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Sample records for adaptive trajectory tracking

  1. 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.

  2. Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

    Directory of Open Access Journals (Sweden)

    M. Navabi

    Full Text Available Abstract This paper focuses on robust optimal adaptive control strategy to deal with tracking problem of a quadrotor unmanned aerial vehicle (UAV in presence of parametric uncertainties, actuator amplitude constraints, and unknown time-varying external disturbances. First, Lyapunov-based indirect adaptive controller optimized by particle swarm optimization (PSO is developed for multi-input multi-output (MIMO nonlinear quadrotor to prevent input constraints violation, and then disturbance observer-based control (DOBC technique is aggregated with the control system to attenuate the effects of disturbance generated by an exogenous system. The performance of synthesis control method is evaluated by a new performance index function in time-domain, and the stability analysis is carried out using Lyapunov theory. Finally, illustrative numerical simulations are conducted to demonstrate the effectiveness of the presented approach in altitude and attitude tracking under several conditions, including large time-varying uncertainty, exogenous disturbance, and control input constraints.

  3. Integrated direct/indirect adaptive robust motion trajectory tracking control of pneumatic cylinders

    Science.gov (United States)

    Meng, Deyuan; Tao, Guoliang; Zhu, Xiaocong

    2013-09-01

    This paper studies the precision motion trajectory tracking control of a pneumatic cylinder driven by a proportional-directional control valve. An integrated direct/indirect adaptive robust controller is proposed. The controller employs a physical model based indirect-type parameter estimation to obtain reliable estimates of unknown model parameters, and utilises a robust control method with dynamic compensation type fast adaptation to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. Due to the use of projection mapping, the robust control law and the parameter adaption algorithm can be designed separately. Since the system model uncertainties are unmatched, the recursive backstepping technology is adopted to design the robust control law. Extensive comparative experimental results are presented to illustrate the effectiveness of the proposed controller and its performance robustness to parameter variations and sudden disturbances.

  4. Adaptive robust trajectory tracking control of a parallel manipulator driven by pneumatic cylinders

    Directory of Open Access Journals (Sweden)

    Ce Shang

    2016-04-01

    Full Text Available Due to the compressibility of air, non-linear characteristics, and parameter uncertainties of pneumatic elements, the position control of a pneumatic cylinder or parallel platform is still very difficult while comparing with the systems driven by electric or hydraulic power. In this article, based on the basic dynamic model and descriptions of thermal processes, a controller integrated with online parameter estimation is proposed to improve the performance of a pneumatic cylinder controlled by a proportional valve. The trajectory tracking error is significantly decreased by applying this method. Moreover, the algorithm is expanded to the problem of posture trajectory tracking for the three-revolute prismatic spherical pneumatic parallel manipulator. Lyapunov’s method is used to give the proof of stability of the controller. Using NI-CompactRio, NI-PXI, and Veristand platform as the realistic controller hardware and data interactive environment, the adaptive robust control algorithm is applied to the physical system successfully. Experimental results and data analysis showed that the posture error of the platform could be about 0.5%–0.7% of the desired trajectory amplitude. By integrating this method to the mechatronic system, the pneumatic servo solutions can be much more competitive in the industrial market of position and posture control.

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

    Science.gov (United States)

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

    2014-07-01

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

  6. Adaptive Trajectory Design

    Data.gov (United States)

    National Aeronautics and Space Administration — Adaptive Trajectory Design (ATD) is an original concept for quick and efficient end-to-end trajectory designs using proven piece-wise dynamical methods. With ongoing...

  7. Trajectory tracking control for underactuated stratospheric airship

    Science.gov (United States)

    Zheng, Zewei; Huo, Wei; Wu, Zhe

    2012-10-01

    Stratospheric airship is a new kind of aerospace system which has attracted worldwide developing interests for its broad application prospects. Based on the trajectory linearization control (TLC) theory, a novel trajectory tracking control method for an underactuated stratospheric airship is presented in this paper. Firstly, the TLC theory is described sketchily, and the dynamic model of the stratospheric airship is introduced with kinematics and dynamics equations. Then, the trajectory tracking control strategy is deduced in detail. The designed control system possesses a cascaded structure which consists of desired attitude calculation, position control loop and attitude control loop. Two sub-loops are designed for the position and attitude control loops, respectively, including the kinematics control loop and dynamics control loop. Stability analysis shows that the controlled closed-loop system is exponentially stable. Finally, simulation results for the stratospheric airship to track typical trajectories are illustrated to verify effectiveness of the proposed approach.

  8. Control system design for UAV trajectory tracking

    Science.gov (United States)

    Wang, Haitao; Gao, Jinyuan

    2006-11-01

    In recent years, because of the emerging requirements for increasing autonomy, the controller of uninhabited air vehicles must be augmented with a very sophisticated autopilot design which is capable of tracking complex and agile maneuvering trajectory. This paper provides a simplified control system framework to solve UAV maneuvering trajectory tracking problem. The flight control system is divided into three subsystems including command generation, transformation and allocation. According to the kinematics equations of the aircraft, flight path angle commands can be generated by desired 3D position from path planning. These commands are transformed to body angular rates through direct nonlinear mapping, which is simpler than common multi-loop method based on time scale separation assumption. Then, by using weighted pseudo-inverse method, the control surface deflections are allocated to follow body angular rates from the previous step. In order to improve the robustness, a nonlinear disturbance observer-based approach is used to compensate the uncertainty of system. A 6DOF nonlinear UAV model is controlled to demonstrate the performance of the trajectory tracking control system. Simulation results show that the control strategy is easy to be realized and the precision of tracking is satisfying.

  9. Quadrotor trajectory tracking using PID cascade control

    Science.gov (United States)

    Idres, M.; Mustapha, O.; Okasha, M.

    2017-12-01

    Quadrotors have been applied to collect information for traffic, weather monitoring, surveillance and aerial photography. In order to accomplish their mission, quadrotors have to follow specific trajectories. This paper presents proportional-integral-derivative (PID) cascade control of a quadrotor for path tracking problem when velocity and acceleration are small. It is based on near hover controller for small attitude angles. The integral of time-weighted absolute error (ITAE) criterion is used to determine the PID gains as a function of quadrotor modeling parameters. The controller is evaluated in three-dimensional environment in Simulink. Overall, the tracking performance is found to be excellent for small velocity condition.

  10. Pneumatic motor speed control by trajectory tracking fuzzy logic

    Indian Academy of Sciences (India)

    In this study, trajectory tracking fuzzy logic controller (TTFLC) is proposed for the speed control of a pneumatic motor (PM). A third order trajectory is defined to determine the trajectory function that has to be tracked by the PM speed. Genetic algorithm (GA) is used to find the TTFLC boundary values of membership functions ...

  11. Adaptive fuzzy trajectory control for biaxial motion stage system

    Directory of Open Access Journals (Sweden)

    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.

  12. Energy-efficient Trajectory Tracking for Mobile Devices

    DEFF Research Database (Denmark)

    Kjærgaard, Mikkel Baun; Bhattacharya, Sourav; Blunck, Henrik

    2011-01-01

    Emergent location-aware applications often require tracking trajectories of mobile devices over a long period of time. To be useful, the tracking has to be energy-efficient to avoid having a major impact on the battery life of the mobile de vice. Furthermore, when trajectory information needs to ...

  13. Trajectory planning and optimal tracking for an industrial mobile robot

    Science.gov (United States)

    Hu, Huosheng; Brady, J. Michael; Probert, Penelope J.

    1994-02-01

    This paper introduces a unified approach to trajectory planning and tracking for an industrial mobile robot subject to non-holonomic constraints. We show (1) how a smooth trajectory is generated that takes into account the constraints from the dynamic environment and the robot kinematics; and (2) how a general predictive controller works to provide optimal tracking capability for nonlinear systems. The tracking performance of the proposed guidance system is analyzed by simulation.

  14. Sliding Mode Control for Trajectory Tracking of an Intelligent Wheelchair

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    Razvan SOLEA

    2009-12-01

    Full Text Available This paper deal with a robust sliding-mode trajectory tracking controller, fornonholonomic wheeled mobile robots and its experimental evaluation by theimplementation in an intelligent wheelchair (RobChair. The proposed control structureis based on two nonlinear sliding surfaces ensuring the tracking of the three outputvariables, with respect to the nonholonomic constraint. The performances of theproposed controller for the trajectory planning problem with comfort constraint areverified through the real time acceleration provided by an inertial measurement unit.

  15. Tracking adaptation and measuring development

    Energy Technology Data Exchange (ETDEWEB)

    Brooks, Nick; Anderson, Simon; Ayers, Jessica; Burton, Ian; Tellam, Ian

    2011-11-15

    This is the first paper in the new IIED Climate Change Working Paper series. As adaptation to climate change becomes the focus of increasing attention and the target of significant spending, there is a growing need for frameworks and tools that enable organisations to track and assess the outcomes of adaptation interventions. This paper presents a coherent framework for climate change adaptation programming, including potential indicators, or indicator categories/types, for tracking and evaluating the success of adaptation support and adaptation interventions. The paper begins with a discussion of some of the key issues related to the evaluation of adaptation, and outlines some of the main difficulties and constraints with respect to the development of adaptation indicators. Next, an evaluation framework is proposed and indicator categories or 'domains' are identified. Lastly, key conclusions are provided and a theory of change is outlined that shows how development and use of the framework could lead to more effective adaptation investments for climate resilient development.

  16. Parametric Approach to Trajectory Tracking Control of Robot Manipulators

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    Shijie Zhang

    2013-01-01

    Full Text Available The mathematic description of the trajectory of robot manipulators with the optimal trajectory tracking problem is formulated as an optimal control problem, and a parametric approach is proposed for the optimal trajectory tracking control problem. The optimal control problem is first solved as an open loop optimal control problem by using a time scaling transform and the control parameterization method. Then, by virtue of the relationship between the optimal open loop control and the optimal closed loop control along the optimal trajectory, a practical method is presented to calculate an approximate optimal feedback gain matrix, without having to solve an optimal control problem involving the complex Riccati-like matrix differential equation coupled with the original system dynamics. Simulation results of 2-link robot manipulator are presented to show the effectiveness of the proposed method.

  17. Robot trajectory tracking with self-tuning predicted control

    Science.gov (United States)

    Cui, Xianzhong; Shin, Kang G.

    1988-01-01

    A controller that combines self-tuning prediction and control is proposed for robot trajectory tracking. The controller has two feedback loops: one is used to minimize the prediction error, and the other is designed to make the system output track the set point input. Because the velocity and position along the desired trajectory are given and the future output of the system is predictable, a feedforward loop can be designed for robot trajectory tracking with self-tuning predicted control (STPC). Parameters are estimated online to account for the model uncertainty and the time-varying property of the system. The authors describe the principle of STPC, analyze the system performance, and discuss the simplification of the robot dynamic equations. To demonstrate its utility and power, the controller is simulated for a Stanford arm.

  18. Tracking Lagrangian trajectories in position–velocity space

    International Nuclear Information System (INIS)

    Xu, Haitao

    2008-01-01

    Lagrangian particle-tracking algorithms are susceptible to intermittent loss of particle images on the sensors. The measured trajectories are often interrupted into short segments and the long-time Lagrangian statistics are difficult to obtain. We present an algorithm to connect the segments of Lagrangian trajectories from common particle-tracking algorithms. Our algorithm tracks trajectory segments in the six-dimensional position and velocity space. We describe the approach to determine parameters in the algorithm and demonstrate the validity of the algorithm with data from numerical simulations and the improvement of long-time Lagrangian statistics on experimental data. The algorithm has important applications in measurements with high particle seeding density and in obtaining multi-particle Lagrangian statistics

  19. Trajectory generation for manipulators using linear quadratic optimal tracking

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    Olav Egeland

    1989-04-01

    Full Text Available The reference trajectory is normally known in advance in manipulator control which makes it possible to apply linear quadratic optimal tracking. This gives a control system which rounds corners and generates optimal feedforward. The method may be used for references consisting of straight-line segments as an alternative to the two-step method of using splines to smooth the reference and then applying feedforward. In addition, the method can be used for more complex trajectories. The actual dynamics of the manipulator are taken into account, and this results in smooth and accurate tracking. The method has been applied in combination with the computed torque technique and excellent performance was demonstrated in a simulation study. The method has also been applied experimentally to an industrial spray-painting robot where a saw-tooth reference was tracked. The corner was rounded extremely well, and the steady-state tracking error was eliminated by the optimal feedforward.

  20. A parallel algorithm for 3D particle tracking and Lagrangian trajectory reconstruction

    International Nuclear Information System (INIS)

    Barker, Douglas; Zhang, Yuanhui; Lifflander, Jonathan; Arya, Anshu

    2012-01-01

    Particle-tracking methods are widely used in fluid mechanics and multi-target tracking research because of their unique ability to reconstruct long trajectories with high spatial and temporal resolution. Researchers have recently demonstrated 3D tracking of several objects in real time, but as the number of objects is increased, real-time tracking becomes impossible due to data transfer and processing bottlenecks. This problem may be solved by using parallel processing. In this paper, a parallel-processing framework has been developed based on frame decomposition and is programmed using the asynchronous object-oriented Charm++ paradigm. This framework can be a key step in achieving a scalable Lagrangian measurement system for particle-tracking velocimetry and may lead to real-time measurement capabilities. The parallel tracking algorithm was evaluated with three data sets including the particle image velocimetry standard 3D images data set #352, a uniform data set for optimal parallel performance and a computational-fluid-dynamics-generated non-uniform data set to test trajectory reconstruction accuracy, consistency with the sequential version and scalability to more than 500 processors. The algorithm showed strong scaling up to 512 processors and no inherent limits of scalability were seen. Ultimately, up to a 200-fold speedup is observed compared to the serial algorithm when 256 processors were used. The parallel algorithm is adaptable and could be easily modified to use any sequential tracking algorithm, which inputs frames of 3D particle location data and outputs particle trajectories

  1. Construction of a WMR for Trajectory Tracking Control: Experimental Results

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    R. Silva-Ortigoza

    2013-01-01

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

  2. Robust trajectory tracking control of a dual-arm space robot actuated by control moment gyroscopes

    Science.gov (United States)

    Jia, Yinghong; Misra, Arun K.

    2017-08-01

    It is a new design concept to employ control moment gyroscopes (CMGs) as reactionless actuators for space robots. Such actuation has several noticeable advantages such as weak dynamical coupling and low power consumption over traditional joint motor actuation. This paper presents a robust control law for a CMG-actuated space robot in presence of system uncertainties and closed-chain constraints. The control objective is to make the manipulation variables to track the desired trajectories, and reduce the possibility of CMG saturation simultaneously. A reduced-order dynamical equation in terms of independent motion variables is derived using Kane's equations. Desired trajectories of the independent motion variables are derived by minimum-norm trajectory planning algorithm, and an adaptive sliding mode controller with improved adaptation laws is proposed to drive the independent motion variables tracking the desired trajectories. Uniformly ultimate boundedness of the closed loop system is proven using Lyapunov method. The redundancy of the full-order actual control torques is utilized to generate a null torque vector which reduces the possibility of CMG angular momentum saturation while producing no effect on the reduced-order control input. Simulation results demonstrate the effectiveness of the proposed algorithms and the advantage of weak dynamical coupling of the CMG-actuated system.

  3. Reference trajectory tracking for a multi-DOF robot arm

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    Krasňanský Róbert

    2015-12-01

    Full Text Available This paper presents the problem of tracking the generated reference trajectory by the simulation model of a multi-DOF robot arm. The kinematic transformation between task space and joint configuration coordinates is nonlinear and configuration dependent. To obtain the solution of the forward kinematics problem, the homogeneous transformation matrix is used. A solution to the inverse kinematics is a vector of joint configuration coordinates calculated using of pseudoinverse Jacobian technique. These coordinates correspond to a set of task space coordinates. The algorithm is presented which uses iterative solution and is simplified by considering stepper motors in robot arm joints. The reference trajectory in Cartesian coordinate system is generated on-line by the signal generator previously developed in MS Excel. Dynamic Data Exchange communication protocol allows sharing data with Matlab-Simulink. These data represent the reference tracking trajectory of the end effector. Matlab-Simulink software is used to calculate the representative joint rotations. The proposed algorithm is demonstrated experimentally on the model of 7-DOF robot arm system.

  4. Optimal Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PID Controller

    Directory of Open Access Journals (Sweden)

    Ameer L. Saleh

    2018-02-01

    Full Text Available This paper present an optimal Fractional Order PID (FOPID controller based on Particle Swarm Optimization (PSO for controlling the trajectory tracking of Wheeled Mobile Robot(WMR.The issue of trajectory tracking with given a desired reference velocity is minimized to get the distance and deviation angle equal to zero, to realize the objective of trajectory tracking a two FOPID controllers are used for velocity control and azimuth control to implement the trajectory tracking control. A path planning and path tracking methodologies are used to give different desired tracking trajectories.  PSO algorithm is using to find the optimal parameters of FOPID controllers. The kinematic and dynamic models of wheeled mobile robot for desired trajectory tracking with PSO algorithm are simulated in Simulink-Matlab. Simulation results show that the optimal FOPID controllers are more effective and has better dynamic performance than the conventional methods.

  5. Adaptive density trajectory cluster based on time and space distance

    Science.gov (United States)

    Liu, Fagui; Zhang, Zhijie

    2017-10-01

    There are some hotspot problems remaining in trajectory cluster for discovering mobile behavior regularity, such as the computation of distance between sub trajectories, the setting of parameter values in cluster algorithm and the uncertainty/boundary problem of data set. As a result, based on the time and space, this paper tries to define the calculation method of distance between sub trajectories. The significance of distance calculation for sub trajectories is to clearly reveal the differences in moving trajectories and to promote the accuracy of cluster algorithm. Besides, a novel adaptive density trajectory cluster algorithm is proposed, in which cluster radius is computed through using the density of data distribution. In addition, cluster centers and number are selected by a certain strategy automatically, and uncertainty/boundary problem of data set is solved by designed weighted rough c-means. Experimental results demonstrate that the proposed algorithm can perform the fuzzy trajectory cluster effectively on the basis of the time and space distance, and obtain the optimal cluster centers and rich cluster results information adaptably for excavating the features of mobile behavior in mobile and sociology network.

  6. Decontaminate feature for tracking: adaptive tracking via evolutionary feature subset

    Science.gov (United States)

    Liu, Qiaoyuan; Wang, Yuru; Yin, Minghao; Ren, Jinchang; Li, Ruizhi

    2017-11-01

    Although various visual tracking algorithms have been proposed in the last 2-3 decades, it remains a challenging problem for effective tracking with fast motion, deformation, occlusion, etc. Under complex tracking conditions, most tracking models are not discriminative and adaptive enough. When the combined feature vectors are inputted to the visual models, this may lead to redundancy causing low efficiency and ambiguity causing poor performance. An effective tracking algorithm is proposed to decontaminate features for each video sequence adaptively, where the visual modeling is treated as an optimization problem from the perspective of evolution. Every feature vector is compared to a biological individual and then decontaminated via classical evolutionary algorithms. With the optimized subsets of features, the "curse of dimensionality" has been avoided while the accuracy of the visual model has been improved. The proposed algorithm has been tested on several publicly available datasets with various tracking challenges and benchmarked with a number of state-of-the-art approaches. The comprehensive experiments have demonstrated the efficacy of the proposed methodology.

  7. Trajectory Planning and Optimized Adaptive Control for a Class of Wheeled Inverted Pendulum Vehicle Models.

    Science.gov (United States)

    Yang, Chenguang; Li, Zhijun; Li, Jing

    2013-02-01

    In this paper, we investigate optimized adaptive control and trajectory generation for a class of wheeled inverted pendulum (WIP) models of vehicle systems. Aiming at shaping the controlled vehicle dynamics to be of minimized motion tracking errors as well as angular accelerations, we employ the linear quadratic regulation optimization technique to obtain an optimal reference model. Adaptive control has then been developed using variable structure method to ensure the reference model to be exactly matched in a finite-time horizon, even in the presence of various internal and external uncertainties. The minimized yaw and tilt angular accelerations help to enhance the vehicle rider's comfort. In addition, due to the underactuated mechanism of WIP, the vehicle forward velocity dynamics cannot be controlled separately from the pendulum tilt angle dynamics. Inspired by the control strategy of human drivers, who usually manipulate the tilt angle to control the forward velocity, we design a neural-network-based adaptive generator of implicit control trajectory (AGICT) of the tilt angle which indirectly "controls" the forward velocity such that it tracks the desired velocity asymptotically. The stability and optimal tracking performance have been rigorously established by theoretic analysis. In addition, simulation studies have been carried out to demonstrate the efficiency of the developed AGICT and optimized adaptive controller.

  8. Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Yi Zuo

    2008-01-01

    Full Text Available We address the problem of robust tracking control using a PD-plus-feedforward controller and an intelligent adaptive robust compensator for a rigid robotic manipulator with uncertain dynamics and external disturbances. A key feature of this scheme is that soft computer methods are used to learn the upper bound of system uncertainties and adjust the width of the boundary layer base. In this way, the prior knowledge of the upper bound of the system uncertainties does need not to be required. Moreover, chattering can be effectively eliminated, and asymptotic error convergence can be guaranteed. Numerical simulations and experiments of two-DOF rigid robots are presented to show effectiveness of the proposed scheme.

  9. Lane Changing Trajectory Planning and Tracking Controller Design for Intelligent Vehicle Running on Curved Road

    Directory of Open Access Journals (Sweden)

    Lie Guo

    2014-01-01

    Full Text Available To enhance the active safety and realize the autonomy of intelligent vehicle on highway curved road, a lane changing trajectory is planned and tracked for lane changing maneuver on curved road. The kinematics model of the intelligent vehicle with nonholonomic constraint feature and the tracking error model are established firstly. The longitudinal and lateral coupling and the difference of curvature radius between the outside and inside lane are taken into account, which is helpful to enhance the authenticity of desired lane changing trajectory on curved road. Then the trajectory tracking controller of closed-loop control structure is derived using integral backstepping method to construct a new virtual variable. The Lyapunov theory is applied to analyze the stability of the proposed tracking controller. Simulation results demonstrate that this controller can guarantee the convergences of both the relative position tracking errors and the position tracking synchronization.

  10. Adaptive and accelerated tracking-learning-detection

    Science.gov (United States)

    Guo, Pengyu; Li, Xin; Ding, Shaowen; Tian, Zunhua; Zhang, Xiaohu

    2013-08-01

    An improved online long-term visual tracking algorithm, named adaptive and accelerated TLD (AA-TLD) based on Tracking-Learning-Detection (TLD) which is a novel tracking framework has been introduced in this paper. The improvement focuses on two aspects, one is adaption, which makes the algorithm not dependent on the pre-defined scanning grids by online generating scale space, and the other is efficiency, which uses not only algorithm-level acceleration like scale prediction that employs auto-regression and moving average (ARMA) model to learn the object motion to lessen the detector's searching range and the fixed number of positive and negative samples that ensures a constant retrieving time, but also CPU and GPU parallel technology to achieve hardware acceleration. In addition, in order to obtain a better effect, some TLD's details are redesigned, which uses a weight including both normalized correlation coefficient and scale size to integrate results, and adjusts distance metric thresholds online. A contrastive experiment on success rate, center location error and execution time, is carried out to show a performance and efficiency upgrade over state-of-the-art TLD with partial TLD datasets and Shenzhou IX return capsule image sequences. The algorithm can be used in the field of video surveillance to meet the need of real-time video tracking.

  11. 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

  12. Lane changing trajectory planning and tracking control for intelligent vehicle on curved road.

    Science.gov (United States)

    Wang, Lukun; Zhao, Xiaoying; Su, Hao; Tang, Gongyou

    2016-01-01

    This paper explores lane changing trajectory planning and tracking control for intelligent vehicle on curved road. A novel arcs trajectory is planned for the desired lane changing trajectory. A kinematic controller and a dynamics controller are designed to implement the trajectory tracking control. Firstly, the kinematic model and dynamics model of intelligent vehicle with non-holonomic constraint are established. Secondly, two constraints of lane changing on curved road in practice (LCCP) are proposed. Thirdly, two arcs with same curvature are constructed for the desired lane changing trajectory. According to the geometrical characteristics of arcs trajectory, equations of desired state can be calculated. Finally, the backstepping method is employed to design a kinematic trajectory tracking controller. Then the sliding-mode dynamics controller is designed to ensure that the motion of the intelligent vehicle can follow the desired velocity generated by kinematic controller. The stability of control system is proved by Lyapunov theory. Computer simulation demonstrates that the desired arcs trajectory and state curves with B-spline optimization can meet the requirements of LCCP constraints and the proposed control schemes can make tracking errors to converge uniformly.

  13. Indoor Trajectory Tracking Scheme Based on Delaunay Triangulation and Heuristic Information in Wireless Sensor Networks.

    Science.gov (United States)

    Qin, Junping; Sun, Shiwen; Deng, Qingxu; Liu, Limin; Tian, Yonghong

    2017-06-02

    Object tracking and detection is one of the most significant research areas for wireless sensor networks. Existing indoor trajectory tracking schemes in wireless sensor networks are based on continuous localization and moving object data mining. Indoor trajectory tracking based on the received signal strength indicator ( RSSI ) has received increased attention because it has low cost and requires no special infrastructure. However, RSSI tracking introduces uncertainty because of the inaccuracies of measurement instruments and the irregularities (unstable, multipath, diffraction) of wireless signal transmissions in indoor environments. Heuristic information includes some key factors for trajectory tracking procedures. This paper proposes a novel trajectory tracking scheme based on Delaunay triangulation and heuristic information (TTDH). In this scheme, the entire field is divided into a series of triangular regions. The common side of adjacent triangular regions is regarded as a regional boundary. Our scheme detects heuristic information related to a moving object's trajectory, including boundaries and triangular regions. Then, the trajectory is formed by means of a dynamic time-warping position-fingerprint-matching algorithm with heuristic information constraints. Field experiments show that the average error distance of our scheme is less than 1.5 m, and that error does not accumulate among the regions.

  14. Trajectory planning and trajectory tracking for a small-scale helicopter in autorotation

    NARCIS (Netherlands)

    Taamallah, Skander; Bombois, Xavier; Van den Hof, Paul M.J.

    2017-01-01

    The design of a high-performance guidance and control system for a small-scale helicopterUnmanned Aerial Vehicle (UAV), with an engine OFF flight condition (i.e. autorotation), is known to be a challenging task. It is the purpose of this paper to present a Trajectory Planning (TP) and Trajectory

  15. Minimum Time Trajectory Optimization of CNC Machining with Tracking Error Constraints

    Directory of Open Access Journals (Sweden)

    Qiang Zhang

    2014-01-01

    Full Text Available An off-line optimization approach of high precision minimum time feedrate for CNC machining is proposed. Besides the ordinary considered velocity, acceleration, and jerk constraints, dynamic performance constraint of each servo drive is also considered in this optimization problem to improve the tracking precision along the optimized feedrate trajectory. Tracking error is applied to indicate the servo dynamic performance of each axis. By using variable substitution, the tracking error constrained minimum time trajectory planning problem is formulated as a nonlinear path constrained optimal control problem. Bang-bang constraints structure of the optimal trajectory is proved in this paper; then a novel constraint handling method is proposed to realize a convex optimization based solution of the nonlinear constrained optimal control problem. A simple ellipse feedrate planning test is presented to demonstrate the effectiveness of the approach. Then the practicability and robustness of the trajectory generated by the proposed approach are demonstrated by a butterfly contour machining example.

  16. Optimal Point-to-Point Trajectory Tracking of Redundant Manipulators using Generalized Pattern Search

    Directory of Open Access Journals (Sweden)

    Thi Rein Myo

    2008-11-01

    Full Text Available Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately. An algorithm combining Genetic Algorithm and Pattern Search as a Generalized Pattern Search GPS is introduced to design the optimal trajectory. To verify the proposed algorithm, simulations for a 3-D-O-F planar manipulator with different end-effector trajectories have been carried out. A comparison between the Genetic Algorithm and the Generalized Pattern Search shows that The GPS gives excellent tracking performance.

  17. Complex Dynamical Network Control for Trajectory Tracking Using Delayed Recurrent Neural Networks

    Directory of Open Access Journals (Sweden)

    Jose P. Perez

    2014-01-01

    Full Text Available In this paper, the problem of trajectory tracking is studied. Based on the V-stability and Lyapunov theory, a control law that achieves the global asymptotic stability of the tracking error between a delayed recurrent neural network and a complex dynamical network is obtained. To illustrate the analytic results, we present a tracking simulation of a dynamical network with each node being just one Lorenz’s dynamical system and three identical Chen’s dynamical systems.

  18. Adaptive DFT-Based Interferometer Fringe Tracking

    Science.gov (United States)

    Wilson, Edward; Pedretti, Ettore; Bregman, Jesse; Mah, Robert W.; Traub, Wesley A.

    2005-12-01

    An automatic interferometer fringe tracking system has been developed, implemented, and tested at the Infrared Optical Telescope Array (IOTA) Observatory at Mount Hopkins, Arizona. The system can minimize the optical path differences (OPDs) for all three baselines of the Michelson stellar interferometer at IOTA. Based on sliding window discrete Fourier-transform (DFT) calculations that were optimized for computational efficiency and robustness to atmospheric disturbances, the algorithm has also been tested extensively on offline data. Implemented in ANSI C on the 266 MHz PowerPC processor running the VxWorks real-time operating system, the algorithm runs in approximately [InlineEquation not available: see fulltext.] milliseconds per scan (including all three interferograms), using the science camera and piezo scanners to measure and correct the OPDs. The adaptive DFT-based tracking algorithm should be applicable to other systems where there is a need to detect or track a signal with an approximately constant-frequency carrier pulse. One example of such an application might be to the field of thin-film measurement by ellipsometry, using a broadband light source and a Fourier-transform spectrometer to detect the resulting fringe patterns.

  19. Adaptive DFT-Based Interferometer Fringe Tracking

    Directory of Open Access Journals (Sweden)

    Wesley A. Traub

    2005-09-01

    Full Text Available An automatic interferometer fringe tracking system has been developed, implemented, and tested at the Infrared Optical Telescope Array (IOTA Observatory at Mount Hopkins, Arizona. The system can minimize the optical path differences (OPDs for all three baselines of the Michelson stellar interferometer at IOTA. Based on sliding window discrete Fourier-transform (DFT calculations that were optimized for computational efficiency and robustness to atmospheric disturbances, the algorithm has also been tested extensively on offline data. Implemented in ANSI C on the 266 MHz PowerPC processor running the VxWorks real-time operating system, the algorithm runs in approximately 2.0 milliseconds per scan (including all three interferograms, using the science camera and piezo scanners to measure and correct the OPDs. The adaptive DFT-based tracking algorithm should be applicable to other systems where there is a need to detect or track a signal with an approximately constant-frequency carrier pulse. One example of such an application might be to the field of thin-film measurement by ellipsometry, using a broadband light source and a Fourier-transform spectrometer to detect the resulting fringe patterns.

  20. PaTAVTT: A Hardware-in-the-Loop Scaled Platform for Testing Autonomous Vehicle Trajectory Tracking

    Directory of Open Access Journals (Sweden)

    Zhigang Xu

    2017-01-01

    Full Text Available With the advent of autonomous vehicles, in particular its adaptability to harsh conditions, the research and development of autonomous vehicles attract significant attention by not only academia but also practitioners. Due to the high risk, high cost, and difficulty to test autonomous vehicles under harsh conditions, the hardware-in-the-loop (HIL scaled platform has been proposed as it is a safe, inexpensive, and effective test method. This platform system consists of scaled autonomous vehicle, scaled roadway, monitoring center, transmission device, positioning device, and computers. This paper uses a case of the development process of tracking control for high-speed U-turn to build the tracking control function. Further, a simplified vehicle dynamics model and a trajectory tracking algorithm have been considered to build the simulation test. The experiment results demonstrate the effectiveness of the HIL scaled platform.

  1. Target Response Adaptation for Correlation Filter Tracking

    KAUST Repository

    Bibi, Adel Aamer

    2016-09-16

    Most correlation filter (CF) based trackers utilize the circulant structure of the training data to learn a linear filter that best regresses this data to a hand-crafted target response. These circularly shifted patches are only approximations to actual translations in the image, which become unreliable in many realistic tracking scenarios including fast motion, occlusion, etc. In these cases, the traditional use of a single centered Gaussian as the target response impedes tracker performance and can lead to unrecoverable drift. To circumvent this major drawback, we propose a generic framework that can adaptively change the target response from frame to frame, so that the tracker is less sensitive to the cases where circular shifts do not reliably approximate translations. To do that, we reformulate the underlying optimization to solve for both the filter and target response jointly, where the latter is regularized by measurements made using actual translations. This joint problem has a closed form solution and thus allows for multiple templates, kernels, and multi-dimensional features. Extensive experiments on the popular OTB100 benchmark show that our target adaptive framework can be combined with many CF trackers to realize significant overall performance improvement (ranging from 3 %-13.5% in precision and 3.2 %-13% in accuracy), especially in categories where this adaptation is necessary (e.g. fast motion, motion blur, etc.). © Springer International Publishing AG 2016.

  2. Trajectory planning and tracking for autonomous vehicles navigation

    OpenAIRE

    Chebly , Alia

    2017-01-01

    In this thesis, the trajectory planning and the control of autonomous vehicles are addressed. As a first step, a multi-body modeling technique is used to develop a four wheeled vehicle planar model. This technique considers the vehicle as a robot consisting of articulated bodies. The geometric description of the vehicle system is derived using the modified Denavit Hartenberg parameterization and then the dynamic model of the vehicle is computed by applying a recursive method used in robotics,...

  3. Back-tracking of primary particle trajectories for muons detected at the Earth surface

    Science.gov (United States)

    Shutenko, V. V.

    2017-01-01

    Investigations of cosmic rays on the surface of the Earth allow to derive information of applied character on the conditions of the interplanetary magnetic field and of the geomagnetic field. For this purpose, it is necessary to collate trajectories of particles detected in the ground-based detector to trajectories of primary cosmic rays in the heliosphere. This problem is solved by means of various back-tracking methods. In this work, one of such methods is presented.

  4. Back-tracking of primary particle trajectories for muons detected at the Earth surface

    International Nuclear Information System (INIS)

    Shutenko, V V

    2017-01-01

    Investigations of cosmic rays on the surface of the Earth allow to derive information of applied character on the conditions of the interplanetary magnetic field and of the geomagnetic field. For this purpose, it is necessary to collate trajectories of particles detected in the ground-based detector to trajectories of primary cosmic rays in the heliosphere. This problem is solved by means of various back-tracking methods. In this work, one of such methods is presented. (paper)

  5. Tumor tracking and motion compensation with an adaptive tumor tracking system (ATTS): System description and prototype testing

    International Nuclear Information System (INIS)

    Wilbert, Juergen; Meyer, Juergen; Baier, Kurt; Guckenberger, Matthias; Herrmann, Christian; Hess, Robin; Janka, Christian; Ma Lei; Mersebach, Torben; Richter, Anne; Roth, Michael; Schilling, Klaus; Flentje, Michael

    2008-01-01

    A novel system for real-time tumor tracking and motion compensation with a robotic HexaPOD treatment couch is described. The approach is based on continuous tracking of the tumor motion in portal images without implanted fiducial markers, using the therapeutic megavoltage beam, and tracking of abdominal breathing motion with optical markers. Based on the two independently acquired data sets the table movements for motion compensation are calculated. The principle of operation of the entire prototype system is detailed first. In the second part the performance of the HexaPOD couch was investigated with a robotic four-dimensional-phantom capable of simulating real patient tumor trajectories in three-dimensional space. The performance and limitations of the HexaPOD table and the control system were characterized in terms of its dynamic behavior. The maximum speed and acceleration of the HexaPOD were 8 mm/s and 34.5 mm/s 2 in the lateral direction, and 9.5 mm/s and 29.5 mm/s 2 in longitudinal and anterior-posterior direction, respectively. Base line drifts of the mean tumor position of realistic lung tumor trajectories could be fully compensated. For continuous tumor tracking and motion compensation a reduction of tumor motion up to 68% of the original amplitude was achieved. In conclusion, this study demonstrated that it is technically feasible to compensate breathing induced tumor motion in the lung with the adaptive tumor tracking system

  6. Three-dimensional trajectory tracking for underactuated AUVs with bio-inspired velocity regulation

    Directory of Open Access Journals (Sweden)

    Jiajia Zhou

    2018-05-01

    Full Text Available This paper attempts to address the motion parameter skip problem associated with three-dimensional trajectory tracking of an underactuated Autonomous Underwater Vehicle (AUV using backstepping-based control, due to the unsmoothness of tracking trajectory. Through kinematics concepts, a three-dimensional dynamic velocity regulation controller is derived. This controller makes use of the surge and angular velocity errors with bio-inspired models and backstepping techniques. It overcomes the frequently occurring problem of parameter skip at inflection point existing in backstepping tracking control method and increases system robustness. Moreover, the proposed method can effectively avoid the singularity problem in backstepping control of virtual velocity error. The control system is proved to be uniformly ultimately bounded using Lyapunov stability theory. Simulation results illustrate the effectiveness and efficiency of the developed controller, which can realize accurate three-dimensional trajectory tracking for an underactuated AUV with constant external disturbances. Keywords: Dynamic velocity regulation, Bio-inspired model, Backstepping, Underactuated AUV, Three-dimensional trajectory tracking

  7. Feasibility Study On Missile Launch Detection And Trajectory Tracking

    Science.gov (United States)

    2016-09-01

    Feature (SURF) detection, and Kalman filtering are frequently used for object tracking. These methods have been applied frequently on video records...missile by processing the thermal imagery from the thermal-imaging sensor, which captures the temperature gradient of the surroundings within its field of...view. As the missile’s propulsion motor emits gases at high temperature to generate the thrust required for its flight, the heat 2 signature of

  8. Back to the Future: Consistency-Based Trajectory Tracking

    Science.gov (United States)

    Kurien, James; Nayak, P. Pandurand; Norvig, Peter (Technical Monitor)

    2000-01-01

    Given a model of a physical process and a sequence of commands and observations received over time, the task of an autonomous controller is to determine the likely states of the process and the actions required to move the process to a desired configuration. We introduce a representation and algorithms for incrementally generating approximate belief states for a restricted but relevant class of partially observable Markov decision processes with very large state spaces. The algorithm presented incrementally generates, rather than revises, an approximate belief state at any point by abstracting and summarizing segments of the likely trajectories of the process. This enables applications to efficiently maintain a partial belief state when it remains consistent with observations and revisit past assumptions about the process' evolution when the belief state is ruled out. The system presented has been implemented and results on examples from the domain of spacecraft control are presented.

  9. Adaptive Square-Shaped Trajectory-Based Service Location Protocol in Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Hwa-Jung Lim

    2010-04-01

    Full Text Available In this paper we propose an adaptive square-shaped trajectory (ASST-based service location method to ensure load scalability in wireless sensor networks. This first establishes a square-shaped trajectory over the nodes that surround a target point computed by the hash function and any user can access it, using the hash. Both the width and the size of the trajectory are dynamically adjustable, depending on the number of queries made to the service information on the trajectory. The number of sensor nodes on the trajectory varies in proportion to the changing trajectory shape, allowing high loads to be distributed around the hot spot area.

  10. A trajectory tracking controller for an underwater hexapod vehicle.

    Science.gov (United States)

    Plamondon, N; Nahon, M

    2009-09-01

    This paper describes work done in the modeling and control of a low speed underwater vehicle that uses paddles instead of thrusters to move in the water. A review of previously modeled vehicles and of controller designs for underwater applications is presented. Then, a method to accurately predict the thrust produced by an oscillating flexible paddle is developed and validated. This is followed by the development of a method to determine the ideal paddle motion to produce a desired thrust. Several controllers are then developed and tested using a numerical simulation of the vehicle. We found that some model-based controllers could improve the performance of the system while others showed no benefit. Finally, we report results from experimental trials performed in an open water environment comparing the performance of the controllers. The experimental results showed that all the model-based controllers outperform the simple proportional-derivative controller. The controller giving the best performance was the model-based nonlinear controller. We also found that the vehicle was able to follow a change of a roll angle of 90 degrees in 0.7 s and to precisely follow a sinusoidal trajectory with a period of 6.28 s and an amplitude of 5 degrees.

  11. A trajectory tracking controller for an underwater hexapod vehicle

    International Nuclear Information System (INIS)

    Plamondon, N; Nahon, M

    2009-01-01

    This paper describes work done in the modeling and control of a low speed underwater vehicle that uses paddles instead of thrusters to move in the water. A review of previously modeled vehicles and of controller designs for underwater applications is presented. Then, a method to accurately predict the thrust produced by an oscillating flexible paddle is developed and validated. This is followed by the development of a method to determine the ideal paddle motion to produce a desired thrust. Several controllers are then developed and tested using a numerical simulation of the vehicle. We found that some model-based controllers could improve the performance of the system while others showed no benefit. Finally, we report results from experimental trials performed in an open water environment comparing the performance of the controllers. The experimental results showed that all the model-based controllers outperform the simple proportional-derivative controller. The controller giving the best performance was the model-based nonlinear controller. We also found that the vehicle was able to follow a change of a roll angle of 90 deg. in 0.7 s and to precisely follow a sinusoidal trajectory with a period of 6.28 s and an amplitude of 5 deg.

  12. Trajectory Tracking of a Tri-Rotor Aerial Vehicle Using an MRAC-Based Robust Hybrid Control Algorithm

    Directory of Open Access Journals (Sweden)

    Zain Anwar Ali

    2017-01-01

    Full Text Available In this paper, a novel Model Reference Adaptive Control (MRAC-based hybrid control algorithm is presented for the trajectory tracking of a tri-rotor Unmanned Aerial Vehicle (UAV. The mathematical model of the tri-rotor is based on the Newton–Euler formula, whereas the MRAC-based hybrid controller consists of Fuzzy Proportional Integral Derivative (F-PID and Fuzzy Proportional Derivative (F-PD controllers. MRAC is used as the main controller for the dynamics, while the parameters of the adaptive controller are fine-tuned by the F-PD controller for the altitude control subsystem and the F-PID controller for the attitude control subsystem of the UAV. The stability of the system is ensured and proven by Lyapunov stability analysis. The proposed control algorithm is tested and verified using computer simulations for the trajectory tracking of the desired path as an input. The effectiveness of our proposed algorithm is compared with F-PID and the Fuzzy Logic Controller (FLC. Our proposed controller exhibits much less steady state error, quick error convergence in the presence of disturbance or noise, and model uncertainties.

  13. Strong tracking adaptive Kalman filters for underwater vehicle dead reckoning

    Institute of Scientific and Technical Information of China (English)

    XIAO Kun; FANG Shao-ji; PANG Yong-jie

    2007-01-01

    To improve underwater vehicle dead reckoning, a developed strong tracking adaptive kalman filter is proposed. The filter is improved with an additional adaptive factor and an estimator of measurement noise covariance. Since the magnitude of fading factor is changed adaptively, the tracking ability of the filter is still enhanced in low velocity condition of underwater vehicles. The results of simulation tests prove the presented filter effective.

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

    Science.gov (United States)

    Shao, Xingling; Liu, Jun; Wang, Honglun

    2018-05-01

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

  15. Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown Sliding

    Directory of Open Access Journals (Sweden)

    Mingyue Cui

    2012-11-01

    Full Text Available An adaptive control approach is proposed for trajectory tracking and obstacle avoidance for mobile robots with consideration given to unknown sliding. A kinematic model of mobile robots is established in this paper, in which both longitudinal and lateral sliding are considered and processed as three time-varying parameters. A sliding model observer is introduced to estimate the sliding parameters online. A stable tracking control law for this nonholonomic system is proposed to compensate the unknown sliding effect. From Lyapunov-stability analysis, it is proved, regardless of unknown sliding, that tracking errors of the controlled closed-loop system are asymptotically stable, the tracking errors converge to zero outside the obstacle detection region and obstacle avoidance is guaranteed inside the obstacle detection region. The efficiency and robustness of the proposed control system are verified by simulation results.

  16. Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles.

    Science.gov (United States)

    Zhang, Linhuan; Ahamed, Tofael; Zhang, Yan; Gao, Pengbo; Takigawa, Tomohiro

    2016-04-22

    The aim of this study was to design a navigation system composed of a human-controlled leader vehicle and a follower vehicle. The follower vehicle automatically tracks the leader vehicle. With such a system, a human driver can control two vehicles efficiently in agricultural operations. The tracking system was developed for the leader and the follower vehicle, and control of the follower was performed using a camera vision system. A stable and accurate monocular vision-based sensing system was designed, consisting of a camera and rectangular markers. Noise in the data acquisition was reduced by using the least-squares method. A feedback control algorithm was used to allow the follower vehicle to track the trajectory of the leader vehicle. A proportional-integral-derivative (PID) controller was introduced to maintain the required distance between the leader and the follower vehicle. Field experiments were conducted to evaluate the sensing and tracking performances of the leader-follower system while the leader vehicle was driven at an average speed of 0.3 m/s. In the case of linear trajectory tracking, the RMS errors were 6.5 cm, 8.9 cm and 16.4 cm for straight, turning and zigzag paths, respectively. Again, for parallel trajectory tracking, the root mean square (RMS) errors were found to be 7.1 cm, 14.6 cm and 14.0 cm for straight, turning and zigzag paths, respectively. The navigation performances indicated that the autonomous follower vehicle was able to follow the leader vehicle, and the tracking accuracy was found to be satisfactory. Therefore, the developed leader-follower system can be implemented for the harvesting of grains, using a combine as the leader and an unloader as the autonomous follower vehicle.

  17. Accurately tracking single-cell movement trajectories in microfluidic cell sorting devices.

    Science.gov (United States)

    Jeong, Jenny; Frohberg, Nicholas J; Zhou, Enlu; Sulchek, Todd; Qiu, Peng

    2018-01-01

    Microfluidics are routinely used to study cellular properties, including the efficient quantification of single-cell biomechanics and label-free cell sorting based on the biomechanical properties, such as elasticity, viscosity, stiffness, and adhesion. Both quantification and sorting applications require optimal design of the microfluidic devices and mathematical modeling of the interactions between cells, fluid, and the channel of the device. As a first step toward building such a mathematical model, we collected video recordings of cells moving through a ridged microfluidic channel designed to compress and redirect cells according to cell biomechanics. We developed an efficient algorithm that automatically and accurately tracked the cell trajectories in the recordings. We tested the algorithm on recordings of cells with different stiffness, and showed the correlation between cell stiffness and the tracked trajectories. Moreover, the tracking algorithm successfully picked up subtle differences of cell motion when passing through consecutive ridges. The algorithm for accurately tracking cell trajectories paves the way for future efforts of modeling the flow, forces, and dynamics of cell properties in microfluidics applications.

  18. Accurately tracking single-cell movement trajectories in microfluidic cell sorting devices.

    Directory of Open Access Journals (Sweden)

    Jenny Jeong

    Full Text Available Microfluidics are routinely used to study cellular properties, including the efficient quantification of single-cell biomechanics and label-free cell sorting based on the biomechanical properties, such as elasticity, viscosity, stiffness, and adhesion. Both quantification and sorting applications require optimal design of the microfluidic devices and mathematical modeling of the interactions between cells, fluid, and the channel of the device. As a first step toward building such a mathematical model, we collected video recordings of cells moving through a ridged microfluidic channel designed to compress and redirect cells according to cell biomechanics. We developed an efficient algorithm that automatically and accurately tracked the cell trajectories in the recordings. We tested the algorithm on recordings of cells with different stiffness, and showed the correlation between cell stiffness and the tracked trajectories. Moreover, the tracking algorithm successfully picked up subtle differences of cell motion when passing through consecutive ridges. The algorithm for accurately tracking cell trajectories paves the way for future efforts of modeling the flow, forces, and dynamics of cell properties in microfluidics applications.

  19. A miniature shoe-mounted orientation determination system for accurate indoor heading and trajectory tracking.

    Science.gov (United States)

    Zhang, Shengzhi; Yu, Shuai; Liu, Chaojun; Liu, Sheng

    2016-06-01

    Tracking the position of pedestrian is urgently demanded when the most commonly used GPS (Global Position System) is unavailable. Benefited from the small size, low-power consumption, and relatively high reliability, micro-electro-mechanical system sensors are well suited for GPS-denied indoor pedestrian heading estimation. In this paper, a real-time miniature orientation determination system (MODS) was developed for indoor heading and trajectory tracking based on a novel dual-linear Kalman filter. The proposed filter precludes the impact of geomagnetic distortions on pitch and roll that the heading is subjected to. A robust calibration approach was designed to improve the accuracy of sensors measurements based on a unified sensor model. Online tests were performed on the MODS with an improved turntable. The results demonstrate that the average RMSE (root-mean-square error) of heading estimation is less than 1°. Indoor heading experiments were carried out with the MODS mounted on the shoe of pedestrian. Besides, we integrated the existing MODS into an indoor pedestrian dead reckoning application as an example of its utility in realistic actions. A human attitude-based walking model was developed to calculate the walking distance. Test results indicate that mean percentage error of indoor trajectory tracking achieves 2% of the total walking distance. This paper provides a feasible alternative for accurate indoor heading and trajectory tracking.

  20. A Dropsonde Glider with Adaptive Trajectory Planning, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Dropsondes are one of the primary atmospheric measurement tools available to researchers. Current dropsondes are deployed with a free fall parachute trajectory,...

  1. Adaptive Colour Feature Identification in Image for Object Tracking

    Directory of Open Access Journals (Sweden)

    Feng Su

    2012-01-01

    Full Text Available Identification and tracking of a moving object using computer vision techniques is important in robotic surveillance. In this paper, an adaptive colour filtering method is introduced for identifying and tracking a moving object appearing in image sequences. This filter is capable of automatically identifying the most salient colour feature of the moving object in the image and using this for a robot to track the object. The method enables the selected colour feature to adapt to surrounding condition when it is changed. A method of determining the region of interest of the moving target is also developed for the adaptive colour filter to extract colour information. Experimental results show that by using a camera mounted on a robot, the proposed methods can perform robustly in tracking a randomly moving object using adaptively selected colour features in a crowded environment.

  2. Quadrotor Trajectory Tracking Based on Quasi-LPV System and Internal Model Control

    Directory of Open Access Journals (Sweden)

    ZeFang He

    2015-01-01

    Full Text Available Internal model control (IMC design method based on quasi-LPV (Linear Parameter Varying system is proposed. In this method, the nonlinear model is firstly transformed to the linear model based on quasi-LPV method; then, the quadrotor nonlinear motion function is transformed to transfer function matrix based on the transformation model from the state space to the transfer function; further, IMC is designed to control the controlled object represented by transfer function matrix and realize quadrotor trajectory tracking. The performance of the controller proposed in this paper is tested by tracking for three reference trajectories with drastic changes. The simulation results indicate that the control method proposed in this paper has stronger robustness to parameters uncertainty and disturbance rejection performance.

  3. Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter

    Directory of Open Access Journals (Sweden)

    Xing Fang

    2015-01-01

    Full Text Available This paper presents a highly robust trajectory tracking controller for small unmanned helicopter with model uncertainties and external disturbances. First, a simplified dynamic model is developed, where the model uncertainties and external disturbances are treated as compounded disturbances. Then the system is divided into three interconnected subsystems: altitude subsystem, yaw subsystem, and horizontal subsystem. Second, a disturbance observer based controller (DOBC is designed based upon backstepping and multivariable super twisting control algorithm to obtain robust trajectory tracking property. A sliding mode observer works as an estimator of the compounded disturbances. In order to lessen calculative burden, a first-order exact differentiator is employed to estimate the time derivative of the virtual control. Moreover, proof of the stability of the closed-loop system based on Lyapunov method is given. Finally, simulation results are presented to illustrate the effectiveness and robustness of the proposed flight control scheme.

  4. Visual Trajectory-Tracking Model-Based Control for Mobile Robots

    Directory of Open Access Journals (Sweden)

    Andrej Zdešar

    2013-09-01

    Full Text Available In this paper we present a visual-control algorithm for driving a mobile robot along the reference trajectory. The configuration of the system consists of a two-wheeled differentially driven mobile robot that is observed by an overhead camera, which can be placed at arbitrary, but reasonable, inclination with respect to the ground plane. The controller must be capable of generating appropriate tangential and angular control velocities for the trajectory-tracking problem, based on the information received about the robot position obtained in the image. To be able to track the position of the robot through a sequence of images in real-time, the robot is marked with an artificial marker that can be distinguishably recognized by the image recognition subsystem. Using the property of differential flatness, a dynamic feedback compensator can be designed for the system, thereby extending the system into a linear form. The presented control algorithm for reference tracking combines a feedforward and a feedback loop, the structure also known as a two DOF control scheme. The feedforward part should drive the system to the vicinity of the reference trajectory and the feedback part should eliminate any errors that occur due to noise and other disturbances etc. The feedforward control can never achieve accurate reference following, but this deficiency can be eliminated with the introduction of the feedback loop. The design of the model predictive control is based on the linear error model. The model predictive control is given in analytical form, so the computational burden is kept at a reasonable level for real-time implementation. The control algorithm requires that a reference trajectory is at least twice differentiable function. A suitable approach to design such a trajectory is by exploiting some useful properties of the Bernstein-Bézier parametric curves. The simulation experiments as well as real system experiments on a robot normally used in the

  5. PTM Along Track Algorithm to Maintain Spacing During Same Direction Pair-Wise Trajectory Management Operations

    Science.gov (United States)

    Carreno, Victor A.

    2015-01-01

    Pair-wise Trajectory Management (PTM) is a cockpit based delegated responsibility separation standard. When an air traffic service provider gives a PTM clearance to an aircraft and the flight crew accepts the clearance, the flight crew will maintain spacing and separation from a designated aircraft. A PTM along track algorithm will receive state information from the designated aircraft and from the own ship to produce speed guidance for the flight crew to maintain spacing and separation

  6. Parking Space Detection and Trajectory Tracking Control for Vehicle Auto-Parking

    OpenAIRE

    Shiuh-Jer Huang; Yu-Sheng Hsu

    2017-01-01

    On-board available parking space detecting system, parking trajectory planning and tracking control mechanism are the key components of vehicle backward auto-parking system. Firstly, pair of ultrasonic sensors is installed on each side of vehicle body surface to detect the relative distance between ego-car and surrounding obstacle. The dimension of a found empty space can be calculated based on vehicle speed and the time history of ultrasonic sensor detecting information. This result can be u...

  7. Probabilistic Tracking and Trajectory Planning for Autonomous Ground Vehicles in Urban Environments

    Science.gov (United States)

    2016-03-05

    Vehicles in Urban Environments The views, opinions and/or findings contained in this report are those of the author(s) and should not contrued as an...Pine Tree Road Ithaca, NY 14850 -2820 ABSTRACT Probabilistic Tracking and Trajectory Planning for Autonomous Ground Vehicles in Urban Environments...Probabilistic Anticipation for Autonomous Robots in Urban Environments, IEEE Transactions on Robotics, (04 2014): 0. doi: 10.1109/TRO.2013.2291620 Isaac

  8. Consensus seeking, formation keeping, and trajectory tracking in multiple vehicle cooperative control

    Science.gov (United States)

    Ren, Wei

    Cooperative control problems for multiple vehicle systems can be categorized as either formation control problems with applications to mobile robots, unmanned air vehicles, autonomous underwater vehicles, satellites, aircraft, spacecraft, and automated highway systems, or non-formation control problems such as task assignment, cooperative transport, cooperative role assignment, air traffic control, cooperative timing, and cooperative search. The cooperative control of multiple vehicle systems poses significant theoretical and practical challenges. For cooperative control strategies to be successful, numerous issues must be addressed. We consider three important and correlated issues: consensus seeking, formation keeping, and trajectory tracking. For consensus seeking, we investigate algorithms and protocols so that a team of vehicles can reach consensus on the values of the coordination data in the presence of imperfect sensors, communication dropout, sparse communication topologies, and noisy and unreliable communication links. The main contribution of this dissertation in this area is that we show necessary and/or sufficient conditions for consensus seeking with limited, unidirectional, and unreliable information exchange under fixed and switching interaction topologies (through either communication or sensing). For formation keeping, we apply a so-called "virtual structure" approach to spacecraft formation flying and multi-vehicle formation maneuvers. As a result, single vehicle path planning and trajectory generation techniques can be employed for the virtual structure while trajectory tracking strategies can be employed for each vehicle. The main contribution of this dissertation in this area is that we propose a decentralized architecture for multiple spacecraft formation flying in deep space with formation feedback introduced. This architecture ensures the necessary precision in the presence of actuator saturation, internal and external disturbances, and

  9. SU-G-BRA-09: Estimation of Motion Tracking Uncertainty for Real-Time Adaptive Imaging

    Energy Technology Data Exchange (ETDEWEB)

    Yan, H [Capital Medical University, Beijing, Beijing (China); Chen, Z [Yale New Haven Hospital, New Haven, CT (United States); Nath, R; Liu, W [Yale University School of Medicine, New Haven, CT (United States)

    2016-06-15

    Purpose: kV fluoroscopic imaging combined with MV treatment beam imaging has been investigated for intrafractional motion monitoring and correction. It is, however, subject to additional kV imaging dose to normal tissue. To balance tracking accuracy and imaging dose, we previously proposed an adaptive imaging strategy to dynamically decide future imaging type and moments based on motion tracking uncertainty. kV imaging may be used continuously for maximal accuracy or only when the position uncertainty (probability of out of threshold) is high if a preset imaging dose limit is considered. In this work, we propose more accurate methods to estimate tracking uncertainty through analyzing acquired data in real-time. Methods: We simulated motion tracking process based on a previously developed imaging framework (MV + initial seconds of kV imaging) using real-time breathing data from 42 patients. Motion tracking errors for each time point were collected together with the time point’s corresponding features, such as tumor motion speed and 2D tracking error of previous time points, etc. We tested three methods for error uncertainty estimation based on the features: conditional probability distribution, logistic regression modeling, and support vector machine (SVM) classification to detect errors exceeding a threshold. Results: For conditional probability distribution, polynomial regressions on three features (previous tracking error, prediction quality, and cosine of the angle between the trajectory and the treatment beam) showed strong correlation with the variation (uncertainty) of the mean 3D tracking error and its standard deviation: R-square = 0.94 and 0.90, respectively. The logistic regression and SVM classification successfully identified about 95% of tracking errors exceeding 2.5mm threshold. Conclusion: The proposed methods can reliably estimate the motion tracking uncertainty in real-time, which can be used to guide adaptive additional imaging to confirm the

  10. SU-G-BRA-09: Estimation of Motion Tracking Uncertainty for Real-Time Adaptive Imaging

    International Nuclear Information System (INIS)

    Yan, H; Chen, Z; Nath, R; Liu, W

    2016-01-01

    Purpose: kV fluoroscopic imaging combined with MV treatment beam imaging has been investigated for intrafractional motion monitoring and correction. It is, however, subject to additional kV imaging dose to normal tissue. To balance tracking accuracy and imaging dose, we previously proposed an adaptive imaging strategy to dynamically decide future imaging type and moments based on motion tracking uncertainty. kV imaging may be used continuously for maximal accuracy or only when the position uncertainty (probability of out of threshold) is high if a preset imaging dose limit is considered. In this work, we propose more accurate methods to estimate tracking uncertainty through analyzing acquired data in real-time. Methods: We simulated motion tracking process based on a previously developed imaging framework (MV + initial seconds of kV imaging) using real-time breathing data from 42 patients. Motion tracking errors for each time point were collected together with the time point’s corresponding features, such as tumor motion speed and 2D tracking error of previous time points, etc. We tested three methods for error uncertainty estimation based on the features: conditional probability distribution, logistic regression modeling, and support vector machine (SVM) classification to detect errors exceeding a threshold. Results: For conditional probability distribution, polynomial regressions on three features (previous tracking error, prediction quality, and cosine of the angle between the trajectory and the treatment beam) showed strong correlation with the variation (uncertainty) of the mean 3D tracking error and its standard deviation: R-square = 0.94 and 0.90, respectively. The logistic regression and SVM classification successfully identified about 95% of tracking errors exceeding 2.5mm threshold. Conclusion: The proposed methods can reliably estimate the motion tracking uncertainty in real-time, which can be used to guide adaptive additional imaging to confirm the

  11. RGBD Video Based Human Hand Trajectory Tracking and Gesture Recognition System

    Directory of Open Access Journals (Sweden)

    Weihua Liu

    2015-01-01

    Full Text Available The task of human hand trajectory tracking and gesture trajectory recognition based on synchronized color and depth video is considered. Toward this end, in the facet of hand tracking, a joint observation model with the hand cues of skin saliency, motion and depth is integrated into particle filter in order to move particles to local peak in the likelihood. The proposed hand tracking method, namely, salient skin, motion, and depth based particle filter (SSMD-PF, is capable of improving the tracking accuracy considerably, in the context of the signer performing the gesture toward the camera device and in front of moving, cluttered backgrounds. In the facet of gesture recognition, a shape-order context descriptor on the basis of shape context is introduced, which can describe the gesture in spatiotemporal domain. The efficient shape-order context descriptor can reveal the shape relationship and embed gesture sequence order information into descriptor. Moreover, the shape-order context leads to a robust score for gesture invariant. Our approach is complemented with experimental results on the settings of the challenging hand-signed digits datasets and American sign language dataset, which corroborate the performance of the novel techniques.

  12. Psychometric Function Reconstruction from Adaptive Tracking Procedures

    Science.gov (United States)

    1988-11-29

    reduced variability and length of the track can be shown by the use of the "sweat factor" defined by Taylor and Creelman (1967). This is a measure of...Psychophysics, 35, 385-392. Taylor, M. M., and Creelman , C. D. (1967). PEST: Efficient estimates on probability functions. Journal of the Acoustical Society of

  13. Adaptive Tracking Control of an Electro-Pneumatic Clutch Actuator

    Directory of Open Access Journals (Sweden)

    Glenn-Ole Kaasa

    2003-10-01

    Full Text Available This paper deals with the application of a simple adaptive algorithm for robust tracking control of an electro-pneumatic clutch actuator with output feedback. We present a mathematical model of the strongly nonlinear system, and implement an adaptive algorithm, based on a parallel feedforward compensator (PFC to remove the relative-degree-1 restriction. We propose a practical method of constructing the PFC, and introduce a simple modification that removes an inherent restriction on bandwidth of the nonlinear system. We show that the adaptive algorithm deals well with nonlinearities, and we achieve tracking corresponding to a settling-time of 150 ms.

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

    Science.gov (United States)

    Chak, Yew-Chung; Varatharajoo, Renuganth

    2016-07-01

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

  15. Experimental Results for Minimum-Time Trajectory Tracking of a Direct-Drive Three-Link Planar Arm

    Energy Technology Data Exchange (ETDEWEB)

    DRIESSEN,BRIAN; PARKER,GORDON G.

    1999-09-01

    This work is an experimental investigation of the ability of a real three-link direct-drive arm to track model-based minimum-time trajectories that have been found off-line. Sufficiently large velocity gains in the computed torque control law were not achievable with the velocity sensors described herein. This indicates the critical importance of the velocity sensing when attempting to track trajectories that push the envelope of the system's torque capabilities.

  16. M-Track: A New Software for Automated Detection of Grooming Trajectories in Mice.

    Directory of Open Access Journals (Sweden)

    Sheldon L Reeves

    2016-09-01

    Full Text Available Grooming is a complex and robust innate behavior, commonly performed by most vertebrate species. In mice, grooming consists of a series of stereotyped patterned strokes, performed along the rostro-caudal axis of the body. The frequency and duration of each grooming episode is sensitive to changes in stress levels, social interactions and pharmacological manipulations, and is therefore used in behavioral studies to gain insights into the function of brain regions that control movement execution and anxiety. Traditional approaches to analyze grooming rely on manually scoring the time of onset and duration of each grooming episode, and are often performed on grooming episodes triggered by stress exposure, which may not be entirely representative of spontaneous grooming in freely-behaving mice. This type of analysis is time-consuming and provides limited information about finer aspects of grooming behaviors, which are important to understand movement stereotypy and bilateral coordination in mice. Currently available commercial and freeware video-tracking software allow automated tracking of the whole body of a mouse or of its head and tail, not of individual forepaws. Here we describe a simple experimental set-up and a novel open-source code, named M-Track, for simultaneously tracking the movement of individual forepaws during spontaneous grooming in multiple freely-behaving mice. This toolbox provides a simple platform to perform trajectory analysis of forepaw movement during distinct grooming episodes. By using M-track we show that, in C57BL/6 wild type mice, the speed and bilateral coordination of the left and right forepaws remain unaltered during the execution of distinct grooming episodes. Stress exposure induces a profound increase in the length of the forepaw grooming trajectories. M-Track provides a valuable and user-friendly interface to streamline the analysis of spontaneous grooming in biomedical research studies.

  17. M-Track: A New Software for Automated Detection of Grooming Trajectories in Mice.

    Science.gov (United States)

    Reeves, Sheldon L; Fleming, Kelsey E; Zhang, Lin; Scimemi, Annalisa

    2016-09-01

    Grooming is a complex and robust innate behavior, commonly performed by most vertebrate species. In mice, grooming consists of a series of stereotyped patterned strokes, performed along the rostro-caudal axis of the body. The frequency and duration of each grooming episode is sensitive to changes in stress levels, social interactions and pharmacological manipulations, and is therefore used in behavioral studies to gain insights into the function of brain regions that control movement execution and anxiety. Traditional approaches to analyze grooming rely on manually scoring the time of onset and duration of each grooming episode, and are often performed on grooming episodes triggered by stress exposure, which may not be entirely representative of spontaneous grooming in freely-behaving mice. This type of analysis is time-consuming and provides limited information about finer aspects of grooming behaviors, which are important to understand movement stereotypy and bilateral coordination in mice. Currently available commercial and freeware video-tracking software allow automated tracking of the whole body of a mouse or of its head and tail, not of individual forepaws. Here we describe a simple experimental set-up and a novel open-source code, named M-Track, for simultaneously tracking the movement of individual forepaws during spontaneous grooming in multiple freely-behaving mice. This toolbox provides a simple platform to perform trajectory analysis of forepaw movement during distinct grooming episodes. By using M-track we show that, in C57BL/6 wild type mice, the speed and bilateral coordination of the left and right forepaws remain unaltered during the execution of distinct grooming episodes. Stress exposure induces a profound increase in the length of the forepaw grooming trajectories. M-Track provides a valuable and user-friendly interface to streamline the analysis of spontaneous grooming in biomedical research studies.

  18. Modeling and Robust Trajectory Tracking Control for a Novel Six-Rotor Unmanned Aerial Vehicle

    Directory of Open Access Journals (Sweden)

    Chengshun Yang

    2013-01-01

    Full Text Available Modeling and trajectory tracking control of a novel six-rotor unmanned aerial vehicle (UAV is concerned to solve problems such as smaller payload capacity and lack of both hardware redundancy and anticrosswind capability for quad-rotor. The mathematical modeling for the six-rotor UAV is developed on the basis of the Newton-Euler formalism, and a second-order sliding-mode disturbance observer (SOSMDO is proposed to reconstruct the disturbances of the rotational dynamics. In consideration of the under-actuated and strong coupling properties of the six-rotor UAV, a nested double loops trajectory tracking control strategy is adopted. In the outer loop, a position error PID controller is designed, of which the task is to compare the desired trajectory with real position of the six-rotor UAV and export the desired attitude angles to the inner loop. In the inner loop, a rapid-convergent nonlinear differentiator (RCND is proposed to calculate the derivatives of the virtual control signal, instead of using the analytical differentiation, to avoid “differential expansion” in the procedure of the attitude controller design. Finally, the validity and effectiveness of the proposed technique are demonstrated by the simulation results.

  19. Adaptive Nonlinear Tracking for Robotic Walking

    Czech Academy of Sciences Publication Activity Database

    Dolinský, Kamil; Čelikovský, Sergej

    2012-01-01

    Roč. 1, č. 1 (2012), s. 28-35 ISSN 2223-7038 Institutional research plan: CEZ:AV0Z10750506 Keywords : Adaptive control * Kalman filter * walking robots Subject RIV: BC - Control Systems Theory http://lib.physcon.ru/doc?id=9e51935aa5bc

  20. Adaptive Moving Object Tracking Integrating Neural Networks And Intelligent Processing

    Science.gov (United States)

    Lee, James S. J.; Nguyen, Dziem D.; Lin, C.

    1989-03-01

    A real-time adaptive scheme is introduced to detect and track moving objects under noisy, dynamic conditions including moving sensors. This approach integrates the adaptiveness and incremental learning characteristics of neural networks with intelligent reasoning and process control. Spatiotemporal filtering is used to detect and analyze motion, exploiting the speed and accuracy of multiresolution processing. A neural network algorithm constitutes the basic computational structure for classification. A recognition and learning controller guides the on-line training of the network, and invokes pattern recognition to determine processing parameters dynamically and to verify detection results. A tracking controller acts as the central control unit, so that tracking goals direct the over-all system. Performance is benchmarked against the Widrow-Hoff algorithm, for target detection scenarios presented in diverse FLIR image sequences. Efficient algorithm design ensures that this recognition and control scheme, implemented in software and commercially available image processing hardware, meets the real-time requirements of tracking applications.

  1. Experimental evaluation of feedforward control for the trajectory tracking of power in nuclear reactors

    International Nuclear Information System (INIS)

    Lau, S.H.; Bernard, J.A.; Lanning, D.D.

    1991-01-01

    This paper reports on an experimental comparison of feedforward control techniques for the trajectory-tracking of neutronic power was performed on the 5-MWt MIT Research Reactor. Included in the comparison were pure feedforward control in which the actuator signal is found solely by processing a demanded output through a system model, hybrid feedforward/feedback control in which the actuator signal is obtained by summing feedforward and feedback components, and period-generated control in which feedback is used to update the demand trajectory prior to its being processed through the system model for calculation of the actuator signal. This latter approach was found to be the most effective. In addition to the experimental results, discussions are given of both the rationale for model-based, feedforward control and the designs of the various controllers

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

    Science.gov (United States)

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

    2017-11-01

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

  3. On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems

    International Nuclear Information System (INIS)

    Asnafi, Alireza; Mahzoon, Mojtaba

    2011-01-01

    Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.

  4. On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems

    Energy Technology Data Exchange (ETDEWEB)

    Asnafi, Alireza [Hydro-Aeronautical Research Center, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of); Mahzoon, Mojtaba [Department of Mechanical Engineering, School of Engineering, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of)

    2011-09-15

    Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.

  5. Differences in context and feedback result in different trajectories and adaptation strategies in reaching.

    Directory of Open Access Journals (Sweden)

    Fritzie Arce

    Full Text Available Computational models of motor control have often explained the straightness of horizontal planar reaching movements as a consequence of optimal control. Departure from rectilinearity is thus regarded as sub-optimal. Here we examine if subjects may instead select to make curved trajectories following adaptation to force fields and visuomotor rotations. Separate subjects adapted to force fields with or without visual feedback of their hand trajectory and were retested after 24 hours. Following adaptation, comparable accuracies were achieved in two ways: with visual feedback, adapted trajectories in force fields were straight whereas without it, they remained curved. The results suggest that trajectory shape is not always straight, but is also influenced by the calibration of available feedback signals for the state estimation required by the task. In a follow-up experiment, where additional subjects learned a visuomotor rotation immediately after force field, the trajectories learned in force fields (straight or curved were transferred when directions of the perturbations were similar but not when directions were opposing. This demonstrates a strong bias by prior experience to keep using a recently acquired control policy that continues to produce successful performance inspite of differences in tasks and feedback conditions. On relearning of force fields on the second day, facilitation by intervening visuomotor rotations occurred only when required motor adjustments and calibration of feedback signals were similar in both tasks. These results suggest that both the available feedback signals and prior history of learning influence the choice and maintenance of control policy during adaptations.

  6. Adaptive learning compressive tracking based on Markov location prediction

    Science.gov (United States)

    Zhou, Xingyu; Fu, Dongmei; Yang, Tao; Shi, Yanan

    2017-03-01

    Object tracking is an interdisciplinary research topic in image processing, pattern recognition, and computer vision which has theoretical and practical application value in video surveillance, virtual reality, and automatic navigation. Compressive tracking (CT) has many advantages, such as efficiency and accuracy. However, when there are object occlusion, abrupt motion and blur, similar objects, and scale changing, the CT has the problem of tracking drift. We propose the Markov object location prediction to get the initial position of the object. Then CT is used to locate the object accurately, and the classifier parameter adaptive updating strategy is given based on the confidence map. At the same time according to the object location, extract the scale features, which is able to deal with object scale variations effectively. Experimental results show that the proposed algorithm has better tracking accuracy and robustness than current advanced algorithms and achieves real-time performance.

  7. Track and vertex reconstruction: From classical to adaptive methods

    International Nuclear Information System (INIS)

    Strandlie, Are; Fruehwirth, Rudolf

    2010-01-01

    This paper reviews classical and adaptive methods of track and vertex reconstruction in particle physics experiments. Adaptive methods have been developed to meet the experimental challenges at high-energy colliders, in particular, the CERN Large Hadron Collider. They can be characterized by the obliteration of the traditional boundaries between pattern recognition and statistical estimation, by the competition between different hypotheses about what constitutes a track or a vertex, and by a high level of flexibility and robustness achieved with a minimum of assumptions about the data. The theoretical background of some of the adaptive methods is described, and it is shown that there is a close connection between the two main branches of adaptive methods: neural networks and deformable templates, on the one hand, and robust stochastic filters with annealing, on the other hand. As both classical and adaptive methods of track and vertex reconstruction presuppose precise knowledge of the positions of the sensitive detector elements, the paper includes an overview of detector alignment methods and a survey of the alignment strategies employed by past and current experiments.

  8. An adaptive approach to human motion tracking from video

    Science.gov (United States)

    Wu, Lifang; Chen, Chang Wen

    2010-07-01

    Vision based human motion tracking has drawn considerable interests recently because of its extensive applications. In this paper, we propose an approach to tracking the body motion of human balancing on each foot. The ability to balance properly is an important indication of neurological condition. Comparing with many other human motion tracking, there is much less occlusion in human balancing tracking. This less constrained problem allows us to combine a 2D model of human body with image analysis techniques to develop an efficient motion tracking algorithm. First we define a hierarchical 2D model consisting of six components including head, body and four limbs. Each of the four limbs involves primary component (upper arms and legs) and secondary component (lower arms and legs) respectively. In this model, we assume each of the components can be represented by quadrangles and every component is connected to one of others by a joint. By making use of inherent correlation between different components, we design a top-down updating framework and an adaptive algorithm with constraints of foreground regions for robust and efficient tracking. The approach has been tested using the balancing movement in HumanEva-I/II dataset. The average tracking time is under one second, which is much shorter than most of current schemes.

  9. Quantization-Based Adaptive Actor-Critic Tracking Control With Tracking Error Constraints.

    Science.gov (United States)

    Fan, Quan-Yong; Yang, Guang-Hong; Ye, Dan

    2018-04-01

    In this paper, the problem of adaptive actor-critic (AC) tracking control is investigated for a class of continuous-time nonlinear systems with unknown nonlinearities and quantized inputs. Different from the existing results based on reinforcement learning, the tracking error constraints are considered and new critic functions are constructed to improve the performance further. To ensure that the tracking errors keep within the predefined time-varying boundaries, a tracking error transformation technique is used to constitute an augmented error system. Specific critic functions, rather than the long-term cost function, are introduced to supervise the tracking performance and tune the weights of the AC neural networks (NNs). A novel adaptive controller with a special structure is designed to reduce the effect of the NN reconstruction errors, input quantization, and disturbances. Based on the Lyapunov stability theory, the boundedness of the closed-loop signals and the desired tracking performance can be guaranteed. Finally, simulations on two connected inverted pendulums are given to illustrate the effectiveness of the proposed method.

  10. Analysis of Load-Carrying Capacity for Redundant Free-Floating Space Manipulators in Trajectory Tracking Task

    Directory of Open Access Journals (Sweden)

    Qingxuan Jia

    2014-01-01

    Full Text Available The aim of this paper is to analyze load-carrying capacity of redundant free-floating space manipulators (FFSM in trajectory tracking task. Combined with the analysis of influential factors in load-carrying process, evaluation of maximum load-carrying capacity (MLCC is described as multiconstrained nonlinear programming problem. An efficient algorithm based on repeated line search within discontinuous feasible region is presented to determine MLCC for a given trajectory of the end-effector and corresponding joint path. Then, considering the influence of MLCC caused by different initial configurations for the starting point of given trajectory, a kind of maximum payload initial configuration planning method is proposed by using PSO algorithm. Simulations are performed for a particular trajectory tracking task of the 7-DOF space manipulator, of which MLCC is evaluated quantitatively. By in-depth research of the simulation results, significant gap between the values of MLCC when using different initial configurations is analyzed, and the discontinuity of allowable load-carrying capacity is illustrated. The proposed analytical method can be taken as theoretical foundation of feasibility analysis, trajectory optimization, and optimal control of trajectory tracking task in on-orbit load-carrying operations.

  11. Study on Oil Pressure Characteristics and Trajectory Tracking Control in Shift Process of Wet-Clutch for Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Junqiu Li

    2016-01-01

    Full Text Available Accurate control of oil pressure of wet-clutch is of great importance for improving shift quality. Based on dynamic models of two-gear planetary transmission and hydraulic control system, a trajectory tracking model of oil pressure was built by sliding mode control method. An experiment was designed to verify the validity of hydraulic control system, through which the relationship between duty cycle of on-off valve and oil pressure of clutch was determined. The tracking effect was analyzed by simulation. Results showed that oil pressure could follow well the optimal trajectory and the shift quality was effectively improved.

  12. Robust online tracking via adaptive samples selection with saliency detection

    Science.gov (United States)

    Yan, Jia; Chen, Xi; Zhu, QiuPing

    2013-12-01

    Online tracking has shown to be successful in tracking of previously unknown objects. However, there are two important factors which lead to drift problem of online tracking, the one is how to select the exact labeled samples even when the target locations are inaccurate, and the other is how to handle the confusors which have similar features with the target. In this article, we propose a robust online tracking algorithm with adaptive samples selection based on saliency detection to overcome the drift problem. To deal with the problem of degrading the classifiers using mis-aligned samples, we introduce the saliency detection method to our tracking problem. Saliency maps and the strong classifiers are combined to extract the most correct positive samples. Our approach employs a simple yet saliency detection algorithm based on image spectral residual analysis. Furthermore, instead of using the random patches as the negative samples, we propose a reasonable selection criterion, in which both the saliency confidence and similarity are considered with the benefits that confusors in the surrounding background are incorporated into the classifiers update process before the drift occurs. The tracking task is formulated as a binary classification via online boosting framework. Experiment results in several challenging video sequences demonstrate the accuracy and stability of our tracker.

  13. Distributed radar network for real-time tracking of bullet trajectory

    Science.gov (United States)

    Zhang, Yimin; Li, Xin; Jin, Yuanwei; Amin, Moeness G.; Eydgahi, Ali

    2009-05-01

    Gunshot detection, sniper localization, and bullet trajectory prediction are of significant importance in military and homeland security applications. While the majority of existing work is based on acoustic and electro-optical sensors, this paper develops a framework of networked radar systems that uses distributed radar sensor networks to achieve the aforementioned objectives. The use of radio frequency radar systems allows the achievement of subtime- of-flight tracking response, enabling to response before the bullet reaches its target and, as such, effectively leading to the reduction of injuries and casualties in military and homeland security operations. The focus of this paper is to examine the MIMO radar concept with concurrent transmission of low-correlation waveforms from multiple radar sets to ensure wide surveillance coverage and maintain a high waveform repetition frequency for long coherent time interval required to achieve return signal concentration.

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

    Science.gov (United States)

    Lu, Xiaojun; Liu, Changli; Chen, Lei

    2018-04-01

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

  15. Virtual decoupling flight control via real-time trajectory synthesis and tracking

    Science.gov (United States)

    Zhang, Xuefu

    The production of the General Aviation industry has declined in the past 25 years. Ironically, however, the increasing demand for air travel as a fast, safe, and high-quality mode of transportation has been far from satisfied. Addressing this demand shortfall with personal air transportation necessitates advanced systems for navigation, guidance, control, flight management, and flight traffic control. Among them, an effective decoupling flight control system will not only improve flight quality, safety, and simplicity, and increase air space usage, but also reduce expenses on pilot initial and current training, and thus expand the current market and explore new markets. Because of the formidable difficulties encountered in the actual decoupling of non-linear, time-variant, and highly coupled flight control systems through traditional approaches, a new approach, which essentially converts the decoupling problem into a real-time trajectory synthesis and tracking problem, is employed. Then, the converted problem is solved and a virtual decoupling effect is achieved. In this approach, a trajectory in inertial space can be predefined and dynamically modified based on the flight mission and the pilot's commands. A feedforward-feedback control architecture is constructed to guide the airplane along the trajectory as precisely as possible. Through this approach, the pilot has much simpler, virtually decoupled control of the airplane in terms of speed, flight path angle and horizontal radius of curvature. To verify and evaluate this approach, extensive computer simulation is performed. A great deal of test cases are designed for the flight control under different flight conditions. The simulation results show that our decoupling strategy is satisfactory and promising, and therefore the research can serve as a consolidated foundation for future practical applications.

  16. 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.

  17. Cognitive, Linguistic and Adaptive Functioning in Williams Syndrome: Trajectories from Early to Middle Adulthood

    Science.gov (United States)

    Howlin, Patricia; Elison, Sarah; Udwin, Orlee; Stinton, Christopher

    2010-01-01

    Background: Little is known about trajectories of cognitive functioning as individuals with Williams syndrome (WS) move though adulthood. Method: The present study investigated cognitive, linguistic and adaptive functioning in adults with WS aged 19-55 years, using both cross-sectional and longitudinal approaches. Results: Data from the…

  18. Adaptive optics with pupil tracking for high resolution retinal imaging.

    Science.gov (United States)

    Sahin, Betul; Lamory, Barbara; Levecq, Xavier; Harms, Fabrice; Dainty, Chris

    2012-02-01

    Adaptive optics, when integrated into retinal imaging systems, compensates for rapidly changing ocular aberrations in real time and results in improved high resolution images that reveal the photoreceptor mosaic. Imaging the retina at high resolution has numerous potential medical applications, and yet for the development of commercial products that can be used in the clinic, the complexity and high cost of the present research systems have to be addressed. We present a new method to control the deformable mirror in real time based on pupil tracking measurements which uses the default camera for the alignment of the eye in the retinal imaging system and requires no extra cost or hardware. We also present the first experiments done with a compact adaptive optics flood illumination fundus camera where it was possible to compensate for the higher order aberrations of a moving model eye and in vivo in real time based on pupil tracking measurements, without the real time contribution of a wavefront sensor. As an outcome of this research, we showed that pupil tracking can be effectively used as a low cost and practical adaptive optics tool for high resolution retinal imaging because eye movements constitute an important part of the ocular wavefront dynamics.

  19. Scale-adaptive Local Patches for Robust Visual Object Tracking

    Directory of Open Access Journals (Sweden)

    Kang Sun

    2014-04-01

    Full Text Available This paper discusses the problem of robustly tracking objects which undergo rapid and dramatic scale changes. To remove the weakness of global appearance models, we present a novel scheme that combines object’s global and local appearance features. The local feature is a set of local patches that geometrically constrain the changes in the target’s appearance. In order to adapt to the object’s geometric deformation, the local patches could be removed and added online. The addition of these patches is constrained by the global features such as color, texture and motion. The global visual features are updated via the stable local patches during tracking. To deal with scale changes, we adapt the scale of patches in addition to adapting the object bound box. We evaluate our method by comparing it to several state-of-the-art trackers on publicly available datasets. The experimental results on challenging sequences confirm that, by using this scale-adaptive local patches and global properties, our tracker outperforms the related trackers in many cases by having smaller failure rate as well as better accuracy.

  20. Adaptive Mesh Iteration Method for Trajectory Optimization Based on Hermite-Pseudospectral Direct Transcription

    Directory of Open Access Journals (Sweden)

    Humin Lei

    2017-01-01

    Full Text Available An adaptive mesh iteration method based on Hermite-Pseudospectral is described for trajectory optimization. The method uses the Legendre-Gauss-Lobatto points as interpolation points; then the state equations are approximated by Hermite interpolating polynomials. The method allows for changes in both number of mesh points and the number of mesh intervals and produces significantly smaller mesh sizes with a higher accuracy tolerance solution. The derived relative error estimate is then used to trade the number of mesh points with the number of mesh intervals. The adaptive mesh iteration method is applied successfully to the examples of trajectory optimization of Maneuverable Reentry Research Vehicle, and the simulation experiment results show that the adaptive mesh iteration method has many advantages.

  1. Unveiling adaptation using high-resolution lineage tracking

    Science.gov (United States)

    Blundell, Jamie; Levy, Sasha; Fisher, Daniel; Petrov, Dmitri; Sherlock, Gavin

    2013-03-01

    Human diseases such as cancer and microbial infections are adaptive processes inside the human body with enormous population sizes: between 106 -1012 cells. In spite of this our understanding of adaptation in large populations is limited. The key problem is the difficulty in identifying anything more than a handful of rare, large-effect beneficial mutations. The development and use of molecular barcodes allows us to uniquely tag hundreds of thousands of cells and enable us to track tens of thousands of adaptive mutations in large yeast populations. We use this system to test some of the key theories on which our understanding of adaptation in large populations is based. We (i) measure the fitness distribution in an evolving population at different times, (ii) identify when an appreciable fraction of clones in the population have at most a single adaptive mutation and isolate a large number of clones with independent single adaptive mutations, and (iii) use this clone collection to determine the distribution of fitness effects of single beneficial mutations.

  2. An Improved Backstepping-Based Controller for Three-Dimensional Trajectory Tracking of a Midwater Trawl System

    Directory of Open Access Journals (Sweden)

    Zhao Yan

    2016-01-01

    Full Text Available An improved backstepping control method for three-dimensional trajectory tracking of a midwater trawl system is investigated. A new mathematical model of the trawl system while considering the horizontal expansion effect of two otter boards is presented based on the Newton Euler method. Subsequently, an active path tracking strategy of the trawl system based on the backstepping method is proposed. The nonstrict feedback characteristic of the proposed model employs a control allocation method and several parallel nonlinear PID (Proportion Integration Differentiation controllers to eliminate the high-order state variables. Then, the stability analysis by the Lyapunov Stability Theory shows that the proposed controller can maintain the stability of the trawl system even with the presence of external disturbances. To validate the proposed controller, a simulation comparison with a linear PID controller was conducted. The simulation results illustrate that the improved backstepping controller is effective for three-dimensional trajectory tracking of the midwater trawl system.

  3. Lossy compression of TPC data and trajectory tracking efficiency for the ALICE experiment

    International Nuclear Information System (INIS)

    Nicolaucig, A.; Ivanov, M.; Mattavelli, M.

    2003-01-01

    In this paper a quasi-lossless algorithm for the on-line compression of the data generated by the Time Projection Chamber (TPC) detector of the ALICE experiment at CERN is described. The algorithm is based on a lossy source code modeling technique, i.e. it is based on a source model which is lossy if samples of the TPC signal are considered one by one; conversely, the source model is lossless or quasi-lossless if some physical quantities that are of main interest for the experiment are considered. These quantities are the area and the location of the center of mass of each TPC signal pulse, representing the pulse charge and the time localization of the pulse. So as to evaluate the consequences of the error introduced by the lossy compression process, the results of the trajectory tracking algorithms that process data off-line after the experiment are analyzed, in particular, versus their sensibility to the noise introduced by the compression. Two different versions of these off-line algorithms are described, performing cluster finding and particle tracking. The results on how these algorithms are affected by the lossy compression are reported. Entropy coding can be applied to the set of events defined by the source model to reduce the bit rate to the corresponding source entropy. Using TPC simulated data according to the expected ALICE TPC performance, the compression algorithm achieves a data reduction in the range of 34.2% down to 23.7% of the original data rate depending on the desired precision on the pulse center of mass. The number of operations per input symbol required to implement the algorithm is relatively low, so that a real-time implementation of the compression process embedded in the TPC data acquisition chain using low-cost integrated electronics is a realistic option to effectively reduce the data storing cost of ALICE experiment

  4. Long-lasting amelioration of walking trajectory in neglect after prismatic adaptation

    Directory of Open Access Journals (Sweden)

    Marco eRabuffetti

    2013-07-01

    Full Text Available In the present investigation we explored the effect of prismatic adaptation (PA applied to the upper right limb on the walking trajectory of a neglect patient with more severe neglect in far than in near space. The patient was asked to bisect a line fixed to the floor by walking across it before and after four sessions of PA distributed over a time frame of 67 days. Gait path was analysed by means of an optoelectronic motion analysis system.The walking trajectory improved following PA and the result was maintained at follow-up, fifteen months after treatment. The improvement was greater for the predicted bisection error (estimated on the basis of the trajectory extrapolated from the first walking step then for the observed bisection error (measured at line crossing.These results show that PA may act on high level spatial representation of gait trajectory rather than on lower level sensory-motor gait components and suggest that PA may have a long lasting rehabilitative effect on neglect patients showing a deviated walking trajectory.

  5. Robust Takagi-Sugeno Fuzzy Dynamic Regulator for Trajectory Tracking of a Pendulum-Cart System

    Directory of Open Access Journals (Sweden)

    Miguel A. Llama

    2015-01-01

    Full Text Available Starting from a nonlinear model for a pendulum-cart system, on which viscous friction is considered, a Takagi-Sugeno (T-S fuzzy augmented model (TSFAM as well as a TSFAM with uncertainty (TSFAMwU is proposed. Since the design of a T-S fuzzy controller is based on the T-S fuzzy model of the nonlinear system, then, to address the trajectory tracking problem of the pendulum-cart system, three T-S fuzzy controllers are proposed via parallel distributed compensation: (1 a T-S fuzzy servo controller (TSFSC designed from the TSFAM; (2 a robust TSFSC (RTSFSC designed from the TSFAMwU; and (3 a robust T-S fuzzy dynamic regulator (RTSFDR designed from the RTSFSC with the addition of a T-S fuzzy observer, which estimates cart and pendulum velocities. Both TSFAM and TSFAMwU are comprised of two fuzzy rules and designed via local approximation in fuzzy partition spaces technique. Feedback gains for the three fuzzy controllers are obtained via linear matrix inequalities approach. A swing-up controller is developed to swing the pendulum up from its pendant position to its upright position. Real-time experiments validate the effectiveness of the proposed schemes, keeping the pendulum in its upright position while the cart follows a reference signal, standing out the RTSFDR.

  6. Lossy compression of TPC data and trajectory tracking efficiency for the ALICE experiment

    CERN Document Server

    Nicolaucig, A; Mattavelli, M

    2003-01-01

    In this paper a quasi-lossless algorithm for the on-line compression of the data generated by the Time Projection Chamber (TPC) detector of the ALICE experiment at CERN is described. The algorithm is based on a lossy source code modeling technique, i.e. it is based on a source model which is lossy if samples of the TPC signal are considered one by one; conversely, the source model is lossless or quasi-lossless if some physical quantities that are of main interest for the experiment are considered. These quantities are the area and the location of the center of mass of each TPC signal pulse, representing the pulse charge and the time localization of the pulse. So as to evaluate the consequences of the error introduced by the lossy compression process, the results of the trajectory tracking algorithms that process data off-line after the experiment are analyzed, in particular, versus their sensibility to the noise introduced by the compression. Two different versions of these off- line algorithms are described,...

  7. Dynamic modelling and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances

    Science.gov (United States)

    Yang, Xinxin; Ge, Shuzhi Sam; He, Wei

    2018-04-01

    In this paper, both the closed-form dynamics and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances are developed. The dynamic model of the system is described with assumed modes approach and Lagrangian method. The flexible manipulators are represented as Euler-Bernoulli beams. Based on singular perturbation technique, the displacements/joint angles and flexible modes are modelled as slow and fast variables, respectively. A sliding mode control is designed for trajectories tracking of the slow subsystem under unknown but bounded disturbances, and an adaptive sliding mode control is derived for slow subsystem under unknown slowly time-varying disturbances. An optimal linear quadratic regulator method is proposed for the fast subsystem to damp out the vibrations of the flexible manipulators. Theoretical analysis validates the stability of the proposed composite controller. Numerical simulation results demonstrate the performance of the closed-loop flexible space robot system.

  8. Singularity-Free Neural Control for the Exponential Trajectory Tracking in Multiple-Input Uncertain Systems with Unknown Deadzone Nonlinearities

    Directory of Open Access Journals (Sweden)

    J. Humberto Pérez-Cruz

    2014-01-01

    Full Text Available The trajectory tracking for a class of uncertain nonlinear systems in which the number of possible states is equal to the number of inputs and each input is preceded by an unknown symmetric deadzone is considered. The unknown dynamics is identified by means of a continuous time recurrent neural network in which the control singularity is conveniently avoided by guaranteeing the invertibility of the coupling matrix. Given this neural network-based mathematical model of the uncertain system, a singularity-free feedback linearization control law is developed in order to compel the system state to follow a reference trajectory. By means of Lyapunov-like analysis, the exponential convergence of the tracking error to a bounded zone can be proven. Likewise, the boundedness of all closed-loop signals can be guaranteed.

  9. Optimal spectral tracking--adapting to dynamic regime change.

    Science.gov (United States)

    Brittain, John-Stuart; Halliday, David M

    2011-01-30

    Real world data do not always obey the statistical restraints imposed upon them by sophisticated analysis techniques. In spectral analysis for instance, an ergodic process--the interchangeability of temporal for spatial averaging--is assumed for a repeat-trial design. Many evolutionary scenarios, such as learning and motor consolidation, do not conform to such linear behaviour and should be approached from a more flexible perspective. To this end we previously introduced the method of optimal spectral tracking (OST) in the study of trial-varying parameters. In this extension to our work we modify the OST routines to provide an adaptive implementation capable of reacting to dynamic transitions in the underlying system state. In so doing, we generalise our approach to characterise both slow-varying and rapid fluctuations in time-series, simultaneously providing a metric of system stability. The approach is first applied to a surrogate dataset and compared to both our original non-adaptive solution and spectrogram approaches. The adaptive OST is seen to display fast convergence and desirable statistical properties. All three approaches are then applied to a neurophysiological recording obtained during a study on anaesthetic monitoring. Local field potentials acquired from the posterior hypothalamic region of a deep brain stimulation patient undergoing anaesthesia were analysed. The characterisation of features such as response delay, time-to-peak and modulation brevity are considered. Copyright © 2010 Elsevier B.V. All rights reserved.

  10. A model predictive control approach combined unscented Kalman filter vehicle state estimation in intelligent vehicle trajectory tracking

    Directory of Open Access Journals (Sweden)

    Hongxiao Yu

    2015-05-01

    Full Text Available Trajectory tracking and state estimation are significant in the motion planning and intelligent vehicle control. This article focuses on the model predictive control approach for the trajectory tracking of the intelligent vehicles and state estimation of the nonlinear vehicle system. The constraints of the system states are considered when applying the model predictive control method to the practical problem, while 4-degree-of-freedom vehicle model and unscented Kalman filter are proposed to estimate the vehicle states. The estimated states of the vehicle are used to provide model predictive control with real-time control and judge vehicle stability. Furthermore, in order to decrease the cost of solving the nonlinear optimization, the linear time-varying model predictive control is used at each time step. The effectiveness of the proposed vehicle state estimation and model predictive control method is tested by driving simulator. The results of simulations and experiments show that great and robust performance is achieved for trajectory tracking and state estimation in different scenarios.

  11. Adaptive filtering for hidden node detection and tracking in networks.

    Science.gov (United States)

    Hamilton, Franz; Setzer, Beverly; Chavez, Sergio; Tran, Hien; Lloyd, Alun L

    2017-07-01

    The identification of network connectivity from noisy time series is of great interest in the study of network dynamics. This connectivity estimation problem becomes more complicated when we consider the possibility of hidden nodes within the network. These hidden nodes act as unknown drivers on our network and their presence can lead to the identification of false connections, resulting in incorrect network inference. Detecting the parts of the network they are acting on is thus critical. Here, we propose a novel method for hidden node detection based on an adaptive filtering framework with specific application to neuronal networks. We consider the hidden node as a problem of missing variables when model fitting and show that the estimated system noise covariance provided by the adaptive filter can be used to localize the influence of the hidden nodes and distinguish the effects of different hidden nodes. Additionally, we show that the sequential nature of our algorithm allows for tracking changes in the hidden node influence over time.

  12. Adaptive fuzzy tracking control for a constrained flexible air-breathing hypersonic vehicle based on actuator compensation

    Directory of Open Access Journals (Sweden)

    Peng Fei Wang

    2016-10-01

    Full Text Available The design of an adaptive fuzzy tracking control for a flexible air-breathing hypersonic vehicle with actuator constraints is discussed. Based on functional decomposition methodology, velocity and altitude controllers are designed. Fuzzy logic systems are applied to approximate the lumped uncertainty of each subsystem of air-breathing hypersonic vehicle model. Every controllers contain only one adaptive parameter that needs to be updated online with a minimal-learning-parameter scheme. The back-stepping design is not demanded by converting the altitude subsystem into the normal output-feedback formulation, which predigests the design of a controller. The special contribution is that novel auxiliary systems are developed to compensate both the tracking errors and desired control laws, based on which the explored controller can still provide effective tracking of velocity and altitude commands when the inputs are saturated. Finally, reference trajectory tracking simulation shows the effectiveness of the proposed method in its application to air-breathing hypersonic vehicle control.

  13. Distributed finite-time trajectory tracking control for multiple nonholonomic mobile robots with uncertainties and external disturbances

    Science.gov (United States)

    Ou, Meiying; Sun, Haibin; Gu, Shengwei; Zhang, Yangyi

    2017-11-01

    This paper investigates the distributed finite-time trajectory tracking control for a group of nonholonomic mobile robots with time-varying unknown parameters and external disturbances. At first, the tracking error system is derived for each mobile robot with the aid of a global invertible transformation, which consists of two subsystems, one is a first-order subsystem and another is a second-order subsystem. Then, the two subsystems are studied respectively, and finite-time disturbance observers are proposed for each robot to estimate the external disturbances. Meanwhile, distributed finite-time tracking controllers are developed for each mobile robot such that all states of each robot can reach the desired value in finite time, where the desired reference value is assumed to be the trajectory of a virtual leader whose information is available to only a subset of the followers, and the followers are assumed to have only local interaction. The effectiveness of the theoretical results is finally illustrated by numerical simulations.

  14. An automated dose tracking system for adaptive radiation therapy.

    Science.gov (United States)

    Liu, Chang; Kim, Jinkoo; Kumarasiri, Akila; Mayyas, Essa; Brown, Stephen L; Wen, Ning; Siddiqui, Farzan; Chetty, Indrin J

    2018-02-01

    The implementation of adaptive radiation therapy (ART) into routine clinical practice is technically challenging and requires significant resources to perform and validate each process step. The objective of this report is to identify the key components of ART, to illustrate how a specific automated procedure improves efficiency, and to facilitate the routine clinical application of ART. Data was used from patient images, exported from a clinical database and converted to an intermediate format for point-wise dose tracking and accumulation. The process was automated using in-house developed software containing three modularized components: an ART engine, user interactive tools, and integration tools. The ART engine conducts computing tasks using the following modules: data importing, image pre-processing, dose mapping, dose accumulation, and reporting. In addition, custom graphical user interfaces (GUIs) were developed to allow user interaction with select processes such as deformable image registration (DIR). A commercial scripting application programming interface was used to incorporate automated dose calculation for application in routine treatment planning. Each module was considered an independent program, written in C++or C#, running in a distributed Windows environment, scheduled and monitored by integration tools. The automated tracking system was retrospectively evaluated for 20 patients with prostate cancer and 96 patients with head and neck cancer, under institutional review board (IRB) approval. In addition, the system was evaluated prospectively using 4 patients with head and neck cancer. Altogether 780 prostate dose fractions and 2586 head and neck cancer dose fractions went processed, including DIR and dose mapping. On average, daily cumulative dose was computed in 3 h and the manual work was limited to 13 min per case with approximately 10% of cases requiring an additional 10 min for image registration refinement. An efficient and convenient

  15. Quantum Dynamics with Short-Time Trajectories and Minimal Adaptive Basis Sets.

    Science.gov (United States)

    Saller, Maximilian A C; Habershon, Scott

    2017-07-11

    Methods for solving the time-dependent Schrödinger equation via basis set expansion of the wave function can generally be categorized as having either static (time-independent) or dynamic (time-dependent) basis functions. We have recently introduced an alternative simulation approach which represents a middle road between these two extremes, employing dynamic (classical-like) trajectories to create a static basis set of Gaussian wavepackets in regions of phase-space relevant to future propagation of the wave function [J. Chem. Theory Comput., 11, 8 (2015)]. Here, we propose and test a modification of our methodology which aims to reduce the size of basis sets generated in our original scheme. In particular, we employ short-time classical trajectories to continuously generate new basis functions for short-time quantum propagation of the wave function; to avoid the continued growth of the basis set describing the time-dependent wave function, we employ Matching Pursuit to periodically minimize the number of basis functions required to accurately describe the wave function. Overall, this approach generates a basis set which is adapted to evolution of the wave function while also being as small as possible. In applications to challenging benchmark problems, namely a 4-dimensional model of photoexcited pyrazine and three different double-well tunnelling problems, we find that our new scheme enables accurate wave function propagation with basis sets which are around an order-of-magnitude smaller than our original trajectory-guided basis set methodology, highlighting the benefits of adaptive strategies for wave function propagation.

  16. Vulnerability of Australian agriculture to climate change: sequencing impacts over IPCC trajectories for adaptation planning

    International Nuclear Information System (INIS)

    Mallawaarachchi, Thilak; Hodges, Andrew; Wicks, Santhi; Kokic, Phil; Nelson, Rohan

    2007-01-01

    Full text: Full text: Agricultural systems are susceptible to adverse effects of climate change, including climate variability and extremes. While the degree of vulnerability is a function of the magnitude and the rate of variation in climate exposure, agricultural systems with a stronger adaptive capacity are likely to be less vulnerable to climate change. In preparing the agriculture sector for ongoing climate change, adaptation planning to moderate potential impacts and to take advantage of opportunities, has emerged as an effective strategic response. Global climate change scenarios developed by the IPCC indicate that changes in climate may alter the production potential of agriculture across many regions. Wide regional variability in productivity, extensive land use and the dominance in rural economies across Australia could expose agriculture to considerable risks from climate change impacts. In many cases these risks could cascade across a range of sectors and vary overtime, reflecting the capacity of exposed enterprises to adapt to a changing climate by taking advantage of opportunities. Effective planning of adaptation responses will require integrated assessments of regional vulnerability to climate risks over IPCC projection trajectories. In this paper, we present a method for estimating and mapping vulnerability to climate risks at the regional level, and apply this method to examine the vulnerability of Australian agriculture to climate change, focusing on case studies drawn from dryland broadacre and irrigated horticulture industries. In developing a conceptual framework for assessing vulnerability and adaptation options, the paper provides a review of key approaches used globally for the assessment of vulnerability to climate change in agriculture. It presents an approach to link global climate change scenario-based projections for assessing economic impacts on industries and regions through a process that maps climate risks to factors contributing

  17. Adaptive tracking for pneumatic muscle actuators in bicep and tricep configurations.

    Science.gov (United States)

    Lilly, John H

    2003-09-01

    Adaptive tracking techniques are applied to pneumatic muscle actuators arranged in bicep and tricep configurations. The control objective is to force the joint angle to track a specified reference path. Mathematical models are derived for the bicep and tricep configurations. The models are nonlinear and in general time-varying, making adaptive control desirable. Stability results are derived, and the results of simulation studies are presented, contrasting the nonlinear adaptive control to a nonadaptive PID control approach.

  18. Trajectory-tracking control of underwater inspection robot for nuclear reactor internals using Time Delay Control

    International Nuclear Information System (INIS)

    Park, Joon-Young; Cho, Byung-Hak; Lee, Jae-Kyung

    2009-01-01

    This paper addresses the trajectory control problem of an underwater inspection robot for nuclear reactor internals. From the viewpoint of control engineering, the trajectory control of the underwater robot is a difficult task due to its nonlinear dynamics, which includes various hydraulic forces such as buoyancy and hydrodynamic damping, the difference between the centres of gravity and buoyancy, and disturbances from a tether cable. To solve such problems, we applied Time Delay Control to the underwater robot. This control law has a very simple structure not requiring nonlinear plant dynamics, and was proven to be highly robust against nonlinearities, uncertainties and disturbances. We confirmed its effectiveness through experiments.

  19. Longitudinal trajectories of intellectual and adaptive functioning in adolescents and adults with Williams syndrome.

    Science.gov (United States)

    Fisher, M H; Lense, M D; Dykens, E M

    2016-10-01

    Williams syndrome (WS) is associated with a distinct cognitive-behavioural phenotype including mild to moderate intellectual disability, visual-spatial deficits, hypersociability, inattention and anxiety. Researchers typically characterise samples of individuals with WS by their intellectual functioning and adaptive behaviour. Because of the low prevalence of the syndrome, researchers often include participants with WS across a broad age range throughout childhood and adulthood and assume participants demonstrate consistent cognitive development across ages. Indeed, IQ scores are generally stable for children and adolescents with WS, although there are significant individual differences. It is less clear whether this pattern of stable intellectual ability persists into adulthood. Furthermore, while adaptive behaviour is an important indicator of an individual's ability to apply their conceptual skills to everyday functioning, conflicting findings on the trajectories of adaptive behaviour in adolescents and adults with WS have been reported. The current study examined longitudinal profiles of cognitive and adaptive functioning in adolescents and adults with WS. To examine cognitive functioning, participants included 52 individuals with WS (51.9% men) who were assessed with the Kaufman Brief Intelligence Test, 2nd edition (KBIT-2) between two and seven times. At their first assessment, participants had a mean age of 25.4 years (SD = 8.4), ranging in age from 14.2 to 48.9 years. To assess adaptive behaviour, participants included a subset of 28 individuals with WS whose parents completed the Vineland Adaptive Behavior Scale, 2nd edition (VABS-II) between two and five times. At their initial administration, participants ranged from 17.1-40.2 years of age, with a mean age of 26.5 years (SD = 7.3). A series of multilevel models were used to examine changes in KBIT-2 Composite IQ, Verbal IQ and Nonverbal IQ standard scores over time, as well as the

  20. Toward a method for tracking virus evolutionary trajectory applied to the pandemic H1N1 2009 influenza virus.

    Science.gov (United States)

    Squires, R Burke; Pickett, Brett E; Das, Sajal; Scheuermann, Richard H

    2014-12-01

    In 2009 a novel pandemic H1N1 influenza virus (H1N1pdm09) emerged as the first official influenza pandemic of the 21st century. Early genomic sequence analysis pointed to the swine origin of the virus. Here we report a novel computational approach to determine the evolutionary trajectory of viral sequences that uses data-driven estimations of nucleotide substitution rates to track the gradual accumulation of observed sequence alterations over time. Phylogenetic analysis and multiple sequence alignments show that sequences belonging to the resulting evolutionary trajectory of the H1N1pdm09 lineage exhibit a gradual accumulation of sequence variations and tight temporal correlations in the topological structure of the phylogenetic trees. These results suggest that our evolutionary trajectory analysis (ETA) can more effectively pinpoint the evolutionary history of viruses, including the host and geographical location traversed by each segment, when compared against either BLAST or traditional phylogenetic analysis alone. Copyright © 2014 Elsevier B.V. All rights reserved.

  1. Research on Ship Trajectory Tracking with High Precision Based on LOS

    Directory of Open Access Journals (Sweden)

    Hengzhi Liu

    2018-01-01

    Full Text Available Aiming at how precise to track by LOS, a method is proposed. The method combines the advantages of LOS simplicity and intuition, easy parameter setting and good convergence, with the features of GPC softening, multi-step prediction, rolling optimization and excellent controllability and robustness. In order to verify the effectiveness of the method, the method is simulated by Matlab. The simulation’s results show that it makes ship tracking highly precise.

  2. A Dynamic and Adaptive Selection Radar Tracking Method Based on Information Entropy

    Directory of Open Access Journals (Sweden)

    Ge Jianjun

    2017-12-01

    Full Text Available Nowadays, the battlefield environment has become much more complex and variable. This paper presents a quantitative method and lower bound for the amount of target information acquired from multiple radar observations to adaptively and dynamically organize the detection of battlefield resources based on the principle of information entropy. Furthermore, for minimizing the given information entropy’s lower bound for target measurement at every moment, a method to dynamically and adaptively select radars with a high amount of information for target tracking is proposed. The simulation results indicate that the proposed method has higher tracking accuracy than that of tracking without adaptive radar selection based on entropy.

  3. Children with Williams syndrome: Developmental trajectories for intellectual abilities, vocabulary abilities, and adaptive behavior.

    Science.gov (United States)

    Mervis, Carolyn B; Pitts, C Holley

    2015-06-01

    To examine longitudinal trajectories of intellectual abilities, single-word vocabulary abilities, and adaptive behavior for 76 children with Williams syndrome (WS) aged 4-15 years, we compared their standard scores (SSs) at two time points approximately 3 years apart on the same standardized measures. At the group level, mean SS declined significantly for 8 of the 12 measures and showed a slight (nonsignificant) increase or decrease for 4 measures. However, for most measures significant changes in SS were found for only a small proportion of the children, with some children evidencing significant declines and a smaller proportion evidencing significant increases. Significant SS changes were most common for adaptive behavior. For all measures, the mean magnitude of SS change was smaller for older children (>7.5 years at Time 1) than for younger children (general population peers who earned the same SS at Time 1, there was little evidence either of regression (loss of skills) or stagnation (failure to increase raw scores). The relations of these results to those of previous smaller-sample longitudinal studies of children with WS and the implications of the findings are considered. © 2015 Wiley Periodicals, Inc.

  4. How to Track Adaptation to Climate Change: A Typology of Approaches for National-Level Application

    Directory of Open Access Journals (Sweden)

    James D. Ford

    2013-09-01

    Full Text Available The need to track climate change adaptation progress is being increasingly recognized but our ability to do the tracking is constrained by the complex nature of adaptation and the absence of measurable outcomes or indicators by which to judge if and how adaptation is occurring. We developed a typology of approaches by which climate change adaptation can be tracked globally at a national level. On the one hand, outcome-based approaches directly measure adaptation progress and effectiveness with reference to avoided climate change impacts. However, given that full exposure to climate change impacts will not happen for decades, alternative approaches focus on developing indicators or proxies by which adaptation can be monitored. These include systematic measures of adaptation readiness, processes undertaken to advance adaptation, policies and programs implemented to adapt, and measures of the impacts of these policies and programs on changing vulnerability. While these approaches employ various methods and data sources, and identify different components of adaptation progress to track at the national level, they all seek to characterize the current status of adaptation by which progress over time can be monitored. However, there are significant challenges to operationalizing these approaches, including an absence of systematically collected data on adaptation actions and outcomes, underlying difficulties of defining what constitutes "adaptation", and a disconnect between the timescale over which adaptation plays out and the practical need for evaluation to inform policy. Given the development of new adaptation funding streams, it is imperative that tools for monitoring progress are developed and validated for identifying trends and gaps in adaptation response.

  5. Adaptive Output Tracking Control for Nonlinear Systems with Failed Actuators and Aircraft Flight System Applications

    Directory of Open Access Journals (Sweden)

    Chuanjing Hou

    2015-01-01

    Full Text Available An adaptive failure compensation scheme using output feedback is proposed for a class of nonlinear systems with nonlinearities depending on the unmeasured states of systems. Adaptive high-gain K-filters are presented to suppress the nonlinearities while the proposed backstepping adaptive high-gain controller guarantees the stability of the closed-loop system and small tracking errors. Simulation results verify that the adaptive failure compensation scheme is effective.

  6. Adaptive Output Tracking Control for Nonlinear Systems with Failed Actuators and Aircraft Flight System Applications

    OpenAIRE

    Hou, Chuanjing; Hu, Lisheng; Zhang, Yingwei

    2015-01-01

    An adaptive failure compensation scheme using output feedback is proposed for a class of nonlinear systems with nonlinearities depending on the unmeasured states of systems. Adaptive high-gain K-filters are presented to suppress the nonlinearities while the proposed backstepping adaptive high-gain controller guarantees the stability of the closed-loop system and small tracking errors. Simulation results verify that the adaptive failure compensation scheme is effective.

  7. New Low Cost Structure for Dual Axis Mount Solar Tracking System Using Adaptive Solar Sensor

    DEFF Research Database (Denmark)

    Argeseanu, Alin; Ritchie, Ewen; Leban, Krisztina Monika

    2010-01-01

    A solar tracking system is designed to optimize the operation of solar energy receivers. The objective of this paper is proposing a new tracking system structure with two axis. The success strategy of this new project focuses on the economical analysis of solar energy. Therefore it is important...... to determine the most cost effective design, to consider the costs of production and maintenance, and operating. The proposed tracking system uses a new solar sensor position with an adaptive feature....

  8. Forecasting Hurricane Tracks Using a Complex Adaptive System

    National Research Council Canada - National Science Library

    Lear, Matthew R

    2005-01-01

    Forecast hurricane tracks using a multi-model ensemble that consists of linearly combining the individual model forecasts have greatly reduced the average forecast errors when compared to individual...

  9. A Complex Adaptive System Approach to Forecasting Hurricane Tracks

    National Research Council Canada - National Science Library

    Lear, Matthew R

    2005-01-01

    Forecast hurricane tracks using a multi-model ensemble that consists of linearly combining the individual model forecasts have greatly reduced the average forecast errors when compared to individual...

  10. Chattering-Free Adaptive Sliding Mode Control for Attitude Tracking of Spacecraft with External Disturbance

    Directory of Open Access Journals (Sweden)

    Xuxi Zhang

    2014-01-01

    Full Text Available The attitude tracking problem of spacecraft in the presence of unknown disturbance is investigated. By using the adaptive control technique and the Lyapunov stability theory, a chattering-free adaptive sliding mode control law is proposed for the attitude tracking problem of spacecraft with unknown disturbance. Simulation results are employed to demonstrate the effectiveness of the proposed control design technique in this paper.

  11. Tracking Persons-of-Interest via Unsupervised Representation Adaptation

    OpenAIRE

    Zhang, Shun; Huang, Jia-Bin; Lim, Jongwoo; Gong, Yihong; Wang, Jinjun; Ahuja, Narendra; Yang, Ming-Hsuan

    2017-01-01

    Multi-face tracking in unconstrained videos is a challenging problem as faces of one person often appear drastically different in multiple shots due to significant variations in scale, pose, expression, illumination, and make-up. Existing multi-target tracking methods often use low-level features which are not sufficiently discriminative for identifying faces with such large appearance variations. In this paper, we tackle this problem by learning discriminative, video-specific face representa...

  12. Non-MTC gait cycles: An adaptive toe trajectory control strategy in older adults.

    Science.gov (United States)

    Santhiranayagam, Braveena K; Sparrow, W A; Lai, Daniel T H; Begg, Rezaul K

    2017-03-01

    Minimum-toe-clearance (MTC) above the walking surface is a critical representation of toe-trajectory control due to its association with tripping risk. Not all gait cycles exhibit a clearly defined MTC within the swing phase but there have been few previous accounts of the biomechanical characteristics of non-MTC gait cycles. The present report investigated the within-subject non-MTC gait cycle characteristics of 15 older adults (mean 73.1 years) and 15 young controls (mean 26.1 years). Participants performed the following tasks on a motorized treadmill: preferred speed walking, dual task walking (carrying a glass of water) and a dual-task speed-matched control. Toe position-time coordinates were acquired using a 3 dimensional motion capture system. When MTC was present, toe height at MTC (MTC height ) was extracted. The proportion of non-MTC gait cycles was computed for the age groups and individuals. For non-MTC gait cycles an 'indicative' toe height at the individual's average swing phase time (MTC time ) for observed MTC cycles was averaged across multiple non-MTC gait cycles. In preferred-speed walking Young demonstrated 2.9% non-MTC gait cycles and Older 18.7%. In constrained walking conditions both groups increased non-MTC gait cycles and some older adults revealed over 90%, confirming non-MTC gait cycles as an ageing-related phenomenon in lower limb trajectory control. For all participants median indicative toe-height on non-MTC gait cycles was greater than median MTC height . This result suggests that eliminating the biomechanically hazardous MTC event by adopting more of the higher-clearance non-MTC gait cycles, is adaptive in reducing the likelihood of toe-ground contact. Copyright © 2017 Elsevier B.V. All rights reserved.

  13. Fuzzy Vector Field Orientation Feedback Control-Based Slip Compensation for Trajectory Tracking Control of a Four Track Wheel Skid-steered Mobile Robot

    Directory of Open Access Journals (Sweden)

    Xuan Vinh Ha

    2013-04-01

    Full Text Available Skid-steered mobile robots have been widely used in exploring unknown environments and in military applications. In this paper, the tuning fuzzy Vector Field Orientation (FVFO feedback control method is proposed for a four track wheel skid-steered mobile robot (4-TW SSMR using flexible fuzzy logic control (FLC. The extended Kalman filter is utilized to estimate the positions, velocities and orientation angles, which are used for feedback control signals in the FVFO method, based on the AHRS kinematic motion model and velocity constraints. In addition, in light of the wheel slip and the braking ability of the robot, we propose a new method for estimating online wheel slip parameters based on a discrete Kalman filter to compensate for the velocity constraints. As demonstrated by our experimental results, the advantages of the combination of the proposed FVFO and wheel slip estimation methods overcome the limitations of the others in the trajectory tracking control problem for a 4-TW SSMR.

  14. Placement Stability, Cumulative Time in Care, and Permanency: Using Administrative Data from CPS to Track Placement Trajectories.

    Science.gov (United States)

    Hélie, Sonia; Poirier, Marie-Andrée; Esposito, Tonino; Turcotte, Daniel

    2017-11-17

    Objectives : The Quebec Youth Protection Act was amended in 2007. The main goal of this reform was to improve placement stability for children who are removed from their home for their protection. Among several legal provisions introduced was the establishment of maximum age-specific durations of out-of-home care, after which a plan must be established to provide stability for children placed in substitute care by finding permanent homes for them. The purpose of this study is (1) to examine trends in placement use and placement stability since the reform and (2) to document the current frequency of each type of placement setting, the cumulative time in care before the exit to permanency, and the sustainability of the permanency outcome. Methods: The study relies on 3 entry cohorts of all children investigated who received protection measures in the province of Quebec during 3 specific time frames before and after the reform ( n = 9620, 8676, 8425). Cohorts were observed for a period varying from 3 to 4 years. Administrative data from all 16 child protection agencies were used to track placement trajectory indicators and to compare cohorts. Results : There has been a decrease in the proportion of children receiving protection measures who were placed in care since the reform, and placement in kinship care has become more frequent among children placed. Placement stability improved slightly after the reform. Overall, for infants, the most frequent type of permanency attained is adoption, while reunification is the option most often indicated for older children. Some children are at a greater risk of experiencing unstable placement trajectories: young children have a high rate of reunification breakdown, some wait a long time to be adopted, and adolescents are frequently removed from the substitute care setting where they were supposed to stay until the age of 18. Conclusions : The results suggest interesting avenues for policy makers and service providers to improve

  15. Placement Stability, Cumulative Time in Care, and Permanency: Using Administrative Data from CPS to Track Placement Trajectories

    Directory of Open Access Journals (Sweden)

    Sonia Hélie

    2017-11-01

    Full Text Available Objectives: The Quebec Youth Protection Act was amended in 2007. The main goal of this reform was to improve placement stability for children who are removed from their home for their protection. Among several legal provisions introduced was the establishment of maximum age-specific durations of out-of-home care, after which a plan must be established to provide stability for children placed in substitute care by finding permanent homes for them. The purpose of this study is (1 to examine trends in placement use and placement stability since the reform and (2 to document the current frequency of each type of placement setting, the cumulative time in care before the exit to permanency, and the sustainability of the permanency outcome. Methods: The study relies on 3 entry cohorts of all children investigated who received protection measures in the province of Quebec during 3 specific time frames before and after the reform (n = 9620, 8676, 8425. Cohorts were observed for a period varying from 3 to 4 years. Administrative data from all 16 child protection agencies were used to track placement trajectory indicators and to compare cohorts. Results: There has been a decrease in the proportion of children receiving protection measures who were placed in care since the reform, and placement in kinship care has become more frequent among children placed. Placement stability improved slightly after the reform. Overall, for infants, the most frequent type of permanency attained is adoption, while reunification is the option most often indicated for older children. Some children are at a greater risk of experiencing unstable placement trajectories: young children have a high rate of reunification breakdown, some wait a long time to be adopted, and adolescents are frequently removed from the substitute care setting where they were supposed to stay until the age of 18. Conclusions: The results suggest interesting avenues for policy makers and service

  16. Placement Stability, Cumulative Time in Care, and Permanency: Using Administrative Data from CPS to Track Placement Trajectories

    Science.gov (United States)

    Hélie, Sonia; Poirier, Marie-Andrée; Esposito, Tonino; Turcotte, Daniel

    2017-01-01

    Objectives: The Quebec Youth Protection Act was amended in 2007. The main goal of this reform was to improve placement stability for children who are removed from their home for their protection. Among several legal provisions introduced was the establishment of maximum age-specific durations of out-of-home care, after which a plan must be established to provide stability for children placed in substitute care by finding permanent homes for them. The purpose of this study is (1) to examine trends in placement use and placement stability since the reform and (2) to document the current frequency of each type of placement setting, the cumulative time in care before the exit to permanency, and the sustainability of the permanency outcome. Methods: The study relies on 3 entry cohorts of all children investigated who received protection measures in the province of Quebec during 3 specific time frames before and after the reform (n = 9620, 8676, 8425). Cohorts were observed for a period varying from 3 to 4 years. Administrative data from all 16 child protection agencies were used to track placement trajectory indicators and to compare cohorts. Results: There has been a decrease in the proportion of children receiving protection measures who were placed in care since the reform, and placement in kinship care has become more frequent among children placed. Placement stability improved slightly after the reform. Overall, for infants, the most frequent type of permanency attained is adoption, while reunification is the option most often indicated for older children. Some children are at a greater risk of experiencing unstable placement trajectories: young children have a high rate of reunification breakdown, some wait a long time to be adopted, and adolescents are frequently removed from the substitute care setting where they were supposed to stay until the age of 18. Conclusions: The results suggest interesting avenues for policy makers and service providers to improve the

  17. Adaptive Rotorcraft Condition and Usage Tracking System (ARCUTS), Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — International Electronic Machines (IEM), a leader in the development of innovative sensor solutions for transportation systems, will develop the Adaptive Rotorcraft...

  18. Disturbance Observer for Lateral Trajectory Tracking Control for Autonomous and Cooperative Driving

    OpenAIRE

    Christian Rathgeber; Franz Winkler; Dirk Odenthal; Steffen Muller

    2015-01-01

    In this contribution a structure for high level lateral vehicle tracking control based on the disturbance observer is presented. The structure is characterized by stationary compensating side forces disturbances and guaranteeing a cooperative behavior at the same time. Driver inputs are not compensated by the disturbance observer. Moreover the structure is especially useful as it robustly stabilizes the vehicle. Therefore the parameters are selected using the Parameter Space Approach. The imp...

  19. ADAPTIVE BACKGROUND DENGAN METODE GAUSSIAN MIXTURE MODELS UNTUK REAL-TIME TRACKING

    Directory of Open Access Journals (Sweden)

    Silvia Rostianingsih

    2008-01-01

    Full Text Available Nowadays, motion tracking application is widely used for many purposes, such as detecting traffic jam and counting how many people enter a supermarket or a mall. A method to separate background and the tracked object is required for motion tracking. It will not be hard to develop the application if the tracking is performed on a static background, but it will be difficult if the tracked object is at a place with a non-static background, because the changing part of the background can be recognized as a tracking area. In order to handle the problem an application can be made to separate background where that separation can adapt to change that occur. This application is made to produce adaptive background using Gaussian Mixture Models (GMM as its method. GMM method clustered the input pixel data with pixel color value as it’s basic. After the cluster formed, dominant distributions are choosen as background distributions. This application is made by using Microsoft Visual C 6.0. The result of this research shows that GMM algorithm could made adaptive background satisfactory. This proofed by the result of the tests that succeed at all condition given. This application can be developed so the tracking process integrated in adaptive background maker process. Abstract in Bahasa Indonesia : Saat ini, aplikasi motion tracking digunakan secara luas untuk banyak tujuan, seperti mendeteksi kemacetan dan menghitung berapa banyak orang yang masuk ke sebuah supermarket atau sebuah mall. Sebuah metode untuk memisahkan antara background dan obyek yang di-track dibutuhkan untuk melakukan motion tracking. Membuat aplikasi tracking pada background yang statis bukanlah hal yang sulit, namun apabila tracking dilakukan pada background yang tidak statis akan lebih sulit, dikarenakan perubahan background dapat dikenali sebagai area tracking. Untuk mengatasi masalah tersebut, dapat dibuat suatu aplikasi untuk memisahkan background dimana aplikasi tersebut dapat

  20. Remaining Useful Life Estimation using Time Trajectory Tracking and Support Vector Machines

    International Nuclear Information System (INIS)

    Galar, D; Kumar, U; Lee, J; Zhao, W

    2012-01-01

    In this paper, a novel RUL prediction method inspired by feature maps and SVM classifiers is proposed. The historical instances of a system with life-time condition data are used to create a classification by SVM hyper planes. For a test instance of the same system, whose RUL is to be estimated, degradation speed is evaluated by computing the minimal distance defined based on the degradation trajectories, i.e. the approach of the system to the hyper plane that segregates good and bad condition data at different time horizon. Therefore, the final RUL of a specific component can be estimated and global RUL information can then be obtained by aggregating the multiple RUL estimations using a density estimation method.

  1. Adaptive Visual Face Tracking for an Autonomous Robot

    NARCIS (Netherlands)

    van Hoof, Herke; van der Zant, Tijn; Wiering, Marco

    2011-01-01

    Perception is an essential ability for autonomous robots in non-standardized conditions. However, the appearance of objects can change between different conditions. A system visually tracking a target based on its appearance could lose its target in those cases. A tracker learning the appearance of

  2. Efficient Dynamic Adaptation Strategies for Object Tracking Tree in Wireless Sensor Network

    Directory of Open Access Journals (Sweden)

    CHEN, M.

    2012-12-01

    Full Text Available Most object tracking trees are established using the predefined mobility profile. However, when the real object's movement behaviors and query rates are different from the predefined mobility profile and query rates, the update cost and query cost of object tracking tree may increase. To upgrade the object tracking tree, the sink needs to send very large messages to collect the real movement information from the network, introducing a very large message overhead, which is referred to as adaptation cost. The Sub Root Message-Tree Adaptive procedure was proposed to dynamically collect the real movement information under the sub-tree and reconstruct the sub-tree to provide good performance based on the collected information. The simulation results indicates that the Sub Root Message-Tree Adaptive procedure is sufficient to achieve good total cost and lower adaptation cost.

  3. Adaptive DIT-Based Fringe Tracking and Prediction at IOTA

    Science.gov (United States)

    Wilson, Edward; Pedretti, Ettore; Bregman, Jesse; Mah, Robert W.; Traub, Wesley A.

    2004-01-01

    An automatic fringe tracking system has been developed and implemented at the Infrared Optical Telescope Array (IOTA). In testing during May 2002, the system successfully minimized the optical path differences (OPDs) for all three baselines at IOTA. Based on sliding window discrete Fourier transform (DFT) calculations that were optimized for computational efficiency and robustness to atmospheric disturbances, the algorithm has also been tested extensively on off-line data. Implemented in ANSI C on the 266 MHZ PowerPC processor running the VxWorks real-time operating system, the algorithm runs in approximately 2.0 milliseconds per scan (including all three interferograms), using the science camera and piezo scanners to measure and correct the OPDs. Preliminary analysis on an extension of this algorithm indicates a potential for predictive tracking, although at present, real-time implementation of this extension would require significantly more computational capacity.

  4. Learning the trajectory of a moving visual target and evolution of its tracking in the monkey

    Science.gov (United States)

    Bourrelly, Clara; Quinet, Julie; Cavanagh, Patrick

    2016-01-01

    An object moving in the visual field triggers a saccade that brings its image onto the fovea. It is followed by a combination of slow eye movements and catch-up saccades that try to keep the target image on the fovea as long as possible. The accuracy of this ability to track the “here-and-now” location of a visual target contrasts with the spatiotemporally distributed nature of its encoding in the brain. We show in six experimentally naive monkeys how this performance is acquired and gradually evolves during successive daily sessions. During the early exposure, the tracking is mostly saltatory, made of relatively large saccades separated by low eye velocity episodes, demonstrating that accurate (here and now) pursuit is not spontaneous and that gaze direction lags behind its location most of the time. Over the sessions, while the pursuit velocity is enhanced, the gaze is more frequently directed toward the current target location as a consequence of a 25% reduction in the number of catch-up saccades and a 37% reduction in size (for the first saccade). This smoothing is observed at several scales: during the course of single trials, across the set of trials within a session, and over successive sessions. We explain the neurophysiological processes responsible for this combined evolution of saccades and pursuit in the absence of stringent training constraints. More generally, our study shows that the oculomotor system can be used to discover the neural mechanisms underlying the ability to synchronize a motor effector with a dynamic external event. PMID:27683886

  5. Learning-Based Adaptive Optimal Tracking Control of Strict-Feedback Nonlinear Systems.

    Science.gov (United States)

    Gao, Weinan; Jiang, Zhong-Ping; Weinan Gao; Zhong-Ping Jiang; Gao, Weinan; Jiang, Zhong-Ping

    2018-06-01

    This paper proposes a novel data-driven control approach to address the problem of adaptive optimal tracking for a class of nonlinear systems taking the strict-feedback form. Adaptive dynamic programming (ADP) and nonlinear output regulation theories are integrated for the first time to compute an adaptive near-optimal tracker without any a priori knowledge of the system dynamics. Fundamentally different from adaptive optimal stabilization problems, the solution to a Hamilton-Jacobi-Bellman (HJB) equation, not necessarily a positive definite function, cannot be approximated through the existing iterative methods. This paper proposes a novel policy iteration technique for solving positive semidefinite HJB equations with rigorous convergence analysis. A two-phase data-driven learning method is developed and implemented online by ADP. The efficacy of the proposed adaptive optimal tracking control methodology is demonstrated via a Van der Pol oscillator with time-varying exogenous signals.

  6. Adaptive Control of Wind Turbines for Maximum Power Point Tracking

    DEFF Research Database (Denmark)

    Zhao, Haoran; Wu, Qiuwei

    2018-01-01

    induction generator (SCIG) is used to illustrate the generator control system for a variable‐speed WECS. The chapter also presents case studies have been carried out to verify the developed adaptive controller for WECSs. WECSs are non‐linear systems with parameter uncertainties and which are subject...... to disturbances, in the form of non‐linear and unmodeled aerodynamics....

  7. Predictive Acoustic Tracking with an Adaptive Neural Mechanism

    DEFF Research Database (Denmark)

    Shaikh, Danish; Manoonpong, Poramate

    2017-01-01

    model of the lizard peripheral auditory system to extract information regarding sound direction. This information is utilised by a neural machinery to learn the acoustic signal’s velocity through fast and unsupervised correlation-based learning adapted from differential Hebbian learning. This approach...

  8. Adaptation in the visual cortex: influence of membrane trajectory and neuronal firing pattern on slow afterpotentials.

    Directory of Open Access Journals (Sweden)

    Vanessa F Descalzo

    Full Text Available The input/output relationship in primary visual cortex neurons is influenced by the history of the preceding activity. To understand the impact that membrane potential trajectory and firing pattern has on the activation of slow conductances in cortical neurons we compared the afterpotentials that followed responses to different stimuli evoking similar numbers of action potentials. In particular, we compared afterpotentials following the intracellular injection of either square or sinusoidal currents lasting 20 seconds. Both stimuli were intracellular surrogates of different neuronal responses to prolonged visual stimulation. Recordings from 99 neurons in slices of visual cortex revealed that for stimuli evoking an equivalent number of spikes, sinusoidal current injection activated a slow afterhyperpolarization of significantly larger amplitude (8.5 ± 3.3 mV and duration (33 ± 17 s than that evoked by a square pulse (6.4 ± 3.7 mV, 28 ± 17 s; p<0.05. Spike frequency adaptation had a faster time course and was larger during plateau (square pulse than during intermittent (sinusoidal depolarizations. Similar results were obtained in 17 neurons intracellularly recorded from the visual cortex in vivo. The differences in the afterpotentials evoked with both protocols were abolished by removing calcium from the extracellular medium or by application of the L-type calcium channel blocker nifedipine, suggesting that the activation of a calcium-dependent current is at the base of this afterpotential difference. These findings suggest that not only the spikes, but the membrane potential values and firing patterns evoked by a particular stimulation protocol determine the responses to any subsequent incoming input in a time window that spans for tens of seconds to even minutes.

  9. Robust and Adaptive Block Tracking Method Based on Particle Filter

    Directory of Open Access Journals (Sweden)

    Bin Sun

    2015-10-01

    Full Text Available In the field of video analysis and processing, object tracking is attracting more and more attention especially in traffic management, digital surveillance and so on. However problems such as objects’ abrupt motion, occlusion and complex target structures would bring difficulties to academic study and engineering application. In this paper, a fragmentsbased tracking method using the block relationship coefficient is proposed. In this method, we use particle filter algorithm and object region is divided into blocks initially. The contribution of this method is that object features are not extracted just from a single block, the relationship between current block and its neighbor blocks are extracted to describe the variation of the block. Each block is weighted according to the block relationship coefficient when the block is voted on the most matched region in next frame. This method can make full use of the relationship between blocks. The experimental results demonstrate that our method can provide good performance in condition of occlusion and abrupt posture variation.

  10. Adaptive Sliding-Mode Tracking Control for a Class of Nonholonomic Mechanical Systems

    Directory of Open Access Journals (Sweden)

    Wei Sun

    2013-01-01

    Full Text Available This paper investigates the problem of finite-time tracking control for nonholonomic mechanical systems with affine constraints. The control scheme is provided by flexibly incorporating terminal sliding-mode control with the method of relay switching control and related adaptive technique. The proposed relay switching controller ensures that the output tracking error converges to zero in a finite time. As an application, a boat on a running river is given to show the effectiveness of the control scheme.

  11. ADAPTIVE PARAMETER ESTIMATION OF PERSON RECOGNITION MODEL IN A STOCHASTIC HUMAN TRACKING PROCESS

    OpenAIRE

    W. Nakanishi; T. Fuse; T. Ishikawa

    2015-01-01

    This paper aims at an estimation of parameters of person recognition models using a sequential Bayesian filtering method. In many human tracking method, any parameters of models used for recognize the same person in successive frames are usually set in advance of human tracking process. In real situation these parameters may change according to situation of observation and difficulty level of human position prediction. Thus in this paper we formulate an adaptive parameter estimation ...

  12. Object Tracking Using Adaptive Covariance Descriptor and Clustering-Based Model Updating for Visual Surveillance

    Directory of Open Access Journals (Sweden)

    Lei Qin

    2014-05-01

    Full Text Available We propose a novel approach for tracking an arbitrary object in video sequences for visual surveillance. The first contribution of this work is an automatic feature extraction method that is able to extract compact discriminative features from a feature pool before computing the region covariance descriptor. As the feature extraction method is adaptive to a specific object of interest, we refer to the region covariance descriptor computed using the extracted features as the adaptive covariance descriptor. The second contribution is to propose a weakly supervised method for updating the object appearance model during tracking. The method performs a mean-shift clustering procedure among the tracking result samples accumulated during a period of time and selects a group of reliable samples for updating the object appearance model. As such, the object appearance model is kept up-to-date and is prevented from contamination even in case of tracking mistakes. We conducted comparing experiments on real-world video sequences, which confirmed the effectiveness of the proposed approaches. The tracking system that integrates the adaptive covariance descriptor and the clustering-based model updating method accomplished stable object tracking on challenging video sequences.

  13. Autonomous & Adaptive Oceanographic Feature Tracking on Board Autonomous Underwater Vehicles

    Science.gov (United States)

    2015-02-01

    and in particular my parents , who have always encouraged me to follow my dreams and do what I want to do in life and school. Mom and Dad, you...leader style , while still zigzagging across the boundary, adapting to the front’s local position. Ideally, a separation distance constraint like that of...using a network of AUVs to prevent data aliasing. 202 Bibliography [1] M. R. Benjamin, H. Schmidt, P. M. Newman , and J. J. Leonard, “Nested autonomy

  14. Adaptive Probabilistic Tracking Embedded in Smart Cameras for Distributed Surveillance in a 3D Model

    Directory of Open Access Journals (Sweden)

    Sven Fleck

    2006-12-01

    Full Text Available Tracking applications based on distributed and embedded sensor networks are emerging today, both in the fields of surveillance and industrial vision. Traditional centralized approaches have several drawbacks, due to limited communication bandwidth, computational requirements, and thus limited spatial camera resolution and frame rate. In this article, we present network-enabled smart cameras for probabilistic tracking. They are capable of tracking objects adaptively in real time and offer a very bandwidthconservative approach, as the whole computation is performed embedded in each smart camera and only the tracking results are transmitted, which are on a higher level of abstraction. Based on this, we present a distributed surveillance system. The smart cameras' tracking results are embedded in an integrated 3D environment as live textures and can be viewed from arbitrary perspectives. Also a georeferenced live visualization embedded in Google Earth is presented.

  15. Adaptive Probabilistic Tracking Embedded in Smart Cameras for Distributed Surveillance in a 3D Model

    Directory of Open Access Journals (Sweden)

    Fleck Sven

    2007-01-01

    Full Text Available Tracking applications based on distributed and embedded sensor networks are emerging today, both in the fields of surveillance and industrial vision. Traditional centralized approaches have several drawbacks, due to limited communication bandwidth, computational requirements, and thus limited spatial camera resolution and frame rate. In this article, we present network-enabled smart cameras for probabilistic tracking. They are capable of tracking objects adaptively in real time and offer a very bandwidthconservative approach, as the whole computation is performed embedded in each smart camera and only the tracking results are transmitted, which are on a higher level of abstraction. Based on this, we present a distributed surveillance system. The smart cameras' tracking results are embedded in an integrated 3D environment as live textures and can be viewed from arbitrary perspectives. Also a georeferenced live visualization embedded in Google Earth is presented.

  16. Tracking the trajectory of shame, guilt, and pride across the life span.

    Science.gov (United States)

    Orth, Ulrich; Robins, Richard W; Soto, Christopher J

    2010-12-01

    The authors examined age differences in shame, guilt, and 2 forms of pride (authentic and hubristic) from age 13 years to age 89 years, using cross-sectional data from 2,611 individuals. Shame decreased from adolescence into middle adulthood, reaching a nadir around age 50 years, and then increased in old age. Guilt increased from adolescence into old age, reaching a plateau at about age 70 years. Authentic pride increased from adolescence into old age, whereas hubristic pride decreased from adolescence into middle adulthood, reaching a minimum around age 65 years, and then increased in old age. On average, women reported experiencing more shame and guilt; Blacks reported experiencing less shame and Asians more hubristic pride than other ethnicities. Across the life span, shame and hubristic pride tended to be negatively related to psychological well-being, and shame-free guilt and authentic pride showed positive relations with well-being. Overall, the findings support the maturity principle of personality development and suggest that as people age they become more prone to experiencing psychologically adaptive self-conscious emotions, such as guilt and authentic pride, and less prone to experiencing psychologically maladaptive ones, such as shame and hubristic pride. PsycINFO Database Record (c) 2010 APA, all rights reserved.

  17. Multi-objective trajectory optimization of Space Manoeuvre Vehicle using adaptive differential evolution and modified game theory

    Science.gov (United States)

    Chai, Runqi; Savvaris, Al; Tsourdos, Antonios; Chai, Senchun

    2017-07-01

    Highly constrained trajectory optimization for Space Manoeuvre Vehicles (SMV) is a challenging problem. In practice, this problem becomes more difficult when multiple mission requirements are taken into account. Because of the nonlinearity in the dynamic model and even the objectives, it is usually hard for designers to generate a compromised trajectory without violating strict path and box constraints. In this paper, a new multi-objective SMV optimal control model is formulated and parameterized using combined shooting-collocation technique. A modified game theory approach, coupled with an adaptive differential evolution algorithm, is designed in order to generate the pareto front of the multi-objective trajectory optimization problem. In addition, to improve the quality of obtained solutions, a control logic is embedded in the framework of the proposed approach. Several existing multi-objective evolutionary algorithms are studied and compared with the proposed method. Simulation results indicate that without driving the solution out of the feasible region, the proposed method can perform better in terms of convergence ability and convergence speed than its counterparts. Moreover, the quality of the pareto set generated using the proposed method is higher than other multi-objective evolutionary algorithms, which means the newly proposed algorithm is more attractive for solving multi-criteria SMV trajectory planning problem.

  18. An adaptive multi-spline refinement algorithm in simulation based sailboat trajectory optimization using onboard multi-core computer systems

    Directory of Open Access Journals (Sweden)

    Dębski Roman

    2016-06-01

    Full Text Available A new dynamic programming based parallel algorithm adapted to on-board heterogeneous computers for simulation based trajectory optimization is studied in the context of “high-performance sailing”. The algorithm uses a new discrete space of continuously differentiable functions called the multi-splines as its search space representation. A basic version of the algorithm is presented in detail (pseudo-code, time and space complexity, search space auto-adaptation properties. Possible extensions of the basic algorithm are also described. The presented experimental results show that contemporary heterogeneous on-board computers can be effectively used for solving simulation based trajectory optimization problems. These computers can be considered micro high performance computing (HPC platforms-they offer high performance while remaining energy and cost efficient. The simulation based approach can potentially give highly accurate results since the mathematical model that the simulator is built upon may be as complex as required. The approach described is applicable to many trajectory optimization problems due to its black-box represented performance measure and use of OpenCL.

  19. A model of curved saccade trajectories: spike rate adaptation in the brainstem as the cause of deviation away.

    Science.gov (United States)

    Kruijne, Wouter; Van der Stigchel, Stefan; Meeter, Martijn

    2014-03-01

    The trajectory of saccades to a target is often affected whenever there is a distractor in the visual field. Distractors can cause a saccade to deviate towards their location or away from it. The oculomotor mechanisms that produce deviation towards distractors have been thoroughly explored in behavioral, neurophysiological and computational studies. The mechanisms underlying deviation away, on the other hand, remain unclear. Behavioral findings suggest a mechanism of spatially focused, top-down inhibition in a saccade map, and deviation away has become a tool to investigate such inhibition. However, this inhibition hypothesis has little neuroanatomical or neurophysiological support, and recent findings go against it. Here, we propose that deviation away results from an unbalanced saccade drive from the brainstem, caused by spike rate adaptation in brainstem long-lead burst neurons. Adaptation to stimulation in the direction of the distractor results in an unbalanced drive away from it. An existing model of the saccade system was extended with this theory. The resulting model simulates a wide range of findings on saccade trajectories, including findings that have classically been interpreted to support inhibition views. Furthermore, the model replicated the effect of saccade latency on deviation away, but predicted this effect would be absent with large (400 ms) distractor-target onset asynchrony. This prediction was confirmed in an experiment, which demonstrates that the theory both explains classical findings on saccade trajectories and predicts new findings. Copyright © 2014 Elsevier Inc. All rights reserved.

  20. An adaptive Multiplicative Extened Kalman Filter for Attitude Estimation of Marine Satellite Tracking Antenna

    DEFF Research Database (Denmark)

    Wang, Yunlong; Soltani, Mohsen; Hussain, Dil muhammed Akbar

    2016-01-01

    , an adaptive Multiplicative Extended Kalman Filter (MEKF) for attitude estimation of Marine Satellite Tracking Antenna (MSTA) is presented with the measurement noise covariance matrix adjusted according to the norm of accelerometer measurements, which can significantly reduce the slamming influence from waves...

  1. Implementation of an adaptive training and tracking game in statistics teaching

    NARCIS (Netherlands)

    Groeneveld, C.M.; Kalz, M.; Ras, E.

    2014-01-01

    Statistics teaching in higher education has a number of challenges. An adaptive training, tracking and teaching tool in a gaming environment aims to address problems inherent in statistics teaching. This paper discusses the implementation of this tool in a large first year university programme and

  2. Observer-based design of set-point tracking adaptive controllers for nonlinear chaotic systems

    International Nuclear Information System (INIS)

    Khaki-Sedigh, A.; Yazdanpanah-Goharrizi, A.

    2006-01-01

    A gradient based approach for the design of set-point tracking adaptive controllers for nonlinear chaotic systems is presented. In this approach, Lyapunov exponents are used to select the controller gain. In the case of unknown or time varying chaotic plants, the Lyapunov exponents may vary during the plant operation. In this paper, an effective adaptive strategy is used for online identification of Lyapunov exponents and adaptive control of nonlinear chaotic plants. Also, a nonlinear observer for estimation of the states is proposed. Simulation results are provided to show the effectiveness of the proposed methodology

  3. Observer-based design of set-point tracking adaptive controllers for nonlinear chaotic systems

    Energy Technology Data Exchange (ETDEWEB)

    Khaki-Sedigh, A. [Department of Electrical Engineering, K.N. Toosi University of Technology, Sayyed Khandan Bridge, Shariati Street, Tehran 16314 (Iran, Islamic Republic of)]. E-mail: sedigh@kntu.ac.ir; Yazdanpanah-Goharrizi, A. [Department of Electrical Engineering, K.N. Toosi University of Technology, Sayyed Khandan Bridge, Shariati Street, Tehran 16314 (Iran, Islamic Republic of)]. E-mail: yazdanpanah@ee.kntu.ac.ir

    2006-09-15

    A gradient based approach for the design of set-point tracking adaptive controllers for nonlinear chaotic systems is presented. In this approach, Lyapunov exponents are used to select the controller gain. In the case of unknown or time varying chaotic plants, the Lyapunov exponents may vary during the plant operation. In this paper, an effective adaptive strategy is used for online identification of Lyapunov exponents and adaptive control of nonlinear chaotic plants. Also, a nonlinear observer for estimation of the states is proposed. Simulation results are provided to show the effectiveness of the proposed methodology.

  4. Understanding Climate Adaptation on Public Lands in the Upper Midwest: Implications for Monitoring and Tracking Progress

    Science.gov (United States)

    Anhalt-Depies, Christine M.; Knoot, Tricia Gorby; Rissman, Adena R.; Sharp, Anthony K.; Martin, Karl J.

    2016-05-01

    There are limited examples of efforts to systematically monitor and track climate change adaptation progress in the context of natural resource management, despite substantial investments in adaptation initiatives. To better understand the status of adaptation within state natural resource agencies, we utilized and problematized a rational decision-making framework to characterize adaptation at the level of public land managers in the Upper Midwest. We conducted in-depth interviews with 29 biologists and foresters to provide an understanding of managers' experiences with, and perceptions of, climate change impacts, efforts towards planning for climate change, and a full range of actions implemented to address climate change. While the majority of managers identified climate change impacts affecting their region, they expressed significant uncertainty in interpreting those signals. Just under half of managers indicated planning efforts are underway, although most planning is remote from local management. Actions already implemented include both forward-looking measures and those aimed at coping with current impacts. In addition, cross-scale dynamics emerged as an important theme related to the overall adaptation process. The results hold implications for tracking future progress on climate change adaptation. Common definitions or measures of adaptation (e.g., presence of planning documents) may need to be reassessed for applicability at the level of public land managers.

  5. Career Performance Trajectories in Track and Field Jumping Events from Youth to Senior Success: The Importance of Learning and Development.

    Science.gov (United States)

    Boccia, Gennaro; Moisè, Paolo; Franceschi, Alberto; Trova, Francesco; Panero, Davide; La Torre, Antonio; Rainoldi, Alberto; Schena, Federico; Cardinale, Marco

    2017-01-01

    The idea that early sport success can be detrimental for long-term sport performance is still under debate. Therefore, the aims of this study were to examine the career trajectories of Italian high and long jumpers to provide a better understanding of performance development in jumping events. The official long-jump and high-jump rankings of the Italian Track and Field Federation were collected from the age of 12 to career termination, for both genders from the year 1994 to 2014. Top-level athletes were identified as those with a percentile of their personal best performance between 97 and 100. The age of entering competitions of top-level athletes was not different than the rest of the athletic population, whereas top-level athletes performed their personal best later than the rest of the athletes. Top-level athletes showed an overall higher rate of improvement in performance from the age of 13 to the age of 18 years when compared to all other individuals. Only 10-25% of the top-level adult athletes were top-level at the age of 16. Around 60% of the top-level young at the age of 16 did not maintain the same level of performance in adulthood. Female high-jump represented an exception from this trend since in this group most top-level young become top-level adult athletes. These findings suggest that performance before the age of 16 is not a good predictor of adult performance in long and high jump. The annual rate of improvements from 13 to 18 years should be included as a predictor of success rather than performance per se. Coaches should be careful about predicting future success based on performances obtained during youth in jumping events.

  6. Career Performance Trajectories in Track and Field Jumping Events from Youth to Senior Success: The Importance of Learning and Development.

    Directory of Open Access Journals (Sweden)

    Gennaro Boccia

    Full Text Available The idea that early sport success can be detrimental for long-term sport performance is still under debate. Therefore, the aims of this study were to examine the career trajectories of Italian high and long jumpers to provide a better understanding of performance development in jumping events.The official long-jump and high-jump rankings of the Italian Track and Field Federation were collected from the age of 12 to career termination, for both genders from the year 1994 to 2014. Top-level athletes were identified as those with a percentile of their personal best performance between 97 and 100.The age of entering competitions of top-level athletes was not different than the rest of the athletic population, whereas top-level athletes performed their personal best later than the rest of the athletes. Top-level athletes showed an overall higher rate of improvement in performance from the age of 13 to the age of 18 years when compared to all other individuals. Only 10-25% of the top-level adult athletes were top-level at the age of 16. Around 60% of the top-level young at the age of 16 did not maintain the same level of performance in adulthood. Female high-jump represented an exception from this trend since in this group most top-level young become top-level adult athletes.These findings suggest that performance before the age of 16 is not a good predictor of adult performance in long and high jump. The annual rate of improvements from 13 to 18 years should be included as a predictor of success rather than performance per se. Coaches should be careful about predicting future success based on performances obtained during youth in jumping events.

  7. Adaptive Kalman Filter Applied to Vision Based Head Gesture Tracking for Playing Video Games

    Directory of Open Access Journals (Sweden)

    Mohammadreza Asghari Oskoei

    2017-11-01

    Full Text Available This paper proposes an adaptive Kalman filter (AKF to improve the performance of a vision-based human machine interface (HMI applied to a video game. The HMI identifies head gestures and decodes them into corresponding commands. Face detection and feature tracking algorithms are used to detect optical flow produced by head gestures. Such approaches often fail due to changes in head posture, occlusion and varying illumination. The adaptive Kalman filter is applied to estimate motion information and reduce the effect of missing frames in a real-time application. Failure in head gesture tracking eventually leads to malfunctioning game control, reducing the scores achieved, so the performance of the proposed vision-based HMI is examined using a game scoring mechanism. The experimental results show that the proposed interface has a good response time, and the adaptive Kalman filter improves the game scores by ten percent.

  8. Rotational Kinematics Model Based Adaptive Particle Filter for Robust Human Tracking in Thermal Omnidirectional Vision

    Directory of Open Access Journals (Sweden)

    Yazhe Tang

    2015-01-01

    Full Text Available This paper presents a novel surveillance system named thermal omnidirectional vision (TOV system which can work in total darkness with a wild field of view. Different to the conventional thermal vision sensor, the proposed vision system exhibits serious nonlinear distortion due to the effect of the quadratic mirror. To effectively model the inherent distortion of omnidirectional vision, an equivalent sphere projection is employed to adaptively calculate parameterized distorted neighborhood of an object in the image plane. With the equivalent projection based adaptive neighborhood calculation, a distortion-invariant gradient coding feature is proposed for thermal catadioptric vision. For robust tracking purpose, a rotational kinematic modeled adaptive particle filter is proposed based on the characteristic of omnidirectional vision, which can handle multiple movements effectively, including the rapid motions. Finally, the experiments are given to verify the performance of the proposed algorithm for human tracking in TOV system.

  9. Detection of Diffusion Heterogeneity in Single Particle Tracking Trajectories Using a Hidden Markov Model with Measurement Noise Propagation

    Science.gov (United States)

    Slator, Paddy J.; Cairo, Christopher W.; Burroughs, Nigel J.

    2015-01-01

    We develop a Bayesian analysis framework to detect heterogeneity in the diffusive behaviour of single particle trajectories on cells, implementing model selection to classify trajectories as either consistent with Brownian motion or with a two-state (diffusion coefficient) switching model. The incorporation of localisation accuracy is essential, as otherwise false detection of switching within a trajectory was observed and diffusion coefficient estimates were inflated. Since our analysis is on a single trajectory basis, we are able to examine heterogeneity between trajectories in a quantitative manner. Applying our method to the lymphocyte function-associated antigen 1 (LFA-1) receptor tagged with latex beads (4 s trajectories at 1000 frames s−1), both intra- and inter-trajectory heterogeneity were detected; 12–26% of trajectories display clear switching between diffusive states dependent on condition, whilst the inter-trajectory variability is highly structured with the diffusion coefficients being related by D 1 = 0.68D 0 − 1.5 × 104 nm2 s−1, suggestive that on these time scales we are detecting switching due to a single process. Further, the inter-trajectory variability of the diffusion coefficient estimates (1.6 × 102 − 2.6 × 105 nm2 s−1) is very much larger than the measurement uncertainty within trajectories, suggesting that LFA-1 aggregation and cytoskeletal interactions are significantly affecting mobility, whilst the timescales of these processes are distinctly different giving rise to inter- and intra-trajectory variability. There is also an ‘immobile’ state (defined as D models within membranes incorporating aggregation, binding to the cytoskeleton, or traversing membrane microdomains. PMID:26473352

  10. Front tracking based modeling of the solid grain growth on the adaptive control volume grid

    Science.gov (United States)

    Seredyński, Mirosław; Łapka, Piotr

    2017-07-01

    The paper presents the micro-scale model of unconstrained solidification of the grain immersed in under-cooled liquid, based on the front tracking approach. For this length scale, the interface tracked through the domain is meant as the solid-liquid boundary. To prevent generation of huge meshes the energy transport equation is discretized on the adaptive control volume (c.v.) mesh. The coupling of dynamically changing mesh and moving front position is addressed. Preliminary results of simulation of a test case, the growth of single grain, are presented and discussed.

  11. A MEMS-based Adaptive AHRS for Marine Satellite Tracking Antenna

    DEFF Research Database (Denmark)

    Wang, Yunlong; Hussain, Dil Muhammed Akbar; Soltani, Mohsen

    2015-01-01

    Satellite tracking is a challenging task for marine applications. An attitude determination system should estimate the wave disturbances on the ship body accurately. To achieve this, an Attitude Heading Reference System (AHRS) based on Micro-Electro-Mechanical Systems (MEMS) sensors, composed...... of three-axis gyroscope, accelerometer and magnetometer, is developed for Marine Satellite Tracking Antenna (MSTA). In this paper, the attitude determination algorithm is improved using an adaptive mechanism that tunes the attitude estimator parameters based on an estimation of ship motion frequency...

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

    Science.gov (United States)

    Niu, Ben; Li, Lu

    2018-06-01

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

  13. TH-AB-202-04: Auto-Adaptive Margin Generation for MLC-Tracked Radiotherapy

    International Nuclear Information System (INIS)

    Glitzner, M; Lagendijk, J; Raaymakers, B; Crijns, S; Fast, M; Nill, S; Oelfke, U; Denis de Senneville, B

    2016-01-01

    Purpose: To develop an auto-adaptive margin generator for MLC tracking. The generator is able to estimate errors arising in image guided radiotherapy, particularly on an MR-Linac, which depend on the latencies of machine and image processing, as well as on patient motion characteristics. From the estimated error distribution, a segment margin is generated, able to compensate errors up to a user-defined confidence. Method: In every tracking control cycle (TCC, 40ms), the desired aperture D(t) is compared to the actual aperture A(t), a delayed and imperfect representation of D(t). Thus an error e(t)=A(T)-D(T) is measured every TCC. Applying kernel-density-estimation (KDE), the cumulative distribution (CDF) of e(t) is estimated. With CDF-confidence limits, upper and lower error limits are extracted for motion axes along and perpendicular leaf-travel direction and applied as margins. To test the dosimetric impact, two representative motion traces were extracted from fast liver-MRI (10Hz). The traces were applied onto a 4D-motion platform and continuously tracked by an Elekta Agility 160 MLC using an artificially imposed tracking delay. Gafchromic film was used to detect dose exposition for static, tracked, and error-compensated tracking cases. The margin generator was parameterized to cover 90% of all tracking errors. Dosimetric impact was rated by calculating the ratio between underexposed points (>5% underdosage) to the total number of points inside FWHM of static exposure. Results: Without imposing adaptive margins, tracking experiments showed a ratio of underexposed points of 17.5% and 14.3% for two motion cases with imaging delays of 200ms and 300ms, respectively. Activating the margin generated yielded total suppression (<1%) of underdosed points. Conclusion: We showed that auto-adaptive error compensation using machine error statistics is possible for MLC tracking. The error compensation margins are calculated on-line, without the need of assuming motion or

  14. TH-AB-202-04: Auto-Adaptive Margin Generation for MLC-Tracked Radiotherapy

    Energy Technology Data Exchange (ETDEWEB)

    Glitzner, M; Lagendijk, J; Raaymakers, B; Crijns, S [University Medical Center Utrecht, Utrecht (Netherlands); Fast, M; Nill, S; Oelfke, U [The Institute of Cancer Research, London (United Kingdom); Denis de Senneville, B [University Medical Center Utrecht, Utrecht (Netherlands); IMB, UMR 5251 CNRS/University of Bordeaux, Talence, FR (France)

    2016-06-15

    Purpose: To develop an auto-adaptive margin generator for MLC tracking. The generator is able to estimate errors arising in image guided radiotherapy, particularly on an MR-Linac, which depend on the latencies of machine and image processing, as well as on patient motion characteristics. From the estimated error distribution, a segment margin is generated, able to compensate errors up to a user-defined confidence. Method: In every tracking control cycle (TCC, 40ms), the desired aperture D(t) is compared to the actual aperture A(t), a delayed and imperfect representation of D(t). Thus an error e(t)=A(T)-D(T) is measured every TCC. Applying kernel-density-estimation (KDE), the cumulative distribution (CDF) of e(t) is estimated. With CDF-confidence limits, upper and lower error limits are extracted for motion axes along and perpendicular leaf-travel direction and applied as margins. To test the dosimetric impact, two representative motion traces were extracted from fast liver-MRI (10Hz). The traces were applied onto a 4D-motion platform and continuously tracked by an Elekta Agility 160 MLC using an artificially imposed tracking delay. Gafchromic film was used to detect dose exposition for static, tracked, and error-compensated tracking cases. The margin generator was parameterized to cover 90% of all tracking errors. Dosimetric impact was rated by calculating the ratio between underexposed points (>5% underdosage) to the total number of points inside FWHM of static exposure. Results: Without imposing adaptive margins, tracking experiments showed a ratio of underexposed points of 17.5% and 14.3% for two motion cases with imaging delays of 200ms and 300ms, respectively. Activating the margin generated yielded total suppression (<1%) of underdosed points. Conclusion: We showed that auto-adaptive error compensation using machine error statistics is possible for MLC tracking. The error compensation margins are calculated on-line, without the need of assuming motion or

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

    Science.gov (United States)

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

    2015-07-01

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

  16. 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.

  17. Adaptive H∞ nonlinear velocity tracking using RBFNN for linear DC brushless motor

    Science.gov (United States)

    Tsai, Ching-Chih; Chan, Cheng-Kain; Li, Yi Yu

    2012-01-01

    This article presents an adaptive H ∞ nonlinear velocity control for a linear DC brushless motor. A simplified model of this motor with friction is briefly recalled. The friction dynamics is described by the Lu Gre model and the online tuning radial basis function neural network (RBFNN) is used to parameterise the nonlinear friction function and un-modelled errors. An adaptive nonlinear H ∞ control method is then proposed to achieve velocity tracking, by assuming that the upper bounds of the ripple force, the changeable load and the nonlinear friction can be learned by the RBFNN. The closed-loop system is proven to be uniformly bounded using the Lyapunov stability theory. The feasibility and the efficacy of the proposed control are exemplified by conducting two velocity tracking experiments.

  18. Development of Adaptive Tilt Tracker that Utilizes QUAD-cell Detector to Track Extended Objects

    Science.gov (United States)

    2014-03-17

    tracked low Earth orbit (LEO) object and atmospheric seeing govern spot characteristics. Unlike static natural or laser guide stars, a LEO object’s...image spot characteristics .......................................................... 101 56. Response for non-adaptive tilt tracker with α equal to...applications toward natural and laser guide stars. The system was innovative and is a relevant forerunner to the tracker proposed in this research. The

  19. Forward and Inverse Predictive Model for the Trajectory Tracking Control of a Lower Limb Exoskeleton for Gait Rehabilitation: Simulation modelling analysis

    Science.gov (United States)

    Zakaria, M. A.; Majeed, A. P. P. A.; Taha, Z.; Alim, M. M.; Baarath, K.

    2018-03-01

    The movement of a lower limb exoskeleton requires a reasonably accurate control method to allow for an effective gait therapy session to transpire. Trajectory tracking is a nontrivial means of passive rehabilitation technique to correct the motion of the patients’ impaired limb. This paper proposes an inverse predictive model that is coupled together with the forward kinematics of the exoskeleton to estimate the behaviour of the system. A conventional PID control system is used to converge the required joint angles based on the desired input from the inverse predictive model. It was demonstrated through the present study, that the inverse predictive model is capable of meeting the trajectory demand with acceptable error tolerance. The findings further suggest the ability of the predictive model of the exoskeleton to predict a correct joint angle command to the system.

  20. Efficient and Adaptive Node Selection for Target Tracking in Wireless Sensor Network

    Directory of Open Access Journals (Sweden)

    Juan Feng

    2016-01-01

    Full Text Available In target tracking wireless sensor network, choosing the proper working nodes can not only minimize the number of active nodes, but also satisfy the tracking reliability requirement. However, most existing works focus on selecting sensor nodes which are the nearest to the target for tracking missions and they did not consider the correlation of the location of the sensor nodes so that these approaches can not meet all the goals of the network. This work proposes an efficient and adaptive node selection approach for tracking a target in a distributed wireless sensor network. The proposed approach combines the distance-based node selection strategy and particle filter prediction considering the spatial correlation of the different sensing nodes. Moreover, a joint distance weighted measurement is proposed to estimate the information utility of sensing nodes. Experimental results show that EANS outperformed the state-of-the-art approaches by reducing the energy cost and computational complexity as well as guaranteeing the tracking accuracy.

  1. A System based on Adaptive Background Subtraction Approach for Moving Object Detection and Tracking in Videos

    Directory of Open Access Journals (Sweden)

    Bahadır KARASULU

    2013-04-01

    Full Text Available Video surveillance systems are based on video and image processing research areas in the scope of computer science. Video processing covers various methods which are used to browse the changes in existing scene for specific video. Nowadays, video processing is one of the important areas of computer science. Two-dimensional videos are used to apply various segmentation and object detection and tracking processes which exists in multimedia content-based indexing, information retrieval, visual and distributed cross-camera surveillance systems, people tracking, traffic tracking and similar applications. Background subtraction (BS approach is a frequently used method for moving object detection and tracking. In the literature, there exist similar methods for this issue. In this research study, it is proposed to provide a more efficient method which is an addition to existing methods. According to model which is produced by using adaptive background subtraction (ABS, an object detection and tracking system’s software is implemented in computer environment. The performance of developed system is tested via experimental works with related video datasets. The experimental results and discussion are given in the study

  2. Measuring and tracking the flow of climate change adaptation aid to the developing world

    Science.gov (United States)

    Donner, Simon D.; Kandlikar, Milind; Webber, Sophie

    2016-05-01

    The developed world has pledged to mobilize at least US 100 billion per year of ‘new’ and ‘additional’ funds by 2020 to help the developing world respond to climate change. Tracking this finance is particularly problematic for climate change adaptation, as there is no clear definition of what separates adaptation aid from standard development aid. Here we use a historical database of overseas development assistance projects to test the effect of different accounting assumptions on the delivery of adaptation finance to the developing countries of Oceania, using machine algorithms developed from a manual pilot study. The results show that explicit adaptation finance grew to 3%-4% of all development aid to Oceania by the 2008-2012 period, but that total adaptation finance could be as high as 37% of all aid, depending on potentially politically motivated assumptions about what counts as adaptation. There was also an uneven distribution of adaptation aid between countries facing similar challenges like Kiribati, the Marshall Islands, and the Federated States of Micronesia. The analysis indicates that data allowing individual projects to be weighted by their climate change relevance is needed. A robust and mandatory metadata system for all aid projects would allow multilateral aid agencies and independent third parties to perform their own analyses using different assumptions and definitions, and serve as a key check on international climate aid promises.

  3. Tracking error constrained robust adaptive neural prescribed performance control for flexible hypersonic flight vehicle

    Directory of Open Access Journals (Sweden)

    Zhonghua Wu

    2017-02-01

    Full Text Available A robust adaptive neural control scheme based on a back-stepping technique is developed for the longitudinal dynamics of a flexible hypersonic flight vehicle, which is able to ensure the state tracking error being confined in the prescribed bounds, in spite of the existing model uncertainties and actuator constraints. Minimal learning parameter technique–based neural networks are used to estimate the model uncertainties; thus, the amount of online updated parameters is largely lessened, and the prior information of the aerodynamic parameters is dispensable. With the utilization of an assistant compensation system, the problem of actuator constraint is overcome. By combining the prescribed performance function and sliding mode differentiator into the neural back-stepping control design procedure, a composite state tracking error constrained adaptive neural control approach is presented, and a new type of adaptive law is constructed. As compared with other adaptive neural control designs for hypersonic flight vehicle, the proposed composite control scheme exhibits not only low-computation property but also strong robustness. Finally, two comparative simulations are performed to demonstrate the robustness of this neural prescribed performance controller.

  4. Adaptive Divergence in Experimental Populations of Pseudomonas fluorescens. IV. Genetic Constraints Guide Evolutionary Trajectories in a Parallel Adaptive Radiation

    OpenAIRE

    McDonald, Michael J.; Gehrig, Stefanie M.; Meintjes, Peter L.; Zhang, Xue-Xian; Rainey, Paul B.

    2009-01-01

    The capacity for phenotypic evolution is dependent upon complex webs of functional interactions that connect genotype and phenotype. Wrinkly spreader (WS) genotypes arise repeatedly during the course of a model Pseudomonas adaptive radiation. Previous work showed that the evolution of WS variation was explained in part by spontaneous mutations in wspF, a component of the Wsp-signaling module, but also drew attention to the existence of unknown mutational causes. Here, we identify two new muta...

  5. 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.

  6. An adaptive vibration control method to suppress the vibration of the maglev train caused by track irregularities

    Science.gov (United States)

    Zhou, Danfeng; Yu, Peichang; Wang, Lianchun; Li, Jie

    2017-11-01

    The levitation gap of the urban maglev train is around 8 mm, which puts a rather high requirement on the smoothness of the track. In practice, it is found that the track irregularity may cause stability problems when the maglev train is traveling. In this paper, the dynamic response of the levitation module, which is the basic levitation structure of the urban maglev train, is investigated in the presence of track irregularities. Analyses show that due to the structural configuration of the levitation module, the vibration of the levitation gap may be amplified and "resonances" may be observed under some specified track wavelengths and train speeds; besides, it is found that the gap vibration of the rear levitation unit in a levitation module is more significant than that of the front levitation unit, which agrees well with practice. To suppress the vibration of the rear levitation gap, an adaptive vibration control method is proposed, which utilizes the information of the front levitation unit as a reference. A pair of mirror FIR (finite impulse response) filters are designed and tuned by an adaptive mechanism, and they produce a compensation signal for the rear levitation controller to cancel the disturbance brought by the track irregularity. Simulations under some typical track conditions, including the sinusoidal track profile, random track irregularity, as well as track steps, indicate that the adaptive vibration control scheme can significantly reduce the amplitude of the rear gap vibration, which provides a method to improve the stability and ride comfort of the maglev train.

  7. A Mobility-Aware Adaptive Duty Cycling Mechanism for Tracking Objects during Tunnel Excavation

    Directory of Open Access Journals (Sweden)

    Taesik Kim

    2017-02-01

    Full Text Available Tunnel construction workers face many dangers while working under dark conditions, with difficult access and egress, and many potential hazards. To enhance safety at tunnel construction sites, low latency tracking of mobile objects (e.g., heavy-duty equipment and construction workers is critical for managing the dangerous construction environment. Wireless Sensor Networks (WSNs are the basis for a widely used technology for monitoring the environment because of their energy-efficiency and scalability. However, their use involves an inherent point-to-point delay caused by duty cycling mechanisms that can result in a significant rise in the delivery latency for tracking mobile objects. To overcome this issue, we proposed a mobility-aware adaptive duty cycling mechanism for the WSNs based on object mobility. For the evaluation, we tested this mechanism for mobile object tracking at a tunnel excavation site. The evaluation results showed that the proposed mechanism could track mobile objects with low latency while they were moving, and could reduce energy consumption by increasing sleep time while the objects were immobile.

  8. Longitudinal Trajectories of Intellectual and Adaptive Functioning in Adolescents and Adults with Williams Syndrome

    Science.gov (United States)

    Fisher, M. H.; Lense, M. D.; Dykens, E. M.

    2016-01-01

    Background: Williams syndrome (WS) is associated with a distinct cognitive-behavioural phenotype including mild to moderate intellectual disability, visual-spatial deficits, hypersociability, inattention and anxiety. Researchers typically characterise samples of individuals with WS by their intellectual functioning and adaptive behaviour. Because…

  9. Optimized Adaptive Perturb and Observe Maximum Power Point Tracking Control for Photovoltaic Generation

    Directory of Open Access Journals (Sweden)

    Luigi Piegari

    2015-04-01

    Full Text Available The power extracted from PV arrays is usually maximized using maximum power point tracking algorithms. One of the most widely used techniques is the perturb & observe algorithm, which periodically perturbs the operating point of the PV array, sometime with an adaptive perturbation step, and compares the PV power before and after the perturbation. This paper analyses the most suitable perturbation step to optimize maximum power point tracking performance and suggests a design criterion to select the parameters of the controller. Using this proposed adaptive step, the MPPT perturb & observe algorithm achieves an excellent dynamic response by adapting the perturbation step to the actual operating conditions of the PV array. The proposed algorithm has been validated and tested in a laboratory using a dual input inductor push-pull converter. This particular converter topology is an efficient interface to boost the low voltage of PV arrays and effectively control the power flow when input or output voltages are variable. The experimental results have proved the superiority of the proposed algorithm in comparison of traditional perturb & observe and incremental conductance techniques.

  10. Tracking Maneuvering Group Target with Extension Predicted and Best Model Augmentation Method Adapted

    Directory of Open Access Journals (Sweden)

    Linhai Gan

    2017-01-01

    Full Text Available The random matrix (RM method is widely applied for group target tracking. The assumption that the group extension keeps invariant in conventional RM method is not yet valid, as the orientation of the group varies rapidly while it is maneuvering; thus, a new approach with group extension predicted is derived here. To match the group maneuvering, a best model augmentation (BMA method is introduced. The existing BMA method uses a fixed basic model set, which may lead to a poor performance when it could not ensure basic coverage of true motion modes. Here, a maneuvering group target tracking algorithm is proposed, where the group extension prediction and the BMA adaption are exploited. The performance of the proposed algorithm will be illustrated by simulation.

  11. Adaptive Correlation Model for Visual Tracking Using Keypoints Matching and Deep Convolutional Feature

    Directory of Open Access Journals (Sweden)

    Yuankun Li

    2018-02-01

    Full Text Available Although correlation filter (CF-based visual tracking algorithms have achieved appealing results, there are still some problems to be solved. When the target object goes through long-term occlusions or scale variation, the correlation model used in existing CF-based algorithms will inevitably learn some non-target information or partial-target information. In order to avoid model contamination and enhance the adaptability of model updating, we introduce the keypoints matching strategy and adjust the model learning rate dynamically according to the matching score. Moreover, the proposed approach extracts convolutional features from a deep convolutional neural network (DCNN to accurately estimate the position and scale of the target. Experimental results demonstrate that the proposed tracker has achieved satisfactory performance in a wide range of challenging tracking scenarios.

  12. Adaptive estimation for control of uncertain nonlinear systems with applications to target tracking

    Science.gov (United States)

    Madyastha, Venkatesh Kattigari

    2005-08-01

    Design of nonlinear observers has received considerable attention since the early development of methods for linear state estimation. The most popular approach is the extended Kalman filter (EKF), that goes through significant degradation in the presence of nonlinearities, particularly if unmodeled dynamics are coupled to the process and the measurement. For uncertain nonlinear systems, adaptive observers have been introduced to estimate the unknown state variables where no priori information about the unknown parameters is available. While establishing global results, these approaches are applicable only to systems transformable to output feedback form. Over the recent years, neural network (NN) based identification and estimation schemes have been proposed that relax the assumptions on the system at the price of sacrificing on the global nature of the results. However, most of the NN based adaptive observer approaches in the literature require knowledge of the full dimension of the system, therefore may not be suitable for systems with unmodeled dynamics. We first propose a novel approach to nonlinear state estimation from the perspective of augmenting a linear time invariant observer with an adaptive element. The class of nonlinear systems treated here are finite but of otherwise unknown dimension. The objective is to improve the performance of the linear observer when applied to a nonlinear system. The approach relies on the ability of the NNs to approximate the unknown dynamics from finite time histories of available measurements. Next we investigate nonlinear state estimation from the perspective of adaptively augmenting an existing time varying observer, such as an EKF. EKFs find their applications mostly in target tracking problems. The proposed approaches are robust to unmodeled dynamics, including unmodeled disturbances. Lastly, we consider the problem of adaptive estimation in the presence of feedback control for a class of uncertain nonlinear systems

  13. Globally Stable Adaptive Backstepping Neural Network Control for Uncertain Strict-Feedback Systems With Tracking Accuracy Known a Priori.

    Science.gov (United States)

    Chen, Weisheng; Ge, Shuzhi Sam; Wu, Jian; Gong, Maoguo

    2015-09-01

    This paper addresses the problem of globally stable direct adaptive backstepping neural network (NN) tracking control design for a class of uncertain strict-feedback systems under the assumption that the accuracy of the ultimate tracking error is given a priori. In contrast to the classical adaptive backstepping NN control schemes, this paper analyzes the convergence of the tracking error using Barbalat's Lemma via some nonnegative functions rather than the positive-definite Lyapunov functions. Thus, the accuracy of the ultimate tracking error can be determined and adjusted accurately a priori, and the closed-loop system is guaranteed to be globally uniformly ultimately bounded. The main technical novelty is to construct three new n th-order continuously differentiable functions, which are used to design the control law, the virtual control variables, and the adaptive laws. Finally, two simulation examples are given to illustrate the effectiveness and advantages of the proposed control method.

  14. Unstable work histories and fertility in France: An adaptation of sequence complexity measures to employment trajectories

    Directory of Open Access Journals (Sweden)

    Daniel Ciganda

    2015-04-01

    Full Text Available Background: The emergence of new evidence suggesting a sign shift in the long-standing negativecorrelation between prosperity and fertility levels has sparked a renewed interest in understanding the relationship between economic conditions and fertility decisions. In thiscontext, the notion of uncertainty has gained relevance in analyses of low fertility. So far, most studies have approached this notion using snapshot indicators such as type of contract or employment situation. However, these types of measures seem to be fallingshort in capturing what is intrinsically a dynamic process. Objective: Our first objective is to analyze to what extent employment trajectories have become lessstable over time, and the second, to determine whether or not employment instability has an impact on the timing and quantum of fertility in France.Additionally, we present a new indicator of employment instability that takes into account both the frequency and duration of unemployment, with the objective of comparing its performance against other, more commonly used indicators of economic uncertainty. Methods: Our study combines exploratory (Sequence Analysis with confirmatory (Event History, Logistic Regression methods to understand the relationship between early life-course uncertainty and the timing and intensity of fertility. We use employment histories from the three available waves of the Etude des relations familiales et intergenerationnelles (ERFI, a panel survey carried out by INED and INSEE which constitutes the base of the Generations and Gender Survey (GGS in France. Results: Although France is characterized by strong family policies and high and stable fertility levels, we find that employment instability not only has a strong and persistent negative effect on the final number of children for both men and women, but also contributes to fertility postponement in the case of men.Regarding the timing of the transition to motherhood, we show how

  15. Dynamic Learning from Adaptive Neural Control of Uncertain Robots with Guaranteed Full-State Tracking Precision

    Directory of Open Access Journals (Sweden)

    Min Wang

    2017-01-01

    Full Text Available A dynamic learning method is developed for an uncertain n-link robot with unknown system dynamics, achieving predefined performance attributes on the link angular position and velocity tracking errors. For a known nonsingular initial robotic condition, performance functions and unconstrained transformation errors are employed to prevent the violation of the full-state tracking error constraints. By combining two independent Lyapunov functions and radial basis function (RBF neural network (NN approximator, a novel and simple adaptive neural control scheme is proposed for the dynamics of the unconstrained transformation errors, which guarantees uniformly ultimate boundedness of all the signals in the closed-loop system. In the steady-state control process, RBF NNs are verified to satisfy the partial persistent excitation (PE condition. Subsequently, an appropriate state transformation is adopted to achieve the accurate convergence of neural weight estimates. The corresponding experienced knowledge on unknown robotic dynamics is stored in NNs with constant neural weight values. Using the stored knowledge, a static neural learning controller is developed to improve the full-state tracking performance. A comparative simulation study on a 2-link robot illustrates the effectiveness of the proposed scheme.

  16. Adaptive track scheduling to optimize concurrency and vectorization in GeantV

    International Nuclear Information System (INIS)

    Apostolakis, J; Brun, R; Carminati, F; Gheata, A; Novak, M; Wenzel, S; Bandieramonte, M; Bitzes, G; Canal, P; Elvira, V D; Jun, S Y; Lima, G; Licht, J C De Fine; Duhem, L; Sehgal, R; Shadura, O

    2015-01-01

    The GeantV project is focused on the R and D of new particle transport techniques to maximize parallelism on multiple levels, profiting from the use of both SIMD instructions and co-processors for the CPU-intensive calculations specific to this type of applications. In our approach, vectors of tracks belonging to multiple events and matching different locality criteria must be gathered and dispatched to algorithms having vector signatures. While the transport propagates tracks and changes their individual states, data locality becomes harder to maintain. The scheduling policy has to be changed to maintain efficient vectors while keeping an optimal level of concurrency. The model has complex dynamics requiring tuning the thresholds to switch between the normal regime and special modes, i.e. prioritizing events to allow flushing memory, adding new events in the transport pipeline to boost locality, dynamically adjusting the particle vector size or switching between vector to single track mode when vectorization causes only overhead. This work requires a comprehensive study for optimizing these parameters to make the behaviour of the scheduler self-adapting, presenting here its initial results. (paper)

  17. Adaptive Parameter Estimation of Person Recognition Model in a Stochastic Human Tracking Process

    Science.gov (United States)

    Nakanishi, W.; Fuse, T.; Ishikawa, T.

    2015-05-01

    This paper aims at an estimation of parameters of person recognition models using a sequential Bayesian filtering method. In many human tracking method, any parameters of models used for recognize the same person in successive frames are usually set in advance of human tracking process. In real situation these parameters may change according to situation of observation and difficulty level of human position prediction. Thus in this paper we formulate an adaptive parameter estimation using general state space model. Firstly we explain the way to formulate human tracking in general state space model with their components. Then referring to previous researches, we use Bhattacharyya coefficient to formulate observation model of general state space model, which is corresponding to person recognition model. The observation model in this paper is a function of Bhattacharyya coefficient with one unknown parameter. At last we sequentially estimate this parameter in real dataset with some settings. Results showed that sequential parameter estimation was succeeded and were consistent with observation situations such as occlusions.

  18. Performance enhancement for a GPS vector-tracking loop utilizing an adaptive iterated extended Kalman filter.

    Science.gov (United States)

    Chen, Xiyuan; Wang, Xiying; Xu, Yuan

    2014-12-09

    This paper deals with the problem of state estimation for the vector-tracking loop of a software-defined Global Positioning System (GPS) receiver. For a nonlinear system that has the model error and white Gaussian noise, a noise statistics estimator is used to estimate the model error, and based on this, a modified iterated extended Kalman filter (IEKF) named adaptive iterated Kalman filter (AIEKF) is proposed. A vector-tracking GPS receiver utilizing AIEKF is implemented to evaluate the performance of the proposed method. Through road tests, it is shown that the proposed method has an obvious accuracy advantage over the IEKF and Adaptive Extended Kalman filter (AEKF) in position determination. The results show that the proposed method is effective to reduce the root-mean-square error (RMSE) of position (including longitude, latitude and altitude). Comparing with EKF, the position RMSE values of AIEKF are reduced by about 45.1%, 40.9% and 54.6% in the east, north and up directions, respectively. Comparing with IEKF, the position RMSE values of AIEKF are reduced by about 25.7%, 19.3% and 35.7% in the east, north and up directions, respectively. Compared with AEKF, the position RMSE values of AIEKF are reduced by about 21.6%, 15.5% and 30.7% in the east, north and up directions, respectively.

  19. Analgesic consumption trajectories in 8975 patients 1 year after fast-track total hip or knee arthroplasty

    DEFF Research Database (Denmark)

    Jørgensen, C C; Petersen, M; Kehlet, H

    2018-01-01

    , opioids, anticonvulsants and antidepressants 1 month preoperatively and 1 year postoperatively. Patients were stratified according to preoperative opioid use. Postoperative analgesic consumption trajectories were stratified as increased, decreased or no use compared to the preoperative period. RESULTS.......6 (TKA) and 10.2% (THA) compared to 9.9 and 6.3% in opioid-naive TKA and THA patients, respectively. Increased NSAID and paracetamol use was seen in 11.5 and 12.4% of all patients. Preoperative analgesic use (any), TKA, psychiatric disorder, tobacco abuse, cardiac disease and use of walking aids were...

  20. Self-adaptive robot training of stroke survivors for continuous tracking movements

    Directory of Open Access Journals (Sweden)

    Morasso Pietro

    2010-03-01

    Full Text Available Abstract Background Although robot therapy is progressively becoming an accepted method of treatment for stroke survivors, few studies have investigated how to adapt the robot/subject interaction forces in an automatic way. The paper is a feasibility study of a novel self-adaptive robot controller to be applied with continuous tracking movements. Methods The haptic robot Braccio di Ferro is used, in relation with a tracking task. The proposed control architecture is based on three main modules: 1 a force field generator that combines a non linear attractive field and a viscous field; 2 a performance evaluation module; 3 an adaptive controller. The first module operates in a continuous time fashion; the other two modules operate in an intermittent way and are triggered at the end of the current block of trials. The controller progressively decreases the gain of the force field, within a session, but operates in a non monotonic way between sessions: it remembers the minimum gain achieved in a session and propagates it to the next one, which starts with a block whose gain is greater than the previous one. The initial assistance gains are chosen according to a minimal assistance strategy. The scheme can also be applied with closed eyes in order to enhance the role of proprioception in learning and control. Results The preliminary results with a small group of patients (10 chronic hemiplegic subjects show that the scheme is robust and promotes a statistically significant improvement in performance indicators as well as a recalibration of the visual and proprioceptive channels. The results confirm that the minimally assistive, self-adaptive strategy is well tolerated by severely impaired subjects and is beneficial also for less severe patients. Conclusions The experiments provide detailed information about the stability and robustness of the adaptive controller of robot assistance that could be quite relevant for the design of future large scale

  1. Adaptive integral backstepping sliding mode control for opto-electronic tracking system based on modified LuGre friction model

    Science.gov (United States)

    Yue, Fengfa; Li, Xingfei; Chen, Cheng; Tan, Wenbin

    2017-12-01

    In order to improve the control accuracy and stability of opto-electronic tracking system fixed on reef or airport under friction and external disturbance conditions, adaptive integral backstepping sliding mode control approach with friction compensation is developed to achieve accurate and stable tracking for fast moving target. The nonlinear observer and slide mode controller based on modified LuGre model with friction compensation can effectively reduce the influence of nonlinear friction and disturbance of this servo system. The stability of the closed-loop system is guaranteed by Lyapunov theory. The steady-state error of the system is eliminated by integral action. The adaptive integral backstepping sliding mode controller and its performance are validated by a nonlinear modified LuGre dynamic model of the opto-electronic tracking system in simulation and practical experiments. The experiment results demonstrate that the proposed controller can effectively realise the accuracy and stability control of opto-electronic tracking system.

  2. Constructing self-identity: minority students' adaptation trajectories in a Chinese university.

    Science.gov (United States)

    Li, Ling; Wu, Aruna; Li, Xiao Wen; Zhuang, Yuan

    2012-09-01

    Researchers have gone beyond identity status and been putting more and more emphases on the dynamic process of identity development and its contextual embeddedness. Study of individual's adaptation to the multicultural background is a good point of penetration. Because of the differences in regional conditions and cultural traditions, the minority youths who go to university in the mainstream culture would have special experiences and challenges in the development of their self-identities. Semi-structured interview and narrative were used in this research to discover the characteristics of the self-identity constructing processes of Mongolian undergraduates in a Shanghai university context. Their identity constructing process could be divided into three stages: difference-detecting, self-doubting and self-orienting. The main efforts of identity constructing in each stage could all be described as self-exploring and support-seeking. Special contents of internal explorations and sources of support were distinguished at different stages. As relative results, three main types of self-orientation were revealed: goal-oriented, self-isolated and unreserved assimilated. The characteristics of them are quite similar to those of three identity processing styles proposed by Berzonsky, which indicates there are some common elements lying in all self-development processes of adolescences and young adults. Ethnicity and culture could be background and resource or what Côté called identity capital that impacts the special course of self-identity constructing under similar principles. Different attitudes towards and relationships with their own ethnicity and new surroundings separated the three types of students from each other and interacted with the developmental characteristics and tendencies of their ethnicity identifications and self identities. It was found that minority youths' self-identity constructing was based on their needs of self-value and interacted with their

  3. Reconstruction of pre-instrumental storm track trajectories across the U.S. Pacific Northwest using circulation-based field sampling of Pinus Ponderosa

    Science.gov (United States)

    Wise, E.; Dannenberg, M. P.

    2015-12-01

    The trajectory of incoming storms from the Pacific Ocean is a key influence on drought and flood regimes in western North America. Flow is typically from the west in a zonal pattern, but decadal shifts between zonal and meridional flow have been identified as key features in hydroclimatic variability over the instrumental period. In Washington and most of the Pacific Northwest, there tend to be lower-latitude storm systems that result in decreased precipitation in El Niño years. However, the Columbia Basin in central Washington behaves in opposition to the surrounding region and typically has average to above-average precipitation in El Niño years due to changing storm-track trajectories and a decreasing rain shadow effect on the leeward side of the Cascades. This direct connection between storm-track position and precipitation patterns in Washington provided an exceptional opportunity for circulation-based field sampling and chronology development. New Pinus ponderosa (Ponderosa pine) tree-ring chronologies were developed from eight sites around the Columbia Basin in Washington and used to examine year-to-year changes in moisture regimes. Results show that these sites are representative of the two distinct climate response areas. The divergence points between these two site responses allowed us to reconstruct changing precipitation patterns since the late-17th century, and to link these patterns to previously reconstructed atmospheric pressure and El Niño indices. This study highlights the potential for using synoptic climatology to inform field-based proxy collection.

  4. L1 Adaptive Speed Control of a Small Wind Energy Conversion System for Maximum Power Point Tracking

    DEFF Research Database (Denmark)

    Zhao, Haoran; Wu, Qiuwei; Rasmussen, Claus Nygaard

    2014-01-01

    This paper presents the design of an L1 adaptive controller for maximum power point tracking (MPPT) of a small variable speed Wind Energy Conversion System (WECS). The proposed controller generates the optimal torque command for the vector controlled generator side converter (GSC) based on the wi......) is used to carry out case studies using Matlab/Simulink. The case study results show that the designed L1 adaptive controller has good tracking performance even with unmodeled dynamics and in the presence of parameter uncertainties and unknown disturbances.......This paper presents the design of an L1 adaptive controller for maximum power point tracking (MPPT) of a small variable speed Wind Energy Conversion System (WECS). The proposed controller generates the optimal torque command for the vector controlled generator side converter (GSC) based on the wind...

  5. First industrial application of the auto-adaptative MAG STT welding technique with laser joint tracking

    International Nuclear Information System (INIS)

    Tran Tien, Th.

    2007-01-01

    The Welding Institute has participated to the plan of construction of the Large Hadron Collider. The hoops of the dipolar magnets are composed of two half cylinders 15 m in length in 10 mm 316LN austenitic stainless steel and are assembled around the magnet in a horizontal-vertical position. The Welding Institute has developed a software for carrying out the auto-adaptative welding technique with laser joint tracking, in using the MAG STT (Surface Tension Transfer) process. The modelling of the welding laws and the strategy of filling the joints in multi-paths absorb the physical tolerances of the preparation (clearance, poor alignment, root..) in dynamic welding condition too. (O.M.)

  6. Adaptive Disturbance Tracking Theory with State Estimation and State Feedback for Region II Control of Large Wind Turbines

    Science.gov (United States)

    Balas, Mark J.; Thapa Magar, Kaman S.; Frost, Susan A.

    2013-01-01

    A theory called Adaptive Disturbance Tracking Control (ADTC) is introduced and used to track the Tip Speed Ratio (TSR) of 5 MW Horizontal Axis Wind Turbine (HAWT). Since ADTC theory requires wind speed information, a wind disturbance generator model is combined with lower order plant model to estimate the wind speed as well as partial states of the wind turbine. In this paper, we present a proof of stability and convergence of ADTC theory with lower order estimator and show that the state feedback can be adaptive.

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

    Science.gov (United States)

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

    2017-07-01

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

  8. Direct Adaptive Tracking Control for a Class of Pure-Feedback Stochastic Nonlinear Systems Based on Fuzzy-Approximation

    Directory of Open Access Journals (Sweden)

    Huanqing Wang

    2014-01-01

    Full Text Available The problem of fuzzy-based direct adaptive tracking control is considered for a class of pure-feedback stochastic nonlinear systems. During the controller design, fuzzy logic systems are used to approximate the packaged unknown nonlinearities, and then a novel direct adaptive controller is constructed via backstepping technique. It is shown that the proposed controller guarantees that all the signals in the closed-loop system are bounded in probability and the tracking error eventually converges to a small neighborhood around the origin in the sense of mean quartic value. The main advantages lie in that the proposed controller structure is simpler and only one adaptive parameter needs to be updated online. Simulation results are used to illustrate the effectiveness of the proposed approach.

  9. Comparative system identification of flower tracking performance in three hawkmoth species reveals adaptations for dim light vision.

    Science.gov (United States)

    Stöckl, Anna L; Kihlström, Klara; Chandler, Steven; Sponberg, Simon

    2017-04-05

    Flight control in insects is heavily dependent on vision. Thus, in dim light, the decreased reliability of visual signal detection also prompts consequences for insect flight. We have an emerging understanding of the neural mechanisms that different species employ to adapt the visual system to low light. However, much less explored are comparative analyses of how low light affects the flight behaviour of insect species, and the corresponding links between physiological adaptations and behaviour. We investigated whether the flower tracking behaviour of three hawkmoth species with different diel activity patterns revealed luminance-dependent adaptations, using a system identification approach. We found clear luminance-dependent differences in flower tracking in all three species, which were explained by a simple luminance-dependent delay model, which generalized across species. We discuss physiological and anatomical explanations for the variance in tracking responses, which could not be explained by such simple models. Differences between species could not be explained by the simple delay model. However, in several cases, they could be explained through the addition on a second model parameter, a simple scaling term, that captures the responsiveness of each species to flower movements. Thus, we demonstrate here that much of the variance in the luminance-dependent flower tracking responses of hawkmoths with different diel activity patterns can be captured by simple models of neural processing.This article is part of the themed issue 'Vision in dim light'. © 2017 The Author(s).

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

    Science.gov (United States)

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

    2016-10-01

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

  11. Adaptive block online learning target tracking based on super pixel segmentation

    Science.gov (United States)

    Cheng, Yue; Li, Jianzeng

    2018-04-01

    Video target tracking technology under the unremitting exploration of predecessors has made big progress, but there are still lots of problems not solved. This paper proposed a new algorithm of target tracking based on image segmentation technology. Firstly we divide the selected region using simple linear iterative clustering (SLIC) algorithm, after that, we block the area with the improved density-based spatial clustering of applications with noise (DBSCAN) clustering algorithm. Each sub-block independently trained classifier and tracked, then the algorithm ignore the failed tracking sub-block while reintegrate the rest of the sub-blocks into tracking box to complete the target tracking. The experimental results show that our algorithm can work effectively under occlusion interference, rotation change, scale change and many other problems in target tracking compared with the current mainstream algorithms.

  12. Tracking Control of a 2-DOF Arm Actuated by Pneumatic Muscle Actuators Using Adaptive Fuzzy Sliding Mode Control

    Science.gov (United States)

    Chang, Ming-Kun; Wu, Jui-Chi

    Pneumatic muscle actuators (PMAs) have the highest power/weight ratio and power/volume ratio of any actuator. Therefore, they can be used not only in the rehabilitation engineering, but also as an actuator in robots, including industrial robots and therapy robots. It is difficult to achieve excellent tracking performance using classical control methods because the compressibility of gas and the nonlinear elasticity of bladder container causes parameter variations. An adaptive fuzzy sliding mode control is developed in this study. The fuzzy sliding surface can be used to reduce fuzzy rule numbers, and the adaptive control law is used to modify fuzzy rules on-line. A model matching technique is then adopted to adjust scaling factors. The experimental results show that this control strategy can attain excellent tracking performance.

  13. A Semiactive and Adaptive Hybrid Control System for a Tracked Vehicle Hydropneumatic Suspension Based on Disturbance Identification

    Directory of Open Access Journals (Sweden)

    Shousong Han

    2017-01-01

    Full Text Available The riding conditions for a high-speed tracked vehicle are quite complex. To enhance the adaptability of suspension systems to different riding conditions, a semiactive and self-adaptive hybrid control strategy based on disturbance velocity and frequency identification was proposed. A mathematical model of the semiactive, self-adaptive hybrid suspension control system, along with a performance evaluation function, was established. Based on a two-degree-of-freedom (DOF suspension system, the kinematic relations and frequency zero-crossing detection method were defined, and expressions for the disturbance velocity and disturbance frequency of the road were obtained. Optimal scheduling of the semiactive hybrid damping control gain (csky, cground, chybrid and self-adaptive control gain (cv under different disturbances were realized by exploiting the particle swarm multiobjective optimization algorithm. An experimental study using a carefully designed test rig was performed under a number of typical riding conditions of tracked vehicles, and the results showed that the proposed control strategy is capable of accurately recognizing different disturbances, shifting between control modes (semiactive/self-adaptive, and scheduling the damping control gain according to the disturbance identification outcomes; hence, the proposed strategy could achieve a good trade-off between ride comfort and ride safety and efficiently increase the overall performance of the suspension under various riding conditions.

  14. A model of curved saccade trajectories: Spike rate adaptation in the brainstem as the cause of deviation away

    NARCIS (Netherlands)

    Kruijne, Wouter; Van der Stigchel, Stefan; Meeter, Martijn

    2014-01-01

    The trajectory of saccades to a target is often affected whenever there is a distractor in the visual field. Distractors can cause a saccade to deviate towards their location or away from it. The oculomotor mechanisms that produce deviation towards distractors have been thoroughly explored in

  15. A model of curved saccade trajectories: Spike rate adaptation in the brainstem as the cause of deviation away.

    NARCIS (Netherlands)

    Kruijne, W.; van der Stigchel, S.; Meeter, M.

    2014-01-01

    The trajectory of saccades to a target is often affected whenever there is a distractor in the visual field. Distractors can cause a saccade to deviate towards their location or away from it. The oculomotor mechanisms that produce deviation towards distractors have been thoroughly explored in

  16. A Cubature-Principle-Assisted IMM-Adaptive UKF Algorithm for Maneuvering Target Tracking Caused by Sensor Faults

    Directory of Open Access Journals (Sweden)

    Huan Zhou

    2017-09-01

    Full Text Available Aimed at solving the problem of decreased filtering precision while maneuvering target tracking caused by non-Gaussian distribution and sensor faults, we developed an efficient interacting multiple model-unscented Kalman filter (IMM-UKF algorithm. By dividing the IMM-UKF into two links, the algorithm introduces the cubature principle to approximate the probability density of the random variable, after the interaction, by considering the external link of IMM-UKF, which constitutes the cubature-principle-assisted IMM method (CPIMM for solving the non-Gaussian problem, and leads to an adaptive matrix to balance the contribution of the state. The algorithm provides filtering solutions by considering the internal link of IMM-UKF, which is called a new adaptive UKF algorithm (NAUKF to address sensor faults. The proposed CPIMM-NAUKF is evaluated in a numerical simulation and two practical experiments including one navigation experiment and one maneuvering target tracking experiment. The simulation and experiment results show that the proposed CPIMM-NAUKF has greater filtering precision and faster convergence than the existing IMM-UKF. The proposed algorithm achieves a very good tracking performance, and will be effective and applicable in the field of maneuvering target tracking.

  17. 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.

  18. Real-Time Motion Tracking for Mobile Augmented/Virtual Reality Using Adaptive Visual-Inertial Fusion.

    Science.gov (United States)

    Fang, Wei; Zheng, Lianyu; Deng, Huanjun; Zhang, Hongbo

    2017-05-05

    In mobile augmented/virtual reality (AR/VR), real-time 6-Degree of Freedom (DoF) motion tracking is essential for the registration between virtual scenes and the real world. However, due to the limited computational capacity of mobile terminals today, the latency between consecutive arriving poses would damage the user experience in mobile AR/VR. Thus, a visual-inertial based real-time motion tracking for mobile AR/VR is proposed in this paper. By means of high frequency and passive outputs from the inertial sensor, the real-time performance of arriving poses for mobile AR/VR is achieved. In addition, to alleviate the jitter phenomenon during the visual-inertial fusion, an adaptive filter framework is established to cope with different motion situations automatically, enabling the real-time 6-DoF motion tracking by balancing the jitter and latency. Besides, the robustness of the traditional visual-only based motion tracking is enhanced, giving rise to a better mobile AR/VR performance when motion blur is encountered. Finally, experiments are carried out to demonstrate the proposed method, and the results show that this work is capable of providing a smooth and robust 6-DoF motion tracking for mobile AR/VR in real-time.

  19. Multi-sensor fusion using an adaptive multi-hypothesis tracking algorithm

    NARCIS (Netherlands)

    Kester, L.J.H.M.

    2003-01-01

    The purpose of a tracking algorithm is to associate data measured by one or more (moving) sensors to moving objects in the environment. The state of these objects that can be estimated with the tracking process depends on the type of data that is provided by these sensors. It is discussed how the

  20. A Dual Track Treadmill in a Virtual Reality Environment as a Countermeasure for Neurovestibular Adaptations in Microgravity

    Science.gov (United States)

    DAndrea, Susan E.; Kahelin, Michael W.; Horowitz, Jay G.; OConnor, Philip A.

    2004-01-01

    While the neurovestibular system is capable of adapting to altered environments such as microgravity, the adaptive state achieved in space in inadequate for 1G. This leads to gait and postural instabilities when returning to a gravity environment and may create serious problems in future missions to Mars. New methods are needed to improve the understanding of the adaptive capabilities of the human neurovestibular system and to develop more effective countermeasures. The concept behind the current study is that by challenging the neurovestibular system while walking or running, a treadmill can help to readjust the relationship between the visual, vestibular and proprioceptive signals that are altered in a microgravity environment. As a countermeasure, this device could also benefit the musculoskeletal and cardiovascular systems and at the same time decrease the overall time spent exercising. The overall goal of this research is to design, develop, build and test a dual track treadmill, which utilizes virtual reality,

  1. Developmental trajectories and reciprocal associations between career adaptability and vocational identity : A three-wave longitudinal study with adolescents

    NARCIS (Netherlands)

    Negru-Subtirica, Oana; Pop, Eleonora Ioana; Crocetti, Elisabetta

    2015-01-01

    The purpose of this longitudinal study was two-fold. First, we investigated patterns of stability and change in career adaptability and vocational identity in adolescents. Second, we examined reciprocal associations between career adaptability and vocational identity. In addressing both research

  2. COGNITIVE DIALOG GAMES AS COGNITIVE ASSISTANTS: TRACKING AND ADAPTING KNOWLEDGE AND INTERACTIONS IN STUDENT’S DIALOGS

    Directory of Open Access Journals (Sweden)

    Adem Karahoca

    2018-04-01

    Full Text Available This study introduces a system design in a form of cognitive dialog game (DiaCog to support pedagogical factors and student learning model ideas. The purpose of the study is to describe how such a design achieves tracking and adapting students’ knowledge and mastery learning levels as a cognitive assistant. Also, this study shows alternative ways for supporting intelligent personal learning, tutoring systems, and MOOCS. This paper explains method called DiaCog that uses structure for students` thinking in an online dialog by tracking student`s level of learning/knowledge status. The methodology of computing is the semantic that match between students` interactions in a dialog. By this way it informs DiaCog’s learner model to inform the pedagogical model. Semantic fingerprint matching method of DiaCog allows making comparisons with expert knowledge to detect students` mastery levels in learning. The paper concludes with the DiaCog tool and methodologies that used for intelligent cognitive assistant design to implement pedagogical and learner model to track and adapt students’ learning. Finally, this paper discusses future improvements and planned experimental set up to advance the techniques introduced in DiaCog design.

  3. Real-time tracking control of electro-hydraulic force servo systems using offline feedback control and adaptive control.

    Science.gov (United States)

    Shen, Gang; Zhu, Zhencai; Zhao, Jinsong; Zhu, Weidong; Tang, Yu; Li, Xiang

    2017-03-01

    This paper focuses on an application of an electro-hydraulic force tracking controller combined with an offline designed feedback controller (ODFC) and an online adaptive compensator in order to improve force tracking performance of an electro-hydraulic force servo system (EHFS). A proportional-integral controller has been employed and a parameter-based force closed-loop transfer function of the EHFS is identified by a continuous system identification algorithm. By taking the identified system model as a nominal plant model, an H ∞ offline design method is employed to establish an optimized feedback controller with consideration of the performance, control efforts, and robustness of the EHFS. In order to overcome the disadvantage of the offline designed controller and cope with the varying dynamics of the EHFS, an online adaptive compensator with a normalized least-mean-square algorithm is cascaded to the force closed-loop system of the EHFS compensated by the ODFC. Some comparative experiments are carried out on a real-time EHFS using an xPC rapid prototype technology, and the proposed controller yields a better force tracking performance improvement. Copyright © 2016. Published by Elsevier Ltd.

  4. Online visual feedback during error-free channel trials leads to active unlearning of movement dynamics: evidence for adaptation to trajectory prediction errors.

    Directory of Open Access Journals (Sweden)

    Angel Lago-Rodriguez

    2016-09-01

    Full Text Available Prolonged exposure to movement perturbations leads to creation of motor memories which decay towards previous states when the perturbations are removed. However, it remains unclear whether this decay is due only to a spontaneous and passive recovery of the previous state. It has recently been reported that activation of reinforcement-based learning mechanisms delays the onset of the decay. This raises the question whether other motor learning mechanisms may also contribute to the retention and/or decay of the motor memory. Therefore, we aimed to test whether mechanisms of error-based motor adaptation are active during the decay of the motor memory. Forty-five right-handed participants performed point-to-point reaching movements under an external dynamic perturbation. We measured the expression of the motor memory through error-clamped (EC trials, in which lateral forces constrained movements to a straight line towards the target. We found greater and faster decay of the motor memory for participants who had access to full online visual feedback during these EC trials (Cursor group, when compared with participants who had no EC feedback regarding movement trajectory (Arc group. Importantly, we did not find between-group differences in adaptation to the external perturbation. In addition, we found greater decay of the motor memory when we artificially increased feedback errors through the manipulation of visual feedback (Augmented-Error group. Our results then support the notion of an active decay of the motor memory, suggesting that adaptive mechanisms are involved in correcting for the mismatch between predicted movement trajectories and actual sensory feedback, which leads to greater and faster decay of the motor memory.

  5. Mount for continuously orienting a collector dish in a system adapted to perform both diurnal and seasonal solar tracking

    Science.gov (United States)

    Brantley, L. W., Jr.; Lawson, B. D. (Inventor)

    1977-01-01

    A collector dish is continuously oriented toward the sun in a system adapted to perform both diurnal and seasonal solar tracking. The mount is characterized by a rigid, angulated axle having a linear midportion supporting a collector dish, and oppositely extended end portions normally related to the midportion of the axle and received in spaced journals. The longitudinal axis of symmetry for the midportion of the axle is coincident with a seasonal axis while the axes of the journals are coincident with a diurnal axis paralleling the earth's polar axis. Drive means are provided for periodically displacing the axle about the diurnal axis at a substantially constant rate, while other drive means are provided for periodically indexing the dish through 1 deg about the seasonal axis whereby the position of the dish relative to the axle is varied for accommodating seasonal tracking as changes in the angle of inclination of the polar axis occurs.

  6. Using dual-energy x-ray imaging to enhance automated lung tumor tracking during real-time adaptive radiotherapy

    Energy Technology Data Exchange (ETDEWEB)

    Menten, Martin J., E-mail: martin.menten@icr.ac.uk; Fast, Martin F.; Nill, Simeon; Oelfke, Uwe, E-mail: uwe.oelfke@icr.ac.uk [Joint Department of Physics at The Institute of Cancer Research and The Royal Marsden NHS Foundation Trust, London SM2 5NG (United Kingdom)

    2015-12-15

    Purpose: Real-time, markerless localization of lung tumors with kV imaging is often inhibited by ribs obscuring the tumor and poor soft-tissue contrast. This study investigates the use of dual-energy imaging, which can generate radiographs with reduced bone visibility, to enhance automated lung tumor tracking for real-time adaptive radiotherapy. Methods: kV images of an anthropomorphic breathing chest phantom were experimentally acquired and radiographs of actual lung cancer patients were Monte-Carlo-simulated at three imaging settings: low-energy (70 kVp, 1.5 mAs), high-energy (140 kVp, 2.5 mAs, 1 mm additional tin filtration), and clinical (120 kVp, 0.25 mAs). Regular dual-energy images were calculated by weighted logarithmic subtraction of high- and low-energy images and filter-free dual-energy images were generated from clinical and low-energy radiographs. The weighting factor to calculate the dual-energy images was determined by means of a novel objective score. The usefulness of dual-energy imaging for real-time tracking with an automated template matching algorithm was investigated. Results: Regular dual-energy imaging was able to increase tracking accuracy in left–right images of the anthropomorphic phantom as well as in 7 out of 24 investigated patient cases. Tracking accuracy remained comparable in three cases and decreased in five cases. Filter-free dual-energy imaging was only able to increase accuracy in 2 out of 24 cases. In four cases no change in accuracy was observed and tracking accuracy worsened in nine cases. In 9 out of 24 cases, it was not possible to define a tracking template due to poor soft-tissue contrast regardless of input images. The mean localization errors using clinical, regular dual-energy, and filter-free dual-energy radiographs were 3.85, 3.32, and 5.24 mm, respectively. Tracking success was dependent on tumor position, tumor size, imaging beam angle, and patient size. Conclusions: This study has highlighted the influence of

  7. Using dual-energy x-ray imaging to enhance automated lung tumor tracking during real-time adaptive radiotherapy

    International Nuclear Information System (INIS)

    Menten, Martin J.; Fast, Martin F.; Nill, Simeon; Oelfke, Uwe

    2015-01-01

    Purpose: Real-time, markerless localization of lung tumors with kV imaging is often inhibited by ribs obscuring the tumor and poor soft-tissue contrast. This study investigates the use of dual-energy imaging, which can generate radiographs with reduced bone visibility, to enhance automated lung tumor tracking for real-time adaptive radiotherapy. Methods: kV images of an anthropomorphic breathing chest phantom were experimentally acquired and radiographs of actual lung cancer patients were Monte-Carlo-simulated at three imaging settings: low-energy (70 kVp, 1.5 mAs), high-energy (140 kVp, 2.5 mAs, 1 mm additional tin filtration), and clinical (120 kVp, 0.25 mAs). Regular dual-energy images were calculated by weighted logarithmic subtraction of high- and low-energy images and filter-free dual-energy images were generated from clinical and low-energy radiographs. The weighting factor to calculate the dual-energy images was determined by means of a novel objective score. The usefulness of dual-energy imaging for real-time tracking with an automated template matching algorithm was investigated. Results: Regular dual-energy imaging was able to increase tracking accuracy in left–right images of the anthropomorphic phantom as well as in 7 out of 24 investigated patient cases. Tracking accuracy remained comparable in three cases and decreased in five cases. Filter-free dual-energy imaging was only able to increase accuracy in 2 out of 24 cases. In four cases no change in accuracy was observed and tracking accuracy worsened in nine cases. In 9 out of 24 cases, it was not possible to define a tracking template due to poor soft-tissue contrast regardless of input images. The mean localization errors using clinical, regular dual-energy, and filter-free dual-energy radiographs were 3.85, 3.32, and 5.24 mm, respectively. Tracking success was dependent on tumor position, tumor size, imaging beam angle, and patient size. Conclusions: This study has highlighted the influence of

  8. Using dual-energy x-ray imaging to enhance automated lung tumor tracking during real-time adaptive radiotherapy.

    Science.gov (United States)

    Menten, Martin J; Fast, Martin F; Nill, Simeon; Oelfke, Uwe

    2015-12-01

    Real-time, markerless localization of lung tumors with kV imaging is often inhibited by ribs obscuring the tumor and poor soft-tissue contrast. This study investigates the use of dual-energy imaging, which can generate radiographs with reduced bone visibility, to enhance automated lung tumor tracking for real-time adaptive radiotherapy. kV images of an anthropomorphic breathing chest phantom were experimentally acquired and radiographs of actual lung cancer patients were Monte-Carlo-simulated at three imaging settings: low-energy (70 kVp, 1.5 mAs), high-energy (140 kVp, 2.5 mAs, 1 mm additional tin filtration), and clinical (120 kVp, 0.25 mAs). Regular dual-energy images were calculated by weighted logarithmic subtraction of high- and low-energy images and filter-free dual-energy images were generated from clinical and low-energy radiographs. The weighting factor to calculate the dual-energy images was determined by means of a novel objective score. The usefulness of dual-energy imaging for real-time tracking with an automated template matching algorithm was investigated. Regular dual-energy imaging was able to increase tracking accuracy in left-right images of the anthropomorphic phantom as well as in 7 out of 24 investigated patient cases. Tracking accuracy remained comparable in three cases and decreased in five cases. Filter-free dual-energy imaging was only able to increase accuracy in 2 out of 24 cases. In four cases no change in accuracy was observed and tracking accuracy worsened in nine cases. In 9 out of 24 cases, it was not possible to define a tracking template due to poor soft-tissue contrast regardless of input images. The mean localization errors using clinical, regular dual-energy, and filter-free dual-energy radiographs were 3.85, 3.32, and 5.24 mm, respectively. Tracking success was dependent on tumor position, tumor size, imaging beam angle, and patient size. This study has highlighted the influence of patient anatomy on the success rate of real

  9. Geometric Algorithms for Trajectory Analysis

    NARCIS (Netherlands)

    Staals, Frank

    2015-01-01

    Technology such as the Global Positing System (GPS) has made tracking moving entities easy and cheap. As a result there is a large amount of trajectory data available, and an increasing demand on tools and techniques to analyze such data. We consider several analysis tasks for trajectory data,

  10. Adapt

    Science.gov (United States)

    Bargatze, L. F.

    2015-12-01

    Active Data Archive Product Tracking (ADAPT) is a collection of software routines that permits one to generate XML metadata files to describe and register data products in support of the NASA Heliophysics Virtual Observatory VxO effort. ADAPT is also a philosophy. The ADAPT concept is to use any and all available metadata associated with scientific data to produce XML metadata descriptions in a consistent, uniform, and organized fashion to provide blanket access to the full complement of data stored on a targeted data server. In this poster, we present an application of ADAPT to describe all of the data products that are stored by using the Common Data File (CDF) format served out by the CDAWEB and SPDF data servers hosted at the NASA Goddard Space Flight Center. These data servers are the primary repositories for NASA Heliophysics data. For this purpose, the ADAPT routines have been used to generate data resource descriptions by using an XML schema named Space Physics Archive, Search, and Extract (SPASE). SPASE is the designated standard for documenting Heliophysics data products, as adopted by the Heliophysics Data and Model Consortium. The set of SPASE XML resource descriptions produced by ADAPT includes high-level descriptions of numerical data products, display data products, or catalogs and also includes low-level "Granule" descriptions. A SPASE Granule is effectively a universal access metadata resource; a Granule associates an individual data file (e.g. a CDF file) with a "parent" high-level data resource description, assigns a resource identifier to the file, and lists the corresponding assess URL(s). The CDAWEB and SPDF file systems were queried to provide the input required by the ADAPT software to create an initial set of SPASE metadata resource descriptions. Then, the CDAWEB and SPDF data repositories were queried subsequently on a nightly basis and the CDF file lists were checked for any changes such as the occurrence of new, modified, or deleted

  11. Maximum Wind Power Tracking of Doubly Fed Wind Turbine System Based on Adaptive Gain Second-Order Sliding Mode

    Directory of Open Access Journals (Sweden)

    Hongchang Sun

    2018-01-01

    Full Text Available This paper proposes an adaptive gain second-order sliding mode control strategy to track optimal electromagnetic torque and regulate reactive power of doubly fed wind turbine system. Firstly, wind turbine aerodynamic characteristics and doubly fed induction generator (DFIG modeling are presented. Then, electromagnetic torque error and reactive power error are chosen as sliding variables, and fixed gain super-twisting sliding mode control scheme is designed. Considering that uncertainty upper bound is unknown and is hard to be estimated in actual doubly fed wind turbine system, a gain scheduled law is proposed to compel control parameters variation according to uncertainty upper bound real-time. Adaptive gain second-order sliding mode rotor voltage control method is constructed in detail and finite time stability of doubly fed wind turbine control system is strictly proved. The superiority and robustness of the proposed control scheme are finally evaluated on a 1.5 MW DFIG wind turbine system.

  12. Adaptive eye-gaze tracking using neural-network-based user profiles to assist people with motor disability.

    Science.gov (United States)

    Sesin, Anaelis; Adjouadi, Malek; Cabrerizo, Mercedes; Ayala, Melvin; Barreto, Armando

    2008-01-01

    This study developed an adaptive real-time human-computer interface (HCI) that serves as an assistive technology tool for people with severe motor disability. The proposed HCI design uses eye gaze as the primary computer input device. Controlling the mouse cursor with raw eye coordinates results in sporadic motion of the pointer because of the saccadic nature of the eye. Even though eye movements are subtle and completely imperceptible under normal circumstances, they considerably affect the accuracy of an eye-gaze-based HCI. The proposed HCI system is novel because it adapts to each specific user's different and potentially changing jitter characteristics through the configuration and training of an artificial neural network (ANN) that is structured to minimize the mouse jitter. This task is based on feeding the ANN a user's initially recorded eye-gaze behavior through a short training session. The ANN finds the relationship between the gaze coordinates and the mouse cursor position based on the multilayer perceptron model. An embedded graphical interface is used during the training session to generate user profiles that make up these unique ANN configurations. The results with 12 subjects in test 1, which involved following a moving target, showed an average jitter reduction of 35%; the results with 9 subjects in test 2, which involved following the contour of a square object, showed an average jitter reduction of 53%. For both results, the outcomes led to trajectories that were significantly smoother and apt at reaching fixed or moving targets with relative ease and within a 5% error margin or deviation from desired trajectories. The positive effects of such jitter reduction are presented graphically for visual appreciation.

  13. 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.

  14. The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network.

    Science.gov (United States)

    Han, Gaining; Fu, Weiping; Wang, Wen; Wu, Zongsheng

    2017-05-30

    The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function) is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average) model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS), the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative) controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.

  15. The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network

    Directory of Open Access Journals (Sweden)

    Gaining Han

    2017-05-01

    Full Text Available The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS, the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.

  16. An Adaptive Neural Mechanism with a Lizard Ear Model for Binaural Acoustic Tracking

    DEFF Research Database (Denmark)

    Shaikh, Danish; Manoonpong, Poramate

    2016-01-01

    expensive algorithms. We present a novel bioinspired solution to acoustic tracking that uses only two microphones. The system is based on a neural mechanism coupled with a model of the peripheral auditory system of lizards. The peripheral auditory model provides sound direction information which the neural...

  17. Human tracking in thermal images using adaptive particle filters with online random forest learning

    Science.gov (United States)

    Ko, Byoung Chul; Kwak, Joon-Young; Nam, Jae-Yeal

    2013-11-01

    This paper presents a fast and robust human tracking method to use in a moving long-wave infrared thermal camera under poor illumination with the existence of shadows and cluttered backgrounds. To improve the human tracking performance while minimizing the computation time, this study proposes an online learning of classifiers based on particle filters and combination of a local intensity distribution (LID) with oriented center-symmetric local binary patterns (OCS-LBP). Specifically, we design a real-time random forest (RF), which is the ensemble of decision trees for confidence estimation, and confidences of the RF are converted into a likelihood function of the target state. First, the target model is selected by the user and particles are sampled. Then, RFs are generated using the positive and negative examples with LID and OCS-LBP features by online learning. The learned RF classifiers are used to detect the most likely target position in the subsequent frame in the next stage. Then, the RFs are learned again by means of fast retraining with the tracked object and background appearance in the new frame. The proposed algorithm is successfully applied to various thermal videos as tests and its tracking performance is better than those of other methods.

  18. Adaptive PSO for optimal LQR tracking control of 2 DoF laboratory helicopter

    NARCIS (Netherlands)

    Vinodh Kumar, E.; Ganapathy Subramanian, R.; Jerome, J.

    2016-01-01

    This paper deals with the attitude tracking control problem for a 2 DoF laboratory helicopter using optimal linear quadratic regulator (LQR). As the performance of the LQR controller greatly depends on the weighting matrices (Q and R), it is important to select them optimally. However, normally the

  19. Robust adaptive fuzzy neural tracking control for a class of unknown ...

    Indian Academy of Sciences (India)

    In this paper, an adaptive fuzzy neural controller (AFNC) for a class of unknown chaotic systems is ... The robust controller is used to guarantee the stability and to control the per- ..... From the above analysis we have the following theorem:.

  20. Adaptive NN tracking control of uncertain nonlinear discrete-time systems with nonaffine dead-zone input.

    Science.gov (United States)

    Liu, Yan-Jun; Tong, Shaocheng

    2015-03-01

    In the paper, an adaptive tracking control design is studied for a class of nonlinear discrete-time systems with dead-zone input. The considered systems are of the nonaffine pure-feedback form and the dead-zone input appears nonlinearly in the systems. The contributions of the paper are that: 1) it is for the first time to investigate the control problem for this class of discrete-time systems with dead-zone; 2) there are major difficulties for stabilizing such systems and in order to overcome the difficulties, the systems are transformed into an n-step-ahead predictor but nonaffine function is still existent; and 3) an adaptive compensative term is constructed to compensate for the parameters of the dead-zone. The neural networks are used to approximate the unknown functions in the transformed systems. Based on the Lyapunov theory, it is proven that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded and the tracking error converges to a small neighborhood of zero. Two simulation examples are provided to verify the effectiveness of the control approach in the paper.

  1. Adaptation of multidimensional group particle tracking and particle wall-boundary condition model to the FDNS code

    Science.gov (United States)

    Chen, Y. S.; Farmer, R. C.

    1992-01-01

    A particulate two-phase flow CFD model was developed based on the FDNS code which is a pressure based predictor plus multi-corrector Navier-Stokes flow solver. Turbulence models with compressibility correction and the wall function models were employed as submodels. A finite-rate chemistry model was used for reacting flow simulation. For particulate two-phase flow simulations, a Eulerian-Lagrangian solution method using an efficient implicit particle trajectory integration scheme was developed in this study. Effects of particle-gas reaction and particle size change to agglomeration or fragmentation were not considered in this investigation. At the onset of the present study, a two-dimensional version of FDNS which had been modified to treat Lagrangian tracking of particles (FDNS-2DEL) had already been written and was operational. The FDNS-2DEL code was too slow for practical use, mainly because it had not been written in a form amenable to vectorization on the Cray, nor was the full three-dimensional form of FDNS utilized. The specific objective of this study was to reorder to calculations into long single arrays for automatic vectorization on the Cray and to implement the full three-dimensional version of FDNS to produce the FDNS-3DEL code. Since the FDNS-2DEL code was slow, a very limited number of test cases had been run with it. This study was also intended to increase the number of cases simulated to verify and improve, as necessary, the particle tracking methodology coded in FDNS.

  2. REALISATION TRAJECTORY CONTROL IN A HORIZONTAL WITH ADAPTIVE ALGORITHM OF MANAGEMENT OF THWART MOTION OF THE PLANE

    Directory of Open Access Journals (Sweden)

    D. V. Vereshikov

    2014-01-01

    Full Text Available In article results of researches are presented according to efficiency of application of adaptive algorithm of management by the maneuverable plane realised in a cross-section control path, on the basis of identification of some aerodynamic characteristics of the plane and the indignations caused by formation by an asymmetrical configuration of placing of external suspension. By modelling of movement of the plane during performance S - figurative maneuvers with use of a programmno-modelling complex and the flight stand substantial improvement of characteristics of controllability of the asymmetrical plane and, thus, increase of efficiency of its application is shown.

  3. Speed tracking control of pneumatic motor servo systems using observation-based adaptive dynamic sliding-mode control

    Science.gov (United States)

    Chen, Syuan-Yi; Gong, Sheng-Sian

    2017-09-01

    This study aims to develop an adaptive high-precision control system for controlling the speed of a vane-type air motor (VAM) pneumatic servo system. In practice, the rotor speed of a VAM depends on the input mass air flow, which can be controlled by the effective orifice area (EOA) of an electronic throttle valve (ETV). As the control variable of a second-order pneumatic system is the integral of the EOA, an observation-based adaptive dynamic sliding-mode control (ADSMC) system is proposed to derive the differential of the control variable, namely, the EOA control signal. In the ADSMC system, a proportional-integral-derivative fuzzy neural network (PIDFNN) observer is used to achieve an ideal dynamic sliding-mode control (DSMC), and a supervisor compensator is designed to eliminate the approximation error. As a result, the ADSMC incorporates the robustness of a DSMC and the online learning ability of a PIDFNN. To ensure the convergence of the tracking error, a Lyapunov-based analytical method is employed to obtain the adaptive algorithms required to tune the control parameters of the online ADSMC system. Finally, our experimental results demonstrate the precision and robustness of the ADSMC system for highly nonlinear and time-varying VAM pneumatic servo systems.

  4. An adaptive compensation algorithm for temperature drift of micro-electro-mechanical systems gyroscopes using a strong tracking Kalman filter.

    Science.gov (United States)

    Feng, Yibo; Li, Xisheng; Zhang, Xiaojuan

    2015-05-13

    We present an adaptive algorithm for a system integrated with micro-electro-mechanical systems (MEMS) gyroscopes and a compass to eliminate the influence from the environment, compensate the temperature drift precisely, and improve the accuracy of the MEMS gyroscope. We use a simplified drift model and changing but appropriate model parameters to implement this algorithm. The model of MEMS gyroscope temperature drift is constructed mostly on the basis of the temperature sensitivity of the gyroscope. As the state variables of a strong tracking Kalman filter (STKF), the parameters of the temperature drift model can be calculated to adapt to the environment under the support of the compass. These parameters change intelligently with the environment to maintain the precision of the MEMS gyroscope in the changing temperature. The heading error is less than 0.6° in the static temperature experiment, and also is kept in the range from 5° to -2° in the dynamic outdoor experiment. This demonstrates that the proposed algorithm exhibits strong adaptability to a changing temperature, and performs significantly better than KF and MLR to compensate the temperature drift of a gyroscope and eliminate the influence of temperature variation.

  5. An Adaptive Compensation Algorithm for Temperature Drift of Micro-Electro-Mechanical Systems Gyroscopes Using a Strong Tracking Kalman Filter

    Directory of Open Access Journals (Sweden)

    Yibo Feng

    2015-05-01

    Full Text Available We present an adaptive algorithm for a system integrated with micro-electro-mechanical systems (MEMS gyroscopes and a compass to eliminate the influence from the environment, compensate the temperature drift precisely, and improve the accuracy of the MEMS gyroscope. We use a simplified drift model and changing but appropriate model parameters to implement this algorithm. The model of MEMS gyroscope temperature drift is constructed mostly on the basis of the temperature sensitivity of the gyroscope. As the state variables of a strong tracking Kalman filter (STKF, the parameters of the temperature drift model can be calculated to adapt to the environment under the support of the compass. These parameters change intelligently with the environment to maintain the precision of the MEMS gyroscope in the changing temperature. The heading error is less than 0.6° in the static temperature experiment, and also is kept in the range from 5° to −2° in the dynamic outdoor experiment. This demonstrates that the proposed algorithm exhibits strong adaptability to a changing temperature, and performs significantly better than KF and MLR to compensate the temperature drift of a gyroscope and eliminate the influence of temperature variation.

  6. Reinforcement learning design-based adaptive tracking control with less learning parameters for nonlinear discrete-time MIMO systems.

    Science.gov (United States)

    Liu, Yan-Jun; Tang, Li; Tong, Shaocheng; Chen, C L Philip; Li, Dong-Juan

    2015-01-01

    Based on the neural network (NN) approximator, an online reinforcement learning algorithm is proposed for a class of affine multiple input and multiple output (MIMO) nonlinear discrete-time systems with unknown functions and disturbances. In the design procedure, two networks are provided where one is an action network to generate an optimal control signal and the other is a critic network to approximate the cost function. An optimal control signal and adaptation laws can be generated based on two NNs. In the previous approaches, the weights of critic and action networks are updated based on the gradient descent rule and the estimations of optimal weight vectors are directly adjusted in the design. Consequently, compared with the existing results, the main contributions of this paper are: 1) only two parameters are needed to be adjusted, and thus the number of the adaptation laws is smaller than the previous results and 2) the updating parameters do not depend on the number of the subsystems for MIMO systems and the tuning rules are replaced by adjusting the norms on optimal weight vectors in both action and critic networks. It is proven that the tracking errors, the adaptation laws, and the control inputs are uniformly bounded using Lyapunov analysis method. The simulation examples are employed to illustrate the effectiveness of the proposed algorithm.

  7. Evaluation of Small Unmanned Aircraft Flight Trajectory Accuracy

    Directory of Open Access Journals (Sweden)

    Ramūnas Kikutis

    2014-12-01

    Full Text Available Today small unmanned aircraft are being more widely adapted for practical tasks. These tasks require high reliability and flight path accuracy. For such aircraft we have to deal with the chalenge how to compensate external factors and how to ensure the accuracy of the flight trajectory according to new regulations and standards. In this paper, new regulations for the flights of small unmanned aircraft in Lithuanian air space are discussed. Main factors, which affect errors of the autonomous flight path tracking, are discussed too. The emphasis is on the wind factor and the flight path of Dubbin’s trajectories. Research was performed with mathematical-dynamic model of UAV and it was compared with theoretical calculations. All calculations and experiments were accomplished for the circular part of Dubbin’s paths when the airplane was trimmed for circular trajectory flight in calm conditions. Further, for such flight the wind influence was analysed.

  8. Robust adaptive fuzzy neural tracking control for a class of unknown ...

    Indian Academy of Sciences (India)

    In this paper, an adaptive fuzzy neural controller (AFNC) for a class of unknown chaotic systems is proposed. The proposed AFNC is comprised of a fuzzy neural controller and a robust controller. The fuzzy neural controller including a fuzzy neural network identifier (FNNI) is the principal controller. The FNNI is used for ...

  9. Understanding Attention to Adaptive Hints in Educational Games: An Eye-Tracking Study

    Science.gov (United States)

    Conati, Cristina; Jaques, Natasha; Muir, Mary

    2013-01-01

    This paper presents a user study that investigates the factors affecting student attention to user-adaptive hints during interaction with an educational computer game. The study focuses on Prime Climb, an educational game designed to provide individualized support for learning number factorization skills in the form of textual hints based on a…

  10. Nonlinear Constrained Adaptive Backstepping Tracking Control for a Hypersonic Vehicle with Uncertainty

    Directory of Open Access Journals (Sweden)

    Qin Zou

    2015-01-01

    Full Text Available The control problem of a flexible hypersonic vehicle is presented, where input saturation and aerodynamic uncertainty are considered. A control-oriented model including aerodynamic uncertainty is derived for simple controller design due to the nonlinearity and complexity of hypersonic vehicle model. Then it is separated into velocity subsystem and altitude subsystem. On the basis of the integration of robust adaptive control and backstepping technique, respective controller is designed for each subsystem, where an auxiliary signal provided by an additional dynamic system is used to compensate for the control saturation effect. Then to deal with the “explosion of terms” problem inherent in backstepping control, a novel first-order filter is proposed. Simulation results are included to demonstrate the effectiveness of the adaptive backstepping control scheme.

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

    Science.gov (United States)

    Bounemeur, Abdelhamid; Chemachema, Mohamed; Essounbouli, Najib

    2018-05-10

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

  12. Self-Adaptive Correction of Heading Direction in Stair Climbing for Tracked Mobile Robots Using Visual Servoing Approach

    Science.gov (United States)

    Ji, Peng; Song, Aiguo; Song, Zimo; Liu, Yuqing; Jiang, Guohua; Zhao, Guopu

    2017-02-01

    In this paper, we describe a heading direction correction algorithm for a tracked mobile robot. To save hardware resources as far as possible, the mobile robot’s wrist camera is used as the only sensor, which is rotated to face stairs. An ensemble heading deviation detector is proposed to help the mobile robot correct its heading direction. To improve the generalization ability, a multi-scale Gabor filter is used to process the input image previously. Final deviation result is acquired by applying the majority vote strategy on all the classifiers’ results. The experimental results show that our detector is able to enable the mobile robot to correct its heading direction adaptively while it is climbing the stairs.

  13. 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.

  14. Mobile Robot Based on the Selection of Fuzzy Behaviours for following Trajectories in Crops

    Directory of Open Access Journals (Sweden)

    Claudio Urrea

    2016-06-01

    Full Text Available This article addresses the problem of trajectory tracking in crops by a weed sprayer mobile robot (WSMR. This problem arises because to fumigate, the robot must follow a predefined path and avoid any obstacles it may encounter. To achieve both trajectory tracking and obstacle avoidance, a control scheme based on different behaviours is proposed, which consists essentially of an adaptive controller with a reference model for trajectory tracking and a fuzzy reactive for obstacle avoidance. Each of these controllers is executed according to the selection of the fuzzy behaviour controller, which uses information delivered by anti-collision sensors located on the robot. As a result of the implementation of this behaviour-based architecture and by means of computer simulations and experimental laboratory tests, the WSMR demonstrates the capability of autonomously following a desired trajectory between the rows of a crop in the presence of obstacles. The results are evaluated by taking into account trajectory tracking curves and the operating requirements of each controller, as well as the application of different errors indices for quantitatively evaluating the proposed control scheme.

  15. Development of a real-time internal and external marker tracking system for particle therapy: a phantom study using patient tumor trajectory data.

    Science.gov (United States)

    Cho, Junsang; Cheon, Wonjoong; Ahn, Sanghee; Jung, Hyunuk; Sheen, Heesoon; Park, Hee Chul; Han, Youngyih

    2017-09-01

    Target motion-induced uncertainty in particle therapy is more complicated than that in X-ray therapy, requiring more accurate motion management. Therefore, a hybrid motion-tracking system that can track internal tumor motion and as well as an external surrogate of tumor motion was developed. Recently, many correlation tests between internal and external markers in X-ray therapy have been developed; however, the accuracy of such internal/external marker tracking systems, especially in particle therapy, has not yet been sufficiently tested. In this article, the process of installing an in-house hybrid internal/external motion-tracking system is described and the accuracy level of tracking system was acquired. Our results demonstrated that the developed in-house external/internal combined tracking system has submillimeter accuracy, and can be clinically used as a particle therapy system as well as a simulation system for moving tumor treatment. © The Author 2017. Published by Oxford University Press on behalf of The Japan Radiation Research Society and Japanese Society for Radiation Oncology.

  16. Adaptive Radiation Therapy for Postprostatectomy Patients Using Real-Time Electromagnetic Target Motion Tracking During External Beam Radiation Therapy

    Energy Technology Data Exchange (ETDEWEB)

    Zhu, Mingyao [Department of Radiation Oncology, Washington University School of Medicine, Saint Louis, Missouri (United States); Bharat, Shyam [Philips Research North America, Briarcliff Manor, New York (United States); Michalski, Jeff M.; Gay, Hiram A. [Department of Radiation Oncology, Washington University School of Medicine, Saint Louis, Missouri (United States); Hou, Wei-Hsien [St Louis University School of Medicine, St Louis, Missouri (United States); Parikh, Parag J., E-mail: pparikh@radonc.wustl.edu [Department of Radiation Oncology, Washington University School of Medicine, Saint Louis, Missouri (United States)

    2013-03-15

    Purpose: Using real-time electromagnetic (EM) transponder tracking data recorded by the Calypso 4D Localization System, we report inter- and intrafractional target motion of the prostate bed, describe a strategy to evaluate treatment adequacy in postprostatectomy patients receiving intensity modulated radiation therapy (IMRT), and propose an adaptive workflow. Methods and Materials: Tracking data recorded by Calypso EM transponders was analyzed for postprostatectomy patients that underwent step-and-shoot IMRT. Rigid target motion parameters during beam delivery were calculated from recorded transponder positions in 16 patients with rigid transponder geometry. The delivered doses to the clinical target volume (CTV) were estimated from the planned dose matrix and the target motion for the first 3, 5, 10, and all fractions. Treatment adequacy was determined by comparing the delivered minimum dose (D{sub min}) with the planned D{sub min} to the CTV. Treatments were considered adequate if the delivered CTV D{sub min} is at least 95% of the planned CTV D{sub min}. Results: Translational target motion was minimal for all 16 patients (mean: 0.02 cm; range: −0.12 cm to 0.07 cm). Rotational motion was patient-specific, and maximum pitch, yaw, and roll were 12.2, 4.1, and 10.5°, respectively. We observed inadequate treatments in 5 patients. In these treatments, we observed greater target rotations along with large distances between the CTV centroid and transponder centroid. The treatment adequacy from the initial 10 fractions successfully predicted the overall adequacy in 4 of 5 inadequate treatments and 10 of 11 adequate treatments. Conclusion: Target rotational motion could cause underdosage to partial volume of the postprostatectomy targets. Our adaptive treatment strategy is applicable to post-prostatectomy patients receiving IMRT to evaluate and improve radiation therapy delivery.

  17. A Simple Approach in Estimating the Effectiveness of Adapting Mirror Concentrator and Tracking Mechanism for PV Arrays in the Tropics

    Directory of Open Access Journals (Sweden)

    M. E. Ya’acob

    2014-01-01

    Full Text Available Mirror concentrating element and tracking mechanism has been seriously investigated and widely adapted in solar PV technology. In this study, a practical in-field method is conducted in Serdang, Selangor, Malaysia, for the two technologies in comparison to the common fixed flat PV arrays. The data sampling process is measured under stochastic weather characteristics with the main target of calculating the effectiveness of PV power output. The data are monitored, recorded, and analysed in real time via GPRS online monitoring system for 10 consecutive months. The analysis is based on a simple comparison of the actual daily power generation from each PV generator with statistical analysis of multiple linear regression (MLR and analysis of variance test (ANOVA. From the analysis, it is shown that tracking mechanism generates approximately 88 Watts (9.4% compared to the mirror concentrator which generates 144 Watts (23.4% of the cumulative dc power for different array configurations at standard testing condition (STC references. The significant increase in power generation shows feasibilities of implying both mechanisms for PV generators and thus contributes to additional reference in PV array design.

  18. Segmenting Trajectories by Movement States

    NARCIS (Netherlands)

    Buchin, M.; Kruckenberg, H.; Kölzsch, A.; Timpf, S.; Laube, P.

    2013-01-01

    Dividing movement trajectories according to different movement states of animals has become a challenge in movement ecology, as well as in algorithm development. In this study, we revisit and extend a framework for trajectory segmentation based on spatio-temporal criteria for this purpose. We adapt

  19. Mobility Modelling through Trajectory Decomposition and Prediction

    OpenAIRE

    Faghihi, Farbod

    2017-01-01

    The ubiquity of mobile devices with positioning sensors make it possible to derive user's location at any time. However, constantly sensing the position in order to track the user's movement is not feasible, either due to the unavailability of sensors, or computational and storage burdens. In this thesis, we present and evaluate a novel approach for efficiently tracking user's movement trajectories using decomposition and prediction of trajectories. We facilitate tracking by taking advantage ...

  20. SU-E-J-58: Comparison of Conformal Tracking Methods Using Initial, Adaptive and Preceding Image Frames for Image Registration

    Energy Technology Data Exchange (ETDEWEB)

    Teo, P; Guo, K; Alayoubi, N; Kehler, K; Pistorius, S [CancerCare Manitoba, Winnipeg, MB (Canada)

    2015-06-15

    Purpose: Accounting for tumor motion during radiation therapy is important to ensure that the tumor receives the prescribed dose. Increasing the field size to account for this motion exposes the surrounding healthy tissues to unnecessary radiation. In contrast to using motion-encompassing techniques to treat moving tumors, conformal radiation therapy (RT) uses a smaller field to track the tumor and adapts the beam aperture according to the motion detected. This work investigates and compares the performance of three markerless, EPID based, optical flow methods to track tumor motion with conformal RT. Methods: Three techniques were used to track the motions of a 3D printed lung tumor programmed to move according to the tumor of seven lung cancer patients. These techniques utilized a multi-resolution optical flow algorithm as the core computation for image registration. The first method (DIR) registers the incoming images with an initial reference frame, while the second method (RFSF) uses an adaptive reference frame and the third method (CU) uses preceding image frames for registration. The patient traces and errors were evaluated for the seven patients. Results: The average position errors for all patient traces were 0.12 ± 0.33 mm, −0.05 ± 0.04 mm and −0.28 ± 0.44 mm for CU, DIR and RFSF method respectively. The position errors distributed within 1 standard deviation are 0.74 mm, 0.37 mm and 0.96 mm respectively. The CU and RFSF algorithms are sensitive to the characteristics of the patient trace and produce a wider distribution of errors amongst patients. Although the mean error for the DIR method is negatively biased (−0.05 mm) for all patients, it has the narrowest distribution of position error, which can be corrected using an offset calibration. Conclusion: Three techniques of image registration and position update were studied. Using direct comparison with an initial frame yields the best performance. The authors would like to thank Dr.YeLin Suh for

  1. SU-E-J-58: Comparison of Conformal Tracking Methods Using Initial, Adaptive and Preceding Image Frames for Image Registration

    International Nuclear Information System (INIS)

    Teo, P; Guo, K; Alayoubi, N; Kehler, K; Pistorius, S

    2015-01-01

    Purpose: Accounting for tumor motion during radiation therapy is important to ensure that the tumor receives the prescribed dose. Increasing the field size to account for this motion exposes the surrounding healthy tissues to unnecessary radiation. In contrast to using motion-encompassing techniques to treat moving tumors, conformal radiation therapy (RT) uses a smaller field to track the tumor and adapts the beam aperture according to the motion detected. This work investigates and compares the performance of three markerless, EPID based, optical flow methods to track tumor motion with conformal RT. Methods: Three techniques were used to track the motions of a 3D printed lung tumor programmed to move according to the tumor of seven lung cancer patients. These techniques utilized a multi-resolution optical flow algorithm as the core computation for image registration. The first method (DIR) registers the incoming images with an initial reference frame, while the second method (RFSF) uses an adaptive reference frame and the third method (CU) uses preceding image frames for registration. The patient traces and errors were evaluated for the seven patients. Results: The average position errors for all patient traces were 0.12 ± 0.33 mm, −0.05 ± 0.04 mm and −0.28 ± 0.44 mm for CU, DIR and RFSF method respectively. The position errors distributed within 1 standard deviation are 0.74 mm, 0.37 mm and 0.96 mm respectively. The CU and RFSF algorithms are sensitive to the characteristics of the patient trace and produce a wider distribution of errors amongst patients. Although the mean error for the DIR method is negatively biased (−0.05 mm) for all patients, it has the narrowest distribution of position error, which can be corrected using an offset calibration. Conclusion: Three techniques of image registration and position update were studied. Using direct comparison with an initial frame yields the best performance. The authors would like to thank Dr.YeLin Suh for

  2. Dynamic Speed Adaptation for Path Tracking Based on Curvature Information and Speed Limits.

    Science.gov (United States)

    Gámez Serna, Citlalli; Ruichek, Yassine

    2017-06-14

    A critical concern of autonomous vehicles is safety. Different approaches have tried to enhance driving safety to reduce the number of fatal crashes and severe injuries. As an example, Intelligent Speed Adaptation (ISA) systems warn the driver when the vehicle exceeds the recommended speed limit. However, these systems only take into account fixed speed limits without considering factors like road geometry. In this paper, we consider road curvature with speed limits to automatically adjust vehicle's speed with the ideal one through our proposed Dynamic Speed Adaptation (DSA) method. Furthermore, 'curve analysis extraction' and 'speed limits database creation' are also part of our contribution. An algorithm that analyzes GPS information off-line identifies high curvature segments and estimates the speed for each curve. The speed limit database contains information about the different speed limit zones for each traveled path. Our DSA senses speed limits and curves of the road using GPS information and ensures smooth speed transitions between current and ideal speeds. Through experimental simulations with different control algorithms on real and simulated datasets, we prove that our method is able to significantly reduce lateral errors on sharp curves, to respect speed limits and consequently increase safety and comfort for the passenger.

  3. A proposed adaptive step size perturbation and observation maximum power point tracking algorithm based on photovoltaic system modeling

    Science.gov (United States)

    Huang, Yu

    Solar energy becomes one of the major alternative renewable energy options for its huge abundance and accessibility. Due to the intermittent nature, the high demand of Maximum Power Point Tracking (MPPT) techniques exists when a Photovoltaic (PV) system is used to extract energy from the sunlight. This thesis proposed an advanced Perturbation and Observation (P&O) algorithm aiming for relatively practical circumstances. Firstly, a practical PV system model is studied with determining the series and shunt resistances which are neglected in some research. Moreover, in this proposed algorithm, the duty ratio of a boost DC-DC converter is the object of the perturbation deploying input impedance conversion to achieve working voltage adjustment. Based on the control strategy, the adaptive duty ratio step size P&O algorithm is proposed with major modifications made for sharp insolation change as well as low insolation scenarios. Matlab/Simulink simulation for PV model, boost converter control strategy and various MPPT process is conducted step by step. The proposed adaptive P&O algorithm is validated by the simulation results and detail analysis of sharp insolation changes, low insolation condition and continuous insolation variation.

  4. Predictive local receptive fields based respiratory motion tracking for motion-adaptive radiotherapy.

    Science.gov (United States)

    Yubo Wang; Tatinati, Sivanagaraja; Liyu Huang; Kim Jeong Hong; Shafiq, Ghufran; Veluvolu, Kalyana C; Khong, Andy W H

    2017-07-01

    Extracranial robotic radiotherapy employs external markers and a correlation model to trace the tumor motion caused by the respiration. The real-time tracking of tumor motion however requires a prediction model to compensate the latencies induced by the software (image data acquisition and processing) and hardware (mechanical and kinematic) limitations of the treatment system. A new prediction algorithm based on local receptive fields extreme learning machines (pLRF-ELM) is proposed for respiratory motion prediction. All the existing respiratory motion prediction methods model the non-stationary respiratory motion traces directly to predict the future values. Unlike these existing methods, the pLRF-ELM performs prediction by modeling the higher-level features obtained by mapping the raw respiratory motion into the random feature space of ELM instead of directly modeling the raw respiratory motion. The developed method is evaluated using the dataset acquired from 31 patients for two horizons in-line with the latencies of treatment systems like CyberKnife. Results showed that pLRF-ELM is superior to that of existing prediction methods. Results further highlight that the abstracted higher-level features are suitable to approximate the nonlinear and non-stationary characteristics of respiratory motion for accurate prediction.

  5. Adaptive Fault-Tolerant Tracking Control of Nonaffine Nonlinear Systems with Actuator Failure

    Directory of Open Access Journals (Sweden)

    Hongcheng Zhou

    2014-01-01

    Full Text Available This paper proposes an adaptive fault-tolerant control scheme for nonaffine nonlinear systems. A model approximation method which is a solution that bridges the gap between affine and nonaffine control systems is developed firstly. A joint estimation approach is based on unscented Kalman filter, in which both failure parameters and states are simultaneously estimated by means of the argument state vector composed of the unknown faults and states. Then, stability analysis is given for the closed-loop system. Finally, the proposed approach is verified using a three-degree-of-freedom simulation of a typical fighter aircraft and the significantly improved system response demonstrates the practical potential of the theoretic results obtained.

  6. Adaptive Neural Tracking Control for Discrete-Time Switched Nonlinear Systems with Dead Zone Inputs

    Directory of Open Access Journals (Sweden)

    Jidong Wang

    2017-01-01

    Full Text Available In this paper, the adaptive neural controllers of subsystems are proposed for a class of discrete-time switched nonlinear systems with dead zone inputs under arbitrary switching signals. Due to the complicated framework of the discrete-time switched nonlinear systems and the existence of the dead zone, it brings about difficulties for controlling such a class of systems. In addition, the radial basis function neural networks are employed to approximate the unknown terms of each subsystem. Switched update laws are designed while the parameter estimation is invariable until its corresponding subsystem is active. Then, the closed-loop system is stable and all the signals are bounded. Finally, to illustrate the effectiveness of the proposed method, an example is employed.

  7. Tracking a changing environment: optimal sampling, adaptive memory and overnight effects.

    Science.gov (United States)

    Dunlap, Aimee S; Stephens, David W

    2012-02-01

    Foraging in a variable environment presents a classic problem of decision making with incomplete information. Animals must track the changing environment, remember the best options and make choices accordingly. While several experimental studies have explored the idea that sampling behavior reflects the amount of environmental change, we take the next logical step in asking how change influences memory. We explore the hypothesis that memory length should be tied to the ecological relevance and the value of the information learned, and that environmental change is a key determinant of the value of memory. We use a dynamic programming model to confirm our predictions and then test memory length in a factorial experiment. In our experimental situation we manipulate rates of change in a simple foraging task for blue jays over a 36 h period. After jays experienced an experimentally determined change regime, we tested them at a range of retention intervals, from 1 to 72 h. Manipulated rates of change influenced learning and sampling rates: subjects sampled more and learned more quickly in the high change condition. Tests of retention revealed significant interactions between retention interval and the experienced rate of change. We observed a striking and surprising difference between the high and low change treatments at the 24h retention interval. In agreement with earlier work we find that a circadian retention interval is special, but we find that the extent of this 'specialness' depends on the subject's prior experience of environmental change. Specifically, experienced rates of change seem to influence how subjects balance recent information against past experience in a way that interacts with the passage of time. Copyright © 2011 Elsevier B.V. All rights reserved.

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

    Science.gov (United States)

    Bagherpoor, H M; Salmasi, Farzad R

    2015-07-01

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

  9. 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.

  10. An adaptive recurrent neural-network controller using a stabilization matrix and predictive inputs to solve a tracking problem under disturbances.

    Science.gov (United States)

    Fairbank, Michael; Li, Shuhui; Fu, Xingang; Alonso, Eduardo; Wunsch, Donald

    2014-01-01

    We present a recurrent neural-network (RNN) controller designed to solve the tracking problem for control systems. We demonstrate that a major difficulty in training any RNN is the problem of exploding gradients, and we propose a solution to this in the case of tracking problems, by introducing a stabilization matrix and by using carefully constrained context units. This solution allows us to achieve consistently lower training errors, and hence allows us to more easily introduce adaptive capabilities. The resulting RNN is one that has been trained off-line to be rapidly adaptive to changing plant conditions and changing tracking targets. The case study we use is a renewable-energy generator application; that of producing an efficient controller for a three-phase grid-connected converter. The controller we produce can cope with the random variation of system parameters and fluctuating grid voltages. It produces tracking control with almost instantaneous response to changing reference states, and virtually zero oscillation. This compares very favorably to the classical proportional integrator (PI) controllers, which we show produce a much slower response and settling time. In addition, the RNN we propose exhibits better learning stability and convergence properties, and can exhibit faster adaptation, than has been achieved with adaptive critic designs. Copyright © 2013 Elsevier Ltd. All rights reserved.

  11. Augmented $L1$ adaptive control of an actuated knee joint exoskeleton: From design to real-time experiments

    OpenAIRE

    Rifai , Hala; Ben Abdessalem , Mohamed ,; Chemori , Ahmed; Mohammed , Samer; Amirat , Yacine

    2016-01-01

    International audience; This paper deals with the control of a lower limb exoskeleton acting on the knee joint level. Classical L1 adaptive control law is proposed to ensure assistance-as-needed and resistive rehabilitation following a desired trajectory considered defined by a therapeutic doctor. This control law introduces a time lag within the desired trajectory tracking because of the presence of a filter in its structure. In order to mitigate this drawback, the classical L1 adaptive cont...

  12. Multilevel risk factors and developmental assets for internalizing symptoms and self-esteem in disadvantaged adolescents: modeling longitudinal trajectories from the Rural Adaptation Project.

    Science.gov (United States)

    Smokowski, Paul R; Guo, Shenyang; Rose, Roderick; Evans, Caroline B R; Cotter, Katie L; Bacallao, Martica

    2014-11-01

    The current study filled significant gaps in our knowledge of developmental psychopathology by examining the influence of multilevel risk factors and developmental assets on longitudinal trajectories of internalizing symptoms and self-esteem in an exceptionally culturally diverse sample of rural adolescents. Integrating ecological and social capital theories, we explored if positive microsystem transactions are associated with self-esteem while negative microsystem transactions increase the chances of internalizing problems. Data came from the Rural Adaptation Project, a 5-year longitudinal panel study of more than 4,000 middle school students from 28 public schools in two rural, disadvantaged counties in North Carolina. Three-level hierarchical linear modeling models were estimated to predict internalizing symptoms (e.g., depression, anxiety) and self-esteem. Relative to other students, risk for internalizing problems and low self-esteem was elevated for aggressive adolescents, students who were hassled or bullied at school, and those who were rejected by peers or in conflict with their parents. Internalizing problems were also more common among adolescents from socioeconomically disadvantaged families and neighborhoods, among those in schools with more suspensions, in students who reported being pressured by peers, and in youth who required more teacher support. It is likely that these experiences left adolescents disengaged from developing social capital from ecological microsystems (e.g., family, school, peers). On the positive side, support from parents and friends and optimism about the future were key assets associated with lower internalizing symptoms and higher self-esteem. Self-esteem was also positively related to religious orientation, school satisfaction, and future optimism. These variables show active engagement with ecological microsystems. The implications and limitations were discussed.

  13. 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.

  14. Variable self-powered light detection CMOS chip with real-time adaptive tracking digital output based on a novel on-chip sensor.

    Science.gov (United States)

    Wang, HongYi; Fan, Youyou; Lu, Zhijian; Luo, Tao; Fu, Houqiang; Song, Hongjiang; Zhao, Yuji; Christen, Jennifer Blain

    2017-10-02

    This paper provides a solution for a self-powered light direction detection with digitized output. Light direction sensors, energy harvesting photodiodes, real-time adaptive tracking digital output unit and other necessary circuits are integrated on a single chip based on a standard 0.18 µm CMOS process. Light direction sensors proposed have an accuracy of 1.8 degree over a 120 degree range. In order to improve the accuracy, a compensation circuit is presented for photodiodes' forward currents. The actual measurement precision of output is approximately 7 ENOB. Besides that, an adaptive under voltage protection circuit is designed for variable supply power which may undulate with temperature and process.

  15. Comparison of two modes of ventilation after fast-track cardiac surgery: Adaptive support ventilation versus synchronized intermittent mandatory ventilation

    International Nuclear Information System (INIS)

    Aghadavoudi, O.

    2012-01-01

    Objective: There is substantial debate regarding the appropriate protocol for ventilatory management in fast-track cardiac anesthesia (FTCA). This study was carried out to assess and compare the risks and benefits of respiratory weaning based on adaptive support ventilation (ASV) and synchronized intermittent mandatory ventilation (SIMV) after uncomplicated cardiac surgery. Methodology: In a randomized clinical trial, after receiving approval of the Department Research Committee and informed consent from study subjects, 100 patients undergoing elective coronary artery bypass graft (CABG) surgery with cardiopulmonary bypass (CPB) were enrolled during a 4-month period at a university-based hospital. After surgery and admission to the intensive care unit (ICU), patients were randomized to ASV and SIMV groups. Arterial blood gas (ABG) and hemodynamic variables, respiratory and ventilator characteristics including lung compliance, rapid shallow breathing index (RSBI), tidal volume (TV), respiratory rate (RR), peak inspiratory pressure (P peak), mean airway pressure (p mean), Pao2/FIo2, duration of mechanical ventilation and tracheal intubation, and length of ICU stay were recorded and compared between the two groups. The data were analyzed in 82 patients after considering the exclusion criteria. Results: There were no differences between ASV and SIMV groups in demographics and preoperative characteristics. The duration of tracheal intubation and the length of ICU stay were similar in both groups. There were no statistically and clinically relevant differences between the two groups in ABG, hemodynamic changes, and respiratory and ventilator characteristics during ICU stay. Conclusion: Although ASV may facilitate postoperative respiratory management in FTCA, both ASV and SIMV provide similarly safe and practicable respiratory weaning in the cardiac ICU. The evaluation of potential advantages in patient outcomes and resource utilization of respiratory weaning based on ASV

  16. 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.

  17. 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.

  18. Adaptation.

    Science.gov (United States)

    Broom, Donald M

    2006-01-01

    The term adaptation is used in biology in three different ways. It may refer to changes which occur at the cell and organ level, or at the individual level, or at the level of gene action and evolutionary processes. Adaptation by cells, especially nerve cells helps in: communication within the body, the distinguishing of stimuli, the avoidance of overload and the conservation of energy. The time course and complexity of these mechanisms varies. Adaptive characters of organisms, including adaptive behaviours, increase fitness so this adaptation is evolutionary. The major part of this paper concerns adaptation by individuals and its relationships to welfare. In complex animals, feed forward control is widely used. Individuals predict problems and adapt by acting before the environmental effect is substantial. Much of adaptation involves brain control and animals have a set of needs, located in the brain and acting largely via motivational mechanisms, to regulate life. Needs may be for resources but are also for actions and stimuli which are part of the mechanism which has evolved to obtain the resources. Hence pigs do not just need food but need to be able to carry out actions like rooting in earth or manipulating materials which are part of foraging behaviour. The welfare of an individual is its state as regards its attempts to cope with its environment. This state includes various adaptive mechanisms including feelings and those which cope with disease. The part of welfare which is concerned with coping with pathology is health. Disease, which implies some significant effect of pathology, always results in poor welfare. Welfare varies over a range from very good, when adaptation is effective and there are feelings of pleasure or contentment, to very poor. A key point concerning the concept of individual adaptation in relation to welfare is that welfare may be good or poor while adaptation is occurring. Some adaptation is very easy and energetically cheap and

  19. Adaptation

    International Development Research Centre (IDRC) Digital Library (Canada)

    building skills, knowledge or networks on adaptation, ... the African partners leading the AfricaAdapt network, together with the UK-based Institute of Development Studies; and ... UNCCD Secretariat, Regional Coordination Unit for Africa, Tunis, Tunisia .... 26 Rural–urban Cooperation on Water Management in the Context of.

  20. Potential dosimetric benefits of adaptive tumor tracking over the internal target volume concept for stereotactic body radiation therapy of pancreatic cancer.

    Science.gov (United States)

    Karava, Konstantina; Ehrbar, Stefanie; Riesterer, Oliver; Roesch, Johannes; Glatz, Stefan; Klöck, Stephan; Guckenberger, Matthias; Tanadini-Lang, Stephanie

    2017-11-09

    Radiotherapy for pancreatic cancer has two major challenges: (I) the tumor is adjacent to several critical organs and, (II) the mobility of both, the tumor and its surrounding organs at risk (OARs). A treatment planning study simulating stereotactic body radiation therapy (SBRT) for pancreatic tumors with both the internal target volume (ITV) concept and the tumor tracking approach was performed. The two respiratory motion-management techniques were compared in terms of doses to the target volume and organs at risk. Two volumetric-modulated arc therapy (VMAT) treatment plans (5 × 5 Gy) were created for each of the 12 previously treated pancreatic cancer patients, one using the ITV concept and one the tumor tracking approach. To better evaluate the overall dose delivered to the moving tumor volume, 4D dose calculations were performed on four-dimensional computed tomography (4DCT) scans. The resulting planning target volume (PTV) size for each technique was analyzed. Target and OAR dose parameters were reported and analyzed for both 3D and 4D dose calculation. Tumor motion ranged from 1.3 to 11.2 mm. Tracking led to a reduction of PTV size (max. 39.2%) accompanied with significant better tumor coverage (p<0.05, paired Wilcoxon signed rank test) both in 3D and 4D dose calculations and improved organ at risk sparing. Especially for duodenum, stomach and liver, the mean dose was significantly reduced (p<0.05) with tracking for 3D and 4D dose calculations. By using an adaptive tumor tracking approach for respiratory-induced pancreatic motion management, a significant reduction in PTV size can be achieved, which subsequently facilitates treatment planning, and improves organ dose sparing. The dosimetric benefit of tumor tracking is organ and patient-specific.

  1. 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.

  2. A dosimetric comparison of real-time adaptive and non-adaptive radiotherapy: A multi-institutional study encompassing robotic, gimbaled, multileaf collimator and couch tracking

    DEFF Research Database (Denmark)

    Colvill, Emma; Booth, Jeremy; Nill, Simeon

    2016-01-01

    AND MATERIALS: Ten institutions with robotic(2), gimbaled(2), MLC(4) or couch tracking(2) used common materials including CT and structure sets, motion traces and planning protocols to create a lung and a prostate plan. For each motion trace, the plan was delivered twice to a moving dosimeter; with and without...

  3. Distributed Adaptive Neural Network Output Tracking of Leader-Following High-Order Stochastic Nonlinear Multiagent Systems With Unknown Dead-Zone Input.

    Science.gov (United States)

    Hua, Changchun; Zhang, Liuliu; Guan, Xinping

    2017-01-01

    This paper studies the problem of distributed output tracking consensus control for a class of high-order stochastic nonlinear multiagent systems with unknown nonlinear dead-zone under a directed graph topology. The adaptive neural networks are used to approximate the unknown nonlinear functions and a new inequality is used to deal with the completely unknown dead-zone input. Then, we design the controllers based on backstepping method and the dynamic surface control technique. It is strictly proved that the resulting closed-loop system is stable in probability in the sense of semiglobally uniform ultimate boundedness and the tracking errors between the leader and the followers approach to a small residual set based on Lyapunov stability theory. Finally, two simulation examples are presented to show the effectiveness and the advantages of the proposed techniques.

  4. Trajectory Control of Rendezvous with Maneuver Target Spacecraft

    Science.gov (United States)

    Zhou, Zhinqiang

    2012-01-01

    In this paper, a nonlinear trajectory control algorithm of rendezvous with maneuvering target spacecraft is presented. The disturbance forces on the chaser and target spacecraft and the thrust forces on the chaser spacecraft are considered in the analysis. The control algorithm developed in this paper uses the relative distance and relative velocity between the target and chaser spacecraft as the inputs. A general formula of reference relative trajectory of the chaser spacecraft to the target spacecraft is developed and applied to four different proximity maneuvers, which are in-track circling, cross-track circling, in-track spiral rendezvous and cross-track spiral rendezvous. The closed-loop differential equations of the proximity relative motion with the control algorithm are derived. It is proven in the paper that the tracking errors between the commanded relative trajectory and the actual relative trajectory are bounded within a constant region determined by the control gains. The prediction of the tracking errors is obtained. Design examples are provided to show the implementation of the control algorithm. The simulation results show that the actual relative trajectory tracks the commanded relative trajectory tightly. The predicted tracking errors match those calculated in the simulation results. The control algorithm developed in this paper can also be applied to interception of maneuver target spacecraft and relative trajectory control of spacecraft formation flying.

  5. From coping to adaptation to economic and institutional change – Trajectories of change in land-use management and social organization in a Biosphere Reserve community, Mexico

    NARCIS (Netherlands)

    Speelman, E.N.; Groot, J.C.J.; García-Barrios, L.E.; Kok, K.; Keulen, van H.; Tittonell, P.A.

    2014-01-01

    Smallholder farming communities are increasingly affected by local impacts of international market dynamics, and (inter)governmental economic and nature conservation policies to which they respond through coping or adaptation. Although the attributes that underpin the capacity to adapt are widely

  6. Preceding Vehicle Detection and Tracking Adaptive to Illumination Variation in Night Traffic Scenes Based on Relevance Analysis

    Science.gov (United States)

    Guo, Junbin; Wang, Jianqiang; Guo, Xiaosong; Yu, Chuanqiang; Sun, Xiaoyan

    2014-01-01

    Preceding vehicle detection and tracking at nighttime are challenging problems due to the disturbance of other extraneous illuminant sources coexisting with the vehicle lights. To improve the detection accuracy and robustness of vehicle detection, a novel method for vehicle detection and tracking at nighttime is proposed in this paper. The characteristics of taillights in the gray level are applied to determine the lower boundary of the threshold for taillights segmentation, and the optimal threshold for taillight segmentation is calculated using the OTSU algorithm between the lower boundary and the highest grayscale of the region of interest. The candidate taillight pairs are extracted based on the similarity between left and right taillights, and the non-vehicle taillight pairs are removed based on the relevance analysis of vehicle location between frames. To reduce the false negative rate of vehicle detection, a vehicle tracking method based on taillights estimation is applied. The taillight spot candidate is sought in the region predicted by Kalman filtering, and the disturbed taillight is estimated based on the symmetry and location of the other taillight of the same vehicle. Vehicle tracking is completed after estimating its location according to the two taillight spots. The results of experiments on a vehicle platform indicate that the proposed method could detect vehicles quickly, correctly and robustly in the actual traffic environments with illumination variation. PMID:25195855

  7. Identification of digitized particle trajectories

    CERN Document Server

    Grote, H; Lassalle, J C; Zanella, P

    1973-01-01

    High-energy Physics Laboratories make increasing use of particle detectors which directly produce digital measurements of trajectories at very high rates. Data collected in vast amounts during experiments are then analysed by computer programs whose first task is the recognition of tracks and reconstruction of the interesting events. This paper discusses the applicability of various Pattern Recognition approaches. Examples are given of the problems and the practical achievements in this field.

  8. Stabilization and trajectory tracking control for underactuated

    Indian Academy of Sciences (India)

    The control of quadrotor helicopter has been a great challenge for control engineers and researchers since quadrotor is an underactuated and a highly unstable nonlinear system. In this paper, the dynamic model of quadrotor has been derived and a so-called robust optimal backstepping control (ROBC) is designed to ...

  9. Stabilization and trajectory tracking control for underactuated ...

    Indian Academy of Sciences (India)

    In this paper, the dynamic model of quadrotor has been derived and a so-called robust ... on a quadrotor simulation environment to demonstrate the effectiveness and merits of ..... is modeled in SIMULINK and the GSA is implemented in MATLAB. The model ... (vi) Optimization process is repeated for 20 times. The finest set ...

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

    Science.gov (United States)

    Luy, N. T.

    2018-04-01

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

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

    Science.gov (United States)

    Liu, Lei; Wang, Zhanshan; Zhang, Huaguang

    2018-04-01

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

  12. 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.

  13. Obstacle avoidance for kinematically redundant robots using an adaptive fuzzy logic algorithm

    International Nuclear Information System (INIS)

    Beheshti, M.T.H.; Tehrani, A.K.

    1999-05-01

    In this paper the Adaptive Fuzzy Logic approach for solving the inverse kinematics of redundant robots in an environment with obstacles is presented. The obstacles are modeled as convex bodies. A fuzzy rule base that is updated via an adaptive law is used to solve the inverse kinematic problem. Additional rules have been introduced to take care of the obstacles avoidance problem. The proposed method has advantages such as high accuracy, simplicity of computations and generality for all redundant robots. Simulation results illustrate much better tracking performance than the dynamic base solution for a given trajectory in cartesian space, while guaranteeing a collision-free trajectory and observation of a mechanical joint limit

  14. Tracking the origins of Yakutian horses and the genetic basis for their fast adaptation to subarctic environments

    DEFF Research Database (Denmark)

    Librado, Pablo; Der Sarkissian, Clio; Ermini, Luca

    2015-01-01

    , extremely hairy winter coats, and acute seasonal differences in metabolic activities. The evolutionary origins of Yakutian horses and the genetic basis of their adaptations remain, however, contentious. Here, we present the complete genomes of nine present-day Yakutian horses and two ancient specimens......, likely due to the comparatively limited standing variation within gene bodies at the time the population was founded. Genes involved in hair development, body size, and metabolic and hormone signaling pathways represent an essential part of the Yakutian horse adaptive genetic toolkit. Finally, we find...

  15. Optimizing Likelihood Models for Particle Trajectory Segmentation in Multi-State Systems.

    Science.gov (United States)

    Young, Dylan Christopher; Scrimgeour, Jan

    2018-06-19

    Particle tracking offers significant insight into the molecular mechanics that govern the behav- ior of living cells. The analysis of molecular trajectories that transition between different motive states, such as diffusive, driven and tethered modes, is of considerable importance, with even single trajectories containing significant amounts of information about a molecule's environment and its interactions with cellular structures. Hidden Markov models (HMM) have been widely adopted to perform the segmentation of such complex tracks. In this paper, we show that extensive analysis of hidden Markov model outputs using data derived from multi-state Brownian dynamics simulations can be used both for the optimization of the likelihood models used to describe the states of the system and for characterization of the technique's failure mechanisms. This analysis was made pos- sible by the implementation of parallelized adaptive direct search algorithm on a Nvidia graphics processing unit. This approach provides critical information for the visualization of HMM failure and successful design of particle tracking experiments where trajectories contain multiple mobile states. © 2018 IOP Publishing Ltd.

  16. Picking Robot Arm Trajectory Planning Method

    Directory of Open Access Journals (Sweden)

    Zhang Zhiyong

    2014-01-01

    Full Text Available The picking robot arm is scheduled to complete picking tasks in the working space, to overcome the shaking vibration to improve the picking stability, its movement should follow specific consistence trajectory points. Usually we should give definite multiple feature picking points, map their inverse kinematics to the joint space, establish motion equation for the corresponding point in the joint space, then follow these equations motion for the interpolation on the joint so that we can meet the movement requirements. Trajectory planning is decisive significance for accuracy and stability of controlling robot arm. The key issue that picking arm complete picking task will be come true by trajectory planning, namely, robot arm track the desired trajectory. which based on kinematics and statics picking analysis in a joint space according to the requirements of picking tasks, and obtain the position and orientation for picking robot arm, study and calculate the theory of trajectory parameters timely.

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

    Science.gov (United States)

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

    2015-09-01

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

  18. Tracking the origins of Yakutian horses and the genetic basis for their fast adaptation to subarctic environments.

    Science.gov (United States)

    Librado, Pablo; Der Sarkissian, Clio; Ermini, Luca; Schubert, Mikkel; Jónsson, Hákon; Albrechtsen, Anders; Fumagalli, Matteo; Yang, Melinda A; Gamba, Cristina; Seguin-Orlando, Andaine; Mortensen, Cecilie D; Petersen, Bent; Hoover, Cindi A; Lorente-Galdos, Belen; Nedoluzhko, Artem; Boulygina, Eugenia; Tsygankova, Svetlana; Neuditschko, Markus; Jagannathan, Vidhya; Thèves, Catherine; Alfarhan, Ahmed H; Alquraishi, Saleh A; Al-Rasheid, Khaled A S; Sicheritz-Ponten, Thomas; Popov, Ruslan; Grigoriev, Semyon; Alekseev, Anatoly N; Rubin, Edward M; McCue, Molly; Rieder, Stefan; Leeb, Tosso; Tikhonov, Alexei; Crubézy, Eric; Slatkin, Montgomery; Marques-Bonet, Tomas; Nielsen, Rasmus; Willerslev, Eske; Kantanen, Juha; Prokhortchouk, Egor; Orlando, Ludovic

    2015-12-15

    Yakutia, Sakha Republic, in the Siberian Far East, represents one of the coldest places on Earth, with winter record temperatures dropping below -70 °C. Nevertheless, Yakutian horses survive all year round in the open air due to striking phenotypic adaptations, including compact body conformations, extremely hairy winter coats, and acute seasonal differences in metabolic activities. The evolutionary origins of Yakutian horses and the genetic basis of their adaptations remain, however, contentious. Here, we present the complete genomes of nine present-day Yakutian horses and two ancient specimens dating from the early 19th century and ∼5,200 y ago. By comparing these genomes with the genomes of two Late Pleistocene, 27 domesticated, and three wild Przewalski's horses, we find that contemporary Yakutian horses do not descend from the native horses that populated the region until the mid-Holocene, but were most likely introduced following the migration of the Yakut people a few centuries ago. Thus, they represent one of the fastest cases of adaptation to the extreme temperatures of the Arctic. We find cis-regulatory mutations to have contributed more than nonsynonymous changes to their adaptation, likely due to the comparatively limited standing variation within gene bodies at the time the population was founded. Genes involved in hair development, body size, and metabolic and hormone signaling pathways represent an essential part of the Yakutian horse adaptive genetic toolkit. Finally, we find evidence for convergent evolution with native human populations and woolly mammoths, suggesting that only a few evolutionary strategies are compatible with survival in extremely cold environments.

  19. Positive signature-tagged mutagenesis in Pseudomonas aeruginosa: tracking patho-adaptive mutations promoting airways chronic infection.

    Directory of Open Access Journals (Sweden)

    Irene Bianconi

    2011-02-01

    Full Text Available The opportunistic pathogen Pseudomonas aeruginosa can establish life-long chronic infections in the airways of cystic fibrosis (CF patients. Persistent lifestyle is established with P. aeruginosa patho-adaptive variants, which are clonal with the initially-acquired strains. Several reports indicated that P. aeruginosa adapts by loss-of-function mutations which enhance fitness in CF airways and sustain its clonal expansion during chronic infection. To validate this model of P. aeruginosa adaptation to CF airways and to identify novel genes involved in this microevolution, we designed a novel approach of positive-selection screening by PCR-based signature-tagged mutagenesis (Pos-STM in a murine model of chronic airways infection. A systematic positive-selection scheme using sequential rounds of in vivo screenings for bacterial maintenance, as opposed to elimination, generated a list of genes whose inactivation increased the colonization and persistence in chronic airways infection. The phenotypes associated to these Pos-STM mutations reflect alterations in diverse aspects of P. aeruginosa biology which include lack of swimming and twitching motility, lack of production of the virulence factors such as pyocyanin, biofilm formation, and metabolic functions. In addition, Pos-STM mutants showed altered invasion and stimulation of immune response when tested in human respiratory epithelial cells, indicating that P. aeruginosa is prone to revise the interaction with its host during persistent lifestyle. Finally, sequence analysis of Pos-STM genes in longitudinally P. aeruginosa isolates from CF patients identified signs of patho-adaptive mutations within the genome. This novel Pos-STM approach identified bacterial functions that can have important clinical implications for the persistent lifestyle and disease progression of the airway chronic infection.

  20. A Novel Technique for Maximum Power Point Tracking of a Photovoltaic Based on Sensing of Array Current Using Adaptive Neuro-Fuzzy Inference System (ANFIS)

    Science.gov (United States)

    El-Zoghby, Helmy M.; Bendary, Ahmed F.

    2016-10-01

    Maximum Power Point Tracking (MPPT) is now widely used method in increasing the photovoltaic (PV) efficiency. The conventional MPPT methods have many problems concerning the accuracy, flexibility and efficiency. The MPP depends on the PV temperature and solar irradiation that randomly varied. In this paper an artificial intelligence based controller is presented through implementing of an Adaptive Neuro-Fuzzy Inference System (ANFIS) to obtain maximum power from PV. The ANFIS inputs are the temperature and cell current, and the output is optimal voltage at maximum power. During operation the trained ANFIS senses the PV current using suitable sensor and also senses the temperature to determine the optimal operating voltage that corresponds to the current at MPP. This voltage is used to control the boost converter duty cycle. The MATLAB simulation results shows the effectiveness of the ANFIS with sensing the PV current in obtaining the MPPT from the PV.

  1. Adaptive-Repetitive Visual-Servo Control of Low-Flying Aerial Robots via Uncalibrated High-Flying Cameras

    Science.gov (United States)

    Guo, Dejun; Bourne, Joseph R.; Wang, Hesheng; Yim, Woosoon; Leang, Kam K.

    2017-08-01

    This paper presents the design and implementation of an adaptive-repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. Applications of this control strategy include the use of high-flying unmanned aerial vehicles (UAVs) with computer vision for monitoring, controlling, and coordinating the movements of lower altitude agents in areas, for example, where GPS signals may be unreliable or nonexistent. When deployed, a remote operator of the HFV defines the desired trajectory for the LFV in the HFV's camera frame. Due to the circular motion of the HFV, the resulting motion trajectory of the LFV in the image frame can be periodic in time, thus an adaptive-repetitive control system is exploited for regulation and/or trajectory tracking. The adaptive control law is able to handle uncertainties in the camera's intrinsic and extrinsic parameters. The design and stability analysis of the closed-loop control system is presented, where Lyapunov stability is shown. Simulation and experimental results are presented to demonstrate the effectiveness of the method for controlling the movement of a low-flying quadcopter, demonstrating the capabilities of the visual-servo control system for localization (i.e.,, motion capturing) and trajectory tracking control. In fact, results show that the LFV can be commanded to hover in place as well as track a user-defined flower-shaped closed trajectory, while the HFV and camera system circulates above with constant angular velocity. On average, the proposed adaptive-repetitive visual-servo control system reduces the average RMS tracking error by over 77% in the image plane and over 71% in the world frame compared to using just the adaptive visual-servo control law.

  2. Lagrangian 3D tracking of fluorescent microscopic objects in motion

    Science.gov (United States)

    Darnige, T.; Figueroa-Morales, N.; Bohec, P.; Lindner, A.; Clément, E.

    2017-05-01

    We describe the development of a tracking device, mounted on an epi-fluorescent inverted microscope, suited to obtain time resolved 3D Lagrangian tracks of fluorescent passive or active micro-objects in microfluidic devices. The system is based on real-time image processing, determining the displacement of a x, y mechanical stage to keep the chosen object at a fixed position in the observation frame. The z displacement is based on the refocusing of the fluorescent object determining the displacement of a piezo mover keeping the moving object in focus. Track coordinates of the object with respect to the microfluidic device as well as images of the object are obtained at a frequency of several tenths of Hertz. This device is particularly well adapted to obtain trajectories of motile micro-organisms in microfluidic devices with or without flow.

  3. 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.

  4. A new approach to motion control of torque-constrained manipulators by using time-scaling of reference trajectories

    Energy Technology Data Exchange (ETDEWEB)

    Moreno-Valenzuela, Javier; Orozco-Manriquez, Ernesto [Digital del IPN, CITEDI-IPN, Tijuana, (Mexico)

    2009-12-15

    We introduce a control scheme based on using a trajectory tracking controller and an algorithm for on-line time scaling of the reference trajectories. The reference trajectories are time-scaled according to the measured tracking errors and the detected torque/acceleration saturation. Experiments are presented to illustrate the advantages of the proposed approach

  5. A new approach to motion control of torque-constrained manipulators by using time-scaling of reference trajectories

    International Nuclear Information System (INIS)

    Moreno-Valenzuela, Javier; Orozco-Manriquez, Ernesto

    2009-01-01

    We introduce a control scheme based on using a trajectory tracking controller and an algorithm for on-line time scaling of the reference trajectories. The reference trajectories are time-scaled according to the measured tracking errors and the detected torque/acceleration saturation. Experiments are presented to illustrate the advantages of the proposed approach

  6. 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.

  7. Management by Trajectory: Trajectory Management Study Report

    Science.gov (United States)

    Leiden, Kenneth; Atkins, Stephen; Fernandes, Alicia D.; Kaler, Curt; Bell, Alan; Kilbourne, Todd; Evans, Mark

    2017-01-01

    In order to realize the full potential of the Next Generation Air Transportation System (NextGen), improved management along planned trajectories between air navigation service providers (ANSPs) and system users (e.g., pilots and airline dispatchers) is needed. Future automation improvements and increased data communications between aircraft and ground automation would make the concept of Management by Trajectory (MBT) possible.

  8. Personalized trajectory matching in spatial networks

    KAUST Repository

    Shang, Shuo

    2013-07-31

    With the increasing availability of moving-object tracking data, trajectory search and matching is increasingly important. We propose and investigate a novel problem called personalized trajectory matching (PTM). In contrast to conventional trajectory similarity search by spatial distance only, PTM takes into account the significance of each sample point in a query trajectory. A PTM query takes a trajectory with user-specified weights for each sample point in the trajectory as its argument. It returns the trajectory in an argument data set with the highest similarity to the query trajectory. We believe that this type of query may bring significant benefits to users in many popular applications such as route planning, carpooling, friend recommendation, traffic analysis, urban computing, and location-based services in general. PTM query processing faces two challenges: how to prune the search space during the query processing and how to schedule multiple so-called expansion centers effectively. To address these challenges, a novel two-phase search algorithm is proposed that carefully selects a set of expansion centers from the query trajectory and exploits upper and lower bounds to prune the search space in the spatial and temporal domains. An efficiency study reveals that the algorithm explores the minimum search space in both domains. Second, a heuristic search strategy based on priority ranking is developed to schedule the multiple expansion centers, which can further prune the search space and enhance the query efficiency. The performance of the PTM query is studied in extensive experiments based on real and synthetic trajectory data sets. © 2013 Springer-Verlag Berlin Heidelberg.

  9. Computing with spatial trajectories

    CERN Document Server

    2011-01-01

    Covers the fundamentals and the state-of-the-art research inspired by the spatial trajectory data Readers are provided with tutorial-style chapters, case studies and references to other relevant research work This is the first book that presents the foundation dealing with spatial trajectories and state-of-the-art research and practices enabled by trajectories

  10. A Method for Extracting Road Boundary Information from Crowdsourcing Vehicle GPS Trajectories.

    Science.gov (United States)

    Yang, Wei; Ai, Tinghua; Lu, Wei

    2018-04-19

    Crowdsourcing trajectory data is an important approach for accessing and updating road information. In this paper, we present a novel approach for extracting road boundary information from crowdsourcing vehicle traces based on Delaunay triangulation (DT). First, an optimization and interpolation method is proposed to filter abnormal trace segments from raw global positioning system (GPS) traces and interpolate the optimization segments adaptively to ensure there are enough tracking points. Second, constructing the DT and the Voronoi diagram within interpolated tracking lines to calculate road boundary descriptors using the area of Voronoi cell and the length of triangle edge. Then, the road boundary detection model is established integrating the boundary descriptors and trajectory movement features (e.g., direction) by DT. Third, using the boundary detection model to detect road boundary from the DT constructed by trajectory lines, and a regional growing method based on seed polygons is proposed to extract the road boundary. Experiments were conducted using the GPS traces of taxis in Beijing, China, and the results show that the proposed method is suitable for extracting the road boundary from low-frequency GPS traces, multi-type road structures, and different time intervals. Compared with two existing methods, the automatically extracted boundary information was proved to be of higher quality.

  11. A Method for Extracting Road Boundary Information from Crowdsourcing Vehicle GPS Trajectories

    Directory of Open Access Journals (Sweden)

    Wei Yang

    2018-04-01

    Full Text Available Crowdsourcing trajectory data is an important approach for accessing and updating road information. In this paper, we present a novel approach for extracting road boundary information from crowdsourcing vehicle traces based on Delaunay triangulation (DT. First, an optimization and interpolation method is proposed to filter abnormal trace segments from raw global positioning system (GPS traces and interpolate the optimization segments adaptively to ensure there are enough tracking points. Second, constructing the DT and the Voronoi diagram within interpolated tracking lines to calculate road boundary descriptors using the area of Voronoi cell and the length of triangle edge. Then, the road boundary detection model is established integrating the boundary descriptors and trajectory movement features (e.g., direction by DT. Third, using the boundary detection model to detect road boundary from the DT constructed by trajectory lines, and a regional growing method based on seed polygons is proposed to extract the road boundary. Experiments were conducted using the GPS traces of taxis in Beijing, China, and the results show that the proposed method is suitable for extracting the road boundary from low-frequency GPS traces, multi-type road structures, and different time intervals. Compared with two existing methods, the automatically extracted boundary information was proved to be of higher quality.

  12. 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.

  13. Handling Trajectory Uncertainties for Airborne Conflict Management

    Science.gov (United States)

    Barhydt, Richard; Doble, Nathan A.; Karr, David; Palmer, Michael T.

    2005-01-01

    Airborne conflict management is an enabling capability for NASA's Distributed Air-Ground Traffic Management (DAG-TM) concept. DAGTM has the goal of significantly increasing capacity within the National Airspace System, while maintaining or improving safety. Under DAG-TM, autonomous aircraft maintain separation from each other and from managed aircraft unequipped for autonomous flight. NASA Langley Research Center has developed the Autonomous Operations Planner (AOP), an onboard decision support system that provides airborne conflict management (ACM) and strategic flight planning support for autonomous aircraft pilots. The AOP performs conflict detection, prevention, and resolution from nearby traffic aircraft and area hazards. Traffic trajectory information is assumed to be provided by Automatic Dependent Surveillance Broadcast (ADS-B). Reliable trajectory prediction is a key capability for providing effective ACM functions. Trajectory uncertainties due to environmental effects, differences in aircraft systems and performance, and unknown intent information lead to prediction errors that can adversely affect AOP performance. To accommodate these uncertainties, the AOP has been enhanced to create cross-track, vertical, and along-track buffers along the predicted trajectories of both ownship and traffic aircraft. These buffers will be structured based on prediction errors noted from previous simulations such as a recent Joint Experiment between NASA Ames and Langley Research Centers and from other outside studies. Currently defined ADS-B parameters related to navigation capability, trajectory type, and path conformance will be used to support the algorithms that generate the buffers.

  14. Vehicle Reference Generator for Collision-Free Trajectories in Hazardous Maneuvers

    Directory of Open Access Journals (Sweden)

    Cuauhtémoc Acosta Lúa

    2018-01-01

    Full Text Available This paper presents a reference generator for ground vehicles, based on potential fields adapted to the case of vehicular dynamics. The reference generator generates signals to be tracked by the vehicle, corresponding to a trajectory avoiding collisions with obstacles. This generator integrates artificial forces of potential fields of the object surrounding the vehicle. The reference generator is used with a controller to ensure the tracking of the accident-free reference. This approach can be used for vehicle autonomous driving or for active control of manned vehicles. Simulation results, presented for the autonomous driving, consider a scenario inspired by the so-called moose (or elk test, with the presence of other collaborative vehicles.

  15. Searching Trajectories by Regions of Interest

    KAUST Repository

    Shang, Shuo

    2017-03-22

    With the increasing availability of moving-object tracking data, trajectory search is increasingly important. We propose and investigate a novel query type named trajectory search by regions of interest (TSR query). Given an argument set of trajectories, a TSR query takes a set of regions of interest as a parameter and returns the trajectory in the argument set with the highest spatial-density correlation to the query regions. This type of query is useful in many popular applications such as trip planning and recommendation, and location based services in general. TSR query processing faces three challenges: how to model the spatial-density correlation between query regions and data trajectories, how to effectively prune the search space, and how to effectively schedule multiple so-called query sources. To tackle these challenges, a series of new metrics are defined to model spatial-density correlations. An efficient trajectory search algorithm is developed that exploits upper and lower bounds to prune the search space and that adopts a query-source selection strategy, as well as integrates a heuristic search strategy based on priority ranking to schedule multiple query sources. The performance of TSR query processing is studied in extensive experiments based on real and synthetic spatial data.

  16. Searching Trajectories by Regions of Interest

    KAUST Repository

    Shang, Shuo; chen, Lisi; Jensen, Christian S.; Wen, Ji-Rong; Kalnis, Panos

    2017-01-01

    With the increasing availability of moving-object tracking data, trajectory search is increasingly important. We propose and investigate a novel query type named trajectory search by regions of interest (TSR query). Given an argument set of trajectories, a TSR query takes a set of regions of interest as a parameter and returns the trajectory in the argument set with the highest spatial-density correlation to the query regions. This type of query is useful in many popular applications such as trip planning and recommendation, and location based services in general. TSR query processing faces three challenges: how to model the spatial-density correlation between query regions and data trajectories, how to effectively prune the search space, and how to effectively schedule multiple so-called query sources. To tackle these challenges, a series of new metrics are defined to model spatial-density correlations. An efficient trajectory search algorithm is developed that exploits upper and lower bounds to prune the search space and that adopts a query-source selection strategy, as well as integrates a heuristic search strategy based on priority ranking to schedule multiple query sources. The performance of TSR query processing is studied in extensive experiments based on real and synthetic spatial data.

  17. Trajectories of martian habitability.

    Science.gov (United States)

    Cockell, Charles S

    2014-02-01

    Beginning from two plausible starting points-an uninhabited or inhabited Mars-this paper discusses the possible trajectories of martian habitability over time. On an uninhabited Mars, the trajectories follow paths determined by the abundance of uninhabitable environments and uninhabited habitats. On an inhabited Mars, the addition of a third environment type, inhabited habitats, results in other trajectories, including ones where the planet remains inhabited today or others where planetary-scale life extinction occurs. By identifying different trajectories of habitability, corresponding hypotheses can be described that allow for the various trajectories to be disentangled and ultimately a determination of which trajectory Mars has taken and the changing relative abundance of its constituent environments.

  18. Lunar and interplanetary trajectories

    CERN Document Server

    Biesbroek, Robin

    2016-01-01

    This book provides readers with a clear description of the types of lunar and interplanetary trajectories, and how they influence satellite-system design. The description follows an engineering rather than a mathematical approach and includes many examples of lunar trajectories, based on real missions. It helps readers gain an understanding of the driving subsystems of interplanetary and lunar satellites. The tables and graphs showing features of trajectories make the book easy to understand. .

  19. SU-E-J-77: Dose Tracking On An MR-Linac for Online QA and Plan Adaptation in Abdominal Organs

    International Nuclear Information System (INIS)

    Glitzner, M; Crijns, S; Kontaxis, C; Prins, F; Lagendijk, J; Raaymakers, B; Senneville, B Denis de

    2015-01-01

    Recent developments made MRI-guided radiotherapy feasible. Simultaneously performed imaging during dose delivery reveals the influence of changes in anatomy not yet known at the planning stage. When targeting highly motile abdominal organs, respiratory gating is commonly employed in MRI and investigated in external beam radiotherapy to mitigate malicious motion effects. The purpose of the presented work is to investigate anatomy-adaptive dose reconstruction in the treatment of abdominalorgans using concurrent (duplex) gating of an integrated MRlinac modality.Using navigators, 3D-MR images were sampled during exhale phase, requiring 3s per axial volume (360×260×100mm 3 , waterselective T1w-FFE). Deformation vector fields (DVF) were calculated for all imaging dynamics with respect to initial anatomy, yielding an estimation of anatomy changes over the time of a fraction. A pseudo-CT was generated from the outline of a reference MR image, assuming a water-filled body. Consecutively, a treatment was planned on a fictional kidney lesion and optimized simulating a 6MV linac in a 1.5T magnetic field. After delivery, using the DVF, the pseudo-CT was deformed and dose accumulated for every individual gating interval yielding the true accumulated dose on the dynamic anatomy during beam-on.Dose-volume parameters on the PTV show only moderate changes when incorporating motion, i.e. ΔD 99 (GTV)=0.3Gy with D 99 (GTV)=20Gy constraints. However, local differences in the PTV region showed underdosages as high as 2.7Gy and overdosages up to 1.4Gy as compared to the optimized dose on static anatomy.A dose reconstruction toolchain was successfully implemented and proved its potential in the duplex gated treatment of abdominal organs by means of an MR-linac modality. While primary dose constraints were not violated on the fictional test data, large deviations could be found locally, which are left unaccounted for in conventional treatments. Dose-tracking of both target structures and

  20. SU-E-J-77: Dose Tracking On An MR-Linac for Online QA and Plan Adaptation in Abdominal Organs

    Energy Technology Data Exchange (ETDEWEB)

    Glitzner, M; Crijns, S; Kontaxis, C; Prins, F; Lagendijk, J; Raaymakers, B [University Medical Center Utrecht, Utrecht (Netherlands); Senneville, B Denis de [University Medical Center Utrecht, Utrecht (Netherlands); Mathematical Institute of Bordeaux, University of Bordeaux, Talence Cedex (France)

    2015-06-15

    Recent developments made MRI-guided radiotherapy feasible. Simultaneously performed imaging during dose delivery reveals the influence of changes in anatomy not yet known at the planning stage. When targeting highly motile abdominal organs, respiratory gating is commonly employed in MRI and investigated in external beam radiotherapy to mitigate malicious motion effects. The purpose of the presented work is to investigate anatomy-adaptive dose reconstruction in the treatment of abdominalorgans using concurrent (duplex) gating of an integrated MRlinac modality.Using navigators, 3D-MR images were sampled during exhale phase, requiring 3s per axial volume (360×260×100mm{sup 3}, waterselective T1w-FFE). Deformation vector fields (DVF) were calculated for all imaging dynamics with respect to initial anatomy, yielding an estimation of anatomy changes over the time of a fraction. A pseudo-CT was generated from the outline of a reference MR image, assuming a water-filled body. Consecutively, a treatment was planned on a fictional kidney lesion and optimized simulating a 6MV linac in a 1.5T magnetic field. After delivery, using the DVF, the pseudo-CT was deformed and dose accumulated for every individual gating interval yielding the true accumulated dose on the dynamic anatomy during beam-on.Dose-volume parameters on the PTV show only moderate changes when incorporating motion, i.e. ΔD{sub 99} (GTV)=0.3Gy with D{sub 99} (GTV)=20Gy constraints. However, local differences in the PTV region showed underdosages as high as 2.7Gy and overdosages up to 1.4Gy as compared to the optimized dose on static anatomy.A dose reconstruction toolchain was successfully implemented and proved its potential in the duplex gated treatment of abdominal organs by means of an MR-linac modality. While primary dose constraints were not violated on the fictional test data, large deviations could be found locally, which are left unaccounted for in conventional treatments. Dose-tracking of both target

  1. Integrated trajectory control and collision avoidance for automated driving

    NARCIS (Netherlands)

    Verhaegh, J.; Ploeg, J.; Nunen, E. van; Teerhuis, A.

    2017-01-01

    This paper presents a method for trajectory control, based on feedback linearization to guide an Automatic Guided Vehicle (AGV). The novelty of this work, is the adaptation of a reference trajectory with respect to a desired velocity in real-time to avoid collisions using a time-scaling mechanism.

  2. Fuzzy adaptive robust control for space robot considering the effect of the gravity

    Directory of Open Access Journals (Sweden)

    Qin Li

    2014-12-01

    Full Text Available Space robot is assembled and tested in gravity environment, and completes on-orbit service (OOS in microgravity environment. The kinematic and dynamic characteristic of the robot will change with the variations of gravity in different working condition. Fully considering the change of kinematic and dynamic models caused by the change of gravity environment, a fuzzy adaptive robust control (FARC strategy which is adaptive to these model variations is put forward for trajectory tracking control of space robot. A fuzzy algorithm is employed to approximate the nonlinear uncertainties in the model, adaptive laws of the parameters are constructed, and the approximation error is compensated by using a robust control algorithm. The stability of the control system is guaranteed based on the Lyapunov theory and the trajectory tracking control simulation is performed. The simulation results are compared with the proportional plus derivative (PD controller, and the effectiveness to achieve better trajectory tracking performance under different gravity environment without changing the control parameters and the advantage of the proposed controller are verified.

  3. PANTHER. Trajectory Analysis

    Energy Technology Data Exchange (ETDEWEB)

    Rintoul, Mark Daniel [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Wilson, Andrew T. [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Valicka, Christopher G. [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Kegelmeyer, W. Philip [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Shead, Timothy M. [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Newton, Benjamin D. [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States); Czuchlewski, Kristina Rodriguez [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States)

    2015-09-01

    We want to organize a body of trajectories in order to identify, search for, classify and predict behavior among objects such as aircraft and ships. Existing compari- son functions such as the Fr'echet distance are computationally expensive and yield counterintuitive results in some cases. We propose an approach using feature vectors whose components represent succinctly the salient information in trajectories. These features incorporate basic information such as total distance traveled and distance be- tween start/stop points as well as geometric features related to the properties of the convex hull, trajectory curvature and general distance geometry. Additionally, these features can generally be mapped easily to behaviors of interest to humans that are searching large databases. Most of these geometric features are invariant under rigid transformation. We demonstrate the use of different subsets of these features to iden- tify trajectories similar to an exemplar, cluster a database of several hundred thousand trajectories, predict destination and apply unsupervised machine learning algorithms.

  4. Computer vision elastography: speckle adaptive motion estimation for elastography using ultrasound sequences.

    Science.gov (United States)

    Revell, James; Mirmehdi, Majid; McNally, Donal

    2005-06-01

    We present the development and validation of an image based speckle tracking methodology, for determining temporal two-dimensional (2-D) axial and lateral displacement and strain fields from ultrasound video streams. We refine a multiple scale region matching approach incorporating novel solutions to known speckle tracking problems. Key contributions include automatic similarity measure selection to adapt to varying speckle density, quantifying trajectory fields, and spatiotemporal elastograms. Results are validated using tissue mimicking phantoms and in vitro data, before applying them to in vivo musculoskeletal ultrasound sequences. The method presented has the potential to improve clinical knowledge of tendon pathology from carpel tunnel syndrome, inflammation from implants, sport injuries, and many others.

  5. Trajectory Browser Website

    Science.gov (United States)

    Foster, Cyrus; Jaroux, Belgacem A.

    2012-01-01

    The Trajectory Browser is a web-based tool developed at the NASA Ames Research Center to be used for the preliminary assessment of trajectories to small-bodies and planets and for providing relevant launch date, time-of-flight and V requirements. The site hosts a database of transfer trajectories from Earth to asteroids and planets for various types of missions such as rendezvous, sample return or flybys. A search engine allows the user to find trajectories meeting desired constraints on the launch window, mission duration and delta V capability, while a trajectory viewer tool allows the visualization of the heliocentric trajectory and the detailed mission itinerary. The anticipated user base of this tool consists primarily of scientists and engineers designing interplanetary missions in the context of pre-phase A studies, particularly for performing accessibility surveys to large populations of small-bodies. The educational potential of the website is also recognized for academia and the public with regards to trajectory design, a field that has generally been poorly understood by the public. The website is currently hosted on NASA-internal URL http://trajbrowser.arc.nasa.gov/ with plans for a public release as soon as development is complete.

  6. 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...

  7. On-Line Tracking Controller for Brushless DC Motor Drives Using Artificial Neural Networks

    Science.gov (United States)

    Rubaai, Ahmed

    1996-01-01

    A real-time control architecture is developed for time-varying nonlinear brushless dc motors operating in a high performance drives environment. The developed control architecture possesses the capabilities of simultaneous on-line identification and control. The dynamics of the motor are modeled on-line and controlled using an artificial neural network, as the system runs. The control architecture combines the experience and dependability of adaptive tracking systems with potential and promise of the neural computing technology. The sensitivity of real-time controller to parametric changes that occur during training is investigated. Such changes are usually manifested by rapid changes in the load of the brushless motor drives. This sudden change in the external load is simulated for the sigmoidal and sinusoidal reference tracks. The ability of the neuro-controller to maintain reasonable tracking accuracy in the presence of external noise is also verified for a number of desired reference trajectories.

  8. Long range trajectories

    Energy Technology Data Exchange (ETDEWEB)

    Allen, P. W.; Jessup, E. A.; White, R. E. [Air Resources Field Research Office, Las Vegas, Nevada (United States)

    1967-07-01

    A single air molecule can have a trajectory that can be described with a line, but most meteorologists use single lines to represent the trajectories of air parcels. A single line trajectory has the disadvantage that it is a categorical description of position. Like categorized forecasts it provides no qualification, and no provision for dispersion in case the parcel contains two or more molecules which may take vastly different paths. Diffusion technology has amply demonstrated that an initial aerosol cloud or volume of gas in the atmosphere not only grows larger, but sometimes divides into puffs, each having a different path or swath. Yet, the average meteorologist, faced with the problem of predicting the future motion of a cloud, usually falls back on the line trajectory approach with the explanation that he had no better tool for long range application. In his more rational moments, he may use some arbitrary device to spread his cloud with distance. One such technique has been to separate the trajectory into two or more trajectories, spaced about the endpoint of the original trajectory after a short period of travel, repeating this every so often like a chain reaction. This has the obvious disadvantage of involving a large amount of labor without much assurance of improved accuracy. Another approach is to draw a circle about the trajectory endpoint, to represent either diffusion or error. The problem then is to know what radius to give the circle and also whether to call it diffusion or error. Meteorologists at the Nevada Test Site (NTS) are asked frequently to provide advice which involves trajectory technology, such as prediction of an aerosol cloud path, reconstruction of the motion of a volume of air, indication of the dilution, and the possible trajectory prediction error over great distances. Therefore, we set out, nearly three years ago, to provide some statistical knowledge about the status of our trajectory technology. This report contains some of the

  9. Track reconstruction in CMS high luminosity environment

    CERN Document Server

    AUTHOR|(CDS)2067159

    2016-01-01

    The CMS tracker is the largest silicon detector ever built, covering 200 square meters and providing an average of 14 high-precision measurements per track. Tracking is essential for the reconstruction of objects like jets, muons, electrons and tau leptons starting from the raw data from the silicon pixel and strip detectors. Track reconstruction is widely used also at trigger level as it improves objects tagging and resolution.The CMS tracking code is organized in several levels, known as iterative steps, each optimized to reconstruct a class of particle trajectories, as the ones of particles originating from the primary vertex or displaced tracks from particles resulting from secondary vertices. Each iterative step consists of seeding, pattern recognition and fitting by a kalman filter, and a final filtering and cleaning. Each subsequent step works on hits not yet associated to a reconstructed particle trajectory.The CMS tracking code is continuously evolving to make the reconstruction computing load compat...

  10. Track reconstruction in CMS high luminosity environment

    CERN Document Server

    Goetzmann, Christophe

    2014-01-01

    The CMS tracker is the largest silicon detector ever built, covering 200 square meters and providing an average of 14 high-precision measurements per track. Tracking is essential for the reconstruction of objects like jets, muons, electrons and tau leptons starting from the raw data from the silicon pixel and strip detectors. Track reconstruction is widely used also at trigger level as it improves objects tagging and resolution.The CMS tracking code is organized in several levels, known as iterative steps, each optimized to reconstruct a class of particle trajectories, as the ones of particles originating from the primary vertex or displaced tracks from particles resulting from secondary vertices. Each iterative step consists of seeding, pattern recognition and fitting by a kalman filter, and a final filtering and cleaning. Each subsequent step works on hits not yet associated to a reconstructed particle trajectory.The CMS tracking code is continuously evolving to make the reconstruction computing load compat...

  11. LHCb: The LHCb tracking concept and performance

    CERN Multimedia

    Rodrigues, E

    2009-01-01

    The LHCb tracking system is designed to reconstruct charged particle trajectories in the forward spectrometer, in view of high precision studies of CP-violating phenomena and searches for rare b-hadron decays at the LHC. The system is composed of four major subdetectors and a dedicated magnet, providing an excellent momentum resolution just above 0.4%. The tracking model is based on the innovative trajectories concept introduced by the BaBar collaboration to reconstruct and fit the tracks, and has been further developed and improved. It is now able to cope with realistic geometries and misalignments in a sophisticated, robust and detector-independent way. The LHCb tracking concept including the interplay of various complementary pattern recognition algorithms and the bi-directional Kalman fitter will be described. The current performance of the tracking, based on the latest simulations, will be presented. Recent results obtained with the first LHC beam tracks from injection tests will be discussed.

  12. Cosmic ray particle dosimetry and trajectory tracing

    International Nuclear Information System (INIS)

    Cruty, M.R.; Benton, E.V.; Turnbill, C.E.; Philpott, D.E.

    1975-01-01

    Five pocket mice (Perognathus longimembris) were flown on Apollo XVII, each with a solid-state (plastic) nuclear track detector implanted beneath its scalp. The subscalp detectors were sensitive to HZE cosmic ray particles with a LET greater than or approximately equal to 0.15 million electron volts per micrometer (MeV/micron). A critical aspect of the dosimetry of the experiment involved tracing individual particle trajectories through each mouse head from particle tracks registered in the individual subscalp detectors, thereby establishing a one-to-one correspondence between a trajectory location in the tissue and the presence or absence of a lesion. The other major aspect was the identification of each registered particle. An average of 16 particles with Z greater than or equal to 6 and 2.2 particles with Z greater than or equal to 20 were found per detector. The track density, 29 tracks/sq cm, when adjusted for detection volume, was in agreement with the photographic emulsion data from an area dosimeter located next to the flight package

  13. Automated Cooperative Trajectories

    Science.gov (United States)

    Hanson, Curt; Pahle, Joseph; Brown, Nelson

    2015-01-01

    This presentation is an overview of the Automated Cooperative Trajectories project. An introduction to the phenomena of wake vortices is given, along with a summary of past research into the possibility of extracting energy from the wake by flying close parallel trajectories. Challenges and barriers to adoption of civilian automatic wake surfing technology are identified. A hardware-in-the-loop simulation is described that will support future research. Finally, a roadmap for future research and technology transition is proposed.

  14. Branching trajectory continual integral

    International Nuclear Information System (INIS)

    Maslov, V.P.; Chebotarev, A.M.

    1980-01-01

    Heuristic definition of the Feynman continual integral over branching trajectories is suggested which makes it possible to obtain in the closed form the solution of the Cauchy problem for the model Hartree equation. A number of properties of the solution is derived from an integral representation. In particular, the quasiclassical asymptotics, exact solution in the gaussian case and perturbation theory series are described. The existence theorem for the simpliest continual integral over branching trajectories is proved [ru

  15. Lane-Level Road Information Mining from Vehicle GPS Trajectories Based on Naïve Bayesian Classification

    Directory of Open Access Journals (Sweden)

    Luliang Tang

    2015-11-01

    Full Text Available In this paper, we propose a novel approach for mining lane-level road network information from low-precision vehicle GPS trajectories (MLIT, which includes the number and turn rules of traffic lanes based on naïve Bayesian classification. First, the proposed method (MLIT uses an adaptive density optimization method to remove outliers from the raw GPS trajectories based on their space-time distribution and density clustering. Second, MLIT acquires the number of lanes in two steps. The first step establishes a naïve Bayesian classifier according to the trace features of the road plane and road profiles and the real number of lanes, as found in the training samples. The second step confirms the number of lanes using test samples in reference to the naïve Bayesian classifier using the known trace features of test sample. Third, MLIT infers the turn rules of each lane through tracking GPS trajectories. Experiments were conducted using the GPS trajectories of taxis in Wuhan, China. Compared with human-interpreted results, the automatically generated lane-level road network information was demonstrated to be of higher quality in terms of displaying detailed road networks with the number of lanes and turn rules of each lane.

  16. Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance Observer

    Directory of Open Access Journals (Sweden)

    Pengchao Zhang

    2018-01-01

    Full Text Available This paper presents a dynamic surface adaptive robust control method with disturbance observer for unmanned marine vehicles (UMV. It uses adaptive law to estimate and compensate the disturbance observer error. Dynamic surface is introduced to solve the “differential explosion” caused by the virtual control derivation in traditional backstepping method. The final controlled system is proved to be globally uniformly bounded based on Lyapunov stability theory. Simulation results illustrate the effectiveness of the proposed controller, which can realize the three-dimensional trajectory tracking for UMV with the systematic uncertainty and time-varying disturbances.

  17. High precision tracking of a piezoelectric nano-manipulator with parameterized hysteresis compensation

    Science.gov (United States)

    Yan, Peng; Zhang, Yangming

    2018-06-01

    High performance scanning of nano-manipulators is widely deployed in various precision engineering applications such as SPM (scanning probe microscope), where trajectory tracking of sophisticated reference signals is an challenging control problem. The situation is further complicated when rate dependent hysteresis of the piezoelectric actuators and the stress-stiffening induced nonlinear stiffness of the flexure mechanism are considered. In this paper, a novel control framework is proposed to achieve high precision tracking of a piezoelectric nano-manipulator subjected to hysteresis and stiffness nonlinearities. An adaptive parameterized rate-dependent Prandtl-Ishlinskii model is constructed and the corresponding adaptive inverse model based online compensation is derived. Meanwhile a robust adaptive control architecture is further introduced to improve the tracking accuracy and robustness of the compensated system, where the parametric uncertainties of the nonlinear dynamics can be well eliminated by on-line estimations. Comparative experimental studies of the proposed control algorithm are conducted on a PZT actuated nano-manipulating stage, where hysteresis modeling accuracy and excellent tracking performance are demonstrated in real-time implementations, with significant improvement over existing results.

  18. BMI trajectory groups in veterans of the Iraq and Afghanistan wars.

    Science.gov (United States)

    Rosenberger, Patricia H; Ning, Yuming; Brandt, Cynthia; Allore, Heather; Haskell, Sally

    2011-09-01

    The study sought to determine BMI trajectories in Iraq/Afghanistan veterans over 6 years and to examine sociodemographic factors associated with BMI trajectory membership. Our study sample included 16,656 veterans post-deployment and entering the Veteran Healthcare Administration (VHA) healthcare system. We used national VHA administrative sociodemographic data, tracked veteran BMI for 6 years, and used trajectory modeling to identify BMI trajectories and sociodemographic characteristics associated with trajectory membership. Five trajectory groups determined in the full sample were primarily differentiated by their post-deployment initial BMI: "healthy" (14.1%), "overweight" (36.3%), "borderline obese" (27.9%), "obese" (15.7%), and "severely obese" (6.0). Being female, younger, and white were associated with lower initial BMI trajectory group membership (p'seducation and white female Veterans were associated with the lowest initial BMI group (p'sEducation level and racial status are differentially related to BMI trajectory by gender. Published by Elsevier Inc.

  19. Ultra-precise tracking control of piezoelectric actuators via a fuzzy hysteresis model.

    Science.gov (United States)

    Li, Pengzhi; Yan, Feng; Ge, Chuan; Zhang, Mingchao

    2012-08-01

    In this paper, a novel Takagi-Sugeno (T-S) fuzzy system based model is proposed for hysteresis in piezoelectric actuators. The antecedent and consequent structures of the fuzzy hysteresis model (FHM) can be, respectively, identified on-line through uniform partition approach and recursive least squares (RLS) algorithm. With respect to controller design, the inverse of FHM is used to develop a feedforward controller to cancel out the hysteresis effect. Then a hybrid controller is designed for high-performance tracking. It combines the feedforward controller with a proportional integral differential (PID) controller favourable for stabilization and disturbance compensation. To achieve nanometer-scale tracking precision, the enhanced adaptive hybrid controller is further developed. It uses real-time input and output data to update FHM, thus changing the feedforward controller to suit the on-site hysteresis character of the piezoelectric actuator. Finally, as to 3 cases of 50 Hz sinusoidal, multiple frequency sinusoidal and 50 Hz triangular trajectories tracking, experimental results demonstrate the efficiency of the proposed controllers. Especially, being only 0.35% of the maximum desired displacement, the maximum error of 50 Hz sinusoidal tracking is greatly reduced to 5.8 nm, which clearly shows the ultra-precise nanometer-scale tracking performance of the developed adaptive hybrid controller.

  20. Online 4D ultrasound guidance for real-time motion compensation by MLC tracking.

    Science.gov (United States)

    Ipsen, Svenja; Bruder, Ralf; O'Brien, Rick; Keall, Paul J; Schweikard, Achim; Poulsen, Per R

    2016-10-01

    With the trend in radiotherapy moving toward dose escalation and hypofractionation, the need for highly accurate targeting increases. While MLC tracking is already being successfully used for motion compensation of moving targets in the prostate, current real-time target localization methods rely on repeated x-ray imaging and implanted fiducial markers or electromagnetic transponders rather than direct target visualization. In contrast, ultrasound imaging can yield volumetric data in real-time (3D + time = 4D) without ionizing radiation. The authors report the first results of combining these promising techniques-online 4D ultrasound guidance and MLC tracking-in a phantom. A software framework for real-time target localization was installed directly on a 4D ultrasound station and used to detect a 2 mm spherical lead marker inside a water tank. The lead marker was rigidly attached to a motion stage programmed to reproduce nine characteristic tumor trajectories chosen from large databases (five prostate, four lung). The 3D marker position detected by ultrasound was transferred to a computer program for MLC tracking at a rate of 21.3 Hz and used for real-time MLC aperture adaption on a conventional linear accelerator. The tracking system latency was measured using sinusoidal trajectories and compensated for by applying a kernel density prediction algorithm for the lung traces. To measure geometric accuracy, static anterior and lateral conformal fields as well as a 358° arc with a 10 cm circular aperture were delivered for each trajectory. The two-dimensional (2D) geometric tracking error was measured as the difference between marker position and MLC aperture center in continuously acquired portal images. For dosimetric evaluation, VMAT treatment plans with high and low modulation were delivered to a biplanar diode array dosimeter using the same trajectories. Dose measurements with and without MLC tracking were compared to a static reference dose using 3%/3 mm and 2

  1. Actor-critic-based optimal tracking for partially unknown nonlinear discrete-time systems.

    Science.gov (United States)

    Kiumarsi, Bahare; Lewis, Frank L

    2015-01-01

    This paper presents a partially model-free adaptive optimal control solution to the deterministic nonlinear discrete-time (DT) tracking control problem in the presence of input constraints. The tracking error dynamics and reference trajectory dynamics are first combined to form an augmented system. Then, a new discounted performance function based on the augmented system is presented for the optimal nonlinear tracking problem. In contrast to the standard solution, which finds the feedforward and feedback terms of the control input separately, the minimization of the proposed discounted performance function gives both feedback and feedforward parts of the control input simultaneously. This enables us to encode the input constraints into the optimization problem using a nonquadratic performance function. The DT tracking Bellman equation and tracking Hamilton-Jacobi-Bellman (HJB) are derived. An actor-critic-based reinforcement learning algorithm is used to learn the solution to the tracking HJB equation online without requiring knowledge of the system drift dynamics. That is, two neural networks (NNs), namely, actor NN and critic NN, are tuned online and simultaneously to generate the optimal bounded control policy. A simulation example is given to show the effectiveness of the proposed method.

  2. System of automized determination of charged particle trajectories in extended magnetic fields

    International Nuclear Information System (INIS)

    Toumanian, A.R.

    1981-01-01

    An automized system for the determination of particle trajectories by the floating current-carrying wire method is described. The system is able to determine the charged particle trajectories with the energy above 100 MeV in magnetic systems of any configuration and with track extent up to several tens metres with momentum resolution up to 3.10 -4 . The system efficiency makes 1500 tracks/hour on the average [ru

  3. Trajectory Analysis and Prediction for Improved Pedestrian Safety

    DEFF Research Database (Denmark)

    Møgelmose, Andreas; Trivedi, Mohan M.; Moeslund, Thomas B.

    2015-01-01

    This paper presents a monocular and purely vision based pedestrian trajectory tracking and prediction framework with integrated map-based hazard inference. In Advanced Driver Assistance systems research, a lot of effort has been put into pedestrian detection over the last decade, and several pede...

  4. Interpreting Early Career Trajectories

    Science.gov (United States)

    Barnatt, Joan; Gahlsdorf Terrell, Dianna; D'Souza, Lisa Andries; Jong, Cindy; Cochran-Smith, Marilyn; Viesca, Kara Mitchell; Gleeson, Ann Marie; McQuillan, Patrick; Shakman, Karen

    2017-01-01

    Career decisions of four teachers are explored through the concept of figured worlds in this qualitative, longitudinal case study. Participants were purposefully chosen for similarity at entry, with a range of career trajectories over time. Teacher career paths included remaining in one school, repeated changes in schools, attrition after…

  5. Trajectory structures and transport

    International Nuclear Information System (INIS)

    Vlad, Madalina; Spineanu, Florin

    2004-01-01

    The special problem of transport in two-dimensional divergence-free stochastic velocity fields is studied by developing a statistical approach, the nested subensemble method. The nonlinear process of trapping determined by such fields generates trajectory structures whose statistical characteristics are determined. These structures strongly influence the transport

  6. Trajectory grouping structure

    Directory of Open Access Journals (Sweden)

    Maike Buchin

    2015-03-01

    Full Text Available The collective motion of a set of moving entities like people, birds, or other animals, is characterized by groups arising, merging, splitting, and ending. Given the trajectories of these entities, we define and model a structure that captures all of such changes using the Reeb graph, a concept from topology. The trajectory grouping structure has three natural parameters that allow more global views of the data in group size, group duration, and entity inter-distance. We prove complexity bounds on the maximum number of maximal groups that can be present, and give algorithms to compute the grouping structure efficiently. We also study how the trajectory grouping structure can be made robust, that is, how brief interruptions of groups can be disregarded in the global structure, adding a notion of persistence to the structure. Furthermore, we showcase the results of experiments using data generated by the NetLogo flocking model and from the Starkey project. The Starkey data describe the movement of elk, deer, and cattle. Although there is no ground truth for the grouping structure in this data, the experiments show that the trajectory grouping structure is plausible and has the desired effects when changing the essential parameters. Our research provides the first complete study of trajectory group evolvement, including combinatorial,algorithmic, and experimental results.

  7. TH-AB-202-05: BEST IN PHYSICS (JOINT IMAGING-THERAPY): First Online Ultrasound-Guided MLC Tracking for Real-Time Motion Compensation in Radiotherapy

    Energy Technology Data Exchange (ETDEWEB)

    Ipsen, S; Bruder, R; Schweikard, A [University of Luebeck, Luebeck, DE (United States); O’Brien, R; Keall, P [University of Sydney, Sydney (Australia); Poulsen, P [Aarhus University Hospital, Aarhus (Denmark)

    2016-06-15

    Purpose: While MLC tracking has been successfully used for motion compensation of moving targets, current real-time target localization methods rely on correlation models with x-ray imaging or implanted electromagnetic transponders rather than direct target visualization. In contrast, ultrasound imaging yields volumetric data in real-time (4D) without ionizing radiation. We report the first results of online 4D ultrasound-guided MLC tracking in a phantom. Methods: A real-time tracking framework was installed on a 4D ultrasound station (Vivid7 dimension, GE) and used to detect a 2mm spherical lead marker inside a water tank. The volumetric frame rate was 21.3Hz (47ms). The marker was rigidly attached to a motion stage programmed to reproduce nine tumor trajectories (five prostate, four lung). The 3D marker position from ultrasound was used for real-time MLC aperture adaption. The tracking system latency was measured and compensated by prediction for lung trajectories. To measure geometric accuracy, anterior and lateral conformal fields with 10cm circular aperture were delivered for each trajectory. The tracking error was measured as the difference between marker position and MLC aperture in continuous portal imaging. For dosimetric evaluation, 358° VMAT fields were delivered to a biplanar diode array dosimeter using the same trajectories. Dose measurements with and without MLC tracking were compared to a static reference dose using a 3%/3 mm γ-test. Results: The tracking system latency was 170ms. The mean root-mean-square tracking error was 1.01mm (0.75mm prostate, 1.33mm lung). Tracking reduced the mean γ-failure rate from 13.9% to 4.6% for prostate and from 21.8% to 0.6% for lung with high-modulation VMAT plans and from 5% (prostate) and 18% (lung) to 0% with low modulation. Conclusion: Real-time ultrasound tracking was successfully integrated with MLC tracking for the first time and showed similar accuracy and latency as other methods while holding the

  8. Track models and radiation chemical yields

    International Nuclear Information System (INIS)

    Chatterjee, A.; Magee, J.L.

    1987-01-01

    The authors are concerned only with systems in which single track effects dominate and radiation chemical yields are sums of yields for individual tracks. The authors know that the energy deposits of heavy particle tracks are composed of spurs along the particle trajectory (about one-half of the energy) and a more diffuse pattern composed of the tracks of knock-on electrons, called the penumbra (about one-half of the energy). The simplest way to introduce the concept of a unified track model for heavy particles is to consider the special case of the track of a heavy particle with an LET below 0.2-0.3eV/A, which in practice limits us to protons, deuterons, or particles with energy above 100 MeV per nucleon. At these LET values, to a good approximation, spurs formed by the main particle track can be considered to remain isolated throughout the radiation chemical reactions

  9. 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

  10. Semantic Enrichment of GPS Trajectories

    NARCIS (Netherlands)

    de Graaff, V.; van Keulen, Maurice; de By, R.A.

    2012-01-01

    Semantic annotation of GPS trajectories helps us to recognize the interests of the creator of the GPS trajectories. Automating this trajectory annotation circumvents the requirement of additional user input. To annotate the GPS traces automatically, two types of automated input are required: 1) a

  11. SU-G-BRA-12: Development of An Intra-Fractional Motion Tracking and Dose Reconstruction System for Adaptive Stereotactic Body Radiation Therapy in High-Risk Prostate Cancer

    Energy Technology Data Exchange (ETDEWEB)

    Rezaeian, N Hassan; Chi, Y; Tian, Z; Jiang, S; Hannan, R; Jia, X [UT Southwestern Medical Center, Dallas, TX (United States)

    2016-06-15

    Purpose: A clinical trial on stereotactic body radiation therapy (SBRT) for high-risk prostate cancer is undergoing at our institution. In addition to escalating dose to the prostate, we have increased dose to intra-prostatic lesions. Intra-fractional prostate motion deteriorates well planned radiation dose, especially for the small intra-prostatic lesions. To solve this problem, we have developed a motion tracking and 4D dose-reconstruction system to facilitate adaptive re-planning. Methods: Patients in the clinical trial were treated with VMAT using four arcs and 10 FFF beam. KV triggered x-ray projections were taken every 3 sec during delivery to acquire 2D projections of 3D anatomy at the direction orthogonal to the therapeutic beam. Each patient had three implanted prostate markers. Our developed system first determined 2D projection locations of these markers and then 3D prostate translation and rotation via 2D/3D registration of the markers. Using delivery log files, our GPU-based Monte Carlo tool (goMC) reconstructed dose corresponding to each triggered image. The calculated 4D dose distributions were further aggregated to yield the delivered dose. Results: We first tested each module in our system. MC dose engine were commissioned to our treatment planning system with dose difference of <0.5%. For motion tracking, 1789 kV projections from 7 patients were acquired. The 2D marker location error was <1 mm. For 3D motion tracking, root mean square (RMS) errors along LR, AP, and CC directions were 0.26mm, 0.36mm, and 0.01mm respectively in simulation studies and 1.99mm, 1.37mm, and 0.22mm in phantom studies. We also tested the entire system workflow. Our system was able to reconstruct delivered dose. Conclusion: We have developed a functional intra-fractional motion tracking and 4D dose re-construction system to support our clinical trial on adaptive high-risk prostate cancer SBRT. Comprehensive evaluations have shown the capability and accuracy of our system.

  12. Trajectory Shape Analysis and Anomaly Detection Utilizing Information Theory Tools

    Directory of Open Access Journals (Sweden)

    Yuejun Guo

    2017-06-01

    Full Text Available In this paper, we propose to improve trajectory shape analysis by explicitly considering the speed attribute of trajectory data, and to successfully achieve anomaly detection. The shape of object motion trajectory is modeled using Kernel Density Estimation (KDE, making use of both the angle attribute of the trajectory and the speed of the moving object. An unsupervised clustering algorithm, based on the Information Bottleneck (IB method, is employed for trajectory learning to obtain an adaptive number of trajectory clusters through maximizing the Mutual Information (MI between the clustering result and a feature set of the trajectory data. Furthermore, we propose to effectively enhance the performance of IB by taking into account the clustering quality in each iteration of the clustering procedure. The trajectories are determined as either abnormal (infrequently observed or normal by a measure based on Shannon entropy. Extensive tests on real-world and synthetic data show that the proposed technique behaves very well and outperforms the state-of-the-art methods.

  13. Time-Resolved Tracking of Mutations Reveals Diverse Allele Dynamics during Escherichia coli Antimicrobial Adaptive Evolution to Single Drugs and Drug Pairs

    DEFF Research Database (Denmark)

    Hickman, Rachel A.; Munck, Christian; Sommer, Morten Otto Alexander

    2017-01-01

    + CHL and CHL + CIP). We find that lineages evolved to antibiotic combinations exhibit different resistance allele dynamics compared with those of single-drug evolved lineages, especially for a drug pair with reciprocal collateral sensitivity. During adaptation, we observed interfering, superimposing...

  14. Electron trajectory program

    International Nuclear Information System (INIS)

    Herrmannsfeldt, W.B.

    1979-11-01

    The SLAC Electron Trajectory Program is described and instructions and examples for users are given. The program is specifically written to compute trajectories of charged particles in electrostatic and magnetostatic focusing systems including the effects of space charge and self-magnetic fields. Starting options include Child's Law conditions on cathodes of various shapes. Either rectangular or cylindrically symmetric geometry may be used. Magntic fields may be specified using arbitrary configurations of coils, or the output of a magnet program such as Poisson or by an externally calculated array of the axial fields. The program is available in IBM FORTRAN but can be easily converted for use on other brands of hardware. The program is intended to be used with a plotter whose interface the user must provide

  15. Electron trajectory program

    Energy Technology Data Exchange (ETDEWEB)

    Herrmannsfeldt, W.B.

    1979-11-01

    The SLAC Electron Trajectory Program is described and instructions and examples for users are given. The program is specifically written to compute trajectories of charged particles in electrostatic and magnetostatic focusing systems including the effects of space charge and self-magnetic fields. Starting options include Child's Law conditions on cathodes of various shapes. Either rectangular or cylindrically symmetric geometry may be used. Magntic fields may be specified using arbitrary configurations of coils, or the output of a magnet program such as Poisson or by an externally calculated array of the axial fields. The program is available in IBM FORTRAN but can be easily converted for use on other brands of hardware. The program is intended to be used with a plotter whose interface the user must provide.

  16. Au pair trajectories

    DEFF Research Database (Denmark)

    Dalgas, Karina Märcher

    2015-01-01

    pair-sending families in the Philippines, this dissertation examines the long-term trajectories of these young Filipinas. It shows how the au pairs’ local and transnational family relations develop over time and greatly influence their life trajectories. A focal point of the study is how au pairs...... that Filipina au pairs see their stay abroad as an avenue of personal development and social recognition, I examine how the au pairs re-position themselves within their families at home through migration, and how they navigate between the often conflicting expectations of participation in the sociality......Since 2000, thousands of young Filipino migrants have come to Denmark as au pairs. Officially, they are there to “broaden their cultural horizons” by living temporarily with a Danish host family, but they also conduct domestic labor in exchange for food and money, which allows them to send...

  17. Wavelet-based tracking of bacteria in unreconstructed off-axis holograms.

    Science.gov (United States)

    Marin, Zach; Wallace, J Kent; Nadeau, Jay; Khalil, Andre

    2018-03-01

    We propose an automated wavelet-based method of tracking particles in unreconstructed off-axis holograms to provide rough estimates of the presence of motion and particle trajectories in digital holographic microscopy (DHM) time series. The wavelet transform modulus maxima segmentation method is adapted and tailored to extract Airy-like diffraction disks, which represent bacteria, from DHM time series. In this exploratory analysis, the method shows potential for estimating bacterial tracks in low-particle-density time series, based on a preliminary analysis of both living and dead Serratia marcescens, and for rapidly providing a single-bit answer to whether a sample chamber contains living or dead microbes or is empty. Copyright © 2017 Elsevier Inc. All rights reserved.

  18. Particle tracking

    International Nuclear Information System (INIS)

    Mais, H.; Ripken, G.; Wrulich, A.; Schmidt, F.

    1986-02-01

    After a brief description of typical applications of particle tracking in storage rings and after a short discussion of some limitations and problems related with tracking we summarize some concepts and methods developed in the qualitative theory of dynamical systems. We show how these concepts can be applied to the proton ring HERA. (orig.)

  19. Timber tracking

    DEFF Research Database (Denmark)

    Düdder, Boris; Ross, Omry

    2017-01-01

    Managing and verifying forest products in a value chain is often reliant on easily manipulated document or digital tracking methods - Chain of Custody Systems. We aim to create a new means of tracking timber by developing a tamper proof digital system based on Blockchain technology. Blockchain...

  20. Track Reconstruction in the ATLAS Experiment The Deterministic Annealing Filter

    CERN Document Server

    Fleischmann, S

    2006-01-01

    The reconstruction of the trajectories of charged particles is essential for experiments at the LHC. The experiments contain precise tracking systems structured in layers around the collision point which measure the positions where particle trajectories intersect those layers. The physics analysis on the other hand mainly needs the momentum and direction of the particle at the estimated creation or reaction point. It is therefore needed to determine these parameters from the initial measurements. At the LHC one has to deal with high backgrounds while even small deficits or artifacts can reduce the signal or may produce additional background after event selection. The track reconstruction does not only contain the estimation of the track parameters, but also a pattern recognition deciding which measurements belong to a track and how many particle tracks can be found. Track reconstruction at the ATLAS experiment suffers from the high event rate at the LHC resulting in a high occupancy of the tracking devices. A...

  1. The trajectory of hope: pathways to find meaning and reconstructing the self after a spinal cord injury.

    Science.gov (United States)

    Parashar, D

    2015-07-01

    This is a qualitative study. To evaluate and track the importance and the continuum of hope, and its trajectory, from the point of view of the individual with a spinal cord injury (SCI) and a rehabilitation psychologist. This study was conducted in the Indian Spinal Injuries Centre, New Delhi, India, and in patients' homes in the National Capital Region, India. Twenty individuals with an SCI were interviewed for the study at intervals of 2 weeks, 6 months, 1 year and 2 years since the time of the injury. Semi-structured interviews were conducted, in which the following theoretical research questions were investigated: 'What is the meaning, relevance and significance of hope in the individual's life following an SCI? Does the meaning and subject of hope change at different points in time?' Three distinctive themes markedly emerged in the trajectory of hope: (1) Hope for a complete recovery; (2) hope for self-reliance despite the injury; and (3) hope for an optimum quality of life. The make-up of each theme, its significance and contribution to recovery and/or rehabilitation, while tracking the influence of time since injury, family and friends, as well as other agencies and pathways, are discussed. After sustaining a life-altering injury, hope becomes the force that spurs individuals. Psychologists and rehabilitation counselors need to focus on instilling realistic hope, goal setting, sustaining motivation, enabling adaptive appraisals and problem-solving. Further recommendations include developing and testing interventions against the context of the continuum of hope.

  2. Fast Compressive Tracking.

    Science.gov (United States)

    Zhang, Kaihua; Zhang, Lei; Yang, Ming-Hsuan

    2014-10-01

    It is a challenging task to develop effective and efficient appearance models for robust object tracking due to factors such as pose variation, illumination change, occlusion, and motion blur. Existing online tracking algorithms often update models with samples from observations in recent frames. Despite much success has been demonstrated, numerous issues remain to be addressed. First, while these adaptive appearance models are data-dependent, there does not exist sufficient amount of data for online algorithms to learn at the outset. Second, online tracking algorithms often encounter the drift problems. As a result of self-taught learning, misaligned samples are likely to be added and degrade the appearance models. In this paper, we propose a simple yet effective and efficient tracking algorithm with an appearance model based on features extracted from a multiscale image feature space with data-independent basis. The proposed appearance model employs non-adaptive random projections that preserve the structure of the image feature space of objects. A very sparse measurement matrix is constructed to efficiently extract the features for the appearance model. We compress sample images of the foreground target and the background using the same sparse measurement matrix. The tracking task is formulated as a binary classification via a naive Bayes classifier with online update in the compressed domain. A coarse-to-fine search strategy is adopted to further reduce the computational complexity in the detection procedure. The proposed compressive tracking algorithm runs in real-time and performs favorably against state-of-the-art methods on challenging sequences in terms of efficiency, accuracy and robustness.

  3. Computer modeling of oil spill trajectories with a high accuracy method

    International Nuclear Information System (INIS)

    Garcia-Martinez, Reinaldo; Flores-Tovar, Henry

    1999-01-01

    This paper proposes a high accuracy numerical method to model oil spill trajectories using a particle-tracking algorithm. The Euler method, used to calculate oil trajectories, can give adequate solutions in most open ocean applications. However, this method may not predict accurate particle trajectories in certain highly non-uniform velocity fields near coastal zones or in river problems. Simple numerical experiments show that the Euler method may also introduce artificial numerical dispersion that could lead to overestimation of spill areas. This article proposes a fourth-order Runge-Kutta method with fourth-order velocity interpolation to calculate oil trajectories that minimise these problems. The algorithm is implemented in the OilTrack model to predict oil trajectories following the 'Nissos Amorgos' oil spill accident that occurred in the Gulf of Venezuela in 1997. Despite lack of adequate field information, model results compare well with observations in the impacted area. (Author)

  4. SU-F-J-68: Deformable Dose Accumulation for Voxel-Based Dose Tracking of PTV Cold Spots for Adaptive Radiotherapy of the Head and Neck

    Energy Technology Data Exchange (ETDEWEB)

    Liu, C; Chetty, I; Mao, W; Kumarasiri, A; Zhong, H; Brown, S; Siddiqui, F [Henry Ford Health System, Detroit, MI (United States)

    2016-06-15

    Purpose: To utilize deformable dose accumulation (DDA) to determine how cold spots within the PTV change over the course of fractionated head and neck (H&N) radiotherapy. Methods: Voxel-based dose was tracked using a DDA platform. The DDA process consisted of B-spline-based deformable image registration (DIR) and dose accumulation between planning CT’s and daily cone-beam CT’s for 10 H&N cancer patients. Cold spots within the PTV (regions receiving less than the prescription, 70 Gy) were contoured on the cumulative dose distribution. These cold spots were mapped to each fraction, starting from the first fraction to determine how they changed. Spatial correlation between cold spot regions over each fraction, relative to the last fraction, was computed using the Jaccard index Jk (Mk,N), where N is the cold spot within the PTV at the end of the treatment, and Mk the same region for fraction k. Results: Figure 1 shows good spatial correlation between cold spots, and highlights expansion of the cold spot region over the course of treatment, as a result of setup uncertainties, and anatomical changes. Figure 2 shows a plot of Jk versus fraction number k averaged over 10 patients. This confirms the good spatial correlation between cold spots over the course of treatment. On average, Jk reaches ∼90% at fraction 22, suggesting that possible intervention (e.g. reoptimization) may mitigate the cold spot region. The cold spot, D99, averaged over 10 patients corresponded to a dose of ∼65 Gy, relative to the prescription dose of 70 Gy. Conclusion: DDA-based tracking provides spatial dose information, which can be used to monitor dose in different regions of the treatment plan, thereby enabling appropriate mid-treatment interventions. This work is supported in part by Varian Medical Systems, Palo Alto, CA.

  5. Adaptive nonlinear control for a research reactor

    International Nuclear Information System (INIS)

    Benitez R, J.S.

    1994-01-01

    Linearization by feedback of states is based on the idea of transform the nonlinear dynamic equation of a system in a linear form. This linear behavior can be achieve well in a complete way (input state) or in partial way (input output). This can be applied to systems of single or multiple inputs, and can be used to solve problems of stabilization and tracking of references trajectories. Comparing this method with conventional ones, linearization by feedback of states is exact in certain region of the space of state, instead of linear approximations of the equations in a certain point of the operation. In the presence of parametric uncertainties in the model of the system, the introduction of adaptive schemes provide a type toughness to the control system by nonlinear feedback, which gives as result the eventual cancellation of the nonlinear terms in the dynamic relationship between the output and the input of the auxiliary control. In the same way, it has been presented the design of a nonlinearizing control for the non lineal model of a TRIGA Mark III type reactor, with the aim of tracking a predetermined power profile. The asymptotic tracking of such profile is, at the present moment, in the stage of verification by computerized simulation the relative easiness in the design of auxiliary variable of control, as well as the decoupling action of the output variable, make very attractive the utilization of the method herein presented. (Author)

  6. Making tracks

    Energy Technology Data Exchange (ETDEWEB)

    Anon.

    1986-10-15

    In many modern tracking chambers, the sense wires, rather than being lined up uniformly, are grouped into clusters to facilitate the pattern recognition process. However, with higher energy machines providing collisions richer in secondary particles, event reconstruction becomes more complicated. A Caltech / Illinois / SLAC / Washington group developed an ingenious track finding and fitting approach for the Mark III detector used at the SPEAR electron-positron ring at SLAC (Stanford). This capitalizes on the detector's triggering, which uses programmable logic circuits operating in parallel, each 'knowing' the cell patterns for all tracks passing through a specific portion of the tracker (drift chamber)

  7. First evaluation of the feasibility of MLC tracking using ultrasound motion estimation

    Energy Technology Data Exchange (ETDEWEB)

    Fast, Martin F., E-mail: martin.fast@icr.ac.uk; O’Shea, Tuathan P., E-mail: tuathan.oshea@nhs.net; Nill, Simeon; Oelfke, Uwe; Harris, Emma J. [Joint Department of Physics, The Institute of Cancer Research and The Royal Marsden NHS Foundation Trust, London SM2 5NG (United Kingdom)

    2016-08-15

    Purpose: To quantify the performance of the Clarity ultrasound (US) imaging system (Elekta AB, Stockholm, Sweden) for real-time dynamic multileaf collimator (MLC) tracking. Methods: The Clarity calibration and quality assurance phantom was mounted on a motion platform moving with a periodic sine wave trajectory. The detected position of a 30 mm hypoechogenic sphere within the phantom was continuously reported via Clarity’s real-time streaming interface to an in-house tracking and delivery software and subsequently used to adapt the MLC aperture. A portal imager measured MV treatment field/MLC apertures and motion platform positions throughout each experiment to independently quantify system latency and geometric error. Based on the measured range of latency values, a prostate stereotactic body radiation therapy (SBRT) delivery was performed with three realistic motion trajectories. The dosimetric impact of system latency on MLC tracking was directly measured using a 3D dosimeter mounted on the motion platform. Results: For 2D US imaging, the overall system latency, including all delay times from the imaging and delivery chain, ranged from 392 to 424 ms depending on the lateral sector size. For 3D US imaging, the latency ranged from 566 to 1031 ms depending on the elevational sweep. The latency-corrected geometric root-mean squared error was below 0.75 mm (2D US) and below 1.75 mm (3D US). For the prostate SBRT delivery, the impact of a range of system latencies (400–1000 ms) on the MLC tracking performance was minimal in terms of gamma failure rate. Conclusions: Real-time MLC tracking based on a noninvasive US input is technologically feasible. Current system latencies are higher than those for x-ray imaging systems, but US can provide full volumetric image data and the impact of system latency was measured to be small for a prostate SBRT case when using a US-like motion input.

  8. First evaluation of the feasibility of MLC tracking using ultrasound motion estimation

    International Nuclear Information System (INIS)

    Fast, Martin F.; O’Shea, Tuathan P.; Nill, Simeon; Oelfke, Uwe; Harris, Emma J.

    2016-01-01

    Purpose: To quantify the performance of the Clarity ultrasound (US) imaging system (Elekta AB, Stockholm, Sweden) for real-time dynamic multileaf collimator (MLC) tracking. Methods: The Clarity calibration and quality assurance phantom was mounted on a motion platform moving with a periodic sine wave trajectory. The detected position of a 30 mm hypoechogenic sphere within the phantom was continuously reported via Clarity’s real-time streaming interface to an in-house tracking and delivery software and subsequently used to adapt the MLC aperture. A portal imager measured MV treatment field/MLC apertures and motion platform positions throughout each experiment to independently quantify system latency and geometric error. Based on the measured range of latency values, a prostate stereotactic body radiation therapy (SBRT) delivery was performed with three realistic motion trajectories. The dosimetric impact of system latency on MLC tracking was directly measured using a 3D dosimeter mounted on the motion platform. Results: For 2D US imaging, the overall system latency, including all delay times from the imaging and delivery chain, ranged from 392 to 424 ms depending on the lateral sector size. For 3D US imaging, the latency ranged from 566 to 1031 ms depending on the elevational sweep. The latency-corrected geometric root-mean squared error was below 0.75 mm (2D US) and below 1.75 mm (3D US). For the prostate SBRT delivery, the impact of a range of system latencies (400–1000 ms) on the MLC tracking performance was minimal in terms of gamma failure rate. Conclusions: Real-time MLC tracking based on a noninvasive US input is technologically feasible. Current system latencies are higher than those for x-ray imaging systems, but US can provide full volumetric image data and the impact of system latency was measured to be small for a prostate SBRT case when using a US-like motion input.

  9. Why tracks

    International Nuclear Information System (INIS)

    Burchart, J.; Kral, J.

    1979-01-01

    A comparison is made of two methods of determining the age of rocks, ie., the krypton-argon method and the fission tracks method. The former method is more accurate but is dependent on the temperature and on the grain size of the investigated rocks (apatites, biotites, muscovites). As for the method of fission tracks, the determination is not dependent on grain size. This method allows dating and the determination of uranium concentration and distribution in rocks. (H.S.)

  10. Moyal dynamics and trajectories

    Science.gov (United States)

    Braunss, G.

    2010-01-01

    We give first an approximation of the operator δh: f → δhf := h*planckf - f*planckh in terms of planck2n, n >= 0, where h\\equiv h(p,q), (p,q)\\in {\\mathbb R}^{2 n} , is a Hamilton function and *planck denotes the star product. The operator, which is the generator of time translations in a *planck-algebra, can be considered as a canonical extension of the Liouville operator Lh: f → Lhf := {h, f}Poisson. Using this operator we investigate the dynamics and trajectories of some examples with a scheme that extends the Hamilton-Jacobi method for classical dynamics to Moyal dynamics. The examples we have chosen are Hamiltonians with a one-dimensional quartic potential and two-dimensional radially symmetric nonrelativistic and relativistic Coulomb potentials, and the Hamiltonian for a Schwarzschild metric. We further state a conjecture concerning an extension of the Bohr-Sommerfeld formula for the calculation of the exact eigenvalues for systems with classically periodic trajectories.

  11. Repetitive Rockfall Trajectory Testing

    Directory of Open Access Journals (Sweden)

    Axel Volkwein

    2018-03-01

    Full Text Available Numerical simulations of rockfall trajectories are a standard procedure for evaluating rockfall hazards. For these simulations, corresponding software codes must be calibrated and evaluated based on field data. This study addresses methods of repeatable rockfall tests, and investigates whether it is possible to produce traceable and statistically analysable data. A testing series is described extensively covering how to conduct rockfall experiments and how certain elements of rockfall trajectories can be measured. The tests use acceleration and rotation sensors inside test blocks, a system to determine block positions over time, surveying measurements, and video recordings. All systems are evaluated regarding their usability in the field and for analyses. The highly detailed description of testing methods is the basis for sound understanding and reproducibility of the tests. This article serves as a reference for future publications and other rockfall field tests, both as a guide and as a basis for comparisons. First analyses deliver information on runout with a shadow angle ranging between 21 and 45 degrees for a slope consisting of homogeneous soft soil. A digital elevation model of the test site as well as point clouds of the used test blocks are part of this publication.

  12. Optimizing experimental parameters for tracking of diffusing particles

    DEFF Research Database (Denmark)

    Vestergaard, Christian L.

    2016-01-01

    We describe how a single-particle tracking experiment should be designed in order for its recorded trajectories to contain the most information about a tracked particle's diffusion coefficient. The precision of estimators for the diffusion coefficient is affected by motion blur, limited photon st...

  13. ALICE HLT high speed tracking on GPU

    CERN Document Server

    Gorbunov, Sergey; Aamodt, Kenneth; Alt, Torsten; Appelshauser, Harald; Arend, Andreas; Bach, Matthias; Becker, Bruce; Bottger, Stefan; Breitner, Timo; Busching, Henner; Chattopadhyay, Sukalyan; Cleymans, Jean; Cicalo, Corrado; Das, Indranil; Djuvsland, Oystein; Engel, Heiko; Erdal, Hege Austrheim; Fearick, Roger; Haaland, Oystein Senneset; Hille, Per Thomas; Kalcher, Sebastian; Kanaki, Kalliopi; Kebschull, Udo Wolfgang; Kisel, Ivan; Kretz, Matthias; Lara, Camillo; Lindal, Sven; Lindenstruth, Volker; Masoodi, Arshad Ahmad; Ovrebekk, Gaute; Panse, Ralf; Peschek, Jorg; Ploskon, Mateusz; Pocheptsov, Timur; Ram, Dinesh; Rascanu, Theodor; Richter, Matthias; Rohrich, Dieter; Ronchetti, Federico; Skaali, Bernhard; Smorholm, Olav; Stokkevag, Camilla; Steinbeck, Timm Morten; Szostak, Artur; Thader, Jochen; Tveter, Trine; Ullaland, Kjetil; Vilakazi, Zeblon; Weis, Robert; Yin, Zhong-Bao; Zelnicek, Pierre

    2011-01-01

    The on-line event reconstruction in ALICE is performed by the High Level Trigger, which should process up to 2000 events per second in proton-proton collisions and up to 300 central events per second in heavy-ion collisions, corresponding to an inp ut data stream of 30 GB/s. In order to fulfill the time requirements, a fast on-line tracker has been developed. The algorithm combines a Cellular Automaton method being used for a fast pattern recognition and the Kalman Filter method for fitting of found trajectories and for the final track selection. The tracker was adapted to run on Graphics Processing Units (GPU) using the NVIDIA Compute Unified Device Architecture (CUDA) framework. The implementation of the algorithm had to be adjusted at many points to allow for an efficient usage of the graphics cards. In particular, achieving a good overall workload for many processor cores, efficient transfer to and from the GPU, as well as optimized utilization of the different memories the GPU offers turned out to be cri...

  14. Canonical transformations of Kepler trajectories

    International Nuclear Information System (INIS)

    Mostowski, Jan

    2010-01-01

    In this paper, canonical transformations generated by constants of motion in the case of the Kepler problem are discussed. It is shown that canonical transformations generated by angular momentum are rotations of the trajectory. Particular attention is paid to canonical transformations generated by the Runge-Lenz vector. It is shown that these transformations change the eccentricity of the orbit. A method of obtaining elliptic trajectories from the circular ones with the help of canonical trajectories is discussed.

  15. Sustaining trajectory flexibility for air traffic complexity alleviation

    Science.gov (United States)

    Hasan, Saam N.; Rossiter, J. A.

    2012-11-01

    Despite the fact that several Air Traffic Management (ATM) complexity metrics have been proposed in the past few years, very few of these studies incorporate a control independent intrinsic approach to the problem with the aim of sustaining trajectory flexibility. This paper proposes the introduction of novel decision making metrics for sustaining user trajectory flexibility. The hypothesis is, if all aircraft apply a flexibility preservation function, complexity may reduce automatically. The functions proposed combine concepts of adaptability, robustness and intrinsic traffic complexity metrics based on Lyapunov exponents. Adaptability is defined as a measure of the ability of the aircraft to change its planned trajectory in response to the occurrence of a disturbance that renders the current planned trajectory infeasible. The Robustness metric is defined as the ability of the aircraft to keep its planned trajectory unchanged in response to the occurrence of disturbances. An Intrinsic complexity measure is used to evaluate the level of disorder with regards to the aircraft trajectory; disorder is defined in this context as the level of consistency in the flow patterns of aircraft and their proximity. A point mass model for multiple aircraft(s) is used to extract the trajectories and computing a form of characterisation of sensitivity and interdependencies of a set of aircraft trajectories. Lyapunov exponents are used to compute this measure. The main contribution of this paper will be to test the hypothesis by combining the complexity metrics described above. Different operational scenarios are simulated using a airspace environment developed in MATLAB which shows how well the traffic is structured by varying the metrics defined. The simulation shows the efficacy of the metrics to alleviate complexity in a heavily congested airspace.

  16. Dual color single particle tracking via nanobodies

    International Nuclear Information System (INIS)

    Albrecht, David; Winterflood, Christian M; Ewers, Helge

    2015-01-01

    Single particle tracking is a powerful tool to investigate the function of biological molecules by following their motion in space. However, the simultaneous tracking of two different species of molecules is still difficult to realize without compromising the length or density of trajectories, the localization accuracy or the simplicity of the assay. Here, we demonstrate a simple dual color single particle tracking assay using small, bright, high-affinity labeling via nanobodies of accessible targets with widely available instrumentation. We furthermore apply a ratiometric step-size analysis method to visualize differences in apparent membrane viscosity. (paper)

  17. Advanced Alignment of the ATLAS Tracking System

    CERN Document Server

    Butti, P; The ATLAS collaboration

    2014-01-01

    In order to reconstruct the trajectories of charged particles, the ATLAS experiment exploits a tracking system built using different technologies, planar silicon modules or microstrips (PIX and SCT detectors) and gaseous drift tubes (TRT), all embedded in a 2T solenoidal magnetic field. Misalignments and deformations of the active detector elements deteriorate the track reconstruction resolution and lead to systematic biases on the measured track parameters. The alignment procedures exploits various advanced tools and techniques in order to determine for module positions and correct for deformations. For the LHC Run II, the system is being upgraded with the installation of a new pixel layer, the Insertable B-layer (IBL).

  18. On the design of fuzzified trajectory shaping guidance law.

    Science.gov (United States)

    Lin, Chun-Liang; Lin, Yu-Ping; Chen, Kai-Ming

    2009-04-01

    Midcourse guidance is commonly designed to save as much energy as possible so that the missile's final speed can be maximized while entering the homing stage. For this purpose, a competitive guidance design should be able to generate an admissible flight trajectory as to bring the interceptor to a superior altitude for a favorable target engagement. In this paper, a new adaptive trajectory shaping guidance scheme based on the adaptive fuzzy inference system, which is capable of generating a variety of trajectories for efficient target interception, is presented. The guidance law is developed with the aim of saving the interceptor's energy conservation while improving performance robustness. Applications of the presented approach have included a variety of mission oriented guidance, such as cruise missile guidance, anti-ballistic missile guidance, etc.

  19. Sliding-mode control combined with improved adaptive feedforward for wafer scanner

    Science.gov (United States)

    Li, Xiaojie; Wang, Yiguang

    2018-03-01

    In this paper, a sliding-mode control method combined with improved adaptive feedforward is proposed for wafer scanner to improve the tracking performance of the closed-loop system. Particularly, In addition to the inverse model, the nonlinear force ripple effect which may degrade the tracking accuracy of permanent magnet linear motor (PMLM) is considered in the proposed method. The dominant position periodicity of force ripple is determined by using the Fast Fourier Transform (FFT) analysis for experimental data and the improved feedforward control is achieved by the online recursive least-squares (RLS) estimation of the inverse model and the force ripple. The improved adaptive feedforward is given in a general form of nth-order model with force ripple effect. This proposed method is motivated by the motion controller design of the long-stroke PMLM and short-stroke voice coil motor for wafer scanner. The stability of the closed-loop control system and the convergence of the motion tracking are guaranteed by the proposed sliding-mode feedback and adaptive feedforward methods theoretically. Comparative experiments on a precision linear motion platform can verify the correctness and effectiveness of the proposed method. The experimental results show that comparing to traditional method the proposed one has better performance of rapidity and robustness, especially for high speed motion trajectory. And, the improvements on both tracking accuracy and settling time can be achieved.

  20. On Synergistic Integration of Adaptive Dithering Based Internal Model Control for Hysteresis Compensation in Piezoactuated Nanopositioner

    Directory of Open Access Journals (Sweden)

    Saikat Kumar Shome

    2015-01-01

    Full Text Available Piezoelectric-stack actuated platforms are very popular in the parlance of nanopositioning with myriad applications like micro/nanofactory, atomic force microscopy, scanning probe microscopy, wafer design, biological cell manipulation, and so forth. Motivated by the necessity to improve trajectory tracking in such applications, this paper addresses the problem of rate dependent hysteretic nonlinearity in piezoelectric actuators (PEA. The classical second order Dahl model for hysteresis encapsulation is introduced first, followed by the identification of parameters through particle swarm optimization. A novel inversion based feedforward mechanism in combination with a feedback compensator is proposed to achieve high-precision tracking wherein the paradoxical concept of noise as a performance enhancer is introduced in the realm of PZAs. Having observed that dither induced stochastic resonance in the presence of periodic forcing reduces tracking error, dither capability is further explored in conjunction with a novel output harmonics based adaptive control scheme. The proposed adaptive controller is then augmented with an internal model control based approach to impart robustness against parametric variations and external disturbances. The proposed control law has been employed to track multifrequency signals with consistent compensation of rate dependent hysteresis of the PEA. The results indicate a greatly improved positioning accuracy along with considerable robustness achieved with the proposed integrated approach even for dual axis tracking applications.

  1. 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.

  2. Trajectory Based Traffic Analysis

    DEFF Research Database (Denmark)

    Krogh, Benjamin Bjerre; Andersen, Ove; Lewis-Kelham, Edwin

    2013-01-01

    We present the INTRA system for interactive path-based traffic analysis. The analyses are developed in collaboration with traffic researchers and provide novel insights into conditions such as congestion, travel-time, choice of route, and traffic-flow. INTRA supports interactive point-and-click a......We present the INTRA system for interactive path-based traffic analysis. The analyses are developed in collaboration with traffic researchers and provide novel insights into conditions such as congestion, travel-time, choice of route, and traffic-flow. INTRA supports interactive point......-and-click analysis, due to a novel and efficient indexing structure. With the web-site daisy.aau.dk/its/spqdemo/we will demonstrate several analyses, using a very large real-world data set consisting of 1.9 billion GPS records (1.5 million trajectories) recorded from more than 13000 vehicles, and touching most...

  3. Urban water trajectories

    CERN Document Server

    Allen, Adriana; Hofmann, Pascale; Teh, Tse-Hui

    2017-01-01

    Water is an essential element in the future of cities. It shapes cities’ locations, form, ecology, prosperity and health. The changing nature of urbanisation, climate change, water scarcity, environmental values, globalisation and social justice mean that the models of provision of water services and infrastructure that have dominated for the past two centuries are increasingly infeasible. Conventional arrangements for understanding and managing water in cities are being subverted by a range of natural, technological, political, economic and social changes. The prognosis for water in cities remains unclear, and multiple visions and discourses are emerging to fill the space left by the certainty of nineteenth century urban water planning and engineering. This book documents a sample of those different trajectories, in terms of water transformations, option, services and politics. Water is a key element shaping urban form, economies and lifestyles, part of the ongoing transformation of cities. Cities are face...

  4. Adaptive vehicle motion estimation and prediction

    Science.gov (United States)

    Zhao, Liang; Thorpe, Chuck E.

    1999-01-01

    Accurate motion estimation and reliable maneuver prediction enable an automated car to react quickly and correctly to the rapid maneuvers of the other vehicles, and so allow safe and efficient navigation. In this paper, we present a car tracking system which provides motion estimation, maneuver prediction and detection of the tracked car. The three strategies employed - adaptive motion modeling, adaptive data sampling, and adaptive model switching probabilities - result in an adaptive interacting multiple model algorithm (AIMM). The experimental results on simulated and real data demonstrate that our tracking system is reliable, flexible, and robust. The adaptive tracking makes the system intelligent and useful in various autonomous driving tasks.

  5. 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)

  6. Oscillatory Adaptive Yaw-Plane Control of Biorobotic Autonomous Underwater Vehicles Using Pectoral-Like Fins

    Directory of Open Access Journals (Sweden)

    Mugdha S. Naik

    2007-01-01

    Full Text Available This article considers the control of a biorobotic autonomous underwater vehicle (BAUV in the yaw plane using biologically inspired oscillatory pectoral-like fins of marine animals. The fins are assumed to be oscillating harmonically with a combined linear (sway and angular (yaw motion producing unsteady forces, which are used for fish-like control of BAUVs. Manoeuvring of the BAUV in the yaw plane is accomplished by altering the bias (mean angle of the angular motion of the fin. For the derivation of the adaptive control system, it is assumed that the physical parameters, the hydrodynamic coefficients, and the fin force and moment are not known. A direct adaptive sampled-data control system for the trajectory control of the yaw-angle using only yaw-angle measurement is derived. The parameter adaptation law is based on the normalised gradient scheme. Simulation results for the set point control, sinusoidal trajectory tracking and turning manoeuvres are presented, which show that the control system accomplishes precise trajectory control in spite of the parameter uncertainties.

  7. Quantifying the Adaptive Cycle.

    Directory of Open Access Journals (Sweden)

    David G Angeler

    Full Text Available The adaptive cycle was proposed as a conceptual model to portray patterns of change in complex systems. Despite the model having potential for elucidating change across systems, it has been used mainly as a metaphor, describing system dynamics qualitatively. We use a quantitative approach for testing premises (reorganisation, conservatism, adaptation in the adaptive cycle, using Baltic Sea phytoplankton communities as an example of such complex system dynamics. Phytoplankton organizes in recurring spring and summer blooms, a well-established paradigm in planktology and succession theory, with characteristic temporal trajectories during blooms that may be consistent with adaptive cycle phases. We used long-term (1994-2011 data and multivariate analysis of community structure to assess key components of the adaptive cycle. Specifically, we tested predictions about: reorganisation: spring and summer blooms comprise distinct community states; conservatism: community trajectories during individual adaptive cycles are conservative; and adaptation: phytoplankton species during blooms change in the long term. All predictions were supported by our analyses. Results suggest that traditional ecological paradigms such as phytoplankton successional models have potential for moving the adaptive cycle from a metaphor to a framework that can improve our understanding how complex systems organize and reorganize following collapse. Quantifying reorganization, conservatism and adaptation provides opportunities to cope with the intricacies and uncertainties associated with fast ecological change, driven by shifting system controls. Ultimately, combining traditional ecological paradigms with heuristics of complex system dynamics using quantitative approaches may help refine ecological theory and improve our understanding of the resilience of ecosystems.

  8. Dynamic Trajectory Extraction from Stereo Vision Using Fuzzy Clustering

    Science.gov (United States)

    Onishi, Masaki; Yoda, Ikushi

    In recent years, many human tracking researches have been proposed in order to analyze human dynamic trajectory. These researches are general technology applicable to various fields, such as customer purchase analysis in a shopping environment and safety control in a (railroad) crossing. In this paper, we present a new approach for tracking human positions by stereo image. We use the framework of two-stepped clustering with k-means method and fuzzy clustering to detect human regions. In the initial clustering, k-means method makes middle clusters from objective features extracted by stereo vision at high speed. In the last clustering, c-means fuzzy method cluster middle clusters based on attributes into human regions. Our proposed method can be correctly clustered by expressing ambiguity using fuzzy clustering, even when many people are close to each other. The validity of our technique was evaluated with the experiment of trajectories extraction of doctors and nurses in an emergency room of a hospital.

  9. A Tracking Analyst for large 3D spatiotemporal data from multiple sources (case study: Tracking volcanic eruptions in the atmosphere)

    Science.gov (United States)

    Gad, Mohamed A.; Elshehaly, Mai H.; Gračanin, Denis; Elmongui, Hicham G.

    2018-02-01

    This research presents a novel Trajectory-based Tracking Analyst (TTA) that can track and link spatiotemporally variable data from multiple sources. The proposed technique uses trajectory information to determine the positions of time-enabled and spatially variable scatter data at any given time through a combination of along trajectory adjustment and spatial interpolation. The TTA is applied in this research to track large spatiotemporal data of volcanic eruptions (acquired using multi-sensors) in the unsteady flow field of the atmosphere. The TTA enables tracking injections into the atmospheric flow field, the reconstruction of the spatiotemporally variable data at any desired time, and the spatiotemporal join of attribute data from multiple sources. In addition, we were able to create a smooth animation of the volcanic ash plume at interactive rates. The initial results indicate that the TTA can be applied to a wide range of multiple-source data.

  10. Determination of extra trajectory parameters of projectile layout motion

    Science.gov (United States)

    Ishchenko, A.; Burkin, V.; Faraponov, V.; Korolkov, L.; Maslov, E.; Diachkovskiy, A.; Chupashev, A.; Zykova, A.

    2017-11-01

    The paper presents a brief description of the experimental track developed and implemented on the base of the RIAMM TSU for external trajectory investigations on determining the main aeroballistic parameters of various shapes projectiles, in the wide velocity range. There is comparison between the experimentally obtained dependence of the fin-stabilized projectile mock-up aerodynamic drag coefficient on the Mach number with the 1958 aerodynamic drag law and aerodynamic tests of the same mock-up

  11. GPS-Aided Video Tracking

    Directory of Open Access Journals (Sweden)

    Udo Feuerhake

    2015-08-01

    Full Text Available Tracking moving objects is both challenging and important for a large variety of applications. Different technologies based on the global positioning system (GPS and video or radio data are used to obtain the trajectories of the observed objects. However, in some use cases, they fail to provide sufficiently accurate, complete and correct data at the same time. In this work we present an approach for fusing GPS- and video-based tracking in order to exploit their individual advantages. In this way we aim to combine the reliability of GPS tracking with the high geometric accuracy of camera detection. For the fusion of the movement data provided by the different devices we use a hidden Markov model (HMM formulation and the Viterbi algorithm to extract the most probable trajectories. In three experiments, we show that our approach is able to deal with challenging situations like occlusions or objects which are temporarily outside the monitored area. The results show the desired increase in terms of accuracy, completeness and correctness.

  12. Data-based control trajectory planning for nonlinear systems

    International Nuclear Information System (INIS)

    Rhodes, C.; Morari, M.; Tsimring, L.S.; Rulkov, N.F.

    1997-01-01

    An open-loop trajectory planning algorithm is presented for computing an input sequence that drives an input-output system such that a reference trajectory is tracked. The algorithm utilizes only input-output data from the system to determine the proper control sequence, and does not require a mathematical or identified description of the system dynamics. From the input-output data, the controlled input trajectory is calculated in a open-quotes one-step-aheadclose quotes fashion using local modeling. Since the algorithm is calculated in this fashion, the output trajectories to be tracked can be nonperiodic. The algorithm is applied to a driven Lorenz system, and an experimental electrical circuit and the results are analyzed. Issues of stability associated with the implementation of this open-loop scheme are also examined using an analytic example of a driven Hacute enon map, problems associated with inverse controllers are illustrated, and solutions to these problems are proposed. copyright 1997 The American Physical Society

  13. Hopfield neural network in HEP track reconstruction

    International Nuclear Information System (INIS)

    Muresan, R.; Pentia, M.

    1997-01-01

    In experimental particle physics, pattern recognition problems, specifically for neural network methods, occur frequently in track finding or feature extraction. Track finding is a combinatorial optimization problem. Given a set of points in Euclidean space, one tries the reconstruction of particle trajectories, subject to smoothness constraints.The basic ingredients in a neural network are the N binary neurons and the synaptic strengths connecting them. In our case the neurons are the segments connecting all possible point pairs.The dynamics of the neural network is given by a local updating rule wich evaluates for each neuron the sign of the 'upstream activity'. An updating rule in the form of sigmoid function is given. The synaptic strengths are defined in terms of angle between the segments and the lengths of the segments implied in the track reconstruction. An algorithm based on Hopfield neural network has been developed and tested on the track coordinates measured by silicon microstrip tracking system

  14. Global track finder for Belle II experiment

    Energy Technology Data Exchange (ETDEWEB)

    Trusov, Viktor; Feindt, Michael; Heck, Martin; Kuhr, Thomas; Goldenzweig, Pablo [Karlsruhe Institute of Technology, IEKP (Germany); Collaboration: Belle II-Collaboration

    2015-07-01

    We present an implementation of a method based on the Legendre transformation for reconstruction charged particle tracks in the central drift chamber of the Belle II experiment. The method is designed for fast track finding and restoring circular patterns of track hits in transverse plane. It is done by searching for common tangents to drift circles of hits in the conformal space. With known transverse trajectories longitudinal momentum estimation performed by assigning stereo hits followed by determination of the track parameters. The method includes algorithms responsible for track quality estimation and reduction of rate of fakes. The work is targeting at increasing the efficiency and reducing the execution time because the computing power available to the experiment is limited. The algorithm is developed within the Belle II software environment with using Monte-Carlo simulation for probing its efficiency.

  15. Lunar Cube Transfer Trajectory Options

    Science.gov (United States)

    Folta, David; Dichmann, Donald James; Clark, Pamela E.; Haapala, Amanda; Howell, Kathleen

    2015-01-01

    Numerous Earth-Moon trajectory and lunar orbit options are available for Cubesat missions. Given the limited Cubesat injection infrastructure, transfer trajectories are contingent upon the modification of an initial condition of the injected or deployed orbit. Additionally, these transfers can be restricted by the selection or designs of Cubesat subsystems such as propulsion or communication. Nonetheless, many trajectory options can b e considered which have a wide range of transfer duration, fuel requirements, and final destinations. Our investigation of potential trajectories highlights several options including deployment from low Earth orbit (LEO) geostationary transfer orbits (GTO) and higher energy direct lunar transfer and the use of longer duration Earth-Moon dynamical systems. For missions with an intended lunar orbit, much of the design process is spent optimizing a ballistic capture while other science locations such as Sun-Earth libration or heliocentric orbits may simply require a reduced Delta-V imparted at a convenient location along the trajectory.

  16. Online Tracking

    Science.gov (United States)

    ... can disable blocking on those sites. Tagged with: computer security , cookies , Do Not Track , personal information , privacy June ... email Looking for business guidance on privacy and ... The Federal Trade Commission (FTC) is the nation’s consumer protection agency. The FTC works to prevent fraudulent, deceptive ...

  17. Expectations on Track? High School Tracking and Adolescent Educational Expectations

    DEFF Research Database (Denmark)

    Karlson, Kristian Bernt

    2015-01-01

    This paper examines the role of adaptation in expectation formation processes by analyzing how educational tracking in high schools affects adolescents' educational expectations. I argue that adolescents view track placement as a signal about their academic abilities and respond to it in terms...... of modifying their educational expectations. Applying a difference-in-differences approach to the National Educational Longitudinal Study of 1988, I find that being placed in an advanced or honors class in high school positively affects adolescents’ expectations, particularly if placement is consistent across...... subjects and if placement contradicts tracking experiences in middle school. My findings support the hypothesis that adolescents adapt their educational expectations to ability signals sent by schools....

  18. Automated tracking of animal posture and movement during exploration and sensory orientation behaviors.

    Directory of Open Access Journals (Sweden)

    Alex Gomez-Marin

    Full Text Available The nervous functions of an organism are primarily reflected in the behavior it is capable of. Measuring behavior quantitatively, at high-resolution and in an automated fashion provides valuable information about the underlying neural circuit computation. Accordingly, computer-vision applications for animal tracking are becoming a key complementary toolkit to genetic, molecular and electrophysiological characterization in systems neuroscience.We present Sensory Orientation Software (SOS to measure behavior and infer sensory experience correlates. SOS is a simple and versatile system to track body posture and motion of single animals in two-dimensional environments. In the presence of a sensory landscape, tracking the trajectory of the animal's sensors and its postural evolution provides a quantitative framework to study sensorimotor integration. To illustrate the utility of SOS, we examine the orientation behavior of fruit fly larvae in response to odor, temperature and light gradients. We show that SOS is suitable to carry out high-resolution behavioral tracking for a wide range of organisms including flatworms, fishes and mice.Our work contributes to the growing repertoire of behavioral analysis tools for collecting rich and fine-grained data to draw and test hypothesis about the functioning of the nervous system. By providing open-access to our code and documenting the software design, we aim to encourage the adaptation of SOS by a wide community of non-specialists to their particular model organism and questions of interest.

  19. TrackML : The High Energy Physics Tracking Challenge

    CERN Multimedia

    CERN. Geneva

    2018-01-01

    We organize on the Kaggle platform a  data science competition to stimulate both the ML and HEP communities to renew core tracking algorithms in preparation of the next generation of particle detectors at the LHC.    In a nutshell : one event has 100.000 3D points  ; how to associate the points onto 10.000 unknown approximately helicoidal trajectories ? avoiding combinatorial explosion ? you have a few seconds. But we do give you 100.000 events to train on. We ran ttbar+200 minimum bias event into ACTS a simplified (yet accurate) simulation of a generic LHC silicon detectors, and wrote out ...

  20. On-Line Fringe Tracking and Prediction at IOTA

    Science.gov (United States)

    Wilson, Edward; Mah, Robert; Lau, Sonie (Technical Monitor)

    1999-01-01

    The Infrared/Optical Telescope Array (IOTA) is a multi-aperture Michelson interferometer located on Mt. Hopkins near Tucson, Arizona. To enable viewing of fainter targets, an on-line fringe tracking system is presently under development at NASA Ames Research Center. The system has been developed off-line using actual data from IOTA, and is presently undergoing on-line implementation at IOTA. The system has two parts: (1) a fringe tracking system that identifies the center of a fringe packet by fitting a parametric model to the data; and (2) a fringe packet motion prediction system that uses characteristics of past fringe packets to predict fringe packet motion. Combined, this information will be used to optimize on-line the scanning trajectory, resulting in improved visibility of faint targets. Fringe packet identification is highly accurate and robust (99% of the 4000 fringe packets were identified correctly, the remaining 1% were either out of the scan range or too noisy to be seen) and is performed in 30-90 milliseconds on a Pentium II-based computer. Fringe packet prediction, currently performed using an adaptive linear predictor, delivers a 10% improvement over the baseline of predicting no motion.

  1. Trajectory Planning with Pose Feedback for a Dual-Arm Space Robot

    Directory of Open Access Journals (Sweden)

    Yicheng Liu

    2016-01-01

    Full Text Available In order to obtain high precision path tracking for a dual-arm space robot, a trajectory planning method with pose feedback is proposed to be introduced into the design process in this paper. Firstly, pose error kinematic models are derived from the related kinematics and desired pose command for the end-effector and the base, respectively. On this basis, trajectory planning with pose feedback is proposed from a control perspective. Theoretical analyses show that the proposed trajectory planning algorithm can guarantee that pose error converges to zero exponentially for both the end-effector and the base when the robot is out of singular configuration. Compared with the existing algorithms, the proposed algorithm can lead to higher precision path tracking for the end-effector. Furthermore, the algorithm renders the system good anti-interference property for the base. Simulation results demonstrate the effectiveness of the proposed trajectory planning algorithm.

  2. Eye tracking a self-moved target with complex hand-target dynamics

    Science.gov (United States)

    Landelle, Caroline; Montagnini, Anna; Madelain, Laurent

    2016-01-01

    Previous work has shown that the ability to track with the eye a moving target is substantially improved when the target is self-moved by the subject's hand compared with when being externally moved. Here, we explored a situation in which the mapping between hand movement and target motion was perturbed by simulating an elastic relationship between the hand and target. Our objective was to determine whether the predictive mechanisms driving eye-hand coordination could be updated to accommodate this complex hand-target dynamics. To fully appreciate the behavioral effects of this perturbation, we compared eye tracking performance when self-moving a target with a rigid mapping (simple) and a spring mapping as well as when the subject tracked target trajectories that he/she had previously generated when using the rigid or spring mapping. Concerning the rigid mapping, our results confirmed that smooth pursuit was more accurate when the target was self-moved than externally moved. In contrast, with the spring mapping, eye tracking had initially similar low spatial accuracy (though shorter temporal lag) in the self versus externally moved conditions. However, within ∼5 min of practice, smooth pursuit improved in the self-moved spring condition, up to a level similar to the self-moved rigid condition. Subsequently, when the mapping unexpectedly switched from spring to rigid, the eye initially followed the expected target trajectory and not the real one, thereby suggesting that subjects used an internal representation of the new hand-target dynamics. Overall, these results emphasize the stunning adaptability of smooth pursuit when self-maneuvering objects with complex dynamics. PMID:27466129

  3. Tracking career performance of successful triathletes.

    Science.gov (United States)

    Malcata, Rita M; Hopkins, Will G; Pearson, Simon N

    2014-06-01

    Tracking athletes' performances over time is important but problematic for sports with large environmental effects. Here we have developed career performance trajectories for elite triathletes, investigating changes in swim, cycle, run stages, and total performance times while accounting for environmental and other external factors. Performance times of 337 female and 427 male triathletes competing in 419 international races between 2000 and 2012 were obtained from triathlon.org. Athletes were categorized according to any top 16 placing at World Championships or Olympics between 2008 and 2012. A mixed linear model accounting for race distance (sprint and Olympic), level of competition, calendar-year trend, athlete's category, and clustering of times within athletes and races was used to derive athletes' individual quadratic performance trajectories. These trajectories provided estimates of age of peak performance and predictions for the 2012 London Olympic Games. By markedly reducing the scatter of individual race times, the model produced well-fitting trajectories suitable for comparison of triathletes. Trajectories for top 16 triathletes showed different patterns for race stages and differed more among women than among men, but ages of peak total performance were similar for men and women (28 ± 3 yr, mean ± SD). Correlations between observed and predicted placings at Olympics were slightly higher than those provided by placings in races before the Olympics. Athletes' trajectories will help identify talented athletes and their weakest and strongest stages. The wider range of trajectories among women should be taken into account when setting talent identification criteria. Trajectories offer a small advantage over usual race placings for predicting men's performance. Further refinements, such as accounting for individual responses to race conditions, may improve utility of performance trajectories.

  4. HL-LHC tracking challenge

    CERN Multimedia

    CERN. Geneva

    2018-01-01

    We organize on the Kaggle platform a data science competition to stimulate both the ML and HEP communities to renew core tracking algorithms in preparation of the next generation of particle detectors at the LHC. In a nutshell : one event has 100.000 3D points ; how to associate the points onto 10.000 unknown approximately helicoidal trajectories ? avoiding combinatorial explosion ? you have a few seconds. But we do give you 100.000 events to train on. We ran ttbar+200 minimum bias event into ACTS a simplified (yet accurate) simulation of a generic LHC silicon detectors, and wrote out the reconstructed hits, with matching truth. ...

  5. Sensor-Based Trajectory Generation for Advanced Driver Assistance System

    Directory of Open Access Journals (Sweden)

    Christopher James Shackleton

    2013-03-01

    Full Text Available This paper investigates the trajectory generation problem for an advanced driver assistance system that could sense the driving state of the vehicle, so that a collision free trajectory can be generated safely. Specifically, the problem of trajectory generation is solved for the safety assessment of the driving state and to manipulate the vehicle in order to avoid any possible collisions. The vehicle senses the environment so as to obtain information about other vehicles and static obstacles ahead. Vehicles may share the perception of the environment via an inter-vehicle communication system. The planning algorithm is based on a visibility graph. A lateral repulsive potential is applied to adaptively maintain a trade-off between the trajectory length and vehicle clearance, which is the greatest problem associated with visibility graphs. As opposed to adaptive roadmap approaches, the algorithm exploits the structured nature of the environment for construction of the roadmap. Furthermore, the mostly organized nature of traffic systems is exploited to obtain orientation invariance, which is another limitation of both visibility graphs and adaptive roadmaps. Simulation results show that the algorithm can successfully solve the problem for a variety of commonly found scenarios.

  6. Distributed Time-Varying Formation Robust Tracking for General Linear Multiagent Systems With Parameter Uncertainties and External Disturbances.

    Science.gov (United States)

    Hua, Yongzhao; Dong, Xiwang; Li, Qingdong; Ren, Zhang

    2017-05-18

    This paper investigates the time-varying formation robust tracking problems for high-order linear multiagent systems with a leader of unknown control input in the presence of heterogeneous parameter uncertainties and external disturbances. The followers need to accomplish an expected time-varying formation in the state space and track the state trajectory produced by the leader simultaneously. First, a time-varying formation robust tracking protocol with a totally distributed form is proposed utilizing the neighborhood state information. With the adaptive updating mechanism, neither any global knowledge about the communication topology nor the upper bounds of the parameter uncertainties, external disturbances and leader's unknown input are required in the proposed protocol. Then, in order to determine the control parameters, an algorithm with four steps is presented, where feasible conditions for the followers to accomplish the expected time-varying formation tracking are provided. Furthermore, based on the Lyapunov-like analysis theory, it is proved that the formation tracking error can converge to zero asymptotically. Finally, the effectiveness of the theoretical results is verified by simulation examples.

  7. Generic trajectory representation and trajectory following for wheeled robots

    DEFF Research Database (Denmark)

    Kjærgaard, Morten; Andersen, Nils Axel; Ravn, Ole

    2014-01-01

    will drive. Safe: Avoid fatal collisions. Based on a survey of existing methods and algorithms the article presents a generic way to represent constraints for different types of robots, a generic way to represent trajectories using Bëzier curves, a method to convert the trajectory so it can be driven...... in a smooth motion, a method to create a safe velocity profile for the robot, and a path following controller....

  8. Trajectory optimization for lunar rover performing vertical takeoff vertical landing maneuvers in the presence of terrain

    Science.gov (United States)

    Ma, Lin; Wang, Kexin; Xu, Zuhua; Shao, Zhijiang; Song, Zhengyu; Biegler, Lorenz T.

    2018-05-01

    This study presents a trajectory optimization framework for lunar rover performing vertical takeoff vertical landing (VTVL) maneuvers in the presence of terrain using variable-thrust propulsion. First, a VTVL trajectory optimization problem with three-dimensional kinematics and dynamics model, boundary conditions, and path constraints is formulated. Then, a finite-element approach transcribes the formulated trajectory optimization problem into a nonlinear programming (NLP) problem solved by a highly efficient NLP solver. A homotopy-based backtracking strategy is applied to enhance the convergence in solving the formulated VTVL trajectory optimization problem. The optimal thrust solution typically has a "bang-bang" profile considering that bounds are imposed on the magnitude of engine thrust. An adaptive mesh refinement strategy based on a constant Hamiltonian profile is designed to address the difficulty in locating the breakpoints in the thrust profile. Four scenarios are simulated. Simulation results indicate that the proposed trajectory optimization framework has sufficient adaptability to handle VTVL missions efficiently.

  9. Low Thrust Trajectory Design for GSFC Missions

    Data.gov (United States)

    National Aeronautics and Space Administration — The Evolutionary Mission Trajectory Generator (EMTG) is a global trajectory optimization tool. EMTG is intended for use in designing interplanetary missions which...

  10. CMS reconstruction improvements for the tracking in large pileup events

    CERN Document Server

    Rovere, M

    2015-01-01

    The CMS tracking code is organized in several levels, known as iterative steps, each optimized to reconstruct a class of particle trajectories, as the ones of particles originating from the primary vertex or displaced tracks from particles resulting from secondary vertices. Each iterative step consists of seeding, pattern recognition and fitting by a kalman filter, and a final filtering and cleaning. Each subsequent step works on hits not yet associated to a reconstructed particle trajectory.The CMS tracking code is continuously evolving to make the reconstruction computing load compatible with the increasing instantaneous luminosity of LHC, resulting in a large number of primary vertices and tracks per bunch crossing.The major upgrade put in place during the present LHC Long Shutdown will allow the tracking code to comply with the conditions expected during RunII and the much larger pileup. In particular, new algorithms that are intrinsically more robust in high occupancy conditions were developed, iteration...

  11. Positron emission zone plate holography for particle tracking

    Energy Technology Data Exchange (ETDEWEB)

    Gundogdu, O. [University of Birmingham, School of Physics and Astronomy, Birmingham B15 2TT (United Kingdom)]. E-mail: o.gundogdu@surrey.ac.uk

    2006-01-15

    Positron Emission Particle Tracking (PEPT) is a powerful non-invasive technique that has been used extensively for tracking a single particle. In this paper, we present a study of zone plate holography method in order to track multiple particles, mainly two particles. The main aim is to use as small number of events as possible in the order to make it possible to track particles in fast moving industrial systems. A zone plate with 100% focal efficiency is simulated and applied to the Positron Emission Tomography (PET) data for multiple particle tracking. A simple trajectory code was employed to explore the effects of the nature of the experimental trajectories. A computer holographic reconstruction code that simulates optical reconstruction was developed. The different aspects of the particle location, particle activity ratios for enabling tagging of particles and zone plate and hologram locations are investigated. The effect of the shot noise is investigated and the limitations of the zone plate holography are reported.

  12. Positron emission zone plate holography for particle tracking

    International Nuclear Information System (INIS)

    Gundogdu, O.

    2006-01-01

    Positron Emission Particle Tracking (PEPT) is a powerful non-invasive technique that has been used extensively for tracking a single particle. In this paper, we present a study of zone plate holography method in order to track multiple particles, mainly two particles. The main aim is to use as small number of events as possible in the order to make it possible to track particles in fast moving industrial systems. A zone plate with 100% focal efficiency is simulated and applied to the Positron Emission Tomography (PET) data for multiple particle tracking. A simple trajectory code was employed to explore the effects of the nature of the experimental trajectories. A computer holographic reconstruction code that simulates optical reconstruction was developed. The different aspects of the particle location, particle activity ratios for enabling tagging of particles and zone plate and hologram locations are investigated. The effect of the shot noise is investigated and the limitations of the zone plate holography are reported

  13. Knowledge-Based Trajectory Error Pattern Method Applied to an Active Force Control Scheme

    Directory of Open Access Journals (Sweden)

    Endra Pitowarno, Musa Mailah, Hishamuddin Jamaluddin

    2012-08-01

    Full Text Available The active force control (AFC method is known as a robust control scheme that dramatically enhances the performance of a robot arm particularly in compensating the disturbance effects. The main task of the AFC method is to estimate the inertia matrix in the feedback loop to provide the correct (motor torque required to cancel out these disturbances. Several intelligent control schemes have already been introduced to enhance the estimation methods of acquiring the inertia matrix such as those using neural network, iterative learning and fuzzy logic. In this paper, we propose an alternative scheme called Knowledge-Based Trajectory Error Pattern Method (KBTEPM to suppress the trajectory track error of the AFC scheme. The knowledge is developed from the trajectory track error characteristic based on the previous experimental results of the crude approximation method. It produces a unique, new and desirable error pattern when a trajectory command is forced. An experimental study was performed using simulation work on the AFC scheme with KBTEPM applied to a two-planar manipulator in which a set of rule-based algorithm is derived. A number of previous AFC schemes are also reviewed as benchmark. The simulation results show that the AFC-KBTEPM scheme successfully reduces the trajectory track error significantly even in the presence of the introduced disturbances.Key Words:  Active force control, estimated inertia matrix, robot arm, trajectory error pattern, knowledge-based.

  14. Trajectory data analyses for pedestrian space-time activity study.

    Science.gov (United States)

    Qi, Feng; Du, Fei

    2013-02-25

    automatic module. Trajectory segmentation(5) involves the identification of indoor and outdoor parts from pre-processed space-time tracks. Again, both interactive visual segmentation and automatic segmentation are supported. Segmented space-time tracks are then analyzed to derive characteristics of one's activity space such as activity radius etc. Density estimation and visualization are used to examine large amount of trajectory data to model hot spots and interactions. We demonstrate both density surface mapping(6) and density volume rendering(7). We also include a couple of other exploratory data analyses (EDA) and visualizations tools, such as Google Earth animation support and connection analysis. The suite of analytical as well as visual methods presented in this paper may be applied to any trajectory data for space-time activity studies.

  15. Galileo's Trajectory with Mild Resistance

    Science.gov (United States)

    Groetsch, C. W.

    2012-01-01

    An aspect of Galileo's classical trajectory that persists in a simple resistance model is noted. The resistive model provides a case study for the classroom analysis of limiting behaviour of an implicitly defined function. (Contains 1 note.)

  16. Flight test trajectory control analysis

    Science.gov (United States)

    Walker, R.; Gupta, N.

    1983-01-01

    Recent extensions to optimal control theory applied to meaningful linear models with sufficiently flexible software tools provide powerful techniques for designing flight test trajectory controllers (FTTCs). This report describes the principal steps for systematic development of flight trajectory controllers, which can be summarized as planning, modeling, designing, and validating a trajectory controller. The techniques have been kept as general as possible and should apply to a wide range of problems where quantities must be computed and displayed to a pilot to improve pilot effectiveness and to reduce workload and fatigue. To illustrate the approach, a detailed trajectory guidance law is developed and demonstrated for the F-15 aircraft flying the zoom-and-pushover maneuver.

  17. Parameter trajectory analysis to identify treatment effects of pharmacological interventions.

    Directory of Open Access Journals (Sweden)

    Christian A Tiemann

    Full Text Available The field of medical systems biology aims to advance understanding of molecular mechanisms that drive disease progression and to translate this knowledge into therapies to effectively treat diseases. A challenging task is the investigation of long-term effects of a (pharmacological treatment, to establish its applicability and to identify potential side effects. We present a new modeling approach, called Analysis of Dynamic Adaptations in Parameter Trajectories (ADAPT, to analyze the long-term effects of a pharmacological intervention. A concept of time-dependent evolution of model parameters is introduced to study the dynamics of molecular adaptations. The progression of these adaptations is predicted by identifying necessary dynamic changes in the model parameters to describe the transition between experimental data obtained during different stages of the treatment. The trajectories provide insight in the affected underlying biological systems and identify the molecular events that should be studied in more detail to unravel the mechanistic basis of treatment outcome. Modulating effects caused by interactions with the proteome and transcriptome levels, which are often less well understood, can be captured by the time-dependent descriptions of the parameters. ADAPT was employed to identify metabolic adaptations induced upon pharmacological activation of the liver X receptor (LXR, a potential drug target to treat or prevent atherosclerosis. The trajectories were investigated to study the cascade of adaptations. This provided a counter-intuitive insight concerning the function of scavenger receptor class B1 (SR-B1, a receptor that facilitates the hepatic uptake of cholesterol. Although activation of LXR promotes cholesterol efflux and -excretion, our computational analysis showed that the hepatic capacity to clear cholesterol was reduced upon prolonged treatment. This prediction was confirmed experimentally by immunoblotting measurements of SR-B1

  18. Long Range Aircraft Trajectory Prediction

    OpenAIRE

    Magister, Tone

    2009-01-01

    The subject of the paper is the improvement of the aircraft future trajectory prediction accuracy for long-range airborne separation assurance. The strategic planning of safe aircraft flights and effective conflict avoidance tactics demand timely and accurate conflict detection based upon future four–dimensional airborne traffic situation prediction which is as accurate as each aircraft flight trajectory prediction. The improved kinematics model of aircraft relative flight considering flight ...

  19. PHENIX central arm tracking detectors

    International Nuclear Information System (INIS)

    Adcox, K.; Ajitanand, N.N.; Alexander, J.; Autrey, D.; Averbeck, R.; Azmoun, B.; Barish, K.N.; Baublis, V.V.; Belkin, R.; Bhaganatula, S.; Biggs, J.C.; Borland, D.; Botelho, S.; Bryan, W.L.; Burward-Hoy, J.; Butsyk, S.A.; Chang, W.C.; Christ, T.; Dietzsch, O.; Drees, A.; Rietz, R. du; El Chenawi, K.; Evseev, V.A.; Fellenstein, J.; Ferdousi, T.; Fraenkel, Z.; Franz, A.; Fung, S.Y.; Gannon, J.; Garpman, S.; Godoi, A.L.; Greene, S.V.; Gustafsson, H.-A.; Harder, J.; Hemmick, T.K.; Heuser, J.M.; Holzmann, W.; Hutter, R.; Issah, M.; Ivanov, V.I.; Jacak, B.V.; Jagadish, U.; Jia, J.; Johnson, S.C.; Kandasamy, A.; Kann, M.R.; Kelley, M.A.; Khanzadeev, A.V.; Khomutnikov, A.; Komkov, B.G.; Kopytine, M.L.; Kotchenda, L.; Kotchetkov, D.; Kozlov, V.S.; Kravtsov, P.A.; Kudin, L.G.; Kuriatkov, V.V.; Lacey, R.; Lauret, J.; Lebedev, A.; Lebedev, V.D.; Li, X.H.; Libby, B.; Liccardi, W.; Machnowski, R.; Mahon, J.; Markushin, D.G.; Matathias, F.; Marx, M.D.; Messer, F.; Miftakhov, N.M.; Milan, J.; Miller, T.E.; Milov, A.; Minuzzo, K.; Mioduszewski, S.; Mitchell, J.T.; Muniruzzamann, M.; Nandi, B.K.; Negrin, J.; Nilsson, P.; Nystrand, J.; O'Brien, E.; O'Connor, P.; Oskarsson, A.; Oesterman, L.; Otterlund, I.; Pancake, C.E.; Pantuev, V.S.; Petersen, R.; Pinkenburg, C.H.; Pisani, R.P.; Purwar, A.K.; Rankowitz, S.; Ravinovich, I.; Riabov, V.G.; Riabov, Yu.G.; Rosati, M.; Rose, A.A.; Roschin, E.V.; Samsonov, V.M.; Sangster, T.C.; Seto, R.; Silvermyr, D.; Sivertz, M.; Smith, M.; Solodov, G.P.; Stenlund, E.; Takagui, E.M.; Tarakanov, V.I.; Tarasenkova, O.P.; Thomas, J.L.; Trofimov, V.A.; Tserruya, I.; Tydesjoe, H.; Velkovska, J.; Velkovsky, M.; Vishnevskii, V.I.; Vorobyov, A.A.; Vznuzdaev, E.A.; Vznuzdaev, M.; Wang, H.Q.; Weimer, T.; Wolniewicz, K.; Wu, J.; Xie, W.; Young, G.R.

    2003-01-01

    The PHENIX tracking system consists of Drift Chambers (DC), Pad Chambers (PC) and the Time Expansion Chamber (TEC). PC1/DC and PC2/TEC/PC3 form the inner and outer tracking units, respectively. These units link the track segments that transverse the RICH and extend to the EMCal. The DC measures charged particle trajectories in the r-phi direction to determine p T of the particles and the invariant mass of particle pairs. The PCs perform 3D spatial point measurements for pattern recognition and longitudinal momentum reconstruction and provide spatial resolution of a few mm in both r-phi and z. The TEC tracks particles passing through the region between the RICH and the EMCal. The design and operational parameters of the detectors are presented and running experience during the first year of data taking with PHENIX is discussed. The observed spatial and momentum resolution is given which imposes a limitation on the identification and characterization of charged particles in various momentum ranges

  20. TPC track distortions III: fiat lux

    CERN Document Server

    Boyko, I; Dydak, F; Elagin, A; Gostkin, M; Guskov, A; Koreshev, V; Nefedov, Y; Nikolaev, K; Veenhof, R; Wotschack, J; Zhemchugov, A

    2005-01-01

    We present a comprehensive overview and final summary of all four types of static track distortions seen in the HARP TPC, in terms of physical origins, mathematical modelling, and correction algorithms. 'Static'™ distortions are defined as not depending on the event time within the 400 ms long accelerator spill. Calculated static distortions are compared with measurements from cosmic-muon tracks. We characterize track distortions by the r phi residuals of cluster positions with respect to the transverse projection of a helical trajectory constrained by hits in the RPC overlap regions. This method provides a fixed TPC-external reference system (by contrast to the co-moving coordinate system associated with a fit) which solely permits to identify individually, and measure quantitatively, the static TPC track distortions arising from (i) the inhomogeneity of the solenoidal magnetic field, (ii) the inhomogeneity of the electric field from the high-voltage mismatch between the inner and outer TPC field cages, (...

  1. Advanced alignment of the ATLAS tracking system

    CERN Document Server

    AUTHOR|(CDS)2085334; The ATLAS collaboration

    2016-01-01

    In order to reconstruct the trajectories of charged particles, the ATLAS experiment exploits a tracking system built using different technologies, silicon planar modules or microstrips (PIX and SCT detectors) and gaseous drift tubes (TRT), all embedded in a 2T solenoidal magnetic field. Misalignments of the active detector elements and deformations of the structures (which can lead to \\textit{Weak Modes}) deteriorate resolution of the track reconstruction and lead to systematic biases on the measured track parameters. The applied alignment procedures exploit various advanced techniques in order to minimise track-hit residuals and remove detector deformations. For the LHC Run II, the Pixel Detector has been refurbished and upgraded with the installation of a new pixel layer, the Insertable B-layer (IBL).

  2. Advanced Alignment of the ATLAS Tracking System

    CERN Document Server

    Pedraza Lopez, S; The ATLAS collaboration

    2012-01-01

    In order to reconstruct trajectories of charged particles, ATLAS is equipped with a tracking system built using different technologies embedded in a 2T solenoidal magnetic field. ATLAS physics goals require high resolution, unbiased measurement of all charged particle kinematic parameters in order to assure accurate invariant mass reconstruction and interaction and decay vertex finding. These critically depend on the systematic effects related to the alignment of the tracking system. In order to eliminate malicious systematic deformations, various advanced tools and techniques have been put in place. These include information from known mass resonances, energy of electrons and positrons measured by the electromagnetic calorimeters, etc. Despite being stable under normal running conditions, ATLAS tracking system responses to sudden environ-mental changes (temperature, magnetic field) by small collective deformations. These have to be identified and corrected in order to assure uniform, highest quality tracking...

  3. The ESA's Space Trajectory Analysis software suite

    Science.gov (United States)

    Ortega, Guillermo

    The European Space Agency (ESA) initiated in 2005 an internal activity to develop an open source software suite involving university science departments and research institutions all over the world. This project is called the "Space Trajectory Analysis" or STA. This article describes the birth of STA and its present configuration. One of the STA aims is to promote the exchange of technical ideas, and raise knowledge and competence in the areas of applied mathematics, space engineering, and informatics at University level. Conceived as a research and education tool to support the analysis phase of a space mission, STA is able to visualize a wide range of space trajectories. These include among others ascent, re-entry, descent and landing trajectories, orbits around planets and moons, interplanetary trajectories, rendezvous trajectories, etc. The article explains that STA project is an original idea of the Technical Directorate of ESA. It was born in August 2005 to provide a framework in astrodynamics research at University level. As research and education software applicable to Academia, a number of Universities support this development by joining ESA in leading the development. ESA and Universities partnership are expressed in the STA Steering Board. Together with ESA, each University has a chair in the board whose tasks are develop, control, promote, maintain, and expand the software suite. The article describes that STA provides calculations in the fields of spacecraft tracking, attitude analysis, coverage and visibility analysis, orbit determination, position and velocity of solar system bodies, etc. STA implements the concept of "space scenario" composed of Solar system bodies, spacecraft, ground stations, pads, etc. It is able to propagate the orbit of a spacecraft where orbital propagators are included. STA is able to compute communication links between objects of a scenario (coverage, line of sight), and to represent the trajectory computations and

  4. Adaptive twisting sliding mode algorithm for hypersonic reentry vehicle attitude control based on finite-time observer.

    Science.gov (United States)

    Guo, Zongyi; Chang, Jing; Guo, Jianguo; Zhou, Jun

    2018-06-01

    This paper focuses on the adaptive twisting sliding mode control for the Hypersonic Reentry Vehicles (HRVs) attitude tracking issue. The HRV attitude tracking model is transformed into the error dynamics in matched structure, whereas an unmeasurable state is redefined by lumping the existing unmatched disturbance with the angular rate. Hence, an adaptive finite-time observer is used to estimate the unknown state. Then, an adaptive twisting algorithm is proposed for systems subject to disturbances with unknown bounds. The stability of the proposed observer-based adaptive twisting approach is guaranteed, and the case of noisy measurement is analyzed. Also, the developed control law avoids the aggressive chattering phenomenon of the existing adaptive twisting approaches because the adaptive gains decrease close to the disturbance once the trajectories reach the sliding surface. Finally, numerical simulations on the attitude control of the HRV are conducted to verify the effectiveness and benefit of the proposed approach. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  5. Target Response Adaptation for Correlation Filter Tracking

    KAUST Repository

    Bibi, Adel Aamer; Mueller, Matthias; Ghanem, Bernard

    2016-01-01

    Most correlation filter (CF) based trackers utilize the circulant structure of the training data to learn a linear filter that best regresses this data to a hand-crafted target response. These circularly shifted patches are only approximations

  6. Latent tracks in polymeric etched track detectors

    International Nuclear Information System (INIS)

    Yamauchi, Tomoya

    2013-01-01

    Track registration properties in polymeric track detectors, including Poly(allyl diglycol carbonate), Bispenol A polycarbonate, Poly(ethylen terephtarate), and Polyimide, have been investigated by means of Fourie transform Infararede FT-IR spectrometry. Chemical criterion on the track formation threshold has been proposes, in stead of the conventional physical track registration models. (author)

  7. Tracking telecommuting

    Energy Technology Data Exchange (ETDEWEB)

    Stastny, P.

    2007-03-15

    Many employees are now choosing to work from home using laptops and telephones. Employers in the oil and gas industry are now reaping a number of benefits from their telecommuting employees, including increased productivity; higher levels of employee satisfaction, and less absenteeism. Providing a telecommunication option can prove to be advantageous for employers wishing to hire or retain employees. Telecommuting may also help to reduce greenhouse gas (GHG) emissions. This article provided details of Teletrips Inc., a company that aids in the production of corporate social responsibility reports. Teletrips provides reports that document employee savings in time, vehicle depreciation maintenance, and gasoline costs. Teletrips currently tracks 12 companies in Calgary, and plans to grow through the development of key technology partnerships. The company is also working with the federal government to provide their clients with emission trading credits, and has forged a memorandum of understanding with the British Columbia government for tracking emissions. Calgary now openly supports telecommuting and is encouraging businesses in the city to adopt telecommuting on a larger scale. It was concluded that the expanding needs for road infrastructure and the energy used by cars to move workers in and out of the city are a massive burden to the city's tax base. 1 fig.

  8. INNER TRACKING

    CERN Document Server

    P. Sharp

    The CMS Inner Tracking Detector continues to make good progress. The Objective for 2006 was to complete all of the CMS Tracker sub-detectors and to start the integration of the sub-detectors into the Tracker Support Tube (TST). The Objective for 2007 is to deliver to CMS a completed, installed, commissioned and calibrated Tracking System (Silicon Strip and Pixels) aligned to < 100µ in April 2008 ready for the first physics collisions at LHC. In November 2006 all of the sub-detectors had been delivered to the Tracker Integration facility (TIF) at CERN and the tests and QA procedures to be carried out on each sub-detector before integration had been established. In December 2006, TIB/TID+ was integrated into TOB+, TIB/TID- was being prepared for integration, and TEC+ was undergoing tests at the final tracker operating temperature (-100 C) in the Lyon cold room. In February 2007, TIB/TID- has been integrated into TOB-, and the installation of the pixel support tube and the services for TI...

  9. Trajectory averaging for stochastic approximation MCMC algorithms

    KAUST Repository

    Liang, Faming

    2010-10-01

    The subject of stochastic approximation was founded by Robbins and Monro [Ann. Math. Statist. 22 (1951) 400-407]. After five decades of continual development, it has developed into an important area in systems control and optimization, and it has also served as a prototype for the development of adaptive algorithms for on-line estimation and control of stochastic systems. Recently, it has been used in statistics with Markov chain Monte Carlo for solving maximum likelihood estimation problems and for general simulation and optimizations. In this paper, we first show that the trajectory averaging estimator is asymptotically efficient for the stochastic approximation MCMC (SAMCMC) algorithm under mild conditions, and then apply this result to the stochastic approximation Monte Carlo algorithm [Liang, Liu and Carroll J. Amer. Statist. Assoc. 102 (2007) 305-320]. The application of the trajectory averaging estimator to other stochastic approximationMCMC algorithms, for example, a stochastic approximation MLE algorithm for missing data problems, is also considered in the paper. © Institute of Mathematical Statistics, 2010.

  10. Real-time Non-linear Target Tracking Control of Wheeled Mobile Robots

    Institute of Scientific and Technical Information of China (English)

    YU Wenyong

    2006-01-01

    A control strategy for real-time target tracking for wheeled mobile robots is presented. Using a modified Kalman filter for environment perception, a novel tracking control law derived from Lyapunov stability theory is introduced. Tuning of linear velocity and angular velocity with mechanical constraints is applied. The proposed control system can simultaneously solve the target trajectory prediction, real-time tracking, and posture regulation problems of a wheeled mobile robot. Experimental results illustrate the effectiveness of the proposed tracking control laws.

  11. Alignment of the ATLAS Inner Detector Tracking System

    CERN Document Server

    Lacuesta, V; The ATLAS collaboration

    2010-01-01

    ATLAS is a multipurpose experiment that records the LHC collisions. To reconstruct trajectories of charged particles produced in these collisions, ATLAS tracking system is equipped with silicon planar sensors and drift‐tube based detectors. They constitute the ATLAS Inner Detector. In order to achieve its scientific goals, the alignment of the ATLAS tracking system requires the determine accurately its almost 36000 degrees of freedom. Thus the demanded precision for the alignment of the silicon sensors is below 10 micrometers. This implies to use a large sample of high momentum and isolated charge particle tracks. The high level trigger selects those tracks online. Then the raw data with the hits information of the triggered tracks is stored in a calibration stream. Tracks from cosmic trigger during empty LHC bunches are also used as input for the alignment. The implementation of the track based alignment within the ATLAS software framework unifies different alignment approaches and allows the alignment of ...

  12. Distributed formation tracking using local coordinate systems

    DEFF Research Database (Denmark)

    Yang, Qingkai; Cao, Ming; Garcia de Marina, Hector

    2018-01-01

    This paper studies the formation tracking problem for multi-agent systems, for which a distributed estimator–controller scheme is designed relying only on the agents’ local coordinate systems such that the centroid of the controlled formation tracks a given trajectory. By introducing a gradient...... descent term into the estimator, the explicit knowledge of the bound of the agents’ speed is not necessary in contrast to existing works, and each agent is able to compute the centroid of the whole formation in finite time. Then, based on the centroid estimation, a distributed control algorithm...

  13. A multi-frame particle tracking algorithm robust against input noise

    International Nuclear Information System (INIS)

    Li, Dongning; Zhang, Yuanhui; Sun, Yigang; Yan, Wei

    2008-01-01

    The performance of a particle tracking algorithm which detects particle trajectories from discretely recorded particle positions could be substantially hindered by the input noise. In this paper, a particle tracking algorithm is developed which is robust against input noise. This algorithm employs the regression method instead of the extrapolation method usually employed by existing algorithms to predict future particle positions. If a trajectory cannot be linked to a particle at a frame, the algorithm can still proceed by trying to find a candidate at the next frame. The connectivity of tracked trajectories is inspected to remove the false ones. The algorithm is validated with synthetic data. The result shows that the algorithm is superior to traditional algorithms in the aspect of tracking long trajectories

  14. Automatic trajectory measurement of large numbers of crowded objects

    Science.gov (United States)

    Li, Hui; Liu, Ye; Chen, Yan Qiu

    2013-06-01

    Complex motion patterns of natural systems, such as fish schools, bird flocks, and cell groups, have attracted great attention from scientists for years. Trajectory measurement of individuals is vital for quantitative and high-throughput study of their collective behaviors. However, such data are rare mainly due to the challenges of detection and tracking of large numbers of objects with similar visual features and frequent occlusions. We present an automatic and effective framework to measure trajectories of large numbers of crowded oval-shaped objects, such as fish and cells. We first use a novel dual ellipse locator to detect the coarse position of each individual and then propose a variance minimization active contour method to obtain the optimal segmentation results. For tracking, cost matrix of assignment between consecutive frames is trainable via a random forest classifier with many spatial, texture, and shape features. The optimal trajectories are found for the whole image sequence by solving two linear assignment problems. We evaluate the proposed method on many challenging data sets.

  15. Trajectory Specification for Automation of Terminal Air Traffic Control

    Science.gov (United States)

    Paielli, Russell A.

    2016-01-01

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

  16. Tracking of ball and players in beach volleyball videos.

    Directory of Open Access Journals (Sweden)

    Gabriel Gomez

    Full Text Available This paper presents methods for the determination of players' positions and contact time points by tracking the players and the ball in beach volleyball videos. Two player tracking methods are compared, a classical particle filter and a rigid grid integral histogram tracker. Due to mutual occlusion of the players and the camera perspective, results are best for the front players, with 74,6% and 82,6% of correctly tracked frames for the particle method and the integral histogram method, respectively. Results suggest an improved robustness against player confusion between different particle sets when tracking with a rigid grid approach. Faster processing and less player confusions make this method superior to the classical particle filter. Two different ball tracking methods are used that detect ball candidates from movement difference images using a background subtraction algorithm. Ball trajectories are estimated and interpolated from parabolic flight equations. The tracking accuracy of the ball is 54,2% for the trajectory growth method and 42,1% for the Hough line detection method. Tracking results of over 90% from the literature could not be confirmed. Ball contact frames were estimated from parabolic trajectory intersection, resulting in 48,9% of correctly estimated ball contact points.

  17. Tracking of Ball and Players in Beach Volleyball Videos

    Science.gov (United States)

    Gomez, Gabriel; Herrera López, Patricia; Link, Daniel; Eskofier, Bjoern

    2014-01-01

    This paper presents methods for the determination of players' positions and contact time points by tracking the players and the ball in beach volleyball videos. Two player tracking methods are compared, a classical particle filter and a rigid grid integral histogram tracker. Due to mutual occlusion of the players and the camera perspective, results are best for the front players, with 74,6% and 82,6% of correctly tracked frames for the particle method and the integral histogram method, respectively. Results suggest an improved robustness against player confusion between different particle sets when tracking with a rigid grid approach. Faster processing and less player confusions make this method superior to the classical particle filter. Two different ball tracking methods are used that detect ball candidates from movement difference images using a background subtraction algorithm. Ball trajectories are estimated and interpolated from parabolic flight equations. The tracking accuracy of the ball is 54,2% for the trajectory growth method and 42,1% for the Hough line detection method. Tracking results of over 90% from the literature could not be confirmed. Ball contact frames were estimated from parabolic trajectory intersection, resulting in 48,9% of correctly estimated ball contact points. PMID:25426936

  18. Critical Neural Substrates for Correcting Unexpected Trajectory Errors and Learning from Them

    Science.gov (United States)

    Mutha, Pratik K.; Sainburg, Robert L.; Haaland, Kathleen Y.

    2011-01-01

    Our proficiency at any skill is critically dependent on the ability to monitor our performance, correct errors and adapt subsequent movements so that errors are avoided in the future. In this study, we aimed to dissociate the neural substrates critical for correcting unexpected trajectory errors and learning to adapt future movements based on…

  19. Real-time dynamic MLC tracking for inversely optimized arc radiotherapy

    DEFF Research Database (Denmark)

    Falk, Marianne; af Rosenschöld, Per Munck; Keall, Paul

    2010-01-01

    Motion compensation with MLC tracking was tested for inversely optimized arc radiotherapy with special attention to the impact of the size of the target displacements and the angle of the leaf trajectory.......Motion compensation with MLC tracking was tested for inversely optimized arc radiotherapy with special attention to the impact of the size of the target displacements and the angle of the leaf trajectory....

  20. ARTISTIC VISUALIZATION OF TRAJECTORY DATA USING CLOUD MODEL

    Directory of Open Access Journals (Sweden)

    T. Wu

    2017-09-01

    Full Text Available Rapid advance of location acquisition technologies boosts the generation of trajectory data, which track the traces of moving objects. A trajectory is typically represented by a sequence of timestamped geographical locations. Data visualization is an efficient means to represent distributions and structures of datasets and reveal hidden patterns in the data. In this paper, we explore a cloud model-based method for the generation of stylized renderings of trajectory data. The artistic visualizations of the proposed method do not have the goal to allow for data mining tasks or others but instead show the aesthetic effect of the traces of moving objects in a distorted manner. The techniques used to create the images of traces of moving objects include the uncertain line using extended cloud model, stroke-based rendering of geolocation in varying styles, and stylistic shading with aesthetic effects for print or electronic displays, as well as various parameters to be further personalized. The influence of different parameters on the aesthetic qualities of various painted images is investigated, including step size, types of strokes, colour modes, and quantitative comparisons using four aesthetic measures are also involved into the experiment. The experimental results suggest that the proposed method is with advantages of uncertainty, simplicity and effectiveness, and it would inspire professional graphic designers and amateur users who may be interested in playful and creative exploration of artistic visualization of trajectory data.

  1. Supervised Learning Applied to Air Traffic Trajectory Classification

    Science.gov (United States)

    Bosson, Christabelle; Nikoleris, Tasos

    2018-01-01

    Given the recent increase of interest in introducing new vehicle types and missions into the National Airspace System, a transition towards a more autonomous air traffic control system is required in order to enable and handle increased density and complexity. This paper presents an exploratory effort of the needed autonomous capabilities by exploring supervised learning techniques in the context of aircraft trajectories. In particular, it focuses on the application of machine learning algorithms and neural network models to a runway recognition trajectory-classification study. It investigates the applicability and effectiveness of various classifiers using datasets containing trajectory records for a month of air traffic. A feature importance and sensitivity analysis are conducted to challenge the chosen time-based datasets and the ten selected features. The study demonstrates that classification accuracy levels of 90% and above can be reached in less than 40 seconds of training for most machine learning classifiers when one track data point, described by the ten selected features at a particular time step, per trajectory is used as input. It also shows that neural network models can achieve similar accuracy levels but at higher training time costs.

  2. Artistic Visualization of Trajectory Data Using Cloud Model

    Science.gov (United States)

    Wu, T.; Zhou, Y.; Zhang, L.

    2017-09-01

    Rapid advance of location acquisition technologies boosts the generation of trajectory data, which track the traces of moving objects. A trajectory is typically represented by a sequence of timestamped geographical locations. Data visualization is an efficient means to represent distributions and structures of datasets and reveal hidden patterns in the data. In this paper, we explore a cloud model-based method for the generation of stylized renderings of trajectory data. The artistic visualizations of the proposed method do not have the goal to allow for data mining tasks or others but instead show the aesthetic effect of the traces of moving objects in a distorted manner. The techniques used to create the images of traces of moving objects include the uncertain line using extended cloud model, stroke-based rendering of geolocation in varying styles, and stylistic shading with aesthetic effects for print or electronic displays, as well as various parameters to be further personalized. The influence of different parameters on the aesthetic qualities of various painted images is investigated, including step size, types of strokes, colour modes, and quantitative comparisons using four aesthetic measures are also involved into the experiment. The experimental results suggest that the proposed method is with advantages of uncertainty, simplicity and effectiveness, and it would inspire professional graphic designers and amateur users who may be interested in playful and creative exploration of artistic visualization of trajectory data.

  3. Human action recognition using trajectory-based representation

    Directory of Open Access Journals (Sweden)

    Haiam A. Abdul-Azim

    2015-07-01

    Full Text Available Recognizing human actions in video sequences has been a challenging problem in the last few years due to its real-world applications. A lot of action representation approaches have been proposed to improve the action recognition performance. Despite the popularity of local features-based approaches together with “Bag-of-Words” model for action representation, it fails to capture adequate spatial or temporal relationships. In an attempt to overcome this problem, a trajectory-based local representation approaches have been proposed to capture the temporal information. This paper introduces an improvement of trajectory-based human action recognition approaches to capture discriminative temporal relationships. In our approach, we extract trajectories by tracking the detected spatio-temporal interest points named “cuboid features” with matching its SIFT descriptors over the consecutive frames. We, also, propose a linking and exploring method to obtain efficient trajectories for motion representation in realistic conditions. Then the volumes around the trajectories’ points are described to represent human actions based on the Bag-of-Words (BOW model. Finally, a support vector machine is used to classify human actions. The effectiveness of the proposed approach was evaluated on three popular datasets (KTH, Weizmann and UCF sports. Experimental results showed that the proposed approach yields considerable performance improvement over the state-of-the-art approaches.

  4. The trajectory prediction of spacecraft by grey method

    International Nuclear Information System (INIS)

    Wang, Qiyue; Wang, Zhongyu; Zhang, Zili; Wang, Yanqing; Zhou, Weihu

    2016-01-01

    The real-time and high-precision trajectory prediction of a moving object is a core technology in the field of aerospace engineering. The real-time monitoring and tracking technology are also significant guarantees of aerospace equipment. A dynamic trajectory prediction method called grey dynamic filter (GDF) which combines the dynamic measurement theory and grey system theory is proposed. GDF can use coordinates of the current period to extrapolate coordinates of the following period. At meantime, GDF can also keep the instantaneity of measured coordinates by the metabolism model. In this paper the optimal model length of GDF is firstly selected to improve the prediction accuracy. Then the simulation for uniformly accelerated motion and variably accelerated motion is conducted. The simulation results indicate that the mean composite position error of GDF prediction is one-fifth to that of Kalman filter (KF). By using a spacecraft landing experiment, the prediction accuracy of GDF is compared with the KF method and the primitive grey method (GM). The results show that the motion trajectory of spacecraft predicted by GDF is much closer to actual trajectory than the other two methods. The mean composite position error calculated by GDF is one-eighth to KF and one-fifth to GM respectively. (paper)

  5. Tracking Porters

    DEFF Research Database (Denmark)

    Bruun, Maja Hojer; Krause-Jensen, Jakob; Saltofte, Margit

    2015-01-01

    . In this chapter, we argue that although anthropology has its specific methodology – including a myriad of ethnographic data-gathering tools, techniques, analytical approaches and theories – it must first and foremost be understood as a craft. Anthropology as craft requires a specific ‘anthropological sensibility......’ that differs from the standardized procedures of normal science. To establish our points we use an example of problem-based project work conducted by a group of Techno-Anthropology students at Aalborg University, we focus on key aspects of this craft and how the students began to learn it: For two weeks...... the students followed the work of a group of porters. Drawing on anthropological concepts and research strategies the students gained crucial insights about the potential effects of using tracking technologies in the hospital....

  6. Fibre tracking

    International Nuclear Information System (INIS)

    Gaillard, J.M.

    1994-03-01

    A large-size scintillating plastic fibre tracking detector was built as part of the upgrade of the UA2 central detector at the SPS proton-antiproton collider. The cylindrical fibre detector of average radius of 40 cm consisted of 60000 plastic fibres with an active length of 2.1 m. One of the main motivations was to improve the electron identification. The fibre ends were bunched to be coupled to read-out systems of image intensifier plus CCD, 32 in total. The quality and the reliability of the UA2 fibre detector performance exceeded expectations throughout its years of operation. A few examples of the use of image intensifiers and of scintillating fibres in biological instrumentation are described. (R.P.) 11 refs., 15 figs., 2 tabs

  7. The method to increase an adequacy and exactitude of the tracking of controlled airplane flight

    Directory of Open Access Journals (Sweden)

    В. М. Васильєв

    2003-03-01

    Full Text Available The method to increase the adequacy and exactitude of trajectory estimates for tracking of controlled flight is proposed. The method of a solution of a non-linearity problem is also offered when imitate in trajectory estimation algorithm a control signal which includes nonlinear functions of restriction. The results of computer simulation are demonstrated

  8. On Integral Invariants for Effective 3-D Motion Trajectory Matching and Recognition.

    Science.gov (United States)

    Shao, Zhanpeng; Li, Youfu

    2016-02-01

    Motion trajectories tracked from the motions of human, robots, and moving objects can provide an important clue for motion analysis, classification, and recognition. This paper defines some new integral invariants for a 3-D motion trajectory. Based on two typical kernel functions, we design two integral invariants, the distance and area integral invariants. The area integral invariants are estimated based on the blurred segment of noisy discrete curve to avoid the computation of high-order derivatives. Such integral invariants for a motion trajectory enjoy some desirable properties, such as computational locality, uniqueness of representation, and noise insensitivity. Moreover, our formulation allows the analysis of motion trajectories at a range of scales by varying the scale of kernel function. The features of motion trajectories can thus be perceived at multiscale levels in a coarse-to-fine manner. Finally, we define a distance function to measure the trajectory similarity to find similar trajectories. Through the experiments, we examine the robustness and effectiveness of the proposed integral invariants and find that they can capture the motion cues in trajectory matching and sign recognition satisfactorily.

  9. Fluctuation theorems and atypical trajectories

    International Nuclear Information System (INIS)

    Sahoo, M; Lahiri, S; Jayannavar, A M

    2011-01-01

    In this work, we have studied simple models that can be solved analytically to illustrate various fluctuation theorems. These fluctuation theorems provide symmetries individually to the distributions of physical quantities such as the classical work (W c ), thermodynamic work (W), total entropy (Δs tot ) and dissipated heat (Q), when the system is driven arbitrarily out of equilibrium. All these quantities can be defined for individual trajectories. We have studied the number of trajectories which exhibit behaviour unexpected at the macroscopic level. As the time of observation increases, the fraction of such atypical trajectories decreases, as expected at the macroscale. The distributions for the thermodynamic work and entropy production in nonlinear models may exhibit a peak (most probable value) in the atypical regime without violating the expected average behaviour. However, dissipated heat and classical work exhibit a peak in the regime of typical behaviour only.

  10. An incremental DPMM-based method for trajectory clustering, modeling, and retrieval.

    Science.gov (United States)

    Hu, Weiming; Li, Xi; Tian, Guodong; Maybank, Stephen; Zhang, Zhongfei

    2013-05-01

    Trajectory analysis is the basis for many applications, such as indexing of motion events in videos, activity recognition, and surveillance. In this paper, the Dirichlet process mixture model (DPMM) is applied to trajectory clustering, modeling, and retrieval. We propose an incremental version of a DPMM-based clustering algorithm and apply it to cluster trajectories. An appropriate number of trajectory clusters is determined automatically. When trajectories belonging to new clusters arrive, the new clusters can be identified online and added to the model without any retraining using the previous data. A time-sensitive Dirichlet process mixture model (tDPMM) is applied to each trajectory cluster for learning the trajectory pattern which represents the time-series characteristics of the trajectories in the cluster. Then, a parameterized index is constructed for each cluster. A novel likelihood estimation algorithm for the tDPMM is proposed, and a trajectory-based video retrieval model is developed. The tDPMM-based probabilistic matching method and the DPMM-based model growing method are combined to make the retrieval model scalable and adaptable. Experimental comparisons with state-of-the-art algorithms demonstrate the effectiveness of our algorithm.

  11. Long-term future risk of severe exacerbations: Distinct 5-year trajectories of problematic asthma.

    Science.gov (United States)

    Yii, A C A; Tan, J H Y; Lapperre, T S; Chan, A K W; Low, S Y; Ong, T H; Tan, K L; Chotirmall, S H; Sterk, P J; Koh, M S

    2017-09-01

    Assessing future risk of exacerbations is an important component of asthma management. Existing studies have investigated short- but not long-term risk. Problematic asthma patients with unfavorable long-term disease trajectory and persistently frequent severe exacerbations need to be identified early to guide treatment. To identify distinct trajectories of severe exacerbation rates among "problematic asthma" patients and develop a risk score to predict the most unfavorable trajectory. Severe exacerbation rates over five years for 177 "problematic asthma" patients presenting to a specialist asthma clinic were tracked. Distinct trajectories of severe exacerbation rates were identified using group-based trajectory modeling. Baseline predictors of trajectory were identified and used to develop a clinical risk score for predicting the most unfavorable trajectory. Three distinct trajectories were found: 58.5% had rare intermittent severe exacerbations ("infrequent"), 32.0% had frequent severe exacerbations at baseline but improved subsequently ("nonpersistently frequent"), and 9.5% exhibited persistently frequent severe exacerbations, with the highest incidence of near-fatal asthma ("persistently frequent"). A clinical risk score composed of ≥2 severe exacerbations in the past year (+2 points), history of near-fatal asthma (+1 point), body mass index ≥25kg/m 2 (+1 point), obstructive sleep apnea (+1 point), gastroesophageal reflux (+1 point), and depression (+1 point) was predictive of the "persistently frequent" trajectory (area under the receiver operating characteristic curve: 0.84, sensitivity 72.2%, specificity 81.1% using cutoff ≥3 points). The trajectories and clinical risk score had excellent performance in an independent validation cohort. Patients with problematic asthma follow distinct illness trajectories over a period of five years. We have derived and validated a clinical risk score that accurately identifies patients who will have persistently

  12. Automatic detection, tracking and sensor integration

    Science.gov (United States)

    Trunk, G. V.

    1988-06-01

    This report surveys the state of the art of automatic detection, tracking, and sensor integration. In the area of detection, various noncoherent integrators such as the moving window integrator, feedback integrator, two-pole filter, binary integrator, and batch processor are discussed. Next, the three techniques for controlling false alarms, adapting thresholds, nonparametric detectors, and clutter maps are presented. In the area of tracking, a general outline is given of a track-while-scan system, and then a discussion is presented of the file system, contact-entry logic, coordinate systems, tracking filters, maneuver-following logic, tracking initiating, track-drop logic, and correlation procedures. Finally, in the area of multisensor integration the problems of colocated-radar integration, multisite-radar integration, radar-IFF integration, and radar-DF bearing strobe integration are treated.

  13. Iterative learning-based decentralized adaptive tracker for large-scale systems: a digital redesign approach.

    Science.gov (United States)

    Tsai, Jason Sheng-Hong; Du, Yan-Yi; Huang, Pei-Hsiang; Guo, Shu-Mei; Shieh, Leang-San; Chen, Yuhua

    2011-07-01

    In this paper, a digital redesign methodology of the iterative learning-based decentralized adaptive tracker is proposed to improve the dynamic performance of sampled-data linear large-scale control systems consisting of N interconnected multi-input multi-output subsystems, so that the system output will follow any trajectory which may not be presented by the analytic reference model initially. To overcome the interference of each sub-system and simplify the controller design, the proposed model reference decentralized adaptive control scheme constructs a decoupled well-designed reference model first. Then, according to the well-designed model, this paper develops a digital decentralized adaptive tracker based on the optimal analog control and prediction-based digital redesign technique for the sampled-data large-scale coupling system. In order to enhance the tracking performance of the digital tracker at specified sampling instants, we apply the iterative learning control (ILC) to train the control input via continual learning. As a result, the proposed iterative learning-based decentralized adaptive tracker not only has robust closed-loop decoupled property but also possesses good tracking performance at both transient and steady state. Besides, evolutionary programming is applied to search for a good learning gain to speed up the learning process of ILC. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

  14. Mining continuous activity patterns from animal trajectory data

    Science.gov (United States)

    Wang, Y.; Luo, Ze; Baoping, Yan; Takekawa, John Y.; Prosser, Diann J.; Newman, Scott H.

    2014-01-01

    The increasing availability of animal tracking data brings us opportunities and challenges to intuitively understand the mechanisms of animal activities. In this paper, we aim to discover animal movement patterns from animal trajectory data. In particular, we propose a notion of continuous activity pattern as the concise representation of underlying similar spatio-temporal movements, and develop an extension and refinement framework to discover the patterns. We first preprocess the trajectories into significant semantic locations with time property. Then, we apply a projection-based approach to generate candidate patterns and refine them to generate true patterns. A sequence graph structure and a simple and effective processing strategy is further developed to reduce the computational overhead. The proposed approaches are extensively validated on both real GPS datasets and large synthetic datasets.

  15. A Trajectory Generation Approach for Payload Directed Flight

    Science.gov (United States)

    Ippolito, Corey A.; Yeh, Yoo-Hsiu

    2009-01-01

    Presently, flight systems designed to perform payload-centric maneuvers require preconstructed procedures and special hand-tuned guidance modes. To enable intelligent maneuvering via strong coupling between the goals of payload-directed flight and the autopilot functions, there exists a need to rethink traditional autopilot design and function. Research into payload directed flight examines sensor and payload-centric autopilot modes, architectures, and algorithms that provide layers of intelligent guidance, navigation and control for flight vehicles to achieve mission goals related to the payload sensors, taking into account various constraints such as the performance limitations of the aircraft, target tracking and estimation, obstacle avoidance, and constraint satisfaction. Payload directed flight requires a methodology for accurate trajectory planning that lets the system anticipate expected return from a suite of onboard sensors. This paper presents an extension to the existing techniques used in the literature to quickly and accurately plan flight trajectories that predict and optimize the expected return of onboard payload sensors.

  16. Improving Energy Efficiency of an Autonomous Bicycle with Adaptive Controller Design

    Directory of Open Access Journals (Sweden)

    David Rodriguez-Rosa

    2017-05-01

    Full Text Available A method is proposed to achieve lateral stability of an autonomous bicycle with only the rotation of the front wheel. This can be achieved with a classic controller. However, if the energy consumption of the bicycle also has to be minimized, this solution is not valid. To solve this problem, an adaptive controller has been designed, which modifies its gains according to the bicycle’s forward velocity, adapting its response with minimum energy consumption and satisfying the design specifications. The study demonstrates the efficiency of the proposed control, achieving an energy saving of 73 . 8 % in trajectory tracking with respect to a conventional proportional-integral ( P I controller. These results show the importance of designing energy-efficient controllers, not only for autonomous vehicles but also for any automatic system where the energy consumption can be minimized.

  17. Adaptive proportional–integral–derivative tuning sliding mode control for a shape memory alloy actuator

    International Nuclear Information System (INIS)

    Tai, Nguyen Trong; Ahn, Kyoung Kwan

    2011-01-01

    In this paper, a novel adaptive sliding mode control with a proportional–integral–derivative (PID) tuning method is proposed to control a shape memory alloy (SMA) actuator. The goal of the controller is to achieve system robustness against the SMA hysteresis phenomenon, system uncertainties and external disturbances. In the controller, the PID controller is employed to approximate the sliding mode equivalent control along the direction that makes the sliding mode asymptotically stable. Due to the system nonlinearity, the PID control gain parameters are systematically computed online according to the adaptive law. To improve the transient performance, the initial PID gain parameters are optimized by the particle swarm optimization (PSO) method. Simulation and experimental results demonstrate that the controller performs well for the desired trajectory tracking, and the hysteresis phenomenon is compensated for completely. The control results are also compared with the optimized PID controller

  18. 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.

  19. Fast algorithm of track reconstruction for the Delphy TPC

    International Nuclear Information System (INIS)

    Maillard, J.

    1984-01-01

    We describe a simple geometrical method (polar inversion) to reconstruct tracks. When the magnetic field is constant in magnitude and direction. This method uses geometrical properties of the trajectories. In the case of the DELPHI apparatus, the track reconstruction is done using TPC informations. After explaining the algorithm, we give results on ''GEANT'' simulated events using the ''Lund'' generator. Today we get a computer time of the order of 1.2 milliseconds on a CDC 7600 and an efficiency of 98% [fr

  20. Kick-Off Point (KOP and End of Buildup (EOB Data Analysis in Trajectory Design

    Directory of Open Access Journals (Sweden)

    Novrianti Novrianti

    2017-06-01

    Full Text Available Well X is a development well which is directionally drilled. Directional drilling is choosen because the coordinate target of Well X is above the buffer zone. The directional track plan needs accurate survey calculation in order to make the righ track for directional drilling. There are many survey calculation in directional drilling such as tangential, underbalance, average angle, radius of curvature, and mercury method. Minimum curvature method is used in this directional track plan calculation. This method is used because it gives less error than other method.  Kick-Off Point (KOP and End of Buildup (EOB analysis is done at 200 ft, 400 ft, and 600 ft depth to determine the trajectory design and optimal inclination. The hole problem is also determined in this trajectory track design. Optimal trajectory design determined at 200 ft depth because the inclination below 35º and also already reach the target quite well at 1632.28 ft TVD and 408.16 AHD. The optimal inclination at 200 ft KOP depth because the maximum inclination is 18.87º which is below 35º. Hole problem will occur if the trajectory designed at 600 ft. The problems are stuck pipe and the casing or tubing will not able to bend.

  1. Coordinated trajectory planning of dual-arm space robot using constrained particle swarm optimization

    Science.gov (United States)

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

    2018-05-01

    Application of the multi-arm space robot will be more effective than single arm especially when the target is tumbling. This paper investigates the application of particle swarm optimization (PSO) strategy to coordinated trajectory planning of the dual-arm space robot in free-floating mode. In order to overcome the dynamics singularities issue, the direct kinematics equations in conjunction with constrained PSO are employed for coordinated trajectory planning of dual-arm space robot. The joint trajectories are parametrized with Bézier curve to simplify the calculation. Constrained PSO scheme with adaptive inertia weight is implemented to find the optimal solution of joint trajectories while specific objectives and imposed constraints are satisfied. The proposed method is not sensitive to the singularity issue due to the application of forward kinematic equations. Simulation results are presented for coordinated trajectory planning of two kinematically redundant manipulators mounted on a free-floating spacecraft and demonstrate the effectiveness of the proposed method.

  2. Classical models for Regge trajectories

    International Nuclear Information System (INIS)

    Biedenharn, L.C.; Van Dam, H.; Marmo, G.; Morandi, G.; Mukunda, N.; Samuel, J.; Sudarshan, E.C.G.

    1987-01-01

    Two classical models for particles with internal structure and which describe Regge trajectories are developed. The remarkable geometric and other properties of the two internal spaces are highlighted. It is shown that the conditions of positive time-like four-velocity and energy momentum for the classical system imply strong and physically reasonable conditions on the Regge mass-spin relationship

  3. Classical Trajectories and Quantum Spectra

    Science.gov (United States)

    Mielnik, Bogdan; Reyes, Marco A.

    1996-01-01

    A classical model of the Schrodinger's wave packet is considered. The problem of finding the energy levels corresponds to a classical manipulation game. It leads to an approximate but non-perturbative method of finding the eigenvalues, exploring the bifurcations of classical trajectories. The role of squeezing turns out decisive in the generation of the discrete spectra.

  4. Visiting Vehicle Ground Trajectory Tool

    Science.gov (United States)

    Hamm, Dustin

    2013-01-01

    The International Space Station (ISS) Visiting Vehicle Group needed a targeting tool for vehicles that rendezvous with the ISS. The Visiting Vehicle Ground Trajectory targeting tool provides the ability to perform both realtime and planning operations for the Visiting Vehicle Group. This tool provides a highly reconfigurable base, which allows the Visiting Vehicle Group to perform their work. The application is composed of a telemetry processing function, a relative motion function, a targeting function, a vector view, and 2D/3D world map type graphics. The software tool provides the ability to plan a rendezvous trajectory for vehicles that visit the ISS. It models these relative trajectories using planned and realtime data from the vehicle. The tool monitors ongoing rendezvous trajectory relative motion, and ensures visiting vehicles stay within agreed corridors. The software provides the ability to update or re-plan a rendezvous to support contingency operations. Adding new parameters and incorporating them into the system was previously not available on-the-fly. If an unanticipated capability wasn't discovered until the vehicle was flying, there was no way to update things.

  5. Tracking Boulders

    Science.gov (United States)

    2006-01-01

    13 March 2006 This Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) image shows a portion of a trough in the Sirenum Fossae region. On the floor and walls of the trough, large -- truck- to house-sized -- boulders are observed at rest. However, there is evidence in this image for the potential for mobility. In the central portion of the south (bottom) wall, a faint line of depressions extends from near the middle of the wall, down to the rippled trough floor, ending very near one of the many boulders in the area. This line of depressions is a boulder track; it indicates the path followed by the boulder as it trundled downslope and eventually came to rest on the trough floor. Because it is on Mars, even when the boulder is sitting still, this once-rolling stone gathers no moss. Location near: 29.4oS, 146.6oW Image width: 3 km (1.9 mi) Illumination from: upper left Season: Southern Summer

  6. INNER TRACKING

    CERN Multimedia

    P. Sharp

    The CMS Inner Tracking Detector continues to make good progress. The successful commissioning of ~ 25% of the Silicon Strip Tracker was completed in the Tracker Integration Facility (TIF) at CERN in July 2007 and the Tracker has since been prepared for moving and installation into CMS at P5. The Tracker was ready to move on schedule in September 2007. The Installation of the Tracker cooling pipes and LV cables between Patch Panel 1 (PP1) on the inside the CMS magnet cryostat, and the cooling plants and power system racks on the balconies has been completed. The optical fibres from PP1 to the readout FEDs in the USC have been installed, together with the Tracker cable channels, in parallel with the installation of the EB/HB services. All of the Tracker Safety, Power, DCS and the VME Readout Systems have been installed at P5 and are being tested and commissioned with CMS. It is planned to install the Tracker into CMS before Christmas. The Tracker will then be connected to the pre-installed services on Y...

  7. INNER TRACKING

    CERN Multimedia

    P. Sharp

    The CMS Inner Tracking Detector continues to make good progress. The successful commissioning of ~ 25% of the Silicon Strip Tracker was completed in the Tracker Integration Facility (TIF) at CERN on 18 July 2007 and the Tracker has since been prepared for moving and installation into CMS at P5. The Tracker will be ready to move on schedule in September 2007. The Installation of the Tracker cooling pipes and LV cables between Patch Panel 1 (PP1) on the inside the CMS magnet cryostat, and the cooling plants and power system racks on the balconies has been completed. The optical fibres from PP1 to the readout FEDs in the USC will be installed in parallel with the installation of the EB/HB services, and will be completed in October. It is planned to install the Tracker into CMS at the end of October, after the completion of the installation of the EB/HB services. The Tracker will then be connected to the pre-installed services on YB0 and commissioned with CMS in December. The FPix and BPix continue to make ...

  8. 3-D high-speed imaging of volcanic bomb trajectory in basaltic explosive eruptions

    Science.gov (United States)

    Gaudin, D.; Taddeucci, J; Houghton, Bruce F.; Orr, Tim R.; Andronico, D.; Del Bello, E.; Kueppers, U.; Ricci, T.; Scarlato, P.

    2016-01-01

    Imaging, in general, and high speed imaging in particular are important emerging tools for the study of explosive volcanic eruptions. However, traditional 2-D video observations cannot measure volcanic ejecta motion toward and away from the camera, strongly hindering our capability to fully determine crucial hazard-related parameters such as explosion directionality and pyroclasts' absolute velocity. In this paper, we use up to three synchronized high-speed cameras to reconstruct pyroclasts trajectories in three dimensions. Classical stereographic techniques are adapted to overcome the difficult observation conditions of active volcanic vents, including the large number of overlapping pyroclasts which may change shape in flight, variable lighting and clouding conditions, and lack of direct access to the target. In particular, we use a laser rangefinder to measure the geometry of the filming setup and manually track pyroclasts on the videos. This method reduces uncertainties to 10° in azimuth and dip angle of the pyroclasts, and down to 20% in the absolute velocity estimation. We demonstrate the potential of this approach by three examples: the development of an explosion at Stromboli, a bubble burst at Halema'uma'u lava lake, and an in-flight collision between two bombs at Stromboli.

  9. ACTS: from ATLAS software towards a common track reconstruction software

    CERN Document Server

    AUTHOR|(INSPIRE)INSPIRE-00349786; The ATLAS collaboration; Salzburger, Andreas; Kiehn, Moritz; Hrdinka, Julia; Calace, Noemi

    2017-01-01

    Reconstruction of charged particles' trajectories is a crucial task for most particle physics experiments. The high instantaneous luminosity achieved at the LHC leads to a high number of proton-proton collisions per bunch crossing, which has put the track reconstruction software of the LHC experiments through a thorough test. Preserving track reconstruction performance under increasingly difficult experimental conditions, while keeping the usage of computational resources at a reasonable level, is an inherent problem for many HEP experiments. Exploiting concurrent algorithms and using multivariate techniques for track identification are the primary strategies to achieve that goal. Starting from current ATLAS software, the ACTS project aims to encapsulate track reconstruction software into a generic, framework- and experiment-independent software package. It provides a set of high-level algorithms and data structures for performing track reconstruction tasks as well as fast track simulation. The software is de...

  10. Trajectories of suicidal ideation over 6 months among 482 outpatients with bipolar disorder

    DEFF Research Database (Denmark)

    Köhler-Forsberg, Ole; Madsen, Trine; Behrendt-Møller, Ida

    2017-01-01

    INTRODUCTION: Suicidal ideation occurs frequently among individuals with bipolar disorder; however, its course and persistence over time remains unclear. We aimed to investigate 6-months trajectories of suicidal ideation among adults with bipolar disorder. METHODS: The Bipolar CHOICE study...... randomized 482 outpatients with bipolar disorder to 6 months of lithium- or quetiapine-based treatment including other psychotropic medications as clinically indicated. Participants were asked at 9 visits about suicidal ideation using the Concise Health Risk Tracking scale. We performed latent Growth Mixture...... Modelling analysis to empirically identify trajectories of suicidal ideation. Multinomial logistic regression analyses were applied to estimate associations between trajectories and potential predictors. RESULTS: We identified four distinct trajectories. The Moderate-Stable group represented 11...

  11. Satellite Images-Based Obstacle Recognition and Trajectory Generation for Agricultural Vehicles

    Directory of Open Access Journals (Sweden)

    Mehmet Bodur

    2015-12-01

    Full Text Available In this study, a method for the generation of tracking trajectory points, detection and positioning of obstacles in agricultural fields have been presented. Our principal contribution is to produce traceable GPS trajectories for agricultural vehicles to be utilized by path planning algorithms, rather than a new path planning algorithm. The proposed system works with minimal initialization requirements, specifically, a single geographical coordinate entry of an agricultural field. The automation of agricultural plantation requires many aspects to be addressed, many of which have been covered in previous studies. Depending on the type of crop, different agricultural vehicles may be used in the field. However, regardless of their application, they all follow a specified trajectory in the field. This study takes advantage of satellite images for the detection and positioning of obstacles, and the generation of GPS trajectories in the agricultural realm. A set of image processing techniques is applied in Matlab for detection and positioning.

  12. 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.

  13. Trajectories of delinquency and parenting styles

    NARCIS (Netherlands)

    Hoeve, M.; van Blokland, A.; Dubas, J.S.; Loeber, R; Gerris, J.R.M.; van der Laan, P.H.

    2008-01-01

    We investigated trajectories of adolescent delinquent development using data from the Pittsburgh Youth Study and examined the extent to which these different trajectories are differentially predicted by childhood parenting styles. Based on self-reported and official delinquency seriousness, covering

  14. Trajectories of Delinquency and Parenting Styles

    NARCIS (Netherlands)

    Hoeve, M.; Blokland, A.A.J.; Dubas, J.S.; Loeber, R.; Gerris, J.R.M.; Laan, P.H. van der

    2008-01-01

    We investigated trajectories of adolescent delinquent development using data from the Pittsburgh Youth Study and examined the extent to which these different trajectories are differentially predicted by childhood parenting styles. Based on self-reported and official delinquency seriousness, covering

  15. User Oriented Trajectory Search for Trip Recommendation

    KAUST Repository

    Ding, Ruogu

    2012-01-01

    Trajectory sharing and searching have received significant attention in recent years. In this thesis, we propose and investigate the methods to find and recommend the best trajectory to the traveler, and mainly focus on a novel technique named User

  16. Efficient Trajectory Options Allocation for the Collaborative Trajectory Options Program

    Science.gov (United States)

    Rodionova, Olga; Arneson, Heather; Sridhar, Banavar; Evans, Antony

    2017-01-01

    The Collaborative Trajectory Options Program (CTOP) is a Traffic Management Initiative (TMI) intended to control the air traffic flow rates at multiple specified Flow Constrained Areas (FCAs), where demand exceeds capacity. CTOP allows flight operators to submit the desired Trajectory Options Set (TOS) for each affected flight with associated Relative Trajectory Cost (RTC) for each option. CTOP then creates a feasible schedule that complies with capacity constraints by assigning affected flights with routes and departure delays in such a way as to minimize the total cost while maintaining equity across flight operators. The current version of CTOP implements a Ration-by-Schedule (RBS) scheme, which assigns the best available options to flights based on a First-Scheduled-First-Served heuristic. In the present study, an alternative flight scheduling approach is developed based on linear optimization. Results suggest that such an approach can significantly reduce flight delays, in the deterministic case, while maintaining equity as defined using a Max-Min fairness scheme.

  17. Particle filtering for passive fathometer tracking.

    Science.gov (United States)

    Michalopoulou, Zoi-Heleni; Yardim, Caglar; Gerstoft, Peter

    2012-01-01

    Seabed interface depths and fathometer amplitudes are tracked for an unknown and changing number of sub-bottom reflectors. This is achieved by incorporating conventional and adaptive fathometer processors into sequential Monte Carlo methods for a moving vertical line array. Sediment layering information and time-varying fathometer response amplitudes are tracked by using a multiple model particle filter with an uncertain number of reflectors. Results are compared to a classical particle filter where the number of reflectors is considered to be known. Reflector tracking is demonstrated for both conventional and adaptive processing applied to the drifting array data from the Boundary 2003 experiment. The layering information is successfully tracked by the multiple model particle filter even for noisy fathometer outputs. © 2012 Acoustical Society of America.

  18. Trajectories of Behavioural Disturbances Across Dementia Types.

    Science.gov (United States)

    Linds, Alexandra B; Kirstein, Alana B; Freedman, Morris; Verhoeff, Nicolaas P L G; Wolf, Uri; Chow, Tiffany W

    2015-11-01

    To replicate a previous finding that the trajectory of the Neuropsychiatric Inventory (NPI) shifts in the sixth year of behavioural variant frontotemporal dementia (bvFTD). We evaluated longitudinal tracking with both the Frontal Behavioural Inventory (FBI) and NPI, comparing bvFTD against other dementias. Chart reviews over two to five years for patients with bvFTD (n=30), primary progressive aphasia (PPA, n=13) and Alzheimer's disease (AD, n=118) at an urban Canadian tertiary clinic specializing in dementia. Linear regressions of the longitudinal data tested predictors of annualized rates of change (ROC) in NPI and FBI total and subscales for apathy and disinhibition among dementia groups. The mode of the overall sample for the most advanced duration of illness observed was 5 years, with the median at 7 years. We did not find a crescendo-decrescendo pattern in scores although, for bvFTD and AD, high initial scores correlated with ensuing downward ROCs on the NPI and FBI. Educational level showed an influence on disinhibition ROCs. The FBI was no more revealing than the NPI for apathy and disinhibition scores in these dementias. A cognitive reserve effect on behavioural disturbance was supported but it may take longer than our 4 years of observing the clinical sample to record inflection points in the behavioural and psychiatric symptoms seen in bvFTD. The current data only imply that both apathy and disinhibition will diminish over the course of dementia.

  19. Making Sense of Trajectory Data in Indoor Spaces

    DEFF Research Database (Denmark)

    Prentow, Thor Siiger; Thom, Andreas; Blunck, Henrik

    2015-01-01

    The increasing prevalence of positioning and tracking systems has helped simplify tracking large amounts of, e.g., people moving through buildings or cars traveling on roads, over long periods of time. However, technical limitations of positioning algorithms and traditional sensing infrastructures......-specific analysis tools. Additionally, it allows to predict the locally occurring expected positioning error biases. This in turn allows improved positioning, e.g., for real-time navigation assistance scenarios. We evaluate the proposed methods using trajectory data from employees at a large hospital complex...... which route was taken in a particular travel instance or whether two travel instances followed the same route. In this paper, we present a bootstrapping approach and several algorithms to mitigate error biases and related phenomena, focusing on indoor scenarios. In particular, we are able to estimate...

  20. Aircraft 4D trajectories planning under uncertainties

    OpenAIRE

    Chaimatanan , Supatcha; Delahaye , Daniel; Mongeau , Marcel

    2015-01-01

    International audience; To sustain the rapidly increasing air traffic demand, the future air traffic management system will rely on a concept, called Trajectory-Based Operations (TBO), that will require aircraft to follow an assigned 4D trajectory (time-constrained trajectory) with high precision. TBO involves separating aircraft via strategic (long-term) trajectory deconfliction rather than the currently-practicing tactical (short-term) conflict resolution. In this context, this paper presen...

  1. Optimal trajectories for flexible-link manipulator slewing using recursive quadratic programming: Experimental verification

    International Nuclear Information System (INIS)

    Parker, G.G.; Eisler, G.R.; Feddema, J.T.

    1994-01-01

    Procedures for trajectory planning and control of flexible link robots are becoming increasingly important to satisfy performance requirements of hazardous waste removal efforts. It has been shown that utilizing link flexibility in designing open loop joint commands can result in improved performance as opposed to damping vibration throughout a trajectory. The efficient use of link compliance is exploited in this work. Specifically, experimental verification of minimum time, straight line tracking using a two-link planar flexible robot is presented. A numerical optimization process, using an experimentally verified modal model, is used for obtaining minimum time joint torque and angle histories. The optimal joint states are used as commands to the proportional-derivative servo actuated joints. These commands are precompensated for the nonnegligible joint servo actuator dynamics. Using the precompensated joint commands, the optimal joint angles are tracked with such fidelity that the tip tracking error is less than 2.5 cm

  2. Towards Efficient Search for Activity Trajectories

    DEFF Research Database (Denmark)

    Zheng, Kai; Shang, Shuo; Yuan, Jing

    2013-01-01

    , recent proliferation in location-based web applications (e.g., Foursquare, Facebook) has given rise to large amounts of trajectories associated with activity information, called activity trajectory. In this paper, we study the problem of efficient similarity search on activity trajectory database. Given...

  3. Methods for control over learning individual trajectory

    Science.gov (United States)

    Mitsel, A. A.; Cherniaeva, N. V.

    2015-09-01

    The article discusses models, methods and algorithms of determining student's optimal individual educational trajectory. A new method of controlling the learning trajectory has been developed as a dynamic model of learning trajectory control, which uses score assessment to construct a sequence of studied subjects.

  4. Trajectories of low back pain

    DEFF Research Database (Denmark)

    Axén, Iben; Leboeuf-Yde, Charlotte

    2013-01-01

    Low back pain is not a self-limiting problem, but rather a recurrent and sometimes persistent disorder. To understand the course over time, detailed investigation, preferably using repeated measurements over extended periods of time, is needed. New knowledge concerning short-term trajectories...... indicates that the low back pain 'episode' is short lived, at least in the primary care setting, with most patients improving. Nevertheless, in the long term, low back pain often runs a persistent course with around two-thirds of patients estimated to be in pain after 12 months. Some individuals never have...... low back pain, but most have it on and off or persistently. Thus, the low back pain 'condition' is usually a lifelong experience. However, subgroups of patients with different back pain trajectories have been identified and linked to clinical parameters. Further investigation is warranted...

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

    Science.gov (United States)

    Mancini, D; Brescia, M; Schipani, P

    2003-01-01

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

  6. The particle tracking package Kassiopeia

    Energy Technology Data Exchange (ETDEWEB)

    Groh, Stefan [Karlsruhe Institute of Technology (Germany); Collaboration: KATRIN-Collaboration

    2016-07-01

    The Kassiopeia particle tracking framework is an object-oriented software package utilizing modern C++ techniques, written originally to meet the needs of the Katrin collaboration. Kassiopeia's target consists of simulating particle trajectories governed by arbitrarily complex differential equations of motion, continuous physics processes that may in part be modeled as terms perturbing that equation of motion, stochastic processes that occur in flight such as bulk scattering and decay, and potentially stochastic surface processes occurring at interfaces, including transmission and reflection effects. This entire set of computations takes place against the backdrop of a fully-featured geometry package which serves a variety of roles, including initialization of electromagnetic field simulations, gas flow simulations, and the support of state-dependent algorithm-swapping and behavioral changes. Kassiopeia has been well validated and widely used within the Katrin collaboration, playing a primary role in many theses and refereed publications.

  7. Ion trajectories quadrupole mass filters

    International Nuclear Information System (INIS)

    Ursu, D.; Lupsa, N.; Muntean, F.

    1994-01-01

    The present paper aims at bringing some contributions to the understanding of ion motion in quadrupole mass filters. The theoretical treatment of quadrupole mass filter is intended to be a concise derivation of the important physical relationships using Mathieu functions. A simple iterative method of numerical computation has been used to simulate ion trajectories in an ideal quadrupole field. Finally, some examples of calculation are presented with the aid of computer graphics. (Author) 14 Figs., 1 Tab., 20 Refs

  8. Interference, reduced action, and trajectories

    OpenAIRE

    Floyd, Edward R.

    2006-01-01

    Instead of investigating the interference between two stationary, rectilinear wave functions in a trajectory representation by examining the two rectilinear wave functions individually, we examine a dichromatic wave function that is synthesized from the two interfering wave functions. The physics of interference is contained in the reduced action for the dichromatic wave function. As this reduced action is a generator of the motion for the dichromatic wave function, it determines the dichroma...

  9. 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.

  10. 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.

  11. Stability Assessment and Tuning of an Adaptively Augmented Classical Controller for Launch Vehicle Flight Control

    Science.gov (United States)

    VanZwieten, Tannen; Zhu, J. Jim; Adami, Tony; Berry, Kyle; Grammar, Alex; Orr, Jeb S.; Best, Eric A.

    2014-01-01

    Recently, a robust and practical adaptive control scheme for launch vehicles [ [1] has been introduced. It augments a classical controller with a real-time loop-gain adaptation, and it is therefore called Adaptive Augmentation Control (AAC). The loop-gain will be increased from the nominal design when the tracking error between the (filtered) output and the (filtered) command trajectory is large; whereas it will be decreased when excitation of flex or sloshing modes are detected. There is a need to determine the range and rate of the loop-gain adaptation in order to retain (exponential) stability, which is critical in vehicle operation, and to develop some theoretically based heuristic tuning methods for the adaptive law gain parameters. The classical launch vehicle flight controller design technics are based on gain-scheduling, whereby the launch vehicle dynamics model is linearized at selected operating points along the nominal tracking command trajectory, and Linear Time-Invariant (LTI) controller design techniques are employed to ensure asymptotic stability of the tracking error dynamics, typically by meeting some prescribed Gain Margin (GM) and Phase Margin (PM) specifications. The controller gains at the design points are then scheduled, tuned and sometimes interpolated to achieve good performance and stability robustness under external disturbances (e.g. winds) and structural perturbations (e.g. vehicle modeling errors). While the GM does give a bound for loop-gain variation without losing stability, it is for constant dispersions of the loop-gain because the GM is based on frequency-domain analysis, which is applicable only for LTI systems. The real-time adaptive loop-gain variation of the AAC effectively renders the closed-loop system a time-varying system, for which it is well-known that the LTI system stability criterion is neither necessary nor sufficient when applying to a Linear Time-Varying (LTV) system in a frozen-time fashion. Therefore, a

  12. Robust tracking control of uncertain Duffing-Holmes control systems

    International Nuclear Information System (INIS)

    Sun, Y.-J.

    2009-01-01

    In this paper, the notion of virtual stabilizability for dynamical systems is introduced and the virtual stabilizability of uncertain Duffing-Holmes control systems is investigated. Based on the time-domain approach with differential inequality, a tracking control is proposed such that the states of uncertain Duffing-Holmes control system track the desired trajectories with any pre-specified exponential decay rate and convergence radius. Moreover, we present an algorithm to find such a tracking control. Finally, a numerical example is provided to illustrate the use of the main results.

  13. Kinect-Based Moving Human Tracking System with Obstacle Avoidance

    Directory of Open Access Journals (Sweden)

    Abdel Mehsen Ahmad

    2017-04-01

    Full Text Available This paper is an extension of work originally presented and published in IEEE International Multidisciplinary Conference on Engineering Technology (IMCET. This work presents a design and implementation of a moving human tracking system with obstacle avoidance. The system scans the environment by using Kinect, a 3D sensor, and tracks the center of mass of a specific user by using Processing, an open source computer programming language. An Arduino microcontroller is used to drive motors enabling it to move towards the tracked user and avoid obstacles hampering the trajectory. The implemented system is tested under different lighting conditions and the performance is analyzed using several generated depth images.

  14. Tracking an open quantum system using a finite state machine: Stability analysis

    International Nuclear Information System (INIS)

    Karasik, R. I.; Wiseman, H. M.

    2011-01-01

    A finite-dimensional Markovian open quantum system will undergo quantum jumps between pure states, if we can monitor the bath to which it is coupled with sufficient precision. In general these jumps, plus the between-jump evolution, create a trajectory which passes through infinitely many different pure states, even for ergodic systems. However, as shown recently by us [Phys. Rev. Lett. 106, 020406 (2011)], it is possible to construct adaptive monitorings which restrict the system to jumping between a finite number of states. That is, it is possible to track the system using a finite state machine as the apparatus. In this paper we consider the question of the stability of these monitoring schemes. Restricting to cyclic jumps for a qubit, we give a strong analytical argument that these schemes are always stable and supporting analytical and numerical evidence for the example of resonance fluorescence. This example also enables us to explore a range of behaviors in the evolution of individual trajectories, for several different monitoring schemes.

  15. Laser fusion: an assessment of pellet injection, tracking and beam pointing

    International Nuclear Information System (INIS)

    Monsler, M.J.

    1978-01-01

    A conceptual design is presented for a target injection and final optical system which can be integrated with a lithium waterfall laser fusion reactor and operate repetitively within the presented tolerances. A high f-number focusing system using coated metal optics at 30 to 60 meters distance is suggested. An intermediate section of the differentially pumped beam tube contains flowing xenon which effectively shields the optics from debris and x rays, allowing the mirrors to operate at least a year without optical degradation. Pellets are injected with a repeating gas gun positioned horizontally just above the laser beam. No pellet trajectory correction is desired or required. Simple tracking of the target using a low power laser illuminator, a position sensing photodetector, and a trajectory prediction scheme are assumed. Two-degree of freedom x-y beam steering is preferred, without focus capability. Both the tracker and the adaptive mirror are placed in the laser building, well away from the fixed final optical mirror which faces the microexplosion

  16. Solar tracking system

    Science.gov (United States)

    Okandan, Murat; Nielson, Gregory N.

    2016-07-12

    Solar tracking systems, as well as methods of using such solar tracking systems, are disclosed. More particularly, embodiments of the solar tracking systems include lateral supports horizontally positioned between uprights to support photovoltaic modules. The lateral supports may be raised and lowered along the uprights or translated to cause the photovoltaic modules to track the moving sun.

  17. Elastic tracking versus neural network tracking for very high multiplicity problems

    International Nuclear Information System (INIS)

    Harlander, M.; Gyulassy, M.

    1991-04-01

    A new Elastic Tracking (ET) algorithm is proposed for finding tracks in very high multiplicity and noisy environments. It is based on a dynamical reinterpretation and generalization of the Radon transform and is related to elastic net algorithms for geometrical optimization. ET performs an adaptive nonlinear fit to noisy data with a variable number of tracks. Its numerics is more efficient than that of the traditional Radon or Hough transform method because it avoids binning of phase space and the costly search for valid minima. Spurious local minima are avoided in ET by introducing a time-dependent effective potential. The method is shown to be very robust to noise and measurement error and extends tracking capabilities to much higher track densities than possible via local road finding or even the novel Denby-Peterson neural network tracking algorithms. 12 refs., 2 figs

  18. An artificial neural network model for periodic trajectory generation

    Science.gov (United States)

    Shankar, S.; Gander, R. E.; Wood, H. C.

    A neural network model based on biological systems was developed for potential robotic application. The model consists of three interconnected layers of artificial neurons or units: an input layer subdivided into state and plan units, an output layer, and a hidden layer between the two outer layers which serves to implement nonlinear mappings between the input and output activation vectors. Weighted connections are created between the three layers, and learning is effected by modifying these weights. Feedback connections between the output and the input state serve to make the network operate as a finite state machine. The activation vector of the plan units of the input layer emulates the supraspinal commands in biological central pattern generators in that different plan activation vectors correspond to different sequences or trajectories being recalled, even with different frequencies. Three trajectories were chosen for implementation, and learning was accomplished in 10,000 trials. The fault tolerant behavior, adaptiveness, and phase maintenance of the implemented network are discussed.

  19. Synthetic Jet Actuator-Based Aircraft Tracking Using a Continuous Robust Nonlinear Control Strategy

    Directory of Open Access Journals (Sweden)

    N. Ramos-Pedroza

    2017-01-01

    Full Text Available A robust nonlinear control law that achieves trajectory tracking control for unmanned aerial vehicles (UAVs equipped with synthetic jet actuators (SJAs is presented in this paper. A key challenge in the control design is that the dynamic characteristics of SJAs are nonlinear and contain parametric uncertainty. The challenge resulting from the uncertain SJA actuator parameters is mitigated via innovative algebraic manipulation in the tracking error system derivation along with a robust nonlinear control law employing constant SJA parameter estimates. A key contribution of the paper is a rigorous analysis of the range of SJA actuator parameter uncertainty within which asymptotic UAV trajectory tracking can be achieved. A rigorous stability analysis is carried out to prove semiglobal asymptotic trajectory tracking. Detailed simulation results are included to illustrate the effectiveness of the proposed control law in the presence of wind gusts and varying levels of SJA actuator parameter uncertainty.

  20. Tracking Mobile Robot in Indoor Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Liping Zhang

    2014-01-01

    Full Text Available This work addresses the problem of tracking mobile robots in indoor wireless sensor networks (WSNs. Our approach is based on a localization scheme with RSSI (received signal strength indication which is used widely in WSN. The developed tracking system is designed for continuous estimation of the robot’s trajectory. A WSN, which is composed of many very simple and cheap wireless sensor nodes, is deployed at a specific region of interest. The wireless sensor nodes collect RSSI information sent by mobile robots. A range-based data fusion scheme is used to estimate the robot’s trajectory. Moreover, a Kalman filter is designed to improve tracking accuracy. Experiments are provided to assess the performance of the proposed scheme.