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

Design and implementation of adaptive cruise control system for the TU/e solar powered electric car

NARCIS (Netherlands)

Papaliouras, I.

2016-01-01

The technical report presents the design and implementation of Adaptive Cruise Control. (ACC) system for the “Stella Lux” solar powered electric car, which was built by Solar Team Eindhoven and won the World Solar Challenge in Australia in 2015. Initially, an over-view of the context of the project

Effects of adaptive cruise control and highly automated driving on workload and situation awareness : A review of the empirical evidence

NARCIS (Netherlands)

Winter, J.C.F. de; Happee, R.; Martens, M.H.; Stanton, N.A.

2014-01-01

Adaptive cruise control (ACC), a driver assistance system that controls longitudinal motion, has been introduced in consumer cars in 1995. A next milestone is highly automated driving (HAD), a system that automates both longitudinal and lateral motion. We investigated the effects of ACC and HAD on

Effects of adaptive cruise control and highly automated driving on workload and situation awareness: A review of the empirical evidence.

NARCIS (Netherlands)

de Winter, Joost C.F.; Happee, Riender; Martens, Marieke Hendrikje; Stanton, Neville A.

2014-01-01

Adaptive cruise control (ACC), a driver assistance system that controls longitudinal motion, has been introduced in consumer cars in 1995. A next milestone is highly automated driving (HAD), a system that automates both longitudinal and lateral motion. We investigated the effects of ACC and HAD on

Impact on Congestion and Fuel Consumption of a Cooperative Adaptive Cruise Control System with Lane-Level Position Estimation

Directory of Open Access Journals (Sweden)

Edgar Talavera

2018-01-01

Full Text Available In recent years, vehicular communications systems have evolved and allowed for the improvement of adaptive cruise control (ACC systems to make them cooperative (cooperative adaptive cruise control, CACC. Conventional ACC systems use sensors on the ego-vehicle, such as radar or computer vision, to generate their behavioral decisions. However, by having vehicle-to-X (V2X onboard communications, the need to incorporate perception in the vehicle is drastically reduced. Thus, in this paper a CACC solution is proposed that only uses communications to make its decisions with the help of previous road mapping. At the same time, a method to develop these maps is presented, combining the information of a computer vision system to correct the positions obtained from the navigation system. In addition, the cut-in and cut-out maneuvers for a CACC platoon are taken into account, showing the tests of these situations in real environments with instrumented vehicles. To show the potential of the system in a larger-scale implementation, simulations of the behavior are provided under dense traffic conditions where the positive impact on the reduction of traffic congestion and fuel consumption is appreciated.

Luxury cruise? The safety potential of advanced cruise control.

NARCIS (Netherlands)

Oei, H.L.

2003-01-01

The principles of advanced cruise control (ACC) are outlined and the requirements for an ACC system are described. An intelligent cruise control system fitted in a Nissan Primera was tested on the road over a 2-week period by 10 drivers, eight of which were experts in road safety. Most test-drives

An improved cooperative adaptive cruise control (CACC) algorithm considering invalid communication

Science.gov (United States)

Wang, Pangwei; Wang, Yunpeng; Yu, Guizhen; Tang, Tieqiao

2014-05-01

For the Cooperative Adaptive Cruise Control (CACC) Algorithm, existing research studies mainly focus on how inter-vehicle communication can be used to develop CACC controller, the influence of the communication delays and lags of the actuators to the string stability. However, whether the string stability can be guaranteed when inter-vehicle communication is invalid partially has hardly been considered. This paper presents an improved CACC algorithm based on the sliding mode control theory and analyses the range of CACC controller parameters to maintain string stability. A dynamic model of vehicle spacing deviation in a platoon is then established, and the string stability conditions under improved CACC are analyzed. Unlike the traditional CACC algorithms, the proposed algorithm can ensure the functionality of the CACC system even if inter-vehicle communication is partially invalid. Finally, this paper establishes a platoon of five vehicles to simulate the improved CACC algorithm in MATLAB/Simulink, and the simulation results demonstrate that the improved CACC algorithm can maintain the string stability of a CACC platoon through adjusting the controller parameters and enlarging the spacing to prevent accidents. With guaranteed string stability, the proposed CACC algorithm can prevent oscillation of vehicle spacing and reduce chain collision accidents under real-world circumstances. This research proposes an improved CACC algorithm, which can guarantee the string stability when inter-vehicle communication is invalid.

A Mission-Adaptive Variable Camber Flap Control System to Optimize High Lift and Cruise Lift-to-Drag Ratios of Future N+3 Transport Aircraft

Science.gov (United States)

Urnes, James, Sr.; Nguyen, Nhan; Ippolito, Corey; Totah, Joseph; Trinh, Khanh; Ting, Eric

2013-01-01

Boeing and NASA are conducting a joint study program to design a wing flap system that will provide mission-adaptive lift and drag performance for future transport aircraft having light-weight, flexible wings. This Variable Camber Continuous Trailing Edge Flap (VCCTEF) system offers a lighter-weight lift control system having two performance objectives: (1) an efficient high lift capability for take-off and landing, and (2) reduction in cruise drag through control of the twist shape of the flexible wing. This control system during cruise will command varying flap settings along the span of the wing in order to establish an optimum wing twist for the current gross weight and cruise flight condition, and continue to change the wing twist as the aircraft changes gross weight and cruise conditions for each mission segment. Design weight of the flap control system is being minimized through use of light-weight shape memory alloy (SMA) actuation augmented with electric actuators. The VCCTEF program is developing better lift and drag performance of flexible wing transports with the further benefits of lighter-weight actuation and less drag using the variable camber shape of the flap.

MAINTAINING VEHICLE SPEED USING A MECHANICAL CRUISE CONTROL

Directory of Open Access Journals (Sweden)

Peter GIROVSKÝ

2017-06-01

Full Text Available In this article we would like to present cruise control realization. This cruise control is presented as mechanical device for vehicle speed maintenance and has been proposed as a low cost solution. Principle of function in mechanical cruise control is based on a position control of throttle. For the right action of mechanical cruise control it was need to solve some particular tasks related with speed sensing, construct of device for control of throttle position and design of control system of whole mechanical cruise control. Information about car velocity we have gained using Hall sensor attached on a magnetic ring of car tachometer. For control of the throttle was used a small servo drive and as the control unit was used Arduino. The designed solution of mechanical cruise control have been realized for car Škoda Felicia.

Design of an adaptive backstepping controller for auto-berthing a cruise ship under wind loads

Directory of Open Access Journals (Sweden)

Park Jong-Yong

2014-06-01

Full Text Available The auto-berthing of a ship requires excellent control for safe accomplishment. Crabbing, which is the pure sway motion of a ship without surge velocity, can be used for this purpose. Crabbing is induced by a peculiar operation procedure known as the push-pull mode. When a ship is in the push-pull mode, an interacting force is induced by complex turbulent flow around the ship generated by the propellers and side thrusters. In this paper, three degrees of freedom equations of the motions of crabbing are derived. The equations are used to apply the adaptive backstepping control method to the auto-berthing controller of a cruise ship. The controller is capable of handling the system nonlinearity and uncertainty of the berthing process. A control allocation algorithm for a ship equipped with two propellers and two side thrusters is also developed, the performance of which is validated by simulation of auto-berthing.

Self-tuning control algorithm design for vehicle adaptive cruise control system through real-time estimation of vehicle parameters and road grade

Science.gov (United States)

Marzbanrad, Javad; Tahbaz-zadeh Moghaddam, Iman

2016-09-01

The main purpose of this paper is to design a self-tuning control algorithm for an adaptive cruise control (ACC) system that can adapt its behaviour to variations of vehicle dynamics and uncertain road grade. To this aim, short-time linear quadratic form (STLQF) estimation technique is developed so as to track simultaneously the trend of the time-varying parameters of vehicle longitudinal dynamics with a small delay. These parameters are vehicle mass, road grade and aerodynamic drag-area coefficient. Next, the values of estimated parameters are used to tune the throttle and brake control inputs and to regulate the throttle/brake switching logic that governs the throttle and brake switching. The performance of the designed STLQF-based self-tuning control (STLQF-STC) algorithm for ACC system is compared with the conventional method based on fixed control structure regarding the speed/distance tracking control modes. Simulation results show that the proposed control algorithm improves the performance of throttle and brake controllers, providing more comfort while travelling, enhancing driving safety and giving a satisfactory performance in the presence of different payloads and road grade variations.

Human-Automation Interaction Design for Adaptive Cruise Control Systems of Ground Vehicles

Directory of Open Access Journals (Sweden)

Hwisoo Eom

2015-06-01

Full Text Available A majority of recently developed advanced vehicles have been equipped with various automated driver assistance systems, such as adaptive cruise control (ACC and lane keeping assistance systems. ACC systems have several operational modes, and drivers can be unaware of the mode in which they are operating. Because mode confusion is a significant human error factor that contributes to traffic accidents, it is necessary to develop user interfaces for ACC systems that can reduce mode confusion. To meet this requirement, this paper presents a new human-automation interaction design methodology in which the compatibility of the machine and interface models is determined using the proposed criteria, and if the models are incompatible, one or both of the models is/are modified to make them compatible. To investigate the effectiveness of our methodology, we designed two new interfaces by separately modifying the machine model and the interface model and then performed driver-in-the-loop experiments. The results showed that modifying the machine model provides a more compact, acceptable, effective, and safe interface than modifying the interface model.

Human-Automation Interaction Design for Adaptive Cruise Control Systems of Ground Vehicles.

Science.gov (United States)

Eom, Hwisoo; Lee, Sang Hun

2015-06-12

A majority of recently developed advanced vehicles have been equipped with various automated driver assistance systems, such as adaptive cruise control (ACC) and lane keeping assistance systems. ACC systems have several operational modes, and drivers can be unaware of the mode in which they are operating. Because mode confusion is a significant human error factor that contributes to traffic accidents, it is necessary to develop user interfaces for ACC systems that can reduce mode confusion. To meet this requirement, this paper presents a new human-automation interaction design methodology in which the compatibility of the machine and interface models is determined using the proposed criteria, and if the models are incompatible, one or both of the models is/are modified to make them compatible. To investigate the effectiveness of our methodology, we designed two new interfaces by separately modifying the machine model and the interface model and then performed driver-in-the-loop experiments. The results showed that modifying the machine model provides a more compact, acceptable, effective, and safe interface than modifying the interface model.

Ervaringen met Advanced Cruise Control (ACC) in een korte praktijkproef.

NARCIS (Netherlands)

Oei, H.-l.

2003-01-01

Experiences with Advanced Cruise Control in traffic; a limited experiment. Advanced Cruise Control (ACC) is an ordinary cruise control in which the desired speed is installed manually, but in which the headway time to the vehicle in front is also taken into account. If the headway time becomes less

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

Science.gov (United States)

Davis, L. C.

2007-06-01

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

Lateral control strategy for a hypersonic cruise missile

Directory of Open Access Journals (Sweden)

Yonghua Fan

2017-04-01

Full Text Available Hypersonic cruise missile always adopts the configuration of waverider body with the restraint of scramjet. As a result, the lateral motion exhibits serious coupling, and the controller design of the lateral lateral system cannot be conducted separately for yaw channel and roll channel. A multiple input and multiple output optimal control method with integrators is presented to design the lateral combined control system for hypersonic cruise missile. A hypersonic cruise missile lateral model is linearized as a multiple input and multiple output plant, which is coupled by kinematics and fin deflection between yaw and roll. In lateral combined controller, the integrators are augmented, respectively, into the loop of roll angle and lateral overload to ensure that the commands are tracked with zero steady-state error. Through simulation, the proposed controller demonstrates good performance in tracking the command of roll angle and lateral overload.

Automatic intelligent cruise control

OpenAIRE

Stanton, NA; Young, MS

2006-01-01

This paper reports a study on the evaluation of automatic intelligent cruise control (AICC) from a psychological perspective. It was anticipated that AICC would have an effect upon the psychology of driving—namely, make the driver feel like they have less control, reduce the level of trust in the vehicle, make drivers less situationally aware, but might reduce the workload and make driving might less stressful. Drivers were asked to drive in a driving simulator under manual and automatic inte...

Influences on Energy Savings of Heavy Trucks Using Cooperative Adaptive Cruise Control

Energy Technology Data Exchange (ETDEWEB)

Lammert, Michael P [National Renewable Energy Laboratory (NREL), Golden, CO (United States); McAuliffe, Brian [National Research Council Canada; Lu, Xiao-Yun [University of California-Berkeley; Shladover, Steven [University of California-Berkeley; Surcel, Marius-Dorin [FPInnovations; Kailas, Aravind [Volvo Group

2018-04-03

An integrated adaptive cruise control (ACC) and cooperative ACC (CACC) was implemented and tested on three heavy-duty tractor-trailer trucks on a closed test track. The first truck was always in ACC mode, and the followers were in CACC mode using wireless vehicle-vehicle communication to augment their radar sensor data to enable safe and accurate vehicle following at short gaps. The fuel consumption for each truck in the CACC string was measured using the SAE J1321 procedure while travelling at 65 mph and loaded to a gross weight of 65,000 lb, demonstrating the effects of: inter-vehicle gaps (ranging from 3.0 s or 87 m to 0.14 s or 4 m, covering a much wider range than previously reported tests), cut-in and cut-out maneuvers by other vehicles, speed variations, the use of mismatched vehicles (standard trailers mixed with aerodynamic trailers with boat tails and side skirts), and the presence of a passenger vehicle ahead of the platoon. The results showed that energy savings generally increased in a non-linear fashion as the gap was reduced. The middle truck saved the most fuel at gaps shorter than 12 m and the trailing truck saved the most at longer gaps, while lead truck saved the least at all gaps. The cut-in and cut-out maneuvers had only a marginal effect on fuel consumption even when repeated every two miles. The presence of passenger-vehicle traffic had a measurable impact. The fuel-consumption savings on the curves was less than on the straight sections.

Fuel Economy Impacts of Manual, Conventional Cruise Control, and Predictive Eco-Cruise Control Driving

Directory of Open Access Journals (Sweden)

Sangjun Park

2013-09-01

Full Text Available The paper presents the results of a field experiment that was designed to compare manual driving, conventional cruise control (CCC driving, and Eco-cruise control (ECC driving with regard to fuel economy. The field experiment was conducted on five test vehicles along a section of Interstate 81 that was comprised of ±4% uphill and downhill grade sections. Using an Onboard Diagnostic II reader, instantaneous fuel consumption rates and other driving parameters were collected with and without the CCC system enabled. The collected data were compared with regard to fuel economy, throttle control, and travel time. The results demonstrate that CCC enhances vehicle fuel economy by 3.3 percent on average relative to manual driving, however this difference was not found to be statistically significant at a 5 percent significance level. The results demonstrate that CCC driving is more efficient on downhill versus uphill sections. In addition, the study demonstrates that an ECC system can produce fuel savings ranging between 8 and 16 percent with increases in travel times ranging between 3 and 6 percent. These benefits appear to be largest for heavier vehicles (SUVs.

Cruise control in personenauto's : een literatuur-oriëntatie op verkeersveiligheidsaspecten.

NARCIS (Netherlands)

Kampen, L.T.B. van

1996-01-01

In this literature survey little evidence is found of studies primarily investigating the road safety effects of cruise control. Those effects which were examined (mainly through practical tests with and without cruise control) showed that in addition to positive effects governing individual fuel

The effects of in-vehicle tasks and time-gap selection while reclaiming control from adaptive cruise control (ACC) with bus simulator.

Science.gov (United States)

Lin, Tsang-Wei; Hwang, Sheue-Ling; Su, Jau-Ming; Chen, Wan-Hui

2008-05-01

This research aimed to find out the effects of in-vehicle distractions and time-gap settings with a fix-based bus driving simulator in a following scenario. Professional bus drivers were recruited to perform in-vehicle tasks while driving with adaptive cruise control (ACC) of changeable time-gap settings in freeway traffic. Thirty subjects were divided equally into three groups for different in-vehicle task modes (between subjects), including no task distraction, hands-free, and manual modes. Further, time-gap settings for the experimental ACC were: shorter than 1.0 s, 1.0-1.5 s, 1.5-2.0 s, and longer than 2.0 s (within subjects). Longitudinal (mean headway, forward collision rate, and response time) and lateral control (mean lateral lane position and its standard deviation) performance was assessed. In the results, longitudinal control performance was worsened by both shorter time-gaps and heavier in-vehicle tasks. But the interaction indicated that the harm by heavier in-vehicle distraction could be improved by longer time-gaps. As for the lateral control, it would only be negatively affected by shorter time-gap settings. This research indicates the effects of time-gaps and in-vehicle distraction, as well as the interaction. Proper time-gap selection under different in-vehicle distractions can help avoid accidents and keep safe.

Evaluating the safety impact of adaptive cruise control in traffic oscillations on freeways.

Science.gov (United States)

Li, Ye; Li, Zhibin; Wang, Hao; Wang, Wei; Xing, Lu

2017-07-01

Adaptive cruise control (ACC) has been considered one of the critical components of automated driving. ACC adjusts vehicle speeds automatically by measuring the status of the ego-vehicle and leading vehicle. Current commercial ACCs are designed to be comfortable and convenient driving systems. Little attention is paid to the safety impacts of ACC, especially in traffic oscillations when crash risks are the highest. The primary objective of this study was to evaluate the impacts of ACC parameter settings on rear-end collisions on freeways. First, the occurrence of a rear-end collision in a stop-and-go wave was analyzed. A car-following model in an integrated ACC was developed for a simulation analysis. The time-to-collision based factors were calculated as surrogate safety measures of the collision risk. We also evaluated different market penetration rates considering that the application of ACC will be a gradual process. The results showed that the safety impacts of ACC were largely affected by the parameters. Smaller time delays and larger time gaps improved safety performance, but inappropriate parameter settings increased the collision risks and caused traffic disturbances. A higher reduction of the collision risk was achieved as the ACC vehicle penetration rate increased, especially in the initial stage with penetration rates of less than 30%. This study also showed that in the initial stage, the combination of ACC and a variable speed limit achieved better safety improvements on congested freeways than each single technique. Copyright © 2017 Elsevier Ltd. All rights reserved.

A collision model for safety evaluation of autonomous intelligent cruise control.

Science.gov (United States)

Touran, A; Brackstone, M A; McDonald, M

1999-09-01

This paper describes a general framework for safety evaluation of autonomous intelligent cruise control in rear-end collisions. Using data and specifications from prototype devices, two collision models are developed. One model considers a train of four cars, one of which is equipped with autonomous intelligent cruise control. This model considers the car in front and two cars following the equipped car. In the second model, none of the cars is equipped with the device. Each model can predict the possibility of rear-end collision between cars under various conditions by calculating the remaining distance between cars after the front car brakes. Comparing the two collision models allows one to evaluate the effectiveness of autonomous intelligent cruise control in preventing collisions. The models are then subjected to Monte Carlo simulation to calculate the probability of collision. Based on crash probabilities, an expected value is calculated for the number of cars involved in any collision. It is found that given the model assumptions, while equipping a car with autonomous intelligent cruise control can significantly reduce the probability of the collision with the car ahead, it may adversely affect the situation for the following cars.

Advanced Cruise Control en verkeersveiligheid : een literatuurstudie.

NARCIS (Netherlands)

Hoetink, A.E.

2003-01-01

Manufacturers and dealers present Advanced Cruise Control (ACC) as a system to increase the comfort of car driving, but not as a system to increase road safety. This study presents the possible road safety effects of ACC, based on research results of recent literature. A structure was created for

Developing a Distributed Consensus-Based Cooperative Adaptive Cruise Control System for Heterogeneous Vehicles with Predecessor Following Topology

Directory of Open Access Journals (Sweden)

Ziran Wang

2017-01-01

Full Text Available Connected and automated vehicle (CAV has become an increasingly popular topic recently. As an application, Cooperative Adaptive Cruise Control (CACC systems are of high interest, allowing CAVs to communicate with each other and coordinating their maneuvers to form platoons, where one vehicle follows another with a constant velocity and/or time headway. In this study, we propose a novel CACC system, where distributed consensus algorithm and protocol are designed for platoon formation, merging maneuvers, and splitting maneuvers. Predecessor following information flow topology is adopted for the system, where each vehicle only communicates with its following vehicle to reach consensus of the whole platoon, making the vehicle-to-vehicle (V2V communication fast and accurate. Moreover, different from most studies assuming the type and dynamics of all the vehicles in a platoon to be homogenous, we take into account the length, location of GPS antenna on vehicle, and braking performance of different vehicles. A simulation study has been conducted under scenarios including normal platoon formation, platoon restoration from disturbances, and merging and splitting maneuvers. We have also carried out a sensitivity analysis on the distributed consensus algorithm, investigating the effect of the damping gain on convergence rate, driving comfort, and driving safety of the system.

Laser rangefinders for autonomous intelligent cruise control systems

Science.gov (United States)

Journet, Bernard A.; Bazin, Gaelle

1998-01-01

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

Research on the Intelligent Control and Simulation of Automobile Cruise System Based on Fuzzy System

Directory of Open Access Journals (Sweden)

Xue-wen Chen

2016-01-01

Full Text Available In order to improve the active safety driving vehicle and alleviate the intension of driving fatigue, an intelligent control strategy of automobile cruise is put forward based on the throttle or braking pedal combined control adopting the fuzzy control theory. A fuzzy logic controller is presented, which consists of the two input variables, the deviation of the theoretical safe distance and relative distance and the relative velocity between the preceding vehicle and the cruise vehicle, and the single output variable, that is, the throttle opening or the braking pedal travel. Taking the test data of 1.6 L vehicle with auto-transmission as an example, the function on the intelligent cruise control system is simulated adopting MATLAB/Simulink aiming at different working conditions on the city road. The simulation results show that the control strategy possesses integrated capability of automated Stop & Go control, actively following the preceding vehicle on the conditions of keeping the safety distance and the constant velocity cruise. The research results can offer the theory and technology reference for setting dSPACE type and developing the integrated control product of automobile cruise system.

Evaluation of the impacts of cooperative adaptive cruise control on reducing rear-end collision risks on freeways.

Science.gov (United States)

Li, Ye; Wang, Hao; Wang, Wei; Xing, Lu; Liu, Shanwen; Wei, Xueyan

2017-01-01

Although plenty of studies have been conducted recently about the impacts of cooperative adaptive cruise control (CACC) system on traffic efficiency, there are few researches analyzing the safety effects of this advanced driving-assistant system. Thus, the primary objective of this study is to evaluate the impacts of the CACC system on reducing rear-end collision risks on freeways. The CACC model is firstly developed, which is based on the Intelligent Driver Model (IDM). Then, two surrogated safety measures, derived from the time-to-collision (TTC), denoting time exposed time-to-collision (TET) and time integrated time-to-collision (TIT), are introduced for quantifying the collision risks. And the safety effects are analyzed both theoretically and experimentally, by the linear stability analysis and simulations. The theoretical and simulation results conformably indicate that the CACC system brings dramatic benefits for reducing rear-end collision risks (TET and TIT are reduced more than 90%, respectively), when the desired time headway and time delay are set properly. The sensitivity analysis indicates there are few differences among different values of the threshold of TTC and the length of a CACC platoon. The results also show that the safety improvements weaken with the decrease of the penetration rates of CACC on the market and the increase of time delay between platoons. We also evaluate the traffic efficiency of the CACC system with different desired time headway. Copyright © 2016 Elsevier Ltd. All rights reserved.

Toyota drivers' experiences with Dynamic Radar Cruise Control, Pre-Collision System, and Lane-Keeping Assist.

Science.gov (United States)

Eichelberger, Angela H; McCartt, Anne T

2016-02-01

Advanced crash avoidance and driver assistance technologies potentially can prevent or mitigate many crashes. Previous surveys with drivers have found favorable opinions for many advanced technologies; however, these surveys are not necessarily representative of all drivers or all systems. As the technologies spread throughout the vehicle fleet, it is important to continue studying driver acceptance and use of them. This study focused on 2010-2013 Toyota Sienna and Prius models that were equipped with adaptive cruise control, forward collision avoidance, and lane departure warning and prevention (Prius models only). Telephone interviews were conducted in summer 2013 with 183 owners of vehicles with these technologies. About 9 in 10 respondents wanted adaptive cruise control and forward collision avoidance on their next vehicle, and 71% wanted lane departure warning/prevention again. Males and females reported some differences in their experiences with the systems; for example, males were more likely to have turned on lane departure warning/prevention than females, and when using this system, males reported more frequent warnings than did females. Relative to older drivers, drivers age 40 and younger were more likely to have seen or heard a forward collision warning. Consistent with the results in previous surveys of owners of luxury vehicles, the present survey found that driver acceptance of the technologies was high, although less so for lane departure warning/prevention. Experiences with the Toyota systems differed by driver age and gender to a greater degree than in previous surveys, suggesting that the responses of drivers may begin to differ as crash avoidance technology becomes available on a wider variety of vehicles. Crash avoidance technologies potentially can prevent or mitigate many crashes, but their success depends in part on driver acceptance. These systems will be effective only to the extent that drivers use them. Copyright © 2015 Elsevier Ltd and

Air-Breathing Hypersonic Vehicle Tracking Control Based on Adaptive Dynamic Programming.

Science.gov (United States)

Mu, Chaoxu; Ni, Zhen; Sun, Changyin; He, Haibo

2017-03-01

In this paper, we propose a data-driven supplementary control approach with adaptive learning capability for air-breathing hypersonic vehicle tracking control based on action-dependent heuristic dynamic programming (ADHDP). The control action is generated by the combination of sliding mode control (SMC) and the ADHDP controller to track the desired velocity and the desired altitude. In particular, the ADHDP controller observes the differences between the actual velocity/altitude and the desired velocity/altitude, and then provides a supplementary control action accordingly. The ADHDP controller does not rely on the accurate mathematical model function and is data driven. Meanwhile, it is capable to adjust its parameters online over time under various working conditions, which is very suitable for hypersonic vehicle system with parameter uncertainties and disturbances. We verify the adaptive supplementary control approach versus the traditional SMC in the cruising flight, and provide three simulation studies to illustrate the improved performance with the proposed approach.

Behavioural effects of advanced cruise control use : a meta-analytic approach.

NARCIS (Netherlands)

Dragutinovic, N. Brookhuis, K.A. Hagenzieker, M.P. & Marchau, V.A.W.J.

2006-01-01

In this study, a meta-analytic approach was used to analyse effects of Advanced Cruise Control (ACC) on driving behaviour reported in seven driving simulator studies. The effects of ACC on three consistent outcome measures, namely, driving speed, headway and driver workload have been analysed. The

Linking roadside communication and intelligent cruise control ; effects on driving behaviour

NARCIS (Netherlands)

Hogema, J.H.; Horst, A.R.A. van der; Janssen, W.H.

1995-01-01

This paper describes a driving simulator experiment in which an Intelligenr Cruise Control (ICC) was combined with short-range communication (SRC) with the road side. This offers the possibility to obtain in-car preview information about relevant conditions on the road ahead. ICCs studied varied in

Predictive Eco-Cruise Control (ECC) system : model development, modeling and potential benefits.

Science.gov (United States)

2013-02-01

The research develops a reference model of a predictive eco-cruise control (ECC) system that intelligently modulates vehicle speed within a pre-set speed range to minimize vehicle fuel consumption levels using roadway topographic information. The stu...

Autonomous intelligent cruise control system

Science.gov (United States)

Baret, Marc; Bomer, Thierry T.; Calesse, C.; Dudych, L.; L'Hoist, P.

1995-01-01

Autonomous intelligent cruise control (AICC) systems are not only controlling vehicles' speed but acting on the throttle and eventually on the brakes they could automatically maintain the relative speed and distance between two vehicles in the same lane. And more than just for comfort it appears that these new systems should improve the safety on highways. By applying a technique issued from the space research carried out by MATRA, a sensor based on a charge coupled device (CCD) was designed to acquire the reflected light on standard-mounted car reflectors of pulsed laser diodes emission. The CCD is working in a unique mode called flash during transfer (FDT) which allows identification of target patterns in severe optical environments. It provides high accuracy for distance and angular position of targets. The absence of moving mechanical parts ensures high reliability for this sensor. The large field of view and the high measurement rate give a global situation assessment and a short reaction time. Then, tracking and filtering algorithms have been developed in order to select the target, on which the equipped vehicle determines its safety distance and speed, taking into account its maneuvering and the behaviors of other vehicles.

CMO: Cruise Metadata Organizer for JAMSTEC Research Cruises

Science.gov (United States)

Fukuda, K.; Saito, H.; Hanafusa, Y.; Vanroosebeke, A.; Kitayama, T.

2011-12-01

JAMSTEC's Data Research Center for Marine-Earth Sciences manages and distributes a wide variety of observational data and samples obtained from JAMSTEC research vessels and deep sea submersibles. Generally, metadata are essential to identify data and samples were obtained. In JAMSTEC, cruise metadata include cruise information such as cruise ID, name of vessel, research theme, and diving information such as dive number, name of submersible and position of diving point. They are submitted by chief scientists of research cruises in the Microsoft Excel° spreadsheet format, and registered into a data management database to confirm receipt of observational data files, cruise summaries, and cruise reports. The cruise metadata are also published via "JAMSTEC Data Site for Research Cruises" within two months after end of cruise. Furthermore, these metadata are distributed with observational data, images and samples via several data and sample distribution websites after a publication moratorium period. However, there are two operational issues in the metadata publishing process. One is that duplication efforts and asynchronous metadata across multiple distribution websites due to manual metadata entry into individual websites by administrators. The other is that differential data types or representation of metadata in each website. To solve those problems, we have developed a cruise metadata organizer (CMO) which allows cruise metadata to be connected from the data management database to several distribution websites. CMO is comprised of three components: an Extensible Markup Language (XML) database, an Enterprise Application Integration (EAI) software, and a web-based interface. The XML database is used because of its flexibility for any change of metadata. Daily differential uptake of metadata from the data management database to the XML database is automatically processed via the EAI software. Some metadata are entered into the XML database using the web

Robust output feedback cruise control for high-speed train movement with uncertain parameters

International Nuclear Information System (INIS)

Li Shu-Kai; Yang Li-Xing; Li Ke-Ping

2015-01-01

In this paper, the robust output feedback cruise control for high-speed train movement with uncertain parameters is investigated. The dynamic of a high-speed train is modeled by a cascade of cars connected by flexible couplers, which is subject to rolling mechanical resistance, aerodynamic drag and wind gust. Based on Lyapunov’s stability theory, the sufficient condition for the existence of the robust output feedback cruise control law is given in terms of linear matrix inequalities (LMIs), under which the high-speed train tracks the desired speed, the relative spring displacement between the two neighboring cars is stable at the equilibrium state, and meanwhile a small prescribed H ∞ disturbance attenuation level is guaranteed. One numerical example is given to illustrate the effectiveness of the proposed methods. (paper)

Development of a small cruising-type AUV and training of constant altitude swimming; Kogata kokogata kaichu robot no kaihatsu to teikodo koko no kunren

Energy Technology Data Exchange (ETDEWEB)

Suto, T. [Japan Society for the Promotion of Science, Tokyo (Japan); Ura, T. [The University of Tokyo, Tokyo (Japan). Institute of Industrial Science

1997-08-01

A small autonomous robot with high software development efficiency was developed to investigate the control system of an autonomous cruising-type AUV in the actual environment. This robot has a minimum of functions required as a cruising type. One researcher can make an experiment on the robot because of its compactness and lightweight. The robot can also automatically cruise around in a small pool. It was confirmed that an adaptive constant altitude swimming controller utilizing a neural network verified by simulation can also be properly adjusted by an actual robot. The switching mechanism of neural networks was introduced to classify environmental patterns. The corresponding controller is adjusted automatically. In this study, a lightweight and compact cruising-type test-bed robot that has not existed until now was developed. This robot is easy to manufacture and construct in software. Therefore, it is to be desired that the researches and development of autonomous functions are promoted using such a robot. 9 refs., 13 figs., 1 tab.

Reducing the risk of rear-end collisions with infrastructure-to-vehicle (I2V) integration of variable speed limit control and adaptive cruise control system.

Science.gov (United States)

Li, Ye; Wang, Hao; Wang, Wei; Liu, Shanwen; Xiang, Yun

2016-08-17

Adaptive cruise control (ACC) has been investigated recently to explore ways to increase traffic capacity, stabilize traffic flow, and improve traffic safety. However, researchers seldom have studied the integration of ACC and roadside control methods such as the variable speed limit (VSL) to improve safety. The primary objective of this study was to develop an infrastructure-to-vehicle (I2V) integrated system that incorporated both ACC and VSL to reduce rear-end collision risks on freeways. The intelligent driver model was firstly modified to simulate ACC behavior and then the VSL strategy used in this article was introduced. Next, the I2V system was proposed to integrate the 2 advanced techniques, ACC and VSL. Four scenarios of no control, VSL only, ACC only, and the I2V system were tested in simulation experiments. Time exposed time to collision (TET) and time integrated time to collision (TIT), 2 surrogate safety measures derived from time to collision (TTC), were used to evaluate safety issues associated with rear-end collisions. The total travel times of each scenario were also compared. The simulation results indicated that both the VSL-only and ACC-only methods had a positive impact on reducing the TET and TIT values (reduced by 53.0 and 58.6% and 59.0 and 65.3%, respectively). The I2V system combined the advantages of both ACC and VSL to achieve the most safety benefits (reduced by 71.5 and 77.3%, respectively). Sensitivity analysis of the TTC threshold also showed that the I2V system obtained the largest safety benefits with all of the TTC threshold values. The impact of different market penetration rates of ACC vehicles in I2V system indicated that safety benefits increase with an increase in ACC proportions. Compared to VSL-only and ACC-only scenarios, this integrated I2V system is more effective in reducing rear-end collision risks. The findings of this study provide useful information for traffic agencies to implement novel techniques to improve

Impact of cruise control on traffic safety, energy consumption and environmental pollution : final report

NARCIS (Netherlands)

Hoedemaeker, D.M.; Brouwer, R.F.T.; Malone, K.; Klunder, G.; et al

2006-01-01

In this subproject, the impact of Cruise Control (CC) was analysed with respect to traffic safety, energy consumption, and environmental pollution. In order to work on this topic from a European perspective, a team of European experts in the fields of driver assistance systems, human factors,

Facts about Noroviruses on Cruise Ships

Science.gov (United States)

... Cruise Tips for Healthy Cruising Related Resources Cruise Ship Inspection Scores & Information Inspection Scores Cruise Line Directory Green ... 800-CDC-INFO ( 1-800-232-4636 ). Cruise Ship Inspection Scores & Information Inspection Scores Cruise Line Directory Green ...

Vision-based adaptive cruise control using pattern matching

CSIR Research Space (South Africa)

Kanjee, R

2013-10-01

Full Text Available input generated by the control system does not directly induce a traction force on the car tires. In an electric vehicle, the throttle position is processed by the engine controller and is mapped proportionally to the motor’s angular velocity. For our... simulation, this mapping was obtained from the manufacturer’s datasheet of the electric motor controller being used in the hybrid car. The manufacturer also supplies a speed-torque curve. An approximate equation was obtained using a linear curve fitting...

Advanced cruise control (ACC) : gewenste beleidsmaatregelen bij de invoering van ACC. In opdracht van het Directoraat-Generaal Rijkswaterstaat, Adviesdienst Verkeer en Vervoer AVV.

NARCIS (Netherlands)

Oei, H.-l.

1999-01-01

Advanced Cruise Control (ACC) concerns an `ordinary' cruise control in which the desired speed is fixed manually, but also in which the headway to the vehicle in front is taken into account. Such an ACC system is meant for use on rural roads that are not too busy. The system is not meant to avoid a

Dynamism Patterns of Western Mediterranean Cruise Ports and the Coopetition Relationships Between Major Cruise Ports

Directory of Open Access Journals (Sweden)

Esteve-Perez Jeronimo

2018-03-01

Full Text Available The Mediterranean Sea has seen an increase of ports hosting cruise ships during the first fifteen years of the 21st century. The increase in cruise ship presence in Mediterranean ports is associated with the dynamism of cruise traffic in recent years, with an average annual growth of 7.45% for cruise passengers worldwide during the period of 1990-2015. Cruise traffic is a maritime business that is primarily composed of two elements, maritime affairs and tourism. This article focuses on the maritime component. With the growth of the cruise industry, cruise lines have been forced to seek new ports to meet demand in an attempt to create differentiated products based on the ports that compose the itinerary. The itinerary system of cruise traffic makes the cruise ports depend on one another to design an itinerary. This feature results in both complex geographic relationships in the design of a cruise itinerary and complex competitive/cooperative relationships between ports. The aim of this article is to present the hierarchic picture of a sample of 29 cruise ports in the Western Mediterranean region during the period of 2000-2015. To achieve this goal, a port size classification is proposed and a shift-share analysis at the inter- and intra-group size level is applied. Moreover, concentration measures are used to determine the changes in the levels of market concentration. Furthermore, a dynamic model is proposed to determine the competitive or cooperative relationships between cruise ports. The proposed model is applied to the largest ports with data from the 2001-2015 period.

Cruise Missile Defense

National Research Council Canada - National Science Library

Hichkad, Ravi R; Bolkcom, Christopher

2005-01-01

Congress has expressed interest in cruise missile defense for years. Cruise missiles (CMs) are essentially unmanned attack aircraft -- vehicles composed of an airframe, propulsion system, guidance system, and weapons payload...

Cruise Missile Defense

National Research Council Canada - National Science Library

Hichkad, Ravi R; Bolkcom, Christopher

2004-01-01

Congress has expressed interest in cruise missile defense for years. Cruise missiles (CMs) are essentially unmanned attack aircraft -- vehicles composed of an airframe, propulsion system, guidance system, and weapons payload...

Management and Marketing Elements in Maritime Cruises Industry. European Cruise Market

Directory of Open Access Journals (Sweden)

Romeo Boşneagu

2015-05-01

Full Text Available European cruises market has a major impact on all aspects of maritime industry: boarding ports, ports of call, shipbuilding, ship maintenance, supplies, sales and marketing, ship crews and administrative facilities. While in 2013, fiscal and economic conditions in Europe have continued to have a constraint to increasing demand for cruises, the number of passengers, Europeans or visitors of European ports, has grown moderately. For the next years, a higher growth of Europena market cruises is expected.

Groundfish Ecology Cruises

Data.gov (United States)

National Oceanic and Atmospheric Administration, Department of Commerce — This program involved a series of one day cruises on a commercial trawl and longline vessel. Cruises were conducted once per month from 2001-2005. The objectives of...

77 FR 12843 - Fees for Sanitation Inspections of Cruise Ships

Science.gov (United States)

2012-03-02

... Sanitation Inspections of Cruise Ships AGENCY: Centers for Disease Control and Prevention (CDC), Department... diseases. The fee schedule for sanitation inspections of passenger cruise ships inspected under VSP was... sanitation inspections. These inspections are conducted by CDC's Vessel Sanitation Program (VSP). VSP assists...

Cruise tourism shore excursions

DEFF Research Database (Denmark)

João Lopes, Maria; Dredge, Dianne

2018-01-01

Very complex yet highly integrated business logics characterise cruise tourism with shore excursions frequently identified as a key source of value. This paper presents a case study of cruise tourism and shore excursion planning in Copenhagen, Denmark. The aim of this paper is to investigate...... the characteristics of cruise tourism, itinerary and shore excursion planning with a view to understanding the value generated from cruise tourism shore excursions. We argue that economic value is a blunt measure, and there are other types of value, positive and negative, that are also generated. This research...... reveals that a range of local conditions and structural characteristics create barriers and opportunities for generating different types of value. Using a case study of shore excursions in Copenhagen, the Baltic’s most important port, this paper explains the dynamics between cruise tourism and shore...

77 FR 50511 - Fees for Sanitation Inspections of Cruise Ships

Science.gov (United States)

2012-08-21

... Sanitation Inspections of Cruise Ships AGENCY: Centers for Disease Control and Prevention (CDC), Department... schedule for sanitation inspections of passenger cruise ships by VSP was first published in the Federal...), announces fees for vessel sanitation inspections for Fiscal Year (FY) 2013. These inspections are conducted...

An outbreak of Cyclospora infection on a cruise ship.

Science.gov (United States)

Gibbs, R A; Nanyonjo, R; Pingault, N M; Combs, B G; Mazzucchelli, T; Armstrong, P; Tarling, G; Dowse, G K

2013-03-01

In 2010, an outbreak of cyclosporiasis affected passengers and crew on two successive voyages of a cruise ship that departed from and returned to Fremantle, Australia. There were 73 laboratory-confirmed and 241 suspected cases of Cyclospora infection reported in passengers and crew from the combined cruises. A case-control study performed in crew members found that illness was associated with eating items of fresh produce served onboard the ship, but the study was unable conclusively to identify the responsible food(s). It is likely that one or more of the fresh produce items taken onboard at a south-east Asian port during the first cruise was contaminated. If fresh produce supplied to cruise ships is sourced from countries or regions where Cyclospora is endemic, robust standards of food production and hygiene should be applied to the supply chain.

Hybrid Adaptive Flight Control with Model Inversion Adaptation

Science.gov (United States)

Nguyen, Nhan

2011-01-01

This study investigates a hybrid adaptive flight control method as a design possibility for a flight control system that can enable an effective adaptation strategy to deal with off-nominal flight conditions. The hybrid adaptive control blends both direct and indirect adaptive control in a model inversion flight control architecture. The blending of both direct and indirect adaptive control provides a much more flexible and effective adaptive flight control architecture than that with either direct or indirect adaptive control alone. The indirect adaptive control is used to update the model inversion controller by an on-line parameter estimation of uncertain plant dynamics based on two methods. The first parameter estimation method is an indirect adaptive law based on the Lyapunov theory, and the second method is a recursive least-squares indirect adaptive law. The model inversion controller is therefore made to adapt to changes in the plant dynamics due to uncertainty. As a result, the modeling error is reduced that directly leads to a decrease in the tracking error. In conjunction with the indirect adaptive control that updates the model inversion controller, a direct adaptive control is implemented as an augmented command to further reduce any residual tracking error that is not entirely eliminated by the indirect adaptive control.

Towards reducing traffic congestion using cooperative adaptive cruise control on a freeway with a ramp

Directory of Open Access Journals (Sweden)

Georges Arnaout

2011-12-01

Full Text Available Purpose: In this paper, the impact of Cooperative Adaptive Cruise Control (CACC systems on traffic performance is examined using microscopic agent-based simulation. Using a developed traffic simulation model of a freeway with an on-ramp - created to induce perturbations and to trigger stop-and-go traffic, the CACC system’s effect on the traffic performance is studied. The previously proposed traffic simulation model is extended and validated. By embedding CACC vehicles in different penetration levels, the results show significance and indicate the potential of CACC systems to improve traffic characteristics and therefore can be used to reduce traffic congestion. The study shows that the impact of CACC is positive but is highly dependent on the CACC market penetration. The flow rate of the traffic using CACC is proportional to the market penetration rate of CACC equipped vehicles and the density of the traffic.Design/methodology/approach: This paper uses microscopic simulation experiments followed by a quantitative statistical analysis. Simulation enables researchers manipulating the system variables to straightforwardly predict the outcome on the overall system, giving researchers the unique opportunity to interfere and make improvements to performance. Thus with simulation, changes to variables that might require excessive time, or be unfeasible to carry on real systems, are often completed within seconds.Findings: The findings of this paper are summarized as follow:•\tProvide and validate a platform (agent-based microscopic traffic simulator in which any CACC algorithm (current or future may be evaluated.•\tProvide detailed analysis associated with implementation of CACC vehicles on freeways.•\tInvestigate whether embedding CACC vehicles on freeways has a significant positive impact or not.Research limitations/implications: The main limitation of this research is that it has been conducted solely in a computer laboratory. Laboratory

An Optimal Control Modification to Model-Reference Adaptive Control for Fast Adaptation

Science.gov (United States)

Nguyen, Nhan T.; Krishnakumar, Kalmanje; Boskovic, Jovan

2008-01-01

This paper presents a method that can achieve fast adaptation for a class of model-reference adaptive control. It is well-known that standard model-reference adaptive control exhibits high-gain control behaviors when a large adaptive gain is used to achieve fast adaptation in order to reduce tracking error rapidly. High gain control creates high-frequency oscillations that can excite unmodeled dynamics and can lead to instability. The fast adaptation approach is based on the minimization of the squares of the tracking error, which is formulated as an optimal control problem. The necessary condition of optimality is used to derive an adaptive law using the gradient method. This adaptive law is shown to result in uniform boundedness of the tracking error by means of the Lyapunov s direct method. Furthermore, this adaptive law allows a large adaptive gain to be used without causing undesired high-gain control effects. The method is shown to be more robust than standard model-reference adaptive control. Simulations demonstrate the effectiveness of the proposed method.

An adaptive approach to cooperative longitudinal platooning of heterogeneous vehicles with communication losses

NARCIS (Netherlands)

Abou Harfouch, Youssef; Yuan, S.; Baldi, S.; Dochain, Denis; Henrion, Didier; Peaucelle, Dimitri

2017-01-01

Despite the progresses in Cooperative Adaptive Cruise Control (CACC), a crucial limitation of the state-of-the-art of this control scheme is that the string stability of the platoon can be proven only when the vehicles in the platoon have identical driveline dynamics (homogeneous platoons). In

The external cruising costs of parking

NARCIS (Netherlands)

Inci, E.; van Ommeren, J.N.; Kobus, Martijn

2017-01-01

Existing work emphasizes the importance of traffic congestion externalities, but typically ignores cruising-for-parking externalities. We estimate the marginal external cruising costs of parking—that is, the time costs that an additional parked car imposes on drivers by inducing them to cruise for

Robust Optimal Adaptive Control Method with Large Adaptive Gain

Science.gov (United States)

Nguyen, Nhan T.

2009-01-01

In the presence of large uncertainties, a control system needs to be able to adapt rapidly to regain performance. Fast adaptation is referred to the implementation of adaptive control with a large adaptive gain to reduce the tracking error rapidly. However, a large adaptive gain can lead to high-frequency oscillations which can adversely affect robustness of an adaptive control law. A new adaptive control modification is presented that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. The modification is based on the minimization of the Y2 norm of the tracking error, which is formulated as an optimal control problem. The optimality condition is used to derive the modification using the gradient method. The optimal control modification results in a stable adaptation and allows a large adaptive gain to be used for better tracking while providing sufficient stability robustness. Simulations were conducted for a damaged generic transport aircraft with both standard adaptive control and the adaptive optimal control modification technique. The results demonstrate the effectiveness of the proposed modification in tracking a reference model while maintaining a sufficient time delay margin.

A basic system architecture for sensor data diffusion of environment sensors for intelligent cruise control systems; Eine Basis-Systemarchitektur zur Sensordatenfusion von Umfeldsensoren fuer Fahrerassistenzsysteme

Energy Technology Data Exchange (ETDEWEB)

Darms, M.

2007-07-01

The design of the system architecture for sensor data diffusion at the beginning of the development process has significant influence on the cost. With a view to intelligent cruise control systems, the author investigated general assumptions concerning data association and data filtering for sensor data diffusion of environment sensors which must be considered when designing an architecture or may be considered for optimisation. The validity of the assumption is illustrated by simulations of adaptive speed control and time-to-collision calculations as well as on the basis of available literature. A basic sytem architecture is presented as a precursor of the final architecture which is based on these assumptions. Their applicability is proved by implementation in the PRORETA project. The author's work provides a validated basis for architects of a serial system architecture enabling them to design and implement their ultimate systems. (orig.)

Consistency of cruise data of the CARINA database in the Atlantic sector of the Southern Ocean

Directory of Open Access Journals (Sweden)

M. Hoppema

2009-12-01

Full Text Available Initially a North Atlantic project, the CARINA carbon synthesis was extended to include the Southern Ocean. Carbon and relevant hydrographic and geochemical ancillary data from cruises all across the Arctic Mediterranean Seas, Atlantic and Southern Ocean were released to the public and merged into a new database as part of the CARINA synthesis effort. Of a total of 188 cruises, 37 cruises are part of the Southern Ocean, including 11 from the Atlantic sector. The variables from all Southern Ocean cruises, including dissolved inorganic carbon (TCO₂, total alkalinity, oxygen, nitrate, phosphate and silicate, were examined for cruise-to-cruise consistency in one collective effort. Seawater pH and chlorofluorocarbons (CFCs are also part of the database, but the pH quality control (QC is described in another Earth System Science Data publication, while the complexity of the Southern Ocean physics and biogeochemistry prevented a proper QC analysis of the CFCs. The area-specific procedures of quality control, including crossover analysis between stations and inversion analysis of all crossover data (i.e. secondary QC, are briefly described here for the Atlantic sector of the Southern Ocean. Data from an existing, quality controlled database (GLODAP were used as a reference for our computations – however, the reference data were included into the analysis without applying the recommended GLODAP adjustments so the corrections could be independently verified. The outcome of this effort is an internally consistent, high-quality carbon data set for all cruises, including the reference cruises. The suggested corrections by the inversion analysis were allowed to vary within a fixed envelope, thus accounting for natural variability. The percentage of cruises adjusted ranged from 31% (for nitrate to 54% (for phosphate depending on the variable.

Different Control Algorithms for a Platoon of Autonomous Vehicles

Directory of Open Access Journals (Sweden)

Zoran Gacovski

2014-05-01

Full Text Available This paper presents a concept of platoon movement of autonomous vehicles (smart cars. These vehicles have Adaptive or Advanced cruise control (ACC system also called Intelligent cruise control (ICC or Adaptive Intelligent cruise control (AICC system. The vehicles are suitable to follow other vehicles on desired distance and to be organized in platoons. To perform a research on the control and stability of an AGV (Automated Guided Vehicles string, we have developed a car-following model. To do this, first a single vehicle is modeled and since all cars in the platoon have the same dynamics, the single vehicle model is copied ten times to form model of platoon (string with ten vehicles. To control this string, we have applied equal PID controllers to all vehicles, except the leading vehicle. These controllers try to keep the headway distance as constant as possible and the velocity error between subsequent vehicles - small. For control of vehicle with nonlinear dynamics combi­nation of feedforward control and feedback control approach is used. Feedforward control is based on the inverse model of nominal dynamics of the vehicle, and feedback PID control is designed based on the linearized model of the vehicle. For simulation and analysis of vehicle and platoon of vehicles – we have developed Matlab/Simulink models. Simulation results, discussions and conclusions are given at the end of the paper.

Legionella risk assessment in cruise ships and ferries.

Science.gov (United States)

Laganà, Pasqualina; Gambuzza, Maria Elsa; Delia, Santi

2017-06-12

Introduction. The increasing development of marine traffic has led to a rise in the incidence of legionellosis among travellers. It occurs in similar environments, especially closed and crowded, and aboard ships Legionella survives and multiplies easily in water pipes, spreading into the environment through air conditioning systems and water distribution points. Although in recent years in the construction of cruise ships preventive measures aimed at curbing the proliferation of Legionella (design, materials, focus on the operation and maintenance of the water system), have been taken account, little or no attention has been paid to small ships which, in many cases, are old and not well maintained. Objective. The aim of the study was to evaluate the frequency and severity of Legionella contamination in ferries and cruise ships in order to adopt more specific control measures. Materials and method. A prevalence study was carried out on 10 ferries and 6 cruise ships docking or in transit across the port of Messina (Sicily, Italy). Water and air samples collected from many critical points were tested for qualitative and quantitative identification of Legionella. Results and conclusions. Legionella pneumophila sg 1 was isolated from the samples of shower and tap water in 7 (70%) of the 10 ferries examined, and in 3 (33%) of the 6 cruise ships examined, and L. pneumophila sg 2-14 in 8 (80%) and 1 (16.7%) of these ships, respectively. No Legionella contamination was found in whirlpool baths, air and ice samples. In conclusion, the data obtained confirm higher levels of Legionella contamination in local ferries and cruise ships, underlining the need to adopt corrective actions more specific for these smaller vessels.

Cruise Report RV Poseidon cruise POS 295 [POS295], Lisbon 20.03.03 - Las Palmas 01.04.03

OpenAIRE

Christiansen, Bernd

2003-01-01

The cruise was a pilot cruise in the framework of the EU-project OASIS (Oceanic seamounts: an integrated study) which studies the functioning ecology of seamounts in the NE-Atlantic. The research programme during the cruise included measurements of the physical properties of the water column (temperature and salinity), the sampling of particulate organic matter, measurements of primary production and export fluxes and the sampling of zooplankton.

Analysis of Cruise Tourism on Croatian Rivers

Directory of Open Access Journals (Sweden)

Astrid Zekić

2017-03-01

Full Text Available Cruise trips have been rising in popularity since the 1970sand are currently a trend in the tourism market. This is particularly true of river cruises, which record a constant growth in the number of ship calls. The general upward trend in the number of river cruise passengers and dockings is also present in Croatia. Prerequisites for the development of cruising on Croatian rivers include, in addition to other geographical features, also the length of navigable water ways, but a systematic approach to this issue is needed for further development. The authors investigate the level of development of infrastructure on Croatian rivers and analyse the passenger and ship traffic on them. Special attention is given to the importance of cruises for tourism on European rivers and worldwide. In accordance with the Croatian Tourism Development Strategy until 2020, the authors explore geographical and other conditions necessary for the development of river cruise tourism. The aim of the paper is to point to the importance of building infrastructure for accommodation of vessels sailing on Croatian rivers, and in particular to the need to improve tourism offer in river destinations.

Adaptive Controller Effects on Pilot Behavior

Science.gov (United States)

Trujillo, Anna C.; Gregory, Irene M.; Hempley, Lucas E.

2014-01-01

Adaptive control provides robustness and resilience for highly uncertain, and potentially unpredictable, flight dynamics characteristic. Some of the recent flight experiences of pilot-in-the-loop with an adaptive controller have exhibited unpredicted interactions. In retrospect, this is not surprising once it is realized that there are now two adaptive controllers interacting, the software adaptive control system and the pilot. An experiment was conducted to categorize these interactions on the pilot with an adaptive controller during control surface failures. One of the objectives of this experiment was to determine how the adaptation time of the controller affects pilots. The pitch and roll errors, and stick input increased for increasing adaptation time and during the segment when the adaptive controller was adapting. Not surprisingly, altitude, cross track and angle deviations, and vertical velocity also increase during the failure and then slowly return to pre-failure levels. Subjects may change their behavior even as an adaptive controller is adapting with additional stick inputs. Therefore, the adaptive controller should adapt as fast as possible to minimize flight track errors. This will minimize undesirable interactions between the pilot and the adaptive controller and maintain maneuvering precision.

Determinants of cruise passengers’ expenditures in the port of call

Directory of Open Access Journals (Sweden)

Maršenka Marksel

2016-12-01

Full Text Available Cruise tourism generates different types of cruise consumption and related indirect, direct and induced expenditure effects, in homeports as well as in ports of call. Cruise passengers’ expenditures produce positive economic effects for destinations, from increasing the incomes and employment, to tax incomes, duties, etc. Therefore, it is no doubt that cruise stakeholders and local economies can benefit from increased cruise passenger consumption. To stimulate higher consumption and passengers’ satisfaction, it is necessary to design the supportive policy framework and build appropriate quality of products and services. Identifying influential variables of cruise passengers’ expenditures in this sense enables the design of appropriate policies and measures. In the current research, based on a survey of 357 cruise passengers, several variables included in a new theoretical model of the expenditures determinants, such as gender, nationality, frequency of cruising and frequency of visits, were found to be statistically significantly associated with cruise passengers’ expenditures. Several conclusions and suggestions to stimulate cruise passenger expenditures based on research findings are provided.

Cruise Crimes: Economic-Legal Issues and Current Debates

OpenAIRE

Thomas R Panko; Babu P George; Tony L Henthorne

2009-01-01

Cruise tourism is one of the sunshine sectors of international tourism and is growing rapidly in many parts of the world. It is estimated that the growth rate of cruise tourism is twice the rate of tourism overall. Notwithstanding all the positives that accompany this growth, many critics have drawn attention to the “dark side” of cruise crimes. The eco-system aboard the cruise ship offers a fertile ground for the occurrence of crimes. The present paper examines the issue of crimes onboard fr...

Adaptive filtering prediction and control

CERN Document Server

Goodwin, Graham C

2009-01-01

Preface1. Introduction to Adaptive TechniquesPart 1. Deterministic Systems2. Models for Deterministic Dynamical Systems3. Parameter Estimation for Deterministic Systems4. Deterministic Adaptive Prediction5. Control of Linear Deterministic Systems6. Adaptive Control of Linear Deterministic SystemsPart 2. Stochastic Systems7. Optimal Filtering and Prediction8. Parameter Estimation for Stochastic Dynamic Systems9. Adaptive Filtering and Prediction10. Control of Stochastic Systems11. Adaptive Control of Stochastic SystemsAppendicesA. A Brief Review of Some Results from Systems TheoryB. A Summary o

Controller synthesis for string stability of vehicle platoons

NARCIS (Netherlands)

Ploeg, J.; Shukla, D.P.; Wouw, N. van de; Nijmeijer, H.

2014-01-01

Cooperative adaptive cruise control (CACC) allows for short-distance automatic vehicle following using intervehicle wireless communication in addition to onboard sensors, thereby potentially improving road throughput. In order to fulfill performance, safety, and comfort requirements, a CACC-equipped

Vehicle Dynamics and Control

CERN Document Server

Rajamani, Rajesh

2012-01-01

Vehicle Dynamics and Control provides a comprehensive coverage of vehicle control systems and the dynamic models used in the development of these control systems. The control system applications covered in the book include cruise control, adaptive cruise control, ABS, automated lane keeping, automated highway systems, yaw stability control, engine control, passive, active and semi-active suspensions, tire-road friction coefficient estimation, rollover prevention, and hybrid electric vehicle. In developing the dynamic model for each application, an effort is made to both keep the model simple enough for control system design but at the same time rich enough to capture the essential features of the dynamics. A special effort has been made to explain the several different tire models commonly used in literature and to interpret them physically. In the second edition of the book, chapters on roll dynamics, rollover prevention and hybrid electric vehicles have been added, and the chapter on electronic stability co...

Prey detection in a cruising copepod

DEFF Research Database (Denmark)

Kjellerup, Sanne; Kiørboe, Thomas

2012-01-01

. Yet, direct interception has been proposed to explain how rapidly cruising, blind copepods feed on non-motile phytoplankton prey. Here, we demonstrate a novel mechanism for prey detection in a cruising copepod, and describe how motile and non-motile prey are discovered by hydromechanical and tactile...

Laboratory-based respiratory virus surveillance pilot project on select cruise ships in Alaska, 2013-15.

Science.gov (United States)

Rogers, Kimberly B; Roohi, Shahrokh; Uyeki, Timothy M; Montgomery, David; Parker, Jayme; Fowler, Nisha H; Xu, Xiyan; Ingram, Deandra J; Fearey, Donna; Williams, Steve M; Tarling, Grant; Brown, Clive M; Cohen, Nicole J

2017-09-01

Influenza outbreaks can occur among passengers and crews during the Alaska summertime cruise season. Ill travellers represent a potential source for introduction of novel or antigenically drifted influenza virus strains to the United States. From May to September 2013-2015, the Alaska Division of Public Health, the Centers for Disease Control and Prevention (CDC), and two cruise lines implemented a laboratory-based public health surveillance project to detect influenza and other respiratory viruses among ill crew members and passengers on select cruise ships in Alaska. Cruise ship medical staff collected 2-3 nasopharyngeal swab specimens per week from passengers and crew members presenting to the ship infirmary with acute respiratory illness (ARI). Specimens were tested for respiratory viruses at the Alaska State Virology Laboratory (ASVL); a subset of specimens positive for influenza virus were sent to CDC for further antigenic characterization. Of 410 nasopharyngeal specimens, 83% tested positive for at least one respiratory virus; 71% tested positive for influenza A or B virus. Antigenic characterization of pilot project specimens identified strains matching predominant circulating seasonal influenza virus strains, which were included in the northern or southern hemisphere influenza vaccines during those years. Results were relatively consistent across age groups, recent travel history, and influenza vaccination status. Onset dates of illness relative to date of boarding differed between northbound (occurring later in the voyage) and southbound (occurring within the first days of the voyage) cruises. The high yield of positive results indicated that influenza was common among passengers and crews sampled with ARI. This finding reinforces the need to bolster influenza prevention and control activities on cruise ships. Laboratory-based influenza surveillance on cruise ships may augment inland influenza surveillance and inform control activities. However, these

BALINESE WOMEN IN THE CRUISE SHIPS TOURISM INDUSTRY

Directory of Open Access Journals (Sweden)

I Made Darma Oka

2016-03-01

Full Text Available As one of the most popular destinations for international tourists, Bali has attracted a sizeable and growing labor force in the tourism sector of the economy. This fact has triggered Balinese labor force to participate in such service industry. As a supplier of tourism labor force Bali has been increasingly successful in promoting the number of workers to be employed on cruise ships. The participation rate of Balinese women in cruise industry over the last four years has dramatically increased. The Balinese women’s participation in cruise ship employment has brought major implications for their life and culture. Generally, the present study aimed to provide an overview of Balinese women employed on board of a cruise ship. More specifically, it examined (1 the strengths, weaknesses, opportunities, and threats faced by Balinese women working in cruise industry, (2 factors influencing them to work in the industry, and (3 the implications brought by such employment for their life and society. The present study used quantitative and qualitative data collected through economic, social, and cultural approach. The sample was comprised of 200 respondents selected using accidental sampling method. To answer the research questions, data collection was conducted through observation, interviews, as well as focus group discussion (FGD. The data on the strengths, weaknesses, opportunities, and threats faced by Balinese women on board of a cruise ship were analyzed using SWOT analysis, whereas the data on the factors influencing them to work in the cruise industry were analyzed using factor analysis. Finally, qualitative analysis was employed to analyze the data on the economic, social, and cultural implications for their life. The analysis showed that: (1 Balinese women were employed on board of a cruise linerpredominantly as support staff. The strengths of Balinese women cruise ship workers included being friendly, always smiling, being honest, being loyal

Model for Estimation of Fuel Consumption of Cruise Ships

Directory of Open Access Journals (Sweden)

Morten Simonsen

2018-04-01

Full Text Available This article presents a model to estimate the energy use and fuel consumption of cruise ships that sail Norwegian waters. Automatic identification system (AIS data and technical information about cruise ships provided input to the model, including service speed, total power, and number of engines. The model was tested against real-world data obtained from a small cruise vessel and both a medium and large cruise ship. It is sensitive to speed and the corresponding engine load profile of the ship. A crucial determinate for total fuel consumption is also associated with hotel functions, which can make a large contribution to the overall energy use of cruise ships. Real-world data fits the model best when ship speed is 70–75% of service speed. With decreased or increased speed, the model tends to diverge from real-world observations. The model gives a proxy for calculation of fuel consumption associated with cruise ships that sail to Norwegian waters and can be used to estimate greenhouse gas emissions and to evaluate energy reduction strategies for cruise ships.

Adaptive PID and Model Reference Adaptive Control Switch Controller for Nonlinear Hydraulic Actuator

Directory of Open Access Journals (Sweden)

Xin Zuo

2017-01-01

Full Text Available Nonlinear systems are modeled as piecewise linear systems at multiple operating points, where the operating points are modeled as switches between constituent linearized systems. In this paper, adaptive piecewise linear switch controller is proposed for improving the response time and tracking performance of the hydraulic actuator control system, which is essentially piecewise linear. The controller composed of PID and Model Reference Adaptive Control (MRAC adaptively chooses the proportion of these two components and makes the designed system have faster response time at the transient phase and better tracking performance, simultaneously. Then, their stability and tracking performance are analyzed and evaluated by the hydraulic actuator control system, the hydraulic actuator is controlled by the electrohydraulic system, and its model is built, which has piecewise linear characteristic. Then the controller results are compared between PID and MRAC and the switch controller designed in this paper is applied to the hydraulic actuator; it is obvious that adaptive switch controller has better effects both on response time and on tracking performance.

Adaptive hybrid control of manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

Simple methods for the design of adaptive force and position controllers for robot manipulators within the hybrid control architecuture is presented. The force controller is composed of an adaptive PID feedback controller, an auxiliary signal and a force feedforward term, and it achieves tracking of desired force setpoints in the constraint directions. The position controller consists of adaptive feedback and feedforward controllers and an auxiliary signal, and it accomplishes tracking of desired position trajectories in the free directions. The controllers are capable of compensating for dynamic cross-couplings that exist between the position and force control loops in the hybrid control architecture. The adaptive controllers do not require knowledge of the complex dynamic model or parameter values of the manipulator or the environment. The proposed control schemes are computationally fast and suitable for implementation in on-line control with high sampling rates.

Adaptive control of robotic manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

The author presents a novel approach to adaptive control of manipulators to achieve trajectory tracking by the joint angles. The central concept in this approach is the utilization of the manipulator inverse as a feedforward controller. The desired trajectory is applied as an input to the feedforward controller which behaves as the inverse of the manipulator at any operating point; the controller output is used as the driving torque for the manipulator. The controller gains are then updated by an adaptation algorithm derived from MRAC (model reference adaptive control) theory to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal are also used to enhance closed-loop stability and to achieve faster adaptation. The proposed control scheme is computationally fast and does not require a priori knowledge of the complex dynamic model or the parameter values of the manipulator or the payload.

R2R Eventlogger: Community-wide Recording of Oceanographic Cruise Science Events

Science.gov (United States)

Maffei, A. R.; Chandler, C. L.; Stolp, L.; Lerner, S.; Avery, J.; Thiel, T.

2012-12-01

Methods used by researchers to track science events during a science research cruise - and to note when and where these occur - varies widely. Handwritten notebooks, printed forms, watch-keeper logbooks, data-logging software, and customized software have all been employed. The quality of scientific results is affected by the consistency and care with which such events are recorded and integration of multi-cruise results is hampered because recording methods vary widely from cruise to cruise. The Rolling Deck to Repository (R2R) program has developed an Eventlogger system that will eventually be deployed on most vessels in the academic research fleet. It is based on the open software package called ELOG (http://midas.psi.ch/elog/) originally authored by Stefan Ritt and enhanced by our team. Lessons have been learned in its development and use on several research cruises. We have worked hard to find approaches that encourage cruise participants to use tools like the eventlogger. We examine these lessons and several eventlogger datasets from past cruises. We further describe how the R2R Science Eventlogger works in concert with the other R2R program elements to help coordinate research vessels into a coordinated mobile observing fleet. Making use of data collected on different research cruises is enabled by adopting common ways of describing science events, the science instruments employed, the data collected, etc. The use of controlled vocabularies and the practice of mapping these local vocabularies to accepted oceanographic community vocabularies helps to bind shipboard research events from different cruises into a more cohesive set of fleet-wide events that can be queried and examined in a cross-cruise manner. Examples of the use of the eventlogger during multi-cruise oceanographic research programs along with examples of resultant eventlogger data will be presented. Additionally we will highlight the importance of vocabulary use strategies to the success of the

A regional analysis of willingness-to-pay in Asian cruise markets

NARCIS (Netherlands)

Chen, M.; Zhang, J.; Nijkamp, P.

2016-01-01

This article tests whether the willingness-to-pay (WTP) of cruise tourists is affected by multivariables, namely regional level variables, socio-demographic variables, cruise perception variables, cruise motivations and cruise preferences. Our research aims to measure the influence of the

A Potent Vector: Assessing Chinese Cruise Missile Developments

Science.gov (United States)

2014-01-01

likelihood that they will successfully penetrate defenses.1 Employed in salvos, perhaps in tandem with ballistic missiles, cruise missiles could...series cruise missiles for export.4 Finally, for three decades China has marketed a wide range of indig- enously produced cruise missiles (and other...distances and thus more vulnerable to at- tacks from advanced air defense systems, such as Aegis. Both missiles execute sea- skimming attacks at an

CARINA data synthesis project: pH data scale unification and cruise adjustments

Science.gov (United States)

Velo, A.; Pérez, F. F.; Lin, X.; Key, R. M.; Tanhua, T.; de La Paz, M.; Olsen, A.; van Heuven, S.; Jutterström, S.; Ríos, A. F.

2010-05-01

Data on carbon and carbon-relevant hydrographic and hydrochemical parameters from 188 previously non-publicly available cruise data sets in the Artic Mediterranean Seas (AMS), Atlantic Ocean and Southern Ocean have been retrieved and merged to a new database: CARINA (CARbon IN the Atlantic Ocean). These data have gone through rigorous quality control (QC) procedures to assure the highest possible quality and consistency. The data for most of the measured parameters in the CARINA database were objectively examined in order to quantify systematic differences in the reported values. Systematic biases found in the data have been corrected in the data products, three merged data files with measured, calculated and interpolated data for each of the three CARINA regions; AMS, Atlantic Ocean and Southern Ocean. Out of a total of 188 cruise entries in the CARINA database, 59 reported pH measured values. All reported pH data have been unified to the Sea-Water Scale (SWS) at 25 °C. Here we present details of the secondary QC of pH in the CARINA database and the scale unification to SWS at 25 °C. The pH scale has been converted for 36 cruises. Procedures of quality control, including crossover analysis between cruises and inversion analysis are described. Adjustments were applied to the pH values for 21 of the cruises in the CARINA dataset. With these adjustments the CARINA database is consistent both internally as well as with the GLODAP data, an oceanographic data set based on the World Hydrographic Program in the 1990s. Based on our analysis we estimate the internal consistency of the CARINA pH data to be 0.005 pH units. The CARINA data are now suitable for accurate assessments of, for example, oceanic carbon inventories and uptake rates, for ocean acidification assessment and for model validation.

Modelling and control of an electric vehicle; Modelisation et controle d`un vehicule electrique

Energy Technology Data Exchange (ETDEWEB)

Kwartnik, J

1995-11-28

The work described in this report provides to engineers or researchers a tool for electric vehicle simulation. The different components included in the system are described with in particular the choppers, the pedal accelerator and the vehicle dynamic represented by the different constraints applied to the vehicle (efforts of drag, of lift, of rolling and slope resistance). This study has been realized by considering nonlinear phenomenons such as the armature magnetic reaction or the resistance change due to temperature increasing. The complexity of the system leads to use several of control. The theory of linear systems made possible the synthesis of PID controllers after few hypothesis. An on line adaptation technique completed this synthesis by considering nonlinear effects. For the cruise control we have used a control based on fuzzy set theory. We showed through two examples, the cruise control and the motor control using a strategy which minimize the Joule effect looses, the interest and the possibilities of the model evolution. (author) 21 refs.

Longitudinal Control of a Platoon of Road Vehicles Equipped with Adaptive Cruise Control System

Directory of Open Access Journals (Sweden)

Zeeshan Ali Memon

2012-07-01

Full Text Available Automotive vehicle following systems are essential for the design of automated highway system. The problem associated with the automatic vehicle following system is the string stability of the platoon of vehicles, i.e. the problem of uniform velocity and spacing errors propagation. Different control algorithm for the longitudinal control of a platoon are discussed based on different spacing policies, communication link among the vehicles of a platoon, and the performance of a platoon have been analysed in the presence of disturbance (noise and parametric uncertainties. This paper presented the PID (Proportional Integral Derivative feedback control algorithm for the longitudinal control of a platoon in the presence of noise signal and investigates the performance of platoon under the influence of sudden acceleration and braking in severe conditions. This model has been applied on 6 vehicles moving in a platoon. The platoon has been analysed to retain the uniform velocity and safe spacing among the vehicles. The limitations of PID control algorithm have been discussed and the alternate methods have been suggested. Model simulations, in comparison with the literature, are also presented.

Field testing of eco-speed control using V2I communication.

Science.gov (United States)

2016-04-15

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

Adaptive control of port-Hamiltonian systems

NARCIS (Netherlands)

Dirksz, D.A.; Scherpen, J.M.A.; Edelmayer, András

2010-01-01

In this paper an adaptive control scheme is presented for general port-Hamiltonian systems. Adaptive control is used to compensate for control errors that are caused by unknown or uncertain parameter values of a system. The adaptive control is also combined with canonical transformation theory for

78 FR 51728 - Fees for Sanitation Inspections of Cruise Ships

Science.gov (United States)

2013-08-21

... Sanitation Inspections of Cruise Ships AGENCY: Centers for Disease Control and Prevention (CDC), Department... for vessel sanitation inspections for Fiscal Year (FY) 2014. These inspections are conducted by HHS...-yearly inspections and, when necessary, re-inspection. DATES: These fees are effective October 1, 2013...

Adaptive sequential controller

Energy Technology Data Exchange (ETDEWEB)

El-Sharkawi, Mohamed A. (Renton, WA); Xing, Jian (Seattle, WA); Butler, Nicholas G. (Newberg, OR); Rodriguez, Alonso (Pasadena, CA)

1994-01-01

An adaptive sequential controller (50/50') for controlling a circuit breaker (52) or other switching device to substantially eliminate transients on a distribution line caused by closing and opening the circuit breaker. The device adaptively compensates for changes in the response time of the circuit breaker due to aging and environmental effects. A potential transformer (70) provides a reference signal corresponding to the zero crossing of the voltage waveform, and a phase shift comparator circuit (96) compares the reference signal to the time at which any transient was produced when the circuit breaker closed, producing a signal indicative of the adaptive adjustment that should be made. Similarly, in controlling the opening of the circuit breaker, a current transformer (88) provides a reference signal that is compared against the time at which any transient is detected when the circuit breaker last opened. An adaptive adjustment circuit (102) produces a compensation time that is appropriately modified to account for changes in the circuit breaker response, including the effect of ambient conditions and aging. When next opened or closed, the circuit breaker is activated at an appropriately compensated time, so that it closes when the voltage crosses zero and opens when the current crosses zero, minimizing any transients on the distribution line. Phase angle can be used to control the opening of the circuit breaker relative to the reference signal provided by the potential transformer.

Adaptive sequential controller

Science.gov (United States)

El-Sharkawi, Mohamed A.; Xing, Jian; Butler, Nicholas G.; Rodriguez, Alonso

1994-01-01

An adaptive sequential controller (50/50') for controlling a circuit breaker (52) or other switching device to substantially eliminate transients on a distribution line caused by closing and opening the circuit breaker. The device adaptively compensates for changes in the response time of the circuit breaker due to aging and environmental effects. A potential transformer (70) provides a reference signal corresponding to the zero crossing of the voltage waveform, and a phase shift comparator circuit (96) compares the reference signal to the time at which any transient was produced when the circuit breaker closed, producing a signal indicative of the adaptive adjustment that should be made. Similarly, in controlling the opening of the circuit breaker, a current transformer (88) provides a reference signal that is compared against the time at which any transient is detected when the circuit breaker last opened. An adaptive adjustment circuit (102) produces a compensation time that is appropriately modified to account for changes in the circuit breaker response, including the effect of ambient conditions and aging. When next opened or closed, the circuit breaker is activated at an appropriately compensated time, so that it closes when the voltage crosses zero and opens when the current crosses zero, minimizing any transients on the distribution line. Phase angle can be used to control the opening of the circuit breaker relative to the reference signal provided by the potential transformer.

Wastewater Pollution from Cruise Ships in the Adriatic Sea

Directory of Open Access Journals (Sweden)

Tina Perić

2016-08-01

Full Text Available The global growth of cruise tourism has brought increasing concern for the pollution of the marine environment. Marine pollution from sanitary wastewater is a problem especially pronounced on large cruise ships where the number of people on board may exceed 8,000. To evaluate future marine pollution in any selected period of time it is necessary to know the movement of ships in the Adriatic Sea. This paper presents the problem of marine pollution by sanitary wastewater from cruise ships, wastewater treatment technology and a model of cruise ship traffic in the Adriatic Sea considering MARPOL Annex IV areas of limited wastewater discharge. Using the model, it is possible to know in advance the routes of the cruisers and retention time in certain geographic areas. The data obtained by this model can be used as input parameters for evaluation model of wastewater pollution or for evaluation of other types of pollution from cruise ships.

Post-Cruise Questionnaire - Legacy

Data.gov (United States)

National Oceanic and Atmospheric Administration, Department of Commerce — The Post-Cruise Questionnaire is a mandatory post trip legal document that observers fill out after every trip they have completed.

Co-Design of Controller and Communication Topology for Vehicular Platooning

NARCIS (Netherlands)

Firooznia, Amir; Ploeg, Jeroen; van de Wouw, Nathan; Zwart, Hans

2017-01-01

Small inter-vehicle distances can increase traffic throughput on highways. Human drivers are not able to drive safely under such conditions. To this aim, cooperative adaptive cruise control (CACC) systems have been developed, which require vehicles to communicate with each other through a wireless

JARE-43 Tangaroa marine science cruise report (Physical oceanography

Directory of Open Access Journals (Sweden)

Shigeru Aoki

2004-11-01

Full Text Available To understand the seasonal variation of biological and biogeochemical cycles in the seasonal ice zone in the Southern Ocean, the cruise of JARE-STAGE (Japanese Antarctic Research Expedition-Studies on Antarctic Ocean and Global Environment was conducted in February 2002 with R/V Tangaroa. Physical oceanography implementations of the cruise are described. The results of the manufacturers' CTD conductivity calibrations were consistent between before and after the cruise, and the difference in salinity estimate was expected to be within 0.0014. Two casts were made to validate the XCTD accuracy and comparisons with the CTD are discussed. Generally, it is concluded that reasonably accurate observations were completed in this cruise.

Design methodology for fault-tolerant control of advanced driver assistance systems

NARCIS (Netherlands)

Gietelink, O.J.; Ploeg, J.; Schutter, B. de; Verhaegen, M.H.G.

2003-01-01

The objective of this project is to develop a methodology for the design, testing, evaluation and implementation of control systems for Advanced Driver Assistance Systems (ADAS). Examples of ADAS are collision avoidance systems, lane departure warning systems, pre-crash sensing, and adaptive cruise

Adaptive Extremum Control and Wind Turbine Control

DEFF Research Database (Denmark)

Ma, Xin

1997-01-01

This thesis is divided into two parts, i.e., adaptive extremum control and modelling and control of a wind turbine. The rst part of the thesis deals with the design of adaptive extremum controllers for some processes which have the behaviour that process should have as high e ciency as possible...... in parameters, and thus directly lends itself to parameter estimation and adaptive control. The extremum control law is derived based on static optimization of a performance function. For a process with nonlinearity at output the intermediate signal between the linear part and nonlinear part plays an important....... Firstly, it is assumed that the nonlinear processes can be divided into a dynamic linear part and static nonlinear part. Consequently the processes with input nonlinearity and output nonlinearity are treated separately. With the nonlinearity at the input it is easy to set up a model which is linear...

CARINA data synthesis project: pH data scale unification and cruise adjustments

Directory of Open Access Journals (Sweden)

A. Velo

2010-05-01

Full Text Available Data on carbon and carbon-relevant hydrographic and hydrochemical parameters from 188 previously non-publicly available cruise data sets in the Artic Mediterranean Seas (AMS, Atlantic Ocean and Southern Ocean have been retrieved and merged to a new database: CARINA (CARbon IN the Atlantic Ocean.

These data have gone through rigorous quality control (QC procedures to assure the highest possible quality and consistency. The data for most of the measured parameters in the CARINA database were objectively examined in order to quantify systematic differences in the reported values. Systematic biases found in the data have been corrected in the data products, three merged data files with measured, calculated and interpolated data for each of the three CARINA regions; AMS, Atlantic Ocean and Southern Ocean. Out of a total of 188 cruise entries in the CARINA database, 59 reported pH measured values. All reported pH data have been unified to the Sea-Water Scale (SWS at 25 °C.

Here we present details of the secondary QC of pH in the CARINA database and the scale unification to SWS at 25 °C. The pH scale has been converted for 36 cruises. Procedures of quality control, including crossover analysis between cruises and inversion analysis are described. Adjustments were applied to the pH values for 21 of the cruises in the CARINA dataset. With these adjustments the CARINA database is consistent both internally as well as with the GLODAP data, an oceanographic data set based on the World Hydrographic Program in the 1990s. Based on our analysis we estimate the internal consistency of the CARINA pH data to be 0.005 pH units. The CARINA data are now suitable for accurate assessments of, for example, oceanic carbon inventories and uptake rates, for ocean acidification assessment and for model validation.

Contact infection of infectious disease onboard a cruise ship

OpenAIRE

Zhang, Nan; Miao, Ruosong; Huang, Hong; Chan, Emily Y. Y.

2016-01-01

Cruise tourism has become more popular. Long-term personal contact, complex population flows, a lack of medical care facilities, and defective infrastructure aboard most cruise ships is likely to result in the ship becoming an incubator for infectious diseases. In this paper, we use a cruise ship as a research scenario. Taking into consideration personal behavior, the nature and transfer route of the virus across different surfaces, virus reproduction, and disinfection, we studied contact inf...

Multiple model adaptive control with mixing

Science.gov (United States)

Kuipers, Matthew

Despite the remarkable theoretical accomplishments and successful applications of adaptive control, the field is not sufficiently mature to solve challenging control problems requiring strict performance and safety guarantees. Towards addressing these issues, a novel deterministic multiple-model adaptive control approach called adaptive mixing control is proposed. In this approach, adaptation comes from a high-level system called the supervisor that mixes into feedback a number of candidate controllers, each finely-tuned to a subset of the parameter space. The mixing signal, the supervisor's output, is generated by estimating the unknown parameters and, at every instant of time, calculating the contribution level of each candidate controller based on certainty equivalence. The proposed architecture provides two characteristics relevant to solving stringent, performance-driven applications. First, the full-suite of linear time invariant control tools is available. A disadvantage of conventional adaptive control is its restriction to utilizing only those control laws whose solutions can be feasibly computed in real-time, such as model reference and pole-placement type controllers. Because its candidate controllers are computed off line, the proposed approach suffers no such restriction. Second, the supervisor's output is smooth and does not necessarily depend on explicit a priori knowledge of the disturbance model. These characteristics can lead to improved performance by avoiding the unnecessary switching and chattering behaviors associated with some other multiple adaptive control approaches. The stability and robustness properties of the adaptive scheme are analyzed. It is shown that the mean-square regulation error is of the order of the modeling error. And when the parameter estimate converges to its true value, which is guaranteed if a persistence of excitation condition is satisfied, the adaptive closed-loop system converges exponentially fast to a closed

Predictor-Based Model Reference Adaptive Control

Science.gov (United States)

Lavretsky, Eugene; Gadient, Ross; Gregory, Irene M.

2010-01-01

This paper is devoted to the design and analysis of a predictor-based model reference adaptive control. Stable adaptive laws are derived using Lyapunov framework. The proposed architecture is compared with the now classical model reference adaptive control. A simulation example is presented in which numerical evidence indicates that the proposed controller yields improved transient characteristics.

Juvenile Rockfish Recruitment Cruise

Data.gov (United States)

National Oceanic and Atmospheric Administration, Department of Commerce — In 1983, the groundfish analysis project began a series of yearly cruises designed to assess the annual abundance of juvenile rockfish along the central California...

Cruising along the river Danube: Contemporary tourism trend in Serbia

Directory of Open Access Journals (Sweden)

Dragin Aleksandra S.

2010-01-01

Full Text Available The subject of this paper are international cruises along the Pan-European Corridor VII (Danube Waterway. We tried to identify the structural properties of cruises along the Corridor VII, determine the scope and dynamics of cruises along the Corridor VII, define the problems and point to perspectives of cruises along the Corridor VII in Serbia. The research presented in this paper suggests that adequate valorization of the Danube along its entire naviga­ble stream is a 'quick win' option for Serbia's tourism. The related research, also, suggests positive effects that the cruises have upon the economic and socio-cultural development of Serbia. In order for cruises along the Corridor VII to provide prosperity in the forthcoming period, it is necessary that this form of tourism be integrated into plans of tourism development of the entire Corridor VII and Serbia as a whole. Without adequate plans, the recon­struction of the existing and new infrastructure and increase in service quality, it is reasonable to expect a decline in the competitiveness of the Serbia's supply at the cruise market. The basic methods used while obtaining and processing data and analyzing the results are: field research, histor­ical method, statistical procession, quantitative and qualitative content analyses, comparative method (Bench­mark analysis etc.. A particular significance was given to the PESTEL analysis.

Cruise Tourism in Dominica: Benefits and Beneficiaries Bruno Marques, Romain Cruse

Directory of Open Access Journals (Sweden)

Bruno Marques

2015-09-01

Full Text Available The impressive growth of cruise tourism in Dominica, inside highly competitive area of the Caribbean basin, gives the island an astonishing flavor of success. By adopting a systemic approach the article demonstrates that three agents concentrate more than 70% of the financial impact of the cruise activity in Dominica: the local travel agencies, souvenir shops and the cruise lines. The low dispersion of the beneficiaries is concomitant with a spatial concentration and a minimal macroeconomic benefit. This case study, devoted to Dominica, suggests a highly concentrated model of cruise tourism in the Caribbean underpinned by organized tours as the main mode of experiencing the stopovers and a source of revenue for cruise lines, whose subcontractor: the local travel agencies are the primary distribution channel of cruise tourism revenue, high level of economic and spatial concentration generating low trickle down macroeconomic effect.

Adaptive control of discrete-time chaotic systems: a fuzzy control approach

International Nuclear Information System (INIS)

Feng Gang; Chen Guanrong

2005-01-01

This paper discusses adaptive control of a class of discrete-time chaotic systems from a fuzzy control approach. Using the T-S model of discrete-time chaotic systems, an adaptive control algorithm is developed based on some conventional adaptive control techniques. The resulting adaptively controlled chaotic system is shown to be globally stable, and its robustness is discussed. A simulation example of the chaotic Henon map control is finally presented, to illustrate an application and the performance of the proposed control algorithm

Sensor fusion: lane marking detection and autonomous intelligent cruise control system

Science.gov (United States)

Baret, Marc; Baillarin, S.; Calesse, C.; Martin, Lionel

1995-12-01

In the past few years MATRA and RENAULT have developed an Autonomous Intelligent Cruise Control (AICC) system based on a LIDAR sensor. This sensor incorporating a charge coupled device was designed to acquire pulsed laser diode emission reflected by standard car reflectors. The absence of moving mechanical parts, the large field of view, the high measurement rate and the very good accuracy for distance range and angular position of targets make this sensor very interesting. It provides the equipped car with the distance and the relative speed of other vehicles enabling the safety distance to be controlled by acting on the throttle and the automatic gear box. Experiments in various real traffic situations have shown the limitations of this kind of system especially on bends. All AICC sensors are unable to distinguish between a bend and a change of lane. This is easily understood if we consider a road without lane markings. This fact has led MATRA to improve its AICC system by providing the lane marking information. Also in the scope of the EUREKA PROMETHEUS project, MATRA and RENAULT have developed a lane keeping system in order to warn of the drivers lack of vigilance. Thus, MATRA have spread this system to far field lane marking detection and have coupled it with the AICC system. Experiments will be carried out on roads to estimate the gain in performance and comfort due to this fusion.

Methods of Raising Funds for Purchasing of New Cruise Ships by International Corporations

Directory of Open Access Journals (Sweden)

Kizielewicz Joanna

2017-06-01

Full Text Available The world’s cruise corporations regularly purchase large, luxurious cruise ships. In accordance with the Cruise Line International Association, 33 new ocean cruise ships will be available on the market by 2020. These types of capital expenditures are associated with large financial outlays of up to $ 1 billion. The leading cruise corporations are not able to finance purchases of new units with their own resources and therefore look for different solutions. Available publications focus mainly on issues related to purchasing cargo ships, not cruise ships. The objective of the article is to identify sources of funding of new cruise ships. Our analysis identifies the average capital expenditure associated with purchasing new cruise ships and factors that influence it. The most popular methods for raising such capital are also provided. Our research methodology relies on data exploration method, a desk research method and comparative analysis.

Adaptive Augmenting Control and Launch Vehicle Adaptive Control Flight Experiments

Data.gov (United States)

National Aeronautics and Space Administration — Researchers at NASA Armstrong are working to further the development of an adaptive augmenting control algorithm (AAC). The AAC was developed to improve the...

An adaptive Cartesian control scheme for manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

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

Drague et cruising

Directory of Open Access Journals (Sweden)

Emmanuel Redoutey

2008-04-01

Full Text Available Dans la culture homosexuelle masculine, drague et cruising sont des termes équivalents. Ils désignent la quête d’un ou de plusieurs partenaires occasionnels et anonymes. Analyser leurs référents métaphoriques respectifs offre un éclairage particulier, à la fois phénoménologique et géographique, pour une compréhension nuancée des types de pratique et d’expérience qu’ils recouvrent. Cet article pose l’hypothèse d’une distinction entre deux figures, le dragueur et le cruiser, et postule que cette distinction se tient essentiellement dans l’opposition que Gilles Deleuze et Félix Guattari établissent entre ‘espace strié’ et ‘espace lisse’. L’essai de théorisation qui en découle est une manière de comprendre ce qui, entre sexualisation de l’espace et érotisation d’un mouvement exploratoire, fait fonctionner le script de la drague.In French gay culture, drague means cruising: looking for anonymous and 
casual sexual partners. This paper, by respectively examining the 
metaphorical underpinnings of both words, French and English, throws 
doubt on the validity of this translation. Through a phenomenological 
and geographical perspective, it attempts to give a nuanced examination 
of the practice and experience that each word conceals. The aim is to 
identify two figures embodied in a same person: the dragueur and the 
cruiser. I will argue that the distinction mainly rests on the 
opposition that Gilles Deleuze and Felix Guattari establish between ‘striated space’ and ‘smooth space’. The concluding theorical 
discussion is an attempt to understand what, in the tension between sexualization of space and eroticization of movement, guides the scripts of drague and cruising.

Dynamic optimization and adaptive controller design

Science.gov (United States)

Inamdar, S. R.

2010-10-01

In this work I present a new type of controller which is an adaptive tracking controller which employs dynamic optimization for optimizing current value of controller action for the temperature control of nonisothermal continuously stirred tank reactor (CSTR). We begin with a two-state model of nonisothermal CSTR which are mass and heat balance equations and then add cooling system dynamics to eliminate input multiplicity. The initial design value is obtained using local stability of steady states where approach temperature for cooling action is specified as a steady state and a design specification. Later we make a correction in the dynamics where material balance is manipulated to use feed concentration as a system parameter as an adaptive control measure in order to avoid actuator saturation for the main control loop. The analysis leading to design of dynamic optimization based parameter adaptive controller is presented. The important component of this mathematical framework is reference trajectory generation to form an adaptive control measure.

RV Ronald H. Brown Cruise RB1201 (EM122)

Data.gov (United States)

National Oceanic and Atmospheric Administration, Department of Commerce — Cruise RB1201 was led by Chief Scientist Molly Baringer (AOML, NOAA, Miami) as per previous cruises RB0602, RB0701 and RB0901. The three main objectives were:...

Cooperative adaptive cruise control, design and experiments

NARCIS (Netherlands)

Naus, G.J.L.; Vugts, R.P.A.; Ploeg, J.; Molengraft, van de M.J.G.; Steinbuch, M.

2010-01-01

The design of a CACC system and corresponding experiments are presented. The design targets string stable system behavior, which is assessed using a frequency-domain-based approach. Following this approach, it is shown that the available wireless information enables small inter-vehicle distances,

Scalable Beaconing for Cooperative Adaptive Cruise Control

NARCIS (Netherlands)

van Eenennaam, Martijn

2013-01-01

Over the past two hundred years, automotive technology has evolved from mechanised horse carriage to high-tech systems which pack more computing power than the entire space program that put Neil Armstrong on the moon. Hand-in-hand with this evolution came a proliferation of ownership and use of

Adaptive Flight Control Research at NASA

Science.gov (United States)

Motter, Mark A.

2008-01-01

A broad overview of current adaptive flight control research efforts at NASA is presented, as well as some more detailed discussion of selected specific approaches. The stated objective of the Integrated Resilient Aircraft Control Project, one of NASA s Aviation Safety programs, is to advance the state-of-the-art of adaptive controls as a design option to provide enhanced stability and maneuverability margins for safe landing in the presence of adverse conditions such as actuator or sensor failures. Under this project, a number of adaptive control approaches are being pursued, including neural networks and multiple models. Validation of all the adaptive control approaches will use not only traditional methods such as simulation, wind tunnel testing and manned flight tests, but will be augmented with recently developed capabilities in unmanned flight testing.

Rail Vehicle Vibrations Control Using Parameters Adaptive PID Controller

Directory of Open Access Journals (Sweden)

Muzaffer Metin

2014-01-01

Full Text Available In this study, vertical rail vehicle vibrations are controlled by the use of conventional PID and parameters which are adaptive to PID controllers. A parameters adaptive PID controller is designed to improve the passenger comfort by intuitional usage of this method that renews the parameters online and sensitively under variable track inputs. Sinusoidal vertical rail misalignment and measured real rail irregularity are considered as two different disruptive effects of the system. Active vibration control is applied to the system through the secondary suspension. The active suspension application of rail vehicle is examined by using 5-DOF quarter-rail vehicle model by using Manchester benchmark dynamic parameters. The new parameters of adaptive controller are optimized by means of genetic algorithm toolbox of MATLAB. Simulations are performed at maximum urban transportation speed (90 km/h of the rail vehicle with ±5% load changes of rail vehicle body to test the robustness of controllers. As a result, superior performance of parameters of adaptive controller is determined in time and frequency domain.

Diarrhea and related factors among passengers on world cruises departing from Japan.

Science.gov (United States)

Yamakawa, Michiyo; Sasai, Megumi; Kasai, Yosuke; Tsuda, Toshihide; Suzuki, Etsuji

2018-01-25

Despite growth in the number of cruises worldwide, evidence about diarrhea experienced by cruise ship passengers remains sparse. We investigated rates of diarrhea and related factors among passengers on world cruises departing from Japan. Targeting passengers on five world cruises (n = 4180) from 2012 to 2013 (85-103 travel days), we calculated rates of health seeking behavior for diarrhea by sex, age group, and number of roommates for each cruise. We estimated rate ratios and 95% confidence intervals, using the group aged 20-39 years, women, and 2-4 roommates as referent categories. We found 5.04-6.00 cases per 10,000 person-days in the five cruises, with an elevated number after calling at ports. Older passengers (>60 years) and passengers with fewer roommates had an elevated risk of health seeking behavior for diarrhea, although passengers aged 60 years and without roommates. Older passengers and passengers with fewer roommates may be more likely to seek medical treatment for diarrhea during travel on a world cruise, and should take preventive measures. Copyright © 2018. Published by Elsevier Ltd.

Adaptive control of a Stewart platform-based manipulator

Science.gov (United States)

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

1993-01-01

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

Cruise tourism: a hedonic pricing approach

Directory of Open Access Journals (Sweden)

Josep Maria Espinet-Rius

2018-03-01

Full Text Available Purpose - The purpose of this paper is to examine the effect on price of different cruise industry characteristics from the point of view of actual prices. The analysis is carried out from the supply side but taking into account the real prices paid by customers. Design/methodology/approach - This paper uses the hedonic price methodology. To develop this research, a database of more than 36,000 prices paid by cruise passengers and different characteristics of ships in 2013 was built. To obtain the results, ten models have been developed with significant adjusted R2 of between 0.85 and 0.93 making the models and results robust. Findings - The results show that the main attributes affecting prices are the number of nights of the itinerary, the departure date, the number of days before departure the booking is made, the accommodation type and some facilities, such as casinos, cinemas and swimming pools. The results also yield a ranking of ship companies based on price and quality dimensions. Finally, the authors suggest some implications for management and new research. Originality/value - This paper offers a new approach in the academic literature of the cruise industry in two respects. First, in its use of a broad database of actual prices paid by passengers – more than 36,000 observations. Second, in the application of the hedonic pricing methodology, widely used in the tourism sector (see the Methodology and Database section but until now not in the cruising segment.

Transverse and longitudinal control of a passenger car for the development of a cruise control system for preventing accidents; Quer- und Laengsregelung eines Personenkraftwagens fuer ein Fahrerassistenzsystem zur Unfallvermeidung

Energy Technology Data Exchange (ETDEWEB)

Schorn, M.

2007-07-01

The author describes the design of linear and nonlinear transverse control systems that enable evasion maneouvers with high transverse acceleration in the last physically possible moment. In many cases, steering manoeuvers may prevent accidents when it is too late for braking as the distance to the obstacle is too short. In addition to cruise control aspects, also methods of combined transverse and longitudinal control are gone into. The methods developed were tested in simulations using a two-lane model and also in driving experiment using a test vehicle with electrohydraulic brakes and superpositional steering, and the results were compared. (orig.)

Ecological considerations in constructing marine infrastructure: The Falmouth cruise terminal development, Jamaica

NARCIS (Netherlands)

Korbee, D.; Mol, A.P.J.; Tatenhove, van J.P.M.

2015-01-01

Cruise tourism is an important and expanding global industry. The growth of this sector,coupled with the continuous development of larger cruise ships, creates demands for new marine infrastructure. The development of these marine infrastructures takes place at the intersection of global cruise

Supersonic cruise vehicle research/business jet

Science.gov (United States)

Kelly, R. J.

1980-01-01

A comparison study of a GE-21 variable propulsion system with a Multimode Integrated Propulsion System (MMIPS) was conducted while installed in small M = 2.7 supersonic cruise vehicles with military and business jet possibilities. The 1984 state of the art vehicles were sized to the same transatlantic range, takeoff distance, and sideline noise. The results indicate the MMIPS would result in a heavier vehicle with better subsonic cruise performance. The MMIPS arrangement with one fan engine and two satellite turbojet engines would not be appropriate for a small supersonic business jet because of design integration penalties and lack of redundancy.

Bi-Objective Optimal Control Modification Adaptive Control for Systems with Input Uncertainty

Science.gov (United States)

Nguyen, Nhan T.

2012-01-01

This paper presents a new model-reference adaptive control method based on a bi-objective optimal control formulation for systems with input uncertainty. A parallel predictor model is constructed to relate the predictor error to the estimation error of the control effectiveness matrix. In this work, we develop an optimal control modification adaptive control approach that seeks to minimize a bi-objective linear quadratic cost function of both the tracking error norm and predictor error norm simultaneously. The resulting adaptive laws for the parametric uncertainty and control effectiveness uncertainty are dependent on both the tracking error and predictor error, while the adaptive laws for the feedback gain and command feedforward gain are only dependent on the tracking error. The optimal control modification term provides robustness to the adaptive laws naturally from the optimal control framework. Simulations demonstrate the effectiveness of the proposed adaptive control approach.

Adaptive powertrain control for plugin hybrid electric vehicles

Science.gov (United States)

Kedar-Dongarkar, Gurunath; Weslati, Feisel

2013-10-15

A powertrain control system for a plugin hybrid electric vehicle. The system comprises an adaptive charge sustaining controller; at least one internal data source connected to the adaptive charge sustaining controller; and a memory connected to the adaptive charge sustaining controller for storing data generated by the at least one internal data source. The adaptive charge sustaining controller is operable to select an operating mode of the vehicle's powertrain along a given route based on programming generated from data stored in the memory associated with that route. Further described is a method of adaptively controlling operation of a plugin hybrid electric vehicle powertrain comprising identifying a route being traveled, activating stored adaptive charge sustaining mode programming for the identified route and controlling operation of the powertrain along the identified route by selecting from a plurality of operational modes based on the stored adaptive charge sustaining mode programming.

Adaptive self-correcting control system

International Nuclear Information System (INIS)

Ellis, S.H.

1984-01-01

A control system for regulating a controlled device or process, such as a turbofan engine, produces independent multiple estimates of one or more controlled variables of the device or process by combining the signals from a plurality of feedback sensors, which provide information related to the controlled variables, in weighted nonordered pairs. The independent multiple estimates of each controlled variable are combined into a weighted average, and individual estimates which differ by more than a specified amount from the weighted average are edited and temporarily removed from consideration. A revised weighted average value of each controlled variable is then produced, and this value is used to limit or control operation of the device or process. Adaptive trim is provided to compensate for changes in the device or process being controlled, such as engine deterioration, by slowly trimming each individual estimate toward the mean, and includes error compensation which constrains the weighted sum of the adaptive trims to equal zero, thereby preventing the adaptive trim from changing the operating level of the device or process. A secondary editing circuit based on a majority rule principle identifies a failed feedback sensor and permanently excludes all individual estimates of the controlled variable based on the failed sensor. Editing boundaries are increased and adaptive trim rate is varied when a transient occurs in the operation of the device or process. Further transient compensation may be required for a system with more severe transient requirements, and this invention includes compensation to selected feedback parameters such as turbine temperature to account for differences between steady state and transient values

Direct adaptive control of manipulators in Cartesian space

Science.gov (United States)

Seraji, H.

1987-01-01

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

Flight Test Approach to Adaptive Control Research

Science.gov (United States)

Pavlock, Kate Maureen; Less, James L.; Larson, David Nils

2011-01-01

The National Aeronautics and Space Administration s Dryden Flight Research Center completed flight testing of adaptive controls research on a full-scale F-18 testbed. The validation of adaptive controls has the potential to enhance safety in the presence of adverse conditions such as structural damage or control surface failures. This paper describes the research interface architecture, risk mitigations, flight test approach and lessons learned of adaptive controls research.

33 CFR 105.290 - Additional requirements-cruise ship terminals.

Science.gov (United States)

2010-07-01

... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Additional requirements-cruise ship terminals. 105.290 Section 105.290 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY MARITIME SECURITY MARITIME SECURITY: FACILITIES Facility Security Requirements § 105.290 Additional requirements—cruise ship terminals...

Simulation and Rapid Prototyping of Adaptive Control Systems using the Adaptive Blockset for Simulink

DEFF Research Database (Denmark)

Ravn, Ole

1998-01-01

The paper describes the design considerations and implementational aspects of the Adaptive Blockset for Simulink which has been developed in a prototype implementation. The concept behind the Adaptive Blockset for Simulink is to bridge the gap between simulation and prototype controller implement...... design, controller and state variable filter.The use of the Adaptive Blockset is demonstrated using a simple laboratory setup. Both the use of the blockset for simulation and for rapid prototyping of a real-time controller are shown.......The paper describes the design considerations and implementational aspects of the Adaptive Blockset for Simulink which has been developed in a prototype implementation. The concept behind the Adaptive Blockset for Simulink is to bridge the gap between simulation and prototype controller...... implementation. This is done using the code generation capabilities of Real Time Workshop in combination with C s-function blocks for adaptive control in Simulink. In the paper the design of each group of blocks normally found in adaptive controllers is outlined. The block types are, identification, controller...

Model based development of cruise control for Mercedes-Benz trucks; Modellbasierte Entwicklung eines Tempomat fuer Mercedes-Benz Trucks

Energy Technology Data Exchange (ETDEWEB)

Wuensche, M. [VDI, Berlin (Germany); Elser, J.; Dorner, J. [DaimlerChrysler AG, Stuttgart (Germany); Wahner, U.; Kanamueller, B. [MathWorks GmbH, Muenchen (Germany)

2005-07-01

It was necessary to reengineer the cruise control of Mercedes-Benz Trucks for its world wide use in commercial vehicles of the DaimlerChrysler AG. For this extensive task a new software development process of model based function development and automatic serial code generation was installed and exemplary used. Key aspects of this process are the involvement of software-in-the-loop and hardware-in-the-loop simulation technologies to ensure a high software quality through the whole cycle. The simulation and modeling tool chain consists of Matlab, Simulink and Embedded Coder, therefore the project was realized under assistance of the consulting department of The MathWorks Inc. (orig.)

Adaptation in the fuzzy self-organising controller

DEFF Research Database (Denmark)

Jantzen, Jan; Poulsen, Niels Kjølstad

2003-01-01

This simulation study provides an analysis of the adaptation mechanism in the self-organising fuzzy controller, SOC. The approach is to apply a traditional adaptive control viewpoint. A simplified performance measure in the SOC controller is used in a loss function, and thus the MIT rule implies...... an update mechanism similar to the SOC update mechanism. Two simulations of proportionally controlled systems show the behaviour of the proportional gain as it adapts to a specified behaviour....

Estuary and Plume Forecasts in Support of Oceanographic Cruises: Generation, In-Vessel Delivery and Quality Control

Science.gov (United States)

Baptista, A. M.; Zhang, Y.; Turner, P. J.; Seaton, C.; van Matre, E.; Hickey, B. M.; Peterson, W. T.; Casillas, E.

2005-12-01

Retrospective and predictive simulations of 3D estuarine and plume circulation are conducted as an integral part of CORIE, a multi-purpose cross-scale coastal-margin observatory for the Columbia River. In 2004 and 2005, daily forecasts provided near real-time support for oceanographic and fisheries cruises, involving a range of scientific goals, vessels, and regions within the estuary and the plume. The focus of this presentation is on the description of the modeling, observation and information infrastructure that was developed to support the cruises. At the core of the infrastructure were two 3D baroclinic circulation models (ELCIRC [1] and SELFE [2]), both of which solve for the shallow equations using semi-implicit, Eulerian-Lagrangian, unstructured-grid, hybrid methods (finite volumes/finite differences and finite elements/finite volumes, respectively). Short-term quality control was enabled through a near real-time observation network, combining fixed stations and vessel instrumentation. Prior to deployment, models were also extensively tested in the context of multi-year simulations and observations (e.g., [3]). Radio-based near real-time telemetry was used to transfer customized forecast products to the vessels, a process that was conducted in background every time the vessels were within radio range of a land-based station. A local web server was set-up in each vessel, allowing scientists on-board to have fast access to information. The freshness of the information available on board varied with the cruise plan (specifically, the distance to the land-based station). Typical information latency ranged from a few minutes to a few days. Forecasts were typically able to predict major features of plume and estuarine dynamics, even if the details of quantitative agreement with observations varied with ocean, wind and river conditions. [1] Y. L. Zhang, A. M. Baptista, and E. P. Myers, "A cross-scale model for 3D baroclinic circulation in estuary

Cruise Ships: Continuity and Change in the World System

Directory of Open Access Journals (Sweden)

Francisca Oyogoa

2016-03-01

Full Text Available Cruise ships present a useful context to study contemporary developments in globalization.  U.S.-owned cruise companies have managed to create the “ideal” context for contemporary corporations: very little government oversight of labor relations, an available pool of very cheap labor dispersed across the globe, lax environmental regulations, high profit margins, and corporate tax rates around 1%.  A typical cruise ship leaving the U.S. contains workers from 75 to 90 nationalities.  Crewmembers performing menial service work are recruited exclusively from “poor countries” in Asia, Eastern Europe, Latin America, and the Caribbean. Crewmembers typically sign 10-month contracts stipulating 10-14 hour workdays/7 days a week without vacation or sick days. There is a striking correlation between workers’ pay/status and their countries’ position within the world system.  Staff members are usually white Westerners, while crewmembers are exclusively from the global south. On cruises the legacies of imperialism and colonialism are often the basis of workers’ racialization as appropriate servants.

Neural network based adaptive control for nonlinear dynamic regimes

Science.gov (United States)

Shin, Yoonghyun

Adaptive control designs using neural networks (NNs) based on dynamic inversion are investigated for aerospace vehicles which are operated at highly nonlinear dynamic regimes. NNs play a key role as the principal element of adaptation to approximately cancel the effect of inversion error, which subsequently improves robustness to parametric uncertainty and unmodeled dynamics in nonlinear regimes. An adaptive control scheme previously named 'composite model reference adaptive control' is further developed so that it can be applied to multi-input multi-output output feedback dynamic inversion. It can have adaptive elements in both the dynamic compensator (linear controller) part and/or in the conventional adaptive controller part, also utilizing state estimation information for NN adaptation. This methodology has more flexibility and thus hopefully greater potential than conventional adaptive designs for adaptive flight control in highly nonlinear flight regimes. The stability of the control system is proved through Lyapunov theorems, and validated with simulations. The control designs in this thesis also include the use of 'pseudo-control hedging' techniques which are introduced to prevent the NNs from attempting to adapt to various actuation nonlinearities such as actuator position and rate saturations. Control allocation is introduced for the case of redundant control effectors including thrust vectoring nozzles. A thorough comparison study of conventional and NN-based adaptive designs for a system under a limit cycle, wing-rock, is included in this research, and the NN-based adaptive control designs demonstrate their performances for two highly maneuverable aerial vehicles, NASA F-15 ACTIVE and FQM-117B unmanned aerial vehicle (UAV), operated under various nonlinearities and uncertainties.

Temperature uniformity control in RTP using multivariable adaptive control

Energy Technology Data Exchange (ETDEWEB)

Morales, S.; Dahhou, B.; Dilhac, J.M. [Centre National de la Recherche Scientifique (CNRS), 31 - Toulouse (France); Morales, S.

1995-12-31

In Rapid Thermal Processing (RTP) control of the wafer temperature during all processing to get good trajectory following, together with spatial temperature uniformity, is essential. It is well know as RTP process is nonlinear, classical control laws are not very efficient. In this work, the authors aim at studying the applicability of MIMO (Multiple Inputs Multiple Outputs) adaptive techniques to solve the temperature control problems in RTP. A multivariable linear discrete time CARIMA (Controlled Auto Regressive Integrating Moving Average) model of the highly non-linear process is identified on-line using a robust identification technique. The identified model is used to compute an infinite time LQ (Linear Quadratic) based control law, with a partial state reference model. This reference model smooths the original setpoint sequence, and at the same time gives a tracking capability to the LQ control law. After an experimental open-loop investigation, the results of the application of the adaptive control law are presented. Finally, some comments on the future difficulties and developments of the application of adaptive control in RTP are given. (author) 13 refs.

Monitoring the Performance of a Neuro-Adaptive Controller

Science.gov (United States)

Schumann, Johann; Gupta, Pramod

2004-01-01

Traditional control has proven to be ineffective to deal with catastrophic changes or slow degradation of complex, highly nonlinear systems like aircraft or spacecraft, robotics, or flexible manufacturing systems. Control systems which can adapt toward changes in the plant have been proposed as they offer many advantages (e.g., better performance, controllability of aircraft despite of a damaged wing). In the last few years, use of neural networks in adaptive controllers (neuro-adaptive control) has been studied actively. Neural networks of various architectures have been used successfully for online learning adaptive controllers. In such a typical control architecture, the neural network receives as an input the current deviation between desired and actual plant behavior and, by on-line training, tries to minimize this discrepancy (e.g.; by producing a control augmentation signal). Even though neuro-adaptive controllers offer many advantages, they have not been used in mission- or safety-critical applications, because performance and safety guarantees cannot b e provided at development time-a major prerequisite for safety certification (e.g., by the FAA or NASA). Verification and Validation (V&V) of an adaptive controller requires the development of new analysis techniques which can demonstrate that the control system behaves safely under all operating conditions. Because of the requirement to adapt toward unforeseen changes during operation, i.e., in real time, design-time V&V is not sufficient.

Adaptive Method Using Controlled Grid Deformation

Directory of Open Access Journals (Sweden)

Florin FRUNZULICA

2011-09-01

Full Text Available The paper presents an adaptive method using the controlled grid deformation over an elastic, isotropic and continuous domain. The adaptive process is controlled with the principal strains and principal strain directions and uses the finite elements method. Numerical results are presented for several test cases.

Adaptive LQG controller tuning

Czech Academy of Sciences Publication Activity Database

Novák, Miroslav; Böhm, Josef; Nedoma, Petr; Tesař, Ludvík

2003-01-01

Roč. 150, č. 6 (2003), s. 655-665 ISSN 1350-2379 R&D Projects: GA ČR GA102/02/0204; GA AV ČR IBS1075102 Institutional research plan: CEZ:AV0Z1075907 Keywords : adaptive controller * LQG controller * controller design Subject RIV: JB - Sensors, Measurment, Regulation Impact factor: 0.745, year: 2003

Reference-shaping adaptive control by using gradient descent optimizers.

Directory of Open Access Journals (Sweden)

Baris Baykant Alagoz

Full Text Available This study presents a model reference adaptive control scheme based on reference-shaping approach. The proposed adaptive control structure includes two optimizer processes that perform gradient descent optimization. The first process is the control optimizer that generates appropriate control signal for tracking of the controlled system output to a reference model output. The second process is the adaptation optimizer that performs for estimation of a time-varying adaptation gain, and it contributes to improvement of control signal generation. Numerical update equations derived for adaptation gain and control signal perform gradient descent optimization in order to decrease the model mismatch errors. To reduce noise sensitivity of the system, a dead zone rule is applied to the adaptation process. Simulation examples show the performance of the proposed Reference-Shaping Adaptive Control (RSAC method for several test scenarios. An experimental study demonstrates application of method for rotor control.

Itinerary planning: Modelling cruise lines’ lengths of stay in ports

NARCIS (Netherlands)

Chen, Jamie M.; Nijkamp, Peter

Cruise tourism is a fast-growing segment of the tourism industry that generates substantial benefits to port cities. This study explores strategic aspects of cruise lines’ itinerary planning, and models the determinants of their lengths of stay in ports, based on extensive observations of network

Adaptive Flight Control Design with Optimal Control Modification on an F-18 Aircraft Model

Science.gov (United States)

Burken, John J.; Nguyen, Nhan T.; Griffin, Brian J.

2010-01-01

In the presence of large uncertainties, a control system needs to be able to adapt rapidly to regain performance. Fast adaptation is referred to as the implementation of adaptive control with a large adaptive gain to reduce the tracking error rapidly; however, a large adaptive gain can lead to high-frequency oscillations which can adversely affect the robustness of an adaptive control law. A new adaptive control modification is presented that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. The modification is based on the minimization of the Y2 norm of the tracking error, which is formulated as an optimal control problem. The optimality condition is used to derive the modification using the gradient method. The optimal control modification results in a stable adaptation and allows a large adaptive gain to be used for better tracking while providing sufficient robustness. A damping term (v) is added in the modification to increase damping as needed. Simulations were conducted on a damaged F-18 aircraft (McDonnell Douglas, now The Boeing Company, Chicago, Illinois) with both the standard baseline dynamic inversion controller and the adaptive optimal control modification technique. The results demonstrate the effectiveness of the proposed modification in tracking a reference model.

Adaptive tracking control of nonholonomic systems: an example

NARCIS (Netherlands)

Lefeber, A.A.J.; Nijmeijer, Henk

1999-01-01

We study an example of an adaptive (state) tracking control problem for a four-wheel mobile robot, as it is an illustrative example of the general adaptive state-feedback tracking control problem. It turns out that formulating the adaptive state-feedback tracking control problem is not

Maritime adaptive optics beam control

OpenAIRE

Corley, Melissa S.

2010-01-01

The Navy is interested in developing systems for horizontal, near ocean surface, high-energy laser propagation through the atmosphere. Laser propagation in the maritime environment requires adaptive optics control of aberrations caused by atmospheric distortion. In this research, a multichannel transverse adaptive filter is formulated in Matlab's Simulink environment and compared to a complex lattice filter that has previously been implemented in large system simulations. The adaptive fil...

Adaptive Torque Control of Variable Speed Wind Turbines

Energy Technology Data Exchange (ETDEWEB)

Johnson, K. E.

2004-08-01

The primary focus of this work is a new adaptive controller that is designed to resemble the standard non-adaptive controller used by the wind industry for variable speed wind turbines below rated power. This adaptive controller uses a simple, highly intuitive gain adaptation law designed to seek out the optimal gain for maximizing the turbine's energy capture. It is designed to work even in real, time-varying winds.

Low-Speed Cooperative Car-Following Fuzzy Controller for Cybernetic Transport Systems

OpenAIRE

Milanés , Vicente; Marouf , Mohamed; Pérez Rastelli , Joshué; Gonzalez Bautista , David; Nashashibi , Fawzi

2014-01-01

International audience; — This paper describes the development of a Coop-erative Adaptive Cruise Control (CACC) for the future urban transportation system at low-speed. The control algorithm was evaluated using two Cybecars as prototype vehicles. A longitu-dinal response model for the vehicles was developed to design the CACC system. The control algorithm was implemented on a fuzzy logic-based controller that has been tuned to minimize a cost function in order to get a trade-off between a pro...

A new approach to adaptive control of manipulators

Science.gov (United States)

Seraji, H.

1987-01-01

An approach in which the manipulator inverse is used as a feedforward controller is employed in the adaptive control of manipulators in order to achieve trajectory tracking by the joint angles. The desired trajectory is applied as an input to the feedforward controller, and the controller output is used as the driving torque for the manipulator. An adaptive algorithm obtained from MRAC theory is used to update the controller gains to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal enhance closed-loop stability and achieve faster adaptation. Simulation results demonstrate the effectiveness of the proposed control scheme for different reference trajectories, and despite large variations in the payload.

Acoustic Doppler current profiling from the JGOFS Arabian sea cruises aboard the RV T.G. Thompson

Energy Technology Data Exchange (ETDEWEB)

Kim, Hyun-Sook; Flagg, C.N.; Shi, Yan

1996-06-01

Acoustic Doppler current profiler (ADCP) data is part of the core data for the U.S. JGOFS Arabian Sea project, along with hydrographic and nutrient data. Seventeen cruises are scheduled to take place between September 1994 and January 1996 on the R/V T.G. Thompson. They are numbered consecutively from the ship`s commissioning with the first JGOFS cruise designated TN039. Table 1 lists start and end dates of each cruise with its mission. All but the first cruise have been or will be staged from Muscat, Oman. Each cruise is scheduled for a duration of between two weeks and one month. Seven of the cruises, referred to as process cruises, follow a standard cruise track, taking hydrographic, chemical and biological measurements. The rest of the cruises, which take place generally within the standard cruise region defined by a set track, are for the deployment and recovery of moored equipments and towing of a SeaSoar. ADCP data are collected using an autonomous data acquisition system developed for ship-of-opportunity cruises, named the AutoADCP system. The system is an extension of RD instrument`s DAS version 2.48 using enhancements made possible with {open_quotes}user-exit{close_quotes} programs. It makes it possible to collect ADCP data without the constant monitoring usually necessary and insures constant data coverage and uniform data quality.

GALILEO CRUISE POSITION DATA (RTN COORDINATES)

Data.gov (United States)

National Aeronautics and Space Administration — This dataset contains the Galileo spacecraft trajectory during the interplanetary cruise. The data have been derived from SPICE kernels at a 1 minute sample rate....

Determination Of Adaptive Control Parameter Using Fuzzy Logic Controller

Directory of Open Access Journals (Sweden)

Omur Can Ozguney

2017-08-01

Full Text Available The robot industry has developed along with the increasing the use of robots in industry. This has led to increase the studies on robots. The most important part of these studies is that the robots must be work with minimum tracking trajectory error. But it is not easy for robots to track the desired trajectory because of the external disturbances and parametric uncertainty. Therefore adaptive and robust controllers are used to decrease tracking error. The aim of this study is to increase the tracking performance of the robot and minimize the trajectory tracking error. For this purpose adaptive control law for robot manipulator is identified and fuzzy logic controller is applied to find the accurate values for adaptive control parameter. Based on the Lyapunov theory stability of the uncertain system is guaranteed. In this study robot parameters are assumed to be unknown. This controller is applied to a robot model and the results of simulations are given. Controller with fuzzy logic and without fuzzy logic are compared with each other. Simulation results show that the fuzzy logic controller has improved the results.

Direct adaptive control using feedforward neural networks

OpenAIRE

Cajueiro, Daniel Oliveira; Hemerly, Elder Moreira

2003-01-01

ABSTRACT: This paper proposes a new scheme for direct neural adaptive control that works efficiently employing only one neural network, used for simultaneously identifying and controlling the plant. The idea behind this structure of adaptive control is to compensate the control input obtained by a conventional feedback controller. The neural network training process is carried out by using two different techniques: backpropagation and extended Kalman filter algorithm. Additionally, the conver...

Adaptive control system having hedge unit and related apparatus and methods

Science.gov (United States)

Johnson, Eric Norman (Inventor); Calise, Anthony J. (Inventor)

2007-01-01

The invention includes an adaptive control system used to control a plant. The adaptive control system includes a hedge unit that receives at least one control signal and a plant state signal. The hedge unit generates a hedge signal based on the control signal, the plant state signal, and a hedge model including a first model having one or more characteristics to which the adaptive control system is not to adapt, and a second model not having the characteristic(s) to which the adaptive control system is not to adapt. The hedge signal is used in the adaptive control system to remove the effect of the characteristic from a signal supplied to an adaptation law unit of the adaptive control system so that the adaptive control system does not adapt to the characteristic in controlling the plant.

Pilot-Induced Oscillation Suppression by Using 1 Adaptive Control

Directory of Open Access Journals (Sweden)

Chuan Wang

2012-01-01

research activities that aim to alleviate this problem. In this paper, the L1 adaptive controller has been introduced to suppress the PIO, which is caused by rate limiting and pure time delay. Due to its architecture, the L1 adaptive controller will achieve a desired response with fast adaptation. The analysis of PIO and its suppression by L1 adaptive controller are presented in detail in the paper. The simulation results indicate that the L1 adaptive control is efficient in solving this kind of problem.

Oceanographic Mower Cruise

Science.gov (United States)

Valencia, J.; Ercilla, G.; Hernández-Molina, F. J.; Casas, D.

2015-04-01

The MOWER Cruise has executed a geophysics and geologic expedition in the Gulf of Cádiz (sector adjacent to the Strait of Gibraltar) and west off Portugal, in the framework of the coordinate research project MOWER "Erosive features and associated sandy deposits generated by the Mediterranean Outflow Water (MOW) around Iberia: paleoceanographic, sedimentary & economic implications" (CTM 2012-39599-C03). The main aim of this project is to identify and study the erosional features (terraces and channels) and associated sedimentary deposits (sandy contourites) generated by the Mediterranean Water Masses around the middle continental slope of Iberia (The Mediterranean Outflow Water - MOW - in the Atlantic margins), their Pliocene and Quaternary evolution and their paleoceanographic, sedimentary and economic implications. This objective directly involves the study of alongslope (contourite) processes associated with the MOW and across-slope (turbiditic flows, debris flows, etc.) processes in the sedimentary stacking pattern and evolution of the Iberian margins. The MOWER project and cruise are related to the Integrated Ocean Drilling Program (IODP) Expedition 339 (Mediterranean Outflow). It is also linked and coordinated with CONDRIBER Project "Contourite drifts and associated mass-transport deposits along the SW Iberia margin - implications to slope stability and tsunami hazard assessment" (2013-2015) funded by the Fundação para a Ciência e Tecnologia, Portugal (PTDC/GEO-GEO/4430/2012).

Characterization of aerosol over the Northern South China Sea during two cruises in 2003

Science.gov (United States)

Zhang, Xingying; Zhuang, Guoshun; Guo, Jinghua; Yin, Kedong; Zhang, Peng

Atmospheric transport of trace elements has been found to be an important pathway for their input to the ocean. TSP, PM10, and PM2.5 aerosol samples were collected over the Northern South China Sea in two cruises in 2003 to estimate the input of aerosol from continent to the ocean. About 23 elements and 14 soluble ions in aerosol samples were measured. The average mass concentration of TSP in Cruise I in January (78 μg m -3) was ˜twice of that in Cruise II in April (37 μg m -3). Together with the crustal component, heavy metals from pollution sources over the land (especially from the industry and automobiles in Guangzhou) were transported to and deposited into the ocean. The atmospheric MSA concentrations in PM2.5 (0.048 μg m -3 in Cruise I and 0.043 μg m -3 in Cruise II) over Northern South China Sea were comparable to those over other coastal regions. The ratio of non-sea-salt (NSS)-sulfate to MSA is 103-655 for Cruise I and 15-440 for Cruise II in PM2.5 samples, which were much higher than those over remote oceans. The estimated anthropogenic sulfate accounts for 83-98% in Cruise I and 63-95% in Cruise II of the total NSS-sulfate. Fe (II) concentration in the aerosols collected over the ocean ranged from 0.1 to 0.9 μg m -3, accounting for 16-82% of the total iron in the aerosol, which could affect the marine biogeochemical cycle greatly.

Stakeholder Orientation in Cruise Lines’ Mission Statements

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Lara Penco

2017-11-01

Full Text Available Consistent with the extant management literature, mission statements are crucial for the sustainability and growth of any firms and have been considered to be a tool for the strategic management process. Despite the considerable attention awarded to this theme, the role of the mission statement in the strategic management of tourism firms has not been sufficiently highlighted. The present paper tries to bridge this literature gap and aims to (i analyze the content of mission statements; and (ii investigate the stakeholder orientation of cruise line mission statements. We apply a content analysis method to analyze the mission statements of 44 cruise lines, employing three different perspectives: (1 the inclusion of stakeholder groups; (2 mentions of specific “mission” components; (3 reference to four goals usually assigned to mission statements. The analysis was performed using the software package QDA-Miner. The results suggest that it is possible to identify four clusters of firms that present similar content in their mission statements, and that cruise companies tend to reserve a major attention to customers. This contribution presents some valuable research implications mainly useful for researchers and academics, but also maybe of benefit to professionals and investors.

Adaptive PI Controller for a Nonlinear System

Directory of Open Access Journals (Sweden)

D. Rathikarani

2009-10-01

Full Text Available Most of the industrial processes are inherently nonlinear in their behaviour. Designs of controllers for these nonlinear processes are difficult, as they do not follow superposition theorem. Adaptive controller can change its behaviour in response to changes in the dynamics of the process and disturbances. Hence adaptive controller can be used to control nonlinear processes. Direct Model Reference Adaptive Control is a technique, in which a reference model involving the desired performances is specified. In the present work, a DMRAC is designed and implemented to achieve satisfactory control of a nonlinear system in all its local linear operating regions. The closed loop system is made BIBO stable by proper control techniques. The controller is designed through simulation in Matlab platform and is validated in real time by conducting experiments on the laboratory Air Flow Control System using the dSPACE interface.

Adaptive control method for core power control in TRIGA Mark II reactor

Science.gov (United States)

Sabri Minhat, Mohd; Selamat, Hazlina; Subha, Nurul Adilla Mohd

2018-01-01

The 1MWth Reactor TRIGA PUSPATI (RTP) Mark II type has undergone more than 35 years of operation. The existing core power control uses feedback control algorithm (FCA). It is challenging to keep the core power stable at the desired value within acceptable error bands to meet the safety demand of RTP due to the sensitivity of nuclear research reactor operation. Currently, the system is not satisfied with power tracking performance and can be improved. Therefore, a new design core power control is very important to improve the current performance in tracking and regulate reactor power by control the movement of control rods. In this paper, the adaptive controller and focus on Model Reference Adaptive Control (MRAC) and Self-Tuning Control (STC) were applied to the control of the core power. The model for core power control was based on mathematical models of the reactor core, adaptive controller model, and control rods selection programming. The mathematical models of the reactor core were based on point kinetics model, thermal hydraulic models, and reactivity models. The adaptive control model was presented using Lyapunov method to ensure stable close loop system and STC Generalised Minimum Variance (GMV) Controller was not necessary to know the exact plant transfer function in designing the core power control. The performance between proposed adaptive control and FCA will be compared via computer simulation and analysed the simulation results manifest the effectiveness and the good performance of the proposed control method for core power control.

Enhanced vaccine control of epidemics in adaptive networks

Science.gov (United States)

Shaw, Leah B.; Schwartz, Ira B.

2010-04-01

We study vaccine control for disease spread on an adaptive network modeling disease avoidance behavior. Control is implemented by adding Poisson-distributed vaccination of susceptibles. We show that vaccine control is much more effective in adaptive networks than in static networks due to feedback interaction between the adaptive network rewiring and the vaccine application. When compared to extinction rates in static social networks, we find that the amount of vaccine resources required to sustain similar rates of extinction are as much as two orders of magnitude lower in adaptive networks.

Applications of adaptive filters in active noise control

Science.gov (United States)

Darlington, Paul

The active reduction of acoustic noise is achieved by the addition of a cancelling acoustic signal to the unwanted sound. Successful definition of the cancelling signal amounts to a system identification problem. Recent advances in adaptive signal processing have allowed this problem to be tackled using adaptive filters, which offer significant advantages over conventional solutions. The extension of adaptive noise cancelling techniques, which were developed in the electrical signal conditioning context, to the control of acoustic systems is studied. An analysis is presented of the behavior of the Widrow-Hoff LMS adaptive noise canceller with a linear filter in its control loop. The active control of plane waves propagating axially in a hardwalled duct is used as a motivating model problem. The model problem also motivates the study of the effects of feedback around an LMS adaptive filter. An alternative stochastic gradient algorithm for controlling adaptive filters in the presence of feedback is presented.

Tensor Product Model Transformation Based Adaptive Integral-Sliding Mode Controller: Equivalent Control Method

Directory of Open Access Journals (Sweden)

Guoliang Zhao

2013-01-01

Full Text Available This paper proposes new methodologies for the design of adaptive integral-sliding mode control. A tensor product model transformation based adaptive integral-sliding mode control law with respect to uncertainties and perturbations is studied, while upper bounds on the perturbations and uncertainties are assumed to be unknown. The advantage of proposed controllers consists in having a dynamical adaptive control gain to establish a sliding mode right at the beginning of the process. Gain dynamics ensure a reasonable adaptive gain with respect to the uncertainties. Finally, efficacy of the proposed controller is verified by simulations on an uncertain nonlinear system model.

Legionella risk assessment in cruise ships and ferries

Directory of Open Access Journals (Sweden)

Pasqualina Laganà

2017-06-01

Legionella pneumophila sg 1 was isolated from the samples of shower and tap water in 7 (70% of the 10 ferries examined, and in 3 (33% of the 6 cruise ships examined, and L. pneumophila sg 2–14 in 8 (80% and 1 (16.7% of these ships, respectively. No Legionella contamination was found in whirlpool baths, air and ice samples. In conclusion, the data obtained confirm higher levels of Legionella contamination in local ferries and cruise ships, underlining the need to adopt corrective actions more specific for these smaller vessels.

What Per Cent Cruise?

Science.gov (United States)

George M. Furnival

1953-01-01

Cruising timber is ordinarily a job of sampling, in which the quantity of timber on a tract is estimated from the quantity on a part of the tract. The difficulty is to determine what part (per cent) of the tract should be sampled to attain a given level of accuracy. This article gives a rule-ofthumb that can be applied with fair reliability to most Southern forests....

FRV Deleware II cruise, 30 June to 7 July 1978. Data report

Energy Technology Data Exchange (ETDEWEB)

Behrens, W.; von Bock, K. (eds.)

1982-05-01

This was the last of three companion cruises designed to provide broad-scale coverage of seasonal shelf conditions occurring between the April and October investigations undertaken aboard ATLANTIS II cruises 99 and 104.

Adaptive Control Using Residual Mode Filters Applied to Wind Turbines

Science.gov (United States)

Frost, Susan A.; Balas, Mark J.

2011-01-01

Many dynamic systems containing a large number of modes can benefit from adaptive control techniques, which are well suited to applications that have unknown parameters and poorly known operating conditions. In this paper, we focus on a model reference direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend this adaptive control theory to accommodate problematic modal subsystems of a plant that inhibit the adaptive controller by causing the open-loop plant to be non-minimum phase. We will augment the adaptive controller using a Residual Mode Filter (RMF) to compensate for problematic modal subsystems, thereby allowing the system to satisfy the requirements for the adaptive controller to have guaranteed convergence and bounded gains. We apply these theoretical results to design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed wind turbine that has minimum phase zeros.

Socio-cultural impacts of large-scale cruise tourism in Souq Mutrah, Sultanate of Oman

Directory of Open Access Journals (Sweden)

Manuela Gutberlet

2016-02-01

Full Text Available The following paper explores socio-cultural impacts of large-scale cruise liner tourism on the traditional bazaar (souq in the district of Mutrah. The souq is located opposite the port in the Omani capital Muscat. Large-scale cruise tourism in Muscat started only in 2004 and has increased in scale and numbers in the past years. 24 cruise vessels with around 7600 passengers arrived in Muscat in 2005. Seven years later 135 cruise liners carrying 257,000 tourists docked in Muscat. Due to this dramatic rise of international cruise ships, the socio-cultural impacts have increased for local residents, shop vendors/owners and tourists alike. To capture those socio-cultural impacts on Souq Mutrah, a survey of cruise tourists was conducted by a questionnaire. In addition, the researcher used participatory observation, counting, and in-depth interviews with different stakeholders of the local community and different types of tourists during the cruise seasons 2012/13 and 2013/14. Moreover, content analysis of statistics and local media publications were used. Results indicate that the souq has become “the core of a tourist bubble”, where crowding is a major problem and local residents avoid the place. The social carrying capacity of the souq has been reached. Omani vendors are leaving their businesses and renting their shops out to expatriates. Since contemporary cruise tourists are low spenders, expatriate shop sellers have become more aggressive.

BioSampling Data from LHP Cruises

Data.gov (United States)

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

Adaptive change in corporate control practices.

Science.gov (United States)

Alexander, J A

1991-03-01

Multidivisional organizations are not concerned with what structure to adopt but with how they should exercise control within the divisional form to achieve economic efficiencies. Using an information-processing framework, I examined control arrangements between the headquarters and operating divisions of such organizations and how managers adapted control practices to accommodate increasing environmental uncertainty. Also considered were the moderating effects of contextual attributes on such adaptive behavior. Analyses of panel data from 97 multihospital systems suggested that organizations generally practice selective decentralization under conditions of increasing uncertainty but that organizational age, dispersion, and initial control arrangements significantly moderate the direction and magnitude of such changes.

Linear Perturbation Adaptive Control of Hydraulically Driven Manipulators

DEFF Research Database (Denmark)

Andersen, T.O.; Hansen, M.R.; Conrad, Finn

2004-01-01

control.Using the Lyapunov approach, under slowly time-varying assumptions, it is shown that the tracking error and the parameter error remain bounded. This bound is a function of the ideal parameters and a bounded disturbance. The control algorithm decouples and linearizes the manipulator so that each......A method for synthesis of a robust adaptive scheme for a hydraulically driven manipulator, that takes full advantage of any known system dynamics to simplify the adaptive control problem for the unknown portion of the dynamics is presented. The control method is based on adaptive perturbation...

Adaptive neural network motion control for aircraft under uncertainty conditions

Science.gov (United States)

Efremov, A. V.; Tiaglik, M. S.; Tiumentsev, Yu V.

2018-02-01

We need to provide motion control of modern and advanced aircraft under diverse uncertainty conditions. This problem can be solved by using adaptive control laws. We carry out an analysis of the capabilities of these laws for such adaptive systems as MRAC (Model Reference Adaptive Control) and MPC (Model Predictive Control). In the case of a nonlinear control object, the most efficient solution to the adaptive control problem is the use of neural network technologies. These technologies are suitable for the development of both a control object model and a control law for the object. The approximate nature of the ANN model was taken into account by introducing additional compensating feedback into the control system. The capabilities of adaptive control laws under uncertainty in the source data are considered. We also conduct simulations to assess the contribution of adaptivity to the behavior of the system.

FAKTOR-FAKTOR YANG MEMPENGARUHI KUALITAS PELAYANAN PADA SCOOT FAST CRUISES DI BALI

Directory of Open Access Journals (Sweden)

Nengah Ardane

2017-07-01

Full Text Available Mode of water transport is very important in the tourism industry as a support in providing the best service for tourists. Transportation is the cause and the effect of the growth of tourist in Bali. Scoot Fast Cruises is transport services to Lembongan, Lombok and Senggigi. Based on Trip Advisor rating in the quality of service that is provided by Scoot Fast Cruises still very poor (158. This study aims to determine the factors that affect the service quality at Scoot Fast Cruises in Bali. Sampling technique used in this study using purposive sampling of respondents are crossing service users Scoot Fast Cruises in Bali with a total sample of 100 respondents. The data collection techniques using a questionnaire that was tested using the test validity and reliability. Analysis of the data used in this study is factor analysis using SPSS 17.0. The results of the factor analysis there are three factors that affect the service quality at Scoot Fast Cruises in Bali that is a factor completeness of facilities and services to get service with a value of eigen value 7.390, factor accuracy of services to the value of eigen value of 1.397 and the convenience factor rating with eigen values ??value amounting to 1.307. Factors completeness and ease of getting care facilities is a contributing factor dominant in influencing quality of tourist services at Scoot Fast Cruises in Bali. For further research that will lift the title of the research about the factors that affect the quality of service on a fast boat to take a shuttle to the hotel indicators and increasing the number of respondents and indicators. As for the company Scoot Cruises to take into account the convenience of tourists.

Cruise tourism and community economic development in Central America and the Caribbean: The case of Costa Rica

Directory of Open Access Journals (Sweden)

Seidl, Andy

2006-01-01

Full Text Available This paper illustrates an economic approach to understanding the cruise tourism industry as a driver of economic development in Costa Rica. The objective is to describe the role and activities of the cruise ship industry and identify sources of economic benefit and cost such that more informed local policy decisions about the cruise ship tourism might be made. For example, our analysis indicates: the cruise tourism industry competes with the cargo shipping industry for port space at a significant cost to Costa Rican ports; the amount of money injected into the local economy per cruise tourist is substantially lower than for other types of tourism; Cruise ships purchase relatively few supplies in Costa Rica; Cruise ships generate a great deal of human waste, water and air pollution, which can create a serious health hazard, cleanup costs, and which are not commensurate with other types of tourism development available to Costa Rica; Decision makers may want to consider that investment in cruise tourism friendly ports may be less efficient from a national perspective than investment in infrastructure (e.g., airports to increase more profitable types of tourism; And leaders may want to consider the encouragement of smaller “pocket” cruises over the current cruise version of mass tourism. This approach should be applicable to communities wherever cruise tourism currently exists or is under consideration to be included in the portfolio of community economic activities

Acoustic Doppler current profiling from the JGOFS Arabian Sea cruises aboard the RV T.G. Thompson

Energy Technology Data Exchange (ETDEWEB)

Kim, H.S.; Flagg, C.N.; Shi, Y. [Brookhaven National Lab., Upton, NY (United States). Oceanographic and Atmospheric Sciences Div.

1996-12-01

Acoustic Doppler current profiler (ADCP) data is part of the core data for the US JGOFS Arabian Sea project, along with hydrographic and nutrient data. Seventeen cruises are scheduled to take place between September 1994 and January 1996 on the R/V T.G. Thompson. Seven of the cruises follow a standard cruise track, taking hydrographic, chemical and biological measurements. The rest of the cruises, which take place generally within the standard cruise region defined by a set track, are for the deployment and recovery of moored equipment and towing of a SeaSoar. Detailed description of ADCP hardware, the AutoADCP data acquisition system, and the collection of navigation and compass data on the Thompson is documented in Section 2. Followed by data collection for each cruise together with a cruise track, Section 3 presents the processing and analysis of velocity and acoustic backscatter intensity data. Section 5 shows results of profile quality diagnosis.

Feedback control and adaptive control of the energy resource chaotic system

International Nuclear Information System (INIS)

Sun Mei; Tian Lixin; Jiang Shumin; Xu Jun

2007-01-01

In this paper, the problem of control for the energy resource chaotic system is considered. Two different method of control, feedback control (include linear feedback control, non-autonomous feedback control) and adaptive control methods are used to suppress chaos to unstable equilibrium or unstable periodic orbits. The Routh-Hurwitz criteria and Lyapunov direct method are used to study the conditions of the asymptotic stability of the steady states of the controlled system. The designed adaptive controller is robust with respect to certain class of disturbances in the energy resource chaotic system. Numerical simulations are presented to show these results

Modelling and Forecasting Cruise Tourism Demand to İzmir by Different Artificial Neural Network Architectures

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Murat Cuhadar

2014-03-01

Full Text Available Abstract Cruise ports emerged as an important sector for the economy of Turkey bordered on three sides by water. Forecasting cruise tourism demand ensures better planning, efficient preparation at the destination and it is the basis for elaboration of future plans. In the recent years, new techniques such as; artificial neural networks were employed for developing of the predictive models to estimate tourism demand. In this study, it is aimed to determine the forecasting method that provides the best performance when compared the forecast accuracy of Multi-layer Perceptron (MLP, Radial Basis Function (RBF and Generalized Regression neural network (GRNN to estimate the monthly inbound cruise tourism demand to İzmir via the method giving best results. We used the total number of foreign cruise tourist arrivals as a measure of inbound cruise tourism demand and monthly cruise tourist arrivals to İzmir Cruise Port in the period of January 2005 ‐December 2013 were utilized to appropriate model. Experimental results showed that radial basis function (RBF neural network outperforms multi-layer perceptron (MLP and the generalised regression neural networks (GRNN in terms of forecasting accuracy. By the means of the obtained RBF neural network model, it has been forecasted the monthly inbound cruise tourism demand to İzmir for the year 2014.

Adaptive Control Of Remote Manipulator

Science.gov (United States)

Seraji, Homayoun

1989-01-01

Robotic control system causes remote manipulator to follow closely reference trajectory in Cartesian reference frame in work space, without resort to computationally intensive mathematical model of robot dynamics and without knowledge of robot and load parameters. System, derived from linear multivariable theory, uses relatively simple feedforward and feedback controllers with model-reference adaptive control.

European River Cruises On the Rise Among American Tourists

Directory of Open Access Journals (Sweden)

Melinda Jászberényi, Ph.D.

2014-10-01

Full Text Available River cruising is one of the most attractive and rapidly developing areas of international tourism. Beyond the beautiful natural environment of the rivers, architectural attractions along the riverside enrich the experience, providing historical and cultural background that deepens tourists’ connections to the city. This article provides an overview of Danube river cruise tourism among American tourist experts. It also showcases Budapest, an increasingly important and internationally recognized port of the Danube and capital of Hungary, as a popular tourist destination.

Algebraic and adaptive learning in neural control systems

Science.gov (United States)

Ferrari, Silvia

A systematic approach is developed for designing adaptive and reconfigurable nonlinear control systems that are applicable to plants modeled by ordinary differential equations. The nonlinear controller comprising a network of neural networks is taught using a two-phase learning procedure realized through novel techniques for initialization, on-line training, and adaptive critic design. A critical observation is that the gradients of the functions defined by the neural networks must equal corresponding linear gain matrices at chosen operating points. On-line training is based on a dual heuristic adaptive critic architecture that improves control for large, coupled motions by accounting for actual plant dynamics and nonlinear effects. An action network computes the optimal control law; a critic network predicts the derivative of the cost-to-go with respect to the state. Both networks are algebraically initialized based on prior knowledge of satisfactory pointwise linear controllers and continue to adapt on line during full-scale simulations of the plant. On-line training takes place sequentially over discrete periods of time and involves several numerical procedures. A backpropagating algorithm called Resilient Backpropagation is modified and successfully implemented to meet these objectives, without excessive computational expense. This adaptive controller is as conservative as the linear designs and as effective as a global nonlinear controller. The method is successfully implemented for the full-envelope control of a six-degree-of-freedom aircraft simulation. The results show that the on-line adaptation brings about improved performance with respect to the initialization phase during aircraft maneuvers that involve large-angle and coupled dynamics, and parameter variations.

Robust and Adaptive Control With Aerospace Applications

CERN Document Server

Lavretsky, Eugene

2013-01-01

Robust and Adaptive Control shows the reader how to produce consistent and accurate controllers that operate in the presence of uncertainties and unforeseen events. Driven by aerospace applications the focus of the book is primarily on continuous-dynamical systems.  The text is a three-part treatment, beginning with robust and optimal linear control methods and moving on to a self-contained presentation of the design and analysis of model reference adaptive control (MRAC) for nonlinear uncertain dynamical systems. Recent extensions and modifications to MRAC design are included, as are guidelines for combining robust optimal and MRAC controllers. Features of the text include: ·         case studies that demonstrate the benefits of robust and adaptive control for piloted, autonomous and experimental aerial platforms; ·         detailed background material for each chapter to motivate theoretical developments; ·         realistic examples and simulation data illustrating key features ...

Adaptive Piezoelectric Absorber for Active Vibration Control

Directory of Open Access Journals (Sweden)

Sven Herold

2016-02-01

Full Text Available Passive vibration control solutions are often limited to working reliably at one design point. Especially applied to lightweight structures, which tend to have unwanted vibration, active vibration control approaches can outperform passive solutions. To generate dynamic forces in a narrow frequency band, passive single-degree-of-freedom oscillators are frequently used as vibration absorbers and neutralizers. In order to respond to changes in system properties and/or the frequency of excitation forces, in this work, adaptive vibration compensation by a tunable piezoelectric vibration absorber is investigated. A special design containing piezoelectric stack actuators is used to cover a large tuning range for the natural frequency of the adaptive vibration absorber, while also the utilization as an active dynamic inertial mass actuator for active control concepts is possible, which can help to implement a broadband vibration control system. An analytical model is set up to derive general design rules for the system. An absorber prototype is set up and validated experimentally for both use cases of an adaptive vibration absorber and inertial mass actuator. Finally, the adaptive vibration control system is installed and tested with a basic truss structure in the laboratory, using both the possibility to adjust the properties of the absorber and active control.

Output Feedback Adaptive Control of Non-Minimum Phase Systems Using Optimal Control Modification

Science.gov (United States)

Nguyen, Nhan; Hashemi, Kelley E.; Yucelen, Tansel; Arabi, Ehsan

2018-01-01

This paper describes output feedback adaptive control approaches for non-minimum phase SISO systems with relative degree 1 and non-strictly positive real (SPR) MIMO systems with uniform relative degree 1 using the optimal control modification method. It is well-known that the standard model-reference adaptive control (MRAC) cannot be used to control non-SPR plants to track an ideal SPR reference model. Due to the ideal property of asymptotic tracking, MRAC attempts an unstable pole-zero cancellation which results in unbounded signals for non-minimum phase SISO systems. The optimal control modification can be used to prevent the unstable pole-zero cancellation which results in a stable adaptation of non-minimum phase SISO systems. However, the tracking performance using this approach could suffer if the unstable zero is located far away from the imaginary axis. The tracking performance can be recovered by using an observer-based output feedback adaptive control approach which uses a Luenberger observer design to estimate the state information of the plant. Instead of explicitly specifying an ideal SPR reference model, the reference model is established from the linear quadratic optimal control to account for the non-minimum phase behavior of the plant. With this non-minimum phase reference model, the observer-based output feedback adaptive control can maintain stability as well as tracking performance. However, in the presence of the mismatch between the SPR reference model and the non-minimum phase plant, the standard MRAC results in unbounded signals, whereas a stable adaptation can be achieved with the optimal control modification. An application of output feedback adaptive control for a flexible wing aircraft illustrates the approaches.

Adaptive Control Algorithm of the Synchronous Generator

Directory of Open Access Journals (Sweden)

Shevchenko Victor

2017-01-01

Full Text Available The article discusses the the problem of controlling a synchronous generator, namely, maintaining the stability of the control object in the conditions of occurrence of noise and disturbances in the regulatory process. The model of a synchronous generator is represented by a system of differential equations of Park-Gorev, where state variables are computed relative to synchronously rotating d, q-axis. Management of synchronous generator is proposed to organize on the basis of the position-path control using algorithms to adapt with the reference model. Basic control law directed on the stabilizing indicators the frequency generated by the current and the required power level, which is achieved by controlling the mechanical torque on the shaft of the turbine and the value of the excitation voltage of the synchronous generator. Modification of the classic adaptation algorithm using the reference model, allowing to minimize the error of the reference regulation and the model under investigation within the prescribed limits, produced by means of the introduction of additional variables controller adaptation in the model. Сarried out the mathematical modeling of control provided influence on the studied model of continuous nonlinear and unmeasured the disturbance. Simulation results confirm the high level accuracy of tracking and adaptation investigated model with respect to the reference, and the present value of the loop error depends on parameters performance of regulator.

Adaptive Sliding Mode Control for Hydraulic Drives

DEFF Research Database (Denmark)

Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

2013-01-01

This paper presents a new adaptive sliding mode controller generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD’s). The proposed control scheme requires limited knowledge on system parameters, and employs only piston- and valve spool position feedback...... employing parameter adaption through a recursive algorithm is presented. This is based on a reduced order model approximation of a VCD with unmatched valve flow- and cylinder asymmetries. Bounds on parameters are obtained despite lack of parameter knowledge, and the proposed controller demonstrates improved...

Projection Operator: A Step Towards Certification of Adaptive Controllers

Science.gov (United States)

Larchev, Gregory V.; Campbell, Stefan F.; Kaneshige, John T.

2010-01-01

One of the major barriers to wider use of adaptive controllers in commercial aviation is the lack of appropriate certification procedures. In order to be certified by the Federal Aviation Administration (FAA), an aircraft controller is expected to meet a set of guidelines on functionality and reliability while not negatively impacting other systems or safety of aircraft operations. Due to their inherent time-variant and non-linear behavior, adaptive controllers cannot be certified via the metrics used for linear conventional controllers, such as gain and phase margin. Projection Operator is a robustness augmentation technique that bounds the output of a non-linear adaptive controller while conforming to the Lyapunov stability rules. It can also be used to limit the control authority of the adaptive component so that the said control authority can be arbitrarily close to that of a linear controller. In this paper we will present the results of applying the Projection Operator to a Model-Reference Adaptive Controller (MRAC), varying the amount of control authority, and comparing controller s performance and stability characteristics with those of a linear controller. We will also show how adjusting Projection Operator parameters can make it easier for the controller to satisfy the certification guidelines by enabling a tradeoff between controller s performance and robustness.

Subduction in the Subtropical Gyre: Seasoar Cruises Data Report

Science.gov (United States)

1995-09-01

Julie Pallant , Frank Bahr, Terrence Joyce, Jerome Dean, James R. Luyten & Performing Organization Rept No. WHOI-95- 13 IL Performing Organization Name...AD-A28 6 861 WHOI-95-13 Woods Hole x Oceanc grapbic Ifliotitutionf de Subduction in the Subtropical Gyre: Seasoar Cruises Data Report by Julie S. •P...unlimiled. =Tfl QUALuTr =S) ij Ai Si 4 ;•IIII.. " - II •r * 9 9 * 11S 0 WIHOI-95-13 Subduction in the Subtropical Gyre: Seasoar Cruises Data Report by 0 Julie

Adaptive Controller Design for Continuous Stirred Tank Reactor

OpenAIRE

K. Prabhu; V. Murali Bhaskaran

2014-01-01

Continues Stirred Tank Reactor (CSTR) is an important issue in chemical process and a wide range of research in the area of chemical engineering. Temperature Control of CSTR has been an issue in the chemical control engineering since it has highly non-linear complex equations. This study presents problem of temperature control of CSTR with the adaptive Controller. The Simulation is done in MATLAB and result shows that adaptive controller is an efficient controller for temperature control of C...

Adaptive neuro-fuzzy controller of switched reluctance motor

Directory of Open Access Journals (Sweden)

Tahour Ahmed

2007-01-01

Full Text Available This paper presents an application of adaptive neuro-fuzzy (ANFIS control for switched reluctance motor (SRM speed. The ANFIS has the advantages of expert knowledge of the fuzzy inference system and the learning capability of neural networks. An adaptive neuro-fuzzy controller of the motor speed is then designed and simulated. Digital simulation results show that the designed ANFIS speed controller realizes a good dynamic behaviour of the motor, a perfect speed tracking with no overshoot and a good rejection of impact loads disturbance. The results of applying the adaptive neuro-fuzzy controller to a SRM give better performance and high robustness than those obtained by the application of a conventional controller (PI.

Cruise ship environmental hygiene and the risk of norovirus infection outbreaks: an objective assessment of 56 vessels over 3 years.

Science.gov (United States)

Carling, Philip C; Bruno-Murtha, Lou Ann; Griffiths, Jeffrey K

2009-11-01

Norovirus infection outbreaks (NoVOs) occur frequently in closed populations, such as cruise ship passengers. Environmental contamination is believed to play an important role in NoVO propagation. Trained health care professionals covertly evaluated the thoroughness of disinfection cleaning (TDC) of 6 standardized objects (toilet seat, flush handle or button, toilet stall inner handhold, stall inner door handle, restroom inner door handle, and baby changing table surfaces) with high potential for fecal contamination in cruise ship public restrooms, by means of a previously validated novel targeting method. Fifty-six cruise ships (approximately 30% of 180 vessels operated by 9 large cruise lines) were evaluated from July 2005 through August 2008. Overall, 37% (range, 4%-100%; 95% confidence interval, 29.2%-45.4%) of 8344 objects in 273 randomly selected public restrooms were cleaned daily. The TDC did not differ by cruise line and did not correlate with the Centers for Disease Control and Prevention (CDC) Vessel Sanitation Program inspection scores (r(2), .002; P = .75). More than half the vessels had overall TDC scores ships had near-perfect CDC sanitation scores. The mean TDC of the 3 ships evaluated within 4 months before a NoVO (10.3%) was substantially less than the mean TDC of the 40 ships that did not experience NoVOs (40.4%) (P ships found that only 37% of selected toilet area objects were cleaned on a daily basis. Low TDC scores may predict subsequent NoVO-prone vessels. Enhanced public restroom cleaning may prevent or moderate NoVOs on cruise ships.

Adaptive control of bifurcation and chaos in a time-delayed system

International Nuclear Information System (INIS)

Li Ning; Zhang Qing-Ling; Yuan Hui-Qun; Sun Hai-Yi

2013-01-01

In this paper, the stabilization of a continuous time-delayed system is considered. To control the bifurcation and chaos in a time-delayed system, a parameter perturbation control and a hybrid control are proposed. Then, to ensure the asymptotic stability of the system in the presence of unexpected system parameter changes, the adaptive control idea is introduced, i.e., the perturbation control parameter and the hybrid control parameter are automatically tuned according to the adaptation laws, respectively. The adaptation algorithms are constructed based on the Lyapunov-Krasovskii stability theorem. The adaptive parameter perturbation control and the adaptive hybrid control methods improve the corresponding constant control methods. They have the advantages of increased stability, adaptability to the changes of the system parameters, control cost saving, and simplicity. Numerical simulations for a well-known chaotic time-delayed system are performed to demonstrate the feasibility and superiority of the proposed control methods. A comparison of the two adaptive control methods is also made in an experimental study

Controlling chaos based on an adaptive adjustment mechanism

International Nuclear Information System (INIS)

Zheng Yongai

2006-01-01

In this paper, we extend the ideas and techniques developed by Huang [Huang W. Stabilizing nonlinear dynamical systems by an adaptive adjustment mechanism. Phys Rev E 2000;61:R1012-5] for controlling discrete-time chaotic system using adaptive adjustment mechanism to continuous-time chaotic system. Two control approaches, namely adaptive adjustment mechanism (AAM) and modified adaptive adjustment mechanism (MAAM), are investigated. In both case sufficient conditions for the stabilization of chaotic systems are given analytically. The simulation results on Chen chaotic system have verified the effectiveness of the proposed techniques

Full Gradient Solution to Adaptive Hybrid Control

Science.gov (United States)

Bean, Jacob; Schiller, Noah H.; Fuller, Chris

2017-01-01

This paper focuses on the adaptation mechanisms in adaptive hybrid controllers. Most adaptive hybrid controllers update two filters individually according to the filtered reference least mean squares (FxLMS) algorithm. Because this algorithm was derived for feedforward control, it does not take into account the presence of a feedback loop in the gradient calculation. This paper provides a derivation of the proper weight vector gradient for hybrid (or feedback) controllers that takes into account the presence of feedback. In this formulation, a single weight vector is updated rather than two individually. An internal model structure is assumed for the feedback part of the controller. The full gradient is equivalent to that used in the standard FxLMS algorithm with the addition of a recursive term that is a function of the modeling error. Some simulations are provided to highlight the advantages of using the full gradient in the weight vector update rather than the approximation.

Adaptive fuzzy PID control for a quadrotor stabilisation

Science.gov (United States)

Cherrat, N.; Boubertakh, H.; Arioui, H.

2018-02-01

This paper deals with the design of an adaptive fuzzy PID control law for attitude and altitude stabilization of a quadrotor despite the system model uncertainties and disturbances. To this end, a PID control with adaptive gains is used in order to approximate a virtual ideal control previously designed to achieve the predefined objective. Specifically, the control gains are estimated and adjusted by mean of a fuzzy system whose parameters are adjusted online via a gradient descent-based adaptation law. The analysis of the closed-loop system is given by the Lyapunov approach. The simulation results are presented to illustrate the efficiency of the proposed approach.

Connection adaption for control of networked mobile chaotic agents.

Science.gov (United States)

Zhou, Jie; Zou, Yong; Guan, Shuguang; Liu, Zonghua; Xiao, Gaoxi; Boccaletti, S

2017-11-22

In this paper, we propose a strategy for the control of mobile chaotic oscillators by adaptively rewiring connections between nearby agents with local information. In contrast to the dominant adaptive control schemes where coupling strength is adjusted continuously according to the states of the oscillators, our method does not request adaption of coupling strength. As the resulting interaction structure generated by this proposed strategy is strongly related to unidirectional chains, by investigating synchronization property of unidirectional chains, we reveal that there exists a certain coupling range in which the agents could be controlled regardless of the length of the chain. This feature enables the adaptive strategy to control the mobile oscillators regardless of their moving speed. Compared with existing adaptive control strategies for networked mobile agents, our proposed strategy is simpler for implementation where the resulting interaction networks are kept unweighted at all time.

Adaptive learning fuzzy control of a mobile robot

International Nuclear Information System (INIS)

Tsukada, Akira; Suzuki, Katsuo; Fujii, Yoshio; Shinohara, Yoshikuni

1989-11-01

In this report a problem is studied to construct a fuzzy controller for a mobile robot to move autonomously along a given reference direction curve, for which control rules are generated and acquired through an adaptive learning process. An adaptive learning fuzzy controller has been developed for a mobile robot. Good properties of the controller are shown through the travelling experiments of the mobile robot. (author)

Adaptive mechanism-based congestion control for networked systems

Science.gov (United States)

Liu, Zhi; Zhang, Yun; Chen, C. L. Philip

2013-03-01

In order to assure the communication quality in network systems with heavy traffic and limited bandwidth, a new ATRED (adaptive thresholds random early detection) congestion control algorithm is proposed for the congestion avoidance and resource management of network systems. Different to the traditional AQM (active queue management) algorithms, the control parameters of ATRED are not configured statically, but dynamically adjusted by the adaptive mechanism. By integrating with the adaptive strategy, ATRED alleviates the tuning difficulty of RED (random early detection) and shows a better control on the queue management, and achieve a more robust performance than RED under varying network conditions. Furthermore, a dynamic transmission control protocol-AQM control system using ATRED controller is introduced for the systematic analysis. It is proved that the stability of the network system can be guaranteed when the adaptive mechanism is finely designed. Simulation studies show the proposed ATRED algorithm achieves a good performance in varying network environments, which is superior to the RED and Gentle-RED algorithm, and providing more reliable service under varying network conditions.

ADEX optimized adaptive controllers and systems from research to industrial practice

CERN Document Server

Martín-Sánchez, Juan M

2015-01-01

This book is a didactic explanation of the developments of predictive, adaptive predictive and optimized adaptive control, including the latest methodology of adaptive predictive expert (ADEX) control, and their practical applications. It is focused on the stability perspective, used in the introduction of these methodologies, and is divided into six parts, with exercises and real-time simulations provided for the reader as appropriate. ADEX Optimized Adaptive Controllers and Systems begins with the conceptual and intuitive knowledge of the technology and derives the stability conditions to be verified by the driver block and the adaptive mechanism of the optimized adaptive controller to guarantee achievement of desired control performance. The second and third parts are centered on the design of the driver block and adaptive mechanism, which verify these stability conditions. The authors then proceed to detail the stability theory that supports predictive, adaptive predictive and optimized adaptive control m...

All-Coefficient Adaptive Control of Dual-Motor Driving Servo System

Directory of Open Access Journals (Sweden)

Zhao Haibo

2017-01-01

Full Text Available Backlash nonlinearity and friction nonlinearity exist in dual-motor driving servo system, which reducing system response speed, steady accuracy and anti-interference ability. In order to diminish the adverse effects of backlash and friction nonlinearity to system, we proposed a new all-coefficient adaptive control method. Firstly, we introduced the dynamic model of backlash and friction nonlinearity respectively. Then on this basis, we established the characteristic model when backlash and friction nonlinearity coexist. We used recursive least square method for parameter estimation. Finally we designed the all-coefficient adaptive controller. On the basis of simplex all-coefficient adaptive controller, we designed a feedforward all-coefficient adaptive controller. The simulations of feedforward all-coefficient adaptive control and simplex all-coefficient adaptive control were compared. The results show that the former has quicker response speed, higher steady accuracy, stronger anti-interference performance and better robustness, which validating the efficacy of the proposed control strategy.

Robust Adaptive Speed Control of Induction Motor Drives

DEFF Research Database (Denmark)

Bidstrup, N.

, (LS) identification and generalized predictive control (GPC) has been implemented and tested on the CVC drive. Allthough GPC is a robust control method, it was not possible to maintain specified controller performance in the entire operating range. This was the main reason for investigating truly...... adaptive speed control of the CVC drive. A direct truly adaptive speed controller has been implemented. The adaptive controller is a moving Average Self-Tuning Regulator which is abbreviated MASTR throughout the thesis. Two practical implementations of this controller were proposed. They were denoted MASTR...... and measurement noise in general, were the major reasons for the drifting parameters. Two approaches was proposed to robustify MASTR2 against the output noise. The first approach consists of filtering the output. Output filtering had a significant effect in simulations, but the robustness against the output noise...

Adaptive Control Methods for Soft Robots

Data.gov (United States)

National Aeronautics and Space Administration — I propose to develop methods for soft and inflatable robots that will allow the control system to adapt and change control parameters based on changing conditions...

Disturbance Accommodating Adaptive Control with Application to Wind Turbines

Science.gov (United States)

Frost, Susan

2012-01-01

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

Control Systems with Normalized and Covariance Adaptation by Optimal Control Modification

Science.gov (United States)

Nguyen, Nhan T. (Inventor); Burken, John J. (Inventor); Hanson, Curtis E. (Inventor)

2016-01-01

Disclosed is a novel adaptive control method and system called optimal control modification with normalization and covariance adjustment. The invention addresses specifically to current challenges with adaptive control in these areas: 1) persistent excitation, 2) complex nonlinear input-output mapping, 3) large inputs and persistent learning, and 4) the lack of stability analysis tools for certification. The invention has been subject to many simulations and flight testing. The results substantiate the effectiveness of the invention and demonstrate the technical feasibility for use in modern aircraft flight control systems.

Adaptive Backstepping Flight Control for Modern Fighter Aircraft

NARCIS (Netherlands)

Sonneveldt, L.

2010-01-01

The main goal of this thesis is to investigate the potential of the nonlinear adaptive backstepping control technique in combination with online model identification for the design of a reconfigurable flight control system for a modern fighter aircraft. Adaptive backstepping is a recursive,

ORGANIZATION AND IMPLEMENTATION OF INTEGRATED MANAGEMENT SYSTEM PROCESSES - CRUISE PORT DUBROVNIK

Directory of Open Access Journals (Sweden)

Ivona Vrdoljak Raguz

2012-01-01

Full Text Available World cruise market is very dynamic and it is characterised by constant changes in offer and demand. Dubrovnik, as one of the leading port in the Mediterranean is faced with the problem of large concentrations of ships and passengers in a short period of time. Paper provides answers to the questions: how to manage cruise tourism in Dubrovnik? What are the guidelines for the further development of cruising in Dubrovnik? Modern ports management system must be organized and managed in a manner that will ensure the recognition requirements of stakeholders and their fulfilment. All this requires a more complex integrated management system, in which the requirements of quality management will be the basis, and requirements of environmental management needed an upgrade.

Design and implementation of adaptive inverse control algorithm for a micro-hand control system

Directory of Open Access Journals (Sweden)

Wan-Cheng Wang

2014-01-01

Full Text Available The Letter proposes an online tuned adaptive inverse position control algorithm for a micro-hand. First, the configuration of the micro-hand is discussed. Next, a kinematic analysis of the micro-hand is investigated and then the relationship between the rotor position of micro-permanent magnet synchronous motor and the tip of the micro-finger is derived. After that, an online tuned adaptive inverse control algorithm, which includes an adaptive inverse model and an adaptive inverse control, is designed. The online tuned adaptive inverse control algorithm has better performance than the proportional–integral control algorithm does. In addition, to avoid damaging the object during the grasping process, an online force control algorithm is proposed here as well. An embedded micro-computer, cRIO-9024, is used to realise the whole position control algorithm and the force control algorithm by using software. As a result, the hardware circuit is very simple. Experimental results show that the proposed system can provide fast transient responses, good load disturbance responses, good tracking responses and satisfactory grasping responses.

Adaptive landing gear concept—feedback control validation

Science.gov (United States)

Mikulowski, Grzegorz M.; Holnicki-Szulc, Jan

2007-12-01

The objective of this paper is to present an integrated feedback control concept for adaptive landing gears (ALG) and its experimental validation. Aeroplanes are subjected to high dynamic loads as a result of the impact during each landing. Classical landing gears, which are in common use, are designed in accordance with official regulations in a way that ensures the optimal energy dissipation for the critical (maximum) sink speed. The regulations were formulated in order to ensure the functional capability of the landing gears during an emergency landing. However, the landing gears, whose characteristics are optimized for these critical conditions, do not perform well under normal impact conditions. For that situation it is reasonable to introduce a system that would adapt the characteristics of the landing gears according to the sink speed of landing. The considered system assumes adaptation of the damping force generated by the landing gear, which would perform optimally in an emergency situation and would adapt itself for regular landings as well. This research covers the formulation and design of the control algorithms for an adaptive landing gear based on MR fluid, implementation of the algorithms on an FPGA platform and experimental verification on a lab-scale landing gear device. The main challenge of the research was to develop a control methodology that could operate effectively within 50 ms, which is assumed to be the total duration of the phenomenon. The control algorithm proposed in this research was able to control the energy dissipation process on the experimental stand.

Adaptive pseudolinear compensators of dynamic characteristics of automatic control systems

Science.gov (United States)

Skorospeshkin, M. V.; Sukhodoev, M. S.; Timoshenko, E. A.; Lenskiy, F. V.

2016-04-01

Adaptive pseudolinear gain and phase compensators of dynamic characteristics of automatic control systems are suggested. The automatic control system performance with adaptive compensators has been explored. The efficiency of pseudolinear adaptive compensators in the automatic control systems with time-varying parameters has been demonstrated.

Control of multi-machine using adaptive fuzzy

Directory of Open Access Journals (Sweden)

Bouchiba Bousmaha

2011-01-01

Full Text Available An indirect Adaptive fuzzy excitation control (IAFLC of power systems based on multi-input-multi-output linearization technique is developed in this paper. The power system considered in this paper consists of two generators and infinite bus connected through a network of transformers and transmission lines. The fuzzy controller is constructed from fuzzy feedback linearization controller whose parameters are adjusted indirectly from the estimates of plant parameters. The adaptation law adjusts the controller parameters on-line so that the plant output tracks the reference model output. Simulation results shown that the proposed controller IAFLC, compared with a controller based on tradition linearization technique can enhance the transient stability of the power system.

Adaptive control of manipulators handling hazardous waste

International Nuclear Information System (INIS)

Colbaugh, R.; Glass, K.

1994-01-01

This article focuses on developing a robot control system capable of meeting hazardous waste handling application requirements, and presents as a solution an adaptive strategy for controlling the mechanical impedance of kinematically redundant manipulators. The proposed controller is capable of accurate end-effector impedance control and effective redundancy utilization, does not require knowledge of the complex robot dynamic model or parameter values for the robot or the environment, and is implemented without calculation of the robot inverse transformation. Computer simulation results are given for a four degree of freedom redundant robot under adaptive impedance control. These results indicate that the proposed controller is capable of successfully performing important tasks in robotic waste handling applications. (author) 3 figs., 39 refs

Neural and Fuzzy Adaptive Control of Induction Motor Drives

International Nuclear Information System (INIS)

Bensalem, Y.; Sbita, L.; Abdelkrim, M. N.

2008-01-01

This paper proposes an adaptive neural network speed control scheme for an induction motor (IM) drive. The proposed scheme consists of an adaptive neural network identifier (ANNI) and an adaptive neural network controller (ANNC). For learning the quoted neural networks, a back propagation algorithm was used to automatically adjust the weights of the ANNI and ANNC in order to minimize the performance functions. Here, the ANNI can quickly estimate the plant parameters and the ANNC is used to provide on-line identification of the command and to produce a control force, such that the motor speed can accurately track the reference command. By combining artificial neural network techniques with fuzzy logic concept, a neural and fuzzy adaptive control scheme is developed. Fuzzy logic was used for the adaptation of the neural controller to improve the robustness of the generated command. The developed method is robust to load torque disturbance and the speed target variations when it ensures precise trajectory tracking with the prescribed dynamics. The algorithm was verified by simulation and the results obtained demonstrate the effectiveness of the IM designed controller

Shipborne Laser Beam Weapon System for Defence against Cruise Missiles

OpenAIRE

J.P. Dudeja; G.S. Kalsey

2000-01-01

Sea-skim~ing cruise missiles pose the greatest threat to a surface ship in the present-day war scenario. The convenitional close-in-weapon-systems (CIWSs) are becoming less reliable against these new challenges requiring extremely fast reaction time. Naval Forces see a high energy laser as a feasible andjeffective directed energy weapon against sea-skimming antiship cruise missiles becauseof its .ability to deliver destructive energy at the speed of light on to a distant target. The paper com...

Adaptive robust control of the EBR-II reactor

International Nuclear Information System (INIS)

Power, M.A.; Edwards, R.M.

1996-01-01

Simulation results are presented for an adaptive H ∞ controller, a fixed H ∞ controller, and a classical controller. The controllers are applied to a simulation of the Experimental Breeder Reactor II primary system. The controllers are tested for the best robustness and performance by step-changing the demanded reactor power and by varying the combined uncertainty in initial reactor power and control rod worth. The adaptive H ∞ controller shows the fastest settling time, fastest rise time and smallest peak overshoot when compared to the fixed H ∞ and classical controllers. This makes for a superior and more robust controller

Adjustment of Adaptive Gain with Bounded Linear Stability Analysis to Improve Time-Delay Margin for Metrics-Driven Adaptive Control

Science.gov (United States)

Bakhtiari-Nejad, Maryam; Nguyen, Nhan T.; Krishnakumar, Kalmanje Srinvas

2009-01-01

This paper presents the application of Bounded Linear Stability Analysis (BLSA) method for metrics driven adaptive control. The bounded linear stability analysis method is used for analyzing stability of adaptive control models, without linearizing the adaptive laws. Metrics-driven adaptive control introduces a notion that adaptation should be driven by some stability metrics to achieve robustness. By the application of bounded linear stability analysis method the adaptive gain is adjusted during the adaptation in order to meet certain phase margin requirements. Analysis of metrics-driven adaptive control is evaluated for a linear damaged twin-engine generic transport model of aircraft. The analysis shows that the system with the adjusted adaptive gain becomes more robust to unmodeled dynamics or time delay.

Adaptive control of a PWR core power using neural networks

International Nuclear Information System (INIS)

Arab-Alibeik, H.; Setayeshi, S.

2005-01-01

Reactor power control is important because of safety concerns and the call for regular and appropriate operation of nuclear power plants. It seems that the load-follow operation of these plants will be unavoidable in the future. Discrepancies between the real plant and the model used in controller design for load-follow operation encourage one to use auto-tuning and (or) adaptive techniques. Neural network technology shows great promise for addressing many problems in non-model-based adaptive control methods. Also, there has been a great attention to inverse control especially in the neural and fuzzy control context. Fortunately, online adaptation eliminates some limitations of inverse control and its shortcomings for real world applications. We use a neural adaptive inverse controller to control the power of a PWR reactor. The stability of the system and convergence of the controller parameters are guaranteed during online adaptation phase provided the controller is near the plant's real inverse after offline training period. The performance of the controller is verified using nonlinear simulations in diverse operating conditions

CARINA data synthesis project: pH data scale unification and cruise adjustments

OpenAIRE

A. Velo; F. F. Pérez; X. Lin; R. M. Key; T. Tanhua; M. de la Paz; A. Olsen; S. van Heuven; S. Jutterström; A. F. Ríos

2010-01-01

Data on carbon and carbon-relevant hydrographic and hydrochemical parameters from 188 previously non-publicly available cruise data sets in the Artic Mediterranean Seas (AMS), Atlantic Ocean and Southern Ocean have been retrieved and merged to a new database: CARINA (CARbon IN the Atlantic Ocean).

These data have gone through rigorous quality control (QC) procedures to assure the highest possible quality and consistency. The data for most of the measured parameters in the...

Verification and Validation Challenges for Adaptive Flight Control of Complex Autonomous Systems

Science.gov (United States)

Nguyen, Nhan T.

2018-01-01

Autonomy of aerospace systems requires the ability for flight control systems to be able to adapt to complex uncertain dynamic environment. In spite of the five decades of research in adaptive control, the fact still remains that currently no adaptive control system has ever been deployed on any safety-critical or human-rated production systems such as passenger transport aircraft. The problem lies in the difficulty with the certification of adaptive control systems since existing certification methods cannot readily be used for nonlinear adaptive control systems. Research to address the notion of metrics for adaptive control began to appear in the recent years. These metrics, if accepted, could pave a path towards certification that would potentially lead to the adoption of adaptive control as a future control technology for safety-critical and human-rated production systems. Development of certifiable adaptive control systems represents a major challenge to overcome. Adaptive control systems with learning algorithms will never become part of the future unless it can be proven that they are highly safe and reliable. Rigorous methods for adaptive control software verification and validation must therefore be developed to ensure that adaptive control system software failures will not occur, to verify that the adaptive control system functions as required, to eliminate unintended functionality, and to demonstrate that certification requirements imposed by regulatory bodies such as the Federal Aviation Administration (FAA) can be satisfied. This presentation will discuss some of the technical issues with adaptive flight control and related V&V challenges.

Adaptive piezoelectric sensoriactuators for active structural acoustic control

Science.gov (United States)

Vipperman, Jeffrey Stuart

1997-09-01

A new transducer technology with application to active control systems, modal analysis, and autonomous system health monitoring, is brought to fruition in this work. It has the advantages of being lightweight, potentially cost-effective, self-tuning, has negligible dynamics, and most importantly (from a robustness perspective), it provides a colocated sensor/actuator pair. The transducer consists of a piezoceramic element which serves as both an actuator and a sensor and will be referred to in this work as a sensoriactuator. Simple, adaptive signal processing in conjunction with a voltage controlled amplifier, reference capacitor, and a common-mode rejection circuit extract the mechanical response from the total response of the piezoelectric sensoriactuator for sensing. The digital portion of the adaptive piezoelectric sensoriactuator merely serves to tune the circuit, avoiding the potentially destabilizing effects of introducing a digital delay in the signal path, when used for feedback control applications. Adaptive compensation of the sensoriactuator is necessary since the signal to noise ratio is typically greater than 40 dB, making it prohibitive to tune the circuit manually. In addition, the constitutive properties of piezoceramics vary with time and environment, necessitating that the circuit be periodically re-tuned. The analog portion of the hardware is based upon op-amp circuits and an AD632 analog multiplier chip, which serves as both a voltage controlled amplifier (VCA) and a common mode rejection (CMR) circuit. A single coefficient least-mean square (LMS) adaptive filter continuously adjusts the gain of the VCA circuit as necessary. Nonideal behavior of piezoceramics is discussed along with methods to counter the consequential deterioration in circuit performance. A multiple input multiple output (MIMO) implementation of the adaptive piezoelectric sensoriactuator is developed using orthogonal white noise training signals for each sensoriactuator. Two

An Adaptive Speed Control Approach for DC Shunt Motors

Directory of Open Access Journals (Sweden)

Ruben Tapia-Olvera

2016-11-01

Full Text Available A B-spline neural networks-based adaptive control technique for angular speed reference trajectory tracking tasks with highly efficient performance for direct current shunt motors is proposed. A methodology for adaptive control and its proper training procedure are introduced. This algorithm sets the control signal without using a detailed mathematical model nor exact values of the parameters of the nonlinear dynamic system. The proposed robust adaptive tracking control scheme only requires measurements of the velocity output signal. Thus, real-time measurements or estimations of acceleration, current and disturbance signals are avoided. Experimental results confirm the efficient and robust performance of the proposed control approach for highly demanding motor operation conditions exposed to variable-speed reference trajectories and completely unknown load torque. Hence, laboratory experimental tests on a direct current shunt motor prove the viability of the proposed adaptive output feedback trajectory tracking control approach.

Adaptive Critic Nonlinear Robust Control: A Survey.

Science.gov (United States)

Wang, Ding; He, Haibo; Liu, Derong

2017-10-01

Adaptive dynamic programming (ADP) and reinforcement learning are quite relevant to each other when performing intelligent optimization. They are both regarded as promising methods involving important components of evaluation and improvement, at the background of information technology, such as artificial intelligence, big data, and deep learning. Although great progresses have been achieved and surveyed when addressing nonlinear optimal control problems, the research on robustness of ADP-based control strategies under uncertain environment has not been fully summarized. Hence, this survey reviews the recent main results of adaptive-critic-based robust control design of continuous-time nonlinear systems. The ADP-based nonlinear optimal regulation is reviewed, followed by robust stabilization of nonlinear systems with matched uncertainties, guaranteed cost control design of unmatched plants, and decentralized stabilization of interconnected systems. Additionally, further comprehensive discussions are presented, including event-based robust control design, improvement of the critic learning rule, nonlinear H ∞ control design, and several notes on future perspectives. By applying the ADP-based optimal and robust control methods to a practical power system and an overhead crane plant, two typical examples are provided to verify the effectiveness of theoretical results. Overall, this survey is beneficial to promote the development of adaptive critic control methods with robustness guarantee and the construction of higher level intelligent systems.

Fault diagnosis and fault-tolerant control based on adaptive control approach

CERN Document Server

Shen, Qikun; Shi, Peng

2017-01-01

This book provides recent theoretical developments in and practical applications of fault diagnosis and fault tolerant control for complex dynamical systems, including uncertain systems, linear and nonlinear systems. Combining adaptive control technique with other control methodologies, it investigates the problems of fault diagnosis and fault tolerant control for uncertain dynamic systems with or without time delay. As such, the book provides readers a solid understanding of fault diagnosis and fault tolerant control based on adaptive control technology. Given its depth and breadth, it is well suited for undergraduate and graduate courses on linear system theory, nonlinear system theory, fault diagnosis and fault tolerant control techniques. Further, it can be used as a reference source for academic research on fault diagnosis and fault tolerant control, and for postgraduates in the field of control theory and engineering. .

Bayesian nonparametric adaptive control using Gaussian processes.

Science.gov (United States)

Chowdhary, Girish; Kingravi, Hassan A; How, Jonathan P; Vela, Patricio A

2015-03-01

Most current model reference adaptive control (MRAC) methods rely on parametric adaptive elements, in which the number of parameters of the adaptive element are fixed a priori, often through expert judgment. An example of such an adaptive element is radial basis function networks (RBFNs), with RBF centers preallocated based on the expected operating domain. If the system operates outside of the expected operating domain, this adaptive element can become noneffective in capturing and canceling the uncertainty, thus rendering the adaptive controller only semiglobal in nature. This paper investigates a Gaussian process-based Bayesian MRAC architecture (GP-MRAC), which leverages the power and flexibility of GP Bayesian nonparametric models of uncertainty. The GP-MRAC does not require the centers to be preallocated, can inherently handle measurement noise, and enables MRAC to handle a broader set of uncertainties, including those that are defined as distributions over functions. We use stochastic stability arguments to show that GP-MRAC guarantees good closed-loop performance with no prior domain knowledge of the uncertainty. Online implementable GP inference methods are compared in numerical simulations against RBFN-MRAC with preallocated centers and are shown to provide better tracking and improved long-term learning.

Adaptive Trajectory Tracking Control using Reinforcement Learning for Quadrotor

Directory of Open Access Journals (Sweden)

Wenjie Lou

2016-02-01

Full Text Available Inaccurate system parameters and unpredicted external disturbances affect the performance of non-linear controllers. In this paper, a new adaptive control algorithm under the reinforcement framework is proposed to stabilize a quadrotor helicopter. Based on a command-filtered non-linear control algorithm, adaptive elements are added and learned by policy-search methods. To predict the inaccurate system parameters, a new kernel-based regression learning method is provided. In addition, Policy learning by Weighting Exploration with the Returns (PoWER and Return Weighted Regression (RWR are utilized to learn the appropriate parameters for adaptive elements in order to cancel the effect of external disturbance. Furthermore, numerical simulations under several conditions are performed, and the ability of adaptive trajectory-tracking control with reinforcement learning are demonstrated.

Design of adaptive switching control for hypersonic aircraft

Directory of Open Access Journals (Sweden)

Xin Jiao

2015-10-01

Full Text Available This article proposes a novel adaptive switching control of hypersonic aircraft based on type-2 Takagi–Sugeno–Kang fuzzy sliding mode control and focuses on the problem of stability and smoothness in the switching process. This method uses full-state feedback to linearize the nonlinear model of hypersonic aircraft. Combining the interval type-2 Takagi–Sugeno–Kang fuzzy approach with sliding mode control keeps the adaptive switching process stable and smooth. For rapid stabilization of the system, the adaptive laws use a direct constructive Lyapunov analysis together with an established type-2 Takagi–Sugeno–Kang fuzzy logic system. Simulation results indicate that the proposed control scheme can maintain the stability and smoothness of switching process for the hypersonic aircraft.

An Adaptive Supervisory Sliding Fuzzy Cerebellar Model Articulation Controller for Sensorless Vector-Controlled Induction Motor Drive Systems

Directory of Open Access Journals (Sweden)

Shun-Yuan Wang

2015-03-01

Full Text Available This paper presents the implementation of an adaptive supervisory sliding fuzzy cerebellar model articulation controller (FCMAC in the speed sensorless vector control of an induction motor (IM drive system. The proposed adaptive supervisory sliding FCMAC comprised a supervisory controller, integral sliding surface, and an adaptive FCMAC. The integral sliding surface was employed to eliminate steady-state errors and enhance the responsiveness of the system. The adaptive FCMAC incorporated an FCMAC with a compensating controller to perform a desired control action. The proposed controller was derived using the Lyapunov approach, which guarantees learning-error convergence. The implementation of three intelligent control schemes—the adaptive supervisory sliding FCMAC, adaptive sliding FCMAC, and adaptive sliding CMAC—were experimentally investigated under various conditions in a realistic sensorless vector-controlled IM drive system. The root mean square error (RMSE was used as a performance index to evaluate the experimental results of each control scheme. The analysis results indicated that the proposed adaptive supervisory sliding FCMAC substantially improved the system performance compared with the other control schemes.

Hybrid adaptive ascent flight control for a flexible launch vehicle

Science.gov (United States)

Lefevre, Brian D.

For the purpose of maintaining dynamic stability and improving guidance command tracking performance under off-nominal flight conditions, a hybrid adaptive control scheme is selected and modified for use as a launch vehicle flight controller. This architecture merges a model reference adaptive approach, which utilizes both direct and indirect adaptive elements, with a classical dynamic inversion controller. This structure is chosen for a number of reasons: the properties of the reference model can be easily adjusted to tune the desired handling qualities of the spacecraft, the indirect adaptive element (which consists of an online parameter identification algorithm) continually refines the estimates of the evolving characteristic parameters utilized in the dynamic inversion, and the direct adaptive element (which consists of a neural network) augments the linear feedback signal to compensate for any nonlinearities in the vehicle dynamics. The combination of these elements enables the control system to retain the nonlinear capabilities of an adaptive network while relying heavily on the linear portion of the feedback signal to dictate the dynamic response under most operating conditions. To begin the analysis, the ascent dynamics of a launch vehicle with a single 1st stage rocket motor (typical of the Ares 1 spacecraft) are characterized. The dynamics are then linearized with assumptions that are appropriate for a launch vehicle, so that the resulting equations may be inverted by the flight controller in order to compute the control signals necessary to generate the desired response from the vehicle. Next, the development of the hybrid adaptive launch vehicle ascent flight control architecture is discussed in detail. Alterations of the generic hybrid adaptive control architecture include the incorporation of a command conversion operation which transforms guidance input from quaternion form (as provided by NASA) to the body-fixed angular rate commands needed by the

Broadband vehicle-to-vehicle communication using an extended autonomous cruise control sensor

Science.gov (United States)

Heddebaut, M.; Rioult, J.; Ghys, J. P.; Gransart, Ch; Ambellouis, S.

2005-06-01

For several years road vehicle autonomous cruise control (ACC) systems as well as anti-collision radar have been developed. Several manufacturers currently sell this equipment. The current generation of ACC sensors only track the first preceding vehicle to deduce its speed and position. These data are then used to compute, manage and optimize a safety distance between vehicles, thus providing some assistance to car drivers. However, in real conditions, to elaborate and update a real time driving solution, car drivers use information about speed and position of preceding and following vehicles. This information is essentially perceived using the driver's eyes, binocular stereoscopic vision performed through the windscreens and rear-view mirrors. Furthermore, within a line of vehicles, the frontal road perception of the first vehicle is very particular and highly significant. Currently, all these available data remain strictly on-board the vehicle that has captured the perception information and performed these measurements. To get the maximum effectiveness of all these approaches, we propose that this information be shared in real time with the following vehicles, within the convoy. On the basis of these considerations, this paper technically explores a cost-effective solution to extend the basic ACC sensor function in order to simultaneously provide a vehicle-to-vehicle radio link. This millimetre wave radio link transmits relevant broadband perception data (video, localization...) to following vehicles, along the line of vehicles. The propagation path between the vehicles uses essentially grazing angles of incidence of signals over the road surface including millimetre wave paths beneath the cars.

Adaptive Backstepping Self-balancing Control of a Two-wheel Electric Scooter

Directory of Open Access Journals (Sweden)

Nguyen Ngoc Son

2014-10-01

Full Text Available This paper introduces an adaptive backstepping control law for a two-wheel electric scooter (eScooter with a nonlinear uncertain model. Adaptive backstepping control is integrated with feedback control that satisfies Lyapunov stability. By using the recursive structure to find the controlled function and estimate uncertain parameters, an adaptive backstepping method allows us to build a feedback control law that efficiently controls a self-balancing controller of the eScooter. Additionally, a controller area network (CAN bus with high reliability is applied for communicating between the modules of the eScooter. Simulation and experimental results demonstrate the robustness and good performance of the proposed adaptive backstepping control.

Adaptive feedforward in the LANL rf control system

International Nuclear Information System (INIS)

Ziomek, C.D.

1992-01-01

This paper describes an adaptive feedforward system that corrects repetitive errors in the amplitude and phase of the RF field of a pulsed accelerator. High-frequency disturbances that are beyond the effective bandwidth of the RF field feedback control system can be eliminated with a feedforward system. Many RF field disturbances for a pulsed accelerator are repetitive, occurring at the same relative time in every pulse. This design employs digital signal processing hardware to adaptively determine and track the control signals required to eliminate the repetitive errors in the feedback control system. In order to provide the necessary high-frequency response, the adaptive feedforward hardware provides the calculated control signal prior to the repetitive disturbance that it corrects. This system has been demonstrated to reduce the transient disturbances caused by beam pulses. Furthermore, it has been shown to negate high-frequency phase and amplitude oscillations in a high-power klystron amplifier caused by PFN ripple on the high-voltage. The design and results of the adaptive feedforward system are presented

Adaptive nonlinear control using input normalized neural networks

International Nuclear Information System (INIS)

Leeghim, Henzeh; Seo, In Ho; Bang, Hyo Choong

2008-01-01

An adaptive feedback linearization technique combined with the neural network is addressed to control uncertain nonlinear systems. The neural network-based adaptive control theory has been widely studied. However, the stability analysis of the closed-loop system with the neural network is rather complicated and difficult to understand, and sometimes unnecessary assumptions are involved. As a result, unnecessary assumptions for stability analysis are avoided by using the neural network with input normalization technique. The ultimate boundedness of the tracking error is simply proved by the Lyapunov stability theory. A new simple update law as an adaptive nonlinear control is derived by the simplification of the input normalized neural network assuming the variation of the uncertain term is sufficiently small

Adaptive slope compensation for high bandwidth digital current mode controller

DEFF Research Database (Denmark)

Taeed, Fazel; Nymand, Morten

2015-01-01

An adaptive slope compensation method for digital current mode control of dc-dc converters is proposed in this paper. The compensation slope is used for stabilizing the inner current loop in peak current mode control. In this method, the compensation slope is adapted with the variations...... in converter duty cycle. The adaptive slope compensation provides optimum controller operation in term of bandwidth over wide range of operating points. In this paper operation principle of the controller is discussed. The proposed controller is implemented in an FPGA to control a 100 W buck converter...

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.

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

Science.gov (United States)

Pérez, Joshué; Seco, Fernando; Milanés, Vicente; Jiménez, Antonio; Díaz, Julio C.; de Pedro, Teresa

2010-01-01

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. PMID:22219692

An RFID-based intelligent vehicle speed controller using active traffic signals.

Science.gov (United States)

Pérez, Joshué; Seco, Fernando; Milanés, Vicente; Jiménez, Antonio; Díaz, Julio C; de Pedro, Teresa

2010-01-01

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.

Adaptive fuzzy controller based MPPT for photovoltaic systems

International Nuclear Information System (INIS)

Guenounou, Ouahib; Dahhou, Boutaib; Chabour, Ferhat

2014-01-01

Highlights: • We propose a fuzzy controller with adaptive output scaling factor as a maximum power point tracker of photovoltaic system. • The proposed controller integrates two different rule bases defined on error and change of error. • Our controller can track the maximum power point with better performances when compared to its conventional counterpart. - Abstract: This paper presents an intelligent approach to optimize the performances of photovoltaic systems. The system consists of a PV panel, a DC–DC boost converter, a maximum power point tracker controller and a resistive load. The key idea of the proposed approach is the use of a fuzzy controller with an adaptive gain as a maximum power point tracker. The proposed controller integrates two different rule bases. The first is used to adjust the duty cycle of the boost converter as in the case of a conventional fuzzy controller while the second rule base is designed for an online adjusting of the controller’s gain. The performances of the adaptive fuzzy controller are compared with those obtained using a conventional fuzzy controllers with different gains and in each case, the proposed controller outperforms its conventional counterpart

Adaptive Functional-Based Neuro-Fuzzy-PID Incremental Controller Structure

Directory of Open Access Journals (Sweden)

Ashraf Ahmed Fahmy

2014-03-01

Full Text Available This paper presents an adaptive functional-based Neuro-fuzzy-PID incremental (NFPID controller structure that can be tuned either offline or online according to required controller performance. First, differential membership functions are used to represent the fuzzy membership functions of the input-output space of the three term controller. Second, controller rules are generated based on the discrete proportional, derivative, and integral function for the fuzzy space. Finally, a fully differentiable fuzzy neural network is constructed to represent the developed controller for either offline or online controller parameter adaptation.  Two different adaptation methods are used for controller tuning, offline method based on controller transient performance cost function optimization using Bees Algorithm, and online method based on tracking error minimization using back-propagation with momentum algorithm. The proposed control system was tested to show the validity of the controller structure over a fixed PID controller gains to control SCARA type robot arm.

CRUISE SHIP TOURISM ON THE DANUBE RIVER. CASE STUDY: CAPITALIZATION OF DELTAIC TOURISM POTENTIAL

Directory of Open Access Journals (Sweden)

IRINCU Elena

2015-12-01

Full Text Available Over the past two decades, river cruise tourism has witnessed a strong development, being preferred by more tourists each year, to the detriment of other forms of tourism. The presence of a plethora of attractive resources, concentrated along the inland waterways represents a particular offer for tourism development, through proper planning. However, in Romania, river cruise tourism is still incipient, even though cruises on the Danube are available, on a regular basis, since the 1970s. This research focuses on cruise ship tourism on the Danube, in particularly on the deltaic sector; with the Romanian ship MS Delta Star as a case study. Following, a brief presentation of the evolution of this type of tourism on the Danube River and its peculiarities on the Romanian sector, especially in the Danube Delta, was made. The assessment framework of the tourism potential of the Danube Delta at the level of administrative-territorial units was developed by applying the methodology from the National Spatial Plan. After correlating the results of the assessment with the current capitalization of tourism potential of the delta by the cruise ship included in the study, it is highlighted the need for optimizing the structure of the offer for this tourism sector. Identifying the most valuable elements of the Danube Delta, in terms of touristical attractions and including them to future itineraries for tourists on cruise ships guarantees a better capitalization of the tourism potential attracting therefore, a greater number of tourists.

Tracking Control of Hysteretic Piezoelectric Actuator using Adaptive Rate-Dependent Controller.

Science.gov (United States)

Tan, U-Xuan; Latt, Win Tun; Widjaja, Ferdinan; Shee, Cheng Yap; Riviere, Cameron N; Ang, Wei Tech

2009-03-16

With the increasing popularity of actuators involving smart materials like piezoelectric, control of such materials becomes important. The existence of the inherent hysteretic behavior hinders the tracking accuracy of the actuators. To make matters worse, the hysteretic behavior changes with rate. One of the suggested ways is to have a feedforward controller to linearize the relationship between the input and output. Thus, the hysteretic behavior of the actuator must first be modeled by sensing the relationship between the input voltage and output displacement. Unfortunately, the hysteretic behavior is dependent on individual actuator and also environmental conditions like temperature. It is troublesome and costly to model the hysteresis regularly. In addition, the hysteretic behavior of the actuators also changes with age. Most literature model the actuator using a cascade of rate-independent hysteresis operators and a dynamical system. However, the inertial dynamics of the structure is not the only contributing factor. A complete model will be complex. Thus, based on the studies done on the phenomenological hysteretic behavior with rate, this paper proposes an adaptive rate-dependent feedforward controller with Prandtl-Ishlinskii (PI) hysteresis operators for piezoelectric actuators. This adaptive controller is achieved by adapting the coefficients to manipulate the weights of the play operators. Actual experiments are conducted to demonstrate the effectiveness of the adaptive controller. The main contribution of this paper is its ability to perform tracking control of non-periodic motion and is illustrated with the tracking control ability of a couple of different non-periodic waveforms which were created by passing random numbers through a low pass filter with a cutoff frequency of 20Hz.

Development of adaptive control applied to chaotic systems

Science.gov (United States)

Rhode, Martin Andreas

1997-12-01

Continuous-time derivative control and adaptive map-based recursive feedback control techniques are used to control chaos in a variety of systems and in situations that are of practical interest. The theoretical part of the research includes the review of fundamental concept of control theory in the context of its applications to deterministic chaotic systems, the development of a new adaptive algorithm to identify the linear system properties necessary for control, and the extension of the recursive proportional feedback control technique, RPF, to high dimensional systems. Chaos control was applied to models of a thermal pulsed combustor, electro-chemical dissolution and the hyperchaotic Rossler system. Important implications for combustion engineering were suggested by successful control of the model of the thermal pulsed combustor. The system was automatically tracked while maintaining control into regions of parameter and state space where no stable attractors exist. In a simulation of the electrochemical dissolution system, application of derivative control to stabilize a steady state, and adaptive RPF to stabilize a period one orbit, was demonstrated. The high dimensional adaptive control algorithm was applied in a simulation using the Rossler hyperchaotic system, where a period-two orbit with two unstable directions was stabilized and tracked over a wide range of a system parameter. In the experimental part, the electrochemical system was studied in parameter space, by scanning the applied potential and the frequency of the rotating copper disk. The automated control algorithm is demonstrated to be effective when applied to stabilize a period-one orbit in the experiment. We show the necessity of small random perturbations applied to the system in order to both learn the dynamics and control the system at the same time. The simultaneous learning and control capability is shown to be an important part of the active feedback control.

Design of L1 -Adaptive Controller for Single Axis Positioning Table

Directory of Open Access Journals (Sweden)

Amjad Jalil Humaidi

2017-11-01

Full Text Available L1 adaptive controller has proven to provide fast adaptation with guaranteed transients in a large variety of systems. It is commonly used for controlling systems with uncertain time-varying unknown parameters. The effectiveness of L1 adaptive controller for position control of single axis has been examined and compared with Model Reference Adaptive Controller (MRAC. The Linear servo motor is one of the main constituting elements of the x-y table which is mostly used in automation application. It is characterized by time-varying friction and disturbance

Adaptive traffic control systems for urban networks

Directory of Open Access Journals (Sweden)

Radivojević Danilo

2017-01-01

Full Text Available Adaptive traffic control systems represent complex, but powerful tool for improvement of traffic flow conditions in locations or zones where applied. Many traffic agencies, especially those that have a large number of signalized intersections with high variability of the traffic demand, choose to apply some of the adaptive traffic control systems. However, those systems are manufactured and offered by multiple vendors (companies that are competing for the market share. Due to that fact, besides the information available from the vendors themselves, or the information from different studies conducted on different continents, very limited amount of information is available about the details how those systems are operating. The reason for that is the protecting of the intellectual property from plagiarism. The primary goal of this paper is to make a brief analysis of the functionalities, characteristics, abilities and results of the most recognized, but also less known adaptive traffic control systems to the professional public and other persons with interest in this subject.

Discrete Model Reference Adaptive Control System for Automatic Profiling Machine

Directory of Open Access Journals (Sweden)

Peng Song

2012-01-01

Full Text Available Automatic profiling machine is a movement system that has a high degree of parameter variation and high frequency of transient process, and it requires an accurate control in time. In this paper, the discrete model reference adaptive control system of automatic profiling machine is discussed. Firstly, the model of automatic profiling machine is presented according to the parameters of DC motor. Then the design of the discrete model reference adaptive control is proposed, and the control rules are proven. The results of simulation show that adaptive control system has favorable dynamic performances.

Application of adaptive fuzzy control technology to pressure control of a pressurizer

Institute of Scientific and Technical Information of China (English)

YANG Ben-kun; BIAN Xin-qian; GUO Wei-lai

2005-01-01

A pressurizer is one of important equipment in a pressurized water reactor plant. It is used to maintain the pressure of primary coolant within allowed range because the sharp change of coolant pressure affects the security of reactor,therefor,the study of pressurizer's pressure control methods is very important. In this paper, an adaptive fuzzy controller is presented for pressure control of a pressurizer in a nuclear power plant. The controller can on-line tune fuzzy control rules and parameters by self-learning in the actual control process, which possesses the way of thinking like human to make a decision. The simulation results for a pressurized water reactor plant show that the adaptive fuzzy controller has optimum and intelligent characteristics, which prove the controller is effective.

Control uncertain Genesio-Tesi chaotic system: Adaptive sliding mode approach

International Nuclear Information System (INIS)

Dadras, Sara; Momeni, Hamid Reza

2009-01-01

An adaptive sliding mode control (ASMC) technique is introduced in this paper for a chaotic dynamical system (Genesio-Tesi system). Using the sliding mode control technique, a sliding surface is determined and the control law is established. An adaptive sliding mode control law is derived to make the states of the Genesio-Tesi system asymptotically track and regulate the desired state. The designed control scheme can control the uncertain chaotic behaviors to a desired state without oscillating very fast and guarantee the property of asymptotical stability. An illustrative simulation result is given to demonstrate the effectiveness of the proposed adaptive sliding mode control design.

Federated provenance of oceanographic research cruises: from metadata to data

Science.gov (United States)

Thomas, Rob; Leadbetter, Adam; Shepherd, Adam

2016-04-01

The World Wide Web Consortium's Provenance Data Model and associated Semantic Web ontology (PROV-O) have created much interest in the Earth and Space Science Informatics community (Ma et al., 2014). Indeed, PROV-O has recently been posited as an upper ontology for the alignment of various data models (Cox, 2015). Similarly, PROV-O has been used as the building blocks of a data release lifecycle ontology (Leadbetter & Buck, 2015). In this presentation we show that the alignment between different local data descriptions of an oceanographic research cruise can be achieved through alignment with PROV-O and that descriptions of the funding bodies, organisations and researchers involved in a cruise and its associated data release lifecycle can be modelled within a PROV-O based environment. We show that, at a first-order, this approach is scalable by presenting results from three endpoints (the Biological and Chemical Oceanography Data Management Office at Woods Hole Oceanographic Institution, USA; the British Oceanographic Data Centre at the National Oceanography Centre, UK; and the Marine Institute, Ireland). Current advances in ontology engineering, provide pathways to resolving reasoning issues from varying perspectives on implementing PROV-O. This includes the use of the Information Object design pattern where such edge cases as research cruise scheduling efforts are considered. PROV-O describes only things which have happened, but the Information Object design pattern allows for the description of planned research cruises through its statement that the local data description is not the the entity itself (in this case the planned research cruise) and therefore the local data description itself can be described using the PROV-O model. In particular, we present the use of the data lifecycle ontology to show the connection between research cruise activities and their associated datasets, and the publication of those data sets online with Digital Object Identifiers and

Storyboard GALILEO CRUISE SCIENCE OPPORTUNITIES describes asteroid encounters

Science.gov (United States)

1989-01-01

Storyboard with mosaicked image of an asteroid and entitled GALILEO CRUISE SCIENCE OPPORTUNITIES describes asteroid objectives. These objectives include: first asteroid encounter; surface geology, composition size, shape, mass; and relation of primitive bodies to meteorites.

Impact of cruise ship emissions in Victoria, BC, Canada

Science.gov (United States)

Poplawski, Karla; Setton, Eleanor; McEwen, Bryan; Hrebenyk, Dan; Graham, Mark; Keller, Peter

2011-02-01

Characterization of the effects of cruise ship emissions on local air quality is scarce. Our objective was to investigate community level concentrations of fine particulate matter (PM 2.5), nitrogen dioxide (NO 2) and sulphur dioxide (SO 2) associated with cruise ships in James Bay, Victoria, British Columbia (BC), Canada. Data obtained over four years (2005-2008) at the nearest air quality network site located 3.5 km from the study area, a CALPUFF modeling exercise (2007), and continuous measurements taken in the James Bay community over a three-month period during the 2009 cruise ship season were examined. Concentrations of PM 2.5 and nitrogen oxide (NO) were elevated on weekends with ships present with winds from the direction of the terminal to the monitoring station. SO 2 displayed the greatest impact from the presence of cruise ships in the area. Network data showed peaks in hourly SO 2 when ships were in port during all years. The CALPUFF modeling analysis found predicted 24-hour SO 2 levels to exceed World Health Organization (WHO) guidelines of 20 μg m -3 for approximately 3% of 24-hour periods, with a maximum 24-hour concentration in the community of 41 μg m -3; however, the CALPUFF model underestimated concentrations when predicted and measured concentrations were compared at the network site. Continuous monitoring at the location in the community predicted to experience highest SO 2 concentrations measured a maximum 24-hour concentration of 122 μg m -3 and 16% of 24-hour periods were above the WHO standard. The 10-minute concentrations of SO 2 reached up to 599 μg m -3 and exceeded the WHO 10-minute SO 2 guideline (500 μg m -3) for 0.03% of 10-minute periods. No exceedences of BC Provincial or Canadian guidelines or standards were observed.

Online Adaptation and Over-Trial Learning in Macaque Visuomotor Control

Science.gov (United States)

Braun, Daniel A.; Aertsen, Ad; Paz, Rony; Vaadia, Eilon; Rotter, Stefan; Mehring, Carsten

2011-01-01

When faced with unpredictable environments, the human motor system has been shown to develop optimized adaptation strategies that allow for online adaptation during the control process. Such online adaptation is to be contrasted to slower over-trial learning that corresponds to a trial-by-trial update of the movement plan. Here we investigate the interplay of both processes, i.e., online adaptation and over-trial learning, in a visuomotor experiment performed by macaques. We show that simple non-adaptive control schemes fail to perform in this task, but that a previously suggested adaptive optimal feedback control model can explain the observed behavior. We also show that over-trial learning as seen in learning and aftereffect curves can be explained by learning in a radial basis function network. Our results suggest that both the process of over-trial learning and the process of online adaptation are crucial to understand visuomotor learning. PMID:21720526

Development of Variable Camber Continuous Trailing Edge Flap for Performance Adaptive Aeroelastic Wing

Science.gov (United States)

Nguyen, Nhan; Kaul, Upender; Lebofsky, Sonia; Ting, Eric; Chaparro, Daniel; Urnes, James

2015-01-01

This paper summarizes the recent development of an adaptive aeroelastic wing shaping control technology called variable camber continuous trailing edge flap (VCCTEF). As wing flexibility increases, aeroelastic interactions with aerodynamic forces and moments become an increasingly important consideration in aircraft design and aerodynamic performance. Furthermore, aeroelastic interactions with flight dynamics can result in issues with vehicle stability and control. The initial VCCTEF concept was developed in 2010 by NASA under a NASA Innovation Fund study entitled "Elastically Shaped Future Air Vehicle Concept," which showed that highly flexible wing aerodynamic surfaces can be elastically shaped in-flight by active control of wing twist and bending deflection in order to optimize the spanwise lift distribution for drag reduction. A collaboration between NASA and Boeing Research & Technology was subsequently funded by NASA from 2012 to 2014 to further develop the VCCTEF concept. This paper summarizes some of the key research areas conducted by NASA during the collaboration with Boeing Research and Technology. These research areas include VCCTEF design concepts, aerodynamic analysis of VCCTEF camber shapes, aerodynamic optimization of lift distribution for drag minimization, wind tunnel test results for cruise and high-lift configurations, flutter analysis and suppression control of flexible wing aircraft, and multi-objective flight control for adaptive aeroelastic wing shaping control.

Policy Gradient Adaptive Dynamic Programming for Data-Based Optimal Control.

Science.gov (United States)

Luo, Biao; Liu, Derong; Wu, Huai-Ning; Wang, Ding; Lewis, Frank L

2017-10-01

The model-free optimal control problem of general discrete-time nonlinear systems is considered in this paper, and a data-based policy gradient adaptive dynamic programming (PGADP) algorithm is developed to design an adaptive optimal controller method. By using offline and online data rather than the mathematical system model, the PGADP algorithm improves control policy with a gradient descent scheme. The convergence of the PGADP algorithm is proved by demonstrating that the constructed Q -function sequence converges to the optimal Q -function. Based on the PGADP algorithm, the adaptive control method is developed with an actor-critic structure and the method of weighted residuals. Its convergence properties are analyzed, where the approximate Q -function converges to its optimum. Computer simulation results demonstrate the effectiveness of the PGADP-based adaptive control method.

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)....

Adaptive control for accelerators

International Nuclear Information System (INIS)

Eaton, L.E.; Jachim, S.P.; Natter, E.F.

1991-01-01

This patent describes an adaptive feedforward control loop is provided to stabilize accelerator beam loading of the radio frequency field in an accelerator cavity during successive pulses of the beam into the cavity. A digital signal processor enables an adaptive algorithm to generate a feedforward error correcting signal functionally determined by the feedback error obtained by a beam pulse loading the cavity after the previous correcting signal was applied to the cavity. Each cavity feedforward correcting signal is successively stored in the digital processor and modified by the feedback error resulting from its application to generate the next feedforward error correcting signal. A feedforward error correcting signal is generated by the digital processor in advance of the beam pulse to enable a composite correcting signal and the beam pulse to arrive concurrently at the cavity

Adaptive control for accelerators

Science.gov (United States)

Eaton, Lawrie E.; Jachim, Stephen P.; Natter, Eckard F.

1991-01-01

An adaptive feedforward control loop is provided to stabilize accelerator beam loading of the radio frequency field in an accelerator cavity during successive pulses of the beam into the cavity. A digital signal processor enables an adaptive algorithm to generate a feedforward error correcting signal functionally determined by the feedback error obtained by a beam pulse loading the cavity after the previous correcting signal was applied to the cavity. Each cavity feedforward correcting signal is successively stored in the digital processor and modified by the feedback error resulting from its application to generate the next feedforward error correcting signal. A feedforward error correcting signal is generated by the digital processor in advance of the beam pulse to enable a composite correcting signal and the beam pulse to arrive concurrently at the cavity.

Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles

Science.gov (United States)

2007-11-01

Tolerant Overactuated Autonomous Vehicles Casavola, A.; Garone, E. (2007) Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous ...Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6...Tolerant Overactuated Autonomous Vehicles 3.2 - 2 RTO-MP-AVT-145 UNCLASSIFIED/UNLIMITED Control allocation problem (CAP) - Given a virtual input v(t

Adaptive Robot Control – An Experimental Comparison

Directory of Open Access Journals (Sweden)

Francesco Alonge

2012-11-01

Full Text Available This paper deals with experimental comparison between stable adaptive controllers of robotic manipulators based on Model Based Adaptive, Neural Network and Wavelet -Based control. The above control methods were compared with each other in terms of computational efficiency, need for accurate mathematical model of the manipulator and tracking performances. An original management algorithm of the Wavelet Network control scheme has been designed, with the aim of constructing the net automatically during the trajectory tracking, without the need to tune it to the trajectory itself. Experimental tests, carried out on a planar two link manipulator, show that the Wavelet-Based control scheme, with the new management algorithm, outperforms the conventional Model-Based schemes in the presence of structural uncertainties in the mathematical model of the robot, without pre-training and more efficiently than the Neural Network approach.

Adaptive control of solar energy collector systems

CERN Document Server

Lemos, João M; Igreja, José M

2014-01-01

This book describes methods for adaptive control of distributed-collector solar fields: plants that collect solar energy and deliver it in thermal form. Controller design methods are presented that can overcome difficulties found in these type of plants:they are distributed-parameter systems, i.e., systems with dynamics that depend on space as well as time;their dynamics is nonlinear, with a bilinear structure;there is a significant level of uncertainty in plant knowledge.Adaptive methods form the focus of the text because of the degree of uncertainty in the knowledge of plant dynamics. Parts

Model reference adaptive control and adaptive stability augmentation

DEFF Research Database (Denmark)

Henningsen, Arne; Ravn, Ole

1993-01-01

A comparison of the standard concepts in MRAC design suggests that a combination of the implicit and the explicit design techniques may lead to an improvement of the overall system performance in the presence of unmodelled dynamics. Using the ideas of adaptive stability augmentation a combined...... stability augmented model reference design is proposed. By utilizing the closed-loop control error, a simple auxiliary controller is tuned, using a normalized MIT rule for the parameter adjustment. The MIT adjustment is protected against the effects of unmodelled dynamics by lowpass filtering...... of the gradient. The proposed method is verified through simulation results indicating that the method may lead to an improvement of the model reference controller in the presence of unmodelled dynamics...

Adaptive neuro-fuzzy control of ionic polymer metal composite actuators

International Nuclear Information System (INIS)

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

2009-01-01

An adaptive neuro-fuzzy controller was newly designed to overcome the degradation of the actuation performance of ionic polymer metal composite actuators that show highly nonlinear responses such as a straightening-back problem under a step excitation. An adaptive control algorithm with the merits of fuzzy logic and neural networks was applied for controlling the tip displacement of the ionic polymer metal composite actuators. The reference and actual displacements and the change of the error with the electrical inputs were recorded to generate the training data. These data were used for training the adaptive neuro-fuzzy controller to find the membership functions in the fuzzy control algorithm. Software simulation and real-time experiments were conducted by using the Simulink and dSPACE environments. Present results show that the current adaptive neuro-fuzzy controller can be successfully applied to the reliable control of the ionic polymer metal composite actuator for which the performance degrades under long-time actuation

Functional Dual Adaptive Control with Recursive Gaussian Process Model

International Nuclear Information System (INIS)

Prüher, Jakub; Král, Ladislav

2015-01-01

The paper deals with dual adaptive control problem, where the functional uncertainties in the system description are modelled by a non-parametric Gaussian process regression model. Current approaches to adaptive control based on Gaussian process models are severely limited in their practical applicability, because the model is re-adjusted using all the currently available data, which keeps growing with every time step. We propose the use of recursive Gaussian process regression algorithm for significant reduction in computational requirements, thus bringing the Gaussian process-based adaptive controllers closer to their practical applicability. In this work, we design a bi-criterial dual controller based on recursive Gaussian process model for discrete-time stochastic dynamic systems given in an affine-in-control form. Using Monte Carlo simulations, we show that the proposed controller achieves comparable performance with the full Gaussian process-based controller in terms of control quality while keeping the computational demands bounded. (paper)

RRS "Discovery" Cruise D279, 04 Apr - 10 May 2004. A Transatlantic hydrography section at 24.5N

OpenAIRE

Cunningham, S.A.

2005-01-01

The cruise report describes the acquisition and processing of transatlantic hydrographic, velocity, chemistry and other measurements made during three cruises in Spring 2004 at 24.5°N. Measurements were made from shallow water near Africa to shallow water just off Palm Springs beach on the eastern seaboard of the USA. During the principal cruise, RRS Discovery Cruise D279 (4 April to 10 May 2004), 125 full depth CTD and lowered acoustic Doppler current profiler (LADP) stations were complete...

L(sub 1) Adaptive Flight Control System: Flight Evaluation and Technology Transition

Science.gov (United States)

Xargay, Enric; Hovakimyan, Naira; Dobrokhodov, Vladimir; Kaminer, Isaac; Gregory, Irene M.; Cao, Chengyu

2010-01-01

Certification of adaptive control technologies for both manned and unmanned aircraft represent a major challenge for current Verification and Validation techniques. A (missing) key step towards flight certification of adaptive flight control systems is the definition and development of analysis tools and methods to support Verification and Validation for nonlinear systems, similar to the procedures currently used for linear systems. In this paper, we describe and demonstrate the advantages of L(sub l) adaptive control architectures for closing some of the gaps in certification of adaptive flight control systems, which may facilitate the transition of adaptive control into military and commercial aerospace applications. As illustrative examples, we present the results of a piloted simulation evaluation on the NASA AirSTAR flight test vehicle, and results of an extensive flight test program conducted by the Naval Postgraduate School to demonstrate the advantages of L(sub l) adaptive control as a verifiable robust adaptive flight control system.

Controlling smart grid adaptivity

OpenAIRE

Toersche, Hermen; Nykamp, Stefan; Molderink, Albert; Hurink, Johann L.; Smit, Gerardus Johannes Maria

2012-01-01

Methods are discussed for planning oriented smart grid control to cope with scenarios with limited predictability, supporting an increasing penetration of stochastic renewable resources. The performance of these methods is evaluated with simulations using measured wind generation and consumption data. Forecast errors are shown to affect worst case behavior in particular, the severity of which depends on the chosen adaptivity strategy and error model.

A Low-Visibility Force Multiplier: Assessing China’s Cruise Missile Ambitions

Science.gov (United States)

2014-04-01

small radar signature, and very low altitude flight profile of cruise missiles stress air defense systems and airborne surveillance and tracking radars...for engines powering longer-range or large payload cruise missiles and requires a range of disciplines in metallurgy, air flow dynamics, heat ...Beijing-Mos- cow fallout, the Chinese persevered and conducted their first successful missile test in November 1960.3 The Soviets provided China with the

PI controller based model reference adaptive control for nonlinear

African Journals Online (AJOL)

user

Keywords: Model Reference Adaptive Controller (MRAC), Artificial Neural ... attention, and many new approaches have been applied to practical process .... effectiveness of proposed method, it is compared with the simulation results of the ...

An adaptive unscented Kalman filter-based adaptive tracking control for wheeled mobile robots with control constrains in the presence of wheel slipping

Directory of Open Access Journals (Sweden)

Mingyue Cui

2016-09-01

Full Text Available A novel control approach is proposed for trajectory tracking of a wheeled mobile robot with unknown wheels’ slipping. The longitudinal and lateral slipping are considered and processed as three time-varying parameters. The adaptive unscented Kalman filter is then designed to estimate the slipping parameters online, an adaptive adjustment of the noise covariances in the estimation process is implemented using a technique of covariance matching in the adaptive unscented Kalman filter context. Considering the practical physical constrains, a stable tracking control law for this robot system is proposed by the backstepping method. Asymptotic stability is guaranteed by Lyapunov stability theory. Control gains are determined online by applying pole placement method. Simulation and real experiment results show the effectiveness and robustness of the proposed control method.

Indirect adaptive control of discrete chaotic systems

International Nuclear Information System (INIS)

Salarieh, Hassan; Shahrokhi, Mohammad

2007-01-01

In this paper an indirect adaptive control algorithm is proposed to stabilize the fixed points of discrete chaotic systems. It is assumed that the functionality of the chaotic dynamics is known but the system parameters are unknown. This assumption is usually applicable to many chaotic systems, such as the Henon map, logistic and many other nonlinear maps. Using the recursive-least squares technique, the system parameters are identified and based on the feedback linearization method an adaptive controller is designed for stabilizing the fixed points, or unstable periodic orbits of the chaotic maps. The stability of the proposed scheme has been shown and the effectiveness of the control algorithm has been demonstrated through computer simulations

Adaptive automatic generation control with superconducting magnetic energy storage in power systems

International Nuclear Information System (INIS)

Tripathy, S.C.; Balasubramanian, R.; Nair, P.S.C.

1992-01-01

An improved automatic generation control (AGC) employing self-tuning adaptive control for both main AGC loop and superconducting magnetic energy storage (SMES) is presented in this paper. Computer simulations on a two-area interconnected power system show that the proposed adaptive control scheme is very effective in damping out oscillations caused by load disturbances and its performance is quite insensitive to controller gain parameter changes of SMES. A comprehensive comparative performance evaluation of control schemes using adaptive and non-adaptive controllers in the main AGC and in the SMES control loops is presented. The improvement in performance brought in by the adaptive scheme is particularly pronounced for load changes of random magnitude and duration. The proposed controller can be easily implemented using microprocessors

Fully probabilistic control design in an adaptive critic framework

Czech Academy of Sciences Publication Activity Database

Herzallah, R.; Kárný, Miroslav

2011-01-01

Roč. 24, č. 10 (2011), s. 1128-1135 ISSN 0893-6080 R&D Projects: GA ČR GA102/08/0567 Institutional research plan: CEZ:AV0Z10750506 Keywords : Stochastic control design * Fully probabilistic design * Adaptive control * Adaptive critic Subject RIV: BC - Control Systems Theory Impact factor: 2.182, year: 2011 http://library.utia.cas.cz/separaty/2011/AS/karny-0364820.pdf

Indirect fuzzy adaptive control of a class of SISO nonlinear systems

International Nuclear Information System (INIS)

Laboid, S.; Boucherit, M.S.

2006-01-01

This paper presents an adaptive fuzzy control scheme for a class of continuous-time single-input single-output nonlinear systems with unknown dynamics and disturbance. Within this scheme, the fuzzy systems are employed to approximate the unknown system's dynamics. The proposed controller is composed of a well-defined adaptive fuzzy control term that uses the adaptive fuzzy approximation errors and disturbance. Based on a Lyapunov synthesis method, it is shown that the proposed adaptive control scheme guarantees the convergence of the tracking error to zero and the global boundedness of all signals in the closed-loop system. Moreover, the proposed controller allows initialization by zero of all adjusted parameters in the fuzzy approximators, and does not require the knowledge of the lower bound of the control gain and upper bounds of the approximation errors and disturbance. Simulation results performed on an inverted pendulum system are given to point out the good performance of the developed adaptive controller. (author)

Design definition study of a lift/cruise fan technology V/STOL airplane: Summary

Science.gov (United States)

Zabinsky, J. M.; Higgins, H. C.

1975-01-01

A two-engine three-fan V/STOL airplane was designed to fulfill naval operational requirements. A multimission airplane was developed from study of specific point designs. Based on the multimission concept, airplanes were designed to demonstrate and develop the technology and operational procedures for this class of aircraft. Use of interconnected variable pitch fans led to a good balance between high thrust with responsive control and efficient thrust at cruise speeds. The airplanes and their characteristics are presented.

Adaptive Fuzzy-Lyapunov Controller Using Biologically Inspired Swarm Intelligence

Directory of Open Access Journals (Sweden)

Alejandro Carrasco Elizalde

2008-01-01

Full Text Available The collective behaviour of swarms produces smarter actions than those achieved by a single individual. Colonies of ants, flocks of birds and fish schools are examples of swarms interacting with their environment to achieve a common goal. This cooperative biological intelligence is the inspiration for an adaptive fuzzy controller developed in this paper. Swarm intelligence is used to adjust the parameters of the membership functions used in the adaptive fuzzy controller. The rules of the controller are designed using a computing-with-words approach called Fuzzy-Lyapunov synthesis to improve the stability and robustness of an adaptive fuzzy controller. Computing-with-words provides a powerful tool to manipulate numbers and symbols, like words in a natural language.

On Using Exponential Parameter Estimators with an Adaptive Controller

Science.gov (United States)

Patre, Parag; Joshi, Suresh M.

2011-01-01

Typical adaptive controllers are restricted to using a specific update law to generate parameter estimates. This paper investigates the possibility of using any exponential parameter estimator with an adaptive controller such that the system tracks a desired trajectory. The goal is to provide flexibility in choosing any update law suitable for a given application. The development relies on a previously developed concept of controller/update law modularity in the adaptive control literature, and the use of a converse Lyapunov-like theorem. Stability analysis is presented to derive gain conditions under which this is possible, and inferences are made about the tracking error performance. The development is based on a class of Euler-Lagrange systems that are used to model various engineering systems including space robots and manipulators.

Fuzzy adaptive speed control of a permanent magnet synchronous motor

Science.gov (United States)

Choi, Han Ho; Jung, Jin-Woo; Kim, Rae-Young

2012-05-01

A fuzzy adaptive speed controller is proposed for a permanent magnet synchronous motor (PMSM). The proposed fuzzy adaptive speed regulator is insensitive to model parameter and load torque variations because it does not need any accurate knowledge about the motor parameter and load torque values. The stability of the proposed control system is also proven. The proposed adaptive speed regulator system is implemented by using a TMS320F28335 floating point DSP. Simulation and experimental results are presented to verify the effectiveness of the proposed fuzzy adaptive speed controller under uncertainties such as motor parameter and load torque variations using a prototype PMSM drive system.

Adaptive pitch control for load mitigation of wind turbines

Science.gov (United States)

Yuan, Yuan; Tang, J.

2015-04-01

In this research, model reference adaptive control is examined for the pitch control of wind turbines that may suffer from reduced life owing to extreme loads and fatigue when operated under a high wind speed. Specifically, we aim at making a trade-off between the maximum energy captured and the load induced. The adaptive controller is designed to track the optimal generator speed and at the same time to mitigate component loads under turbulent wind field and other uncertainties. The proposed algorithm is tested on the NREL offshore 5-MW baseline wind turbine, and its performance is compared with that those of the gain scheduled proportional integral (GSPI) control and the disturbance accommodating control (DAC). The results show that the blade root flapwise load can be reduced at a slight expense of optimal power output. The generator speed regulation under adaptive controller is better than DAC.

Evaluation-Function-based Model-free Adaptive Fuzzy Control

Directory of Open Access Journals (Sweden)

Agus Naba

2016-12-01

Full Text Available Designs of adaptive fuzzy controllers (AFC are commonly based on the Lyapunov approach, which requires a known model of the controlled plant. They need to consider a Lyapunov function candidate as an evaluation function to be minimized. In this study these drawbacks were handled by designing a model-free adaptive fuzzy controller (MFAFC using an approximate evaluation function defined in terms of the current state, the next state, and the control action. MFAFC considers the approximate evaluation function as an evaluative control performance measure similar to the state-action value function in reinforcement learning. The simulation results of applying MFAFC to the inverted pendulum benchmark verified the proposed scheme’s efficacy.

Nonlinear adaptive inverse control via the unified model neural network

Science.gov (United States)

Jeng, Jin-Tsong; Lee, Tsu-Tian

1999-03-01

In this paper, we propose a new nonlinear adaptive inverse control via a unified model neural network. In order to overcome nonsystematic design and long training time in nonlinear adaptive inverse control, we propose the approximate transformable technique to obtain a Chebyshev Polynomials Based Unified Model (CPBUM) neural network for the feedforward/recurrent neural networks. It turns out that the proposed method can use less training time to get an inverse model. Finally, we apply this proposed method to control magnetic bearing system. The experimental results show that the proposed nonlinear adaptive inverse control architecture provides a greater flexibility and better performance in controlling magnetic bearing systems.

Design of a Model Reference Adaptive Controller for an Unmanned Air Vehicle

Science.gov (United States)

Crespo, Luis G.; Matsutani, Megumi; Annaswamy, Anuradha M.

2010-01-01

This paper presents the "Adaptive Control Technology for Safe Flight (ACTS)" architecture, which consists of a non-adaptive controller that provides satisfactory performance under nominal flying conditions, and an adaptive controller that provides robustness under off nominal ones. The design and implementation procedures of both controllers are presented. The aim of these procedures, which encompass both theoretical and practical considerations, is to develop a controller suitable for flight. The ACTS architecture is applied to the Generic Transport Model developed by NASA-Langley Research Center. The GTM is a dynamically scaled test model of a transport aircraft for which a flight-test article and a high-fidelity simulation are available. The nominal controller at the core of the ACTS architecture has a multivariable LQR-PI structure while the adaptive one has a direct, model reference structure. The main control surfaces as well as the throttles are used as control inputs. The inclusion of the latter alleviates the pilot s workload by eliminating the need for cancelling the pitch coupling generated by changes in thrust. Furthermore, the independent usage of the throttles by the adaptive controller enables their use for attitude control. Advantages and potential drawbacks of adaptation are demonstrated by performing high fidelity simulations of a flight-validated controller and of its adaptive augmentation.

Preliminary study of optimum ductburning turbofan engine cycle design parameters for supersonic cruising

Science.gov (United States)

Fishbach, L. H.

1978-01-01

The effect of turbofan engine overall pressure ratio, fan pressure ratio, and ductburner temperature rise on the engine weight and cruise fuel consumption for a mach 2.4 supersonic transport was investigated. Design point engines, optimized purely for the supersonic cruising portion of the flight where the bulk of the fuel is consumed, are considered. Based on constant thrust requirements at cruise, fuel consumption considerations would favor medium by pass ratio engines (1.5 to 1.8) of overall pressure ratio of about 16. Engine weight considerations favor low bypass ratio (0.6 or less) and low wverall pressure ratio (8). Combination of both effects results in bypass ratios of 0.6 to 0.8 and overall pressure ratio of 12 being the overall optimum.

Multivariable adaptive control of bio process

Energy Technology Data Exchange (ETDEWEB)

Maher, M.; Bahhou, B.; Roux, G. [Centre National de la Recherche Scientifique (CNRS), 31 - Toulouse (France); Maher, M. [Faculte des Sciences, Rabat (Morocco). Lab. de Physique

1995-12-31

This paper presents a multivariable adaptive control of a continuous-flow fermentation process for the alcohol production. The linear quadratic control strategy is used for the regulation of substrate and ethanol concentrations in the bioreactor. The control inputs are the dilution rate and the influent substrate concentration. A robust identification algorithm is used for the on-line estimation of linear MIMO model`s parameters. Experimental results of a pilot-plant fermenter application are reported and show the control performances. (authors) 8 refs.

Interval type-2 fuzzy gain-adaptive controller of a Doubly Fed ...

African Journals Online (AJOL)

... Interval Type-2 Fuzzy Gain Adaptive IP (IT2FGAIP) controller and a conventional IP controller ... and an adaptive IP controller is proposed for the speed control of DFIM in the presence of ... EMAIL FREE FULL TEXT EMAIL FREE FULL TEXT

Focused cognitive control in dishonesty: Evidence for predominantly transient conflict adaptation.

Science.gov (United States)

Foerster, Anna; Pfister, Roland; Schmidts, Constantin; Dignath, David; Wirth, Robert; Kunde, Wilfried

2018-04-01

Giving a dishonest response to a question entails cognitive conflict due to an initial activation of the truthful response. Following conflict monitoring theory, dishonest responding could therefore elicit transient and sustained control adaptation processes to mitigate such conflict, and the current experiments take on the scope and specificity of such conflict adaptation in dishonesty. Transient adaptation reduces differences between honest and dishonest responding following a recent dishonest response. Sustained adaptation has a similar behavioral signature but is driven by the overall frequency of dishonest responding. Both types of adaptation to recent and frequent dishonest responses have been separately documented, leaving open whether control processes in dishonest responding can flexibly adapt to transient and sustained conflict signals of dishonest and other actions. This was the goal of the present experiments which studied (dis)honest responding to autobiographical yes/no questions. Experiment 1 showed robust transient adaptation to recent dishonest responses whereas sustained control adaptation failed to exert an influence on behavior. It further revealed that transient effects may create a spurious impression of sustained adaptation in typical experimental settings. Experiments 2 and 3 examined whether dishonest responding can profit from transient and sustained adaption processes triggered by other behavioral conflicts. This was clearly not the case: Dishonest responding adapted markedly to recent (dis)honest responses but not to any context of other conflicts. These findings indicate that control adaptation in dishonest responding is strong but surprisingly focused and they point to a potential trade-off between transient and sustained adaptation. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

Adaptive feed forward in the LANL RF control system

International Nuclear Information System (INIS)

Ziomek, C.D.

1992-01-01

This paper describes an adaptive feed forward system that corrects repetitive errors in the amplitude and phase of the RF field of a pulsed accelerator. High-frequency disturbances that are beyond the effective bandwidth of the RF-field feedback control system can be eliminated with a feed forward system. Many RF-field disturbances for a pulsed accelerator are repetitive, occurring at the same relative time in every pulse. This design employs digital signal processing hardware to adaptively determine and track the control signals required to eliminate the repetitive errors in the feedback control system. In order to provide the necessary high-frequency response, the adaptive feed forward hardware provides the calculated control signal prior to the repetitive disturbance that it corrects. This system has been demonstrated to reduce the transient disturbances caused by beam pulses. Furthermore, it has been shown to negate high-frequency phase and amplitude oscillations in a high-power klystron amplifier caused by PFN ripple on the high-voltage. The design and results of the adaptive feed forward system are presented. (Author) 3 figs., 2 refs

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

2016-03-14

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.

A discrete-time adaptive control scheme for robot manipulators

Science.gov (United States)

Tarokh, M.

1990-01-01

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

Regulations and policies that limit the growth of the U.S. Great Lakes cruising market.

Science.gov (United States)

2011-10-01

The worldwide cruise industry has seen remarkable growth since the 1990s. The cruise market on the Great Lakes has lagged the worldwide growth and compared to historical records, has fallen far short of its full potential. This paper reviews the hist...

Adaptive Backstepping Control of Lightweight Tower Wind Turbine

DEFF Research Database (Denmark)

Galeazzi, Roberto; Borup, Kasper Trolle; Niemann, Hans Henrik

2015-01-01

the angular deflection of the tower with respect to the vertical axis in response to variations in wind speed. The controller is shown to guarantee asymptotic tracking of the reference trajectory. The performance of the control system is evaluated through deterministic and stochastic simulations including......This paper investigates the feasibility of operating a wind turbine with lightweight tower in the full load region exploiting an adaptive nonlinear controller that allows the turbine to dynamically lean against the wind while maintaining nominal power output. The use of lightweight structures...... for towers and foundations would greatly reduce the construction cost of the wind turbine, however extra features ought be included in the control system architecture to avoid tower collapse. An adaptive backstepping collective pitch controller is proposed for tower point tracking control, i.e. to modify...

Marine Educational and Research Cruise in Taiwan

Science.gov (United States)

Lee, C.; Lallemand, S.; Wu, F. T.

2009-12-01

During April 2009, we conducted a seismic and ocean bottom seismometer (OBS) cruise as part of the Taiwan mountain building process study, called the TAIGER. The seismic is shot by the US Columbia University’s research vessel Langseth and the OBSs, including Taiwan, French and American OBSs, are carried out by a Taiwanese student training ship, called Yu-Yin (means to educate the young people) No. 2. Both ships take a big number of research scientists and technical staff (15-25 people) to conduct the seismic and OBS survey. In addition, the Yu-Yin No. 2 ship hosts a total of 25 students, both MS and PhD graduate students, from Taiwan, France and USA. The student group consists of 13 from the National Taiwan Ocean University (Taiwan), 1 from the National Central University (Taiwan), 9 from the Montpellier University (France) and 2 from the New York State University. Nearly all the French and American students are on their very first trip to Taiwan. The research activities will be reported in the T25 Tectonophysics Section. This paper only deals with the educational events. The cruise includes two parts: the first mainly to deploy the OBSs and the second to retrieve the OBSs back to the ship. In addition, the French group arranges a field geological trip onshore Taiwan to put into their hands of the actions of Taiwan mountain building processes. The marine educational courses are filled in the daily ship time at 4 hours per day. As a result, we believe that we have achieved the followings: (1) mix the students and encourage a lovely study environment, (2) mix the teachers and enhance their teaching spectrum, (3) stay in a live and work together boat, allowing more and wider culture exchange. In the future, we certainly will use every possible opportunity to promote more Marine Educational and Research Cruises.

Adaptive Control with Reference Model Modification

Science.gov (United States)

Stepanyan, Vahram; Krishnakumar, Kalmanje

2012-01-01

This paper presents a modification of the conventional model reference adaptive control (MRAC) architecture in order to improve transient performance of the input and output signals of uncertain systems. A simple modification of the reference model is proposed by feeding back the tracking error signal. It is shown that the proposed approach guarantees tracking of the given reference command and the reference control signal (one that would be designed if the system were known) not only asymptotically but also in transient. Moreover, it prevents generation of high frequency oscillations, which are unavoidable in conventional MRAC systems for large adaptation rates. The provided design guideline makes it possible to track a reference commands of any magnitude from any initial position without re-tuning. The benefits of the method are demonstrated with a simulation example

Robust synchronization of drive-response chaotic systems via adaptive sliding mode control

International Nuclear Information System (INIS)

Li, W.-L.; Chang, K.-M.

2009-01-01

A robust adaptive sliding control scheme is developed in this study to achieve synchronization for two identical chaotic systems in the presence of uncertain system parameters, external disturbances and nonlinear control inputs. An adaptation algorithm is given based on the Lyapunov stability theory. Using this adaptation technique to estimate the upper-bounds of parameter variation and external disturbance uncertainties, an adaptive sliding mode controller is then constructed without requiring the bounds of parameter and disturbance uncertainties to be known in advance. It is proven that the proposed adaptive sliding mode controller can maintain the existence of sliding mode in finite time in uncertain chaotic systems. Finally, numerical simulations are presented to show the effectiveness of the proposed control scheme.

Adaptive integral robust control and application to electromechanical servo systems.

Science.gov (United States)

Deng, Wenxiang; Yao, Jianyong

2017-03-01

This paper proposes a continuous adaptive integral robust control with robust integral of the sign of the error (RISE) feedback for a class of uncertain nonlinear systems, in which the RISE feedback gain is adapted online to ensure the robustness against disturbances without the prior bound knowledge of the additive disturbances. In addition, an adaptive compensation integrated with the proposed adaptive RISE feedback term is also constructed to further reduce design conservatism when the system also exists parametric uncertainties. Lyapunov analysis reveals the proposed controllers could guarantee the tracking errors are asymptotically converging to zero with continuous control efforts. To illustrate the high performance nature of the developed controllers, numerical simulations are provided. At the end, an application case of an actual electromechanical servo system driven by motor is also studied, with some specific design consideration, and comparative experimental results are obtained to verify the effectiveness of the proposed controllers. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Direct adaptive control of a PUMA 560 industrial robot

Science.gov (United States)

Seraji, Homayoun; Lee, Thomas; Delpech, Michel

1989-01-01

The implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot is described. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the Robot Control C Library software. The control algorithm is implemented on the MicroVAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the MicroVAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain Proportional plus Integral plus Derivative (PID) controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the inter-joint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.

Adaptive Gain Scheduled Semiactive Vibration Control Using a Neural Network

Directory of Open Access Journals (Sweden)

Kazuhiko Hiramoto

2018-01-01

Full Text Available We propose an adaptive gain scheduled semiactive control method using an artificial neural network for structural systems subject to earthquake disturbance. In order to design a semiactive control system with high control performance against earthquakes with different time and/or frequency properties, multiple semiactive control laws with high performance for each of multiple earthquake disturbances are scheduled with an adaptive manner. Each semiactive control law to be scheduled is designed based on the output emulation approach that has been proposed by the authors. As the adaptive gain scheduling mechanism, we introduce an artificial neural network (ANN. Input signals of the ANN are the measured earthquake disturbance itself, for example, the acceleration, velocity, and displacement. The output of the ANN is the parameter for the scheduling of multiple semiactive control laws each of which has been optimized for a single disturbance. Parameters such as weight and bias in the ANN are optimized by the genetic algorithm (GA. The proposed design method is applied to semiactive control design of a base-isolated building with a semiactive damper. With simulation study, the proposed adaptive gain scheduling method realizes control performance exceeding single semiactive control optimizing the average of the control performance subject to various earthquake disturbances.

Intelligent control of non-linear dynamical system based on the adaptive neurocontroller

Science.gov (United States)

Engel, E.; Kovalev, I. V.; Kobezhicov, V.

2015-10-01

This paper presents an adaptive neuro-controller for intelligent control of non-linear dynamical system. The formed as the fuzzy selective neural net the adaptive neuro-controller on the base of system's state, creates the effective control signal under random perturbations. The validity and advantages of the proposed adaptive neuro-controller are demonstrated by numerical simulations. The simulation results show that the proposed controller scheme achieves real-time control speed and the competitive performance, as compared to PID, fuzzy logic controllers.

Development of fault tolerant adaptive control laws for aerospace systems

Science.gov (United States)

Perez Rocha, Andres E.

The main topic of this dissertation is the design, development and implementation of intelligent adaptive control techniques designed to maintain healthy performance of aerospace systems subjected to malfunctions, external parameter changes and/or unmodeled dynamics. The dissertation is focused on the development of novel adaptive control configurations that rely on non-linear functions that appear in the immune system of living organisms as main source of adaptation. One of the main goals of this dissertation is to demonstrate that these novel adaptive control architectures are able to improve overall performance and protect the system while reducing control effort and maintaining adequate operation outside bounds of nominal design. This research effort explores several phases, ranging from theoretical stability analysis, simulation and hardware implementation on different types of aerospace systems including spacecraft, aircraft and quadrotor vehicles. The results presented in this dissertation are focused on two main adaptivity approaches, the first one is intended for aerospace systems that do not attain large angles and use exact feedback linearization of Euler angle kinematics. A proof of stability is presented by means of the circle Criterion and Lyapunov's direct method. The second approach is intended for aerospace systems that can attain large attitude angles (e.g. space systems in gravity-less environments), the adaptation is incorporated on a baseline architecture that uses partial feedback linearization of quaternions kinematics. In this case, the closed loop stability was analyzed using Lyapunov's direct method and Barbalat's Lemma. It is expected that some results presented in this dissertation can contribute towards the validation and certification of direct adaptive controllers.

Revisionist integral deferred correction with adaptive step-size control

KAUST Repository

Christlieb, Andrew

2015-03-27

© 2015 Mathematical Sciences Publishers. Adaptive step-size control is a critical feature for the robust and efficient numerical solution of initial-value problems in ordinary differential equations. In this paper, we show that adaptive step-size control can be incorporated within a family of parallel time integrators known as revisionist integral deferred correction (RIDC) methods. The RIDC framework allows for various strategies to implement stepsize control, and we report results from exploring a few of them.

Fuzzy Adaptive Model Following Speed Control for Vector Controlled Permanent Magnet Synchronous Motor

Directory of Open Access Journals (Sweden)

Baghdad BELABES

2008-12-01

Full Text Available In this paper a hybrid controller combining a linear model following controller (LMFC and fuzzy logic control (FLC for speed vector controlled permanent magnet synchronous motor (PMSM is described on this study. The FLC is introduced at the adaptive mechanism level. First, an LMFC system is designed to allow the plant states to be controlled to follow the states produced by a reference model. In the nominal conditions, the model following is perfect and the adaptive mechanism based on the fuzzy logic is idle. Secondly, when parameter variations or external disturbances occur, an augmented signal will be generated by FLC mechanism to preserve the desired model following control performance. The effectiveness and robustness of the proposed controller is demonstrated by some simulation results.

Adaptive hybrid optimal quantum control for imprecisely characterized systems.

Science.gov (United States)

Egger, D J; Wilhelm, F K

2014-06-20

Optimal quantum control theory carries a huge promise for quantum technology. Its experimental application, however, is often hindered by imprecise knowledge of the input variables, the quantum system's parameters. We show how to overcome this by adaptive hybrid optimal control, using a protocol named Ad-HOC. This protocol combines open- and closed-loop optimal control by first performing a gradient search towards a near-optimal control pulse and then an experimental fidelity estimation with a gradient-free method. For typical settings in solid-state quantum information processing, adaptive hybrid optimal control enhances gate fidelities by an order of magnitude, making optimal control theory applicable and useful.

Novel hybrid adaptive controller for manipulation in complex perturbation environments.

Directory of Open Access Journals (Sweden)

Alex M C Smith

Full Text Available In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulations, in a scenario where a Baxter robot manipulator is affected by external disturbances in the form of interaction with the environment and tool-like end-effector perturbations. The results demonstrated improved performance in the hybrid controller over both of its component parts. In addition, we introduce a novel method for online adaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledge from the experimenter. This mechanism of meta-learning induces further improvement in performance and avoids the need for tuning through trial testing.

Non-identifier based adaptive control in mechatronics theory and application

CERN Document Server

Hackl, Christoph M

2017-01-01

This book introduces non-identifier-based adaptive control (with and without internal model) and its application to the current, speed and position control of mechatronic systems such as electrical synchronous machines, wind turbine systems, industrial servo systems, and rigid-link, revolute-joint robots. In mechatronics, there is often only rough knowledge of the system. Due to parameter uncertainties, nonlinearities and unknown disturbances, model-based control strategies can reach their performance or stability limits without iterative controller design and performance evaluation, or system identification and parameter estimation. The non-identifier-based adaptive control presented is an alternative that neither identifies the system nor estimates its parameters but ensures stability. The adaptive controllers are easy to implement, compensate for disturbances and are inherently robust to parameter uncertainties and nonlinearities. For controller implementation only structural system knowledge (like relativ...

Adaptive fuzzy sliding control of single-phase PV grid-connected inverter.

Science.gov (United States)

Fei, Juntao; Zhu, Yunkai

2017-01-01

In this paper, an adaptive fuzzy sliding mode controller is proposed to control a two-stage single-phase photovoltaic (PV) grid-connected inverter. Two key technologies are discussed in the presented PV system. An incremental conductance method with adaptive step is adopted to track the maximum power point (MPP) by controlling the duty cycle of the controllable power switch of the boost DC-DC converter. An adaptive fuzzy sliding mode controller with an integral sliding surface is developed for the grid-connected inverter where a fuzzy system is used to approach the upper bound of the system nonlinearities. The proposed strategy has strong robustness for the sliding mode control can be designed independently and disturbances can be adaptively compensated. Simulation results of a PV grid-connected system verify the effectiveness of the proposed method, demonstrating the satisfactory robustness and performance.

Modeling and (adaptive) control of greenhouse climates

NARCIS (Netherlands)

Udink ten Cate, A.J.

1983-01-01

The material presented in this thesis can be grouped around four themes, system concepts, modeling, control and adaptive control. In this summary these themes will be treated separately.

System concepts

In Chapters 1 and 2 an overview of the problem formulation

Evolution of the Marginal Ice Zone: Adaptive Sampling with Autonomous Gliders

Science.gov (United States)

2015-09-30

release; distribution is unlimited. Evolution of the Marginal Ice Zone: Adaptive Sampling with Autonomous Gliders Craig M. Lee, Luc Rainville and Jason I...missions in ice-covered waters , where they provide several unique capabilities. Ice-capable Seagliders can maintain persistent (many months) sampling ...irradiance. Careful calibration casts, including water sampling , were conducted during both the deployment and recovery cruises. An example of a

Bayesian selective response-adaptive design using the historical control.

Science.gov (United States)

Kim, Mi-Ok; Harun, Nusrat; Liu, Chunyan; Khoury, Jane C; Broderick, Joseph P

2018-06-13

High quality historical control data, if incorporated, may reduce sample size, trial cost, and duration. A too optimistic use of the data, however, may result in bias under prior-data conflict. Motivated by well-publicized two-arm comparative trials in stroke, we propose a Bayesian design that both adaptively incorporates historical control data and selectively adapt the treatment allocation ratios within an ongoing trial responsively to the relative treatment effects. The proposed design differs from existing designs that borrow from historical controls. As opposed to reducing the number of subjects assigned to the control arm blindly, this design does so adaptively to the relative treatment effects only if evaluation of cumulated current trial data combined with the historical control suggests the superiority of the intervention arm. We used the effective historical sample size approach to quantify borrowed information on the control arm and modified the treatment allocation rules of the doubly adaptive biased coin design to incorporate the quantity. The modified allocation rules were then implemented under the Bayesian framework with commensurate priors addressing prior-data conflict. Trials were also more frequently concluded earlier in line with the underlying truth, reducing trial cost, and duration and yielded parameter estimates with smaller standard errors. © 2018 The Authors. Statistics in Medicine Published by John Wiley & Sons, Ltd.

Adaptive fuzzy trajectory control for biaxial motion stage system

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Wei-Lung Mao

2016-04-01

Full Text Available Motion control is an essential part of industrial machinery and manufacturing systems. In this article, the adaptive fuzzy controller is proposed for precision trajectory tracking control in biaxial X-Y motion stage system. The theoretical analyses of direct fuzzy control which is insensitive to parameter uncertainties and external load disturbances are derived to demonstrate the feasibility to track the reference trajectories. The Lyapunov stability theorem has been used to testify the asymptotic stability of the whole system, and all the signals are bounded in the closed-loop system. The intelligent position controller combines the merits of the adaptive fuzzy control with robust characteristics and learning ability for periodic command tracking of a servo drive mechanism. The simulation and experimental results on square, triangle, star, and circle reference contours are presented to show that the proposed controller indeed accomplishes the better tracking performances with regard to model uncertainties. It is observed that the convergence of parameters and tracking errors can be faster and smaller compared with the conventional adaptive fuzzy control in terms of average tracking error and tracking error standard deviation.

Adaptive Control of a Utility-Scale Wind Turbine Operating in Region 3

Science.gov (United States)

Frost, Susan A.; Balas, Mark J.; Wright, Alan D.

2009-01-01

Adaptive control techniques are well suited to nonlinear applications, such as wind turbines, which are difficult to accurately model and which have effects from poorly known operating environments. The turbulent and unpredictable conditions in which wind turbines operate create many challenges for their operation. In this paper, we design an adaptive collective pitch controller for a high-fidelity simulation of a utility scale, variable-speed horizontal axis wind turbine. The objective of the adaptive pitch controller in Region 3 is to regulate generator speed and reject step disturbances. The control objective is accomplished by collectively pitching the turbine blades. We use an extension of the Direct Model Reference Adaptive Control (DMRAC) approach to track a reference point and to reject persistent disturbances. The turbine simulation models the Controls Advanced Research Turbine (CART) of the National Renewable Energy Laboratory in Golden, Colorado. The CART is a utility-scale wind turbine which has a well-developed and extensively verified simulator. The adaptive collective pitch controller for Region 3 was compared in simulations with a bas celliansesical Proportional Integrator (PI) collective pitch controller. In the simulations, the adaptive pitch controller showed improved speed regulation in Region 3 when compared with the baseline PI pitch controller and it demonstrated robustness to modeling errors.

Sewage Treatment Systems of Cruise Ships and The Parameters Affect on Dilution of Effluent at Sea

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Volkan ŞAHİN

2015-11-01

Full Text Available Cruise ships play an inevitable role in tourism sector across the world. Increasing in cruise ship tourism accompanies with significant environmental problems. Due to both size of cruise ships and the amount of passengers and consumables, cruise ships have a great potential for producing considerable amounts of wastes. Various types of wastes are produced in cruise ships depending on the daily consumptions of these wastes. Sewage, which consists mainly the toilet wastes, is the most important problem. Sewage contains various types of heavy metal, chemicals and pathogens that have harmful effects on marine species and ecosystem. Many national and international regulations and conventions are established in order to prevent the harmful effects of wastes. Studies on preventing and minimizing ship-related pollution contribute to both developing new waste management systems and forming new procedures for removing the wastes in both ship and port. In this study, Marine Sanitation Device (MSD and Advanced Wastewater Treatment (AWT and treatment procedures are investigated. ‘Dilution factor’ obtained by theoretical and experimental studies is explained in detail and variation of dilution factor depending on ship dimensions and velocity is investigated.

Implementation of robust adaptive control for robotic manipulator using TMS320C30

International Nuclear Information System (INIS)

Han, S. H.

1996-01-01

A new adaptive digital control scheme for the robotic manipulator is proposed in this paper. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved Lyapunov second stability analysis based on the adaptive feedforward and feedback controller and PI type time-varying control elements. The control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot. (author)

Optimal Speed Control for Cruising

DEFF Research Database (Denmark)

Blanke, M.

1994-01-01

With small profit margins in merchant shipping and more than eighty percent of sailing time being cross ocean voyages, speed control is crucial for vessel profitability......With small profit margins in merchant shipping and more than eighty percent of sailing time being cross ocean voyages, speed control is crucial for vessel profitability...

Research on the adaptive optical control technology based on DSP

Science.gov (United States)

Zhang, Xiaolu; Xue, Qiao; Zeng, Fa; Zhao, Junpu; Zheng, Kuixing; Su, Jingqin; Dai, Wanjun

2018-02-01

Adaptive optics is a real-time compensation technique using high speed support system for wavefront errors caused by atmospheric turbulence. However, the randomness and instantaneity of atmospheric changing introduce great difficulties to the design of adaptive optical systems. A large number of complex real-time operations lead to large delay, which is an insurmountable problem. To solve this problem, hardware operation and parallel processing strategy are proposed, and a high-speed adaptive optical control system based on DSP is developed. The hardware counter is used to check the system. The results show that the system can complete a closed loop control in 7.1ms, and improve the controlling bandwidth of the adaptive optical system. Using this system, the wavefront measurement and closed loop experiment are carried out, and obtain the good results.

Carbon emissions from international cruise ship passengers' travel to and from New Zealand

International Nuclear Information System (INIS)

Howitt, Oliver J.A.; Revol, Vincent G.N.; Smith, Inga J.; Rodger, Craig J.

2010-01-01

Greenhouse gas emissions from international transport contribute to anthropogenic global warming, yet these emissions are not liable under the Kyoto Protocol. International attention is being given to quantifying such emissions. This paper presents the results of research into international cruise ship journeys to and from New Zealand. CO 2 emissions from such journeys were calculated using an activity based, or 'bottom-up', model. Emissions factors for individual journeys by cruise ships to or from New Zealand in 2007 ranged between 250 and 2200 g of CO 2 per passenger-kilometre (g CO 2 per p-km), with a weighted mean of 390 g CO 2 per p-km. The weighted mean energy use per passenger night for the 'hotel' function of these cruise vessels was estimated as 1600 MJ per visitor night, 12 times larger than the value for a land-based hotel. Using a simple price elasticities calculation, international cruise journeys for transport purposes were found to have a greater relative decrease in demand than plane journeys when the impact of carbon pricing was analysed. The potential to decrease the CO 2 emissions per p-km was examined, and if passenger accommodation was compacted and some luxury amenities dispensed with values similar to those of economy-class air travel were obtained.

Adaptive PID control based on orthogonal endocrine neural networks.

Science.gov (United States)

Milovanović, Miroslav B; Antić, Dragan S; Milojković, Marko T; Nikolić, Saša S; Perić, Staniša Lj; Spasić, Miodrag D

2016-12-01

A new intelligent hybrid structure used for online tuning of a PID controller is proposed in this paper. The structure is based on two adaptive neural networks, both with built-in Chebyshev orthogonal polynomials. First substructure network is a regular orthogonal neural network with implemented artificial endocrine factor (OENN), in the form of environmental stimuli, to its weights. It is used for approximation of control signals and for processing system deviation/disturbance signals which are introduced in the form of environmental stimuli. The output values of OENN are used to calculate artificial environmental stimuli (AES), which represent required adaptation measure of a second network-orthogonal endocrine adaptive neuro-fuzzy inference system (OEANFIS). OEANFIS is used to process control, output and error signals of a system and to generate adjustable values of proportional, derivative, and integral parameters, used for online tuning of a PID controller. The developed structure is experimentally tested on a laboratory model of the 3D crane system in terms of analysing tracking performances and deviation signals (error signals) of a payload. OENN-OEANFIS performances are compared with traditional PID and 6 intelligent PID type controllers. Tracking performance comparisons (in transient and steady-state period) showed that the proposed adaptive controller possesses performances within the range of other tested controllers. The main contribution of OENN-OEANFIS structure is significant minimization of deviation signals (17%-79%) compared to other controllers. It is recommended to exploit it when dealing with a highly nonlinear system which operates in the presence of undesirable disturbances. Copyright © 2016 Elsevier Ltd. All rights reserved.

Adaptive sliding mode control of tri-layer conjugated polymer actuators

International Nuclear Information System (INIS)

Wang, Xiangjiang; Alici, Gursel; Nguyen, Chuc Huu

2013-01-01

This paper proposes an adaptive sliding mode control methodology to enhance the positioning ability of conducting polymer actuators typified by tri-layer conjugated polymer actuators. This is motivated by the search for an effective control strategy to command such actuators to a desired configuration in the presence of parametric uncertainties and unmodeled disturbances. After analyzing the stability of the adaptive sliding mode control system, experiments were conducted to demonstrate its satisfactory tracking ability, based on a series of experimental results. Implementation of the control law requires a valid model of the conducting polymer actuator and boundaries of the uncertainties and disturbances. Based on the theoretical and experimental results presented, the adaptive sliding mode control methodology is very attractive in the field of smart actuators which contain significant uncertainties and disturbances. (paper)

Evaluation of train-speed control algorithms

Energy Technology Data Exchange (ETDEWEB)

Slavik, M.M. [BKS Advantech (Pty.) Ltd., Pretoria (South Africa)

2000-07-01

A relatively simple and fast simulator has been developed and used for the preliminary testing of train cruise-control algorithms. The simulation is done in software on a PC. The simulator is used to gauge the consequences and feasibility of a cruise-control strategy prior to more elaborate testing and evaluation. The tool was used to design and pre-test a train-cruise control algorithm called NSS, which does not require knowledge of exact train mass, vertical alignment, or actual braking force. Only continuous measurements on the speed of the train and electrical current are required. With this modest input, the NSS algorithm effected speed changes smoothly and efficiently for a wide range of operating conditions. (orig.)

Quaternion-based adaptive output feedback attitude control of spacecraft using Chebyshev neural networks.

Science.gov (United States)

Zou, An-Min; Dev Kumar, Krishna; Hou, Zeng-Guang

2010-09-01

This paper investigates the problem of output feedback attitude control of an uncertain spacecraft. Two robust adaptive output feedback controllers based on Chebyshev neural networks (CNN) termed adaptive neural networks (NN) controller-I and adaptive NN controller-II are proposed for the attitude tracking control of spacecraft. The four-parameter representations (quaternion) are employed to describe the spacecraft attitude for global representation without singularities. The nonlinear reduced-order observer is used to estimate the derivative of the spacecraft output, and the CNN is introduced to further improve the control performance through approximating the spacecraft attitude motion. The implementation of the basis functions of the CNN used in the proposed controllers depends only on the desired signals, and the smooth robust compensator using the hyperbolic tangent function is employed to counteract the CNN approximation errors and external disturbances. The adaptive NN controller-II can efficiently avoid the over-estimation problem (i.e., the bound of the CNNs output is much larger than that of the approximated unknown function, and hence, the control input may be very large) existing in the adaptive NN controller-I. Both adaptive output feedback controllers using CNN can guarantee that all signals in the resulting closed-loop system are uniformly ultimately bounded. For performance comparisons, the standard adaptive controller using the linear parameterization of spacecraft attitude motion is also developed. Simulation studies are presented to show the advantages of the proposed CNN-based output feedback approach over the standard adaptive output feedback approach.

Adaptive Neural Network Sliding Mode Control for Quad Tilt Rotor Aircraft

Directory of Open Access Journals (Sweden)

Yanchao Yin

2017-01-01

Full Text Available A novel neural network sliding mode control based on multicommunity bidirectional drive collaborative search algorithm (M-CBDCS is proposed to design a flight controller for performing the attitude tracking control of a quad tilt rotors aircraft (QTRA. Firstly, the attitude dynamic model of the QTRA concerning propeller tension, channel arm, and moment of inertia is formulated, and the equivalent sliding mode control law is stated. Secondly, an adaptive control algorithm is presented to eliminate the approximation error, where a radial basis function (RBF neural network is used to online regulate the equivalent sliding mode control law, and the novel M-CBDCS algorithm is developed to uniformly update the unknown neural network weights and essential model parameters adaptively. The nonlinear approximation error is obtained and serves as a novel leakage term in the adaptations to guarantee the sliding surface convergence and eliminate the chattering phenomenon, which benefit the overall attitude control performance for QTRA. Finally, the appropriate comparisons among the novel adaptive neural network sliding mode control, the classical neural network sliding mode control, and the dynamic inverse PID control are examined, and comparative simulations are included to verify the efficacy of the proposed control method.

Neural network-based model reference adaptive control system.

Science.gov (United States)

Patino, H D; Liu, D

2000-01-01

In this paper, an approach to model reference adaptive control based on neural networks is proposed and analyzed for a class of first-order continuous-time nonlinear dynamical systems. The controller structure can employ either a radial basis function network or a feedforward neural network to compensate adaptively the nonlinearities in the plant. A stable controller-parameter adjustment mechanism, which is determined using the Lyapunov theory, is constructed using a sigma-modification-type updating law. The evaluation of control error in terms of the neural network learning error is performed. That is, the control error converges asymptotically to a neighborhood of zero, whose size is evaluated and depends on the approximation error of the neural network. In the design and analysis of neural network-based control systems, it is important to take into account the neural network learning error and its influence on the control error of the plant. Simulation results showing the feasibility and performance of the proposed approach are given.

Comparison of Conventional Closed-Loop Controller with an Adaptive Controller for a Disturbed Thermodynamic System

DEFF Research Database (Denmark)

Alphinas, Robert A.; Hansen, Hans Henrik; Tambo, Torben

2017-01-01

Non-adaptive proportional controllers suffer from the ability to handle a system disturbance leading to a large steady-state error and undesired transient behavior. On the other hand, they are easy to implement and tune. This article examines whether an adaptive controller based on the MIT...

Verification and Tuning of an Adaptive Controller for an Unmanned Air Vehicle

Science.gov (United States)

Crespo, Luis G.; Matsutani, Megumi; Annaswamy, Anuradha M.

2010-01-01

This paper focuses on the analysis and tuning of a controller based on the Adaptive Control Technology for Safe Flight (ACTS) architecture. The ACTS architecture consists of a nominal, non-adaptive controller that provides satisfactory performance under nominal flying conditions, and an adaptive controller that provides robustness under off-nominal ones. A framework unifying control verification and gain tuning is used to make the controller s ability to satisfy the closed-loop requirements more robust to uncertainty. In this paper we tune the gains of both controllers using this approach. Some advantages and drawbacks of adaptation are identified by performing a global robustness assessment of both the adaptive controller and its non-adaptive counterpart. The analyses used to determine these characteristics are based on evaluating the degradation in closed-loop performance resulting from uncertainties having increasing levels of severity. The specific adverse conditions considered can be grouped into three categories: aerodynamic uncertainties, structural damage, and actuator failures. These failures include partial and total loss of control effectiveness, locked-in-place control surface deflections, and engine out conditions. The requirements considered are the peak structural loading, the ability of the controller to track pilot commands, the ability of the controller to keep the aircraft s state within the reliable flight envelope, and the handling/riding qualities of the aircraft. The nominal controller resulting from these tuning strategies was successfully validated using the NASA GTM Flight Test Vehicle.

Revisionist integral deferred correction with adaptive step-size control

KAUST Repository

Christlieb, Andrew; Macdonald, Colin; Ong, Benjamin; Spiteri, Raymond

2015-01-01

© 2015 Mathematical Sciences Publishers. Adaptive step-size control is a critical feature for the robust and efficient numerical solution of initial-value problems in ordinary differential equations. In this paper, we show that adaptive step

Bacterial diversity and their adaptations in the shallow water hydrothermal vent at D. Joao de Castro Seamount (DJCS), Azores, Portugal

Digital Repository Service at National Institute of Oceanography (India)

Mohandass, C.; Rajasabapathy, R.; Ravindran, C.; Colaco, A.; Santos, R.S.; Meena, R.M.

Bacterial diversity investigations were made from the shallow vent of D joao de castro, Azores, Portugal and their adaptations to a nutrient rich environment was investigated from 2004 and 2005 cruise samples. Assesment of the qualitative...

Coordinating IMC-PID and adaptive SMC controllers for a PEMFC.

Science.gov (United States)

Wang, Guo-Liang; Wang, Yong; Shi, Jun-Hai; Shao, Hui-He

2010-01-01

For a Proton Exchange Membrane Fuel Cell (PEMFC) power plant with a methanol reformer, the process parameters and power output are considered simultaneously to avoid violation of the constraints and to keep the fuel cell power plant safe and effective. In this paper, a novel coordinating scheme is proposed by combining an Internal Model Control (IMC) based PID Control and adaptive Sliding Mode Control (SMC). The IMC-PID controller is designed for the reformer of the fuel flow rate according to the expected first-order dynamic properties. The adaptive SMC controller of the fuel cell current has been designed using the constant plus proportional rate reaching law. The parameters of the SMC controller are adaptively tuned according to the response of the fuel flow rate control system. When the power output controller feeds back the current references to these two controllers, the coordinating controllers system works in a system-wide way. The simulation results of the PEMFC power plant demonstrate the effectiveness of the proposed method. 2009 ISA. Published by Elsevier Ltd. All rights reserved.

InRidge program: Preliminary results from the first cruise

Digital Repository Service at National Institute of Oceanography (India)

Mukhopadhyay, R.; Murthy, K.S.R.; Iyer, S.D.; Rao, M.M.M.; Banerjee, R.; Subrahmanyam, A.S.; Shirodkar, P.V.; Ghose, I.

The first cruise under India's own Ridge research initiative, InRidge collected new data on bathymetry, free-air gravity and magnetic anomalies across the ridge axis between the Vema and Zhivago transform faults in the Central Indian Ridge...

Parameter Identification and Adaptive Control Applied to the Inverted Pendulum

Directory of Open Access Journals (Sweden)

Carlos A. Saldarriaga-Cortés

2012-06-01

Full Text Available This paper presents a methodology to implement an adaptive control of the inverted pendulum system; which uses the recursive square minimum method for the identification of a dynamic digital model of the plant and then, with its estimated parameters, tune in real time a pole placement control. The plant to be used is an unstable and nonlinear system. This fact, combined with the adaptive controller characteristics, allows the obtained results to be extended to a great variety of systems. The results show that the above methodology was implemented satisfactorily in terms of estimation, stability and control of such a system. It was established that adaptive techniques have a proper performance even in systems with complex features such as nonlinearity and instability.

Adaptive State Feedback—Theory and Application for Wind Turbine Control

Directory of Open Access Journals (Sweden)

Kaman Thapa Magar

2017-12-01

Full Text Available A class of adaptive disturbance tracking controllers (ADTCs is augmented with disturbance and state estimation and adaptive state feedback, in which a controller and estimator, which are designed on the basis of a lower-order model, are used to control a higher-order nonlinear plant. The ADTC requires that the plant be almost strict positive real (ASPR to ensure stability. In this paper, we show that the ASPR property of a plant is retained with the addition of disturbance and state estimation and state feedback, thereby ensuring the stability of the augmented system. The proposed adaptive controller with augmentation is presented in the context of maximum power extraction from a wind turbine in a low-wind-speed operation region. A simulation and comparative study on the National Renewable Energy Laboratory’s (NREL’s 5 MW nonlinear wind turbine model with an existing baseline Proportional-Integral-Derivative(PID controller shows that the proposed controller is more effective than the existing baseline PID controller.

The Evolution of the Cruise Missile

Science.gov (United States)

1985-09-01

Fallersleben four times, the gyro factory at Weimar once, hydrogen peroxide facilities (used in the V-I’s booster) at Peenemunde, Holliegelshreuth, and...uirilar attitudes towards RPVs see William Wagner , bgAtnim Bugs a.’ O0 erReconissance•Drowes (Falibrook, Calif.: Aero, 1982), (iii, ivy. 54. General...of the cruise missile. Shown taking the oath of office from Secretary of Defense Robert McNamara (right) on 1 October 1965 wre (left to right) Norman

Nonlinear model-based robust control of a nuclear reactor using adaptive PIF gains and variable structure controller

International Nuclear Information System (INIS)

Park, Moon Ghu; Cho, Nam Zin

1993-01-01

A Nonlinear model-based Hybrid Controller (NHC) is developed which consists of the adaptive proportional-integral-feedforward (PIF) gains and variable structure controller. The controller has the robustness against modeling uncertainty and is applied to the trajectory tracking control of single-input, single-output nonlinear systems. The essence of the scheme is to divide the control into four different terms. Namely, the adaptive P-I-F gains and variable structure controller are used to accomplish the specific control actions by each terms. The robustness of the controller is guaranteed by the feedback of estimated uncertainty and the performance specification given by the adaptation of PIF gains using the second method of Lyapunov. The variable structure controller is incorporated to regulate the initial peak of the tracking error during the parameter adaptation is not settled yet. The newly developed NHC method is applied to the power tracking control of a nuclear reactor and the simulation results show great improvement in tracking performance compared with the conventional model-based control methods. (Author)

Preface: The Oligotrophy to the UlTra-oligotrophy PACific Experiment (OUTPACE cruise, 18 February to 3 April 2015)

Science.gov (United States)

Moutin, Thierry; Michelangelo Doglioli, Andrea; de Verneil, Alain; Bonnet, Sophie

2017-07-01

The overall goal of OUTPACE (Oligotrophy to UlTra-oligotrophy PACific Experiment) was to obtain a successful representation of the interactions between planktonic organisms and the cycle of biogenic elements in the western tropical South Pacific Ocean across trophic and N2 fixation gradients. Within the context of climate change, it is necessary to better quantify the ability of the oligotrophic ocean to sequester carbon through biological processes. OUTPACE was organized around three main objectives, which were (1) to perform a zonal characterization of the biogeochemistry and biological diversity of the western tropical South Pacific during austral summer conditions, (2) to study the production and fate of organic matter (including carbon export) in three contrasting trophic regimes (increasing oligotrophy) with a particular emphasis on the role of dinitrogen fixation, and (3) to obtain a representation of the main biogeochemical fluxes and dynamics of the planktonic trophic network. The international OUTPACE cruise took place between 18 February and 3 April 2015 aboard the RV L'Atalante and involved 60 scientists (30 onboard). The west-east transect covered ˜ 4000 km from the western part of the Melanesian archipelago (New Caledonia) to the western boundary of the South Pacific gyre (French Polynesia). Following an adaptive strategy, the transect initially designed along the 19° S parallel was adapted along-route to incorporate information coming from satellite measurements of sea surface temperature, chlorophyll a concentration, currents, and diazotroph quantification. After providing a general context and describing previous work done in this area, this introductory paper elucidates the objectives of OUTPACE, the implementation plan of the cruise and water mass and climatological characteristics and concludes with a general overview of the other papers that will be published in this special issue.

Wellness Centres on Costa Crociere Cruises: Body, Space, and Representation from an Anthropological and Linguistic perspective

Directory of Open Access Journals (Sweden)

Mariangela Albano

2016-12-01

Full Text Available Many tourist services are connected to the care of the body. The tourist industry proposes different vacation opportunities where the body is the main focus of the experience. This kind of tourism implies specific services that show a particular universe of representation and particular languages. In this context, cruise tourism is an interesting case to analyze because a part of its services gives a central role to the body which, on-board, organizes and is organized within dedicated spaces and times. Cruise ships provide spaces for the wellness of the passengers such as swimming pools, gyms, spas or beauty centres. The analysis proposed in this work is based, on one hand, on a recent anthropological fieldwork on a Costa Crociere cruise in the Mediterranean Sea. On cruises people use a limited space, the ship, in different ways. This use also reflects a particular conception of the body, built through an interaction of different systems of representation. So, the ship can become a space for social aggregation or separation. On the other hand, this study considers different textual advertisements from the Costa Web site where the company presents specific services for the body to future passengers . This paper analyzes them using a joint approach: both semiotic and linguistic. Through texts and pictures Costa Crociere creates a “synthesis” of the wellness spaces which prefiguresthe behaviour of the passengers on the cruise. More particularly, in order to analyze advertisements, a cognitive linguistics approach is suitable to show the authors’ linguistic choices and the paratextual elements used to promote the cruise. .

Multiple Model Adaptive Attitude Control of LEO Satellite with Angular Velocity Constraints

Science.gov (United States)

Shahrooei, Abolfazl; Kazemi, Mohammad Hosein

2018-04-01

In this paper, the multiple model adaptive control is utilized to improve the transient response of attitude control system for a rigid spacecraft. An adaptive output feedback control law is proposed for attitude control under angular velocity constraints and its almost global asymptotic stability is proved. The multiple model adaptive control approach is employed to counteract large uncertainty in parameter space of the inertia matrix. The nonlinear dynamics of a low earth orbit satellite is simulated and the proposed control algorithm is implemented. The reported results show the effectiveness of the suggested scheme.

Walking Flexibility after Hemispherectomy: Split-Belt Treadmill Adaptation and Feedback Control

Science.gov (United States)

Choi, Julia T.; Vining, Eileen P. G.; Reisman, Darcy S.; Bastian, Amy J.

2009-01-01

Walking flexibility depends on use of feedback or reactive control to respond to unexpected changes in the environment, and the ability to adapt feedforward or predictive control for sustained alterations. Recent work has demonstrated that cerebellar damage impairs feedforward adaptation, but not feedback control, during human split-belt treadmill…

Robust adaptive control for Unmanned Aerial Vehicles

Science.gov (United States)

Kahveci, Nazli E.

The objective of meeting higher endurance requirements remains a challenging task for any type and size of Unmanned Aerial Vehicles (UAVs). According to recent research studies significant energy savings can be realized through utilization of thermal currents. The navigation strategies followed across thermal regions, however, are based on rather intuitive assessments of remote pilots and lack any systematic path planning approaches. Various methods to enhance the autonomy of UAVs in soaring applications are investigated while seeking guarantees for flight performance improvements. The dynamics of the aircraft, small UAVs in particular, are affected by the environmental conditions, whereas unmodeled dynamics possibly become significant during aggressive flight maneuvers. Besides, the demanded control inputs might have a magnitude range beyond the limits dictated by the control surface actuators. The consequences of ignoring these issues can be catastrophic. Supporting this claim NASA Dryden Flight Research Center reports considerable performance degradation and even loss of stability in autonomous soaring flight tests with the subsequent risk of an aircraft crash. The existing control schemes are concluded to suffer from limited performance. Considering the aircraft dynamics and the thermal characteristics we define a vehicle-specific trajectory optimization problem to achieve increased cross-country speed and extended range of flight. In an environment with geographically dispersed set of thermals of possibly limited lifespan, we identify the similarities to the Vehicle Routing Problem (VRP) and provide both exact and approximate guidance algorithms for the navigation of automated UAVs. An additional stochastic approach is used to quantify the performance losses due to incorrect thermal data while dealing with random gust disturbances and onboard sensor measurement inaccuracies. One of the main contributions of this research is a novel adaptive control design with

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

Science.gov (United States)

Seraji, Homayoun

1989-01-01

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

Adaptive Dynamic Programming for Control Algorithms and Stability

CERN Document Server

Zhang, Huaguang; Luo, Yanhong; Wang, Ding

2013-01-01

There are many methods of stable controller design for nonlinear systems. In seeking to go beyond the minimum requirement of stability, Adaptive Dynamic Programming for Control approaches the challenging topic of optimal control for nonlinear systems using the tools of  adaptive dynamic programming (ADP). The range of systems treated is extensive; affine, switched, singularly perturbed and time-delay nonlinear systems are discussed as are the uses of neural networks and techniques of value and policy iteration. The text features three main aspects of ADP in which the methods proposed for stabilization and for tracking and games benefit from the incorporation of optimal control methods: • infinite-horizon control for which the difficulty of solving partial differential Hamilton–Jacobi–Bellman equations directly is overcome, and  proof provided that the iterative value function updating sequence converges to the infimum of all the value functions obtained by admissible control law sequences; • finite-...

Adaptive Feature Based Control of Compact Disk Players

DEFF Research Database (Denmark)

Odgaard, Peter Fogh; Stoustrup, Jakob; Vidal, Enrique Sanchez

2005-01-01

Many have experienced the problem that their Compact Disc players have difficulties playing Compact Discs with surface faults like scratches and fingerprints. The cause of this is due to the two servo control loops used to keep the Optical Pick-up Unit focused and radially on the information track...... of the Compact Disc. The problem is to design servo controllers which are well suited for handling surface faults which disturb the position measurement and still react sufficiently against normal disturbances like mechanical shocks. In previous work of the same authors a feature based control scheme for CD......-players playing CDs with surface fault is derived and described. This feature based control scheme uses precomputed base to remove the surface fault influence from the position measurements. In this paper an adaptive version of the feature based control scheme is proposed and described. This adaptive scheme can...

Using a macroalgal δ15N bioassay to detect cruise ship waste water effluent inputs

International Nuclear Information System (INIS)

Kaldy, James

2011-01-01

Highlights: → Green macroalgae exposed to nutrient solutions exhibited changes in tissue 15 N signatures. → Macroalgae exhibited no fractionation with NO 3 and slight fractionation with NH 4 . → Algae exposed to cruise ship waste water had increased tissue δ 15 N indicating a heavy N source. → Field bioassays exhibited decreased δ 15 N indicating isotopically light riverine δ 15 N-NO 3 was likely the dominant N source. → Algal bioassays could not detect a δ 15 N cruise ship waste water signal in this system. - Abstract: Green macroalgae bioassays were used to determine if the δ 15 N signature of cruise ship waste water effluent (CSWWE) could be detected in a small harbor. Opportunistic green macroalgae (Ulva spp.) were collected, cultured under nutrient depleted conditions and characterized with regard to N content and δ 15 N. Samples of algae were used in controlled incubations to evaluate the direction of isotope shift from exposure to CSWWE. Algae samples exposed to CSWWE exhibited an increase of 1-2.5 per mille in δ 15 N values indicating that the CSWWE had an enriched isotope signature. In contrast, algae samples exposed to field conditions exhibited a significant decrease in the observed δ 15 N indicating that a light N source was used. Isotopically light, riverine nitrogen derived from N 2 -fixing trees in the watershed may be a N source utilized by algae. These experiments indicate that the δ 15 N CSWWE signature was not detectable under the CSWWE loading conditions of this experiment.

Scalable Harmonization of Complex Networks With Local Adaptive Controllers

Czech Academy of Sciences Publication Activity Database

Kárný, Miroslav; Herzallah, R.

2017-01-01

Roč. 47, č. 3 (2017), s. 394-404 ISSN 2168-2216 R&D Projects: GA ČR GA13-13502S Institutional support: RVO:67985556 Keywords : Adaptive control * Adaptive estimation * Bayes methods * Complex networks * Decentralized control * Fee dback * Fee dforward systems * Recursive estimation Subject RIV: BB - Applied Statistics, Operational Research OBOR OECD: Statistics and probability Impact factor: 2.350, year: 2016 http://library.utia.cas.cz/separaty/2016/AS/karny-0457337.pdf

STABLE ADAPTIVE CONTROL FOR A CLASS OF NONLINEAR SYSTEMS WITHOUT USE OF A SUPERVISORY TERM IN THE CONTROL LAW

Directory of Open Access Journals (Sweden)

MOHAMED BAHITA

2012-02-01

Full Text Available In this paper, a direct adaptive control scheme for a class of nonlinear systems is proposed. The architecture employs a Gaussian radial basis function (RBF network to construct an adaptive controller. The parameters of the adaptive controller are adapted and changed according to a law derived using Lyapunov stability theory. The centres of the RBF network are adapted on line using the k-means algorithm. Asymptotic Lyapunov stability is established without the use of a supervisory (compensatory term in the control law and with the tracking errors converging to a neighbourhood of the origin. Finally, a simulation is provided to explore the feasibility of the proposed neuronal controller design method.

FUZZY LOGIC BASED ADAPTATION MECHANISM FOR ADAPTIVE LUENBERGER OBSERVER SENSORLESS DIRECT TORQUE CONTROL OF INDUCTION MOTOR

Directory of Open Access Journals (Sweden)

A. BENNASSAR

2016-01-01

Full Text Available Many industrial applications require high performance speed sensorless operation and demand new control methods in order to obtain fast dynamic response and insensitive to external disturbances. The current research aims to present the performance of the sensorless direct torque control (DTC of an induction motor (IM using adaptive Luenberger observer (ALO with fuzzy logic controller (FLC for adaptation mechanism. The rotor speed is regulated by proportional integral (PI anti-windup controller. The proposed strategy is directed to reduce the ripple on the torque and the flux. Numerical simulation results show the good performance and effectiveness of the proposed sensorless control for different references of the speed even both low and high speeds.

Simple adaptive control for quadcopters with saturated actuators

Science.gov (United States)

Borisov, Oleg I.; Bobtsov, Alexey A.; Pyrkin, Anton A.; Gromov, Vladislav S.

2017-01-01

The stabilization problem for quadcopters with saturated actuators is considered. A simple adaptive output control approach is proposed. The control law "consecutive compensator" is augmented with the auxiliary integral loop and anti-windup scheme. Efficiency of the obtained regulator was confirmed by simulation of the quadcopter control problem.

Robust Adaptive Neural Control of Morphing Aircraft with Prescribed Performance

Directory of Open Access Journals (Sweden)

Zhonghua Wu

2017-01-01

Full Text Available This study proposes a low-computational composite adaptive neural control scheme for the longitudinal dynamics of a swept-back wing aircraft subject to parameter uncertainties. To efficiently release the constraint often existing in conventional neural designs, whose closed-loop stability analysis always necessitates that neural networks (NNs be confined in the active regions, a smooth switching function is presented to conquer this issue. By integrating minimal learning parameter (MLP technique, prescribed performance control, and a kind of smooth switching strategy into back-stepping design, a new composite switching adaptive neural prescribed performance control scheme is proposed and a new type of adaptive laws is constructed for the altitude subsystem. Compared with previous neural control scheme for flight vehicle, the remarkable feature is that the proposed controller not only achieves the prescribed performance including transient and steady property but also addresses the constraint on NN. Two comparative simulations are presented to verify the effectiveness of the proposed controller.

Relationships between adaptation-innovation, experienced control, and state-trait anxiety.

Science.gov (United States)

Elder, R L

1989-08-01

This study examines correlations among scores on the Kirton Adaption-Innovation Inventory, the Tiffany Control Scales, and the Spielberger State-Trait Anxiety Inventory for 104 undergraduates enrolled in the general psychology classes at a middle-sized midwestern university. Analysis indicated that adaptors and innovators perceive control from and/or over some aspects of their lives differently. Innovators feel control over internal (self) and over external (environment) while adaptors feel control from internal (self) and from external (environment). These results suggest innovators generally feel that they are in control of both themselves and the environment. Adaptors, however, generally feel they are controlled by internal drives and impulses or environmental events. The present study yielded no correlation between choice of college major and adaption-innovation but more research is needed. A relation between adaption and state anxiety was found, which may suggest adaptors feel more pressure when completing a novel task (answering questionnaires) than innovators. Finally, no significant correlation was found between the Kirton scores and trait anxiety.

Adaptive Landing Gear: Optimum Control Strategy and Potential for Improvement

Directory of Open Access Journals (Sweden)

Grzegorz Mikułowski

2009-01-01

Full Text Available An adaptive landing gear is a landing gear (LG capable of active adaptation to particular landing conditions by means of controlled hydraulic force. The objective of the adaptive control is to mitigate the peak force transferred to the aircraft structure during touch-down, and thus to limit the structural fatigue factor. This paper investigates the ultimate limits for improvement due to various strategies of active control. Five strategies are proposed and investigated numerically using a~validated model of a real, passive landing gear as a reference. Potential for improvement is estimated statistically in terms of the mean and median (significant peak strut forces as well as in terms of the extended safe sinking velocity range. Three control strategies are verified experimentally using a laboratory test stand.

MTPA control of mechanical sensorless IPMSM based on adaptive nonlinear control.

Science.gov (United States)

Najjar-Khodabakhsh, Abbas; Soltani, Jafar

2016-03-01

In this paper, an adaptive nonlinear control scheme has been proposed for implementing maximum torque per ampere (MTPA) control strategy corresponding to interior permanent magnet synchronous motor (IPMSM) drive. This control scheme is developed in the rotor d-q axis reference frame using adaptive input-output state feedback linearization (AIOFL) method. The drive system control stability is supported by Lyapunov theory. The motor inductances are online estimated by an estimation law obtained by AIOFL. The estimation errors of these parameters are proved to be asymptotically converged to zero. Based on minimizing the motor current amplitude, the MTPA control strategy is performed by using the nonlinear optimization technique while considering the online reference torque. The motor reference torque is generated by a conventional rotor speed PI controller. By performing MTPA control strategy, the generated online motor d-q reference currents were used in AIOFL controller to obtain the SV-PWM reference voltages and the online estimation of the motor d-q inductances. In addition, the stator resistance is online estimated using a conventional PI controller. Moreover, the rotor position is detected using the online estimation of the stator flux and online estimation of the motor q-axis inductance. Simulation and experimental results obtained prove the effectiveness and the capability of the proposed control method. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

L1 Adaptive Control for a Vertical Rotor Orientation System

Directory of Open Access Journals (Sweden)

Sijia Liu

2016-08-01

Full Text Available Bottom-fixed vertical rotating devices are widely used in industrial and civilian fields. The free upside of the rotor will cause vibration and lead to noise and damage during operation. Meanwhile, parameter uncertainties, nonlinearities and external disturbances will further deteriorate the performance of the rotor. Therefore, in this paper, we present a rotor orientation control system based on an active magnetic bearing with L 1 adaptive control to restrain the influence of the nonlinearity and uncertainty and reduce the vibration amplitude of the vertical rotor. The boundedness and stability of the adaptive system are analyzed via a theoretical derivation. The impact of the adaptive gain is discussed through simulation. An experimental rig based on dSPACE is designed to test the validity of the rotor orientation system. The experimental results show that the relative vibration amplitude of the rotor using the L 1 adaptive controller will be reduced to ∼50% of that in the initial state, which is a 10% greater reduction than can be achieved with the nonadaptive controller. The control approach in this paper is of some significance to solve the orientation control problem in a low-speed vertical rotor with uncertainties and nonlinearities.

Model aerodynamic test results for two variable cycle engine coannular exhaust systems at simulated takeoff and cruise conditions. [Lewis 8 by 6-foot supersonic wind tunnel tests

Science.gov (United States)

Nelson, D. P.

1980-01-01

Wind tunnel tests were conducted to evaluate the aerodynamic performance of a coannular exhaust nozzle for a proposed variable stream control supersonic propulsion system. Tests were conducted with two simulated configurations differing primarily in the fan duct flowpaths: a short flap mechanism for fan stream control with an isentropic contoured flow splitter, and an iris fan nozzle with a conical flow splitter. Both designs feature a translating primary plug and an auxiliary inlet ejector. Tests were conducted at takeoff and simulated cruise conditions. Data were acquired at Mach numbers of 0, 0.36, 0.9, and 2.0 for a wide range of nozzle operating conditions. At simulated supersonic cruise, both configurations demonstrated good performance, comparable to levels assumed in earlier advanced supersonic propulsion studies. However, at subsonic cruise, both configurations exhibited performance that was 6 to 7.5 percent less than the study assumptions. At take off conditions, the iris configuration performance approached the assumed levels, while the short flap design was 4 to 6 percent less.

Multiple Estimation Architecture in Discrete-Time Adaptive Mixing Control

Directory of Open Access Journals (Sweden)

Simone Baldi

2013-05-01

Full Text Available Adaptive mixing control (AMC is a recently developed control scheme for uncertain plants, where the control action coming from a bank of precomputed controller is mixed based on the parameter estimates generated by an on-line parameter estimator. Even if the stability of the control scheme, also in the presence of modeling errors and disturbances, has been shown analytically, its transient performance might be sensitive to the initial conditions of the parameter estimator. In particular, for some initial conditions, transient oscillations may not be acceptable in practical applications. In order to account for such a possible phenomenon and to improve the learning capability of the adaptive scheme, in this paper a new mixing architecture is developed, involving the use of parallel parameter estimators, or multi-estimators, each one working on a small subset of the uncertainty set. A supervisory logic, using performance signals based on the past and present estimation error, selects the parameter estimate to determine the mixing of the controllers. The stability and robustness properties of the resulting approach, referred to as multi-estimator adaptive mixing control (Multi-AMC, are analytically established. Besides, extensive simulations demonstrate that the scheme improves the transient performance of the original AMC with a single estimator. The control scheme and the analysis are carried out in a discrete-time framework, for easier implementation of the method in digital control.

A summary of Alaska's unique cruise ship program : wastewater, air emissions, and ocean rangers

Energy Technology Data Exchange (ETDEWEB)

Koch, D. [Alaska Dept. of Environmental Conservation, Juneau, AK (United States)

2009-07-01

Increased environmental awareness has led to concerns over the impacts of cruise ships on Alaska's marine environment. Federal legislation has been passed to ensure that large cruise ships no longer dump bilge water in areas within 3 nautical miles from the state's shoreline. The state has also been legislation to regulate sewage releases from both small and large vessels. The state requires registration, fees, and plans for emissions, and hazardous and solid wastes. As a result of the regulations, all large cruise ships discharging wastewater in Alaska had advanced wastewater treatment systems by 2003. The systems consist of solids separation, enhanced aerobic digestion, ultrafiltration, reverse osmosis, and ultraviolet disinfection systems. The quality of sewage dramatically improved in the region. Ocean rangers are now inspecting approximately 88 per cent of cruise ships visiting the Alaska region. Details of recent wastewater compliance actions were presented, as well as data on wastewater and waste emission limits. tabs., figs.

Error-controlled adaptive finite elements in solid mechanics

National Research Council Canada - National Science Library

Stein, Erwin; Ramm, E

2003-01-01

... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Error-controlled Adaptive Finite-element-methods . . . . . . . . . . . . Missing Features and Properties of Today's General Purpose FE Programs for Structural...

Adaptive Wavelet Coding Applied in a Wireless Control System.

Science.gov (United States)

Gama, Felipe O S; Silveira, Luiz F Q; Salazar, Andrés O

2017-12-13

Wireless control systems can sense, control and act on the information exchanged between the wireless sensor nodes in a control loop. However, the exchanged information becomes susceptible to the degenerative effects produced by the multipath propagation. In order to minimize the destructive effects characteristic of wireless channels, several techniques have been investigated recently. Among them, wavelet coding is a good alternative for wireless communications for its robustness to the effects of multipath and its low computational complexity. This work proposes an adaptive wavelet coding whose parameters of code rate and signal constellation can vary according to the fading level and evaluates the use of this transmission system in a control loop implemented by wireless sensor nodes. The performance of the adaptive system was evaluated in terms of bit error rate (BER) versus E b / N 0 and spectral efficiency, considering a time-varying channel with flat Rayleigh fading, and in terms of processing overhead on a control system with wireless communication. The results obtained through computational simulations and experimental tests show performance gains obtained by insertion of the adaptive wavelet coding in a control loop with nodes interconnected by wireless link. These results enable the use of this technique in a wireless link control loop.

Adaptive Wavelet Coding Applied in a Wireless Control System

Directory of Open Access Journals (Sweden)

Felipe O. S. Gama

2017-12-01

Full Text Available Wireless control systems can sense, control and act on the information exchanged between the wireless sensor nodes in a control loop. However, the exchanged information becomes susceptible to the degenerative effects produced by the multipath propagation. In order to minimize the destructive effects characteristic of wireless channels, several techniques have been investigated recently. Among them, wavelet coding is a good alternative for wireless communications for its robustness to the effects of multipath and its low computational complexity. This work proposes an adaptive wavelet coding whose parameters of code rate and signal constellation can vary according to the fading level and evaluates the use of this transmission system in a control loop implemented by wireless sensor nodes. The performance of the adaptive system was evaluated in terms of bit error rate (BER versus E b / N 0 and spectral efficiency, considering a time-varying channel with flat Rayleigh fading, and in terms of processing overhead on a control system with wireless communication. The results obtained through computational simulations and experimental tests show performance gains obtained by insertion of the adaptive wavelet coding in a control loop with nodes interconnected by wireless link. These results enable the use of this technique in a wireless link control loop.

Linear feedback control, adaptive feedback control and their combination for chaos (lag) synchronization of LC chaotic systems

International Nuclear Information System (INIS)

Yan Zhenya; Yu Pei

2007-01-01

In this paper, we study chaos (lag) synchronization of a new LC chaotic system, which can exhibit not only a two-scroll attractor but also two double-scroll attractors for different parameter values, via three types of state feedback controls: (i) linear feedback control; (ii) adaptive feedback control; and (iii) a combination of linear feedback and adaptive feedback controls. As a consequence, ten families of new feedback control laws are designed to obtain global chaos lag synchronization for τ < 0 and global chaos synchronization for τ = 0 of the LC system. Numerical simulations are used to illustrate these theoretical results. Each family of these obtained feedback control laws, including two linear (adaptive) functions or one linear function and one adaptive function, is added to two equations of the LC system. This is simpler than the known synchronization controllers, which apply controllers to all equations of the LC system. Moreover, based on the obtained results of the LC system, we also derive the control laws for chaos (lag) synchronization of another new type of chaotic system

Adaptive Neural Network Algorithm for Power Control in Nuclear Power Plants

International Nuclear Information System (INIS)

Husam Fayiz, Al Masri

2017-01-01

The aim of this paper is to design, test and evaluate a prototype of an adaptive neural network algorithm for the power controlling system of a nuclear power plant. The task of power control in nuclear reactors is one of the fundamental tasks in this field. Therefore, researches are constantly conducted to ameliorate the power reactor control process. Currently, in the Department of Automation in the National Research Nuclear University (NRNU) MEPhI, numerous studies are utilizing various methodologies of artificial intelligence (expert systems, neural networks, fuzzy systems and genetic algorithms) to enhance the performance, safety, efficiency and reliability of nuclear power plants. In particular, a study of an adaptive artificial intelligent power regulator in the control systems of nuclear power reactors is being undertaken to enhance performance and to minimize the output error of the Automatic Power Controller (APC) on the grounds of a multifunctional computer analyzer (simulator) of the Water-Water Energetic Reactor known as Vodo-Vodyanoi Energetichesky Reaktor (VVER) in Russian. In this paper, a block diagram of an adaptive reactor power controller was built on the basis of an intelligent control algorithm. When implementing intelligent neural network principles, it is possible to improve the quality and dynamic of any control system in accordance with the principles of adaptive control. It is common knowledge that an adaptive control system permits adjusting the controller’s parameters according to the transitions in the characteristics of the control object or external disturbances. In this project, it is demonstrated that the propitious options for an automatic power controller in nuclear power plants is a control system constructed on intelligent neural network algorithms. (paper)

An adaptable Boolean net trainable to control a computing robot

International Nuclear Information System (INIS)

Lauria, F. E.; Prevete, R.; Milo, M.; Visco, S.

1999-01-01

We discuss a method to implement in a Boolean neural network a Hebbian rule so to obtain an adaptable universal control system. We start by presenting both the Boolean neural net and the Hebbian rule we have considered. Then we discuss, first, the problems arising when the latter is naively implemented in a Boolean neural net, second, the method consenting us to overcome them and the ensuing adaptable Boolean neural net paradigm. Next, we present the adaptable Boolean neural net as an intelligent control system, actually controlling a writing robot, and discuss how to train it in the execution of the elementary arithmetic operations on operands represented by numerals with an arbitrary number of digits

Autonomous intelligent cruise control (AICC) - a major contribution to the enhancement of comfort and active driving safety; Autonome Intelligente Geschwindigkeitsregelung (AICC) - ein Beitrag zur Steigerung des Komforts und der aktiven Fahrsicherheit

Energy Technology Data Exchange (ETDEWEB)

Dorissen, H.T.; Hoever, N.

1996-07-01

Within the framework of the PROMETHEUS-Project research and development work on different systems has been carried out to improve traffic efficiency, environment and safety. The Autonomous Intelligent Cruise Control has emerged as one of the projects with the brightest future. In contrast to conventional cruise control systems, the AICC system controls not only the speed of the vehicle, but also its distance to vehicles ahead. In practice this means that the driver is additionally supported by the automatic variation of the set vehicle speed according to traffic conditions. This results in a major improvement in driving comfort as well as in traffic safety. In this article, Hella describes the principal technical facts and also highlights the advantages and possible applications of the first generation of AICC. (orig.) [Deutsch] Im Rahmen des PROMETHEUS-Projektes sind unterschiedliche Systeme erforscht und entwickelt worden, um den Verkehr sicherer, umweltfreundlicher und effizienter zu gestalten. Der `Autonome Intelligente Geschwindigkeitsregler` ist hieraus als eines der zukunftstraechtigsten Projekte hervorgegangen. Ein AICC-System regelt die Geschwindigkeit sowie den Abstand zu einem vorausfahrenden Fahrzeug. Im Vergleich zum konventionellen Geschwindigkeitsregler wird der Fahrer zusaetzlich durch die automatische Anpassung der Sollgeschwindigkeit an die gegebene Verkehrssituation unterstuetzt. Dies ermoeglicht eine entsprechende Verbesserung des Fahrkomforts und letztendlich auch der Verkehrssicherheit. In diesem Beitrag zeigt Hella neben den grundsaetzlichen technischen Zusammenhaengen eine moegliche Realisierung, die Vorteile und den Nutzen fuer ein AICC-System der ersten Generation auf. (orig.)

A Dung Beetle-like Leg and its Adaptive Neural Control

DEFF Research Database (Denmark)

Di Canio, Giuliano; Stoyanov, Stoyan; Larsen, Jørgen Christian

2016-01-01

Dung beetles show fascinating locomotion abilities. They can use their legs to not only walk but also manipulate objects. Furthermore, they can perform their leg movements at a proper frequency with respect to their biomechanical properties and quickly adapt the movements to deal with external pe...... also apply adaptive neural control, based on a central pattern generator (CPG) circuit with synaptic plasticity, to autonomously generate a proper stepping frequency of the leg. The controller can also adapt the leg movement to deal with external perturbations within a few steps....

Adaptive fuzzy sliding-mode control for multi-input multi-output chaotic systems

International Nuclear Information System (INIS)

Poursamad, Amir; Markazi, Amir H.D.

2009-01-01

This paper describes an adaptive fuzzy sliding-mode control algorithm for controlling unknown or uncertain, multi-input multi-output (MIMO), possibly chaotic, dynamical systems. The control approach encompasses a fuzzy system and a robust controller. The fuzzy system is designed to mimic an ideal sliding-mode controller, and the robust controller compensates the difference between the fuzzy controller and the ideal one. The parameters of the fuzzy system, as well as the uncertainty bound of the robust controller, are tuned adaptively. The adaptive laws are derived in the Lyapunov sense to guarantee the asymptotic stability and tracking of the controlled system. The effectiveness of the proposed method is shown by applying it to some well-known chaotic systems.

An adaptive control application in a large thermal combined power plant

International Nuclear Information System (INIS)

Kocaarslan, Ilhan; Cam, Ertugrul

2007-01-01

In this paper, an adaptive controller was applied to a 765 MW large thermal power plant to decrease operating costs, increase quality of generated electricity and satisfy environmental concerns. Since power plants may present several operating problems such as disturbances and severe effects at operating points, design of their controllers needs to be carried out adequately. For these reasons, first, a reduced mathematical model was developed under Computer Aided Analysis and Design Package for Control (CADACS), so that the results of the experimental model have briefly been discussed. Second, conventional PID and adaptive controllers were designed and implemented under the real-time environment of the CADACS software. Additionally, the design of the adaptive model-reference and conventional PID controllers used in the power plant for real-time control were theoretically presented. All processes were realized in real-time. Due to safety restrictions, a direct connection to the sensors and actuators of the plant was not allowed. Instead a coupling to the control system was realized. This offers, in addition, the usage of the supervisory functions of an industrial process computer system. Application of the controllers indicated that the proposed adaptive controller has better performances for rise and settling times of electrical power, and enthalpy outputs than the conventional PID controller does

Applications of Adaptive Learning Controller to Synthetic Aperture Radar.

Science.gov (United States)

1985-02-01

TERMS (Continue on retuerse if necessary and identify by block num ber) FIELD YGROUP SUB. GR. Adaptive control, aritificial intelligence , synthetic aetr1...application of Artificial Intelligence methods to Synthetic Aperture Radars (SARs) is investigated. It was shown that the neuron-like Adaptive Learning...wavelength Al SE!RI M RADAR DIVISION REFERENCES 1. Barto, A.G. and R.S. Sutton, Goal Seeking Components for Adaptive Intelligence : An Initial Assessment

What to Do About That Pack of Wolves at the Door: A Binational Organization and Acquisitions Approach to Homeland Cruise Missile Defense

Science.gov (United States)

2016-04-04

own cruise missile, the Tomahawk. Since then, the United States and Russia have cornered the market in cruise missile technology. For decades the...and low-visibility cruise missiles, and the ability to successfully neutralize large numbers of inbound cruise missiles. The USG also lacks the...well as High Altitude Sensors (HAS) to detect inbound missiles.42 In 2006, Naval Post Graduate students utilized game theory analysis to score all

Adaptive control of chaotic continuous-time systems with delay

Science.gov (United States)

Tian, Yu-Chu; Gao, Furong

1998-06-01

A simple delay system governed by a first-order differential-delay equation may behave chaotically, but the conditions for the system to have such behaviors have not been well recognized. In this paper, a set of rules is postulated first for the conditions for the delay system to display chaos. A model-reference adaptive control scheme is then proposed to control the chaotic system state to converge to an arbitrarily given reference trajectory with certain and uncertain system parameters. Numerical examples are given to analyze the chaotic behaviors of the delay system and to demonstrate the effectiveness of the proposed adaptive control scheme.

Adaptive Control for Linear Uncertain Systems with Unmodeled Dynamics Revisited via Optimal Control Modification

Science.gov (United States)

Nguyen, Nhan

2013-01-01

This paper presents the optimal control modification for linear uncertain plants. The Lyapunov analysis shows that the modification parameter has a limiting value depending on the nature of the uncertainty. The optimal control modification exhibits a linear asymptotic property that enables it to be analyzed in a linear time invariant framework for linear uncertain plants. The linear asymptotic property shows that the closed-loop plants in the limit possess a scaled input-output mapping. Using this property, we can derive an analytical closed-loop transfer function in the limit as the adaptive gain tends to infinity. The paper revisits the Rohrs counterexample problem that illustrates the nature of non-robustness of model-reference adaptive control in the presence of unmodeled dynamics. An analytical approach is developed to compute exactly the modification parameter for the optimal control modification that stabilizes the plant in the Rohrs counterexample. The linear asymptotic property is also used to address output feedback adaptive control for non-minimum phase plants with a relative degree 1.

Driving with Adaptive Cruise Control ACC in the real world.

NARCIS (Netherlands)

Jagtman, H.M. & Wiersma, E.

2017-01-01

Scientists and researchers still question safety and reliability of various Advanced Driver Assistance (ADA) systems. One of the central issues remaining is the interaction of ADA equipped vehicles with other road users. Meanwhile, the first ADA systems have been introduced into the marked. This

Constrained Geocast to Support Cooperative Adaptive Cruise Control (CACC) Merging

NARCIS (Netherlands)

Klein Wolterink, W.; Heijenk, Geert; Karagiannis, Georgios

2010-01-01

In this paper we introduce a new geocasting concept to target vehicles based on where they will be in the direct future, in stead of their current position. We refer to this concept as constrained geocast. This may be useful in situations where vehicles have interdependencies based on (future)

Multi-pathogen waterborne disease outbreak associated with a dinner cruise on Lake Michigan.

Science.gov (United States)

Serdarevic, F; Jones, R C; Weaver, K N; Black, S R; Ritger, K A; Guichard, F; Dombroski, P; Emanuel, B P; Miller, L; Gerber, S I

2012-04-01

We report an outbreak associated with a dinner cruise on Lake Michigan. This took place on the same day as heavy rainfall, which resulted in 42·4 billion liters of rainwater and storm runoff containing highly diluted sewage being released into the lake. Of 72 cruise participants, 41 (57%) reported gastroenteritis. Stool specimens were positive for Shigella sonnei (n=3), Giardia (n=3), and Cryptosporidium (n=2). Ice consumption was associated with illness (risk ratio 2·2, P=0·011). S. sonnei was isolated from a swab obtained from the one of the boat's ice bins. Environmental inspection revealed conditions and equipment that could have contributed to lake water contaminating the hose used to load potable water onto the boat. Knowledge of water holding and distribution systems on boats, and of potential risks associated with flooding and the release of diluted sewage into large bodies of water, is crucial for public health guidance regarding recreational cruises.

Model and experiments to optimize co-adaptation in a simplified myoelectric control system.

Science.gov (United States)

Couraud, M; Cattaert, D; Paclet, F; Oudeyer, P Y; de Rugy, A

2018-04-01

To compensate for a limb lost in an amputation, myoelectric prostheses use surface electromyography (EMG) from the remaining muscles to control the prosthesis. Despite considerable progress, myoelectric controls remain markedly different from the way we normally control movements, and require intense user adaptation. To overcome this, our goal is to explore concurrent machine co-adaptation techniques that are developed in the field of brain-machine interface, and that are beginning to be used in myoelectric controls. We combined a simplified myoelectric control with a perturbation for which human adaptation is well characterized and modeled, in order to explore co-adaptation settings in a principled manner. First, we reproduced results obtained in a classical visuomotor rotation paradigm in our simplified myoelectric context, where we rotate the muscle pulling vectors used to reconstruct wrist force from EMG. Then, a model of human adaptation in response to directional error was used to simulate various co-adaptation settings, where perturbations and machine co-adaptation are both applied on muscle pulling vectors. These simulations established that a relatively low gain of machine co-adaptation that minimizes final errors generates slow and incomplete adaptation, while higher gains increase adaptation rate but also errors by amplifying noise. After experimental verification on real subjects, we tested a variable gain that cumulates the advantages of both, and implemented it with directionally tuned neurons similar to those used to model human adaptation. This enables machine co-adaptation to locally improve myoelectric control, and to absorb more challenging perturbations. The simplified context used here enabled to explore co-adaptation settings in both simulations and experiments, and to raise important considerations such as the need for a variable gain encoded locally. The benefits and limits of extending this approach to more complex and functional

Model and experiments to optimize co-adaptation in a simplified myoelectric control system

Science.gov (United States)

Couraud, M.; Cattaert, D.; Paclet, F.; Oudeyer, P. Y.; de Rugy, A.

2018-04-01

Objective. To compensate for a limb lost in an amputation, myoelectric prostheses use surface electromyography (EMG) from the remaining muscles to control the prosthesis. Despite considerable progress, myoelectric controls remain markedly different from the way we normally control movements, and require intense user adaptation. To overcome this, our goal is to explore concurrent machine co-adaptation techniques that are developed in the field of brain-machine interface, and that are beginning to be used in myoelectric controls. Approach. We combined a simplified myoelectric control with a perturbation for which human adaptation is well characterized and modeled, in order to explore co-adaptation settings in a principled manner. Results. First, we reproduced results obtained in a classical visuomotor rotation paradigm in our simplified myoelectric context, where we rotate the muscle pulling vectors used to reconstruct wrist force from EMG. Then, a model of human adaptation in response to directional error was used to simulate various co-adaptation settings, where perturbations and machine co-adaptation are both applied on muscle pulling vectors. These simulations established that a relatively low gain of machine co-adaptation that minimizes final errors generates slow and incomplete adaptation, while higher gains increase adaptation rate but also errors by amplifying noise. After experimental verification on real subjects, we tested a variable gain that cumulates the advantages of both, and implemented it with directionally tuned neurons similar to those used to model human adaptation. This enables machine co-adaptation to locally improve myoelectric control, and to absorb more challenging perturbations. Significance. The simplified context used here enabled to explore co-adaptation settings in both simulations and experiments, and to raise important considerations such as the need for a variable gain encoded locally. The benefits and limits of extending this

Adaptive Automation Based on Air Traffic Controller Decision-Making

NARCIS (Netherlands)

IJtsma (Student TU Delft), Martijn; Borst, C.; Mercado Velasco, G.A.; Mulder, M.; van Paassen, M.M.; Tsang, P.S.; Vidulich, M.A.

2017-01-01

Through smart scheduling and triggering of automation support, adaptive automation has the potential to balance air traffic controller workload. The challenge in the design of adaptive automation systems is to decide how and when the automation should provide support. This paper describes the design

Brakes, brake control and driver assistance systems function, regulation and components

CERN Document Server

2014-01-01

Braking systems have been continuously developed and improved throughout the last years. Major milestones were the introduction of antilock braking system (ABS) and electronic stability program. This reference book provides a detailed description of braking components and how they interact in electronic braking systems. Contents Motor vehicle safety.- Basic principles of vehicle dynamics.- Car braking systems.- Car braking-system components.- Wheel brakes.- Antilock breaking systems.- Traction control system.- Electronic stability program.- Automatic brake functions.- Hydraulic modulator.- Sensors for brake control.- Sensotronic brake control.- Active steering.- Occupant protection systems.- Driver assistance systems.- Adaptive cruise control.- Parking systems.- Instrumentation.- Orientation methods.- Navigation systems.- Workshop technology. The target groups Motor-vehicle technicians in education and vocational training Master-mechanics and technicians in garage-workshops Teachers and lecturers in vocation...

A Methodology for Investigating Adaptive Postural Control

Science.gov (United States)

McDonald, P. V.; Riccio, G. E.

1999-01-01

Our research on postural control and human-environment interactions provides an appropriate scientific foundation for understanding the skill of mass handling by astronauts in weightless conditions (e.g., extravehicular activity or EVA). We conducted an investigation of such skills in NASA's principal mass-handling simulator, the Precision Air-Bearing Floor, at the Johnson Space Center. We have studied skilled movement-body within a multidisciplinary context that draws on concepts and methods from biological and behavioral sciences (e.g., psychology, kinesiology and neurophysiology) as well as bioengineering. Our multidisciplinary research has led to the development of measures, for manual interactions between individuals and the substantial environment, that plausibly are observable by human sensory systems. We consider these methods to be the most important general contribution of our EVA investigation. We describe our perspective as control theoretic because it draws more on fundamental concepts about control systems in engineering than it does on working constructs from the subdisciplines of biomechanics and motor control in the bio-behavioral sciences. At the same time, we have attempted to identify the theoretical underpinnings of control-systems engineering that are most relevant to control by human beings. We believe that these underpinnings are implicit in the assumptions that cut across diverse methods in control-systems engineering, especially the various methods associated with "nonlinear control", "fuzzy control," and "adaptive control" in engineering. Our methods are based on these theoretical foundations rather than on the mathematical formalisms that are associated with particular methods in control-systems engineering. The most important aspects of the human-environment interaction in our investigation of mass handling are the functional consequences that body configuration and stability have for the pick up of information or the achievement of

Larval Fish Identification from Cruises at Oahu, TC-88-03

Data.gov (United States)

National Oceanic and Atmospheric Administration, Department of Commerce — One cruise aboard the NOAA ship Townsend Cromwell was conducted during 14 April-3 May 1988. Collectors included George Boehlert, Bruce Mundy, Ronald Yoshimoto, Keith...

Parameter Estimation Analysis for Hybrid Adaptive Fault Tolerant Control

Science.gov (United States)

Eshak, Peter B.

Research efforts have increased in recent years toward the development of intelligent fault tolerant control laws, which are capable of helping the pilot to safely maintain aircraft control at post failure conditions. Researchers at West Virginia University (WVU) have been actively involved in the development of fault tolerant adaptive control laws in all three major categories: direct, indirect, and hybrid. The first implemented design to provide adaptation was a direct adaptive controller, which used artificial neural networks to generate augmentation commands in order to reduce the modeling error. Indirect adaptive laws were implemented in another controller, which utilized online PID to estimate and update the controller parameter. Finally, a new controller design was introduced, which integrated both direct and indirect control laws. This controller is known as hybrid adaptive controller. This last control design outperformed the two earlier designs in terms of less NNs effort and better tracking quality. The performance of online PID has an important role in the quality of the hybrid controller; therefore, the quality of the estimation will be of a great importance. Unfortunately, PID is not perfect and the online estimation process has some inherited issues; the online PID estimates are primarily affected by delays and biases. In order to ensure updating reliable estimates to the controller, the estimator consumes some time to converge. Moreover, the estimator will often converge to a biased value. This thesis conducts a sensitivity analysis for the estimation issues, delay and bias, and their effect on the tracking quality. In addition, the performance of the hybrid controller as compared to direct adaptive controller is explored. In order to serve this purpose, a simulation environment in MATLAB/SIMULINK has been created. The simulation environment is customized to provide the user with the flexibility to add different combinations of biases and delays to

Substantiation of Structure of Adaptive Control Systems for Motor Units

Science.gov (United States)

Ovsyannikov, S. I.

2018-05-01

The article describes the development of new electronic control systems, in particular motor units, for small-sized agricultural equipment. Based on the analysis of traffic control systems, the main course of development of the conceptual designs of motor units has been defined. The systems aimed to control the course motion of the motor unit in automatic mode using the adaptive systems have been developed. The article presents structural models of the conceptual motor units based on electrically controlled systems by the operation of drive motors and adaptive systems that make the motor units completely automated.

Adaptive Control of a Wearable Exoskeleton for Upper-Extremity Neurorehabilitation

Directory of Open Access Journals (Sweden)

Sivakumar Balasubramanian

2012-01-01

Full Text Available The paper describes the implementation and testing of two adaptive controllers developed for a wearable, underactuated upper extremity therapy robot – RUPERT (Robotic Upper Extremity Repetitive Trainer. The controllers developed in this study were used to implement two adaptive robotic therapy modes – the adaptive co-operative mode and the adaptive active-assist mode – that are based on two different approaches for providing robotic assistance for task practice. The adaptive active-assist mode completes therapy tasks when a subject is unable to do so voluntarily. This robotic therapy mode is a novel implementation of the idea of an active-assist therapy mode; it utilizes the measure of a subject’s motor ability, along with their real-time movement kinematics to initiate robotic assistance at the appropriate time during a movement trial. The adaptive co-operative mode, on the other hand, is based on the idea of enabling task completion instead of completing the task for the subject. Both these therapy modes were designed to adapt to a stroke subject's motor ability, and thus encourage voluntary participation from the stroke subject. The two controllers were tested on three stroke subjects practicing robot-assisted reaching movements. The results from this testing demonstrate that an underactuated wearable exoskeleton, such as RUPERT, can be used for administering robot-assisted therapy, in a manner that encourages voluntary participation from the subject undergoing therapy.

Comparison between iterative wavefront control algorithm and direct gradient wavefront control algorithm for adaptive optics system

International Nuclear Information System (INIS)

Cheng Sheng-Yi; Liu Wen-Jin; Chen Shan-Qiu; Dong Li-Zhi; Yang Ping; Xu Bing

2015-01-01

Among all kinds of wavefront control algorithms in adaptive optics systems, the direct gradient wavefront control algorithm is the most widespread and common method. This control algorithm obtains the actuator voltages directly from wavefront slopes through pre-measuring the relational matrix between deformable mirror actuators and Hartmann wavefront sensor with perfect real-time characteristic and stability. However, with increasing the number of sub-apertures in wavefront sensor and deformable mirror actuators of adaptive optics systems, the matrix operation in direct gradient algorithm takes too much time, which becomes a major factor influencing control effect of adaptive optics systems. In this paper we apply an iterative wavefront control algorithm to high-resolution adaptive optics systems, in which the voltages of each actuator are obtained through iteration arithmetic, which gains great advantage in calculation and storage. For AO system with thousands of actuators, the computational complexity estimate is about O(n 2 ) ∼ O(n 3 ) in direct gradient wavefront control algorithm, while the computational complexity estimate in iterative wavefront control algorithm is about O(n) ∼ (O(n) 3/2 ), in which n is the number of actuators of AO system. And the more the numbers of sub-apertures and deformable mirror actuators, the more significant advantage the iterative wavefront control algorithm exhibits. (paper)