signal control of small and medium-sized cities

    Institute of Scientific and Technical Information of China (English)

    Liang Zijun; Zhang Bo; Huang Zhen; Song Zhihong

    2015-01-01

    This topic is mainly about the typical applications of Wireless magnetic sensors in the signal control of smal and medium-sized cities. Based on the traffic characteristics of Fenghua city, through the networked control of Wireless magnetic sensors and signal controler, from "point, line, face" three aspects to optimize the traffic flow of Fenghua. The application results show that Wireless magnetic sensors can effectively improve the efficiency of traffic signal control in Fenghua.

  9. Do Traffic Controllers Dream of Electric Cars?

    Directory of Open Access Journals (Sweden)

    Nicholas Taylor

    2015-03-01

    Full Text Available Traffic congestion is not a modern phenomenon, but the growth of motor traffic driven by the supply of petroleum is. This coincides with concern about climate change caused by carbon emissions to which transport makes a substantial and increasing contribution. It seems that private cars in particular cannot be useful without coming to dominate human activity and even whole economies, creating dependence, congestion and severance which paradoxically negate many of the benefits of mobility. Electrification may reduce carbon emissions, but is unlikely to support the same weight of motor traffic, and will not reduce its other effects. It is doubtful that sustainability, however defined, is compatible with current high and increasing levels of motorised movement, so a culture change will be needed.

  10. Post-buckled precompressed (PBP) subsonic micro flight control actuators and surfaces

    NARCIS (Netherlands)

    Barrett, R.; Vos, R.; De Breuker, R.

    2007-01-01

    This paper describes a new class of flight control actuators using Post-Buckled Precompressed (PBP) piezoelectric elements to provide much improved actuator performance. These PBP actuator elements are modeled using basic large deflection Euler-beam estimations accounting for laminated plate effects

  11. Tethered actuator for vibration control of space structures

    Science.gov (United States)

    Fujii, H. A.; Sugimoto, Y.; Watanabe, T.; Kusagaya, T.

    2015-12-01

    Effectiveness of a micro-tension actuator for vibration control of such flexible space structures as the tethered space solar power satellites is experimentally studied on the ground. A flexible leverage is employed as the micro-tension actuator in order to control the microtension of tether. The flexible leverage is connected through a tether to the flexible beam as an experimental model of the flexible solar panel with the low first modal frequency of order 1 Hz. The nonlinearity of the flexible tether is taken into account for the vibration control since the tether becomes ineffective when it slacks, i.e., when it is tension-free. The feedback controller is designed by means of the Mission Function control algorithm. Flexural rigidity of the flexible leverage plays an important role in the vibration suppression and is studied experimentally to shed light on the effectiveness of the leverages with five different kinds of rigidity. The experimental results show not only the effect of the flexural rigidity of the flexible leverage on the control performance of the vibration suppression but also the importance of selection of the rigidity to control the vibration of tethered flexible space structures through the microtension of tethers in space.

  12. Nonlinear Magnetic Circuit Analysis of SMART Control Rod Drive Actuator

    Energy Technology Data Exchange (ETDEWEB)

    Noh, Myounggyu; Gi, Myung Ju; Kim, Myounggon; Park, Youngwoo [Chungnam Nat' l Univ., Daejeon (Korea, Republic of); Lee, Jaeseon; Kim, Jongwook [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2014-05-15

    In this paper, we derive a nonlinear magnetic circuit model of an electromagnetic control-rod actuator in the SMART. The results of the nonlinear model are compared with those by linear circuit model and finite-element analyses. gnetic circuit modeling is a useful tool when designing an electromagnetic actuator, as it allows fast calculations and enables parametric studies. It is particularly essential when the actuator is to be used in a very complex system such as a nuclear reactor. Important design parameters must be identified at the early stage of the design process. Once the design space is narrowed down, more accurate methods such finite-element analyses (FEA) can be employed for detailed design. Magnetic circuit modeling is based on the assumption that a flux path consists of sections in each of which field quantities are constant with linear constitutive relations. This assumption fails to hold when portions of the flux path become saturated. The magnetic circuit must be modified in order to accurately describe the nonlinear behavior of saturation.

  13. A Comparative Study of Actuator Configurations for Satellite Attitude Control

    Directory of Open Access Journals (Sweden)

    Raymond Kristiansen

    2005-10-01

    Full Text Available In this paper a controllability study of different actuator configurations consisting of magnetic torquers, reaction wheels and a gravity boom is presented. The theoretical analysis is performed with use of controllability gramians, and simulation results with the different configurations are presented and compared regarding settling time and power consumption to substantiate the theoretical analysis. A reference model is also introduced to show how the power consumption can he lowered to the same magnitude as when magnetic torquers are used, without degrading the satellite response significantly.

  14. Unattended vehicle detection for automatic traffic light control

    Science.gov (United States)

    Abdel Hady, Aya Salama; Moustafa, Mohamed

    2013-12-01

    Machine vision based traffic light control depends mainly on measuring traffic statistics at cross roads. Most of the previous studies have not taken unattended vehicles into consideration when calculating either the traffic density or the traffic flow. In this paper, we propose incorporating unattended vehicles into a new metric for measuring the traffic congestion. In addition to the vehicle motion analysis, opening the driver's side door is an important indicator that this vehicle is going to be unattended. Therefore, we focus in this paper on presenting how to detect this event for stationary vehicles from a live camera or a video feed. Through a set of experiments, we have found out that a Scale Invariant Feature Transform (SIFT) feature-descriptor with a Support Vector Machines (SVM) classifier was able to successfully classify open-door vehicles from closed-door ones in 96.7% of our test dataset.

  15. Design and control of multifunctional magnetorheological actuators for assistive knee braces

    Science.gov (United States)

    Guo, H. T.; Liao, W. H.

    2010-04-01

    This paper is aimed at developing a novel multifunctional actuator utilizing magnetorheological (MR) fluids. As a key component for assistive knee braces, the actuator can work with multiple functions as motor, clutch and brake in order to meet the requirement of normal human walking. In this paper, design considerations including configurations, materials selection, mechanical and electromagnetic designs are illustrated. Prototype of the multifunctional actuator is fabricated, and each of its functions is investigated. Control strategies for mimicking normal human walking using the multifunctional actuator are illustrated. Adaptive control algorithm is adopted. Experiments on torque and speed tracking are conducted. The results show that the developed multifunctional actuator is promising for assistive knee braces.

  16. Improving Experience-Based Admission Control through Traffic Type Awareness

    OpenAIRE

    Jens Milbrandt; Michael Menth; Jan Junker

    2007-01-01

    Experience-based admission control (EBAC) is a hybrid approach combining the classical parameter-based and measurement-based admission control. EBAC calculates an appropriate overbooking factor used to overbook link capacities with resource reservations in packet-switched networks. This overbooking factor correlates with the average peak-to-mean rate ratio of all admitted traffic flows on the link. So far, a single overbooking factor is calculated for the entire traffic aggregate. In this pap...

  17. Traffic improvement and transportation pollution control in Xiamen

    Energy Technology Data Exchange (ETDEWEB)

    Dongxing Yuan; Zilin, Wu

    1996-12-31

    in this paper, the urban traffic improvement and transportation control in Xiamen are highlighted. Xiamen is a port city and an economical special zone of China. As the economy grows, the transportation is developing dramatically and becoming the key for further economic development. The air quality is threatened by the rapid growth of the vehicles in the city. The most urgent task in improving urban traffic is to establish a sound traffic system. The municipal government takes great effort to improve the traffic condition, as well as to reduce green house gases and protect air environment. Some management and technical measures are carried out. Those management measures are mainly as follows: (1) systematic planning of the city arrangement and city functional division, and integrated planning of the urban roads system, (2) putting great emphasis on tail gas monitoring and management, and (3) establishing optimized utilization of motor vehicles. Those included in the main technical measures are (1) making the roads clear, (2) enlarging traffic capacity, and (3) developing the public transport. The most urgent task in improving urban traffic is to establish a sound traffic system. The city municipal government and Transportation Management Bureau plan to make a series of reforms to improve the urban traffic condition, such as building high quality road around the city, reducing the number of one way roads and replacing gasoline buses with electric buses. An optimized traffic system of Xiamen, taking public transport as the main means, is the key to meet the needs of both traffic improvement and urban transportation pollution control.

  18. Road Traffic Control Based on Genetic Algorithm for Reducing Traffic Congestion

    Science.gov (United States)

    Shigehiro, Yuji; Miyakawa, Takuya; Masuda, Tatsuya

    In this paper, we propose a road traffic control method for reducing traffic congestion with genetic algorithm. In the not too distant future, the system which controls the routes of all vehicles in a certain area must be realized. The system should optimize the routes of all vehicles, however the solution space of this problem is enormous. Therefore we apply the genetic algorithm to this problem, by encoding the route of all vehicles to a fixed length chromosome. To improve the search performance, a new genetic operator called “path shortening” is also designed. The effectiveness of the proposed method is shown by the experiment.

  19. Numerical Simulation of High-Power Synthetic Jet Actuator Flowfield and its Influence on Mixing Control

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    Detailed two-dimensional unsteady numerical simulation is carried out to investigate a high-power synthetic jet actuator flow field and its design characteristic. Simultaneously, mixing control mechanism of coaxial jets with actuators is also studied. Firstly, excitation frequency (rotating speed), piston displacement and its exit slot width have effect on the controlling ability and controlling efficiency of actuator. With the invariable model and concerned parameters, the actuator becomes more desirable as the rotating speed increases. Average velocity and maximal velocity at the actuator exit section increase as the piston displacement enlarges or the exit slot width decreases. But the actuator does not always exhibit good performance with the narrower exit. Secondly, the synthetic jets also have the "push" effect on the coaxial jets, which results in the fluctuation of vorticity and temperature distribution of mixing fiowfield. Finally, the employment of synthetic jet actuator can achieve mixing enhancement significantly.

  20. Distributed Air Traffic Control : A Human Safety Perspective

    CERN Document Server

    Nikumbh, Sarvesh; Vartak, Rahul

    2011-01-01

    The issues in air traffic control have so far been addressed with the intent to improve resource utilization and achieve an optimized solution with respect to fuel comsumption of aircrafts, efficient usage of the available airspace with minimal congestion related losses under various dynamic constraints. So the focus has almost always been more on smarter management of traffic to increase profits while human safety, though achieved in the process, we believe, has remained less seriously attended. This has become all the more important given that we have overburdened and overstressed air traffic controllers managing hundreds of airports and thousands of aircrafts per day. We propose a multiagent system based distributed approach to handle air traffic ensuring complete human (passenger) safety without removing any humans (ground controllers) from the loop thereby also retaining the earlier advantages in the new solution. The detailed design of the agent system, which will be easily interfacable with the existin...

  1. Trajectory Tracking Control for a GMM Actuator Based on a Heuristic ILC Method

    Institute of Scientific and Technical Information of China (English)

    SONG Zhao-qing; ZHOU Shao-lei; SHI Xian-jun

    2006-01-01

    A heuristic iterative learning control (ILC) method is presented and applied to the trajectory tracking control of a giant magnetostrictive material (GMM) actuator. A GMM actuator is used as experimental equipment for micro-displacement trajectory tracking control. The advantage of the presented approach lies in quitting the model of the GMM actuator. The experimental results attest to the high efficiency of the presented method for the micro-displacement trajectory tracking control.

  2. Adaptive control for a class of MIMO nonlinear time delay systems against time varying actuator failures.

    Science.gov (United States)

    Hashemi, Mahnaz; Ghaisari, Jafar; Askari, Javad

    2015-07-01

    This paper investigates an adaptive controller for a class of Multi Input Multi Output (MIMO) nonlinear systems with unknown parameters, bounded time delays and in the presence of unknown time varying actuator failures. The type of considered actuator failure is one in which some inputs may be stuck at some time varying values where the values, times and patterns of the failures are unknown. The proposed approach is constructed based on a backstepping design method. The boundedness of all the closed-loop signals is guaranteed and the tracking errors are proved to converge to a small neighborhood of the origin. The proposed approach is employed for a double inverted pendulums benchmark and a chemical reactor system. The simulation results show the effectiveness of the proposed method.

  3. Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control

    DEFF Research Database (Denmark)

    Hansen, Michael Rygaard; Andersen, Torben Ole; Pedersen, Henrik Clemmensen

    2005-01-01

    towards structured (parametric) and unstructured (unmodeled dynamics) uncertainties. A third-order model of the actuated system is used to develop a sliding mode control which is implemented and tested on a simulation model. To avoid measurement of velocity and acceleration a simple first-order model......This paper presents an approach to robust control called sliding mode control (SMC) applied to the a hydraulic servo system (HSS), consisting of a servo valve controlled symmetrical cylinder. The motivation for applying sliding mode control to hydraulically actuated systems is its robustness...... is furthermore used to develop a simple sliding mode control (SSMC). The performance of the two controllers are compared and discussed....

  4. Solving a signalized traffic intersection problem with an hyperbolic penalty function

    Science.gov (United States)

    Melo, Teófilo; Monteiro, M. Teresa T.; Matias, João

    2012-09-01

    Mathematical Program with Complementarity Constraints (MPCC) finds many applications in fields such as engineering design, economic equilibrium and mathematical programming theory itself. A queueing system model resulting from a single signalized intersection regulated by pre-timed control in traffic network is considered. The model is formulated as an MPCC problem. A MATLAB implementation based on an hyperbolic penalty function is used to solve this practical problem, computing the total average waiting time of the vehicles in all queues and the green split allocation. The problem was codified in AMPL.

  5. 10 CFR 431.224 - Uniform test method for the measurement of energy consumption for traffic signal modules and...

    Science.gov (United States)

    2010-01-01

    ... consumption for traffic signal modules and pedestrian modules. 431.224 Section 431.224 Energy DEPARTMENT OF... measurement of energy consumption for traffic signal modules and pedestrian modules. (a) Scope. This section... traffic signal modules and pedestrian modules. For purposes of 10 CFR part 431 and EPCA, the...

  6. The Study of Reinforcement Learning for Traffic Self-Adaptive Control under Multiagent Markov Game Environment

    Directory of Open Access Journals (Sweden)

    Lun-Hui Xu

    2013-01-01

    Full Text Available Urban traffic self-adaptive control problem is dynamic and uncertain, so the states of traffic environment are hard to be observed. Efficient agent which controls a single intersection can be discovered automatically via multiagent reinforcement learning. However, in the majority of the previous works on this approach, each agent needed perfect observed information when interacting with the environment and learned individually with less efficient coordination. This study casts traffic self-adaptive control as a multiagent Markov game problem. The design employs traffic signal control agent (TSCA for each signalized intersection that coordinates with neighboring TSCAs. A mathematical model for TSCAs’ interaction is built based on nonzero-sum markov game which has been applied to let TSCAs learn how to cooperate. A multiagent Markov game reinforcement learning approach is constructed on the basis of single-agent Q-learning. This method lets each TSCA learn to update its Q-values under the joint actions and imperfect information. The convergence of the proposed algorithm is analyzed theoretically. The simulation results show that the proposed method is convergent and effective in realistic traffic self-adaptive control setting.

  7. Self-learning traffic signal control method of isolated intersection combining Q-learning and fuzzy logic%结合Q学习和模糊逻辑的单路口交通信号自学习控制方法

    Institute of Scientific and Technical Information of China (English)

    何兆成; 佘锡伟; 杨文臣; 陈宁宁

    2011-01-01

    To address the dynamics and uncertainty in unban transportation system, this paper proposed a traffic signal control system based on reinforcement learning, which was suitable for real-time control in isolated intersection.The proposed method was capable of online learning through a combination of BP neural network and Q-learning algorithm.Furthermore, due to the multi-objective property in traffic signal control, this paper developed a reward design method for Q-learning based on fuzzy logic.Conducted simulated experiments in three traffic scenarios, using the Paramics microscopic traffic simulation software.Experimental results show that the proposed method has high control efficiency in different traffic scenarios, and is significantly better than fixed timing control method.%针对城市交通系统的动态性和不确定性,提出了基于强化学习的信号交叉口智能控制系统结构,对单交叉口动态实时控制进行了研究.将BP神经网络与Q学习算法相结合实现了路口的在线学习.同时,针对交通信号控制的多目标评价特征,采用基于模糊逻辑的Q学习奖惩信号设计方法,实施对交通信号的优化控制.最后,在三种交通场景下,应用Paramics微观交通仿真软件对典型十字路口进行仿真实验.结果表明,该方法对不同交通场景下的突变仍可保持较高的控制效率,控制效果明显优于定时控制.

  8. An Unconventional Inchworm Actuator Based on PZT/ERFs Control Technology

    Science.gov (United States)

    Liu, Guojun; Zhang, Yanyan; Liu, Jianfang; Li, Jianqiao; Tang, Chunxiu; Wang, Tengfei; Yang, Xuhao

    2016-01-01

    An unconventional inchworm actuator for precision positioning based on piezoelectric (PZT) actuation and electrorheological fluids (ERFs) control technology is presented. The actuator consists of actuation unit (PZT stack pump), fluid control unit (ERFs valve), and execution unit (hydraulic actuator). In view of smaller deformation of PZT stack, a new structure is designed for actuation unit, which integrates the advantages of two modes (namely, diaphragm type and piston type) of the volume changing of pump chamber. In order to improve the static shear yield strength of ERFs, a composite ERFs valve is designed, which adopts the series-parallel plate compound structure. The prototype of the inchworm actuator has been designed and manufactured in the lab. Systematic test results indicate that the displacement resolution of the unconventional inchworm actuator reaches 0.038 μm, and the maximum driving force and velocity are 42 N, 14.8 mm/s, respectively. The optimal working frequency for the maximum driving velocity is 120 Hz. The complete research and development processes further confirm the feasibility of developing a new type of inchworm actuator with high performance based on PZT actuation and ERFs control technology, which provides a reference for the future development of a new type of actuator. PMID:27022234

  9. An Unconventional Inchworm Actuator Based on PZT/ERFs Control Technology

    Directory of Open Access Journals (Sweden)

    Guojun Liu

    2016-01-01

    Full Text Available An unconventional inchworm actuator for precision positioning based on piezoelectric (PZT actuation and electrorheological fluids (ERFs control technology is presented. The actuator consists of actuation unit (PZT stack pump, fluid control unit (ERFs valve, and execution unit (hydraulic actuator. In view of smaller deformation of PZT stack, a new structure is designed for actuation unit, which integrates the advantages of two modes (namely, diaphragm type and piston type of the volume changing of pump chamber. In order to improve the static shear yield strength of ERFs, a composite ERFs valve is designed, which adopts the series-parallel plate compound structure. The prototype of the inchworm actuator has been designed and manufactured in the lab. Systematic test results indicate that the displacement resolution of the unconventional inchworm actuator reaches 0.038 μm, and the maximum driving force and velocity are 42 N, 14.8 mm/s, respectively. The optimal working frequency for the maximum driving velocity is 120 Hz. The complete research and development processes further confirm the feasibility of developing a new type of inchworm actuator with high performance based on PZT actuation and ERFs control technology, which provides a reference for the future development of a new type of actuator.

  10. Embedded integrated servo-controllers for intelligent modular actuators

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    This paper focuses on the development of an embedded integrated servo-controller (EISC) for servomotors. Comprising of mainly servo-controller and servo-amplifiers, this EISC is capable of controlling a wide range of servomotors to perform complicated tasks. Hence, integration of this EISC with a servomotor forms an intelligent modular actuator (IMA) that is essential to modern manufacturing industries. The development of such an EISC involves two major tasks: first, designing the hardware of a compact-sized and highly compatible EISC, and second, developing the software functions to facilitate its functionalities and capabilities. The developed EISC hence forms an integrated-servo-control module, which determines the capability, functionality, flexibility and responsiveness of these IMAs.

  11. Experimental Investigation of Flow Separation Control Using Dielectric Barrier Discharge Plasma Actuators

    Institute of Scientific and Technical Information of China (English)

    LI Gang; NIE Chaoqun; LI Yiming; ZHU Junqiang; XU Yanji

    2008-01-01

    Influence of plasma actuators as a flow separation control device was investigated experimentally.Hump model was used to demonstrate the effect of plasma actuators on external flow separation,while for internal flow separation a set of compressor cascade was adopted.In order to investigate the modification of the flow structure by the plasma actuator,the flow field was examined non-intrusively by particle image velocimetry measurements in the hump model experiment and by a hot film probe in the compressor cascade experiment.The results showed that the plasma actuator could be effective in controlling the flow separation both over the hump and in the compressor cascade when the incoming velocity was low.As the incoming velocity increased,the plasma actuator was less effective. It is urgent to enhance the intensity of the plasma actuator for its better application.Methods to increase the intensity of plasma actuator were also studied.

  12. An intermodal traffic control strategy for private vehicle and public transport

    OpenAIRE

    BHOURI, N; LOTITO, P

    2005-01-01

    This paper proposes a traffic-responsive urban traffic control strategy allowing a real time passive public transport priority. The proposed strategy is based on a store and forward modeling of both of the private vehicle and Public transport traffic. The regulator is designed using the linear quadratic, which allows a traffic responsive co-ordinated control for wide-area networks. The objective of this strategy is to control the junctions traffic lights in order to improve the traffic perfor...

  13. Design, testing and control of a magnetorheological actuator for assistive knee braces

    Science.gov (United States)

    Chen, J. Z.; Liao, W. H.

    2010-03-01

    This paper is aimed at developing a smart actuator for assistive knee braces to provide assistance to disabled or elderly people with mobility problems. A magnetorheological (MR) actuator is developed to be used in assistive knee braces to provide controllable torque. The MR actuator can work as a brake or a clutch. When active torque is needed, the DC motor works and the MR actuator functions as a clutch to transfer the torque generated by the motor to the leg; when passive torque is desired, the DC motor is turned off and the MR actuator functions as a brake to provide controllable passive torque. The prototype of the developed MR actuator is fabricated and experiments are carried out to investigate the characteristics of the MR actuator. The results show that the MR actuator is able to provide sufficient torque needed for normal human activities. Adaptive control is proposed for controlling the MR actuator. Anti-windup strategy is used to achieve better control performance. Experiments on the MR actuator under control are also performed to study the torque tracking ability of the system.

  14. Design, testing and control of a magnetorheological actuator for assistive knee braces

    International Nuclear Information System (INIS)

    This paper is aimed at developing a smart actuator for assistive knee braces to provide assistance to disabled or elderly people with mobility problems. A magnetorheological (MR) actuator is developed to be used in assistive knee braces to provide controllable torque. The MR actuator can work as a brake or a clutch. When active torque is needed, the DC motor works and the MR actuator functions as a clutch to transfer the torque generated by the motor to the leg; when passive torque is desired, the DC motor is turned off and the MR actuator functions as a brake to provide controllable passive torque. The prototype of the developed MR actuator is fabricated and experiments are carried out to investigate the characteristics of the MR actuator. The results show that the MR actuator is able to provide sufficient torque needed for normal human activities. Adaptive control is proposed for controlling the MR actuator. Anti-windup strategy is used to achieve better control performance. Experiments on the MR actuator under control are also performed to study the torque tracking ability of the system

  15. A fuzzy PID-controlled SMA actuator for a two-DOF joint

    Directory of Open Access Journals (Sweden)

    Shi Zhenyun

    2014-04-01

    Full Text Available Shape memory alloy (SMA actuator is a potential advanced component for servo-systems of aerospace vehicles and aircraft. This paper presents a joint with two degrees of freedom (DOF and a mobility range close to ±60° when driven by SMA triple wires. The fuzzy proportional-integral-derivative (PID-controlled actuator drive was designed using antagonistic SMA triple wires, and the resistance feedback signal made a closed loop. Experiments showed that, with the driving responding frequency increasing, the overstress became harder to be avoided at the position under the maximum friction force. Furthermore, the hysteresis gap between the heating and cooling paths of the strain-to-resistance curve expanded under this condition. A fuzzy logic control was considered as a solution, and the curves of the wires were then modeled by fitting polynomials so that the measured resistance was used directly to determine the control signal. Accurate control was demonstrated through the step response, and the experimental results showed that under the fuzzy PID-control program, the mean absolute error (MAE of the rotation angle was about 3.147°. In addition, the investigation of the external interference to the system proved the controllable maximum output.

  16. Implementation of Neural Network with a variant of Turing Machine for Traffic Flow Control

    Directory of Open Access Journals (Sweden)

    Rashmi Sehrawat

    2013-05-01

    Full Text Available The conventional method of operation of a typical traffic light is to distribute the time equally for all the directions.This method causes congestion when throughput of the signal increases and is alsoineffective in managing traffic flow. In this paper, we have proposed a new model for managing traffic intelligently.The model is based on Turing machine with the application of neural network. The modelconsiders current traffic status of its own signal along with the status of its adjacent signals to determine the ratio of time slot for each signal therefore, reducing traffic congestion to a greater extent and ensuring steady flow of traffic in a wide region.

  17. Controlling Buffeting Loads by Rudder and Piezo-Actuation

    Science.gov (United States)

    Moses, Robert W.; Pototzky, Anthony S.; Henderson, Douglas A.; Galea, Stephen C.; Manokaran, Donald S.; Zimcik, David G.; Wickramasinghe, Viresh; Pitt, Dale M.; Gamble, Michael A.

    2005-01-01

    High performance aircraft, especially those with twin vertical tails, encounter unsteady buffet loads when flying at high angles of attack. These stochastic loads result in significant stresses, which may cause fatigue damage leading to restricted capabilities and availability of the aircraft. An international collaborative research activity among Australia, Canada and the United States, conducted under the auspices of The Technical Cooperation Program (TTCP) contributed resources toward a program that coalesced a broad range of technical knowledge and expertise into a single investigation to demonstrate the enhanced performance and capability of the advanced active Buffet Load Alleviation ( ) control system in preparation for a flight test demonstration. The research team investigated the use of active structural control to alleviate the damaging structural response to these loads by applying advanced directional piezoelectric actuators, the aircraft rudder, switch mode amplifiers, and advanced control strategies on an F/A-18 aircraft empennage. Some results of the full-scale investigation are presented herein.

  18. Proposed safety criteria for traffic control on motorways.

    NARCIS (Netherlands)

    Heijer, T. Wiersma, E. & Polak, P.H.

    1997-01-01

    The increasing traffic demand on Dutch motorways calls for more rigorous control than is currently available. In order to develop control systems that can cope with these conditions and can meanwhile maintain an acceptable level of safety we need controlling criteria that provide more detailed infor

  19. An Actuator Control Unit for Safety-Critical Mechatronic Applications with Embedded Energy Storage Backup

    Directory of Open Access Journals (Sweden)

    Sergio Saponara

    2016-03-01

    Full Text Available This paper presents an actuator control unit (ACU with a 450-J embedded energy storage backup to face safety critical mechatronic applications. The idea is to ensure full operation of electric actuators, even in the case of battery failure, by using supercapacitors as a local energy tank. Thanks to integrated switching converter circuitry, the supercapacitors provide the required voltage and current levels for the required time to guarantee actuator operation until the system enters into safety mode. Experimental results are presented for a target application related to the control of servomotors for a robotized prosthetic arm. Mechatronic devices for rehabilitation or assisted living of injured and/or elderly people are available today. In most cases, they are battery powered with lithium-based cells, providing high energy density and low weight, but at the expense of a reduced robustness compared to lead-acid- or nickel-based battery cells. The ACU of this work ensures full operation of the wearable robotized arm, controlled through acceleration and electromyography (EMG sensor signals, even in the case of battery failure, thanks to the embedded energy backup unit. To prove the configurability and scalability of the proposed solution, experimental results related to the electric actuation of the car door latch and of a robotized gearbox in vehicles are also shown. The reliability of the energy backup device has been assessed in a wide temperature range, from −40 to 130 °C, and in a durability test campaign of more than 10,000 cycles. Achieved results prove the suitability of the proposed approach for ACUs requiring a burst of power of hundreds of watts for only a few seconds in safety-critical applications. Alternatively, the aging and temperature characterizations of energy backup units is limited to supercapacitors of thousands of farads for high power applications (e.g., electric/hybrid propulsion and with a temperature range limited to

  20. Controlling traffic jams by time modulating the safety distance

    DEFF Research Database (Denmark)

    Gaididei, Yu B.; Gorria, C.; Berkemer, R.;

    2013-01-01

    . This region shrinks when the speed-up of cars does not exceed some critical value and expands in the opposite case. The flux of the time-modulated flow is an increasing function of the amplitude of the modulation for traffic flows whose density is larger than 1/h where h is the safety distance...... in the nonmodulated case, while it is a decreasing function in the opposite case. In other words, the safety distance time modulation facilitates car propagation in the case when the mean distance between cars in the congestive traffic is less than h and hinders it when the neighboring cars in the flow are well......The possibility of controlling traffic dynamics by applying high-frequency time modulation of traffic flow parameters is studied. It is shown that the region of the car density where the uniform (free) flow is unstable changes in the presence of time modulation compared with the unmodulated case...

  1. Control of endwall secondary flow in a compressor cascade with dielectric barrier discharge plasma actuation

    Institute of Scientific and Technical Information of China (English)

    2009-01-01

    Three dielectric barrier discharge plasma actuators were mounted at the positions of 20%,40%and 60%of chord length on the endwall in a compressor cascade.The downstream flow field of the cascade has been measured with a mini five-hole pressure probe with and without the plasma actuation.The measured results show that the plasma actuation most effectively reduces total pressure loss and flow blockage when the actuators are operated simultaneously.As each of the actuators is operated independently,the actuator at the position of 20%of chord length most effectively reduces flow blockage, and the actuator at the position of 60%of chord length fairly reduces total pressure loss.However, negative pressure loss reduction occurs with the plasma actuator at the position of 40%of chord length.In brief,the plasma actuation placed on the endwall in the cascade apparently influences the endwall secondary flow,and the optimal locations and strength of actuation are critical for the control of endwall secondary flow in a compressor cascade with the plasma actuators.

  2. SMART VIDEO SURVEILLANCE SYSTEM FOR VEHICLE DETECTION AND TRAFFIC FLOW CONTROL

    Directory of Open Access Journals (Sweden)

    A. A. SHAFIE

    2011-08-01

    Full Text Available Traffic signal light can be optimized using vehicle flow statistics obtained by Smart Video Surveillance Software (SVSS. This research focuses on efficient traffic control system by detecting and counting the vehicle numbers at various times and locations. At present, one of the biggest problems in the main city in any country is the traffic jam during office hour and office break hour. Sometimes it can be seen that the traffic signal green light is still ON even though there is no vehicle coming. Similarly, it is also observed that long queues of vehicles are waiting even though the road is empty due to traffic signal light selection without proper investigation on vehicle flow. This can be handled by adjusting the vehicle passing time implementing by our developed SVSS. A number of experiment results of vehicle flows are discussed in this research graphically in order to test the feasibility of the developed system. Finally, adoptive background model is proposed in SVSS in order to successfully detect target objects such as motor bike, car, bus, etc.

  3. GPS Tracking System Coupled With Image Processing in Traffic Signals to Enhance Life Security

    Directory of Open Access Journals (Sweden)

    Manoj Prabhakar k

    2013-08-01

    Full Text Available In modern and crowded traffic life, it becomes mandatory to save the human life by reaching the hospitalvery sooner than possible. This paper explains about the advancement in tracking the ambulance presenceamidst the traffic with the usage of GPS tracking system calculating the position of the ambulance from thetraffic signal which replaces the RF transmitter receiver circuitry. This paper also retains the use of theimage capturing technology available from the base paper (IMPACT OF IMAGE PROCESSING INSAVING THE HUMAN LIFE BY AUTOMATING TRAFFIC SIGNALS to identify the presence of theambulance, thereby changing the signalto green automatically in favour of ambulance

  4. An improved response surface methodology algorithm with an application to traffic signal optimization for urban networks

    Energy Technology Data Exchange (ETDEWEB)

    Joshi, S.S.; Rathi, A.K. [Oak Ridge National Lab., TN (United States); Tew, J.D. [Consolidated Freightways, Inc., Portland, OR (United States). ISQ Dept.

    1995-12-31

    This paper illustrates the use of the simulation-optimization technique of response surface methodology (RSM) in traffic signal optimization of urban networks. It also quantifies the gains of using the common random number (CRN) variance reduction strategy in such an optimization procedure. An enhanced RSM algorithm which employs conjugate gradient search techniques and successive second-order models is presented instead of the conventional approach. An illustrative example using an urban traffic network exhibits the superiority of using the CRN strategy ovr direct simulation in performing traffic signal optimization. Relative performance of the two strategies is quantified with computational results using the total network-wide delay as the measure of effectivness.

  5. Adaptive Robust Actuator Fault Accommodation for a Class of Uncertain Nonlinear Systems with Unknown Control Gains

    Directory of Open Access Journals (Sweden)

    Yuefei Wu

    2014-01-01

    Full Text Available An adaptive robust fault tolerant control approach is proposed for a class of uncertain nonlinear systems with unknown signs of high-frequency gain and unmeasured states. In the recursive design, neural networks are employed to approximate the unknown nonlinear functions, K-filters are designed to estimate the unmeasured states, and a dynamical signal and Nussbaum gain functions are introduced to handle the unknown sign of the virtual control direction. By incorporating the switching function σ algorithm, the adaptive backstepping scheme developed in this paper does not require the real value of the actuator failure. It is mathematically proved that the proposed adaptive robust fault tolerant control approach can guarantee that all the signals of the closed-loop system are bounded, and the output converges to a small neighborhood of the origin. The effectiveness of the proposed approach is illustrated by the simulation examples.

  6. Traffic Optimization to Control Epidemic Outbreaks in Metapopulation Models

    CERN Document Server

    Preciado, Victor M

    2013-01-01

    We propose a novel framework to study viral spreading processes in metapopulation models. Large subpopulations (i.e., cities) are connected via metalinks (i.e., roads) according to a metagraph structure (i.e., the traffic infrastructure). The problem of containing the propagation of an epidemic outbreak in a metapopulation model by controlling the traffic between subpopulations is considered. Controlling the spread of an epidemic outbreak can be written as a spectral condition involving the eigenvalues of a matrix that depends on the network structure and the parameters of the model. Based on this spectral condition, we propose a convex optimization framework to find cost-optimal approaches to traffic control in epidemic outbreaks.

  7. Fatigue Minimization Work Shift Scheduling for Air Traffic Controllers

    Directory of Open Access Journals (Sweden)

    Ta-Chung Wang

    2013-05-01

    Full Text Available It is common for Air Traffic Controllers to control air traffic during the night and to experience fatigue. Although fatigue is not the direct cause of aviation accidents, 21 percent of accidents are fatigue-related. Therefore countries and companies have tried to regulate work hours to avoid extreme fatigue, thus decreasing human error resulting from fatigue. However, these regulations may not reflect that actual fatigue variation and fatigue levels can be decreased still more by scheduling appropriately. This paper focuses on optimal work shift scheduling to reduce air traffic controller fatigue. First, a mathematical model is established to describe fatigue levels. The objective function is to reduce the fatigue peak produced by work shifts as much as possible. Various constraints, such as holidays and manpower requirements are considered. The optimization problem is then solved using integer programming. We take a sample schedule and draw conclusions by comparing our results with the original fatigue levels.

  8. Speed limit and ramp meter control for traffic flow networks

    Science.gov (United States)

    Goatin, Paola; Göttlich, Simone; Kolb, Oliver

    2016-07-01

    The control of traffic flow can be related to different applications. In this work, a method to manage variable speed limits combined with coordinated ramp metering within the framework of the Lighthill-Whitham-Richards (LWR) network model is introduced. Following a 'first-discretize-then-optimize' approach, the first order optimality system is derived and the switch of speeds at certain fixed points in time is explained, together with the boundary control for the ramp metering. Sequential quadratic programming methods are used to solve the control problem numerically. For application purposes, experimental setups are presented wherein variable speed limits are used as a traffic guidance system to avoid traffic jams on highway interchanges and on-ramps.

  9. Fuzzy Self-Tuning PID Control of Hydrogen-Driven Pneumatic Artificial Muscle Actuator

    Institute of Scientific and Technical Information of China (English)

    Thanana Nuchkrua; Thananchai Leephakpreeda

    2013-01-01

    In this paper,a fuzzy self-tuning Proportional-Integral-Derivative (PID) control of hydrogen-driven Pneumatic Artificial Muscle (PAM) actuator is presented.With a conventional PID control,non-linear thermodynamics of the hydrogen-driven PAM actuator still highly affects the mechanical actuations itself,causing deyiation of desired tasks.The fuzzy self-tuning PID controller is systematically developed so as to achieve dynamic performance targets of the hydrogen-driven PAM actuator.The fuzzy rules based on desired characteristics of closed-loop control are designed to finely tune the PID gains of the controller under different operating conditions.The empirical models and properties of the hydrogen-driven PAM actuator are used as a genuine representation of mechanical actuations.A mass-spring-damper system is applied to the hydrogen-driven PAM actuator as a typical mechanical load during actuations.The results of the implementation show that the viability of the proposed method in actuating the hydrogen-driven PAM under mechanical loads is close to desired performance.

  10. Reverse Stackelberg Games: Theory and Applications in Traffic Control

    NARCIS (Netherlands)

    Groot, N.B.

    2013-01-01

    One of the major challenges in optimization-based control of large-scale intelligent infrastructural networks such as traffic networks is to find efficient multilevel optimization schemes through which decisions can be made by agents or controllers of different interacting layers. The hierarchical

  11. Data requirements for traffic control on a macroscopic level

    NARCIS (Netherlands)

    Knoop, V.L.; Van Lint, J.W.C.; Hoogendoorn, S.P.

    2011-01-01

    With current techniques, traffic monitoring and control is a data intensive process. Network control on a higher level, using high level variables, can make this process less data demanding. The macroscopic fundamental diagram relates accumulation, i.e. the number of vehicles in an area, to the netw

  12. Deadlock-free traffic control with geometrical critical sections

    NARCIS (Netherlands)

    Schoute, Albert L.; Bouwens, Peter J.; Backer, E.

    1994-01-01

    Traffic control of vehicles on pre-planned paths may be based on critical sections where vehicles have to control their velocity mutually in order to avoid collisions. By analysing the geometry of critical sections carefully deadlock situations can be recognised and situations where vehicles may sha

  13. Symmetry breaking in optimal timing of traffic signals on an idealized two-way street

    Science.gov (United States)

    Panaggio, Mark J.; Ottino-Löffler, Bertand J.; Hu, Peiguang; Abrams, Daniel M.

    2013-09-01

    Simple physical models based on fluid mechanics have long been used to understand the flow of vehicular traffic on freeways; analytically tractable models of flow on an urban grid, however, have not been as extensively explored. In an ideal world, traffic signals would be timed such that consecutive lights turned green just as vehicles arrived, eliminating the need to stop at each block. Unfortunately, this “green-wave” scenario is generally unworkable due to frustration imposed by competing demands of traffic moving in different directions. Until now this has typically been resolved by numerical simulation and optimization. Here, we develop a theory for the flow in an idealized system consisting of a long two-way road with periodic intersections. We show that optimal signal timing can be understood analytically and that there are counterintuitive asymmetric solutions to this signal coordination problem. We further explore how these theoretical solutions degrade as traffic conditions vary and automotive density increases.

  14. Symmetry breaking in optimal timing of traffic signals on an idealized two-way street

    CERN Document Server

    Panaggio, Mark J; Hu, Peiguang; Abrams, Daniel M

    2013-01-01

    Simple physical models based on fluid mechanics have long been used to understand the flow of vehicular traffic on freeways; analytically tractable models of flow on an urban grid, however, have not been as extensively explored. In an ideal world, traffic signals would be timed such that consecutive lights turned green just as vehicles arrived, eliminating the need to stop at each block. Unfortunately, this "green wave" scenario is generally unworkable due to frustration imposed by competing demands of traffic moving in different directions. Until now this has typically been resolved by numerical simulation and optimization. Here, we develop a theory for the flow in an idealized system consisting of a long two-way road with periodic intersections. We show that optimal signal timing can be understood analytically and that there are counter-intuitive asymmetric solutions to this signal coordination problem. We further explore how these theoretical solutions degrade as traffic conditions vary and automotive dens...

  15. Design and application of PLC in traffic signal lamp%PLC在交通信号灯中的设计与应用

    Institute of Scientific and Technical Information of China (English)

    雷文斌

    2013-01-01

    This paper uses S7-200PLC as basic design components for the traffic signal lamp from two aspects of software design and hardware design of PLC traffic signal lamp and complete timing design and timing control chart of PLC traffic signal lamp and the PLC programming and the timing control design of PLC traffic signal. Finally, the article uses the traffic control of intersection in order to illustrate the realization process of the PLC traffic signal lamp control system.%  文章采用S7-200PLC做为交通信号灯设计的基本元件,从PLC交通信号灯硬件设计和PLC交通信号灯软件设计两方面着手,实现了PLC交通信号灯的时序设计以及时序控制图、实现了PLC编程设计、实现了PLC交通信号等的时序控制设计。最后,利用交叉路口交通控制来说明控制系统的PLC交通信号灯的实现过程。

  16. Robust reliable H∞ control for discrete-time Markov jump linear systems with actuator failures

    Institute of Scientific and Technical Information of China (English)

    Chen Jiaorong; Liu Fei

    2008-01-01

    The robust reliable H∞ control problem for discrete-time Markovian jump systems with actuator failures is studied.A more practical model of actuator failures than outage is considered.Based on the state feedback method,the resulting closed-loop systems are reliable in that they remain robust stochastically stable and satisfy a certain level of Hex disturbance attenuation not only when all actuators are operational,but also in case of some actuator failures.The solvability condition of controllers can be equivalent to a feasibility problem of coupled linear matrix inequalities (LMIs).A numerical example is also given to illustrate the design procedures and their effectiveness.

  17. 基于强化学习的交叉口交通低排放信号控制研究%Traffic Emission Driven Signal Control of Urban Intersection Based on Reinforcement Learning

    Institute of Scientific and Technical Information of China (English)

    李昕

    2014-01-01

    Vehicle emissions at intersection are highly complex and it is difficult to establish clear mathematical model of vehicle emission especially in considering intersection initial queue length. Q-learning is a kind of model-free reinforcement learning algorithm. It searches for the optimal control strategy through trial and error interactive with environment. Based on microscopic traffic simulator USTCMTS2.0 platform, Q-learning is used to search for the optimal signal timing scheme with lowest emission in the different conditions of intersection initial queue length. In allusion to the low learning efficiency of Q-learning, the fuzzy inference is introduced to accelerate convergence of Q-learning. Simulation results show that the reinforcement learning algorithm is more effective. The average vehicle emissions are reduced by 13.9% compared with Hideki's method for high saturation of the intersection and the fuzzy initialization of Q-value significantly accelerates the convergence process of Q-learning.%交叉口车辆排放较为复杂,尤其是在考虑初始排队长度的情况下,更是难以建立明确的数学模型。Q学习是一种无模型的强化学习算法,通过与环境的试错交互学习最优控制策略。本文提出了一种基于Q学习的交通排放信号控制方案。利用仿真平台USTCMTS2.0,通过不断地试错学习找到在不同相位排队长度下最优配时。在Q学习中添加了模糊初始化Q函数的方法以改进Q学习的收敛速度,加速了学习过程。仿真实验结果表明:强化学习算法取得较好的效果。相比较Hideki的方法,在车流量较高时,车辆平均排放量减少了13.9%,并且对Q函数值的模糊初始化大大加速了Q函数收敛的过程。

  18. Reliable Actuator for Cryo Propellant Fluid Control Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Fluid handling applications in cryogenic and extreme environments require reliable actuation technology that can handle extreme temperatures, mechanical bind-up...

  19. Road crossing behavior under traffic light conflict: Modulating effects of green light duration and signal congruency.

    Science.gov (United States)

    Lange, Florian; Haiduk, Michael; Boos, Moritz; Tinschert, Peter; Schwarze, Anke; Eggert, Frank

    2016-10-01

    A large number of pedestrians and cyclists regularly ignore the traffic lights to cross the road illegally. In a recent analysis, illegal road crossing behavior has been shown to be enhanced in the presence of incongruent stimulus configurations. Pedestrians and cyclists are more likely to cross against a red light when exposed to an irrelevant conflicting green light. Here, we present experimental and observational data on the factors moderating the risk associated with incongruent traffic lights. In an observational study, we demonstrated that the conflict-related increase in illegal crossing rates is reduced when pedestrian and cyclist green light periods are long. In a laboratory experiment, we manipulated the color of the irrelevant signals to expose participants to different degrees of incongruency. Results revealed that individuals' performance gradually varied as a function of incongruency, suggesting that the negative impact of a conflicting green light can be reduced by slightly adjusting its color. Our findings highlight that the observation of real-world behavior at intersections and the experimental analysis of psychological processes under controlled laboratory conditions can complement each other in identifying risk factors of risky road crossing behavior. Based on this combination, our study elaborates on promising measures to improve safety at signalized intersections. PMID:27474874

  20. Mu-Synthesis robust control of 3D bar structure vibration using piezo-stack actuators

    Science.gov (United States)

    Mystkowski, Arkadiusz; Koszewnik, Andrzej Piotr

    2016-10-01

    This paper presents an idea for the Mu-Synthesis robust control of 3D bar structure vibration with using a piezo-stack actuators. A model of the 3D bar structure with uncertain parameters is presented as multi-input multi-output (MIMO) dynamics. Nominal stability and nominal performances of the open-loop 3D bar structure dynamic model is developed. The uncertain model-based robust controller is derived due to voltage control signal saturation and selected parameter perturbations. The robust control performances and robustness of the system due to uncertainties influence is evaluated by using singular values and a small gain theorem. Finally, simulation investigations and experimental results shown that system response of the 3D bar structure dynamic model with taken into account perturbed parameters met desired robust stability and system limits. The proposed robust controller ensures a good dynamics of the closed-loop system, robustness, and vibration attenuation.

  1. A modeling framework for deteriorating control system and predictive maintenance of actuators

    International Nuclear Information System (INIS)

    Actuators play a central role in industrial automation systems. They are costly, and therefore studying their dependability needs all attention. Usually, an actuator is inserted in a feedback control system, and its mission is to implement a control action delivered by a controller. In this paper, a monotonic actuator deterioration is considered and it is assumed that a relationship exists between the control action and the physical actuator's deterioration. A modeling framework is proposed including a non-decreasing stochastic degradation process driving the inability for an actuator to fully implement its role. The prognosis of the actuator's residual useful lifetime is derived and used to update the controller's setting. The controller reconfiguration completes the maintenance corrective and preventive actions. This new action is suggested as an alternative for maintenance strategy. - Highlights: • A degrading control system model is proposed focusing on actuator deterioration. • It is assumed a relationship between this degradation and its loss of efficiency. • The actuator RUL is quantified as a quantile of its conditional survival function. • RUL prognosis is used to reconfigure the control input law. • This new action is suggested as an alternative for maintenance strategy

  2. Post-Buckled Precompressed (PBP) piezoelectric actuators for UAV flight control

    NARCIS (Netherlands)

    Vos, R.; Barrett, R.; Krakers, L.; Van Tooren, M.

    2006-01-01

    This paper presents the use of a new class of flight control actuators employing Post-Buckled Precompressed (PBP) piezoelectric elements in morphing wing Uninhabited Aerial Vehicles (UAVs). The new actuator relieson axial compression to amplify deflections and control forces simultaneously. Two desi

  3. A control method for congested traffic in the coupled map car-following model

    Institute of Scientific and Technical Information of China (English)

    Shen Fei-Ying; Ge Hong-Xia; Zhang Hui; Yu Han-Mei; Lei Li

    2009-01-01

    Based on the pioneer work of Konishi et al, a new control method is presented to suppress the traffic congestion in the coupled map (CM) car-following model under an open boundary. A control signal concluding the velocity differences of the two vehicles in front is put forward. The condition under which the traffic jam can be contained is analyzed. The results are compared with that presented by Konishi et al [Phys. Rev. 1999 E 60 4000-4007]. The simulation results show that the temporal behavior obtained by our method is better than that by the Konishi's et al. method, although both the methods could suppress the traffic jam. The simulation results are consistent with the theoretical analysis.

  4. A radome for air traffic control SSR radar systems

    Science.gov (United States)

    A new generation of monopulse and discrete interrogation systems has evolved for air traffic control applications that presents significant challenges to total system design and performance. Reliable operation of the antenna system is essential in today's ever increasing air traffic congestion. An important component of the total system is a radome to protect the antenna from the environment and to enable consistent, reliable electromagnetic performance. The various types of radomes that have been employed over the years to protect antennas are discussed and evaluated relative to the air traffic control radar application. The sandwich radome is selected as the best option and a detailed design analysis is presented which considers the vital characteristics of transmissivity, boresight error, and sidelobe perturbations.

  5. Improving Experience-Based Admission Control through Traffic Type Awareness

    Directory of Open Access Journals (Sweden)

    Jens Milbrandt

    2007-04-01

    Full Text Available Experience-based admission control (EBAC is a hybrid approach combining the classical parameter-based and measurement-based admission control. EBAC calculates an appropriate overbooking factor used to overbook link capacities with resource reservations in packet-switched networks. This overbooking factor correlates with the average peak-to-mean rate ratio of all admitted traffic flows on the link. So far, a single overbooking factor is calculated for the entire traffic aggregate. In this paper, we propose typespecific EBAC which provides a compound overbooking factor considering different types of traffic that subsume flows with similar peak-to-mean rate ratios. The concept can be well implemented since it does not require measurements of type-specific traffic aggregates. We give a proof of concept for this extension and compare it with the conventional EBAC approach. We show that EBAC with type-specific overbooking leads to better resource utilization under normal conditions and to faster response times for changing traffic mixes.

  6. Stability analysis of traffic flow with extended CACC control models

    Science.gov (United States)

    Ya-Zhou, Zheng; Rong-Jun, Cheng; Siu-Ming, Lo; Hong-Xia, Ge

    2016-06-01

    To further investigate car-following behaviors in the cooperative adaptive cruise control (CACC) strategy, a comprehensive control system which can handle three traffic conditions to guarantee driving efficiency and safety is designed by using three CACC models. In this control system, some vital comprehensive information, such as multiple preceding cars’ speed differences and headway, variable safety distance (VSD) and time-delay effect on the traffic current and the jamming transition have been investigated via analytical or numerical methods. Local and string stability criterion for the velocity control (VC) model and gap control (GC) model are derived via linear stability theory. Numerical simulations are conducted to study the performance of the simulated traffic flow. The simulation results show that the VC model and GC model can improve driving efficiency and suppress traffic congestion. Project supported by the National Natural Science Foundation of China (Grant Nos. 71571107 and 11302110). The Scientific Research Fund of Zhejiang Province, China (Grant Nos. LY15A020007, LY15E080013, and LY16G010003). The Natural Science Foundation of Ningbo City (Grant Nos. 2014A610030 and 2015A610299), the Fund from the Government of the Hong Kong Administrative Region, China (Grant No. CityU11209614), and the K C Wong Magna Fund in Ningbo University, China.

  7. Development and Evaluation of a Control System for Regional Traffic Management

    Directory of Open Access Journals (Sweden)

    John L. McLin

    2011-01-01

    Full Text Available Traffic congestion is a worsening problem in metropolitan areas which will require integrated regional traffic control systems to improve traffic conditions. This paper presents a regional traffic control system which can detect incident conditions and provide integrated traffic management during nonrecurrent congestion events. The system combines advanced artificial intelligence techniques with a traffic performance model based on HCM equations. Preliminary evaluation of the control system using traffic microsimulation demonstrates that it has the potential to improve system conditions during traffic incidents. In addition, several enhancements were identified which will make the system more robust in a real traffic control setting. An assessment of the control system elements indicates that there are no substantial technical barriers in implementing this system in a large traffic network.

  8. Flow separation control on swept wing with nanosecond pulse driven DBD plasma actuators

    Directory of Open Access Journals (Sweden)

    Zhao Guangyin

    2015-04-01

    Full Text Available A 15° swept wing with dielectric barrier discharge plasma actuator is designed. Experimental study of flow separation control with nanosecond pulsed plasma actuation is performed at flow velocity up to 40 m/s. The effects of the actuation frequency and voltage on the aerodynamic performance of the swept wing are evaluated by the balanced force and pressure measurements in the wind tunnel. At last, the performances on separation flow control of the three types of actuators with plane and saw-toothed exposed electrodes are compared. The optimal actuation frequency for the flow separation control on the swept wing is detected, namely the reduced frequency is 0.775, which is different from 2-D airfoil separation control. There exists a threshold voltage for the low swept wing flow control. Before the threshold voltage, as the actuation voltage increases, the control effects become better. The maximum lift is increased by 23.1% with the drag decreased by 22.4% at 14°, compared with the base line. However, the best effects are obtained on actuator with plane exposed electrode in the low-speed experiment and the abilities of saw-toothed actuators are expected to be verified under high-speed conditions.

  9. Control Reconfiguration of LPV Systems Using Virtual Sensor and Virtual Actuator

    DEFF Research Database (Denmark)

    Tabatabaeipour, Seyed Mojtaba; Stoustrup, Jakob; Bak, Thomas

    2012-01-01

    of the controller and to transform the output of the controller for the faulty system such that the stability and performance goals are preserved. In this paper, we consider the weak fault-hiding goal and stability of the closed loop system. Input to state stabilizing LPV gains of the virtual actuator and sensor...... the plant and the nominal controller such that the fault tolerant goal is achieved without re-designing the nominal controller. The role of the reconfiguration block is to transform the signals from the faulty system such that its behavior is similar to the nominal system from the point of view...... are found by solving linear matrix inequalities (LMIs). We show that separate design of these gains guarantees the closed loop input to state stability of the closed loop reconfigured system....

  10. UAV Flight Control using Distributed Actuation and Sensing

    Science.gov (United States)

    Barnwell, William G.; Heinzen, Stearns N.; Hall, Charles E., Jr.; Chokani, Ndaona; Raney, David L. (Technical Monitor)

    2003-01-01

    An array of effectors and sensors has been designed, tested and implemented on a Blended Wing Body Uninhabited Aerial Vehicle (UAV). This UAV is modified to serve as a flying, controls research, testbed. This effectorhensor array provides for the dynamic vehicle testing of controller designs and the study of decentralized control techniques. Each wing of the UAV is equipped with 12 distributed effectors that comprise a segmented array of independently actuated, contoured control surfaces. A single pressure sensor is installed near the base of each effector to provide a measure of deflections of the effectors. The UAV wings were tested in the North Carolina State University Subsonic Wind Tunnel and the pressure distribution that result from the deflections of the effectors are characterized. The results of the experiments are used to develop a simple, but accurate, prediction method, such that for any arrangement of the effector array the corresponding pressure distribution can be determined. Numerical analysis using the panel code CMARC verifies this prediction method.

  11. Model based monitoring for industrial and traffic noise control

    NARCIS (Netherlands)

    Eerden, F.J.M. van der; Binnerts, B.; Graafland, F.

    2015-01-01

    Noise control starts by understanding the actual noise situation. Especially for situations where the distance between industrial and traffic noise sources and a local community is in the order of one kilometer or more, it may not be clear what sources are the main contributors to annoyance. Then a

  12. The Evaluation of Traffic Control in Changsha City

    NARCIS (Netherlands)

    Lu, S.; Li, J.; Van Zuylen, H.

    2012-01-01

    Different aspects of the traffic control system in the CBD of Changsha have been evaluated. A general issue is the safety conditions, which are evaluated qualitatively. The second issue is the low saturation flow observed on the intersections, that appear to be 20 to 30% lower than the ones in compa

  13. Using eye tracker data in air traffic control

    NARCIS (Netherlands)

    Imants, P.; Greef, T. de

    2011-01-01

    Motivation/Research approach - An exploratory study was conducted to investigate whether eye movement metrics discriminate between different air traffic control tasks. Findings/Design - The results show the three tasks elicit different eye movement, as Yarbus (1967) also showed in static pictures, a

  14. Dynamic one-way traffic control in automated transportation systems

    NARCIS (Netherlands)

    Ebben, M; van der Zee, DJ

    2004-01-01

    In a project on underground freight transportation using Automated Guided Vehicles, single lanes for traffic in two directions are constructed to reduce infrastructure investment. Intelligent control rules are required to manage vehicle flows such, that collision is avoided and waiting times are min

  15. Multi-objective H ∞ control for vehicle active suspension systems with random actuator delay

    Science.gov (United States)

    Li, Hongyi; Liu, Honghai; Hand, Steve; Hilton, Chris

    2012-12-01

    This article is concerned with the problem of multi-objective H ∞ control for vehicle active suspension systems with random actuator delay, which can be represented by signal probability distribution. First, the dynamical equations of a quarter-car suspension model are established for the control design purpose. Secondly, when taking into account vehicle performance requirements, namely, ride comfort, suspension deflection and the probability distributed actuator delay, we present the corresponding dynamic system, which will be transformed to the stochastic system for the problem of multi-objective H ∞ controller design. Third, based on the stochastic stability theory, the state feedback controller is proposed to render that the closed-loop system is exponentially stable in mean-square while simultaneously satisfying H ∞ performance and the output constraint requirement. The presented condition is expressed in the form of convex optimisation problems so that it can be efficiently solved via standard numerical software. Finally, a practical design example is given to demonstrate the effectiveness of the proposed method.

  16. IIR filtering based adaptive active vibration control methodology with online secondary path modeling using PZT actuators

    Science.gov (United States)

    Boz, Utku; Basdogan, Ipek

    2015-12-01

    Structural vibrations is a major cause for noise problems, discomfort and mechanical failures in aerospace, automotive and marine systems, which are mainly composed of plate-like structures. In order to reduce structural vibrations on these structures, active vibration control (AVC) is an effective approach. Adaptive filtering methodologies are preferred in AVC due to their ability to adjust themselves for varying dynamics of the structure during the operation. The filtered-X LMS (FXLMS) algorithm is a simple adaptive filtering algorithm widely implemented in active control applications. Proper implementation of FXLMS requires availability of a reference signal to mimic the disturbance and model of the dynamics between the control actuator and the error sensor, namely the secondary path. However, the controller output could interfere with the reference signal and the secondary path dynamics may change during the operation. This interference problem can be resolved by using an infinite impulse response (IIR) filter which considers feedback of the one or more previous control signals to the controller output and the changing secondary path dynamics can be updated using an online modeling technique. In this paper, IIR filtering based filtered-U LMS (FULMS) controller is combined with online secondary path modeling algorithm to suppress the vibrations of a plate-like structure. The results are validated through numerical and experimental studies. The results show that the FULMS with online secondary path modeling approach has more vibration rejection capabilities with higher convergence rate than the FXLMS counterpart.

  17. Constrained optimal steady-state control for isolated traffic intersections

    Institute of Scientific and Technical Information of China (English)

    Jack HADDAD; David MAHALEL; Ilya IOSLOVICH; Per-Olof GUTMAN

    2014-01-01

    The steady-state or cyclic control problem for a simplified isolated traffic intersection is considered. The optimization problem for the green-red switching sequence is formulated with the help of a discrete-event max-plus model. Two steady-state control problems are formulated: optimal steady-state with green duration constraints, and optimal steady-state control with lost time. In the case when the criterion is a strictly increasing, linear function of the queue lengths, the steady-state control problems can be solved analytically. The structure of constrained optimal steady-state traffic control is revealed, and the effect of the lost time on the optimal solution is illustrated.

  18. Miniature osmotic actuators for controlled maxillofacial distraction osteogenesis

    Science.gov (United States)

    Li, Yu-Hsien; Su, Yu-Chuan

    2010-06-01

    We have successfully demonstrated miniature actuators that are capable of converting chemical potential directly into steady mechanical movements for maxillofacial distraction osteogenesis. Pistons and diaphragms powered by osmosis are employed to provide the desired linear and volumetric displacements for bone distraction and potentially the release of bone morphogenetic proteins, respectively. The cylindrical-shaped miniature actuators are composed of polymeric materials and fabricated by molding and assembly processes. In the prototype demonstration, vapor-permeable thermoplastic polyurethane was employed as the semi-permeable material. 3 cm long actuators with piston and diaphragm radii of 1 mm and 500 µm, respectively, were fabricated and characterized. The maximum distraction force from the piston-type actuator is found to be 6 N while the piston travels at a constant velocity of 32 µm h-1 (or 0.77 mm/day) for about 1 week. Meanwhile, the release rate from the diaphragm-type actuator is measured to be constant, 0.15 µl h-1 (or 3.6 µl/day), throughout the experiment. Moreover, the sizes and output characteristics of the self-regulating actuators could readily be tailored to realize optimal distraction rate, rhythm and osteogenic activity. As such, the demonstrated miniature osmotic actuators could potentially serve as versatile apparatuses for maxillofacial distraction osteogenesis and fulfill the needs of a variety of implantable and biomedical applications.

  19. Active aeroelastic control aspects of an aircraft wing by using synthetic jet actuators: modeling, simulations, experiments

    NARCIS (Netherlands)

    Donnell, K.O.; Schober, S.; Stolk, M.; Marzocca, P.; De Breuker, R.; Abdalla M.; Nicolini, E.; Gürdal, Z.

    2007-01-01

    This paper discusses modeling, simulations and experimental aspects of active aeroelastic control on aircraft wings by using Synthetic Jet Actuators (SJAs). SJAs, a particular class of zero-net mass-flux actuators, have shown very promising results in numerous aeronautical applications, such as boun

  20. Modeling and Application of Series Elastic Actuators for Force Control Multi Legged Robots

    CERN Document Server

    S, Arumugom; V, Ponselvan

    2009-01-01

    Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic Actuators employ a novel mechanical design architecture which goes against the common machine design principal of "stiffer is better". A compliant element is placed between the gear train and driven load to intentionally reduce the stiffness of the actuator. A position sensor measures the deflection, and the force output is accurately calculated using Hooke's Law (F=Kx). A control loop then servos the actuator to the desired output force. The resulting actuator has inherent shock tolerance, high force fidelity and extremely low impedance. These characteristics are desirable in many applications including legged robots, exoskeletons for human performance amplification, robotic arms, haptic interfaces, and adaptive suspensions. We describe several variations of Series Elastic Ac...

  1. The Influence of PZT Actuators Positioning in Active Structural Acoustic Control

    Directory of Open Access Journals (Sweden)

    P. Švec

    2007-01-01

    Full Text Available This paper deals with the effect of secondary actuator positioning in an active structural acoustics control (ASAC experiment. The ASAC approach is based on minimizing the sound radiation from structures to the far field by controlling the structural vibrations. In this article a rectangular steel plate structure was assumed with one secondary actuator attached to it. As a secondary actuator, a specially designed piezoelectric stripe actuator was used. We studied the effect of the position of the actuator on the pattern and on the radiated sound field of the structural vibration, with and without active control. The total radiated power was also measured. The experimental data was confronted with the results obtained by a numerical solution of the mathematical model used. For the solution, the finite element method in the ANSYS software package was used. 

  2. Detection of Botnet Command and Control Traffic by the Multistage Trust Evaluation of Destination Identifiers

    OpenAIRE

    Pieter Burghouwt; Marcel E.M. Spruit; Sips, Henk J.

    2015-01-01

    Network-based detection of botnet Command and Control communication is a difficult task if the traffic has a relatively low volume and if popular protocols, such as HTTP, are used to resemble normal traffic. We present a new network-based detection approach that is capable of detecting this type of Command and Control traffic in an enterprise network by estimating the trustworthiness of the traffic destinations. If the destination identifier of a traffic flow origins directly from: human inpu...

  3. Intelligent Control in Automation Based on Wireless Traffic Analysis

    Energy Technology Data Exchange (ETDEWEB)

    Kurt Derr; Milos Manic

    2007-08-01

    Wireless technology is a central component of many factory automation infrastructures in both the commercial and government sectors, providing connectivity among various components in industrial realms (distributed sensors, machines, mobile process controllers). However wireless technologies provide more threats to computer security than wired environments. The advantageous features of Bluetooth technology resulted in Bluetooth units shipments climbing to five million per week at the end of 2005 [1, 2]. This is why the real-time interpretation and understanding of Bluetooth traffic behavior is critical in both maintaining the integrity of computer systems and increasing the efficient use of this technology in control type applications. Although neuro-fuzzy approaches have been applied to wireless 802.11 behavior analysis in the past, a significantly different Bluetooth protocol framework has not been extensively explored using this technology. This paper presents a new neurofuzzy traffic analysis algorithm of this still new territory of Bluetooth traffic. Further enhancements of this algorithm are presented along with the comparison against the traditional, numerical approach. Through test examples, interesting Bluetooth traffic behavior characteristics were captured, and the comparative elegance of this computationally inexpensive approach was demonstrated. This analysis can be used to provide directions for future development and use of this prevailing technology in various control type applications, as well as making the use of it more secure.

  4. Intelligent Control in Automation Based on Wireless Traffic Analysis

    Energy Technology Data Exchange (ETDEWEB)

    Kurt Derr; Milos Manic

    2007-09-01

    Wireless technology is a central component of many factory automation infrastructures in both the commercial and government sectors, providing connectivity among various components in industrial realms (distributed sensors, machines, mobile process controllers). However wireless technologies provide more threats to computer security than wired environments. The advantageous features of Bluetooth technology resulted in Bluetooth units shipments climbing to five million per week at the end of 2005 [1, 2]. This is why the real-time interpretation and understanding of Bluetooth traffic behavior is critical in both maintaining the integrity of computer systems and increasing the efficient use of this technology in control type applications. Although neuro-fuzzy approaches have been applied to wireless 802.11 behavior analysis in the past, a significantly different Bluetooth protocol framework has not been extensively explored using this technology. This paper presents a new neurofuzzy traffic analysis algorithm of this still new territory of Bluetooth traffic. Further enhancements of this algorithm are presented along with the comparison against the traditional, numerical approach. Through test examples, interesting Bluetooth traffic behavior characteristics were captured, and the comparative elegance of this computationally inexpensive approach was demonstrated. This analysis can be used to provide directions for future development and use of this prevailing technology in various control type applications, as well as making the use of it more secure.

  5. Design of a smart optically controlled high-power switch for fly-by-light motor actuation systems

    Science.gov (United States)

    Bhadri, Prashant; Sukumaran, Deepti; Dasgupta, Samhita; Beyette, Fred R., Jr.

    2001-12-01

    In avionic systems, data integrity and high data rates are necessary for stable flight control. Unfortunately, conventional electronic control systems are susceptible to electromagnetic interference (EMI) that can reduce the clarity of flight control signals. Fly-by-Light systems that use optical signals to actuate the flight control surfaces of an aircraft have been suggested as a solution to the EMI problem in avionic systems. Fly-by-Light in avionic systems reduces electromagnetic interference hence improving the clarity of the control signals. A hybrid approach combining a silicon photoreceiver module with a SiC power transistor is proposed. The resulting device uses a 5 mW optical control signal to produce a 150 A current suitable for driving an electric motor.

  6. Nonlinear Current Control for Reluctance Actuator with Hysteresis Compensation

    OpenAIRE

    Yu-Ping Liu; Kang-Zhi Liu; Xiaofeng Yang

    2014-01-01

    The next-generation fine stage of the wafer scanner needs a suitable actuator to meet the requirements of high speed, high acceleration, and high precision. The voice coil actuator is no longer the best choice because of its large size and the heat dissipation is difficult to solve. The reluctance actuator can provide a big force based on a unique property of small volume and low current, making it a very suitable candidate. But the strong nonlinearity such as the hysteresis between the curre...

  7. Actuator control of edgewise vibrations in wind turbine blades

    Science.gov (United States)

    Staino, A.; Basu, B.; Nielsen, S. R. K.

    2012-03-01

    Edgewise vibrations with low aerodynamic damping are of particular concern in modern multi-megawatt wind turbines, as large amplitude cyclic oscillations may significantly shorten the life-time of wind turbine components, and even lead to structural damages or failures. In this paper, a new blade design with active controllers is proposed for controlling edgewise vibrations. The control is based on a pair of actuators/active tendons mounted inside each blade, allowing a variable control force to be applied in the edgewise direction. The control forces are appropriately manipulated according to a prescribed control law. A mathematical model of the wind turbine equipped with active controllers has been formulated using an Euler-Lagrangian approach. The model describes the dynamics of edgewise vibrations considering the aerodynamic properties of the blade, variable mass and stiffness per unit length and taking into account the effect of centrifugal stiffening, gravity and the interaction between the blades and the tower. Aerodynamic loads corresponding to a combination of steady wind including the wind shear and the effect of turbulence are computed by applying the modified Blade Element Momentum (BEM) theory. Multi-Blade Coordinate (MBC) transformation is applied to an edgewise reduced order model, leading to a linear time-invariant (LTI) representation of the dynamic model. The LTI description obtained is used for the design of the active control algorithm. Linear Quadratic (LQ) regulator designed for the MBC transformed system is compared with the control synthesis performed directly on an assumed nominal representation of the time-varying system. The LQ regulator is also compared against vibration control performance using Direct Velocity Feedback (DVF). Numerical simulations have been carried out using data from a 5-MW three-bladed Horizontal-Axis Wind Turbine (HAWT) model in order to study the effectiveness of the proposed active controlled blade design in

  8. Inverse grey-box model-based control of a dielectric elastomer actuator

    DEFF Research Database (Denmark)

    Jones, Richard William; Sarban, Rahimullah

    2012-01-01

    An accurate physical-based electromechanical model of a commercially available tubular dielectric elastomer (DE) actuator has been developed and validated. In this contribution, the use of the physical-based electromechanical model to formulate a model-based controller is examined. The choice...... control performance across the operating range of the DE actuator, a gain scheduling term, which linearizes the operating characteristics of the tubular dielectric elastomer actuator, is developed and implemented in series with the IMC controller. The IMC-based approach is investigated for servo control...

  9. 77 FR 28455 - National Standards for Traffic Control Devices; the Manual on Uniform Traffic Control Devices for...

    Science.gov (United States)

    2012-05-14

    ... clarify the use of engineering judgment and studies in the application of traffic control devices. DATES... existing operating procedures. Background On August 2, 2011, at 76 FR 46213, the FHWA published an NPA... established through a final rule published in the Federal Register on December 14, 2006 at 74 FR...

  10. Development of hydraulic brake actuator for active brake control; Active brake seigyoyo yuatsu booster no kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    Konishi, Y.; Hattori, M. Sugisawa, M.; Nishii, M. [Aisin Seiki Co. Ltd., Aichi (Japan)

    1997-10-01

    Recently, application of active brake control systems of the vehicle are increasing. (Vehicle stability control, Panic brake assist ) We have developed a new hydraulic brake actuator for active brake control systems. New hydraulic brake actuator is composed of the three parts. (Hydraulic booster unit, Power supply unit, Control valve unit) This report describes the construction of the new hydraulic booster unit. 2 refs., 10 figs.

  11. A Nonlinear Physics-Based Optimal Control Method for Magnetostrictive Actuators

    Science.gov (United States)

    Smith, Ralph C.

    1998-01-01

    This paper addresses the development of a nonlinear optimal control methodology for magnetostrictive actuators. At moderate to high drive levels, the output from these actuators is highly nonlinear and contains significant magnetic and magnetomechanical hysteresis. These dynamics must be accommodated by models and control laws to utilize the full capabilities of the actuators. A characterization based upon ferromagnetic mean field theory provides a model which accurately quantifies both transient and steady state actuator dynamics under a variety of operating conditions. The control method consists of a linear perturbation feedback law used in combination with an optimal open loop nonlinear control. The nonlinear control incorporates the hysteresis and nonlinearities inherent to the transducer and can be computed offline. The feedback control is constructed through linearization of the perturbed system about the optimal system and is efficient for online implementation. As demonstrated through numerical examples, the combined hybrid control is robust and can be readily implemented in linear PDE-based structural models.

  12. Quasi-dynamic Traffic Light Control for a Single Intersection

    OpenAIRE

    Geng, Yanfeng; Cassandras, Christos G.

    2013-01-01

    We address the traffic light control problem for a single intersection by viewing it as a stochastic hybrid system and developing a Stochastic Flow Model (SFM) for it. We adopt a quasi-dynamic control policy based on partial state information defined by detecting whether vehicle backlog is above or below a certain threshold, without the need to observe an exact vehicle count. The policy is parameterized by green and red cycle lengths which depend on this partial state information. Using Infin...

  13. Geo-based Mobility Control for Mobile Traffic Simulators

    OpenAIRE

    Dahlström, Patrik

    2013-01-01

    Most mobile traffic simulators of today depend on the user to supply the mobility behavior of the simulated UEs. This becomes a problem when certain wanted mobility characteristics are to be tested, since the user have to go trough a trial-and-error procedure to come up with the proper mobility behavior. This thesis presents two approaches to mobility control, where the aim is to control UE mobility based on certain mobility characteristics supplied by the end user. The first approach introdu...

  14. Reliable Actuator for Cryo Propellant Fluid Control Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Cryogenic fluid handling applications require a reliable actuation technology that can handle very low temperatures. A novel EM hammer drive technology is proposed...

  15. A New Approach to an Automated Air Traffic Control

    Institute of Scientific and Technical Information of China (English)

    Patchev Dragoljub

    2014-01-01

    This paper identifies areas of improvements of the air traffic control system and proposes modification of the concept of automation by using available technologies. With the proposed modification, the current Europe wide en route network structure can be modified in order to make routes more optimal. For this new route network structure, a new concept of automation will be used to manage with the air traffic. The first identified area of improvement is implementation of automation process that will enable decentralization of the air traffic control functionality to each individual aircraft and this will be achieved through automated routing of the aircrafts and CD&R (conflict detection and resolution). The FMS (flight management system) at the aircraft will make decisions for the optimal flight route based on the sensor inputs, information on selection of the routes, next hope points and flight levels, all received by ADS-B (automatic dependant surveillance-broadcast). The second area is processing the information about the deviation from the optimal route as in flight plan due to a traffic management (vectoring, level change) and taking it into consideration when further actions are undertaken. For each action, a cost factor will be calculated from the fuel burned for that action. This factor will be used to select conflict resolution protocol. The proposed concept shall increase the capacity of the network, and enable the air traff~c more efficient and more environmentally friendly while maintaining safe separation.

  16. Robustness and Actuator Bandwidth of MRP-Based Sliding Mode Control for Spacecraft Attitude Control Problems

    Science.gov (United States)

    Keum, Jung-Hoon; Ra, Sung-Woong

    2009-12-01

    Nonlinear sliding surface design in variable structure systems for spacecraft attitude control problems is studied. A robustness analysis is performed for regular form of system, and calculation of actuator bandwidth is presented by reviewing sliding surface dynamics. To achieve non-singular attitude description and minimal parameterization, spacecraft attitude control problems are considered based on modified Rodrigues parameters (MRP). It is shown that the derived controller ensures the sliding motion in pre-determined region irrespective of unmodeled effects and disturbances.

  17. TO THE QUESTION OF SOLVING OF THE PROBLEM OF OPTIMIZING PARAMETERS OF TRAFFIC FLOW COORDINATED CONTROL

    OpenAIRE

    L. Abramova; Chernobaev, N.

    2007-01-01

    A short review of main methods of traffic flow control is represented, great attention is paid to methods of coordinated control and quality characteristics of traffic control. The problem of parameter optimization of traffic coordinated control on the basis of vehicle delay minimizing at highway intersections has been defined.

  18. TAF7: traffic controller in transcription initiation.

    Science.gov (United States)

    Gegonne, Anne; Devaiah, Ballachanda N; Singer, Dinah S

    2013-01-01

    TAF7, a component of the TFIID complex, controls the first steps of transcription. It interacts with and regulates the enzymatic activities of transcription factors that regulate RNA polymerase II progression. Its diverse functions in transcription initiation are consistent with its essential role in cell proliferation.

  19. Design and position control of AF lens actuator for mobile phone using IPMC-EMIM

    Science.gov (United States)

    Kim, Sung-Joo; Kim, Chul-Jin; Park, No-Cheol; Yang, Hyun-Seok; Park, Young-Pil; Park, Kang-Ho; Lee, Hyung-Kun; Choi, Nak-Jin

    2008-03-01

    IPMC-EMIM (Ionic Polyer Metal Composites + 1-ethyl-3- methyl imidazolium trifluromethane sulfonate, EMIM-Tfo) is fabricated by substituting ionic liquid for water in Nafion film, which improves water sensitiveness of IPMC and guarantees uniform performance regardless of the surrounding environment. In this paper, we will briefly introduce the procedure of fabrication of IPMC-EMIM and proceed to introduce the Hook-type actuator using IPMC-EMIM and application to AF Lens actuator. Parameters of Hook-type actuator are estimated from experimental data. In the simulation, The proposed AF Lens Actuator is assumed to be a linear system and based on estimated parameters, PID controller will be designed and controlled motion of AF Lens actuator will be shown through simulation.

  20. Decentralized coverage control problems for mobile robotic sensor and actuator networks

    CERN Document Server

    Savkin, A; Xi, Z; Javed, F; Matveev, A; Nguyen, H

    2015-01-01

    This book introduces various coverage control problems for mobile sensor networks including barrier, sweep and blanket. Unlike many existing algorithms, all of the robotic sensor and actuator motion algorithms developed in the book are fully decentralized or distributed, computationally efficient, easily implementable in engineering practice and based only on information on the closest neighbours of each mobile sensor and actuator and local information about the environment. Moreover, the mobile robotic sensors have no prior information about the environment in which they operation. These various types of coverage problems have never been covered before by a single book in a systematic way. Another topic of this book is the study of mobile robotic sensor and actuator networks. Many modern engineering applications include the use of sensor and actuator networks to provide efficient and effective monitoring and control of industrial and environmental processes. Such mobile sensor and actuator networks are abl...

  1. Shape Control of Solar Collectors Using Shape Memory Alloy Actuators

    Science.gov (United States)

    Lobitz, D. W.; Grossman, J. W.; Allen, J. J.; Rice, T. M.; Liang, C.; Davidson, F. M.

    1996-01-01

    Solar collectors that are focused on a central receiver are designed with a mechanism for defocusing the collector or disabling it by turning it out of the path of the sun's rays. This is required to avoid damaging the receiver during periods of inoperability. In either of these two cases a fail-safe operation is very desirable where during power outages the collector passively goes to its defocused or deactivated state. This paper is principally concerned with focusing and defocusing the collector in a fail-safe manner using shape memory alloy actuators. Shape memory alloys are well suited to this application in that once calibrated the actuators can be operated in an on/off mode using a minimal amount of electric power. Also, in contrast to other smart materials that were investigated for this application, shape memory alloys are capable of providing enough stroke at the appropriate force levels to focus the collector. Design and analysis details presented, along with comparisons to test data taken from an actual prototype, demonstrate that the collector can be repeatedly focused and defocused within accuracies required by typical solar energy systems. In this paper the design, analysis and testing of a solar collector which is deformed into its desired shape by shape memory alloy actuators is presented. Computations indicate collector shapes much closer to spherical and with smaller focal lengths can be achieved by moving the actuators inward to a radius of approximately 6 inches. This would require actuators with considerably more stroke and some alternate SMA actuators are currently under consideration. Whatever SMA actuator is finally chosen for this application, repeatability and fatigue tests will be required to investigate the long term performance of the actuator.

  2. Learning styles: The learning methods of air traffic control students

    Science.gov (United States)

    Jackson, Dontae L.

    In the world of aviation, air traffic controllers are an integral part in the overall level of safety that is provided. With a number of controllers reaching retirement age, the Air Traffic Collegiate Training Initiative (AT-CTI) was created to provide a stronger candidate pool. However, AT-CTI Instructors have found that a number of AT-CTI students are unable to memorize types of aircraft effectively. This study focused on the basic learning styles (auditory, visual, and kinesthetic) of students and created a teaching method to try to increase memorization in AT-CTI students. The participants were asked to take a questionnaire to determine their learning style. Upon knowing their learning styles, participants attended two classroom sessions. The participants were given a presentation in the first class, and divided into a control and experimental group for the second class. The control group was given the same presentation from the first classroom session while the experimental group had a group discussion and utilized Middle Tennessee State University's Air Traffic Control simulator to learn the aircraft types. Participants took a quiz and filled out a survey, which tested the new teaching method. An appropriate statistical analysis was applied to determine if there was a significant difference between the control and experimental groups. The results showed that even though the participants felt that the method increased their learning, there was no significant difference between the two groups.

  3. MULTI-LAYER PIEZOELECTRIC ACTUATOR AND ITS APPLICATION IN CONTROLLABLE CONSTRAINED DAMPING TREATMENT

    Institute of Scientific and Technical Information of China (English)

    ZHANG Xinong; XIE Shilin; ZHANG Yahong

    2007-01-01

    A kind of novel multi-layer piezoelectric actuator is proposed and integrated with controllable constrained damping treatment to perform hybrid Vibration control. The governing equation of the System is derived based on the constitutive equations of elastic, viscoelastic and piezoelectric materials, which shows that the magnitude of control force exerted by multi-layer piezoelectric actuator is the quadratic function of the number of piezoelectric laminates used but in direct proportion to control voltage. This means that the multi-layer actuator can produce greater actuating force than that by piezoelectric laminate actuator with the same area under the identical control voltage. The optimal location placement of the multi-layer piezoelectric actuator is also discussed. As an example, the hybrid Vibration control of a cantilever rectangular thin-plate is numerically simulated and carried out experimentally. The simulated and experimental results validate the power of multi-layer piezoelectric actuator and indicate that the present hybrid damping technique can effectively suppress the low frequency modal Vibration of the experimental thin-plate structure.

  4. PD control for vibration attenuation in Hoop truss structure based on a novel piezoelectric bending actuator

    Science.gov (United States)

    Luo, Yajun; Xu, Minglong; Yan, Bo; Zhang, Xinong

    2015-03-01

    With increasing of the geometry of various space structures, they easily bring low-frequency, longtime and more bending modal responses. Therefore, it is necessary to suppress effectually the vibration responses above. Adaptive structure design is a common method using the piezoelectric material. However, the conventional piezoelectric actuators hardly control effectually these responses owing to the inadequate actuated performance. This paper first introduces the design of a new dual-stack piezoelectric actuator, which has the bidirectional (can act in both push and pull directions) actuated advantage, using a pair of matching piezoelectric stacks within the actuator house. Two stacks are integrated in a mechanically opposing configuration and are electrically operated out of phase. Further, we design the piezoelectric bending actuator using two dual-stack piezoelectric actuators and a fixed device, and then a five-meter hoop truss can use it to perform the active vibration control. Here the truss is mainly applied to simulate a large hoop mesh antenna. Then, we set up the active control system based on the PD algorithm and build the simulation model by the Matlab/Simulink platform. The simulation results point out the PBA can produce enough actuated moment to suppress effectually the first-order modal response of the hoop truss. Finally, we perform three experiments including one uncontrolled case and two PD controlled cases. The two control cases mainly consider whether the driving voltages are offset or not. The experimental results of both control cases are in accordance with the better simulated analysis. The control ratios of the decay time of the first-order modal response are up to more than 30 percent in the simulations and experiments. That is, this bending actuator has good application foreground in controlling the bending modes of the spacecrafts with a larger size.

  5. ONLINE MODEL AND ACTUATOR FAULT TOLERANT CONTROL FOR AUTONOMOUS MOBILE ROBOT

    Institute of Scientific and Technical Information of China (English)

    SONG Qi; JIANG Zhe; HAN Jianda

    2007-01-01

    A novel fault-tolerant adaptive control methodology against the actuator faults is proposed.The actuator effectiveness factors (AEFs) are introduced to denote the healthy of actuator, and the unscented Kalman filter (UKF) is employed for online estimation of both the motion states and the AEFs of mobile robot. A square root version of the UKF is introduced to improve efficiency and numerical stability. Using the information from the UKF, the reconfigurable controller is designed automatically based on an enhancement inverse dynamic control (IDC) methodology. The experiment on a 3-DOF omni-directional mobile robot is performed, and the effectiveness of the proposed method is demonstrated.

  6. Frequency-weighted feedforward control for dynamic compensation in ionic polymer-metal composite actuators

    Science.gov (United States)

    Shan, Yingfeng; Leang, Kam K.

    2009-12-01

    Ionic polymer-metal composites (IPMCs) are innovative materials that offer combined sensing and actuating ability in lightweight and flexible package. IPMCs have been exploited in robotics and a wide variety of biomedical devices, for example, as sensors for teleoperation, as actuators for positioning in active endoscopy, as fins for propelling aquatic robots, and as an injector for drug delivery. In the actuation mode, one of the main challenges is precise position control. In particular, IPMC actuators exhibit relaxation behavior and nonlinearities; and at relatively high operating frequencies dynamic effects limit accuracy and positioning bandwidth. A frequency-weighted feedforward controller is designed to account for the IPMC's structural dynamics to enable fast positioning. The control method is applied to a custom-made Nafion-based IPMC actuator. The controller takes into account the magnitude of the control input to avoid generating excessively large voltages which can damage the IPMC actuator. To account for unmodeled effects not captured by the dynamics model, a feedback controller is integrated with the feedforward controller. Experimental results show a significant improvement in the tracking performance when feedforward control is used. For instance, the feedforward controller shows over 75% reduction in the tracking error compared to the case without feedforward compensation. Finally, the integrated feedforward and feedback control system reduces the tracking error to less than 10% for tracking an 18-Hz triangle-like trajectory. Some of the advantages of feedforward control as well as its limitations are also discussed.

  7. Frequency-weighted feedforward control for dynamic compensation in ionic polymer–metal composite actuators

    International Nuclear Information System (INIS)

    Ionic polymer–metal composites (IPMCs) are innovative materials that offer combined sensing and actuating ability in lightweight and flexible package. IPMCs have been exploited in robotics and a wide variety of biomedical devices, for example, as sensors for teleoperation, as actuators for positioning in active endoscopy, as fins for propelling aquatic robots, and as an injector for drug delivery. In the actuation mode, one of the main challenges is precise position control. In particular, IPMC actuators exhibit relaxation behavior and nonlinearities; and at relatively high operating frequencies dynamic effects limit accuracy and positioning bandwidth. A frequency-weighted feedforward controller is designed to account for the IPMC's structural dynamics to enable fast positioning. The control method is applied to a custom-made Nafion-based IPMC actuator. The controller takes into account the magnitude of the control input to avoid generating excessively large voltages which can damage the IPMC actuator. To account for unmodeled effects not captured by the dynamics model, a feedback controller is integrated with the feedforward controller. Experimental results show a significant improvement in the tracking performance when feedforward control is used. For instance, the feedforward controller shows over 75% reduction in the tracking error compared to the case without feedforward compensation. Finally, the integrated feedforward and feedback control system reduces the tracking error to less than 10% for tracking an 18-Hz triangle-like trajectory. Some of the advantages of feedforward control as well as its limitations are also discussed

  8. Proposal of Wireless Traffic Control Schemes for Wireless LANs

    Science.gov (United States)

    Hiraguri, Takefumi; Ichikawa, Takeo; Iizuka, Masataka; Kubota, Shuji

    This paper proposes two traffic control schemes to support the communication quality of multimedia streaming services such as VoIP and audio/video over IEEE 802.11 wireless LAN systems. The main features of the proposed scheme are bandwidth control for each flow of the multimedia streaming service and load balancing between access points (APs) of the wireless LAN by using information of data link, network and transport layers. The proposed schemes are implemented on a Linux machine which is called the wireless traffic controller (WTC). The WTC connects a high capacity backbone network and an access network to which the APs are attached. We evaluated the performance of the proposed WTC and confirmed that the communication quality of the multimedia streaming would be greatly improved by using this technique.

  9. Liquid metal actuation by electrical control of interfacial tension

    Science.gov (United States)

    Eaker, Collin B.; Dickey, Michael D.

    2016-09-01

    By combining metallic electrical conductivity with low viscosity, liquid metals and liquid metal alloys offer new and exciting opportunities to serve as reconfigurable components of electronic, microfluidic, and electromagnetic devices. Here, we review the physics and applications of techniques that utilize voltage to manipulate the interfacial tension of liquid metals; such techniques include electrocapillarity, continuous electrowetting, electrowetting-on-dielectric, and electrochemistry. These techniques lower the interfacial tension between liquid metals and a surrounding electrolyte by driving charged species (or in the case of electrochemistry, chemical species) to the interface. The techniques are useful for manipulating and actuating liquid metals at sub-mm length scales where interfacial forces dominate. We focus on metals and alloys that are liquid near or below room temperature (mercury, gallium, and gallium-based alloys). The review includes discussion of mercury—despite its toxicity—because it has been utilized in numerous applications and it offers a way of introducing several phenomena without the complications associated with the oxide layer that forms on gallium and its alloys. The review focuses on the advantages, applications, opportunities, challenges, and limitations of utilizing voltage to control interfacial tension as a method to manipulate liquid metals.

  10. Independent modal variable structure fuzzy active vibration control of thin plates laminated with photostrictive actuators

    Institute of Scientific and Technical Information of China (English)

    He Rongbo; Zheng Shijie

    2013-01-01

    Photostrictive actuators can produce photodeformation strains under illumination of ultraviolet lights.They can realize non-contact micro-actuation and vibration control for elastic plate structures.Considering the switching actuation and nonlinear dynamic characteristics of photostrictive actuators,a variable structure fuzzy active control scheme is presented to control the light intensity applied to the actuators.Firstly,independent modal vibration control equations of photoelectric laminated plates are established based on modal analysis techniques.Then,the optimal light switching function is derived to increase the range of sliding modal area,and the light intensity self-adjusting fuzzy active controller is designed.Meanwhile,a continuous function is applied to replace a sign function to reduce the variable structure control (VSC) chattering.Finally,numerical simulation is carried out,and simulation results indicate that the proposed control strategy provides better performance and control effect to plate actuation and control than velocity feedback control,and suppresses vibration effectively.

  11. New Incremental Actuators based on Electro-active Polymer: Conceptual, Control, and Driver Design Considerations

    DEFF Research Database (Denmark)

    Thummala, Prasanth; Schneider, Henrik; Zhang, Zhe;

    2016-01-01

    This paper presents an overview of the widely usedconventional linear actuator technologies and existing electroactivepolymer based linear and rotary actuators. It also providesthe conceptual, control and driver design considerations for anew dielectric electro-active polymer (DEAP) based...

  12. Real-Time Implementation of Intelligent Actuator Control with a Transducer Health Monitoring Capability

    Science.gov (United States)

    Jethwa, Dipan; Selmic, Rastko R.; Figueroa, Fernando

    2008-01-01

    This paper presents a concept of feedback control for smart actuators that are compatible with smart sensors, communication protocols, and a hierarchical Integrated System Health Management (ISHM) architecture developed by NASA s Stennis Space Center. Smart sensors and actuators typically provide functionalities such as automatic configuration, system condition awareness and self-diagnosis. Spacecraft and rocket test facilities are in the early stages of adopting these concepts. The paper presents a concept combining the IEEE 1451-based ISHM architecture with a transducer health monitoring capability to enhance the control process. A control system testbed for intelligent actuator control, with on-board ISHM capabilities, has been developed and implemented. Overviews of the IEEE 1451 standard, the smart actuator architecture, and control based on this architecture are presented.

  13. Agent concepts for traffic control; Agentenmodelle in der Verkehrsleittechnik

    Energy Technology Data Exchange (ETDEWEB)

    Fay, A. [ABB Forschungszentrum, Heidelberg (Germany). Abt. Automatisierungs- und Informationstechnik

    2000-07-01

    All modes of traffic reach - in their current form of operation - the limits of their respective infrastructure. Therefore, new control concepts are being investigated which allow for a more efficient usage of the existing infrastructure. In the previous issue of atp, agents have been introduced as a promising approach for decentralised control. Agents provide a means for flexible resource allocation and, thus, for achieving an optimised balance between infrastructure load and customer requirements. This paper describes how agents can be used in traffic control, taking road and rail traffic as examples. This might also give hints regarding the possible role of agents in automation and control in general. (orig.) [German] Die verschiedenen Verkehrssysteme stossen in ihrer jeweiligen bisherigen Betriebsweise an Kapazitaetsgrenzen der bestehenden Infrastruktur. Daher werden neue leittechnische Konzepte gesucht, die eine effizientere Nutzung der vorhandenen Infrastruktur ermoeglichen. Im letzten Heft wurden Agenten als dezentraler Leittechnikansatz vorgestellt. Mit Hilfe von Agenten kann ein flexibles Ressourcenmanagement betrieben werden und so ein optimaler Kompromiss zwischen Auslastung der Infrastruktur und Erfuellung der Kundenanforderungen gefunden werden. Der Beitrag beschreibt Agentenmodelle fuer die Verkehrsleittechnik am Beispiel des Schienen- und des Strassenverkehrs und gibt damit Denkanstoesse zur moeglichen Rolle von Agenten in der Leittechnik allgemein. (orig.)

  14. Human resources for the control of road traffic injury.

    Science.gov (United States)

    Mock, Charles; Kobusingye, Olive; Anh, Le Vu; Afukaar, Francis; Arreola-Risa, Carlos

    2005-04-01

    The definition of the ideal numbers and distribution of human resources required for control of road traffic injury (RTI) is not as advanced as for other health problems. We can nonetheless identify functions that need to be addressed across the spectrum of injury control: surveillance; road safety (including infrastructure, vehicle design, and behaviour); and trauma care. Many low-cost strategies to improve these functions in low- or middle-income countries can be identified. For all these strategies, there is need for adequate institutional capacity, including funding, legal authority, and human resources. Several categories of human resources need to be developed: epidemiologists who can handle injury data, design surveillance systems, and undertake research; engineers and planners versed in safety aspects of road design, traffic flow, urban planning, and vehicle design; police and lawyers who understand the health impact of traffic law; clinicians who can develop cost-effective improvements in the entire system of trauma treatment; media experts to undertake effective behaviour change and social marketing; and economists to assist with cost-effectiveness evaluations. RTI control can be strengthened by enhancing such training in these disciplines, as well as encouraging retention of those who have the needed skills. Mechanisms to enhance collaboration between these different fields need to be promoted. Finally, the burden of RTI is borne disproportionately by the poor; in addition to technical issues, more profound equity issues must be addressed. This mandates that people from all professional backgrounds who work for RTI control should develop skills in advocacy and politics.

  15. Development of a novel actuator concept for position control of segmented mirrors of ELT

    Science.gov (United States)

    Janssen, H.; Geurink, R.; Teuwen, M.; v. Bree, B.

    2008-07-01

    Currently, a number of astrophysical institutes all over the world are working on the design of Extremely Large Telescopes (ELT). Due to the enormous size of the primary mirror these telescopes make use of segmented mirrors. These segments have to be positioned with respect to each other with nanometer accuracy in spite of all kind of external disturbances such as wind loads, thermal loads, deformation of the base frame, varying orientation with respect to the field of gravity, etc. Janssen Precision Engineering (JPE) developed a revolutionary position actuator called the HiPAC which is able to fulfill the demanding requirements for this kind of actuators. The actuator is based on an integrated system of a pneumatic actuator, an electric voice coil and smart control strategy and has the following features: high positioning accuracy performance due to play-free and frictionless actuation; high reliability and maintenance free operation due to flexure-based frictionless guiding; system behavior is constant in time, because no parts affected by wear are used in the actuator; low cost, because no highly accurate machined parts required to reach high end performance; the position actuator acts as an integrated vibration isolator which isolates the segmented mirrors from external vibrations induced in the telescope frame; In this paper the design, simulation and measurements of the HiPAC actuator will be presented.

  16. Integrated Control of Mixed Traffic Networks using Model Predictive Control

    NARCIS (Netherlands)

    Van den Berg, M.

    2010-01-01

    Motivation The growth of our road infrastructure cannot keep up with the growing mobility of people, and the corresponding increase in traffic demand. This results in daily congestion on the freeways. It is an illusion that the problem of congestion can be solved completely within a few years, but i

  17. Implementation of Traffic Engineering Control System for Software Defined Networking

    OpenAIRE

    RUIZ GONZALEZ, SERGIO

    2015-01-01

    Software Defined Networking (SDN) is an emerging networking paradigm that separates the network control plane from the data forwarding plane with the promise to dramatically improve network resource utilization, simplify network management, reduce operating cost, and promote innovation and evolution. Although traffic engineering techniques have been widely exploited in the past and current data networks, such as ATM networks and IP/ MPLS networks, to optimize the performance of communication ...

  18. Design of air traffic control tower at Brnik airport

    OpenAIRE

    Štular, David

    2007-01-01

    Design of air traffic control tower at Brnik airport according to European Standard Eurocode is presented. The structure of tower is a concrete, 106 m high core, supported by 31 m long piles. Calculation of self weight, variable actions, snow and wind load has been examined. The main part of diploma thesis is earthquake analysis. The building belongs to importance class III which determinates the building to be designed for the earthquake with a longer return period as regular ...

  19. Operation regimes and slower-is-faster effect in the control of traffic intersections

    Science.gov (United States)

    Helbing, D.; Mazloumian, A.

    2009-07-01

    The efficiency of traffic flows in urban areas is known to crucially depend on signal operation. Here, elements of signal control are discussed, based on the minimization of overall travel times or vehicle queues. Interestingly, we find different operation regimes, some of which involve a “slower-is-faster effect”, where a delayed switching reduces the average travel times. These operation regimes characterize different ways of organizing traffic flows in urban road networks. Besides the optimize-one-phase approach, we discuss the procedure and advantages of optimizing multiple phases as well. To improve the service of vehicle platoons and support the self-organization of “green waves”, it is proposed to consider the price of stopping newly arriving vehicles.

  20. Self-organization of traffic jams in cities: Effects of stochastic dynamics and signal periods

    Science.gov (United States)

    Chowdhury, Debashish; Schadschneider, Andreas

    1999-02-01

    We propose a cellular automata model for vehicular traffic in cities by combining (and appropriately modifying) ideas borrowed from the Biham-Middleton-Levine (BML) model of city traffic and the Nagel-Schreckenberg (NS) model of highway traffic. We demonstrate a phase transition from the ``free-flowing'' dynamical phase to the completely ``jammed'' phase at a vehicle density which depends on the time periods of the synchronized signals and the separation between them. The intrinsic stochasticity of the dynamics, which triggers the onset of jamming, is similar to that in the NS model, while the phenomenon of complete jamming through self-organization as well as the final jammed configurations are similar to those in the BML model. Using our model, we have made an investigation of the time dependence of the average speeds of the cars in the ``free-flowing'' phase as well as the dependence of flux and jamming on the time period of the signals.

  1. Feedback Control of Negative-Imaginary Systems: Large Flexible structures with colocated actuators and sensors

    OpenAIRE

    Petersen, Ian R.; Lanzon, Alexander

    2014-01-01

    This paper presents a survey of recent results on the theory of negative imaginary systems. This theory can be applied to the robust control of large flexible structures with colocated force actuators and position sensors.

  2. Shock Wave Boundary Layer Interaction Control Using Pulsed DBD Plasma Actuators Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Active flow control using dielectric barrier discharge (DBD) plasma actuators is an attractive option for both reduction of complexity of aircraft systems required...

  3. Neural Network based Vehicle Classification for Intelligent Traffic Control

    Directory of Open Access Journals (Sweden)

    Saeid Fazli

    2012-06-01

    Full Text Available Nowadays, number of vehicles has been increased and traditional systems of traffic controlling couldn’t be able to meet the needs that cause to emergence of Intelligent Traffic Controlling Systems. They improve controlling and urban management and increase confidence index in roads and highways. The goal of thisarticle is vehicles classification base on neural networks. In this research, it has been used a immovable camera which is located in nearly close height of the road surface to detect and classify the vehicles. The algorithm that used is included two general phases; at first, we are obtaining mobile vehicles in the traffic situations by using some techniques included image processing and remove background of the images and performing edge detection and morphology operations. In the second phase, vehicles near the camera areselected and the specific features are processed and extracted. These features apply to the neural networks as a vector so the outputs determine type of vehicle. This presented model is able to classify the vehicles in three classes; heavy vehicles, light vehicles and motorcycles. Results demonstrate accuracy of the algorithm and its highly functional level.

  4. A helical ionic polymer–metal composite actuator for radius control of biomedical active stents

    International Nuclear Information System (INIS)

    Helical ionic polymer–metal composite (IPMC) actuators are newly developed to control the radius of biomedical active stents. The helix-shaped IPMC actuator is fabricated through the thermal treatment of an IPMC strip helically coiled on a glass rod. The helical IPMC actuator can be used to realize not only bending motion but also torsional and longitudinal motion. In particular, the dynamic responses of the helical IPMC actuators are evaluated according to various structural parameters such as diameter, pitch and width of the helical configuration. The present experimental results for the harmonic responses and frequency response functions show that diameter, among the structural parameters, plays an important role in the actuation performance required to efficiently control the radius of the helical stent. The static and dynamic responses of the helical IPMC actuators are also investigated with step and harmonic electrical inputs, a voltage–current diagram and a mechanical compression test. This study shows that a helical IPMC actuator can be used for biomedical smart systems capable of controlling the radius of active stents

  5. A novel solution for car traffic control based on radiometric microwave devices

    Science.gov (United States)

    Soldovieri, Francesco; Denisov, Alexander; Speziale, Victor

    2014-05-01

    The significant problem of traffic in big cities, connected with huge and building up quantity of automobile cars, demands for novel strategies, based on nonconventional solutions, in order to improve system traffic control, especially at crossroads. As well known, the usual solution is based on the time relay, which requires the installation of a fixed traffic interval (signal light switching) at a crossroad; this solution is low cost, but does not account for the actual traffic conditions. Therefore, in the recent years, attention is towards to new designs, where the monitoring of the and control of traffic is carried out by using various methods including, optical, the infrared, magnetic, radar tracking, acoustical ones. In this work, we discuss the deployment of high sensitivity radiometric systems and radiometers(sensor) in the microwave range [1, 2]. In fact, the radiometer as "sensor" can provide an always updated information about the car traffic in any weather condition and in absence or low visibility conditions. In fact, the radiometric sensor detects the cars thanks to the different behavior of the car roofs which reflect the cold sky whereas the road asphalt is visible as warm object (at around outside temperature). [1] A. G. Denisov, V. P. Gorishnyak, S. E. Kuzmin et al., "Some experiments concerning resolution of 32 sensors passive 8mm wave imaging system," in Proceedings of the International Symposium on Space Terahertz Technology (ISSTT '09), Charlottesville, Va, USA, April 2009. [2] F. Soldovieri, A. Natale, V. Gorishnyak, A. Pavluchenko, A. Denisov, and L. Chen, "Radiometric Imaging for Monitoring and Surveillance Issues," International Journal of Antennas and Propagation, vol. 2013, Article ID 272561, 8 pages, 2013. doi:10.1155/2013/272561.

  6. An Intelligent Traffic Flow Control System Based on Radio Frequency Identification and Wireless Sensor Networks

    OpenAIRE

    Kuei-Hsiang Chao; Pi-Yun Chen

    2014-01-01

    This study primarily focuses on the use of radio frequency identification (RFID) as a form of traffic flow detection, which transmits collected information related to traffic flow directly to a control system through an RS232 interface. At the same time, the sensor analyzes and judges the information using an extension algorithm designed to achieve the objective of controlling the flow of traffic. In addition, the traffic flow situation is also transmitted to a remote monitoring control syste...

  7. Design Approach for Dynamic Traffic Control System Based on Radio Propagation Model in VANET

    OpenAIRE

    Sanjay S. Dorle; Pratima L. Patel

    2013-01-01

    In the densely populated urban area traffic control system isthe main mechanism to control the flow of vehicular traffic atthe intersection. Conventional traffic control system are notcapable of handling dynamic vehicular flow. This dynamicvehicular flow creates traffic jams , congestion at theintersection. Vehicular Ad hoc Network (VANET) is acommon part of Intelligent Transport System (ITS) which isdirectly involved in handling these problems and aims to makejourney on road comfortable. The...

  8. Knowledge-based Adaptive Tracking Control of Electro-hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Hansen, Poul Erik

    1997-01-01

    The paper deal with intelligent motion control and electro-hydraulic actuator systems for multiaxis machynes and robots.The research results are from the IMCIA research Programme supported by the Danish Technical Research Council, STVF.......The paper deal with intelligent motion control and electro-hydraulic actuator systems for multiaxis machynes and robots.The research results are from the IMCIA research Programme supported by the Danish Technical Research Council, STVF....

  9. Traffic jam driving with NMV avoidance

    Science.gov (United States)

    Milanés, Vicente; Alonso, Luciano; Villagrá, Jorge; Godoy, Jorge; de Pedro, Teresa; Oria, Juan P.

    2012-08-01

    In recent years, the development of advanced driver assistance systems (ADAS) - mainly based on lidar and cameras - has considerably improved the safety of driving in urban environments. These systems provide warning signals for the driver in the case that any unexpected traffic circumstance is detected. The next step is to develop systems capable not only of warning the driver but also of taking over control of the car to avoid a potential collision. In the present communication, a system capable of autonomously avoiding collisions in traffic jam situations is presented. First, a perception system was developed for urban situations—in which not only vehicles have to be considered, but also pedestrians and other non-motor-vehicles (NMV). It comprises a differential global positioning system (DGPS) and wireless communication for vehicle detection, and an ultrasound sensor for NMV detection. Then, the vehicle's actuators - brake and throttle pedals - were modified to permit autonomous control. Finally, a fuzzy logic controller was implemented capable of analyzing the information provided by the perception system and of sending control commands to the vehicle's actuators so as to avoid accidents. The feasibility of the integrated system was tested by mounting it in a commercial vehicle, with the results being encouraging.

  10. Traffic analysis and signal processing in optical packet switched networks

    DEFF Research Database (Denmark)

    Fjelde, Tina

    2002-01-01

    Gbit/s demultiplexing and 2x10 to 20 Gbit/s multiplexing. Lastly, the IWC’s capabilities as an optical logic gate for enabling more complex signal processing are demonstrated and four applications hereof are discussed. Logic OR and AND are verified in full at 10 Gbit/s using PRBS sequences coupled......, involving all-optical pattern recognition by bit-wise sampling at multiple wavelengths, optical identification of bit differences in data segments through a combination of logic XOR and AND, and all optical bit sequence replacement through logic OR and AND. The schemes enable important signal processing...

  11. Control of constraint forces and trajectories in a rich sensory and actuation environment.

    Science.gov (United States)

    Hemami, Hooshang; Dariush, Behzad

    2010-12-01

    A simple control strategy is proposed and applied to a class of non-linear systems that have abundant sensory and actuation channels as in living systems. The main objective is the independent control of constrained trajectories of motion, and control of the corresponding constraint forces. The peripheral controller is a proportional, derivative and integral (PID) controller. A central controller produces, via pattern generators, reference signals that are the desired constrained position and velocity trajectories, and the desired constraint forces. The basic tenet of the this hybrid control strategy is the use of two mechanisms: 1. linear state and force feedback, and 2. non-linear constraint velocity feedback - sliding mode feedback. The first mechanism can be envisioned as a high gain feedback systems. The high gain attribute imitates the agonist-antagonist co-activation in natural systems. The strategy is applied to the control of the force and trajectory of a two-segment thigh-leg planar biped leg with a mass-less foot cranking a pedal that is analogous to a bicycle pedal. Five computational experiments are presented to show the effectiveness of the strategy and the performance of the controller. The findings of this paper are applicable to the design of orthoses and prostheses to supplement functional electrical stimulation for support purposes in the spinally injured cases. PMID:20946905

  12. Controlled stochastic networks in heavy traffic: Convergence of value functions

    CERN Document Server

    Budhiraja, Amarjit; 10.1214/11-AAP784

    2012-01-01

    Scheduling control problems for a family of unitary networks under heavy traffic with general interarrival and service times, probabilistic routing and an infinite horizon discounted linear holding cost are studied. Diffusion control problems, that have been proposed as approximate models for the study of these critically loaded controlled stochastic networks, can be regarded as formal scaling limits of such stochastic systems. However, to date, a rigorous limit theory that justifies the use of such approximations for a general family of controlled networks has been lacking. It is shown that, under broad conditions, the value function of the suitably scaled network control problem converges to that of the associated diffusion control problem. This scaling limit result, in addition to giving a precise mathematical basis for the above approximation approach, suggests a general strategy for constructing near optimal controls for the physical stochastic networks by solving the associated diffusion control problem...

  13. A Roll Controlling Approach for a Simple Dual-Actuated Flapping Aerial Vehicle Model

    Directory of Open Access Journals (Sweden)

    Labib Omar El-Farouk E.

    2016-01-01

    Full Text Available Aerial vehicles have been investigated recently in different contexts, due to their high potential of utilization in multiple application areas. Different mechanisms can be used for aerial vehicles actuation, such as the rotating multi-blade systems (Multi-Copters and more recently flapping wings. Flapping wing robots have attracted much attention from researchers in recent years. In this study, a simple dual-actuated flapping mechanism is proposed for actuating a flapping wing robot. The mechanism is designed, simulated and validated in both simulation and experiments. A roll controlling approach is proposed to control the roll angle of the robot via controlling the speeds of both motors actuating each of the wings. The results achieved are validated experimentally, and are promising opening the door for further investigation using our proposed system

  14. Adaptive fault-tolerant control of linear systems with actuator saturation and L2-disturbances

    Institute of Scientific and Technical Information of China (English)

    Wei GUAN; Guanghong YANG

    2009-01-01

    This paper studies the problem of designing adaptive fault-tolerant H-infinity controllers for linear timeinvariant systems with actuator saturation. The disturbance tolerance ability of the closed-loop system is measured by an optimal index. The notion of an adaptive H-infinity performance index is proposed to describe the disturbance attenuation performances of closed-loop systems. New methods for designing indirect adaptive fault-tolerant controllers via state feedback are presented for actuator fault compensations. Based on the on-line estimation of eventual faults, the adaptive fault-tolerant controller parameters are updated automatically to compensate for the fault effects on systems. The designs are developed in the framework of the linear matrix inequality (LMI) approach, which can guarantee the disturbance tolerance ability and adaptive H-infinity performances of closed-loop systems in the cases of actuator saturation and actuator failures. An example is given to illustrate the efficiency of the design method.

  15. Air traffic control by distributed management in a MLS environment

    Science.gov (United States)

    Kreifeldt, J. G.; Parkin, L.; Hart, S.

    1977-01-01

    The microwave landing system (MLS) is a technically feasible means for increasing runway capacity since it could support curved approaches to a short final. The shorter the final segment of the approach, the wider the variety of speed mixes possible so that theoretically, capacity would ultimately be limited by runway occupance time only. An experiment contrasted air traffic control in a MLS environment under a centralized form of management and under distributed management which was supported by a traffic situation display in each of the 3 piloted simulators. Objective flight data, verbal communication and subjective responses were recorded on 18 trial runs lasting about 20 minutes each. The results were in general agreement with previous distributed management research. In particular, distributed management permitted a smaller spread of intercrossing times and both pilots and controllers perceived distributed management as the more 'ideal' system in this task. It is concluded from this and previous research that distributed management offers a viable alternative to centralized management with definite potential for dealing with dense traffic in a safe, orderly and expeditious manner.

  16. A Traffic Prediction Algorithm for Street Lighting Control Efficiency

    Directory of Open Access Journals (Sweden)

    POPA Valentin

    2013-01-01

    Full Text Available This paper presents the development of a traffic prediction algorithm that can be integrated in a street lighting monitoring and control system. The prediction algorithm must enable the reduction of energy costs and improve energy efficiency by decreasing the light intensity depending on the traffic level. The algorithm analyses and processes the information received at the command center based on the traffic level at different moments. The data is collected by means of the Doppler vehicle detection sensors integrated within the system. Thus, two methods are used for the implementation of the algorithm: a neural network and a k-NN (k-Nearest Neighbor prediction algorithm. For 500 training cycles, the mean square error of the neural network is 9.766 and for 500.000 training cycles the error amounts to 0.877. In case of the k-NN algorithm the error increases from 8.24 for k=5 to 12.27 for a number of 50 neighbors. In terms of a root means square error parameter, the use of a neural network ensures the highest performance level and can be integrated in a street lighting control system.

  17. Efficient Traffic Control of VoD System

    CERN Document Server

    Kanrar, Soumen

    2011-01-01

    It has been a challenging issue to provide digital quality multimedia data stream to the remote user through the distributed system. The main aspects to design the real distributed system, which reduce the cost of the network by means of reduce packet loss and enhanced over all system performance. Since the number of user increased rapidly in the network it posed heavy load to the video servers. The requested clients, servers are all distributed in nature and the data stream delivered to the user without error. In this work I have presented the performance of the video on demand server by efficient traffic control at real time with respect to incoming multirate traffic pattern . In this work, I present how the overall system performance gradually decreases when the client population sized in the clusters increase. This work indicated the load balancing required for the on demand video distributed system to provide efficient cost effective service to the local or remote clients.

  18. Advanced Interactive Display Formats for Terminal Area Traffic Control

    Science.gov (United States)

    Grunwald, Arthur J.; Shaviv, G. E.

    1999-01-01

    This research project deals with an on-line dynamic method for automated viewing parameter management in perspective displays. Perspective images are optimized such that a human observer will perceive relevant spatial geometrical features with minimal errors. In order to compute the errors at which observers reconstruct spatial features from perspective images, a visual spatial-perception model was formulated. The model was employed as the basis of an optimization scheme aimed at seeking the optimal projection parameter setting. These ideas are implemented in the context of an air traffic control (ATC) application. A concept, referred to as an active display system, was developed. This system uses heuristic rules to identify relevant geometrical features of the three-dimensional air traffic situation. Agile, on-line optimization was achieved by a specially developed and custom-tailored genetic algorithm (GA), which was to deal with the multi-modal characteristics of the objective function and exploit its time-evolving nature.

  19. Modelling of material handling operations using controlled traffic

    DEFF Research Database (Denmark)

    Bochtis, Dionysis; Sørensen, Claus Aage Grøn; Jørgensen, Rasmus Nyholm;

    2009-01-01

    Controlled-traffic farming (CTF) is a management system that can eliminate soil compaction by wheels within the cropped area. According to the principles of CTF, permanent parallel wheel tracks are created within the field area. The benefits of CTF, in terms of productivity and sustainability, have...... and maintaining permanent traffic lanes within the fields. Furthermore, field efficiency is affected by CTF due to significant increases in idle time of in-field transport and the way the fields are traversed in material handling operations. During fertilisation, when tramline length and the driving...... operations, makes existing models inadequate for evaluating field efficiency. In this paper, the development of a discrete-event model for the prediction of travelled distances of a machine operating in material handling operations using the concept of CTF is presented. The model is based on the mathematical...

  20. Efficient Traffic Control of VoD System

    Directory of Open Access Journals (Sweden)

    Soumen kanrar

    2011-10-01

    Full Text Available It has been a challenging issue to provide digital quality multimedia data stream to the remote user through the distributed system. The main aspects to design the real distributed system, which reduce the cost of the network by means of reduce packet loss and enhanced over all system performance. Since thenumber of user increased rapidly in the network it posed heavy load to the video servers. The requested clients, servers are all distributed in nature and the data stream delivered to the user without error. In this work I have presented the performance of the video on demand server by efficient traffic control at real time with respect to incoming multirate traffic pattern . In this work, I present how the overall system performance gradually decreases when the client population sized in the clusters increase. Thiswork indicated the load balancing required for the on demand video distributed system to provide efficient cost effective service to the local or remote clients.

  1. SIMULATION MODELS OF HEAVY TRUCKS TRAFFIC CONTROL WITH ELECTRIC DC DRIVE

    Directory of Open Access Journals (Sweden)

    N. N. Hurski

    2015-01-01

    Full Text Available A model of the straight course of movement of the mobile machine with a traction electric motor DC. Traffic management controller provides a closed classical scheme with feedback. The mathematical model of the electric DC motor with the energy dissipation in the rotor bearings. Design scheme of mobile machines include speed dial controller, traction electric motor, gearbox, transmission and progressively moving mass on the elastic­dissipative wheel. The results of the simulation of the machine in the form of temporary processes of change control signals, voltage and current in the windings of the motor and traction power developed on the wheel.

  2. 23 CFR 630.1110 - Maintenance of temporary traffic control devices.

    Science.gov (United States)

    2010-04-01

    ... 23 Highways 1 2010-04-01 2010-04-01 false Maintenance of temporary traffic control devices. 630.1110 Section 630.1110 Highways FEDERAL HIGHWAY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION ENGINEERING AND TRAFFIC OPERATIONS PRECONSTRUCTION PROCEDURES Temporary Traffic Control Devices §...

  3. DEVELOPMENT OF THE CONTROL METHODOLOGY OF THE GIANT MAGNETOSTRICTIVE ACTUATOR BASED ON MAGNETIC FLUX DENSITY

    Institute of Scientific and Technical Information of China (English)

    Jia Zhenyuan; Yang Xing; Shi Chun; Guo Dongming

    2003-01-01

    According to the principle of the magnetostriction generating mechanism, the control model of giant magnetostriction material based on magnetic field and the control method with magnetic flux density are developed. Furthermore, this control method is used to develop a giant magnetostrictive micro-displacement actuator (GMA) and its driving system. Two control methods whose control variables are current intensity and magnetic flux density are compared with each other by experimental studies. Finally, effective methods on improving the linearity and control precision of micro-displacement actuator and reducing the hysteresis based on the controlling magnetic flux density are obtained.

  4. A Study of Active Rotor-Blade Vibration Control using Electro-Magnetic Actuation - Part I: Theory

    DEFF Research Database (Denmark)

    Christensen, Rene Hardam; Santos, Ilmar

    2004-01-01

    actuators fixed directly in the blades. However, due to the impracticability and problems by fixing actuators in the rotating blades, it is for practical application of great interest to study whether the vibrations can be controlled using shaft-based actuators, i.e. electro-magnetic bearings...

  5. Modeling and control of a hydraulically actuated flexible-prismatic link robot

    Energy Technology Data Exchange (ETDEWEB)

    Love, L.; Kress, R.; Jansen, J.

    1996-12-01

    Most of the research related to flexible link manipulators to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long reach systems. This manuscript describes a new hydraulically actuated, long reach manipulator with a flexible prismatic link at Oak Ridge National Laboratory (ORNL). Focus is directed towards both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies.

  6. Fault-tolerant control of delta operator systems with actuator saturation and effectiveness loss

    Science.gov (United States)

    Yang, Hongjiu; Zhang, Luyang; Zhao, Ling; Yuan, Yuan

    2016-07-01

    This paper studies the problem of robust fault-tolerant control against the actuator effectiveness loss for delta operator systems with actuator saturation. Ellipsoids are used to estimate the domain of attraction for the delta operator systems with actuator saturation and effectiveness loss. Some invariance set conditions used for enlarging the domain of attraction are expressed by linear matrix inequalities. Discussions on system performance optimisation are presented in this paper, including reduction on computational complexity, expansion of the domain of attraction and disturbance rejection. Two numerical examples are given to illustrate the effectiveness of the developed techniques.

  7. Delay Estimates of Mixed Traffic Flow at Signalized Intersections in China

    Institute of Scientific and Technical Information of China (English)

    SU Yuelong; WEI Zheng; CHENG Sihan; YAO Danya; ZHANG Yi; LI Li

    2009-01-01

    Two characteristics of Chinese mixed traffic invalidate the conventional queuing delay estimates for western countries. First, the driving characteristics of Chinese drivers lead to different delays even though the other conditions are the same. Second, urban traffic flow in China is often hindered by pedestrians at intersections, such that imported intelligent traffic control systems do not work appropriately. Typical delay estimates for Chinese conditions were obtained from data for over 500 vehicle queues in Beijing collected using charge coupled device (CCD) cameras. The results show that the delays mainly depend on the pro-portion and positions of heavy vehicles in the queue, as well as the start-up situations (with or without inter-ference). A simplified delay estimation model considers vehicle types and positions that compares well with the observed traffic delays.

  8. Control of an electro-hydrostatic actuation system for the nose landing gear of an "all electric aircraft"

    OpenAIRE

    Greissner, Carsten; Carl, Udo

    2004-01-01

    The EU research Project Power Optimised Aircraft (POA) investigates the approach to replace primary hydraulic supply by extended electric power systems towards a More or All Electric Aircraft. This contribution presents an electrically powered actuation system for nose landing gears using an EHA (electrohydrostatic actuator) approach. One motor pump unit supplies door and gear actuation as well as the steering system. Different control strategies for the individual actuators are introduced. T...

  9. The Combined Effect of Signal Strength and Background Traffic Load on Speech Quality in IEEE 802.11 WLAN

    Directory of Open Access Journals (Sweden)

    P. Pocta

    2011-04-01

    Full Text Available This paper deals with measurements of the combined effect of signal strength and background traffic load on speech quality in IEEE 802.11 WLAN. The ITU-T G.729AB encoding scheme is deployed in this study and the Distributed Internet Traffic Generator (D-ITG is used for the purpose of background traffic generation. The speech quality and background traffic load are assessed by means of the accomplished PESQ algorithm and Wireshark network analyzer, respectively. The results show that background traffic load has a bit higher impact on speech quality than signal strength when both effects are available together. Moreover, background traffic load also partially masks the impact of signal strength. The reasons for those findings are particularly discussed. The results also suggest some implications for designers of wireless networks providing VoIP service.

  10. Autonomous Traffic Control System Using Agent Based Technology

    CERN Document Server

    M, Venkatesh; V, Srinivas

    2011-01-01

    The way of analyzing, designing and building of real-time projects has been changed due to the rapid growth of internet, mobile technologies and intelligent applications. Most of these applications are intelligent, tiny and distributed components called as agent. Agent works like it takes the input from numerous real-time sources and gives back the real-time response. In this paper how these agents can be implemented in vehicle traffic management especially in large cities and identifying various challenges when there is a rapid growth of population and vehicles. In this paper our proposal gives a solution for using autonomous or agent based technology. These autonomous or intelligent agents have the capability to observe, act and learn from their past experience. This system uses the knowledge flow of precedent signal or data to identify the incoming flow of forthcoming signal. Our architecture involves the video analysis and exploration using some Intelligence learning algorithm to estimate and identify the...

  11. 基于交通噪声分析的交通流状态识别方法%Traffic Flow State Identification Based on Traffic Noise Signals

    Institute of Scientific and Technical Information of China (English)

    罗向龙

    2012-01-01

    A vehicle acoustic signal is composed of engine noise, tire noise, air turbulence noise and exhaust noise. Traffic noise signals mixture of multiple vehicles' acoustic signals is determined by the traffic state. Based on the analysis of the existing traffic state identification methods and vehicle sound characteristics, an identification method of the traffic flow state was proposed by using traffic noise signals. In accordance with the vehicle speed, traffic flow states were divided into the free flow, saturation flow and traffic jams. The spectrums of vehicle acoustic signals were analyzed for different traffic states, the normalized peak frequencies were as features, and different traffic flow states were recognized using support vector machine. The test results show that different traffic flow states can be correctly recognized with traffic noise signals with a high recognition accuracy.%车辆行驶时的声音主要由发动机噪声、轮胎噪声、空气涡流噪声、排气噪声组成,多个车辆构成的交通噪声取决于道路的交通流状态.在分析现有交通状态识别方法和车辆声音特性的基础上提出了一种利用交通噪声的交通状态识别方法.按照车速将交通流分为自由流、饱和流和交通拥堵3种状态,对不同交通流状态下的交通噪声信号进行谱分析,以归一化的峰值频率作为特征,用支持向量机对不同的交通流状态进行识别.试验结果表明,通过交通噪声能够正确识别不同的交通流状态,具有较高的识别精度.

  12. Inverse model construction for control implementation of macro fiber composite actuators operating in hysteretic regimes

    Science.gov (United States)

    Stuebner, Michael; Smith, Ralph C.

    2010-04-01

    Macro Fiber Composite (MFC) actuators utilize PZT fibers embedded in an epoxy matrix for structural actuation. Due to their construction, they are lightweight and provide broadband inputs. Significant advantages of MFC actuators are their high performance, durability, and flexibility when compared to traditional piezoceramic actuators. They are presently being considered for a range of applications including positioning of membrane mirrors and structural control in the aerospace and automotive industry. However, they exhibit varying degrees of hysteresis and constitutive nonlinearities throughout their operating range that must be incorporated in models to achieve the full capabilities of the materials. In this paper, hysteresis is modeled using the homogenized energy model. The inverse model is then used to construct an inverse compensator framework suitable for subsequent control design. The performance of the inverse compensator is illustrated through a numerical example.

  13. Active flow control over a backward-facing step using plasma actuation

    Science.gov (United States)

    Ruisi, R.; Zare-Behtash, H.; Kontis, K.; Erfani, R.

    2016-09-01

    Due to the more stringent aviation regulations on fuel consumption and noise reduction, the interest for smaller and mechanically less complex devices for flow separation control has increased. Plasma actuators are currently among the most studied typology of devices for active flow control purposes due to their small size and lightweight. In this study, a single dielectric barrier discharge (SDBD) actuator is used on a backward-facing step to assess its effects on the separated turbulent shear layer and its reattachment location. A range of actuating modulation frequencies, related to the natural frequencies of shear layer instability (flapping) and vortex shedding instability, are examined. The particle image velocimetry technique is used to analyse the flow over the step and the reattachment location. The bulk-flow experiments show negligible effects both on the shear layer and on the reattachment location for every frequency considered, and the actuator is not able to induce a sufficient velocity increase at the step separation point.

  14. Controllability assessment of plate-like structures with uncertainties under piezoelectric actuation

    Science.gov (United States)

    Li, Y. Y.; Cheng, L.

    2005-02-01

    A controllability assessment of plate-like structures with uncertainties under piezoelectric actuation is performed in this paper. Different from the previous studies, a novel index is proposed to quantify the degree of controllability using the sensor/actuator transfer function. Influences of unmodelled high-frequency dynamics and structural parameter variations on controllability are discussed, and the relationship between the indices for the nominal and uncertain cases is derived. In order to validate the controllability assessment numerically, the modelling of a plate with piezoelectric actuation is developed with the consideration of the full coupling between the PZT actuators and the host plate, and verified by experiments. It is demonstrated that a proper design of the polyvinylidene flouride sensor would help eliminate effects of higher order modes on the basis of strain mode shapes. Since the latter is very sensitive to the mass and stiffness added by PZT actuators, the dynamics of PZT actuators must be taken into account during the design, as opposed to the case where a point transducer is used.

  15. Design Approach for Dynamic Traffic Control System Based on Radio Propagation Model in VANET

    Directory of Open Access Journals (Sweden)

    Sanjay S. Dorle

    2013-02-01

    Full Text Available In the densely populated urban area traffic control system isthe main mechanism to control the flow of vehicular traffic atthe intersection. Conventional traffic control system are notcapable of handling dynamic vehicular flow. This dynamicvehicular flow creates traffic jams , congestion at theintersection. Vehicular Ad hoc Network (VANET is acommon part of Intelligent Transport System (ITS which isdirectly involved in handling these problems and aims to makejourney on road comfortable. The urban traffic flow dependson the driver behavior, and also, it is influenced by trafficcontrol and environmental factor. As the number of vehicles inurban area is increases, the traditional traffic system faces somany problems. This paper describes a working a VANETenvironment and then a brief study of dynamic traffic systembased on radio propagation model. This traffic system uses aclustering algorithm at the intersection. Then we conclude thesystem working.

  16. Position Control of Pneumatic Actuator Using Self-Regulation Nonlinear PID

    Directory of Open Access Journals (Sweden)

    Syed Najib Syed Salim

    2014-01-01

    Full Text Available The enhancement of nonlinear PID (N-PID controller for a pneumatic positioning system is proposed to improve the performance of this controller. This is executed by utilizing the characteristic of rate variation of the nonlinear gain that is readily available in N-PID controller. The proposed equation, namely, self-regulation nonlinear function (SNF, is used to reprocess the error signal with the purpose of generating the value of the rate variation, continuously. With the addition of this function, a new self-regulation nonlinear PID (SN-PID controller is proposed. The proposed controller is then implemented to a variably loaded pneumatic actuator. Simulation and experimental tests are conducted with different inputs, namely, step, multistep, and random waveforms, to evaluate the performance of the proposed technique. The results obtained have been proven as a novel initiative at examining and identifying the characteristic based on a new proposal controller resulting from N-PID controller. The transient response is improved by a factor of 2.2 times greater than previous N-PID technique. Moreover, the performance of pneumatic positioning system is remarkably good under various loads.

  17. Decoupled Sliding Mode Control for a Novel 3-DOF Parallel Manipulator with Actuation Redundancy

    OpenAIRE

    Niu Xuemei; Guoqin Gao; Xinjun Liu; Zhiming Fang

    2015-01-01

    This paper presents a decoupled nonsingular terminal sliding mode controller (DNTSMC) for a novel 3-DOF parallel manipulator with actuation redundancy. According to kinematic analysis, the inverse dynamic model for a novel 3-DOF redundantly actuated parallel manipulator is formulated in the task space using Lagrangian formalism and decoupled into three entirely independent subsystems under generalized coordinates to significantly reduce system complexity. Based on the dynamic model, a decoupl...

  18. Traffic signal design and simulation for vulnerable road users safety and bus preemption

    Science.gov (United States)

    Lo, Shih-Ching; Huang, Hsieh-Chu

    2015-01-01

    Mostly, pedestrian car accidents occurred at a signalized interaction is because pedestrians cannot across the intersection safely within the green light. From the viewpoint of pedestrian, there might have two reasons. The first one is pedestrians cannot speed up to across the intersection, such as the elders. The other reason is pedestrians do not sense that the signal phase is going to change and their right-of-way is going to be lost. Developing signal logic to protect pedestrian, who is crossing an intersection is the first purpose of this study. In addition, to improve the reliability and reduce delay of public transportation service is the second purpose. Therefore, bus preemption is also considered in the designed signal logic. In this study, the traffic data of the intersection of Chong-Qing North Road and Min-Zu West Road, Taipei, Taiwan, is employed to calibrate and validate the signal logic by simulation. VISSIM 5.20, which is a microscopic traffic simulation software, is employed to simulate the signal logic. From the simulated results, the signal logic presented in this study can protect pedestrians crossing the intersection successfully. The design of bus preemption can reduce the average delay. However, the pedestrian safety and bus preemption signal will influence the average delay of cars largely. Thus, whether applying the pedestrian safety and bus preemption signal logic to an intersection or not should be evaluated carefully.

  19. Integrated nozzle - flapper valve with piezoelectric actuator and isothermal chamber: a feedback linearization multi control device

    Energy Technology Data Exchange (ETDEWEB)

    Kamali, Mohammadreza; Jazayeri, Seyed Ali [K. N.Toosi University of Technology, Tehran (Iran, Islamic Republic of); Najafi, Farid [University of Guilan, Rasht (Iran, Islamic Republic of); Kawashima, Kenji [Tokyo Medical and Dental University, Tokyo (Japan); Kagawa, Toshiharu [Tokyo Institute of Technology, Tokyo (Japan)

    2016-05-15

    This paper introduces a new nozzle-flapper valve with isothermal chamber using piezoelectric actuator. It controls the pressure and flow rate simply, effectively and separately. The proposed valve uses isothermal chamber presenting practical isothermal condition due to its large heat transfer interfaces filled by metal wool. The valve uses stacked type piezoelectric actuator with unique advantages. By using this valve, a simple method has been fulfilled to control flow rate or pressure of ideal gases in a pneumatic actuators. Experimental results demonstrated applications of the proposed valve to control either pressure or flow rate in pneumatic circuits. This valve can be also used in the pilot stage valve to actuate the main stage of a much bigger pneumatic valve. Designated structure contains only one pressure sensor installed on the isothermal control chamber, capable of controlling both pressure and flow rate. The desired output mass flow rate of the valve is controlled by the pressure changes during positioning of piezoelectric actuator at proper position. The proposed valve can control steady and unsteady oscillatory flow rate and pressure effectively, using nonlinear control method such as feedback linearization approach. Its effectiveness is demonstrated and validated through simulation and experiments.

  20. Development of in-series piezoelectric bimorph bending beam actuators for active flow control applications

    Science.gov (United States)

    Chan, Wilfred K.; Clingman, Dan J.; Amitay, Michael

    2016-04-01

    Piezoelectric materials have long been used for active flow control purposes in aerospace applications to increase the effectiveness of aerodynamic surfaces on aircraft, wind turbines, and more. Piezoelectric actuators are an appropriate choice due to their low mass, small dimensions, simplistic design, and frequency response. This investigation involves the development of piezoceramic-based actuators with two bimorphs placed in series. Here, the main desired characteristic was the achievable displacement amplitude at specific driving voltages and frequencies. A parametric study was performed, in which actuators with varying dimensions were fabricated and tested. These devices were actuated with a sinusoidal waveform, resulting in an oscillating platform on which to mount active flow control devices, such as dynamic vortex generators. The main quantification method consisted of driving these devices with different voltages and frequencies to determine their free displacement, blocking force, and frequency response. It was found that resonance frequency increased with shorter and thicker actuators, while free displacement increased with longer and thinner actuators. Integration of the devices into active flow control test modules is noted. In addition to physical testing, a quasi-static analytical model was developed and compared with experimental data, which showed close correlation for both free displacement and blocking force.

  1. Physical factors of primary jet vectoring control using synthetic jet actuators

    Institute of Scientific and Technical Information of China (English)

    XIA Zhi-xun; LUO Zhen-bing

    2007-01-01

    A primary jet vectoring using synthetic jet actuators with different exit configurations was investigated, and the main physical factors influencing jet vectoring were analyzed and summarized. The physical factors of the pressure difference, the location and area of the lower pressure region, the component of the synthetic jet momentum and the entrainment ratio of the synthetic jet flow to primary jet flow directly control the vectoring force and the vectoring angle. Three characteristic parameters of the synthetic jet contribute to the pressure difference and the area of the lower pressure region Both the extension step and slope angle of the actuator exit have functions of regulating the location of the lower pressure region, the area of the lower pressure region, and the entrainment ratio of the synthetic jet flow to primary jet flow. The slope angle of the actuator exit has additional functions of regulating the component of the synthetic jet momentum. Based upon analyzing the physical factors of jet vectoring control with synthetic jets, the source variables of the physical factors were established. A preparatory control model of jet vectoring using synthetic jet actuator was presented, and it has the benefit of explaining the efficiency of jet vectoring using synthetic jet actuator with source variables at different values, and it indicates the optimal actuator is taking full advantage of the regulating function.

  2. Smart materials-based actuators at the micronano-scale characterization, control, and applications

    CERN Document Server

    2013-01-01

    Smart Materials-Based Actuators at the Micro/Nano-Scale: Characterization, Control, and Applications gives a state of the art of emerging techniques to the characterization and control of actuators based on smart materials working at the micro/nano scale. The book aims to characterize some commonly used structures based on piezoelectric and electroactive polymeric actuators and also focuses on various and emerging techniques employed to control them. This book also includes two of the most emerging topics and applications: nanorobotics and cells micro/nano-manipulation. This book: Provides both theoretical and experimental results Contains complete information from characterization, modeling, identification, control to final applications for researchers and engineers that would like to model, characterize, control and apply their own micro/nano-systems Discusses applications such as microrobotics and their control, design and fabrication of microsystems, microassembly and its automation, nanorobotics and thei...

  3. Performance Evaluation of Road Traffic Control Using a Fuzzy Cellular Model

    CERN Document Server

    Płaczek, Bartłomiej

    2011-01-01

    In this paper a method is proposed for performance evaluation of road traffic control systems. The method is designed to be implemented in an on-line simulation environment, which enables optimisation of adaptive traffic control strategies. Performance measures are computed using a fuzzy cellular traffic model, formulated as a hybrid system combining cellular automata and fuzzy calculus. Experimental results show that the introduced method allows the performance to be evaluated using imprecise traffic measurements. Moreover, the fuzzy definitions of performance measures are convenient for uncertainty determination in traffic control decisions.

  4. Step by step control of a deep drawing process with piezo-electric actuators in serial operation

    Directory of Open Access Journals (Sweden)

    Bäume Tobias

    2015-01-01

    Full Text Available Due to the design-driven increase in complexity of forming car body parts, it becomes more difficult to ensure a stable forming process. Piezoelectric actuators can influence the material flow of stamping parts effectively. In this article the implementation of piezoelectric actuators in a large scale sheet metal forming tool of a car manufacturer is described. Additionally, it is shown that part quality can be assessed with the help of triangulation laser sensors, which are mounted on the blankholder. The resulting flange draw-in signals were used to reduce the occurrence of wrinkling or the rate of cracking. It was shown that process control improved the quality of the stamping parts significantly.

  5. Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an inertial wheel

    Directory of Open Access Journals (Sweden)

    Owczarkowski Adam

    2016-06-01

    Full Text Available Essential ingredients for robust control are the ability to cope with different types of system behavior following modeling imperfections and the ability to assure a certain performance level. In this paper, we propose to use an actuator fault-tolerant control law to govern, during experiments, the stabilization of a bicycle robot with an inertial wheel in order to take into account unmodeled uncertainty introduced by using a linearized model in an LQR fashion. Our proposal is illustrated by signal plots and the values of performance indices obtained from a set of experiments.

  6. Flow and Noise Control in High Speed and High Reynolds Number Jets Using Plasma Actuators

    Science.gov (United States)

    Samimy, M.; Kastner, J.; Kim, J.-H.; Utkin, Y.; Adamovich, I.; Brown, C. A.

    2006-01-01

    The idea of manipulating flow to change its characteristics is over a century old. Manipulating instabilities of a jet to increase its mixing and to reduce its radiated noise started in the 1970s. While the effort has been successful in low-speed and low Reynolds number jets, available actuators capabilities in terms of their amplitude, bandwidth, and phasing have fallen short in control of high-speed and high Reynolds number jets of practical interest. Localized arc filament plasma actuators have recently been developed and extensively used at Gas Dynamics and Turbulence Laboratory (GDTL) for control of highspeed and high Reynolds number jets. While the technique has been quite successful and is very promising, all the work up to this point had been carried out using small high subsonic and low supersonic jets from a 2.54 cm diameter nozzle exit with a Reynolds number of about a million. The preliminary work reported in this paper is a first attempt to evaluate the scalability of the technique. The power supply/plasma generator was designed and built in-house at GDTL to operate 8 actuators simultaneously over a large frequency range (0 to 200 kHz) with independent control over phase and duty cycle of each actuator. This allowed forcing the small jet at GDTL with azimuthal modes m = 0, 1, 2, 3, plus or minus 1, plus or minus 2, and plus or minus 4 over a large range of frequencies. This power supply was taken to and used, with minor modifications, at the NASA Nozzle Acoustic Test Rig (NATR). At NATR, 32 actuators were distributed around the 7.5 in. nozzle (a linear increase with nozzle exit diameter would require 60 actuators). With this arrangement only 8 actuators could operate simultaneously, thus limiting the forcing of the jet at NATR to only three azimuthal modes m = plus or minus 1, 4, and 8. Very preliminary results at NATR indicate that the trends observed in the larger NASA facility in terms of the effects of actuation frequency and azimuthal modes are

  7. Traffic Cameras, Traffic control devices layer for Cecil County, Published in 2011, 1:4800 (1in=400ft) scale, Cecil County Government.

    Data.gov (United States)

    NSGIC GIS Inventory (aka Ramona) — This Traffic Cameras dataset, published at 1:4800 (1in=400ft) scale as of 2011. It is described as 'Traffic control devices layer for Cecil County'. The extent of...

  8. Position Control of a Pneumatic Muscle Actuator Using RBF Neural Network Tuned PID Controller

    Directory of Open Access Journals (Sweden)

    Jie Zhao

    2015-01-01

    Full Text Available Pneumatic Muscle Actuator (PMA has a broad application prospect in soft robotics. However, PMA has highly nonlinear and hysteretic properties among force, displacement, and pressure, which lead to difficulty in accurate position control. A phenomenological model is developed to portray the hysteretic behavior of PMA. This phenomenological model consists of linear component and hysteretic component force. The latter component is described by Duhem model. An experimental apparatus is built up and sets of experimental data are acquired. Based on the experimental data, parameters of the model are identified. Validation of the model is performed. Then a novel cascade position PID controller is devised for a 1-DOF manipulator actuated by PMA. The outer loop of the controller is to cope with position control whilst the inner loop deals with pressure dynamics within PMA. To enhance the adaptability of the PID algorithm to the high nonlinearities of the manipulator, PID parameters are tuned online using RBF Neural Network. Experiments are performed and comparison between position response of RBF Neural Network based PID controller and that of classic PID controller demonstrates the effectiveness of the novel adaptive controller on the manipulator.

  9. Characteristics of traffic flow at a non-signalized intersection in the framework of game theory

    Science.gov (United States)

    Fan, Hongqiang; Jia, Bin; Tian, Junfang; Yun, Lifen

    2014-12-01

    At a non-signalized intersection, some vehicles violate the traffic rules to pass the intersection as soon as possible. These behaviors may cause many traffic conflicts even traffic accidents. In this paper, a simulation model is proposed to research the effects of these behaviors at a non-signalized intersection. Vehicle’s movement is simulated by the cellular automaton (CA) model. The game theory is introduced for simulating the intersection dynamics. Two types of driver participate the game process: cooperator (C) and defector (D). The cooperator obey the traffic rules, but the defector does not. A transition process may occur when the cooperator is waiting before the intersection. The critical value of waiting time follows the Weibull distribution. One transition regime is found in the phase diagram. The simulation results illustrate the applicability of the proposed model and reveal a number of interesting insights into the intersection management, including that the existence of defectors is benefit for the capacity of intersection, but also reduce the safety of intersection.

  10. A generic approach for examining the effectiveness of traffic control devices in school zones.

    Science.gov (United States)

    Zhao, Xiaohua; Li, Jiahui; Ding, Han; Zhang, Guohui; Rong, Jian

    2015-09-01

    The effectiveness and performance of traffic control devices in school zones have been impacted significantly by many factors, such as driver behavioral attributes, roadway geometric features, environmental characteristics, weather and visibility conditions, region-wide traffic regulations and policies, control modes, etc. When deploying traffic control devices in school zones, efforts are needed to clarify: (1) whether traffic control device installation is warranted; and (2) whether other device effectively complements this traffic control device and strengthens its effectiveness. In this study, a generic approach is developed to examine and evaluate the effectiveness of various traffic control devices deployed in school zones through driving simulator-based experiments. A Traffic Control Device Selection Model (TCDSM) is developed and two representative school zones are selected as the testbed in Beijing for driving simulation implementation to enhance its applicability. Statistical analyses are conducted to extract the knowledge from test data recorded by a driving simulator. Multiple measures of effectiveness (MOEs) are developed and adopted including average speed, relative speed difference, and standard deviation of acceleration for traffic control device performance quantification. The experimental tests and analysis results reveal that the appropriateness of the installation of certain traffic control devices can be statistically verified by TCDSM. The proposed approach provides a generic framework to assess traffic control device performance in school zones including experiment design, statistical formulation, data analysis, simulation model implementation, data interpretation, and recommendation development. PMID:26072182

  11. Admission control with long-range dependence traffic input

    Institute of Scientific and Technical Information of China (English)

    RAO Yun-hua; ZOU Xue-cheng

    2005-01-01

    The admission control scheme is investigated for a FIFO self-similar queuing system with Quality of Service (QoS) performance guarantees. Since the self-similar queuing system performance analysis is often carried out under the condition of infinite buffer, it is difficult to deduce the upper boundary of buffer overflow probability. To overcome this shortcoming, a simple overflow condition is proposed, which defines a buffer overflow occurrence whenever the arrival rate exceeds the service rate. The analytic formula for the buffer overflow probability upper boundary is easily obtained under this condition. The required bandwidth upper boundary with long-range dependence input and determined overflow probability is then derived from this formula. Based on the above analytic formulas, the upper boundaries of the admission control regions for homogeneous and heterogeneous long-range dependence traffic sources are separately obtained. Finally, an effective admission control scheme for long-range dependence input is proposed. Simulation studies with real traffic have confirmed the validity of these results.

  12. Active buckling control of beams using piezoelectric actuators and strain gauge sensors

    International Nuclear Information System (INIS)

    In this paper, a finite element model incorporating active control techniques has been developed to stabilize the first two buckling modes of both a simply supported and a cantilevered beam. The goal is to increase the corresponding beam buckling loads by using piezoelectric actuators along with optimal feedback control. The uniform beams are bonded with two pairs of segmented piezoelectric actuators at the top and bottom. Resistive strain gauges are attached to the centres of the actuators as sensors. Measurements are taken using these, to estimate the system states. The beams are simply supported or cantilevered and subjected to a slowly increasing axial compressive load. Finite element formulations based on the classical Euler–Bernoulli beam theory and linear piezoelectric constitutive equations for the actuators are presented. The associated reduced-order modal equations and the state-space equations are derived for the design of a standard linear quadratic regulator (LQR). The finite element analysis and the active control simulation results are consistent with both theoretical analysis results and experimental data. The designed full state feedback LQR controller is shown to be successful in stabilizing the first two buckling modes of the beams. Also the control simulation shows that the present optimally located segmented actuator pairs along the beam are more effective for buckling control

  13. Position control of fishing line artificial muscles (coiled polymer actuators) from nylon thread

    Science.gov (United States)

    Arakawa, Takeshi; Takagi, Kentaro; Tahara, Kenji; Asaka, Kinji

    2016-04-01

    Recently, fishing line artificial muscle has been developed and is paid much attention due to the properties such as large contraction, light weight and extremely low cost. Typical fishing line artificial muscle is made from Nylon thread and made by just twisting the polymer. In this paper, because of the structure of the actuator, such actuators may be named as coiled polymer actuators (CPAs). In this paper, a CPA is fabricated from commercial Nylon fishing line and Ni-Cr alloy (Nichrome) wire is wound around it. The CPA contracts by the Joule heat generated by applied voltage to the Nichrome wire. For designing the control system, a simple model is proposed. According to the physical principle of the actuator, two first-order transfer functions are introduced to represent the actuator model. One is a system from the input power to the temperature and the other is a system from the temperature to the deformation. From the system identification result, it is shown that the dominant dynamics is the system from the input power to the temperature. Using the developed model, position control of the voltage-driven CPA is discussed. Firstly, the static nonlinearity from the voltage to the power is eliminated. Then, a 2-DOF PID controller which includes an inversion-based feed forward controller and a PID controller are designed. In order to demonstrate the proposed controller, experimental verification is shown.

  14. Active vibration control for nonlinear vehicle suspension with actuator delay via I/O feedback linearization

    Science.gov (United States)

    Lei, Jing; Jiang, Zuo; Li, Ya-Li; Li, Wu-Xin

    2014-10-01

    The problem of nonlinear vibration control for active vehicle suspension systems with actuator delay is considered. Through feedback linearization, the open-loop nonlinearity is eliminated by the feedback nonlinear term. Based on the finite spectrum assignment, the quarter-car suspension system with actuator delay is converted into an equivalent delay-free one. The nonlinear control includes a linear feedback term, a feedforward compensator, and a control memory term, which can be derived from a Riccati equation and a Sylvester equation, so that the effects produced by the road disturbances and the actuator delay are compensated, respectively. A predictor is designed to implement the predictive state in the designed control. Moreover, a reduced-order observer is constructed to solve its physical unrealisability problem. The stability proofs for the zero dynamics and the closed-loop system are provided. Numerical simulations illustrate the effectiveness and the simplicity of the designed control.

  15. The benefits of advanced traffic management received by the urban users

    Directory of Open Access Journals (Sweden)

    Kristi Bombol

    2009-12-01

    Full Text Available Despite the flow fluctuations and increased traffic demand in Macedonian cities in the last fifteen years, Republic of Macedonia is one of those countries which still employ only the traditional systems of traffic management and control. A general call for “…something has to be done…” becomes obvious. The best practices have shown that this can be realized through unconventional solutions, i.e. by means of advanced traffic management (ATM. A very reasonable example of such a system is the vehicle actuated control system that we have found to be quite challenging to do our research. It was concluded that the overall intersection performance could be improved both by adequate inductive loop detector placement and by interaction with signal parameters.

  16. Study of Truck Driver Behavior at Onset of Yellow Traffic Signal Indication for the Design of Yellow Times

    OpenAIRE

    Bryant, Craig William

    2014-01-01

    Traffic signal violations by drivers are a leading contributor to crashes at signalized intersections. The yellow indication is used to inform drivers of an upcoming change in the status of the traffic signal. Yellow-interval durations are currently calculated to provide dilemma zone protection for passenger cars. Due to differences in vehicle characteristics and driver characteristics, heavy trucks such as tractor-trailers behave differently at the onset of a yellow-indication. The resea...

  17. Modeling, fabrication and plasma actuator coupling of flexible pressure sensors for flow separation detection and control in aeronautical applications

    Science.gov (United States)

    Francioso, L.; De Pascali, C.; Pescini, E.; De Giorgi, M. G.; Siciliano, P.

    2016-06-01

    Preventing the flow separation could enhance the performance of propulsion systems and future civil aircraft. To this end, a fast detection of boundary layer separation is mandatory for a sustainable and successful application of active flow control devices, such as plasma actuators. The present work reports on the design, fabrication and functional tests of low-cost capacitive pressure sensors coupled with dielectric barrier discharge (DBD) plasma actuators to detect and then control flow separation. Finite element method (FEM) simulations were used to obtain information on the deflection and the stress distribution in different-shaped floating membranes. The sensor sensitivity as a function of the pressure load was also calculated by experimental tests. The results of the calibration of different capacitive pressure sensors are reported in this work, together with functional tests in a wind tunnel equipped with a curved wall plate on which a DBD plasma actuator was mounted to control the flow separation. The flow behavior was experimentally investigated by particle image velocimetry (PIV) measurements. Statistical and spectral analysis, applied to the output signals of the pressure sensor placed downstream of the profile leading edge, demonstrated that the sensor is able to discriminate different ionic wind velocity and turbulence conditions. The sensor sensitivity in the 0-100 Pa range was experimentally measured and it ranged between 0.0030 and 0.0046 pF Pa-1 for the best devices.

  18. A passive brain-computer interface application for the mental workload assessment on professional air traffic controllers during realistic air traffic control tasks.

    Science.gov (United States)

    Aricò, P; Borghini, G; Di Flumeri, G; Colosimo, A; Pozzi, S; Babiloni, F

    2016-01-01

    In the last decades, it has been a fast-growing concept in the neuroscience field. The passive brain-computer interface (p-BCI) systems allow to improve the human-machine interaction (HMI) in operational environments, by using the covert brain activity (eg, mental workload) of the operator. However, p-BCI technology could suffer from some practical issues when used outside the laboratories. In particular, one of the most important limitations is the necessity to recalibrate the p-BCI system each time before its use, to avoid a significant reduction of its reliability in the detection of the considered mental states. The objective of the proposed study was to provide an example of p-BCIs used to evaluate the users' mental workload in a real operational environment. For this purpose, through the facilities provided by the École Nationale de l'Aviation Civile of Toulouse (France), the cerebral activity of 12 professional air traffic control officers (ATCOs) has been recorded while performing high realistic air traffic management scenarios. By the analysis of the ATCOs' brain activity (electroencephalographic signal-EEG) and the subjective workload perception (instantaneous self-assessment) provided by both the examined ATCOs and external air traffic control experts, it has been possible to estimate and evaluate the variation of the mental workload under which the controllers were operating. The results showed (i) a high significant correlation between the neurophysiological and the subjective workload assessment, and (ii) a high reliability over time (up to a month) of the proposed algorithm that was also able to maintain high discrimination accuracies by using a low number of EEG electrodes (~3 EEG channels). In conclusion, the proposed methodology demonstrated the suitability of p-BCI systems in operational environments and the advantages of the neurophysiological measures with respect to the subjective ones. PMID:27590973

  19. Fuzzy Constrained Predictive Optimal Control of High Speed Train with Actuator Dynamics

    Directory of Open Access Journals (Sweden)

    Xi Wang

    2016-01-01

    Full Text Available We investigate the problem of fuzzy constrained predictive optimal control of high speed train considering the effect of actuator dynamics. The dynamics feature of the high speed train is modeled as a cascade of cars connected by flexible couplers, and the formulation is mathematically transformed into a Takagi-Sugeno (T-S fuzzy model. The goal of this study is to design a state feedback control law at each decision step to enhance safety, comfort, and energy efficiency of high speed train subject to safety constraints on the control input. Based on Lyapunov stability theory, the problem of optimizing an upper bound on the cruise control cost function subject to input constraints is reduced to a convex optimization problem involving linear matrix inequalities (LMIs. Furthermore, we analyze the influences of second-order actuator dynamics on the fuzzy constrained predictive controller, which shows risk of potentially deteriorating the overall system. Employing backstepping method, an actuator compensator is proposed to accommodate for the influence of the actuator dynamics. The experimental results show that with the proposed approach high speed train can track the desired speed, the relative coupler displacement between the neighbouring cars is stable at the equilibrium state, and the influence of actuator dynamics is reduced, which demonstrate the validity and effectiveness of the proposed approaches.

  20. Integrating a piezoelectric actuator with mechanical and hydraulic devices to control camless engines

    Science.gov (United States)

    Mercorelli, Paolo; Werner, Nils

    2016-10-01

    The paper deals with some interdisciplinary aspects and problems concerning the actuation control which occur in the integration of a piezoelectric structure in an aggregate actuator consisting of a piezoelectric, a stroke ratio displacement, a mechanical and a hydraulic part. Problems like compensation of the piezo hysteresis effect, scaling force-position to obtain an adequate displacement of the actuator and finally the control of such a complex aggregate system are considered and solved. Even though this work considers a particular application, the solutions proposed in the paper are quite general. In fact, the considered technical aspects occurring in systems which utilize piezoelectric technologies can be used in a variegated gamma of actuators integrating piezoelectric technologies. A cascade controller is proposed to combine a Feedforward action with an internal and an external PI-Controller. The Feedforward Controller is based on the model of the whole actuator, so particular attention is paid to the model structure. The resulting Feedforward action is an adaptive one to compensate hydraulic pressure faults. Real measurements are shown.

  1. Fault-tolerant control of electric vehicles with in-wheel motors using actuator-grouping sliding mode controllers

    Science.gov (United States)

    Li, Boyuan; Du, Haiping; Li, Weihua

    2016-05-01

    Although electric vehicles with in-wheel motors have been regarded as one of the promising vehicle architectures in recent years, the probability of in-wheel motor fault is still a crucial issue due to the system complexity and large number of control actuators. In this study, a modified sliding mode control (SMC) is applied to achieve fault-tolerant control of electric vehicles with four-wheel-independent-steering (4WIS) and four-wheel-independent-driving (4WID). Unlike in traditional SMC, in this approach the steering geometry is re-arranged according to the location of faulty wheels in the modified SMC. Three SMC control laws for longitudinal velocity control, lateral velocity control and yaw rate control are designed based on specific vehicle motion scenarios. In addition the actuator-grouping SMC method is proposed so that driving actuators are grouped and each group of actuators can be used to achieve the specific control target, which avoids the strong coupling effect between each control target. Simulation results prove that the proposed modified SMC can achieve good vehicle dynamics control performance in normal driving and large steering angle turning scenarios. In addition, the proposed actuator-grouping SMC can solve the coupling effect of different control targets and the control performance is improved.

  2. Measures related to traffic planning for air pollution control

    Energy Technology Data Exchange (ETDEWEB)

    Baumueller, J.; Reuter, U. [Office of Environmental Protection, Stuttgart (Germany). Dept. for Climatology

    1995-12-31

    The immense increase of motor traffic, in the future reinforced by the European market and the opening of boarders to the east countries, requires new efforts in traffic policy. In the city agglomerations the motor traffic is nearly collapsing. The increase of motor traffic is the reason for a considerable degradation of environment, especially by noise and air pollution. For the region of Stuttgart the problems and possibilities of counter-measures are discussed. (author)

  3. Trajectory Specification for Automation of Terminal Air Traffic Control

    Science.gov (United States)

    Paielli, Russell A.

    2016-01-01

    "Trajectory specification" is the explicit bounding and control of aircraft tra- jectories such that the position at each point in time is constrained to a precisely defined volume of space. The bounding space is defined by cross-track, along-track, and vertical tolerances relative to a reference trajectory that specifies position as a function of time. The tolerances are dynamic and will be based on the aircraft nav- igation capabilities and the current traffic situation. A standard language will be developed to represent these specifications and to communicate them by datalink. Assuming conformance, trajectory specification can guarantee safe separation for an arbitrary period of time even in the event of an air traffic control (ATC) sys- tem or datalink failure, hence it can help to achieve the high level of safety and reliability needed for ATC automation. As a more proactive form of ATC, it can also maximize airspace capacity and reduce the reliance on tactical backup systems during normal operation. It applies to both enroute airspace and the terminal area around airports, but this paper focuses on arrival spacing in the terminal area and presents ATC algorithms and software for achieving a specified delay of runway arrival time.

  4. Parameters monitoring and control for flueric actuators testing syste

    Directory of Open Access Journals (Sweden)

    Tiberiu Adrian SALAORU

    2014-04-01

    Full Text Available A wide range of air supply parameters is needed for the flueric actuators testing in order to find their optimum working regime. A system for conditioning these parameters, namely pressure, temperature, mass and volume flow rate has been built for this purpose. The measured values are continuously stored on the PC hard drive and are checked automatically for keeping them in the normal operating range. In case any of them are going out of this range, this system warns the operator and performs automatic actions for limiting or partially or totally shutting down the system.

  5. Research on Giant Magnetostrictive Actuator for Turning Vibration Control

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    Magnetostriction is a phenomenon in which a magneti c field is used to produce a change in size of some materials. This property has b een known in elements such as nickel, iron and cobalt. Because the rare-ear th alloy Terfenol-D can offer much larger strains than nickel, iron, cobalt, an d other smart materials such as piezoelectric materials, it is called giant magn etostrictive material. Making use of the giant magnetostrictive material, the gi ant magnetostrictive actuator has higher bandwidth and r...

  6. Aerodynamic flow-control with dielectric barrier discharge plasma actuators; Aerodynamische Stroemungssteuerung mittels dielektrischer Barriereentladungs-Plasmaaktuatoren

    Energy Technology Data Exchange (ETDEWEB)

    Wilke, Joern Bastian

    2009-07-01

    In this work, measurements of the spatial-temporal evolution of velocity vector fields, induced by a dielectric barrier discharge plasma actuator, are presented for the first time in order to enhance the understanding of these actuators. A procedure for calculating the body forces-induced by these actuators-from the measured velocity vector fields is also described. A number of parametric studies with plasma actuators, were performed in order to identify the relevant parameter dependencies concerning the effectiveness and the efficiency for an optimization of these actuators. A new phenomenological model for the simulation of the aerodynamic effect of plasma actuators was developed, which can be used to produce more accurate numerical results than existing models. The suitability of plasma actuators in aerodynamic applications was investigated for two different cases. In the first case, a circulation control of a rotorcraft airfoil by plasma actuators, the actuators were arranged such that the gurney flap active principle was achieved and observed for the first time. In the second case, a plasma actuator was mounted on the leading edge of a delta wing to successfully demonstrate flow control up to Re=10{sup 6}. The three velocity components in the plane normal to the flow velocity were measured, enabling the analysis of the change of the leading edge vortices due to plasma actuation. (orig.)

  7. Vibration control of a camera mount system for an unmanned aerial vehicle using piezostack actuators

    International Nuclear Information System (INIS)

    This work proposes an active mount for the camera systems of unmanned aerial vehicles (UAV) in order to control unwanted vibrations. An active actuator of the proposed mount is devised as an inertial type, in which a piezostack actuator is directly connected to the inertial mass. After evaluating the actuating force of the actuator, it is combined with the rubber element of the mount, whose natural frequency is determined based on the measured vibration characteristics of UAV. Based on the governing equations of motion of the active camera mount, a robust sliding mode controller (SMC) is then formulated with consideration of parameter uncertainties and hysteresis behavior of the actuator. Subsequently, vibration control performances of the proposed active mount are experimentally evaluated in the time and frequency domains. In addition, a full camera mount system of UAVs that is supported by four active mounts is considered and its vibration control performance is evaluated in the frequency domain using a hardware-in-the-loop simulation (HILS) method

  8. System and method for controlling engine knock using electro-hydraulic valve actuation

    Science.gov (United States)

    Brennan, Daniel G

    2013-12-10

    A control system for an engine includes a knock control module and a valve control module. The knock control module adjusts a period that one or more of an intake valve and an exhaust valve of a cylinder are open based on engine knock corresponding to the cylinder. The valve control module, based on the adjusted period, controls the one or more of the intake valve and the exhaust valve using one or more hydraulic actuators.

  9. Robust fault-tolerant control for wing flutter under actuator failure

    Institute of Scientific and Technical Information of China (English)

    Gao Mingzhou; Cai Guoping

    2016-01-01

    Many control laws, such as optimal controller and classical controller, have seen their applications to suppressing the aeroelastic vibrations of the aeroelastic system. However, those con-trol laws may not work effectively if the aeroelastic system involves actuator faults. In the current study for wing flutter of reentry vehicle, the effect of actuator faults on wing flutter system is rarely considered and few of the fault-tolerant control problems are taken into account. In this paper, we use the radial basis function neural network and the finite-time H∞adaptive fault-tolerant control technique to deal with the flutter problem of wings, which is affected by actuator faults, actuator saturation, parameter uncertainties and external disturbances. The theory of this article includes the modeling of wing flutter and fault-tolerant controller design. The stability of the finite-time adaptive fault-tolerant controller is theoretically proved. Simulation results indicate that the designed fault-tolerant flutter controller can effectively deal with the faults in the flutter system and can promptly suppress the wing flutter as well.

  10. Spacecraft Hybrid (Mixed-Actuator) Attitude Control Experiences on NASA Science Missions

    Science.gov (United States)

    Dennehy, Cornelius J.

    2014-01-01

    There is a heightened interest within NASA for the design, development, and flight implementation of mixed-actuator hybrid attitude control systems for science spacecraft that have less than three functional reaction wheel actuators. This interest is driven by a number of recent reaction wheel failures on aging, but what could be still scientifically productive, NASA spacecraft if a successful hybrid attitude control mode can be implemented. Over the years, hybrid (mixed-actuator) control has been employed for contingency attitude control purposes on several NASA science mission spacecraft. This paper provides a historical perspective of NASA's previous engineering work on spacecraft mixed-actuator hybrid control approaches. An update of the current situation will also be provided emphasizing why NASA is now so interested in hybrid control. The results of the NASA Spacecraft Hybrid Attitude Control Workshop, held in April of 2013, will be highlighted. In particular, the lessons learned captured from that workshop will be shared in this paper. An update on the most recent experiences with hybrid control on the Kepler spacecraft will also be provided. This paper will close with some future considerations for hybrid spacecraft control.

  11. Robust fault-tolerant control for wing flutter under actuator failure

    Directory of Open Access Journals (Sweden)

    Gao Mingzhou

    2016-08-01

    Full Text Available Many control laws, such as optimal controller and classical controller, have seen their applications to suppressing the aeroelastic vibrations of the aeroelastic system. However, those control laws may not work effectively if the aeroelastic system involves actuator faults. In the current study for wing flutter of reentry vehicle, the effect of actuator faults on wing flutter system is rarely considered and few of the fault-tolerant control problems are taken into account. In this paper, we use the radial basis function neural network and the finite-time H∞ adaptive fault-tolerant control technique to deal with the flutter problem of wings, which is affected by actuator faults, actuator saturation, parameter uncertainties and external disturbances. The theory of this article includes the modeling of wing flutter and fault-tolerant controller design. The stability of the finite-time adaptive fault-tolerant controller is theoretically proved. Simulation results indicate that the designed fault-tolerant flutter controller can effectively deal with the faults in the flutter system and can promptly suppress the wing flutter as well.

  12. Improving Delay-Margin of Noncollocated Vibration Control of Piezo-Actuated Flexible Beams via a Fractional-Order Controller

    Directory of Open Access Journals (Sweden)

    Teerawat Sangpet

    2014-01-01

    Full Text Available Noncollocated control of flexible structures results in nonminimum-phase systems because the separation between the actuator and the sensor creates an input-output delay. The delay can deteriorate stability of closed-loop systems. This paper presents a simple approach to improve the delay-margin of the noncollocated vibration control of piezo-actuated flexible beams using a fractional-order controller. Results of real life experiments illustrate efficiency of the controller and show that the fractional-order controller has better stability robustness than the integer-order controller.

  13. Couple Control Model Implementation on Antagonistic Mono- and Bi-Articular Actuators

    CERN Document Server

    Prattico, Flavio; Yamamoto, Shin-ichiroh

    2014-01-01

    Recently, robot assisted therapy devices are increasingly used for spinal cord injury (SCI) rehabilitation in assisting handicapped patients to regain their impaired movements. Assistive robotic systems may not be able to cure or fully compensate impairments, but it should be able to assist certain impaired functions and ease movements. In this study, a couple control model for lower-limb orthosis of a body weight support gait training system is proposed. The developed leg orthosis implements the use of pneumatic artificial muscle as an actuation system. The pneumatic muscle was arranged antagonistically to form two pair of mono-articular muscles (i.e., hip and knee joints), and a pair of bi-articular actuators (i.e., rectus femoris and hamstring). The results of the proposed couple control model showed that, it was able to simultaneously control the antagonistic mono- and bi-articular actuators and sufficiently performed walking motion of the leg orthosis.

  14. Periodic reference tracking control approach for smart material actuators with complex hysteretic characteristics

    Science.gov (United States)

    Sun, Zhiyong; Hao, Lina; Song, Bo; Yang, Ruiguo; Cao, Ruimin; Cheng, Yu

    2016-10-01

    Micro/nano positioning technologies have been attractive for decades for their various applications in both industrial and scientific fields. The actuators employed in these technologies are typically smart material actuators, which possess inherent hysteresis that may cause systems behave unexpectedly. Periodic reference tracking capability is fundamental for apparatuses such as scanning probe microscope, which employs smart material actuators to generate periodic scanning motion. However, traditional controller such as PID method cannot guarantee accurate fast periodic scanning motion. To tackle this problem and to conduct practical implementation in digital devices, this paper proposes a novel control method named discrete extended unparallel Prandtl-Ishlinskii model based internal model (d-EUPI-IM) control approach. To tackle modeling uncertainties, the robust d-EUPI-IM control approach is investigated, and the associated sufficient stabilizing conditions are derived. The advantages of the proposed controller are: it is designed and represented in discrete form, thus practical for digital devices implementation; the extended unparallel Prandtl-Ishlinskii model can precisely represent forward/inverse complex hysteretic characteristics, thus can reduce modeling uncertainties and benefits controllers design; in addition, the internal model principle based control module can be utilized as a natural oscillator for tackling periodic references tracking problem. The proposed controller was verified through comparative experiments on a piezoelectric actuator platform, and convincing results have been achieved.

  15. Modelling and Fuzzy Control of an Efficient Swimming Ionic Polymer-metal Composite Actuated Robot

    Directory of Open Access Journals (Sweden)

    Qi Shen

    2013-10-01

    Full Text Available In this study, analytical techniques and fuzzy logic methods are applied to the dynamic modelling and efficient swimming control of a biomimetic robotic fish, which is actuated by an ionic polymer-metal composite (IPMC. A physical-based model for the biomimetic robotic fish is proposed. The model incorporates both the hydrodynamics of the IPMC tail and the actuation dynamics of the IPMC. The comparison of the results of the simulations and experiments shows the feasibility of the dynamic model. By using this model, we found that the harmonic control of the actuation frequency and voltage amplitude of the IPMC is a principal mechanism through which the robotic fish can obtain high thrust efficiency while swimming. The fuzzy control method, which is based on the knowledge of the IPMC fish’s dynamic behaviour, successfully utilized this principal mechanism. By comparing the thrust performance of the robotic fish with other control methods via simulation, we established that the fuzzy controller was able to achieve faster acceleration compared with what could be achieved with a conventional PID controller. The thrust efficiency during a steady state was superior to that with conventional control methods. We also found that when using the fuzzy control method the robotic fish can always swim near a higher actuation frequency, which could obtain both the desired speed and high thrust efficiency.

  16. Adaptive Integral-type Sliding Mode Control for Spacecraft Attitude Maneuvering Under Actuator Stuck Failures

    Institute of Scientific and Technical Information of China (English)

    HU Qinglei; ZHANG Youmin; HUO Xing; XIAO Bing

    2011-01-01

    A fault tolerant control (FTC) design technique against actuator stuck faults is investigated using integral-type sliding mode control (ISMC) with application to spacecraft attitude maneuvering control system. The principle of the proposed FTC scheme is to design an integral-type sliding mode attitude controller using on-line parameter adaptive updating law to compensate for the effects of stuck actuators. This adaptive law also provides both the estimates of the system parameters and external disturbances such that a prior knowledge of the spacecraft inertia or boundedness of disturbances is not required. Moreover, by including the integral feedback term, the designed controller can not only tolerate actuator stuck faults, but also compensate the disturbances with constant components. For the synthesis of controller, the fault time, patterns and values are unknown in advance, as motivated from a practical spacecraft control application. Complete stability and performance analysis are presented and illustrative simulation results of application to a spacecraft show that high precise attitude control with zero steady-error is successfully achieved using various scenarios of stuck failures in actuators.

  17. Control of Rotor-Blade Coupled Vibrations Using Shaft-Based Actuation

    DEFF Research Database (Denmark)

    Christensen, Rene H.; Santos, Ilmar

    2006-01-01

    When implementing active control into bladed rotating machines aiming at reducing blade vibrations, it can be shown that blade as well as rotor vibrations can in fact be controlled by the use of only shaft-based actuation. Thus the blades have to be deliberately mistuned. This paper investigates ...

  18. A new biarticular actuator design facilitates control of leg function in BioBiped3.

    Science.gov (United States)

    Sharbafi, Maziar Ahmad; Rode, Christian; Kurowski, Stefan; Scholz, Dorian; Möckel, Rico; Radkhah, Katayon; Zhao, Guoping; Rashty, Aida Mohammadinejad; Stryk, Oskar von; Seyfarth, Andre

    2016-01-01

    Bioinspired legged locomotion comprises different aspects, such as (i) benefiting from reduced complexity control approaches as observed in humans/animals, (ii) combining embodiment with the controllers and (iii) reflecting neural control mechanisms. One of the most important lessons learned from nature is the significant role of compliance in simplifying control, enhancing energy efficiency and robustness against perturbations for legged locomotion. In this research, we investigate how body morphology in combination with actuator design may facilitate motor control of leg function. Inspired by the human leg muscular system, we show that biarticular muscles have a key role in balancing the upper body, joint coordination and swing leg control. Appropriate adjustment of biarticular spring rest length and stiffness can simplify the control and also reduce energy consumption. In order to test these findings, the BioBiped3 robot was developed as a new version of BioBiped series of biologically inspired, compliant musculoskeletal robots. In this robot, three-segmented legs actuated by mono- and biarticular series elastic actuators mimic the nine major human leg muscle groups. With the new biarticular actuators in BioBiped3, novel simplified control concepts for postural balance and for joint coordination in rebounding movements (drop jumps) were demonstrated and approved. PMID:27367459

  19. Shape Control of Plates with Piezo Actuators and Collocated Position/Rate Sensors

    Science.gov (United States)

    Balakrishnan, A. V.

    1994-01-01

    This paper treats the control problem of shaping the surface deformation of a circular plate using embedded piezo-electric actuators and collocated rate sensors. An explicit Linear Quadratic Gaussian (LQG) optimizer stability augmentation compensator is derived as well as the optimal feed-forward control. Corresponding performance evaluation formulas are also derived.

  20. Candidate proof mass actuator control laws for the vibration suppression of a frame

    Science.gov (United States)

    Umland, Jeffrey W.; Inman, Daniel J.

    1991-01-01

    The vibration of an experimental flexible space truss is controlled with internal control forces produced by several proof mass actuators. Four candidate control law strategies are evaluated in terms of performance and robustness. These control laws are experimentally implemented on a quasi free-free planar truss. Sensor and actuator dynamics are included in the model such that the final closed loop is self-equilibrated. The first two control laws considered are based on direct output feedback and consist of tuning the actuator feedback gains to the lowest mode intended to receive damping. The first method feeds back only the position and velocity of the proof mass relative to the structure; this results in a traditional vibration absorber. The second method includes the same feedback paths as the first plus feedback of the local structural velocity. The third law is designed with robust H infinity control theory. The fourth strategy is an active implementation of a viscous damper, where the actuator is configured to provide a bending moment at two points on the structure. The vibration control system is then evaluated in terms of how it would benefit the space structure's position control system.

  1. Piezocomposite Actuator Arrays for Correcting and Controlling Wavefront Error in Reflectors

    Science.gov (United States)

    Bradford, Samuel Case; Peterson, Lee D.; Ohara, Catherine M.; Shi, Fang; Agnes, Greg S.; Hoffman, Samuel M.; Wilkie, William Keats

    2012-01-01

    Three reflectors have been developed and tested to assess the performance of a distributed network of piezocomposite actuators for correcting thermal deformations and total wave-front error. The primary testbed article is an active composite reflector, composed of a spherically curved panel with a graphite face sheet and aluminum honeycomb core composite, and then augmented with a network of 90 distributed piezoelectric composite actuators. The piezoelectric actuator system may be used for correcting as-built residual shape errors, and for controlling low-order, thermally-induced quasi-static distortions of the panel. In this study, thermally-induced surface deformations of 1 to 5 microns were deliberately introduced onto the reflector, then measured using a speckle holography interferometer system. The reflector surface figure was subsequently corrected to a tolerance of 50 nm using the actuators embedded in the reflector's back face sheet. Two additional test articles were constructed: a borosilicate at window at 150 mm diameter with 18 actuators bonded to the back surface; and a direct metal laser sintered reflector with spherical curvature, 230 mm diameter, and 12 actuators bonded to the back surface. In the case of the glass reflector, absolute measurements were performed with an interferometer and the absolute surface was corrected. These test articles were evaluated to determine their absolute surface control capabilities, as well as to assess a multiphysics modeling effort developed under this program for the prediction of active reflector response. This paper will describe the design, construction, and testing of active reflector systems under thermal loads, and subsequent correction of surface shape via distributed peizeoelctric actuation.

  2. Modeling and optimal vibration control of conical shell with piezoelectric actuators

    Institute of Scientific and Technical Information of China (English)

    Wang Weiyuan; Wei Yingjie; Wang Cong; Zou Zhenzhu

    2008-01-01

    In this paper numerical simulations of active vibration control for conical shell structure with distributed piezoelectric actuators is presented. The dynamic equations of conical shell structure are derived using the finite element model (FEM) based on Mindlin's plate theory. The results of modal calculations with FEM model are accurate enough for engineering applications in comparison with experiment results. The Electromechanical influence of distributed piezoelectric actuators is treated as a boundary condition for estimating the control force. The independent modal space control (IMSC) method is adopted and the optimal linear quadratic state feedback control is implemented so that the best control performance with the least control cost can be achieved. Optimal control effects are compared with controlled responses with other non-optimal control parameters. Numerical simulation results are given to demonstrate the effectiveness of the control scheme.

  3. Step-coordination Algorithm of Traffic Control Based on Multi-agent System

    Institute of Scientific and Technical Information of China (English)

    Hai-Tao Zhang; Fang Yu; Wen Li

    2009-01-01

    Aiming at the deficiency of conventional traffic control method, this paper proposes a new method based on multi-agent technology for traffic control. Different from many existing methods, this paper distinguishes traffic control on the basis of the agent technology from conventional traffic control method. The composition and structure of a multi-agent system (MAS) is first discussed. Then, the step-coordination strategies of intersection-agent, segment-agent, and area-agent are put forward. The advantages of the algorithm are demonstrated by a simulation study.

  4. Lattice hydrodynamic model based traffic control: A transportation cyber-physical system approach

    Science.gov (United States)

    Liu, Hui; Sun, Dihua; Liu, Weining

    2016-11-01

    Lattice hydrodynamic model is a typical continuum traffic flow model, which describes the jamming transition of traffic flow properly. Previous studies in lattice hydrodynamic model have shown that the use of control method has the potential to improve traffic conditions. In this paper, a new control method is applied in lattice hydrodynamic model from a transportation cyber-physical system approach, in which only one lattice site needs to be controlled in this control scheme. The simulation verifies the feasibility and validity of this method, which can ensure the efficient and smooth operation of the traffic flow.

  5. Towards control of viscous effects in acrylic-based actuator applications

    Science.gov (United States)

    Thylander, S.; Menzel, A.; Ristinmaa, M.

    2016-09-01

    Dielectric elastomers offer clear advantages over more traditional and conventional materials when soft, lightweight, noiseless actuator applications with large deformations are considered. However, the viscous time-dependent behaviour associated with most elastomers limit the number of possible applications. For this purpose, the possibility of controlling the viscous response by regulating the applied electric potential is explored. The constitutive model chosen is calibrated to fit the electro-viscoelastic response of an acrylic elastomer often used in dielectric elastomer actuators. The response of both homogeneous deformation examples and inhomogeneous finite element boundary value problems, chosen to mimic existing applications, are presented. Control of both force and displacement quantities are successfully achieved.

  6. Control Strategy for Energy Efficient Fluid Power Actuators : Utilizing Individual Metering

    OpenAIRE

    Eriksson, Björn

    2007-01-01

    This thesis presents a solution enabling lower losses in hydraulic actuator systems. A mobile fluid power system often contains several different actuators supplied with a single load sensing pump. One of the main advantages is the need of only one system pump. This makes the fluid power system compact and cost-effective. A hydraulic load often consists of two ports, e.g. motors and cylinders. Such loads have traditionally been controlled by a valve that controls these ports by one single con...

  7. 无灯控错位交叉口交通流模型研究%Traffic Flow Model for Staggered Intersection without Signal Lamp

    Institute of Scientific and Technical Information of China (English)

    刘小明; 郑淑晖

    2012-01-01

    错位交叉口交通特性研究对于制定合理有效的错位交叉口交通管控策略具有重要意义.针对无灯控错位交叉口交通流间的冲突过程分别建立了相应的元胞自动机行为规则,进而应用上述规则对不同参数设置下的交通流演化过程进行数值模拟,并分析和讨论了主路进口道交通流密度变化对不同路段交通流平均速度的影响.研究结果表明,错位交叉口主路上较小的车流密度也能导致主路进口道及两T型口中间路段发生交通堵塞,每个T型口主路进口道交通流量变化会对另一个T型口主路进口道交通流平均速度产生较大影响,此外,无灯控下的交通堵塞也会呈现周期性的排队-消散过程.上述方法及结果可为错位交叉口实施信号控制提供有意义的指导.%Traffic characteristics investigation of staggered intersection lays the foundation of scientific and reasonable traffic control strategies. This paper first proposes the cellular automaton rules on the basis of the traffic conflict process analysis. Then with these rules, the traffic flow evolution under different parameters is presented by numerical simulations. The relationship between the arterial road traffic flow density and the average speed is explored. It is revealed that low traffic density on the main road of staggered intersections may lead to traffic congestions on the approach of main road and the road between two T-type intersections, and the average speed of traffic flow on each T-type import of main road was affected by the traffic flow changes of the other T-type approaches. Moreover, the traffic congestion on intersection without signal lamp is presented as a periodically queuing-dissipates process. The above methods and results provide meaningful guidance for traffic management and control implementation of staggered intersections without signal lamp.

  8. Utilizing Materials With Controllable Curie Temperatures for Magnetic Actuation Purposes

    DEFF Research Database (Denmark)

    Eriksen, Dan; Bahl, Christian R.H.; Smith, Anders;

    2013-01-01

    The magnetic force between a permanent magnet and different blocks of ferromagnetic materials was measured and calculated as a function of distance and temperature in the vicinity of the Curie temperature of the materials. The calculations were carried out using a 3-D finite-element model...... of the system. On the basis of forces predicted by the model a number of equilibrium points were calculated for a system where the magnetic force on a ferromagnetic block of material is balanced by a linear spring force. It is shown how these calculation procedures can be used as a tool for designing autonomous...... temperature dependent and temperature adjustable actuation systems. A shunt valve utilizing such a system was designed, built and tested....

  9. Investigation of actuator debonding effects on active control in smart composite laminates

    Directory of Open Access Journals (Sweden)

    Bin Huang

    2015-04-01

    Full Text Available This article presents a numerical study of active vibration control of smart composite laminates in the presence of actuator debonding failures. A comparison between the smart composite laminates with healthy actuator and various partially debonded actuator cases is performed to investigate the debonding effects on the vibration suppression. The improved layerwise theory with Heaviside’s unit step function is adopted to model the displacement field with actuator debonding failure. The higher order electric potential field is adopted to describe the potential variation through the thickness. The finite element method–based formulations are derived using the plate element, taking into consideration the electro-mechanical coupling effect. The reduced-order model is represented by the state-space form and further for the vibration suppression using a simple constant gain velocity feedback control strategy. For the purpose of demonstration, a 16-layer cross-ply substrate laminate ([0/90]4s is employed for the numerical study. The results show that the actuator debonding affects the closed-loop frequencies, active damping ratios, and efficiency of vibration suppression.

  10. Design of a linear-motion dual-stage actuation system for precision control

    International Nuclear Information System (INIS)

    Actuators with high linear-motion speed, high positioning resolution and a long motion stroke are needed in many precision machining systems. In some current systems, voice coil motors (VCMs) are implemented for servo control. While the voice coil motors may provide the long motion stroke needed in many applications, the main obstacle that hinders the improvement of the machining accuracy and efficiency is their limited bandwidth. To fundamentally solve this issue, we propose to develop a dual-stage actuation system that consists of a voice coil motor that covers the coarse motion, and a piezoelectric stack actuator that induces the fine motion, thus enhancing the positioning accuracy. The focus of this present research is the mechatronics design and synthesis of the new actuation system. In particular, a flexure hinge based mechanism is developed to provide a motion guide and preload to the piezoelectric stack actuator that is serially connected to the voice coil motor. This mechanism is built upon parallel plane flexure hinges. A series of numerical and experimental studies are carried out to facilitate the system design and the model identification. The effectiveness of the proposed system is demonstrated through open-loop studies and preliminary closed-loop control practice. While the primary goal of this particular design is aimed at enhancing optical lens machining, the concept and approach outlined are generic and can be extended to a variety of applications

  11. Design of passive fault-tolerant flight controller against actuator failures

    Directory of Open Access Journals (Sweden)

    Yu Xiang

    2015-02-01

    Full Text Available The problem of designing passive fault-tolerant flight controller is addressed when the normal and faulty cases are prescribed. First of all, the considered fault and fault-free cases are formed by polytopes. As considering that the safety of a post-fault system is directly related to the maximum values of physical variables in the system, peak-to-peak gain is selected to represent the relationships among the amplitudes of actuator outputs, system outputs, and reference commands. Based on the parameter dependent Lyapunov and slack methods, the passive fault-tolerant flight controllers in the absence/presence of system uncertainty for actuator failure cases are designed, respectively. Case studies of an airplane under actuator failures are carried out to validate the effectiveness of the proposed approach.

  12. Numerical Study of Control of Flow Separation Over a Ramp with Nanosecond Plasma Actuator

    Science.gov (United States)

    Zheng, J. G.; Khoo, B. C.; Cui, Y. D.; Zhao, Z. J.; Li, J.

    2016-06-01

    The nanosecond plasma discharge actuator driven by high voltage pulse with typical rise and decay time of several to tens of nanoseconds is emerging as a promising active flow control means in recent years and is being studied intensively. The characterization study reveals that the discharge induced shock wave propagates through ambient air and introduces highly transient perturbation to the flow. On the other hand, the residual heat remaining in the discharge volume may trigger the instability of external flow. In this study, this type of actuator is used to suppress flow separation over a ramp model. Numerical simulation is carried out to investigate the interaction of the discharge induced disturbance with the external flow. It is found that the flow separation region over the ramp can be reduced significantly. Our work may provide some insights into the understanding of the control mechanism of nanosecond pulse actuator.

  13. Sensor and Actuator Fault-Hiding Reconfigurable Control Design for a Four-Tank System Benchmark

    DEFF Research Database (Denmark)

    Hameed, Ibrahim; El-Madbouly, Esam I; Abdo, Mohamed I

    2015-01-01

    is introduced. Faults are modeled as a drastic gain loss in actuators (i.e., pumps) and in sensor measurements (i.e., level detection) which could lead to a large loss in the nominal performance. A configurable decentralized Proportional Integral (PI) controller is designed and applied to a Linear Time......Fault detection and compensation plays a key role to fulfill high demands for performance and security in today's technological systems. In this paper, a fault-hiding (i.e., tolerant) control scheme that detects and compensates for actuator and sensor faults in a four-tank system benchmark...... Invariant (LTI) system where virtual sensors and virtual actuators are used to correct faulty performance through the use of a pre-fault performance. Simulation results showed that the developed approach can handle different types of faults and able to completely and instantly recover the original system...

  14. Communication efficiency and congestion of signal traffic in large-scale brain networks.

    Science.gov (United States)

    Mišić, Bratislav; Sporns, Olaf; McIntosh, Anthony R

    2014-01-01

    The complex connectivity of the cerebral cortex suggests that inter-regional communication is a primary function. Using computational modeling, we show that anatomical connectivity may be a major determinant for global information flow in brain networks. A macaque brain network was implemented as a communication network in which signal units flowed between grey matter nodes along white matter paths. Compared to degree-matched surrogate networks, information flow on the macaque brain network was characterized by higher loss rates, faster transit times and lower throughput, suggesting that neural connectivity may be optimized for speed rather than fidelity. Much of global communication was mediated by a "rich club" of hub regions: a sub-graph comprised of high-degree nodes that are more densely interconnected with each other than predicted by chance. First, macaque communication patterns most closely resembled those observed for a synthetic rich club network, but were less similar to those seen in a synthetic small world network, suggesting that the former is a more fundamental feature of brain network topology. Second, rich club regions attracted the most signal traffic and likewise, connections between rich club regions carried more traffic than connections between non-rich club regions. Third, a number of rich club regions were significantly under-congested, suggesting that macaque connectivity actively shapes information flow, funneling traffic towards some nodes and away from others. Together, our results indicate a critical role of the rich club of hub nodes in dynamic aspects of global brain communication.

  15. Urban Traffic Control Using Adjusted Reinforcement Learning in a Multi-agent System

    Directory of Open Access Journals (Sweden)

    Mahshid Helali Moghadam

    2013-09-01

    Full Text Available Dynamism, continuous changes of states and the necessity to respond quickly are the specific characteristics of the environment in a traffic control system. Proposing an appropriate and flexible strategy to meet the existing requirements is always an important issue in traffic control. This study presents an adaptive approach to control urban traffic using multi-agent systems and a reinforcement learning augmented by an adjusting pre-learning stage. In this approach, the agent primarily uses some statistical traffic data and then uses traffic engineering theories for computing appropriate values of the traffic parameters. Having these primary values, the agents start the reinforcement learning based on the basic calculated information. The proposed approach, at first finds the approximate optimal zone for traffic parameters based on traffic engineering theories. Then using an appropriate reinforcement learning, it tries to exploit the best point according to different conditions. This approach was implemented on a network in traffic simulator software. The network was composed of six four phased intersections and 17 two lane streets. In the simulation, pedestrians were not considered in the system. The load of the network is defined in terms of Origin-Destination matrices whose entries represent the number of trips from an origin to a destination as a function of time. The simulation ran for five hours and an average traffic volume was used. According to the simulation results, the proposed approach behaved adaptively in different conditions and had better performance than the theory-based fixed-time control.

  16. Intersection Signal Control Based onReinforcement Learning with CMAC%基于CMAC强化学习的交叉口信号控制

    Institute of Scientific and Technical Information of China (English)

    温凯歌; 杨照辉

    2011-01-01

    采用神经网络值函数逼近的强化学习方法处理交叉口的信号控制.根据交通流及交叉口信号特征,建立强化学习的状态空间、动作空间和回报空间,以最小化车辆在交叉口的延误为控制目标,对信号进行优化控制.引入小脑模型关节控制器神经网络对强化学习(RL)的Q值进行逼近.在变化的交通条件下,使用典型交叉口对提出的RL模型进行验证,同传统的定时控制和全感应控制进行对比分析.仿真结果表明,RL控制器具有较强的学习能力,可以适应交通流的动态变化,稳定性好、自适应性强,对于环境变化具有较强的适应能力.%The intersection signal control is disposed with the Reinforcement Learning(RL) method based on the neural network function approximate. Considering the stochastic characteristic of the traffic system, an adaptive RL control scheme, based on Cerebellar Model Articulation Controller(CMAC), is introduced in the traffic signal control systems. Besides, CMAC is introduced to approximate the RL agent Q value. The model is tested on a typical isolated traffic intersection comprised of five four-legged signalized intersections, and compared to full-actuated control and pre-timed control. Analysis of simulation results using this approach shows significant improvement over traditional full-actuated control, especially for the case of accident and over-saturated traffic demand.

  17. How Life Experience Shapes Cognitive Control Strategies: The Case of Air Traffic Control Training

    OpenAIRE

    Arbula, Sandra; Capizzi, Mariagrazia; Lombardo, Nicoletta; Vallesi, Antonino

    2016-01-01

    Although human flexible behavior relies on cognitive control, it would be implausible to assume that there is only one, general mode of cognitive control strategy adopted by all individuals. For instance, different reliance on proactive versus reactive control strategies could explain inter-individual variability. In particular, specific life experiences, like a highly demanding training for future Air Traffic Controllers (ATCs), could modulate cognitive control functions. A group of ATC trai...

  18. Minimizing the Disruptive Effects of Prospective Memory in Simulated Air Traffic Control

    OpenAIRE

    Loft, Shayne; Smith, Rebekah E.; Remington, Roger

    2013-01-01

    Prospective memory refers to remembering to perform an intended action in the future. Failures of prospective memory can occur in air traffic control. In two experiments, we examined the utility of external aids for facilitating air traffic management in a simulated air traffic control task with prospective memory requirements. Participants accepted and handed-off aircraft and detected aircraft conflicts. The prospective memory task involved remembering to deviate from a routine operating pro...

  19. An Adaptive Fuzzy-Logic Traffic Control System in Conditions of Saturated Transport Stream

    Science.gov (United States)

    Marakhimov, A. R.; Igamberdiev, H. Z.; Umarov, Sh. X.

    2016-01-01

    This paper considers the problem of building adaptive fuzzy-logic traffic control systems (AFLTCS) to deal with information fuzziness and uncertainty in case of heavy traffic streams. Methods of formal description of traffic control on the crossroads based on fuzzy sets and fuzzy logic are proposed. This paper also provides efficient algorithms for implementing AFLTCS and develops the appropriate simulation models to test the efficiency of suggested approach. PMID:27517081

  20. The Study of Reinforcement Learning for Traffic Self-Adaptive Control under Multiagent Markov Game Environment

    OpenAIRE

    Lun-Hui Xu; Xin-Hai Xia; Qiang Luo

    2013-01-01

    Urban traffic self-adaptive control problem is dynamic and uncertain, so the states of traffic environment are hard to be observed. Efficient agent which controls a single intersection can be discovered automatically via multiagent reinforcement learning. However, in the majority of the previous works on this approach, each agent needed perfect observed information when interacting with the environment and learned individually with less efficient coordination. This study casts traffic self-ad...

  1. Structural integrated sensor and actuator systems for active flow control

    Science.gov (United States)

    Behr, Christian; Schwerter, Martin; Leester-Schädel, Monika; Wierach, Peter; Dietzel, Andreas; Sinapius, Michael

    2016-04-01

    An adaptive flow separation control system is designed and implemented as an essential part of a novel high-lift device for future aircraft. The system consists of MEMS pressure sensors to determine the flow conditions and adaptive lips to regulate the mass flow and the velocity of a wall near stream over the internally blown Coanda flap. By the oscillating lip the mass flow in the blowing slot changes dynamically, consequently the momentum exchange of the boundary layer over a high lift flap required mass flow can be reduced. These new compact and highly integrated systems provide a real-time monitoring and manipulation of the flow conditions. In this context the integration of pressure sensors into flow sensing airfoils of composite material is investigated. Mechanical and electrical properties of the integrated sensors are investigated under mechanical loads during tensile tests. The sensors contain a reference pressure chamber isolated to the ambient by a deformable membrane with integrated piezoresistors connected as a Wheatstone bridge, which outputs voltage signals depending on the ambient pressure. The composite material in which the sensors are embedded consists of 22 individual layers of unidirectional glass fiber reinforced plastic (GFRP) prepreg. The results of the experiments are used for adapting the design of the sensors and the layout of the laminate to ensure an optimized flux of force in highly loaded structures primarily for future aeronautical applications. It can be shown that the pressure sensor withstands the embedding process into fiber composites with full functional capability and predictable behavior under stress.

  2. Adaptive RBFNN Formation Control of Multi-mobile Robots with Actuator Dynamics

    Directory of Open Access Journals (Sweden)

    Li Yan-dong

    2013-04-01

    Full Text Available We study the problem of formation control and trajectory tracking for multiple nonholonomic mobile robots with actuator and formation dynamics. An adaptive neural-network (NN control strategy that integrated kinematic controller with input voltages controller of actuator was proposed. A control law was designed by backstepping technique based on separation-bearing formation control structure of leader-follower. The radial basis function neural network (RBFNN was adopted to achieve on-line estimation for the dynamics nonlinear uncertain part for follower and leader robots. The adaptive robust controller was adopted to compensate modeling errors of NN. This strategy not only overcomed all kinds of uncertainties of mobile robots, but also ensured the desired trajectory tracking of robot formation in the case of maintaining formation. The stability and convergence of the control system were proved by using the Lyapunov theory. The simulation results showed the effectiveness of this proposed method.

  3. A control model for hysteresis based on microscopic polarization mechanisms in piezoelectric actuator

    Institute of Scientific and Technical Information of China (English)

    RU Chang-hai; SUN Li-ning; RONG Wei-bin

    2008-01-01

    Aiming at the limitation of control accuracy caused by hysteresis and creep for a piezoelectric actuator, the hysteresis phenomenon is explained based on the microscopic polarization mechanism and domain wall theory. Then a control model based on polarization is established, which can reduce the hysteresis and creep remarkablely. The experimental results show that the polarization control method is with more linearity and less hysteresis compared with the voltage control method.

  4. Self-control of traffic lights and vehicle flows in urban road networks

    Science.gov (United States)

    Lämmer, Stefan; Helbing, Dirk

    2008-04-01

    Based on fluid-dynamic and many-particle (car-following) simulations of traffic flows in (urban) networks, we study the problem of coordinating incompatible traffic flows at intersections. Inspired by the observation of self-organized oscillations of pedestrian flows at bottlenecks, we propose a self-organization approach to traffic light control. The problem can be treated as a multi-agent problem with interactions between vehicles and traffic lights. Specifically, our approach assumes a priority-based control of traffic lights by the vehicle flows themselves, taking into account short-sighted anticipation of vehicle flows and platoons. The considered local interactions lead to emergent coordination patterns such as 'green waves' and achieve an efficient, decentralized traffic light control. While the proposed self-control adapts flexibly to local flow conditions and often leads to non-cyclical switching patterns with changing service sequences of different traffic flows, an almost periodic service may evolve under certain conditions and suggests the existence of a spontaneous synchronization of traffic lights despite the varying delays due to variable vehicle queues and travel times. The self-organized traffic light control is based on an optimization and a stabilization rule, each of which performs poorly at high utilizations of the road network, while their proper combination reaches a superior performance. The result is a considerable reduction not only in the average travel times, but also of their variation. Similar control approaches could be applied to the coordination of logistic and production processes.

  5. The Conception Approach to the Traffic Control in Czech Cities - Examples from Prague

    Science.gov (United States)

    Tichý, Tomáš; Krajčír, Dušan

    Modern and economic development of contemporary towns is without question highly dependent upon traffic infrastructure progress. Automobile transport intensity is dramatically rising in large towns and other Czech and European cities. At the same time number of traffic congestions and accidents is increasing, standing times are becoming longer and ecological stress is also escalated. To solve this situation seems to be the most effective solution to design intelligent traffic light intersection control system, variable message signs, preference of public transportation, road line traffic control and next telematics subsystems. This control system and subsystems should improve permeability of traffic road network with a respect for all demands on recent trends of traffic development in towns and regions.

  6. Mobile Phone Based RIMS for Traffic Control a Case Study of Tanzania

    Directory of Open Access Journals (Sweden)

    Angela-Aida Karugila Runyoro

    2015-04-01

    Full Text Available Vehicles saturation in transportation infrastructure causes traffic congestion, accidents, transportation delays and environment pollution. This problem can be resolved with proper management of traffic flow. Existing traffic management systems are challenged on capturing and processing real-time road data from wide area road networks. The main purpose of this study is to address the gap by implementing a mobile phone based Road Information Management System. The proposed system integrates three modules for data collection, storage and information dissemination. The modules works together to enable real-time traffic control. Disseminated information from the system, enables road users to adjust their travelling habit, also it allows the traffic lights to control the traffic in relation to the real-time situation occurring on the road. In this paper the system implementation and testing was performed. The results indicated that there is a possibility to track traffic data using Global Positioning System enabled mobile phones, and after processing the collected data, real-time traffic status was displayed on web interface. This enabled road users to know in advance the situation occurring on the roads and hence make proper travelling decision. Further research should consider adjusting the traffic lights control system to understand the disseminated real-time traffic information.

  7. Vibration Control of Manipulators with Flexible Nonprismatic Links Using Piezoelectric Actuators and Sensors

    Directory of Open Access Journals (Sweden)

    Valdecir Bottega

    2009-01-01

    robotic manipulator using simultaneously motor torques and piezoelectric actuators. The dynamic model of the flexible manipulator is obtained in a closed form through the Lagrange equations. The control uses the motor torques for the joints tracking control and also to reduce the low-frequency vibration induced in the manipulator links. The stability of this control is guaranteed by the Lyapunov stability theory. Piezoelectric actuators and sensors are added for controlling vibrations with frequencies beyond the reach of motor torque control. The naturals frequencies are calculated by the finite element method, and the approximated eigenfunctions are interpolated by polynomials. Three eigenfunctions are used for the dynamics of the arm, while only two are used for the control. Numerical experiments on Matlab/Simulink are used to verify the efficiency of the control model.

  8. Decentralized sliding-mode control for spacecraft attitude synchronization under actuator failures

    Science.gov (United States)

    Wu, Baolin; Wang, Danwei; Poh, Eng Kee

    2014-12-01

    This paper examines attitude synchronization and tracking problems with model uncertainties, external disturbances, actuator failures and control torque saturation. Two decentralized sliding mode control laws are proposed and analyzed based on algebraic graph theory. Using Barbalat's Lemma, it is shown that the control laws guarantee each spacecraft approaches the desired time-varying attitude and angular velocity while maintaining attitude synchronization among the other spacecraft in the formation. The first controller is designed in the presence of model uncertainties, external disturbances, and actuator failures. The results are extended to the case with control input saturation in the second controller. Both control laws do not require online identification of failures. Numerical simulations are presented to show the effectiveness of the proposed attitude synchronization and tracking approaches.

  9. Post-buckled precompressed (PBP) elements: a new class of flight control actuators enhancing high-speed autonomous VTOL MAVs

    OpenAIRE

    Barrett, R.; McMurtry, R.; De Vos, R; Tiso, P.; De Breuker, R.

    2005-01-01

    This paper describes a new class of flight control actuators using Post-Buckled Precompressed (PBP) piezoelectric elements. These actuators are designed to produce significantly higher deflection and force levels than conventional piezoelectric actuator elements. Classical laminate plate theory (CLPT) models are shown to work very well in capturing the behavior of the free, unloaded elements. A new high transverse deflection model which employs nonlinear structural relations is shown to succe...

  10. Actuator Location and Voltages Optimization for Shape Control of Smart Beams Using Genetic Algorithms

    Directory of Open Access Journals (Sweden)

    Georgios E. Stavroulakis

    2013-10-01

    Full Text Available This paper presents a numerical study on optimal voltages and optimal placement of piezoelectric actuators for shape control of beam structures. A finite element model, based on Timoshenko beam theory, is developed to characterize the behavior of the structure and the actuators. This model accounted for the electromechanical coupling in the entire beam structure, due to the fact that the piezoelectric layers are treated as constituent parts of the entire structural system. A hybrid scheme is presented based on great deluge and genetic algorithm. The hybrid algorithm is implemented to calculate the optimal locations and optimal values of voltages, applied to the piezoelectric actuators glued in the structure, which minimize the error between the achieved and the desired shape. Results from numerical simulations demonstrate the capabilities and efficiency of the developed optimization algorithm in both clamped−free and clamped−clamped beam problems are presented.

  11. Numerical Studies of a Supersonic Fluidic Diverter Actuator for Flow Control

    Science.gov (United States)

    Gokoglu, Suleyman A.; Kuczmarski, Maria A.; Culley, Dennis e.; Raghu, Surya

    2010-01-01

    The analysis of the internal flow structure and performance of a specific fluidic diverter actuator, previously studied by time-dependent numerical computations for subsonic flow, is extended to include operation with supersonic actuator exit velocities. The understanding will aid in the development of fluidic diverters with minimum pressure losses and advanced designs of flow control actuators. The self-induced oscillatory behavior of the flow is successfully predicted and the calculated oscillation frequencies with respect to flow rate have excellent agreement with our experimental measurements. The oscillation frequency increases with Mach number, but its dependence on flow rate changes from subsonic to transonic to supersonic regimes. The delay time for the initiation of oscillations depends on the flow rate and the acoustic speed in the gaseous medium for subsonic flow, but is unaffected by the flow rate for supersonic conditions

  12. Design, modelling and control of a micro-positioning actuator based on magnetic shape memory alloys

    Science.gov (United States)

    Minorowicz, Bartosz; Leonetti, Giuseppe; Stefanski, Frederik; Binetti, Giulio; Naso, David

    2016-07-01

    This paper presents an actuator based on magnetic shape memory alloys (MSMAs) suitable for precise positioning in a wide range (up to 1 mm). The actuator is based on the spring returned operating mode and uses a Smalley wave spring to maintain the same operating parameters of a classical coil spring, while being characterized by a smaller dimension. The MSMA element inside the actuator provides a deformation when excited by an external magnetic field, but its behavior is characterized by an asymmetric and saturated hysteresis. Thus, two models are exploited in this work to represent such a non-linear behavior, i.e., the modified and generalized Prandtl-Ishlinskii models. These models are particularly suitable for control purposes due to the existence of their analytical inversion that can be easily exploited in real time control systems. To this aim, this paper investigates three closed-loop control strategies, namely a classical PID regulator, a PID regulator with direct hysteresis compensation, and a combined PID and feedforward compensation strategy. The effectiveness of both modelling and control strategies applied to the designed MSMA-based actuator is illustrated by means of experimental results.

  13. A methodology for identification and control of electro-mechanical actuators

    Directory of Open Access Journals (Sweden)

    Tarek A. Tutunji

    2015-01-01

    Simulated and experimental results for two case studies, induction motor and vehicle drive system, are presented in order to validate the proposed methodology. These results showed that electromechanical actuators can be identified and controlled using an easy-to-duplicate and flexible procedure.

  14. Decentralized adaptive sliding mode control of a space robot actuated by control moment gyroscopes

    Institute of Scientific and Technical Information of China (English)

    Jia Yinghong; Xu Shijie

    2016-01-01

    An adaptive sliding mode control (ASMC) law is proposed in decentralized scheme for trajectory tracking control of a new concept space robot. Each joint of the system is a free ball joint capable of rotating with three degrees of freedom (DOF). A cluster of control moment gyroscopes (CMGs) is mounted on each link and the base to actuate the system. The modified Rodrigues parameters (MRPs) are employed to describe the angular displacements, and the equations of motion are derived using Kane’s equations. The controller for each link or the base is designed sep-arately in decentralized scheme. The unknown disturbances, inertia parameter uncertainties and nonlinear uncertainties are classified as a ‘‘lumped” matched uncertainty with unknown upper bound, and a continuous sliding mode control (SMC) law is proposed, in which the control gain is tuned by the improved adaptation laws for the upper bound on norm of the uncertainty. A gen-eral amplification function is designed and incorporated in the adaptation laws to reduce the control error without conspicuously increasing the magnitude of the control input. Uniformly ultimate boundedness of the closed loop system is proved by Lyapunov’s method. Simulation results based on a three-link system verify the effectiveness of the proposed controller.

  15. Decentralized adaptive sliding mode control of a space robot actuated by control moment gyroscopes

    Directory of Open Access Journals (Sweden)

    Jia Yinghong

    2016-06-01

    Full Text Available An adaptive sliding mode control (ASMC law is proposed in decentralized scheme for trajectory tracking control of a new concept space robot. Each joint of the system is a free ball joint capable of rotating with three degrees of freedom (DOF. A cluster of control moment gyroscopes (CMGs is mounted on each link and the base to actuate the system. The modified Rodrigues parameters (MRPs are employed to describe the angular displacements, and the equations of motion are derived using Kane’s equations. The controller for each link or the base is designed separately in decentralized scheme. The unknown disturbances, inertia parameter uncertainties and nonlinear uncertainties are classified as a “lumped” matched uncertainty with unknown upper bound, and a continuous sliding mode control (SMC law is proposed, in which the control gain is tuned by the improved adaptation laws for the upper bound on norm of the uncertainty. A general amplification function is designed and incorporated in the adaptation laws to reduce the control error without conspicuously increasing the magnitude of the control input. Uniformly ultimate boundedness of the closed loop system is proved by Lyapunov’s method. Simulation results based on a three-link system verify the effectiveness of the proposed controller.

  16. The Traffic Noise Index: A Method of Controlling Noise Nuisance.

    Science.gov (United States)

    Langdon, F. J.; Scholes, W. E.

    This building research survey is an analysis of the social nuisance caused by urban motor ways and their noise. The Traffic Noise Index is used to indicate traffic noises and their effects on architectural designs and planning, while suggesting the need for more and better window insulation and acoustical barriers. Overall concern is for--(1)…

  17. The Preventive Signaling Maintenance Crew Scheduling Problem for European Railway Traffic Management system (ERTMS)

    DEFF Research Database (Denmark)

    Mohammad Pour, Shahrzad; Stidsen, Thomas Jacob Riis; Rasmussen, Kourosh Marjani

    , the western part of Denmark. This case is particularly interesting, since the entire railway signalling system is currently being upgraded to the new European Railway Traffic Management System (ERTMS) standard. The new signals need continuous maintenance and in this article we plan the distribution of crew......A railway system is a large and complex infrastructure, which requires continuous maintenance in order to function correctly. Proper maintenance is critical but can also be costly. In this paper we consider the practical case of planning the preventive maintenance of railway signals in Jutland...... and also schedule their daily tasks. We formulate the problem as a multi depot vehicle routing problem with time windows and synchronization constraints, in a multi-day time schedule. We solve the problem for large realistic instances by introducing a constructive stage-wise algorithm. Experimental results...

  18. 5 CFR 842.405 - Air traffic controllers, firefighters, law enforcement officers, and nuclear materials couriers.

    Science.gov (United States)

    2010-01-01

    ... RETIREMENT SYSTEM-BASIC ANNUITY Computations § 842.405 Air traffic controllers, firefighters, law enforcement... 5 Administrative Personnel 2 2010-01-01 2010-01-01 false Air traffic controllers, firefighters, law enforcement officers, and nuclear materials couriers. 842.405 Section 842.405...

  19. Control of Future Air Traffic Systems via Complexity Bound Management

    Science.gov (United States)

    Alexandrov, Natalia

    2013-01-01

    The complexity of the present system for managing air traffic has led to "discreteness" in approaches to creating new concepts: new concepts are created as point designs, based on experience, expertise, and creativity of the proposer. Discrete point designs may be highly successful but they are difficult to substantiate in the face of equally strong substantiation of competing concepts, as well as the state of the art in concept evaluation via simulations. Hybrid concepts may present a compromise - the golden middle. Yet a hybrid of sometimes in principle incompatible concepts forms another point design that faces the challenge of substantiation and validation. We are faced with the need to re-design the air transportation system ab initio. This is a daunting task, especially considering the problem of transitioning from the present system to any fundamentally new system. However, design from scratch is also an opportunity to reconsider approaches to new concept development. In this position paper we propose an approach, Optimized Parametric Functional Design, for systematic development of concepts for management and control of airspace systems, based on optimization formulations in terms of required system functions and states. This reasoning framework, realizable in the context of ab initio system design, offers an approach to deriving substantiated airspace management and control concepts. With growing computational power, we hope that the approach will also yield a methodology for actual dynamic control of airspace

  20. A comparative study of Macroscopic Fundamental Diagrams of urban road networks governed by different traffic signal systems

    CERN Document Server

    Zhang, Lele; de Gier, Jan

    2011-01-01

    Using a stochastic cellular automaton model for urban traffic flow, we study and compare Macroscopic Fundamental Diagrams (MFDs) of arterial road networks governed by different types of adaptive traffic signal systems. In particular, we simulate realistic signal systems that include signal linking and adaptive cycle times, and compare their performance against a network using highly adaptive self-organizing traffic signals. We find that for networks with time- independent boundary conditions, well-defined stationary MFDs are observed, whose shape depends on the particular signal system used, and also on the level of heterogeneity in the system. We find that the spatial heterogeneity of both density and flow provide important indicators of network performance. We also study networks with time-dependent boundary conditions, containing morning and afternoon peaks. In this case, intricate hysteresis loops are observed in the MFDs which are strongly correlated with the density heterogeneity. Our results show that ...

  1. A Control Allocation Technique to Recover From Pilot-Induced Oscillations (CAPIO) Due to Actuator Rate Limiting

    Science.gov (United States)

    Yildiz, Yildiray; Kolmanovsky, Ilya V.

    2010-01-01

    This paper proposes a control allocation technique that can help pilots recover from pilot induced oscillations (PIO). When actuators are rate-saturated due to aggressive pilot commands, high gain flight control systems or some anomaly in the system, the effective delay in the control loop may increase depending on the nature of the cause. This effective delay increase manifests itself as a phase shift between the commanded and actual system signals and can instigate PIOs. The proposed control allocator reduces the effective time delay by minimizing the phase shift between the commanded and the actual attitude accelerations. Simulation results are reported, which demonstrate phase shift minimization and recovery from PIOs. Conversion of the objective function to be minimized and constraints to a form that is suitable for implementation is given.

  2. Modal Limit Cycle Control for Variable Stiffness Actuated Robots

    OpenAIRE

    Lakatos, Dominic; Garofalo, Gianluca; Petit, Florian; Ott, Christian; Albu-Schäffer, Alin

    2013-01-01

    This paper presents a control approach to stabilize limit cycle motions along a mechanical mode of variable stiffness actuated (VSA) robots. Thereby, first a PD controller with gravity and Coriolis/centrifugal compensation shapes a desired dynamics, which is decoupled in terms of modal coordinates. Then an asymptotically stable limit cycle is generated on the link side dynamics for a selected mode. Finally, the modal control approach first introduced for rigid robots is extended to the VSA c...

  3. Structural Load Analysis of a Wind Turbine under Pitch Actuator and Controller Faults

    Science.gov (United States)

    Etemaddar, Mahmoud; Gao, Zhen; Moan, Torgeir

    2014-12-01

    In this paper, we investigate the characteristics of a wind turbine under blade pitch angle and shaft speed sensor faults as well as pitch actuator faults. A land-based NREL 5MW variable speed pitch reg- ulated wind turbine is considered as a reference. The conventional collective blade pitch angle controller strategy with independent pitch actuators control is used for load reduction. The wind turbine class is IEC-BII. The main purpose is to investigate the severity of end effects on structural loads and responses and consequently identify the high-risk components according to the type and amplitude of fault using a servo-aero-elastic simulation code, HAWC2. Both transient and steady state effects of faults are studied. Such information is useful for wind turbine fault detection and identification as well as system reliability analysis. Results show the effects of faults on wind turbine power output and responses. Pitch sensor faults mainly affects the vibration of shaft main bearing, while generator power and aerodynamic thrust are not changed significantly, due to independent pitch actuator control of three blades. Shaft speed sensor faults can seriously affect the generator power and aerodynamic thrust. Pitch actuator faults can result in fully pitching of the blade, and consequently rotor stops due to negative aerodynamic torque.

  4. Structural Load Analysis of a Wind Turbine under Pitch Actuator and Controller Faults

    International Nuclear Information System (INIS)

    In this paper, we investigate the characteristics of a wind turbine under blade pitch angle and shaft speed sensor faults as well as pitch actuator faults. A land-based NREL 5MW variable speed pitch reg- ulated wind turbine is considered as a reference. The conventional collective blade pitch angle controller strategy with independent pitch actuators control is used for load reduction. The wind turbine class is IEC-BII. The main purpose is to investigate the severity of end effects on structural loads and responses and consequently identify the high-risk components according to the type and amplitude of fault using a servo-aero-elastic simulation code, HAWC2. Both transient and steady state effects of faults are studied. Such information is useful for wind turbine fault detection and identification as well as system reliability analysis. Results show the effects of faults on wind turbine power output and responses. Pitch sensor faults mainly affects the vibration of shaft main bearing, while generator power and aerodynamic thrust are not changed significantly, due to independent pitch actuator control of three blades. Shaft speed sensor faults can seriously affect the generator power and aerodynamic thrust. Pitch actuator faults can result in fully pitching of the blade, and consequently rotor stops due to negative aerodynamic torque

  5. Magnetic fish-robot based on multi-motion control of a flexible magnetic actuator.

    Science.gov (United States)

    Kim, Sung Hoon; Shin, Kyoosik; Hashi, Shuichiro; Ishiyama, Kazushi

    2012-09-01

    This paper presents a biologically inspired fish-robot driven by a single flexible magnetic actuator with a rotating magnetic field in a three-axis Helmholtz coil. Generally, magnetic fish-robots are powered by alternating and gradient magnetic fields, which provide a single motion such as bending the fish-robot's fins. On the other hand, a flexible magnetic actuator driven by an external rotating magnetic field can create several gaits such as the bending vibration, the twisting vibration, and their combination. Most magnetic fish-like micro-robots do not have pectoral fins on the side and are simply propelled by the tail fin. The proposed robot can swim and perform a variety of maneuvers with the addition of pectoral fins and control of the magnetic torque direction. In this paper, we find that the robot's dynamic actuation correlates with the magnetic actuator and the rotating magnetic field. The proposed robot is also equipped with new features, such as a total of six degrees of freedom, a new control method that stabilizes posture, three-dimensional swimming, a new velocity control, and new turning abilities. PMID:22550128

  6. Identification of hysteretic control influence operators representing smart actuators part I: Formulation

    Directory of Open Access Journals (Sweden)

    H. T. Banks

    1997-01-01

    Full Text Available A large class of emerging actuation devices and materials exhibit strong hysteresis characteristics during their routine operation. For example, when piezoceramic actuators are operated under the influence of strong electric fields, it is known that the resulting input–output behavior is hysteretic. Likewise, when shape memory alloys are resistively heated to induce phase transformations, the input–output response at the structural level is also known to be strongly hysteretic. This paper investigates the mathematical issues that arise in identifying a class of hysteresis operators that have been employed for modeling both piezoceramic actuation and shape memory alloy actuation. Specifically, the identification of a class of distributed hysteresis operators that arise in the control influence operator of a class of second order evolution equations is investigated. In Part I of this paper we introduce distributed,hysteretic control influence operators derived from smoothed Preisach operators and generalized hysteresis operators derived from results of Krasnoselskii and Pokrovskii. For these classes, the identification problem in which we seek to characterize the hysteretic control influence operator can be expressed as an ouput least square minimization over probability measures defined on a compact subset of a closed half-plane. In Part II of this paper, consistent and convergent approximation methods for identification of the measure characterizing the hysteresis are derived.

  7. Experimental Study of Flow Control on Bluff Body using Piezoelectric Actuators

    Directory of Open Access Journals (Sweden)

    Nabil Tounsi

    2016-01-01

    Full Text Available Active flow control is experimentally investigated on a car-type bluff body. The actuation is based on a synthetic jet actuator placed at the top of the Ahmed body rear window. In the present paper, a synthetic jet characterization is presented, the frequencies and the optimal amplitudes with regard to the spatial evolution are analyzed. All the measurements are carried out in a wind tunnel at Reynolds numbers based on the body length between 106 and 106. The bluff body shows a maximum drag reduction of 10% when optimal control is applied. Independent effect of the reduced frequency and the momentum coefficient actuation parameters on the drag reduction are also detailed in the present paper. This reduction induces changes in the flow field due to the piezoelectric actuation. The flow topology modification is investigated via particle image velocimetry measurements in order to estimate the flow response to a local excitation and to understand the mechanism involved in the aerodynamic drag control.

  8. Analysis, design, and testing of a low cost, direct force command linear proof mass actuator for structural control

    Science.gov (United States)

    Slater, G. L.; Shelley, Stuart; Jacobson, Mark

    1993-01-01

    In this paper, the design, analysis, and test of a low cost, linear proof mass actuator for vibration control is presented. The actuator is based on a linear induction coil from a large computer disk drive. Such disk drives are readily available and provide the linear actuator, current feedback amplifier, and power supply for a highly effective, yet inexpensive, experimental laboratory actuator. The device is implemented as a force command input system, and the performance is virtually the same as other, more sophisticated, linear proof mass systems.

  9. The Self-Adaptive Fuzzy PID Controller in Actuator Simulated Loading System

    Directory of Open Access Journals (Sweden)

    Chuanhui Zhang

    2013-05-01

    Full Text Available This paper analyzes the structure principle of the actuator simulated loading system with variable stiffness, and establishes the simplified model. What’s more, it also does a research on the application of the self-adaptive tuning of fuzzy PID(Proportion Integration Differentiation in actuator simulated loading system with variable stiffness. Because the loading system is connected with the steering system by a spring rod, there must be strong coupling. Besides, there are also the parametric variations accompanying with the variations of the stiffness. Based on compensation from the feed-forward control on the disturbance brought by the motion of steering engine, the system performance can be improved by using fuzzy adaptive adjusting PID control to make up the changes of system parameter caused by the changes of the stiffness. By combining the fuzzy control with traditional PID control, fuzzy adaptive PID control is able to choose the parameters more properly.

  10. Satisfactory fault-tolerant controller design for uncertain systems subject to actuator faults

    Institute of Scientific and Technical Information of China (English)

    Zhang Dengfeng; Su Hongye; Wang Zhiquan

    2008-01-01

    Based on satisfactory control strategy, a new method for robust passive fault tolerant controller is proposed for a class of uncertain discrete-time systems subject to actuator faults. The state-feedback gain matrix is calculated by linear matrix inequality (LMI) technique. The designed controller guarantees that the closed-loop system meets the pre-specified consistent constraints on circular pole index and steady-state variance index simultaneously for normal case and possible actuator fault case. The consistency of the performance indices is discussed. Furthermore, with the mentioned indices constraints, a solution is obtained by convex optimal technique for the robust satisfactory fault-tolerant controller with optimal control-cost.

  11. Soil, crop and emission responses to seasonal-controlled traffic in organic vegetable farming on loam soil

    NARCIS (Netherlands)

    Vermeulen, G.D.; Mosquera Losada, J.

    2009-01-01

    Some organic arable and vegetable farms in the Netherlands use cm-precise guidance of machinery to restrict wheel traffic to fixed traffic lanes and to achieve non-trafficked cropping zones with optimized soil structure in between the lanes. Contrary to controlled traffic farming (CTF) the traffic l

  12. Motion and vibration control of a slewing flexible structure by SMA actuators and parameter sensitivity analysis

    Science.gov (United States)

    Janzen, F. C.; Tusset, A. M.; Piccirillo, V.; Balthazar, J. M.; Brasil, R. M. L. R. F.

    2015-11-01

    This work presents two approaches to the problem of vibration and positioning control of a flexible structural beam driven by a DC motor. The position is controlled by the current applied to the DC motor armature. A Shape Memory Alloy (SMA) actuator controls vibrations of the flexible structural beam. The State Dependent Riccati Equation (SDRE) technique is used to provide a control action which uses sub-optimal control and system local stability search. The robustness of these two controllers is tested by sensitivity analysis to parametric uncertainties. Numerical simulations results are presented to demonstrate the effectiveness of the proposed control strategy.

  13. Reinforcement Learning Adaptive PID Controller for an Under-actuated Robot Arm

    Directory of Open Access Journals (Sweden)

    Adel Akbarimajd

    2015-10-01

    Full Text Available Abstract: An adaptive PID controller is used to control of a two degrees of freedom under actuated manipulator. An actor-critic based reinforcement learning is employed for tuning of parameters of the adaptive PID controller. Reinforcement learning is an unsupervised scheme wherein no reference exists to which convergence of algorithm is anticipated. Thus, it is appropriate for real time applications. Controller structure and learning equations as well as update rules are provided. Simulations are performed in SIMULINK and performance of the controller is compared with NARMA-L2 controller. The results verified good performance of the controller in tracking and disturbance rejection tests.

  14. STOCHASTIC OPTIMAL VIBRATION CONTROL OF PARTIALLY OBSERVABLE NONLINEAR QUASI HAMILTONIAN SYSTEMS WITH ACTUATOR SATURATION

    Institute of Scientific and Technical Information of China (English)

    Ronghua Huan; Lincong Chen; Weiliang Jin; Weiqiu Zhu

    2009-01-01

    An optimal vibration control strategy for partially observable nonlinear quasi Hamil-tonian systems with actuator saturation is proposed. First, a controlled partially observable non-linear system is converted into a completely observable linear control system of finite dimension based on the theorem due to Charalambous and Elliott. Then the partially averaged Ito stochas-tic differential equations and dynamical programming equation associated with the completely observable linear system are derived by using the stochastic averaging method and stochastic dynamical programming principle, respectively. The optimal control law is obtained from solving the final dynamical programming equation. The results show that the proposed control strategy has high control effectiveness and control efficiency.

  15. Force Control Strategies in Hydraulically Actuated Legged Robots

    Directory of Open Access Journals (Sweden)

    Hector Montes

    2016-03-01

    Full Text Available In this contribution, several strategies of force control have been proposed to be implemented and evaluated in ROBOCLIMBER, a quadruped robot of large dimensions. A first group of strategies proposed in this paper is based on impedance control, which is intended to adapt the foot-ground contact forces according to the experimentally specified damping ratio and the undamped natural frequency. A second control strategy of interest for many practical cases is called the parallel force/position control, which has one inner loop position control and two external control loops, one of force and another of position. A third group of control strategies is the posture stabilization for ROBOCLIMBER using the feedback of the ZMP calculation and the position of its legs. Finally, a control strategy for the control of a quasi-static gait using ZMP feedback is proposed and tested by simulation.

  16. Magnetorheological valve based actuator for improvement of passively controlled turbocharger system

    Science.gov (United States)

    Bahiuddin, I.; Mazlan, S. A.; Imaduddin, F.; Ubaidillah, Ichwan, B.

    2016-03-01

    Variable geometry turbochargers have been widely researched to fulfil the current engine stringent regulations. The passively controlled turbocharger (PCT) concept has been proposed to reduce energy consumption by utilizing the emission energy to move the actuator. However, it only covered a small range operating condition. Therefore, a magnetorheological(MR) Valve device, as typical smart material devices to enhance a passive device, is proposed to improve the PCT. Even though the benefits have been considered for the compactness and easiness to connect to an electrical system, the number of publications regarding the MR application within engine system is hard to be found. Therefore, this paper introduces a design of an MR Valve in a turbocharger. The main challenge is to make sure its capability to produce a sufficient total pressure drop. To overcome the challenge, its material properties, shape and pressure drop calculation has been analyzed to fulfil the requirement. Finally, to get a more understanding of actuator performance, the actuator response was simulated by treating the exhaust gas pressure as an input. It shows that the new MR actuator has a potential dynamic to improve the PCT controllability.

  17. Remaining Useful Lifetime Prognosis of Controlled Systems: A Case of Stochastically Deteriorating Actuator

    Directory of Open Access Journals (Sweden)

    Danh Ngoc Nguyen

    2015-01-01

    Full Text Available This paper addresses the case of automatic controlled system which deteriorates during its operation because of components’ wear or deterioration. Depending on its specific closed-loop structure, the controlled system has the ability to compensate for disturbances affecting the actuators which can remain partially hidden. The deterioration modeling and the Remaining Useful Lifetime (RUL estimation for such closed-loop dynamic system have not been addressed extensively. In this paper, we consider a controlled system with Proportional-Integral-Derivative controller. It is assumed that the actuator is subject to shocks that occur randomly in time. An integrated model is proposed to jointly describe the state of the controlled process and the actuator deterioration. Only the output of the controlled system is available to assess its health condition. By considering a Piecewise Deterministic Markov Process, the RUL of the system can be estimated by a two-step approach. In the first step referred as the “Diagnosis” step, the system state is estimated online from the available monitoring observations by using a particle filtering method. In the second step referred as the “Prognosis” step, the RUL is estimated as a conditional reliability by Monte Carlo simulation. To illustrate the approach, a simulated tank level control system is used.

  18. Potential of controlled traffic farming with automatic guidance on an organic farm in the Netherlands

    OpenAIRE

    Vermeulen, G.D.; Mosquera, J.; Wel, van der, GK; Klooster, van der, A.; Steenhuizen, J.W.

    2007-01-01

    Some organic farms in the Netherlands use RTK-DGPS guidance of machinery over fixed traffic lanes to achieve non-trafficked cropping zones with optimum soil structure. These lanes are not yet used for harvesting and primary tillage. The potential of such a seasonal controlled traffic farming (SCTF) system was evaluated. In an on-farm field experiment in green pea, spinach, onions and carrots, SCTF with traffic lanes at 3.15-m centres was compared with conventional random traffic farming (RTF)...

  19. Pipeline tracking for fully-actuated autonomous underwater vehicle using visual servo control

    OpenAIRE

    Krupinsky, Szymon; Allibert, Guillaume; Hua, Minh Duc; Hamel, Tarek

    2012-01-01

    International audience This paper describes a nonlinear image-based visual servo control algorithm for the pipeline tracking problem of a fully-actuated underwater vehicle. The dynamic model of a generic autonomous underwater vehicle (AUV), incorporating all significant forces and torques is developed and a generic velocity control strategy is proposed. The desired velocities in the plane orthogonal to the direction of the pipeline along with the yaw velocity are derived from the image seq...

  20. A Model for Capacity Considering the Interference by Pedestrian Traffic at Signal Intersections

    Institute of Scientific and Technical Information of China (English)

    Yixin Chen; Yulong He; Xiaoduan Sun

    2016-01-01

    The capacity is impacted badly by pedestrians’ violation behavior at signal intersections. In order to quantify the impact, the time⁃headway and the vehicular speed from start⁃up to reach the stable saturation flow with and without pedestrian traffic are used as the direct measurements. Using the statistical analysis, the time⁃headway of saturation flow is mainly affected by the position of pedestrians and the degree of pedestrians ’ influence is classified into four levels. Then the speed⁃time profile for the vehicular acceleration at each level is fitted by Curve Fitting Software. Based on the effect to the time⁃headway and acceleration time, the model of capacity influenced by pedestrians is established and the influence is quantified, which enriches the fundamental theory of traffic engineering. The result shows that the vehicular capacity can be decreased by 14%at the worst case ( level I ) . The conclusions obtained in this paper are valuable for better management of the signal intersection.

  1. Feedback Structure-Borne Sound Control of a Flexible Plate with AN Electromagnetic Actuator: the Phase Lag Problem

    Science.gov (United States)

    Ren, M. Z.; Seto, K.; Doi, F.

    1997-08-01

    In this paper an experimental study is presented on active control of a clamped plate at audio frequencies by using feedback controller and electromagnetic actuator. The controller is designed with modern control theory on a lumped parameter model of the plate, and is then implemented in experiments to control the real structure. In practice, the optimal control force cannot be generated exactly as desired due to the non-ideal characteristics of the control system. Several factors such as A/D and D/A convertors, velocity estimation through approximate differentiation, and the electromagnetic actuator are examined in respect to their frequency features. An analytical model is developed to predict the phase lag of the actual control force to the designed control force. It is shown that if the phase lag is over 90 degrees, the control system will become unstable. Two techniques are discussed for improving the system performance that is mainly affected by the electromagnetic actuator when the high speed sampling and processing device is used as the controller. The simple and practical method is to employ a phase-lead compensation network in the control circuit. Another one that is more fundamental is to incorporate the characteristics of the actuator into the system by feeding back the current passing through the actuator into the controller. Various experiments are carried out to verify the analysis and the proposed methods, and the potentials of the electromagnetic actuator in controlling the high frequency vibration and noise are therefore demonstrated.

  2. Individual Markers of Resilience in Train Traffic Control

    OpenAIRE

    Lo, Julia C.; Pluyter, Kari R.; Meijer, Sebastiaan A.

    2015-01-01

    Objective: The aim of this study was to examine individual markers of resilience and obtain quantitative insights into the understanding and the implications of variation and expertise levels in train traffic operators’ goals and strategic mental models and their impact on performance. Background: The Dutch railways are one of the world’s most heavy utilized railway networks and have been identified to be weak in system and organizational resilience. Method: Twenty-two train traffic controlle...

  3. Characterization of Visual Scanning Patterns in Air Traffic Control.

    Science.gov (United States)

    McClung, Sarah N; Kang, Ziho

    2016-01-01

    Characterization of air traffic controllers' (ATCs') visual scanning strategies is a challenging issue due to the dynamic movement of multiple aircraft and increasing complexity of scanpaths (order of eye fixations and saccades) over time. Additionally, terminologies and methods are lacking to accurately characterize the eye tracking data into simplified visual scanning strategies linguistically expressed by ATCs. As an intermediate step to automate the characterization classification process, we (1) defined and developed new concepts to systematically filter complex visual scanpaths into simpler and more manageable forms and (2) developed procedures to map visual scanpaths with linguistic inputs to reduce the human judgement bias during interrater agreement. The developed concepts and procedures were applied to investigating the visual scanpaths of expert ATCs using scenarios with different aircraft congestion levels. Furthermore, oculomotor trends were analyzed to identify the influence of aircraft congestion on scan time and number of comparisons among aircraft. The findings show that (1) the scanpaths filtered at the highest intensity led to more consistent mapping with the ATCs' linguistic inputs, (2) the pattern classification occurrences differed between scenarios, and (3) increasing aircraft congestion caused increased scan times and aircraft pairwise comparisons. The results provide a foundation for better characterizing complex scanpaths in a dynamic task and automating the analysis process. PMID:27239190

  4. Auction Mechanism to Allocate Air Traffic Control Slots

    Science.gov (United States)

    Raffarin, Marianne

    2003-01-01

    This article deals with an auction mechanism for airspace slots, as a means of solving the European airspace congestion problem. A disequilibrium, between Air Traffic Control (ATC) services supply and ATC services demand are at the origin of almost one fourth of delays in the air transport industry in Europe. In order to tackle this congestion problem, we suggest modifying both pricing and allocation of ATC services, by setting up an auction mechanism. Objects of the auction will be the right for airlines to cross a part of the airspace, and then to benefit from ATC services over a period corresponding to the necessary time for the crossing. Allocation and payment rules have to be defined according to the objectives of this auction. The auctioneer is the public authority in charge of ATC services, whose aim is to obtain an efficient allocation. Therefore, the social value will be maximized. Another objective is to internalize congestion costs. To that end, we apply the principle of Clarke-Groves mechanism auction: each winner has to pay the externalities imposed on other bidders. The complex context of ATC leads to a specific design for this auction.

  5. Effects of iterative learning based signal control strategies on macroscopic fundamental diagrams of urban road networks

    Science.gov (United States)

    Yan, Fei; Tian, Fuli; Shi, Zhongke

    2016-10-01

    Urban traffic flows are inherently repeated on a daily or weekly basis. This repeatability can help improve the traffic conditions if it is used properly by the control system. In this paper, we propose a novel iterative learning control (ILC) strategy for traffic signals of urban road networks using the repeatability feature of traffic flow. To improve the control robustness, the ILC strategy is further integrated with an error feedback control law in a complementary manner. Theoretical analysis indicates that the ILC-based traffic signal control methods can guarantee the asymptotic learning convergence, despite the presence of modeling uncertainties and exogenous disturbances. Finally, the impacts of the ILC-based signal control strategies on the network macroscopic fundamental diagram (MFD) are examined. The results show that the proposed ILC-based control strategies can homogenously distribute the network accumulation by controlling the vehicle numbers in each link to the desired levels under different traffic demands, which can result in the network with high capacity and mobility.

  6. Active flutter suppression of a lifting surface using piezoelectric actuation and modern control theory

    Science.gov (United States)

    Han, Jae-Hung; Tani, Junji; Qiu, Jinhao

    2006-04-01

    This paper presents a numerical and experimental investigation on active flutter suppression of a swept-back cantilevered lifting surface using piezoelectric (PZT) actuation. A finite element method, a panel aerodynamic method, and the minimum state-space realization are involved in the development of the equation of motion in state-space, which is efficiently used for the analysis of the system and design of control laws with a modern control framework. PZT actuators, bonded symmetrically on the plate, are optimally grouped into two equivalent actuator sets using genetic algorithms to enhance controllability. H2- and μ-synthesized control laws are designed and the flutter suppression performance is evaluated via wind tunnel testing. In the μ-synthesis design, a simple parametric uncertainty model is used to take into account the system changes with respect to airflow speed. Both controllers show comparable flutter suppression performance around the flutter point. However, the μ-synthesized controller shows improved behavior over a wide flow speed range.

  7. Finite Element Analysis and Vibration Control of a Deep Composite Cylindrical Shell Using MFC Actuators

    Directory of Open Access Journals (Sweden)

    Gangolu Vijay Kumar

    2012-01-01

    Full Text Available A four-node composite facet-shell element is developed, accounting for electromechanical coupling of Macrofiber Composite (MFC and conventional PZT patches. Further a warping correction is included in order to capture correctly the induced strain of conformable MFC, surface bonded on a cylindrical shell. The element performance to model the relations between in-plane electric field to normal strains is examined with the help of experiment and ANSYS analysis. In ANSYS, a simple modeling scheme is proposed for MFC using a parallel capacitors concept. The independent modal space control technique has been revisited to address the control of combination resonances through a selective modal space control scheme, where two or more modes can be combined to form the vibrating system or plant in modal domain. The developed control schemes are implemented in a digital processor using DS1104 and the closed-loop vibration control experiments are conducted on a CFRP shell structure. The influence of directionally induced actuation of MFC actuators on elastic couplings of composite shell is studied theoretically and is subsequently demonstrated in experiments. MFC actuators provide the much needed optimization domain for achieving the vibration control of combination resonances of elastically coupled deep-shell structure.

  8. Combination of traffic-responsive and gating control in urban networks: Effective interactions

    NARCIS (Netherlands)

    Keyvan Ekbatani, M.; Gao, X.; Gayah, V.V.; Knoop, V.L.

    2016-01-01

    Recent findings regarding macroscopic relationships of urban traffic measures such as the Macroscopic or Network Fundamental Diagram (MFD or NFD) have led to the development of novel traffic control strategies that can be applied at a network-wide level. One pertinent example is perimeter flow contr

  9. Traffic flow impacts of adaptive cruise control deactivation and (Re)activation with cooperative driver behavior

    NARCIS (Netherlands)

    Klunder, G.; Li, M.; Minderhoud, M.

    2009-01-01

    In 2006 in the Netherlands, a field operational test was carried out to study the effect of adaptive cruise control (ACC) and lane departure warning on driver behavior and traffic flow in real traffic. To estimate the effect for larger penetration rates, simulations were needed. For a reliable impac

  10. Potential of controlled traffic farming with automatic guidance on an organic farm in the Netherlands

    NARCIS (Netherlands)

    Vermeulen, G.D.; Mosquera, J.; Wel, van der C.; Klooster, van der A.; Steenhuizen, J.W.

    2007-01-01

    Some organic farms in the Netherlands use RTK-DGPS guidance of machinery over fixed traffic lanes to achieve non-trafficked cropping zones with optimum soil structure. These lanes are not yet used for harvesting and primary tillage. The potential of such a seasonal controlled traffic farming (SCTF)

  11. Setpoint Weighted PID Controller for the Electromechanical Actuator in Spacecraft

    Directory of Open Access Journals (Sweden)

    R. Sumathi

    2014-05-01

    Full Text Available An intelligent control system for the rocket engine during electromechanical stage is designed and scrutinized in this paper. The rocket is the only vehicle that lift-offs the spacecraft in the space. But, the motion of the rocket can be influenced by internal and external disturbances. Furthermore, the rocket is a multi-input and multi-output nonlinear system whose dynamics are unstable and poorly understood. So the orientation of the spacecraft in precise position is so critical. Hence, attitude control of the rocket is a big challenge with real time. To make the rocket stable against the influences, this paper has examined the control technology such as linear quadratic regulator theory and setpoint weighted proportional integral derivative controller based on the two degree of freedom mathematical model. The transient behaviour of the LQR controller is not smooth and takes more time to settle in the defined position. Specific to the deficiencies of LQR, a setpoint weighted PID controller is proposed to improve the setpoint response. In conclusion, this paper compares the performance analysis of linear quadratic regulator and setpoint weighted PID controller. The simulation results indicate that the setpoint weighted PID controller has a remarkable improvement in terms of overshoot and settling time besides reducing steady state error. The proposed setpoint weighted PID controller enhances the system performance and produces enormous stability to the rocket engine.

  12. Realtime Surface Shear Stress Control with MEMS Sensors/Actuators in Turbulent Boundary Layers

    Science.gov (United States)

    Huang, Adam; Lew, James; Ho, Chih-Ming; Xu, Yong; Tai, Yu-Chong

    2003-11-01

    High-speed surface streaks in turbulent boundary layers have been attributed to approximately 40friction drag. A real-time control system for reducing surface shear stress has being developed. The system consists of two linear arrays of MEMS surface shear stress imagers for providing control and feedback measurements and a recently developed, micro-machined flap-type actuator for interaction with the streak structures. Driven by a constant temperature anemometry circuit with an overheat ratio of 12sensitivity of 100 mV/Pa and frequency response of 20 kHz. The micro-machined bubble-flap actuator is essentially a thin silicon cantilever beam which hangs/sits on top of a silicone diaphragm molded into a bulk etched silicon cavity. The flap shape used is a 3mm long (streamwise) by 1mm wide rectangular beam, with a thickness of 40 um. Actuation is achieved by pneumatically inflating the silicone diaphragm, which then pushes up the silicon beam. The current flap can achieve off-plane deflections of over 130 um at frequencies up to 150 Hz, with a rise time of 2ms and a fall time of 4ms. Experiments are carried out with the system installed onto the wall of a 2-D turbulent wind tunnel. At Re 10k, corresponding to flow velocity of 10 m/s, time-averaged reduction of 4achieved continuous actuation at 130 um and 150 Hz. Furthermore, in offline data processing, it has been found that the actuator interacting with the streak structures has reduce the peak shear stress of a streak by an additional 0.2 Pa, or about 50

  13. Human-robot-interaction control for orthoses with pneumatic soft-actuators--concept and initial trails.

    Science.gov (United States)

    Baiden, David; Ivlev, Oleg

    2013-06-01

    The purpose of this paper is to present a concept of human-robot-interaction control for robots with compliant pneumatic soft-actuators which are directly attached to the human body. Backdrivability of this type of actuators is beneficial for comfort and safety and they are well suitable to design rehabilitation robots for training of activities of daily living (ADL). The concept is verified with an application example of sit-to-stand tasks taking conventional treatment in neurology as reference. The focus is on stroke patients with a target group suffering from hemiplegia and paralysis in one half of the body. A 2 DOF exoskeleton robot was used as testbed to implement the control concept for supporting rising based on a master-slave position control such that movements from the fit leg are transferred to the affected leg. Furthermore the wearer of the robot has the possibility to adjust support for stabilizing the knee joint manually. Preliminary results are presented.

  14. Finite element formulation of laminated plate with flexible piezoelectric actuators and vibration control analysis

    Science.gov (United States)

    Gopinath, Thamilselvan; Raja, Samikannu; Ikeda, Tadashige

    2011-03-01

    The use of surface bonded (MFC) and embedded (SAFC) piezoelectric composite actuators is examined through a numerical study. Modelling schemes are therefore developed by applying the isoparametric finite element approach to idealize normal strain to electric field and shear strain to electric field relations. A four noded coupled finite element is developed to compute the electro-mechanical responses of the active plate. A linear quadratic regulator is employed to perform the active vibration control studies. The system matrices of the smart plate structure are obtained and used in the state-space control model. Two elastic modes are considered, namely bending and torsion of the active plate. The emphasis is given to evaluate the performance of two different kinds of flexible piezoelectric actuators in vibration control application.

  15. Optimum Duty Cycle of Unsteady Plasma Aerodynamic Actuation for NACA0015 Airfoil Stall Separation Control

    Science.gov (United States)

    Sun, Min; Yang, Bo; Peng, Tianxiang; Lei, Mingkai

    2016-06-01

    Unsteady dielectric barrier discharge (DBD) plasma aerodynamic actuation technology is employed to suppress airfoil stall separation and the technical parameters are explored with wind tunnel experiments on an NACA0015 airfoil by measuring the surface pressure distribution of the airfoil. The performance of the DBD aerodynamic actuation for airfoil stall separation suppression is evaluated under DBD voltages from 2000 V to 4000 V and the duty cycles varied in the range of 0.1 to 1.0. It is found that higher lift coefficients and lower threshold voltages are achieved under the unsteady DBD aerodynamic actuation with the duty cycles less than 0.5 as compared to that of the steady plasma actuation at the same free-stream speeds and attack angles, indicating a better flow control performance. By comparing the lift coefficients and the threshold voltages, an optimum duty cycle is determined as 0.25 by which the maximum lift coefficient and the minimum threshold voltage are obtained at the same free-stream speed and attack angle. The non-uniform DBD discharge with stronger discharge in the positive half cycle due to electrons deposition on the dielectric slabs and the suppression of opposite momentum transfer due to the intermittent discharge with cutoff of the negative half cycle are responsible for the observed optimum duty cycle. supported by National Natural Science Foundation of China (No. 21276036), Liaoning Provincial Natural Science Foundation of China (No. 2015020123) and the Fundamental Research Funds for the Central Universities of China (No. 3132015154)

  16. Schlieren imaging in a dielectric barrier discharge actuator for airflow control

    Science.gov (United States)

    Cristofolini, A.; Neretti, G.; Roveda, F.; Borghi, C. A.

    2012-02-01

    The operation of a surface dielectric barrier discharge actuator for airflow control has been experimentally investigated. The actuator is constituted by an electrode pair separated by a dielectric Teflon sheet. Several ac supply conditions have been utilized. An electrohydrodynamics interaction was induced in still air, and several fluid-dynamic regimes were obtained. Visualization of the plasma boundary layer during the discharge ignition phase and during the steady state regime was obtained by utilizing a Schlieren diagnostic technique. The vortex morphology and propagation velocities at all supply conditions utilized have been evaluated. Velocity profiles perpendicular to the actuator surface, obtained from Pitot tube measurements, and line intensity profiles, determined by means of Schlieren imaging, have been determined for the steady regime operation. The integral along a line perpendicular to the actuator surface of the light intensity of the Schlieren image has been calculated. The profile obtained is in good agreement with the Pitot velocity profile in all the supply conditions investigated. Numerical simulations were also performed. The calculations confirm the relation between the flow velocity distribution in the boundary layer and the gas density distribution, which is the cause of the Schlieren image.

  17. A Service Oriented Architecture to Integrate Short Message Service (SMS) Notification in Road Traffic Volume Control System

    OpenAIRE

    Zahi Abu Sarhan; Mohammad Shkoukani; Hesham Abusaimeh

    2013-01-01

    The traffic volume becomes one of the top problems in the world, the volume of traffic spends many time and much money, the traffic volume grows daily, and there is not effective and suitable solutions for grows problem. This paper will present and describe an effective approach to integrate the Service Oriented Architecture with mobile devices and services agents in Traffic Management Systems (TMS). The Traffic Volume Control System (TVCS) should enable mobile short message service (SMS) not...

  18. Experimental study on the use of synthetic jet actuators for lift control

    Science.gov (United States)

    Torres, Ricardo Benjamin

    An experimental study on the use of synthetic jet actuators for lift control is conducted. The synthetic jet actuator is placed on the pressure side towards the trailing edge on a NACA 65(2)-415 airfoil representative of the cross section of an Inlet Guide Vane (IGV) in an industrial gas compressor. By redirecting or vectoring the shear layer at the trailing edge, the synthetic jet actuator increases lift and decreases drag on the airfoil without a mechanical device or flap. A compressor map that defines upper and lower bounds on operating velocities and airfoil dimensions, is compared with operating conditions of the low-speed wind tunnel at San Diego State University, to match gas compressor conditions in the wind tunnel. Realistic test conditions can range from Mach=0.12 to Mach= 0.27 and an airfoil chord from c=0.1 m to c=0.3 m. Based on the operating conditions, a final airfoil model is fabricated with a chord of c=0.1m. Several synthetic jet actuator designs are considered. A initial synthetic jet is designed to house a piezoelectric element with a material frequency of 1200 hz in a cavity with a volume of 4.47 cm3, a slot width of 0.25 mm, and a slot depth of 1.5 mm. With these dimensions, the Helmholtz frequency of the design is 1800Hz. Particle Image Velocimetry (PIV) experiments show that the design has a jet with a peak centerline jet velocity of 26 m/s at 750 Hz. A modified slant face synthetic jet is designed so that the cavity fits flush within the NACA airfoil surface. The slanted synthetic jet has a cavity volume of 4.67 cm3, a slot width of 0.25 mm, and a slot depth of 3.45 mm resulting in a Helmholtz frequency of 1170 hz for this design. PIV experiments show that the jet is redirected along the slant face according to the Coanda effect. A final synthetic jet actuator is directly integrated into the trailing edge of an airfoil with a cavity volume of 4.6 cm3, a slot width of 0.2 mm, and a slot depth of 1.6 mm. The Helmholtz frequency is 1450 Hz and

  19. Signal transduction meets vesicle traffic: the software and hardware of GLUT4 translocation.

    Science.gov (United States)

    Klip, Amira; Sun, Yi; Chiu, Tim Ting; Foley, Kevin P

    2014-05-15

    Skeletal muscle is the major tissue disposing of dietary glucose, a function regulated by insulin-elicited signals that impart mobilization of GLUT4 glucose transporters to the plasma membrane. This phenomenon, also central to adipocyte biology, has been the subject of intense and productive research for decades. We focus on muscle cell studies scrutinizing insulin signals and vesicle traffic in a spatiotemporal manner. Using the analogy of an integrated circuit to approach the intersection between signal transduction and vesicle mobilization, we identify signaling relays ("software") that engage structural/mechanical elements ("hardware") to enact the rapid mobilization and incorporation of GLUT4 into the cell surface. We emphasize how insulin signal transduction switches from tyrosine through lipid and serine phosphorylation down to activation of small G proteins of the Rab and Rho families, describe key negative regulation step of Rab GTPases through the GTPase-activating protein activity of the Akt substrate of 160 kDa (AS160), and focus on the mechanical effectors engaged by Rabs 8A and 10 (the molecular motor myosin Va), and the Rho GTPase Rac1 (actin filament branching and severing through Arp2/3 and cofilin). Finally, we illustrate how actin filaments interact with myosin 1c and α-Actinin4 to promote vesicle tethering as preamble to fusion with the membrane.

  20. Reconfigurable Control of Input Affine Nonlinear Systems under Actuator Fault

    DEFF Research Database (Denmark)

    Tabatabaeipour, Mojtaba; Galeazzi, Roberto

    2015-01-01

    This paper proposes a fault tolerant control method for input-affine nonlinear systems using a nonlinear reconfiguration block (RB). The basic idea of the method is to insert the RB between the plant and the nominal controller such that fault tolerance is achieved without re-designing the nominal...