WorldWideScience

Sample records for autonomous congestion control

  1. Autonomous Congestion Control in Delay-Tolerant Networks

    Science.gov (United States)

    Burleigh, Scott; Jennings, Esther; Schoolcraft, Joshua

    2006-01-01

    This presentation highlights communication congestion control in delay-tolerant networks (DTNs). Large-scale future space exploration will offer complex communication challenges that may be best addressed by establishing a network infrastructure. However, current internet techniques for congestion control are not well suited for operation of a network over interplanetary distances. An alternative, delay-tolerant technique for congestion control in a delay-tolerant network is presented. A simple DTN was constructed and an experimental congestion control mechanism was applied. The mechanism appeared to be effective and each router was able to make its bundle acceptance decisions autonomously. Future research will examine more complex topologies and alternative bundle acceptance rules that might enhance performance.

  2. Internet Congestion Control System

    Directory of Open Access Journals (Sweden)

    Pranoto Rusmin

    2010-10-01

    Full Text Available Internet congestion occurs when resource demands exceeds the network capacity. But, it is not the only reason. Congestion can happen on some users because some others user has higher sending rate. Then some users with lower sending rate will experience congestion. This partial congestion is caused by inexactly feedback. At this moment congestion are solved by the involvement of two controlling mechanisms. These mechanisms are flow/congestion control in the TCP source and Active Queue Management (AQM in the router. AQM will provide feedback to the source a kind of indication for the occurrence of the congestion in the router, whereas the source will adapt the sending rate appropriate with the feedback. These mechanisms are not enough to solve internet congestion problem completely. Therefore, this paper will explain internet congestion causes, weakness, and congestion control technique that researchers have been developed. To describe congestion system mechanisms and responses, the system will be simulated by Matlab.

  3. Internet congestion control

    CERN Document Server

    Varma, Subir

    2015-01-01

    Internet Congestion Control provides a description of some of the most important topics in the area of congestion control in computer networks, with special emphasis on the analytical modeling of congestion control algorithms. The field of congestion control has seen many notable advances in recent years and the purpose of this book, which is targeted towards the advanced and intermediate reader, is to inform about the most important developments in this area. The book should enable the reader to gain a good understanding of the application of congestion control theory to a number of applic

  4. Developing Policy for Urban Autonomous Vehicles: Impact on Congestion

    Directory of Open Access Journals (Sweden)

    David Metz

    2018-04-01

    Full Text Available An important problem for surface transport is road traffic congestion, which is ubiquitous and difficult to mitigate. Accordingly, a question for policymakers is the possible impact on congestion of autonomous vehicles. It seems likely that the main impact of vehicle automation will not be seen until driverless vehicles are sufficiently safe for use amid general traffic on urban streets. Shared use driverless vehicles could reduce the cost of taxis and a wider range of public transport vehicles could be economic. Individually owned autonomous vehicles would have the ability to travel unoccupied and may need to be regulated where this might add to congestion. It is possible that autonomous vehicles could provide mobility services at lower cost and wider scope, such that private car use in urban areas could decline and congestion reduce. City authorities should be alert to these possibilities in developing transport policy.

  5. Controlling chaos in Internet congestion control model

    International Nuclear Information System (INIS)

    Chen Liang; Wang Xiaofan; Han Zhengzhi

    2004-01-01

    The TCP end-to-end congestion control plus RED router queue management can be modeled as a discrete-time dynamical system, which may create complex bifurcating and chaotic behavior. Based on the basic features of the TCP-RED model, we propose a time-dependent delayed feedback control algorithm to control chaos in the system by perturbing the accessible RED parameter p max . This method is able to stabilized a router queue occupancy at a level without knowing the exact knowledge of the network. Further, we study the situation of the presence of the UDP traffic

  6. Controlling chaos in Internet congestion control model

    Energy Technology Data Exchange (ETDEWEB)

    Chen Liang E-mail: chenmoon110@yahoo.com.cn; Wang Xiaofan; Han Zhengzhi

    2004-07-01

    The TCP end-to-end congestion control plus RED router queue management can be modeled as a discrete-time dynamical system, which may create complex bifurcating and chaotic behavior. Based on the basic features of the TCP-RED model, we propose a time-dependent delayed feedback control algorithm to control chaos in the system by perturbing the accessible RED parameter p{sub max}. This method is able to stabilized a router queue occupancy at a level without knowing the exact knowledge of the network. Further, we study the situation of the presence of the UDP traffic.

  7. Mean Field Type Control with Congestion

    Energy Technology Data Exchange (ETDEWEB)

    Achdou, Yves, E-mail: achdou@ljll.univ-paris-diderot.fr; Laurière, Mathieu [Univ. Paris Diderot, Sorbonne Paris Cité, Laboratoire Jacques-Louis Lions, UMR 7598, UPMC, CNRS (France)

    2016-06-15

    We analyze some systems of partial differential equations arising in the theory of mean field type control with congestion effects. We look for weak solutions. Our main result is the existence and uniqueness of suitably defined weak solutions, which are characterized as the optima of two optimal control problems in duality.

  8. Congestion control and routing over satellite networks

    Science.gov (United States)

    Cao, Jinhua

    Satellite networks and transmissions find their application in fields of computer communications, telephone communications, television broadcasting, transportation, space situational awareness systems and so on. This thesis mainly focuses on two networking issues affecting satellite networking: network congestion control and network routing optimization. Congestion, which leads to long queueing delays, packet losses or both, is a networking problem that has drawn the attention of many researchers. The goal of congestion control mechanisms is to ensure high bandwidth utilization while avoiding network congestion by regulating the rate at which traffic sources inject packets into a network. In this thesis, we propose a stable congestion controller using data-driven, safe switching control theory to improve the dynamic performance of satellite Transmission Control Protocol/Active Queue Management (TCP/AQM) networks. First, the stable region of the Proportional-Integral (PI) parameters for a nominal model is explored. Then, a PI controller, whose parameters are adaptively tuned by switching among members of a given candidate set, using observed plant data, is presented and compared with some classical AQM policy examples, such as Random Early Detection (RED) and fixed PI control. A new cost detectable switching law with an interval cost function switching algorithm, which improves the performance and also saves the computational cost, is developed and compared with a law commonly used in the switching control literature. Finite-gain stability of the system is proved. A fuzzy logic PI controller is incorporated as a special candidate to achieve good performance at all nominal points with the available set of candidate controllers. Simulations are presented to validate the theory. An effocient routing algorithm plays a key role in optimizing network resources. In this thesis, we briefly analyze Low Earth Orbit (LEO) satellite networks, review the Cross Entropy (CE

  9. Signalling and obfuscation for congestion control

    Science.gov (United States)

    Mareček, Jakub; Shorten, Robert; Yu, Jia Yuan

    2015-10-01

    We aim to reduce the social cost of congestion in many smart city applications. In our model of congestion, agents interact over limited resources after receiving signals from a central agent that observes the state of congestion in real time. Under natural models of agent populations, we develop new signalling schemes and show that by introducing a non-trivial amount of uncertainty in the signals, we reduce the social cost of congestion, i.e., improve social welfare. The signalling schemes are efficient in terms of both communication and computation, and are consistent with past observations of the congestion. Moreover, the resulting population dynamics converge under reasonable assumptions.

  10. Effective Road Model for Congestion Control in VANETs

    OpenAIRE

    Dongre, Manoj M.; Bawane, Narendra G.

    2016-01-01

    Congestion on the roads is a key problem to deal with, which wastes valuable time.. Due to high mobility rate and relative speed link failure occur very often. VANET is used to tackle the problem of congestion, and make decisions well in advance to avoid traffic congestion. In this paper we proposed a solution to detect and control the traffic congestion by using of both (V2V) and (V2I), as a result the drivers become aware of the location of congestion as well as way to avoid getting stuck i...

  11. Software-Defined Congestion Control Algorithm for IP Networks

    Directory of Open Access Journals (Sweden)

    Yao Hu

    2017-01-01

    Full Text Available The rapid evolution of computer networks, increase in the number of Internet users, and popularity of multimedia applications have exacerbated the congestion control problem. Congestion control is a key factor in ensuring network stability and robustness. When the underlying network and flow information are unknown, the transmission control protocol (TCP must increase or reduce the size of the congestion window to adjust to the changes of traffic in the Internet Protocol (IP network. However, it is possible that a software-defined approach can relieve the network congestion problem more efficiently. This approach has the characteristic of centralized control and can obtain a global topology for unified network management. In this paper, we propose a software-defined congestion control (SDCC algorithm for an IP network. We consider the difference between TCP and the user datagram protocol (UDP and propose a new method to judge node congestion. We initially apply the congestion control mechanism in the congested nodes and then optimize the link utilization to control network congestion.

  12. Comparative Study on New AQM Mechanisms for Congestion Control

    Directory of Open Access Journals (Sweden)

    Ramakrishna B B

    2013-09-01

    Full Text Available As usage of network goes increasing day by day, managing network traffic becomes a very difficult task. It is important to avoid high packet loss rates in the Internet. Congestion is the one of the major issue in the present networks. Congestion Control is one of the solutions adopted to solve the congestion issue and to control it. Numbers of queue management algorithms are proposed for congestion control and to reduce high packet loss rates. Active Queue Management (AQM is one such mechanism which provides better control over congestion. In this paper a study is made on recent load based AQM techniques that are proposed and its merits and shortfall is presented.

  13. Autonomous cars and dynamic bottleneck congestion: The effects on capacity, value of time and preference heterogeneity

    NARCIS (Netherlands)

    van den Berg, V.A.C.; Verhoef, E.T.

    2016-01-01

    Autonomous cars’ are cars that can drive themselves without human control. Autonomous cars can safely drive closer together than cars driven by humans, thereby possibly increasing road capacity. By allowing drivers to perform other activities in the vehicle, they may reduce the value of travel time

  14. Fair and efficient network congestion control based on minority game

    Science.gov (United States)

    Wang, Zuxi; Wang, Wen; Hu, Hanping; Deng, Zhaozhang

    2011-12-01

    Low link utility, RTT unfairness and unfairness of Multi-Bottleneck network are the existing problems in the present network congestion control algorithms at large. Through the analogy of network congestion control with the "El Farol Bar" problem, we establish a congestion control model based on minority game(MG), and then present a novel network congestion control algorithm based on the model. The result of simulations indicates that the proposed algorithm can make the achievements of link utility closing to 100%, zero packet lose rate, and small of queue size. Besides, the RTT unfairness and the unfairness of Multi-Bottleneck network can be solved, to achieve the max-min fairness in Multi-Bottleneck network, while efficiently weaken the "ping-pong" oscillation caused by the overall synchronization.

  15. Dynamic origin-to-destination routing of wirelessly connected, autonomous vehicles on a congested network

    Science.gov (United States)

    Davis, L. C.

    2017-07-01

    Up-to-date information wirelessly communicated among vehicles can be used to select the optimal route between a given origin and destination. To elucidate how to make use of such information, simulations are performed for autonomous vehicles traveling on a square lattice of roads. All the possible routes between the origin and the destination (without backtracking) are of the same length. Congestion is the only determinant of delay. At each intersection, right-of-way is given to the closest vehicle. There are no traffic lights. Trip times of a subject vehicle are recorded for various initial conditions using different routing algorithms. Surprisingly, the simplest algorithm, which is based on the total number of vehicles on a route, is as good as one based on computing travel times from the average velocity of vehicles on each road segment.

  16. Performance analysis of SS7 congestion controls under sustained overload

    Science.gov (United States)

    Manfield, David R.; Millsteed, Gregory K.; Zukerman, Moshe

    1994-04-01

    Congestion controls are a key factor in achieving the robust performance required of common channel signaling (CCS) networks in the face of partial network failures and extreme traffic loads, especially as networks become large and carry high traffic volume. The CCITT recommendations define a number of types of congestion control, and the parameters of the controls must be well set in order to ensure their efficacy under transient and sustained signalling network overload. The objective of this paper is to present a modeling approach to the determination of the network parameters that govern the performance of the SS7 congestion controls under sustained overload. Results of the investigation by simulation are presented and discussed.

  17. TCP Congestion Control for the Networks with Markovian Jump Parameters

    Directory of Open Access Journals (Sweden)

    MOMENI, H. R.

    2011-05-01

    Full Text Available This paper is concerned with the problem of TCP congestion control for the class of communication networks with random parameters. The linear dynamic model of TCP New Reno in congestion avoidance mode is considered which contains round trip delays in both state and input. The randomness of link capacity, round trip time delay and the number of TCP sessions is modeled with a continuous-time finite state Markov process. An Active Queue Management (AQM technique is then used to adjust the queue level of the congested link to a predefined value. For this purpose, a dynamic output feedback controller with mode dependent parameters is synthesized to stochastically stabilize the TCP/AQM dynamics. The procedure of the control synthesis is implemented by solving a linear matrix inequality (LMI. The results are tested within a simulation example and the effectiveness of the proposed design method is verified.

  18. Decentralized Control of Autonomous Vehicles

    Science.gov (United States)

    2003-01-01

    Autonomous Vehicles by John S. Baras, Xiaobo Tan, Pedram Hovareshti CSHCN TR 2003-8 (ISR TR 2003-14) Report Documentation Page Form ApprovedOMB No. 0704...AND SUBTITLE Decentralized Control of Autonomous Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT...Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18 Decentralized Control of Autonomous Vehicles ∗ John S. Baras, Xiaobo Tan, and Pedram

  19. Delay-based virtual congestion control in multi-tenant datacenters

    Science.gov (United States)

    Liu, Yuxin; Zhu, Danhong; Zhang, Dong

    2018-03-01

    With the evolution of cloud computing and virtualization, the congestion control of virtual datacenters has become the basic issue for multi-tenant datacenters transmission. Regarding to the friendly conflict of heterogeneous congestion control among multi-tenant, this paper proposes a delay-based virtual congestion control, which translates the multi-tenant heterogeneous congestion control into delay-based feedback uniformly by setting the hypervisor translation layer, modifying three-way handshake of explicit feedback and packet loss feedback and throttling receive window. The simulation results show that the delay-based virtual congestion control can effectively solve the unfairness of heterogeneous feedback congestion control algorithms.

  20. Design and simulation of airport congestion control algorithms

    OpenAIRE

    Simaiakis, Ioannis; Balakrishnan, Hamsa

    2014-01-01

    This paper proposes a stochastic model of runway departures and a dynamic programming algorithm for their control at congested airports. Using a multi-variable state description that includes the capacity forecast, the runway system is modeled as a semi-Markov process. The paper then introduces a queuing system for modeling the controlled departure process that enables the efficient calculation of optimal pushback policies using decomposition techniques. The developed algorithm is simulated a...

  1. Novel methods of utilizing Jitter for Network Congestion Control

    Directory of Open Access Journals (Sweden)

    Ivan

    2013-12-01

    Full Text Available This paper proposes a novel paradigm for network congestion control. Instead of perpetual conflict as in TCP, a proof-of-concept first-ever protocol enabling inter-flow communication without infrastructure support thru a side channel constructed on generic FIFO queue behaviour is presented. This enables independent flows passing thru the same bottleneck queue to communicate and achieve fair capacity sharing and a stable equilibrium state in a rapid fashion.

  2. Fair decentralized data-rate congestion control for V2V communications

    NARCIS (Netherlands)

    Belagal Math, C.; Li, H.; Heemstra De Groot, S.M.; Niemegeers, I.G.M.M.

    2017-01-01

    Channel congestion is one of the most critical issues in IEEE 802.11p-based vehicular ad hoc networks because congestion may lead to unreliability of applications. As a counter measure, the European Telecommunications Standard Institute (ETSI), proposes a mandatory Decentralized Congestion Control

  3. Adaptive mechanism-based congestion control for networked systems

    Science.gov (United States)

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

    2013-03-01

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

  4. Congestion control for vehicular delay tolerant network routing protocols

    OpenAIRE

    Oham, Chuka Finbars

    2014-01-01

    The Vehicular Delay Tolerant Network (VDTN) is a special and challenging type of the Delay Tolerant Network because of its high mobility, frequent disconnections and nodal congestion features. These challenging features make it prone to congestion which leads to a considerable amount of message drops in the network. To minimize the impact of congestion in the network, we designed and implemented the Congestion Aware Spray and Wait (CASaW) routing protocol. We varied the buffer sizes of the no...

  5. Structured control for autonomous robots

    International Nuclear Information System (INIS)

    Simmons, R.G.

    1994-01-01

    To operate in rich, dynamic environments, autonomous robots must be able to effectively utilize and coordinate their limited physical and occupational resources. As complexity increases, it becomes necessary to impose explicit constraints on the control of planning, perception, and action to ensure that unwanted interactions between behaviors do not occur. This paper advocates developing complex robot systems by layering reactive behaviors onto deliberative components. In this structured control approach, the deliberative components handle normal situations and the reactive behaviors, which are explicitly constrained as to when and how they are activated, handle exceptional situations. The Task Control Architecture (TCA) has been developed to support this approach. TCA provides an integrated set of control constructs useful for implementing deliberative and reactive behaviors. The control constructs facilitate modular and evolutionary system development: they are used to integrate and coordinate planning, perception, and execution, and to incrementally improve the efficiency and robustness of the robot systems. To date, TCA has been used in implementing a half-dozen mobile robot systems, including an autonomous six-legged rover and indoor mobile manipulator

  6. Approaching Incast Congestion with Multi-host Ethernet Controllers

    CERN Document Server

    Jereczek, Grzegorz Edmund; The ATLAS collaboration

    2018-01-01

    The bursty many-to-one communication pattern, typical for data acquisition systems, but also present in datacenter networks, is particularly demanding for commodity TCP/IP and Ethernet technologies. We expand our study of building incast-resistant networks based on software switches running on commercial-off-the-shelf servers. In this paper we provide the estimates for costs and physical area required to build such a network. Our estimates indicate that our proposed design offers significant cost advantage over traditional solutions, but higher space utilisation. Next, we show how the latter can be improved with multi-host Ethernet controllers, as an alternative to typical network interface cards. This can also make software switching easier to adapt in datacenter as a solution for incast congestion. We confirm the capabilities for incast-avoidance by evaluating the performance of a reference platform.

  7. Approaching Incast Congestion with Multi-host Ethernet Controllers

    CERN Document Server

    AUTHOR|(SzGeCERN)698154; The ATLAS collaboration; Lehmann Miotto, Giovanna; Malone, David; Walukiewicz, Miroslaw

    2017-01-01

    The bursty many-to-one communication pattern, typical for data acquisition systems, but also present in datacenter networks, is particularly demanding for commodity TCP/IP and Ethernet technologies. We expand our study of building incast-resistant networks based on software switches running on commercial-off-the-shelf servers. In this paper we provide the estimates for costs and physical area required to build such a network. Our estimates indicate that our proposed design offers significant cost advantage over traditional solutions, but higher space utilisation. Next, we show how the latter can be improved with multi-host Ethernet controllers, as an alternative to typical network interface cards. This can also make software switching easier to adapt in datacenter as a solution for incast congestion. We confirm the capabilities for incast-avoidance by evaluating the performance of a reference platform.

  8. Congestion control in wireless links based on selective delivery of erroneous packets

    DEFF Research Database (Denmark)

    Korhonen, Jari; Perkis, Andrew; Reiter, Ulrich

    2011-01-01

    Traditionally, congestion control in packet networks is performed by reducing the transmission rate when congestion is detected, in order to cut down the traffic that overwhelms the capacity of the network. However, if the bottleneck is a wireless link, congestion is often cumulated because...... the performance of the proposed mechanism against traditional congestion control with a simulation study. The results show that the proposed approach can improve the overall performance both by increasing the throughput over the wireless and improving the video quality in terms of peak signal-to-noise ratio (PSNR...

  9. Operational performance of a congested corridor with lanes dedicated to autonomous vehicle traffic

    Directory of Open Access Journals (Sweden)

    Zachary Vander Laan

    2017-06-01

    Full Text Available This paper considers the operational performance impact of autonomous vehicles (AV on a multi-lane freeway corridor with separate lanes dedicated to AV and non-AV traffic. Autonomous vehicle behavior is modeled at the macroscopic level by modifying the fundamental diagram relating hourly traffic flow and vehicle density, a step that is justified by adjusting a parameter from Newell’s car-following model at the microscopic level and transforming back to a macroscopic representation. The model is applied to the I-95 corridor between Washington, DC and Baltimore, MD during the PM peak period, where the impact of introducing a managed AV-only lane is assessed at varying penetration rates of autonomous vehicles. The results show that the overall corridor performance metrics improve with increasing penetration rates up to 30%, 40% or 50% (depending on the underlying assumptions that govern AV behavior, after which the performance deteriorates drastically. Implications of the results are discussed in light of the per-lane and aggregated metrics, and future directions for research are proposed.

  10. Autonomous Control of Space Reactor Systems

    International Nuclear Information System (INIS)

    Belle R. Upadhyaya; K. Zhao; S.R.P. Perillo; Xiaojia Xu; M.G. Na

    2007-01-01

    Autonomous and semi-autonomous control is a key element of space reactor design in order to meet the mission requirements of safety, reliability, survivability, and life expectancy. Interrestrial nuclear power plants, human operators are available to perform intelligent control functions that are necessary for both normal and abnormal operational conditions

  11. Autonomous Control of Space Reactor Systems

    Energy Technology Data Exchange (ETDEWEB)

    Belle R. Upadhyaya; K. Zhao; S.R.P. Perillo; Xiaojia Xu; M.G. Na

    2007-11-30

    Autonomous and semi-autonomous control is a key element of space reactor design in order to meet the mission requirements of safety, reliability, survivability, and life expectancy. Interrestrial nuclear power plants, human operators are avilable to perform intelligent control functions that are necessary for both normal and abnormal operational conditions.

  12. Autonomous intelligent cruise control system

    Science.gov (United States)

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

    1995-01-01

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

  13. End to end adaptive congestion control in TCP/IP networks

    CERN Document Server

    Houmkozlis, Christos N

    2012-01-01

    This book provides an adaptive control theory perspective on designing congestion controls for packet-switching networks. Relevant to a wide range of disciplines and industries, including the music industry, computers, image trading, and virtual groups, the text extensively discusses source oriented, or end to end, congestion control algorithms. The book empowers readers with clear understanding of the characteristics of packet-switching networks and their effects on system stability and performance. It provides schemes capable of controlling congestion and fairness and presents real-world app

  14. Cooperative Control of Multiple Unmanned Autonomous Vehicles

    Science.gov (United States)

    2005-06-03

    I I Final Report 4. TITLE AND SUBTITLE 5. FUNDING NUMBERS Cooperative Control of Multiple Unmanned Autonomous Vehicles F49620-01-1-0337 6. AUTHOR(S... Autonomous Vehicles Final Report Kendall E. Nygard Department of Computer Science and Operations Research North Dakota State University Fargo, ND 58105-5164

  15. A NEW PREDICTIVE MODEL FOR CONGESTION CONTROL IN WIRELESS SENSOR NETWORKS

    Directory of Open Access Journals (Sweden)

    NAJME TANZADE PANAH

    2017-06-01

    Full Text Available With the increase of various applications in the domain of wireless sensor networks, the tendency to use wireless sensors has gradually increased in different applications. On the other hand, diverse traffic with different priorities generated by these sensors requires providing adaptive quality of services based on users` needs. In this paper, a congestion control predictor model is proposed for wireless sensor networks, which considers parameters like network energy consumption, packet loss rate and percentage of delivered high and medium priority packets to the destination. This method consists of congestion prevention, congestion control, and energy control plans using shortest path selection algorithm. In the congestion prevention plan, congestion is prevented by investigating the queues length. In the congestion control plan, the congestion is controlled by reducing the transmission rate. Finally, the energy control plan aims to partially balance the energy of nodes to prevent network failures due to node energy outage. Simulation results indicated that the proposed method has a higher efficiency regarding the aforementioned parameters. In addition, comparisons with other well-known methods showed the effectiveness of the proposed method.

  16. A New TCP Congestion Control Supporting RTT-Fairness

    Science.gov (United States)

    Ogura, Kazumine; Nemoto, Yohei; Su, Zhou; Katto, Jiro

    This paper focuses on RTT-fairness of multiple TCP flows over the Internet, and proposes a new TCP congestion control named “HRF (Hybrid RTT-Fair)-TCP”. Today, it is a serious problem that the flows having smaller RTT utilize more bandwidth than others when multiple flows having different RTT values compete in the same network. This means that a user with longer RTT may not be able to obtain sufficient bandwidth by the current methods. This RTT fairness issue has been discussed in many TCP papers. An example is CR (Constant Rate) algorithm, which achieves RTT-fairness by multiplying the square of RTT value in its window increment phase against TCP-Reno. However, the method halves its windows size same as TCP-Reno when a packet loss is detected. This makes worse its efficiency in certain network cases. On the other hand, recent proposed TCP versions essentially require throughput efficiency and TCP-friendliness with TCP-Reno. Therefore, we try to keep these advantages in our TCP design in addition to RTT-fairness. In this paper, we make intuitive analytical models in which we separate resource utilization processes into two cases: utilization of bottleneck link capacity and that of buffer space at the bottleneck link router. These models take into account three characteristic algorithms (Reno, Constant Rate, Constant Increase) in window increment phase where a sender receives an acknowledgement successfully. Their validity is proved by both simulations and implementations. From these analyses, we propose HRF-TCP which switches two modes according to observed RTT values and achieves RTT fairness. Experiments are carried out to validate the proposed method. Finally, HRF-TCP outperforms conventional methods in RTT-fairness, efficiency and friendliness with TCP-Reno.

  17. Bifurcation and stability of an improved time-delayed fluid flow model in internet congestion control

    International Nuclear Information System (INIS)

    Yu-Liang, Liu; Jie, Zhu; Xiao-Shu, Luo

    2009-01-01

    Based on the fluid flow time-delayed model proposed by Misra et al in internet congestion control, one modified time-delayed model is presented, where the influence of the communication delay on the router queue length is investigated in detail. The main advantage of the new model is that its stability domain is larger even without an extra controller. By linear stability analysis and numerical simulation, the effectiveness and feasibility of the novel model in internet congestion control are verified

  18. Bifurcation and stability of an improved time-delayed fluid flow model in internet congestion control

    Science.gov (United States)

    Liu, Yu-Liang; Zhu, Jie; Luo, Xiao-Shu

    2009-09-01

    Based on the fluid flow time-delayed model proposed by Misra et al in internet congestion control, one modified time-delayed model is presented, where the influence of the communication delay on the router queue length is investigated in detail. The main advantage of the new model is that its stability domain is larger even without an extra controller. By linear stability analysis and numerical simulation, the effectiveness and feasibility of the novel model in internet congestion control are verified.

  19. Mathematic Modeling and Performance Analysis of an Adaptive Congestion Control in Intelligent Transportation Systems

    OpenAIRE

    Naja, Rola; Université de Versailles

    2015-01-01

    In this paper, we develop a preventive congestion control mechanism applied at highway entrances and devised for Intelligent Transportation Systems (ITS). The proposed mechanism provides a vehicular admission control, regulates input traffic and performs vehicular traffic shaping. Our congestion control mechanism includes two classes of vehicles and is based on a specific priority ticket pool scheme with queue-length threshold scheduling policy, tailored to vehicular networks. In an attempt t...

  20. A Survey of Congestion Control Techniques and Data Link Protocols in Satellite Networks

    OpenAIRE

    Fahmy, Sonia; Jain, Raj; Lu, Fang; Kalyanaraman, Shivkumar

    1998-01-01

    Satellite communication systems are the means of realizing a global broadband integrated services digital network. Due to the statistical nature of the integrated services traffic, the resulting rate fluctuations and burstiness render congestion control a complicated, yet indispensable function. The long propagation delay of the earth-satellite link further imposes severe demands and constraints on the congestion control schemes, as well as the media access control techniques and retransmissi...

  1. Tracked robot controllers for climbing obstacles autonomously

    Science.gov (United States)

    Vincent, Isabelle

    2009-05-01

    Research in mobile robot navigation has demonstrated some success in navigating flat indoor environments while avoiding obstacles. However, the challenge of analyzing complex environments to climb obstacles autonomously has had very little success due to the complexity of the task. Unmanned ground vehicles currently exhibit simple autonomous behaviours compared to the human ability to move in the world. This paper presents the control algorithms designed for a tracked mobile robot to autonomously climb obstacles by varying its tracks configuration. Two control algorithms are proposed to solve the autonomous locomotion problem for climbing obstacles. First, a reactive controller evaluates the appropriate geometric configuration based on terrain and vehicle geometric considerations. Then, a reinforcement learning algorithm finds alternative solutions when the reactive controller gets stuck while climbing an obstacle. The methodology combines reactivity to learning. The controllers have been demonstrated in box and stair climbing simulations. The experiments illustrate the effectiveness of the proposed approach for crossing obstacles.

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

    Directory of Open Access Journals (Sweden)

    Wei Zhang

    2012-01-01

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

  3. Applications of variable speed control for contending with recurrent highway congestion.

    Science.gov (United States)

    2014-07-01

    This research project developed vital operational guidelines for design of a variable speed limit (VSL) system and its integrated operations with ramp metering control in contending with recurrent highway congestion. The developed guidelines can serv...

  4. Hybrid control of bifurcation and chaos in stroboscopic model of Internet congestion control system

    International Nuclear Information System (INIS)

    Ding Dawei; Zhu Jie; Luo Xiaoshu

    2008-01-01

    Interaction between transmission control protocol (TCP) and random early detection (RED) gateway in the Internet congestion control system has been modelled as a discrete-time dynamic system which exhibits complex bifurcating and chaotic behaviours. In this paper, a hybrid control strategy using both state feedback and parameter perturbation is employed to control the bifurcation and stabilize the chaotic orbits embedded in this discrete-time dynamic system of TCP/RED. Theoretical analysis and numerical simulations show that the bifurcation is delayed and the chaotic orbits are stabilized to a fixed point, which reliably achieves a stable average queue size in an extended range of parameters and even completely eliminates the chaotic behaviour in a particular range of parameters. Therefore it is possible to decrease the sensitivity of RED to parameters. By using the hybrid strategy, we may improve the stability and performance of TCP/RED congestion control system significantly

  5. Hopf bifurcation in an Internet congestion control model

    International Nuclear Information System (INIS)

    Li Chunguang; Chen Guanrong; Liao Xiaofeng; Yu Juebang

    2004-01-01

    We consider an Internet model with a single link accessed by a single source, which responds to congestion signals from the network, and study bifurcation of such a system. By choosing the gain parameter as a bifurcation parameter, we prove that Hopf bifurcation occurs. The stability of bifurcating periodic solutions and the direction of the Hopf bifurcation are determined by applying the normal form theory and the center manifold theorem. Finally, a numerical example is given to verify the theoretical analysis

  6. Biology-Inspired Autonomous Control

    Science.gov (United States)

    2011-08-31

    insect brain, allow these animals to fly with damaged wings, order of body mass payloads (e.g., foraging bees with a load of pollen , blood satiated...The research focus addressed two broad, complementary research areas : autonomous systems concepts inspired by the behavior and neurobiology...UL 46 19b. TELEPHONE NUMBER (include area code) 850 883-1887 Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std. Z39.18 iii Table of

  7. Cross-Layer Design of Source Rate Control and Congestion Control for Wireless Video Streaming

    Directory of Open Access Journals (Sweden)

    Peng Zhu

    2007-01-01

    Full Text Available Cross-layer design has been used in streaming video over the wireless channels to optimize the overall system performance. In this paper, we extend our previous work on joint design of source rate control and congestion control for video streaming over the wired channel, and propose a cross-layer design approach for wireless video streaming. First, we extend the QoS-aware congestion control mechanism (TFRCC proposed in our previous work to the wireless scenario, and provide a detailed discussion about how to enhance the overall performance in terms of rate smoothness and responsiveness of the transport protocol. Then, we extend our previous joint design work to the wireless scenario, and a thorough performance evaluation is conducted to investigate its performance. Simulation results show that by cross-layer design of source rate control at application layer and congestion control at transport layer, and by taking advantage of the MAC layer information, our approach can avoid the throughput degradation caused by wireless link error, and better support the QoS requirements of the application. Thus, the playback quality is significantly improved, while good performance of the transport protocol is still preserved.

  8. Advanced control architecture for autonomous vehicles

    Science.gov (United States)

    Maurer, Markus; Dickmanns, Ernst D.

    1997-06-01

    An advanced control architecture for autonomous vehicles is presented. The hierarchical architecture consists of four levels: a vehicle level, a control level, a rule-based level and a knowledge-based level. A special focus is on forms of internal representation, which have to be chosen adequately for each level. The control scheme is applied to VaMP, a Mercedes passenger car which autonomously performs missions on German freeways. VaMP perceives the environment with its sense of vision and conventional sensors. It controls its actuators for locomotion and attention focusing. Modules for perception, cognition and action are discussed.

  9. Control of autonomous robot using neural networks

    Science.gov (United States)

    Barton, Adam; Volna, Eva

    2017-07-01

    The aim of the article is to design a method of control of an autonomous robot using artificial neural networks. The introductory part describes control issues from the perspective of autonomous robot navigation and the current mobile robots controlled by neural networks. The core of the article is the design of the controlling neural network, and generation and filtration of the training set using ART1 (Adaptive Resonance Theory). The outcome of the practical part is an assembled Lego Mindstorms EV3 robot solving the problem of avoiding obstacles in space. To verify models of an autonomous robot behavior, a set of experiments was created as well as evaluation criteria. The speed of each motor was adjusted by the controlling neural network with respect to the situation in which the robot was found.

  10. Control algorithms for autonomous robot navigation

    International Nuclear Information System (INIS)

    Jorgensen, C.C.

    1985-01-01

    This paper examines control algorithm requirements for autonomous robot navigation outside laboratory environments. Three aspects of navigation are considered: navigation control in explored terrain, environment interactions with robot sensors, and navigation control in unanticipated situations. Major navigation methods are presented and relevance of traditional human learning theory is discussed. A new navigation technique linking graph theory and incidental learning is introduced

  11. Distributed formation control for autonomous robots

    NARCIS (Netherlands)

    Garcia de Marina Peinado, Hector Jesús

    2016-01-01

    This thesis addresses several theoretical and practical problems related to formation-control of autonomous robots. Formation-control aims to simultaneously accomplish the tasks of forming a desired shape by the robots and controlling their coordinated collective motion. This kind of robot

  12. Congestion and flow control in signaling system no. 7: Impacts of intelligent networks and new services

    Science.gov (United States)

    Zepf, Joachim; Rufa, Gerhard

    1994-04-01

    This paper focuses on the transient performance analysis of the congestion and flow control mechanisms in CCITT Signaling System No. 7 (SS7). Special attention is directed to the impacts of the introduction of intelligent services and new applications, e.g., Freephone, credit card services, user-to-user signaling, etc. In particular, we show that signaling traffic characteristics like signaling scenarios or signaling message length as well as end-to-end signaling capabilities have a significant influence on the congestion and flow control and, therefore, on the real-time signaling performance. One important result of our performance studies is that if, e.g., intelligent services are introduced, the SS7 congestion and flow control does not work correctly. To solve this problem, some reinvestigations into these mechanisms would be necessary. Therefore, some approaches, e.g., modification of the Signaling Connection Control Part (SCCP) congestion control, usage of the SCCP relay function, or a redesign of the MTP flow control procedures are discussed in order to guarantee the efficacy of the congestion and flow control mechanisms also in the future.

  13. An Auto Tuning Substation Peak Shaving Controller for Congestion Management Using Flexible Demand

    DEFF Research Database (Denmark)

    Sossan, Fabrizio; Marinelli, Mattia

    2013-01-01

    A closed loop substation peak shaving/congestion management controller for radial distribution networks is presented. The controller it uses an individual control signal in order to shift the consumption of a population of demand side resources, DSRs. The controller auto tunes its parameters on...

  14. Receiver-Assisted Congestion Control to Achieve High Throughput in Lossy Wireless Networks

    Science.gov (United States)

    Shi, Kai; Shu, Yantai; Yang, Oliver; Luo, Jiarong

    2010-04-01

    Many applications would require fast data transfer in high-speed wireless networks nowadays. However, due to its conservative congestion control algorithm, Transmission Control Protocol (TCP) cannot effectively utilize the network capacity in lossy wireless networks. In this paper, we propose a receiver-assisted congestion control mechanism (RACC) in which the sender performs loss-based control, while the receiver is performing delay-based control. The receiver measures the network bandwidth based on the packet interarrival interval and uses it to compute a congestion window size deemed appropriate for the sender. After receiving the advertised value feedback from the receiver, the sender then uses the additive increase and multiplicative decrease (AIMD) mechanism to compute the correct congestion window size to be used. By integrating the loss-based and the delay-based congestion controls, our mechanism can mitigate the effect of wireless losses, alleviate the timeout effect, and therefore make better use of network bandwidth. Simulation and experiment results in various scenarios show that our mechanism can outperform conventional TCP in high-speed and lossy wireless environments.

  15. The congestion control algorithm based on queue management of each node in mobile ad hoc networks

    Science.gov (United States)

    Wei, Yifei; Chang, Lin; Wang, Yali; Wang, Gaoping

    2016-12-01

    This paper proposes an active queue management mechanism, considering the node's own ability and its importance in the network to set the queue threshold. As the network load increases, local congestion of mobile ad hoc network may lead to network performance degradation, hot node's energy consumption increase even failure. If small energy nodes congested because of forwarding data packets, then when it is used as the source node will cause a lot of packet loss. This paper proposes an active queue management mechanism, considering the node's own ability and its importance in the network to set the queue threshold. Controlling nodes buffer queue in different levels of congestion area probability by adjusting the upper limits and lower limits, thus nodes can adjust responsibility of forwarding data packets according to their own situation. The proposed algorithm will slow down the send rate hop by hop along the data package transmission direction from congestion node to source node so that to prevent further congestion from the source node. The simulation results show that, the algorithm can better play the data forwarding ability of strong nodes, protect the weak nodes, can effectively alleviate the network congestion situation.

  16. A Cooperative Congestion Control Approach within VANETs: Formal Verification and Performance Evaluation

    Directory of Open Access Journals (Sweden)

    Bouassida MohamedSalah

    2010-01-01

    Full Text Available The main objective of congestion control is to best exploit the available network resources while preventing sustained overloads of network nodes and links. Appropriate congestion control mechanisms are essential to provide effcient operation of a network. Ensuring congestion control within vehicular ad hoc networks faces special challenges, due to the specificities of such environment (High mobility of nodes, high rate of topology changes, high variability in nodes density and neighborhood configuration, broadcast/geocast communication nature, etc.. In this context, we present in this paper a cooperative and fully distributed congestion control approach, based on dynamic scheduling and transmission of priority-based messages, to ensure reliable and safe communication architecture within VANET. Messages priorities are dynamically evaluated according to their types, the network context, and the neighboring nodes configuration. Considering the context of high reliability and real-time response required for intervehicular communications (including emergency breaking notification for example, we propose a complete validation method of our congestion control algorithms, taking into account reliability, temporal, and operational aspects.

  17. A Multifunctional Coating for Autonomous Corrosion Control

    Science.gov (United States)

    Calle, Luz M.; Li, Wenyan; Buhrow, Jerry W.; Jolley, Scott t.

    2011-01-01

    Nearly all metals and their alloys are subject to corrosion that causes them to lose their structural integrity or other critical functionality. Protective coatings are the most commonly used method of corrosion control. However, progressively stricter environmental regulations have resulted in the ban of many commercially available corrosion protective coatings due to the harmful effects of their solvents or corrosion inhibitors. This work concerns the development of a multifunctional smart coating for the autonomous control of corrosion. This coating is being developed to have the inherent ability to detect the chemical changes associated with the onset of corrosion and respond autonomously to indicate it and control it. The multi-functionality of the coating is based on microencapsulation technology specifically designed for corrosion control applications. This design has, in addition to all the advantages of existing microcapsulation designs, the corrosion controlled release function that triggers the delivery of corrosion indicators and inhibitors on demand, only when and where needed. Microencapsulation of self-healing agents for autonomous repair of mechanical damage to the coating is also being pursued. Corrosion indicators, corrosion inhibitors, as well as self-healing agents, have been encapsulated and dispersed into several paint systems to test the corrosion detection, inhibition, and self-healing properties of the coating. Key words: Corrosion, coating, autonomous corrosion control, corrosion indication, corrosion inhibition, self-healing coating, smart coating, multifunctional coating, microencapsulation.

  18. Wireless Sensor Network Congestion Control Based on Standard Particle Swarm Optimization and Single Neuron PID.

    Science.gov (United States)

    Yang, Xiaoping; Chen, Xueying; Xia, Riting; Qian, Zhihong

    2018-04-19

    Aiming at the problem of network congestion caused by the large number of data transmissions in wireless routing nodes of wireless sensor network (WSN), this paper puts forward an algorithm based on standard particle swarm⁻neural PID congestion control (PNPID). Firstly, PID control theory was applied to the queue management of wireless sensor nodes. Then, the self-learning and self-organizing ability of neurons was used to achieve online adjustment of weights to adjust the proportion, integral and differential parameters of the PID controller. Finally, the standard particle swarm optimization to neural PID (NPID) algorithm of initial values of proportion, integral and differential parameters and neuron learning rates were used for online optimization. This paper describes experiments and simulations which show that the PNPID algorithm effectively stabilized queue length near the expected value. At the same time, network performance, such as throughput and packet loss rate, was greatly improved, which alleviated network congestion and improved network QoS.

  19. An autonomous control framework for advanced reactors

    Directory of Open Access Journals (Sweden)

    Richard T. Wood

    2017-08-01

    Full Text Available Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors.

  20. An autonomous control framework for advanced reactors

    International Nuclear Information System (INIS)

    Wood, Richard T.; Upadhyaya, Belle R.; Floyd, Dan C.

    2017-01-01

    Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors

  1. An autonomous control framework for advanced reactors

    Energy Technology Data Exchange (ETDEWEB)

    Wood, Richard T.; Upadhyaya, Belle R.; Floyd, Dan C. [Dept. of Nuclear Engineering, University of Tennessee, Knoxville (United States)

    2017-08-15

    Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors.

  2. Autonomous Control, Climate and Environmental Changes Effects ...

    African Journals Online (AJOL)

    Autonomous Control, Climate and Environmental Changes Effects on Trypanosomiasis in Sub-Saharan Africa: A Review. ... African trypanosomiasis is a parasitic disease that causes serious economic losses in livestock due to anemia, loss of condition and emaciation. The disease when neglected is lethal and untreated ...

  3. Towards Autonomous Control of HVAC Systems

    DEFF Research Database (Denmark)

    Brath, P.

    autonomous control. Together with better tuned controllers and more dedicated control it would be possible to decrease the energy consumption, save money and increase the indoor air climate. A flexible HVAC test system was designed and implemented. Standard components and sensors were used in the design...... temperature controller, based on airflow control, was designed. Feedback linearisation is used together with an auto-tuning procedure, based on relay feedback. Design of a new CO2 controller was made to achieve a demand controlled ventilation system, in order to save energy. Feedback linearisation was used...

  4. Design, Implementation and Evaluation of Congestion Control Mechanism for Video Streaming

    OpenAIRE

    Hiroshi Noborio; Hiroyuki Hisamatsu; Hiroki Oda

    2011-01-01

    In recent years, video streaming services over TCP, such as YouTube, have become more and more popular. TCP NewReno, the current TCP standard, performs greedy congestion control, which increases the congestion window size until packet loss occurs. Therefore, because TCP transmits data at a much higher rate than the video playback rate, the probability of packet loss in the network increases, which in turn takes bandwidth from other network traffic. In this paper, we propose a new transport-la...

  5. Intelligent Traffic Control System Implementation for Traffic Violation Control, Congestion Control and Stolen Vehicle Detection

    Directory of Open Access Journals (Sweden)

    Swarup Suresh Kulkarni

    2017-07-01

    Full Text Available Traffic is significant issue in our nation, particularly in urban ranges. Aftereffect of this, activity clog issue happens. Crisis vehicle like rescue vehicle, fire unit, squad cars confront bunches of issue to achieve their goal on account of congested driving conditions, coming about loss of human lives. To minimize this issue we approach new idea name as ”Traffic control framework for blockage control and stolen Vehicle location”. In this framework activity freedom done by transforming Red flag into Green flag. We demonstrate idea of what is called ”Green wave”. Alongside this, we distinguish stolen vehicle by utilizing extremely advantageous RFID innovation. In the event that stolen vehicle is been distinguished, the framework gives ready sign through ringer. Framework sends Message with the assistance of GSM to Police station. In this framework we Use diverse RFID labels for recognizing rescue vehicle, stolen Vehicles. On the off chance that Red flag is on and IR sensor is initiated, then framework gives ringer alarm to movement police. This is novel framework which encourage great answer for comprehend traffic clog.

  6. Infinite horizon optimal impulsive control with applications to Internet congestion control

    Science.gov (United States)

    Avrachenkov, Konstantin; Habachi, Oussama; Piunovskiy, Alexey; Zhang, Yi

    2015-04-01

    We investigate infinite-horizon deterministic optimal control problems with both gradual and impulsive controls, where any finitely many impulses are allowed simultaneously. Both discounted and long-run time-average criteria are considered. We establish very general and at the same time natural conditions, under which the dynamic programming approach results in an optimal feedback policy. The established theoretical results are applied to the Internet congestion control, and by solving analytically and nontrivially the underlying optimal control problems, we obtain a simple threshold-based active queue management scheme, which takes into account the main parameters of the transmission control protocols, and improves the fairness among the connections in a given network.

  7. Inter-Vehicle Communication System Utilizing Autonomous Distributed Transmit Power Control

    Science.gov (United States)

    Hamada, Yuji; Sawa, Yoshitsugu; Goto, Yukio; Kumazawa, Hiroyuki

    In ad-hoc network such as inter-vehicle communication (IVC) system, safety applications that vehicles broadcast the information such as car velocity, position and so on periodically are considered. In these applications, if there are many vehicles broadcast data in a communication area, congestion incurs a problem decreasing communication reliability. We propose autonomous distributed transmit power control method to keep high communication reliability. In this method, each vehicle controls its transmit power using feed back control. Furthermore, we design a communication protocol to realize the proposed method, and we evaluate the effectiveness of proposed method using computer simulation.

  8. Design issues of a back-pressure-based congestion control mechanism

    NARCIS (Netherlands)

    Malhotra, R.; Mandjes, M.R.H.; Scheinhardt, W.R.W.; Berg, van den J.L.

    2008-01-01

    Congestion control in packet-based networks is often realized by feedback protocols -- in this paper we assess the performance under a back-pressure mechanism that has been proposed and standardized for Ethernet metropolitan networks. Relying on our earlier results for feedback fluid queues, we

  9. Autonomous grain combine control system

    Science.gov (United States)

    Hoskinson, Reed L.; Kenney, Kevin L.; Lucas, James R.; Prickel, Marvin A.

    2013-06-25

    A system for controlling a grain combine having a rotor/cylinder, a sieve, a fan, a concave, a feeder, a header, an engine, and a control system. The feeder of the grain combine is engaged and the header is lowered. A separator loss target, engine load target, and a sieve loss target are selected. Grain is harvested with the lowered header passing the grain through the engaged feeder. Separator loss, sieve loss, engine load and ground speed of the grain combine are continuously monitored during the harvesting. If the monitored separator loss exceeds the selected separator loss target, the speed of the rotor/cylinder, the concave setting, the engine load target, or a combination thereof is adjusted. If the monitored sieve loss exceeds the selected sieve loss target, the speed of the fan, the size of the sieve openings, or the engine load target is adjusted.

  10. CCS_WHMS: A Congestion Control Scheme for Wearable Health Management System.

    Science.gov (United States)

    Kafi, Mohamed Amine; Ben Othman, Jalel; Bagaa, Miloud; Badache, Nadjib

    2015-12-01

    Wearable computing is becoming a more and more attracting field in the last years thanks to the miniaturisation of electronic devices. Wearable healthcare monitoring systems (WHMS) as an important client of wearable computing technology has gained a lot. Indeed, the wearable sensors and their surrounding healthcare applications bring a lot of benefits to patients, elderly people and medical staff, so facilitating their daily life quality. But from a research point of view, there is still work to accomplish in order to overcome the gap between hardware and software parts. In this paper, we target the problem of congestion control when all these healthcare sensed data have to reach the destination in a reliable manner that avoids repetitive transmission which wastes precious energy or leads to loss of important information in emergency cases, too. We propose a congestion control scheme CCS_WHMS that ensures efficient and fair data delivery while used in the body wearable system part or in the multi-hop inter bodies wearable ones to get the destination. As the congestion detection paradigm is very important in the control process, we do experimental tests to compare between state of the art congestion detection methods, using MICAz motes, in order to choose the appropriate one for our scheme.

  11. Congestion Control and Traffic Scheduling for Collaborative Crowdsourcing in SDN Enabled Mobile Wireless Networks

    Directory of Open Access Journals (Sweden)

    Dawei Shen

    2018-01-01

    Full Text Available Currently, a number of crowdsourcing-based mobile applications have been implemented in mobile networks and Internet of Things (IoT, targeted at real-time services and recommendation. The frequent information exchanges and data transmissions in collaborative crowdsourcing are heavily injected into the current communication networks, which poses great challenges for Mobile Wireless Networks (MWN. This paper focuses on the traffic scheduling and load balancing problem in software-defined MWN and designs a hybrid routing forwarding scheme as well as a congestion control algorithm to achieve the feasible solution. The traffic scheduling algorithm first sorts the tasks in an ascending order depending on the amount of tasks and then solves it using a greedy scheme. In the proposed congestion control scheme, the traffic assignment is first transformed into a multiknapsack problem, and then the Artificial Fish Swarm Algorithm (AFSA is utilized to solve this problem. Numerical results on practical network topology reveal that, compared with the traditional schemes, the proposed congestion control and traffic scheduling schemes can achieve load balancing, reduce the probability of network congestion, and improve the network throughput.

  12. Fuzzy Logic Based Autonomous Traffic Control System

    Directory of Open Access Journals (Sweden)

    Muhammad ABBAS

    2012-01-01

    Full Text Available The aim of this paper is to design and implement fuzzy logic based traffic light Control system to solve the traffic congestion issues. In this system four input parameters: Arrival, Queue, Pedestrian and Emergency Vehicle and two output parameters: Extension in Green and Pedestrian Signals are used. Using Fuzzy Rule Base, the system extends or terminates the Green Signal according to the Traffic situation at the junction. On the presence of emergency vehicle, the system decides which signal(s should be red and how much an extension should be given to Green Signal for Emergency Vehicle. The system also monitors the density of people and makes decisions accordingly. In order to verify the proposed design algorithm MATLAB simulation is adopted and results obtained show concurrency to the calculated values according to the Mamdani Model of the Fuzzy Control System.

  13. Longitudinal Control for Mengshi Autonomous Vehicle via Gauss Cloud Model

    Directory of Open Access Journals (Sweden)

    Hongbo Gao

    2017-12-01

    Full Text Available Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control technique of autonomous vehicle is basic theory and one key complex technique which must have the reliability and precision of vehicle controller. The longitudinal control technique is one of the foundations of the safety and stability of autonomous vehicle control. In our paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. The longitudinal control algorithm mainly uses cloud model generator to control the acceleration of the autonomous vehicle to achieve the goal that controls the speed of Mengshi autonomous vehicle. The proposed longitudinal control algorithm based on cloud model is verified by real experiments on Highway driving scene. The experiments results of the acceleration and speed show that the algorithm is validity and stability.

  14. Congestion Control Algorithm in Distribution Feeders: Integration in a Distribution Management System

    Directory of Open Access Journals (Sweden)

    Tine L. Vandoorn

    2015-06-01

    Full Text Available The increasing share of distributed energy resources poses a challenge to the distribution network operator (DNO to maintain the current availability of the system while limiting the investment costs. Related to this, there is a clear trend in DNOs trying to better monitor their grid by installing a distribution management system (DMS. This DMS enables the DNOs to remotely switch their network or better localize and solve faults. Moreover, the DMS can be used to centrally control the grid assets. Therefore, in this paper, a control strategy is discussed that can be implemented in the DMS for solving current congestion problems posed by the increasing share of renewables in the grid. This control strategy controls wind turbines in order to avoid congestion while mitigating the required investment costs in order to achieve a global cost-efficient solution. Next to the application and objective of the control, the parameter tuning of the control algorithm is discussed.

  15. Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles

    Science.gov (United States)

    2007-11-01

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

  16. PI Stabilization for Congestion Control of AQM Routers with Tuning Parameter Optimization

    Directory of Open Access Journals (Sweden)

    S. Chebli

    2016-09-01

    Full Text Available In this paper, we consider the problem of stabilizing network using a new proportional- integral (PI based congestion controller in active queue management (AQM router; with appropriate model approximation in the first order delay systems, we seek a stability region of the controller by using the Hermite- Biehler theorem, which isapplicable to quasipolynomials. A Genetic Algorithm technique is employed to derive optimal or near optimal PI controller parameters.

  17. Congestion Control in Data Transmission Networks Sliding Mode and Other Designs

    CERN Document Server

    Ignaciuk, Przemysław

    2013-01-01

    Congestion Control in Data Transmission Networks details the modeling and control of data traffic in communication networks. It shows how various networking phenomena can be represented in a consistent mathematical framework suitable for rigorous formal analysis. The monograph differentiates between fluid-flow continuous-time traffic models, discrete-time processes with constant sampling rates, and sampled-data systems with variable discretization periods. The authors address a number of difficult real-life problems, such as: • optimal control of flows with disparate, time-varying delay; • the existence of source and channel nonlinearities; • the balancing of quality of service and fairness requirements; and • the incorporation of variable rate allocation policies. Appropriate control mechanisms which can handle congestion and guarantee high throughput in various traffic scenarios (with different networking phenomena being considered) are proposed. Systematic design procedures using sound control-theo...

  18. A combined fair decentralized message-rate and data-rate congestion control for V2V communication

    NARCIS (Netherlands)

    Belagal Math, Chetan; Li, Hong; De Groot, Sonia Heemstra; Niemegeers, Ignas

    2018-01-01

    Channel congestion Is one of the most critical Issues In IEEE 802.11p-based vehicular ad hoc networks as it leads to unreliability of safety applications. As a counter measure, the European Telecommunications Standard Institute (ETSI), proposes a mandatory Decentralized Congestion Control (DCC)

  19. Indirect control of DSRs for regulating power provision and solving local congestions

    DEFF Research Database (Denmark)

    Sossan, Fabrizio; Marinelli, Mattia; Costanzo, Giuseppe Tommaso

    2013-01-01

    Inducing a shift in the electricity consumption using a broadcasted dynamic price for the energy is often proposed as a resource for providing regulating power and it is becoming an increasing research focus for enabling higher penetration of renewable energy in the current power system. This paper...... with the CIGRE’ MV reference network with 346 electrically heated buildings as Demand Side Resources, DSRs. The dynamic hourly price of the regulating power provided by Nord Pool Spot market has been used as indirect control signal for the flexible demand....... shows how using indirect control (or control by price) without any precautions, might easily lead to congestions in nearly saturated distribution grids. An auto tuning local controller which acts on the price signal at distribution level is proposed for solving the congestion. Simulations are performed...

  20. Cross-Layer Active Predictive Congestion Control Protocol for Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Yinfeng Wu

    2009-10-01

    Full Text Available In wireless sensor networks (WSNs, there are numerous factors that may cause network congestion problems, such as the many-to-one communication modes, mutual interference of wireless links, dynamic changes of network topology and the memory-restrained characteristics of nodes. All these factors result in a network being more vulnerable to congestion. In this paper, a cross-layer active predictive congestion control scheme (CL-APCC for improving the performance of networks is proposed. Queuing theory is applied in the CL-APCC to analyze data flows of a single-node according to its memory status, combined with the analysis of the average occupied memory size of local networks. It also analyzes the current data change trends of local networks to forecast and actively adjust the sending rate of the node in the next period. In order to ensure the fairness and timeliness of the network, the IEEE 802.11 protocol is revised based on waiting time, the number of the node‟s neighbors and the original priority of data packets, which dynamically adjusts the sending priority of the node. The performance of CL-APCC, which is evaluated by extensive simulation experiments. is more efficient in solving the congestion in WSNs. Furthermore, it is clear that the proposed scheme has an outstanding advantage in terms of improving the fairness and lifetime of networks.

  1. Cross-layer active predictive congestion control protocol for wireless sensor networks.

    Science.gov (United States)

    Wan, Jiangwen; Xu, Xiaofeng; Feng, Renjian; Wu, Yinfeng

    2009-01-01

    In wireless sensor networks (WSNs), there are numerous factors that may cause network congestion problems, such as the many-to-one communication modes, mutual interference of wireless links, dynamic changes of network topology and the memory-restrained characteristics of nodes. All these factors result in a network being more vulnerable to congestion. In this paper, a cross-layer active predictive congestion control scheme (CL-APCC) for improving the performance of networks is proposed. Queuing theory is applied in the CL-APCC to analyze data flows of a single-node according to its memory status, combined with the analysis of the average occupied memory size of local networks. It also analyzes the current data change trends of local networks to forecast and actively adjust the sending rate of the node in the next period. In order to ensure the fairness and timeliness of the network, the IEEE 802.11 protocol is revised based on waiting time, the number of the node's neighbors and the original priority of data packets, which dynamically adjusts the sending priority of the node. The performance of CL-APCC, which is evaluated by extensive simulation experiments. is more efficient in solving the congestion in WSNs. Furthermore, it is clear that the proposed scheme has an outstanding advantage in terms of improving the fairness and lifetime of networks.

  2. Distributed Autonomous Control of Multiple Spacecraft During Close Proximity Operations

    National Research Council Canada - National Science Library

    McCamish, Shawn B

    2007-01-01

    This research contributes to multiple spacecraft control by developing an autonomous distributed control algorithm for close proximity operations of multiple spacecraft systems, including rendezvous...

  3. Energy Effective Congestion Control for Multicast with Network Coding in Wireless Ad Hoc Network

    Directory of Open Access Journals (Sweden)

    Chuanxin Zhao

    2014-01-01

    Full Text Available In order to improve network throughput and reduce energy consumption, we propose in this paper a cross-layer optimization design that is able to achieve multicast utility maximization and energy consumption minimization. The joint optimization of congestion control and power allocation is formulated to be a nonlinear nonconvex problem. Using dual decomposition, a distributed optimization algorithm is proposed to avoid the congestion by control flow rate at the source node and eliminate the bottleneck by allocating the power at the intermediate node. Simulation results show that the cross-layer algorithm can increase network performance, reduce the energy consumption of wireless nodes and prolong the network lifetime, while keeping network throughput basically unchanged.

  4. Managing Recurrent Congestion of Subway Network in Peak Hours with Station Inflow Control

    OpenAIRE

    Qingru Zou; Xiangming Yao; Peng Zhao; Fei Dou; Taoyuan Yang

    2018-01-01

    Station inflow control (SIC) is an important and effective method for reducing recurrent congestion during peak hours in the Beijing, Shanghai, and Guangzhou subway systems. This work proposes a practical and efficient method for establishing a static SIC scheme in normal weekdays for large-scale subway networks. First, a traffic assignment model without capacity constraint is utilized to determine passenger flow distributions on the network. An internal relationship between station inflows a...

  5. Wireless Sensor Network Congestion Control Based on Standard Particle Swarm Optimization and Single Neuron PID

    Science.gov (United States)

    Yang, Xiaoping; Chen, Xueying; Xia, Riting; Qian, Zhihong

    2018-01-01

    Aiming at the problem of network congestion caused by the large number of data transmissions in wireless routing nodes of wireless sensor network (WSN), this paper puts forward an algorithm based on standard particle swarm–neural PID congestion control (PNPID). Firstly, PID control theory was applied to the queue management of wireless sensor nodes. Then, the self-learning and self-organizing ability of neurons was used to achieve online adjustment of weights to adjust the proportion, integral and differential parameters of the PID controller. Finally, the standard particle swarm optimization to neural PID (NPID) algorithm of initial values of proportion, integral and differential parameters and neuron learning rates were used for online optimization. This paper describes experiments and simulations which show that the PNPID algorithm effectively stabilized queue length near the expected value. At the same time, network performance, such as throughput and packet loss rate, was greatly improved, which alleviated network congestion and improved network QoS. PMID:29671822

  6. Longitudinal Control for Mengshi Autonomous Vehicle via Cloud Model

    Science.gov (United States)

    Gao, H. B.; Zhang, X. Y.; Li, D. Y.; Liu, Y. C.

    2018-03-01

    Dynamic robustness and stability control is a requirement for self-driving of autonomous vehicle. Longitudinal control method of autonomous is a key technique which has drawn the attention of industry and academe. In this paper, we present a longitudinal control algorithm based on cloud model for Mengshi autonomous vehicle to ensure the dynamic stability and tracking performance of Mengshi autonomous vehicle. An experiments is applied to test the implementation of the longitudinal control algorithm. Empirical results show that if the longitudinal control algorithm based Gauss cloud model are applied to calculate the acceleration, and the vehicles drive at different speeds, a stable longitudinal control effect is achieved.

  7. Dynamics of the congestion control model in underwater wireless sensor networks with time delay

    International Nuclear Information System (INIS)

    Dong, Tao; Hu, Wenjie; Liao, Xiaofeng

    2016-01-01

    In this paper, a congestion control model in underwater wireless sensor network with time delay is considered. First, the boundedness of the positive equilibrium, where the samples density is positive for each node and the different event flows coexist, is investigated, which implies that the samples density of sensor node cannot exceed the Environmental carrying capacity. Then, by considering the time delay can be regarded as a bifurcating parameter, the dynamical behaviors, which include local stability and Hopf bifurcation, are investigated. It is found that when the communication time delay passes a critical value, the system loses its stability and a Hopf bifurcation occurs, which means the underwater wireless sensor network will be congested, even collapsed. Furthermore, the direction and stability of the bifurcating periodic solutions are derived by applying the normal form theory and the center manifold theorem. Finally, some numerical examples are finally performed to verify the theoretical results.

  8. A Queueing Model for Supervisory Control of Unmanned Autonomous Vehicles

    Science.gov (United States)

    2013-09-01

    Autonomous Vehicles Joseph DiVita, PhD Robert L. Morris Maria Olinda Rodas SSC Pacific Approved...298 (Rev. 8/98) Prescribed by ANSI Std. Z39.18 09–2013 Final A Queueing Model for Supervisory Control of Unmanned Autonomous Vehicles Joseph...Mission Area: Command and Control, Queueing Model; Supervisory Control; Unmanned Autonomous Vehicles M. O. Rodas U U U U 38 (619)

  9. Dynamic Traffic Congestion Simulation and Dissipation Control Based on Traffic Flow Theory Model and Neural Network Data Calibration Algorithm

    Directory of Open Access Journals (Sweden)

    Li Wang

    2017-01-01

    Full Text Available Traffic congestion is a common problem in many countries, especially in big cities. At present, China’s urban road traffic accidents occur frequently, the occurrence frequency is high, the accident causes traffic congestion, and accidents cause traffic congestion and vice versa. The occurrence of traffic accidents usually leads to the reduction of road traffic capacity and the formation of traffic bottlenecks, causing the traffic congestion. In this paper, the formation and propagation of traffic congestion are simulated by using the improved medium traffic model, and the control strategy of congestion dissipation is studied. From the point of view of quantitative traffic congestion, the paper provides the fact that the simulation platform of urban traffic integration is constructed, and a feasible data analysis, learning, and parameter calibration method based on RBF neural network is proposed, which is used to determine the corresponding decision support system. The simulation results prove that the control strategy proposed in this paper is effective and feasible. According to the temporal and spatial evolution of the paper, we can see that the network has been improved on the whole.

  10. Contour Tracking Control for the REMUS Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Van Reet, Alan R

    2005-01-01

    In the interest of enhancing the capabilities of autonomous underwater vehicles used in US Naval Operations, controlling vehicle position to follow depth contours presents exciting potential for navigation...

  11. ACCPndn : adaptive congestion control protocol in named data networking by learning capacities using optimized time-lagged feedforward neural network

    OpenAIRE

    Karami, Amin

    2015-01-01

    Named Data Networking (NDN) is a promising network architecture being considered as a possible replacement for the current IP-based Internet infrastructure. However, NDN is subject to congestion when the number of data packets that reach one or various routers in a certain period of time is so high than its queue gets overflowed. To address this problem many congestion control protocols have been proposed in the literature which, however, they are highly sensitive to their control parameters ...

  12. Rerouting algorithms solving the air traffic congestion

    Science.gov (United States)

    Adacher, Ludovica; Flamini, Marta; Romano, Elpidio

    2017-06-01

    Congestion in the air traffic network is a problem with an increasing relevance for airlines costs as well as airspace safety. One of the major issue is the limited operative capacity of the air network. In this work an Autonomous Agent approach is proposed to solve in real time the problem of air traffic congestion. The air traffic infrastructures are modeled with a graph and are considered partitioned in different sectors. Each sector has its own decision agent dealing with the air traffic control involved in it. Each agent sector imposes a real time aircraft scheduling to respect both delay and capacity constrains. When a congestion is predicted, a new aircraft scheduling is computed. Congestion is solved when the capacity constrains are satisfied once again. This can be done by delaying on ground aircraft or/and rerouting aircraft and/or postponing the congestion. We have tested two different algorithms that calculate K feasible paths for each aircraft involved in the congestion. Some results are reported on North Italian air space.

  13. A Trial-and-Error Method with Autonomous Vehicle-to-Infrastructure Traffic Counts for Cordon-Based Congestion Pricing

    Directory of Open Access Journals (Sweden)

    Zhiyuan Liu

    2017-01-01

    Full Text Available This study proposes a practical trial-and-error method to solve the optimal toll design problem of cordon-based pricing, where only the traffic counts autonomously collected on the entry links of the pricing cordon are needed. With the fast development and adoption of vehicle-to-infrastructure (V2I facilities, it is very convenient to autonomously collect these data. Two practical properties of the cordon-based pricing are further considered in this article: the toll charge on each entry of one pricing cordon is identical; the total inbound flow to one cordon should be restricted in order to maintain the traffic conditions within the cordon area. Then, the stochastic user equilibrium (SUE with asymmetric link travel time functions is used to assess each feasible toll pattern. Based on a variational inequality (VI model for the optimal toll pattern, this study proposes a theoretically convergent trial-and-error method for the addressed problem, where only traffic counts data are needed. Finally, the proposed method is verified based on a numerical network example.

  14. Cooperative Control of Distributed Autonomous Vehicles in Adversarial Environments

    Science.gov (United States)

    2006-08-14

    COOPERATIVE CONTROL OF DISTRIBUTED AUTONOMOUS VEHICLES IN ADVERSARIAL ENVIRONMENTS Grant #F49620–01–1–0361 Final Report Jeff Shamma Department of...CONTRACT NUMBER F49620-01-1-0361 5b. GRANT NUMBER 4. TITLE AND SUBTITLE COOPERATIVE CONTROL OF DISTRIBUTED AUTONOMOUS VEHICLES IN...single dominant language or a distribution of languages. A relation to multivehicle systems is understanding how highly autonomous vehicles on extended

  15. Dynamics control of autonomous vehicle at driving limits and experiment on an autonomous formula racing car

    Science.gov (United States)

    Ni, Jun; Hu, Jibin

    2017-06-01

    In this paper, a novel dynamics controller for autonomous vehicle to simultaneously control it to the driving limits and follow the desired path is proposed. The dynamics controller consists of longitudinal and lateral controllers. In longitudinal controller, the G-G diagram is utilized to describe the driving and handling limits of the vehicle. The accurate G-G diagram is obtained based on phase plane approach and a nonlinear vehicle dynamic model with accurate tyre model. In lateral controller, the tyre cornering stiffness is estimated to improve the robustness of the controller. The stability analysis of the closed-looped error dynamics shows that the controller remains stable against parameters uncertainties in extreme condition such as tyre saturation. Finally, an electric autonomous Formula race car developed by the authors is used to validate the proposed controller. The autonomous driving experiment on an oval race track shows the efficiency and robustness of the proposed controller.

  16. Autonomous Control of Nuclear Power Plants

    International Nuclear Information System (INIS)

    Basher, H.

    2003-01-01

    A nuclear reactor is a complex system that requires highly sophisticated controllers to ensure that desired performance and safety can be achieved and maintained during its operations. Higher-demanding operational requirements such as reliability, lower environmental impacts, and improved performance under adverse conditions in nuclear power plants, coupled with the complexity and uncertainty of the models, necessitate the use of an increased level of autonomy in the control methods. In the opinion of many researchers, the tasks involved during nuclear reactor design and operation (e.g., design optimization, transient diagnosis, and core reload optimization) involve important human cognition and decisions that may be more easily achieved with intelligent methods such as expert systems, fuzzy logic, neural networks, and genetic algorithms. Many experts in the field of control systems share the idea that a higher degree of autonomy in control of complex systems such as nuclear plants is more easily achievable through the integration of conventional control systems and the intelligent components. Researchers have investigated the feasibility of the integration of fuzzy logic, neural networks, genetic algorithms, and expert systems with the conventional control methods to achieve higher degrees of autonomy in different aspects of reactor operations such as reactor startup, shutdown in emergency situations, fault detection and diagnosis, nuclear reactor alarm processing and diagnosis, and reactor load-following operations, to name a few. With the advancement of new technologies and computing power, it is feasible to automate most of the nuclear reactor control and operation, which will result in increased safety and economical benefits. This study surveys current status, practices, and recent advances made towards developing autonomous control systems for nuclear reactors

  17. Autonomous Control of Nuclear Power Plants

    Energy Technology Data Exchange (ETDEWEB)

    Basher, H.

    2003-10-20

    A nuclear reactor is a complex system that requires highly sophisticated controllers to ensure that desired performance and safety can be achieved and maintained during its operations. Higher-demanding operational requirements such as reliability, lower environmental impacts, and improved performance under adverse conditions in nuclear power plants, coupled with the complexity and uncertainty of the models, necessitate the use of an increased level of autonomy in the control methods. In the opinion of many researchers, the tasks involved during nuclear reactor design and operation (e.g., design optimization, transient diagnosis, and core reload optimization) involve important human cognition and decisions that may be more easily achieved with intelligent methods such as expert systems, fuzzy logic, neural networks, and genetic algorithms. Many experts in the field of control systems share the idea that a higher degree of autonomy in control of complex systems such as nuclear plants is more easily achievable through the integration of conventional control systems and the intelligent components. Researchers have investigated the feasibility of the integration of fuzzy logic, neural networks, genetic algorithms, and expert systems with the conventional control methods to achieve higher degrees of autonomy in different aspects of reactor operations such as reactor startup, shutdown in emergency situations, fault detection and diagnosis, nuclear reactor alarm processing and diagnosis, and reactor load-following operations, to name a few. With the advancement of new technologies and computing power, it is feasible to automate most of the nuclear reactor control and operation, which will result in increased safety and economical benefits. This study surveys current status, practices, and recent advances made towards developing autonomous control systems for nuclear reactors.

  18. Evaluation of TCP Congestion Control Algorithms on the Windows Vista Platform

    Energy Technology Data Exchange (ETDEWEB)

    Li, Yee-Ting; /SLAC

    2006-07-07

    CTCP, an innovative TCP congestion control algorithm developed by Microsoft, is evaluated and compared to HSTCP and StandardTCP. Tests were performed on the production Internet from Stanford Linear Accelerator Center (SLAC) to various geographically located hosts to give a broad overview of the performances. We find that certain issues were apparent during testing (not directly related to the congestion control algorithms) which may skew results. With this in mind, we find that CTCP performed similarly to HSTCP across a multitude of different network environments. However, to improve the fairness and to reduce the impact of CTCP upon existing StandardTCP traffic, two areas of further research were investigated. Algorithmic additions to CTCP for burst control to reduce the aggressiveness of its cwnd increments demonstrated beneficial improvements in both fairness and throughput over the original CTCP algorithm. Similarly, {gamma} auto-tuning algorithms were investigated to dynamically adapt CTCP flows to their network conditions for optimal performance. While the effects of these auto-tuning algorithms when used in addition to burst control showed little to no benefit to fairness nor throughput for the limited number of network paths tested, one of the auto-tuning algorithms performed such that there was negligible impact upon StandardTCP. With these improvements, CTCP was found to perform better than HSTCP in terms of fairness and similarly in terms of throughput under the production environments tested.

  19. Evaluation of TCP Congestion Control Algorithms on the Windows Vista Platform

    International Nuclear Information System (INIS)

    Li, Y

    2006-01-01

    CTCP, an innovative TCP congestion control algorithm developed by Microsoft, is evaluated and compared to HSTCP and StandardTCP. Tests were performed on the production Internet from Stanford Linear Accelerator Center (SLAC) to various geographically located hosts to give a broad overview of the performances. We find that certain issues were apparent during testing (not directly related to the congestion control algorithms) which may skew results. With this in mind, we find that CTCP performed similarly to HSTCP across a multitude of different network environments. However, to improve the fairness and to reduce the impact of CTCP upon existing StandardTCP traffic, two areas of further research were investigated. Algorithmic additions to CTCP for burst control to reduce the aggressiveness of its cwnd increments demonstrated beneficial improvements in both fairness and throughput over the original CTCP algorithm. Similarly, auto-tuning algorithms were investigated to dynamically adapt CTCP flows to their network conditions for optimal performance. Whilst the effects of these auto-tuning algorithms when used in addition to burst control showed little to no benefit to fairness nor throughput for the limited number of network paths tested, one of the auto-tuning algorithms performed such that there was negligible impact upon StandardTCP. With these improvements, CTCP was found to perform better than HSTCP in terms of fairness and similarly in terms of throughput under the production environments tested

  20. A Congestion Control System Based on VANET for Small Length Roads

    Directory of Open Access Journals (Sweden)

    Ruchin Jain

    2018-01-01

    Full Text Available As vehicle population has been increasing on a daily basis, this leads towards increased number of accidents. To overcome this issue, Vehicular Ad Hoc Network (VANET has come up with lot of novel ideas such as vehicular communication, navigation and traffic controlling. In this study, the main focus is on congestion control at the intersections which result from unclear ahead. For this purpose, a city lane and intersection model has been proposed to manage vehicle mobility. It shows the actual vehicle to vehicle and vehicle to traffic infrastructure communication. The experiment was conducted using Network Simulator 2 (NS 2. The implementation required modelling the road side unit, traffic control unit, and on-board unit along the roadside. In the simulation, including traffic volume, the distance between two signals, end-to-end delay, packet delivery ratio, throughput and packet lost were taken into consideration. These parameters ensure efficient communication between the traffic signals. This results in improved congestion control and road safety, since the vehicles will be signalled not to enter the junction box and information about other vehicles.

  1. SDTCP: Towards Datacenter TCP Congestion Control with SDN for IoT Applications.

    Science.gov (United States)

    Lu, Yifei; Ling, Zhen; Zhu, Shuhong; Tang, Ling

    2017-01-08

    The Internet of Things (IoT) has gained popularity in recent years. Today's IoT applications are now increasingly deployed in cloud platforms to perform Big Data analytics. In cloud data center networks (DCN), TCP incast usually happens when multiple senders simultaneously communicate with a single receiver. However, when TCP incast happens, DCN may suffer from both throughput collapse for TCP burst flows and temporary starvation for TCP background flows. In this paper, we propose a software defined network (SDN)-based TCP congestion control mechanism, referred to as SDTCP, to leverage the features, e.g., centralized control methods and the global view of the network, in order to solve the TCP incast problems. When we detect network congestion on an OpenFlow switch, our controller can select the background flows and reduce their bandwidth by adjusting the advertised window of TCP ACK packets of the corresponding background flows so as to reserve more bandwidth for burst flows. SDTCP is transparent to the end systems and can accurately decelerate the rate of background flows by leveraging the global view of the network gained via SDN. The experiments demonstrate that our SDTCP can provide high tolerance for burst flows and achieve better flow completion time for short flows. Therefore, SDTCP is an effective and scalable solution for the TCP incast problem.

  2. SDTCP: Towards Datacenter TCP Congestion Control with SDN for IoT Applications

    Directory of Open Access Journals (Sweden)

    Yifei Lu

    2017-01-01

    Full Text Available The Internet of Things (IoT has gained popularity in recent years. Today’s IoT applications are now increasingly deployed in cloud platforms to perform Big Data analytics. In cloud data center networks (DCN, TCP incast usually happens when multiple senders simultaneously communicate with a single receiver. However, when TCP incast happens, DCN may suffer from both throughput collapse for TCP burst flows and temporary starvation for TCP background flows. In this paper, we propose a software defined network (SDN-based TCP congestion control mechanism, referred to as SDTCP, to leverage the features, e.g., centralized control methods and the global view of the network, in order to solve the TCP incast problems. When we detect network congestion on an OpenFlow switch, our controller can select the background flows and reduce their bandwidth by adjusting the advertised window of TCP ACK packets of the corresponding background flows so as to reserve more bandwidth for burst flows. SDTCP is transparent to the end systems and can accurately decelerate the rate of background flows by leveraging the global view of the network gained via SDN. The experiments demonstrate that our SDTCP can provide high tolerance for burst flows and achieve better flow completion time for short flows. Therefore, SDTCP is an effective and scalable solution for the TCP incast problem.

  3. Congestion Control for a Fair Packet Delivery in WSN: From a Complex System Perspective

    Directory of Open Access Journals (Sweden)

    Daniela Aguirre-Guerrero

    2014-01-01

    Full Text Available In this work, we propose that packets travelling across a wireless sensor network (WSN can be seen as the active agents that make up a complex system, just like a bird flock or a fish school, for instance. From this perspective, the tools and models that have been developed to study this kind of systems have been applied. This is in order to create a distributed congestion control based on a set of simple rules programmed at the nodes of the WSN. Our results show that it is possible to adapt the carried traffic to the network capacity, even under stressing conditions. Also, the network performance shows a smooth degradation when the traffic goes beyond a threshold which is settled by the proposed self-organized control. In contrast, without any control, the network collapses before this threshold. The use of the proposed solution provides an effective strategy to address some of the common problems found in WSN deployment by providing a fair packet delivery. In addition, the network congestion is mitigated using adaptive traffic mechanisms based on a satisfaction parameter assessed by each packet which has impact on the global satisfaction of the traffic carried by the WSN.

  4. Autonomous control of a locomotion vehicle

    International Nuclear Information System (INIS)

    Ichikawa, Yoshiaki; Senoh, Makoto; Miyata, Kenji

    1984-01-01

    A path planner and an execution system are proposed for autonomous vehicle control. The planner creates a near shortest path avoiding obstacles that are represented by combinations of circles and line segments on a two dimensional map. For realizing real time execution, path search procedures employ a heuristic pruning strategies in selecting a node to expand and in generating successor nodes. Nodes are selected for expansion in order, according to a cost assigned to each node. The cost is mainly evaluated by approximating a path length from the initial node to the goal node. In order to expand a node and to generate successor nodes, a specific search procedure is activated that finds positions avoiding obstacles in the direction of the goal, and creates successor nodes corresponding to the positions. The execution system, utilizing an ultrasonic range finder equipped to the vehicle performs a plan repair against unknown obstacles when echoes from the obstacles are observed. The plan repair is conducted by a map edition and replanning in such a way that new circles representing the echoes are added to the map. Obstacle avoidance tests with a vehicle controlled by microprocessors demonstrate the utility of heuristics just outlined. (author)

  5. Performance Analysis of Congestion Control Mechanism in Software Defined Network (SDN

    Directory of Open Access Journals (Sweden)

    Rahman M. Z. A.

    2017-01-01

    Full Text Available In the near future, the traditional networks architecture will be difficult to be managed. Hence, Software Defined Network (SDN will be an alternative in the future of programmable networks to replace the conventional network architecture. The main idea of SDN architecture is to separate the forwarding plane and control plane of network system, where network operators can program packet forwarding behaviour to improve the network performance. Congestion control is important mechanism for network traffic to improve network capability and achieve high end Quality of Service (QoS. In this paper, extensive simulation is conducted to analyse the performance of SDN by implementing Link Layer Discovery Protocol (LLDP under congested network. The simulation was conducted on Mininet by creating four different fanout and the result was analysed based on differences of matrix performance. As a result, the packet loss and throughput reduction were observed when number of fanout in the topology was increased. By using LLDP protocol, huge reduction in packet loss rate has been achieved while maximizing percentage packet delivery ratio.

  6. Sweden: Autonomous Reactivity Control (ARC) Systems

    International Nuclear Information System (INIS)

    Qvist, Staffan A.

    2015-01-01

    The next generation of nuclear energy systems must be licensed, constructed, and operated in a manner that will provide a competitively priced supply of energy, keeping in consideration an optimum use of natural resources, while addressing nuclear safety, waste, and proliferation resistance, and the public perception concerns of the countries in which those systems are deployed. These issues are tightly interconnected, and the implementation of passive and inherent safety features is a high priority in all modern reactor designs since it helps to tackle many of the issues at once. To this end, the Autonomous Reactivity Control (ARC) system was developed to ensure excellent inherent safety performance of Generation-IV reactors while having a minimal impact on core performance and economic viability. This paper covers the principles for ARC system design and analysis, the problem of ensuring ARC system response stability and gives examples of the impact of installing ARC systems in well-known fast reactor core systems. It is shown that even with a relatively modest ARC installation, having a near-negligible impact on core performance during standard operation, cores such as the European Sodium Fast Reactor (ESFR) can be made to survive any postulated unprotected transient without coolant boiling or fuel melting

  7. Study on the propagation and dissipation of inland ship congestion under different control strategies

    Science.gov (United States)

    Chen, Yanyi; Wu, Hongyu; Wen, Zhe

    2017-05-01

    Inland waterway transportation is an important part of the comprehensive transportation system of sustainable development, and it is also a way of transportation which is restricted by natural conditions greatly. In recent years, the problems of insufficient traffic capacity of The Three Gorges become prominent due to the increasing in the number of ships. And the ship's detention caused by gale, frog, accident and one-way traffic in dry season has occurred, which not only increased the pressure of the navigable waterway but also seriously affected the safety of shipping. Based on the different types of ships, the Arena software was used to simulate the ship traffic flow. The paper analyzed the traffic congestion propagation and dissipation rule of the ship under different navigation control methods, and provided decision reference for the navigation management department to formulate the relevant navigation control strategy.

  8. An Expert System for Autonomous Spacecraft Control

    Science.gov (United States)

    Sherwood, Rob; Chien, Steve; Tran, Daniel; Cichy, Benjamin; Castano, Rebecca; Davies, Ashley; Rabideau, Gregg

    2005-01-01

    The Autonomous Sciencecraft Experiment (ASE), part of the New Millennium Space Technology 6 Project, is flying onboard the Earth Orbiter 1 (EO-1) mission. The ASE software enables EO-1 to autonomously detect and respond to science events such as: volcanic activity, flooding, and water freeze/thaw. ASE uses classification algorithms to analyze imagery onboard to detect chang-e and science events. Detection of these events is then used to trigger follow-up imagery. Onboard mission planning software then develops a response plan that accounts for target visibility and operations constraints. This plan is then executed using a task execution system that can deal with run-time anomalies. In this paper we describe the autonomy flight software and how it enables a new paradigm of autonomous science and mission operations. We will also describe the current experiment status and future plans.

  9. Congestion management of deregulated power systems by optimal setting of Interline Power Flow Controller using Gravitational Search algorithm

    Directory of Open Access Journals (Sweden)

    Akanksha Mishra

    2017-05-01

    Full Text Available In a deregulated electricity market it may at times become difficult to dispatch all the required power that is scheduled to flow due to congestion in transmission lines. An Interline Power Flow Controller (IPFC can be used to reduce the system loss and power flow in the heavily loaded line, improve stability and loadability of the system. This paper proposes a Disparity Line Utilization Factor for the optimal placement and Gravitational Search algorithm based optimal tuning of IPFC to control the congestion in transmission lines. DLUF ranks the transmission lines in terms of relative line congestion. The IPFC is accordingly placed in the most congested and the least congested line connected to the same bus. Optimal sizing of IPFC is carried using Gravitational Search algorithm. A multi-objective function has been chosen for tuning the parameters of the IPFC. The proposed method is implemented on an IEEE-30 bus test system. Graphical representations have been included in the paper showing reduction in LUF of the transmission lines after the placement of an IPFC. A reduction in active power and reactive power loss of the system by about 6% is observed after an optimally tuned IPFC has been included in the power system. The effectiveness of the proposed tuning method has also been shown in the paper through the reduction in the values of the objective functions.

  10. Autonomous control of distributed storages in microgrids

    DEFF Research Database (Denmark)

    Loh, Poh Chiang; Blaabjerg, Frede

    2011-01-01

    Operation of distributed generators in microgrids has widely been discussed, but would not be fully autonomous, if distributed storages are not considered. Storages in general are important, since they provide energy buffering to load changes, energy leveling to source variations and ride......-through enhancement to the overall microgrids. Recognizing their importance, this paper presents a scheme for sharing power among multiple distributed storages, in coordination with the distributed sources and loads. The scheme prompts the storages to autonomously sense for system conditions, requesting for maximum...

  11. Predictive functional control for active queue management in congested TCP/IP networks.

    Science.gov (United States)

    Bigdeli, N; Haeri, M

    2009-01-01

    Predictive functional control (PFC) as a new active queue management (AQM) method in dynamic TCP networks supporting explicit congestion notification (ECN) is proposed. The ability of the controller in handling system delay along with its simplicity and low computational load makes PFC a privileged AQM method in the high speed networks. Besides, considering the disturbance term (which represents model/process mismatches, external disturbances, and existing noise) in the control formulation adds some level of robustness into the PFC-AQM controller. This is an important and desired property in the control of dynamically-varying computer networks. In this paper, the controller is designed based on a small signal linearized fluid-flow model of the TCP/AQM networks. Then, closed-loop transfer function representation of the system is derived to analyze the robustness with respect to the network and controller parameters. The analytical as well as the packet-level ns-2 simulation results show the out-performance of the developed controller for both queue regulation and resource utilization. Fast response, low queue fluctuations (and consequently low delay jitter), high link utilization, good disturbance rejection, scalability, and low packet marking probability are other features of the developed method with respect to other well-known AQM methods such as RED, PI, and REM which are also simulated for comparison.

  12. Mean Field Type Control with Congestion (II): An Augmented Lagrangian Method

    Energy Technology Data Exchange (ETDEWEB)

    Achdou, Yves, E-mail: achdou@ljll.univ-paris-diderot.fr; Laurière, Mathieu [Univ. Paris Diderot, Sorbonne Paris Cité, Laboratoire Jacques-Louis Lions, UMR 7598, UPMC, CNRS (France)

    2016-12-15

    This work deals with a numerical method for solving a mean-field type control problem with congestion. It is the continuation of an article by the same authors, in which suitably defined weak solutions of the system of partial differential equations arising from the model were discussed and existence and uniqueness were proved. Here, the focus is put on numerical methods: a monotone finite difference scheme is proposed and shown to have a variational interpretation. Then an Alternating Direction Method of Multipliers for solving the variational problem is addressed. It is based on an augmented Lagrangian. Two kinds of boundary conditions are considered: periodic conditions and more realistic boundary conditions associated to state constrained problems. Various test cases and numerical results are presented.

  13. Alterations in cardiac autonomic control in spinal cord injury.

    Science.gov (United States)

    Biering-Sørensen, Fin; Biering-Sørensen, Tor; Liu, Nan; Malmqvist, Lasse; Wecht, Jill Maria; Krassioukov, Andrei

    2018-01-01

    A spinal cord injury (SCI) interferes with the autonomic nervous system (ANS). The effect on the cardiovascular system will depend on the extent of damage to the spinal/central component of ANS. The cardiac changes are caused by loss of supraspinal sympathetic control and relatively increased parasympathetic cardiac control. Decreases in sympathetic activity result in heart rate and the arterial blood pressure changes, and may cause arrhythmias, in particular bradycardia, with the risk of cardiac arrest in those with cervical or high thoracic injuries. The objective of this review is to give an update of the current knowledge related to the alterations in cardiac autonomic control following SCI. With this purpose the review includes the following subheadings: 2. Neuro-anatomical plasticity and cardiac control 2.1 Autonomic nervous system and the heart 2.2 Alteration in autonomic control of the heart following spinal cord injury 3. Spinal shock and neurogenic shock 3.1 Pathophysiology of spinal shock 3.2 Pathophysiology of neurogenic shock 4. Autonomic dysreflexia 4.1 Pathophysiology of autonomic dysreflexia 4.2 Diagnosis of autonomic dysreflexia 5. Heart rate/electrocardiography following spinal cord injury 5.1 Acute phase 5.2 Chronic phase 6. Heart rate variability 6.1 Time domain analysis 6.2 Frequency domain analysis 6.3 QT-variability index 6.4 Nonlinear (fractal) indexes 7. Echocardiography 7.1 Changes in cardiac structure following spinal cord injury 7.2 Changes in cardiac function following spinal cord injury 8. International spinal cord injury cardiovascular basic data set and international standards to document the remaining autonomic function in spinal cord injury. Copyright © 2017 Elsevier B.V. All rights reserved.

  14. Managing Recurrent Congestion of Subway Network in Peak Hours with Station Inflow Control

    Directory of Open Access Journals (Sweden)

    Qingru Zou

    2018-01-01

    Full Text Available Station inflow control (SIC is an important and effective method for reducing recurrent congestion during peak hours in the Beijing, Shanghai, and Guangzhou subway systems. This work proposes a practical and efficient method for establishing a static SIC scheme in normal weekdays for large-scale subway networks. First, a traffic assignment model without capacity constraint is utilized to determine passenger flow distributions on the network. An internal relationship between station inflows and section flows is then constructed. Second, capacity bottlenecks are identified by considering the transport capacity of each section. Then, a feedback-based bottleneck elimination strategy is established to search target control stations and determine their control time and control strength. To validate the effectiveness of the proposed approach, a decision support system coded in the C# programming language was developed, and the Beijing subway was used as a case study. The results indicate that the proposed method and tool are capable of practical applications, and the generated SIC plan has better performance over the existing SIC plan. This study provides a practical and useful method for operation agencies to construct SIC schemes in the subway system.

  15. H∞ control for path tracking of autonomous underwater vehicle motion

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

    Full Text Available In order to simplify the design of path tracking controller and solve the problem relating to nonlinear dynamic model of autonomous underwater vehicle motion planning, feedback linearization method is first adopted to transform the nonlinear dynamic model into an equivalent pseudo-linear dynamic model in horizontal coordinates. Then considering wave disturbance effect, mixed-sensitivity method of H∞ robust control is applied to design state-feedback controller for this equivalent dynamic model. Finally, control law of pseudo-linear dynamic model is transformed into state (surge velocity and yaw angular rate tracking control law of nonlinear dynamic model through inverse coordinate transformation. Simulation indicates that autonomous underwater vehicle path tracking is successfully implemented with this proposed method, and the influence of parameter variation in autonomous underwater vehicle dynamic model on its tracking performance is reduced by H∞ controller. All the results show that the method proposed in this article is effective and feasible.

  16. Rate-based congestion control in networks with smart links, revision. B.S. Thesis - May 1988

    Science.gov (United States)

    Heybey, Andrew Tyrrell

    1990-01-01

    The author uses a network simulator to explore rate-based congestion control in networks with smart links that can feed back information to tell senders to adjust their transmission rates. This method differs in a very important way from congestion control in which a congested network component just drops packets - the most commonly used method. It is clearly advantageous for the links in the network to communicate with the end users about the network capacity, rather than the users unilaterally picking a transmission rate. The components in the middle of the network, not the end users, have information about the capacity and traffic in the network. The author experiments with three different algorithms for calculating the control rate to feed back to the users. All of the algorithms exhibit problems in the form of large queues when simulated with a configuration modeling the dynamics of a packet-voice system. However, the problems are not with the algorithms themselves, but with the fact that feedback takes time. If the network steady-state utilization is low enough that it can absorb transients in the traffic through it, then the large queues disappear. If the users are modified to start sending slowly, to allow the network to adapt to a new flow without causing congestion, a greater portion of the network's bandwidth can be used.

  17. Intelligent (Autonomous) Power Controller Development for Human Deep Space Exploration

    Science.gov (United States)

    Soeder, James; Raitano, Paul; McNelis, Anne

    2016-01-01

    As NASAs Evolvable Mars Campaign and other exploration initiatives continue to mature they have identified the need for more autonomous operations of the power system. For current human space operations such as the International Space Station, the paradigm is to perform the planning, operation and fault diagnosis from the ground. However, the dual problems of communication lag as well as limited communication bandwidth beyond GEO synchronous orbit, underscore the need to change the operation methodology for human operation in deep space. To address this need, for the past several years the Glenn Research Center has had an effort to develop an autonomous power controller for human deep space vehicles. This presentation discusses the present roadmap for deep space exploration along with a description of conceptual power system architecture for exploration modules. It then contrasts the present ground centric control and management architecture with limited autonomy on-board the spacecraft with an advanced autonomous power control system that features ground based monitoring with a spacecraft mission manager with autonomous control of all core systems, including power. It then presents a functional breakdown of the autonomous power control system and examines its operation in both normal and fault modes. Finally, it discusses progress made in the development of a real-time power system model and how it is being used to evaluate the performance of the controller and well as using it for verification of the overall operation.

  18. CONGESTION CONTROL IMPROVED QoS ROUTING SCHEME FOR WIRELESS SENSOR NETWORK

    OpenAIRE

    A. Elakkiya*, B. Santhana Krishnan, Dr. M. Ramaswamy

    2016-01-01

    Wireless sensor network is distributed self-governing sensors used to monitor the physical conditions of the environment. They are constructed by nodes where each of them is connected to sensors. These sensor nodes acquire real time information and transmit the information. When large number of sensor nodes are active in transmitting the information there is a possibility of congestion in the data packets. Congestion occurs due to buffer overflow, channel contention, packet collision, reporti...

  19. Are Autonomous and Controlled Motivations School-Subjects-Specific?

    Science.gov (United States)

    Chanal, Julien; Guay, Frédéric

    2015-01-01

    This research sought to test whether autonomous and controlled motivations are specific to school subjects or more general to the school context. In two cross-sectional studies, 252 elementary school children (43.7% male; mean age = 10.7 years, SD = 1.3 years) and 334 junior high school children (49.7% male, mean age = 14.07 years, SD = 1.01 years) were administered a questionnaire assessing their motivation for various school subjects. Results based on structural equation modeling using the correlated trait-correlated method minus one model (CTCM-1) showed that autonomous and controlled motivations assessed at the school subject level are not equally school-subject-specific. We found larger specificity effects for autonomous (intrinsic and identified) than for controlled (introjected and external) motivation. In both studies, results of factor loadings and the correlations with self-concept and achievement demonstrated that more evidence of specificity was obtained for autonomous regulations than for controlled ones. These findings suggest a new understanding of the hierarchical and multidimensional academic structure of autonomous and controlled motivations and of the mechanisms involved in the development of types of regulations for school subjects. PMID:26247788

  20. Congestion levies; Congestieheffingen

    Energy Technology Data Exchange (ETDEWEB)

    Verhoef, E.T. [Vakgroep Ruimtelijke Economie, Vrije Universiteit en Tinbergen Instituut, Amsterdam (Netherlands)

    1998-02-20

    Traffic jams or congestion can be controlled by means of Pigouvian levies. Congestion costs comprise both time losses as scheduling costs. Because a part of those costs are external costs, the free market output is not Pareto-efficient, and therefore levies are required to recover the efficiency. With some restrictions, road-pricing for the western part of the Netherlands is considered to be a feasible option

  1. Hopf bifurcation and uncontrolled stochastic traffic-induced chaos in an RED-AQM congestion control system

    International Nuclear Information System (INIS)

    Wang Jun-Song; Yuan Rui-Xi; Gao Zhi-Wei; Wang De-Jin

    2011-01-01

    We study the Hopf bifurcation and the chaos phenomena in a random early detection-based active queue management (RED-AQM) congestion control system with a communication delay. We prove that there is a critical value of the communication delay for the stability of the RED-AQM control system. Furthermore, we show that the system will lose its stability and Hopf bifurcations will occur when the delay exceeds the critical value. When the delay is close to its critical value, we demonstrate that typical chaos patterns may be induced by the uncontrolled stochastic traffic in the RED-AQM control system even if the system is still stable, which reveals a new route to the chaos besides the bifurcation in the network congestion control system. Numerical simulations are given to illustrate the theoretical results. (general)

  2. Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations

    NARCIS (Netherlands)

    Keviczky, T.; Borelli, F.; Fregene, K.; Godbole, D.; Bals, G.J.

    2008-01-01

    This paper describes the application of a novel methodology for high-level control and coordination of autonomous vehicle teams and its demonstration on high-fidelity models of the organic air vehicle developed at Honeywell Laboratories. The scheme employs decentralized receding horizon controllers

  3. Vision Based Autonomous Robotic Control for Advanced Inspection and Repair

    Science.gov (United States)

    Wehner, Walter S.

    2014-01-01

    The advanced inspection system is an autonomous control and analysis system that improves the inspection and remediation operations for ground and surface systems. It uses optical imaging technology with intelligent computer vision algorithms to analyze physical features of the real-world environment to make decisions and learn from experience. The advanced inspection system plans to control a robotic manipulator arm, an unmanned ground vehicle and cameras remotely, automatically and autonomously. There are many computer vision, image processing and machine learning techniques available as open source for using vision as a sensory feedback in decision-making and autonomous robotic movement. My responsibilities for the advanced inspection system are to create a software architecture that integrates and provides a framework for all the different subsystem components; identify open-source algorithms and techniques; and integrate robot hardware.

  4. Fault Tolerant Autonomous Lateral Control for Heavy Vehicles

    OpenAIRE

    Talbot, Craig Matthew; Papadimitriou, Iakovos; Tomizuka, Masayoshi

    2004-01-01

    This report summarizes the research results of TO4233, "Fault Tolerant Autonomous Lateral Control for Heavy Vehicles". This project represents a continuing effort of PATH's research on Automated Highway Systems (AHS) and more specifically in the area of heavy vehicles. Research on the lateral control of heavy vehicles for AHS has been going on at PATH since 1993. MOU129, "Steering and Braking Control of Heavy Duty Vehicles" was the first project and it was followed by MOU242, "Lateral Control...

  5. Towards Autonomous Control of Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Hansen, Poul Erik; Conrad, Finn

    1998-01-01

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

  6. Comparison of three control methods for an autonomous vehicle

    Science.gov (United States)

    Deshpande, Anup; Mathur, Kovid; Hall, Ernest

    2010-01-01

    The desirability and challenge of developing a completely autonomous vehicle and the rising need for more efficient use of energy by automobiles motivate this research- a study for an optimum solution to computer control of energy efficient vehicles. The purpose of this paper is to compare three control methods - mechanical, hydraulic and electric that have been used to convert an experimental all terrain vehicle to drive by wire which would eventually act as a test bed for conducting research on various technologies for autonomous operation. Computer control of basic operations in a vehicle namely steering, braking and speed control have been implemented and will be described in this paper. The output from a 3 axis motion controller is used for this purpose. The motion controller is interfaced with a software program using WSDK (Windows Servo Design Kit) as an intermediate tuning layer for tuning and parameter settings in autonomous operation. The software program is developed in C++. The voltage signal sent to the motion controller can be varied through the control program for desired results in controlling the steering motor, activating the hydraulic brakes and varying the vehicle's speed. The vehicle has been tested for its basic functionality which includes testing of street legal operations and also a 1000 mile test while running in a hybrid mode. The vehicle has also been tested for control when it is interfaced with devices such as a keyboard, joystick and sensors under full autonomous operation. The vehicle is currently being tested in various safety studies and is being used as a test bed for experiments in control courses and research studies. The significance of this research is in providing a greater understanding of conventional driving controls and the possibility of improving automobile safety by removing human error in control of a motor vehicle.

  7. approximate controllability of a non-autonomous differential equation

    Indian Academy of Sciences (India)

    53

    for a non-autonomous functional differential equation using the theory of linear ... approximate controllability of various functional differential equations in abstract ...... the operator A(t) and into the requirement that x(t) ∈ D(A) for all t ≥ 0.

  8. A Game Theory Based Congestion Control Protocol for Wireless Personal Area Networks

    Directory of Open Access Journals (Sweden)

    Chuang Ma

    2016-01-01

    Full Text Available In wireless sensor networks (WSNs, the presence of congestion increases the ratio of packet loss and energy consumption and reduces the network throughput. Particularly, this situation will be more complex in Internet of Things (IoT environment, which is composed of thousands of heterogeneous nodes. RPL is an IPv6 routing protocol in low power and lossy networks standardized by IETF. However, the RPL can induce problems under network congestion, such as frequently parent changing and throughput degradation. In this paper, we address the congestion problem between parent nodes and child nodes in RPL-enabled networks, which typically consist of low power and resource constraint devices. To mitigate the effect of network congestion, we design a parent-change procedure by game theory strategy, by which the child nodes can change next hop neighbors toward the sink. Comparing to the ContikiRPL implementation, the simulation results show that our protocol can achieve more than two times improvement in throughput and reduce packet loss rate with less increasing of average hop count.

  9. Data rate based congestion control in V2V communication for traffic safety applications

    NARCIS (Netherlands)

    Belagal Math, C.; Özgür, A.; Heemstra de Groot, S.M.; Li, H.

    2015-01-01

    Vehicle-to-Vehicle (V2V) communication systems intend to increase safety and efficiency of the transportation networks. At high vehicle density, the communication channel may become congested, impairing the reliability of the safety applications. As a counter measure, the European Telecommunications

  10. Semi-autonomous unmanned ground vehicle control system

    Science.gov (United States)

    Anderson, Jonathan; Lee, Dah-Jye; Schoenberger, Robert; Wei, Zhaoyi; Archibald, James

    2006-05-01

    Unmanned Ground Vehicles (UGVs) have advantages over people in a number of different applications, ranging from sentry duty, scouting hazardous areas, convoying goods and supplies over long distances, and exploring caves and tunnels. Despite recent advances in electronics, vision, artificial intelligence, and control technologies, fully autonomous UGVs are still far from being a reality. Currently, most UGVs are fielded using tele-operation with a human in the control loop. Using tele-operations, a user controls the UGV from the relative safety and comfort of a control station and sends commands to the UGV remotely. It is difficult for the user to issue higher level commands such as patrol this corridor or move to this position while avoiding obstacles. As computer vision algorithms are implemented in hardware, the UGV can easily become partially autonomous. As Field Programmable Gate Arrays (FPGAs) become larger and more powerful, vision algorithms can run at frame rate. With the rapid development of CMOS imagers for consumer electronics, frame rate can reach as high as 200 frames per second with a small size of the region of interest. This increase in the speed of vision algorithm processing allows the UGVs to become more autonomous, as they are able to recognize and avoid obstacles in their path, track targets, or move to a recognized area. The user is able to focus on giving broad supervisory commands and goals to the UGVs, allowing the user to control multiple UGVs at once while still maintaining the convenience of working from a central base station. In this paper, we will describe a novel control system for the control of semi-autonomous UGVs. This control system combines a user interface similar to a simple tele-operation station along with a control package, including the FPGA and multiple cameras. The control package interfaces with the UGV and provides the necessary control to guide the UGV.

  11. High-frequency autonomic modulation: a new model for analysis of autonomic cardiac control.

    Science.gov (United States)

    Champéroux, Pascal; Fesler, Pierre; Judé, Sebastien; Richard, Serge; Le Guennec, Jean-Yves; Thireau, Jérôme

    2018-05-03

    Increase in high-frequency beat-to-beat heart rate oscillations by torsadogenic hERG blockers appears to be associated with signs of parasympathetic and sympathetic co-activation which cannot be assessed directly using classic methods of heart rate variability analysis. The present work aimed to find a translational model that would allow this particular state of the autonomic control of heart rate to be assessed. High-frequency heart rate and heart period oscillations were analysed within discrete 10 s intervals in a cohort of 200 healthy human subjects. Results were compared to data collected in non-human primates and beagle dogs during pharmacological challenges and torsadogenic hERG blockers exposure, in 127 genotyped LQT1 patients on/off β-blocker treatment and in subgroups of smoking and non-smoking subjects. Three states of autonomic modulation, S1 (parasympathetic predominance) to S3 (reciprocal parasympathetic withdrawal/sympathetic activation), were differentiated to build a new model of heart rate variability referred to as high-frequency autonomic modulation. The S2 state corresponded to a specific state during which both parasympathetic and sympathetic systems were coexisting or co-activated. S2 oscillations were proportionally increased by torsadogenic hERG-blocking drugs, whereas smoking caused an increase in S3 oscillations. The combined analysis of the magnitude of high-frequency heart rate and high-frequency heart period oscillations allows a refined assessment of heart rate autonomic modulation applicable to long-term ECG recordings and offers new approaches to assessment of the risk of sudden death both in terms of underlying mechanisms and sensitivity. © 2018 The Authors. British Journal of Pharmacology published by John Wiley & Sons Ltd on behalf of British Pharmacological Society.

  12. Cooperative Frequency Control for Autonomous AC Microgrids

    DEFF Research Database (Denmark)

    Shafiee, Qobad; Quintero, Juan Carlos Vasquez; Guerrero, Josep M.

    2015-01-01

    Distributed secondary control strategies have been recently studied for frequency regulation in droop-based AC Microgrids. Unlike centralized secondary control, the distributed one might fail to provide frequency synchronization and proportional active power sharing simultaneously, due to having...... not require measuring the system frequency as compared to the other presented methods. An ac Microgrid with four sources is used to verify the performance of the proposed control methodology....

  13. Modelling of a PMSG Wind Turbine with Autonomous Control

    Directory of Open Access Journals (Sweden)

    Chia-Nan Wang

    2014-01-01

    Full Text Available The aim of this research is to model an autonomous control wind turbine driven permanent magnetic synchronous generator (PMSG which feeds alternating current (AC power to the utility grid. Furthermore, this research also demonstrates the effects and the efficiency of PMSG wind turbine which is integrated by autonomous controllers. In order for well autonomous control, two voltage source inverters are used to control wind turbine connecting with the grid. The generator-side inverter is used to adjust the synchronous generator as well as separating the generator from the grid when necessary. The grid-side inverter controls the power flow between the direct current (DC bus and the AC side. Both of them are oriented control by space vector pulse width modulation (PWM with back-to-back frequency inverter. Moreover, the proportional-integral (PI controller is enhanced to control both of the inverters and the pitch angle of the wind turbine. Maximum power point tracking (MPPT is integrated in generator-side inverter to track the maximum power, when wind speed changes. The simulation results in Matlab Simulink 2012b showing the model have good dynamic and static performance. The maximum power can be tracked and the generator wind turbine can be operated with high efficiency.

  14. DISTRIBUTED CONTROL ARCHITECTURE OF AN OMNI-DIRECTIONAL AUTONOMOUS GUIDED VEHICLE

    Directory of Open Access Journals (Sweden)

    N.S. Tlale

    2012-01-01

    Full Text Available

    ENGLISH ABSTRACT: Omni-directionality is the ability of a mobile robot to move instantaneously in any direction. This paper describes the wheel and controller designs of a Mecanumwheeled, autonomous guided vehicle (AGV for reconfigurable manufacturing systems. Mecanum wheels use slip developed between rollers and surface, surface and ground, to achieve omni-directionality. An advantage of omni-directional robotic platforms is that they are capable of performing tasks in congested environments such as those found in factory workshops, narrow aisles, warehouses, etc. Controller Area Network (CAN is implemented as a distributed controller to control motion and navigation tasks of the developed robot. The design of the distributed controller is described and its performance analyzed. This increases the reliability and functionality of the mobile robot.

    AFRIKAANSE OPSOMMING: Die artikel beskryf wiel - en beheerontwerpe van ‘n veelrigting mobiele robot. Die robot is ‘n selfstandigbeheerde voertuig vir gebruik by vervaardigingstelsels met veranderbare konfigurasie. Die ontwerp van die robot en bypassende beheerstelsel word beskryf en ontleed teen die agterground van bewegings – en navigeertake. Die betroubaarheid en funksionering van die sisteem word beoordeel.

  15. Enabling autonomous control for space reactor power systems

    International Nuclear Information System (INIS)

    Wood, R. T.

    2006-01-01

    The application of nuclear reactors for space power and/or propulsion presents some unique challenges regarding the operations and control of the power system. Terrestrial nuclear reactors employ varying degrees of human control and decision-making for operations and benefit from periodic human interaction for maintenance. In contrast, the control system of a space reactor power system (SRPS) employed for deep space missions must be able to accommodate unattended operations due to communications delays and periods of planetary occlusion while adapting to evolving or degraded conditions with no opportunity for repair or refurbishment. Thus, a SRPS control system must provide for operational autonomy. Oak Ridge National Laboratory (ORNL) has conducted an investigation of the state of the technology for autonomous control to determine the experience base in the nuclear power application domain, both for space and terrestrial use. It was found that control systems with varying levels of autonomy have been employed in robotic, transportation, spacecraft, and manufacturing applications. However, autonomous control has not been implemented for an operating terrestrial nuclear power plant nor has there been any experience beyond automating simple control loops for space reactors. Current automated control technologies for nuclear power plants are reasonably mature, and basic control for a SRPS is clearly feasible under optimum circumstances. However, autonomous control is primarily intended to account for the non optimum circumstances when degradation, failure, and other off-normal events challenge the performance of the reactor and near-term human intervention is not possible. Thus, the development and demonstration of autonomous control capabilities for the specific domain of space nuclear power operations is needed. This paper will discuss the findings of the ORNL study and provide a description of the concept of autonomy, its key characteristics, and a prospective

  16. Autonomous Visual Control of a Mobile Robot

    National Research Council Canada - National Science Library

    Blackburn, Michael

    1994-01-01

    .... We propose that efficient and extensible solutions to the target acquisition and maintenance problem may be found when the machine sensor-effector control algorithms emulate the mechanisms employed...

  17. Vehicle following controller design for autonomous intelligent vehicles

    Science.gov (United States)

    Chien, C. C.; Lai, M. C.; Mayr, R.

    1994-01-01

    A new vehicle following controller is proposed for autonomous intelligent vehicles. The proposed vehicle following controller not only provides smooth transient maneuvers for unavoidable nonzero initial conditions but also guarantees the asymptotic platoon stability without the availability of feedforward information. Furthermore, the achieved asymptotic platoon stability is shown to be robust to sensor delays and an upper bound for the allowable sensor delays is also provided in this paper.

  18. Research methods of simulate digital compensators and autonomous control systems

    Directory of Open Access Journals (Sweden)

    V. S. Kudryashov

    2016-01-01

    Full Text Available The peculiarity of the present stage of development of the production is the need to control and regulate a large number of process parameters, the mutual influence on each other that when using single-circuit systems significantly reduces the quality of the transition process, resulting in significant costs of raw materials and energy, reduce the quality of the products. Using a stand-alone digital control system eliminates the correlation of technological parameters, to give the system the desired dynamic and static properties, improve the quality of regulation. However, the complexity of the configuration and implementation of procedures (modeling compensators autonomous systems of this type, associated with the need to perform a significant amount of complex analytic transformation significantly limit the scope of their application. In this regard, the approach based on the decompo sition proposed methods of calculation and simulation (realization, consisting in submitting elements autonomous control part digital control system in a series parallel connection. The above theoretical study carried out in a general way for any dimension systems. The results of computational experiments, obtained during the simulation of the four autonomous control systems, comparative analysis and conclusions on the effectiveness of the use of each of the methods. The results obtained can be used in the development of multi-dimensional process control systems.

  19. Autonomous Control Capabilities for Space Reactor Power Systems

    International Nuclear Information System (INIS)

    Wood, Richard T.; Neal, John S.; Brittain, C. Ray; Mullens, James A.

    2004-01-01

    The National Aeronautics and Space Administration's (NASA's) Project Prometheus, the Nuclear Systems Program, is investigating a possible Jupiter Icy Moons Orbiter (JIMO) mission, which would conduct in-depth studies of three of the moons of Jupiter by using a space reactor power system (SRPS) to provide energy for propulsion and spacecraft power for more than a decade. Terrestrial nuclear power plants rely upon varying degrees of direct human control and interaction for operations and maintenance over a forty to sixty year lifetime. In contrast, an SRPS is intended to provide continuous, remote, unattended operation for up to fifteen years with no maintenance. Uncertainties, rare events, degradation, and communications delays with Earth are challenges that SRPS control must accommodate. Autonomous control is needed to address these challenges and optimize the reactor control design. In this paper, we describe an autonomous control concept for generic SRPS designs. The formulation of an autonomous control concept, which includes identification of high-level functional requirements and generation of a research and development plan for enabling technologies, is among the technical activities that are being conducted under the U.S. Department of Energy's Space Reactor Technology Program in support of the NASA's Project Prometheus. The findings from this program are intended to contribute to the successful realization of the JIMO mission

  20. Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter

    DEFF Research Database (Denmark)

    Bisgaard, Morten; la Cour-Harbo, Anders; A. Danapalasingam, Kumeresan

    2010-01-01

    for the purpose. The model is inverted for the calculation of rotor collective and cyclic pitch angles given the wind disturbance. The control strategy is then applied on a small helicopter in a controlled wind environment and flight tests demonstrates the effectiveness and advantage of the feedforward controller.......This paper presents the design and verification of a model based nonlinear feedforward controller for wind disturbance rejection on autonomous helicopters. The feedforward control is based on a helicopter model that is derived using a number of carefully chosen simplifications to make it suitable...

  1. Interactive animated displayed of man-controlled and autonomous robots

    International Nuclear Information System (INIS)

    Crane, C.D. III; Duffy, J.

    1986-01-01

    An interactive computer graphics program has been developed which allows an operator to more readily control robot motions in two distinct modes; viz., man-controlled and autonomous. In man-controlled mode, the robot is guided by a joystick or similar device. As the robot moves, actual joint angle information is measured and supplied to a graphics system which accurately duplicates the robot motion. Obstacles are placed in the actual and animated workspace and the operator is warned of imminent collisions by sight and sound via the graphics system. Operation of the system in man-controlled mode is shown. In autonomous mode, a collision-free path between specified points is obtained by previewing robot motions on the graphics system. Once a satisfactory path is selected, the path characteristics are transmitted to the actual robot and the motion is executed. The telepresence system developed at the University of Florida has been successful in demonstrating that the concept of controlling a robot manipulator with the aid of an interactive computer graphics system is feasible and practical. The clarity of images coupled with real-time interaction and real-time determination of imminent collision with obstacles has resulted in improved operator performance. Furthermore, the ability for an operator to preview and supervise autonomous operations is a significant attribute when operating in a hazardous environment

  2. Integrating Autonomous Load Controllers in Power Systems

    DEFF Research Database (Denmark)

    Douglass, Philip James

    , but they are characterized by variable generation that is only partly predictable. Managing loads is already used in limited circumstances to improve security and efficiency of the power system. In power systems with a large penetration of variable generation, load management has large role to play in adapting consumption......Electric energy systems stand on the brink of radical change as the urgent need to reduce greenhouse gas emissions pushes more efficient utilization of energy resources and the adoption of renewable energy sources. New renewable sources such as wind and solar have a large potential......-sensitive load controller has been designed, implemented, and tested in real-life settings. Its performance demonstrated a large potential resource, in some cases greater than the average power consumption. The accuracy of load models was validated by comparison with field data. A voltage-sensitive controller...

  3. An Intelligent Control for the Distributed Flexible Network Photovoltaic System using Autonomous Control and Agent

    Science.gov (United States)

    Park, Sangsoo; Miura, Yushi; Ise, Toshifumi

    This paper proposes an intelligent control for the distributed flexible network photovoltaic system using autonomous control and agent. The distributed flexible network photovoltaic system is composed of a secondary battery bank and a number of subsystems which have a solar array, a dc/dc converter and a load. The control mode of dc/dc converter can be selected based on local information by autonomous control. However, if only autonomous control using local information is applied, there are some problems associated with several cases such as voltage drop on long power lines. To overcome these problems, the authors propose introducing agents to improve control characteristics. The autonomous control with agents is called as intelligent control in this paper. The intelligent control scheme that employs the communication between agents is applied for the model system and proved with simulation using PSCAD/EMTDC.

  4. Adaptive Control System for Autonomous Helicopter Slung Load Operations

    DEFF Research Database (Denmark)

    Bisgaard, Morten; la Cour-Harbo, Anders; Bendtsen, Jan Dimon

    2010-01-01

    system on the helicopter that measures the position of the slung load. The controller is a combined feedforward and feedback scheme for simultaneous avoidance of swing excitation and active swing damping. Simulations and laboratory flight tests show the effectiveness of the combined control system......This paper presents design and verification of an estimation and control system for a helicopter slung load system. The estimator provides position and velocity estimates of the slung load and is designed to augment existing navigation in autonomous helicopters. Sensor input is provided by a vision......, yielding significant load swing reduction compared to the baseline controller....

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

    Directory of Open Access Journals (Sweden)

    Georges Arnaout

    2011-12-01

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

  6. Autonomous aerial vehicles : guidance, control, signal and image processing platform

    International Nuclear Information System (INIS)

    Al-Jarrah, M.; Adiansyah, S.; Marji, Z. M.; Chowdhury, M. S.

    2011-01-01

    The use of unmanned systems is gaining momentum in civil applications after successful use by the armed forces around the globe. Autonomous aerial vehicles are important for providing assistance in monitoring highways, power grid lines, borders, and surveillance of critical infrastructures. It is envisioned that cargo shipping will be completely handled by UAVs by the 2025. Civil use of unmanned autonomous systems brings serious challenges. The need for cost effectiveness, reliability, operation simplicity, safety, and cooperation with human and with other agents are among these challenges. Aerial vehicles operating in the civilian aerospace is the ultimate goal which requires these systems to achieve the reliability of manned aircraft while maintaining their cost effectiveness. In this presentation the development of an autonomous fixed and rotary wing aerial vehicle will be discussed. The architecture of the system from the mission requirements to low level auto pilot control laws will be discussed. Trajectory tracking and path following guidance and control algorithms commonly used and their implementation using of the shelf low cost components will be presented. Autonomous takeo? landing is a key feature that was implemented onboard the vehicle to complete its degree of autonomy. This is implemented based on accurate air-data system designed and fused with sonar measurements, INS/GPS measurements, and vector field method guidance laws. The outcomes of the proposed research is that the AUS-UAV platform named MAZARI is capable of autonomous takeoff and landing based on a pre scheduled flight path using way point navigation and sensor fusion of the inertial navigation system (INS) and global positioning system (GPS). Several technologies need to be mastered when developing a UAV. The navigation task and the need to fuse sensory information to estimate the location of the vehicle is critical to successful autonomous vehicle. Currently extended Kalman filtering is

  7. Bilateral human-robot control for semi-autonomous UAV navigation

    NARCIS (Netherlands)

    Wopereis, Han Willem; Fumagalli, Matteo; Stramigioli, Stefano; Carloni, Raffaella

    2015-01-01

    This paper proposes a semi-autonomous bilateral control architecture for unmanned aerial vehicles. During autonomous navigation, a human operator is allowed to assist the autonomous controller of the vehicle by actively changing its navigation parameters to assist it in critical situations, such as

  8. Co-Design Based Lateral Motion Control of All-Wheel-Independent-Drive Electric Vehicles with Network Congestion

    Directory of Open Access Journals (Sweden)

    Wanke Cao

    2017-10-01

    Full Text Available All-wheel-independent-drive electric vehicles (AWID-EVs have considerable advantages in terms of energy optimization, drivability and driving safety due to the remarkable actuation flexibility of electric motors. However, in their current implementations, various real-time data in the vehicle control system are exchanged via a controller area network (CAN, which causes network congestion and network-induced delays. These problems could lead to systemic instability and make the system integration difficult. The goal of this paper is to provide a design methodology that can cope with all these challenges for the lateral motion control of AWID-EVs. Firstly, a continuous-time model of an AWID-EV is derived. Then an expression for determining upper and lower bounds on the delays caused by CAN is presented and with which a discrete-time model of the closed-loop CAN system is derived. An expression on the bandwidth utilization is introduced as well. Thirdly, a co-design based scheme combining a period-dependent linear quadratic regulator (LQR and a dynamic period scheduler is designed for the resulting model and the stability criterion is also derived. The results of simulations and hard-in-loop (HIL experiments show that the proposed methodology can effectively guarantee the stability of the vehicle lateral motion control while obviously declining the network congestion.

  9. Traffic Control Models Based on Cellular Automata for At-Grade Intersections in Autonomous Vehicle Environment

    OpenAIRE

    Wei Wu; Yang Liu; Yue Xu; Quanlun Wei; Yi Zhang

    2017-01-01

    Autonomous vehicle is able to facilitate road safety and traffic efficiency and has become a promising trend of future development. With a focus on highways, existing literatures studied the feasibility of autonomous vehicle in continuous traffic flows and the controllability of cooperative driving. However, rare efforts have been made to investigate the traffic control strategies in autonomous vehicle environment on urban roads, especially in urban intersections. In autonomous vehicle enviro...

  10. Shockwave-Based Automated Vehicle Longitudinal Control Algorithm for Nonrecurrent Congestion Mitigation

    Directory of Open Access Journals (Sweden)

    Liuhui Zhao

    2017-01-01

    Full Text Available A shockwave-based speed harmonization algorithm for the longitudinal movement of automated vehicles is presented in this paper. In the advent of Connected/Automated Vehicle (C/AV environment, the proposed algorithm can be applied to capture instantaneous shockwaves constructed from vehicular speed profiles shared by individual equipped vehicles. With a continuous wavelet transform (CWT method, the algorithm detects abnormal speed drops in real-time and optimizes speed to prevent the shockwave propagating to the upstream traffic. A traffic simulation model is calibrated to evaluate the applicability and efficiency of the proposed algorithm. Based on 100% C/AV market penetration, the simulation results show that the CWT-based algorithm accurately detects abnormal speed drops. With the improved accuracy of abnormal speed drop detection, the simulation results also demonstrate that the congestion can be mitigated by reducing travel time and delay up to approximately 9% and 18%, respectively. It is also found that the shockwave caused by nonrecurrent congestion is quickly dissipated even with low market penetration.

  11. Cooperative Control for Multiple Autonomous Vehicles Using Descriptor Functions

    Directory of Open Access Journals (Sweden)

    Marta Niccolini

    2014-01-01

    Full Text Available The paper presents a novel methodology for the control management of a swarm of autonomous vehicles. The vehicles, or agents, may have different skills, and be employed for different missions. The methodology is based on the definition of descriptor functions that model the capabilities of the single agent and each task or mission. The swarm motion is controlled by minimizing a suitable norm of the error between agents’ descriptor functions and other descriptor functions which models the entire mission. The validity of the proposed technique is tested via numerical simulation, using different task assignment scenarios.

  12. A microgrid cluster structure and its autonomous coordination control strategy

    DEFF Research Database (Denmark)

    Zhou, Xiaoping; Zhou, Leming; Chen, Yandong

    2018-01-01

    This paper proposes a microgrid cluster structure and its autonomous coordination control strategy. Unlike existing microgrids that are purely AC or DC, the microgrid cluster studied here is an interconnected system with multiple AC and DC microgrids, which enables mutual power support among...... control method combining the normalized droop-based control and adaptive control is proposed for PEU, which can effectively realize mutual power support among microgrids and reduce the bus voltage or frequency deviation in microgrids. In addition, the adaptive control strategy of PEU can ensure...... that the bigger the normalized index of microgrid is, the larger the active power exchange coefficient is, which can make all of microgrids operate around the rated state as much as possible. Besides, EP is mainly used to balance the system power, and the hierarchical coordinated control method of EP is proposed...

  13. A Multifunctional Smart Coating for Autonomous Corrosion Control

    Science.gov (United States)

    Calle, Luz Marina; Buhrow, Jerry W.; Jolley, Scott T.

    2012-01-01

    Corrosion is a destructive process that often causes failure in metallic components and structures. Protective coatings are the most commonly used method of corrosion control. However, progressively stricter environmental regulations have resulted in the ban of many commercially available corrosion protective coatings due to the harmful effects of their solvents or corrosion inhibitors. This work concerns the development of a multifunctional, smart coating for the autonomous control of corrosion. This coating is being developed to have the inherent ability to detect the chemical changes associated with the onset of corrosion and respond autonomously to control it. The multi-functionality of the coating is based on micro-encapsulation technology specifically designed for corrosion control applications. This design has, in addition to all the advantages of other existing microcapsules designs, the corrosion controlled release function that allows the delivery of corrosion indicators and inhibitors on demand only when and where needed. Corrosion indicators as well as corrosion inhibitors have been incorporated into microcapsules, blended into several paint systems, and tested for corrosion detection and protection efficacy. This

  14. Environmentally Friendly Coating Technology for Autonomous Corrosion Control

    Science.gov (United States)

    Calle, Luz M.; Li, Wenyan; Buhrow, Jerry W.; Johnsey, Marissa N.; Jolley, Scott T.; Pearman, Benjamin P.; Zhang, Xuejun; Fitzpatrick, Lilliana; Gillis, Mathew; Blanton, Michael; hide

    2016-01-01

    This work concerns the development of environmentally friendly encapsulation technology, specifically designed to incorporate corrosion indicators, inhibitors, and self-healing agents into a coating, in such a way that the delivery of the indicators and inhibitors is triggered by the corrosion process, and the delivery of self-healing agents is triggered by mechanical damage to the coating. Encapsulation of the active corrosion control ingredients allows the incorporation of desired autonomous corrosion control functions such as: early corrosion detection, hidden corrosion detection, corrosion inhibition, and self-healing of mechanical damage into a coating. The technology offers the versatility needed to include one or several corrosion control functions into the same coating.The development of the encapsulation technology has progressed from the initial proof-of-concept work, in which a corrosion indicator was encapsulated into an oil-core (hydrophobic) microcapsule and shown to be delivered autonomously, under simulated corrosion conditions, to a sophisticated portfolio of micro carriers (organic, inorganic, and hybrid) that can be used to deliver a wide range of active corrosion ingredients at a rate that can be adjusted to offer immediate as well as long-term corrosion control. The micro carriers have been incorporated into different coating formulas to test and optimize the autonomous corrosion detection, inhibition, and self-healing functions of the coatings. This paper provides an overview of progress made to date and highlights recent technical developments, such as improved corrosion detection sensitivity, inhibitor test results in various types of coatings, and highly effective self-healing coatings based on green chemistry.

  15. Autonomous vehicle motion control, approximate maps, and fuzzy logic

    Science.gov (United States)

    Ruspini, Enrique H.

    1993-01-01

    Progress on research on the control of actions of autonomous mobile agents using fuzzy logic is presented. The innovations described encompass theoretical and applied developments. At the theoretical level, results of research leading to the combined utilization of conventional artificial planning techniques with fuzzy logic approaches for the control of local motion and perception actions are presented. Also formulations of dynamic programming approaches to optimal control in the context of the analysis of approximate models of the real world are examined. Also a new approach to goal conflict resolution that does not require specification of numerical values representing relative goal importance is reviewed. Applied developments include the introduction of the notion of approximate map. A fuzzy relational database structure for the representation of vague and imprecise information about the robot's environment is proposed. Also the central notions of control point and control structure are discussed.

  16. Issues and approaches in control for autonomous reactor operation

    International Nuclear Information System (INIS)

    Vilim, R. B.; Khalil, H. S.; Wei, T. Y. C.

    2000-01-01

    A capability for autonomous and passively safe operation is one of the goals of the NERI funded development of Generation IV nuclear plants. An approach is described for evaluating the effect of increasing autonomy on safety margins and load behavior and for examining issues that arise with increasing autonomy and their potential impact on performance. The method provides a formal approach to the process of exploiting the innate self-regulating property of a reactor to make it less dependent on operator action and less vulnerable to automatic control system fault and/or operator error. Some preliminary results are given

  17. Application of Autonomous Spacecraft Power Control Technology to Terrestrial Microgrids

    Science.gov (United States)

    Dever, Timothy P.; Trase, Larry M.; Soeder, James F.

    2014-01-01

    This paper describes the potential of the power campus located at the NASA Glenn Research Center (GRC) in Cleveland, Ohio for microgrid development. First, the benefits provided by microgrids to the terrestrial power grid are described, and an overview of Technology Needs for microgrid development is presented. Next, GRC's work on development of autonomous control for manned deep space vehicles, which are essentially islanded microgrids, is covered, and contribution of each of these developments to the microgrid Technology Needs is detailed. Finally, a description is provided of GRC's existing physical assets which can be applied to microgrid technology development, and a phased plan for development of a microgrid test facility is presented.

  18. Different Control Algorithms for a Platoon of Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Zoran Gacovski

    2014-05-01

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

  19. Towards autonomous neuroprosthetic control using Hebbian reinforcement learning.

    Science.gov (United States)

    Mahmoudi, Babak; Pohlmeyer, Eric A; Prins, Noeline W; Geng, Shijia; Sanchez, Justin C

    2013-12-01

    Our goal was to design an adaptive neuroprosthetic controller that could learn the mapping from neural states to prosthetic actions and automatically adjust adaptation using only a binary evaluative feedback as a measure of desirability/undesirability of performance. Hebbian reinforcement learning (HRL) in a connectionist network was used for the design of the adaptive controller. The method combines the efficiency of supervised learning with the generality of reinforcement learning. The convergence properties of this approach were studied using both closed-loop control simulations and open-loop simulations that used primate neural data from robot-assisted reaching tasks. The HRL controller was able to perform classification and regression tasks using its episodic and sequential learning modes, respectively. In our experiments, the HRL controller quickly achieved convergence to an effective control policy, followed by robust performance. The controller also automatically stopped adapting the parameters after converging to a satisfactory control policy. Additionally, when the input neural vector was reorganized, the controller resumed adaptation to maintain performance. By estimating an evaluative feedback directly from the user, the HRL control algorithm may provide an efficient method for autonomous adaptation of neuroprosthetic systems. This method may enable the user to teach the controller the desired behavior using only a simple feedback signal.

  20. Ground Operations Autonomous Control and Integrated Health Management

    Science.gov (United States)

    Daniels, James

    2014-01-01

    The Ground Operations Autonomous Control and Integrated Health Management plays a key role for future ground operations at NASA. The software that is integrated into this system is called G2 2011 Gensym. The purpose of this report is to describe the Ground Operations Autonomous Control and Integrated Health Management with the use of the G2 Gensym software and the G2 NASA toolkit for Integrated System Health Management (ISHM) which is a Computer Software Configuration Item (CSCI). The decision rationale for the use of the G2 platform is to develop a modular capability for ISHM and AC. Toolkit modules include knowledge bases that are generic and can be applied in any application domain module. That way, there's a maximization of reusability, maintainability, and systematic evolution, portability, and scalability. Engine modules are generic, while application modules represent the domain model of a specific application. Furthermore, the NASA toolkit, developed since 2006 (a set of modules), makes it possible to create application domain models quickly, using pre-defined objects that include sensors and components libraries for typical fluid, electrical, and mechanical systems.

  1. Improving the Lane Reference Detection for Autonomous Road Vehicle Control

    Directory of Open Access Journals (Sweden)

    Felipe Jiménez

    2016-01-01

    Full Text Available Autonomous road vehicles are increasingly becoming more important and there are several techniques and sensors that are being applied for vehicle control. This paper presents an alternative system for maintaining the position of autonomous vehicles without adding additional elements to the standard sensor architecture, by using a 3D laser scanner for continuously detecting a reference element in situations in which the GNSS receiver fails or provides accuracy below the required level. Considering that the guidance variables are more accurately estimated when dealing with reference points in front of and behind the vehicle, an algorithm based on vehicle dynamics mathematical model is proposed to extend the detected points in cases where the sensor is placed at the front of the vehicle. The algorithm has been tested when driving along a lane delimited by New Jersey barriers at both sides and the results show a correct behaviour. The system is capable of estimating the reference element behind the vehicle with sufficient accuracy when the laser scanner is placed at the front of it, so the robustness of the control input variables (lateral and angular errors estimation is improved making it unnecessary to place the sensor on the vehicle roof or to introduce additional sensors.

  2. Meaningful Human Control over Autonomous Systems: A Philosophical Account

    Directory of Open Access Journals (Sweden)

    Filippo Santoni de Sio

    2018-02-01

    Full Text Available Debates on lethal autonomous weapon systems have proliferated in the past 5 years. Ethical concerns have been voiced about a possible raise in the number of wrongs and crimes in military operations and about the creation of a “responsibility gap” for harms caused by these systems. To address these concerns, the principle of “meaningful human control” has been introduced in the legal–political debate; according to this principle, humans not computers and their algorithms should ultimately remain in control of, and thus morally responsible for, relevant decisions about (lethal military operations. However, policy-makers and technical designers lack a detailed theory of what “meaningful human control” exactly means. In this paper, we lay the foundation of a philosophical account of meaningful human control, based on the concept of “guidance control” as elaborated in the philosophical debate on free will and moral responsibility. Following the ideals of “Responsible Innovation” and “Value-sensitive Design,” our account of meaningful human control is cast in the form of design requirements. We identify two general necessary conditions to be satisfied for an autonomous system to remain under meaningful human control: first, a “tracking” condition, according to which the system should be able to respond to both the relevant moral reasons of the humans designing and deploying the system and the relevant facts in the environment in which the system operates; second, a “tracing” condition, according to which the system should be designed in such a way as to grant the possibility to always trace back the outcome of its operations to at least one human along the chain of design and operation. As we think that meaningful human control can be one of the central notions in ethics of robotics and AI, in the last part of the paper, we start exploring the implications of our account for the design and use of non

  3. A Review on Natural Ventilation-enabling Façade Noise Control Devices for Congested High-Rise Cities

    Directory of Open Access Journals (Sweden)

    Shiu-Keung Tang

    2017-02-01

    Full Text Available This review summarizes the current status of the research and development of natural ventilation-enabling noise control devices for use on the façades of high-rise residential buildings in congested cities. These devices are important for a sustainable urbanized city, as they are supposed to offer good acoustical protection to citizens, allowing for an acceptable level of natural ventilation inside residential units; energy for mechanical ventilation can then be saved. From the information presented in the existing literature, it is concluded that protrusive devices, such as lintels and balconies, are not effective noise screening devices, even if they are installed with sound absorbers and/or reflectors, under the effect of city reverberation. On the contrary, plenum windows and similar structures, which are plenum structures with a staggered air inlet and outlet, are interesting alternatives that are worth rigorous considerations.

  4. Experiments in teleoperator and autonomous control of space robotic vehicles

    Science.gov (United States)

    Alexander, Harold L.

    1991-01-01

    A program of research embracing teleoperator and automatic navigational control of freely flying satellite robots is presented. Current research goals include: (1) developing visual operator interfaces for improved vehicle teleoperation; (2) determining the effects of different visual interface system designs on operator performance; and (3) achieving autonomous vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space-robot simulator vehicle currently under development. Visual-interface design options under investigation include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and the provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion.

  5. Cardiac autonomic control in adolescents with primary hypertension

    Directory of Open Access Journals (Sweden)

    Havlíceková Z

    2009-12-01

    Full Text Available Abstract Background Impairment in cardiovascular autonomic regulation participates in the onset and maintenance of primary hypertension. Objective The aim of the present study was to evaluate cardiac autonomic control using long-term heart rate variability (HRV analysis in adolescents with primary hypertension. Subjects and methods Twenty two adolescent patients with primary hypertension (5 girls/17 boys aged 14-19 years and 22 healthy subjects matched for age and gender were enrolled. Two periods from 24-hour ECG recording were evaluated by HRV analysis: awake state and sleep. HRV analysis included spectral power in low frequency band (LF, in high frequency band (HF, and LF/HF ratio. Results In awake state, adolescents with primary hypertension had lower HF and higher LF and LF/HF ratio. During sleep, HF was lower and LF/HF ratio was higher in patients with primary hypertension. Conclusions A combination of sympathetic predominance and reduced vagal activity might represent a potential link between psychosocial factors and primary hypertension, associated with increased cardiovascular morbidity.

  6. Reducing a congestion with introduce the greedy algorithm on traffic light control

    Science.gov (United States)

    Catur Siswipraptini, Puji; Hendro Martono, Wisnu; Hartanti, Dian

    2018-03-01

    The density of vehicles causes congestion seen at every junction in the city of jakarta due to the static or manual traffic timing lamp system consequently the length of the queue at the junction is uncertain. The research has been aimed at designing a sensor based traffic system based on the queue length detection of the vehicle to optimize the duration of the green light. In detecting the length of the queue of vehicles using infrared sensor assistance placed in each intersection path, then apply Greedy algorithm to help accelerate the movement of green light duration for the path that requires, while to apply the traffic lights regulation program based on greedy algorithm which is then stored on microcontroller with Arduino Mega 2560 type. Where a developed system implements the greedy algorithm with the help of the infrared sensor it will extend the duration of the green light on the long vehicle queue and accelerate the duration of the green light at the intersection that has the queue not too dense. Furthermore, the design is made to form an artificial form of the actual situation of the scale model or simple simulator (next we just called as scale model of simulator) of the intersection then tested. Sensors used are infrared sensors, where the placement of sensors in each intersection on the scale model is placed within 10 cm of each sensor and serves as a queue detector. From the results of the test process on the scale model with a longer queue obtained longer green light time so it will fix the problem of long queue of vehicles. Using greedy algorithms can add long green lights for 2 seconds on tracks that have long queues at least three sensor levels and accelerate time at other intersections that have longer queue sensor levels less than level three.

  7. Developing operator capacity estimates for supervisory control of autonomous vehicles.

    Science.gov (United States)

    Cummings, M L; Guerlain, Stephanie

    2007-02-01

    This study examined operators' capacity to successfully reallocate highly autonomous in-flight missiles to time-sensitive targets while performing secondary tasks of varying complexity. Regardless of the level of autonomy for unmanned systems, humans will be necessarily involved in the mission planning, higher level operation, and contingency interventions, otherwise known as human supervisory control. As a result, more research is needed that addresses the impact of dynamic decision support systems that support rapid planning and replanning in time-pressured scenarios, particularly on operator workload. A dual screen simulation that allows a single operator the ability to monitor and control 8, 12, or 16 missiles through high level replanning was tested on 42 U.S. Navy personnel. The most significant finding was that when attempting to control 16 missiles, participants' performance on three separate objective performance metrics and their situation awareness were significantly degraded. These results mirror studies of air traffic control that demonstrate a similar decline in performance for controllers managing 17 aircraft as compared with those managing only 10 to 11 aircraft. Moreover, the results suggest that a 70% utilization (percentage busy time) score is a valid threshold for predicting significant performance decay and could be a generalizable metric that can aid in manning predictions. This research is relevant to human supervisory control of networked military and commercial unmanned vehicles in the air, on the ground, and on and under the water.

  8. External force/velocity control for an autonomous rehabilitation robot

    Science.gov (United States)

    Saekow, Peerayuth; Neranon, Paramin; Smithmaitrie, Pruittikorn

    2018-01-01

    Stroke is a primary cause of death and the leading cause of permanent disability in adults. There are many stroke survivors, who live with a variety of levels of disability and always need rehabilitation activities on daily basis. Several studies have reported that usage of rehabilitation robotic devices shows the better improvement outcomes in upper-limb stroke patients than the conventional therapy-nurses or therapists actively help patients with exercise-based rehabilitation. This research focuses on the development of an autonomous robotic trainer designed to guide a stroke patient through an upper-limb rehabilitation task. The robotic device was designed and developed to automate the reaching exercise as mentioned. The designed robotic system is made up of a four-wheel omni-directional mobile robot, an ATI Gamma multi-axis force/torque sensor used to measure contact force and a microcontroller real-time operating system. Proportional plus Integral control was adapted to control the overall performance and stability of the autonomous assistive robot. External force control was successfully implemented to establish the behavioral control strategy for the robot force and velocity control scheme. In summary, the experimental results indicated satisfactorily stable performance of the robot force and velocity control can be considered acceptable. The gain tuning for proportional integral (PI) velocity control algorithms was suitably estimated using the Ziegler-Nichols method in which the optimized proportional and integral gains are 0.45 and 0.11, respectively. Additionally, the PI external force control gains were experimentally tuned using the trial and error method based on a set of experiments which allow a human participant moves the robot along the constrained circular path whilst attempting to minimize the radial force. The performance was analyzed based on the root mean square error (E_RMS) of the radial forces, in which the lower the variation in radial

  9. Complex Formation Control of Large-Scale Intelligent Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Ming Lei

    2012-01-01

    Full Text Available A new formation framework of large-scale intelligent autonomous vehicles is developed, which can realize complex formations while reducing data exchange. Using the proposed hierarchy formation method and the automatic dividing algorithm, vehicles are automatically divided into leaders and followers by exchanging information via wireless network at initial time. Then, leaders form formation geometric shape by global formation information and followers track their own virtual leaders to form line formation by local information. The formation control laws of leaders and followers are designed based on consensus algorithms. Moreover, collision-avoiding problems are considered and solved using artificial potential functions. Finally, a simulation example that consists of 25 vehicles shows the effectiveness of theory.

  10. Sensing and control for autonomous vehicles applications to land, water and air vehicles

    CERN Document Server

    Pettersen, Kristin; Nijmeijer, Henk

    2017-01-01

    This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite sy...

  11. Control of autonomous ground vehicles: a brief technical review

    Science.gov (United States)

    Babak, Shahian-Jahromi; Hussain, Syed A.; Karakas, Burak; Cetin, Sabri

    2017-07-01

    This paper presents a brief review of the developments achieved in autonomous vehicle systems technology. A concise history of autonomous driver assistance systems is presented, followed by a review of current state of the art sensor technology used in autonomous vehicles. Standard sensor fusion method that has been recently explored is discussed. Finally, advances in embedded software methodologies that define the logic between sensory information and actuation decisions are reviewed.

  12. Autonomous control systems: applications to remote sensing and image processing

    Science.gov (United States)

    Jamshidi, Mohammad

    2001-11-01

    One of the main challenges of any control (or image processing) paradigm is being able to handle complex systems under unforeseen uncertainties. A system may be called complex here if its dimension (order) is too high and its model (if available) is nonlinear, interconnected, and information on the system is uncertain such that classical techniques cannot easily handle the problem. Examples of complex systems are power networks, space robotic colonies, national air traffic control system, and integrated manufacturing plant, the Hubble Telescope, the International Space Station, etc. Soft computing, a consortia of methodologies such as fuzzy logic, neuro-computing, genetic algorithms and genetic programming, has proven to be powerful tools for adding autonomy and semi-autonomy to many complex systems. For such systems the size of soft computing control architecture will be nearly infinite. In this paper new paradigms using soft computing approaches are utilized to design autonomous controllers and image enhancers for a number of application areas. These applications are satellite array formations for synthetic aperture radar interferometry (InSAR) and enhancement of analog and digital images.

  13. Implication of altered autonomic control for orthostatic tolerance in SCI.

    Science.gov (United States)

    Wecht, Jill Maria; Bauman, William A

    2018-01-01

    Neural output from the sympathetic and parasympathetic branches of the autonomic nervous system (ANS) are integrated to appropriately control cardiovascular responses during routine activities of daily living including orthostatic positioning. Sympathetic control of the upper extremity vasculature and the heart arises from the thoracic cord between T1 and T5, whereas splanchnic bed and lower extremity vasculature receive sympathetic neural input from the lower cord between segments T5 and L2. Although the vasculature is not directly innervated by the parasympathetic nervous system, the SA node is innervated by post-ganglionic vagal nerve fibers via cranial nerve X. Segmental differences in sympathetic cardiovascular innervation highlight the effect of lesion level on orthostatic cardiovascular control following spinal cord injury (SCI). Due to impaired sympathetic cardiovascular control, many individuals with SCI, particularly those with lesions above T6, are prone to orthostatic hypotension (OH) and orthostatic intolerance (OI). Symptomatic OH, which may result in OI, is a consequence of episodic reductions in cerebral perfusion pressure and the symptoms may include: dizziness, lightheadedness, nausea, blurred vision, ringing in the ears, headache and syncope. However, many, if not most, individuals with SCI who experience persistent and episodic hypotension and OH do not report symptoms of cerebral hypoperfusion and therefore do not raise clinical concern. This review will discuss the mechanism underlying OH and OI following SCI, and will review our knowledge to date regarding the prevalence, consequences and possible treatment options for these conditions in the SCI population. Published by Elsevier B.V.

  14. Biologically inspired autonomous structural materials with controlled toughening and healing

    Science.gov (United States)

    Garcia, Michael E.; Sodano, Henry A.

    2010-04-01

    The field of structural health monitoring (SHM) has made significant contributions in the field of prognosis and damage detection in the past decade. The advantageous use of this technology has not been integrated into operational structures to prevent damage from propagating or to heal injured regions under real time loading conditions. Rather, current systems relay this information to a central processor or human operator, who then determines a course of action such as altering the mission or scheduling repair maintenance. Biological systems exhibit advanced sensory and healing traits that can be applied to the design of material systems. For instance, bone is the major structural component in vertebrates; however, unlike modern structural materials, bone has many properties that make it effective for arresting the propagation of cracks and subsequent healing of the fractured area. The foremost goal for the development of future adaptive structures is to mimic biological systems, similar to bone, such that the material system can detect damage and deploy defensive traits to impede damage from propagating, thus preventing catastrophic failure while in operation. After sensing and stalling the propagation of damage, the structure must then be repaired autonomously using self healing mechanisms motivated by biological systems. Here a novel autonomous system is developed using shape memory polymers (SMPs), that employs an optical fiber network as both a damage detection sensor and a network to deliver stimulus to the damage site initiating adaptation and healing. In the presence of damage the fiber optic fractures allowing a high power laser diode to deposit a controlled level of thermal energy at the fractured sight locally reducing the modulus and blunting the crack tip, which significantly slows the crack growth rate. By applying a pre-induced strain field and utilizing the shape memory recovery effect, thermal energy can be deployed to close the crack and return

  15. Heterogeneous Teams of Autonomous Vehicles: Advanced Sensing & Control

    Science.gov (United States)

    2009-03-01

    Final Technical 3. DATES COVERED (From To) 7/1/05-12/31708 4. TITLE AND SUBTITLE Heterogeneous Teams of Autonomous Vehicles Advanced Sensing...assimilating data from underwater and surface autonomous vehicles in addition to the usual sources of Eulerian and Lagrangian systems into a small scale

  16. Intensive symptom control of opioid-refractory dyspnea in congestive heart failure: Role of milrinone in the palliative care unit.

    Science.gov (United States)

    Silvestre, Julio; Montoya, Maria; Bruera, Eduardo; Elsayem, Ahmed

    2015-12-01

    We describe an exemplary case of congestive heart failure (CHF) symptoms controlled with milrinone. We also analyze the benefits and risks of milrinone administration in an unmonitored setting. We describe the case of a patient with refractory leukemia and end-stage CHF who developed severe dyspnea after discontinuation of milrinone. At that point, despite starting opioids, she had been severely dyspneic and anxious, requiring admission to the palliative care unit (PCU) for symptom control. After negotiation with hospital administrators, milrinone was administered in an unmonitored setting such as the PCU. A multidisciplinary team approach was also provided. Milrinone produced a dramatic improvement in the patient's symptom scores and performance status. The patient was eventually discharged to home hospice on a milrinone infusion with excellent symptom control. This case suggests that milrinone may be of benefit for short-term inpatient administration for dyspnea management, even in unmonitored settings and consequently during hospice in do-not-resuscitate (DNR) patients. This strategy may reduce costs and readmissions to the hospital related to end-stage CHF.

  17. A Flexible Load Control Strategy for Distribution Network to Reduce the Line Losses and to Eliminate the Transmission Congestion

    Directory of Open Access Journals (Sweden)

    Beibei Wang

    2017-01-01

    Full Text Available There are many uncertain factors in the modern distribution network, including the access of renewable energy sources and the heavy load level. The existence of these factors has brought challenges to the stability of the power distribution network, as well as increasing the risk of exceeding transmission capacity of distribution lines. The appearance of flexible load control technology provides a new idea to solve the above problems. Air conditioners (ACs account for a great proportion of all loads. In this paper, the model of dispatching AC loads in the regional power grid is constructed, and the direct load control (DLC method is adopted to reduce the load of ACs. An improved tabu search technique is proposed to solve the problem of network dispatch in distribution systems in order to reduce the resistive line losses and to eliminate the transmission congestion in lines under normal operating conditions. The optimal node solution is obtained to find the best location and reduction capacity of ACs for load control. To demonstrate the validity and effectiveness of the proposed method, a test system is studied. The numerical results are also given in this article, which reveal that the proposed method is promising.

  18. Perception, Planning, Control, and Coordination for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Scott Drew Pendleton

    2017-02-01

    Full Text Available Autonomous vehicles are expected to play a key role in the future of urban transportation systems, as they offer potential for additional safety, increased productivity, greater accessibility, better road efficiency, and positive impact on the environment. Research in autonomous systems has seen dramatic advances in recent years, due to the increases in available computing power and reduced cost in sensing and computing technologies, resulting in maturing technological readiness level of fully autonomous vehicles. The objective of this paper is to provide a general overview of the recent developments in the realm of autonomous vehicle software systems. Fundamental components of autonomous vehicle software are reviewed, and recent developments in each area are discussed.

  19. A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles

    Science.gov (United States)

    1994-05-02

    AD-A282 787 " A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles Alonzo Kelly CMU-RI-TR-94-17 The Robotics...follow, or a direction to prefer, it cannot generate its own strategic goals. Therefore, it solves the local planning problem for autonomous vehicles . The... autonomous vehicles . It is intelligent because it uses range images that are generated from either a laser rangefinder or a stereo triangulation

  20. Autonomous Power Control MAC Protocol for Mobile Ad Hoc Networks

    Directory of Open Access Journals (Sweden)

    2006-01-01

    Full Text Available Battery energy limitation has become a performance bottleneck for mobile ad hoc networks. IEEE 802.11 has been adopted as the current standard MAC protocol for ad hoc networks. However, it was developed without considering energy efficiency. To solve this problem, many modifications on IEEE 802.11 to incorporate power control have been proposed in the literature. The main idea of these power control schemes is to use a maximum possible power level for transmitting RTS/CTS and the lowest acceptable power for sending DATA/ACK. However, these schemes may degrade network throughput and reduce the overall energy efficiency of the network. This paper proposes autonomous power control MAC protocol (APCMP, which allows mobile nodes dynamically adjusting power level for transmitting DATA/ACK according to the distances between the transmitter and its neighbors. In addition, the power level for transmitting RTS/CTS is also adjustable according to the power level for DATA/ACK packets. In this paper, the performance of APCMP protocol is evaluated by simulation and is compared with that of other protocols.

  1. V2X application-reliability analysis of data-rate and message-rate congestion control algorithms

    NARCIS (Netherlands)

    Math, C. Belagal; Li, H.; Heemstra de Groot, S.M.; Niemegeers, I.G.M.M.

    2017-01-01

    Intelligent Transportation Systems (ITS) require Vehicle-to-Everything (V2X) communication. In dense traffic, the communication channel may become congested, impairing the reliability of the ITS safety applications. Therefore, European Telecommunications Standard Institute (ETSI) demands

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

    Directory of Open Access Journals (Sweden)

    Edgar Talavera

    2018-01-01

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

  3. Cohesive Motion Control Algorithm for Formation of Multiple Autonomous Agents

    Directory of Open Access Journals (Sweden)

    Debabrata Atta

    2010-01-01

    Full Text Available This paper presents a motion control strategy for a rigid and constraint consistent formation that can be modeled by a directed graph whose each vertex represents individual agent kinematics and each of directed edges represents distance constraints maintained by an agent, called follower, to its neighbouring agent. A rigid and constraint consistent graph is called persistent graph. A persistent graph is minimally persistent if it is persistent, and no edge can be removed without losing its persistence. An acyclic (free of cycles in its sensing pattern minimally persistent graph of Leader-Follower structure has been considered here which can be constructed from an initial Leader-Follower seed (initial graph with two vertices, one is Leader and another one is First Follower and one edge in between them is directed towards Leader by Henneberg sequence (a procedure of growing a graph containing only vertex additions. A set of nonlinear optimization-based decentralized control laws for mobile autonomous point agents in two dimensional plane have been proposed. An infinitesimal deviation in formation shape created continuous motion of Leader is compensated by corresponding continuous motion of other agents fulfilling the shortest path criteria.

  4. Laser rangefinders for autonomous intelligent cruise control systems

    Science.gov (United States)

    Journet, Bernard A.; Bazin, Gaelle

    1998-01-01

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

  5. Hierarchical Controlled Grid-Connected Microgrid based on a Novel Autonomous Current Sharing Controller

    DEFF Research Database (Denmark)

    Guan, Yajuan; Quintero, Juan Carlos Vasquez; Guerrero, Josep M.

    2015-01-01

    In this paper, a hierarchical control system based on a novel autonomous current sharing controller for grid-connected microgrids (MGs) is presented. A three-level hierarchical control system is implemented to guarantee the power sharing performance among voltage controlled parallel inverters......, while providing the required active and reactive power to the utility grid. A communication link is used to transmit the control signal from the tertiary and secondary control levels to the primary control. Simulation results from a MG based on two grid-connected parallel inverters are shown in order...

  6. Implementation of Autonomous Mission Control for Mine Reconnaissance AUVs

    National Research Council Canada - National Science Library

    Evans, B; Davies, G; Myers, V; Bellettini, A; Pinto, Manuel; Munk, P

    2007-01-01

    Whilst autonomous underwater vehicles (AUVs) are increasingly being used to perform MCM tasks, the capability of these systems is limited in terms of their ability to network and co-operate effectively with other manned or unmanned assets...

  7. A Fully-Distributed Heuristic Algorithm for Control of Autonomous Vehicle Movements at Isolated Intersections

    OpenAIRE

    Abdallah A. Hassan; Hesham A. Rakha

    2014-01-01

    Optimizing autonomous vehicle movements through roadway intersections is a challenging problem. It has been demonstrated in the literature that traditional traffic control, such as traffic signal and stop sign control are not optimal especially for heavy traffic demand levels. Alternatively, centralized autonomous vehicle control strategies are costly and not scalable given that the ability of a central controller to track and schedule the movement of hundreds of vehicles in real-time is ques...

  8. An autonomous observation and control system based on EPICS and RTS2 for Antarctic telescopes

    Science.gov (United States)

    Zhang, Guang-yu; Wang, Jian; Tang, Peng-yi; Jia, Ming-hao; Chen, Jie; Dong, Shu-cheng; Jiang, Fengxin; Wu, Wen-qing; Liu, Jia-jing; Zhang, Hong-fei

    2016-01-01

    For unattended telescopes in Antarctic, the remote operation, autonomous observation and control are essential. An EPICS-(Experimental Physics and Industrial Control System) and RTS2-(Remote Telescope System, 2nd Version) based autonomous observation and control system with remoted operation is introduced in this paper. EPICS is a set of open source software tools, libraries and applications developed collaboratively and used worldwide to create distributed soft real-time control systems for scientific instruments while RTS2 is an open source environment for control of a fully autonomous observatory. Using the advantage of EPICS and RTS2, respectively, a combined integrated software framework for autonomous observation and control is established that use RTS2 to fulfil the function of astronomical observation and use EPICS to fulfil the device control of telescope. A command and status interface for EPICS and RTS2 is designed to make the EPICS IOC (Input/Output Controller) components integrate to RTS2 directly. For the specification and requirement of control system of telescope in Antarctic, core components named Executor and Auto-focus for autonomous observation is designed and implemented with remote operation user interface based on browser-server mode. The whole system including the telescope is tested in Lijiang Observatory in Yunnan Province for practical observation to complete the autonomous observation and control, including telescope control, camera control, dome control, weather information acquisition with the local and remote operation.

  9. AUTONOMIC CONTROL OF HEART RATE AFTER EXERCISE IN TRAINED WRESTLERS

    Directory of Open Access Journals (Sweden)

    Carlos F Henríquez

    2013-04-01

    Full Text Available The objective of this study was to establish differences in vagal reactivation, through heart rate recovery and heart rate variability post exercise, in Brazilian jiu-jitsu wrestlers (BJJW. A total of 18 male athletes were evaluated, ten highly trained (HT and eight moderately trained (MT, who performed a maximum incremental test. At the end of the exercise, the R-R intervals were recorded during the first minute of recovery. We calculated heart rate recovery (HRR60s, and performed linear and non-linear (standard deviation of instantaneous beat-to-beat R-R interval variability – SD1 analysis of heart rate variability (HRV, using the tachogram of the first minute of recovery divided into four segments of 15 s each (0-15 s, 15-30 s, 30-45 s, 45-60 s. Between HT and MT individuals, there were statistically significant differences in HRR60s (p <0.05 and in the non linear analysis of HRV from SD130-45s (p <0.05 and SD145-60s (p <0.05. The results of this research suggest that heart rate kinetics during the first minute after exercise are related to training level and can be used as an index for autonomic cardiovascular control in BJJW.

  10. Preventing Distribution Grid Congestion by Integrating Indirect Control in a Hierarchical Electric Vehicles Management System

    DEFF Research Database (Denmark)

    Hu, Junjie; Si, Chengyong; Lind, Morten

    2016-01-01

    In this paper, a hierarchical management system is proposed to integrate electric vehicles (EVs) into a distribution grid. Three types of actors are included in the system: Distribution system operators (DSOs), Fleet operators (FOs) and EV owners. In contrast to a typical hierarchical control sys...

  11. Sleeping and resting respiratory rates in dogs and cats with medically-controlled left-sided congestive heart failure.

    Science.gov (United States)

    Porciello, F; Rishniw, M; Ljungvall, I; Ferasin, L; Haggstrom, J; Ohad, D G

    2016-01-01

    Sleeping and resting respiratory rates (SRR and RRR, respectively) are commonly used to monitor dogs and cats with left-sided cardiac disease and to identify animals with left-sided congestive heart failure (L-CHF). Dogs and cats with subclinical heart disease have SRRmean values dogs and cats with CHF that is well controlled with medical therapy. In this study, SRR and RRR were measured by the owners of 51 dogs and 22 cats with stable, well-controlled CHF. Median canine SRRmean was 20 breaths/min (7-39 breaths/min); eight dogs were ≥25 breaths/min and one dog only was ≥30 breaths/min. Canine SRRmean was unrelated to pulmonary hypertension or diuretic dose. Median feline SRRmean was 20 breaths/min (13-31 breaths/min); four cats were ≥25 breaths/min and only one cat was ≥30 breaths/min. Feline SRRmean was unrelated to diuretic dose. SRR remained stable during collection in both species with little day-to-day variability. The median canine RRRmean was 24 breaths/min (12-44 breaths/min), 17 were ≥25 breaths/min, seven were ≥30 breaths/min, two were >40 breaths/min. Median feline RRRmean was 24 breaths/min (15-45 breaths/min); five cats had RRRmean ≥25 breaths/min; one had ≥30 breaths/min, and two had ≥40 breaths/min. These data suggest that most dogs and cats with CHF that is medically well-controlled and stable have SRRmean and RRRmean dogs and cats. Copyright © 2015 Elsevier Ltd. All rights reserved.

  12. Congestive index of portal vein

    International Nuclear Information System (INIS)

    Kim, Won Ho; Kim, H. K.; Lee, S. C.; Han, S. H.; Han, K. H.; Chung, J. B.; Choi, H. J.

    1989-01-01

    In patients with portal hypertension, the blood flow volume is maintained despite decreased blood flow velocity due to enlargement of the vascular cross sectional area. Thus, the 'congestion index' of the portal vein, which is the ratio between the cross sectional area (cm2) and the blood flow velocity (cm/sec) determined by a Doppler ultrasonography, may be a sensitive index by which to assess portal hypertension. We performed Doppler ultrasonography on 24 normal subjects, 14 patients with biopsy proved chronic active hepatitis and 55 patients with liver cirrhosis in order to assess the diagnostic value of the congestion index. The cross sectional area of the portal vein was significantly enlarged and the mean blood flow velocity was significantly reduced in patients with liver cirrhosis compared with controls. However, the blood flow volume was no difference. The congestion index of the portal vein was significantly increased in patients with liver cirrhosis (0.113+0.035) compared with patients with chronic active hepatitis(0.078+0.029) (p<0.001) and controls (0.053+0.016) (p<0.001). The sensitivity, specificity and predictability of the congestion index for detection of patients with the cirrhosis of the liver were 76.4%, 100% and 100% respectively, when the normal range was set at mean+2SD. The results suggest that the congestion index of the portal vein may pla a significant role in diagnosis of portal hypertensive patients

  13. Autonomous Control of a Quadrotor UAV Using Fuzzy Logic

    Science.gov (United States)

    Sureshkumar, Vijaykumar

    UAVs are being increasingly used today than ever before in both military and civil applications. They are heavily preferred in "dull, dirty or dangerous" mission scenarios. Increasingly, UAVs of all kinds are being used in policing, fire-fighting, inspection of structures, pipelines etc. Recently, the FAA gave its permission for UAVs to be used on film sets for motion capture and high definition video recording. The rapid development in MEMS and actuator technology has made possible a plethora of UAVs that are suited for commercial applications in an increasingly cost effective manner. An emerging popular rotary wing UAV platform is the Quadrotor A Quadrotor is a helicopter with four rotors, that make it more stable; but more complex to model and control. Characteristics that provide a clear advantage over other fixed wing UAVs are VTOL and hovering capabilities as well as a greater maneuverability. It is also simple in construction and design compared to a scaled single rotorcraft. Flying such UAVs using a traditional radio Transmitter-Receiver setup can be a daunting task especially in high stress situations. In order to make such platforms widely applicable, a certain level of autonomy is imperative to the future of such UAVs. This thesis paper presents a methodology for the autonomous control of a Quadrotor UAV using Fuzzy Logic. Fuzzy logic control has been chosen over conventional control methods as it can deal effectively with highly nonlinear systems, allows for imprecise data and is extremely modular. Modularity and adaptability are the key cornerstones of FLC. The objective of this thesis is to present the steps of designing, building and simulating an intelligent flight control module for a Quadrotor UAV. In the course of this research effort, a Quadrotor UAV is indigenously developed utilizing the resources of an online open source project called Aeroquad. System design is comprehensively dealt with. A math model for the Quadrotor is developed and a

  14. Validating a UAV artificial intelligence control system using an autonomous test case generator

    Science.gov (United States)

    Straub, Jeremy; Huber, Justin

    2013-05-01

    The validation of safety-critical applications, such as autonomous UAV operations in an environment which may include human actors, is an ill posed problem. To confidence in the autonomous control technology, numerous scenarios must be considered. This paper expands upon previous work, related to autonomous testing of robotic control algorithms in a two dimensional plane, to evaluate the suitability of similar techniques for validating artificial intelligence control in three dimensions, where a minimum level of airspeed must be maintained. The results of human-conducted testing are compared to this automated testing, in terms of error detection, speed and testing cost.

  15. Autonomous formation flight of helicopters: Model predictive control approach

    Science.gov (United States)

    Chung, Hoam

    Formation flight is the primary movement technique for teams of helicopters. However, the potential for accidents is greatly increased when helicopter teams are required to fly in tight formations and under harsh conditions. This dissertation proposes that the automation of helicopter formations is a realistic solution capable of alleviating risks. Helicopter formation flight operations in battlefield situations are highly dynamic and dangerous, and, therefore, we maintain that both a high-level formation management system and a distributed coordinated control algorithm should be implemented to help ensure safe formations. The starting point for safe autonomous formation flights is to design a distributed control law attenuating external disturbances coming into a formation, so that each vehicle can safely maintain sufficient clearance between it and all other vehicles. While conventional methods are limited to homogeneous formations, our decentralized model predictive control (MPC) approach allows for heterogeneity in a formation. In order to avoid the conservative nature inherent in distributed MPC algorithms, we begin by designing a stable MPC for individual vehicles, and then introducing carefully designed inter-agent coupling terms in a performance index. Thus the proposed algorithm works in a decentralized manner, and can be applied to the problem of helicopter formations comprised of heterogenous vehicles. Individual vehicles in a team may be confronted by various emerging situations that will require the capability for in-flight reconfiguration. We propose the concept of a formation manager to manage separation, join, and synchronization of flight course changes. The formation manager accepts an operator's commands, information from neighboring vehicles, and its own vehicle states. Inside the formation manager, there are multiple modes and complex mode switchings represented as a finite state machine (FSM). Based on the current mode and collected

  16. Autonomous Reactivity Control (ARC) — Principles, geometry and design process

    Energy Technology Data Exchange (ETDEWEB)

    Qvist, Staffan A., E-mail: staffan.qvist@physics.uu.se [Department of Physics and Astronomy, Uppsala University, Uppsala (Sweden); Department of Nuclear Engineering, University of California Berkeley (United States); Hellesen, Carl [Department of Physics and Astronomy, Uppsala University, Uppsala (Sweden); Thiele, Roman [Division of Reactor Technology, Royal Institute of Technology, Stockholm (Sweden); Dubberley, Allen E. [General Electric Advanced Reactor Systems Department (retired), Sunnyvale, CA (United States); Gradecka, Malwina; Greenspan, Ehud [Department of Nuclear Engineering, University of California Berkeley (United States)

    2016-10-15

    Highlights: • Here we define the principles of the operation and design of ARC systems. • ARC systems can provide inherent safety during and following unprotected transients. • A manufacturing and assembly method was developed and presented. - Abstract: The Autonomous Reactivity Control (ARC) system was developed to ensure inherent safety performance of Generation-IV reactors while having a minimal impact on reactor performance and economic viability. Here we present in detail the principles of how the ARC system operates, what materials should be used, what components make up the system and how they are interconnected. The relevant equations regarding how to design the system for a certain response are developed and defined, and the most important aspects determining the speed of actuation of the systems are analyzed. Thus, this study serves as the general reference material for all of the fundamental principles behind the ARC idea. Finally, we present a step-by-step guide to how a fast reactor fuel subassembly with an ARC system installed would be manufactured, using a full 3D-CAD model. For an ARC installation in a 1000 MWth sodium-cooled oxide-fueled fast reactor core, the system constitutes a relatively minor adjustment to a typical fuel assembly, increasing its total axial extent by ∼5–10% and the total primary coolant pressure drop by ∼1%. The main finding of this study is that it is possible to design, manufacture (using existing methods) and implement ARC systems in the fuel assemblies of fast reactor cores to provide inherent safety in all anticipated unprotected transients with only a modest increase in the length of the assembly and the pressure drop across the core.

  17. Estimation and Control for Autonomous Coring from a Rover Manipulator

    Science.gov (United States)

    Hudson, Nicolas; Backes, Paul; DiCicco, Matt; Bajracharya, Max

    2010-01-01

    A system consisting of a set of estimators and autonomous behaviors has been developed which allows robust coring from a low-mass rover platform, while accommodating for moderate rover slip. A redundant set of sensors, including a force-torque sensor, visual odometry, and accelerometers are used to monitor discrete critical and operational modes, as well as to estimate continuous drill parameters during the coring process. A set of critical failure modes pertinent to shallow coring from a mobile platform is defined, and autonomous behaviors associated with each critical mode are used to maintain nominal coring conditions. Autonomous shallow coring is demonstrated from a low-mass rover using a rotary-percussive coring tool mounted on a 5 degree-of-freedom (DOF) arm. A new architecture of using an arm-stabilized, rotary percussive tool with the robotic arm used to provide the drill z-axis linear feed is validated. Particular attention to hole start using this architecture is addressed. An end-to-end coring sequence is demonstrated, where the rover autonomously detects and then recovers from a series of slip events that exceeded 9 cm total displacement.

  18. Diagnosis for Control and Decision Support for Autonomous Vehicles

    DEFF Research Database (Denmark)

    Blanke, Mogens; Hansen, Søren; Rufus Blas, Morten

    2016-01-01

    in practise. Yet they are also affordable due to the use of fault-tolerant philosophies and tools that make engineering efforts minimal for their implementation. The chapter includes examples for an autonomous aircraft and a baling system for agriculture to illustrate the generic design procedures and real...

  19. Meaningful Human Control Over Autonomous Systems : A Philosophical Account

    NARCIS (Netherlands)

    Santoni De Sio, F.; van den Hoven, M.J.

    2018-01-01

    Debates on lethal autonomous weapon systems have proliferated in the past 5 years. Ethical concerns have been voiced about a possible raise in the number of wrongs and crimes in military operations and about the creation of a “responsibility gap” for harms caused by these systems. To address these

  20. A Review of Cardiovascular Autonomic Control in Cluster Headache

    DEFF Research Database (Denmark)

    Barloese, Mads C J

    2016-01-01

    triggered during periods of parasympathetic dominance. A better understanding of this interaction may provide insight into central autonomic regulation and its role in cluster headache. METHODS: A PubMed search was performed in April 2015 using the search terms "cluster headache," "cardiovascular...

  1. Flexible Decision Control in an Autonomous Trading Agent

    NARCIS (Netherlands)

    J. Collins (John); W. Ketter (Wolfgang); M. Gini (Maria)

    2007-01-01

    textabstractAn autonomous trading agent is a complex piece of software that must operate in a competitive economic environment and support a research agenda. We describe the structure of decision processes in the MinneTAC trading agent, focusing on the use of evaluators – configurable, composable

  2. Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect

    Directory of Open Access Journals (Sweden)

    Fitri Yakub

    2016-01-01

    Full Text Available We present a comparative study of model predictive control approaches of two-wheel steering, four-wheel steering, and a combination of two-wheel steering with direct yaw moment control manoeuvres for path-following control in autonomous car vehicle dynamics systems. Single-track mode, based on a linearized vehicle and tire model, is used. Based on a given trajectory, we drove the vehicle at low and high forward speeds and on low and high road friction surfaces for a double-lane change scenario in order to follow the desired trajectory as close as possible while rejecting the effects of wind gusts. We compared the controller based on both simple and complex bicycle models without and with the roll vehicle dynamics for different types of model predictive control manoeuvres. The simulation result showed that the model predictive control gave a better performance in terms of robustness for both forward speeds and road surface variation in autonomous path-following control. It also demonstrated that model predictive control is useful to maintain vehicle stability along the desired path and has an ability to eliminate the crosswind effect.

  3. LHC train control system for autonomous inspections and measurements

    OpenAIRE

    Di Castro, Mario; Baiguera Tambutti, Maria Laura; Gilardoni, Simone; Losito, Roberto; Lunghi, Giacomo; Masi, Alessandro

    2018-01-01

    Intelligent robotic systems are becoming essential for inspection and measurements in harsh environments, such as the European Organization for Nuclear Research (CERN) accelerators complex. Aiming at increasing safety and machine availability, robots can help to perform repetitive or dangerous tasks, reducing the risk for the personnel as the exposure to radiation. The Large Hadron Collider (LHC) tunnel at CERN has been equipped with fail-safe trains on monorail able to perform autonomously d...

  4. Age Effect on Autonomic Cardiovascular Control in Pilots

    Science.gov (United States)

    2000-08-01

    Nantcheva**, M. Vukov *** *National Center of Hygiene, Medical Ecology and Nutrition 15 Dimitar Nestorov Blvd. 1431 Sofia, Bulgaria "**Military Medical...values and critique. Inter. Physiol. Behav. Sci. 1997, 3, of health risk compared with referents. 202-219. 14. Fluckiger L., Boivin J ., Quilliot D...during flight. Aviat. Space Chapman and Hall. 1991, 590 pp. Environ Med. 1998,4, 360-367. 4. Berntson G., Cacioppo J ., Quigley K. Autonomic 18. Hellman J

  5. Development of Control Algorithm for the Autonomous Gliding Delivery System

    OpenAIRE

    Kaminer, I.; Yakimenko, O.

    2003-01-01

    Proceedings of 17th AIAA Aerodynamic Decelerator Systems Technology Conference and Seminar, Monterey, CA, May 19-22, 2003. An autonomous HAHO (high altitude, high-opening) parafoil system design is presented as a solution to the final descent phase of an on-demand International Space Station (ISS) sample return concept. The system design is tailored to meet specific constraints defined by a larger study at NASA Ames Research Center, called SPQR (Small Payload Quick-Return). Building ...

  6. The autonomic nervous system and cardiac GLP-1 receptors control heart rate in mice

    Directory of Open Access Journals (Sweden)

    Laurie L. Baggio

    2017-11-01

    Conclusions: GLP-1R agonists increase HR through multiple mechanisms, including regulation of autonomic nervous system function, and activation of the atrial GLP-1R. Surprisingly, the isolated atrial GLP-1R does not transduce a direct chronotropic effect following exposure to GLP-1R agonists in the intact heart, or isolated atrium, ex vivo. Hence, cardiac GLP-1R circuits controlling HR require neural inputs and do not function in a heart-autonomous manner.

  7. Congestion with incidents

    DEFF Research Database (Denmark)

    Fosgerau, Mogens

    2010-01-01

    This paper considers the impact of random delays during a repeatedly occurring demand peak in a congested facility, such as an airport or an urban road. Congestion is described in the form of a dynamic queue using the Vickrey bottleneck model and assuming Nash equilibrium in departure times. Ever...

  8. Control of an Autonomous Vehicle for Registration of Weed and Crop in Precision Agriculture

    DEFF Research Database (Denmark)

    Nielsen, Kirsten Mølgaard; Andersen, Palle; Pedersen, Tom Søndergaard

    2002-01-01

    The paper describes the development of an autonomous electrical vehicle to be used for weed mapping in precision agriculture with special focus on the conceptual framework of the control system. The lowest layer of the control system is the propulsion and steering control, the second layer...... coordinates the movements of the wheel units, the third layer is path execution and perception and the upper layer performs planning and reasoning. The control system is implemented on an autonomous vehicle. The vehicle has been tested for path following and position accuracy. Based on the results a new...... vehicle is under construction....

  9. Autonomous navigation and control of a Mars rover

    Science.gov (United States)

    Miller, D. P.; Atkinson, D. J.; Wilcox, B. H.; Mishkin, A. H.

    1990-01-01

    A Mars rover will need to be able to navigate autonomously kilometers at a time. This paper outlines the sensing, perception, planning, and execution monitoring systems that are currently being designed for the rover. The sensing is based around stereo vision. The interpretation of the images use a registration of the depth map with a global height map provided by an orbiting spacecraft. Safe, low energy paths are then planned through the map, and expectations of what the rover's articulation sensors should sense are generated. These expectations are then used to ensure that the planned path is correctly being executed.

  10. Enriching the hierarchical model of achievement motivation: autonomous and controlling reasons underlying achievement goals.

    Science.gov (United States)

    Michou, Aikaterini; Vansteenkiste, Maarten; Mouratidis, Athanasios; Lens, Willy

    2014-12-01

    The hierarchical model of achievement motivation presumes that achievement goals channel the achievement motives of need for achievement and fear of failure towards motivational outcomes. Yet, less is known whether autonomous and controlling reasons underlying the pursuit of achievement goals can serve as additional pathways between achievement motives and outcomes. We tested whether mastery approach, performance approach, and performance avoidance goals and their underlying autonomous and controlling reasons would jointly explain the relation between achievement motives (i.e., fear of failure and need for achievement) and learning strategies (Study 1). Additionally, we examined whether the autonomous and controlling reasons underlying learners' dominant achievement goal would account for the link between achievement motives and the educational outcomes of learning strategies and cheating (Study 2). Six hundred and six Greek adolescent students (Mage = 15.05, SD = 1.43) and 435 university students (Mage M = 20.51, SD = 2.80) participated in studies 1 and 2, respectively. In both studies, a correlational design was used and the hypotheses were tested via path modelling. Autonomous and controlling reasons underlying the pursuit of achievement goals mediated, respectively, the relation of need for achievement and fear of failure to aspects of learning outcomes. Autonomous and controlling reasons underlying achievement goals could further explain learners' functioning in achievement settings. © 2014 The British Psychological Society.

  11. On the stability and multi-stability of a TCP/RED congestion control model with state-dependent delay and discontinuous marking function

    Science.gov (United States)

    Zhang, Shu; Xu, Jian; Chung, Kwok-wai

    2015-05-01

    Random early detection (RED) is an effective algorithm to control the Internet congestion. However, researches on RED parameters are difficult since there are state-dependent delay and discontinuous terms on the right-hand side of the model. We smooth the model by hyperbolic tangent function and reformulate it by a switch function to keep state variables positive. Numerical simulations on the original system validates the reformulated model. The multi-stability phenomenon is observed and some suggestions on the selection of RED parameters are given to enhance the global stability of the model by numerical bifurcation continuation on the reformulated model.

  12. Diagnosis of Fault Modes Masked by Control Loops with an Application to Autonomous Hovercraft Systems

    Directory of Open Access Journals (Sweden)

    Ioannis A. Raptis

    2013-01-01

    Full Text Available This paper introduces a methodology for the design, testing and assessment of incipient failure detection techniques for failing components/systems of an autonomous vehicle masked or hidden by feedback control loops. It is recognized that the optimum operation of critical assets (aircraft, autonomous systems, etc. may be compromised by feedback control loops by masking severe fault modes while compensating for typical disturbances. Detrimental consequences of such occurrences include the inability to detect expeditiously and accurately incipient failures, loss of control and inefficient operation of assets in the form of fuel overconsumption and adverse environmental impact. We pursue a systems engineering process to design, construct and test an autonomous hovercraft instrumented appropriately for improved autonomy. Hidden fault modes are detected with performance guarantees by invoking a Bayesian estimation approach called particle filtering. Simulation and experimental studies are employed to demonstrate the efficacy of the proposed methods.

  13. Autonomous, Controlled, and Amotivated Types of Academic Motivation: A Person-Oriented Analysis

    Science.gov (United States)

    Ratelle, Catherine F.; Guay, Frederic; Vallerand, Robert J.; Larose, Simon; Senecal, Caroline

    2007-01-01

    The authors investigated students' profiles regarding autonomous, controlled, and amotivated regulation and tested whether profile groups differed on some academic adjustment outcomes. Studies 1 and 2 performed on high school students revealed 3 profiles: (a) students with high levels of both controlled motivation and amotivation but low levels of…

  14. Performance evaluation of 3D vision-based semi-autonomous control method for assistive robotic manipulator.

    Science.gov (United States)

    Ka, Hyun W; Chung, Cheng-Shiu; Ding, Dan; James, Khara; Cooper, Rory

    2018-02-01

    We developed a 3D vision-based semi-autonomous control interface for assistive robotic manipulators. It was implemented based on one of the most popular commercially available assistive robotic manipulator combined with a low-cost depth-sensing camera mounted on the robot base. To perform a manipulation task with the 3D vision-based semi-autonomous control interface, a user starts operating with a manual control method available to him/her. When detecting objects within a set range, the control interface automatically stops the robot, and provides the user with possible manipulation options through audible text output, based on the detected object characteristics. Then, the system waits until the user states a voice command. Once the user command is given, the control interface drives the robot autonomously until the given command is completed. In the empirical evaluations conducted with human subjects from two different groups, it was shown that the semi-autonomous control can be used as an alternative control method to enable individuals with impaired motor control to more efficiently operate the robot arms by facilitating their fine motion control. The advantage of semi-autonomous control was not so obvious for the simple tasks. But, for the relatively complex real-life tasks, the 3D vision-based semi-autonomous control showed significantly faster performance. Implications for Rehabilitation A 3D vision-based semi-autonomous control interface will improve clinical practice by providing an alternative control method that is less demanding physically as well cognitively. A 3D vision-based semi-autonomous control provides the user with task specific intelligent semiautonomous manipulation assistances. A 3D vision-based semi-autonomous control gives the user the feeling that he or she is still in control at any moment. A 3D vision-based semi-autonomous control is compatible with different types of new and existing manual control methods for ARMs.

  15. Autonomic symptoms in idiopathic REM behavior disorder: a multicentre case-control study.

    Science.gov (United States)

    Ferini-Strambi, Luigi; Oertel, Wolfgang; Dauvilliers, Yves; Postuma, Ronald B; Marelli, Sara; Iranzo, Alex; Arnulf, Isabelle; Högl, Birgit; Birgit, Högl; Manni, Raffaele; Miyamoto, Tomoyuki; Fantini, Maria-Livia; Puligheddu, Monica; Jennum, Poul; Sonka, Karel; Santamaria, Joan; Zucconi, Marco; Rancoita, Paola M V; Leu-Semenescu, Smeranda; Frauscher, Birgit; Terzaghi, Michele; Miyamoto, Masayuki; Unger, Marcus; Stiasny-Kolster, Karin; Desautels, Alex; Wolfson, Christina; Pelletier, Amélie; Montplaisir, Jacques

    2014-06-01

    Patients with idiopathic REM sleep behavior disorder (iRBD) are at very high risk of developing neurodegenerative synucleinopathies, which are disorders with prominent autonomic dysfunction. Several studies have documented autonomic dysfunction in iRBD, but large-scale assessment of autonomic symptoms has never been systematically performed. Patients with polysomnography-confirmed iRBD (318 cases) and controls (137 healthy volunteers and 181 sleep center controls with sleep diagnoses other than RBD) were recruited from 13 neurological centers in 10 countries from 2008 to 2011. A validated scale to study the disorders of the autonomic nervous system in Parkinson's disease (PD) patients, the SCOPA-AUT, was administered to all the patients and controls. The SCOPA-AUT consists of 25 items assessing the following domains: gastrointestinal, urinary, cardiovascular, thermoregulatory, pupillomotor, and sexual dysfunction. Our results show that compared to control subjects with a similar overall age and sex distribution, patients with iRBD experience significantly more problems with gastrointestinal, urinary, and cardiovascular functioning. The most prominent differences in severity of autonomic symptoms between our iRBD patients and controls emerged in the gastrointestinal domain. Interestingly, it has been reported that an altered gastrointestinal motility can predate the motor phase of PD. The cardiovascular domain SCOPA-AUT score in our study in iRBD patients was intermediate with respect to the scores reported in PD patients by other authors. Our findings underline the importance of collecting data on autonomic symptoms in iRBD. These data may be used in prospective studies for evaluating the risk of developing neurodegenerative disorders.

  16. Sympathetic reflex control of skeletal muscle blood flow in patients with congestive heart failure: evidence for beta-adrenergic circulatory control

    International Nuclear Information System (INIS)

    Kassis, E.; Jacobsen, T.N.; Mogensen, F.; Amtorp, O.

    1986-01-01

    Mechanisms controlling forearm muscle vascular resistance (FMVR) during postural changes were investigated in seven patients with severe congestive heart failure (CHF) and in seven control subjects with unimpaired left ventricular function. Relative brachioradial muscle blood flow was determined by the local 133 Xe-washout technique. Unloading of baroreceptors with use of 45 degree upright tilt was comparably obtained in the patients with CHF and control subjects. Control subjects had substantially increased FMVR and heart rate to maintain arterial pressure whereas patients with CHF had decreased FMVR by 51 +/- 11% and had no increase in heart rate despite a fall in arterial pressure during upright tilt. The autoregulatory and local vasoconstrictor reflex responsiveness during postural changes in forearm vascular pressures were intact in both groups. In the patients with CHF, the left axillary nerve plexus was blocked by local anesthesia. No alterations in forearm vascular pressures were observed. This blockade preserved the local regulation of FMVR but reversed the vasodilator response to upright tilt as FMVR increased by 30 +/- 7% (p less than .02). Blockade of central neural impulses to this limb combined with brachial arterial infusions of phentolamine completely abolished the humoral vasoconstriction in the tilted position. Infusions of propranolol to the contralateral brachial artery that did not affect baseline values of heart rate, arterial pressure, or the local reflex regulation of FMVR reversed the abnormal vasodilator response to upright tilt as FMVR increased by 42 +/- 12% (p less than .02). Despite augmented baseline values, forearm venous but not arterial plasma levels of epinephrine increased in the tilted position, as did arteri rather than venous plasma concentrations of norepinephrine in these patients

  17. What Factors Are Associated with Autonomous and Controlled Motivation for Hearing Help-Seekers?

    Science.gov (United States)

    Ridgway, Jason; Hickson, Louise; Lind, Christopher

    Hearing impairment is prevalent in older adults. Motivation is important in people's choice to seek help for their hearing and whether to adopt or not adopt hearing aids. To investigate associations between sociodemographic and audiometric characteristics and autonomous and controlled motivation among a sample of hearing help-seekers. A quantitative approach was taken for this cross-sectional cohort study. A total of 253 adult first-time hearing help-seekers were recruited to the study. Participants provided sociodemographic information and completed questionnaires adapted from self-determination theory that measured autonomous motivation (motivation that originates from within the self and is aligned with personal values and beliefs) and controlled motivation (motivation that stems from external pressures such as rewards or punishment, or conflicted inner feelings such as guilt or shame). Participants with higher autonomous motivation scores were younger, wanted hearing aids more, and reported greater hearing difficulty in everyday life than those with lower scores. Participants with higher controlled motivation scores were more often referred to the service by others and wanted hearing aids more than those with lower controlled motivation scores. Controlled motivation scores were not associated with perceptions of hearing difficulty in everyday life. Relationships among motivation and sociodemographic factors highlight the importance of characterizing autonomous and controlled motivation in first-time hearing help-seekers. Attention to personal characteristics in order to understand motivational processes involved in rehabilitation decisions such as hearing aid adoption may aid in consultations. American Academy of Audiology

  18. Unmanned Tactical Autonomous Control and Collaboration Threat and Vulnerability Assessment

    Science.gov (United States)

    2015-06-01

    36]. o Implement access controls through authentication (Login Information, Passwords , and Biometrics ). o Implement access control through...within symmetric cryptography [36]. o Implement access controls through authentication (Login Information, Passwords , and Biometrics ). o Implement... Passwords , and Biometrics ). o Implement access control through privileges (System administrators, users, etc). o Implement a “two person rule

  19. Desk Congest Desktop Congesting Software for Desktop Clutter Congestion

    Directory of Open Access Journals (Sweden)

    Solomon A. Adepoju

    2015-06-01

    Full Text Available Abstract The computer desktop environment is a working environment which can be likened unto a users desk in homes and offices. Often times the computer desktop get cluttered with files either as shortcuts used for quick links files stored temporarily to be accessed later or just being dumped there for no vivid reasons. However previous researches have shown that cluttered desktop affects users productivity and getting these files organized is a laborious task for most users. To be able to conveniently alleviate the effect clutters have on users performances and productivity there is need for third party software that will help get the desktop environment organized in a logical and efficient manner. It is to this end that desktop decongesting software is being designed and implemented to help curb clutter problems which existing tools have only partially addressed. The system is designed using Visual Basic .Net and it proves to be effective in tackling desktop congestion problem.

  20. An Autonomous Sensor System Architecture for Active Flow and Noise Control Feedback

    Science.gov (United States)

    Humphreys, William M, Jr.; Culliton, William G.

    2008-01-01

    Multi-channel sensor fusion represents a powerful technique to simply and efficiently extract information from complex phenomena. While the technique has traditionally been used for military target tracking and situational awareness, a study has been successfully completed that demonstrates that sensor fusion can be applied equally well to aerodynamic applications. A prototype autonomous hardware processor was successfully designed and used to detect in real-time the two-dimensional flow reattachment location generated by a simple separated-flow wind tunnel model. The success of this demonstration illustrates the feasibility of using autonomous sensor processing architectures to enhance flow control feedback signal generation.

  1. Design and Evaluation of Autonomous Hybrid Frequency-Voltage Sensitive Load Controller

    DEFF Research Database (Denmark)

    Douglass, Philip James; Garcia-Valle, Rodrigo; Sossan, Fabrizio

    2013-01-01

    The paper introduces an algorithm for control of autonomous loads without digital communication interfaces to provide both frequency regulation and voltage regulation services. This hybrid controller can be used to enhance frequency sensitive loads to mitigate line overload arising from reduced l...... load diversity. Numerical simulations of the hybrid controller in a representative distribution system show the peak system load was reduced by 12% compared to a purely frequency sensitive load controller.......The paper introduces an algorithm for control of autonomous loads without digital communication interfaces to provide both frequency regulation and voltage regulation services. This hybrid controller can be used to enhance frequency sensitive loads to mitigate line overload arising from reduced...

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

    Science.gov (United States)

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

    1999-09-01

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

  3. The role of the autonomic nervous liver innervation in the control of energy metabolism

    NARCIS (Netherlands)

    Yi, Chun-Xia; la Fleur, Susanne E.; Fliers, Eric; Kalsbeek, Andries

    2010-01-01

    Despite a longstanding research interest ever since the early work by Claude Bernard, the functional significance of autonomic liver innervation, either sympathetic or parasympathetic, is still ill defined. This scarcity of information not only holds for the brain control of hepatic metabolism, but

  4. Emulation of MS DOS Operational System on the Autonomous Crate-Controller with I8086 microprocessor

    International Nuclear Information System (INIS)

    Hons, Z.; Cizek, P.; Streit, V.

    1988-01-01

    KM-DOS operating system for CAMAC autonomous crate-controller based on Intel 8086/8087 microprocessor connected with Pravec-16 IBM PC is described. The KM-DOS system fully emulates the MS DOS environment on the CAMAC controller. Thus ASSEMBLER, FORTRAN, C and PASCAL programs compiled and linked on IBM PC and compatible can be run on the CAMAC controller and parall work of both computers is enabled

  5. Efficient Multivariable Generalized Predictive Control for Autonomous Underwater Vehicle in Vertical Plane

    OpenAIRE

    Yao, Xuliang; Yang, Guangyi

    2016-01-01

    This paper presents the design and simulation validation of a multivariable GPC (generalized predictive control) for AUV (autonomous underwater vehicle) in vertical plane. This control approach has been designed in the case of AUV navigating with low speed near water surface, in order to restrain wave disturbance effectively and improve pitch and heave motion stability. The proposed controller guarantees compliance with rudder manipulation, AUV output constraints, and driving energy consumpti...

  6. Adaptive Control for Autonomous Navigation of Mobile Robots Considering Time Delay and Uncertainty

    Science.gov (United States)

    Armah, Stephen Kofi

    Autonomous control of mobile robots has attracted considerable attention of researchers in the areas of robotics and autonomous systems during the past decades. One of the goals in the field of mobile robotics is development of platforms that robustly operate in given, partially unknown, or unpredictable environments and offer desired services to humans. Autonomous mobile robots need to be equipped with effective, robust and/or adaptive, navigation control systems. In spite of enormous reported work on autonomous navigation control systems for mobile robots, achieving the goal above is still an open problem. Robustness and reliability of the controlled system can always be improved. The fundamental issues affecting the stability of the control systems include the undesired nonlinear effects introduced by actuator saturation, time delay in the controlled system, and uncertainty in the model. This research work develops robustly stabilizing control systems by investigating and addressing such nonlinear effects through analytical, simulations, and experiments. The control systems are designed to meet specified transient and steady-state specifications. The systems used for this research are ground (Dr Robot X80SV) and aerial (Parrot AR.Drone 2.0) mobile robots. Firstly, an effective autonomous navigation control system is developed for X80SV using logic control by combining 'go-to-goal', 'avoid-obstacle', and 'follow-wall' controllers. A MATLAB robot simulator is developed to implement this control algorithm and experiments are conducted in a typical office environment. The next stage of the research develops an autonomous position (x, y, and z) and attitude (roll, pitch, and yaw) controllers for a quadrotor, and PD-feedback control is used to achieve stabilization. The quadrotor's nonlinear dynamics and kinematics are implemented using MATLAB S-function to generate the state output. Secondly, the white-box and black-box approaches are used to obtain a linearized

  7. Chaos synchronization in autonomous chaotic system via hybrid feedback control

    International Nuclear Information System (INIS)

    Yang Lixin; Chu Yandong; Zhang Jiangang; Li Xianfeng; Chang Yingxiang

    2009-01-01

    This paper presents the synchronization of chaos by designing united controller. First, this method is implemented in synchronization of a simple system, then we realize the synchronization of Lue hyperchaotic system, we also take tracking control to realize the synchronization of Lue hyperchaotic system. Comparing with results, we can find that hybrid feedback control approach is more effective than tracking control for hyperchaotic system. Numerical simulations show the united synchronization method works well.

  8. 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.

  9. Integrated Guidance and Control Based Air-to-Air Autonomous Attack Occupation of UCAV

    Directory of Open Access Journals (Sweden)

    Chang Luo

    2016-01-01

    Full Text Available An approach of air-to-air autonomous attack occupation for Unmanned Combat Aerial Vehicles (UCAVs is proposed to improve attack precision and combat effectiveness. According to the shortage of UCAV in the task of attack occupation, kinematic and dynamic models of UCAV and missile loaded on it are formed. Then, attack zone and no-escape zone are calculated by pattern search algorithm, and the optimum attack position is indicated. To arrive at the optimum attack position accurately with restriction of gesture, a novel adaptive sliding mode control method is suggested to design the integrated guidance and control system of UCAV in the process of autonomous attack occupation. Key parameters of the control system are adaptively regulated, which further economize control energy at the same time. The simulation results show that compared with traditional methods our approach can guide the UCAV to the optimum attack position with stable gesture and economize nearly 25% control energy.

  10. A Path Tracking Algorithm Using Future Prediction Control with Spike Detection for an Autonomous Vehicle Robot

    Directory of Open Access Journals (Sweden)

    Muhammad Aizzat Zakaria

    2013-08-01

    Full Text Available Trajectory tracking is an important aspect of autonomous vehicles. The idea behind trajectory tracking is the ability of the vehicle to follow a predefined path with zero steady state error. The difficulty arises due to the nonlinearity of vehicle dynamics. Therefore, this paper proposes a stable tracking control for an autonomous vehicle. An approach that consists of steering wheel control and lateral control is introduced. This control algorithm is used for a non-holonomic navigation problem, namely tracking a reference trajectory in a closed loop form. A proposed future prediction point control algorithm is used to calculate the vehicle's lateral error in order to improve the performance of the trajectory tracking. A feedback sensor signal from the steering wheel angle and yaw rate sensor is used as feedback information for the controller. The controller consists of a relationship between the future point lateral error, the linear velocity, the heading error and the reference yaw rate. This paper also introduces a spike detection algorithm to track the spike error that occurs during GPS reading. The proposed idea is to take the advantage of the derivative of the steering rate. This paper aims to tackle the lateral error problem by applying the steering control law to the vehicle, and proposes a new path tracking control method by considering the future coordinate of the vehicle and the future estimated lateral error. The effectiveness of the proposed controller is demonstrated by a simulation and a GPS experiment with noisy data. The approach used in this paper is not limited to autonomous vehicles alone since the concept of autonomous vehicle tracking can be used in mobile robot platforms, as the kinematic model of these two platforms is similar.

  11. Development of autonomous controller system of high speed UAV from simulation to ready to fly condition

    Science.gov (United States)

    Yudhi Irwanto, Herma

    2018-02-01

    The development of autonomous controller system that is specially used in our high speed UAV, it’s call RKX-200EDF/TJ controlled vehicle needs to be continued as a step to mastery and to developt control system of LAPAN’s satellite launching rocket. The weakness of the existing control system in this high speed UAV needs to be repaired and replaced using the autonomous controller system. Conversion steps for ready-to-fly system involved controlling X tail fin, adjusting auto take off procedure by adding X axis sensor, procedure of way points reading and process of measuring distance and heading to the nearest way point, developing user-friendly ground station, and adding tools for safety landing. The development of this autonomous controller system also covered a real flying test in Pandanwangi, Lumajang in November 2016. Unfortunately, the flying test was not successful because the booster rocket was blown right after burning. However, the system could record the event and demonstrated that the controller system had worked according to plan.

  12. Mixed-Initiative Control of Autonomous Unmanned Units Under Uncertainty

    National Research Council Canada - National Science Library

    Thrun, Sebvastian; Gordon, Geoffrey; Burstein, Mark; Diller, David; Fox, Dieter

    2006-01-01

    .... We developed this control model using Partially Observable Markov Decision Processes. The mixed-initiative interactions enabled users to describe constraints at multiple levels of the planning hierarchy...

  13. Team-oriented Adaptive Droop Control for Autonomous AC Microgrids

    DEFF Research Database (Denmark)

    Shafiee, Qobad; Nasirian, Vahidreza; Guerrero, Josep M.

    2014-01-01

    This paper proposes a distributed control strategy for voltage and reactive power regulation in ac Microgrids. First, the control module introduces a voltage regulator that maintains the average voltage of the system on the rated value, keeping all bus voltages within an acceptable range. Dynamic...

  14. Hypothalamic control of energy metabolism via the autonomic nervous system

    NARCIS (Netherlands)

    Kalsbeek, A.; Bruinstroop, E.; Yi, C. X.; Klieverik, L. P.; La Fleur, S. E.; Fliers, E.

    2010-01-01

    The hypothalamic control of hepatic glucose production is an evident aspect of energy homeostasis. In addition to the control of glucose metabolism by the circadian timing system, the hypothalamus also serves as a key relay center for (humoral) feedback information from the periphery, with the

  15. Evolution of an artificial neural network based autonomous land vehicle controller.

    Science.gov (United States)

    Baluja, S

    1996-01-01

    This paper presents an evolutionary method for creating an artificial neural network based autonomous land vehicle controller. The evolved controllers perform better in unseen situations than those trained with an error backpropagation learning algorithm designed for this task. In this paper, an overview of the previous connectionist based approaches to this task is given, and the evolutionary algorithms used in this study are described in detail. Methods for reducing the high computational costs of training artificial neural networks with evolutionary algorithms are explored. Error metrics specific to the task of autonomous vehicle control are introduced; the evolutionary algorithms guided by these error metrics reveal improved performance over those guided by the standard sum-squared error metric. Finally, techniques for integrating evolutionary search and error backpropagation are presented. The evolved networks are designed to control Carnegie Mellon University's NAVLAB vehicles in road following tasks.

  16. Optimal and Autonomous Control Using Reinforcement Learning: A Survey.

    Science.gov (United States)

    Kiumarsi, Bahare; Vamvoudakis, Kyriakos G; Modares, Hamidreza; Lewis, Frank L

    2018-06-01

    This paper reviews the current state of the art on reinforcement learning (RL)-based feedback control solutions to optimal regulation and tracking of single and multiagent systems. Existing RL solutions to both optimal and control problems, as well as graphical games, will be reviewed. RL methods learn the solution to optimal control and game problems online and using measured data along the system trajectories. We discuss Q-learning and the integral RL algorithm as core algorithms for discrete-time (DT) and continuous-time (CT) systems, respectively. Moreover, we discuss a new direction of off-policy RL for both CT and DT systems. Finally, we review several applications.

  17. Autonomic control of the heart is altered in Sprague-Dawley rats with spontaneous hydronephrosis

    Science.gov (United States)

    Arnold, Amy C.; Shaltout, Hossam A.; Gilliam-Davis, Shea; Kock, Nancy D.

    2011-01-01

    The renal medulla plays an important role in cardiovascular regulation, through interactions with the autonomic nervous system. Hydronephrosis is characterized by substantial loss of renal medullary tissue. However, whether alterations in autonomic control of the heart are observed in this condition is unknown. Thus we assessed resting hemodynamics and baroreflex sensitivity (BRS) for control of heart rate in urethane/chloralose-anesthetized Sprague-Dawley rats with normal or hydronephrotic kidneys. While resting arterial pressure was similar, heart rate was higher in rats with hydronephrosis (290 ± 12 normal vs. 344 ± 11 mild/moderate vs. 355 ± 13 beats/min severe; P hydronephrosis, with no differences in measures of indirect sympathetic activity among conditions. As a secondary aim, we investigated whether autonomic dysfunction in hydronephrosis is associated with activation of the renin-angiotensin system (RAS). There were no differences in circulating angiotensin peptides among conditions, suggesting that the impaired autonomic function in hydronephrosis is independent of peripheral RAS activation. A possible site for angiotensin II-mediated BRS impairment is the solitary tract nucleus (NTS). In normal and mild/moderate hydronephrotic rats, NTS administration of the angiotensin II type 1 receptor antagonist candesartan significantly improved the BRS, suggesting that angiotensin II provides tonic suppression to the baroreflex. In contrast, angiotensin II blockade produced no significant effect in severe hydronephrosis, indicating that at least within the NTS baroreflex suppression in these animals is independent of angiotensin II. PMID:21460193

  18. Autonomous and controlled motivation and interpersonal therapy for depression: moderating role of recurrent depression.

    Science.gov (United States)

    McBride, Carolina; Zuroff, David C; Ravitz, Paula; Koestner, Richard; Moskowitz, Debbie S; Quilty, Lena; Bagby, R Michael

    2010-11-01

    We examined the moderating role of depression recurrence on the relation between autonomous and controlled motivation and interpersonal therapy (IPT) treatment outcome. The investigation was conducted in an out-patient mood disorders clinic of a large university-affiliated psychiatric hospital. The sample represents a subset of a larger naturalistic database of patients seen in the clinic. We examined 74 depressed out-patients who received 16 sessions of IPT. The Beck Depression Inventory-II, administered at pre-treatment and post-treatment, served as a measure of depressive severity. Measures of motivation and therapeutic alliance were collected at the third session. In the entire sample, both the therapeutic alliance and autonomous motivation predicted higher probability of achieving remission; however, the relation differed for those with highly recurrent depression compared to those with less recurrent depression. For those with highly recurrent depression, the therapeutic alliance predicted remission whereas autonomous motivation had no effect on remission. For those with less recurrent depression, both autonomous motivation and the therapeutic alliance predicted better achieving remission. Controlled motivation emerged as a significant negative predictor of remission across both groups. Taken together, these results highlight the possible use of motivation theory to inform and enrich therapeutic conceptualizations and interventions in clinical practice, but also point to the importance of modifying interventions based on the chronicity of a client's depression.

  19. Demonstration of Market-Based Real-Time Electricity Pricing on a Congested Feeder

    DEFF Research Database (Denmark)

    Larsen, Emil Mahler; Pinson, Pierre; le Ray, Guillaume

    2015-01-01

    Congestion management can delay grid reinforcements needed due to the growth of distributed technologies like photovoltaics and electric vehicles. This paper presents a method of congestion management for low voltage feeders using indirect control from the smart grid demonstration EcoGrid EU, where...... prices to 1900 houses, with a virtual feeder of 28 houses receiving congestion pricing. Simulations are used to calculate the cost from using this congestion management method, while demonstration results indicate that congestion can be managed successfully....

  20. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    National Research Council Canada - National Science Library

    Sights, B; Everett, H. R; Pacis, E. B; Kogut, G; Thompson, M

    2005-01-01

    High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact...

  1. Autonomous and controlled motivation for eating disorders treatment: baseline predictors and relationship to treatment outcome.

    Science.gov (United States)

    Carter, Jacqueline C; Kelly, Allison C

    2015-03-01

    This study aimed to identify baseline predictors of autonomous and controlled motivation for treatment (ACMT) in a transdiagnostic eating disorder sample, and to examine whether ACMT at baseline predicted change in eating disorder psychopathology during treatment. Participants were 97 individuals who met DSM-IV-TR criteria for an eating disorder and were admitted to a specialized intensive treatment programme. Self-report measures of eating disorder psychopathology, ACMT, and various psychosocial variables were completed at the start of treatment. A subset of these measures was completed again after 3, 6, 9, and 12 weeks of treatment. Multiple regression analyses showed that baseline autonomous motivation was higher among patients who reported more self-compassion and more received social support, whereas the only baseline predictor of controlled motivation was shame. Multilevel modelling revealed that higher baseline autonomous motivation predicted faster decreases in global eating disorder psychopathology, whereas the level of controlled motivation at baseline did not. The current findings suggest that developing interventions designed to foster autonomous motivation specifically and employing autonomy supportive strategies may be important to improving eating disorders treatment outcome. The findings of this study suggest that developing motivational interventions that focus specifically on enhancing autonomous motivation for change may be important for promoting eating disorder recovery. Our results lend support for the use of autonomy supportive strategies to strengthen personally meaningful reasons to achieve freely chosen change goals in order to enhance treatment for eating disorders. One study limitation is that there were no follow-up assessments beyond the 12-week study and we therefore do not know whether the relationships that we observed persisted after treatment. Another limitation is that this was a correlational study and it is therefore important

  2. Design of a Control System for an Autonomous Vehicle Based on Adaptive-PID

    Directory of Open Access Journals (Sweden)

    Pan Zhao

    2012-07-01

    Full Text Available The autonomous vehicle is a mobile robot integrating multi-sensor navigation and positioning, intelligent decision making and control technology. This paper presents the control system architecture of the autonomous vehicle, called “Intelligent Pioneer”, and the path tracking and stability of motion to effectively navigate in unknown environments is discussed. In this approach, a two degree-of-freedom dynamic model is developed to formulate the path-tracking problem in state space format. For controlling the instantaneous path error, traditional controllers have difficulty in guaranteeing performance and stability over a wide range of parameter changes and disturbances. Therefore, a newly developed adaptive-PID controller will be used. By using this approach the flexibility of the vehicle control system will be increased and achieving great advantages. Throughout, we provide examples and results from Intelligent Pioneer and the autonomous vehicle using this approach competed in the 2010 and 2011 Future Challenge of China. Intelligent Pioneer finished all of the competition programmes and won first position in 2010 and third position in 2011.

  3. Development and Control of the Naval Postgraduate School Planar Autonomous Docking Simulator (NPADS)

    Science.gov (United States)

    Porter, Robert D.

    2002-09-01

    The objective of this thesis was to design, construct and develop the initial autonomous control algorithm for the NPS Planar Autonomous Docking Simulator (NPADS) The effort included hardware design, fabrication, installation and integration; mass property determination; and the development and testing of control laws utilizing MATLAB and Simulink for modeling and LabView for NPADS control, The NPADS vehicle uses air pads and a granite table to simulate a 2-D, drag-free, zero-g space environment, It is a completely self-contained vehicle equipped with eight cold-gas, bang-bang type thrusters and a reaction wheel for motion control, A 'star sensor' CCD camera locates the vehicle on the table while a color CCD docking camera and two robotic arms will locate and dock with a target vehicle, The on-board computer system leverages PXI technology and a single source, simplifying systems integration, The vehicle is powered by two lead-acid batteries for completely autonomous operation, A graphical user interface and wireless Ethernet enable the user to command and monitor the vehicle from a remote command and data acquisition computer. Two control algorithms were developed and allow the user to either control the thrusters and reaction wheel manually or simply specify a desired location and rotation angle,

  4. Automated procedure execution for space vehicle autonomous control

    Science.gov (United States)

    Broten, Thomas A.; Brown, David A.

    1990-01-01

    Increased operational autonomy and reduced operating costs have become critical design objectives in next-generation NASA and DoD space programs. The objective is to develop a semi-automated system for intelligent spacecraft operations support. The Spacecraft Operations and Anomaly Resolution System (SOARS) is presented as a standardized, model-based architecture for performing High-Level Tasking, Status Monitoring and automated Procedure Execution Control for a variety of spacecraft. The particular focus is on the Procedure Execution Control module. A hierarchical procedure network is proposed as the fundamental means for specifying and representing arbitrary operational procedures. A separate procedure interpreter controls automatic execution of the procedure, taking into account the current status of the spacecraft as maintained in an object-oriented spacecraft model.

  5. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    Directory of Open Access Journals (Sweden)

    Brandon Sights

    2006-10-01

    Full Text Available High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact with its surroundings are greatly diminished. This problem is amplified when the environment is hostile, such as in a battlefield situation where an error in movement or a slow response may lead to destruction of the robot. As the presence of robots on the battlefield continues to escalate and the trend toward relieving the human of the low-level control burden advances, the ability to combine the functionalities of several critical control systems on a single platform becomes imperative.

  6. Control of group of mobile autonomous agents via local strategies

    Institute of Scientific and Technical Information of China (English)

    Lixin GAO; Daizhan CHENG; Yiguang HONG

    2008-01-01

    This paper considers the formation control problem of multi-agent systems in a distributed fashion.Two cases of the information propagating topologies among multiple agents,characterized by graphics model,are considered.One is fixed topology.The other is switching topology which represents the limited and less reliable information exchange.The local formation control strategies established in this paper are based on a simple modification of the existing consensus control strategies.Moreover,some existing convergence conditions ale shown to be a special case of our model even in the continuous-time consensus case.Therefore.the results of this paper extend the existing results about the consensus problem.

  7. An examination of the role of autonomous versus controlled motivation in predicting inpatient treatment outcome for anorexia nervosa.

    Science.gov (United States)

    Thaler, Lea; Israel, Mimi; Antunes, Juliana Mazanek; Sarin, Sabina; Zuroff, David C; Steiger, Howard

    2016-06-01

    We explored the effect of autonomous and controlled motivation on outcomes for patients undergoing inpatient treatment for Anorexia Nervosa (AN). Data on 80 patients with AN were available for the start of treatment, and for 49 at end of treatment. Patients completed measures of autonomous and controlled motivation, eating disorder symptoms and attitudes, and comorbid psychopathology at the start and end of treatment. Patients showed significant improvements on eating symptoms and comorbid psychopathology over the course of treatment. Autonomous motivation was a significant predictor of change in severity of eating symptoms and attitudes such that patients with higher pre-treatment levels of autonomous motivation showed larger post-treatment reductions on these indices. No such effects were associated with controlled motivation. This study highlights a relationship between autonomous motivation and outcome in an inpatient setting. © 2016 Wiley Periodicals, Inc. (Int J Eat Disord 2016; 49:626-629). © 2016 Wiley Periodicals, Inc.

  8. On nonlinear control design for autonomous chaotic systems of integer and fractional orders

    International Nuclear Information System (INIS)

    Ahmad, Wajdi M.; Harb, Ahmad M.

    2003-01-01

    In this paper, we address the problem of chaos control for autonomous nonlinear chaotic systems. We use the recursive 'backstepping' method of nonlinear control design to derive the nonlinear controllers. The controller effect is to stabilize the output chaotic trajectory by driving it to the nearest equilibrium point in the basin of attraction. We study two nonlinear chaotic systems: an electronic chaotic oscillator model, and a mechanical chaotic 'jerk' model. We demonstrate the robustness of the derived controllers against system order reduction arising from the use of fractional integrators in the system models. Our results are validated via numerical simulations

  9. Control of Oscillating Foil for Propulsion of Biorobotic Autonomous Underwater Vehicle (AUV

    Directory of Open Access Journals (Sweden)

    S. N. Singh

    2005-01-01

    Full Text Available The paper treats the question of control of a laterally and rotationally oscillating hydrofoil for the propulsion of biologically inspired robotic (biorobotic autonomous underwater vehicles (BAUVs. Sinusoidal oscillations of foils produce maneuvering and propulsive forces. The design is based on the internal model principle. Two springs are used to transmit forces from the actuators to the foil. Oscillating fins produce periodic forces, which can be used for fish-like propulsion and control of autonomous underwater vehicles (AUVs. The equations of motion of the foil include hydrodynamic lift and moment based on linear, unsteady, aerodynamic theory. A control law is derived for the lateral and rotational sinusoidal oscillation of the foil. In the closed-loop system, the lateral displacement and the rotational angle of the foil asymptotically follow sinusoidal trajectories of distinct frequencies and amplitudes independently. Simulation results are presented to show the trajectory tracking performance of the foil for different freestream velocities and sinusoidal command trajectories.

  10. Autonomous health management for PMSM rail vehicles through demagnetization monitoring and prognosis control.

    Science.gov (United States)

    Niu, Gang; Jiang, Junjie; Youn, Byeng D; Pecht, Michael

    2018-01-01

    Autonomous vehicles are playing an increasingly importance in support of a wide variety of critical events. This paper presents a novel autonomous health management scheme on rail vehicles driven by permanent magnet synchronous motors (PMSMs). Firstly, the PMSMs are modeled based on first principle to deduce the initial profile of pneumatic braking (p-braking) force, then which is utilized for real-time demagnetization monitoring and degradation prognosis through similarity-based theory and generate prognosis-enhanced p-braking force strategy for final optimal control. A case study is conducted to demonstrate the feasibility and benefit of using the real-time prognostics and health management (PHM) information in vehicle 'drive-brake' control automatically. The results show that accurate demagnetization monitoring, degradation prognosis, and real-time capability for control optimization can be obtained, which can effectively relieve brake shoe wear. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  11. Semi-autonomous controller for data acquisition, the Brilliant ADC

    International Nuclear Information System (INIS)

    Breidenbach, M.; Frank, E.; Hall, J.; Nelson, D.

    1977-10-01

    A set of high speed 16-bit computers and ADC's designed and built for the data collection, compression, and correction system of the SLAC/LBL Mark II Magnetic Detector. The ''Brilliant ADC'' controls the analog multiplexing of a CAMAC crate of data acquisition modules, digitizes the analog data, and executes microprogrammed algorithms for data handling and correction

  12. Dynamic Artificial Potential Fields for Autonomous Camera Control

    DEFF Research Database (Denmark)

    Burelli, Paolo; Jhala, Arnav Harish

    2009-01-01

    the implementation and evaluation of Artificial Potential Fields for automatic camera placement. We first describe the re- casting of the frame composition problem as a solution to a two particles suspended in an Artificial Potential Field. We demonstrate the application of this technique to control both camera...

  13. Alterations in cardiac autonomic control in spinal cord injury

    DEFF Research Database (Denmark)

    Biering-Sørensen, Fin; Biering-Sørensen, Tor; Liu, Nan

    2018-01-01

    parasympathetic cardiac control. Decreases in sympathetic activity result in heart rate and the arterial blood pressure changes, and may cause arrhythmias, in particular bradycardia, with the risk of cardiac arrest in those with cervical or high thoracic injuries. The objective of this review is to give an update...

  14. Low-cost autonomous orbit control about Mars: Initial simulation results

    Science.gov (United States)

    Dawson, S. D.; Early, L. W.; Potterveld, C. W.; Königsmann, H. J.

    1999-11-01

    Interest in studying the possibility of extraterrestrial life has led to the re-emergence of the Red Planet as a major target of planetary exploration. Currently proposed missions in the post-2000 period are routinely calling for rendezvous with ascent craft, long-term orbiting of, and sample-return from Mars. Such missions would benefit greatly from autonomous orbit control as a means to reduce operations costs and enable contact with Mars ground stations out of view of the Earth. This paper present results from initial simulations of autonomously controlled orbits around Mars, and points out possible uses of the technology and areas of routine Mars operations where such cost-conscious and robust autonomy could prove most effective. These simulations have validated the approach and control philosophies used in the development of this autonomous orbit controller. Future work will refine the controller, accounting for systematic and random errors in the navigation of the spacecraft from the sensor suite, and will produce prototype flight code for inclusion on future missions. A modified version of Microcosm's commercially available High Precision Orbit Propagator (HPOP) was used in the preparation of these results due to its high accuracy and speed of operation. Control laws were developed to allow an autonomously controlled spacecraft to continuously control to a pre-defined orbit about Mars with near-optimal propellant usage. The control laws were implemented as an adjunct to HPOP. The GSFC-produced 50 × 50 field model of the Martian gravitational potential was used in all simulations. The Martian atmospheric drag was modeled using an exponentially decaying atmosphere based on data from the Mars-GRAM NASA Ames model. It is hoped that the simple atmosphere model that was implemented can be significantly improved in the future so as to approach the fidelity of the Mars-GRAM model in its predictions of atmospheric density at orbital altitudes. Such additional work

  15. Making the Traffic Operations Case for Congestion Pricing: Operational Impacts of Congestion Pricing

    Energy Technology Data Exchange (ETDEWEB)

    Chin, Shih-Miao [ORNL; Hu, Patricia S [ORNL; Davidson, Diane [ORNL

    2011-02-01

    Congestion begins when an excess of vehicles on a segment of roadway at a given time, resulting in speeds that are significantly slower than normal or 'free flow' speeds. Congestion often means stop-and-go traffic. The transition occurs when vehicle density (the number of vehicles per mile in a lane) exceeds a critical level. Once traffic enters a state of congestion, recovery or time to return to a free-flow state is lengthy; and during the recovery process, delay continues to accumulate. The breakdown in speed and flow greatly impedes the efficient operation of the freeway system, resulting in economic, mobility, environmental and safety problems. Freeways are designed to function as access-controlled highways characterized by uninterrupted traffic flow so references to freeway performance relate primarily to the quality of traffic flow or traffic conditions as experienced by users of the freeway. The maximum flow or capacity of a freeway segment is reached while traffic is moving freely. As a result, freeways are most productive when they carry capacity flows at 60 mph, whereas lower speeds impose freeway delay, resulting in bottlenecks. Bottlenecks may be caused by physical disruptions, such as a reduced number of lanes, a change in grade, or an on-ramp with a short merge lane. This type of bottleneck occurs on a predictable or 'recurrent' basis at the same time of day and same day of week. Recurrent congestion totals 45% of congestion and is primarily from bottlenecks (40%) as well as inadequate signal timing (5%). Nonrecurring bottlenecks result from crashes, work zone disruptions, adverse weather conditions, and special events that create surges in demand and that account for over 55% of experienced congestion. Figure 1.1 shows that nonrecurring congestion is composed of traffic incidents (25%), severe weather (15%), work zones, (10%), and special events (5%). Between 1995 and 2005, the average percentage change in increased peak traveler

  16. Distributed Autonomous Control of Multiple Spacecraft During Close Proximity Operations

    Science.gov (United States)

    2007-12-01

    Neubauer [54][55]. 87 VII. LQR/APF CONTROL ALGORITHM APPROACH The LQR approach can be recursively applied to the multiple spacecraft close... Neubauer and Swartwout’s research [55]. It is generally possible to select a closed map over which the algorithm is stable and robust. For these...can be easily edited and transferred into video format for presentations. Modifications of camera key frames ( camera position and angle) and

  17. Autonomic and Apoptotic, Aeronautical and Aerospace Systems, and Controlling Scientific Data Generated Therefrom

    Science.gov (United States)

    Sterritt, Roy (Inventor); Hinchey, Michael G. (Inventor)

    2015-01-01

    A self-managing system that uses autonomy and autonomicity is provided with the self-* property of autopoiesis (self-creation). In the event of an agent in the system self-destructing, autopoiesis auto-generates a replacement. A self-esteem reward scheme is also provided and can be used for autonomic agents, based on their performance and trust. Art agent with greater self-esteem may clone at a greater rate compared to the rate of an agent with lower self-esteem. A self-managing system is provided for a high volume of distributed autonomic/self-managing mobile agents, and autonomic adhesion is used to attract similar agents together or to repel dissimilar agents from an event horizon. An apoptotic system is also provided that accords an "expiry date" to data and digital objects, for example, that are available on the internet, which finds usefulness not only in general but also for controlling the loaning and use of space scientific data.

  18. Autonomic control of cardiorespiratory interactions in fish, amphibians and reptiles

    Directory of Open Access Journals (Sweden)

    E.W. Taylor

    2010-07-01

    Full Text Available Control of the heart rate and cardiorespiratory interactions (CRI is predominantly parasympathetic in all jawed vertebrates, with the sympathetic nervous system having some influence in tetrapods. Respiratory sinus arrhythmia (RSA has been described as a solely mammalian phenomenon but respiration-related beat-to-beat control of the heart has been described in fish and reptiles. Though they are both important, the relative roles of feed-forward central control and peripheral reflexes in generating CRI vary between groups of fishes and probably between other vertebrates. CRI may relate to two locations for the vagal preganglionic neurons (VPN and in particular cardiac VPN in the brainstem. This has been described in representatives from all vertebrate groups, though the proportion in each location is variable. Air-breathing fishes, amphibians and reptiles breathe discontinuously and the onset of a bout of breathing is characteristically accompanied by an immediate increase in heart rate plus, in the latter two groups, a left-right shunting of blood through the pulmonary circuit. Both the increase in heart rate and opening of a sphincter on the pulmonary artery are due to withdrawal of vagal tone. An increase in heart rate following a meal in snakes is related to withdrawal of vagal tone plus a non-adrenergic-non-cholinergic effect that may be due to humoral factors released by the gut. Histamine is one candidate for this role.

  19. Autonomic control of cardiorespiratory interactions in fish, amphibians and reptiles.

    Science.gov (United States)

    Taylor, E W; Leite, C A C; Skovgaard, N

    2010-07-01

    Control of the heart rate and cardiorespiratory interactions (CRI) is predominantly parasympathetic in all jawed vertebrates, with the sympathetic nervous system having some influence in tetrapods. Respiratory sinus arrhythmia (RSA) has been described as a solely mammalian phenomenon but respiration-related beat-to-beat control of the heart has been described in fish and reptiles. Though they are both important, the relative roles of feed-forward central control and peripheral reflexes in generating CRI vary between groups of fishes and probably between other vertebrates. CRI may relate to two locations for the vagal preganglionic neurons (VPN) and in particular cardiac VPN in the brainstem. This has been described in representatives from all vertebrate groups, though the proportion in each location is variable. Air-breathing fishes, amphibians and reptiles breathe discontinuously and the onset of a bout of breathing is characteristically accompanied by an immediate increase in heart rate plus, in the latter two groups, a left-right shunting of blood through the pulmonary circuit. Both the increase in heart rate and opening of a sphincter on the pulmonary artery are due to withdrawal of vagal tone. An increase in heart rate following a meal in snakes is related to withdrawal of vagal tone plus a non-adrenergic-non-cholinergic effect that may be due to humoral factors released by the gut. Histamine is one candidate for this role.

  20. Autonomous Reconfigurable Control Allocation (ARCA) for Reusable Launch Vehicles

    Science.gov (United States)

    Hodel, A. S.; Callahan, Ronnie; Jackson, Scott (Technical Monitor)

    2002-01-01

    The role of control allocation (CA) in modern aerospace vehicles is to compute a command vector delta(sub c) is a member of IR(sup n(sub a)) that corresponding to commanded or desired body-frame torques (moments) tou(sub c) = [L M N](sup T) to the vehicle, compensating for and/or responding to inaccuracies in off-line nominal control allocation calculations, actuator failures and/or degradations (reduced effectiveness), or actuator limitations (rate/position saturation). The command vector delta(sub c) may govern the behavior of, e.g., acrosurfaces, reaction thrusters, engine gimbals and/or thrust vectoring. Typically, the individual moments generated in response to each of the n(sub a) commands does not lie strictly in the roll, pitch, or yaw axes, and so a common practice is to group or gang actuators so that a one-to-one mapping from torque commands tau(sub c) actuator commands delta(sub c) may be achieved in an off-line computed CA function.

  1. Lighter than Air Robots Guidance and Control of Autonomous Airships

    CERN Document Server

    Bestaoui Sebbane, Yasmina

    2012-01-01

    An aerial robot is a system capable of sustained flight with no direct human control and able to perform a specific task. A lighter than air robot is an aerial robot that relies on the static lift to balance its own weight. It can also be defined as a lighter than air unmanned aerial vehicle or an unmanned airship with sufficient autonomy. Lighter than air systems are particularly appealing since the energy to keep them airborne is small. They are increasingly considered for various tasks such as monitoring, surveillance, advertising, freight carrier, transportation. This book familiarizes readers with a hierarchical decoupled planning and control strategy that has been proven efficient through research. It is made up of a hierarchy of modules with well defined functions operating at a variety of rates, linked together from top to bottom. The outer loop, closed periodically, consists of a discrete search that produces a set of waypoints leading to the goal while avoiding obstacles and weighed regions. The sec...

  2. User evaluation of a GUI for controlling an autonomous persistent surveillance team

    Science.gov (United States)

    Scerri, Paul; Owens, Sean; Sycara, Katia; Lewis, Michael

    2010-04-01

    In future military missions, there will be many sensor assets collecting much important information about the environment. User control over surveillance assets is important to ensure that the specific data collected is appropriate for the current mission. Unfortunately, previous work has shown that individual users cannot effectively control more than about four assets, even if the assets have significant autonomy. In the ACCAST project, we hypothesized that by including autonomous teamwork between the assets and allowing users to interact by describing what the team as a whole and specific sub-teams should do, we could dramatically scale up the number of assets an individual user could effectively control. In this paper, we present the results of an experiment where users controlled up to 30 autonomous assets performing a complex mission. The assets autonomously worked together using sophisticated teamwork and the user could tell sub-teams to execute team oriented plans which described the steps required to achieve a team objective without describing exactly which asset performed which role and without having to specify how the team should handle routine information sharing, communications and failure circumstances. The users, soldiers from Fort Benning, were surprisingly good at managing the assets and were all able to complete the complex mission with extremely low friendly and civilian casualties.

  3. Autonomous Control Strategy of DC Microgrid for Islanding Mode Using Power Line Communication

    Directory of Open Access Journals (Sweden)

    Dong-Keun Jeong

    2018-04-01

    Full Text Available This paper proposes a DC-bus signaling (DBS method for autonomous power management in a DC microgrid, used to improve its reliability. Centralized power management systems require communication between the power sources and loads. However, the DBS method operates based on the common DC-bus voltage and does not require communication. Based on the DC-bus voltage band, the DC-bus voltage can be used to inform the status of the DC-bus in various scenarios. The DC microgrid operates independently to maintain the system stably in the DC-bus voltage band. The DC microgrid can be divided into a grid-connected mode and an islanding mode. This paper proposes a control strategy based on power management of various independent components in islanding mode. In addition, the autonomous control method for switching the converter’s operation between grid-connected mode and islanding mode is proposed. A DC microgrid test bed consisting of a grid-connected AC/DC converter, a bidirectional DC/DC converter, a renewable energy simulator, DC home appliances and a DC-bus protector is used to test the proposed control strategy. The proposed autonomous control strategy is experimentally verified using the DC microgrid test bed.

  4. Automatic tracking of laparoscopic instruments for autonomous control of a cameraman robot.

    Science.gov (United States)

    Khoiy, Keyvan Amini; Mirbagheri, Alireza; Farahmand, Farzam

    2016-01-01

    An automated instrument tracking procedure was designed and developed for autonomous control of a cameraman robot during laparoscopic surgery. The procedure was based on an innovative marker-free segmentation algorithm for detecting the tip of the surgical instruments in laparoscopic images. A compound measure of Saturation and Value components of HSV color space was incorporated that was enhanced further using the Hue component and some essential characteristics of the instrument segment, e.g., crossing the image boundaries. The procedure was then integrated into the controlling system of the RoboLens cameraman robot, within a triple-thread parallel processing scheme, such that the tip is always kept at the center of the image. Assessment of the performance of the system on prerecorded real surgery movies revealed an accuracy rate of 97% for high quality images and about 80% for those suffering from poor lighting and/or blood, water and smoke noises. A reasonably satisfying performance was also observed when employing the system for autonomous control of the robot in a laparoscopic surgery phantom, with a mean time delay of 200ms. It was concluded that with further developments, the proposed procedure can provide a practical solution for autonomous control of cameraman robots during laparoscopic surgery operations.

  5. Numerical Construction of Viable Sets for Autonomous Conflict Control Systems

    Directory of Open Access Journals (Sweden)

    Nikolai Botkin

    2014-04-01

    Full Text Available A conflict control system with state constraints is under consideration. A method for finding viability kernels (the largest subsets of state constraints where the system can be confined is proposed. The method is related to differential games theory essentially developed by N. N. Krasovskii and A. I. Subbotin. The viability kernel is constructed as the limit of sets generated by a Pontryagin-like backward procedure. This method is implemented in the framework of a level set technique based on the computation of limiting viscosity solutions of an appropriate Hamilton–Jacobi equation. To fulfill this, the authors adapt their numerical methods formerly developed for solving time-dependent Hamilton–Jacobi equations arising from problems with state constraints. Examples of computing viability sets are given.

  6. Autonomous Supervision and Control of Parametric Roll Resonance

    DEFF Research Database (Denmark)

    Galeazzi, Roberto

    therefore two objectives. The first is to develop methods for detection of the inception of parametric roll resonance. The second is to develop control strategies to stabilize the motion after parametric roll has started. Stabilisation of parametric roll resonance points to two possible courses of action...... strategies are then combined to stabilise parametric roll resonance within few roll cycles. Limitations on the maximum stabilisable roll angle are analysed and linked to the ii slew rate saturation and hydrodynamic stall characteristics of the fin stabilisers. The study on maximum stabilisable roll angle...... leads to the requirements for early detection. Two novel detectors are proposed, which work within a shorttime prediction horizon, and issue early warnings of parametric roll inception within few roll cycles from its onset. The main idea behind these detection schemes is that of exploiting the link...

  7. Autonomous collision avoidance system by combined control of steering and braking using geometrically optimised vehicular trajectory

    Science.gov (United States)

    Hayashi, Ryuzo; Isogai, Juzo; Raksincharoensak, Pongsathorn; Nagai, Masao

    2012-01-01

    This study proposes an autonomous obstacle avoidance system not only by braking but also by steering, as one of the active safety technologies to prevent traffic accidents. The proposed system prevents the vehicle from colliding with a moving obstacle like a pedestrian jumping out from the roadside. In the proposed system, to avoid the predicted colliding position based on constant-velocity obstacle motion assumption, the avoidance trajectory is derived as connected two identical arcs. The system then controls the vehicle autonomously by the combined control of the braking and steering systems. In this paper, the proposed system is examined by real car experiments and its effectiveness is shown from the results of the experiments.

  8. Autonomic control of the heart in the Asian swamp eel (Monopterus albus)

    DEFF Research Database (Denmark)

    Iversen, Nina Kerting; Huong, Do Thi Thanh; Bayley, Mark

    2011-01-01

    The Asian swamp eel (Monopterus albus) is an air-breathing teleost with very reduced gills that uses the buccal cavity for air-breathing. Here we characterise the cardiovascular changes associated with the intermittent breathing pattern in M. albus and we study the autonomic control of the heart.......3 cm H2O). The autonomic control of the heart during water- and air-breathing was revealed by infusion of the β-adrenergic antagonist propranolol and muscarinic antagonist atropine (3 mg kg− 1) in eels instrumented with an arterial catheter. Inhibition of the sympathetic and parasympathetic...... innervations of the heart revealed a strong vagal tone on the heart of water-breathing eels and that the tachycardia during air-breathing is primarily mediated by withdrawal of cholinergic tone....

  9. Secure, Autonomous, Intelligent Controller for Integrating Distributed Emergency Response Satellite Operations

    Science.gov (United States)

    Ivancic, William D.; Paulsen, Phillip E.; Miller, Eric M.; Sage, Steen P.

    2013-01-01

    This report describes a Secure, Autonomous, and Intelligent Controller for Integrating Distributed Emergency Response Satellite Operations. It includes a description of current improvements to existing Virtual Mission Operations Center technology being used by US Department of Defense and originally developed under NASA funding. The report also highlights a technology demonstration performed in partnership with the United States Geological Service for Earth Resources Observation and Science using DigitalGlobe(Registered TradeMark) satellites to obtain space-based sensor data.

  10. Autonomous controller (JCAM 10) for CAMAC crate with 8080 (INTEL) microprocessor

    International Nuclear Information System (INIS)

    Gallice, P.; Mathis, M.

    1975-01-01

    The CAMAC crate autonomous controller JCAM-10 is designed around an INTEL 8080 microprocessor in association with a 5K RAM and 4K REPROM memory. The concept of the module is described, in which data transfers between CAMAC modules and the memory are optimised from software point of view as well as from execution time. In fact, the JCAM-10 is a microcomputer with a set of 1000 peripheral units represented by the CAMAC modules commercially available

  11. Development of a Control Systems Platform for an Autonomous Soft-Car

    OpenAIRE

    Ray, Pratish

    2015-01-01

    Balloon Cars (Soft Cars) used for active-system testing are presently statically following one specific path. Autonomous GPS driven balloon cars can be extremely useful if made to be accurate.Volvo group’s long term plan involves usage of such cars to improve active-safety systems. Thisreport presents comprehensive details about the development of the control system of the soft-car.Software development was preceded by purchase of parts. Detailed descriptions of the ballooncar hardware compone...

  12. Autonomous Quality Control of Joint Orientation Measured with Inertial Sensors

    Directory of Open Access Journals (Sweden)

    Karina Lebel

    2016-07-01

    Full Text Available Clinical mobility assessment is traditionally performed in laboratories using complex and expensive equipment. The low accessibility to such equipment, combined with the emerging trend to assess mobility in a free-living environment, creates a need for body-worn sensors (e.g., inertial measurement units—IMUs that are capable of measuring the complexity in motor performance using meaningful measurements, such as joint orientation. However, accuracy of joint orientation estimates using IMUs may be affected by environment, the joint tracked, type of motion performed and velocity. This study investigates a quality control (QC process to assess the quality of orientation data based on features extracted from the raw inertial sensors’ signals. Joint orientation (trunk, hip, knee, ankle of twenty participants was acquired by an optical motion capture system and IMUs during a variety of tasks (sit, sit-to-stand transition, walking, turning performed under varying conditions (speed, environment. An artificial neural network was used to classify good and bad sequences of joint orientation with a sensitivity and a specificity above 83%. This study confirms the possibility to perform QC on IMU joint orientation data based on raw signal features. This innovative QC approach may be of particular interest in a big data context, such as for remote-monitoring of patients’ mobility.

  13. The association between depressive disorder and cardiac autonomic control in adults 60 years and older.

    Science.gov (United States)

    Licht, Carmilla M M; Naarding, Paul; Penninx, Brenda W J H; van der Mast, Roos C; de Geus, Eco J C; Comijs, Hannie

    2015-04-01

    Altered cardiac autonomic control has often been reported in depressed persons and might play an important role in the increased risk for cardiovascular disease (CVD). A negative association between cardiac autonomic control and depression might become specifically clinically relevant in persons 60 years or older as CVD risk increases with age. This study included data of 321 persons with a depressive disorder and 115 controls participating in the Netherlands Study of Depression in Older Persons (mean age = 70.3 years, 65.7% female). Respiratory sinus arrhythmia (RSA), heart rate (HR), and preejection period (PEP) were measured and compared between depressed persons and controls. In addition, the role of antidepressants and clinical characteristics (e.g., age of depression onset and comorbid anxiety) was examined. Compared with controls, depressed persons had lower RSA (mean [standard error of the mean] = 23.5 [1.2] milliseconds versus 18.6 [0.7] milliseconds, p = .001, d = 0.373) and marginally higher HR (73.1 [1.1] beats/min versus 75.6 [0.6] beats/min, p = .065, d = 0.212), but comparable PEP (113.9 [2.1] milliseconds versus 112.0 [1.2] milliseconds, p = .45, d = 0.087), fully adjusted. Antidepressants strongly attenuated the associations between depression and HR and RSA. Antidepressant-naïve depressed persons had similar HR and RSA to controls, whereas users of antidepressants showed significantly lower RSA. In addition, tricyclic antidepressant users had higher HR (p 768) and shorter PEP (p = .014, d = 0.395) than did controls. Depression was not associated with cardiac autonomic control, but antidepressants were in this sample. All antidepressants were associated with low cardiac parasympathetic control and specifically tricyclic antidepressants with high cardiac sympathetic control.

  14. Autonomic Modulation in Duchenne Muscular Dystrophy during a Computer Task: A Prospective Control Trial.

    Directory of Open Access Journals (Sweden)

    Mayra Priscila Boscolo Alvarez

    Full Text Available Duchenne Muscular Dystrophy (DMD is characterized by progressive muscle weakness that can lead to disability. Owing to functional difficulties faced by individuals with DMD, the use of assistive technology is essential to provide or facilitate functional abilities. In DMD, cardiac autonomic dysfunction has been reported in addition to musculoskeletal impairment. Consequently, the objective was to investigate acute cardiac autonomic responses, by Heart Rate Variability (HRV, during computer tasks in subjects with DMD.HRV was assessed by linear and nonlinear methods, using the heart rate monitor Polar RS800CX chest strap Electrocardiographic measuring device. Then, 45 subjects were included in the group with DMD and 45 in the healthy Typical Development (TD control group. They were assessed for twenty minutes at rest sitting, and five minutes after undergoing a task on the computer.Individuals with DMD had a statistically significant lower parasympathetic cardiac modulation at rest when compared to the control group, which further declined when undergoing the tasks on the computer.DMD patients presented decreased HRV and exhibited greater intensity of cardiac autonomic responses during computer tasks characterized by vagal withdrawal when compared to the healthy TD control subjects.

  15. Approach for Autonomous Control of Unmanned Aerial Vehicle Using Intelligent Agents for Knowledge Creation

    Science.gov (United States)

    Dufrene, Warren R., Jr.

    2004-01-01

    This paper describes the development of a planned approach for Autonomous operation of an Unmanned Aerial Vehicle (UAV). A Hybrid approach will seek to provide Knowledge Generation thru the application of Artificial Intelligence (AI) and Intelligent Agents (IA) for UAV control. The application of many different types of AI techniques for flight will be explored during this research effort. The research concentration will be directed to the application of different AI methods within the UAV arena. By evaluating AI approaches, which will include Expert Systems, Neural Networks, Intelligent Agents, Fuzzy Logic, and Complex Adaptive Systems, a new insight may be gained into the benefits of AI techniques applied to achieving true autonomous operation of these systems thus providing new intellectual merit to this research field. The major area of discussion will be limited to the UAV. The systems of interest include small aircraft, insects, and miniature aircraft. Although flight systems will be explored, the benefits should apply to many Unmanned Vehicles such as: Rovers, Ocean Explorers, Robots, and autonomous operation systems. The flight system will be broken down into control agents that will represent the intelligent agent approach used in AI. After the completion of a successful approach, a framework of applying a Security Overseer will be added in an attempt to address errors, emergencies, failures, damage, or over dynamic environment. The chosen control problem was the landing phase of UAV operation. The initial results from simulation in FlightGear are presented.

  16. New control approach for a PV-diesel autonomous power system

    Energy Technology Data Exchange (ETDEWEB)

    Rashed, Mohamed; Elmitwally, A.; Kaddah, Sahar [Electrical Engineering Department, Mansoura University, Mansoura 35516 (Egypt)

    2008-06-15

    A new control scheme for the hybrid photovoltaic-diesel single-phase autonomous power system is proposed. The main advantage of this scheme is that the voltage control is accomplished by the interface inverter without need to the automatic voltage regulator of the diesel-driven generator. Unlike three-phase systems, frequency and voltage control in single-phase autonomous power systems imposes additional complexity. This is due to the pulsating nature of the single-phase loads instantaneous power at twice the rated frequency that may degrade the control efficacy. This obstacle is addressed in this paper and a new scheme is presented. The approach includes three control loops for maximum power tracking, voltage control and frequency control. The generator field current is held constant at its nominal value avoiding the saturation in the field circuit. A robust fuzzy logic controller is adopted for the speed control loop of the diesel engine. The dynamic performance of the system is investigated under different operating conditions. (author)

  17. Optimal strategies for the control of autonomous vehicles in data assimilation

    Science.gov (United States)

    McDougall, D.; Moore, R. O.

    2017-08-01

    We propose a method to compute optimal control paths for autonomous vehicles deployed for the purpose of inferring a velocity field. In addition to being advected by the flow, the vehicles are able to effect a fixed relative speed with arbitrary control over direction. It is this direction that is used as the basis for the locally optimal control algorithm presented here, with objective formed from the variance trace of the expected posterior distribution. We present results for linear flows near hyperbolic fixed points.

  18. CamOn: A Real-Time Autonomous Camera Control System

    DEFF Research Database (Denmark)

    Burelli, Paolo; Jhala, Arnav Harish

    2009-01-01

    This demonstration presents CamOn, an autonomous cam- era control system for real-time 3D games. CamOn employs multiple Artificial Potential Fields (APFs), a robot motion planning technique, to control both the location and orienta- tion of the camera. Scene geometry from the 3D environment...... contributes to the potential field that is used to determine po- sition and movement of the camera. Composition constraints for the camera are modelled as potential fields for controlling the view target of the camera. CamOn combines the compositional benefits of constraint- based camera systems, and improves...

  19. Framework for Traffic Congestion Management

    Directory of Open Access Journals (Sweden)

    Mahmud Hassan TALUKDAR

    2013-06-01

    Full Text Available Traffic Congestion is one of many serious global problems in all great cities resulted from rapid urbanization which always exert negative externalities upon society. The solution of traffic congestion is highly geocentric and due to its heterogeneous nature, curbing congestion is one of the hard tasks for transport planners. It is not possible to suggest unique traffic congestion management framework which could be absolutely applied for every great cities. Conversely, it is quite feasible to develop a framework which could be used with or without minor adjustment to deal with congestion problem. So, the main aim of this paper is to prepare a traffic congestion mitigation framework which will be useful for urban planners, transport planners, civil engineers, transport policy makers, congestion management researchers who are directly or indirectly involved or willing to involve in the task of traffic congestion management. Literature review is the main source of information of this study. In this paper, firstly, traffic congestion is defined on the theoretical point of view and then the causes of traffic congestion are briefly described. After describing the causes, common management measures, using world- wide, are described and framework for supply side and demand side congestion management measures are prepared.

  20. Approach for Autonomous Control of Unmanned Aerial Vehicle Using Intelligent Agents for Knowledge Creation

    Science.gov (United States)

    Dufrene, Warren R., Jr.

    2004-01-01

    This paper describes the development of a planned approach for Autonomous operation of an Unmanned Aerial Vehicle (UAV). A Hybrid approach will seek to provide Knowledge Generation through the application of Artificial Intelligence (AI) and Intelligent Agents (IA) for UAV control. The applications of several different types of AI techniques for flight are explored during this research effort. The research concentration is directed to the application of different AI methods within the UAV arena. By evaluating AI and biological system approaches. which include Expert Systems, Neural Networks. Intelligent Agents, Fuzzy Logic, and Complex Adaptive Systems, a new insight may be gained into the benefits of AI and CAS techniques applied to achieving true autonomous operation of these systems. Although flight systems were explored, the benefits should apply to many Unmanned Vehicles such as: Rovers. Ocean Explorers, Robots, and autonomous operation systems. A portion of the flight system is broken down into control agents that represent the intelligent agent approach used in AI. After the completion of a successful approach, a framework for applying an intelligent agent is presented. The initial results from simulation of a security agent for communication are presented.

  1. Redundant manipulator techniques for partially decentralized path planning and control of a platoon of autonomous vehicles.

    Science.gov (United States)

    Stilwell, Daniel J; Bishop, Bradley E; Sylvester, Caleb A

    2005-08-01

    An approach to real-time trajectory generation for platoons of autonomous vehicles is developed from well-known control techniques for redundant robotic manipulators. The partially decentralized structure of this approach permits each vehicle to independently compute its trajectory in real-time using only locally generated information and low-bandwidth feedback generated by a system exogenous to the platoon. Our work is motivated by applications for which communications bandwidth is severely limited, such for platoons of autonomous underwater vehicles. The communication requirements for our trajectory generation approach are independent of the number of vehicles in the platoon, enabling platoons composed of a large number of vehicles to be coordinated despite limited communication bandwidth.

  2. Demonstration of a Concurrently Programmed Tactical Level Control Software for Autonomous Vehicles and the Interface to the Execution Level Code

    National Research Council Canada - National Science Library

    Carroll, William

    2000-01-01

    .... One of the greatest challenges to the successful development of truly autonomous vehicles is the ability to link logically based high-level mission planning with low-level vehicle control software...

  3. Autonomous Voltage Unbalance Compensation in an Islanded Droop-Controlled Microgrid

    DEFF Research Database (Denmark)

    Savaghebi, Mehdi; Jalilian, Alireza; Vasquez, Juan Carlos

    2013-01-01

    Recently, there is an increasing interest in using distributed generators (DGs) not only to inject power into the grid, but also to enhance the power quality. In this paper, a stationary-frame control method for voltage unbalance compensation in an islanded microgrid is proposed. This method...... is based on the proper control of DGs interface converters. The DGs are controlled to compensate voltage unbalance autonomously while share the compensation effort and also active and reactive power, properly. The control system of the DGs mainly consists of active and reactive power droop controllers......, virtual impedance loop, voltage and current controllers and unbalance compensator. The design approach of the control system is discussed in detail and simulation and experimental results are presented. The results demonstrate the effectiveness of the proposed method in compensation of voltage unbalance....

  4. Audit, Control and Monitoring Design Patterns (ACMDP for Autonomous Robust Systems (ARS

    Directory of Open Access Journals (Sweden)

    C. Trad

    2008-11-01

    Full Text Available This paper proposes the Audit, Control and Monitoring Design Patterns (ACMDP for building Autonomous and Robust Systems (ARS such as Mobile Robot Systems (MRS. These patterns are also applicable to other Mission Critical and Complex Systems (MCCS. This paper presents a proposal which will help ARS project managers and engineers design, build and estimate the probability that an ARS will succeed or fail. Furthermore, this proposal offers the possibility to ARS problems with the help of audit, monitoring and controlling components, adjust the project management pathways, and define the problem sources as well as their possible solutions, in order to deliver an ARS or an MRS.

  5. Simvastatin-induced cardiac autonomic control improvement in fructose-fed female rats

    Directory of Open Access Journals (Sweden)

    Renata Juliana da Silva

    2011-01-01

    Full Text Available OBJECTIVE: Because autonomic dysfunction has been found to lead to cardiometabolic disorders and because studies have reported that simvastatin treatment has neuroprotective effects, the objective of the present study was to investigate the effects of simvastatin treatment on cardiovascular and autonomic changes in fructose-fed female rats. METHODS: Female Wistar rats were divided into three groups: controls (n=8, fructose (n=8, and fructose+ simvastatin (n=8. Fructose overload was induced by supplementing the drinking water with fructose (100 mg/L, 18 wks. Simvastatin treatment (5 mg/kg/day for 2 wks was performed by gavage. The arterial pressure was recorded using a data acquisition system. Autonomic control was evaluated by pharmacological blockade. RESULTS: Fructose overload induced an increase in the fasting blood glucose and triglyceride levels and insulin resistance. The constant rate of glucose disappearance during the insulin intolerance test was reduced in the fructose group (3.4+ 0.32%/min relative to that in the control group (4.4+ 0.29%/min. Fructose+simvastatin rats exhibited increased insulin sensitivity (5.4+0.66%/min. The fructose and fructose+simvastatin groups demonstrated an increase in the mean arterial pressure compared with controls rats (fructose: 124+2 mmHg and fructose+simvastatin: 126 + 3 mmHg vs. controls: 112 + 2 mmHg. The sympathetic effect was enhanced in the fructose group (73 + 7 bpm compared with that in the control (48 + 7 bpm and fructose+simvastatin groups (31+8 bpm. The vagal effect was increased in fructose+simvastatin animals (84 + 7 bpm compared with that in control (49 + 9 bpm and fructose animals (46+5 bpm. CONCLUSION: Simvastatin treatment improved insulin sensitivity and cardiac autonomic control in an experimental model of metabolic syndrome in female rats. These effects were independent of the improvements in the classical plasma lipid profile and of reductions in arterial pressure. These results

  6. Critical element study on autonomous position control of articulated-arm type manipulator

    International Nuclear Information System (INIS)

    Oka, Kiyoshi; Kakudate, Satoshi; Nakahira, Masataka

    1994-10-01

    An articulated-arm type manipulator can be operated effectively in a restricted space due to its flexibility and it can be attractive for a wide range of in-vessel maintenance such as viewing, inspection and limiter handling in fusion experimental reactors. In case of the in-vessel maintenance using a flexible manipulator, it is quite essential to develop an autonomous control method for compensating a deflection of manipulator so as to minimize the maintenance time with high precision. For this purpose, a new position control method using a combination of neural network predictor with a rigid inverse kinematics is being developed. The key features of this method are to simplify a kinematics modeling of flexible manipulator, to enable quick position compensation in stead of ordinary large matrix compensation, and to be applicable to a wide variety of manipulator characteristics. A sub-scaled model of flexible manipulator with 4 joints has been fabricated for a benchmark experiments of the autonomous position control. Comparing analytical simulation with experiments using the flexible manipulator, it has been demonstrated that the new position control method gives significant improvement in control performance with high precision in order of a figure. In addition, further optimization can be possible by adding other non-linear predictors such as radial basis function and fuzzy modeling. This paper describes the details of a sub-scaled flexible manipulator and a neural network position control system as well as results of analytical simulation and benchmark experiments. (author)

  7. Zebrafish heart as a model to study the integrative autonomic control of pacemaker function

    Science.gov (United States)

    Stoyek, Matthew R.; Quinn, T. Alexander; Croll, Roger P.

    2016-01-01

    The cardiac pacemaker sets the heart's primary rate, with pacemaker discharge controlled by the autonomic nervous system through intracardiac ganglia. A fundamental issue in understanding the relationship between neural activity and cardiac chronotropy is the identification of neuronal populations that control pacemaker cells. To date, most studies of neurocardiac control have been done in mammalian species, where neurons are embedded in and distributed throughout the heart, so they are largely inaccessible for whole-organ, integrative studies. Here, we establish the isolated, innervated zebrafish heart as a novel alternative model for studies of autonomic control of heart rate. Stimulation of individual cardiac vagosympathetic nerve trunks evoked bradycardia (parasympathetic activation) and tachycardia (sympathetic activation). Simultaneous stimulation of both vagosympathetic nerve trunks evoked a summative effect. Effects of nerve stimulation were mimicked by direct application of cholinergic and adrenergic agents. Optical mapping of electrical activity confirmed the sinoatrial region as the site of origin of normal pacemaker activity and identified a secondary pacemaker in the atrioventricular region. Strong vagosympathetic nerve stimulation resulted in a shift in the origin of initial excitation from the sinoatrial pacemaker to the atrioventricular pacemaker. Putative pacemaker cells in the sinoatrial and atrioventricular regions expressed adrenergic β2 and cholinergic muscarinic type 2 receptors. Collectively, we have demonstrated that the zebrafish heart contains the accepted hallmarks of vertebrate cardiac control, establishing this preparation as a viable model for studies of integrative physiological control of cardiac function by intracardiac neurons. PMID:27342878

  8. Method to measure autonomic control of cardiac function using time interval parameters from impedance cardiography

    International Nuclear Information System (INIS)

    Meijer, Jan H; Boesveldt, Sanne; Elbertse, Eskeline; Berendse, H W

    2008-01-01

    The time difference between the electrocardiogram and impedance cardiogram can be considered as a measure for the time delay between the electrical and mechanical activities of the heart. This time interval, characterized by the pre-ejection period (PEP), is related to the sympathetic autonomous nervous control of cardiac activity. PEP, however, is difficult to measure in practice. Therefore, a novel parameter, the initial systolic time interval (ISTI), is introduced to provide a more practical measure. The use of ISTI instead of PEP was evaluated in three groups: young healthy subjects, patients with Parkinson's disease, and a group of elderly, healthy subjects of comparable age. PEP and ISTI were studied under two conditions: at rest and after an exercise stimulus. Under both conditions, PEP and ISTI behaved largely similarly in the three groups and were significantly correlated. It is concluded that ISTI can be used as a substitute for PEP and, therefore, to evaluate autonomic neuropathy both in clinical and extramural settings. Measurement of ISTI can also be used to non-invasively monitor the electromechanical cardiac time interval, and the associated autonomic activity, under physiological circumstances

  9. An Intelligent Propulsion Control Architecture to Enable More Autonomous Vehicle Operation

    Science.gov (United States)

    Litt, Jonathan S.; Sowers, T. Shane; Simon, Donald L.; Owen, A. Karl; Rinehart, Aidan W.; Chicatelli, Amy K.; Acheson, Michael J.; Hueschen, Richard M.; Spiers, Christopher W.

    2018-01-01

    This paper describes an intelligent propulsion control architecture that coordinates with the flight control to reduce the amount of pilot intervention required to operate the vehicle. Objectives of the architecture include the ability to: automatically recognize the aircraft operating state and flight phase; configure engine control to optimize performance with knowledge of engine condition and capability; enhance aircraft performance by coordinating propulsion control with flight control; and recognize off-nominal propulsion situations and to respond to them autonomously. The hierarchical intelligent propulsion system control can be decomposed into a propulsion system level and an individual engine level. The architecture is designed to be flexible to accommodate evolving requirements, adapt to technology improvements, and maintain safety.

  10. Distributed Control for Autonomous Operation of a Three-Port AC/DC/DS Hybrid Microgrid

    DEFF Research Database (Denmark)

    Wang, Peng; Jin, Chi; Zhu, Dexuan

    2015-01-01

    This paper presents a distributed control scheme for reliable autonomous operation of a hybrid three-port ac/dc/distributed storage (ds) microgrid by means of power sharing in individual network, power exchange between ac and dc networks, and power management among three networks. The proposed...... distributed control scheme includes: 1) a fully decentralized control, which is achieved by local power sharing (LPS) in individual ac or dc network, global power sharing (GPS) throughout ac/dc networks, and storage power sharing (SPS) among distributed storages. Upon fully decentralized control, each power...... module can operate independently without communication links. This would benefit for riding through communication malfunction in multilayer supervision control system; 2) a multilevel power exchange control for scheduling LPS, GPS, and SPS has been developed to reduce unnecessary power exchange between...

  11. Functional Based Adaptive and Fuzzy Sliding Controller for Non-Autonomous Active Suspension System

    Science.gov (United States)

    Huang, Shiuh-Jer; Chen, Hung-Yi

    In this paper, an adaptive sliding controller is developed for controlling a vehicle active suspension system. The functional approximation technique is employed to substitute the unknown non-autonomous functions of the suspension system and release the model-based requirement of sliding mode control algorithm. In order to improve the control performance and reduce the implementation problem, a fuzzy strategy with online learning ability is added to compensate the functional approximation error. The update laws of the functional approximation coefficients and the fuzzy tuning parameters are derived from the Lyapunov theorem to guarantee the system stability. The proposed controller is implemented on a quarter-car hydraulic actuating active suspension system test-rig. The experimental results show that the proposed controller suppresses the oscillation amplitude of the suspension system effectively.

  12. Modifications of Control Loop to Improve the Depth Response of Autonomous Underwater Vehicles

    Directory of Open Access Journals (Sweden)

    Sheng-Ping Hsu

    2014-01-01

    Full Text Available During a constant depth maneuver of an autonomous underwater vehicle (AUV, its pitch attitude and stern plane deflections create forces and moments to achieve equilibrium in the vertical plane. If an AUV has a proportional controller only in its depth control loop, then different weights or centers of gravity will cause different steady-state depth errors at trimmed conditions. In general, a steady-state depth error can be eliminated by adding an integral controller in the depth control loop. However, an improper integrator may lead to a bad transient response, even though the steady-state depth error can finally be eliminated. To remove the steady-state depth error, this study proposes methods that adjust the depth command and add a switching integral controller in the depth control loop. Simulation results demonstrate that the steady-state depth error can be eliminated and the transient response can be improved.

  13. Impact of Personal Attitudes on Propensity to Use Autonomous Vehicles for Intercity Travel.

    Science.gov (United States)

    2016-01-01

    The autonomous vehicles are about to become a reality. The researchers estimate the benefits from each autonomous vehicle to be between $2000 and $4500 per vehicles. The : societal benefits include higher travel time savings, reduced congestion, fuel...

  14. A Fully-Distributed Heuristic Algorithm for Control of Autonomous Vehicle Movements at Isolated Intersections

    Directory of Open Access Journals (Sweden)

    Abdallah A. Hassan

    2014-12-01

    Full Text Available Optimizing autonomous vehicle movements through roadway intersections is a challenging problem. It has been demonstrated in the literature that traditional traffic control, such as traffic signal and stop sign control are not optimal especially for heavy traffic demand levels. Alternatively, centralized autonomous vehicle control strategies are costly and not scalable given that the ability of a central controller to track and schedule the movement of hundreds of vehicles in real-time is questionable. Consequently, in this paper a fully distributed algorithm is proposed where vehicles in the vicinity of an intersection continuously cooperate with each other to develop a schedule that allows them to safely proceed through the intersection while incurring minimum delay. Unlike other distributed approaches described in the literature, the wireless communication constraints are considered in the design of the control algorithm. Specifically, the proposed algorithm requires vehicles heading to an intersection to communicate only with neighboring vehicles, while the lead vehicles on each approach lane share information to develop a complete intersection utilization schedule. The scheduling rotates between vehicles to identify higher traffic volumes and favor vehicles coming from heavier lanes to minimize the overall intersection delay. The simulated experiments show significant reductions in the average delay using the proposed approach compared to other methods reported in the literature and reduction in the maximum delay experienced by a vehicle especially in cases of heavy traffic demand levels.

  15. Using the centre of percussion to design a steering controller for an autonomous race car

    Science.gov (United States)

    Kritayakirana, Krisada; Gerdes, J. Christian

    2012-01-01

    Understanding how a race car driver controls a vehicle at its friction limits can provide insights into the development of vehicle safety systems. In this paper, a race car driver's behaviour inspires the design of an autonomous racing controller. The resulting controller uses the vehicle's centre of percussion (COP) to design feedforward and feedback steering. At the COP, the effects of rotation and translation from the rear tire force cancel each other out; consequently, the feedforward steering command is robust to the disturbances from the rear tire force. Using the COP also simplifies the equations of motion, as the vehicle's lateral motion is decoupled from the vehicle's yaw motion and highlights the challenge of controlling a vehicle when the rear tires are highly saturated. The resulting dynamics can be controlled with a linear state feedback based on a lane-keeping system with additional yaw damping. Utilising Lyapunov theory, the closed-loop system is shown to remain stable even when the rear tires are highly saturated. The experimental results demonstrate that an autonomous vehicle can operate at its limits while maintaining a minimal lateral error.

  16. Electric Drive Discrete Control System with Automatic Switching-On Reserve for Autonomous Settlement

    Directory of Open Access Journals (Sweden)

    Tsytovich L.I.

    2015-08-01

    Full Text Available The paper aims at developing of control the water supply system’s electric drives for autonomous settlement. The system provides automatic switching to a reserve control channel at refusal of any of the functional elements of the working regulation channel. Usually, such systems have a test signal generator and analyzer to system response to their impact. This result to an increase in the structural redundancy of the system, increase its cost and increase the requirements for the staff qualification. A specific feature of the system is its ability to self-diagnosis of catastrophic malfunctions of scheme’s components and an automatic switching-on the reserve control channels, without applying any test signals to the whole complex of electrical equipment. Multi-zone integrating regulator with frequency-pulse-width modulation realizes this technical solution. Control system structure and signals timing diagrams are presented. The construction principle of adaptive interval-code synchronization device with improved noise stability to control the voltage regulators serving for smooth start-up of asynchronous motors of water pumps is considered as well. Such solution allowing increase noise stability and reliability work of the system in conditions of limited power electrical networks, which is characteristic for the autonomous settlements. The article may be of interest to specialists in the field of power electronics and information electronics, electric drives and process automation.

  17. Autonomic Nervous System Disorders

    Science.gov (United States)

    Your autonomic nervous system is the part of your nervous system that controls involuntary actions, such as the beating of your heart ... breathing and swallowing Erectile dysfunction in men Autonomic nervous system disorders can occur alone or as the result ...

  18. Simulation Modeling of Intelligent Control Algorithms for Constructing Autonomous Power Supply Systems with Improved Energy Efficiency

    Directory of Open Access Journals (Sweden)

    Gimazov Ruslan

    2018-01-01

    Full Text Available The paper considers the issue of supplying autonomous robots by solar batteries. Low efficiency of modern solar batteries is a critical issue for the whole industry of renewable energy. The urgency of solving the problem of improved energy efficiency of solar batteries for supplying the robotic system is linked with the task of maximizing autonomous operation time. Several methods to improve the energy efficiency of solar batteries exist. The use of MPPT charge controller is one these methods. MPPT technology allows increasing the power generated by the solar battery by 15 – 30%. The most common MPPT algorithm is the perturbation and observation algorithm. This algorithm has several disadvantages, such as power fluctuation and the fixed time of the maximum power point tracking. These problems can be solved by using a sufficiently accurate predictive and adaptive algorithm. In order to improve the efficiency of solar batteries, autonomous power supply system was developed, which included an intelligent MPPT charge controller with the fuzzy logic-based perturbation and observation algorithm. To study the implementation of the fuzzy logic apparatus in the MPPT algorithm, in Matlab/Simulink environment, we developed a simulation model of the system, including solar battery, MPPT controller, accumulator and load. Results of the simulation modeling established that the use of MPPT technology had increased energy production by 23%; introduction of the fuzzy logic algorithm to MPPT controller had greatly increased the speed of the maximum power point tracking and neutralized the voltage fluctuations, which in turn reduced the power underproduction by 2%.

  19. Overview of the Autonomic Nervous System

    Science.gov (United States)

    ... be reversible or progressive. Anatomy of the autonomic nervous system The autonomic nervous system is the part of ... organs they connect with. Function of the autonomic nervous system The autonomic nervous system controls internal body processes ...

  20. Auctions for Congestion Management in Distribution Grids

    NARCIS (Netherlands)

    Philipsen, R.M.; de Weerdt, M.M.; de Vries, L.J.

    2016-01-01

    Large controllable loads, such as electric vehicles, are increasingly penetrating electricity distribution feeders. To avoid local congestion, their consumption behaviour must be steered, for which a real-time price propagated down from the transmission system does not suffice, as it does not

  1. The relationship of motion sickness susceptibility to learned autonomic control for symptom suppression

    Science.gov (United States)

    Cowings, P. S.; Toscano, W. B.

    1982-01-01

    Twenty-four men were randomly assigned to four equal groups matched in terms of their Coriolis Sickness Susceptibility Index (CSSI). Two groups of subjects were highly susceptible to motion sickness, and two groups were moderately susceptible. All subjects were given six C551 tests at 5-d intervals. Treatment Groups I (highly susceptible) and II (moderately susceptible) were taught to control their autonomic responses, using a training method called autogenic-feedback training (AFT) before the third, fourth, and fifth CSSI tests. Control groups III (highly susceptible) and IV (moderately susceptible) received no treatment. Results showed that both treatment groups significantly improved performance on CSSI tests after training; neither of the control groups changed significantly. Highly and moderately susceptible subjects in the two treatment groups improved at comparable rates. Highly susceptible control group subjects did not habituate across tests as readily as the moderately susceptible controls.

  2. Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection

    Directory of Open Access Journals (Sweden)

    Xianbo Xiang

    2010-02-01

    Full Text Available This paper addresses the control problem of inspecting underwater pipeline on the seabed, with coordinated multiple autonomous underwater vehicles in a formation. Based on the leader-follower strategy, the dedicated nonlinear path following controller is rigorously built on Lyapunov-based design, driving a fleet of vehicles onto assigned parallel paths elevated and offset from the underwater pipeline, while keeping a triangle formation to capture complete 3D images for inspection. Due to the spatial-temporal decoupling characteristics of individual path following controller, the velocities of the followers can be adapted in the coordinated control level, only relying on the information of generalized along-path length from the leader, in order to build the desired formation. Thus, the communication variable broadcast from the leader is kept to a minimum, which is feasible under the severely constraints of acoustic communication bandwidth. Simulation results illustrate the efficiency of coordinated formation controller proposed for underwater pipeline inspection.

  3. Autonomous acquisition systems for TJ-II: controlling instrumentation with a fourth generation language

    International Nuclear Information System (INIS)

    Sanchez, E.; Portas, A.B.; Vega, J.; Agudo, J.M.; McCarthy, K.J.; Ruiz, M.; Barrera, E.; Lopez, S.

    2004-01-01

    Recently, 536 new acquisition channels, made-up of three different channel types, have been incorporated into the TJ-II data acquisition system (DAQ). Dedicated software has also been developed to permit experimentalists to program and control the data acquisition in these systems. The software has been developed using LabView and runs under the Windows 2000 operating system in both personal computer (PC) and PXI controllers. In addition, LabView software has been developed to control TJ-II VXI channels from a PC using a MXI connection. This new software environment will also aid future integration of acquisition channels into the TJ-II remote participation system. All of these acquisition devices work autonomously and are connected to the TJ-II central server via a local area network. In addition, they can be remotely controlled from the TJ-II control-room using Virtual Network Computing (VNC) software

  4. High–Level Control System for Biomimetic Autonomous Under-water Vehicle

    Directory of Open Access Journals (Sweden)

    Praczyk Tomasz

    2017-01-01

    Full Text Available Usually, a rough software architecture designed for a robot can be can be shortly presented in the form of layers. The lowest layer is responsible for direct control of the hardware, i.e. engines, energy system, sensors, navigation devices, etc. A next layer is a low–level control which knows how to use the hardware in order to achieve a desired state of the robot, e.g. to stay on a desired course. And the last layer, the layer which is the nearest to the human–operator, is a high–level control which decides how to use the low–level control and sometimes also individual pieces of the hardware to achieve predefined objectives. The paper describes architecture, tasks and operation of the high–level control system (HLCS designed for Biomimetic Autonomous Underwater Vehicle (BAUV.

  5. A model predictive speed tracking control approach for autonomous ground vehicles

    Science.gov (United States)

    Zhu, Min; Chen, Huiyan; Xiong, Guangming

    2017-03-01

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

  6. Venous and autonomic function in formerly pre-eclamptic women and BMI-matched controls.

    Science.gov (United States)

    Heidema, Wieteke M; van Drongelen, Joris; Spaanderman, Marc E A; Scholten, Ralph R

    2018-03-25

    Pre-pregnancy reduced plasma volume increases the risk on subsequent pre-eclamptic pregnancy. Reduced plasma volume is thought to reflect venous reserve capacity, especially when venous vasculature is constricted and sympathetic tone is elevated. As obesity might affect these variables and also relates to pre-eclampsia, increased body weight may underlie these observations. We hypothesized that the relationship between reduced venous reserve and preeclampsia is independent of body mass index (BMI). We compared the non-pregnant venous reserve capacity in 30 formerly pre-eclamptic women, equally divided in 3 BMI-classes (BMI 19.5-24.9, BMI 25-29.9, BMI ≥30) to 30 controls. Cases and controls were matched for BMI, age and parity. The venous reserve capacity was quantified by assessing plasma volume and venous compliance. The autonomic nervous system regulating the venous capacitance was evaluated with heart rate variability analysis in resting supine position and during positive head-up tilt (HUT). Formerly pre-eclamptic women had in supine position lower plasma volume than controls (1339 ± 79 vs 1547 ± 139 ml/m 2 (pBMI-matched controls, reduced venous reserve capacity. This is reflected by lower plasma volume and venous compliance, the autonomic balance is shifted towards sympathetic dominance and lower baroreceptor sensitivity. This suggests that not BMI, but underlying reduced venous reserve relates to pre-eclampsia. This article is protected by copyright. All rights reserved.

  7. 3D Vision Based Landing Control of a Small Scale Autonomous Helicopter

    Directory of Open Access Journals (Sweden)

    Zhenyu Yu

    2007-03-01

    Full Text Available Autonomous landing is a challenging but important task for Unmanned Aerial Vehicles (UAV to achieve high level of autonomy. The fundamental requirement for landing is the knowledge of the height above the ground, and a properly designed controller to govern the process. This paper presents our research results in the study of landing an autonomous helicopter. The above-the-ground height sensing is based on a 3D vision system. We have designed a simple plane-fitting method for estimating the height over the ground. The method enables vibration free measurement with the camera rigidly attached on the helicopter without using complicated gimbal or active vision mechanism. The estimated height is used by the landing control loop. Considering the ground effect during landing, we have proposed a two-stage landing procedure. Two controllers are designed for the two landing stages respectively. The sensing approach and control strategy has been verified in field flight test and has demonstrated satisfactory performance.

  8. PointCom: semi-autonomous UGV control with intuitive interface

    Science.gov (United States)

    Rohde, Mitchell M.; Perlin, Victor E.; Iagnemma, Karl D.; Lupa, Robert M.; Rohde, Steven M.; Overholt, James; Fiorani, Graham

    2008-04-01

    Unmanned ground vehicles (UGVs) will play an important role in the nation's next-generation ground force. Advances in sensing, control, and computing have enabled a new generation of technologies that bridge the gap between manual UGV teleoperation and full autonomy. In this paper, we present current research on a unique command and control system for UGVs named PointCom (Point-and-Go Command). PointCom is a semi-autonomous command system for one or multiple UGVs. The system, when complete, will be easy to operate and will enable significant reduction in operator workload by utilizing an intuitive image-based control framework for UGV navigation and allowing a single operator to command multiple UGVs. The project leverages new image processing algorithms for monocular visual servoing and odometry to yield a unique, high-performance fused navigation system. Human Computer Interface (HCI) techniques from the entertainment software industry are being used to develop video-game style interfaces that require little training and build upon the navigation capabilities. By combining an advanced navigation system with an intuitive interface, a semi-autonomous control and navigation system is being created that is robust, user friendly, and less burdensome than many current generation systems. mand).

  9. Job autonomy in relation to work engagement and workaholism: Mediation of autonomous and controlled work motivation.

    Science.gov (United States)

    Malinowska, Diana; Tokarz, Aleksandra; Wardzichowska, Anna

    2018-02-07

    This study integrates the Self Determination Theory and the Job Demands-Resource model in explaining motivational antecedents of 2 forms of excessive work: work engagement and workaholism. It specifically examines the relationship between job autonomy, situational work motivation, work engagement, and workaholism. The sample comprised 318 full-time employees of an international outsourcing company located in Poland. The mediation analysis was used for testing hypotheses about the mediation of autonomous and controlled motivation in the relationship between job autonomy, work engagement, and workaholism. The results have confirmed that autonomous motivation mediates the relationship between job autonomy and work engagement. The assumption about the mediation role of controlled motivation in the relationship between job autonomy and workaholism has not been confirmed; however, external regulation (i.e., controlled motivation) is a significant predictor of workaholism. Giving employees more job autonomy might increase their intrinsic and identified regulation and may therefore lead to more energetic, enthusiastic, and dedicated engagement with their jobs. Workaholism may be predicted by external regulation, and work characteristics other than job autonomy may play an important role in enhancing this controlled type of motivation. This work is available in Open Access model and licensed under a CC BY-NC 3.0 PL license.

  10. Who is driving my car? Development and analysis of a control transition strategy for collaborative automated congestion driving

    NARCIS (Netherlands)

    Urhahne, Joseph

    2016-01-01

    The role of the driver is changing now that vehicles with driving automation technologies appear on the road. It evolves from being an active controller of the vehicle to being a supervisor of the automated ride. The driver has to collaborate with the driving automation and remains responsible for

  11. Congestion management in Alberta

    International Nuclear Information System (INIS)

    Way, R.

    2002-01-01

    The challenges facing Alberta regarding electricity market design and congestion management were described. The electricity market in the province consists of a central power pool, an open access transmission network, and a single pool price, unlike many other jurisdictions in North America which have adopted a location margin price (LMP) design with significant price differences between various locations within the power network. Alberta's transmission network is regulated and provides carrier functions. Power moves freely throughout Alberta's power pool network with no congestion, therefore the common pool price signals market participants throughout the entire network with no segregation into zones. Alberta is currently at a cross road in choosing between a single pool price model or a nodal price model. In the first instance, the province would have to strengthen the transmission network to maintain the market at a reasonable size. The alternative would permit Alberta to use market-based techniques to deal with the evolution of many smaller markets in the province, but these would be very small by North American standards and their ability to compete would be questionable

  12. Autonomic and Vascular Control in Prehypertensive Subjects with a Family History of Arterial Hypertension

    Directory of Open Access Journals (Sweden)

    Josária Ferraz Amaral

    2018-02-01

    Full Text Available Abstract Background: Individuals with a family history of systemic arterial hypertension (FHSAH and / or prehypertension have a higher risk of developing this pathology. Objective: To evaluate the autonomic and vascular functions of prehypertensive patients with FHSAH. Methods: Twenty-five young volunteers with FHSAH, 14 normotensive and 11 prehypertensive subjects were submitted to vascular function evaluation by forearm vascular conductance(VC during resting and reactive hyperemia (Hokanson® and cardiac and peripheral autonomic modulation, quantified, respectively, by spectral analysis of heart rate (ECG and systolic blood pressure (SBP (FinometerPRO®. The transfer function analysis was used to measure the gain and response time of baroreflex. The statistical significance adopted was p ≤ 0.05. Results: Pre-hypertensive individuals, in relation to normotensive individuals, have higher VC both at rest (3.48 ± 1.26 vs. 2.67 ± 0.72 units, p = 0.05 and peak reactive hyperemia (25, 02 ± 8.18 vs. 18.66 ± 6.07 units, p = 0.04. The indices of cardiac autonomic modulation were similar between the groups. However, in the peripheral autonomic modulation, greater variability was observed in prehypertensive patients compared to normotensive individuals (9.4 [4.9-12.7] vs. 18.3 [14.8-26.7] mmHg2; p < 0.01 and higher spectral components of very low (6.9 [2.0-11.1] vs. 13.5 [10.7-22.4] mmHg2, p = 0.01 and low frequencies (1.7 [1.0-3.0] vs. 3.0 [2.0-4.0] mmHg2, p = 0.04 of SBP. Additionally, we observed a lower gain of baroreflex control in prehypertensive patients compared to normotensive patients (12.16 ± 4.18 vs. 18.23 ± 7.11 ms/mmHg, p = 0.03, but similar delay time (-1.55 ± 0.66 vs. -1.58 ± 0.72 s, p = 0.90. Conclusion: Prehypertensive patients with FHSAH have autonomic dysfunction and increased vascular conductance when compared to normotensive patients with the same risk factor.

  13. Aging in autonomic control by multifractal studies of cardiac interbeat intervals in the VLF band

    International Nuclear Information System (INIS)

    Makowiec, Danuta; Kryszewski, Stanisław; Rynkiewicz, Andrzej; Wdowczyk-Szulc, Joanna; Żarczyńska-Buchowiecka, Marta; Gałąska, Rafał

    2011-01-01

    The heart rate responds dynamically to various intrinsic and environmental stimuli. The autonomic nervous system is said to play a major role in this response. Multifractal analysis offers a novel method to assess the response of cardiac interbeat intervals. Twenty-four hour ECG recordings of RR interbeat intervals (of 48 elderly volunteers (age 65–94), 40 middle-aged persons (age 45–53) and 36 young adults (age 18–26)) were investigated to study the effect of aging on autonomic regulation during normal activity in healthy adults. Heart RR-interval variability in the very low frequency (VLF) band (32–420 RR intervals) was evaluated by multifractal tools. The nocturnal and diurnal signals of 6 h duration were studied separately. For each signal, the analysis was performed twice: for a given signal and for the integrated signal. A multifractal spectrum was quantified by the h max value at which a multifractal spectrum attained its maximum, width of a spectrum, Hurst exponent, extreme events h left and distance between the maxima of a signal and its integrated counterpart. The following seven characteristics are suggested as quantifying the age-related decrease in the autonomic function ('int' refers to the integrated signal): (a) h sleep max − h max wake > 0.05 for a signal; (b) h int max > 1.15 for wake; (c) h int max − h max > 0.85 for sleep; (d) Hurst wake − Hurst sleep < 0.01; (e) width wake > 0.07; (f) width int < 0.30 for sleep; (g) h int left > 0.75. Eighty-one percent of elderly people had at least four of these properties, and ninety-two percent of young people had three or less. This shows that the multifractal approach offers a concise and reliable index of healthy aging for each individual. Additionally, the applied method yielded insights into dynamical changes in the autonomic regulation due to the circadian cycle and aging. Our observations support the hypothesis that imbalance in the autonomic control due to healthy aging could

  14. Manifold traversing as a model for learning control of autonomous robots

    Science.gov (United States)

    Szakaly, Zoltan F.; Schenker, Paul S.

    1992-01-01

    This paper describes a recipe for the construction of control systems that support complex machines such as multi-limbed/multi-fingered robots. The robot has to execute a task under varying environmental conditions and it has to react reasonably when previously unknown conditions are encountered. Its behavior should be learned and/or trained as opposed to being programmed. The paper describes one possible method for organizing the data that the robot has learned by various means. This framework can accept useful operator input even if it does not fully specify what to do, and can combine knowledge from autonomous, operator assisted and programmed experiences.

  15. Distributed Data Logging and Intelligent Control Strategies for a Scaled Autonomous Vehicle

    OpenAIRE

    Tilman Happek; Uwe Lang; Torben Bockmeier; Dimitrji Neubauer; Alexander Kuznietsov

    2016-01-01

    In this paper we present an autonomous car with distributed data processing. The car is controlled by a multitude of independent sensors. For the lane detection, a camera is used, which detects the lane marks with a Hough transformation. Once the camera detects these, one of them is calculated to be followed by the car. This lane is verified by the other sensors of the car. These sensors check the route for obstructions or allow the car to scan a parking space and to park on the roadside if t...

  16. Holarchical Systems and Emotional Holons : Biologically-Inspired System Designs for Control of Autonomous Aerial Vehicles

    Science.gov (United States)

    Ippolito, Corey; Plice, Laura; Pisanich, Greg

    2003-01-01

    The BEES (Bio-inspired Engineering for Exploration Systems) for Mars project at NASA Ames Research Center has the goal of developing bio-inspired flight control strategies to enable aerial explorers for Mars scientific investigations. This paper presents a summary of our ongoing research into biologically inspired system designs for control of unmanned autonomous aerial vehicle communities for Mars exploration. First, we present cooperative design considerations for robotic explorers based on the holarchical nature of biological systems and communities. Second, an outline of an architecture for cognitive decision making and control of individual robotic explorers is presented, modeled after the emotional nervous system of cognitive biological systems. Keywords: Holarchy, Biologically Inspired, Emotional UAV Flight Control

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

    Science.gov (United States)

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

    2016-03-01

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

  18. Slot allocation on congested motorways : An alternative to congestion pricing

    NARCIS (Netherlands)

    Koolstra, K.

    1999-01-01

    With respect to the prevailing congestion problems in the more urbanised regions of the European Union, transportation planners and policymakers are facing a dilemma. Supply-side measures, i.e. increasing the capacities, might shorten the congestion duration, especially if bottlenecks can be

  19. Optimization of an Autonomous Car Controller Using a Self-Adaptive Evolutionary Strategy

    Directory of Open Access Journals (Sweden)

    Tae Seong Kim

    2012-09-01

    Full Text Available Autonomous cars control the steering wheel, acceleration and the brake pedal, the gears and the clutch using sensory information from multiple sources. Like a human driver, it understands the current situation on the roads from the live streaming of sensory values. The decision-making module often suffers from the limited range of sensors and complexity due to the large number of sensors and actuators. Because it is tedious and difficult to design the controller manually from trial-and-error, it is desirable to use intelligent optimization algorithms. In this work, we propose optimizing the parameters of an autonomous car controller using self-adaptive evolutionary strategies (SAESs which co-evolve solutions and mutation steps for each parameter. We also describe how the most generalized parameter set can be retrieved from the process of optimization. Open-source car racing simulation software (TORCS is used to test the goodness of the proposed methods on 6 different tracks. Experimental results show that the SAES is competitive with the manual design of authors and a simple ES.

  20. Autonomous vehicle navigation utilizing fuzzy controls concepts for a next generation wheelchair.

    Science.gov (United States)

    Hansen, J D; Barrett, S F; Wright, C H G; Wilcox, M

    2008-01-01

    Three different positioning techniques were investigated to create an autonomous vehicle that could accurately navigate towards a goal: Global Positioning System (GPS), compass dead reckoning, and Ackerman steering. Each technique utilized a fuzzy logic controller that maneuvered a four-wheel car towards a target. The reliability and the accuracy of the navigation methods were investigated by modeling the algorithms in software and implementing them in hardware. To implement the techniques in hardware, positioning sensors were interfaced to a remote control car and a microprocessor. The microprocessor utilized the sensor measurements to orient the car with respect to the target. Next, a fuzzy logic control algorithm adjusted the front wheel steering angle to minimize the difference between the heading and bearing. After minimizing the heading error, the car maintained a straight steering angle along its path to the final destination. The results of this research can be used to develop applications that require precise navigation. The design techniques can also be implemented on alternate platforms such as a wheelchair to assist with autonomous navigation.

  1. Sudarshan Kriya Yoga improves cardiac autonomic control in patients with anxiety-depression disorders.

    Science.gov (United States)

    Toschi-Dias, Edgar; Tobaldini, Eleonora; Solbiati, Monica; Costantino, Giorgio; Sanlorenzo, Roberto; Doria, Stefania; Irtelli, Floriana; Mencacci, Claudio; Montano, Nicola

    2017-05-01

    Several studies have demonstrated that adjuvant therapies as exercise and breathing training are effective in improving cardiac autonomic control (CAC) in patients with affective spectrum disorders. However, the effects of Sudarshan Kriya Yoga (SKY) on autonomic function in this population is unknown. Our objective was to test the hypothesis that SKY training improves CAC and cardiorespiratory coupling in patients with anxiety and/or depression disorders. Forty-six patients with a diagnosis of anxiety and/or depression disorders (DSM-IV) were consecutively enrolled and divided in two groups: 1) conventional therapy (Control) and 2) conventional therapy associated with SKY (Treatment) for 15 days. Anxiety and depression levels were determined using quantitative questionnaires. For the assessment of CAC and cardiorespiratory coupling, cardiorespiratory traces were analyzed using monovariate and bivariate autoregressive spectral analysis, respectively. After 15-days, we observed a reduction of anxiety and depression levels only in Treatment group. Moreover, sympathetic modulation and CAC were significantly lower while parasympathetic modulation and cardiorespiratory coupling were significantly higher in the Treatment compared to Control group. Intensive breathing training using SKY approach improves anxiety and/or depressive disorders as well as CAC and cardiorespiratory coupling. These finding suggest that the SKY training may be a useful non-pharmacological intervention to improve symptoms and reduce cardiovascular risk in patients with anxiety/depression disorders. Copyright © 2017 Elsevier B.V. All rights reserved.

  2. Command and Control Architectures for Autonomous Micro-Robotic Forces - FY-2000 Project Report

    Energy Technology Data Exchange (ETDEWEB)

    Dudenhoeffer, Donald Dean

    2001-04-01

    Advances in Artificial Intelligence (AI) and micro-technologies will soon give rise to production of large-scale forces of autonomous micro-robots with systems of innate behaviors and with capabilities of self-organization and real world tasking. Such organizations have been compared to schools of fish, flocks of birds, herds of animals, swarms of insects, and military squadrons. While these systems are envisioned as maintaining a high degree of autonomy, it is important to understand the relationship of man with such machines. In moving from research studies to the practical deployment of large-scale numbers of robots, one of critical pieces that must be explored is the command and control architecture for humans to re-task and also inject global knowledge, experience, and intuition into the force. Tele-operation should not be the goal, but rather a level of adjustable autonomy and high-level control. If a herd of sheep is comparable to the collective of robots, then the human element is comparable to the shepherd pulling in strays and guiding the herd in the direction of greener pastures. This report addresses the issues and development of command and control for largescale numbers of autonomous robots deployed as a collective force.

  3. Factors influencing the role of cardiac autonomic regulation in the service of cognitive control.

    Science.gov (United States)

    Capuana, Lesley J; Dywan, Jane; Tays, William J; Elmers, Jamie L; Witherspoon, Richelle; Segalowitz, Sidney J

    2014-10-01

    Working from a model of neurovisceral integration, we examined whether adding response contingencies and motivational involvement would increase the need for cardiac autonomic regulation in maintaining effective cognitive control. Respiratory sinus arrhythmia (RSA) was recorded during variants of the Stroop color-word task. The Basic task involved "accepting" congruent items and "rejecting" words printed in incongruent colors (BLUE in red font); an added contingency involved rejecting a particular congruent word (e.g., RED in red font), or a congruent word repeated on an immediately subsequent trial. Motivation was increased by adding a financial incentive phase. Results indicate that pre-task RSA predicted accuracy best when response contingencies required the maintenance of a specific item in memory or on the Basic Stroop task when errors resulted in financial loss. Overall, RSA appeared to be most relevant to performance when the task encouraged a more proactive style of cognitive control, a control strategy thought to be more metabolically costly, and hence, more reliant on flexible cardiac autonomic regulation. Copyright © 2014 Elsevier B.V. All rights reserved.

  4. Perancangan Autonomous Landing pada Quadcopter Menggunakan Behavior-Based Intelligent Fuzzy Control

    Directory of Open Access Journals (Sweden)

    Chalidia Nurin Hamdani

    2013-09-01

    Full Text Available Quadcopter adalah salah satu platform unmanned aerial vehicle (UAV yang saat ini banyak diriset karena kemampuannya melakukan take-off dan landing secara vertikal. Karena menggunakan 4 motor brushless sebagai penggerak utama, quadcopter memiliki kompleksitas yang cukup tinggi baik dalam pemodelan maupun pengendalian. Landing merupakan salah satu mekanisme pada quadcopter yang membutuhkan kecepatan yang akurat dan aman dengan tetap mempertahankan keseimbangan. Pada penelitian ini, penulis menggunakan Behavior-Based Intelligent Fuzzy Control (BBIFC sebagai dasar kontrol untuk penerapan autonomous landing pada quadcopter. BBIFC adalah salah satu skema high-level control di mana desain kontrol terdiri dari beberapa layer. Ada 2 layer yang digunakan pada penelitian ini yaitu layer untuk pengendalian sudut pitch, roll, yaw dan layer untuk pengendalian ketinggian. Setiap layer memiliki mekanisme kontrol yang berbeda yang didesain menggunakan Intelligent Fuzzy Controller dan kontroler PID. Dengan metode ini dihasilkan algoritma untuk mekanisme safe autonomous landing dengan mengikuti sinyal eksponensial di mana quadcopter mencapai titik 0 (nol meter dalam waktu 15 detik dan Kontroler PID dapat mengendalikan keseimbangan quadcopter dalam waktu 7.97 detik untuk roll dan pitch serta 1.25 detik untuk yaw sejak gangguan sudut diberikan.

  5. Small-Signal Modeling, Analysis and Testing of Parallel Three-Phase-Inverters with A Novel Autonomous Current Sharing Controller

    DEFF Research Database (Denmark)

    Guan, Yajuan; Quintero, Juan Carlos Vasquez; Guerrero, Josep M.

    2015-01-01

    A novel simple and effective autonomous currentsharing controller for parallel three-phase inverters is employed in this paper. The novel controller is able to endow to the system high speed response and precision in contrast to the conventional droop control as it does not require calculating any...... active or reactive power, instead it uses a virtual impedance loop and a SFR phase-locked loop. The small-signal model of the system was developed for the autonomous operation of inverter-based microgrid with the proposed controller. The developed model shows large stability margin and fast transient...

  6. Navy Requirements for Controlling Multiple Off-Board Robots Using the Autonomous Unmanned Vehicle Workbench

    National Research Council Canada - National Science Library

    Monroe, Dennis W

    2007-01-01

    ... after a mission. This thesis examines a variety of strategic authoritative plans for autonomous vehicles to determine functional mission requirements that autonomous vehicles are expected to be performing in the near future...

  7. Autonomous Mower vs. Rotary Mower: Effects on Turf Quality and Weed Control in Tall Fescue Lawn

    OpenAIRE

    Michel Pirchio; Marco Fontanelli; Christian Frasconi; Luisa Martelloni; Michele Raffaelli; Andrea Peruzzi; Monica Gaetani; Simone Magni; Lisa Caturegli; Marco Volterrani; Nicola Grossi

    2018-01-01

    Autonomous mowers are battery-powered machines designed for lawn mowing that require very low human labour. Autonomous mowers can increase turf quality and reduce local noise and pollution compared with gasoline-powered rotary mowers. However, very little is known about the effects of autonomous mowing on encroaching weeds. The aim of this research was to compare the effects of an autonomous mower and an ordinary gasoline-powered mower on weed development in an artificially infested tall fesc...

  8. Cycling before and after Exhaustion Differently Affects Cardiac Autonomic Control during Heart Rate Matched Exercise

    Directory of Open Access Journals (Sweden)

    Matthias Weippert

    2017-11-01

    Full Text Available During cycling before (PRE and after exhaustion (POST different modes of autonomic cardiac control might occur due to different interoceptive input and altered influences from higher brain centers. We hypothesized that heart rate variability (HRV is significantly affected by an interaction of the experimental period (PRE vs. POST and exercise intensity (HIGH vs. LOW; HIGH = HR > HR at the lactate threshold (HRLT, LOW = HR ≤ HRLT despite identical average HR.Methods: Fifty healthy volunteers completed an incremental cycling test until exhaustion. Workload started with 30 W at a constant pedaling rate (60 revolutions · min−1 and was gradually increased by 30 W · 5 min−1. Five adjacent 60 s inter-beat (R-R interval segments from the immediate recovery period (POST 1–5 at 30 W and 60 rpm were each matched with their HR-corresponding 60 s-segments during the cycle test (PRE 1–5. An analysis of covariance was carried out with one repeated-measures factor (PRE vs. POST exhaustion, one between-subject factor (HIGH vs. LOW intensity and respiration rate as covariate to test for significant effects (p < 0.050 on the natural log-transformed root mean square of successive differences between adjacent R-R intervals (lnRMSSD60s.Results: LnRMSSD60s was significantly affected by the interaction of experimental period × intensity [F(1, 242 = 30.233, p < 0.001, ηp2 = 0.111]. LnRMSSD60s was higher during PRE compared to POST at LOW intensity (1.6 ± 0.6 vs. 1.4 ± 0.6 ms; p < 0.001. In contrast, at HIGH intensity lnRMSSD60s was lower during PRE compared to POST (1.0 ± 0.4 vs. 1.2 ± 0.4 ms; p < 0.001.Conclusion: Identical net HR during cycling can result from distinct autonomic modulation patterns. Results suggest a pronounced sympathetic-parasympathetic coactivation immediately after the cessation of peak workload compared to HR-matched cycling before exhaustion at HIGH intensity. On the opposite, at LOW intensity cycling, a stronger coactivational

  9. Cardiovascular autonomic control during short-term thermoneutral and cool head-out immersion.

    Science.gov (United States)

    Mourot, Laurent; Bouhaddi, Malika; Gandelin, Emmanuel; Cappelle, Sylvie; Dumoulin, Gilles; Wolf, Jean-Pierre; Rouillon, Jean Denis; Regnard, Jacques

    2008-01-01

    Moderately cold head-out water immersion stimulates both baro- and cold-receptors, and triggers complex and contradictory effects on the cardiovascular system and its autonomic nervous control. To assess the effects of water immersion and cold on cardiovascular status and related autonomic nervous activity. Hemodynamic variables and indexes of autonomic nervous activity (analysis of heart rate and blood pressure variability) were evaluated in 12 healthy subjects during 3 exposures of 20 min each in the upright position, i.e., in air (AIR, 24-25 degrees C), and during head-out water immersion at 35-36 degrees C (WIn) and 26-27 degrees C (WIc). Plasma noradrenaline, systolic and diastolic blood pressure, and total peripheral resistances were reduced during WIn compared to AIR (263.9 +/- 39.4 vs. 492.5 +/- 35.7 pg x ml(-1), 116.5 +/- 3.7 and 65.4 +/- 1.7 mmHg vs. 140.8 +/- 4.7 and 89.8 +/- 2.8 mmHg, 14.1 +/- 1.0 vs. 16.3 +/- 0.9 mmHg x L(-1) x min, respectively) while they were increased during WIc (530.8 +/- 84.7 pg ml(-1), 148.0 +/- 7.0 mmHg, 80.8 +/- 3.0 mmHg, and 25.8 +/- 1.9 mmHg x L(-1) x min, respectively). The blood pressure variability was reduced to the same extent during WIc and Win compared to AIR. Heart rate decreased during WIn (67.8 +/- 2.7 vs. 81.2 +/- 2.7 bpm during AIR), in parallel with an increased cardiac parasympathetic activity. This pattern was strengthened during WIc (55.3 +/- 2.2 bpm). Thermoneutral WI lowered sympathetic activity and arterial tone, while moderate whole-body skin cooling triggered vascular sympathetic activation. Conversely, both WI and cold triggered cardiac parasympathetic activation, highlighting a complex autonomic control of the cardiovascular system.

  10. A Fusion of Sensors Information for Autonomous Driving Control of an Electric Vehicle (EV)

    International Nuclear Information System (INIS)

    Haris, Hasri; Wan, Khairunizam; Hazry, D; Razlan, Zuradzman M

    2013-01-01

    The study uses the environment of the road as input variables for the main system to control steering wheel, brake and acceleration pedals. A camera is installed on the roof of the Electric Vehicles (EV) and is used to obtain image information of the road. On the other hand, users or drivers do not have to directly contact with the main system because it will autonomously control the devices by using fuzzy information of the road conditions. A fuzzy information means in the preliminary experiments, reasoning of the various environments will be done by using fuzzy approach. At the end of the study, several existing algorithms for controlling motors and image processing technique could be combined into an algorithm that could be used to move EV without assist from human

  11. Autonomous Micro-Air-Vehicle Control Based on Visual Sensing for Odor Source Localization

    Directory of Open Access Journals (Sweden)

    Kenzo Kurotsuchi

    2017-07-01

    Full Text Available In this paper, we propose a novel control method for autonomous-odor-source localization using visual and odor sensing by micro air vehicles (MAVs. Our method is based on biomimetics, which enable highly autonomous localization. Our method does not need any instruction signals, including even global positioning system (GPS signals. An experimenter simply blows a whistle, and the MAV will then start to hover, to seek an odor source, and to keep hovering near the source. The GPS-signal-free control based on visual sense enables indoor/underground use. Moreover, the MAV is light-weight (85 grams and does not cause harm to others even if it accidentally falls. Experiments conducted in the real world were successful in enabling odor source localization using the MAV with a bio-inspired searching method. The distance error of the localization was 63 cm, more accurate than the target distance of 120 cm for individual identification. Our odor source localization is the first step to a proof of concept for a danger warning system. These localization experiments were the first step to a proof of concept for a danger warning system to enable a safer and more secure society.

  12. Formation Learning Control of Multiple Autonomous Underwater Vehicles With Heterogeneous Nonlinear Uncertain Dynamics.

    Science.gov (United States)

    Yuan, Chengzhi; Licht, Stephen; He, Haibo

    2017-09-26

    In this paper, a new concept of formation learning control is introduced to the field of formation control of multiple autonomous underwater vehicles (AUVs), which specifies a joint objective of distributed formation tracking control and learning/identification of nonlinear uncertain AUV dynamics. A novel two-layer distributed formation learning control scheme is proposed, which consists of an upper-layer distributed adaptive observer and a lower-layer decentralized deterministic learning controller. This new formation learning control scheme advances existing techniques in three important ways: 1) the multi-AUV system under consideration has heterogeneous nonlinear uncertain dynamics; 2) the formation learning control protocol can be designed and implemented by each local AUV agent in a fully distributed fashion without using any global information; and 3) in addition to the formation control performance, the distributed control protocol is also capable of accurately identifying the AUVs' heterogeneous nonlinear uncertain dynamics and utilizing experiences to improve formation control performance. Extensive simulations have been conducted to demonstrate the effectiveness of the proposed results.

  13. Second Order Sliding Mode Control Scheme for an Autonomous Underwater Vehicle with Dynamic Region Concept

    Directory of Open Access Journals (Sweden)

    Zool H. Ismail

    2015-01-01

    Full Text Available The main goal in developing closed loop control system for an Autonomous Underwater Vehicle (AUV is to make a robust vehicle from natural and exogenous perturbations such as wind, wave, and ocean currents. However a well-known robust control, for instance, Sliding Mode Controller (SMC, gives a chattering effect and it influences the stability of an AUV. Furthermore, some researchers combined other controls to get better result but it tends to present long computational time and causes large energy consumption. Thus, this paper proposed a Super Twisting Sliding Mode Controller (STSMC with dynamic region concept for an AUV. STSMC or a second order SMC is adopted as a robust controller which is free from chattering effect. Meanwhile, the implementation of dynamic region is useful to reduce the energy usage. As a result, the proposed controller obtains global asymptotic stability which is validated by using Lyapunov-like function. Moreover, some simulations present the efficiency of proposed controller. In conclusion, STSMC with region based control is effective to be applied for the robust tracking of an AUV. It contributes to give a fast response when handling the perturbations, short computational time, and low energy demand.

  14. Beneficial effects of metoprolol on myocardial sympathetic function: Evidence from a randomized, placebo-controlled study in patients with congestive heart failure

    NARCIS (Netherlands)

    de Milliano, Paul A. R.; de Groot, Andre C.; Tijssen, Jan G. P.; van Eck-Smit, Berthe L. F.; van Zwieten, Pieter A.; Lie, Kong I.

    2002-01-01

    BACKGROUND: We sought to investigate whether beta-blockers exert a presynaptic effect in the myocardium as measured by 123I-metaiodobenzylguanidine. METHODS: The study comprised 59 patients with congestive heart failure, New York Heart Association class II or III, and left ventricular ejection

  15. Congestion Management Strategies of Real-Time Market

    DEFF Research Database (Denmark)

    Wang, Qi; Zhang, Chunyu; Ding, Yi

    2014-01-01

    The high penetration of distributed energy resources (DERs) will significantly challenge the power system operation and control due to their stochastic, intermittent, and fluctuation characteristics. This enhances the difficulty of congestion management of power systems in cross-border electricity...... are introduced with the congestion constraints complied. Pre-Contingency strategy is proposed as the advance preparation for the future congestion, and In-Day re-dispatch is used for regulation. Accordingly, the requirements on facilities considering telemetry and remote control in a fast manner are discussed...

  16. Autonomous Control of Interlinking Converter With Energy Storage in Hybrid AC–DC Microgrid

    DEFF Research Database (Denmark)

    Loh, Poh Chiang; Li, Ding; Chai, Yi Kang

    2013-01-01

    , simplicity, and industry relevance of the converter. The desired operating features of the hybrid microgrid can then be added through this interlinking converter. To demonstrate, an appropriate control scheme is now developed for controlling the interlinking converter. The objective is to keep the hybrid......The coexistence of ac and dc subgrids in a hybrid microgrid is likely given that modern distributed sources can either be ac or dc. Linking these subgrids is a power converter, whose topology should preferably be not too unconventional. This is to avoid unnecessary compromises to reliability...... microgrid in autonomous operation with active power proportionally shared among its distributed sources. Power sharing here should depend only on the source ratings and not their placements within the hybrid microgrid. The proposed scheme can also be extended to include energy storage within...

  17. Multi-UAVs Formation Autonomous Control Method Based on RQPSO-FSM-DMPC

    Directory of Open Access Journals (Sweden)

    Shao-lei Zhou

    2016-01-01

    Full Text Available For various threats in the enemy defense area, in order to achieve covert penetration and implement effective combat against enemy, the unmanned aerial vehicles formation needs to be reconfigured in the process of penetration; the mutual collision avoidance problems and communication constraint problems among the formation also need to be considered. By establishing the virtual-leader formation model, this paper puts forward distributed model predictive control and finite state machine formation manager. Combined with distributed cooperative strategy establishing the formation reconfiguration cost function, this paper proposes that adopting the revised quantum-behaved particle swarm algorithm solves the cost function, and it is compared with the result which is solved by particle swarm algorithm. Simulation result shows that this algorithm can control multiple UAVs formation autonomous reconfiguration effectively and achieve covert penetration safely.

  18. Intelligent controller for load-tracking performance of an autonomous power system

    Directory of Open Access Journals (Sweden)

    Abhik Banerjee

    2014-12-01

    Full Text Available The design and performance analysis of a Sugeno fuzzy logic (SFL controller for an autonomous power system model is presented in this paper. In gravitational search algorithm (GSA, the searcher agents are collection of masses and their interactions are based on Newtonian laws of gravity and motion. The problem of obtaining the optimal tunable parameters of the studied model is formulated as an optimization problem and the same is solved by a novel opposition based GSA (OGSA. The proposed OGSA of the present work employs opposition-based learning for population initialization and also for generation jumping. In OGSA, opposite numbers are utilized to improve the convergence rate of the basic GSA. GSA and genetic algorithm are taken for the sake of comparison. Time-domain simulation reveals that the developed OGSA-SFL based on-line, off-nominal controller parameters for the studied model give real-time on-line terminal voltage response.

  19. Control of cancer growth using single input autonomous fuzzy Nano-particles

    Directory of Open Access Journals (Sweden)

    Fahimeh Razmi

    2015-04-01

    Full Text Available In this paper a single input fuzzy controller is applied on autonomous drug-encapsulated nanoparticles (ADENPs to restrict the cancer growth. The proposed ADENPs, swarmly release the drug in local cancerous tissue and effectively decreases the destruction of normal tissue. The amount of released drug is defined considering to feed backed values of tumor growth rate and the used drug. Some significant characteristics of Nano particles compared to Nano-robots is their ability to recognize the cancerous tissue from the normal one and their simple structure. Nano particles became an attractive topic in Nano science and many efforts have been done to manufacture these particles. Simulation results show that the proposed controlling method not only decreases the cancerous tissue effectively but also reduces the side effects of drug impressively.

  20. Tegotae-based decentralised control scheme for autonomous gait transition of snake-like robots.

    Science.gov (United States)

    Kano, Takeshi; Yoshizawa, Ryo; Ishiguro, Akio

    2017-08-04

    Snakes change their locomotion patterns in response to the environment. This ability is a motivation for developing snake-like robots with highly adaptive functionality. In this study, a decentralised control scheme of snake-like robots that exhibited autonomous gait transition (i.e. the transition between concertina locomotion in narrow aisles and scaffold-based locomotion on unstructured terrains) was developed. Additionally, the control scheme was validated via simulations. A key insight revealed is that these locomotion patterns were not preprogrammed but emerged by exploiting Tegotae, a concept that describes the extent to which a perceived reaction matches a generated action. Unlike local reflexive mechanisms proposed previously, the Tegotae-based feedback mechanism enabled the robot to 'selectively' exploit environments beneficial for propulsion, and generated reasonable locomotion patterns. It is expected that the results of this study can form the basis to design robots that can work under unpredictable and unstructured environments.

  1. Prospective randomized controlled intervention trial: Comprehensive Yogic Breathing Improves Cardiac autonomic functions and Quality of life in Diabetes

    Directory of Open Access Journals (Sweden)

    V P Jyotsna

    2012-01-01

    Full Text Available Aims and Objectives: To assess the effect of Comprehensive Yogic Breathing Program on glycemic control, quality of life, and cardiac autonomic functions in diabetes. Material and Methods: This is a prospective randomized controlled intervention trial. Cardiac autonomic functions were assessed in 120 diabetics. Patients were randomized into two groups, one group receiving standard therapy for diabetes (n = 56 and the other group receiving standard therapy for diabetes and comprehensive yogic breathing program (n = 64. Standard therapy included advice on diet, walk, and oral antidiabetic drugs. Comprehensive yogic breathing program was an interactive session in which Sudarshan kriya yoga, a rhythmic cyclical breathing, preceded by Pranayam was taught under guidance of a certified teacher. Change in fasting, post prandial blood sugars, glycated hemoglobin, and quality of life were assessed. Cardiac autonomic function tests were done before and six months after intervention. Results: There was significant improvement in psychological (P = 0.006 and social domains (P = 0.04 and total quality of life (P = 0.02 in the group practicing comprehensive yogic breathing program as compared to the group following standard therapy alone. In the group following breathing program, the improvement in sympathetic cardiac autonomic functions was statistically significant (P = 0.01, while the change in the standard group was not significant (P = 0.17. When both parasympathetic and sympathetic cardiac autonomic functions were considered, there was a trend toward improvement in patients following comprehensive yogic breathing program (P = 0.07. In the standard therapy group, no change in cardiac autonomic functions was noted (P = 0.76. The parameters of glycemic control were comparable in both groups. Conclusion: There was significant improvement in quality of life and cardiac autonomic functions in the diabetes patients practicing comprehensive yogic breathing

  2. Toward semi-autonomous control of mobile robots for constrained environments

    International Nuclear Information System (INIS)

    Mercier, O.; Cara, O.

    1991-01-01

    Drawing from long-time experience in nuclear maintenance robotics, FRAMATOME leads with several partners an important effort with the goal of developing the decision and operator assistance capabilities of mobile robots. Future robots shall be better adapted (in size and configuration) to the operational requirements of nuclear plants work than current demonstrators. Due regards shall be paid to safety aspects and qualification procedure shall be specified soon. Also, dosimetry gains (e.g. as evaluated by DOSIANA) shall be evaluated to establish further the advantages of robotic solutions. Current achievements and plans for the next two years are expected to provide the necessary know-how for semi-autonomous control of various mobile robots in actual missions in nuclear plant environment. These advances in many closely connected disciplines and technologies should put FRAMATOME in a leader position as systems integrator or as developer for future markets in autonomous mobile robotics, not only in the nuclear field but in other domains as well. (author)

  3. To delegate or not to delegate: A review of control frameworks for autonomous cars.

    Science.gov (United States)

    Richards, Dale; Stedmon, Alex

    2016-03-01

    There have been significant advances in technology and automated systems that will eventually see the use of autonomous cars as commonplace on our roads. Various systems are already available that provide the driver with different levels of decision support. This paper highlights the key human factors issues associated with the interaction between the user and an autonomous system, including assistive decision support and the delegation of authority to the automobile. The level of support offered to the driver can range from traditional automated assistance, to system generated guidance that offers advice for the driver to act upon, and even more direct action that is initiated by the system itself without driver intervention. In many of these instances the role of the driver is slowly moving towards a supervisory role within a complex system rather than one of direct control of the vehicle. Different paradigms of interaction are considered and focus is placed on the partnership that takes place between the driver and the vehicle. Drawing on the wealth of knowledge that exists within the aviation domain and research literature that examines technology partnerships within the cockpit, this paper considers important factors that will assist the automotive community to understand the underlying issues of the human and their interaction within complex systems. Copyright © 2015 Elsevier Ltd and The Ergonomics Society. All rights reserved.

  4. Exploring relationships for visceral and somatic pain with autonomic control and personality.

    Science.gov (United States)

    Paine, Peter; Kishor, Jessin; Worthen, Sian F; Gregory, Lloyd J; Aziz, Qasim

    2009-08-01

    The autonomic nervous system (ANS) integrates afferent and motor activity for homeostatic processes including pain. The aim of the study was to compare hitherto poorly characterised relations between brainstem autonomic control and personality in response to visceral and somatic pain. Eighteen healthy subjects (16 females, mean age 34) had recordings during rest and pain of heart rate (HR), cardiac vagal tone (CVT), cardiac sensitivity to baroreflex (CSB), skin conductance level (SC), cardiac sympathetic index (CSI) and mean blood pressure (MBP). Visceral pain was induced by balloon distension in proximal (PB) and distal (DB) oesophagus and somatic pain by nail-bed pressure (NBP). Eight painful stimuli were delivered at each site and unpleasantness and intensity measured. Personality was profiled with the Big Five inventory. (1) Oesophageal intubation evoked "fight-flight" responses: HR and sympathetic (CSI, SC, MBP) elevation with parasympathetic (CVT) withdrawal (pintrovert subjects had greater positive pain-related CVT slope change (neuroticism r 0.8, p<0.05; extroversion r -0.5, p<0.05). Pain-evoked heart rate increases were mediated by parasympathetic and sympathetic co-activation - a novel finding in humans but recently described in mammals too. Visceral pain-related parasympathetic change correlated with personality. ANS defence responses are nuanced and may relate to personality type for visceral pain. Clinical relevance of these findings warrants further exploration.

  5. Examining the Roles of Work Autonomous and Controlled Motivations on Satisfaction and Anxiety as a Function of Role Ambiguity.

    Science.gov (United States)

    Gillet, Nicolas; Fouquereau, Evelyne; Lafrenière, Marc-André K; Huyghebaert, Tiphaine

    2016-07-03

    Past research in the self-determination theory has shown that autonomous motivation is associated with positive outcomes (e.g., work satisfaction), whereas controlled motivation is related to negative outcomes (e.g., anxiety). The purpose of the present research was to examine the moderating function of role ambiguity on the relationships between work autonomous and controlled motivations on the one hand, and work satisfaction and anxiety on the other. Six hundred and ninety-eight workers (449 men and 249 women) participated in this study. Results revealed that autonomous motivation was most strongly related to satisfaction when ambiguity was low. In addition, controlled motivation was most strongly related to anxiety when ambiguity was high. In other words, the present findings suggest that the outcomes associated with each form of motivation may vary as a function of role ambiguity. The present study thus offers meaningful insights for organizations, managers, and employees.

  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. Autonomous control of inverter-interfaced Distributed Generation units for harmonic current filtering and resonance damping in an islanded microgrid

    DEFF Research Database (Denmark)

    Wang, Xiongfei; Blaabjerg, Frede; Chen, Zhe

    2012-01-01

    Harmonic current filtering and resonance damping have become important concerns on the control of an islanded microgrids. To address these challenges, this paper proposes a control method of inverter-interfaced Distributed Generation (DG) units, which can autonomously share harmonic currents and ...

  8. Design of a Path-Tracking Steering Controller for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Chuanyang Sun

    2018-06-01

    Full Text Available This paper presents a linearization method for the vehicle and tire models under the model predictive control (MPC scheme, and proposes a linear model-based MPC path-tracking steering controller for autonomous vehicles. The steering controller is designed to minimize lateral path-tracking deviation at high speeds. The vehicle model is linearized by a sequence of supposed steering angles, which are obtained by assuming the vehicle can reach the desired path at the end of the MPC prediction horizon and stay in a steady-state condition. The lateral force of the front tire is directly used as the control input of the model, and the rear tire’s lateral force is linearized by an equivalent cornering stiffness. The course-direction deviation, which is the angle between the velocity vector and the path heading, is chosen as a control reference state. The linearization model is validated through the simulation, and the results show high prediction accuracy even in regions of large steering angle. This steering controller is tested through simulations on the CarSim-Simulink platform (R2013b, MathWorks, Natick, MA, USA, showing the improved performance of the present controller at high speeds.

  9. Autonomous and controlled motivational regulations for multiple health-related behaviors: between- and within-participants analyses

    Science.gov (United States)

    Hagger, M.S.; Hardcastle, S.J.; Chater, A.; Mallett, C.; Pal, S.; Chatzisarantis, N.L.D.

    2014-01-01

    Self-determination theory has been applied to the prediction of a number of health-related behaviors with self-determined or autonomous forms of motivation generally more effective in predicting health behavior than non-self-determined or controlled forms. Research has been confined to examining the motivational predictors in single health behaviors rather than comparing effects across multiple behaviors. The present study addressed this gap in the literature by testing the relative contribution of autonomous and controlling motivation to the prediction of a large number of health-related behaviors, and examining individual differences in self-determined motivation as a moderator of the effects of autonomous and controlling motivation on health behavior. Participants were undergraduate students (N = 140) who completed measures of autonomous and controlled motivational regulations and behavioral intention for 20 health-related behaviors at an initial occasion with follow-up behavioral measures taken four weeks later. Path analysis was used to test a process model for each behavior in which motivational regulations predicted behavior mediated by intentions. Some minor idiosyncratic findings aside, between-participants analyses revealed significant effects for autonomous motivational regulations on intentions and behavior across the 20 behaviors. Effects for controlled motivation on intentions and behavior were relatively modest by comparison. Intentions mediated the effect of autonomous motivation on behavior. Within-participants analyses were used to segregate the sample into individuals who based their intentions on autonomous motivation (autonomy-oriented) and controlled motivation (control-oriented). Replicating the between-participants path analyses for the process model in the autonomy- and control-oriented samples did not alter the relative effects of the motivational orientations on intention and behavior. Results provide evidence for consistent effects

  10. Analysis and optimization of the battery energy storage systems for frequency control in autonomous microgrids, by means of hardware-in-the-loop simulations

    DEFF Research Database (Denmark)

    Serban, I.; Teodorescu, Remus; Marinescu, C.

    2012-01-01

    . The focus is on autonomous MGs that dynamically should perform similarly to the conventional power systems. During MG autonomous operation, the generators should accomplish the frequency control process, by means of their automatic generation control. However, RES-based generators have poor controllability...

  11. Advanced sensing and control techniques to facilitate semi-autonomous decommissioning. 1998 annual progress report

    International Nuclear Information System (INIS)

    Dawson, D.M.; Geist, R.M.; Schalkoff, R.J.

    1998-01-01

    'This research is intended to advance the technology of semi-autonomous teleoperated robotics as applied to Decontamination and Decommissioning (D and D) tasks. Specifically, research leading to a prototype dual-manipulator mobile work cell is underway. This cell is supported and enhanced by computer vision, virtual reality and advanced robotics technology. This report summarizes work after approximately 1.5 years of a 3-year project. The autonomous, non-contact creation of a virtual environment from an existing, real environment (virtualization) is an integral part of the workcell functionality. This requires that the virtual world be geometrically correct. To this end, the authors have encountered severe sensitivity in quadric estimation. As a result, alternative procedures for geometric rendering, iterative correction approaches, new calibration methods and associated hardware, and calibration quality examination software have been developed. Following geometric rendering, the authors have focused on improving the color and texture recognition components of the system. In particular, the authors have moved beyond first-order illumination modeling to include higher order diffuse effects. This allows us to combine the surface geometric information, obtained from the laser projection and surface recognition components of the system, with a stereo camera image. Low-level controllers for Puma 560 robotic arms were designed and implemented using QNX. The resulting QNX/PC based low-level robot control system is called QRobot. A high-level trajectory generator and application programming interface (API) as well as a new, flexible robot control API was required. Force/torque sensors and interface hardware have been identified and ordered. A simple 3-D OpenGL-based graphical Puma 560 robot simulator was developed and interfaced with ARCL and RCCL to assist in the development of robot motion programs.'

  12. A learning-based semi-autonomous controller for robotic exploration of unknown disaster scenes while searching for victims.

    Science.gov (United States)

    Doroodgar, Barzin; Liu, Yugang; Nejat, Goldie

    2014-12-01

    Semi-autonomous control schemes can address the limitations of both teleoperation and fully autonomous robotic control of rescue robots in disaster environments by allowing a human operator to cooperate and share such tasks with a rescue robot as navigation, exploration, and victim identification. In this paper, we present a unique hierarchical reinforcement learning-based semi-autonomous control architecture for rescue robots operating in cluttered and unknown urban search and rescue (USAR) environments. The aim of the controller is to enable a rescue robot to continuously learn from its own experiences in an environment in order to improve its overall performance in exploration of unknown disaster scenes. A direction-based exploration technique is integrated in the controller to expand the search area of the robot via the classification of regions and the rubble piles within these regions. Both simulations and physical experiments in USAR-like environments verify the robustness of the proposed HRL-based semi-autonomous controller to unknown cluttered scenes with different sizes and varying types of configurations.

  13. A REMUS based crate controller for the autonomous processing of multichannel data streams

    CERN Document Server

    Cittolin, S

    1981-01-01

    This paper describes a device designed to perform the autonomous acquisition of considerable quantities of raw data, process them and present results in an easily digestible format for subsequent analysis. It has been primarily created for read-out of complex three dimensional drift chambers, but is of general interest. The unit is based on a dual processor system consisting of a Signetics 8X300 and a Motorola 68B00. The 8X300 section operates as a fast dedicated Data Processor and flow controller that reads the input modules, processes the data and constructs the output blocklets. The 68B00 supervises the activity of the 8X300 and is responsible for the holding and loading of appropriate routines. It also obtains samples of the final data for statistical purposes and executes periodic calibration and diagnostic functions.

  14. A REMUS based crate controller for the autonomous processing of multichannel data streams

    CERN Document Server

    Cittolin, Sergio

    1981-01-01

    Describes a device designed to perform the autonomous acquisition of considerable quantities of raw data, process them and present results in an easily digestible format for subsequent analysis. It has been primarily created for read-out of complex three dimensional drift chambers, but is of general interest. The unit is based on a dual processor system consisting of a Signetics 8X300 and a Motorola 68B00. The 8X300 section operates as a fast dedicated data processor and flow controller that reads the input modules processes the data and constructs the output blocklets. The 68B00 supervises the activity of the 8X300 and is responsible for the holding and loading of appropriate routines. It also obtains samples of the final data for statistical purposes and executes periodic calibration and diagnostic functions. (8 refs).

  15. A REMUS based crate controller for the autonomous processing of multichannel data streams

    International Nuclear Information System (INIS)

    Cittolin, S.; Loefstedt, B.

    1981-01-01

    This paper describes a device designed to perform the autonomous acquisition of considerable quantities of raw data, process them and present results in an easily digestible format for subsequent analysis. It has been primarily created for read-out of complex three dimensional drift chambers, but is of general interest. The unit is based on a dual processor system consisting of a Signetics 8 x 300 and a Motorola 68 B 00. The 8 x 300 section operates as a fast dedicated Data Processor and flow controller that reads the input modules, processes the data and constructs the output blocklets. The 68 B 00 supervises the activity of the 8 x 300 and is responsible for the holding and loading of appropriate routines. It also obtains samples of the final data for statistical purposes and executes periodic calibration and diagnostic functions. (orig.)

  16. Distributed Data Logging and Intelligent Control Strategies for a Scaled Autonomous Vehicle

    Directory of Open Access Journals (Sweden)

    Tilman Happek

    2016-04-01

    Full Text Available In this paper we present an autonomous car with distributed data processing. The car is controlled by a multitude of independent sensors. For the lane detection, a camera is used, which detects the lane marks with a Hough transformation. Once the camera detects these, one of them is calculated to be followed by the car. This lane is verified by the other sensors of the car. These sensors check the route for obstructions or allow the car to scan a parking space and to park on the roadside if the gap is large enough. The car is built on a scale of 1:10 and shows excellent results on a test track.

  17. Impact of a soccer match on the cardiac autonomic control of referees.

    Science.gov (United States)

    Boullosa, Daniel Alexandre; Abreu, Laurinda; Tuimil, José Luis; Leicht, Anthony Scott

    2012-06-01

    The purpose of this study was to assess the effect of a soccer match on the cardiac autonomic control of heart rate (HR) in soccer referees. Sixteen Spanish regional and third division referees (11 males: 26 ± 7 years, 74.4 ± 4.1 kg, 178 ± 3 cm, Yo-Yo IR1 ~600-1,560 m; 5 females: 22 ± 3 years, 59.3 ± 4.8 kg, 158 ± 8 cm, Yo-Yo IR1 ~200-520 m) participated with 24-h HR recordings measured with a Polar RS800 during a rest and a match day. Autonomic control of HR was assessed from HR variability (HRV) analysis. Inclusion of a soccer match (92.5% spent at >75% maximum HR) reduced pre-match (12:00-17:00 hours; small to moderate), post-match (19:00-00:00 hours; moderate to almost perfect), and night-time (00:00-05:00 hours; small to moderate) HRV. Various moderate-to-large correlations were detected between resting HRV and the rest-to-match day difference in HRV. The rest-to-match day differences of low and high-frequency bands ratio (LF/HF) and HR in the post-match period were moderately correlated with time spent at different exercise intensities. Yo-Yo IR1 performance was highly correlated with jump capacity and peak lactate, but not with any HRV parameter. These results suggest that a greater resting HRV may allow referees to tolerate stresses during a match day with referees who spent more time at higher intensities during matches exhibiting a greater LF/HF increment in the post-match period. The relationship between match activities, [Formula: see text] and HR recovery kinetics in referees and team sport athletes of different competitive levels remains to be clarified.

  18. Effects of age and physical activity on the autonomic control of heart rate in healthy men

    Directory of Open Access Journals (Sweden)

    R.C. Melo

    2005-09-01

    Full Text Available The effects of the aging process and an active life-style on the autonomic control of heart rate (HR were investigated in nine young sedentary (YS, 23 ± 2.4 years, 16 young active (YA, 22 ± 2.1 years, 8 older sedentary (OS, 63 ± 2.4 years and 8 older active (OA, 61 ± 1.1 years healthy men. Electrocardiogram was continuously recorded for 15 min at rest and for 4 min in the deep breathing test, with a breath rate of 5 to 6 cycles/min in the supine position. Resting HR and RR intervals were analyzed by time (RMSSD index and frequency domain methods. The power spectral components are reported in normalized units (nu at low (LF and high (HF frequency, and as the LF/HF ratio. The deep breathing test was analyzed by the respiratory sinus arrhythmia indices: expiration/inspiration ratio (E/I and inspiration-expiration difference (deltaIE. The active groups had lower HR and higher RMSSD index than the sedentary groups (life-style condition: sedentary vs active, P < 0.05. The older groups showed lower HFnu, higher LFnu and higher LF/HF ratio than the young groups (aging effect: young vs older, P < 0.05. The OS group had a lower E/I ratio (1.16 and deltaIE (9.7 bpm than the other groups studied (YS: 1.38, 22.4 bpm; YA: 1.40, 21.3 bpm; OA: 1.38, 18.5 bpm. The interaction between aging and life-style effects had a P < 0.05. These results suggest that aging reduces HR variability. However, regular physical activity positively affects vagal activity on the heart and consequently attenuates the effects of aging in the autonomic control of HR.

  19. Muscular Contraction Mode Differently Affects Autonomic Control During Heart Rate Matched Exercise

    Directory of Open Access Journals (Sweden)

    Matthias eWeippert

    2015-05-01

    Full Text Available The precise contributions of afferent feedback to cardiovascular and respiratory responses to exercise are still unclear. Aim of this crossover study was to assess whether and how autonomic cardiovascular and respiratory control differed in response to dynamic (DYN and isometric contractions (ISO at a similar, low heart rate (HR level. Therefore, 22 healthy males (26.7 ± 3.6 yrs performed two kinds of voluntary exercises at similar HR: ISO and DYN of the right quadriceps femoris muscle. Although HR was eqivalent (82 ± 8 bpm for DYN and ISO, respectively, rating of exertion, blood pressures, and rate pressure product were higher, whereas breathing frequency, minute ventilation, oxygen uptake and carbon dioxide output were significantly lower during ISO. Tidal volume, end-tidal partial pressures of O2 and CO2, respiratory exchange ratio and capillary blood lactate concentration were comparable between both contraction modes. Heart rate variability (HRV indicators, SDNN, HF-Power and LF-Power, representing both vagal and sympathetic influences, were significantly higher during ISO. Sample entropy, a nonlinear measure of HRV was also significantly affected by contraction mode. It can be concluded that, despite the same net effect on HR, the quality of cardiovascular control during low intensity exercise is significantly different between DYN and ISO. HRV analysis indicated a sympatho-vagal coactivation during ISO. Whether mechanoreceptor feedback alone, a change in central command, or the interaction of both mechanisms is the main contributor of the distinct autonomic responses to the different exercise modes remains to be elucidated.

  20. Development of an Experimental Platform for Testing Autonomous UAV Guidance and Control Algorithms

    National Research Council Canada - National Science Library

    Rufa, Justin R

    2007-01-01

    .... The next step to transitioning these autonomous search algorithms to an operational environment is the experimental testing of these theories through the use of surrogate vehicles, to determine...

  1. Congestion Management System Process Report

    Science.gov (United States)

    1996-03-01

    In January 1995, the Indianapolis Metropolitan Planning Organization with the help of an interagency Study Review Committee began the process of developing a Congestion Management System (CMS) Plan resulting in this report. This report documents the ...

  2. Recurrent myocardial infarction: Mechanisms of free-floating adaptation and autonomic derangement in networked cardiac neural control

    Science.gov (United States)

    Ardell, Jeffrey L.; Shivkumar, Kalyanam; Armour, J. Andrew

    2017-01-01

    The cardiac nervous system continuously controls cardiac function whether or not pathology is present. While myocardial infarction typically has a major and catastrophic impact, population studies have shown that longer-term risk for recurrent myocardial infarction and the related potential for sudden cardiac death depends mainly upon standard atherosclerotic variables and autonomic nervous system maladaptations. Investigative neurocardiology has demonstrated that autonomic control of cardiac function includes local circuit neurons for networked control within the peripheral nervous system. The structural and adaptive characteristics of such networked interactions define the dynamics and a new normal for cardiac control that results in the aftermath of recurrent myocardial infarction and/or unstable angina that may or may not precipitate autonomic derangement. These features are explored here via a mathematical model of cardiac regulation. A main observation is that the control environment during pathology is an extrapolation to a setting outside prior experience. Although global bounds guarantee stability, the resulting closed-loop dynamics exhibited while the network adapts during pathology are aptly described as ‘free-floating’ in order to emphasize their dependence upon details of the network structure. The totality of the results provide a mechanistic reasoning that validates the clinical practice of reducing sympathetic efferent neuronal tone while aggressively targeting autonomic derangement in the treatment of ischemic heart disease. PMID:28692680

  3. Recurrent myocardial infarction: Mechanisms of free-floating adaptation and autonomic derangement in networked cardiac neural control.

    Science.gov (United States)

    Kember, Guy; Ardell, Jeffrey L; Shivkumar, Kalyanam; Armour, J Andrew

    2017-01-01

    The cardiac nervous system continuously controls cardiac function whether or not pathology is present. While myocardial infarction typically has a major and catastrophic impact, population studies have shown that longer-term risk for recurrent myocardial infarction and the related potential for sudden cardiac death depends mainly upon standard atherosclerotic variables and autonomic nervous system maladaptations. Investigative neurocardiology has demonstrated that autonomic control of cardiac function includes local circuit neurons for networked control within the peripheral nervous system. The structural and adaptive characteristics of such networked interactions define the dynamics and a new normal for cardiac control that results in the aftermath of recurrent myocardial infarction and/or unstable angina that may or may not precipitate autonomic derangement. These features are explored here via a mathematical model of cardiac regulation. A main observation is that the control environment during pathology is an extrapolation to a setting outside prior experience. Although global bounds guarantee stability, the resulting closed-loop dynamics exhibited while the network adapts during pathology are aptly described as 'free-floating' in order to emphasize their dependence upon details of the network structure. The totality of the results provide a mechanistic reasoning that validates the clinical practice of reducing sympathetic efferent neuronal tone while aggressively targeting autonomic derangement in the treatment of ischemic heart disease.

  4. Recurrent myocardial infarction: Mechanisms of free-floating adaptation and autonomic derangement in networked cardiac neural control.

    Directory of Open Access Journals (Sweden)

    Guy Kember

    Full Text Available The cardiac nervous system continuously controls cardiac function whether or not pathology is present. While myocardial infarction typically has a major and catastrophic impact, population studies have shown that longer-term risk for recurrent myocardial infarction and the related potential for sudden cardiac death depends mainly upon standard atherosclerotic variables and autonomic nervous system maladaptations. Investigative neurocardiology has demonstrated that autonomic control of cardiac function includes local circuit neurons for networked control within the peripheral nervous system. The structural and adaptive characteristics of such networked interactions define the dynamics and a new normal for cardiac control that results in the aftermath of recurrent myocardial infarction and/or unstable angina that may or may not precipitate autonomic derangement. These features are explored here via a mathematical model of cardiac regulation. A main observation is that the control environment during pathology is an extrapolation to a setting outside prior experience. Although global bounds guarantee stability, the resulting closed-loop dynamics exhibited while the network adapts during pathology are aptly described as 'free-floating' in order to emphasize their dependence upon details of the network structure. The totality of the results provide a mechanistic reasoning that validates the clinical practice of reducing sympathetic efferent neuronal tone while aggressively targeting autonomic derangement in the treatment of ischemic heart disease.

  5. The phylogeny and ontogeny of autonomic control of the heart and cardiorespiratory interactions in vertebrates.

    Science.gov (United States)

    Taylor, Edwin W; Leite, Cleo A C; Sartori, Marina R; Wang, Tobias; Abe, Augusto S; Crossley, Dane A

    2014-03-01

    Heart rate in vertebrates is controlled by activity in the autonomic nervous system. In spontaneously active or experimentally prepared animals, inhibitory parasympathetic control is predominant and is responsible for instantaneous changes in heart rate, such as occur at the first air breath following a period of apnoea in discontinuous breathers like inactive reptiles or species that surface to air breathe after a period of submersion. Parasympathetic control, exerted via fast-conducting, myelinated efferent fibres in the vagus nerve, is also responsible for beat-to-beat changes in heart rate such as the high frequency components observed in spectral analysis of heart rate variability. These include respiratory modulation of the heartbeat that can generate cardiorespiratory synchrony in fish and respiratory sinus arrhythmia in mammals. Both may increase the effectiveness of respiratory gas exchange. Although the central interactions generating respiratory modulation of the heartbeat seem to be highly conserved through vertebrate phylogeny, they are different in kind and location, and in most species are as yet little understood. The heart in vertebrate embryos possesses both muscarinic cholinergic and β-adrenergic receptors very early in development. Adrenergic control by circulating catecholamines seems important throughout development. However, innervation of the cardiac receptors is delayed and first evidence of a functional cholinergic tonus on the heart, exerted via the vagus nerve, is often seen shortly before or immediately after hatching or birth, suggesting that it may be coordinated with the onset of central respiratory rhythmicity and subsequent breathing.

  6. Containment control of networked autonomous underwater vehicles: A predictor-based neural DSC design.

    Science.gov (United States)

    Peng, Zhouhua; Wang, Dan; Wang, Wei; Liu, Lu

    2015-11-01

    This paper investigates the containment control problem of networked autonomous underwater vehicles in the presence of model uncertainty and unknown ocean disturbances. A predictor-based neural dynamic surface control design method is presented to develop the distributed adaptive containment controllers, under which the trajectories of follower vehicles nearly converge to the dynamic convex hull spanned by multiple reference trajectories over a directed network. Prediction errors, rather than tracking errors, are used to update the neural adaptation laws, which are independent of the tracking error dynamics, resulting in two time-scales to govern the entire system. The stability property of the closed-loop network is established via Lyapunov analysis, and transient property is quantified in terms of L2 norms of the derivatives of neural weights, which are shown to be smaller than the classical neural dynamic surface control approach. Comparative studies are given to show the substantial improvements of the proposed new method. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  7. Design and Implementation an Autonomous Humanoid Robot Based on Fuzzy Rule-Based Motion Controller

    Directory of Open Access Journals (Sweden)

    Mohsen Taheri

    2010-04-01

    Full Text Available Research on humanoid robotics in Mechatronics and Automation Laboratory, Electrical and Computer Engineering, Islamic Azad University Khorasgan branch (Isfahan of Iran was started at
    the beginning of this decade. Various research prototypes for humanoid robots have been designed and are going through evolution over these years. This paper describes the hardware and software design of the kid size humanoid robot systems of the PERSIA Team in 2009. The robot has 20 actuated degrees of freedom based on Hitec HSR898. In this paper we have tried to focus on areas such as mechanical structure, Image processing unit, robot controller, Robot AI and behavior
    learning. In 2009, our developments for the Kid size humanoid robot include: (1 the design and construction of our new humanoid robots (2 the design and construction of a new hardware and software controller to be used in our robots. The project is described in two main parts: Hardware and Software. The software is developed a robot application which consists walking controller, autonomous motion robot, self localization base on vision and Particle Filter, local AI, Trajectory Planning, Motion Controller and Network. The hardware consists of the mechanical structure and the driver circuit board. Each robot is able to walk, fast walk, pass, kick and dribble when it catches
    the ball. These humanoids have been successfully participating in various robotic soccer competitions. This project is still in progress and some new interesting methods are described in the current report.

  8. Decentralized Traffic Management: A Synchronization-Based Intersection Control --- Extended Version

    OpenAIRE

    Tlig , Mohamed; Buffet , Olivier; Simonin , Olivier

    2014-01-01

    Controlling the vehicle traffic in large networks remains an important challenge in urban environments and transportation systems. Autonomous vehicles are today considered as a promising approach to deal with traffic control. In this paper, we propose a synchronization-based intersection control mechanism to allow the autonomous vehicle-agents to cross without stopping, i.e., in order to avoid congestions (delays) and energy loss. We decentralize the problem by managing the traffic of each in...

  9. Why do adolescents gather information or stick to parental norms? Examining autonomous and controlled motives behind adolescents' identity style.

    Science.gov (United States)

    Smits, Ilse; Soenens, Bart; Vansteenkiste, Maarten; Luyckx, Koen; Goossens, Luc

    2010-11-01

    Self-determination theory (SDT) distinguishes between autonomous and controlled reasons for people's behavior and essentially states that beneficial effects for individuals' psychosocial adjustment will accrue when behavior is guided by autonomous (rather than controlled) motives. The present study tested this assumption in the area of adolescents' identity styles. In a sample of mid-adolescents (N = 247; 53% female), it was found that the motives for using an information-oriented or a normative identity style explained additional variance beyond the identity styles as such in two of the adjustment outcomes examined. Specifically, autonomous motives underlying these two identity styles were positively related to commitment and personal well-being, whereas controlled motives were negatively related to these same adjustment outcomes. Perceived autonomy-supportive parenting was examined as a possible antecedent of the motives behind identity styles. Consistent with hypotheses, it was found that autonomy-supportive parenting was positively related to autonomous motives and negatively to controlled motives underlying identity styles. Implications for future research on the motivational dynamics behind identity development are discussed.

  10. Cancer Pain Control for Advanced Cancer Patients by Using Autonomic Nerve Pharmacopuncture

    Directory of Open Access Journals (Sweden)

    Hwi-joong Kang

    2014-09-01

    Full Text Available Objectives: The purpose of this study is to report a case series of advanced cancer patients whose cancer pain was relieved by using autonomic nerve pharmacopuncture (ANP treatment. ANP is a subcutaneous injection therapy of mountain ginseng pharmacopuncture (MGP along the acupoints on the spine (Hua-Tuo-Jia-Ji-Xue; 0.5 cun lateral to the lower border of the spinous processes of vertebrae to enhance the immune system and to balance autonomic nerve function. Methods: Patients with three different types of cancer (gastric cancer, lung cancer, colon cancer with distant metastases with cancer pain were treated with ANP. 1 mL of MGP was injected into the bilateral Hua-Tuo-Jia-Ji-Xue on the T1-L5 sites (total 12 ─ 20 mL injection of each patient’s dorsum by using the principle of symptom differentiation. During ANP treatment, the visual analogue scale (VAS for pain was used to assess their levels of cancer pain; also, the dosage and the frequency of analgesic use were measured. Results: The cancer pain levels of all three patients improved with treatment using ANP. The VAS scores of the three patients decreased as the treatment progressed. The dosage and the frequency of analgesics also gradually decreased during the treatment period. Significantly, no related adverse events were found. Conclusion: ANP has shown benefit in controlling cancer pain for the three different types of cancer investigated in this study and in reducing the dosage and the frequency of analgesics. ANP is expected to be beneficial for reducing cancer pain and, thus, to be a promising new treatment for cancer pain.

  11. Autonomic Neuropathy

    Science.gov (United States)

    ... risk of autonomic neuropathy. Other diseases. Amyloidosis, porphyria, hypothyroidism and cancer (usually due to side effects from treatment) may also increase the risk of autonomic neuropathy. ...

  12. Sensor-based control with digital maps association for global navigation: a real application for autonomous vehicles

    OpenAIRE

    Alves De Lima , Danilo; Corrêa Victorino , Alessandro

    2015-01-01

    International audience; This paper presents a sensor-based control strategy applied in the global navigation of autonomous vehicles in urban environments. Typically, sensor-based control performs local navigation tasks regarding some features perceived from the environment. However, when there is more than one possibility to go, like in road intersection, the vehicle control fails to accomplish its global navigation. In order to solve this problem, we propose the vehicle global navigation bas...

  13. Effects of metronome breathing on the assessment of autonomic control using heart rate variability

    NARCIS (Netherlands)

    Haaksma, J; Brouwer, J; vandenBerg, MP; Dijk, WA; Dassen, WRM; Crijns, HJGM; Mulder, Lambertus; Mulder, Gysbertus

    1996-01-01

    Analysis of Heart Rate Variability is a non-invasive quantitative tool to study the influence of the autonomic nervous system on the heart. Rapid variations in heart rate, related to breathing are primarily mediated by the vagal limb of the autonomic nervous system. The resulting variations in heart

  14. High Bandwidth Communications Links Between Heterogeneous Autonomous Vehicles Using Sensor Network Modeling and Extremum Control Approaches

    Science.gov (United States)

    2008-12-01

    In future network-centric warfare environments, teams of autonomous vehicles will be deployed in a coorperative manner to conduct wide-area...of data back to the command station, autonomous vehicles configured with high bandwidth communication system are positioned between the command

  15. Auctionable fixed transmission rights for congestion management

    Science.gov (United States)

    Alomoush, Muwaffaq Irsheid

    Electric power deregulation has proposed a major change to the regulated utility monopoly. The change manifests the main part of engineers' efforts to reshape three components of today's regulated monopoly: generation, distribution and transmission. In this open access deregulated power market, transmission network plays a major role, and transmission congestion is a major problem that requires further consideration especially when inter-zonal/intra-zonal scheme is implemented. Declaring that engineering studies and experience are the criteria to define zonal boundaries or defining a zone based on the fact that a zone is a densely interconnected area (lake) and paths connecting these densely interconnected areas are inter-zonal lines will render insufficient and fuzzy definitions. Moreover, a congestion problem formulation should take into consideration interactions between intra-zonal and inter-zonal flows and their effects on power systems. In this thesis, we introduce a procedure for minimizing the number of adjustments of preferred schedules to alleviate congestion and apply control schemes to minimize interactions between zones. In addition, we give the zone definition a certain criterion based on the Locational Marginal Price (LMP). This concept will be used to define congestion zonal boundaries and to decide whether any zone should be merged with another zone or split into new zones. The thesis presents a unified scheme that combines zonal and FTR schemes to manage congestion. This combined scheme is utilized with LMPs to define zonal boundaries more appropriately. The presented scheme gains the best features of the FTR scheme, which are providing financial certainty, maximizing the efficient use of the system and making users pay for the actual use of congested paths. LMPs may give an indication of the impact of wheeling transactions, and calculations of and comparisons of LMPs with and without wheeling transactions should be adequate criteria to approve

  16. Sliding mode control of an autonomous parallel fuel cell-super capacitor power source

    Energy Technology Data Exchange (ETDEWEB)

    More, Jeronimo J. [Universidad Nacional de La Plata (UNLP), La Plata, Buenos Aires (Argentina). Facultad de Ingenieria. Lab. de Electronica Industrial, Control e Instrumentacion], Email: jmore@ing.unlp.edu.ar; Puleston, Paul F [Consejo de Investigaciones Cientificas y Tecnicas (CONICET), Buenos Aires (Argentina); Kunusch, Cristian; Colomer, Jordi Riera I [Universitat Politecnica de Catalunya, Barcelona (Spain). Inst. de Robotica i Informatica Industrial (IRII)

    2010-07-01

    Nowadays, hydrogen fuel cell (FC) based systems emerge as one promising renewable alternative to fossil fuel systems in automotive and residential applications. However, their output dynamic response is relatively slow, mostly due to water and reactant gases dynamics. To overcome this limitation, FC-super capacitors (SCs) topologies can be used. The latter is capable of managing very fast power variations, presenting in addition high power density, long life cycle and good charge/discharge efficiency. In this work, a FC-SCs-based autonomous hybrid system for residential applications is considered. The FC and SCs are connected in parallel, through two separate DC/DC converters, to a DC bus. Under steady state conditions, the FC must deliver the load power requirement, while maintaining the SCs voltage regulated to the desired value. Under sudden load variations, the FC current rate must be limited to assure a safe transition to the new point of operation. During this current rate limitation mode, the SCs must deliver or absorb the power difference. To this end, a sliding mode strategy is proposed to satisfy to control objectives. The main one is the robust regulation of the DC bus voltage, even in the presence of system uncertainties and disturbances, such as load changes and FC voltage variations. Additionally, a second control objective is attained, namely to guarantee the adequate level of charge in the SCs, once the FC reaches the new steady state operation point. In this way, the system can meet the load power demand, even under sudden changes, and it can also satisfy a power demand higher than the nominal FC power, during short periods. The proposed control strategy is evaluated exhaustively by computer simulation considering fast load variations. The results presented in this work, corresponds to the first stage of a R and D collaboration project for the design and development of a novel FC-SCs-based autonomous hybrid system. In the next phase, the proposed

  17. Sliding mode control of an autonomous parallel fuel cell-super capacitor power source

    Energy Technology Data Exchange (ETDEWEB)

    More, Jeronimo J. [Universidad Nacional de La Plata (UNLP), La Plata, Buenos Aires (Argentina). Facultad de Ingenieria. Lab. de Electronica Industrial, Control e Instrumentacion], Email: jmore@ing.unlp.edu.ar; Puleston, Paul F. [Consejo de Investigaciones Cientificas y Tecnicas (CONICET), Buenos Aires (Argentina); Kunusch, Cristian; Colomer, Jordi Riera I. [Universitat Politecnica de Catalunya, Barcelona (Spain). Inst. de Robotica i Informatica Industrial (IRII)

    2010-07-01

    Nowadays, hydrogen fuel cell (FC) based systems emerge as one promising renewable alternative to fossil fuel systems in automotive and residential applications. However, their output dynamic response is relatively slow, mostly due to water and reactant gases dynamics. To overcome this limitation, FC-super capacitors (SCs) topologies can be used. The latter is capable of managing very fast power variations, presenting in addition high power density, long life cycle and good charge/discharge efficiency. In this work, a FC-SCs-based autonomous hybrid system for residential applications is considered. The FC and SCs are connected in parallel, through two separate DC/DC converters, to a DC bus. Under steady state conditions, the FC must deliver the load power requirement, while maintaining the SCs voltage regulated to the desired value. Under sudden load variations, the FC current rate must be limited to assure a safe transition to the new point of operation. During this current rate limitation mode, the SCs must deliver or absorb the power difference. To this end, a sliding mode strategy is proposed to satisfy to control objectives. The main one is the robust regulation of the DC bus voltage, even in the presence of system uncertainties and disturbances, such as load changes and FC voltage variations. Additionally, a second control objective is attained, namely to guarantee the adequate level of charge in the SCs, once the FC reaches the new steady state operation point. In this way, the system can meet the load power demand, even under sudden changes, and it can also satisfy a power demand higher than the nominal FC power, during short periods. The proposed control strategy is evaluated exhaustively by computer simulation considering fast load variations. The results presented in this work, corresponds to the first stage of a R and D collaboration project for the design and development of a novel FC-SCs-based autonomous hybrid system. In the next phase, the proposed

  18. Omnidirectional configuration and control approach on mini heavy loaded forklift autonomous guided vehicle

    Directory of Open Access Journals (Sweden)

    Adam Norsharimie

    2017-01-01

    Full Text Available This paper presents the omnidirectional configuration and control approach on Mini Heavy Loaded Forklift Autonomous Guided Vehicle (MHeLFAGV for flexibility maneuverability in confine and narrow area. The issue in turning motion for nonholonomic vehicle in confine area becoming a motivation in MHeLFAGV design to provide holonomic vehicle with flexible movement. Therefore an omni-wheeled named Mecanum wheel has been configured in this vehicle design as well as omnidirectional control algorithm. MHeLFAGV system is developed with collaboration and inspired from Vacuumshmelze (M Sdn. Bhd. Pekan, Pahang in order to have a customized mini forklift that able to work in a very confined warehouse (170cm × 270cm square with heavy payload in a range of 20-200kg. In electronics control design, two stages of controller boards are developed namely as Board 1 and 2 that specifically for movement controller board and monitoring controller board respectively. In addition separate module of left, right, forward, backward, diagonal and zigzagging movement is developed as embedded modules for MHeLFAGV system’s control architecture. A few experiments are done to verify the algorithm for each omnidirectional movement of MHeLFAGV system in the wide area. The waypoint of MHeLFAGV movement is plotted using Global Positioning System (GPS as well as a digital compass by mapping the longitude and latitude of the vehicle. There are slightly different between the targeted movements with recorded data since Mecanum wheeled affected by the uneven surface of the landscape. The experiment is also further on moving in confine are on the actual targeted warehouse.

  19. How Smog Awareness Influences Public Acceptance of Congestion Charge Policies

    OpenAIRE

    Lingyi Zhou; Yixin Dai

    2017-01-01

    Although various studies have investigated public acceptance of congestion charge policies, most of them have focused on behavioral and policy-related factors, and did not consider the moderating influence that individual concern about smog and perceived smog risk may have on public acceptance. This paper takes the congestion charge policy in China, targeted at smog and traffic control, and checks how smog awareness—including smog concerns and perceived smog risks, besides behavioral and poli...

  20. Adaptive sliding control of non-autonomous active suspension systems with time-varying loadings

    Science.gov (United States)

    Chen, Po-Chang; Huang, An-Chyau

    2005-04-01

    An adaptive sliding controller is proposed in this paper for controlling a non-autonomous quarter-car suspension system with time-varying loadings. The bound of the car-body loading is assumed to be available. Then, the reference coordinate is placed at the static position under the nominal loading so that the system dynamic equation is derived. Due to spring nonlinearities, the system property becomes asymmetric after coordinate transformation. Besides, in practical cases, system parameters are not easy to be obtained precisely for controller design. Therefore, in this paper, system uncertainties are lumped into two unknown time-varying functions. Since the variation bound of one of the unknown functions is not available, conventional adaptive schemes and robust designs are not applicable. To deal with this problem, the function approximation technique is employed to represent the unknown function as a finite combination of basis functions. The Lyapunov direct method can thus be used to find adaptive laws for updating coefficients in the approximating series and to prove stability of the closed-loop system. Since the position and velocity measurements of the unsprung mass are lumped into the unknown function, there is no need to install sensors on the axle and wheel assembly in the actual implementation. Simulation results are presented to show the performance of the proposed strategy.

  1. A NEW CONGESTION MANAGEMENT MECHANISM FOR NEXT GENERATION ROUTERS

    Directory of Open Access Journals (Sweden)

    MOHAMMED M. KADHUM

    2008-12-01

    Full Text Available While computer networks go towards dealing with varied traffic types with different service requirements, there is a necessity for modern network control mechanisms that can control the network traffic to meet the users' service requirements. Optimizing the network utilization by improving the network performance can help to accommodate more users and thus increase operators’ profits. Controlling the congestion at the gateway leads to better performance of the network. Sending congestion signal sooner can be of great benefit to the TCP connection. In this paper, we propose Fast Congestion Notification (FCN mechanism which is a new method for managing the gateway queues and fast sending of congestion signal to the sender. We tested our mechanism on Explicit Congestion Notification (ECN packets which have higher priority; we achieved good results in terms of faster congestion signal propagation and better network utilization. Our analysis and simulations results show that the use of FCN over TCP connections sharing one bottleneck can improve the throughput, having less loss, less delay time, and better network utilization.

  2. On the use of peripheral autonomic signals for binary control of body–machine interfaces

    International Nuclear Information System (INIS)

    Falk, Tiago H; Guirgis, Mirna; Power, Sarah; Blain, Stefanie; Chau, Tom

    2010-01-01

    In this work, the potential of using peripheral autonomic (PA) responses as control signals for body–machine interfaces that require no physical movement was investigated. Electrodermal activity, skin temperature, heart rate and respiration rate were collected from six participants and hidden Markov models (HMMs) were used to automatically detect when a subject was performing music imagery as opposed to being at rest. Experiments were performed under controlled silent conditions as well as in the presence of continuous and startle (e.g. door slamming) ambient noise. By developing subject-specific HMMs, music imagery was detected under silent conditions with the average sensitivity and specificity of 94.2% and 93.3%, respectively. In the presence of startle noise stimuli, the system sensitivity and specificity levels of 78.8% and 80.2% were attained, respectively. In environments corrupted by continuous ambient and startle noise, the system specificity further decreased to 75.9%. To improve the system robustness against environmental noise, a startle noise detection and compensation strategy were proposed. Once in place, performance levels were shown to be comparable to those observed in silence. The obtained results suggest that PA signals, combined with HMMs, can be useful tools for the development of body–machine interfaces that allow individuals with severe motor impairments to communicate and/or to interact with their environment

  3. Advanced Sensing and Control Techniques to Facilitate Semi-Autonomous Decommissioning of Hazardous Sites - Final Report

    International Nuclear Information System (INIS)

    Schalkoff, R.J.

    2000-01-01

    This report summarizes work after 4 years of a 3-year project (no-cost extension of the above-referenced project for a period of 12 months granted). The fourth generation of a vision sensing head for geometric and photometric scene sensing has been built and tested. Estimation algorithms for automatic sensor calibration updating under robot motion have been developed and tested. We have modified the geometry extraction component of the rendering pipeline. Laser scanning now produces highly accurate points on segmented curves. These point-curves are input to a NURBS (non-uniform rational B-spline) skinning procedure to produce interpolating surface segments. The NURBS formulation includes quadrics as a sub-class, thus this formulation allows much greater flexibility without the attendant instability of generating an entire quadric surface. We have also implemented correction for diffuse lighting and specular effects. The QRobot joint level control was extended to a complete semi-autonomous robot control system for D and D operations. The imaging and VR subsystems have been integrated and tested

  4. A Game-theoretical Approach for Distributed Cooperative Control of Autonomous Underwater Vehicles

    KAUST Repository

    Lu, Yimeng

    2018-05-01

    This thesis explores a game-theoretical approach for underwater environmental monitoring applications. We first apply game-theoretical algorithm to multi-agent resource coverage problem in drifting environments. Furthermore, existing utility design and learning process of the algorithm are modified to fit specific constraints of underwater exploration/monitoring tasks. The revised approach can take the real scenario of underwater monitoring applications such as the effect of sea current, previous knowledge of the resource and occasional communications between agents into account, and adapt to them to reach better performance. As the motivation of this thesis is from real applications, in this work we emphasize highly on implementation phase. A ROS-Gazebo simulation environment was created for preparation of actual tests. The algorithms are implemented in simulating both the dynamics of vehicles and the environment. After that, a multi-agent underwater autonomous robotic system was developed for hardware test in real settings with local controllers to make their own decisions. These systems are used for testing above mentioned algorithms and future development of other underwater projects. After that, other works related to robotics during this thesis will be briefly mentioned, including contributions in MBZIRC robotics competition and distributed control of UAVs in an adversarial environment.

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

    Science.gov (United States)

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

    1995-12-01

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

  6. Advanced Sensing and Control Techniques to Facilitate Semi-Autonomous Decommissioning of Hazardous Sites - Final Report

    Energy Technology Data Exchange (ETDEWEB)

    Schalkoff, R.J.

    2000-12-01

    This report summarizes work after 4 years of a 3-year project (no-cost extension of the above-referenced project for a period of 12 months granted). The fourth generation of a vision sensing head for geometric and photometric scene sensing has been built and tested. Estimation algorithms for automatic sensor calibration updating under robot motion have been developed and tested. We have modified the geometry extraction component of the rendering pipeline. Laser scanning now produces highly accurate points on segmented curves. These point-curves are input to a NURBS (non-uniform rational B-spline) skinning procedure to produce interpolating surface segments. The NURBS formulation includes quadrics as a sub-class, thus this formulation allows much greater flexibility without the attendant instability of generating an entire quadric surface. We have also implemented correction for diffuse lighting and specular effects. The QRobot joint level control was extended to a complete semi-autonomous robot control system for D and D operations. The imaging and VR subsystems have been integrated and tested.

  7. Effects of the Fourth Ventricle Compression in the Regulation of the Autonomic Nervous System: A Randomized Control Trial

    Directory of Open Access Journals (Sweden)

    Ana Paula Cardoso-de-Mello-e-Mello-Ribeiro

    2015-01-01

    Full Text Available Introduction. Dysfunction of the autonomic nervous system is an important factor in the development of chronic pain. Fourth ventricle compression (CV-4 has been shown to influence autonomic activity. Nevertheless, the physiological mechanisms behind these effects remain unclear. Objectives. This study is aimed at evaluating the effects of fourth ventricle compression on the autonomic nervous system. Methods. Forty healthy adults were randomly assigned to an intervention group, on whom CV-4 was performed, or to a control group, who received a placebo intervention (nontherapeutic touch on the occipital bone. In both groups, plasmatic catecholamine levels, blood pressure, and heart rate were measured before and immediately after the intervention. Results. No effects related to the intervention were found. Although a reduction of norepinephrine, systolic blood pressure, and heart rate was found after the intervention, it was not exclusive to the intervention group. In fact, only the control group showed an increment of dopamine levels after intervention. Conclusion. Fourth ventricle compression seems not to have any effect in plasmatic catecholamine levels, blood pressure, or heart rate. Further studies are needed to clarify the CV-4 physiologic mechanisms and clinical efficacy in autonomic regulation and pain treatment.

  8. White rice consumption and risk of esophageal cancer in Xinjiang Uyghur Autonomous Region, northwest China: a case-control study

    OpenAIRE

    Tang, Li; Xu, Fenglian; Zhang, Taotao; Lei, Jun; Binns, Colin W.; Lee, Andy H.

    2015-01-01

    This study investigated the association between white rice consumption and the risk of esophageal cancer in remote northwest China, where the cancer incidence is known to be high. A case-control study was conducted during 2008?2009 in Urumqi and Shihezi, Xinjiang Uyghur Autonomous Region of China. Participants were 359 incident esophageal cancer patients and 380 hospital-based controls. Information on habitual white rice consumption was obtained by personal interview using a validated semi-qu...

  9. Congestion Pricing for Aircraft Pushback Slot Allocation.

    Science.gov (United States)

    Liu, Lihua; Zhang, Yaping; Liu, Lan; Xing, Zhiwei

    2017-01-01

    In order to optimize aircraft pushback management during rush hour, aircraft pushback slot allocation based on congestion pricing is explored while considering monetary compensation based on the quality of the surface operations. First, the concept of the "external cost of surface congestion" is proposed, and a quantitative study on the external cost is performed. Then, an aircraft pushback slot allocation model for minimizing the total surface cost is established. An improved discrete differential evolution algorithm is also designed. Finally, a simulation is performed on Xinzheng International Airport using the proposed model. By comparing the pushback slot control strategy based on congestion pricing with other strategies, the advantages of the proposed model and algorithm are highlighted. In addition to reducing delays and optimizing the delay distribution, the model and algorithm are better suited for use for actual aircraft pushback management during rush hour. Further, it is also observed they do not result in significant increases in the surface cost. These results confirm the effectiveness and suitability of the proposed model and algorithm.

  10. Congestion Pricing for Aircraft Pushback Slot Allocation.

    Directory of Open Access Journals (Sweden)

    Lihua Liu

    Full Text Available In order to optimize aircraft pushback management during rush hour, aircraft pushback slot allocation based on congestion pricing is explored while considering monetary compensation based on the quality of the surface operations. First, the concept of the "external cost of surface congestion" is proposed, and a quantitative study on the external cost is performed. Then, an aircraft pushback slot allocation model for minimizing the total surface cost is established. An improved discrete differential evolution algorithm is also designed. Finally, a simulation is performed on Xinzheng International Airport using the proposed model. By comparing the pushback slot control strategy based on congestion pricing with other strategies, the advantages of the proposed model and algorithm are highlighted. In addition to reducing delays and optimizing the delay distribution, the model and algorithm are better suited for use for actual aircraft pushback management during rush hour. Further, it is also observed they do not result in significant increases in the surface cost. These results confirm the effectiveness and suitability of the proposed model and algorithm.

  11. Particle swarm optimization based fuzzy logic controller for autonomous green power energy system with hydrogen storage

    International Nuclear Information System (INIS)

    Safari, S.; Ardehali, M.M.; Sirizi, M.J.

    2013-01-01

    Highlights: ► Optimized fuzzy logic controller for a hybrid green power system is developed. ► PSO algorithm is used to optimize membership functions of controller. ► Optimized fuzzy logic controller results in lower O and M costs and LPSP. ► Optimization results in less variation of battery state of charge. - Abstract: The objective of this study is to develop an optimized fuzzy logic controller (FLC) for operating an autonomous hybrid green power system (HGPS) based on the particle swarm optimization (PSO) algorithm. An electrolyzer produces hydrogen from surplus energy generated by the wind turbine and photovoltaic array of HGPS for later use by a fuel cell. The PSO algorithm is used to optimize membership functions of the FLC. The FLC inputs are (a) net power flow and (b) batteries state of charge (SOC) and FLC output determines the time for hydrogen production or consumption. Actual data for weekly residential load, wind speed, ambient temperature, and solar irradiation are used for performance simulation and analysis of the HGPS examined. The weekly operation and maintenance (O and M) costs and the loss of power supply probability (LPSP) are considered in the optimization procedure. It is determined that FLC optimization results in (a) reduced fluctuations in batteries SOC which translates into longer life for batteries and the average SOC is increased by 6.18% and (b) less working hours for fuel cell, when the load is met by wind and PV. It is found that the optimized FLC results in lower O and M costs and LPSP by 57% and 33%, respectively, as compared to its un-optimized counterpart. In addition, a reduction of 18% in investment cost is achievable by optimal sizing and reducing the capacity of HGPS equipment.

  12. Air congestion delay: a review

    Directory of Open Access Journals (Sweden)

    Daniel Alberto Pamplona

    2016-04-01

    Full Text Available This article is a literature review of the air congestion delay and its costs. Air congestion is a worldwide problem. Its existence brings costs for airlines and discomfort for passengers. With the increasing demand for air transport, the study of air congestion has attracted the attention of many researchers around the world. The cause for the delays is erroneously attributed only to the lack of infrastructure investments. The literature review shows that other factors such as population growth, increasing standards of living, lack of operational planning and environmental issues exercise decisive influence. Several studies have been conducted in order to analyze and propose solutions to this problem that affects society as a whole.

  13. Endogenous scheduling preferences and congestion

    DEFF Research Database (Denmark)

    Fosgerau, Mogens; Small, Kenneth

    2017-01-01

    We consider the timing of activities through a dynamic model of commuting with congestion, in which workers care solely about leisure and consumption. Implicit preferences for the timing of the commute form endogenously due to temporal agglomeration economies. Equilibrium exists uniquely and is i......We consider the timing of activities through a dynamic model of commuting with congestion, in which workers care solely about leisure and consumption. Implicit preferences for the timing of the commute form endogenously due to temporal agglomeration economies. Equilibrium exists uniquely...... and is indistinguishable from that of a generalized version of the classical Vickrey bottleneck model, based on exogenous trip-timing preferences, but optimal policies differ: the Vickrey model will misstate the benefits of a capacity increase, it will underpredict the benefits of congestion pricing, and pricing may make...

  14. Dynamic Power Tariff for Congestion Management in Distribution Networks

    DEFF Research Database (Denmark)

    Huang, Shaojun; Wu, Qiuwei; Shahidehpour, Mohammad

    2018-01-01

    This paper proposes dynamic power tariff (DPT), a new concept for congestion management in distribution networks with high penetration of electric vehicles (EVs), and heat pumps (HPs). The DPT concept is proposed to overcome a drawback of the dynamic tariff (DT) method, i.e., DPT can replace...... the price sensitivity parameter in the DT method, which is relatively unrealistic in practice. Based on the control theory, a control model with two control loops, i.e., the power flow control and voltage control, is established to analyze the congestion management process by the DPT method. Furthermore...

  15. Optimal Control of Sensor Threshold for Autonomous Wide Area Search Munitions

    National Research Council Canada - National Science Library

    Kish, Brian A; Jacques, David R; Pachter, Meir

    2005-01-01

    The optimal employment of autonomous wide area search munitions is addressed. The scenario considered involves an airborne munition searching a battle space for stationary targets in the presence of false targets...

  16. Development of an Experimental Platform for Testing Autonomous UAV Guidance and Control Algorithms

    National Research Council Canada - National Science Library

    Rufa, Justin R

    2007-01-01

    With the United States? push towards using unmanned aerial vehicles (UAVs) for more military missions, wide area search theory is being researched to determine the viability of multiple vehicle autonomous searches over the battle area...

  17. Prosocial and antisocial behavior in sport: the role of coaching style, autonomous vs. controlled motivation, and moral disengagement.

    Science.gov (United States)

    Hodge, Ken; Lonsdale, Chris

    2011-08-01

    The purpose of this study was to examine whether the relationships between contextual factors (i.e., autonomy-supportive vs. controlling coaching style) and person factors (i.e., autonomous vs. controlled motivation) outlined in self-determination theory (SDT) were related to prosocial and antisocial behaviors in sport. We also investigated moral disengagement as a mediator of these relationships. Athletes' (n = 292, M = 19.53 years) responses largely supported our SDT-derived hypotheses. Results indicated that an autonomy-supportive coaching style was associated with prosocial behavior toward teammates; this relationship was mediated by autonomous motivation. Controlled motivation was associated with antisocial behavior toward teammates and antisocial behavior toward opponents, and these two relationships were mediated by moral disengagement. The results provide support for research investigating the effect of autonomy-supportive coaching interventions on athletes' prosocial and antisocial behavior.

  18. Development and experimentation of LQR/APF guidance and control for autonomous proximity maneuvers of multiple spacecraft

    Science.gov (United States)

    Bevilacqua, R.; Lehmann, T.; Romano, M.

    2011-04-01

    This work introduces a novel control algorithm for close proximity multiple spacecraft autonomous maneuvers, based on hybrid linear quadratic regulator/artificial potential function (LQR/APF), for applications including autonomous docking, on-orbit assembly and spacecraft servicing. Both theoretical developments and experimental validation of the proposed approach are presented. Fuel consumption is sub-optimized in real-time through re-computation of the LQR at each sample time, while performing collision avoidance through the APF and a high level decisional logic. The underlying LQR/APF controller is integrated with a customized wall-following technique and a decisional logic, overcoming problems such as local minima. The algorithm is experimentally tested on a four spacecraft simulators test bed at the Spacecraft Robotics Laboratory of the Naval Postgraduate School. The metrics to evaluate the control algorithm are: autonomy of the system in making decisions, successful completion of the maneuver, required time, and propellant consumption.

  19. Endogenous scheduling preferences and congestion

    DEFF Research Database (Denmark)

    Fosgerau, Mogens; Small, Kenneth

    2010-01-01

    and leisure, but agglomeration economies at home and at work lead to scheduling preferences forming endogenously. Using bottleneck congestion technology, we obtain an equilibrium queuing pattern consistent with a general version of the Vickrey bottleneck model. However, the policy implications are different....... Compared to the predictions of an analyst observing untolled equilibrium and taking scheduling preferences as exogenous, we find that both the optimal capacity and the marginal external cost of congestion have changed. The benefits of tolling are greater, and the optimal time varying toll is different....

  20. Studies on the coordinated operation and autonomous control for multi-modular nuclear power plants

    International Nuclear Information System (INIS)

    Hui Chao; Huang Xiaojin; Wang Jie

    2011-01-01

    supervisory hierarchical control structure, operation and control strategy of existing multi-modular reactor in the world. Finally, this paper indicates that the high-performance autonomous control method is one of the possible research directions to solve the problems of operation and control of multi-modular power plant. (author)

  1. Investigating power control in autonomous power systems with increasing wind power penetration

    Energy Technology Data Exchange (ETDEWEB)

    Margaris, Ioannis D. [National Technical Univ. of Athens (Greece). Electric Energy Systems Lab.; Hansen, Anca D.; Sorensen, Poul [Risoe National Laboratory, Roskilde (Denmark). Wind Energy Dept.; Hatziargyriou, Nikos D. [National Technical Univ. of Athens (Greece). Electric Energy Systems Lab.; Public Power Corporation S.A., Athens (Greece)

    2009-07-01

    Increasing levels of wind penetration in autonomous power systems has set intensively high standards with respect to wind turbine technology during the last years. Special features of non-interconnected power systems make security issues rather critical, as the operation of large wind farms like conventional power plants is becoming a necessity. This paper includes the study case of Rhodos island, in Greece, where rapidly increasing wind penetration has started to impose serious security issues for the immediate future. The scenarios studied here correspond to reference year of study 2012 and include wind farms with three different wind turbine technologies - namely Doubly Fed Induction Generator (DFIG), Permanent Magnet Synchronous Generator (PMSG) and Active Stall Induction Generator (ASIG) based wind turbines. Aggregated models of the wind farms are being used and results for different load cases are being analyzed and discussed. The ability of wind farms to assist in some of the power system control services traditionally carried out by conventional synchronous generation is being investigated and discussed. The power grid of the island, including speed governors and automatic voltage regulators, is simulated in the dedicated power system simulation program Power Factory from DIgSILENT. (orig.)

  2. An integrated movement capture and control platform applied towards autonomous movements of surgical robots.

    Science.gov (United States)

    Daluja, Sachin; Golenberg, Lavie; Cao, Alex; Pandya, Abhilash K; Auner, Gregory W; Klein, Michael D

    2009-01-01

    Robotic surgery has gradually gained acceptance due to its numerous advantages such as tremor filtration, increased dexterity and motion scaling. There remains, however, a significant scope for improvement, especially in the areas of surgeon-robot interface and autonomous procedures. Previous studies have attempted to identify factors affecting a surgeon's performance in a master-slave robotic system by tracking hand movements. These studies relied on conventional optical or magnetic tracking systems, making their use impracticable in the operating room. This study concentrated on building an intrinsic movement capture platform using microcontroller based hardware wired to a surgical robot. Software was developed to enable tracking and analysis of hand movements while surgical tasks were performed. Movement capture was applied towards automated movements of the robotic instruments. By emulating control signals, recorded surgical movements were replayed by the robot's end-effectors. Though this work uses a surgical robot as the platform, the ideas and concepts put forward are applicable to telerobotic systems in general.

  3. In-flight wind identification and soft landing control for autonomous unmanned powered parafoils

    Science.gov (United States)

    Luo, Shuzhen; Tan, Panlong; Sun, Qinglin; Wu, Wannan; Luo, Haowen; Chen, Zengqiang

    2018-04-01

    For autonomous unmanned powered parafoil, the ability to perform a final flare manoeuvre against the wind direction can allow a considerable reduction of horizontal and vertical velocities at impact, enabling a soft landing for a safe delivery of sensible loads; the lack of knowledge about the surface-layer winds will result in messing up terminal flare manoeuvre. Moreover, unknown or erroneous winds can also prevent the parafoil system from reaching the target area. To realize accurate trajectory tracking and terminal soft landing in the unknown wind environment, an efficient in-flight wind identification method merely using Global Positioning System (GPS) data and recursive least square method is proposed to online identify the variable wind information. Furthermore, a novel linear extended state observation filter is proposed to filter the groundspeed of the powered parafoil system calculated by the GPS information to provide a best estimation of the present wind during flight. Simulation experiments and real airdrop tests demonstrate the great ability of this method to in-flight identify the variable wind field, and it can benefit the powered parafoil system to fulfil accurate tracking control and a soft landing in the unknown wind field with high landing accuracy and strong wind-resistance ability.

  4. Autonomic control of body temperature and blood pressure: influences of female sex hormones.

    Science.gov (United States)

    Charkoudian, Nisha; Hart, Emma C J; Barnes, Jill N; Joyner, Michael J

    2017-06-01

    Female reproductive hormones exert important non-reproductive influences on autonomic regulation of body temperature and blood pressure. Estradiol and progesterone influence thermoregulation both centrally and peripherally, where estradiol tends to promote heat dissipation, and progesterone tends to promote heat conservation and higher body temperatures. Changes in thermoregulation over the course of the menstrual cycle and with hot flashes at menopause are mediated by hormonal influences on neural control of skin blood flow and sweating. The influence of estradiol is to promote vasodilation, which, in the skin, results in greater heat dissipation. In the context of blood pressure regulation, both central and peripheral hormonal influences are important as well. Peripherally, the vasodilator influence of estradiol contributes to the lower blood pressures and smaller risk of hypertension seen in young women compared to young men. This is in part due to a mechanism by which estradiol augments beta-adrenergic receptor mediated vasodilation, offsetting alpha-adrenergic vasoconstriction, and resulting in a weak relationship between muscle sympathetic nerve activity and total peripheral resistance, and between muscle sympathetic nerve activity and blood pressure. After menopause, with the loss of reproductive hormones, sympathetic nerve activity, peripheral resistance and blood pressure become more strongly related, and sympathetic nerve activity (which increases with age) becomes a more important contributor to the prevailing level of blood pressure. Continuing to increase our understanding of sex hormone influences on body temperature and blood pressure regulation will provide important insight for optimization of individualized health care for future generations of women.

  5. Framework for Traffic Congestion Prediction

    NARCIS (Netherlands)

    Zaki, J.F.W.; Ali-Eldin, A.M.T.; Hussein, S.E.; Saraya, S.F.; Areed, F.F.

    2016-01-01

    Traffic Congestion is a complex dilemma facing most major cities. It has undergone a lot of research since the early 80s in an attempt to predict traffic in the short-term. Recently, Intelligent Transportation Systems (ITS) became an integral part of traffic research which helped in modeling and

  6. Congestion and residential moving behaviour

    DEFF Research Database (Denmark)

    Larsen, Morten Marott; Pilegaard, Ninette; Van Ommeren, Jos

    2008-01-01

    to congestion. We focus on the equilibrium in which some workers currently living in one region accept jobs in the other, with a fraction of them choosing to commute from their current residence to the new job in the other region and the remainder choosing to move to the region in which the new job is located...

  7. Autonomous and Controlling Reasons Underlying Achievement Goals during Task Engagement: Their Relation to Intrinsic Motivation and Cheating

    Science.gov (United States)

    Ozdemir Oz, Ayse; Lane, Jennie F.; Michou, Aikaterini

    2016-01-01

    The aim of this study was to investigate the relation of autonomous and controlling reasons underlying an endorsed achievement goal to intrinsic motivation and cheating. The endorsement of the achievement goal was ensured by involving 212 (M(subscript age) = 19.24, SD = 0.97) freshman students in a spatial task and asking them to report their most…

  8. Power quality control of an autonomous wind-diesel power system based on hybrid intelligent controller.

    Science.gov (United States)

    Ko, Hee-Sang; Lee, Kwang Y; Kang, Min-Jae; Kim, Ho-Chan

    2008-12-01

    Wind power generation is gaining popularity as the power industry in the world is moving toward more liberalized trade of energy along with public concerns of more environmentally friendly mode of electricity generation. The weakness of wind power generation is its dependence on nature-the power output varies in quite a wide range due to the change of wind speed, which is difficult to model and predict. The excess fluctuation of power output and voltages can influence negatively the quality of electricity in the distribution system connected to the wind power generation plant. In this paper, the authors propose an intelligent adaptive system to control the output of a wind power generation plant to maintain the quality of electricity in the distribution system. The target wind generator is a cost-effective induction generator, while the plant is equipped with a small capacity energy storage based on conventional batteries, heater load for co-generation and braking, and a voltage smoothing device such as a static Var compensator (SVC). Fuzzy logic controller provides a flexible controller covering a wide range of energy/voltage compensation. A neural network inverse model is designed to provide compensating control amount for a system. The system can be optimized to cope with the fluctuating market-based electricity price conditions to lower the cost of electricity consumption or to maximize the power sales opportunities from the wind generation plant.

  9. Autonomic control of vasomotion in the porcine coronary circulation during treadmill exercise: evidence for feed-forward beta-adrenergic control

    NARCIS (Netherlands)

    D.J.G.M. Duncker (Dirk); R. Stubenitsky (René); P.D. Verdouw (Pieter)

    1998-01-01

    textabstractTo date, no studies have investigated coronary vasomotor control of myocardial O2 delivery (MDO2) and its modulation by the autonomic nervous system in the porcine heart during treadmill exercise. We studied 8 chronically instrumented swine under resting

  10. OPTIMAL CONGESTION CHARGES IN GENERAL EQUILIBRIUM

    Directory of Open Access Journals (Sweden)

    Dong-Joo MOON, Ph.D.

    2002-01-01

    Another maximization problem involves characterizing the second-best optimal solution. In this problem, it is assumed to impose the congestion toll only on a single highway link. This problem yields the second-best congestion toll different from the first-best one. This second-best optimal congestion toll has the structure to reflect its impact on other highway links exempt from the congestion charge program.

  11. Relationship between autonomic cardiovascular control, case definition, clinical symptoms, and functional disability in adolescent chronic fatigue syndrome: an exploratory study.

    Science.gov (United States)

    Wyller, Vegard B; Helland, Ingrid B

    2013-02-07

    Chronic Fatigue Syndrome (CFS) is characterized by severe impairment and multiple symptoms. Autonomic dysregulation has been demonstrated in several studies. We aimed at exploring the relationship between indices of autonomic cardiovascular control, the case definition from Centers for Disease Control and Prevention (CDC criteria), important clinical symptoms, and disability in adolescent chronic fatigue syndrome. 38 CFS patients aged 12-18 years were recruited according to a wide case definition (ie. not requiring accompanying symptoms) and subjected to head-up tilt test (HUT) and a questionnaire. The relationships between variables were explored with multiple linear regression analyses. In the final models, disability was positively associated with symptoms of cognitive impairments (p<0.001), hypersensitivity (p<0.001), fatigue (p=0.003) and age (p=0.007). Symptoms of cognitive impairments were associated with age (p=0.002), heart rate (HR) at baseline (p=0.01), and HR response during HUT (p=0.02). Hypersensitivity was associated with HR response during HUT (p=0.001), high-frequency variability of heart rate (HF-RRI) at baseline (p=0.05), and adherence to the CDC criteria (p=0.005). Fatigue was associated with gender (p=0.007) and adherence to the CDC criteria (p=0.04). In conclusion, a) The disability of CFS patients is not only related to fatigue but to other symptoms as well; b) Altered cardiovascular autonomic control is associated with certain symptoms; c) The CDC criteria are poorly associated with disability, symptoms, and indices of altered autonomic nervous activity.

  12. Autonomic dysreflexia

    Science.gov (United States)

    ... pulse Muscle spasms, especially in the jaw Nasal congestion Throbbing headache Sometimes there are no symptoms, even ... of the small intestine, colon, appendix, and bronchial tubes in the lungs) Neuroleptic malignant syndrome (a condition ...

  13. Exercise-induced neuronal plasticity in central autonomic networks: role in cardiovascular control.

    Science.gov (United States)

    Michelini, Lisete C; Stern, Javier E

    2009-09-01

    It is now well established that brain plasticity is an inherent property not only of the developing but also of the adult brain. Numerous beneficial effects of exercise, including improved memory, cognitive function and neuroprotection, have been shown to involve an important neuroplastic component. However, whether major adaptive cardiovascular adjustments during exercise, needed to ensure proper blood perfusion of peripheral tissues, also require brain neuroplasticity, is presently unknown. This review will critically evaluate current knowledge on proposed mechanisms that are likely to underlie the continuous resetting of baroreflex control of heart rate during/after exercise and following exercise training. Accumulating evidence indicates that not only somatosensory afferents (conveyed by skeletal muscle receptors, baroreceptors and/or cardiopulmonary receptors) but also projections arising from central command neurons (in particular, peptidergic hypothalamic pre-autonomic neurons) converge into the nucleus tractus solitarii (NTS) in the dorsal brainstem, to co-ordinate complex cardiovascular adaptations during dynamic exercise. This review focuses in particular on a reciprocally interconnected network between the NTS and the hypothalamic paraventricular nucleus (PVN), which is proposed to act as a pivotal anatomical and functional substrate underlying integrative feedforward and feedback cardiovascular adjustments during exercise. Recent findings supporting neuroplastic adaptive changes within the NTS-PVN reciprocal network (e.g. remodelling of afferent inputs, structural and functional neuronal plasticity and changes in neurotransmitter content) will be discussed within the context of their role as important underlying cellular mechanisms supporting the tonic activation and improved efficacy of these central pathways in response to circulatory demand at rest and during exercise, both in sedentary and in trained individuals. We hope this review will stimulate

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

    Science.gov (United States)

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

    2005-06-01

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

  15. A comprehensive assessment of cardiovascular autonomic control using photoplethysmograms recorded from the earlobe and fingers

    International Nuclear Information System (INIS)

    Kiselev, A R; Mironov, S A; Karavaev, A S; Kulminskiy, D D; Prokhorov, M D; Skazkina, V V; Borovkova, E I; Ponomarenko, V I; Shvartz, V A

    2016-01-01

    We compare the spectral indices of photoplethysmogram variability (PPGV) estimated using photoplethysmograms recorded from the earlobe and the middle fingers of the right and left hand and analyze their correlation with similar indices of heart rate variability (HRV) in 30 healthy subjects (26 men) aged 27 (25, 29) years (median with inter-quartile ranges) at rest and under the head-up tilt test. The following spectral indices of PPGV and HRV were compared: mean heart rate (HR), total spectral power (TP), high-frequency (HF) and low-frequency (LF) ranges of TP in percents (HF% and LF%), LF/HF ratio, and spectral coherence. We assess also the index S of synchronization between the LF oscillations in HRV and PPGV. The constancy of blood pressure (BP) and moderate increase of HR under the tilt test indicate the presence of fast processes of cardiovascular adaptation with the increase of the sympathetic activity in studied healthy subjects. The impact of respiration on the PPGV spectrum (accessed by HF%) is less than on the HRV spectrum. It is shown that the proportion of sympathetic vascular activity (accessed by LF%) is constant in the PPGV of three analyzed PPGs during the tilt test. The PPGV for the ear PPG was less vulnerable to breathing influence accessed by HF% (independently from body position) than for PPGs from fingers. We reveal the increase of index S under the tilt test indicating the activation of interaction between the heart and distal vessels. The PPGV spectra for finger PPGs from different hands are highly coherent, but differ substantially from the PPGV spectrum for the ear PPG. We conclude that joint analysis of frequency components of PPGV (for the earlobe and finger PPGs of both hands) and HRV and assessment of their synchronization provide additional information about cardiovascular autonomic control. (paper)

  16. Quantifying Effects of Pharmacological Blockers of Cardiac Autonomous Control Using Variability Parameters.

    Science.gov (United States)

    Miyabara, Renata; Berg, Karsten; Kraemer, Jan F; Baltatu, Ovidiu C; Wessel, Niels; Campos, Luciana A

    2017-01-01

    Objective: The aim of this study was to identify the most sensitive heart rate and blood pressure variability (HRV and BPV) parameters from a given set of well-known methods for the quantification of cardiovascular autonomic function after several autonomic blockades. Methods: Cardiovascular sympathetic and parasympathetic functions were studied in freely moving rats following peripheral muscarinic (methylatropine), β1-adrenergic (metoprolol), muscarinic + β1-adrenergic, α1-adrenergic (prazosin), and ganglionic (hexamethonium) blockades. Time domain, frequency domain and symbolic dynamics measures for each of HRV and BPV were classified through paired Wilcoxon test for all autonomic drugs separately. In order to select those variables that have a high relevance to, and stable influence on our target measurements (HRV, BPV) we used Fisher's Method to combine the p -value of multiple tests. Results: This analysis led to the following best set of cardiovascular variability parameters: The mean normal beat-to-beat-interval/value (HRV/BPV: meanNN), the coefficient of variation (cvNN = standard deviation over meanNN) and the root mean square differences of successive (RMSSD) of the time domain analysis. In frequency domain analysis the very-low-frequency (VLF) component was selected. From symbolic dynamics Shannon entropy of the word distribution (FWSHANNON) as well as POLVAR3, the non-linear parameter to detect intermittently decreased variability, showed the best ability to discriminate between the different autonomic blockades. Conclusion: Throughout a complex comparative analysis of HRV and BPV measures altered by a set of autonomic drugs, we identified the most sensitive set of informative cardiovascular variability indexes able to pick up the modifications imposed by the autonomic challenges. These indexes may help to increase our understanding of cardiovascular sympathetic and parasympathetic functions in translational studies of experimental diseases.

  17. Autonomía Adolescente y Apoyo y Control Parental en Familias Indígenas Mexicanas

    OpenAIRE

    Rosario Esteinou

    2015-01-01

    (analítico): Con base en una encuesta, en este artículo presento un análisis descriptivo de las percepciones de adolescentes indígenas de México, sobre su autonomía y los comportamientos de sus padres y madres en términos del apoyo y control que ellos y ellas ejercen. En particular, analizo si la autonomía alcanzada puede ser asociada a un proceso de separación/desconexión o de separación/conexión con los padres y madres. Este proceso está ligado a los rasgos que guardan los comportamientos d...

  18. Maintenance of Blood-Brain Barrier Integrity in Hypertension: A Novel Benefit of Exercise Training for Autonomic Control

    Directory of Open Access Journals (Sweden)

    Leila Buttler

    2017-12-01

    Full Text Available The blood-brain barrier (BBB is a complex multicellular structure acting as selective barrier controlling the transport of substances between these compartments. Accumulating evidence has shown that chronic hypertension is accompanied by BBB dysfunction, deficient local perfusion and plasma angiotensin II (Ang II access into the parenchyma of brain areas related to autonomic circulatory control. Knowing that spontaneously hypertensive rats (SHR exhibit deficient autonomic control and brain Ang II hyperactivity and that exercise training is highly effective in correcting both, we hypothesized that training, by reducing Ang II content, could improve BBB function within autonomic brain areas of the SHR. After confirming the absence of BBB lesion in the pre-hypertensive SHR, but marked fluorescein isothiocyanate dextran (FITC, 10 kD leakage into the brain parenchyma of the hypothalamic paraventricular nucleus (PVN, nucleus of the solitary tract, and rostral ventrolateral medulla during the established phase of hypertension, adult SHR, and age-matched WKY were submitted to a treadmill training (T or kept sedentary (S for 8 weeks. The robust FITC leakage within autonomic areas of the SHR-S was largely reduced and almost normalized since the 2nd week of training (T2. BBB leakage reduction occurred simultaneously and showed strong correlations with both decreased LF/HF ratio to the heart and reduced vasomotor sympathetic activity (power spectral analysis, these effects preceding the appearance of resting bradycardia (T4 and partial pressure fall (T8. In other groups of SHR-T simultaneously infused with icv Ang II or saline (osmotic mini-pumps connected to a lateral ventricle cannula we proved that decreased local availability of this peptide and reduced microglia activation (IBA1 staining are crucial mechanisms conditioning the restoration of BBB integrity. Our data also revealed that Ang II-induced BBB lesion was faster within the PVN (T2, suggesting

  19. Advanced Sensing and Control Techniques to Facilitate Semi-Autonomous Decommissioning

    International Nuclear Information System (INIS)

    Schalkoff, Robert J.

    1999-01-01

    This research is intended to advance the technology of semi-autonomous teleoperated robotics as applied to Decontamination and Decommissioning (D and D) tasks. Specifically, research leading to a prototype dual-manipulator mobile work cell is underway. This cell is supported and enhanced by computer vision, virtual reality and advanced robotics technology

  20. Towards Scalable Distributed Framework for Urban Congestion Traffic Patterns Warehousing

    Directory of Open Access Journals (Sweden)

    A. Boulmakoul

    2015-01-01

    Full Text Available We put forward architecture of a framework for integration of data from moving objects related to urban transportation network. Most of this research refers to the GPS outdoor geolocation technology and uses distributed cloud infrastructure with big data NoSQL database. A network of intelligent mobile sensors, distributed on urban network, produces congestion traffic patterns. Congestion predictions are based on extended simulation model. This model provides traffic indicators calculations, which fuse with the GPS data for allowing estimation of traffic states across the whole network. The discovery process of congestion patterns uses semantic trajectories metamodel given in our previous works. The challenge of the proposed solution is to store patterns of traffic, which aims to ensure the surveillance and intelligent real-time control network to reduce congestion and avoid its consequences. The fusion of real-time data from GPS-enabled smartphones integrated with those provided by existing traffic systems improves traffic congestion knowledge, as well as generating new information for a soft operational control and providing intelligent added value for transportation systems deployment.

  1. Modelling and experimental study for automated congestion driving

    NARCIS (Netherlands)

    Urhahne, Joseph; Piastowski, P.; van der Voort, Mascha C.; Bebis, G; Boyle, R.; Parvin, B.; Koracin, D.; Pavlidis, I.; Feris, R.; McGraw, T.; Elendt, M.; Kopper, R.; Ragan, E.; Ye, Z.; Weber, G.

    2015-01-01

    Taking a collaborative approach in automated congestion driving with a Traffic Jam Assist system requires the driver to take over control in certain traffic situations. In order to warn the driver appropriately, warnings are issued (“pay attention” vs. “take action”) due to a control transition

  2. Avoiding congestion in recommender systems

    International Nuclear Information System (INIS)

    Ren, Xiaolong; Lü, Linyuan; Liu, Runran; Zhang, Jianlin

    2014-01-01

    Recommender systems use the historical activities and personal profiles of users to uncover their preferences and recommend objects. Most of the previous methods are based on objects’ (and/or users’) similarity rather than on their difference. Such approaches are subject to a high risk of increasingly exposing users to a narrowing band of popular objects. As a result, a few objects may be recommended to an enormous number of users, resulting in the problem of recommendation congestion, which is to be avoided, especially when the recommended objects are limited resources. In order to quantitatively measure a recommendation algorithm's ability to avoid congestion, we proposed a new metric inspired by the Gini index, which is used to measure the inequality of the individual wealth distribution in an economy. Besides this, a new recommendation method called directed weighted conduction (DWC) was developed by considering the heat conduction process on a user–object bipartite network with different thermal conductivities. Experimental results obtained for three benchmark data sets showed that the DWC algorithm can effectively avoid system congestion, and greatly improve the novelty and diversity, while retaining relatively high accuracy, in comparison with the state-of-the-art methods. (paper)

  3. Radiotherapy for hypersplenism from congestive splenomegaly

    International Nuclear Information System (INIS)

    Liu, Mu-Tai; Hsieh, Chang-Yo; Chang, Tung-Hao; Lin, Jao-Perng; Huang, Chia-Chun

    2004-01-01

    We evaluated the effects of splenic irradiation on the common hematological disorders of hypersplenism. From August 2002 to March 2003, five patients with hypersplenism due to congestive splenomegaly underwent splenic irradiation at the Department od Radiation Oncology, Changhua Chirstian Hospital, Taiwan. 3 were males and 2 were females aging from 38 to 66 years. All patients had history of liver cirrhosis. 4 patients underwent thee-dimensional conformal radiotherapy and received conventional radiotherapy with anterior-posterior parallel opposing fields. The followup-period ranged from 1 to 7 months. Thrombocytopenia and splenomegaly were found in all 5 patients by physical examination, hematological test, abdominal sonography and/or abdominal computed tomography. After radiotherapy, thrombocytopenia improved, but leukopenia and anemia did not. No complication due to radiotherapy was found during the follow-up period after splenic irradiation. 2 patients died of hepatocellular carcinoma with active bleeding. One patient died of renal failure due to end-stage renal disease. Based on our results, it seems that splenic irradiation might be effective in treating thrombocytopenia and splenomegaly. Splenic irradiatin seems to be effective for thrombocytopenia, splenomegaly and splenic pain associated with hypersplenism from congenstive splenomegaly. This approach is non-invasive and may be an alternative treatment for splenectomy and splenic embolization for patients with hypersplenism due to congestive splenomegaly. The shortcoming of this study are small sample size, short period of follow-up and lack of randomization. A randomized control trial with more cases and further follow-up of hematological tests and splenic size estimation are warranted to evaluate long term improvement of congestive splenomegaly with thrombocytopeniaafter splenic irradiation

  4. Quantity and Quality of Carbohydrate Intake during Pregnancy, Newborn Body Fatness and Cardiac Autonomic Control: Conferred Cardiovascular Risk?

    Directory of Open Access Journals (Sweden)

    Kirsty M. Mckenzie

    2017-12-01

    Full Text Available The fetal environment has an important influence on health and disease over the life course. Maternal nutritional status during pregnancy is potentially a powerful contributor to the intrauterine environment, and may alter offspring physiology and later life cardio-metabolic risk. Putative early life markers of cardio-metabolic risk include newborn body fatness and cardiac autonomic control. We sought to determine whether maternal dietary carbohydrate quantity and/or quality during pregnancy are associated with newborn body composition and cardiac autonomic function. Maternal diet during pregnancy was assessed in 142 mother-infant pairs using a validated food frequency questionnaire. Infant adiposity and body composition were assessed at birth using air-displacement plethysmography. Cardiac autonomic function was assessed as heart rate variability. The quantity of carbohydrates consumed during pregnancy, as a percentage of total energy intake, was not associated with meaningful differences in offspring birth weight, adiposity or heart rate variability (p > 0.05. There was some evidence that maternal carbohydrate quality, specifically higher fibre and lower glycemic index, is associated with higher heart rate variability in the newborn offspring (p = 0.06. This suggests that poor maternal carbohydrate quality may be an important population-level inter-generational risk factor for later cardiac and hemodynamic risk of their offspring.

  5. Autonomic control of heart rate during orthostasis and the importance of orthostatic-tachycardia in the snake Python molurus.

    Science.gov (United States)

    Armelin, Vinicius Araújo; da Silva Braga, Victor Hugo; Abe, Augusto Shinya; Rantin, Francisco Tadeu; Florindo, Luiz Henrique

    2014-10-01

    Orthostasis dramatically influences the hemodynamics of terrestrial vertebrates, especially large and elongated animals such as snakes. When these animals assume a vertical orientation, gravity tends to reduce venous return, cardiac filling, cardiac output and blood pressure to the anterior regions of the body. The hypotension triggers physiological responses, which generally include vasomotor adjustments and tachycardia to normalize blood pressure. While some studies have focused on understanding the regulation of these vasomotor adjustments in ectothermic vertebrates, little is known about regulation and the importance of heart rate in these animals during orthostasis. We acquired heart rate and carotid pulse pressure (P PC) in pythons in their horizontal position, and during 30 and 60° inclinations while the animals were either untreated (control) or upon muscarinic cholinoceptor blockade and a double autonomic blockade. Double autonomic blockade completely eradicated the orthostatic-tachycardia, and without this adjustment, the P PC reduction caused by the tilts became higher than that which was observed in untreated animals. On the other hand, post-inclinatory vasomotor adjustments appeared to be of negligible importance in counterbalancing the hemodynamic effects of gravity. Finally, calculations of cardiac autonomic tones at each position revealed that the orthostatic-tachycardia is almost completely elicited by a withdrawal of vagal drive.

  6. Green supply chain: Simulating road traffic congestion

    Science.gov (United States)

    Jalal, Muhammad Zulqarnain Hakim Abd; Nawawi, Mohd Kamal Mohd; Laailatul Hanim Mat Desa, Wan; Khalid, Ruzelan; Khalid Abduljabbar, Waleed; Ramli, Razamin

    2017-09-01

    With the increasing awareness of the consumers about environmental issues, businesses, households and governments increasingly want use green products and services which lead to green supply chain. This paper discusses a simulation study of a selected road traffic system that will contribute to the air pollution if in the congestion state. Road traffic congestion (RTC) can be caused by a temporary obstruction, a permanent capacity bottleneck in the network itself, and stochastic fluctuation in demand within a particular sector of the network, leading to spillback and queue propagation. A discrete-event simulation model is developed to represent the real traffic light control (TLC) system condition during peak hours. Certain performance measures such as average waiting time and queue length were measured using the simulation model. Existing system uses pre-set cycle time to control the light changes which is fixed time cycle. In this research, we test several other combination of pre-set cycle time with the objective to find the best system. In addition, we plan to use a combination of the pre-set cycle time and a proximity sensor which have the authority to manipulate the cycle time of the lights. The sensors work in such situation when the street seems to have less occupied vehicles, obviously it may not need a normal cycle for green light, and automatically change the cycle to street where vehicle is present.

  7. Coordinated path-following and direct yaw-moment control of autonomous electric vehicles with sideslip angle estimation

    Science.gov (United States)

    Guo, Jinghua; Luo, Yugong; Li, Keqiang; Dai, Yifan

    2018-05-01

    This paper presents a novel coordinated path following system (PFS) and direct yaw-moment control (DYC) of autonomous electric vehicles via hierarchical control technique. In the high-level control law design, a new fuzzy factor is introduced based on the magnitude of longitudinal velocity of vehicle, a linear time varying (LTV)-based model predictive controller (MPC) is proposed to acquire the wheel steering angle and external yaw moment. Then, a pseudo inverse (PI) low-level control allocation law is designed to realize the tracking of desired external moment torque and management of the redundant tire actuators. Furthermore, the vehicle sideslip angle is estimated by the data fusion of low-cost GPS and INS, which can be obtained by the integral of modified INS signals with GPS signals as initial value. Finally, the effectiveness of the proposed control system is validated by the simulation and experimental tests.

  8. Development of Mission Enabling Infrastructure — Cislunar Autonomous Positioning System (CAPS)

    Science.gov (United States)

    Cheetham, B. W.

    2017-10-01

    Advanced Space, LLC is developing the Cislunar Autonomous Positioning System (CAPS) which would provide a scalable and evolvable architecture for navigation to reduce ground congestion and improve operations for missions throughout cislunar space.

  9. ADRES : autonomous decentralized regenerative energy systems

    Energy Technology Data Exchange (ETDEWEB)

    Brauner, G.; Einfalt, A.; Leitinger, C.; Tiefgraber, D. [Vienna Univ. of Technology (Austria)

    2007-07-01

    The autonomous decentralized regenerative energy systems (ADRES) research project demonstrates that decentralized network independent microgrids are the target power systems of the future. This paper presented a typical structure of a microgrid, demonstrating that all types of generation available can be integrated, from wind and small hydro to photovoltaic, fuel cell, biomass or biogas operated stirling motors and micro turbines. In grid connected operation the balancing energy and reactive power for voltage control will come from the public grid. If there is no interconnection to a superior grid, it will form an autonomous micro grid. In order to reduce peak power demand and base energy, autonomous microgrid technology requires highly efficient appliances. Otherwise large collector design, high storage and balancing generation capacities would be necessary, which would increase costs. End-use energy efficiency was discussed with reference to demand side management (DSM) strategies that match energy demand with actual supply in order to minimize the storage size needed. This paper also discussed network controls that comprise active and reactive power. Decentralized robust algorithms were investigated with reference to black-start ability and congestion management features. It was concluded that the trend to develop small decentralized grids in parallel to existing large systems will improve security of supply and reduce greenhouse gas emissions. Decentralized grids will also increase energy efficiency because regenerative energy will be used where it is collected in the form of electricity and heat, thus avoiding transport and the extension of transmission lines. Decentralized energy technology is now becoming more economic by efficient and economic mass production of components. Although decentralized energy technology requires energy automation, computer intelligence is becoming increasingly cost efficient. 2 refs., 4 figs.

  10. A Novel Congestion Detection Scheme in TCP Over OBS Networks

    KAUST Repository

    Shihada, Basem

    2009-02-01

    This paper introduces a novel congestion detection scheme for high-bandwidth TCP flows over optical burst switching (OBS) networks, called statistical additive increase multiplicative decrease (SAIMD). SAIMD maintains and analyzes a number of previous round-trip time (RTTs) at the TCP senders in order to identify the confidence with which a packet loss event is due to network congestion. The confidence is derived by positioning short-term RTT in the spectrum of long-term historical RTTs. The derived confidence corresponding to the packet loss is then taken in the developed policy for TCP congestion window adjustment. We will show through extensive simulation that the proposed scheme can effectively solve the false congestion detection problem and significantly outperform the conventional TCP counterparts without losing fairness. The advantages gained in our scheme are at the expense of introducing more overhead in the SAIMD TCP senders. Based on the proposed congestion control algorithm, a throughput model is formulated, and is further verified by simulation results.

  11. Autonomous Propellant Loading Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The AES Autonomous Propellant Loading (APL) project consists of three activities. The first is to develop software that will automatically control loading of...

  12. Intermittent renewable generation and network congestion: an empirical analysis of Italian Power Market

    International Nuclear Information System (INIS)

    Ardian, Faddy; Concettini, Silvia; Creti, Anna

    2015-01-01

    The literature demonstrates the likely reduction of wholesale electricity prices due to a larger penetration of renewable energy sources (RES). When markets are organized as two or more inter-connected sub-markets within a larger power market the final impact of increasing RES production may be less straightforward given the presence of network constraints. We tests this phenomenon by analyzing the impact of RES production on the probability of congestion and on the size of congestion cost in Italy. Using a database with hourly observations for a five year period we estimate two econometric models on five zonal pairings: a multinomial logit model for the occurrence and direction of congestion and a three stage least square model for the size of congestion costs. The analysis suggests that the effect of a larger local wind and solar supply is to decrease the probability of suffering congestion in entry and to increase the probability of causing a congestion in exit compared to no congestion case. Increasing hydroelectric production has a similar effect. These results hold for both importing and exporting regions, but importing regions are less likely to cause congestion in exit, therefore the installation of new RES capacity in these zones may have a positive effects in terms of flow balance between regions. Concerning the cost level, a larger local RES supply seems to push the congestion cost towards negative values as it decreases the marginal cost for balancing the system. This is true for all zones in the case of explicit congestion cost, but it is only verified in importing regions in the case of implicit congestion cost. This result suggests that the increase of RES production should be promoted in importing zones, but the overall growth should be controlled in order to avoid congestion in the opposite direction. (authors)

  13. Autonomous and controlled motivation for interpersonal therapy for depression: Between-therapists and within-therapist effects.

    Science.gov (United States)

    Zuroff, David C; McBride, Carolina; Ravitz, Paula; Koestner, Richard; Moskowitz, D S; Bagby, R Michael

    2017-10-01

    Differences between therapists in the average outcomes their patients achieve are well documented, and researchers have begun to try to explain such differences (Baldwin & Imel, 2013). Guided by Self-Determination Theory (Deci & Ryan, 2000), we examined the effects on outcome of differences between therapists in their patients' average levels of autonomous and controlled motivation for treatment, as well as the effects of differences among the patients within each therapist's caseload. Between and within-therapist differences in the SDT construct of perceived relational support were explored as predictors of patients' motivation. Nineteen therapists treated 63 patients in an outpatient clinic providing manualized interpersonal therapy (IPT) for depression. Patients completed the BDI-II at pretreatment, posttreatment, and each treatment session. The Impact Message Inventory was administered at the third session and scored for perceived therapist friendliness, a core element of relational support. We created between-therapists (therapist-level) scores by averaging over the patients in each therapist's caseload; within-therapist (patient-level) scores were computed by centering within each therapist's caseload. As expected, better outcome was predicted by higher levels of therapist-level and patient-level autonomous motivation and by lower levels of therapist-level and patient-level controlled motivation. In turn, autonomous motivation was predicted by therapist-level and patient-level relational support (friendliness). Controlled motivation was predicted solely by patient self-critical perfectionism. The results extend past work by demonstrating that both between-therapists and within-therapist differences in motivation predict outcome. As well, the results suggest that therapists should monitor their interpersonal impact so as to provide relational support. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

  14. Congestion Pricing for Aircraft Pushback Slot Allocation

    Science.gov (United States)

    Zhang, Yaping

    2017-01-01

    In order to optimize aircraft pushback management during rush hour, aircraft pushback slot allocation based on congestion pricing is explored while considering monetary compensation based on the quality of the surface operations. First, the concept of the “external cost of surface congestion” is proposed, and a quantitative study on the external cost is performed. Then, an aircraft pushback slot allocation model for minimizing the total surface cost is established. An improved discrete differential evolution algorithm is also designed. Finally, a simulation is performed on Xinzheng International Airport using the proposed model. By comparing the pushback slot control strategy based on congestion pricing with other strategies, the advantages of the proposed model and algorithm are highlighted. In addition to reducing delays and optimizing the delay distribution, the model and algorithm are better suited for use for actual aircraft pushback management during rush hour. Further, it is also observed they do not result in significant increases in the surface cost. These results confirm the effectiveness and suitability of the proposed model and algorithm. PMID:28114429

  15. Using tradeable permits to achieve sustainability in the world`s large cities. Policy design issues and efficiency conditions for controlling vehicle emissions, congestion and urban decentralization with an application to Mexico City

    Energy Technology Data Exchange (ETDEWEB)

    Goddard, H.C. [Instituto Tecnologico Autonomo de Mexico, Mexico City (Mexico)

    1997-07-01

    Many large cities in the world have serious ground level ozone problems, largely the product of vehicular emissions and thus the argued unsustainability of current urban growth patterns is frequently blamed on unrestricted private vehicle use. This article reviews Mexico City`s experience with vehicle use restrictions as an emissions control program and develops the conditions for optimal quantitative restrictions on vehicle use and for complementary abatement technologies. The stochastic nature of air pollution outcomes is modelled explicitly in both the static and dynamic formulations of the control problem, in which for the first time in the literature the use of tradeable vehicle use permits is proposed as a cost-effective complement to technological abatement for mobile emissions control. This control regime gives the authorities a broader and more flexible set of instruments with which to deal more effectively with vehicle emissions, and with seasonal and stochastic variation of air quality outcomes. The market in tradeable vehicle use permits would be very competitive with low transactions costs. This control policy would have very favorable impacts on air quality, vehicle congestion and on urban form and development. Given the general political resistance to environmental taxes, this program could constitute a workable and politically palatable set of policies for controlling greenhouse gas emissions from the transport sector. 7 figs., 1 appendix, 23 refs.

  16. Using tradeable permits to achieve sustainability in the world's large cities. Policy design issues and efficiency conditions for controlling vehicle emissions, congestion and urban decentralization with an application to Mexico City

    International Nuclear Information System (INIS)

    Goddard, H.C.

    1997-01-01

    Many large cities in the world have serious ground level ozone problems, largely the product of vehicular emissions and thus the argued unsustainability of current urban growth patterns is frequently blamed on unrestricted private vehicle use. This article reviews Mexico City's experience with vehicle use restrictions as an emissions control program and develops the conditions for optimal quantitative restrictions on vehicle use and for complementary abatement technologies. The stochastic nature of air pollution outcomes is modelled explicitly in both the static and dynamic formulations of the control problem, in which for the first time in the literature the use of tradeable vehicle use permits is proposed as a cost-effective complement to technological abatement for mobile emissions control. This control regime gives the authorities a broader and more flexible set of instruments with which to deal more effectively with vehicle emissions, and with seasonal and stochastic variation of air quality outcomes. The market in tradeable vehicle use permits would be very competitive with low transactions costs. This control policy would have very favorable impacts on air quality, vehicle congestion and on urban form and development. Given the general political resistance to environmental taxes, this program could constitute a workable and politically palatable set of policies for controlling greenhouse gas emissions from the transport sector. 7 figs., 1 appendix, 23 refs

  17. A Priori User Acceptance and the Perceived Driving Pleasure in Semi-autonomous and Autonomous Vehicles

    DEFF Research Database (Denmark)

    Bjørner, Thomas

    The aim of this minor pilot study is, from a sociological user perspective, to explore a priori user acceptance and the perceived driving pleasure in semi- autonomous and autonomous vehicles. The methods used were 13 in-depth interviews while having participants watch video examples within four...... different scenarios. After each scenario, two different numerical rating scales were used. There was a tendency toward positive attitudes regarding semi- autonomous driving systems, especially the use of a parking assistant and while driving in city traffic congestion. However, there were also major...

  18. A Multilevel Congestion-Based Global Router

    Directory of Open Access Journals (Sweden)

    Logan Rakai

    2009-01-01

    Full Text Available Routing in nanometer nodes creates an elevated level of importance for low-congestion routing. At the same time, advances in mathematical programming have increased the power to solve complex problems, such as the routing problem. Hence, new routing methods need to be developed that can combine advanced mathematical programming and modeling techniques to provide low-congestion solutions. In this paper, a hierarchical mathematical programming-based global routing technique that considers congestion is proposed. The main contributions presented in this paper include (i implementation of congestion estimation based on actual routing solutions versus purely probabilistic techniques, (ii development of a congestion-based hierarchy for solving the global routing problem, and (iii generation of a robust framework for solving the routing problem using mathematical programming techniques. Experimental results illustrate that the proposed global router is capable of reducing congestion and overflow by as much as 36% compared to the state-of-the-art mathematical programming models.

  19. Road traffic congestion a concise guide

    CERN Document Server

    Falcocchio, John C

    2015-01-01

    This book on road traffic congestion in cities and suburbs describes congestion problems and shows how they can be relieved. The first part (Chapters 1 - 3) shows how congestion reflects transportation technologies and settlement patterns. The second part (Chapters 4 - 13) describes the causes, characteristics, and consequences of congestion. The third part (Chapters 14 - 23) presents various relief strategies - including supply adaptation and demand mitigation - for nonrecurring and recurring congestion. The last part (Chapter 24) gives general guidelines for congestion relief and provides a general outlook for the future. The book will be useful for a wide audience - including students, practitioners and researchers in a variety of professional endeavors: traffic engineers, transportation planners, public transport specialists, city planners, public administrators, and private enterprises that depend on transportation for their activities.  

  20. Autonomous houses. Autonomous house

    Energy Technology Data Exchange (ETDEWEB)

    Tanaka, S. (Tokai University, Tokyo (Japan). Faculty of Engineering)

    1991-09-30

    Self-sufficiency type houses are outlined. On condition that people gain a certain amount of income in relation with the society, they self-suffice under the given environment, allowing themselves to accept a minimum of industrial products with small environmental load. Ordinary supply from outside of fossil energy and materials which depend on it is minimized. Types are classified into three: energy, energy materials and perfect self-sufficiency. A study project for environment symbiotic houses is progressing which is planned by the Ministry of Construction and Institute of Building Energy Conservation and is invested by a private company. Its target is making a house for halving an environmental load by CO{sub 2}, for the purpose of creating the environment symbiotic house which is nice to and in harmony with the global environment and human beings. As a part of the studies on energy-saving and resource conservation on houses, introduced is a plan of an autonomous house at Izu-Atagawa. The passive method and high thermal-insulation are used for air conditioning, and hot spring water for hot water supply. Electric power is generated by hydroelectric power generation using mountain streams and by solar cells. Staple food is purchased, while subsidiary food is sufficed. 17 refs., 4 figs., 1 tab.

  1. Advanced carrier sensing to resolve local channel congestion

    NARCIS (Netherlands)

    Schmidt, Robert K.; Brakemeier, Achim; Leinmüller, Tim; Kargl, Frank; Schäfer, Günther

    Communication performance in VANETs under high channel load is significantly degraded due to packet collisions and messages drops, also referred to as local channel congestion. So far, research was focused on the control of transmit power and the limitation of the messages rate to mitigate the

  2. Transvaginal ultrasound examination of women with and without pelvic venous congestion

    International Nuclear Information System (INIS)

    Halligan, Steve; Campbell, Deidre; Bartram, Clive I.; Rogers, Vera; El-Haddad, Cadria; Patel, Sujata; Beard, Richard W.

    2000-01-01

    AIM: To determine if transvaginal ultrasound, including power Doppler examination, can distinguish between women with and without pelvic congestion. MATERIALS AND METHODS: Thirty-six women with pelvic congestion were prospectively examined using transvaginal ultrasonography and standard uterine and ovarian measurements made. Additionally, planimetric measurements of each ovary were taken using an image analysis program to determine the cross-sectional area of ovarian stroma and follicles, if any. Power Doppler images of adnexal vessels were obtained and planimetric estimates of surface area calculated. A congestion score was assigned to each patient, based on vein number, diameter and morphology on grey-scale scanning. Identical measurements were obtained from 19 asymptomatic women and results compared. RESULTS: There was no significant difference between women with pelvic congestion and controls with respect to power Doppler or grey-scale images of adnexal vessels, or congestion score. However, women with pelvic congestion had significantly larger and multicystic ovaries when compared to controls. CONCLUSIONS: Transvaginal ultrasound measurements of adnexal vasculature, including power Doppler measurements, cannot reliably distinguish women with pelvic congestion from controls. However, ultrasound may remain useful for diagnosis of pelvic congestion, predominantly because it is able to visualize multi-cystic ovaries in these patients. Halligan, S. (2000).Clinical Radiology 55 , 954-958

  3. A resilience-oriented approach for quantitatively assessing recurrent spatial-temporal congestion on urban roads.

    Directory of Open Access Journals (Sweden)

    Junqing Tang

    Full Text Available Traffic congestion brings not only delay and inconvenience, but other associated national concerns, such as greenhouse gases, air pollutants, road safety issues and risks. Identification, measurement, tracking, and control of urban recurrent congestion are vital for building a livable and smart community. A considerable amount of works has made contributions to tackle the problem. Several methods, such as time-based approaches and level of service, can be effective for characterizing congestion on urban streets. However, studies with systemic perspectives have been minor in congestion quantification. Resilience, on the other hand, is an emerging concept that focuses on comprehensive systemic performance and characterizes the ability of a system to cope with disturbance and to recover its functionality. In this paper, we symbolized recurrent congestion as internal disturbance and proposed a modified metric inspired by the well-applied "R4" resilience-triangle framework. We constructed the metric with generic dimensions from both resilience engineering and transport science to quantify recurrent congestion based on spatial-temporal traffic patterns and made the comparison with other two approaches in freeway and signal-controlled arterial cases. Results showed that the metric can effectively capture congestion patterns in the study area and provides a quantitative benchmark for comparison. Also, it suggested not only a good comparative performance in measuring strength of proposed metric, but also its capability of considering the discharging process in congestion. The sensitivity tests showed that proposed metric possesses robustness against parameter perturbation in Robustness Range (RR, but the number of identified congestion patterns can be influenced by the existence of ϵ. In addition, the Elasticity Threshold (ET and the spatial dimension of cell-based platform differ the congestion results significantly on both the detected number and

  4. Congestion management in liberalized market environment

    International Nuclear Information System (INIS)

    2006-01-01

    This paper is based on the survey conducted by WG C5.4 on congestion management. It describes market conditions and institutional arrangements in the 18 countries participating in the survey, and internal and cross-border congestion management. The interaction with the electricity market is discussed, considering allocation of transmission capacity, market schedule, congestion management tools and payment for the costs incurred. The survey shows that there is a tendency towards the use of market-based methods. (author)

  5. CF-Pursuit: A Pursuit Method with a Clothoid Fitting and a Fuzzy Controller for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Yunxiao Shan

    2015-09-01

    Full Text Available Simple and efficient geometric controllers, like Pure-Pursuit, have been widely used in various types of autonomous vehicles to solve tracking problems. In this paper, we have developed a new pursuit method, named CF-Pursuit, which has been based on Pure-Pursuit but with certain differences. In CF-Pursuit, in order to reduce fitting errors, we used a clothoid C1 curve to replace the circle employed in Pure-Pursuit. This improvement to the fitting method helps the Pursuit method to decrease tracking errors. As regards the selection of look-ahead distance, we employed a fuzzy system to directly consider the path's curvature. There are three input variables in this fuzzy system, 6mcurvature, 9mcurvature and 12mcurvature, calculated from the clothoid fit with the current position and the goal position on the defined path. A Sugeno fuzzy model was adapted to output a reasonable look-ahead distance using the experiences of human drivers as well as our own tests. Compared with some other geometric controllers, CF-Pursuit performs better in robustness, cross track errors and stability. The results from field tests have proven the CF-Pursuit is a practical and efficient geometric method for the path tracking problems of autonomous vehicles.

  6. Perancangan dan Implementasi Autonomous Landing Menggunakan Behavior-Based dan Fuzzy Controller pada Quadcopter

    Directory of Open Access Journals (Sweden)

    Fadjri Andika Permadi

    2012-09-01

    Full Text Available Perkembangan teknologi sistem kendali pesawat sayap berputar (copter semakin pesat salah satunya pada pesawat berbaling-baling empat (quadcopter. Landing merupakan bagian tersulit dalam penerbangan quadcopter. Ukuran quadcopter yang kecil mengakibatkan susahnya pengendalian kestabilan dan kecepatan turun.Cara mengatasi permasalahan ini adalah dengan autonomous landing yang menggunakan algoritma kendali behavior-based (berbasis perilaku. Tugas akhir ini merancang dan mengimplementasikan algoritma kendali behavior-based (berbasis perilaku pada proses autonomous landing quadcopter dan kontroler PD (Proporsional, Diferensial pada untuk  kestabilan sudut roll dan pitch, sedangkan untuk jarak landing menggunakan kontroler logika fuzzy. Pada Tugas Akhir ini, didapatkan nilai parameter kontroler PD roll dan kontroler PD pitch dari hasil tuning terstruktur pada simulasi Kp=500 dan Kd=30. Sedangkan kendali landing menggunakan kontroler logika fuzzy dengan parameter Ke=4 Kde=175 dan Ku=1 pada simulasi dapat melakukan proses landing selama 8 detik dari ketinggian 3 meter. Respon hasil implementasi pada quadcopter belum sesuai dengan hasil simulasi. Proses landing pada implementasi lebih cepat dengan waktu 3.5 detik dari ketinggian 2 meter, selain itu koreksi sudut roll dan sudut pitch masih terhadapat error +/-3º.

  7. Day-Ahead Congestion Management in Distribution Systems through Household Demand Response and Distribution Congestion Prices

    DEFF Research Database (Denmark)

    Liu, Weijia; Wu, Qiuwei; Wen, Fushuan

    2014-01-01

    into balancing power might challenge the operation of electric distribution systems and cause congestions. This paper presents a distribution congestion price (DCP) based market mechanism to alleviate possible distribution system congestions. By employing the loca- tional marginal pricing (LMP) model...... is proposed. Finally, a practical Danish 60kV/10.5kV distribution system is employed as the test case to verify the proposed method for mitigating congestion....

  8. Review of Congestion Management Methods for Distribution Networks with High Penetration of Distributed Energy Resources

    DEFF Research Database (Denmark)

    Huang, Shaojun; Wu, Qiuwei; Liu, Zhaoxi

    2014-01-01

    This paper reviews the existing congestion management methods for distribution networks with high penetration of DERs documented in the recent research literatures. The congestion management methods for distribution networks reviewed can be grouped into two categories – market methods and direct...... control methods. The market methods consist of dynamic tariff, distribution capacity market, shadow price and flexible service market. The direct control methods are comprised of network reconfiguration, reactive power control and active power control. Based on the review of the existing methods...

  9. A Hierarchical Reliability Control Method for a Space Manipulator Based on the Strategy of Autonomous Decision-Making

    Directory of Open Access Journals (Sweden)

    Xin Gao

    2016-01-01

    Full Text Available In order to maintain and enhance the operational reliability of a robotic manipulator deployed in space, an operational reliability system control method is presented in this paper. First, a method to divide factors affecting the operational reliability is proposed, which divides the operational reliability factors into task-related factors and cost-related factors. Then the models describing the relationships between the two kinds of factors and control variables are established. Based on this, a multivariable and multiconstraint optimization model is constructed. Second, a hierarchical system control model which incorporates the operational reliability factors is constructed. The control process of the space manipulator is divided into three layers: task planning, path planning, and motion control. Operational reliability related performance parameters are measured and used as the system’s feedback. Taking the factors affecting the operational reliability into consideration, the system can autonomously decide which control layer of the system should be optimized and how to optimize it using a control level adjustment decision module. The operational reliability factors affect these three control levels in the form of control variable constraints. Simulation results demonstrate that the proposed method can achieve a greater probability of meeting the task accuracy requirements, while extending the expected lifetime of the space manipulator.

  10. Stochastic Stability in Internet Router Congestion Games

    Science.gov (United States)

    Chung, Christine; Pyrga, Evangelia

    Congestion control at bottleneck routers on the internet is a long standing problem. Many policies have been proposed for effective ways to drop packets from the queues of these routers so that network endpoints will be inclined to share router capacity fairly and minimize the overflow of packets trying to enter the queues. We study just how effective some of these queuing policies are when each network endpoint is a self-interested player with no information about the other players’ actions or preferences. By employing the adaptive learning model of evolutionary game theory, we study policies such as Droptail, RED, and the greedy-flow-punishing policy proposed by Gao et al. [10] to find the stochastically stable states: the states of the system that will be reached in the long run.

  11. Associations between ambient air pollution and daily mortality in a cohort of congestive heart failure: Case-crossover and nested case-control analyses using a distributed lag nonlinear model.

    Science.gov (United States)

    Buteau, Stephane; Goldberg, Mark S; Burnett, Richard T; Gasparrini, Antonio; Valois, Marie-France; Brophy, James M; Crouse, Dan L; Hatzopoulou, Marianne

    2018-04-01

    Persons with congestive heart failure may be at higher risk of the acute effects related to daily fluctuations in ambient air pollution. To meet some of the limitations of previous studies using grouped-analysis, we developed a cohort study of persons with congestive heart failure to estimate whether daily non-accidental mortality were associated with spatially-resolved, daily exposures to ambient nitrogen dioxide (NO 2 ) and ozone (O 3 ), and whether these associations were modified according to a series of indicators potentially reflecting complications or worsening of health. We constructed the cohort from the linkage of administrative health databases. Daily exposure was assigned from different methods we developed previously to predict spatially-resolved, time-dependent concentrations of ambient NO 2 (all year) and O 3 (warm season) at participants' residences. We performed two distinct types of analyses: a case-crossover that contrasts the same person at different times, and a nested case-control that contrasts different persons at similar times. We modelled the effects of air pollution and weather (case-crossover only) on mortality using distributed lag nonlinear models over lags 0 to 3 days. We developed from administrative health data a series of indicators that may reflect the underlying construct of "declining health", and used interactions between these indicators and the cross-basis function for air pollutant to assess potential effect modification. The magnitude of the cumulative as well as the lag-specific estimates of association differed in many instances according to the metric of exposure. Using the back-extrapolation method, which is our preferred exposure model, we found for the case-crossover design a cumulative mean percentage changes (MPC) in daily mortality per interquartile increment in NO 2 (8.8 ppb) of 3.0% (95% CI: -0.9, 6.9%) and for O 3 (16.5 ppb) 3.5% (95% CI: -4.5, 12.1). For O 3 there was strong confounding by weather

  12. Adaptive Control Design for Autonomous Operation of Multiple Energy Storage Systems in Power Smoothing Applications

    DEFF Research Database (Denmark)

    Meng, Lexuan; Dragicevic, Tomislav; Guerrero, Josep M.

    2018-01-01

    -pass-filter (HPF) structure. It generates the power reference according to the fluctuating power and provides a stabilization effect. The power and energy supplied by ESS are majorly configured by the cut-off frequency and gain of the HPF. Considering the operational limits on ESS state-of-charge (SoC), this paper...... proposes an adaptive cut-off frequency design method to realize communication-less and autonomous operation of a system with multiple distributed ESS. The experimental results demonstrate that the SoCs of all ESS units are kept within safe margins, while the SoC level and power of the paralleled units...... converge to the final state, providing a natural plug-and-play function....

  13. Central insulin and leptin-mediated autonomic control of glucose homeostasis.

    Science.gov (United States)

    Marino, Joseph S; Xu, Yong; Hill, Jennifer W

    2011-07-01

    Largely as a result of rising obesity rates, the incidence of type 2 diabetes is escalating rapidly. Type 2 diabetes results from multi-organ dysfunctional glucose metabolism. Recent publications have highlighted hypothalamic insulin- and adipokine-sensing as a major determinant of peripheral glucose and insulin responsiveness. The preponderance of evidence indicates that the brain is the master regulator of glucose homeostasis, and that hypothalamic insulin and leptin signaling in particular play a crucial role in the development of insulin resistance. This review discusses the neuronal crosstalk between the hypothalamus, autonomic nervous system, and tissues associated with the pathogenesis of type 2 diabetes, and how hypothalamic insulin and leptin signaling are integral to maintaining normal glucose homeostasis. Copyright © 2011 Elsevier Ltd. All rights reserved.

  14. Bisoprolol for congestive heart failure

    DEFF Research Database (Denmark)

    Rosenberg, J.; Gustafsson, F.

    2008-01-01

    Background: beta-Blockers are a cornerstone in the treatment of systolic heart failure treatment, but not all beta-blockers are effective or in this setting. Objective: To define the role of bisoprolol, a highly selective beta(1)-antagonist in congestive heart failure due to systolic dysfunction....... Methods: Using the keywords 'bisoprolol' and 'heart failure' PubMed and BIOSIS databases were searched for information regarding pharmacology and relevant randomised clinical trials. Supplementary publications were acquired by scrutinising reference lists of relevant papers. Additional information...... was obtained from the FDA website. Conclusion: Bisoprolol is an effective and well-tolerated first-line beta-blocker for patients with systolic heart failure. The knowledge is primarily based on study patients with moderate-to-severe heart failure from the three CIBIS trials Udgivelsesdato: 2008/2...

  15. Tracing based congestion management and impact of TCPS in competitive power market using MINLP

    International Nuclear Information System (INIS)

    Kumar, A.; Chanana, S.

    2006-01-01

    Efficient, fair and secure operation of the competitive power markets are key factors in managing the challenges associated with congestion management. For the system operator, the selection of generators to reschedule their output for effective management of congestion is an important task. This study used a real power flow tracing based approach for selecting the most appropriate generators to reschedule the real power output based on real power flow contribution on a congested line. These generators can be effectively used to reschedule their generation for managing congestion. Using a mixed integer non-linear programming approach for reducing the transmission congestion cost in the system, the impact of Thyristor Controlled Phase Shifter (TCPS) was also investigated and their optimal placement was obtained. The study was carried out on a 39-bus New England system for pool and mix of pool with bilateral and multilateral transactions and their impact on congestion cost. The paper presented the detailed mathematical formulation and modeling process used. It was concluded that for some transactions, the reduction in congestion cost is not very significant. Therefore, system operators should avoid such transactions during congestion to increase market efficiency. 26 refs., 1 tab., 8 figs

  16. Congestion management through topological corrections: A case study of Central Western Europe

    International Nuclear Information System (INIS)

    Han, Jinil; Papavasiliou, Anthony

    2015-01-01

    The integration of an increasing amount of renewable generation within Europe is posing operational challenges that require various balancing actions. System operators therefore need to rely increasingly on the active control of the transmission network. Transmission topology control is a fast and economical option to add flexibility to the transmission system. We model the current methodology for controlling congestion in the Central Western European (CWE) market and quantify the benefits of topology control. We also compare the results with a nodal pricing model. Our computational results suggest that topology control can significantly reduce congestion management costs under the current market coupling regime whereas the benefits of topology control are limited under nodal pricing. Topology control emerges as an attractive and implementable means of managing congestion as it provides a significant percentage of the cost savings that would be achieved by overhauling the existing European market design and shifting to a nodal pricing regime. - Highlights: • We present the congestion management model in the CWE region. • The benefits of topology control in the CWE region are quantified. • Topology control significantly reduce congestion under the current market coupling. • The benefits of topology control are limited under the nodal pricing regime. • Network topology control is a promising option for mitigating congestion in Europe.

  17. Autonomous Highway Systems Safety and Security

    OpenAIRE

    Sajjad, Imran

    2017-01-01

    Automated vehicles are getting closer each day to large-scale deployment. It is expected that self-driving cars will be able to alleviate traffic congestion by safely operating at distances closer than human drivers are capable of and will overall improve traffic throughput. In these conditions, passenger safety and security is of utmost importance. When multiple autonomous cars follow each other on a highway, they will form what is known as a cyber-physical system. In a general setting, t...

  18. Autonomous search

    CERN Document Server

    Hamadi, Youssef; Saubion, Frédéric

    2012-01-01

    Autonomous combinatorial search (AS) represents a new field in combinatorial problem solving. Its major standpoint and originality is that it considers that problem solvers must be capable of self-improvement operations. This is the first book dedicated to AS.

  19. Chest ultrasound and hidden lung congestion in peritoneal dialysis patients.

    Science.gov (United States)

    Panuccio, Vincenzo; Enia, Giuseppe; Tripepi, Rocco; Torino, Claudia; Garozzo, Maurizio; Battaglia, Giovanni Giorgio; Marcantoni, Carmelita; Infantone, Lorena; Giordano, Guido; De Giorgi, Maria Loreta; Lupia, Mario; Bruzzese, Vincenzo; Zoccali, Carmine

    2012-09-01

    Chest ultrasound (US) is a non-invasive well-validated technique for estimating extravascular lung water (LW) in patients with heart diseases and in end-stage renal disease. We systematically applied this technique to the whole peritoneal dialysis (PD) population of five dialysis units. We studied the cross-sectional association between LW, echocardiographic parameters, clinical [pedal oedema, New York Heart Association (NYHA) class] and bioelectrical impedance analysis (BIA) markers of volume status in 88 PD patients. Moderate to severe lung congestion was evident in 41 (46%) patients. Ejection fraction was the echocardiographic parameter with the strongest independent association with LW (r = -0.40 P = 0.002). Oedema did not associate with LW on univariate and multivariate analysis. NYHA class was slightly associated with LW (r = 0.21 P = 0.05). Among patients with severe lung congestion, only 27% had pedal oedema and the majority (57%) had no dyspnoea (NYHA Class I). Similarly, the prevalence of patients with BIA, evidence of volume excess was small (11%) and not significantly different (P = 0.79) from that observed in patients with mild or no congestion (9%). In PD patients, LW by chest US reveals moderate to severe lung congestion in a significant proportion of asymptomatic patients. Intervention studies are necessary to prove the usefulness of chest US for optimizing the control of fluid excess in PD patients.

  20. Increased walking variability in elderly persons with congestive heart failure

    Science.gov (United States)

    Hausdorff, J. M.; Forman, D. E.; Ladin, Z.; Goldberger, A. L.; Rigney, D. R.; Wei, J. Y.

    1994-01-01

    OBJECTIVES: To determine the effects of congestive heart failure on a person's ability to walk at a steady pace while ambulating at a self-determined rate. SETTING: Beth Israel Hospital, Boston, a primary and tertiary teaching hospital, and a social activity center for elderly adults living in the community. PARTICIPANTS: Eleven elderly subjects (aged 70-93 years) with well compensated congestive heart failure (NY Heart Association class I or II), seven elderly subjects (aged 70-79 years) without congestive heart failure, and 10 healthy young adult subjects (aged 20-30 years). MEASUREMENTS: Subjects walked for 8 minutes on level ground at their own selected walking rate. Footswitches were used to measure the time between steps. Step rate (steps/minute) and step rate variability were calculated for the entire walking period, for 30 seconds during the first minute of the walk, for 30 seconds during the last minute of the walk, and for the 30-second period when each subject's step rate variability was minimal. Group means and 5% and 95% confidence intervals were computed. MAIN RESULTS: All measures of walking variability were significantly increased in the elderly subjects with congestive heart failure, intermediate in the elderly controls, and lowest in the young subjects. There was no overlap between the three groups using the minimal 30-second variability (elderly CHF vs elderly controls: P young: P < 0.001), and no overlap between elderly subjects with and without congestive heart failure when using the overall variability. For all four measures, there was no overlap in any of the confidence intervals, and all group means were significantly different (P < 0.05).

  1. Optimal control of coupled parabolic-hyperbolic non-autonomous PDEs: infinite-dimensional state-space approach

    Science.gov (United States)

    Aksikas, I.; Moghadam, A. Alizadeh; Forbes, J. F.

    2018-04-01

    This paper deals with the design of an optimal state-feedback linear-quadratic (LQ) controller for a system of coupled parabolic-hypebolic non-autonomous partial differential equations (PDEs). The infinite-dimensional state space representation and the corresponding operator Riccati differential equation are used to solve the control problem. Dynamical properties of the coupled system of interest are analysed to guarantee the existence and uniqueness of the solution of the LQ-optimal control problem and also to guarantee the exponential stability of the closed-loop system. Thanks to the eigenvalues and eigenfunctions of the parabolic operator and also the fact that the hyperbolic-associated operator Riccati differential equation can be converted to a scalar Riccati PDE, an algorithm to solve the LQ control problem has been presented. The results are applied to a non-isothermal packed-bed catalytic reactor. The LQ optimal controller designed in the early portion of the paper is implemented for the original non-linear model. Numerical simulations are performed to show the controller performances.

  2. Using Automated Planning for Traffic Signals Control

    Directory of Open Access Journals (Sweden)

    Matija Gulić

    2016-08-01

    Full Text Available Solving traffic congestions represents a high priority issue in many big cities. Traditional traffic control systems are mainly based on pre-programmed, reactive and local techniques. This paper presents an autonomic system that uses automated planning techniques instead. These techniques are easily configurable and modified, and can reason about the future implications of actions that change the default traffic lights behaviour. The proposed implemented system includes some autonomic properties, since it monitors the current traffic state, detects if the system is degrading its performance, sets up new sets of goals to be achieved by the planner, triggers the planner that generates plans with control actions, and executes the selected courses of actions. The obtained results in several artificial and real world data-based simulation scenarios show that the proposed system can efficiently solve traffic congestion.

  3. Autonomic Neuropathy in Diabetes Mellitus

    OpenAIRE

    Verrotti, Alberto; Prezioso, Giovanni; Scattoni, Raffaella; Chiarelli, Francesco

    2014-01-01

    Diabetic autonomic neuropathy (DAN) is a serious and common complication of diabetes, often overlooked and misdiagnosed. It is a systemic-wide disorder that may be asymptomatic in the early stages. The most studied and clinically important form of DAN is cardiovascular autonomic neuropathy defined as the impairment of autonomic control of the cardiovascular system in patients with diabetes after exclusion of other causes. The reported prevalence of DAN varies widely depending on inconsistent ...

  4. Exact docking flight controller for autonomous aerial refueling with back-stepping based high order sliding mode

    Science.gov (United States)

    Su, Zikang; Wang, Honglun; Li, Na; Yu, Yue; Wu, Jianfa

    2018-02-01

    Autonomous aerial refueling (AAR) exact docking control has always been an intractable problem due to the strong nonlinearity, the tight coupling of the 6 DOF aircraft model and the complex disturbances of the multiple environment flows. In this paper, the strongly coupled nonlinear 6 DOF model of the receiver aircraft which considers the multiple flow disturbances is established in the affine nonlinear form to facilitate the nonlinear controller design. The items reflecting the influence of the unknown flow disturbances in the receiver dynamics are taken as the components of the "lumped disturbances" together with the items which have no linear correlation with the virtual control variables. These unmeasurable lumped disturbances are estimated and compensated by a specially designed high order sliding mode observer (HOSMO) with excellent estimation property. With the compensation of the estimated lumped disturbances, a back-stepping high order sliding mode based exact docking flight controller is proposed for AAR in the presence of multiple flow disturbances. Extensive simulation results demonstrate the feasibility and superiority of the proposed docking controller.

  5. FPGA Congestion-Driven Placement Refinement

    Energy Technology Data Exchange (ETDEWEB)

    Vicente de, J.

    2005-07-01

    The routing congestion usually limits the complete proficiency of the FPGA logic resources. A key question can be formulated regarding the benefits of estimating the congestion at placement stage. In the last years, it is gaining acceptance the idea of a detailed placement taking into account congestion. In this paper, we resort to the Thermodynamic Simulated Annealing (TSA) algorithm to perform a congestion-driven placement refinement on the top of the common Bounding-Box pre optimized solution. The adaptive properties of TSA allow the search to preserve the solution quality of the pre optimized solution while improving other fine-grain objectives. Regarding the cost function two approaches have been considered. In the first one Expected Occupation (EO), a detailed probabilistic model to account for channel congestion is evaluated. We show that in spite of the minute detail of EO, the inherent uncertainty of this probabilistic model impedes to relieve congestion beyond the sole application of the Bounding-Box cost function. In the second approach we resort to the fast Rectilinear Steiner Regions algorithm to perform not an estimation but a measurement of the global routing congestion. This second strategy allows us to successfully reduce the requested channel width for a set of benchmark circuits with respect to the widespread Versatile Place and Route (VPR) tool. (Author) 31 refs.

  6. Relationship Between Carbon Dioxide Levels and Reported Congestion and Headaches on the International Space Station

    Science.gov (United States)

    Cole, Robert; Wear, Mary; Young, Millennia; Cobel, Christopher; Mason, Sara

    2017-01-01

    Congestion is commonly reported during spaceflight, and most crewmembers have reported using medications for congestion during International Space Station (ISS) missions. Although congestion has been attributed to fluid shifts during spaceflight, fluid status reaches equilibrium during the first week after launch while congestion continues to be reported throughout long duration missions. Congestion complaints have anecdotally been reported in relation to ISS CO2 levels; this evaluation was undertaken to determine whether or not an association exists. METHODS: Reported headaches, congestion symptoms, and CO2 levels were obtained for ISS expeditions 2-31, and time-weighted means and single-point maxima were determined for 24-hour (24hr) and 7-day (7d) periods prior to each weekly private medical conference. Multiple imputation addressed missing data, and logistic regression modeled the relationship between probability of reported event of congestion or headache and CO2 levels, adjusted for possible confounding covariates. The first seven days of spaceflight were not included to control for fluid shifts. Data were evaluated to determine the concentration of CO2 required to maintain the risk of congestion below 1% to allow for direct comparison with a previously published evaluation of CO2 concentrations and headache. RESULTS: This study confirmed a previously identified significant association between CO2 and headache and also found a significant association between CO2 and congestion. For each 1-mm Hg increase in CO2, the odds of a crew member reporting congestion doubled. The average 7-day CO2 would need to be maintained below 1.5 mmHg to keep the risk of congestion below 1%. The predicted probability curves of ISS headache and congestion curves appear parallel when plotted against ppCO2 levels with congestion occurring at approximately 1mmHg lower than a headache would be reported. DISCUSSION: While the cause of congestion is multifactorial, this study showed

  7. A multi-agent decentralized energy management system based on distributed intelligence for the design and control of autonomous polygeneration microgrids

    International Nuclear Information System (INIS)

    Karavas, Christos-Spyridon; Kyriakarakos, George; Arvanitis, Konstantinos G.; Papadakis, George

    2015-01-01

    Highlights: • A decentralized energy management system based on multi agent systems theory. • A decentralized energy management system is technically feasible. • A decentralized approach utilizes the devices better than a centralized one. • A decentralized energy management system is economically competitive. - Abstract: The autonomous polygeneration microgrid topology has been developed in order to cover holistically needs in a remote area such as electrical energy, space heating and cooling, potable water through desalination and hydrogen as fuel for transportation. The existence of an advanced energy management system is essential for the operation of an autonomous polygeneration microgrid. So far, energy management systems based on a centralized management and control have been developed for the autonomous polygeneration microgrid topology based on computational intelligence approaches. A decentralized management and control energy management system can have important benefits, when taking into consideration the autonomous character of these microgrids. This paper presents the design and investigation of a decentralized energy management system for the autonomous polygeneration microgrid topology. The decentralized energy management system gives the possibility to control each unit of the microgrid independently. The most important advantage of using a decentralized architecture is that the managed microgrid has much higher chances of partial operation in cases when malfunctions occur at different parts of it, instead of a complete system breakdown. The designed system was based on a multi-agent system and employed Fuzzy Cognitive Maps for its implementation. It was then compared through a case study with an existing centralized energy management system. The technical performance of the decentralized solution performance is on par with the existing centralized one, presenting improvements in financial and operational terms for the implementation and

  8. Feasibility of Autonomous Monitoring of CO2 Leakage in Aquifers: Results From Controlled Laboratory Experiments

    Science.gov (United States)

    Versteeg, R.; Leger, E.; Dafflon, B.

    2016-12-01

    Geologic sequestration of CO2 is one of the primary proposed approaches for reducing total atmospheric CO2 concentrations. MVAA (Monitoring, Verification, Accounting and Assessment) of CO2 sequestration is an essential part of the geologic CO2 sequestration cycle. MVAA activities need to meet multiple operational, regulatory and environmental objectives, including ensuring the protection of underground sources of drinking water. Anticipated negative consequences of CO2 leakage into groundwater, besides possible brine contamination and release of gaseous CO2, include a significant increase of dissolved CO2 into shallow groundwater systems, which will decrease groundwater pH and can potentially mobilize naturally occurring trace metals and ions that are commonly absorbed to or contained in sediments. Autonomous electrical geophysical monitoring in aquifers has the potential of allowing for rapid and automated detection of CO2 leakage. However, while the feasibility of such monitoring has been demonstrated by a number of different field experiments, automated interpretation of complex electrical resistivity data requires the development of quantitative relationships between complex electrical resistivity signatures and dissolved CO2 in the aquifer resulting from leakage Under a DOE SBIR funded effort we performed multiple tank scale experiments in which we investigated complex electrical resistivity signatures associated with dissolved CO2 plumes in saturated sediments. We also investigated the feasibility of distinguishing CO2 leakage signatures from signatures associated with other processes such as salt water movement, temperature variations and other variations in chemical or physical conditions. In addition to these experiments we also numerically modeled the tank experiments. These experiments showed that (a) we can distinguish CO2 leakage signatures from other signatures, (b) CO2 leakage signatures have a consistent characteristic, (c) laboratory experiments

  9. Integration of autonomous systems for remote control of data acquisition and diagnostics in the TJ-II device

    International Nuclear Information System (INIS)

    Vega, J.; Mollinedo, A.; Lopez, A.; Pacios, L.; Dormido, S.

    1997-01-01

    The data acquisition system for TJ-II will consist of a central computer, containing the data base of the device, and a set of independent systems (personal computers, embedded ones, workstations, minicomputers, PLCs, and microprocessor systems among others), controlling data collection, and automated diagnostics. Each autonomous system can be used to isolate and manage specific problems in the most efficient manner. These problems are related to data acquisition, hard (μs endash ms) real time requirements, soft (ms endash s) real time requirements, remote control of diagnostics, etc. In the operation of TJ-II, the programming of systems will be carried out from the central computer. Coordination and synchronization will be performed by linking systems to local area networks. Several Ethernet segments and FDDI rings will be used for these purposes. Programmable logic controller devices (PLCs) used for diagnostic low level control will be linked among them through a fast serial link, the RS485 Profibus standard. One VME crate, running on the OS-9 real time operating system, will be assigned as a gateway, so as to connect the PLCs based systems with an Ethernet segment. copyright 1997 American Institute of Physics

  10. Congested Aggregation via Newtonian Interaction

    Science.gov (United States)

    Craig, Katy; Kim, Inwon; Yao, Yao

    2018-01-01

    We consider a congested aggregation model that describes the evolution of a density through the competing effects of nonlocal Newtonian attraction and a hard height constraint. This provides a counterpoint to existing literature on repulsive-attractive nonlocal interaction models, where the repulsive effects instead arise from an interaction kernel or the addition of diffusion. We formulate our model as the Wasserstein gradient flow of an interaction energy, with a penalization to enforce the constraint on the height of the density. From this perspective, the problem can be seen as a singular limit of the Keller-Segel equation with degenerate diffusion. Two key properties distinguish our problem from previous work on height constrained equations: nonconvexity of the interaction kernel (which places the model outside the scope of classical gradient flow theory) and nonlocal dependence of the velocity field on the density (which causes the problem to lack a comparison principle). To overcome these obstacles, we combine recent results on gradient flows of nonconvex energies with viscosity solution theory. We characterize the dynamics of patch solutions in terms of a Hele-Shaw type free boundary problem and, using this characterization, show that in two dimensions patch solutions converge to a characteristic function of a disk in the long-time limit, with an explicit rate on the decay of the energy. We believe that a key contribution of the present work is our blended approach, combining energy methods with viscosity solution theory.

  11. Fuzzy Secondary Controller for Autonomous Stand-alone and Grid-connected AC Microgrid

    DEFF Research Database (Denmark)

    Neves, Rodolpho V. A.; Machado, Ricardo Q.; Oliveira, Vilma A.

    2016-01-01

    The present paper adresses the AC microgrid control issue using the hierarchical control structure and droop controllers for load sharing. Once the droop controllers impose an operation with frequency and voltage deviations, depending on the load and droop parameters, a hierarchical control...... structure must be added to change the droop controller operating points. The hierarchical controllers operate with local measurements and shared signals from communication links among the distributed generation systems connected to the microgrid. Depending on the geographical size of the microgrid......, the communication links can be economically unviable. This paper thus proposes a fuzzy secondary controller for AC microgrids to reduce the link communication dependency by using only local measurements. The simulation results show that the deviations as happened with the conventional secondary controllers can...

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

    Science.gov (United States)

    Nguyen, Nhan T.

    2018-01-01

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

  13. Development and Control of the Naval Postgraduate School Planar Autonomous Docking Simulator (NPADS)

    National Research Council Canada - National Science Library

    Porter, Robert

    2002-01-01

    ...; and the development and testing of control laws utilizing MATLAB and Simulink for modeling and LabView for NPADS control, The NPADS vehicle uses air pads and a granite table to simulate a 2-D, drag...

  14. Modeling truck traffic volume growth congestion.

    Science.gov (United States)

    2009-05-01

    Modeling of the statewide transportation system is an important element in understanding issues and programming of funds to thwart potential congestion. As Alabama grows its manufacturing economy, the number of heavy vehicles traversing its highways ...

  15. Understanding congested travel in urban areas

    Science.gov (United States)

    Çolak, Serdar; Lima, Antonio; González, Marta C.

    2016-03-01

    Rapid urbanization and increasing demand for transportation burdens urban road infrastructures. The interplay of number of vehicles and available road capacity on their routes determines the level of congestion. Although approaches to modify demand and capacity exist, the possible limits of congestion alleviation by only modifying route choices have not been systematically studied. Here we couple the road networks of five diverse cities with the travel demand profiles in the morning peak hour obtained from billions of mobile phone traces to comprehensively analyse urban traffic. We present that a dimensionless ratio of the road supply to the travel demand explains the percentage of time lost in congestion. Finally, we examine congestion relief under a centralized routing scheme with varying levels of awareness of social good and quantify the benefits to show that moderate levels are enough to achieve significant collective travel time savings.

  16. Congestion and cascades in payment systems

    Science.gov (United States)

    Beyeler, Walter E.; Glass, Robert J.; Bech, Morten L.; Soramäki, Kimmo

    2007-10-01

    We develop a parsimonious model of the interbank payment system. The model incorporates an endogenous instruction arrival process, a scale-free topology of payments between banks, a fixed total liquidity which limits banks’ capacity to process arriving instructions, and a global market that distributes liquidity. We find that at low liquidity the system becomes congested and payment settlement loses correlation with payment instruction arrival, becoming coupled across the network. The onset of congestion is evidently related to the relative values of three characteristic times: the time for banks’ net position to return to 0, the time for a bank to exhaust its liquidity endowment, and the liquidity market relaxation time. In the congested regime settlement takes place in cascades having a characteristic length scale. A global liquidity market substantially attenuates congestion, requiring only a small fraction of the payment-induced liquidity flow to achieve strong beneficial effects.

  17. Mathematical principles of road congestion pricing

    African Journals Online (AJOL)

    route during the morning peak hour: cost and demand functions. the same at all traffic levels. Although car running costs rise with increases in travel time in congested urban travel conditions, they are usually regarded by road users as being.

  18. Reliable and Efficient Autonomous Driving: the Need for Heterogeneous Vehicular Networks

    OpenAIRE

    Zheng, Kan; Zheng, Qiang; Yang, Haojun; Zhao, Long; Hou, Lu; Chatzimisios, Periklis

    2015-01-01

    Autonomous driving technology has been regarded as a promising solution to reduce road accidents and traffic congestion, as well as to optimize the usage of fuel and lane. Reliable and high efficient Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) communications are essential to let commercial autonomous driving vehicles be on the road before 2020. The current paper firstly presents the concept of Heterogeneous Vehicular NETworks (HetVNETs) for autonomous driving, in which an imp...

  19. Treatment of congestion in upper respiratory diseases

    Directory of Open Access Journals (Sweden)

    Eli O Meltzer

    2010-02-01

    Full Text Available Eli O Meltzer1, Fernan Caballero2, Leonard M Fromer3, John H Krouse4, Glenis Scadding51Allergy and Asthma Medical Group and Research Center, San Diego, CA and Department of Pediatrics, University of California, San Diego, USA; 2Allergy and Clinical Immunology Service, Centro Medico-Docente La Trinidad, Caracas, Venezuela; 3David Geffen School of Medicine, University of California, Los Angeles, USA; 4Wayne State University School of Medicine, Detroit, Michigan, USA; 5Department of Allergy and Rhinology, Royal National TNE Hospital, London, UKAbstract: Congestion, as a symptom of upper respiratory tract diseases including seasonal and perennial allergic rhinitis, acute and chronic rhinosinusitis, and nasal polyposis, is principally caused by mucosal inflammation. Though effective pharmacotherapy options exist, no agent is universally efficacious; therapeutic decisions must account for individual patient preferences. Oral H1-antihistamines, though effective for the common symptoms of allergic rhinitis, have modest decongestant action, as do leukotriene receptor antagonists. Intranasal antihistamines appear to improve congestion better than oral forms. Topical decongestants reduce congestion associated with allergic rhinitis, but local adverse effects make them unsuitable for long-term use. Oral decongestants show some efficacy against congestion in allergic rhinitis and the common cold, and can be combined with oral antihistamines. Intranasal corticosteroids have broad anti-inflammatory activities, are the most potent long-term pharmacologic treatment of congestion associated with allergic rhinitis, and show some congestion relief in rhinosinusitis and nasal polyposis. Immunotherapy and surgery may be used in some cases refractory to pharmacotherapy. Steps in congestion management include (1 diagnosis of the cause(s, (2 patient education and monitoring, (3 avoidance of environmental triggers where possible, (4 pharmacotherapy, and (5 immunotherapy

  20. Focus on renal congestion in heart failure.

    Science.gov (United States)

    Afsar, Baris; Ortiz, Alberto; Covic, Adrian; Solak, Yalcin; Goldsmith, David; Kanbay, Mehmet

    2016-02-01

    Hospitalizations due to heart failure are increasing steadily despite advances in medicine. Patients hospitalized for worsening heart failure have high mortality in hospital and within the months following discharge. Kidney dysfunction is associated with adverse outcomes in heart failure patients. Recent evidence suggests that both deterioration in kidney function and renal congestion are important prognostic factors in heart failure. Kidney congestion in heart failure results from low cardiac output (forward failure), tubuloglomerular feedback, increased intra-abdominal pressure or increased venous pressure. Regardless of the cause, renal congestion is associated with increased morbidity and mortality in heart failure. The impact on outcomes of renal decongestion strategies that do not compromise renal function should be explored in heart failure. These studies require novel diagnostic markers that identify early renal damage and renal congestion and allow monitoring of treatment responses in order to avoid severe worsening of renal function. In addition, there is an unmet need regarding evidence-based therapeutic management of renal congestion and worsening renal function. In the present review, we summarize the mechanisms, diagnosis, outcomes, prognostic markers and treatment options of renal congestion in heart failure.

  1. Evaluation of pulmonary congestion by computed tomography

    International Nuclear Information System (INIS)

    Morooka, Nobuhiro; Yamamoto, Hironori; Yoshida, Hideo; Watanabe, Shigeru; Nakamura, Mamoru

    1980-01-01

    Pulmonary congestion and pulmonary water distribution of lung fields were evaluated by computed tomography (CT) in 31 patients with congestive heart failure and 19 normal subjects in the supine position. In normal subjects, no difference was noted in the CT value between levels of intercostal spaces as well as between right and left lung fields. CT values were greater in posterior lung fields than in anterior lung fields. A significant increase of CT values at both anterior and posterior lung fields was shown in patients with congestive heart failure compared to normal subjects. In congestive heart failure, pulmonary CT values were correlated with various clinical parameters in the order of chest X-ray findings, NYHA functional classification, venous pressure, right heart catheter findings and circulation time. CT values were decreased with the improvement of parameters by medical treatment. Thus, the increase of pulmonary CT values in patients with congestive heart failure indicated the increase of pulmonary blood content and pulmonary tissue edema in a unit volume. This method was particularly useful for the evaluation of pulmonary congestion and pulmonary water distribution. (author)

  2. Indoor Autonomous Control of a Two-Wheeled Inverted Pendulum Vehicle Using Ultra Wide Band Technology.

    Science.gov (United States)

    Xia, Dunzhu; Yao, Yanhong; Cheng, Limei

    2017-06-15

    In this paper, we aimed to achieve the indoor tracking control of a two-wheeled inverted pendulum (TWIP) vehicle. The attitude data are acquired from a low cost micro inertial measurement unit (IMU), and the ultra-wideband (UWB) technology is utilized to obtain an accurate estimation of the TWIP's position. We propose a dual-loop control method to realize the simultaneous balance and trajectory tracking control for the TWIP vehicle. A robust adaptive second-order sliding mode control (2-RASMC) method based on an improved super-twisting (STW) algorithm is investigated to obtain the control laws, followed by several simulations to verify its robustness. The outer loop controller is designed using the idea of backstepping. Moreover, three typical trajectories, including a circle, a trifolium and a hexagon, have been designed to prove the adaptability of the control combinations. Six different combinations of inner and outer loop control algorithms have been compared, and the characteristics of inner and outer loop algorithm combinations have been analyzed. Simulation results demonstrate its tracking performance and thus verify the validity of the proposed control methods. Trajectory tracking experiments in a real indoor environment have been performed using our experimental vehicle to further validate the feasibility of the proposed algorithm in practice.

  3. Design of Autonomous Navigation Controllers for Unmanned Aerial Vehicles Using Multi-Objective Genetic Programming

    National Research Council Canada - National Science Library

    Barlow, Gregory J

    2004-01-01

    Unmanned aerial vehicles (UAVs) have become increasingly popular for many applications, including search and rescue, surveillance, and electronic warfare, but almost all UAVs are controlled remotely by humans...

  4. Adaptive training of neural networks for control of autonomous mobile robots

    NARCIS (Netherlands)

    Steur, E.; Vromen, T.; Nijmeijer, H.; Fossen, T.I.; Nijmeijer, H.; Pettersen, K.Y.

    2017-01-01

    We present an adaptive training procedure for a spiking neural network, which is used for control of a mobile robot. Because of manufacturing tolerances, any hardware implementation of a spiking neural network has non-identical nodes, which limit the performance of the controller. The adaptive

  5. Autonomous Control of Distributed Generation and Storage to Coordinate P/Q Sharing in Islanded Microgrids

    DEFF Research Database (Denmark)

    Wu, Dan; Tang, Fen; Guerrero, Josep M.

    2014-01-01

    In this paper, a decentralized control for coordinate both active and reactive powers is proposed for islanded microgrids. Compared with the conventional droop control strategies, the proposed control realizes decentralized power distribution among renewable energy sources (RES) and energy storage...... systems (ESS) according to the local source conditions. Based on bus-signaling method, the ESS is able to limit charging power by decreasing RES power generation automatically. As well, the reactive power coordinated control makes the RES units able to support reactive power in a decentralized way, which...... allows ESS providing for more active power availability. Moreover, the reactive power is distributed according to the apparent power capacity of each unit. The control strategy principle is simple and easy to implement without extra communication requirements. Real time hardware-in-the-loop results...

  6. A nonlinear model predictive control formulation for obstacle avoidance in high-speed autonomous ground vehicles in unstructured environments

    Science.gov (United States)

    Liu, Jiechao; Jayakumar, Paramsothy; Stein, Jeffrey L.; Ersal, Tulga

    2018-06-01

    This paper presents a nonlinear model predictive control (MPC) formulation for obstacle avoidance in high-speed, large-size autono-mous ground vehicles (AGVs) with high centre of gravity (CoG) that operate in unstructured environments, such as military vehicles. The term 'unstructured' in this context denotes that there are no lanes or traffic rules to follow. Existing MPC formulations for passenger vehicles in structured environments do not readily apply to this context. Thus, a new nonlinear MPC formulation is developed to navigate an AGV from its initial position to a target position at high-speed safely. First, a new cost function formulation is used that aims to find the shortest path to the target position, since no reference trajectory exists in unstructured environments. Second, a region partitioning approach is used in conjunction with a multi-phase optimal control formulation to accommodate the complicated forms the obstacle-free region can assume due to the presence of multiple obstacles in the prediction horizon in an unstructured environment. Third, the no-wheel-lift-off condition, which is the major dynamical safety concern for high-speed, high-CoG AGVs, is ensured by limiting the steering angle within a range obtained offline using a 14 degrees-of-freedom vehicle dynamics model. Thus, a safe, high-speed navigation is enabled in an unstructured environment. Simulations of an AGV approaching multiple obstacles are provided to demonstrate the effectiveness of the algorithm.

  7. Autonomous watersheds: Reducing flooding and stream erosion through real-time control

    Science.gov (United States)

    Kerkez, B.; Wong, B. P.

    2017-12-01

    We introduce an analytical toolchain, based on dynamical system theory and feedback control, to determine how many control points (valves, gates, pumps, etc.) are needed to transform urban watersheds from static to adaptive. Advances and distributed sensing and control stand to fundamentally change how we manage urban watersheds. In lieu of new and costly infrastructure, the real-time control of stormwater systems will reduce flooding, mitigate stream erosion, and improve the treatment of polluted runoff. We discuss the how open source technologies, in the form of wireless sensor nodes and remotely-controllable valves (open-storm.org), have been deployed to build "smart" stormwater systems in the Midwestern US. Unlike "static" infrastructure, which cannot readily adapt to changing inputs and land uses, these distributed control assets allow entire watersheds to be reconfigured on a storm-by-storm basis. Our results show how the control of even just a few valves within urban catchments (1-10km^2) allows for the real-time "shaping" of hydrographs, which reduces downstream erosion and flooding. We also introduce an equivalence framework that can be used by decision-makers to objectively compare investments into "smart" system to more traditional solutions, such as gray and green stormwater infrastructure.

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

    Energy Technology Data Exchange (ETDEWEB)

    Dorissen, H.T.; Hoever, N.

    1996-07-01

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

  9. Guidance of Autonomous Aerospace Vehicles for Vertical Soft Landing using Nonlinear Control Theory

    Science.gov (United States)

    2015-08-11

    desired plant (1.4) i.e. goal is to ensure that X → Xd as t →∞. 4 Distribution Code A: Approved for public release, distribution is unlimited 1.1 Philosophy...system to follow Ẋd = fd ( Xd ) (1.4) where Xd ∈ℜn represents the desire state vector. In the actual plant model (1.3) the term d(X ) is unknown, the...Kτ(Xest −Xa) (1.6) 2. Xa → Xd as t →∞: This process is accomplished through control synthesis using online adaptation of DI controller. 1.1.1 Control

  10. Robust multi-model control of an autonomous wind power system

    Energy Technology Data Exchange (ETDEWEB)

    Cutululis, Nicolas Antonio; Hansen, Anca Daniela; Soerensen, Poul [Risoe National Lab., Wind Energy Dept., Roskilde (Denmark); Ceanga, Emil [' Dunarea de Jos' Univ., Faculty of Electrical Engineering, Galati (Romania)

    2006-07-01

    This article presents a robust multi-model control structure for a wind power system that uses a variable speed wind turbine (VSWT) driving a permanent magnet synchronous generator (PMSG) connected to a local grid. The control problem consists in maximizing the energy captured from the wind for varying wind speeds. The VSWT-PMSG linearized model analysis reveals the resonant nature of its dynamic at points on the optimal regimes characteristic (ORC). The natural frequency of the system and the damping factor are strongly dependent on the operating point on the ORC. Under these circumstances a robust multi-model control structure is designed. The simulation results prove the viability of the proposed control structure. (Author)

  11. Robust multi-model control of an autonomous wind power system

    Science.gov (United States)

    Cutululis, Nicolas Antonio; Ceanga, Emil; Hansen, Anca Daniela; Sørensen, Poul

    2006-09-01

    This article presents a robust multi-model control structure for a wind power system that uses a variable speed wind turbine (VSWT) driving a permanent magnet synchronous generator (PMSG) connected to a local grid. The control problem consists in maximizing the energy captured from the wind for varying wind speeds. The VSWT-PMSG linearized model analysis reveals the resonant nature of its dynamic at points on the optimal regimes characteristic (ORC). The natural frequency of the system and the damping factor are strongly dependent on the operating point on the ORC. Under these circumstances a robust multi-model control structure is designed. The simulation results prove the viability of the proposed control structure. Copyright

  12. Development of Cursor-on-Target Control for Semi-Autonomous Unmanned Aircraft Systems

    National Research Council Canada - National Science Library

    Crouse, Joshua D

    2007-01-01

    .... The goal of this research is to develop a preliminary Cursor-on-Target control system to enable the operator to guide the unmanned aircraft with minimal workload during high task phases of flight...

  13. Frequency Control in Autonomous Power Systems With High Wind Power Penetration

    DEFF Research Database (Denmark)

    Margaris, Ioannis D.; Papathanassiou, Stavros A.; Hatziargyriou, Nikos D.

    2012-01-01

    This paper presents an investigation on wind turbine (WT) contribution to the frequency control of noninterconnected island systems. The capability of WTs to participate in the primary frequency control and offer primary reserve is discussed. The investigation includes both transient frequency...... of Rhodes Island has been selected as a study case, which includes different types of conventional generation and the three basic WT types, based on Active-Stall Induction Generator (ASIG), Doubly Fed Induction Generator (DFIG), and Permanent Magnet Synchronous Generator (PMSG)....

  14. A Trusted Autonomic Architecture to Safeguard Cyber-Physical Control Leaf Nodes and Protect Process Integrity

    OpenAIRE

    Chiluvuri, Nayana Teja

    2015-01-01

    Cyber-physical systems are networked through IT infrastructure and susceptible to malware. Threats targeting process control are much more safety-critical than traditional computing systems since they jeopardize the integrity of physical infrastructure. Existing defence mechanisms address security at the network nodes but do not protect the physical infrastructure if network integrity is compromised. An interface guardian architecture is implemented on cyber-physical control leaf nodes to mai...

  15. Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller

    Science.gov (United States)

    Lopez-Franco, Carlos; Alanis, Alma Y.; Arana-Daniel, Nancy; Villaseñor, Carlos

    2017-01-01

    In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results. PMID:28805689

  16. Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller.

    Science.gov (United States)

    Lopez-Franco, Carlos; Gomez-Avila, Javier; Alanis, Alma Y; Arana-Daniel, Nancy; Villaseñor, Carlos

    2017-08-12

    In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results.

  17. Virtual Simulator for Autonomous Mobile Robots Navigation System Using Concepts of Control Rapid Prototyping

    Directory of Open Access Journals (Sweden)

    Leonimer Flavio de Melo

    2013-09-01

    Full Text Available This work presents the proposal of virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. The kinematic and dynamic simulator module makes all simulation of the mobile robot following the pre-determined trajectory of the trajectory generator. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, which is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplishing with nonholonomics mobile robots models with differential transmission.

  18. Benefits from coordinating congestion management-The Nordic power market

    International Nuclear Information System (INIS)

    Bjorndal, Mette; Joernsten, Kurt

    2007-01-01

    We consider the possibility of improving the utilization of the capacity of the Nordic transmission grid, by improving on the methods for congestion management. We use a simplified model of the Nordic power market, and different load-scenarios are developed in order to illustrate the effects. By improving the coordination of the system operator function, we may achieve that the actual bottlenecks, both as regards to the location and capacity, form the basis for the definition of price areas. This may result in a better partition of the grid, not necessarily following the borders between the control areas of today's system operators. We also consider solving intra zonal bottlenecks 'directly', through the area prices and 'indirectly' by 'moving' internal capacity constraints to the borders between price areas. The examples illustrate that this 'indirect' congestion management may be costly, and result in larger price differences than necessary

  19. Lung congestion in chronic heart failure: haemodynamic, clinical, and prognostic implications

    DEFF Research Database (Denmark)

    Melenovsky, Vojtech; Andersen, Mads Jønsson; Andress, Krystof

    2015-01-01

    AIMS:The goal of the study was to examine the prognostic impact, haemodynamic and clinical features associated with lung congestion in patients with chronic heart failure (HF). METHODS AND RESULTS:HF patients (n = 186) and HF-free controls (n = 21) underwent right heart catheterization...... days (interquartile range 80-875), 59 patients (32%) died. Lung congestion was associated with reduced survival (P renal dysfunction. CONCLUSION:Interstitial lung oedema is associated with pulmonary vascular disease, RV overload...

  20. Experimental Autonomous Vehicle Systems

    DEFF Research Database (Denmark)

    Ravn, Ole; Andersen, Nils Axel

    1998-01-01

    The paper describes the requirements for and a prototype configuration of a software architecture for control of an experimental autonomous vehicle. The test bed nature of the system is emphasised in the choice of architecture making re-configurability, data logging and extendability simple...