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Sample records for backstep scanning ion

  1. High Resolution Scanning Ion Microscopy

    NARCIS (Netherlands)

    Castaldo, V.

    2011-01-01

    The structure of the thesis is the following. The first chapter is an introduction to scanning microscopy, where the path that led to the Focused Ion Beam (FIB) is described and the main differences between electrons and ion beams are highlighted. Chapter 2 is what is normally referred to (which I d

  2. Electrostatic ion beam scanning system

    Energy Technology Data Exchange (ETDEWEB)

    Harper, G.C.; Curtis, W.D.

    1978-04-01

    An electrostatic scanning system has been designed and built to uniformly implant a 1 cm/sup 2/ sample with a charged particle beam. The full angular scan capability for a 2 MeV beam is 0.5 degrees at 6 kV p-p. The design of the system is extremely simple so it is very compact, easy to operate, and has shown very good reliability.

  3. Aligned ion implementation using scanning probes

    Energy Technology Data Exchange (ETDEWEB)

    Persaud, A.

    2006-12-12

    A new technique for precision ion implantation has been developed. A scanning probe has been equipped with a small aperture and incorporated into an ion beamline, so that ions can be implanted through the aperture into a sample. By using a scanning probe the target can be imaged in a non-destructive way prior to implantation and the probe together with the aperture can be placed at the desired location with nanometer precision. In this work first results of a scanning probe integrated into an ion beamline are presented. A placement resolution of about 120 nm is reported. The final placement accuracy is determined by the size of the aperture hole and by the straggle of the implanted ion inside the target material. The limits of this technology are expected to be set by the latter, which is of the order of 10 nm for low energy ions. This research has been carried out in the context of a larger program concerned with the development of quantum computer test structures. For that the placement accuracy needs to be increased and a detector for single ion detection has to be integrated into the setup. Both issues are discussed in this thesis. To achieve single ion detection highly charged ions are used for the implantation, as in addition to their kinetic energy they also deposit their potential energy in the target material, therefore making detection easier. A special ion source for producing these highly charged ions was used and their creation and interactions with solids of are discussed in detail. (orig.)

  4. Bias modulated scanning ion conductance microscopy.

    Science.gov (United States)

    McKelvey, Kim; Perry, David; Byers, Joshua C; Colburn, Alex W; Unwin, Patrick R

    2014-04-01

    Nanopipets are versatile tools for nanoscience, particularly when used in scanning ion conductance microscopy (SICM) to determine, in a noncontact manner, the topography of a sample. We present a new method, applying an oscillating bias between a quasi-reference counter electrode (QRCE) in the SICM nanopipet probe and a second QRCE in the bulk solution, to generate a feedback signal to control the distance between the end of a nanopipet and a surface. Both the amplitude and phase of the oscillating ion current, induced by the oscillating bias and extracted using a phase-sensitive detector, are shown to be sensitive to the probe-surface distance and are used to provide stable feedback signals. The phase signal is particularly sensitive at high frequencies of the oscillating bias (up to 30 kHz herein). This development eliminates the need to physically oscillate the probe to generate an oscillating ion current feedback signal, as needed for conventional SICM modes. Moreover, bias modulation allows a feedback signal to be generated without any net ion current flow, ensuring that any polarization of the quasi reference counter electrodes, electro-osmotic effects, and perturbations of the supporting electrolyte composition are minimized. Both feedback signals, magnitude and phase, are analyzed through approach curve measurements to different surfaces at a range of distinct frequencies and via impedance measurements at different distances from a surface. The bias modulated response is readily understood via a simple equivalent circuit model. Bias modulated (BM)-SICM is compared to conventional SICM imaging through measurements of substrates with distinct topographical features and yields equivalent results. Finally, BM-SICM with both amplitude and phase feedback is used for topographical imaging of subtle etch features in a calcite crystal surface. The 2 modes yield similar results, but phase-detection opens up the prospect of faster imaging.

  5. Backstepping Strategy for Induction Motor Control

    DEFF Research Database (Denmark)

    Rasmussen, Henrik; Vadstrup, P.; Børsting, H.

    2000-01-01

    Using backstepping, which is a recursive nonlinear design method, a novel approach to control of induction motors is developed. The resulting scheme leads to a nonlinear controller for the torque and the amplitude of the field. A combination of nonlinear damping and observer backstepping with a s......Using backstepping, which is a recursive nonlinear design method, a novel approach to control of induction motors is developed. The resulting scheme leads to a nonlinear controller for the torque and the amplitude of the field. A combination of nonlinear damping and observer backstepping...

  6. Graphitization of polymer surfaces by scanning ion irradiation

    Energy Technology Data Exchange (ETDEWEB)

    Koval, Yuri [Department of Physics, Universität Erlangen-Nürnberg, Erwin-Rommel-Str. 1, 91058 Erlangen (Germany)

    2014-10-20

    Graphitization of polymer surfaces was performed by low-energy Ar{sup +} and He{sup +} ion irradiation. A method of scanning irradiation was implemented. It was found that by scanning ion irradiation, a significantly higher electrical conductivity in the graphitized layers can be achieved in comparison with a conventional broad-beam irradiation. The enhancement of the conductance becomes more pronounced for narrower and better collimated ion beams. In order to analyze these results in more detail, the temperature dependence of conductance of the irradiated samples was investigated. The results of measurements are discussed in terms of weak localization corrections to conductance in disordered metals. The observed effects can be explained by enlargement of graphitic patches, which was achieved with the scanning ion irradiation method.

  7. Controlling beam halo-chaos via backstepping design

    Institute of Scientific and Technical Information of China (English)

    Gao Yuan; Kong Feng

    2008-01-01

    A backstepping control method is proposed for controlling beam halo-chaos in the periodic focusing channels PFCs) of high-current ion accelerator. The analysis and numerical results show that the method, via adjusting an exterior magnetic field, is effective to control beam halo chaos with five types of initial distribution ion beams, all statistical quantities of the beam halo-chaos are largely reduced, and the uniformity of ion beam is improved. This control method has an important value of application, for the exterior magnetic field can be easily adjusted in the periodical magnetic focusing channels in experiment.

  8. Focused ion beam scanning electron microscopy in biology.

    Science.gov (United States)

    Kizilyaprak, C; Daraspe, J; Humbel, B M

    2014-06-01

    Since the end of the last millennium, the focused ion beam scanning electron microscopy (FIB-SEM) has progressively found use in biological research. This instrument is a scanning electron microscope (SEM) with an attached gallium ion column and the 2 beams, electrons and ions (FIB) are focused on one coincident point. The main application is the acquisition of three-dimensional data, FIB-SEM tomography. With the ion beam, some nanometres of the surface are removed and the remaining block-face is imaged with the electron beam in a repetitive manner. The instrument can also be used to cut open biological structures to get access to internal structures or to prepare thin lamella for imaging by (cryo-) transmission electron microscopy. Here, we will present an overview of the development of FIB-SEM and discuss a few points about sample preparation and imaging.

  9. Scanning microbeam using a liquid metal ion source

    Energy Technology Data Exchange (ETDEWEB)

    Ishitani, T.; Tamura, H.; Todokoro, H.

    1982-01-01

    A scanning ion microprobe system using a liquid-Ga ion source and a voltage-asymmetric three-electrode lens is developed. It produces 2--20 keV Ga/sup +/ beams of 0.1--5 ..mu..m diameter with 20 pA--8 nA current. Beam sizes are directly measured by a combined sharp-edge and Faraday cup mehtod. This optical system is well suited for variable energy microprobe applications.

  10. Backstepping Strategy for Induction Motor Control

    DEFF Research Database (Denmark)

    Rasmussen, Henrik; Vadstrup, P.; Børsting, H.

    2000-01-01

    Using backstepping, which is a recursive nonlinear design method, a novel approach to control of induction motors is developed. The resulting scheme leads to a nonlinear controller for the torque and the amplitude of the field. A combination of nonlinear damping and observer backstepping with a s......Using backstepping, which is a recursive nonlinear design method, a novel approach to control of induction motors is developed. The resulting scheme leads to a nonlinear controller for the torque and the amplitude of the field. A combination of nonlinear damping and observer backstepping...... with a simple flux observer is used in the design. Assuming known motor parameters the design achieves stability with guaranteed region of attraction. It is also shown how a conventional field oriented controller may be obtained by omitting parts of the nonlinear controller....

  11. Phase modulation mode of scanning ion conductance microscopy

    Energy Technology Data Exchange (ETDEWEB)

    Li, Peng; Zhang, Changlin [State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016 (China); University of Chinese Academy of Sciences, Beijing 100049 (China); Liu, Lianqing, E-mail: lqliu@sia.cn, E-mail: gli@engr.pitt.edu; Wang, Yuechao; Yang, Yang [State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016 (China); Li, Guangyong, E-mail: lqliu@sia.cn, E-mail: gli@engr.pitt.edu [Department of Electrical and Computer Engineering, University of Pittsburgh, Pittsburgh, Pennsylvania 15261 (United States)

    2014-08-04

    This Letter reports a phase modulation (PM) mode of scanning ion conductance microscopy. In this mode, an AC current is directly generated by an AC voltage between the electrodes. The portion of the AC current in phase with the AC voltage, which is the current through the resistance path, is modulated by the tip-sample distance. It can be used as the input of feedback control to drive the scanner in Z direction. The PM mode, taking the advantages of both DC mode and traditional AC mode, is less prone to electronic noise and DC drift but maintains high scanning speed. The effectiveness of the PM mode has been proven by experiments.

  12. Backstepping design for incremental stability

    CERN Document Server

    Zamani, Majid

    2010-01-01

    Stability is arguably one of the core concepts upon which our understanding of dynamical and control systems has been built. The related notion of incremental stability, however, has received much less attention until recently, when it was successfully used as a tool for the analysis and design of intrinsic observers, output regulation of nonlinear systems, frequency estimators, synchronization of coupled identical dynamical systems, symbolic models for nonlinear control systems, and bio-molecular systems. However, most of the existing controller design techniques provide controllers enforcing stability rather than incremental stability. Hence, there is a growing need to extend existing methods or develop new ones for the purpose of designing incrementally stabilizing controllers. In this paper, we develop a backstepping design approach for incremental stability. The effectiveness of the proposed method is illustrated by synthesizing a controller rendering a synchronous generator incrementally stable.

  13. The scanning ion conductance microscope for cellular physiology.

    Science.gov (United States)

    Lab, Max J; Bhargava, Anamika; Wright, Peter T; Gorelik, Julia

    2013-01-01

    The quest for nonoptical imaging methods that can surmount light diffraction limits resulted in the development of scanning probe microscopes. However, most of the existing methods are not quite suitable for studying biological samples. The scanning ion conductance microscope (SICM) bridges the gap between the resolution capabilities of atomic force microscope and scanning electron microscope and functional capabilities of conventional light microscope. A nanopipette mounted on a three-axis piezo-actuator, scans a sample of interest and ion current is measured between the pipette tip and the sample. The feedback control system always keeps a certain distance between the sample and the pipette so the pipette never touches the sample. At the same time pipette movement is recorded and this generates a three-dimensional topographical image of the sample surface. SICM represents an alternative to conventional high-resolution microscopy, especially in imaging topography of live biological samples. In addition, the nanopipette probe provides a host of added modalities, for example using the same pipette and feedback control for efficient approach and seal with the cell membrane for ion channel recording. SICM can be combined in one instrument with optical and fluorescent methods and allows drawing structure-function correlations. It can also be used for precise mechanical force measurements as well as vehicle to apply pressure with precision. This can be done on living cells and tissues for prolonged periods of time without them loosing viability. The SICM is a multifunctional instrument, and it is maturing rapidly and will open even more possibilities in the near future.

  14. High resolution helium ion scanning microscopy of the rat kidney.

    Directory of Open Access Journals (Sweden)

    William L Rice

    Full Text Available Helium ion scanning microscopy is a novel imaging technology with the potential to provide sub-nanometer resolution images of uncoated biological tissues. So far, however, it has been used mainly in materials science applications. Here, we took advantage of helium ion microscopy to explore the epithelium of the rat kidney with unsurpassed image quality and detail. In addition, we evaluated different tissue preparation methods for their ability to preserve tissue architecture. We found that high contrast, high resolution imaging of the renal tubule surface is possible with a relatively simple processing procedure that consists of transcardial perfusion with aldehyde fixatives, vibratome tissue sectioning, tissue dehydration with graded methanol solutions and careful critical point drying. Coupled with the helium ion system, fine details such as membrane texture and membranous nanoprojections on the glomerular podocytes were visualized, and pores within the filtration slit diaphragm could be seen in much greater detail than in previous scanning EM studies. In the collecting duct, the extensive and striking apical microplicae of the intercalated cells were imaged without the shrunken or distorted appearance that is typical with conventional sample processing and scanning electron microscopy. Membrane depressions visible on principal cells suggest possible endo- or exocytotic events, and central cilia on these cells were imaged with remarkable preservation and clarity. We also demonstrate the use of colloidal gold probes for highlighting specific cell-surface proteins and find that 15 nm gold labels are practical and easily distinguishable, indicating that external labels of various sizes can be used to detect multiple targets in the same tissue. We conclude that this technology represents a technical breakthrough in imaging the topographical ultrastructure of animal tissues. Its use in future studies should allow the study of fine cellular details

  15. Semiconductor characterization by scanning ion beam induced charge (IBIC) microscopy

    CERN Document Server

    Vittone, E; Olivero, P; Manfredotti, C; Jaksic, M; Giudice, A Lo; Fizzotti, F; Colombo, E

    2016-01-01

    The acronym IBIC (Ion Beam Induced Charge) was coined in early 1990's to indicate a scanning microscopy technique which uses MeV ion beams as probes to image the basic electronic properties of semiconductor materials and devices. Since then, IBIC has become a widespread analytical technique to characterize materials for electronics or for radiation detection, as testified by more than 200 papers published so far in peer-reviewed journals. Its success stems from the valuable information IBIC can provide on charge transport phenomena occurring in finished devices, not easily obtainable by other analytical techniques. However, IBIC analysis requires a robust theoretical background to correctly interpret experimental data. In order to illustrate the importance of using a rigorous mathematical formalism, we present in this paper a benchmark IBIC experiment aimed to test the validity of the interpretative model based on the Gunn's theorem and to provide an example of the analytical capability of IBIC to characteriz...

  16. Backstepping Strategy for Induction Motor Control

    DEFF Research Database (Denmark)

    Rasmussen, Henrik; Vadstrup, P.; Børsting, H.

    2000-01-01

    Using backstepping, which is a recursive nonlinear design method, a novel approach to control of induction motors is developed. The resulting scheme leads to a nonlinear controller for the torque and the amplitude of the field. A combination of nonlinear damping and observer backstepping...... with a simple flux observer is used in the design. Assuming known motor parameters the design achieves stability with guaranteed region of attraction. It is also shown how a conventional field oriented controller may be obtained by omitting parts of the nonlinear controller....

  17. Backstepping Sliding Mode Control for Induction Motor

    Directory of Open Access Journals (Sweden)

    Othmane Boughazi

    2014-12-01

    Full Text Available This work treats the modeling and simulation of non-linear system behavior of an induction motor using backstepping sliding mode control. First, the direct field oriented control IM is derived. Then, a sliding for direct field oriented control is proposed to compensate the uncertainties, which occur in the control.Finally, the study of Backstepping sliding controls strategy of the induction motor drive. Our non linear system is simulated in MATLAB SIMULINK environment, the results obtained illustrate the efficiency of the proposed control with no overshoot, and the rising time is improved with good disturbances rejections comparing with the classical control law.

  18. Backstepping feedback control of open channel flow

    OpenAIRE

    Huo, Mandy; Malek, Sami

    2014-01-01

    We derive a feedback control law for the control of the downstream flow in a 1-D open channel by manipulating the water flow at an upstream location. We use backstepping for controller design and Lyapunov techniques for stability analysis. Finally, the controller is verified with simulations.

  19. Reinforcement learning based backstepping control of power system oscillations

    Energy Technology Data Exchange (ETDEWEB)

    Karimi, Ali; Eftekharnejad, Sara; Feliachi, Ali [Advanced Power and Electric Research Center (APERC), West Virginia University, Morgantown, WV 26506-6109 (United States)

    2009-11-15

    This paper proposes a reinforcement learning based backstepping control technique for damping oscillations in electric power systems using the generators excitation systems. Decentralized controllers are first designed using the backstepping technique. Then, reinforcement learning is used to tune the gains of these controllers to adapt to various operating conditions. Simulation results for a two area power system show that the proposed control technique provides better damping than (i) conventional power system stabilizers and (ii) backstepping fixed gain controllers. (author)

  20. Single ion impact detection and scanning probe aligned ion implantation for quantum bit formation

    Energy Technology Data Exchange (ETDEWEB)

    Weis, Christoph D.

    2011-10-04

    Quantum computing and quantum information processing is a promising path to replace classical information processing via conventional computers which are approaching fundamental physical limits. Instead of classical bits, quantum bits (qubits) are utilized for computing operations. Due to quantum mechanical phenomena such as superposition and entanglement, a completely different way of information processing is achieved, enabling enhanced performance for certain problem sets. Various proposals exist on how to realize a quantum bit. Among them are electron or nuclear spins of defect centers in solid state systems. Two such candidates with spin degree of freedom are single donor atoms in silicon and nitrogen vacancy (NV) defect centers in diamond. Both qubit candidates possess extraordinary qualities which makes them promising building blocks. Besides certain advantages, the qubits share the necessity to be placed precisely in their host materials and device structures. A commonly used method is to introduce the donor atoms into the substrate materials via ion implantation. For this, focused ion beam systems can be used, or collimation techniques as in this work. A broad ion beam hits the back of a scanning probe microscope (SPM) cantilever with incorporated apertures. The high resolution imaging capabilities of the SPM allows the non destructive location of device areas and the alignment of the cantilever and thus collimated ion beam spot to the desired implant locations. In this work, this technique is explored, applied and pushed forward to meet necessary precision requirements. The alignment of the ion beam to surface features, which are sensitive to ion impacts and thus act as detectors, is demonstrated. The technique is also used to create NV center arrays in diamond substrates. Further, single ion impacts into silicon device structures are detected which enables deliberate single ion doping.

  1. Aircraft Pitch Attitude Control using Backstepping

    OpenAIRE

    Härkegård, Ola; Glad, Torkel

    2000-01-01

    A nonlinear approach to the automatic pitch attitude control problem for a generic fighter aircraft is presented. A nonlinear model describing the longitudinal equations of motion in strict feedback form is derived. Backstepping is utilized for the construction of a globally stabilizing controller with a number of free design parameters. Two tuning schemes are proposed based on the desired locally linear controller properties. The controller is evaluated using the HIRM fighter aircraft model.

  2. Scanning deep level transient spectroscopy using an MeV ion microprobe

    Energy Technology Data Exchange (ETDEWEB)

    Laird, J.S.; Bardos, R.A.; Saint, A.; Moloney, G.M.; Legge, G.F.J. [Melbourne Univ., Parkville, VIC (Australia)

    1993-12-31

    Traditionally the scanning ion microprobe has given little or no information regarding the electronic structure of materials in particular semiconductors. A new imaging technique called Scanning Ion Deep Level Transient Spectroscopy (SIDLTS) is presented which is able to spatially map alterations in the band gap structure of materials by lattice defects or impurities. 3 refs., 2 figs.

  3. Tutorial on nonlinear backstepping: Applications to ship control

    Directory of Open Access Journals (Sweden)

    Thor I. Fossen

    1999-04-01

    Full Text Available The theoretical foundation of nonlinear backstepping designs is presented in a tutorial setting. This includes a brief review of integral backstepping, extensions to SISO and MIMO systems in strict feedback form and physical motivated case studies. Parallels and differences to feedback linearization where it is shown how so-called "good nonlincarities" can be exploited in the design are also made.

  4. Ancient Pb and Ti mobilization revealed by Scanning Ion Imaging

    Science.gov (United States)

    Kusiak, Monika A.; Whitehouse, Martin J.; Wilde, Simon A.

    2014-05-01

    Zircons from strongly layered early Archean ortho- and paragneisses in ultra-high temperature (UHT) metamorphic rocks of the Napier Complex, Enderby Land, East Antarctica are characterized by complex U-Th-Pb systematics [1,2,3]. A large number of zircons from three samples, Gage Ridge, Mount Sones and Dallwitz Nunatak, are reversely discordant (U/Pb ages older than 207Pb/206Pb ages) with the oldest date of 3.9 Ga [4] (for the grain from Gage Ridge orthogneiss). To further investigate this process, we utilized a novel high spatial resolution Scanning Ion Imaging technique on the CAMECA IMS 1280 at the Natural History Museum in Stockholm. Areas of 70 μm x 70 μm were selected for imaging in mono- and multicollection modes using a ~2 μm rastered primary beam to map out the distribution of 48Ti, 89Y, 180Hf, 232Th, 238U, 204Pb, 206Pb and 207Pb. The ion maps reveal variable distribution of certain elements within analysed grains that can be compared to their CL response. Yttrium, together with U and Th, exhibits zonation visible on the CL images, Hf shows expected minimal variation. Unusual patchiness is visible in the map for Ti and Pb distribution. The bright patches with enhanced signal do not correspond to any zones or to crystal imperfections (e.g. cracks). The presence of patchy titanium is likely to affect Ti-in-zircon thermometry, and patchy Pb affecting 207Pb/206Pb ages, usually considered as more robust for Archean zircons. Using the WinImage program, we produced 207Pb/206Pb ratio maps that allow calculation of 207Pb/206Pb ages for spots of any size within the frame of the picture and at any time after data collection. This provides a new and unique method for obtaining age information from zircon. These maps show areas of enhanced brightness where the 207Pb/206Pb ratio is higher and demonstrate that within these small areas (μm scale) the apparent 207Pb/206Pb age is older, in some of these patches even > 4 Ga. These data are a result of ancient Pb

  5. Comparative Analysis for NN-Based Adaptive Back-stepping Controller and Back-stepping Controller

    OpenAIRE

    Margarita Gjonaj; BetimÇiço; ArnisaMyrtellari

    2016-01-01

    This work primarily addresses the design and implementation of a neural network based controller for the trajectory tracking of a differential drive mobile robot. The proposed control algorithm is an NN-based adaptive controller which tunes the gains of the back-stepping controller online according to the robot reference trajectory and its initial posture. In this method, a neural network is needed to learn the characteristics of the plant dynamics and make use of it to determine the future i...

  6. Scanning-electron-microscopy observations and mechanical characteristics of ion-beam-sputtered surgical implant alloys

    Science.gov (United States)

    Weigand, A. J.; Meyer, M. L.; Ling, J. S.

    1977-01-01

    An electron bombardment ion thruster was used as an ion source to sputter the surfaces of orthopedic prosthetic metals. Scanning electron microscopy photomicrographs were made of each ion beam textured surface. The effect of ion texturing an implant surface on its bond to bone cement was investigated. A Co-Cr-W alloy and surgical stainless steel were used as representative hard tissue implant materials to determine effects of ion texturing on bulk mechanical properties. Work was done to determine the effect of substrate temperature on the development of an ion textured surface microstructure. Results indicate that the ultimate strength of the bulk materials is unchanged by ion texturing and that the microstructure will develop more rapidly if the substrate is heated prior to ion texturing.

  7. Robust chaotic control of Lorenz system by backstepping design

    Energy Technology Data Exchange (ETDEWEB)

    Peng, C.-C. [Department of Aeronautics and Astronautics, National Cheng Kung University, Tainan, Taiwan (China); Chen, C.-L. [Department of Aeronautics and Astronautics, National Cheng Kung University, Tainan, Taiwan (China)], E-mail: chiehli@mail.ncku.edu.tw

    2008-07-15

    This work presents a robust chaotic control strategy for the Lorenz chaos via backstepping design. Backstepping technique is a systematic tool of control law design to provide Lyapunov stability. The concept of extended system is used such that a continuous sliding mode control (SMC) effort is generated using backstepping scheme. In the proposed control algorithm, an adaptation law is applied to estimate the system parameter and the SMC offers the robustness to model uncertainties and external disturbances so that the asymptotical convergence of tracking error can be achieved. Regarding the SMC, an equivalent control algorithm is chosen based on the selection of Lyapunov stability criterion during backstepping approach. The converging rate of error state is relative to the corresponding dynamics of sliding surface. Numerical simulations demonstrate its advantages to a regulation problem and an orbit tracking problem of the Lorenz chaos.

  8. High resolution imaging using scanning ion conductance microscopy with improved distance feedback control

    Institute of Scientific and Technical Information of China (English)

    Chao Li; Nicholas Johnson; Victor Ostanin; Andrew Shevchuk; Liming Ying; Yuri Korchev; David Klenerman

    2008-01-01

    Microscopy is an essential technique for observation on living cells. There is currently great interest in applying scanning probe microscopy to image-living biological cells in their natural environment at the nanometer scale. Scanning ion conductance microscopy is a new form of scanning probe microscopy, which enables non-contact high-resolution imaging of living biological cells. Based on a scanned nanopipette in physiological buffer, the distance feedback control uses the ion current to control the distance between the pipette tip and the sample surface. However, this feedback control has difficulties over slopes on convoluted cell surfaces, which limits its resolution. In this study, we present an improved form of feedback control that removes the contribution of up to the third-order slope from the ion current signal, hence providing a more accurate signal for controlling the distance. We show that this allows faster and lower noise topographic high-resolution imaging.

  9. Dark-Field Scanning Transmission Ion Microscopy via Detection of Forward-Scattered Helium Ions with a Microchannel Plate.

    Science.gov (United States)

    Woehl, Taylor J; White, Ryan M; Keller, Robert R

    2016-06-01

    A microchannel plate was used as an ion sensitive detector in a commercial helium ion microscope (HIM) for dark-field transmission imaging of nanomaterials, i.e. scanning transmission ion microscopy (STIM). In contrast to previous transmission HIM approaches that used secondary electron conversion holders, our new approach detects forward-scattered helium ions on a dedicated annular shaped ion sensitive detector. Minimum collection angles between 125 mrad and 325 mrad were obtained by varying the distance of the sample from the microchannel plate detector during imaging. Monte Carlo simulations were used to predict detector angular ranges at which dark-field images with atomic number contrast could be obtained. We demonstrate atomic number contrast imaging via scanning transmission ion imaging of silica-coated gold nanoparticles and magnetite nanoparticles. Although the resolution of STIM is known to be degraded by beam broadening in the substrate, we imaged magnetite nanoparticles with high contrast on a relatively thick silicon nitride substrate. We expect this new approach to annular dark-field STIM will open avenues for more quantitative ion imaging techniques and advance fundamental understanding of underlying ion scattering mechanisms leading to image formation.

  10. Fractionated treatment of moving tumors with scanned heavy ion beams

    Energy Technology Data Exchange (ETDEWEB)

    Woelfelschneider, Jens [GSI, Darmstadt (Germany); Fachhochschule Giessen-Friedberg (Germany); Scholz, Michael; Bert, Christoph [GSI, Darmstadt (Germany); Durante, Marco [GSI, Darmstadt (Germany); Technische Universitaet Darmstadt (Germany)

    2011-07-01

    Scanned beam irradiation of moving targets typically results in inhomogeneous dose distributions if only margins are used. To overcome this so called interplay effect, currently technically elaborative methods, such as beam tracking, gating or rescanning, are proposed. With respect to absorbed dose, the dose homogenization that can be achieved with volumetric rescanning is comparable to a conventional fractionated treatment. In the scope of this work we investigated if fractionated dose delivery also results in homogeneous target coverage if the biological effect is incorporated. By using the treatment planning system TRiP 4D together with {alpha} and {beta} values of the Linear-Quadratic-Model, we calculated the equivalent uniform dose (EUD) for tumor and organs at risk in a fractionated treatment of lung tumors. The motion parameters were changed in each fraction, resulting in different interplay patterns. The summed dose distributions after varying the number of fractions were determined. Homogenization of the resulting dose distribution with increasing number of fractions was observed for the absorbed dose. The degree of homogenization for the biologically effective dose is currently analyzed. Results and the comparison to other treatment methods are presented.

  11. Design New Intelligent PID like Fuzzy Backstepping Controller

    Directory of Open Access Journals (Sweden)

    Arzhang Khajeh

    2014-02-01

    Full Text Available The minimum rule base Proportional Integral Derivative (PID Fuzzy backstepping Controller is presented in this research. The popularity of PID Fuzzy backstepping controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy backstepping controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 7 × 7 × 7 = 343 rules. It is too much work to write 343 rules. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PD-like fuzzy controller and a PI-like controller to have the minimum rule base. However backstepping controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters of each link, this controller is work based on manipulator dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear robot manipulator’s dynamic equation. This research is used to reduce or eliminate the backstepping controller problem based on minimum rule base fuzzy logic theory to control of flexible robot manipulator system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

  12. Imaging and Rapid-Scanning Ion Mass Spectrometer (IRM) for the CASSIOPE e-POP Mission

    Science.gov (United States)

    Yau, Andrew W.; Howarth, Andrew; White, Andrew; Enno, Greg; Amerl, Peter

    2015-06-01

    The imaging and rapid-scanning ion mass spectrometer (IRM) is part of the Enhanced Polar Outflow Probe (e-POP) instrument suite on the Canadian CASSIOPE small satellite. Designed to measure the composition and detailed velocity distributions of ions in the ˜1-100 eV/q range on a non-spinning spacecraft, the IRM sensor consists of a planar entrance aperture, a pair of electrostatic deflectors, a time-of-flight (TOF) gate, a hemispherical electrostatic analyzer, and a micro-channel plate (MCP) detector. The TOF gate measures the transit time of each detected ion inside the sensor. The hemispherical analyzer disperses incident ions by their energy-per-charge and azimuth in the aperture plane onto the detector. The two electrostatic deflectors may be optionally programmed to step through a sequence of deflector voltages, to deflect ions of different incident elevation out of the aperture plane and energy-per-charge into the sensor aperture for sampling. The position and time of arrival of each detected ion at the detector are measured, to produce an image of 2-dimensional (2D), mass-resolved ion velocity distribution up to 100 times per second, or to construct a composite 3D velocity distribution by combining successive images in a deflector voltage sequence. The measured distributions are then used to investigate ion composition, density, drift velocity and temperature in polar ion outflows and related acceleration and transport processes in the topside ionosphere.

  13. How occasional backstepping can speed up a processive motor protein

    CERN Document Server

    Bier, M

    2008-01-01

    Fueled by the hydrolysis of ATP, the motor protein kinesin literally walks on two legs along the biopolymer microtubule. The number of accidental backsteps that kinesin takes appears to be much larger than what one would expect given the amount of free energy that ATP hydrolysis makes available. This is puzzling as more than a billion years of natural selection should have optimized the motor protein for its speed and efficiency. But more backstepping allows for the production of more entropy. Such entropy production will make free energy available. With this additional free energy, the catalytic cycle of the kinesin can be speeded up. We show how measured backstep percentages represent an optimum at which maximal net forward speed is achieved.

  14. Backstepping Controller for Electrically Driven Flexible Joint Manipulator Under Uncertainties

    Directory of Open Access Journals (Sweden)

    Lilia Zouari

    2014-12-01

    Full Text Available The grown complexity of the robot manipulators dynamics taking into account the jointflexibility, parameter uncertainties and unknown bounded disturbances makes conventionalcontrol strategies difficult and complex to synthesize. This paper focuses on the investiga-tion into backstepping control of flexible joint manipulator driving by Brushless DC Motor(BDCM in the presence of parameter uncertainties and unknown bounded disturbances fortracking trajectory. The goal of this paper is to compensate all uncertainties and distur-bances for flexible joint manipulator. To study the effectiveness of the controllers, backstep-ping controller has been developed for position control and an hysteresis controller has beentreated for current control. Simulation results of the response of the flexible joint manipu-lators associated with their controllers have been presented. The high performances of thebackstepping control are examined in terms of tracking accuracy and error reduction.

  15. Correlative Analysis of Immunoreactivity in Confocal Laser-Scanning Microscopy and Scanning Electron Microscopy with Focused Ion Beam Milling

    Directory of Open Access Journals (Sweden)

    Takahiro eSonomura

    2013-02-01

    Full Text Available Three-dimensional reconstruction of ultrastructure of rat brain with minimal effort has recently been realized by scanning electron microscopy combined with focused ion beam milling (FIB-SEM. Because application of immunohistochemical staining to electron microscopy has a great advantage in that molecules of interest are specifically localized in ultrastructures, we here tried to apply immunocytochemistry to FIB-SEM and correlate immunoreactivity in confocal laser-scanning microcopy (CF-LSM with that in FIB-SEM. The dendrites of medium-sized spiny neurons in rat neostriatum were visualized with a recombinant viral vector, which labeled the infected neurons with membrane-targeted GFP in a Golgi stain-like fashion, and thalamostriatal afferent terminals were immunolabeled with Cy5 fluorescence for vesicular glutamate transporter 2 (VGluT2. After detecting the sites of terminals apposed to the dendrites in CF-LSM, GFP and VGluT2 immunoreactivities were further developed for electron microscopy by the immunogold/silver enhancement and immunoperoxidase/diaminobenzidine (DAB methods, respectively. In the contrast-inverted FIB-SEM images, silver precipitation and DAB deposits were observed as fine dark grains and diffuse dense profiles, respectively, indicating that these immunoreactivities were easily recognizable as in the images of transmission electron microscopy. In the sites of interest, some appositions were revealed to display synaptic specialization of asymmetric type. The present method is thus useful in the three-dimensional analysis of immunocytochemically differentiated synaptic connection in the central neural circuit.

  16. Correlative analysis of immunoreactivity in confocal laser-scanning microscopy and scanning electron microscopy with focused ion beam milling.

    Science.gov (United States)

    Sonomura, Takahiro; Furuta, Takahiro; Nakatani, Ikuko; Yamamoto, Yo; Unzai, Tomo; Matsuda, Wakoto; Iwai, Haruki; Yamanaka, Atsushi; Uemura, Masanori; Kaneko, Takeshi

    2013-01-01

    Recently, three-dimensional reconstruction of ultrastructure of the brain has been realized with minimal effort by using scanning electron microscopy (SEM) combined with focused ion beam (FIB) milling (FIB-SEM). Application of immunohistochemical staining in electron microscopy (EM) provides a great advantage in that molecules of interest are specifically localized in ultrastructures. Thus, we applied immunocytochemistry for FIB-SEM and correlated this immunoreactivity with that in confocal laser-scanning microcopy (CF-LSM). Dendrites of medium-sized spiny neurons in the rat neostriatum were visualized using a recombinant viral vector, which labeled the infected neurons with membrane-targeted GFP in a Golgi stain-like fashion. Moreover, the thalamostriatal afferent terminals were immunolabeled with Cy5 fluorescence for vesicular glutamate transporter 2 (VGluT2). After detection of the sites of terminals apposed to the dendrites by using CF-LSM, GFP and VGluT2 immunoreactivities were further developed for EM by using immunogold/silver enhancement and immunoperoxidase/diaminobenzidine (DAB) methods, respectively. In contrast-inverted FIB-SEM images, silver precipitations and DAB deposits were observed as fine dark grains and diffuse dense profiles, respectively, indicating that these immunoreactivities were as easily recognizable as those in the transmission electron microscopy (TEM) images. Furthermore, in the sites of interest, some appositions displayed synaptic specializations of an asymmetric type. Thus, the present method was useful in the three-dimensional analysis of immunocytochemically differentiated synaptic connections in the central neural circuit.

  17. Heavy-ion induced modification of lithium fluoride observed by scanning force microscopy

    Energy Technology Data Exchange (ETDEWEB)

    Mueller, A.; Neumann, R.; Schwartz, K.; Steckenreiter, T.; Trautmann, C.

    1997-12-01

    To study ion-induced damages in single crystals of lithium fluoride with scanning force microscopy (SFM), samples were irradiated with several heavy-ion species of a kinetic energy of 11.4 MeV per nucleon at the linear accelerator UNILAC of GSI. As concluded from a previous analysis of ion tracks in LiF by optical absorption spectroscopy and small-angle X-ray scattering, single point defects occur in a track halo with a radius of about 15-30 nm, whereas defect aggregates are formed in a track core region possessing a radius of only about 1-2 nm. These aggregates can be attacked by chemical etching if the energy loss along the ion trajectory surpasses a critical value of about 1 keV/Aa. SFM images of etched as well as unetched sample surfaces revealed new damage characteristics: Etched ion track profiles directed parallel to the ion trajectories exhibit a sequence of single etch pits with an average distance of about 140 nm. After exposure to heavy-ion irradiation at normal incidence, the unetched LiF surface is covered with round hillocks with a mean diameter of 55(8) nm and heights in the order of 3 nm. (orig.)

  18. Surface damage through grazing incidence ions investigated by scanning tunneling microscopy

    Energy Technology Data Exchange (ETDEWEB)

    Redinger, Alex

    2009-07-10

    Surface damage, caused by grazing incidence ions, is investigated with variable temperature scanning tunneling microscopy. The experiments are carried out on a Pt(111) crystal. The kinetic energy of noble gas ions is varied between 1-15 keV and the angle of incidence can be adjusted between {theta} = 78.5 and {theta} = 90 measured with respect to the surface normal. The damage patterns of single ion impacts, on flat terraces and at step edges of monoatomic height, are investigated at low surface temperatures. Ions hitting a flat terrace are usually specular reflected. The energy transfer from the ion to the crystal atoms is small and only little damage is produced. In contrast, at ascending step edges, which are illuminated by the ion beam, large angle scattering events occur. Sputtering, adatom and vacancy production is induced. However, a significant fraction of the ions, which hit step edges, enter the crystal and are guided in between two atomic layers parallel to the surface via small angle binary collisions. This steering process is denoted as subsurface channeling. The energy loss per length scale of the channeled particles is low, which results in long ion trajectories (up to 1000A). During the steering process, the ions produce surface damage. Depending on the ion species and the ion energy, adatom and vacancies or surface vacancy trenches of monoatomic width are observed. The surface damage can be used to track the path of the ion. This makes the whole trajectory of single ions with keV energy visible. The number of sputtered atoms per incident ion at ascending step edges, i.e. the step edge sputtering yield, is measured experimentally for different irradiation conditions. For {theta} = 86 , the sputtering yield is determined from the fluence dependent retraction of pre-existing illuminated step edges. An alternative method for the step edge sputtering yield determination, is the analysis of the concentration of ascending steps and of the removed amount

  19. Nonlinear Superheat Control of a Refrigeration Plant using Backstepping

    DEFF Research Database (Denmark)

    Rasmussen, Henrik

    2008-01-01

    This paper proposes a novel method for superheat and capacity control of refrigeration systems. The main idea is to control the superheat by the compressor speed and capacity by the refrigerant flow. A new low order nonlinear model of the evaporator is developed and used in a backstepping design...

  20. Observer Backstepping Control for Variable Speed Wind Turbine

    DEFF Research Database (Denmark)

    Galeazzi, Roberto; Gryning, Mikkel Peter Sidoroff; Blanke, Mogens

    2013-01-01

    . The nonlinear controller aims at regulating the generator torque such that an optimal tip-speed ratio can be obtained. Simply relying on the measured rotor angular velocity the proposed observer backstepping controller guarantees global asymptotic tracking of the desired trajectory while maintaining a globally...

  1. Integrator backstepping using contraction theory: a brief technological note

    DEFF Research Database (Denmark)

    Jouffroy, Jerome; Lottin, Jacques

    While the use of Lyapunov function candidates for integrator backstepping has been extensively studied in the literature, little research has been conducted regarding the applicability of the so-called incremental stability approaches. This note addresses the problem of the use of an incremental...

  2. Focussed Ion Beam Milling and Scanning Electron Microscopy of Brain Tissue

    OpenAIRE

    Knott, Graham; Rosset, Stéphanie; Cantoni, Marco

    2011-01-01

    This protocol describes how biological samples, like brain tissue, can be imaged in three dimensions using the focussed ion beam/scanning electron microscope (FIB/SEM). The samples are fixed with aldehydes, heavy metal stained using osmium tetroxide and uranyl acetate. They are then dehydrated with alcohol and infiltrated with resin, which is then hardened. Using a light microscope and ultramicrotome with glass knives, a small block containing the region interest close to the surface is made....

  3. Charting molecular composition of phosphatidylcholines by fatty acid scanning and ion trap MS3 fragmentation

    DEFF Research Database (Denmark)

    Ekroos, Kim; Ejsing, Christer S.; Bahr, Ute

    2003-01-01

    The molecular composition of phosphatidylcholines (PCs) in total lipid extracts was characterized by a combination of multiple precursor ion scanning on a hybrid quadrupole time-of-flight mass spectrometer and MS3 fragmentation on an ion trap mass spectrometer. Precursor ion spectra for 50 acyl...... spectrometer quantified the relative amount of their positional isomers, thus providing the most detailed and comprehensive characterization of the molecular composition of the pool of PCs at the low-picomole level. The method is vastly simplified, compared with conventional approaches, and does not require...... preliminary separation of lipid classes or of individual molecular species, enzymatic digestion, or chemical derivatization. The approach was validated by the comparative analysis of the molecular composition of PCs from human red blood cells. In the total lipid extract of Madin-Darby canine kidney II cells...

  4. Scanning-probe-microscopy of polyethylene terephthalate surface treatment by argon ion beam

    Energy Technology Data Exchange (ETDEWEB)

    Espinoza-Beltran, Francisco [Polymer & Biopolymer Group, Libramiento Norponiente no. 2000, Cinvestav Queretaro, Queretaro 76230 (Mexico); Sanchez, Isaac C. [Department of Chemical Engineering, The University of Texas at Austin, Austin, TX 78712 (United States); España-Sánchez, Beatriz L.; Mota-Morales, Josué D.; Carrillo, Salvador; Enríquez-Flores, C.I. [Polymer & Biopolymer Group, Libramiento Norponiente no. 2000, Cinvestav Queretaro, Queretaro 76230 (Mexico); Poncin-Epaillard, Fabienne, E-mail: epaill@univ-lemans.fr [Institute for Molecules and Materials, UMR CNRS 6283, Av. O. Messiaen, Universitè du Maine, Le Mans 72085 (France); Luna-Barcenas, Gabriel, E-mail: gluna@qro.cinvestav.mx [Polymer & Biopolymer Group, Libramiento Norponiente no. 2000, Cinvestav Queretaro, Queretaro 76230 (Mexico)

    2015-11-01

    Highlights: • Kelvin-probe-force microscopy helps study of PET surface treated by Ar ion beam. • Ar ion beam surface treatment promotes chain scission and N insertion. • Surface roughness and work function increases as intensity of ion energy increases. • Adhesive force of PET decrease due to the surface changes by ion bombardment. - Abstract: The effect of argon (Ar{sup +}) ion beam treatment on the surface of polyethylene terephthalate (PET) samples was studied by scanning probe microscopy (SPM) and the changes in surface topography were assessed by atomic force microscopy (AFM). Kelvin probe force microscopy (KPFM) sheds light of adhesion force between treated polymer films and a Pt/Cr probe under dry conditions, obtaining the contact potential difference of material. As a result of Ar{sup +} ion bombardment, important surface chemical changes were detected by X-ray photoelectron spectroscopy (XPS) measurements such as chains scission and incorporation of nitrogen species. Ion beam treatment increases the surface roughness from 0.49 ± 0.1 nm to 7.2 ± 0.1 nm and modify the surface potential of PET samples, decreasing the adhesive forces from 12.041 ± 2.1 nN to 5.782 ± 0.06 nN, and producing a slight increase in the electronic work function (Φ{sub e}) from 5.1 V (untreated) to 5.2 V (treated). Ar{sup +} ion beam treatment allows to potentially changing the surface properties of PET, modifying surface adhesion, improving surface chemical changes, wetting properties and surface potential of polymers.

  5. Millimeter length micromachining using a heavy ion nuclear microprobe with standard magnetic scanning

    Energy Technology Data Exchange (ETDEWEB)

    Nesprías, F. [Gerencia de Investigación y Aplicaciones, Comisión Nacional de Energía Atómica, Av. Gral Paz 1499 (1650), San Martín, Buenos Aires (Argentina); Debray, M.E., E-mail: debray@tandar.cnea.gov.ar [Gerencia de Investigación y Aplicaciones, Comisión Nacional de Energía Atómica, Av. Gral Paz 1499 (1650), San Martín, Buenos Aires (Argentina); Escuela de Ciencia y Tecnología. Universidad Nacional de Gral. San Martín, M. De Irigoyen 3100 (1650), San Martín, Buenos Aires (Argentina); Davidson, J. [Gerencia de Investigación y Aplicaciones, Comisión Nacional de Energía Atómica, Av. Gral Paz 1499 (1650), San Martín, Buenos Aires (Argentina); CONICET, Avda. Rivadavia 1917 (C1033AAJ), Ciudad Autónoma de Buenos Aires (Argentina); Kreiner, A.J. [Gerencia de Investigación y Aplicaciones, Comisión Nacional de Energía Atómica, Av. Gral Paz 1499 (1650), San Martín, Buenos Aires (Argentina); Escuela de Ciencia y Tecnología. Universidad Nacional de Gral. San Martín, M. De Irigoyen 3100 (1650), San Martín, Buenos Aires (Argentina); CONICET, Avda. Rivadavia 1917 (C1033AAJ), Ciudad Autónoma de Buenos Aires (Argentina); and others

    2013-04-01

    In order to increase the scanning length of our microprobe, we have developed an irradiation procedure suitable for use in any nuclear microprobe, extending at least up to 400% the length of our heavy ion direct writing facility using standard magnetic exploration. Although this method is limited to patterns of a few millimeters in only one direction, it is useful for the manufacture of curved waveguides, optical devices such Mach–Zehnder modulators, directional couplers as well as channels for micro-fluidic applications. As an example, this technique was applied to the fabrication of 3 mm 3D-Mach–Zehnder modulators in lithium niobate with short Y input/output branches and long shaped parallel-capacitor control electrodes. To extend and improve the quality of the machined structures we developed new scanning control software in LabView™ platform. The new code supports an external dose normalization, electrostatic beam blanking and is capable of scanning figures at 16 bit resolution using a National Instruments™ PCI-6731 High-Speed I/O card. A deep and vertical micromachining process using swift {sup 35}Cl ions 70 MeV bombarding energy and direct write patterning was performed on LiNbO{sub 3}, a material which exhibits a strong natural anisotropy to conventional etching. The micromachined structures show the feasibility of this method for manufacturing micro-fluidic channels as well.

  6. 4D offline PET-based treatment verification in scanned ion beam therapy: a phantom study

    Science.gov (United States)

    Kurz, Christopher; Bauer, Julia; Unholtz, Daniel; Richter, Daniel; Stützer, Kristin; Bert, Christoph; Parodi, Katia

    2015-08-01

    At the Heidelberg Ion-Beam Therapy Center, patient irradiation with scanned proton and carbon ion beams is verified by offline positron emission tomography (PET) imaging: the {β+} -activity measured within the patient is compared to a prediction calculated on the basis of the treatment planning data in order to identify potential delivery errors. Currently, this monitoring technique is limited to the treatment of static target structures. However, intra-fractional organ motion imposes considerable additional challenges to scanned ion beam radiotherapy. In this work, the feasibility and potential of time-resolved (4D) offline PET-based treatment verification with a commercial full-ring PET/CT (x-ray computed tomography) device are investigated for the first time, based on an experimental campaign with moving phantoms. Motion was monitored during the gated beam delivery as well as the subsequent PET acquisition and was taken into account in the corresponding 4D Monte-Carlo simulations and data evaluation. Under the given experimental conditions, millimeter agreement between the prediction and measurement was found. Dosimetric consequences due to the phantom motion could be reliably identified. The agreement between PET measurement and prediction in the presence of motion was found to be similar as in static reference measurements, thus demonstrating the potential of 4D PET-based treatment verification for future clinical applications.

  7. Active spot-scanning test with heavy ions at HIRFL-CSR

    Institute of Scientific and Technical Information of China (English)

    DAI Zhong-Ying; LI Qiang; LIU Xin-Guo; JIN Xiao-Dong; HUANG Qi-Yan; XIAO Guo-Qing

    2012-01-01

    An active spot beam delivery system for heavy ion therapy has been developed based on the Cooling Storage Ring at HIRFL-CSR,where the pencil carbon-ion beams were scanned within a target volume transversely by a pair of orthogonal (horizontal and vertical) dipole magnets to paint the slices of the target volume and longitudinally by active energy variation of the synchrotron slice by slice.The unique techniques such as dose shaping via active energy variation and magnetic deflection constitute a promising three-dimensional conformal even intensity-modulated radiotherapy with heavy ions at HIRFL-CSR.In this paper,the verification of active energy variation and the calibration of steerable beam deflection are shown,as the basic functionality components of the active spot-scanning system.Additionally,based on the capability of creating homogeneous irradiation fields with steerable pencil beams,a radiobiological experiment like cell survival measurement has been performed aiming at comparison of the radiobiological effects under active and passive beam deliveries.

  8. Imaging three-dimensional tissue architectures by focused ion beam scanning electron microscopy.

    Science.gov (United States)

    Bushby, Andrew J; P'ng, Kenneth M Y; Young, Robert D; Pinali, Christian; Knupp, Carlo; Quantock, Andrew J

    2011-06-01

    In this protocol, we describe a 3D imaging technique known as 'volume electron microscopy' or 'focused ion beam scanning electron microscopy (FIB/SEM)' applied to biological tissues. A scanning electron microscope equipped with a focused gallium ion beam, used to sequentially mill away the sample surface, and a backscattered electron (BSE) detector, used to image the milled surfaces, generates a large series of images that can be combined into a 3D rendered image of stained and embedded biological tissue. Structural information over volumes of tens of thousands of cubic micrometers is possible, revealing complex microanatomy with subcellular resolution. Methods are presented for tissue processing, for the enhancement of contrast with osmium tetroxide/potassium ferricyanide, for BSE imaging, for the preparation and platinum deposition over a selected site in the embedded tissue block, and for sequential data collection with ion beam milling; all this takes approximately 90 h. The imaging conditions, procedures for alternate milling and data acquisition and techniques for processing and partitioning the 3D data set are also described; these processes take approxiamtely 30 h. The protocol is illustrated by application to developing chick cornea, in which cells organize collagen fibril bundles into complex, multilamellar structures essential for transparency in the mature connective tissue matrix. The techniques described could have wide application in a range of fields, including pathology, developmental biology, microstructural anatomy and regenerative medicine.

  9. Image formation, resolution, and height measurement in scanning ion conductance microscopy

    Science.gov (United States)

    Rheinlaender, Johannes; Schäffer, Tilman E.

    2009-05-01

    Scanning ion conductance microscopy (SICM) is an emerging tool for the noncontact investigation of biological samples such as live cells. It uses an ion current through the opening of a tapered nanopipette filled with an electrolyte for topography measurements. Despite its successful application to numerous systems no systematic investigation of the image formation process has yet been performed. Here, we use finite element modeling to investigate how the scanning ion conductance microscope images small particles on a planar surface, providing a fundamental characterization of the imaging process. We find that a small particle appears with a height that is only a fraction of its actual height. This has significant consequences for the quantitative interpretation of SICM images. Furthermore, small and low particles are imaged as rings in certain cases. This can cause small, closely spaced particles to appear with a lateral orientation that is rotated by 90°. Considering both real space and spatial frequency space we find that a reasonable and useful definition of lateral resolution of SICM is the smallest distance at which two small particles can clearly be resolved from each other in an image. We find that this resolution is approximately equal to three times the inner radius of the pipette tip opening.

  10. Scanning ion imaging - a potent tool in SIMS U -Pb zircon geochronology

    Science.gov (United States)

    Whitehouse, M. J.; Fedo, C.; Kusiak, M.; Nemchin, A.

    2012-12-01

    The application of high spatial resolution (BSE) characterisation, has revolutionised geochronology over the past 25 years, re-vealing complexities of crustal evolution from zoned zircons. In addition to ge-ochronology, such studies now commonly form the basis of broader investigations using O- and Hf- isotopes and trace elements obtained from the same growth zone as age, circumventing ambiguities commonly present in bulk-rock isotope studies. The choice of analytical beam diameter is often made to maximise the precision of data obtained from a given area of analysis within an identifiable growth zone. In cases where zircons yield poorly constrained internal structures in SEM, high spatial resolution spot analyses may yield uninterpretable and/or meaningless mixed ages by inadvertent sampling across regions with real age differences. Scanning ion imaging (SII) has the potential to generate accurate and precise geochrono-logical data with a spatial resolution down to ca. 2 μm, much higher than that of a normal spot analysis. SII acquisition utilises a rastered primary beam to image an area of the sample with a spatial resolution dependent on the selected primary beam diameter. On the Cameca ims1270/80 instruments, the primary beam scanning is coupled with the dynamic transfer optical system (DTOS) which deflects the secondary ions back on to the ion optical axis of the instrument regardless of where in the raster illuminated area the ions originated. This feature allows retention of a high field magnification (= high transmission) mode and the ability to operate the mass spectrometer at high mass resolution without any compromise in the quality of the peak shape. Secondary ions may be detected either in a sequential (peak hopping) mono-collection mode or simultaneous multicollection mode using low-noise pulse counting electron multipliers. Regardless of the detection mode, data are acquired over sufficient cycles to generate usable counting statistics from selected

  11. Simultaneous Scanning Ion Conductance Microscopy and Atomic Force Microscopy with Microchanneled Cantilevers

    Science.gov (United States)

    Ossola, Dario; Dorwling-Carter, Livie; Dermutz, Harald; Behr, Pascal; Vörös, János; Zambelli, Tomaso

    2015-12-01

    We combined scanning ion conductance microscopy (SICM) and atomic force microscopy (AFM) into a single tool using AFM cantilevers with an embedded microchannel flowing into the nanosized aperture at the apex of the hollow pyramid. An electrode was positioned in the AFM fluidic circuit connected to a second electrode in the bath. We could thus simultaneously measure the ionic current and the cantilever bending (in optical beam deflection mode). First, we quantitatively compared the SICM and AFM contact points on the approach curves. Second, we estimated where the probe in SICM mode touches the sample during scanning on a calibration grid and applied the finding to image a network of neurites on a Petri dish. Finally, we assessed the feasibility of a double controller using both the ionic current and the deflection as input signals of the piezofeedback. The experimental data were rationalized in the framework of finite elements simulations.

  12. Synchronization control of cross-strict feedback hyperchaotic system based on cross active backstepping design

    Energy Technology Data Exchange (ETDEWEB)

    Wang Jing [School of Electrical Engineering, Xi' an Jiaotong University, Xi' an 710049 (China)], E-mail: wjnotice@gmail.com; Gao Jinfeng [School of Electrical Engineering, Zhengzhou University, Zhengzhou 450002 (China); Ma Xikui [School of Electrical Engineering, Xi' an Jiaotong University, Xi' an 710049 (China)

    2007-10-01

    This Letter presents a novel cross active backstepping design method for synchronization control of cross-strict feedback hyperchaotic system, in which the ordinary backstepping design is unavailable. The proposed control method, combining backstepping design and active control approach, extends the application of backstepping technique in chaos control. Based on this method, different combinations of controllers can be designed to meet the needs of different applications. The proposed method is applied to achieve chaos synchronization of two identical cross-strict feedback hyperchaotic systems. Also it is used to implement synchronization between cross-strict feedback hyperchaotic system and Roessler hyperchaotic system. Numerical examples illustrate the validity of the control method.

  13. In situ nanomechanical testing in focused ion beam and scanning electron microscopes

    Energy Technology Data Exchange (ETDEWEB)

    Gianola, D. S. [Department of Materials Science and Engineering, University of Pennsylvania, Philadelphia, Pennsylvania 19104 (United States); Institute for Applied Materials, Karlsruhe Institute of Technology, Karlsruhe (Germany); Sedlmayr, A.; Moenig, R.; Kraft, O. [Institute for Applied Materials, Karlsruhe Institute of Technology, Karlsruhe (Germany); Volkert, C. A. [Institute for Materials Physics, Georg-August University of Goettingen, Goettingen (Germany); Major, R. C.; Cyrankowski, E.; Asif, S. A. S.; Warren, O. L. [Hysitron, Inc., Minneapolis, Minnesota 55344 (United States)

    2011-06-15

    The recent interest in size-dependent deformation of micro- and nanoscale materials has paralleled both technological miniaturization and advancements in imaging and small-scale mechanical testing methods. Here we describe a quantitative in situ nanomechanical testing approach adapted to a dual-beam focused ion beam and scanning electron microscope. A transducer based on a three-plate capacitor system is used for high-fidelity force and displacement measurements. Specimen manipulation, transfer, and alignment are performed using a manipulator, independently controlled positioners, and the focused ion beam. Gripping of specimens is achieved using electron-beam assisted Pt-organic deposition. Local strain measurements are obtained using digital image correlation of electron images taken during testing. Examples showing results for tensile testing of single-crystalline metallic nanowires and compression of nanoporous Au pillars will be presented in the context of size effects on mechanical behavior and highlight some of the challenges of conducting nanomechanical testing in vacuum environments.

  14. In situ nanomechanical testing in focused ion beam and scanning electron microscopes.

    Science.gov (United States)

    Gianola, D S; Sedlmayr, A; Mönig, R; Volkert, C A; Major, R C; Cyrankowski, E; Asif, S A S; Warren, O L; Kraft, O

    2011-06-01

    The recent interest in size-dependent deformation of micro- and nanoscale materials has paralleled both technological miniaturization and advancements in imaging and small-scale mechanical testing methods. Here we describe a quantitative in situ nanomechanical testing approach adapted to a dual-beam focused ion beam and scanning electron microscope. A transducer based on a three-plate capacitor system is used for high-fidelity force and displacement measurements. Specimen manipulation, transfer, and alignment are performed using a manipulator, independently controlled positioners, and the focused ion beam. Gripping of specimens is achieved using electron-beam assisted Pt-organic deposition. Local strain measurements are obtained using digital image correlation of electron images taken during testing. Examples showing results for tensile testing of single-crystalline metallic nanowires and compression of nanoporous Au pillars will be presented in the context of size effects on mechanical behavior and highlight some of the challenges of conducting nanomechanical testing in vacuum environments.

  15. The CNAO dose delivery system for modulated scanning ion beam radiotherapy

    Energy Technology Data Exchange (ETDEWEB)

    Giordanengo, S.; Marchetto, F. [Istituto Nazionale di Fisica Nucleare, Section of Torino, Torino 10125 (Italy); Garella, M. A.; Donetti, M. [Istituto Nazionale di Fisica Nucleare, Section of Torino, Torino 10125, Italy and Centro Nazionale Adroterapia Oncologica, Pavia 27100 (Italy); Bourhaleb, F.; Monaco, V.; Hosseini, M. A.; Peroni, C.; Sacchi, R.; Cirio, R. [Istituto Nazionale di Fisica Nucleare, Section of Torino, Torino 10125, Italy and Physics Department, University of Torino, Torino 10125 (Italy); Ciocca, M.; Mirandola, A. [Centro Nazionale Adroterapia Oncologica, Pavia 27100 (Italy)

    2015-01-15

    Purpose: This paper describes the system for the dose delivery currently used at the Centro Nazionale di Adroterapia Oncologica (CNAO) for ion beam modulated scanning radiotherapy. Methods: CNAO Foundation, Istituto Nazionale di Fisica Nucleare and University of Torino have designed, built, and commissioned a dose delivery system (DDS) to monitor and guide ion beams accelerated by a dedicated synchrotron and to distribute the dose with a full 3D scanning technique. Protons and carbon ions are provided for a wide range of energies in order to cover a sizable span of treatment depths. The target volume, segmented in several layers orthogonally to the beam direction, is irradiated by thousands of pencil beams which must be steered and held to the prescribed positions until the prescribed number of particles has been delivered. For the CNAO beam lines, these operations are performed by the DDS. The main components of this system are two independent beam monitoring detectors, called BOX1 and BOX2, interfaced with two control systems performing the tasks of real-time fast and slow control, and connected to the scanning magnets and the beam chopper. As a reaction to any condition leading to a potential hazard, a DDS interlock signal is sent to the patient interlock system which immediately stops the irradiation. The essential tasks and operations performed by the DDS are described following the data flow from the treatment planning system through the end of the treatment delivery. Results: The ability of the DDS to guarantee a safe and accurate treatment was validated during the commissioning phase by means of checks of the charge collection efficiency, gain uniformity of the chambers, and 2D dose distribution homogeneity and stability. A high level of reliability and robustness has been proven by three years of system activity needing rarely more than regular maintenance and working with 100% uptime. Four identical and independent DDS devices have been tested showing

  16. Correlative in vivo 2 photon and focused ion beam scanning electron microscopy of cortical neurons.

    Directory of Open Access Journals (Sweden)

    Bohumil Maco

    Full Text Available Correlating in vivo imaging of neurons and their synaptic connections with electron microscopy combines dynamic and ultrastructural information. Here we describe a semi-automated technique whereby volumes of brain tissue containing axons and dendrites, previously studied in vivo, are subsequently imaged in three dimensions with focused ion beam scanning electron microcopy. These neurites are then identified and reconstructed automatically from the image series using the latest segmentation algorithms. The fast and reliable imaging and reconstruction technique avoids any specific labeling to identify the features of interest in the electron microscope, and optimises their preservation and staining for 3D analysis.

  17. Fuzzy Backstepping Sliding Mode Control for Mismatched Uncertain System

    Directory of Open Access Journals (Sweden)

    H. Q. Hou

    2014-06-01

    Full Text Available Sliding mode controllers have succeeded in many control problems that the conventional control theories have difficulties to deal with; however it is practically impossible to achieve high-speed switching control. Therefore, in this paper an adaptive fuzzy backstepping sliding mode control scheme is derived for mismatched uncertain systems. Firstly fuzzy sliding mode controller is designed using backstepping method based on the Lyapunov function approach, which is capable of handling mismatched problem. Then fuzzy sliding mode controller is designed using T-S fuzzy model method, it can improve the performance of the control systems and their robustness. Finally this method of control is applied to nonlinear system as a case study; simulation results are also provided the performance of the proposed controller.

  18. Backstepping and sliding mode control hybridized for a prosthetic hand.

    Science.gov (United States)

    Engeberg, Erik D; Meek, Sanford G

    2009-02-01

    Open loop and force controllers are compared experimentally with three robust parallel force-velocity controllers that are developed for a prosthetic hand. Robust sliding mode, backstepping, and hybrid sliding mode-backstepping (HSMBS) parallel force-velocity controllers are tested by ten able-bodied subjects. Results obtained with a myoelectrically controlled prosthesis indicate that all three robust controllers offer a statistically significant improvement over linear hand prosthesis control schemes. The robust controllers enable the human operators to more easily manipulate a delicate object. Bench top experiments combined with quantitative and qualitative evaluations from ten test subjects reveal the HSMBS controller to be the best choice to improve control of powered prosthetic hands.

  19. Backstepping Designs for Aircraft Control - What is there to Gain?

    OpenAIRE

    Härkegård, Ola

    2001-01-01

    Aircraft flight control design is traditionally based on linear control theory, due to the existing wealth of tools for linear design and analysis. However, in order to achieve tactical advantages, modern fighter aircraft strive towards performing maneuvers outside the region where the dynamics of flight are linear, and the need for nonlinear tools arises. In this paper, backstepping is proposed as a possible framework for nonlinear flight control design. Its capabilities of handling five maj...

  20. Generalized synchronization of hyperchaos and chaos using active backstepping design

    Institute of Scientific and Technical Information of China (English)

    张浩; 马西奎; 杨宇; 徐翠东

    2005-01-01

    A novel active backstepping control method is presented for synchronizing two identical Rossler hyperchaotic systems with each other, and extended to achieve the generalized synchronization of the Chua chaotic system with the Rossler hyperchaotic system. It is a systematic design approach and consists of a recursive procedure interlacing the choice of a Lyapunov function with the design of active control. In particular, this technique gives flexibility in constructing a control law. Numerical experiments verify the feasibility and effectiveness of the proposed control technique.

  1. Decentralized Neural Backstepping Control Applied to a Robot Manipulator

    OpenAIRE

    Ramon Garcia-Hernandez; Ruz-Hernandez, Jose A.; Jose L. Rullan-Lara

    2013-01-01

    This paper presents a discrete‐time decentralized control scheme for trajectory tracking of a two degrees of freedom (DOF) robot manipulator. A high order neural network (HONN) is used to approximate a decentralized control law designed by the backstepping technique as applied to a block strict feedback form (BSFF). The weights for each neural network are adapted online by an extended Kalman filter training algorithm. The motion for each joint is controlled independently using only local angu...

  2. Output Feedback M-MRAC Backstepping With Aerospace Applications

    Science.gov (United States)

    Stepanyan, Vahram; Krishnakumar, Kalmanje Sriniva

    2014-01-01

    The paper presents a certainty equivalence output feedback backstepping adaptive control design method for the systems of any relative degree with unmatched uncertainties without over-parametrization. It uses a fast prediction model to estimate the unknown parameters, which is independent of the control design. It is shown that the system's input and output tracking errors can be systematically decreased by the proper choice of the design parameters. The approach is applied to aerospace control problems and tested in numerical simulations.

  3. CHAOS SYNCHRONIZATION OF MORSE OSCILLATOR VIA BACKSTEPPING DESIGN

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    Synchronization and adaptive synchronization of Morse oscillator with periodic forced section is investigated in this paper. Backstepping design is a recursive procedure that combines the choice of Lyapunov function with the design of controller. The proposed approaches offers a syetematic design procedure for synchronization and adaptive synchronization of a large class of continuous-time chaotic systems in the chaos research literature. Simulation results are presented to show the effectiveness of the ...

  4. Recursive Backstepping Stabilization of a Wheeled Mobile Robot

    OpenAIRE

    Faical Mnif

    2008-01-01

    This research is aimed to the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with nonholonomic constraints were employed. A Backstepping approach for the design of discontinuous state feedback controller is used for the design of the controller. It is shown that the origin of the closed loop system can be made stable in the sense of Lyapunov. The control design is made...

  5. Chaos control of chaotic dynamical systems using backstepping design

    Energy Technology Data Exchange (ETDEWEB)

    Yassen, M.T. [Mathematics Department, Faculty of Science, Mansoura University, Mansoura 35516 (Egypt)] e-mail: mtyassen@yahoo.com

    2006-01-01

    This work presents chaos control of chaotic dynamical systems by using backstepping design method. This technique is applied to achieve chaos control for each of the dynamical systems Lorenz, Chen and Lue systems. Based on Lyapunov stability theory, control laws are derived. We used the same technique to enable stabilization of chaotic motion to a steady state as well as tracking of any desired trajectory to be achieved in a systematic way. Numerical simulations are shown to verify the results.

  6. Focused ion beam (FIB)/scanning electron microscopy (SEM) in tissue structural research.

    Science.gov (United States)

    Leser, Vladka; Milani, Marziale; Tatti, Francesco; Tkalec, Ziva Pipan; Strus, Jasna; Drobne, Damjana

    2010-10-01

    The focused ion beam (FIB) and scanning electron microscope (SEM) are commonly used in material sciences for imaging and analysis of materials. Over the last decade, the combined FIB/SEM system has proven to be also applicable in the life sciences. We have examined the potential of the focused ion beam/scanning electron microscope system for the investigation of biological tissues of the model organism Porcellio scaber (Crustacea: Isopoda). Tissue from digestive glands was prepared as for conventional SEM or as for transmission electron microscopy (TEM). The samples were transferred into FIB/SEM for FIB milling and an imaging operation. FIB-milled regions were secondary electron imaged, back-scattered electron imaged, or energy dispersive X-ray (EDX) analyzed. Our results demonstrated that FIB/SEM enables simultaneous investigation of sample gross morphology, cell surface characteristics, and subsurface structures. The same FIB-exposed regions were analyzed by EDX to provide basic compositional data. When samples were prepared as for TEM, the information obtained with FIB/SEM is comparable, though at limited magnification, to that obtained from TEM. A combination of imaging, micro-manipulation, and compositional analysis appears of particular interest in the investigation of epithelial tissues, which are subjected to various endogenous and exogenous conditions affecting their structure and function. The FIB/SEM is a promising tool for an overall examination of epithelial tissue under normal, stressed, or pathological conditions.

  7. Precursor ion scan profiles of acylcarnitines by atmospheric pressure thermal desorption chemical ionization tandem mass spectrometry.

    Science.gov (United States)

    Paglia, Giuseppe; D'Apolito, Oceania; Corso, Gaetano

    2008-12-01

    The fatty acyl esters of L-carnitine (acylcarnitines) are useful biomarkers for the diagnosis of some inborn errors of metabolism analyzed by liquid chromatography/tandem mass spectrometry. In this study the acylcarnitines were analyzed by atmospheric pressure thermal desorption chemical ionization using a commercial tandem mass spectrometer (APTDCI-MS/MS). The method is based on the precursor ion scan mode determination of underivatized acylcarnitines desorbed from samples by a hot desolvation gas flow and ionized by a corona pin discharge. During desorption/ionization step the temperature induces the degradation of acylcarnitines; nevertheless, the common fragment to all acylcarnitines [MH-59](+) is useful for analyzing their profile. APTDCI parameters, including angle of collection and incidence, gas flows and temperatures, were optimized for acylcarnitines. The experiments were performed drying 2 microL of an equimolar mixture of acylcarnitine standards on a glass slide. The specificity was evaluated by comparing product ion spectra and the precursor ion spectra of 85 m/z of acylcarnitines obtained by the APTDCI method and by electrospray ionization flow injection analysis (ESI-FIA). The method was also employed to analyze acylcarnitines extracted from a pathological dried blood spot and a control. The method enables analysis of biological samples and recognition of some acylcarnitines that are diagnostic markers of inherited metabolic diseases. The intrinsic high-throughput analysis of the ambient desorption ionization methods offers a new opportunity either for its potential application in clinical chemistry and for the expanded screening of some inborn errors of metabolism.

  8. Focussed ion beam milling and scanning electron microscopy of brain tissue.

    Science.gov (United States)

    Knott, Graham; Rosset, Stéphanie; Cantoni, Marco

    2011-07-06

    This protocol describes how biological samples, like brain tissue, can be imaged in three dimensions using the focussed ion beam/scanning electron microscope (FIB/SEM). The samples are fixed with aldehydes, heavy metal stained using osmium tetroxide and uranyl acetate. They are then dehydrated with alcohol and infiltrated with resin, which is then hardened. Using a light microscope and ultramicrotome with glass knives, a small block containing the region interest close to the surface is made. The block is then placed inside the FIB/SEM, and the ion beam used to roughly mill a vertical face along one side of the block, close to this region. Using backscattered electrons to image the underlying structures, a smaller face is then milled with a finer ion beam and the surface scrutinised more closely to determine the exact area of the face to be imaged and milled. The parameters of the microscope are then set so that the face is repeatedly milled and imaged so that serial images are collected through a volume of the block. The image stack will typically contain isotropic voxels with dimenions as small a 4 nm in each direction. This image quality in any imaging plane enables the user to analyse cell ultrastructure at any viewing angle within the image stack.

  9. Scanning electrochemical microscopy of metallic biomaterials: reaction rate and ion release imaging modes.

    Science.gov (United States)

    Gilbert, J L; Smith, S M; Lautenschlager, E P

    1993-11-01

    The Scanning Electrochemical Microscope (SECM) is a nonoptical scanning microscopic instrument capable of imaging highly localized electrical currents associated with charge transfer reactions on metallic biomaterials surfaces. The SECM operates as an aqueous electrochemical cell under bipotentiostatic control with a microelectrode and sample independently biased as working electrodes. Microelectrode current and position is recorded as it is scanned very near a metallurgically polished planar sample surface. To date, the SECM has imaged metallic biomaterials surfaces in oxygen reaction rate imaging (ORRI) and ion release and deposition imaging (IRDI) modes. In ORRI, sample and microelectrode are biased at sufficiently negative potentials to reduce absorbed oxygen. As the microelectrode scans areas of active oxygen reduction, localized diffusion fields with decreased oxygen solution concentrations are encountered and resultant decrements in microelectrode current are observed. In IRDI mode the sample is positively biased and the microelectrode is negatively biased. The microelectrode detects anodic dissolution products with highest currents being observed over the most active areas. Performance of the SECM has been evaluated on Ni minigrids, gamma-1 Hg-Ag dental amalgam crystals, and sintered beads of Co-Cr-Mo alloy which represent significantly different geometries and corrosion processes to help demonstrate the potential of this instrument. The SECM is a valuable tool for imaging microelectrochemical processes on the surfaces of metallurgically polished metallic biomaterials samples and a wide variety of other surfaces of biological interest where charge transfer reactions occur. The SECM allows selective biasing of metallic biomaterials surfaces and Faradaic reactions can be selectively imaged while the surface is in the active, passive, or transpassive state.

  10. Scanning electron microscopy of the surfaces of ion implanted SiC

    Energy Technology Data Exchange (ETDEWEB)

    Malherbe, Johan B., E-mail: johan.malherbe@up.ac.za [Department of Physics, University of Pretoria, Pretoria 0002 (South Africa); Berg, N.G. van der; Kuhudzai, R.J.; Hlatshwayo, T.T.; Thabethe, T.T.; Odutemowo, O.S.; Theron, C.C.; Friedland, E. [Department of Physics, University of Pretoria, Pretoria 0002 (South Africa); Botha, A.J. [Laboratory for Microscopy & Microanalysis, University of Pretoria, Pretoria 0002 (South Africa); Wendler, E. [Institut für Festkörperphysik, Friedrich-Schiller-Universität Jena, 07743 Jena (Germany)

    2015-07-01

    This paper gives a brief review of radiation damage caused by particle (ions and neutrons) bombardment in SiC at different temperatures, and its annealing, with an expanded discussion on the effects occurring on the surface. The surface effects were observed using SEM (scanning electron microscopy) with an in-lens detector and EBSD (electron backscatter diffraction). Two substrates were used, viz. single crystalline 6H-SiC wafers and polycrystalline SiC, where the majority of the crystallites were 3C-SiC. The surface modification of the SiC samples by 360 keV ion bombardment was studied at temperatures below (i.e. room temperature), just at (i.e. 350 °C), or above (i.e. 600 °C) the critical temperature for amorphization of SiC. For bombardment at a temperature at about the critical temperature an extra step, viz. post-bombardment annealing, was needed to ascertain the microstructure of bombarded layer. Another aspect investigated was the effect of annealing of samples with an ion bombardment-induced amorphous layer on a 6H-SiC substrate. SEM could detect that this layer started to crystalize at 900 °C. The resulting topography exhibited a dependence on the ion species. EBSD showed that the crystallites forming in the amorphized layer were 3C-SiC and not 6H-SiC as the substrate. The investigations also pointed out the behaviour of the epitaxial regrowth of the amorphous layer from the 6H-SiC interface.

  11. Chaos Control of Lure Like Chaotic System using Backstepping Controller Optimized by Chaotic Particle Swarm Optimization

    Directory of Open Access Journals (Sweden)

    Alireza Khosravi

    2012-03-01

    Full Text Available This paper deals with the design of optimal backstepping controller, by using the chaotic particle swarm optimization (CPSO algorithm to control of chaos in Lure like chaotic system. The backstepping method consists of parameters which could have positive values. The parameters are usually chosen optional by trial and error method. The controlled system provides different behaviors for different values of the parameters. It is necessary to select proper parameters to obtain a good response, because the improper selection of the parameters leads to inappropriate responses or even may lead to instability of the system. The proposed optimal backstepping controller without trial and error determines the parameters of backstepping controller automatically and intelligently by minimizing the Integral of Time multiplied Absolute Error (ITAE and squared controller output. Finally, the efficiency of the proposed optimal backstepping controller (OBSC is illustrated by implementing the method on the Lure like chaotic system.

  12. Non-invasive scanning ion-selective electrode technique and its applications to the research of higher plants

    Institute of Scientific and Technical Information of China (English)

    Sun Tong; Xu Yue; Li Peng; Yu Shangguan; Yin Liping

    2007-01-01

    The process of various ions and molecules getting into and out of cells is critical for plant survival. The non-invasive scanning ion-selective electrode technique (SIET) is a non-invasive method to obtain the information of ions/molecules across membranes in plant. This technique can measure the absolute concentration of ions and molecules, and also their fluxes and directions of movement.The samples to be analyzed can be a single cell, a piece of tissue, a whole organ and even an intact seedling. This article reviews the recent progress made in plant physiology by using this technique and discusses its potentials in future studies on plant physiology.

  13. Characterization of defect growth structure in ion plated films by scanning electron microscopy

    Science.gov (United States)

    Spalvins, T.

    1979-01-01

    Copper and gold films (0.2 to 2 microns) were ion plated onto polished 304-stainless-steel surfaces. These coatings were examined by scanning electron microscopy for coating growth defects. Three types of defects were distinguished: nodular growth, abnormal or runaway growth, and spits. The cause and origin for each type of defect was traced. Nodular growth is primarily due to inherent substrate microdefects, abnormal or runaway growth is due to external surface inclusions, and spits are due to nonuniform evaporation. All these defects have adverse effects on the coatings. They induce stresses and produce porosity in the coatings and thus weaken their mechanical properties. Friction and wear characteristics are affected by coating defects, since the large nodules are pulled out and additional wear debris is generated.

  14. Recursive Backstepping Stabilization of a Wheeled Mobile Robot

    Directory of Open Access Journals (Sweden)

    Faical Mnif

    2008-11-01

    Full Text Available This research is aimed to the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with nonholonomic constraints were employed. A Backstepping approach for the design of discontinuous state feedback controller is used for the design of the controller. It is shown that the origin of the closed loop system can be made stable in the sense of Lyapunov. The control design is made on the basis of a suitable Lyapunov function candidate. The effectiveness of the proposed approach is tested through simulation on a car-like vehicle mobile robot.

  15. Boundary control of nonlinear coupled heat systems using backstepping

    KAUST Repository

    Bendevis, Paul

    2016-10-20

    A state feedback boundary controller is designed for a 2D coupled PDE system modelling heat transfer in a membrane distillation system for water desalination. Fluid is separated into two compartments with nonlinear coupling at a membrane boundary. The controller sets the temperature on one boundary in order to track a temperature difference across the membrane boundary. The control objective is achieved by an extension of backstepping methods to these coupled equations. Stability of the target system via Lyapunov like methods, and the invertibility of the integral transformation are used to show the stability of the tracking error.

  16. Adaptive backstepping slide mode control of pneumatic position servo system

    Science.gov (United States)

    Ren, Haipeng; Fan, Juntao

    2016-09-01

    With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potential in many fields. However, most existing control methods with high tracking performance need to know the model information and to use pressure sensor. This limits the application of the pneumatic servo system. An adaptive backstepping slide mode control method is proposed for pneumatic position servo system. The proposed method designs adaptive slide mode controller using backstepping design technique. The controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. A theorem is testified to show that the state of closed-loop system is uniformly bounded, and the closed-loop system is stable. The advantages of the proposed method include that system dynamic model parameters are not required for the controller design, uncertain parameters bounds are not need, and the bulk and expensive pressure sensor is not needed as well. Experimental results show that the designed controller can achieve better tracking performance, as compared with some existing methods.

  17. A Backstepping Simple Adaptive Control Application to Flexible Space Structures

    Institute of Scientific and Technical Information of China (English)

    LIU Min; XU Shijie; HAN Chao

    2012-01-01

    Although the simple adaptive control (SAC) is widely studied both in theory and application in flexible space structure control and other control problems,it is restricted by the almost strictly positive real (ASPR) conditions.In most practical control problems,the ASPR conditions are not satisfied.Therefore,based on the SAC theory,this paper proposes a backstepping simple adaptive control algorithm which suits the system with arbitrary relative degree with no need of parallel feedforward compensator.The proposed control algorithm consists of decomposition of the arbitrary relative degree system into a known subsystem and an unknown ASPR subsystem which are eonneeted in cascade,design of constant outpul feedback controller for the known subsystem,and implementation of backstepping method and SAC of the unknown ASPR subsystem.Inheriting the characteristics of the SAC,this method can be adaptive online for the parameter uncertainties.Then,the application of the proposed controller to large flexible space structure with collocated sensors and actuators is studied,and the simulation results validate the proposed controller.It is a new strategy to apply the classical SAC to high relative degree plants.

  18. Adaptive backstepping slide mode control of pneumatic position servo system

    Science.gov (United States)

    Ren, Haipeng; Fan, Juntao

    2016-06-01

    With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potential in many fields. However, most existing control methods with high tracking performance need to know the model information and to use pressure sensor. This limits the application of the pneumatic servo system. An adaptive backstepping slide mode control method is proposed for pneumatic position servo system. The proposed method designs adaptive slide mode controller using backstepping design technique. The controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. A theorem is testified to show that the state of closed-loop system is uniformly bounded, and the closed-loop system is stable. The advantages of the proposed method include that system dynamic model parameters are not required for the controller design, uncertain parameters bounds are not need, and the bulk and expensive pressure sensor is not needed as well. Experimental results show that the designed controller can achieve better tracking performance, as compared with some existing methods.

  19. Simultaneous Interfacial Reactivity and Topography Mapping with Scanning Ion Conductance Microscopy.

    Science.gov (United States)

    Momotenko, Dmitry; McKelvey, Kim; Kang, Minkyung; Meloni, Gabriel N; Unwin, Patrick R

    2016-03-01

    Scanning ion conductance microscopy (SICM) is a powerful technique for imaging the topography of a wide range of materials and interfaces. In this report, we develop the use and scope of SICM, showing how it can be used for mapping spatial distributions of ionic fluxes due to (electro)chemical reactions occurring at interfaces. The basic idea is that there is a change of ion conductance inside a nanopipet probe when it approaches an active site, where the ionic composition is different to that in bulk solution, and this can be sensed via the current flow in the nanopipet with an applied bias. Careful tuning of the tip potential allows the current response to be sensitive to either topography or activity, if desired. Furthermore, the use of a distance modulation SICM scheme allows reasonably faithful probe positioning using the resulting ac response, irrespective of whether there is a reaction at the interface that changes the local ionic composition. Both strategies (distance modulation or tuned bias) allow simultaneous topography-activity mapping with a single channel probe. The application of SICM reaction imaging is demonstrated on several examples, including voltammetric mapping of electrocatalytic reactions on electrodes and high-speed electrochemical imaging at rates approaching 4 s per image frame. These two distinct approaches provide movies of electrochemical current as a function of potential with hundreds of frames (images) of surface reactivity, to reveal a wealth of spatially resolved information on potential- (and time) dependent electrochemical phenomena. The experimental studies are supported by detailed finite element method modeling that places the technique on a quantitative footing.

  20. Fast dose analysis of movement effects during treatments with scanned proton and carbon-ion beams

    Science.gov (United States)

    Vignati, A.; Varasteh Anvar, M.; Giordanengo, S.; Monaco, V.; Attili, A.; Donetti, M.; Marchetto, F.; Mas Milian, F.; Ciocca, M.; Russo, G.; Sacchi, R.; Cirio, R.

    2017-01-01

    Charged particle therapy delivered using scanned pencil beams shows the potential to produce better dose conformity than conventional radiotherapy, although the dose distributions are more sensitive to anatomical changes and patient motion. Therefore, the introduction of engines to monitor the dose as it is being delivered is highly desirable, in order to enhance the development of adaptive treatment techniques in hadrontherapy. A tool for fast dose distributions analysis is presented, which integrates on GPU a Fast Forward Planning, a Fast Image Deformation algorithm, a fast computation of Gamma-Index and Dose-Volume Histogram. The tool is being interfaced with the Dose Delivery System and the Optical Tracking System of a synchrotron-based facility to investigate the feasibility to quantify, spill by spill, the effects of organ movements on dose distributions during treatment deliveries with protons and carbon-ions. The dose calculation and comparison times for a patient treated with protons on a 61.3 cm3 planning target volume, a CT matrix of 512x512x125 voxels, and a computation matrix of 170x170x125 voxels are within 1 s per spill. In terms of accuracy, the absolute dose differences compared with benchmarked Treatment Planning System results are negligible (<10-4 Gy).

  1. Multi-resolution correlative focused ion beam scanning electron microscopy: applications to cell biology.

    Science.gov (United States)

    Narayan, Kedar; Danielson, Cindy M; Lagarec, Ken; Lowekamp, Bradley C; Coffman, Phil; Laquerre, Alexandre; Phaneuf, Michael W; Hope, Thomas J; Subramaniam, Sriram

    2014-03-01

    Efficient correlative imaging of small targets within large fields is a central problem in cell biology. Here, we demonstrate a series of technical advances in focused ion beam scanning electron microscopy (FIB-SEM) to address this issue. We report increases in the speed, robustness and automation of the process, and achieve consistent z slice thickness of ∼3 nm. We introduce "keyframe imaging" as a new approach to simultaneously image large fields of view and obtain high-resolution 3D images of targeted sub-volumes. We demonstrate application of these advances to image post-fusion cytoplasmic intermediates of the HIV core. Using fluorescently labeled cell membranes, proteins and HIV cores, we first produce a "target map" of an HIV infected cell by fluorescence microscopy. We then generate a correlated 3D EM volume of the entire cell as well as high-resolution 3D images of individual HIV cores, achieving correlative imaging across a volume scale of 10(9) in a single automated experimental run.

  2. Nano-Tomography of Porous Geological Materials Using Focused Ion Beam-Scanning Electron Microscopy

    Directory of Open Access Journals (Sweden)

    Yang Liu

    2016-10-01

    Full Text Available Tomographic analysis using focused ion beam-scanning electron microscopy (FIB-SEM provides three-dimensional information about solid materials with a resolution of a few nanometres and thus bridges the gap between X-ray and transmission electron microscopic tomography techniques. This contribution serves as an introduction and overview of FIB-SEM tomography applied to porous materials. Using two different porous Earth materials, a diatomite specimen, and an experimentally produced amorphous silica layer on olivine, we discuss the experimental setup of FIB-SEM tomography. We then focus on image processing procedures, including image alignment, correction, and segmentation to finally result in a three-dimensional, quantified pore network representation of the two example materials. To each image processing step we consider potential issues, such as imaging the back of pore walls, and the generation of image artefacts through the application of processing algorithms. We conclude that there is no single image processing recipe; processing steps need to be decided on a case-by-case study.

  3. Multi-objective optimal design of high frequency probe for scanning ion conductance microscopy

    Science.gov (United States)

    Guo, Renfei; Zhuang, Jian; Ma, Li; Li, Fei; Yu, Dehong

    2016-01-01

    Scanning ion conductance microscopy(SICM) is an emerging non-destructive surface topography characterization apparatus with nanoscale resolution. However, the low regulating frequency of probe in most existing modulated current based SICM systems increases the system noise, and has difficulty in imaging sample surface with steep height changes. In order to enable SICM to have the capability of imaging surfaces with steep height changes, a novel probe that can be used in the modulated current based hopping mode is designed. The design relies on two piezoelectric ceramics with different travels to separate position adjustment and probe frequency regulation in the Z direction. To further improve the resonant frequency of the probe, the material and the key dimensions for each component of the probe are optimized based on the multi-objective optimization method and the finite element analysis. The optimal design has a resonant frequency of above 10 kHz. To validate the rationality of the designed probe, microstructured grating samples are imaged using the homebuilt modulated current based SICM system. The experimental results indicate that the designed high frequency probe can effectively reduce the spike noise by 26% in the average number of spike noise. The proposed design provides a feasible solution for improving the imaging quality of the existing SICM systems which normally use ordinary probes with relatively low regulating frequency.

  4. Focused-Ion-Beam-Milled Carbon Nanoelectrodes for Scanning Electrochemical Microscopy

    Science.gov (United States)

    Chen, Ran; Hu, Keke; Yu, Yun; Mirkin, Michael V.; Amemiya, Shigeru

    2016-01-01

    Nanoscale scanning electrochemical microscopy (SECM) has emerged as a powerful electrochemical method that enables the study of interfacial reactions with unprecedentedly high spatial and kinetic resolution. In this work, we develop carbon nanoprobes with high electrochemical reactivity and well-controlled size and geometry based on chemical vapor deposition of carbon in quartz nanopipets. Carbon-filled nanopipets are milled by focused ion beam (FIB) technology to yield a flat disk tip with a thin quartz sheath as confirmed by transmission electron microscopy. The extremely high electroactivity of FIB-milled carbon nanotips is quantified by enormously high standard electron-transfer rate constants of ≥10 cm/s for Ru(NH3)63+. The tip size and geometry are characterized in electrolyte solutions by SECM approach curve measurements not only to determine inner and outer tip radii of down to ~27 and ~38 nm, respectively, but also to ensure the absence of a conductive carbon layer on the outer wall. In addition, FIB-milled carbon nanotips reveal the limited conductivity of ~100 nm-thick gold films under nanoscale mass-transport conditions. Importantly, carbon nanotips must be protected from electrostatic damage to enable reliable and quantitative nanoelectrochemical measurements. PMID:27642187

  5. Nonlinear Field Oriented Control of Induction Motors using the Backstepping Design

    DEFF Research Database (Denmark)

    Rasmussen, Henrik; Vadstrup, P.; Børsting, H.

    1999-01-01

    Using backstepping, which is a recursive nonlinear design method, a novel approach to control of induction motors is developed. The resulting scheme leads to a nonlinear controller for the torque and the amplitude of the field. A combination of nonlinear damping and observer backstepping with a s......Using backstepping, which is a recursive nonlinear design method, a novel approach to control of induction motors is developed. The resulting scheme leads to a nonlinear controller for the torque and the amplitude of the field. A combination of nonlinear damping and observer backstepping...... with a simple flux observer is used in the design. Assuming known motor parameters the design achieves stabilioty with garanteed region of attraction. It is also shown how a conventional field oriented controller may be obtained by omitting parts of the nonlinear controller....

  6. Backstepping Adaptive Controller of Electro-Hydraulic Servo System of Continuous Rotary Motor

    Institute of Scientific and Technical Information of China (English)

    XiaoJing Wang; ChangFu Xian; CaoLei Wan; JinBao Zhao; LiWei Xiu; AnCai Yu

    2014-01-01

    In order to consider the influence of the continuous rotary motor electro-hydraulic servo system parameters change on its performance, the design method of backstepping adaptive controller is put forward. The mathematical model of electro-hydraulic servo system of continuous rotary motor is established, and the whole system is decomposed into several lower order subsystems, and the virtual control signal is designed for each subsystem from the final subsystem with motor angular displacement to the subsystem with system control input voltage. Based on Lyapunov method and the backstepping theory, an adaptive backstepping controller is designed with the changed parameters adaptive law. It is proved that the system reaches the global asymptotic stability, and the system tracking error asymptotically tends to zero. The simulation results show that the backstepping adaptive controller based on the adaptive law of the changed parameters can improve the performance of continuous rotary motor, and the proposed control strategy is feasible.

  7. Adaptive backstepping control for three axis microsatellite attitude pointing under actuator faults

    Science.gov (United States)

    MOHAMMED, M. A. SI; BOUSSADIA, H.; BELLAR, A.; ADNANE, A.

    2017-01-01

    This paper presents the design of Low Earth Orbit (LEO) micro-satellite attitude controller using reaction wheels, and under actuator faults. Firstly, a backstepping controller is developed when the actuator is fault-free. Then, a fault tolerant controller is designed to compensate the actuator fault. Two types of this latter are considered (additive and multiplicative faults). The presented control strategy is based on adaptive backstepping technique. The simulation results clearly demonstrate the effectiveness of the presented technique.

  8. Backstepping tracking control for nonlinear time-delay systems

    Institute of Scientific and Technical Information of China (English)

    Chen Weisheng; Li Junmin

    2006-01-01

    Two design approaches of state feedback and output feedback tracking controllers are proposed for a class of strict feedback nonlinear time-delay systems by using backstepping technique. When the states of system cannot be observed, the time-delay state observer is designed to estimate the system states. Domination method is used to deal with nonlinear time-delay function under the assumption that the nonlinear time-delay functions of systems satisfy Lipschitz condition. The global asymptotical tracking of the references signal is achieved and the bound of all signals of the resultant closed-loop system is also guaranteed. By constructing a Lyapunov-Krasoviskii functional, the stability of the closed-loop system is proved. The feasibility of the proposed approach is illustrated by a simulation example.

  9. Decentralized Neural Backstepping Control Applied to a Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Ramon Garcia-Hernandez

    2013-01-01

    Full Text Available This paper presents a discrete‐time decentralized control scheme for trajectory tracking of a two degrees of freedom (DOF robot manipulator. A high order neural network (HONN is used to approximate a decentralized control law designed by the backstepping technique as applied to a block strict feedback form (BSFF. The weights for each neural network are adapted online by an extended Kalman filter training algorithm. The motion for each joint is controlled independently using only local angular position and velocity measurements. The stability analysis for the closed‐loop system via the Lyapunov approach is included. Finally, the real‐time results show the feasibility of the proposed control scheme using a robot manipulator.

  10. Flocking of multiple mobile robots based on backstepping.

    Science.gov (United States)

    Dong, Wenjie

    2011-04-01

    This paper considers the flocking of multiple nonholonomic wheeled mobile robots. Distributed controllers are proposed with the aid of backstepping techniques, results from graph theory, and singular perturbation theory. The proposed controllers can make the states of a group of robots converge to a desired geometric pattern whose centroid moves along a desired trajectory under the condition that the desired trajectory is available to a portion of the group of robots. Since communication delay is inevitable in distributed control, its effect on the performance of the closed-loop systems is analyzed. It is shown that the proposed controllers work well if communication delays are constant. To show effectiveness of the proposed controllers, simulation results are included.

  11. Control of Higher–Dimensional PDEs Flatness and Backstepping Designs

    CERN Document Server

    Meurer, Thomas

    2013-01-01

    This monograph presents new model-based design methods for trajectory planning, feedback stabilization, state estimation, and tracking control of distributed-parameter systems governed by partial differential equations (PDEs). Flatness and backstepping techniques and their generalization to PDEs with higher-dimensional spatial domain lie at the core of this treatise. This includes the development of systematic late lumping design procedures and the deduction of semi-numerical approaches using suitable approximation methods. Theoretical developments are combined with both simulation examples and experimental results to bridge the gap between mathematical theory and control engineering practice in the rapidly evolving PDE control area. The text is divided into five parts featuring: - a literature survey of paradigms and control design methods for PDE systems - the first principle mathematical modeling of applications arising in heat and mass transfer, interconnected multi-agent systems, and piezo-actuated smar...

  12. Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots

    Institute of Scientific and Technical Information of China (English)

    XIONG Gen-liang; XIE Zong-wu; HUANG Jian-bin; LIU Hong; JIANG Zai-nan; SUN Kui

    2010-01-01

    A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented.Comparing with the traditional backstepping method that has"explosion of terms"problem,the new proposed control system is a combination of the dynamic surface control technique and the backstepping.The dynamic surface control(DSC)technique can resolve the"explosion of terms"problem that is caused by differential coefficient calculation in the model,and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application,especially to the multi-joint robot.Finally,the validity of the method was proved in the laboratory environment that was set up on the 5-DOF(degree of freedom)flexible joint robot.Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 nun in directions X,Y in free space,respectively.And the anticipant Cartesian impedance behavior and compliant behavior were achieved successfully as depicted theoretically.

  13. Systematic screening and characterization of glycosides in tobacco leaves by liquid chromatography with atmospheric pressure chemical ionization tandem mass spectrometry using neutral loss scan and product ion scan.

    Science.gov (United States)

    Ding, Li; Wang, Xiaoyu; Wang, Sheng; Yu, Jingjing; Qin, Yaqiong; Zhang, Xiaobing; Xie, Fuwei

    2015-12-01

    Glycosides in tobacco leaves are highly important aromatic precursors. It is necessary to reveal glycosides in tobacco leaves to improve tobacco planting and processing. This study describes a method for the systematic screening of glycosides in tobacco leaves by liquid chromatography with tandem mass spectrometry. Although glycosides contain numerous aglycones, the number of glycans is limited. Based on a screening table of glycans designed for neutral loss scan, glycosides with different aglycones were systematically screened out. Then, the MS(2) fragment spectra of scanned glycosides were further obtained using product ion scan. By comparison with the spectra in online tandem mass spectral databases, reported references, and verification by commercial standards, 64 glycosides were detected, including 39 glycosides linked with monosaccharides, 18 glycosides linked with disaccharides and 7 glycosides linked with trisaccharides. It is noteworthy that glycosides linked with trisaccharides have previously been rarely reported in tobacco. This method appears to be a useful tool for the systematic screening and characterization of glycosides in tobacco and can potentially be applied to other plants.

  14. Kinetic comparison between ferric ion and decamethyferrocene at the liquid/liquid interface as studied by scanning electrochemical microscopy

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    Comparison in electron transfer(ET) processes from decamethyferrocene(DMFe) in nitrobenzene(NB) to ferric ion in aqueous phase was investigated for the first time by the scanning electrochemical microscopy(SECM).As compared with the system of Fe(CN)_6~(3-)-DMFe,the ET rate obtained from Fe~(3+)-DMFe was lower in spite of larger driving force,which may arise from the effect of reorganization energy.Otherwise,the effect of common ion on rate constants was also probed and results suggested additional comple...

  15. Scanning tunneling microscopy and spectroscopy of ion-bombarded Si(111) and Si(100) surfaces

    NARCIS (Netherlands)

    Zandvliet, H.J.W.; Elswijk, H.B.; Loenen, van E.J.; Tsong, I.S.T.

    1992-01-01

    Surfaces of Si(111)-(7×7) and Si(100)-(2×1) were bombarded by 3-keV Ar+ ions at doses of ≤1012 ions cm-2 to study the effect of individual ion impacts on the atomic structure of surfaces. Atom-resolved images show damaged regions of missing and displaced atoms. Current-imaging tunneling spectroscop

  16. Simultaneous Screening of Glutathione and Cyanide Adducts Using Precursor Ion and Neutral Loss Scans-Dependent Product Ion Spectral Acquisition and Data Mining Tools

    Science.gov (United States)

    Jian, Wenying; Liu, Hua-Fen; Zhao, Weiping; Jones, Elliott; Zhu, Mingshe

    2012-05-01

    Drugs can be metabolically activated to soft and hard electrophiles, which are readily trapped by glutathione (GSH) and cyanide (CN), respectively. These adducts are often detected and structurally characterized using separate tandem mass spectrometry methods. We describe a new method for simultaneous screening of GSH and CN adducts using precursor ion (PI) and neutral loss (NL) scans-dependent product ion spectral acquisition and data mining tools on an triple quadrupole linear ion trap mass spectrometry. GSH, potassium cyanide, and their stable isotope labeled analogues were incubated with liver microsomes and a test compound. Negative PI scan of m/z 272 for detection of GSH adducts and positive NL scans of 27 and 29 Da for detection of CN adducts were conducted as survey scans to trigger acquisition of enhanced resolution (ER) spectrum and subsequent enhanced product ion (EPI) spectrum. Post-acquisition data mining of EPI data set using NL filters of 129 and 27 Da was then performed to reveal the GSH adducts and CN adducts, respectively. Isotope patterns and EPI spectra of the detected adducts were utilized for identification of their molecular weights and structures. The effectiveness of this method was evaluated by analyzing reactive metabolites of nefazodone formed from rat liver microsomes. In addition to known GSH- and CN-trapped reactive metabolites, several new CN adducts of nefazodone were identified. The results suggested that current approach is highly effective in the analysis of both soft and hard reactive metabolites and can be used as a high-throughput method in drug discovery.

  17. Robustness of target dose coverage to motion uncertainties for scanned carbon ion beam tracking therapy of moving tumors

    Science.gov (United States)

    Eley, John Gordon; Newhauser, Wayne David; Richter, Daniel; Lüchtenborg, Robert; Saito, Nami; Bert, Christoph

    2015-02-01

    Beam tracking with scanned carbon ion radiotherapy achieves highly conformal target dose by steering carbon pencil beams to follow moving tumors using real-time magnetic deflection and range modulation. The purpose of this study was to evaluate the robustness of target dose coverage from beam tracking in light of positional uncertainties of moving targets and beams. To accomplish this, we simulated beam tracking for moving targets in both water phantoms and a sample of lung cancer patients using a research treatment planning system. We modeled various deviations from perfect tracking that could arise due to uncertainty in organ motion and limited precision of a scanned ion beam tracking system. We also investigated the effects of interfractional changes in organ motion on target dose coverage by simulating a complete course of treatment using serial (weekly) 4DCTs from six lung cancer patients. For perfect tracking of moving targets, we found that target dose coverage was high ({{\\overline{V}}95} was 94.8% for phantoms and 94.3% for lung cancer patients, respectively) but sensitive to changes in the phase of respiration at the start of treatment and to the respiratory period. Phase delays in tracking the moving targets led to large degradation of target dose coverage (up to 22% drop for a 15° delay). Sensitivity to technical uncertainties in beam tracking delivery was minimal for a lung cancer case. However, interfractional changes in anatomy and organ motion led to large decreases in target dose coverage (target coverage dropped approximately 8% due to anatomy and motion changes after 1 week). Our findings provide a better understand of the importance of each of these uncertainties for beam tracking with scanned carbon ion therapy and can be used to inform the design of future scanned ion beam tracking systems.

  18. Robustness of target dose coverage to motion uncertainties for scanned carbon ion beam tracking therapy of moving tumors.

    Science.gov (United States)

    Eley, John Gordon; Newhauser, Wayne David; Richter, Daniel; Lüchtenborg, Robert; Saito, Nami; Bert, Christoph

    2015-02-21

    Beam tracking with scanned carbon ion radiotherapy achieves highly conformal target dose by steering carbon pencil beams to follow moving tumors using real-time magnetic deflection and range modulation. The purpose of this study was to evaluate the robustness of target dose coverage from beam tracking in light of positional uncertainties of moving targets and beams. To accomplish this, we simulated beam tracking for moving targets in both water phantoms and a sample of lung cancer patients using a research treatment planning system. We modeled various deviations from perfect tracking that could arise due to uncertainty in organ motion and limited precision of a scanned ion beam tracking system. We also investigated the effects of interfractional changes in organ motion on target dose coverage by simulating a complete course of treatment using serial (weekly) 4DCTs from six lung cancer patients. For perfect tracking of moving targets, we found that target dose coverage was high ([Formula: see text] was 94.8% for phantoms and 94.3% for lung cancer patients, respectively) but sensitive to changes in the phase of respiration at the start of treatment and to the respiratory period. Phase delays in tracking the moving targets led to large degradation of target dose coverage (up to 22% drop for a 15° delay). Sensitivity to technical uncertainties in beam tracking delivery was minimal for a lung cancer case. However, interfractional changes in anatomy and organ motion led to large decreases in target dose coverage (target coverage dropped approximately 8% due to anatomy and motion changes after 1 week). Our findings provide a better understand of the importance of each of these uncertainties for beam tracking with scanned carbon ion therapy and can be used to inform the design of future scanned ion beam tracking systems.

  19. Fine structures and ion images on fresh frozen dried ultrathin sections by transmission electron and scanning ion microscopy

    Energy Technology Data Exchange (ETDEWEB)

    Takaya, K.; Okabe, M.; Sawataishi, M.; Takashima, H.; Yoshida, T

    2003-01-15

    Ion microscopy (IM) of air-dried or freeze-dried cryostat and semi-thin cryosections has provided ion images of elements and organic substances in wide areas of the tissue. For reproducible ion images by a shorter time of exposure to the primary ion beam, fresh frozen dried ultrathin sections were prepared by freezing the tissue in propane chilled with liquid nitrogen, cryocut at 60 nm, mounted on grids and silicon wafer pieces, and freeze-dried. Rat Cowper gland and sciatic nerve, bone marrow of the rat administered of lithium carbonate, tree frog and African toad spleen and buffy coat of atopic dermatitis patients were examined. Fine structures and ion images of the corresponding areas in the same or neighboring sections were observed by transmission electron microscopy (TEM) followed by sector type and time-of-flight type IM. Cells in the buffy coat contained larger amounts of potassium and magnesium while plasma had larger amounts of sodium and calcium. However, in the tissues, lithium, sodium, magnesium, calcium and potassium were distributed in the cell and calcium showed a granular appearance. A granular cell of the tree frog spleen contained sodium and potassium over the cell and magnesium and calcium were confined to granules.

  20. Scan-rate-dependent ion current rectification and rectification inversion in charged conical nanopores.

    Science.gov (United States)

    Momotenko, Dmitry; Girault, Hubert H

    2011-09-21

    Herein we report a theoretical study of diode-like behavior of negatively charged (e.g., glass or silica) nanopores at different potential scan rates (1-1000 V·s(-1)). Finite element simulations were used to determine current-voltage characteristics of conical nanopores at various electrolyte concentrations. This study demonstrates that significant changes in rectification behavior can be observed at high scan rates because the mass transport of ionic species appears sluggish on the time scale of the voltage scan. In particular, it explains the influence of the potential scan rate on the nanopore rectifying properties in the cases of classical rectification, rectification inversion, and the "transition" rectification domain where the rectification direction in the nanopore could be modulated according to the applied scan rate.

  1. Investigation of acoustic waves generated in an elastic solid by a pulsed ion beam and their application in a FIB based scanning ion acoustic microscope

    Energy Technology Data Exchange (ETDEWEB)

    Akhmadaliev, C.

    2004-12-01

    The aim of this work is to investigate the acoustic wave generation by pulsed and periodically modulated ion beams in different solid materials depending on the beam parameters and to demonstrate the possibility to apply an intensity modulated focused ion beam (FIB) for acoustic emission and for nondestructive investigation of the internal structure of materials on a microscopic scale. The combination of a FIB and an ultrasound microscope in one device can provide the opportunity of nondestructive investigation, production and modification of micro- and nanostructures simultaneously. This work consists of the two main experimental parts. In the first part the process of elastic wave generation during the irradiation of metallic samples by a pulsed beam of energetic ions was investigated in an energy range from 1.5 to 10 MeV and pulse durations of 0.5-5 {mu}s, applying ions with different masses, e.g. oxygen, silicon and gold, in charge states from 1{sup +} to 4{sup +}. The acoustic amplitude dependence on the ion beam parameters like the ion mass and energy, the ion charge state, the beam spot size and the pulse duration were of interest. This work deals with ultrasound transmitted in a solid, i.e. bulk waves, because of their importance for acoustic transmission microscopy and nondestructive inspection of internal structure of a sample. The second part of this work was carried out using the IMSA-100 FIB system operating in an energy range from 30 to 70 keV. The scanning ion acoustic microscope based on this FIB system was developed and tested. (orig.)

  2. Development and characterization of a 2D scintillation detector for quality assurance in scanned carbon ion beams

    Science.gov (United States)

    Tamborini, A.; Raffaele, L.; Mirandola, A.; Molinelli, S.; Viviani, C.; Spampinato, S.; Ciocca, M.

    2016-04-01

    At the Centro Nazionale di Adroterapia Oncologica (CNAO Foundation), a two-dimensional high resolution scintillating dosimetry system has been developed and tested for daily Quality Assurance measurements (QA) in carbon ion radiotherapy with active scanning technique, for both single pencil beams and scanned fields produced by a synchrotron accelerator. The detector consists of a thin plane organic scintillator (25×25 cm2, 2 mm thick) coupled with a high spatial resolution CCD camera (0.25 mm) in a light-tight box. A dedicated Labview software was developed for image acquisition triggered with the beam extraction, data post-processing and analysis. The scintillator system was preliminary characterized in terms of short-term reproducibility (found to be within±0.5%), linearity with the number of particles (linear fit χ2 = 0.996) and dependence on particle flux (measured to be < 1.5 %). The detector was then tested for single beam spot measurements (Full Width at Half Maximum and position) and for 6×6 cm2 reference scanned field (determination of homogeneity) for carbon ions with energy from 115 MeV/u up to 400 MeV/u. No major differences in the investigated beam parameters measured with scintillator system and the radiochromic EBT3 reference films were observed. The system allows therefore real-time monitoring of the carbon ion beam relevant parameters, with a significant daily time saving with respect to films currently used. The results of this study show the suitability of the scintillation detector for daily QA in a carbon ion facility with an active beam delivery system.

  3. Optimized treatment parameters to account for interfractional variability in scanned ion beam therapy of lung cancer

    Energy Technology Data Exchange (ETDEWEB)

    Brevet, Romain

    2015-02-04

    Scanned ion beam therapy of lung tumors is severely limited in its clinical applicability by intrafractional organ motion, interference effects between beam and tumor motion (interplay) as well as interfractional anatomic changes. To compensate for dose deterioration by intrafractional motion, motion mitigation techniques, such as gating have been developed. The latter confines the irradiation to a predetermined breathing state, usually the stable end-exhale phase. However, optimization of the treatment parameters is needed to further improve target dose coverage and normal tissue sparing. The aim of the study presented in this dissertation was to determine treatment planning parameters that permit to recover good target coverage and homogeneity during a full course of lung tumor treatments. For 9 lung tumor patients from MD Anderson Cancer Center (MDACC), a total of 70 weekly time-resolved computed tomography (4DCT) datasets were available, which depict the evolution of the patient anatomy over the several fractions of the treatment. Using the GSI in-house treatment planning system (TPS) TRiP4D, 4D simulations were performed on each weekly 4DCT for each patient using gating and optimization of a single treatment plan based on a planning CT acquired prior to treatment. It was found that using a large beam spot size, a short gating window (GW), additional margins and multiple fields permitted to obtain the best results, yielding an average target coverage (V95) of 96.5%. Two motion mitigation techniques, one approximating the rescanning process (multiple irradiations of the target with a fraction of the planned dose) and one combining the latter and gating, were then compared to gating. Both did neither show an improvement in target dose coverage nor in normal tissue sparing. Finally, the total dose delivered to each patient in a simulation of a fractioned treatment was calculated and clinical requirements in terms of target coverage and normal tissue sparing were

  4. Design High-Efficiency Intelligent PID like Fuzzy Backstepping Controller for Three Dimension Motor

    Directory of Open Access Journals (Sweden)

    Mahsa Piltan

    2014-08-01

    Full Text Available The minimum rule base Proportional Integral Derivative (PID Fuzzy backstepping Controller for three dimensions spherical motor is presented in this research. The popularity of PID Fuzzy backstepping controller can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID Fuzzy backstepping controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. PID methodology has three inputs and if any input is described with seven linguistic values, and any rule has three conditions we will need 7 × 7 × 7 = 343 rules. It is too much work to write 343 rules. In this research the PID-like fuzzy controller can be constructed as a parallel structure of a PI-like controller and a PD-like fuzzy controller to have the minimum rule base. However backstepping controller is work based on cancelling decoupling and nonlinear terms of dynamic parameters of each dimension, this controller is work based on spherical motor dynamic model and this technique is highly sensitive to the knowledge of all parameters of nonlinear three dimension spherical motor’s dynamic equation. This research is used to reduce or eliminate the backstepping controller problem based on minimum rule base fuzzy logic theory to control of spherical motor system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.

  5. Development of electron optical system using annular pupils for scanning transmission electron microscope by focused ion beam

    Energy Technology Data Exchange (ETDEWEB)

    Matsutani, Takaomi, E-mail: matutani@ele.kindai.ac.jp [Kinki University, 3-4-1 Kowakae, Higashiosaka, Osaka 577-8502 (Japan); Yasumoto, Tsuchika; Tanaka, Takeo [Osaka Sangyo University, 3-1-1 Nakagaito, Daito, Osaka 574-8530 (Japan); Kawasaki, Tadahiro; Ichihashi, Mikio [Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603 (Japan); Ikuta, Takashi [Osaka Electro-Communication University, 18-8 Hatsu-cho, Neyagawa, Osaka 572-8530 (Japan)

    2012-02-01

    Annular pupils for electron optics were produced using a focused ion beam (FIB), enabling an increase in the depth of focus and allowing for aberration-free imaging and separation of the amplitude and phase images in a scanning transmission electron microscope (STEM). Simulations demonstrate that an increased focal depth is advantageous for three-dimensional tomography in the STEM. For a 200 kV electron beam, the focal depth is increased to approximately 100 nm by using an annular pupil with inner and outer semi-angles of 29 and 30 mrad, respectively. Annular pupils were designed with various outer diameters of 40-120 {mu}m and the inner diameter was designed at 80% of the outer diameter. A taper angle varying from 1 Degree-Sign to 20 Degree-Sign was applied to the slits of the annular pupils to suppress the influence of high-energy electron scattering. The fabricated annular pupils were inspected by scanning ion beam microscopy and scanning electron microscopy. These annular pupils were loaded into a STEM and no charge-up effects were observed in the scintillator projection images recorded by a CCD camera.

  6. Speed and accuracy of a beam tracking system for treatment of moving targets with scanned ion beams

    Energy Technology Data Exchange (ETDEWEB)

    Saito, Nami; Bert, Christoph; Chaudhri, Naved; Gemmel, Alexander; Schardt, Dieter; Durante, Marco; Rietzel, Eike [GSI Helmholtz Centre for Heavy Ion Research GmbH, Planckstrasse 1, 64291 Darmstadt (Germany)], E-mail: n.saito@gsi.de

    2009-08-21

    The technical performance of an integrated three-dimensional carbon ion pencil beam tracking system that was developed at GSI was investigated in phantom studies. Aim of the beam tracking system is to accurately treat tumours that are subject to respiratory motion with scanned ion beams. The current system provides real-time control of ion pencil beams to track a moving target laterally using the scanning magnets and longitudinally with a dedicated range shifter. The system response time was deduced to be approximately 1 ms for lateral beam tracking. The range shifter response time has been measured for various range shift amounts. A value of 16 {+-} 2 ms was achieved for a water equivalent shift of 5 mm. An additional communication delay of 11 {+-} 2 ms was taken into account in the beam tracking process via motion prediction. Accuracy of the lateral beam tracking was measured with a multi-wire position detector to {<=}0.16 mm standard deviation. Longitudinal beam tracking accuracy was parameterized based on measured responses of the range shifter and required time durations to maintain a specific particle range. For example, 5 mm water equivalence (WE) longitudinal beam tracking results in accuracy of 1.08 and 0.48 mm WE in root mean square for time windows of 10 and 50 ms, respectively.

  7. Robust adaptive backstepping control for piezoelectric nano-manipulating systems

    Science.gov (United States)

    Zhang, Yangming; Yan, Peng; Zhang, Zhen

    2017-01-01

    In this paper we present a systematic modeling and control approach for nano-manipulations of a two-dimensional PZT (piezoelectric transducer) actuated servo stage. The major control challenges associated with piezoelectric nano-manipulators typically include the nonlinear dynamics of hysteresis, model uncertainties, and various disturbances. The adverse effects of these complications will result in significant performance loss, unless effectively eliminated. The primary goal of the paper is on the ultra high precision control of such systems by handling various model uncertainties and disturbances simultaneously. To this end, a novel robust adaptive backstepping-like control approach is developed such that parametric uncertainties can be estimated adaptively while the nonlinear dynamics and external disturbances are treated as bounded disturbances for robust elimination. Meanwhile, the L2-gain of the closed-loop system is considered, and an H∞ optimization problem is formulated to improve the tracking accuracy. Numerical simulations and real time experiments are finally conducted, which significantly outperform conventional PID methods and achieve around 1% tracking error for circular contouring tasks.

  8. Focused ion beam/scanning electron microscopy studies of Porcellio scaber (Isopoda, Crustacea) digestive gland epithelium cells.

    Science.gov (United States)

    Drobne, Damjana; Milani, Marziale; Zrimec, Alexis; Zrimec, Maja Berden; Tatti, Francesco; Draslar, Kazimir

    2005-01-01

    The focused ion beam (FIB) was used to prepare cross sections of precisely selected regions of the digestive gland epithelium of a terrestrial isopod P. scaber (Isopoda, Crustacea) for scanning electron microscopy (SEM). The FIB/SEM system allows ad libitum selection of a region for gross morphologic to ultrastructural investigation, as the repetition of FIB/SEM operations is unrestricted. The milling parameters used in our work proved to be satisfactory to produce serial two-dimensional (2-D) cuts and/or three-dimensional (3-D) shapes on a submicrometer scale. A final, cleaning mill at lower ion currents was employed to minimize the milling artifacts. After cleaning, the milled surface was free of filament- and ridge-like milling artifacts. No other effects of the cleaning mill were observed.

  9. Recent developments of ion beam induced luminescence at the external scanning microbeam facility of the LABEC laboratory in Florence

    Energy Technology Data Exchange (ETDEWEB)

    Colombo, E. [INFN sezione di Torino, via P.Giuria 1, 10125 Torino (Italy); Dipartimento di Fisica and Centro di Eccellenza NIS, Universita di Torino, via P. Giuria 1, 10125 Torino (Italy); Calusi, S. [INFN sezione di Torino, via P.Giuria 1, 10125 Torino (Italy); Dipartimento di Fisica, Universita and INFN Sez.di Firenze, via Sansone 1, 50019 Sesto Fiorentino, Firenze (Italy); Cossio, R. [Dipartimento di Scienze Mineralogiche e Petrologiche, via Valperga Caluso, 35, 10125 Torino (Italy); Giuntini, L. [Dipartimento di Fisica, Universita and INFN Sez.di Firenze, via Sansone 1, 50019 Sesto Fiorentino, Firenze (Italy); Giudice, A. [Dipartimento di Fisica and Centro di Eccellenza NIS, Universita di Torino, via P. Giuria 1, 10125 Torino (Italy); Lo Mando, P.A. [Dipartimento di Fisica, Universita and INFN Sez.di Firenze, via Sansone 1, 50019 Sesto Fiorentino, Firenze (Italy); Manfredotti, C. [INFN sezione di Torino, via P.Giuria 1, 10125 Torino (Italy); Dipartimento di Fisica and Centro di Eccellenza NIS, Universita di Torino, via P. Giuria 1, 10125 Torino (Italy); Massi, M.; Mirto, F.A. [Dipartimento di Fisica, Universita and INFN Sez.di Firenze, via Sansone 1, 50019 Sesto Fiorentino, Firenze (Italy); Vittone, E. [INFN sezione di Torino, via P.Giuria 1, 10125 Torino (Italy); Dipartimento di Fisica and Centro di Eccellenza NIS, Universita di Torino, via P. Giuria 1, 10125 Torino (Italy)], E-mail: vittone@to.infn.it

    2008-04-15

    A new ionoluminescence (IL) apparatus has been successfully installed at the external scanning microbeam facility of the 3 MV Tandetron accelerator of the INFN LABEC in Firenze; the apparatus for photon detection has been fully integrated in the existing ion beam analysis (IBA) set-up, for the simultaneous acquisition of IL and PIXE/PIGE/BS spectra and maps. The potential of the new set-up is illustrated in this paper by some results extracted by the analysis of art objects and advanced semiconductor materials. In particular, the adequacy of the new IBA set-up in the field of cultural heritage is pointed out by the coupled PIXE/IL micro-analysis of a lapis lazuli stone; concerning applications in material science, IL spectra from a N doped diamond sample were acquired and compared with CL analyses to evaluate the relevant sensitivities and the effect of ion damage.

  10. Recent developments of ion beam induced luminescence at the external scanning microbeam facility of the LABEC laboratory in Florence

    Science.gov (United States)

    Colombo, E.; Calusi, S.; Cossio, R.; Giuntini, L.; Giudice, A. Lo; Mandò, P. A.; Manfredotti, C.; Massi, M.; Mirto, F. A.; Vittone, E.

    2008-04-01

    A new ionoluminescence (IL) apparatus has been successfully installed at the external scanning microbeam facility of the 3 MV Tandetron accelerator of the INFN LABEC in Firenze; the apparatus for photon detection has been fully integrated in the existing ion beam analysis (IBA) set-up, for the simultaneous acquisition of IL and PIXE/PIGE/BS spectra and maps. The potential of the new set-up is illustrated in this paper by some results extracted by the analysis of art objects and advanced semiconductor materials. In particular, the adequacy of the new IBA set-up in the field of cultural heritage is pointed out by the coupled PIXE/IL micro-analysis of a lapis lazuli stone; concerning applications in material science, IL spectra from a N doped diamond sample were acquired and compared with CL analyses to evaluate the relevant sensitivities and the effect of ion damage.

  11. Adaptive variable structure control based on backstepping for spacecraft with reaction wheels during attitude maneuver

    Institute of Scientific and Technical Information of China (English)

    SONG Bin; MA Guang-fu; LI Chuan-jiang

    2009-01-01

    An adaptive variable structure control method based on backstepping is proposed for the attitude maneuver problem of rigid spacecraft with reaction wheel dynamics in the presence of uncertain inertia matrix and external disturbances. The proposed control approach is a combination of the backstepping and the adaptive variable structure control. The cascaded structure of the attitude maneuver control system with reaction wheel dynamics gives the advantage for applying the backstepping method to construct Lyapunov functions. The robust stability to external disturbances and parametric uncertainty is guaranteed by the adaptive variable structure control. To validate the proposed control algorithm, numerical simulations using the proposed approach are performed for the attitude maneuver mission of rigid spacecraft with a configuration consisting of four reaction wheels for actuator and three magnetorquers for momentum unloading. Simulation results verify the effectiveness of the proposed control algorithm.

  12. Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with decayed memory filter.

    Science.gov (United States)

    Guo, Qing; Sun, Ping; Yin, Jing-Min; Yu, Tian; Jiang, Dan

    2016-05-01

    Some unknown parameter estimation of electro-hydraulic system (EHS) should be considered in hydraulic controller design due to many parameter uncertainties in practice. In this study, a parametric adaptive backstepping control method is proposed to improve the dynamic behavior of EHS under parametric uncertainties and unknown disturbance (i.e., hydraulic parameters and external load). The unknown parameters of EHS model are estimated by the parametric adaptive estimation law. Then the recursive backstepping controller is designed by Lyapunov technique to realize the displacement control of EHS. To avoid explosion of virtual control in traditional backstepping, a decayed memory filter is presented to re-estimate the virtual control and the dynamic external load. The effectiveness of the proposed controller has been demonstrated by comparison with the controller without adaptive and filter estimation. The comparative experimental results in critical working conditions indicate the proposed approach can achieve better dynamic performance on the motion control of Two-DOF robotic arm.

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

    Directory of Open Access Journals (Sweden)

    Qin Zou

    2015-01-01

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

  14. Monte Carlo simulations of ripple filters designed for proton and carbon ion beams in hadrontherapy with active scanning technique

    Energy Technology Data Exchange (ETDEWEB)

    Bourhaleb, F; Givehchi, N; Iliescu, S; Rosa, A La; Pecka, A; Peroni, C [Dipartimento di Fisica Sperimentale, Universita' di Torino, Via P. Giuria 1, Torino 10125 (Italy); Attili, A; Cirio, R; Marchetto, F; Donetti, M; Garella, M A; Giordanengo, S; Pardo, J [INFN, Sezione di Torino, Via P. Giuria 1, Torino 10125 (Italy); Cirrone, P [INFN, Laboratori Nazionali del Sud, Via S.Sofia 62, Catania 95125 (Italy)], E-mail: bourhaleb@to.infn.it

    2008-02-01

    Proton and carbon ion beams have a very sharp Bragg peak. For proton beams of energies smaller than 100 MeV, fitting with a gaussian the region of the maximum of the Bragg peak, the sigma along the beam direction is smaller than 1 mm, while for carbon ion beams, the sigma derived with the same technique is smaller than 1 mm for energies up to 360 MeV. In order to use low energy proton and carbon ion beams in hadrontherapy and to achieve an acceptable homogeneity of the spread out Bragg peak (SOBP) either the peak positions along the beam have to be quite close to each other or the longitudinal peak shape needs to be broaden at least few millimeters by means of a properly designed ripple filter. With a synchrotron accelerator in conjunction with active scanning techniques the use of a ripple filter is necessary to reduce the numbers of energy switches necessary to obtain a smooth SOBP, leading also to shorter overall irradiation times. We studied the impact of the design of the ripple filter on the dose uniformity in the SOBP region by means of Monte Carlo simulations, implemented using the package Geant4. We simulated the beam delivery line supporting both proton and carbon ion beams using different energies of the beams. We compared the effect of different kind of ripple filters and their advantages.

  15. Stripping chronopotentiometry at scanned deposition potential (SSCP). Part 2. Determination of metal ion speciation parameters

    NARCIS (Netherlands)

    Leeuwen, van H.P.; Town, R.M.

    2003-01-01

    Stripping chronopotentiometry at scanned deposition potential (SSCP) generates curves that are fundamentally different in form from classical polarographic waves. Still, despite their steeper slope and non-linear log plot, the shift in the SSCP half-wave deposition potential can be interpreted in a

  16. Automated identification and quantification of glycerophospholipid molecular species by multiple precursor ion scanning

    DEFF Research Database (Denmark)

    Ejsing, Christer S.; Duchoslav, Eva; Sampaio, Julio

    2006-01-01

    We report a method for the identification and quantification of glycerophospholipid molecular species that is based on the simultaneous automated acquisition and processing of 41 precursor ion spectra, specific for acyl anions of common fatty acids moieties and several lipid class-specific fragment...... ions. Absolute quantification of identified species was linear within a concentration range of 10 nM-100 microM and was achieved by spiking into total lipid extracts a set of synthetic lipid standards with diheptadecanoyl (17:0/17:0) fatty acid moieties, representing six common classes...

  17. Robust Neural Network Control of Electrically Driven Robot Manipulator using Backstepping Approach

    Directory of Open Access Journals (Sweden)

    Seyed Ehsan Shafiei

    2010-02-01

    Full Text Available A novel approach to neural network based tracking-control of robot manipulator including actuator dynamics is proposed by using of backstepping method. A simple two-step backstepping is considered for an nlink robotic system, and a feedforward neural controller is designed at second step where structured and unstructured uncertainties in robot dynamics and actuator model are approximated by this neural controller. Bounds of network reconstruction error and other imprecisions are estimated adaptively and for compensating them, a robust control signal is added and modified. Stability analysis is performed by the Lyapunov direct method and performance efficiency of the proposed controller is justified by the simulations.

  18. Adaptive Backstepping design of an Observer for the Rotor Speed and Field of an Induction Motor

    DEFF Research Database (Denmark)

    Rasmussen, Henrik

    2001-01-01

    is de-veloped. The resulting scheme leads to a nonlinear full order observer for the rotor field. The rotor speed and the stator resis-tance are estimated by adaptive backstepping. Assuming motor parameters known the design achieves stability with guaran-teed region of attraction. The adaptive......High performance operation of speed controlled AC drives without mechanical speed/position sensors rely on the dynamic models for estimation of flux and speed. Using backstepping, which is a recursive nonlinear design method, a new approach for the design of observers for speed sensorless control...

  19. SU-E-T-755: Timing Characteristics of Proton and Carbon Ion Treatments Using a Synchrotron and Modulated Scanning

    Energy Technology Data Exchange (ETDEWEB)

    Zhao, J [Fudan university Shanghai Cancer center, Shanghai, Shanghai (China); Li, Y; Huang, Z; Deng, Y [Shanghai Proton and Heavy Ion Center, Shanghai, Shanghai (China); Sun, L [Fudan University Shanghai Cancer Center, Shanghai, Shanghai (China); Moyers, M [Shanghai Proton and Heavy Ion Center, Colton, CA (China); Hsi, W [Shanghai Proton and Heavy Ion Center, Shanghai (China); Wu, X [University of Iowa, Iowa City, Iowa (United States)

    2015-06-15

    Purpose: The time required to deliver a treatment impacts not only the number of patients that can be treated each day but also the accuracy of delivery due to potential movements of patient tissues. Both macroscopic and microscopic timing characteristics of a beam delivery system were studied to examine their impacts on patient treatments. Methods: 35 patients were treated during a clinical trial to demonstrate safety and efficacy of a Siemens Iontris system prior to receiving approval from the Chinese Food and Drug Administration. The system has a variable cycle time and can provide proton beams from 48 to 221 MeV/n and carbon ions from 86 to 430 MeV/n. A modulated scanning beam delivery technique is used where the beam remains stationary at each spot aiming location and is not turned off while the spot quickly moves from one aiming location to the next. The treatment log files for 28 of the trial patients were analyzed to determine several timing characteristics. Results: The average portal time per target dose was 172.5 s/Gy for protons and 150.7 s/Gy for carbon ions. The maximum delivery time for any portal was less than 300 s. The average dwell time per spot was 12 ms for protons and 3.0 ms for carbon ions. The number of aiming positions per energy layer varied from 1 to 258 for protons and 1 to 621 for carbon ions. The average spill time and cycle time per energy layer were 1.20 and 2.68 s for protons and 0.95 and 4.73 s for carbon ions respectively. For 3 of the patients, the beam was gated on and off to reduce the effects of respiration. Conclusion: For a typical target volume of 153 cc as used in this clinical trial, the portal delivery times were acceptable.

  20. SU-E-T-778: Use of the 2D MatriXX Detector for Measuring Scanned Ion Beam Parameters

    Energy Technology Data Exchange (ETDEWEB)

    Anvar, M Varasteh; Monaco, V; Sacchi, R; Guarachi, L Fanola; Cirio, R [Istituto Nazionale di Fisica Nucleare (INFN), Division of Turin, TO (Italy); University of Torino, Turin, TO (Italy); Giordanengo, S; Marchetto, F; Vignati, A [Istituto Nazionale di Fisica Nucleare (INFN), Division of Turin, TO (Italy); Donetti, M [Istituto Nazionale di Fisica Nucleare (INFN), Division of Turin, TO (Italy); Centro Nazionale di Adroterapia Oncologica (CNAO), Pavia, PV (Italy); Ciocca, M; Panizza, D [Centro Nazionale di Adroterapia Oncologica (CNAO), Pavia, PV (Italy)

    2015-06-15

    Purpose: The quality assurance (QA) procedure has to check the most relevant beam parameters to ensure the delivery of the correct dose to patients. Film dosimetry, which is commonly used for scanned ion beam QA, does not provide immediate results. The purpose of this work is to answer whether, for scanned ion beam therapy, film dosimetry can be replaced with the 2D MatriXX detector as a real-time tool. Methods: MatriXX, equipped with 32×32 parallel plate ion-chambers, is a commercial device intended for pre-treatment verification of conventional radiation therapy.The MatriXX, placed at the isocenter, and GAFCHROMIC films, positioned on the MatriXX entrance, were exposed to 131.44 MeV proton and 221.45 MeV/u Carbon-ion beams.The OmniPro-I’mRT software, applied for the data taking of MatriXX, gives the possibility of acquiring consecutive snapshots. Using the NI LabVIEW, the data from snapshots were logged as text files for further analysis. Radiochromic films were scanned with EPSON scanner and analyzed using software programs developed in-house for comparative purposes. Results: The field dose uniformity, flatness, beam position and beam width were investigated. The field flatness for the region covering 6×6 cm{sup 2} square field was found to be better than 2%. The relative standard deviations, expected to be constant over 2×2, 4×4 and 6×6 pixels from MatriXX measurement gives a uniformity of 1.5% in good agreement with the film results.The beam center position is determined with a resolution better than 200 µm for Carbon and less than 100 µm for proton beam.The FWHM determination for a beam wider than 10 mm is satisfactory, whilst for smaller beams the determination is uncertain. Conclusion: Precise beam position and fast 2D dose distribution can be determined in real-time using MatriXX detector. The results show that MatriXX is quick and accurate enough to be used in charged-particle therapy QA.

  1. Dimensional comparison between amplitude-modulation atomic force microscopy and scanning ion conductance microscopy of biological samples

    Science.gov (United States)

    Kim, Joonhui; Choi, MyungHoon; Jung, Goo-Eun; Rahim Ferhan, Abdul; Cho, Nam-Joon; Cho, Sang-Joon

    2016-08-01

    The range of scanning probe microscopy (SPM) applications for atomic force microscopy (AFM) is expanding in the biological sciences field, reflecting an increasing demand for tools that can improve our fundamental understanding of the physics behind biological systems. However, the complexity associated with applying SPM techniques in biomedical research hampers the full exploitation of its capabilities. Recently, the development of scanning ion conductance microscopy (SICM) has overcome these limitations and enabled contact-free, high resolution imaging of live biological specimens. In this work, we demonstrate the limitation of AFM for imaging biological samples in liquid due to artifacts arising from AFM tip-sample interaction, and how SICM imaging is able to overcome those limitations with contact-free scanning. We also demonstrate that SICM measurements, when compared to AFM, show better fit to the actual dimensions of the biological samples. Our results highlight the superiority of SICM imaging, enabling it to be widely adopted as a general and versatile research tool for biological studies in the nanoscale.

  2. Characterization of defect growth structures in ion plated films by scanning electron microscopy

    Science.gov (United States)

    Spalvins, T.

    1979-01-01

    Gold and copper films (0.2-2 micron thick) are ion plated on very smooth stainless steel 304 and mica surfaces. The deposited films are examined by SEM to identify the morphological growth of defects. Three types of coating defects are distinguished: nodular growth, abnormal or runaway growth, and spits. The potential nucleation sites for defect growth are analyzed to determine the cause of defect formation. It is found that nuclear growth is due to inherent surface microdefects, abnormal or runaway growth is due to external surface inclusions, and spits are due to nonuniform evaporation and ejection of droplets. All these defects have adverse effects on the coatings.

  3. Backstepping-Based Synchronization Control of Cross-Strict Feedback Hyper-Chaotic Systems

    Institute of Scientific and Technical Information of China (English)

    李海燕; 胡云安

    2011-01-01

    A certain backstepping control is proposed for synchronization of a class of hyper-chaotic systems.Only two control inputs are used to realize synchronization between hyper-chaotic systems,and the control avoids the possible singularity in the virtual control design.In addition,the adaptive backstepping control is proposed for the synchronization when the system parameters are unknown.The proposed methods can be applied to a variety of chaos systems which can be described by the so-called cross-strict feedback form.Numerical simulations are given to demonstrate the effciency of the proposed control schemes.%A certain backstepping control is proposed for synchronization of a class of hyper-chaotic systems. Only two control inputs are used to realize synchronization between hyper-chaotic systems, and the control avoids the possible singularity in the virtual control design. In addition, the adaptive backstepping control is proposed for the synchronization when the system parameters are unknown. The proposed methods can be applied to a variety of chaos systems which can be described by the so-called cross-strict feedback form. Numerical simulations are given to demonstrate the efficiency of the proposed control schemes.

  4. Artificial Error Tuning Based on Design a Novel SISO Fuzzy Backstepping Adaptive Variable Structure Control

    Directory of Open Access Journals (Sweden)

    Samaneh Zahmatkesh

    2013-10-01

    Full Text Available This paper examines single input single output (SISO chattering free variable structure control (VSC which controller coefficient is on-line tuned by fuzzy backstepping algorithm to control of continuum robot manipulator. Variable structure methodology is selected as a framework to construct the control law and address the stability and robustness of the close loop system based on Lyapunove formulation. The main goal is to guarantee acceptable error result and adjust the trajectory following. The proposed approach effectively combines the design technique from variable structure controller is based on Lyapunov and modified Proportional plus Derivative (P+D fuzzy estimator to estimate the nonlinearity of undefined system dynamic in backstepping controller. The input represents the function between variable structure function, error and the modified rate of error. The outputs represent joint torque, respectively. The fuzzy backstepping methodology is on-line tune the variable structure function based on adaptive methodology. The performance of the SISO VSC based on-line tuned by fuzzy backstepping algorithm (FBSAVSC is validated through comparison with VSC. Simulation results signify good performance of trajectory in presence of uncertainty joint torque load.

  5. A Hybrid Sensor Based Backstepping Control Approach with its Application to Fault-Tolerant Flight Control

    NARCIS (Netherlands)

    Sun, L.G.; De Visser, C.C.; Chu, Q.P.; Falkena, W.

    2013-01-01

    Recently, an incremental type sensor based backstepping (SBB) control approach, based on singular perturbation theory and Tikhonov’s theorem, has been proposed. This Lyapunov function based method uses measurements of control variables and less model knowledge, and it is not susceptible to the model

  6. Cascade Controller Including Back-stepping for Hydraulic-Mechanical Systems

    DEFF Research Database (Denmark)

    Choux, Martin; Hovland, Geir; Blanke, Mogens

    2012-01-01

    Development of a cascade controller structure including adaptive backstepping for a nonlinear hydraulic-mechanical system is considered in this paper where a dynamic friction (LuGre) model is included to obtain the necessary accuracy. The paper compares the performance of two variants of an adapt...

  7. Adjustment procedure for beam alignment in scanned ion-beam therapy

    Science.gov (United States)

    Saraya, Y.; Takeshita, E.; Furukawa, T.; Hara, Y.; Mizushima, K.; Saotome, N.; Tansho, R.; Shirai, T.; Noda, K.

    2016-09-01

    Control of the beam position for three-dimensional pencil-beam scanning is important because the position accuracy of the beam significantly impacts the alignment of the irradiation field. To suppress this effect, we have developed a simple procedure for beamline tuning. At first, beamline tuning is performed with steering magnets and fluorescent screen monitors to converge the beam's trajectory to a central orbit. Misalignment between the beam's position and the reference axis is checked by using the verification system, which consists of a screen monitor and an acrylic phantom. If the beam position deviates from the reference axis, two pairs of steering magnets, which are placed on downstream of the beam transport line, will be corrected. These adjustments are iterated until the deviations for eleven energies of the beam are within 0.5 mm of the reference axis. To demonstrate the success of our procedure, we used our procedure to perform beam commissioning at the Kanagawa Cancer Center.

  8. Comparison of SOFC Cathode Microstructure Quantified using X-ray Nanotomography and Focused Ion Beam - Scanning Electron Microscopy

    Energy Technology Data Exchange (ETDEWEB)

    Nelson, George J. [Univ. of Connecticut, Storrs, CT (United States); Harris, William H. [Univ. of Connecticut, Storrs, CT (United States); Lombardo, Jeffrey J. [Univ. of Connecticut, Storrs, CT (United States); Izzo, Jr., John R. [Univ. of Connecticut, Storrs, CT (United States); Chiu, W. K. S. [Univ. of Connecticut, Storrs, CT (United States); Tanasini, Pietro [Ecole Ploytechnique Federale de Lausanne (Switzerland); Cantoni, Marco [Ecole Ploytechnique Federale de Lausanne (Switzerland); Van herle, Jan [Ecole Ploytechnique Federale de Lausanne (Switzerland); Comninellis, Christos [Ecole Ploytechnique Federale de Lausanne (Switzerland); Andrews, Joy C. [SLAC National Accelerator Lab., Menlo Park, CA (United States); Liu, Yijin [SLAC National Accelerator Lab., Menlo Park, CA (United States); Pianetta, Piero [SLAC National Accelerator Lab., Menlo Park, CA (United States); Chu, Yong [Brookhaven National Lab. (BNL), Upton, NY (United States)

    2011-03-24

    X-ray nanotomography and focused ion beam scanning electron microscopy (FIB-SEM) have been applied to investigate the complex 3D microstructure of solid oxide fuel cell (SOFC) electrodes at spatial resolutions of 45 nm and below. The application of near edge differential absorption for x-ray nanotomography and energy selected backscatter detection for FIB–SEM enable elemental mapping within the microstructure. Using these methods, non-destructive 3D x-ray imaging and FIB–SEM serial sectioning have been applied to compare three-dimensional elemental mapping of the LSM, YSZ, and pore phases in the SOFC cathode microstructure. The microstructural characterization of an SOFC cathode is reported based on these measurements. The results presented demonstrate the viability of x-ray nanotomography as a quantitative characterization technique and provide key insights into the SOFC cathode microstructure.

  9. Identification of rat faecal metabolites of ebastine by B/E linked scanning liquid secondary ion mass spectrometry.

    Science.gov (United States)

    Yoshida, K; Hatoyama, T; Fujii, T; Kagemoto, A; Miyazaki, H; Naruto, S

    1994-07-01

    The identification of rat faecal metabolites of a new antihistaminic agent, ebastine, 4'-tert-butyl-4-[4-(diphenylmethoxy)piperidino]butyrophenone, is presented. After oral administration of (14C)ebastine (20 mg kg-1) to rats, 84% of the radioactive dose was excreted in the 24 h faeces. Unchanged drug and five metabolites were isolated from the faeces by thin-layer chromatography and solid-phase extraction, and their structures were identified by liquid secondary ion mass spectrometry using the B/E linked scanning technique. The main metabolic pathways were oxidation of a terminal methyl group to give the hydroxymethyl and carboxyl derivatives, and hydroxylation of a phenyl ring in the diphenylmethoxy moiety. In addition to the oxidative mechanism, metabolism of ebastine involved sulphate conjugation. It is noteworthy that M-4, having both phenolic and alcoholic hydroxyl groups, was sulphated selectively in the latter position.

  10. In situ Scanning Electron Microscopy of Silicon Anode Reactions in Lithium-Ion Batteries during Charge/Discharge Processes

    Science.gov (United States)

    Chen, Chih-Yao; Sano, Teruki; Tsuda, Tetsuya; Ui, Koichi; Oshima, Yoshifumi; Yamagata, Masaki; Ishikawa, Masashi; Haruta, Masakazu; Doi, Takayuki; Inaba, Minoru; Kuwabata, Susumu

    2016-10-01

    A comprehensive understanding of the charge/discharge behaviour of high-capacity anode active materials, e.g., Si and Li, is essential for the design and development of next-generation high-performance Li-based batteries. Here, we demonstrate the in situ scanning electron microscopy (in situ SEM) of Si anodes in a configuration analogous to actual lithium-ion batteries (LIBs) with an ionic liquid (IL) that is expected to be a functional LIB electrolyte in the future. We discovered that variations in the morphology of Si active materials during charge/discharge processes is strongly dependent on their size and shape. Even the diffusion of atomic Li into Si materials can be visualized using a back-scattering electron imaging technique. The electrode reactions were successfully recorded as video clips. This in situ SEM technique can simultaneously provide useful data on, for example, morphological variations and elemental distributions, as well as electrochemical data.

  11. Realization of a scanning ion beam monitor; Realisation d'un dispositif de controle et d'imagerie de faisceaux balayes d'ions

    Energy Technology Data Exchange (ETDEWEB)

    Pautard, C

    2008-07-15

    During this thesis, a scanning ion beam monitor has been developed in order to measure on-line fluence spatial distributions. This monitor is composed of an ionization chamber, Hall Effect sensors and a scintillator. The ionization chamber set between the beam exit and the experiment measures the ion rate. The beam spot is localized thanks to the Hall Effect sensors set near the beam sweeping magnets. The scintillator is used with a photomultiplier tube to calibrate the ionization chamber and with an imaging device to calibrate the Hall Effect sensors. This monitor was developed to control the beam lines of a radiobiology dedicated experimentation room at GANIL. These experiments are held in the context of the research in hadron-therapy. As a matter of fact, this new cancer treatment technique is based on ion irradiations and therefore demands accurate knowledge about the relation between the dose deposit in biological samples and the induced effects. To be effective, these studies require an on-line control of the fluence. The monitor has been tested with different beams at GANIL. Fluence can be measured with a relative precision of {+-}4% for a dose rate ranging between 1 mGy/s and 2 Gy/s. Once permanently set on the beam lines dedicated to radiobiology at GANIL, this monitor will enable users to control the fluence spatial distribution for each irradiation. The scintillator and the imaging device are also used to control the position, the spot shape and the energy of different beams such as those used for hadron-therapy. (author)

  12. DSP-based adaptive backstepping using the tracking errors for high-performance sensorless speed control of induction motor drive.

    Science.gov (United States)

    Zaafouri, Abderrahmen; Ben Regaya, Chiheb; Ben Azza, Hechmi; Châari, Abdelkader

    2016-01-01

    This paper presents a modified structure of the backstepping nonlinear control of the induction motor (IM) fitted with an adaptive backstepping speed observer. The control design is based on the backstepping technique complemented by the introduction of integral tracking errors action to improve its robustness. Unlike other research performed on backstepping control with integral action, the control law developed in this paper does not propose the increase of the number of system state so as not increase the complexity of differential equations resolution. The digital simulation and experimental results show the effectiveness of the proposed control compared to the conventional PI control. The results analysis shows the characteristic robustness of the adaptive control to disturbances of the load, the speed variation and low speed.

  13. Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot

    Directory of Open Access Journals (Sweden)

    Jean Bosco Mbede

    2014-01-01

    Full Text Available This paper addresses the design of exponential tracking control using backstepping approach for voltage-based control of a flexible joint electrically driven robot (EFJR, to cope with the difficulty introduced by the cascade structure in EFJR dynamic model, to deal with flexibility in joints, and to ensure fast tracking performance. Backstepping approach is used to ensure global asymptotic stability and its common algorithm is modified such that the link position and velocity errors converge to zero exponentially fast. In contrast with the other backstepping controller for electrically driven flexible joint robot manipulators control problem, the proposed controller is robust with respect to stiffness uncertainty and allows tracking fast motions. Simulation results are presented for both single link flexible joint electrically driven manipulator and 2-DOF flexible joint electrically driven robot manipulator. These simulations show very satisfactory tracking performances and the superiority of the proposed controller to those performed in the literature using simple backstepping methodology.

  14. High-resolution scanning near-field EBIC microscopy: Application to the characterisation of a shallow ion implanted p{sup +}-n silicon junction

    Energy Technology Data Exchange (ETDEWEB)

    Smaali, K. [Laboratoire de Microscopies et d' Etude de Nanostructures, EA 3799, Universite de Reims, 21 Rue Clement Ader, 51685 Reims Cedex 2 (France); Faure, J. [Laboratoire de Microscopie Electronique Analytique, ERM 0203, Universite de Reims, 21 Rue Clement Ader, 51685 Reims Cedex 2 (France); El Hdiy, A. [Laboratoire de Microscopies et d' Etude de Nanostructures, EA 3799, Universite de Reims, 21 Rue Clement Ader, 51685 Reims Cedex 2 (France); Troyon, M. [Laboratoire de Microscopies et d' Etude de Nanostructures, EA 3799, Universite de Reims, 21 Rue Clement Ader, 51685 Reims Cedex 2 (France)], E-mail: michel.troyon@univ-reims.fr

    2008-05-15

    High-resolution electron beam induced current (EBIC) analyses were carried out on a shallow ion implanted p{sup +}-n silicon junction in a scanning electron microscope (SEM) and a scanning probe microscope (SPM) hybrid system. With this scanning near-field EBIC microscope, a sample can be conventionally imaged by SEM, its local topography investigated by SPM and high-resolution EBIC image simultaneously obtained. It is shown that the EBIC imaging capabilities of this combined instrument allows the study of p-n junctions with a resolution of about 20 nm.

  15. Analysis of shape and spatial interaction of synaptic vesicles using data from focused ion beam scanning electron microscopy (FIB-SEM)

    DEFF Research Database (Denmark)

    Khanmohammadi, Mahdieh; Waagepetersen, Rasmus Plenge; Sporring, Jon

    2015-01-01

    deviations from spherical shape and systematic trends in their orientation. We studied three-dimensional representations of synapses obtained by manual annotation of focused ion beam scanning electron microscopy (FIB-SEM) images of male mouse brain. The configurations of synaptic vesicles were regarded...

  16. Path Following of an Underactuated AUV Based on Fuzzy Backstepping Sliding Mode Control

    Directory of Open Access Journals (Sweden)

    Xiao Liang

    2016-06-01

    Full Text Available This paper addresses the path following problem of an underactuated autonomous underwater vehicle (AUV with the aim of dealing with parameter uncertainties and current disturbances. An adaptive robust control system was proposed by employing fuzzy logic, backstepping and sliding mode control theory. Fuzzy logic theory is adopted to approximate unknown system function, and the controller was designed by combining sliding mode control with backstepping thought. Firstly, the longitudinal speed was controlled, then the yaw angle was made as input of path following error to design the calm function and the change rate of path parameters. The controller stability was proved by Lyapunov stable theory. Simulation and outfield tests were conducted and the results showed that the controller is of excellent adaptability and robustness in the presence of parameter uncertainties and external disturbances. It is also shown to be able to avoid the chattering of AUV actuators.

  17. Sampled-Data Backstepping Control of a Quadrotor Unmanned Aerial Vehicle

    Directory of Open Access Journals (Sweden)

    Abdul Jabbar

    2014-12-01

    Full Text Available Sampled-data backstepping control of a quadrotor UAV is presented in this paper. The discrete time controllers have been designed on the basis of a continuous time system model and an approximate discrete time equivalent system model (Euler Approximate model obtained using the Euler method. The performance of the controllers obtained using the two sampled-data approaches has been compared in the presence of wing gusts and modeling uncertainties. Simulations have revealed that the backstepping controller designed on the basis of an approximate discrete time model has better performance in the presence of wind gusts and modeling uncertainties. In addition, the closed loop system has a larger region of attraction.

  18. Robust adaptive backstepping neural networks control for spacecraft rendezvous and docking with input saturation.

    Science.gov (United States)

    Xia, Kewei; Huo, Wei

    2016-05-01

    This paper presents a robust adaptive neural networks control strategy for spacecraft rendezvous and docking with the coupled position and attitude dynamics under input saturation. Backstepping technique is applied to design a relative attitude controller and a relative position controller, respectively. The dynamics uncertainties are approximated by radial basis function neural networks (RBFNNs). A novel switching controller consists of an adaptive neural networks controller dominating in its active region combined with an extra robust controller to avoid invalidation of the RBFNNs destroying stability of the system outside the neural active region. An auxiliary signal is introduced to compensate the input saturation with anti-windup technique, and a command filter is employed to approximate derivative of the virtual control in the backstepping procedure. Globally uniformly ultimately bounded of the relative states is proved via Lyapunov theory. Simulation example demonstrates effectiveness of the proposed control scheme.

  19. Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots

    Directory of Open Access Journals (Sweden)

    Eun-Ju Hwang

    2013-01-01

    Full Text Available This paper represents a robust backstepping tracking control based on a Lyapunov redesign for Skid‐Steered Wheeled Mobile Robots (WMRs. We present kinematic and dynamic models that explicitly relate the perturbations to the skidding in order to improve the tracking performance during real running. A robust controller is synthesized in the backstepping approach and the Lyapunov redesign technique, which forces the error dynamics to stabilize to the reference trajectories. We design an additional feedback control ‐ a Lyapunov redesign ‐ such that the overall control stabilizes the actual system in the presence of uncertainty and perturbation with the knowledge of the Lyapunov function. Simulation results are provided to validate and analyse the performance and stability of the proposed controller.

  20. Recurrent fuzzy neural network backstepping control for the prescribed output tracking performance of nonlinear dynamic systems.

    Science.gov (United States)

    Han, Seong-Ik; Lee, Jang-Myung

    2014-01-01

    This paper proposes a backstepping control system that uses a tracking error constraint and recurrent fuzzy neural networks (RFNNs) to achieve a prescribed tracking performance for a strict-feedback nonlinear dynamic system. A new constraint variable was defined to generate the virtual control that forces the tracking error to fall within prescribed boundaries. An adaptive RFNN was also used to obtain the required improvement on the approximation performances in order to avoid calculating the explosive number of terms generated by the recursive steps of traditional backstepping control. The boundedness and convergence of the closed-loop system was confirmed based on the Lyapunov stability theory. The prescribed performance of the proposed control scheme was validated by using it to control the prescribed error of a nonlinear system and a robot manipulator.

  1. Aircraft-on-ground path following control by dynamical adaptive backstepping

    Institute of Scientific and Technical Information of China (English)

    Chen Bihua; Jiao Zongxia; Shuzhi Sam Ge

    2013-01-01

    The necessity of improving the air traffic and reducing the aviation emissions drives to investigate automatic steering for aircraft to effectively roll on the ground.This paper addresses the path following control problem of aircraft-on-ground and focuses on the task that the aircraft is required to follow the desired path on the runway by nose wheel automatic steering.The proposed approach is based on dynamical adaptive backstepping so that the system model does not have to be transformed into a canonical triangular form which is necessary in conventional backstepping design.This adaptive controller performs well despite the lack of information on the aerodynamic load and the tire cornering stiffness parameters.Simulation results clearly demonstrate the advantages and effectiveness of the proposed approach.

  2. Block backstepping design of nonlinear state feedback control law for underactuated mechanical systems

    CERN Document Server

    Rudra, Shubhobrata; Maitra, Madhubanti

    2017-01-01

    This book presents a novel, generalized approach to the design of nonlinear state feedback control laws for a large class of underactuated mechanical systems based on application of the block backstepping method. The control law proposed here is robust against the effects of model uncertainty in dynamic and steady-state performance and addresses the issue of asymptotic stabilization for the class of underactuated mechanical systems. An underactuated system is defined as one for which the dimension of space spanned by the configuration vector is greater than that of the space spanned by the control variables. Control problems concerning underactuated systems currently represent an active field of research due to their broad range of applications in robotics, aerospace, and marine contexts. The book derives a generalized theory of block backstepping control design for underactuated mechanical systems, and examines several case studies that cover interesting examples of underactuated mechanical systems. The math...

  3. Backstepping design of a Nonlinear Observer for the Rotor Field of an Induction Motor

    DEFF Research Database (Denmark)

    Rasmussen, Henrik

    2000-01-01

    Using backstepping, which is a recursive nonlinear design method, a new approach for the design of flux observers is developed. The resulting scheme leads to a nonlinear full order observer for the amplitude and angle of the field. Assuming motor parameters known the design achieves stability...... with guaranteed region of attraction. Rubustness due to variation of motor parameters is analysed by simulation. The result is compared to the flux estimate used in a conventional field oriented controller Using backstepping, which is a recursive nonlinear design method, a new approach for the design of flux...... observers is developed. The resulting scheme leads to a nonlinear full order observer for the amplitude and angle of the field. Assuming motor parameters known the design achieves stability with guaranteed region of attraction. Rubustness due to variation of motor parameters is analysed by simulation...

  4. An extension to backstepping control for a class of underactuated mechanical system in tree structure

    Science.gov (United States)

    Choukchou-Braham, A.; Cherki, B.

    2009-03-01

    We propose in the present paper an extension via the Tora system of the well established systematic backstepping control design for underactuated mechanical systems in chain structure to a subclass in tree structure in order to generalize the systematic dealing with all underactuated systems. Designing control for such systems is a challenging task owing to the underactuation property which poses problem for example in exact linearization and most of time, these systems are dealed case by case. The transformed system verifies all assumption of application of the above backstepping control except one which is verified only on a domain rather than the hole space. This leads to a singularity in the control law that make the stability not global. To make this latter global, we propose a new control law that allows relaxation of one assumption with respect to the initial control. This control design for the Tora system is analysed theoritically and verified using numerical simulations.

  5. Command Filtered Adaptive Fuzzy Neural Network Backstepping Control for Marine Power System

    Directory of Open Access Journals (Sweden)

    Xin Zhang

    2014-01-01

    Full Text Available In order to retrain chaotic oscillation of marine power system which is excited by periodic electromagnetism perturbation, a novel command-filtered adaptive fuzzy neural network backstepping control method is designed. First, the mathematical model of marine power system is established based on the two parallel nonlinear model. Then, main results of command-filtered adaptive fuzzy neural network backstepping control law are given. And the Lyapunov stability theory is applied to prove that the system can remain closed-loop asymptotically stable with this controller. Finally, simulation results indicate that the designed controller can suppress chaotic oscillation with fast convergence speed that makes the system return to the equilibrium point quickly; meanwhile, the parameter which induces chaotic oscillation can also be discriminated.

  6. Backstepping Controller with Intelligent Parameters Selection for Stabilization of Quadrotor Helicopter

    Directory of Open Access Journals (Sweden)

    Mohd Ariffanan Mohd Basri

    2016-07-01

    Full Text Available In this paper, the dynamic model of quadrotor helicopter has been mathematically formulated. Then, an intelligent backstepping controller (IBC is designed for the quadrotor altitude and attitude stabilization in the existence of external disturbances and measurement noise. The designed controller consists of a backstepping controller which can automatically select its parameters on-line by a fuzzy supervisory mechanism. The stability criterion for the stabilization of the quadrotor is proven by the Lyapunov theorem. Several numerical simulations using the dynamic model of a four degree of freedom (DOF quadrotor helicopter show the effectiveness of the approach. Besides, the simulation results indicate that the proposed design techniques can stabilize the quadrotor helicopter with better performance than established linear design techniques.

  7. Adaptive Backstepping controller design and implementation for a matrix-converter-based IM drive system

    Directory of Open Access Journals (Sweden)

    R.R. Joshi

    2007-06-01

    Full Text Available A systematic controller design and implementation for a matrix-converter-based induction motor drive system is proposed. A nonlinear adaptive backstepping controller is proposed to improve the speed and position responses of the induction motor system. By using the proposed adaptive backstepping controller, the system can track a time-varying speed command and a time-varying position command well. Moreover, the system has a good load disturbance rejection capability. The realization of the controller is very simple. All of the control loops, including the current loop, speed loop and position loop, are implemented by a digital signal processor. Several experimental results are given to validate the theoretical analysis.

  8. Dynamical Adaptive Integral Sliding Backstepping Control of Nonlinear Nontriangular Uncertain Systems

    Directory of Open Access Journals (Sweden)

    Mahmood Pervaiz

    2014-01-01

    Full Text Available We present a control strategy for nonlinear nontriangular uncertain systems. The proposed control method is a synergy between the dynamic adaptive backstepping (DAB and integral sliding mode (ISM and is referred to as DAB-ISMC. Our main objective is to find a recursive procedure to transform a nontriangular system into an implementable form that enables designing a control law which almost eliminates the reaching-phase. The proposed method further facilitates minimization of chattering which is believed to be a shortcoming of the sliding mode control. In this methodology, the ISM, as an integrated subsystem of DAB, is introduced at the final stage of backstepping. This strategy works very well to obtain a system that is robust against model imperfections, matching and unmatching uncertainties. The DAB-ISMC method is applied on a continuous stirred tank reactor (CSTR and simulation results obtained on Matlab are found to be very promising.

  9. Adaptive Command-Filtered Backstepping Control for Linear Induction Motor via Projection Algorithm

    Directory of Open Access Journals (Sweden)

    Wenxu Yan

    2016-01-01

    Full Text Available A theoretical framework of the position control for linear induction motors (LIM has been proposed. First, indirect field-oriented control of LIM is described. Then, the backstepping approach is used to ensure the convergence and robustness of the proposed control scheme against the external time-varying disturbances via Lyapunov stability theory. At the same time, in order to solve the differential expansion and the control saturation problems in the traditional backstepping, command filter is designed in the control and compensating signals are presented to eliminate the influence of the errors caused by command filters. Next, unknown total mass of the mover, viscous friction, and load disturbances are estimated by the projection-based adaptive law which bounds the estimated function and simultaneously guarantees the robustness of the proposed controller against the parameter uncertainties. Finally, simulation results are given to illustrate the validity and potential of the designed control scheme.

  10. Design of a nonlinear backstepping control strategy of grid interconnected wind power system based PMSG

    Science.gov (United States)

    Errami, Y.; Obbadi, A.; Sahnoun, S.; Benhmida, M.; Ouassaid, M.; Maaroufi, M.

    2016-07-01

    This paper presents nonlinear backstepping control for Wind Power Generation System (WPGS) based Permanent Magnet Synchronous Generator (PMSG) and connected to utility grid. The block diagram of the WPGS with PMSG and the grid side back-to-back converter is established with the dq frame of axes. This control scheme emphasises the regulation of the dc-link voltage and the control of the power factor at changing wind speed. Besides, in the proposed control strategy of WPGS, Maximum Power Point Tracking (MPPT) technique and pitch control are provided. The stability of the regulators is assured by employing Lyapunov analysis. The proposed control strategy for the system has been validated by MATLAB simulations under varying wind velocity and the grid fault condition. In addition, a comparison of simulation results based on the proposed Backstepping strategy and conventional Vector Control is provided.

  11. Adaptive backstepping control and synchronization of a modified and chaotic Van der Pol-Duffing oscillator

    Institute of Scientific and Technical Information of China (English)

    2011-01-01

    In this paper,we propose a backstepping approach for the synchronization and control of modified Van-der Pol Duffing oscillator circuits.The method is such that one controller function that depends essentially on available circuit parameters that is sufficient to drive the two coupled circuits to a synchronized state as well achieve the global stabilization of the system to its regular dynamics.Numerical simulations are given to demonstrate the effectiveness of the technique.

  12. Comparative analysis for NN inverse model controller and backstepping controller on mobile robots

    OpenAIRE

    Margarita Gjonaj; Betim Çiço; Arnisa Myrtellari

    2016-01-01

    This work addresses the design and implementation of a neural network based controller for the trajectory tracking of a differential drive mobile robot. A neural network based tracking control algorithm is proposed and simulation and experimental results are presented. The algorithm is a control structure that makes possible the integration of a back-stepping controller and a neural network (NN) computed-torque controller for a nonholonomic mobile robot. Integration of a neural network contro...

  13. Chaos control of 4D chaotic systems using recursive backstepping nonlinear controller

    Energy Technology Data Exchange (ETDEWEB)

    Laoye, J.A. [Nonlinear and Statistical Physics Research Group, Department of Physics, Olabisi Onabanjo University, P.M.B. 2002, Ago-Iwoye (Nigeria); Vincent, U.E. [Nonlinear and Statistical Physics Research Group, Department of Physics, Olabisi Onabanjo University, P.M.B. 2002, Ago-Iwoye (Nigeria)], E-mail: ue_vincent@yahoo.com; Kareem, S.O. [Nonlinear and Statistical Physics Research Group, Department of Physics, Olabisi Onabanjo University, P.M.B. 2002, Ago-Iwoye (Nigeria)

    2009-01-15

    This paper examines chaos control of two four-dimensional chaotic systems, namely: the Lorenz-Stenflo (LS) system that models low-frequency short-wavelength gravity waves and a new four-dimensional chaotic system (Qi systems), containing three cross products. The control analysis is based on recursive backstepping design technique and it is shown to be effective for the 4D systems considered. Numerical simulations are also presented.

  14. 3D Plant Cell Architecture of Arabidopsis thaliana (Brassicaceae Using Focused Ion Beam–Scanning Electron Microscopy

    Directory of Open Access Journals (Sweden)

    Bhawana

    2014-06-01

    Full Text Available Premise of the study: Focused ion beam–scanning electron microscopy (FIB-SEM combines the ability to sequentially mill the sample surface and obtain SEM images that can be used to create 3D renderings with micron-level resolution. We have applied FIB-SEM to study Arabidopsis cell architecture. The goal was to determine the efficacy of this technique in plant tissue and cellular studies and to demonstrate its usefulness in studying cell and organelle architecture and distribution. Methods: Seed aleurone, leaf mesophyll, stem cortex, root cortex, and petal lamina from Arabidopsis were fixed and embedded for electron microscopy using protocols developed for animal tissues and modified for use with plant cells. Each sample was sectioned using the FIB and imaged with SEM. These serial images were assembled to produce 3D renderings of each cell type. Results: Organelles such as nuclei and chloroplasts were easily identifiable, and other structures such as endoplasmic reticula, lipid bodies, and starch grains were distinguishable in each tissue. Discussion: The application of FIB-SEM produced 3D renderings of five plant cell types and offered unique views of their shapes and internal content. These results demonstrate the usefulness of FIB-SEM for organelle distribution and cell architecture studies.

  15. Study on the dose response characteristics of a scanning liquid ion-chamber electronic portal imaging device

    CERN Document Server

    Ma Shao Gang; Song Yi Xin

    2002-01-01

    Objective: To study the dose response characteristics and the influence factors such as gantry angle, field size and acquisition mode on the dosimetric response curves, when using a scanning liquid ion-chamber electronic portal imaging device (EPID) for dose verification. Methods: All experiments were carried out on a Varian 600 C/D accelerator (6 MV X-ray) equipped with a Varian PortalVision sup T sup M MK2 type EPID. To obtain the dose response curve, the relationship between the incident radiation intensity to the detector and the pixel value output from the EPID were established. Firstly, the different dose rates of 6 MV X-rays were obtained by varying SSD. Secondly, three digital portal images were acquired for each dose rate using the EPID and averaged to avoid the influence of the dose rate fluctuations of the accelerator. The pixel values of all images were read using self-designed image analysis software, and and average for a region consisting of 11 x 11 pixels around the center was taken as the res...

  16. Adaptive Backstepping Sliding-Mode Control of the Electronic Throttle System in Modern Automobiles

    Directory of Open Access Journals (Sweden)

    Rui Bai

    2014-01-01

    Full Text Available In modern automobiles, electronic throttle is a DC-motor-driven valve that regulates air inflow into the vehicle’s combustion system. The electronic throttle is increasingly being used in order to improve the vehicle drivability, fuel economy, and emissions. Electronic throttle system has the nonlinear dynamical characteristics with the unknown disturbance and parameters. At first, the dynamical nonlinear model of the electronic throttle is built in this paper. Based on the model and using the backstepping design technique, a new adaptive backstepping sliding-mode controller of the electronic throttle is developed. During the backstepping design process, parameter adaptive law is designed to estimate the unknown parameter, and sliding-mode control term is applied to compensate the unknown disturbance. The proposed controller can make the actual angle of the electronic throttle track its set point with the satisfactory performance. Finally, a computer simulation is performed, and simulation results verify that the proposed control method can achieve favorable tracking performance.

  17. Adaptive backstepping finite-time sliding mode control of spacecraft attitude tracking

    Institute of Scientific and Technical Information of China (English)

    Chutiphon Pukdeboon

    2015-01-01

    This paper investigates the finite-time attitude tracking problem for rigid spacecraft. Two backstepping finite-time slid-ing mode control laws are proposed to solve this problem in the presence of inertia uncertainties and external disturbances. The first control scheme is developed by combining sliding mode con-trol with a backstepping technique to achieve fast and accurate tracking responses. To obtain higher tracking precision and relax the requirement of the upper bounds on the uncertainties, a se-cond control law is also designed by combining the second or-der sliding mode control and an adaptive backstepping technique. This control law provides complete compensation of uncertainty and disturbances. Although it assumes that the uncertainty and disturbances are bounded, the proposed control law does not require information about the bounds on the uncertainties and disturbances. Finite-time convergence of attitude tracking errors and the stability of the closed-loop system are ensured by the Lya-punov approach. Numerical simulations on attitude tracking control of spacecraft are provided to demonstrate the performance of the proposed control ers.

  18. Nonlinear state feedback controller design for underactuated mechanical system: a modified block backstepping approach.

    Science.gov (United States)

    Rudra, Shubhobrata; Barai, Ranjit Kumar; Maitra, Madhubanti

    2014-03-01

    This paper presents the formulation of a novel block-backstepping based control algorithm to address the stabilization problem for a generalized nonlinear underactuated mechanical system. For the convenience of compact design, first, the state model of the underactuated system has been converted into the block-strict feedback form. Next, we have incorporated backstepping control action to derive the expression of the control input for the generic nonlinear underactuated system. The proposed block backstepping technique has further been enriched by incorporating an integral action additionally for enhancing the steady state performance of the overall system. Asymptotic stability of the overall system has been analyzed using Lyapunov stability criteria. Subsequently, the stability of the zero dynamics has also been analyzed to ensure the global asymptotic stability of the entire nonlinear system at its desired equilibrium point. The proposed control algorithm has been applied for the stabilization of a benchmarked underactuated mechanical system to verify the effectiveness of the proposed control law in real-time environment.

  19. Nonlinear Control of Back-to-Back VSC-HVDC System via Command-Filter Backstepping

    Directory of Open Access Journals (Sweden)

    Jie Huang

    2017-01-01

    Full Text Available This paper proposed a command-filtered backstepping controller to improve the dynamic performance of back-to-back voltage-source-converter high voltage direct current (BTB VSC-HVDC. First, the principle and model of BTB VSC-HVDC in abc and d-q frame are described. Then, backstepping method is applied to design a controller to maintain the voltage balance and realize coordinated control of active and reactive power. Meanwhile, command filter is introduced to deal with the problem of input saturation and explosion of complexity in conventional backstepping, and a filter compensation signal is designed to diminish the adverse effects caused by the command filter. Next, the stability and convergence of the whole system are proved via the Lyapunov theorem of asymptotic stability. Finally, simulation results are given to demonstrate that proposed controller has a better dynamic performance and stronger robustness compared to the traditional PID algorithm, which also proves the effectiveness and possibility of the designed controller.

  20. Backstepping Synthesis for Feedback Control of First-Order Hyperbolic PDEs with Spatial-Temporal Actuation

    Directory of Open Access Journals (Sweden)

    Xin Yu

    2014-01-01

    Full Text Available This paper deals with the stabilization problem of first-order hyperbolic partial differential equations (PDEs with spatial-temporal actuation over the full physical domains. We assume that the interior actuator can be decomposed into a product of spatial and temporal components, where the spatial component satisfies a specific ordinary differential equation (ODE. A Volterra integral transformation is used to convert the original system into a simple target system using the backstepping-like procedure. Unlike the classical backstepping techniques for boundary control problems of PDEs, the internal actuation can not eliminate the residual term that causes the instability of the open-loop system. Thus, an additional differential transformation is introduced to transfer the input from the interior of the domain onto the boundary. Then, a feedback control law is designed using the classic backstepping technique which can stabilize the first-order hyperbolic PDE system in a finite time, which can be proved by using the semigroup arguments. The effectiveness of the design is illustrated with some numerical simulations.

  1. Sliding mode disturbance observer-based adaptive integral backstepping control of a piezoelectric nano-manipulator

    Science.gov (United States)

    Zhang, Yangming; Yan, Peng

    2016-12-01

    This paper investigates a systematic modeling and control methodology for a multi-axis PZT (piezoelectric transducer) actuated servo stage supporting nano-manipulations. A sliding mode disturbance observer-based adaptive integral backstepping control method with an estimated inverse model compensation scheme is proposed to achieve ultra high precision tracking in the presence of the hysteresis nonlinearities, model uncertainties, and external disturbances. By introducing a time rate of the input signal, an enhanced rate-dependent Prandtl-Ishlinskii model is developed to describe the hysteresis behaviors, and its inverse is also constructed to mitigate their adverse effects. In particular, the corresponding inverse compensation error is analyzed and its boundedness is proven. Subsequently, the sliding mode disturbance observer-based adaptive integral backstepping controller is designed to guarantee the convergence of the tracking error, where the sliding mode disturbance observer can track the total disturbances in a finite time, while the integral action is incorporated into the adaptive backstepping design to improve the steady-state control accuracy. Finally, real time implementations of the proposed algorithm are applied on the PZT actuated servo system, where excellent tracking performance with tracking precision error around 6‰ for circular contour tracking is achieved in the experimental results.

  2. Backstepping fuzzy-neural-network control design for hybrid maglev transportation system.

    Science.gov (United States)

    Wai, Rong-Jong; Yao, Jing-Xiang; Lee, Jeng-Dao

    2015-02-01

    This paper focuses on the design of a backstepping fuzzy-neural-network control (BFNNC) for the online levitated balancing and propulsive positioning of a hybrid magnetic levitation (maglev) transportation system. The dynamic model of the hybrid maglev transportation system including levitated hybrid electromagnets to reduce the suspension power loss and the friction force during linear movement and a propulsive linear induction motor based on the concepts of mechanical geometry and motion dynamics is first constructed. The ultimate goal is to design an online fuzzy neural network (FNN) control methodology to cope with the problem of the complicated control transformation and the chattering control effort in backstepping control (BSC) design, and to directly ensure the stability of the controlled system without the requirement of strict constraints, detailed system information, and auxiliary compensated controllers despite the existence of uncertainties. In the proposed BFNNC scheme, an FNN control is utilized to be the major control role by imitating the BSC strategy, and adaptation laws for network parameters are derived in the sense of projection algorithm and Lyapunov stability theorem to ensure the network convergence as well as stable control performance. The effectiveness of the proposed control strategy for the hybrid maglev transportation system is verified by experimental results, and the superiority of the BFNNC scheme is indicated in comparison with the BSC strategy and the backstepping particle-swarm-optimization control system in previous research.

  3. CRionScan: A stand-alone real time controller designed to perform ion beam imaging, dose controlled irradiation and proton beam writing

    Science.gov (United States)

    Daudin, L.; Barberet, Ph.; Serani, L.; Moretto, Ph.

    2013-07-01

    High resolution ion microbeams, usually used to perform elemental mapping, low dose targeted irradiation or ion beam lithography needs a very flexible beam control system. For this purpose, we have developed a dedicated system (called “CRionScan”), on the AIFIRA facility (Applications Interdisciplinaires des Faisceaux d'Ions en Région Aquitaine). It consists of a stand-alone real-time scanning and imaging instrument based on a Compact Reconfigurable Input/Output (Compact RIO) device from National Instruments™. It is based on a real-time controller, a Field Programmable Gate Array (FPGA), input/output modules and Ethernet connectivity. We have implemented a fast and deterministic beam scanning system interfaced with our commercial data acquisition system without any hardware development. CRionScan is built under LabVIEW™ and has been used on AIFIRA's nanobeam line since 2009 (Barberet et al., 2009, 2011) [1,2]. A Graphical User Interface (GUI) embedded in the Compact RIO as a web page is used to control the scanning parameters. In addition, a fast electrostatic beam blanking trigger has been included in the FPGA and high speed counters (15 MHz) have been implemented to perform dose controlled irradiation and on-line images on the GUI. Analog to Digital converters are used for the beam current measurement and in the near future for secondary electrons imaging. Other functionalities have been integrated in this controller like LED lighting using Pulse Width Modulation and a “NIM Wilkinson ADC” data acquisition.

  4. Neutral Particle Analyzer Vertically Scanning Measurements of MHD-induced Energetic Ion Redistribution or Loss in the National Spherical Torus Experiment

    Energy Technology Data Exchange (ETDEWEB)

    S.S. Medley, R. Andre, R.E. Bell, D.S. Darrow, C.W. Domier, E.D. Fredrickson, N.N. Gorelenkov, S.M. Kaye, B.P. LeBlanc, K.C. Lee, F.M. Levinton, D. Liu, N.C. Luhmann, Jr., J.E. Menard, H. Park, D. Stutman, A.L. Roquemore, K. Tritz, H. Yuh and the NSTX Team

    2007-11-15

    Observations of magneto-hydro-dynamic (MHD) induced redistribution or loss of energetic ions measured using the vertically scanning capability of the Neutral Particle Analyzer diagnostic on the National Spherical Torus Experiment (NSTX) are presented along with TRANSP and ORBIT code analysis of the results. Although redistribution or loss of energetic ions due to bursting fishbone-like and low-frequency (f ~ 10 kHz) kinktype MHD activity has been reported previously, the primary goal of this work is to study redistribution or loss due to continuous Alfvénic (f ~ 20 – 150 kHz) modes, a topic that heretofore has not been investigated in detail for NSTX plasmas. Initial indications are that the former drive energetic ion loss whereas the continuous Alfvénic modes only cause redistribution and the energetic ions remain confined.

  5. Fast Response Three Phase Induction Motor Using Indirect Field Oriented Control (IFOC Based On Fuzzy-Backstepping

    Directory of Open Access Journals (Sweden)

    Rizana Fauzi

    2015-06-01

    Full Text Available Induction Motor in Electrical drive system at a accelleration speed for example in electric cars have a hard speed setting is set on a wide range, causing an inconvenience for motorists and a fast response is required any change of speed. It is necessary for good system performance in control motor speed and torque at low speed or fast speed response, which is operated by Indirect Field Oriented Control (IFOC. Speed control on IFOC methods should be better to improving the performance of rapid response in the induction motor. In this paper presented a method of incorporation of Fuzzy Logic Controller and Backstepping (Fuzzy-Backstepping to improve the dynamically response speed and torque in Induction Motor on electric car, so we get smoothness at any speed change and braking as well as maximum torque of induction motor. Test results showed that Fuzzy-Backstepping can increase the response to changes speed in electric car. System testing is done with variations of the reference point setting speed control system, the simulation results of the research showed that the IFOC method is not perfect in terms of induction motor speed regulation if it’s not use speed control. Fuzzy-Backstepping control is needed which can improve the response of output, so that the induction motor has a good performance, small oscillations when start working up to speed reference. Keywords: Fuzzy-Backstepping, IFOC, induction motor

  6. Geant4 simulation of clinical proton and carbon ion beams for the treatment of ocular melanomas with the full 3-D pencil beam scanning system

    Energy Technology Data Exchange (ETDEWEB)

    Farina, Edoardo; Riccardi, Cristina; Rimoldi, Adele; Tamborini, Aurora [University of Pavia and the INFN section of Pavia, via Bassi 6, 27100 Pavia (Italy); Piersimoni, Pierluigi [Division of Radiation Research, Loma Linda University, Loma Linda, CA 92354 (United States); Ciocca, Mario [Medical Physics Unit, CNAO Foundation, Strada Campeggi 53, 27100 Pavia (Italy)

    2015-07-01

    This work investigates the possibility to use carbon ion beams delivered with active scanning modality, for the treatment of ocular melanomas at the Centro Nazionale di Adroterapia Oncologica (CNAO) in Pavia. The radiotherapy with carbon ions offers many advantages with respect to the radiotherapy with protons or photons, such as a higher relative radio-biological effectiveness (RBE) and a dose release better localized to the tumor. The Monte Carlo (MC) Geant4 10.00 patch-03 toolkit is used to reproduce the complete CNAO extraction beam line, including all the active and passive components characterizing it. The simulation of proton and carbon ion beams and radiation scanned field is validated against CNAO experimental data. For the irradiation study of the ocular melanoma an eye-detector, representing a model of a human eye, is implemented in the simulation. Each element of the eye is reproduced with its chemical and physical properties. Inside the eye-detector a realistic tumor volume is placed and used as the irradiation target. A comparison between protons and carbon ions eye irradiations allows to study possible treatment benefits if carbon ions are used instead of protons. (authors)

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

    Directory of Open Access Journals (Sweden)

    Zhao Yan

    2016-01-01

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

  8. Design of robust fuzzy controller for ship course-tracking based on RBF network and backstepping approach

    Institute of Scientific and Technical Information of China (English)

    ZHANG Song-tao; REN Guang

    2006-01-01

    This study presents an adaptive fuzzy neural network (FNN) control system for the ship steering autopilot. For the Norrbin ship steering mathematical model with the nonlinear and uncertain dynamic characteristics, an adaptive FNN control system is designed to achieve high-precision track control via the backstepping approach. In the adaptive FNN control system, a FNN backstepping controller is a principal controller which includes a FNN estimator used to estimate the uncertainties, and a robust controller is designed to compensate the shortcoming of the FNN backstepping controller. All adaptive learning algorithms in the adaptive FNN control system are derived from the sense of Lyapunov stability analysis, so that system-tracking stability can be guaranteed in the closed-loop system. The effectiveness of the proposed adaptive FNN control system is verified by simulation results.

  9. SU-E-T-562: Scanned Percent Depth Dose Curve Discrepancy for Photon Beams with Physical Wedge in Place (Varian IX) Using Different Sensitive Volume Ion Chambers

    Energy Technology Data Exchange (ETDEWEB)

    Zhao, H; Sarkar, V; Rassiah-Szegedi, P; Huang, Y; Szegedi, M; Huang, L; Salter, B [University Utah, Salt Lake City, UT (United States)

    2014-06-01

    Purpose: To investigate and report the discrepancy of scanned percent depth dose (PDD) for photon beams with physical wedge in place when using ion chambers with different sensitive volumes. Methods/Materials: PDD curves of open fields and physical wedged fields (15, 30, 45, and 60 degree wedge) were scanned for photon beams (6MV and 10MV, Varian iX) with field size of 5x5 and 10x10 cm using three common scanning chambers with different sensitive volumes - PTW30013 (0.6cm3), PTW23323 (0.1cm3) and Exradin A16 (0.007cm3). The scanning system software used was OmniPro version 6.2, and the scanning water tank was the Scanditronix Wellhoffer RFA 300.The PDD curves from the three chambers were compared. Results: Scanned PDD curves of the same energy beams for open fields were almost identical between three chambers, but the wedged fields showed non-trivial differences. The largest differences were observed between chamber PTW30013 and Exradin A16. The differences increased as physical wedge angle increased. The differences also increased with depth, and were more pronounced for 6MV beam. Similar patterns were shown for both 5x5 and 10x10 cm field sizes. For open fields, all PDD values agreed with each other within 1% at 10cm depth and within 1.62% at 20 cm depth. For wedged fields, the difference of PDD values between PTW30013 and A16 reached 4.09% at 10cm depth, and 5.97% at 20 cm depth for 6MV with 60 degree physical wedge. Conclusion: We observed a significant difference in scanned PDD curves of photon beams with physical wedge in place obtained when using different sensitive volume ion chambers. The PDD curves scanned with the smallest sensitive volume ion chamber showed significant difference from larger chamber results, beyond 10cm depth. We believe this to be caused by varying response to beam hardening by the wedges.

  10. 3D imaging of cells and tissues by focused ion beam/scanning electron microscopy (FIB/SEM).

    Science.gov (United States)

    Drobne, Damjana

    2013-01-01

    Integration of a scanning electron microscope (SEM) and focused ion beam (FIB) technology into a single FIB/SEM system permits use of the FIB as a nano-scalpel to reveal site-specific subsurface microstructures which can be examined in great detail by SEM. The FIB/SEM technology is widely used in the semiconductor industry and material sciences, and recently its use in the life sciences has been initiated. Samples for FIB/SEM investigation can be either embedded in a plastic matrix, the traditional means of preparation of transmission electron microscopy (TEM) specimens, or simply dried as in samples prepared for SEM imaging. Currently, FIB/SEM is used in the life sciences for (a) preparation by the lift-out technique of lamella for TEM analysis, (b) tomography of samples embedded in a matrix, and (c) in situ site-specific FIB milling and SEM imaging using a wide range of magnifications. Site-specific milling and imaging has attracted wide interest as a technique in structural research of single eukaryotic and prokaryotic cells, small animals, and different animal tissue, but it still remains to be explored more thoroughly. In the past, preparation of samples for site-specific milling and imaging by FIB/SEM has typically adopted the embedding techniques used for TEM samples, and which have been very well described in the literature. Sample preparation protocols for the use of dried samples in FIB/SEM have been less well investigated. The aim of this chapter is to encourage application of FIB/SEM on dried biological samples. A detailed description of conventional dried sample preparation and FIB/SEM investigation of dried biological samples is presented. The important steps are described and illustrated, and direct comparison between embedded and dried samples of same tissues is provided. The ability to discover links between gross morphology of the tissue or organ, surface characteristics of any selected region, and intracellular structural details on the nanometer

  11. Rapid phase-correlated rescanning irradiation improves treatment time in carbon-ion scanning beam treatment under irregular breathing

    Science.gov (United States)

    Mori, Shinichiro; Furukawa, Takuji

    2016-05-01

    To shorten treatment time in pencil beam scanning irradiation, we developed rapid phase-controlled rescanning (rPCR), which irradiates two or more isoenergy layers in a single gating window. Here, we evaluated carbon-ion beam dose distribution with rapid and conventional PCR (cPCR). 4 dimensional computed tomography (4DCT) imaging was performed on 12 subjects with lung or liver tumors. To compensate for intrafractional range variation, the field-specific target volume (FTV) was calculated using 4DCT within the gating window (T20-T80). We applied an amplitude-based gating strategy, in which the beam is on when the tumor is within the gating window defined by treatment planning. Dose distributions were calculated for layered phase-controlled rescanning under an irregular respiratory pattern, although a single 4DCT data set was used. The number of rescannings was eight times. The prescribed doses were 48 Gy(RBE)/1 fr (where RBE is relative biological effectiveness) delivered via four beam ports to the FTV for the lung cases and 45 Gy(RBE)/2 fr delivered via two beam ports to the FTV for the liver cases. In the liver cases, the accumulated dose distributions showed an increased magnitude of hot/cold spots with rPCR compared with cPCR. The results of the dose assessment metrics for the cPCR and rPCR were very similar. The D 95, D max, and D min values (cPCR/rPCR) averaged over all the patients were 96.3  ±  0.9%/96.0  ±  1.2%, 107.3  ±  3.6%/107.1  ±  2.9%, and 88.8  ±  3.2%/88.1  ±  3.1%, respectively. The treatment times in cPCR and rPCR were 110.7 s and 53.5 s, respectively. rPCR preserved dose conformation under irregular respiratory motion and reduced the total treatment time compared with cPCR.

  12. Development of a low-cost small-sized scanning transmission ion microscope of moderate resolution with educational and other potential applications

    Science.gov (United States)

    Pallone, Arthur

    2009-03-01

    Scanning transmission ion microscopy (STIM) has applications in many fields of study such as materials and device engineering, biological and geological sciences, and the arts. Since STIM is practiced at ion beam facilities, many persons outside of the ion beam community who could benefit from STIM are unaware of its potential. In an effort to better educate the public about STIM, an inexpensive portable demonstration unit suitable for interactive classroom use and public outreach events is under development. The required parts are readily available, mostly at local electronics and office supply stores. Progress toward completion of the demonstration unit and future efforts to modify the unit to support thin film research will be discussed. Activities that demonstrate the three modes of STIM will also be presented.

  13. Backstepping based Trajectory Tracking Control of a Four Wheeled Mobile Robot

    Directory of Open Access Journals (Sweden)

    Nagarajan Sukavanam

    2008-11-01

    Full Text Available For a four wheeled mobile robot a trajectory tracking concept is developed based on its kinematics. A trajectory is a time?indexed path in the plane consisting of position and orientation .The mobile robot is modeled as a non holonomic system subject to pure rolling , no slip constraints.To facilitate the controller design the kinematic equation can be converted into chained form using some change of co-ordinates.From the kinematic model of the robot a backstepping based tracking controller is derived. Simulation results demonstrate such trajectory tracking strategy for the kinematics indeed gives rise to an effective methodology to follow the desired trajectory asymptotically.

  14. Chaos control and function projective synchronization of fractional-order systems through the backstepping method

    Science.gov (United States)

    Das, S.; Yadav, V. K.

    2016-10-01

    We study the chaos control and the function projective synchronization of a fractional-order T-system and Lorenz chaotic system using the backstepping method. Based on stability theory, we consider the condition for the local stability of nonlinear three-dimensional commensurate fractional-order system. Using the feedback control method, we control the chaos in the considered fractional-order T-system. We simulate the function projective synchronization between the fractional-order T-system and Lorenz system numerically using MATLAB and depict the results with plots.

  15. CONTROL BACKSTEPPING DE UN ROBOT SCARA CON INCERTIDUMBRE PARAMÉTRICA

    Directory of Open Access Journals (Sweden)

    Víctor Hugo Mosquera Leyton

    2012-01-01

    Full Text Available Uno de los principales problemas en el control por modelo de referencia es que las dinámicas no modeladas, la incertidumbre paramétrica y el acoplamiento dinámico, afectan el desempeño del sistema de control. Este artículo presenta una estrategia de control bajo el enfoque back-stepping, con el fin de garantizar en primera instancia la estabilidad en lazo cerrado del sistema de control de un manipulador Scaracara de 4º de libertad, y en segunda instancia generar un sistema que sea robusto ante incertidumbres paramétricas, sin presentar grandes esfuerzos de control.

  16. Effectiveness of respiratory-gated radiotherapy with audio-visual biofeedback for synchrotron-based scanned heavy-ion beam delivery

    Science.gov (United States)

    He, Pengbo; Li, Qiang; Zhao, Ting; Liu, Xinguo; Dai, Zhongying; Ma, Yuanyuan

    2016-12-01

    A synchrotron-based heavy-ion accelerator operates in pulse mode at a low repetition rate that is comparable to a patient’s breathing rate. To overcome inefficiencies and interplay effects between the residual motion of the target and the scanned heavy-ion beam delivery process for conventional free breathing (FB)-based gating therapy, a novel respiratory guidance method was developed to help patients synchronize their breathing patterns with the synchrotron excitation patterns by performing short breath holds with the aid of personalized audio-visual biofeedback (BFB) system. The purpose of this study was to evaluate the treatment precision, efficiency and reproducibility of the respiratory guidance method in scanned heavy-ion beam delivery mode. Using 96 breathing traces from eight healthy volunteers who were asked to breathe freely and guided to perform short breath holds with the aid of BFB, a series of dedicated four-dimensional dose calculations (4DDC) were performed on a geometric model which was developed assuming a linear relationship between external surrogate and internal tumor motions. The outcome of the 4DDCs was quantified in terms of the treatment time, dose-volume histograms (DVH) and dose homogeneity index. Our results show that with the respiratory guidance method the treatment efficiency increased by a factor of 2.23-3.94 compared with FB gating, depending on the duty cycle settings. The magnitude of dose inhomogeneity for the respiratory guidance methods was 7.5 times less than that of the non-gated irradiation, and good reproducibility of breathing guidance among different fractions was achieved. Thus, our study indicates that the respiratory guidance method not only improved the overall treatment efficiency of respiratory-gated scanned heavy-ion beam delivery, but also had the advantages of lower dose uncertainty and better reproducibility among fractions.

  17. Scanned ion beam therapy for prostate carcinoma. Comparison of single plan treatment and daily plan-adapted treatment

    Energy Technology Data Exchange (ETDEWEB)

    Hild, Sebastian [GSI Helmholtzzentrum fuer Schwerionenforschung GmbH, Department of Biophysics, Darmstadt (Germany); University Clinic Erlangen and Friedrich- Alexander-University Erlangen-Nuernberg (FAU), Department of Radiation Oncology, Erlangen (Germany); Graeff, Christian [GSI Helmholtzzentrum fuer Schwerionenforschung GmbH, Department of Biophysics, Darmstadt (Germany); Rucinski, Antoni [University Clinic Heidelberg, Heidelberg Ion-Beam Therapy Center (HIT) and Department of Radiation Oncology, Heidelberg (Germany); Sapienza Universit' a di Roma, Dipartimento di Scienze di Base e Applicate per Ingegneria, Roma (Italy); INFN, Roma (Italy); Zink, Klemens [University of Applied Sciences, Institute for Medical Physics and Radiation Protection, Giessen (Germany); University Medical Center Giessen-Marburg, Department of Radiotherapy and Radiooncology, Marburg (Germany); Habl, Gregor [University Clinic Heidelberg, Heidelberg Ion-Beam Therapy Center (HIT) and Department of Radiation Oncology, Heidelberg (Germany); Klinikum rechts der Isar, Technische Universitaet Muenchen (TUM), Department of Radiation Oncology, Munich (Germany); Durante, Marco [GSI Helmholtzzentrum fuer Schwerionenforschung GmbH, Department of Biophysics, Darmstadt (Germany); Technische Universitaet Darmstadt, Faculty of Physics, Darmstadt (Germany); Herfarth, Klaus [University Clinic Heidelberg, Heidelberg Ion-Beam Therapy Center (HIT) and Department of Radiation Oncology, Heidelberg (Germany); Bert, Christoph [GSI Helmholtzzentrum fuer Schwerionenforschung GmbH, Department of Biophysics, Darmstadt (Germany); University Clinic Erlangen and Friedrich- Alexander-University Erlangen-Nuernberg (FAU), Department of Radiation Oncology, Erlangen (Germany); University Hospital Erlangen, Radiation Oncology, Erlangen (Germany)

    2016-02-15

    Intensity-modulated particle therapy (IMPT) for tumors showing interfraction motion is a topic of current research. The purpose of this work is to compare three treatment strategies for IMPT to determine potential advantages and disadvantages of ion prostate cancer therapy. Simulations for three treatment strategies, conventional one-plan radiotherapy (ConvRT), image-guided radiotherapy (IGRT), and online adaptive radiotherapy (ART) were performed employing a dataset of 10 prostate cancer patients with six CT scans taken at one week intervals. The simulation results, using a geometric margin concept (7-2 mm) as well as patient-specific internal target volume definitions for IMPT were analyzed by target coverage and exposure of critical structures on single fraction dose distributions. All strategies led to clinically acceptable target coverage in patients exhibiting small prostate motion (mean displacement < 4 mm), but IGRT and especially ART led to significant sparing of the rectum. In 20 % of the patients, prostate motion exceeded 4 mm causing insufficient target coverage for ConvRT (V95{sub mean} = 0.86, range 0.63-0.99) and IGRT (V95{sub mean} = 0.91, range 0.68-1.00), while ART maintained acceptable target coverage. IMPT of prostate cancer demands consideration of rectal sparing and adaptive treatment replanning for patients exhibiting large prostate motion. (orig.) [German] Adaptive Therapieansaetze fuer sich interfraktionell bewegende Zielvolumina in der intensitaetsmodulierten Partikeltherapie (IMPT) befinden sich zurzeit in der Entwicklung. In dieser Arbeit werden drei Behandlungsstrategien auf moegliche Vor- und Nachteile in der IMPT des Prostatakarzinoms hin untersucht. Auf Basis eines anonymisierten Datensatzes aus 10 Patienten mit Prostatakarzinom wurden die drei Bestrahlungsstrategien, konventionelle Ein-Plan-Strahlentherapie (ConvRT), bildunterstuetzte Strahlentherapie (IGRT) und tagesaktuelle Strahlentherapie (adaptive radiotherapy,ART), simuliert

  18. A new adaptive backstepping method for nonlinear control of turbine main steam valve

    Institute of Scientific and Technical Information of China (English)

    Jun FU; Jun ZHAO

    2007-01-01

    A new approach for nonlinear adaptive control of turbine main steam valve is developed.In comparison with the existing controller based on "classical" adaptive backstepping.this method does not follow the classical certaintyequivalence principle in the design of adaptive control law.We introduce this approach,for the first time,to power systems and present a novel parameter estimator and dynamic feedback controller for a single machine infinite bus(SMIB)system with steam valve contral.This system contains unknown parameters such as reactance of transmission lines.Besides preserving useful nonlinearities and the real-time estimation of uncertain parameters,the proposed approach possesses better performances with respect to the response of the system and the speed of adaptation.The simulation results demonstrate that the proposed approach is better than the design based on "classical" adaptive backstepping in terms of properties of stability and parameter estimation,and recovers the performance of the "full-information" controller.Hence.the proposed method provides an alternative for engineers in applications.

  19. An adaptive sliding mode backstepping control for the mobile manipulator with nonholonomic constraints

    Science.gov (United States)

    Chen, Naijian; Song, Fangzhen; Li, Guoping; Sun, Xuan; Ai, Changsheng

    2013-10-01

    To solve disturbances, nonlinearity, nonholonomic constraints and dynamic coupling between the platform and its mounted robot manipulator, an adaptive sliding mode controller based on the backstepping method applied to the robust trajectory tracking of the wheeled mobile manipulator is described in this article. The control algorithm rests on adopting the backstepping method to improve the global ultimate asymptotic stability and applying the sliding mode control to obtain high response and invariability to uncertainties. According to the Lyapunov stability criterion, the wheeled mobile manipulator is divided into several stabilizing subsystems, and an adaptive law is designed to estimate the general nondeterminacy, which make the controller be capable to drive the trajectory tracking error of the mobile manipulator to converge to zero even in the presence of perturbations and mathematical model errors. We compare our controller with the robust neural network based algorithm in nonholonomic constraints and uncertainties, and simulation results prove the effectivity and feasibility of the proposed method in the trajectory tracking of the wheeled mobile manipulator.

  20. Adaptive Recurrent Network Network Uncertainty Observer Based Integral Backstepping Control for a PMSM Drive System

    Directory of Open Access Journals (Sweden)

    Chih-Hong Lin

    2012-03-01

    Full Text Available The permanent magnet synchronous motor (PMSM is suitable for high-performance servo applications and has been used widely for the industrial robots, computer-numerically-controlled (CNC machine tools and elevators. The control performance of the actual PMSM drive system depends on many parameters, such as parameter variations, external load disturbance, and friction force. Their relationships are complex and the actual PMSM drive system has the properties of nonlinear uncertainty and time-varying characteristics. It is difficult to establish an accurate model for the nonlinear uncertainty and time-varying characteristics of the actual PMSM drive system Therefore, an adaptive recurrent neural network uncertainty observer (ARNNUO based integral backstepping control system is developed to overcome this problem in this paper. The proposed control strategy is based on integral backstepping control combined with RNN uncertainty observer to estimate the required lumped uncertainty. An adaptive rule of the RNN uncertainty observer is employed to on-line adjust the weights of sigmoidal functions by using the gradient descent method and the backpropagation algorithm in according to Lyapunov function. This ARNNUO has the on-line learning ability to respond to the system’s nonlinear and time-varying behaviors. Experimental results are executed to show the control performance of the proposed control scheme.

  1. Helium ion microscopy and ultra-high-resolution scanning electron microscopy analysis of membrane-extracted cells reveals novel characteristics of the cytoskeleton of Giardia intestinalis.

    Science.gov (United States)

    Gadelha, Ana Paula Rocha; Benchimol, Marlene; de Souza, Wanderley

    2015-06-01

    Giardia intestinalis presents a complex microtubular cytoskeleton formed by specialized structures, such as the adhesive disk, four pairs of flagella, the funis and the median body. The ultrastructural organization of the Giardia cytoskeleton has been analyzed using different microscopic techniques, including high-resolution scanning electron microscopy. Recent advances in scanning microscopy technology have opened a new venue for the characterization of cellular structures and include scanning probe microscopy techniques such as ultra-high-resolution scanning electron microscopy (UHRSEM) and helium ion microscopy (HIM). Here, we studied the organization of the cytoskeleton of G. intestinalis trophozoites using UHRSEM and HIM in membrane-extracted cells. The results revealed a number of new cytoskeletal elements associated with the lateral crest and the dorsal surface of the parasite. The fine structure of the banded collar was also observed. The marginal plates were seen linked to a network of filaments, which were continuous with filaments parallel to the main cell axis. Cytoplasmic filaments that supported the internal structures were seen by the first time. Using anti-actin antibody, we observed a labeling in these filamentous structures. Taken together, these data revealed new surface characteristics of the cytoskeleton of G. intestinalis and may contribute to an improved understanding of the structural organization of trophozoites.

  2. Three-dimensional investigation of cycling-induced microstructural changes in lithium-ion battery cathodes using focused ion beam/scanning electron microscopy

    OpenAIRE

    2016-01-01

    For vehicle electrification, one of the biggest issues for lithium ion batteries is cycle life. Within this context, the mechanisms at the source of capacity degradation during cycling are not yet to be fully understood. In this work, we use state-of-the-art FIB-SEM serial sectioning and imaging techniques to determine the effect of cycling on lithium-ion battery cathodes. The three-dimensional (3D) microstructural study was performed on both pristine and cycled LiNixMnyCo1−x−yO2 (NMC) and Li...

  3. Fuzzy Backstepping Torque Control Of Passive Torque Simulator With Algebraic Parameters Adaptation

    Science.gov (United States)

    Ullah, Nasim; Wang, Shaoping; Wang, Xingjian

    2015-07-01

    This work presents fuzzy backstepping control techniques applied to the load simulator for good tracking performance in presence of extra torque, and nonlinear friction effects. Assuming that the parameters of the system are uncertain and bounded, Algebraic parameters adaptation algorithm is used to adopt the unknown parameters. The effect of transient fuzzy estimation error on parameters adaptation algorithm is analyzed and the fuzzy estimation error is further compensated using saturation function based adaptive control law working in parallel with the actual system to improve the transient performance of closed loop system. The saturation function based adaptive control term is large in the transient time and settles to an optimal lower value in the steady state for which the closed loop system remains stable. The simulation results verify the validity of the proposed control method applied to the complex aerodynamics passive load simulator.

  4. Robust Adaptive Backstepping Control Design for a Nonlinear Hydraulic-Mechanical System

    DEFF Research Database (Denmark)

    Choux, Martin; Karimi, Hamid Reza; Hovland, Geir

    2009-01-01

    converge to zero despite the uncertainties in the system according to the Barbalat lemma. The resulting controllers are able to take into account the interval uncertainties in Coulomb friction parameters and in the internal leakage parameters in the cylinders. Two adaptation laws are obtained by using......The complex dynamics that characterize hydraulic systems make it difficult for the control design to achieve prescribed goals in an efficient manner. In this paper, we present the design and analysis of a robust nonlinear controller for a nonlinear hydraulic-mechanical (NHM) system. The system...... consists of an electrohydraulic servo valve and two hydraulic cylinders. Specifically, by considering a part of the dynamics of the NHM system as a norm-bounded uncertainty, two adaptive controllers are developed based on the backstepping technique that ensure the tracking error signals asymptotically...

  5. Adaptive finite-time backstepping control for attitude tracking of spacecraft based on rotation matrix

    Directory of Open Access Journals (Sweden)

    Guo Yong

    2014-04-01

    Full Text Available This paper investigates two finite-time controllers for attitude control of spacecraft based on rotation matrix by an adaptive backstepping method. Rotation matrix can overcome the drawbacks of unwinding which makes a spacecraft perform a large-angle maneuver when a small-angle maneuver in the opposite rotational direction is sufficient to achieve the objective. With the use of adaptive control, the first robust finite-time controller is continuous without a chattering phenomenon. The second robust finite-time controller can compensate external disturbances with unknown bounds. Theoretical analysis shows that both controllers can make a spacecraft following a time-varying reference attitude signal in finite time and guarantee the stability of the overall closed-loop system. Numerical simulations are presented to demonstrate the effectiveness of the proposed control schemes.

  6. Adaptive Backstepping Controller Design for Leveling Control of an Underwater Platform Based on Joint Space

    Directory of Open Access Journals (Sweden)

    Zhi-Lin Zeng

    2014-01-01

    Full Text Available This paper focuses on high precision leveling control of an underwater heavy load platform, which is viewed as an underwater parallel robot on the basis of its work pattern. The kinematic of platform with deformation is analyzed and the dynamics model of joint space is established. An adaptive backstepping controller according to Lyapunov's function is proposed for leveling control of platform based on joint space. Furthermore, the “lowest point fixed angle error” leveling scheme called “chase” is chosen for leveling control of platform. The digital simulation and practical experiment of single joint space actuator are carried out, and the results show high precision servo control of joint space. On the basis of this, the platform leveling control simulation relies on the hardware-in-loop system. The results indicate that the proposed controller can effectively restrain the influence from system parameter uncertainties and external disturbance to realize high precision leveling control of the underwater platform.

  7. Trajectory tracking control of underactuated USV based on modified backstepping approach

    Directory of Open Access Journals (Sweden)

    Dong Zaopeng

    2015-09-01

    Full Text Available This paper presents a state feedback based backstepping control algorithm to address the trajectory tracking problem of an underactuated Unmanned Surface Vessel (USV in the horizontal plane. A nonlinear three Degree of Freedom (DOF underactuated dynamic model for USV is considered, and trajectory tracking controller that can track both curve trajectory and straight line trajectory with high accuracy is designed as the well known Persistent Exciting (PE conditions of yaw velocity is completely relaxed in our study. The proposed controller has further been enriched by incorporating an integral action additionally for enhancing the steady state performance and control precision of the USV trajectory tracking control system. Global stability of the overall system is proved by Lyapunov theory and Barbalat’s Lemma, and then simulation experiments are carried out to demonstrate the effectiveness of the controller designed.

  8. Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach

    Directory of Open Access Journals (Sweden)

    Xing Huo

    2014-01-01

    Full Text Available The modeling and attitude stabilization control problems of a four-rotor vertical takeoff and landing unmanned air vehicle (UAV known as the quadrotor are investigated. The quadrotor’s attitude is represented by the unit quaternion rather than Euler angles to avoid singularity problem. Taking dynamical behavior of motors into consideration and ignoring aerodynamic effect, a nonlinear controller is developed to stabilize the attitude. The control design is accomplished by using backstepping control technique. The proposed control law is based on the compensation for the Coriolis and gyroscope torques. Applying Lyapunov stability analysis proves that the closed-loop attitude system is asymptotic stable. Moreover, the controller can guarantee that all the states of the system are uniformly ultimately bounded in the presence of external disturbance torque. The effectiveness of the proposed control approach is analytically authenticated and also validated via simulation study.

  9. Nonlinear Electrical Circuit Oscillator Control Based on Backstepping Method: A Genetic Algorithm Approach

    Directory of Open Access Journals (Sweden)

    Mahsa Khoeiniha

    2012-01-01

    Full Text Available This paper investigated study of dynamics of nonlinear electrical circuit by means of modern nonlinear techniques and the control of a class of chaotic system by using backstepping method based on Lyapunov function. The behavior of such nonlinear system when they are under the influence of external sinusoidal disturbances with unknown amplitudes has been considered. The objective is to analyze the performance of this system at different amplitudes of disturbances. We illustrate the proposed approach for controlling duffing oscillator problem to stabilize this system at the equilibrium point. Also Genetic Algorithm method (GA for computing the parameters of controller has been used. GA can be successfully applied to achieve a better controller. Simulation results have shown the effectiveness of the proposed method.

  10. Backstepping design of missile guidance and control based on adaptive fuzzy sliding mode control

    Institute of Scientific and Technical Information of China (English)

    Ran Maopeng; Wang Qing; Hou Delong; Dong Chaoyang

    2014-01-01

    This paper presents an integrated missile guidance and control law based on adaptive fuzzy sliding mode control. The integrated model is formulated as a block-strict-feedback nonlinear system, in which modeling errors, unmodeled nonlinearities, target maneuvers, etc. are viewed as unknown uncertainties. The adaptive nonlinear control law is designed based on backstepping and sliding mode control techniques. An adaptive fuzzy system is adopted to approximate the coupling nonlinear functions of the system, and for the uncertainties, we utilize an online-adaptive control law to estimate the unknown parameters. The stability analysis of the closed-loop system is also conducted. Simulation results show that, with the application of the adaptive fuzzy sliding mode control, small miss distances and smooth missile trajectories are achieved, and the system is robust against system uncertainties and external disturbances.

  11. Bifurcations, chaos and adaptive backstepping sliding mode control of a power system with excitation limitation

    Directory of Open Access Journals (Sweden)

    Fuhong Min

    2016-08-01

    Full Text Available The bifurcation and Lyapunov exponent for a single-machine-infinite bus system with excitation model are carried out by varying the mechanical power, generator damping factor and the exciter gain, from which periodic motions, chaos and the divergence of system are observed respectively. From given parameters and different initial conditions, the coexisting motions are developed in power system. The dynamic behaviors in power system may switch freely between the coexisting motions, which will bring huge security menace to protection operation. Especially, the angle divergences due to the break of stable chaotic oscillation are found which causes the instability of power system. Finally, a new adaptive backstepping sliding mode controller is designed which aims to eliminate the angle divergences and make the power system run in stable orbits. Numerical simulations are illustrated to verify the effectivity of the proposed method.

  12. On Consensus of Multiple High-order Uncertain Systems Based on Distributed Backstepping Framework

    Directory of Open Access Journals (Sweden)

    Jie Huang

    2014-08-01

    Full Text Available This paper focuses on the consensus problem of multiple high-order systems with uncertainties. Since it is difficult to use matrix theory approaches to design consensus controllers for a class of multiple high-order uncertain nonlinear systems, in this paper a set of consensus control laws are proposed by employing adaptive control theory and a backstepping technique. The distributed virtual control functions of the multi-agent systems are elaborately constructed by only using their local information in the recursive controller design procedure. Furthermore, the asymptotic stability of the overall interconnected system is proved relying on the Lyapunov stability analysis method. Finally, simulations are provided to verify the effectiveness of the control algorithms.

  13. Adaptive Backstepping Output Feedback Control for SISO Nonlinear System Using Fuzzy Neural Networks

    Institute of Scientific and Technical Information of China (English)

    Shao-Cheng Tong; Yong-Ming Li

    2009-01-01

    In this paper, a new fuzzy-neural adaptive control approach is developed for a class of single-input and single-output (SISO) nonlinear systems with unmeasured states. Using fuzzy neural networks to approximate the unknown nonlinear functions, a fuzzy-neural adaptive observer is introduced for state estimation as well as system identification. Under the framework of the backstepping design, fuzzy-neural adaptive output feedback control is constructed rccursively. It is proven that the proposed fuzzy adaptive control approach guarantees the global boundedness property for all the signals, driving the tracking error to a small neighbordhood of the origin. Simulation example is included to illustrate the effectiveness of the proposed approach.

  14. Modeling and Backstepping-based Nonlinear Control Strategy for a 6 DOF Quadrotor Helicopter

    Institute of Scientific and Technical Information of China (English)

    Ashfaq Ahmad Mian; Wang Daobo

    2008-01-01

    In this article,a nonlinear model of an underactuated six degrees of freedom (6 DOF) quadrotor helicopter is derived on the basis of the Newton-Euler formalism.The derivation comprises determining equations of the motion of the quadrotor in three dimensions andapproximating the actuation forces through the modeling of aerodynamic coefficients and electric motor dynamics.The derived modelcomposed of translatioual and rotational subsystems is dynamically unstable,so a sequential nonlinear control strategy is used.The con-trol strategy includes feedback linearization coupled with a PD controller for the translational subsystem and a backstepping-based PID nonlinear controller for the rotational subsystem of the quadrotor.The performances of the nonlinear control method are evaluated by nonlinear simulation and the results demonstrate the effectiveness of the proposed control strategy for the quadrotor helicopter inquasi-stationary flights.

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

    Directory of Open Access Journals (Sweden)

    Park Jong-Yong

    2014-06-01

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

  16. Adaptive Backstepping Control Based on Floating Offshore High Temperature Superconductor Generator for Wind Turbines

    Directory of Open Access Journals (Sweden)

    Feng Yang

    2014-01-01

    Full Text Available With the rapid development of offshore wind power, the doubly fed induction generator and permanent magnet synchronous generator cannot meet the increasing request of power capacity. Therefore, superconducting generator should be used instead of the traditional motor, which can improve generator efficiency, reduce the weight of wind turbines, and increase system reliability. This paper mainly focuses on nonlinear control in the offshore wind power system which is consisted of a wind turbine and a high temperature superconductor generator. The proposed control approach is based on the adaptive backstepping method. Its main purpose is to regulate the rotor speed and generator voltage, therefore, achieving the maximum power point tracking (MPPT, improving the efficiency of a wind turbine, and then enhancing the system’s stability and robustness under large disturbances. The control approach can ensure high precision of generator speed tracking, which is confirmed in both the theoretical analysis and numerical simulation.

  17. Bifurcations, chaos and adaptive backstepping sliding mode control of a power system with excitation limitation

    Science.gov (United States)

    Min, Fuhong; Wang, Yaoda; Peng, Guangya; Wang, Enrong; Auth, Jane A.

    2016-08-01

    The bifurcation and Lyapunov exponent for a single-machine-infinite bus system with excitation model are carried out by varying the mechanical power, generator damping factor and the exciter gain, from which periodic motions, chaos and the divergence of system are observed respectively. From given parameters and different initial conditions, the coexisting motions are developed in power system. The dynamic behaviors in power system may switch freely between the coexisting motions, which will bring huge security menace to protection operation. Especially, the angle divergences due to the break of stable chaotic oscillation are found which causes the instability of power system. Finally, a new adaptive backstepping sliding mode controller is designed which aims to eliminate the angle divergences and make the power system run in stable orbits. Numerical simulations are illustrated to verify the effectivity of the proposed method.

  18. Comparative analysis for NN inverse model controller and backstepping controller on mobile robots

    Directory of Open Access Journals (Sweden)

    Margarita Gjonaj

    2016-11-01

    Full Text Available This work addresses the design and implementation of a neural network based controller for the trajectory tracking of a differential drive mobile robot. A neural network based tracking control algorithm is proposed and simulation and experimental results are presented. The algorithm is a control structure that makes possible the integration of a back-stepping controller and a neural network (NN computed-torque controller for a nonholonomic mobile robot. Integration of a neural network controller and the kinematic based controller gives the advantage of dealing with unmodeled and unstructured uncertainties and disturbances to the system. Comprehensive system modeling including robot kinematics, dynamics and actuator modeling has been done. The dynamic modeling is done Lagrangian methodologies for nonholonomic systems. Simulation of the robot model and different controllers has been done using Matlab and Matlab Simulink.

  19. Backstepping adaptive fuzzy control of uncertain nonlinear systems against actuator faults

    Institute of Scientific and Technical Information of China (English)

    Ping LI; Guanghong YANG

    2009-01-01

    A class of unknown nonlinear systems subject to uncertain actuator faults and external disturbances will be studied in this paper with the help of fuzzy approximation theory.Using backstepping technique,a novel adaptive fuzzy control approach is proposed to accommodate the uncertain actuator faults during operation and deal with the external disturbances though the systems cannot be linearized by feedback.The considered faults are modeled as both loss of effectiveness and lock-in-place (stuck at some unknown place).It is proved that the proposed control scheme can guarantee all signals of the closed-loop system to be semi-globally uniformly ultimately bounded and the tracking error between the system output and the reference signal converge to a small neighborhood of zero,though the nonlinear functions of the controlled system as well as the actuator faults and the external disturbances are all unknown.Simulation results demonstrate the effectiveness of the control approach.

  20. Adaptive fuzzy backstepping control for a class of switched nonlinear systems with actuator faults

    Science.gov (United States)

    Hou, Yingxue; Tong, Shaocheng; Li, Yongming

    2016-11-01

    This paper investigates the problem of fault-tolerant control (FTC) for a class of switched nonlinear systems. These systems are under arbitrary switchings and are subject to both lock-in-place and loss-of-effectiveness actuator faults. In the control design, fuzzy logic systems are used to identify the unknown switched nonlinear systems. Under the framework of the backstepping control design, FTC, fuzzy adaptive control and common Lyapunov function stability theory, an adaptive fuzzy control approach is developed. It is proved that the proposed control approach can guarantee that all the signals in the closed-loop switched system are semi-globally uniformly ultimately bounded (SGUUB) and the tracking error remains an adjustable neighbourhood of the origin. Two simulation examples are provided to illustrate the effectiveness of the proposed approach.

  1. A Back-stepping Based Trajectory Tracking Controller for a Non-chained Nonholonomic Spherical Robot

    Institute of Scientific and Technical Information of China (English)

    Zhan Qiang; Liu Zengbo; Cai Yao

    2008-01-01

    Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This article deals with the dynamic trajectory tracking problem of the spherical robot BHQ-2 designed for unmanned environment exploration. The dynamic model of the spherical robot is established with a simplified Boltzmann-Hamel equation, based on which a trajectory tracking controller is designed by using the back-stepping method. The convergence of the controller is proved with the Lyapunov stability theory. Numerical simulations show that with the controller the robot can globally and asymptotically track desired trajectories, both linear and circular.

  2. Adaptive Neural Back-Stepping Control with Constrains for a Flexible Air-Breathing Hypersonic Vehicle

    Directory of Open Access Journals (Sweden)

    Pengfei Wang

    2015-01-01

    Full Text Available The design of an adaptive neural back-stepping control for a flexible air-breathing hypersonic vehicle (AHV in the presence of input constraint and aerodynamic uncertainty is discussed. Based on functional decomposition, the dynamics can be decomposed into the velocity subsystem and the altitude subsystem. To guarantee the exploited controller’s robustness with respect to parametric uncertainties, neural network (NN is applied to approximate the lumped uncertainty of each subsystem of AHV model. The exceptional contribution is that novel auxiliary systems are introduced to compensate both the tracking errors and desired control laws, based on which the explored controller can still provide effective tracking of velocity and altitude commands when the actuators are saturated. Finally, simulation studies are made to illustrate the effectiveness of the proposed control approach in spite of the flexible effects, system uncertainties, and varying disturbances.

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

    Science.gov (United States)

    Park, Jong-Yong; Kim, Nakwan

    2014-06-01

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

  4. Design Novel Soft Computing Backstepping Controller with Application to Nonlinear Dynamic Uncertain System

    Directory of Open Access Journals (Sweden)

    Amin Jalali

    2013-09-01

    Full Text Available The increasing demand for multi-degree-of-freedom (DOF continuum robot in presence of highly nonlinear dynamic parameters in a number of industries has motivated a flurry of research in the development of soft computing nonlinear methodology. This robot is capable of providing smooth and isotropic three-dimensional motion in each joint. Compared to conventional robotic manipulators that offer the same motion capabilities, the innovative spherical motor possesses several advantages. Not only can the spherical motor combine 3-DOF motion in a single joint, it has a large range of motion with no singularities in its workspace. This research contributes to the on-going research effort by exploring alternate methods for controlling the continuum robot manipulator. This research addresses two basic issues related to the control of a continuum robots; (1 a more accurate representation of the dynamic model of an existing prototype, and (2 the design of a robust feedback controller. The robust backstepping controller proposed in this research is used to further demonstrate the appealing features exhibited by the continuum robot. Robust feedback controller is used to position control of continuum robot in presence of uncertainties. Using Lyapunov type stability arguments, a robust backstepping controller is designed to achieve this objective. The controller developed in this research is designed in two steps. Firstly, a robust stabilizing torque is designed for the nominal continuum robot dynamics derived using the constrained Lagrangian formulation. Next, the fuzzy logic methodology applied to it to solution uncertainty problem. The fuzzy model free problem is formulated to minimize the nonlinear formulation of continuum robot. The eventual stability of the controller depends on the torque generating capabilities of the continuum robots.

  5. Microstructure formation of lithium-ion battery electrodes during drying - An ex-situ study using cryogenic broad ion beam slope-cutting and scanning electron microscopy (Cryo-BIB-SEM)

    Science.gov (United States)

    Jaiser, Stefan; Kumberg, Jana; Klaver, Jop; Urai, Janos L.; Schabel, Wilhelm; Schmatz, Joyce; Scharfer, Philip

    2017-03-01

    Properties of lithium-ion battery electrodes relate to the complex microstructure that develops during solvent removal. We use cryogenic scanning electron microscopy in combination with broad ion beam slope-cutting (Cryo-BIB-SEM) for the ex-situ imaging of film formation in battery electrodes. Drying of anode films is quenched by cryo-preservation in slushy nitrogen at systematically increasing drying times, followed by SEM imaging under cryogenic conditions. Energy dispersive x-ray spectroscopy (EDS) and image processing of segmented cross-sections are used to analyze the development of component gradients with time. We find electrode films to shrink homogeneously and not in a top-down consolidation process as previously hypothesized. Binder gradients evolve in the liquid phase and initiate solvent diffusion from the bulk to the surface, thereby dragging binder towards the surface. Capillary transport is identified as a fundamental process that directly impacts drying kinetics and binder distribution.

  6. The relative biological effectiveness for carbon and oxygen ion beams using the raster-scanning technique in hepatocellular carcinoma cell lines.

    Directory of Open Access Journals (Sweden)

    Daniel Habermehl

    Full Text Available BACKGROUND: Aim of this study was to evaluate the relative biological effectiveness (RBE of carbon (12C and oxygen ion (16O-irradiation applied in the raster-scanning technique at the Heidelberg Ion beam Therapy center (HIT based on clonogenic survival in hepatocellular carcinoma cell lines compared to photon irradiation. METHODS: Four human HCC lines Hep3B, PLC, HepG2 and HUH7 were irradiated with photons, 12C and 16O using a customized experimental setting at HIT for in-vitro trials. Cells were irradiated with increasing physical photon single doses of 0, 2, 4 and 6 Gy and heavy ion-single doses of 0, 0.125, 0.5, 1, 2, 3 Gy (12C and 16O. SOBP-penetration depth and extension was 35 mm +/-4 mm and 36 mm +/-5 mm for carbon ions and oxygen ions respectively. Mean energy level and mean linear energy transfer (LET were 130 MeV/u and 112 keV/um for 12C, and 154 MeV/u and 146 keV/um for 16O. Clonogenic survival was computated and relative biological effectiveness (RBE values were defined. RESULTS: For all cell lines and both particle modalities α- and β-values were determined. As expected, α-values were significantly higher for 12C and 16O than for photons, reflecting a steeper decline of the initial slope of the survival curves for high-LET beams. RBE-values were in the range of 2.1-3.3 and 1.9-3.1 for 12C and 16O, respectively. CONCLUSION: Both irradiation with 12C and 16O using the raster-scanning technique leads to an enhanced RBE in HCC cell lines. No relevant differences between achieved RBE-values for 12C and 16O were found. Results of this work will further influence biological-adapted treatment planning for HCC patients that will undergo particle therapy with 12C or 16O.

  7. Mechanistic investigation of the interaction between bisquaternary antimicrobial agents and phospholipids by liquid secondary ion mass spectrometry and differential scanning calorimetry.

    Science.gov (United States)

    Pashynskaya, V A; Kosevich, M V; Gömöry, A; Vashchenko, O V; Lisetski, L N

    2002-01-01

    Mechanisms of interaction between the antimicrobial drugs decamethoxinum and aethonium, which are based on bisquaternary ammonium compounds, and a phospholipid component of biological membranes, dipalmitoylphosphatidylcholine, were studied by means of liquid secondary ion mass spectrometry (LSIMS) and differential scanning calorimetry (DSC). Supramolecular complexes of the drugs with this phospholipid were recorded under secondary ion mass spectrometric conditions. The dependence of the structures of these complexes on structural parameters of the dications of the bisquaternary ammonium compounds was demonstrated. Tandem mass spectrometric investigations of the metastable decay of doubly charged ions of decamethoxinum and aethonium complexes with dipalmitoylphosphatidylcholine allowed estimation of structural parameters of these complexes in the gas phase. Interactions of decamethoxinum and aethonium with model membrane assemblies built from hydrated dipalmitoylphosphatidylcholine were studied using DSC. It was shown that while both drugs can interact with model membranes, the mechanisms of such interactions for decamethoxinum and aethonium differ. The correlation between the nature of these interactions and structural and electronic parameters of the dications of the two bisquaternary agents is discussed. Interpretation of combined mass spectrometric and calorimetric experimental data led to proposals that the molecular mechanisms of antimicrobial action of bisquaternary ammonium compounds are related to their effect on the membrane phospholipid components of microbial cells.

  8. Proton and carbon ion radiotherapy for primary brain tumors delivered with active raster scanning at the Heidelberg Ion Therapy Center (HIT: early treatment results and study concepts

    Directory of Open Access Journals (Sweden)

    Rieken Stefan

    2012-03-01

    Full Text Available Abstract Background Particle irradiation was established at the University of Heidelberg 2 years ago. To date, more than 400 patients have been treated including patients with primary brain tumors. In malignant glioma (WHO IV patients, two clinical trials have been set up-one investigating the benefit of a carbon ion (18 GyE vs. a proton boost (10 GyE in addition to photon radiotherapy (50 Gy, the other one investigating reirradiation with escalating total dose schedules starting at 30 GyE. In atypical meningioma patients (WHO °II, a carbon ion boost of 18 GyE is applied to macroscopic tumor residues following previous photon irradiation with 50 Gy. This study was set up in order to investigate toxicity and response after proton and carbon ion therapy for gliomas and meningiomas. Methods 33 patients with gliomas (n = 26 and meningiomas (n = 7 were treated with carbon ion (n = 26 and proton (n = 7 radiotherapy. In 22 patients, particle irradiation was combined with photon therapy. Temozolomide-based chemotherapy was combined with particle therapy in 17 patients with gliomas. Particle therapy as reirradiation was conducted in 7 patients. Target volume definition was based upon CT, MRI and PET imaging. Response was assessed by MRI examinations, and progression was diagnosed according to the Macdonald criteria. Toxicity was classified according to CTCAE v4.0. Results Treatment was completed and tolerated well in all patients. Toxicity was moderate and included fatigue (24.2%, intermittent cranial nerve symptoms (6% and single episodes of seizures (6%. At first and second follow-up examinations, mean maximum tumor diameters had slightly decreased from 29.7 mm to 27.1 mm and 24.9 mm respectively. Nine glioma patients suffered from tumor relapse, among these 5 with infield relapses, causing death in 8 patients. There was no progression in any meningioma patient. Conclusions Particle radiotherapy is safe and feasible in patients with primary brain

  9. Three-dimensional investigation of cycling-induced microstructural changes in lithium-ion battery cathodes using focused ion beam/scanning electron microscopy

    Science.gov (United States)

    Liu, Hanshuo; Foster, Jamie M.; Gully, Adam; Krachkovskiy, Sergey; Jiang, Meng; Wu, Yan; Yang, Xingyi; Protas, Bartosz; Goward, Gillian R.; Botton, Gianluigi A.

    2016-02-01

    For vehicle electrification, one of the biggest issues for lithium ion batteries is cycle life. Within this context, the mechanisms at the source of capacity degradation during cycling are not yet to be fully understood. In this work, we use state-of-the-art FIB-SEM serial sectioning and imaging techniques to determine the effect of cycling on lithium-ion battery cathodes. The three-dimensional (3D) microstructural study was performed on both pristine and cycled LiNixMnyCo1-x-yO2 (NMC) and Li(Li0.2Ni0.13Mn0.54Co0.13)O2 (HE-NMC) cathodes. The spatial distribution of active material, carbon-doped binder and pore spaces were successfully reconstructed by appropriate image processing. Comparisons of NMC and HE-NMC cathodes after different number of cycles showed only minor increases in the number of smaller active particles, possibly negligible, considering the intrinsic microstructure variation within the cathodes. However, the connectivity between carbon-doped binder additives and active particles in NMC and HE-NMC cathodes, assessed using a "neighbor counting" method, showed an appreciable decrease after cycling which indicates a detachment of carbon-doped binder from active particles. This significant cycling-induced detachment effect between the two phases (e.g., ∼22% for HE-NMC) could indicate a loss in electrical connectivity, which may partially explain the capacity fade in the cells.

  10. Argon broad ion beam tomography in a cryogenic scanning electron microscope: a novel tool for the investigation of representative microstructures in sedimentary rocks containing pore fluid.

    Science.gov (United States)

    Desbois, G; Urai, J L; Pérez-Willard, F; Radi, Z; Offern, S; Burkart, I; Kukla, P A; Wollenberg, U

    2013-03-01

    The contribution describes the implementation of a broad ion beam (BIB) polisher into a scanning electron microscope (SEM) functioning at cryogenic temperature (cryo). The whole system (BIB-cryo-SEM) provides a first generation of a novel multibeam electron microscope that combines broad ion beam with cryogenic facilities in a conventional SEM to produce large, high-quality cross-sections (up to 2 mm(2)) at cryogenic temperature to be imaged at the state-of-the-art SEM resolution. Cryogenic method allows detecting fluids in their natural environment and preserves samples against desiccation and dehydration, which may damage natural microstructures. The investigation of microstructures in the third dimension is enabled by serial cross-sectioning, providing broad ion beam tomography with slices down to 350 nm thick. The functionalities of the BIB-cryo-SEM are demonstrated by the investigation of rock salts (synthetic coarse-grained sodium chloride synthesized from halite-brine mush cold pressed at 150 MPa and 4.5 GPa, and natural rock salt mylonite from a salt glacier at Qom Kuh, central Iran). In addition, results from BIB-cryo-SEM on a gas shale and Boom Clay are also presented to show that the instrument is suitable for a large range of sedimentary rocks. For the first time, pore and grain fabrics of preserved host and reservoir rocks can be investigated at nm-scale range over a representative elementary area. In comparison with the complementary and overlapping performances of the BIB-SEM method with focused ion beam-SEM and X-ray tomography methods, the BIB cross-sectioning enables detailed insights about morphologies of pores at greater resolution than X-ray tomography and allows the production of large representative surfaces suitable for FIB-SEM investigations of a specific representative site within the BIB cross-section.

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

    Science.gov (United States)

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

    2015-09-01

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

  12. Extended State Observer Based Adaptive Back-Stepping Sliding Mode Control of Electronic Throttle in Transportation Cyber-Physical Systems

    Directory of Open Access Journals (Sweden)

    Yongfu Li

    2015-01-01

    Full Text Available Considering the high accuracy requirement of information exchange via vehicle-to-vehicle (V2V communications, an extended state observer (ESO is designed to estimate the opening angle change of an electronic throttle (ET, wherein the emphasis is placed on the nonlinear uncertainties of stick-slip friction and spring in the system as well as the existence of external disturbance. In addition, a back-stepping sliding mode controller incorporating an adaptive control law is presented, and the stability and robustness of the system are analyzed using Lyapunov technique. Finally, numerical experiments are conducted using simulation. The results show that, compared with back-stepping control (BSC, the proposed controller achieves superior performance in terms of the steady-state error and rising time.

  13. Backstepping control for periodically time-varying systems using high-order neural network and Fourier series expansion.

    Science.gov (United States)

    Chen, Weisheng; Li, Wei; Miao, Qiguang

    2010-07-01

    An adaptive backstepping tracking scheme is developed for a class of strict-feedback systems with unknown periodically time-varying parameters and unknown control gain functions. High-order neural network (HONN) and Fourier series expansion (FSE) are combined into a new function approximator to model each uncertain term in the system. The dynamic surface control (DSC) approach is used to solve the problem of 'explosion of complexity' in the backstepping design procedure. Nussbaum gain function (NGF) is employed to deal with the unknown control gain functions. The uniform boundedness of all closed-loop signals is guaranteed. The tracking error is proved to converge to a small residual set around the origin. Two simulation examples are provided to demonstrate the effectiveness of the control scheme designed in this paper.

  14. Direct observation of the spatial distribution of samarium ions in alumina-silica macroporous monoliths by laser scanning confocal microscopy

    Energy Technology Data Exchange (ETDEWEB)

    Murai, Shunsuke [Department of Material Chemistry, Graduate School of Engineering, Kyoto University, Nishikyo-ku, Kyoto 615-8510 (Japan); Fujita, Koji [Department of Material Chemistry, Graduate School of Engineering, Kyoto University, Nishikyo-ku, Kyoto 615-8510 (Japan)]. E-mail: fujita@sung7.kuic.kyoto-u.ac.jp; Nakanishi, Kazuki [Department of Material Chemistry, Graduate School of Engineering, Kyoto University, Nishikyo-ku, Kyoto 615-8510 (Japan); Hirao, Kazuyuki [Department of Material Chemistry, Graduate School of Engineering, Kyoto University, Nishikyo-ku, Kyoto 615-8510 (Japan)

    2006-02-09

    We have investigated the spatial distribution of Sm{sup 2+} inside macroporous alumina-silica (Al{sub 2}O{sub 3}-SiO{sub 2}) glasses having three-dimensionally interconnected skeletons. The Sm{sup 2+}-doped Al{sub 2}O{sub 3}-SiO{sub 2} glasses are prepared via an alkoxy-derived sol-gel route in the presence of poly (ethylene oxide) and SmCl{sub 3}.6H{sub 2}O. The well-defined macroporous morphology is obtained by the concurrence of the phase separation and the sol-gel transition. The reduction of Sm{sup 3+} to Sm{sup 2+} is accomplished by heat treatment under a reducing atmosphere. Two-dimensional images of the fluorescence due to the 4f-4f transition of Sm{sup 2+} with the aid of a laser scanning confocal microscope reveal the spatially uniform dispersion of Sm{sup 2+} inside the Al{sub 2}O{sub 3}-SiO{sub 2} skeleton.

  15. In situ Scanning electron microscope study and microstructural evolution of nano silicon anode for high energy Li-ion batteries

    Science.gov (United States)

    Hovington, P.; Dontigny, M.; Guerfi, A.; Trottier, J.; Lagacé, M.; Mauger, A.; Julien, C. M.; Zaghib, K.

    2014-02-01

    In situ and ex situ scanning electron microscopy of nano Si and SiO anode particles was carried out during the first cycles, and at various stages of charge. The particle size effects were explored in the range 0.1-20 μm, providing a new insight into the micro-structural evolution of the particles as a function of their size, and into the 'mechanical' resistance upon important volume change upon phase transformation of these anodes. For small particles, the failure of the battery comes from an electrochemical sintering that compacts the whole electrode, which results in its cracking. The particles keep their integrity when the discharge is stopped at a voltage 0.1 V, which corresponds to the chemical composition Li12Si7, while the particles are known to crack at deeper discharge up to Li22Si5. Replacing the Si particles by SiO particles in an attempt to avoid these structural effects did not help, because of the different chemical reactions during cycling, with the loss of oxygen.

  16. Core - Corona Model analysis of the Low Energy Beam Scan at RHIC (Relativistic Heavy Ion Collider) in Brookhaven (USA)

    CERN Document Server

    Gemard, M

    2014-01-01

    The centrality dependence of spectra of identified particles in collisions between ultrarelativistic heavy ions with a center of mass energy ($\\sqrt{s}$) of 39 and 11.5 $AGeV$ is analyzed in the core - corona model. We show that at these energies the spectra can be well understood assuming that they are composed of two components whose relative fraction depends on the centrality of the interaction: The core component which describes an equilibrated quark gluon plasma and the corona component which is caused by nucleons close to the surface of the interaction zone which scatter only once and which is identical to that observed in proton-proton collisions. The success of this approach at 39 and 11.5 $AGeV$ shows that the physics does not change between this energy and $\\sqrt{s}=200~ AGeV$ for which this model has been developed (Aichelin 2008). This presents circumstantial evidence that a quark gluon plasma is also created at center of mass energies as low as 11.5 $AGeV$.

  17. In situ scanning tunneling microscopy studies of the SEI formation on graphite electrodes for Li+-ion batteries

    Science.gov (United States)

    Seidl, Lukas; Martens, Slađana; Ma, Jiwei; Stimming, Ulrich; Schneider, Oliver

    2016-07-01

    The SEI-formation on graphitic electrodes operated as an Li+-ion battery anode in a standard 1 M LiPF6 EC/DMC (1 : 1) electrolyte has been studied in situ by EC-STM. Two different modes of in situ study were applied, one, which allowed to follow topographic and crystallographic changes (solvent cointercalation, graphite exfoliation, SEI precipitation on the HOPG basal plane) of the graphite electrode during SEI-formation, and the second, which gave an insight into the SEI precipitation on the HOPG basal plane in real time. From the in situ EC-STM studies, not only conclusions about the SEI-topography could be drawn, but also about the formation mechanism and the chemical composition, which strongly depend on the electrode potential. It was shown that above 1.0 V vs. Li/Li+ the SEI-formation is still reversible, since the molecular structure of the solvent molecules remains intact during an initial reduction step. During further reduction, the molecular structures of the solvents are destructed, which causes the irreversible charge loss. The STM studies were completed by electrochemical methods, like cyclic voltammetry, the potentiostatic intermittent titration technique and charge/discharge tests of MCMB electrodes.

  18. Direct determination of k Q for Farmer-type ionization chambers in a clinical scanned carbon ion beam using water calorimetry

    Science.gov (United States)

    Osinga-Blättermann, J.-M.; Brons, S.; Greilich, S.; Jäkel, O.; Krauss, A.

    2017-03-01

    Until now, the dosimetry of carbon ions with ionization chambers has not reached the same level of accuracy as that of high-energy photons. This is mainly caused by the approximately threefold larger uncertainty of the k Q factor of ionization chambers, which, due to the lack of experimental data, is still derived by calculations. Measurements of absorbed dose to water, D w, by means of water calorimetry have now been performed in the entrance channel of a scanned 6 cm  ×  6 cm radiation field of 429 MeV/u carbon ions, allowing the direct calibration of ionization chambers and thus the experimental determination of k Q. Within this work, values for k Q have been determined for the Farmer-type ionization chambers FC65-G and TM30013. A detailed investigation of the radiation field enabled the accurate determination of correction factors needed for both calorimetric and ionometric measurements. Finally, a relative standard measurement uncertainty of 0.8% (k  =  1) could be achieved for the experimental k Q values. For both chambers, the experimental k Q factors were found to be about 1% larger than those tabulated in the German DIN 6801-1 protocol, whereas compared to the theoretical values stated in the TRS-398 protocol, the experimental k Q value agrees within 0.4% for the TM30013 chamber but is about 1% lower in the case of the FC65-G chamber.

  19. Reef demise and back-stepping during the last interglacial, northeast Yucatan

    Science.gov (United States)

    Blanchon, Paul

    2010-06-01

    reef-tract, however, require that the demise of this reef was ecologically synchronous with initiation of the upper reef-tract, which had back-stepped 100 m into the lagoon. In this new position, the upper tract developed a reef crest that corresponded to a final sea-level position of +6 m. Reef flat development at +5 m and large in-place colonies of A. palmata at the base of the crest unit indicate, however, that sea level must have risen rapidly from +3 to more than +5 m to accommodate back-stepping. This sea-level jump created a higher energy wave field that mobilized back-reef and lagoonal sediments, and the resulting high sediment flux eroded lagoonal framework and prevented the recovery of the submerged lower reef crest. So this single jump in sea level was responsible not only for reef demise and back-stepping but also for marine erosion and suppression of subsequent reef development—features that elsewhere have been used to support multiple sea-level excursions during the last interglacial.

  20. Structure and Dynamics Study of LeuT Using the Markov State Model and Perturbation Response Scanning Reveals Distinct Ion Induced Conformational States.

    Science.gov (United States)

    Asciutto, Eliana K; Gedeon, Patrick C; General, Ignacio J; Madura, Jeffry D

    2016-08-25

    The bacterial leucine transporter (LeuT), a close homologue of the eukaryote monoamine transporters (MATs), currently serves as a powerful template for computer simulations of MATs. Transport of the amino acid leucine through the membrane is made possible by the sodium electrochemical potential. Recent reports indicate that the substrate transport mechanism is based on structural changes such as hinge movements of key transmembrane domains. In order to further investigate the role of sodium ions in the uptake of leucine, here we present a Markov state model analysis of atomistic simulations of lipid embedded LeuT in different environments, generated by varying the presence of binding pocket sodium ions and substrate. Six metastable conformations are found, and structural differences between them along with transition probabilities are determined. We complete the analysis with the implementation of perturbation response scanning on our system, determining the most sensitive and influential regions of LeuT, in each environment. Our results show that the occupation of sites Na1 and Na2, along with the presence of the substrate, selectively influences the geometry of LeuT. In particular, the occupation of each site Na1/Na2 has strong effects (in terms of changes in influence and/or sensitivity, as compared to the case without ions) in specific regions of LeuT, and the effects are different for simultaneous occupation. Our results strengthen the rationale and provide a conformational mechanism for a putative transport mechanism in which Na2 is necessary, but may not be sufficient, to initiate and stabilize extracellular substrate access to the binding pocket.

  1. Dynamic behavior of binary component ion-exchange displacement chromatography of proteins visualized by confocal laser scanning microscopy.

    Science.gov (United States)

    Shi, Qing-Hong; Shi, Zhi-Cong; Sun, Yan

    2012-09-28

    Confocal laser scanning microscopy (CLSM) was introduced to visualize particle-scale binary component protein displacement behavior in Q Sepharose HP column. To this end, displacement chromatography of two intrinsic fluorescent proteins, enhanced green fluorescent protein (eGFP) and red fluorescent protein (RFP), were developed using sodium saccharin (NaSac) as a displacer. The results indicated that RFP as well as eGFP could be effectively displaced in the single-component experiments by 50 mmol/L NaSac at 120 and 140 mmol/L NaCl whereas a fully developed displacement train with eGFP and RFP was only observed at 120 mmol/L NaCl in binary component displacement. At 140 mmol/L NaCl, there was a serious overlapping of the zones of the two proteins, indicating the importance of induced-salt effect on the formation of an isotachic displacement train. CLSM provided particle-scale evidence that induced-salt effect occurred likewise in the interior of an adsorbent and was synchronous to the introduction of the displacer. CLSM results at 140 mmol/L NaCl also demonstrated that both the proteins had the same fading rate at 50 mmol/L NaSac in the initial stage, suggesting the same displacement ability of NaSac to both the proteins. In the final stage, the fading rate of RFP in the adsorbent became slow, particularly at lower displacer concentrations. In the binary component displacement, the two proteins exhibited distinct fading rates as compared to the single component displacement and the remarkable lagging of the fading rate was observed in protein displacements. It suggested that the co-adsorbed proteins had significant influence on the formation of an isotachic train and the displacement chromatography of the proteins. Therefore, this research provided particle-scale insight into the dynamic behavior and complexity in the displacement of proteins.

  2. 一类带有未知控制方向的非线性系统的适应镇定问题%A Control of Uncertain Nonlinear Systems with Unknown Control Direction Via Adaptive Backstepping

    Institute of Scientific and Technical Information of China (English)

    郑兆顺

    2007-01-01

    The adaptive stabilization problem of nonlinear systems are studied. For a class of uncertain nonlinear systems with unknown control direction, we proposed a robust adaptive backstepping scheme with σ-modification by introducing Nussbaum function and Backstepping methods, and proved that all the signals of the closed-loop systems are bounded.

  3. Advancing Control for Shield Tunneling Machine by Backstepping Design with LuGre Friction Model

    Directory of Open Access Journals (Sweden)

    Haibo Xie

    2014-01-01

    Full Text Available Shield tunneling machine is widely applied for underground tunnel construction. The shield machine is a complex machine with large momentum and ultralow advancing speed. The working condition underground is rather complicated and unpredictable, and brings big trouble in controlling the advancing speed. This paper focused on the advancing motion control on desired tunnel axis. A three-state dynamic model was established with considering unknown front face earth pressure force and unknown friction force. LuGre friction model was introduced to describe the friction force. Backstepping design was then proposed to make tracking error converge to zero. To have a comparison study, controller without LuGre model was designed. Tracking simulations of speed regulations and simulations when front face earth pressure changed were carried out to show the transient performances of the proposed controller. The results indicated that the controller had good tracking performance even under changing geological conditions. Experiments of speed regulations were carried out to have validations of the controllers.

  4. Tracking control strategy for the optoelectronic system on the flexible suspended platform based on backstepping method

    Science.gov (United States)

    Yu, Wei; Ma, Jiaguang; Xiao, Jing

    2012-10-01

    To improve the optoelectronic tracking ability and rope-hanged platform attitude stability, against the interact effect between rope-hanged platform and optoelectronic system during system tracking process, the optoelectronic system fixed on rope hanged platform simplified dynamic model, according to the system's Lagrange dynamic model, was established. Backstepping method was employed to design an integrated controller for both optoelectronic system azimuth direction steering and platform attitude stabilizing. To deal with model's uncertainty and disturbance, a sliding mode controller form based exponential reaching law was adopted to structure the integrated controller. Simulation experiments simulated an optoelectronic system with 600mm caliber telescope, whose inertia fluctuation is 6%. The maximal control moment is 15Nm. And the external disturbance and internal friction effected together. When the line of sight(LOS) azimuth angular input is a step signal with 1rad amplitude, the response's overshoot is 6%, and the response time is 6.2s, and the steady state error is less than 4×10-4rad. When the input is a sinusoidal signal of 0.2rad amplitude with 0.0318Hz frequency, the LOS azimuth angular error amplitude is 5. 6×10-4rad. It is concluded that the controller designed in this article has excellent ability and can ensure the system's stability.

  5. Backstepping Control of the Current Profile in the DIII-D Tokamak

    Science.gov (United States)

    Boyer, M. D.; Barton, J.; Schuster, E.; Walker, M. L.; Humphreys, D. A.

    2011-10-01

    Control of the spatial profile of the plasma current in tokamaks has been demonstrated to be a key condition for advanced scenarios with improved confinement and steady-state operation. Non-model-based controllers tested at DIII-D have shown limitations, motivating the design of model-based controllers that account for the dynamics of the q profile. In this work, we utilize a control-oriented model of the current profile evolution in DIII-D to design a backstepping boundary control law for regulating the current profile around a desired feed-forward trajectory. The control scheme makes use of the total plasma current, total power, and line averaged density as actuators. A simulation study is done to test the control law against uncertainties in the model parameters and initial conditions, as well as input disturbances. Finally, the implementation of the controller in the DIII-D plasma control system is discussed and experimental results are presented. Supported by the NSF CAREER award program ECCS-0645086 and the US DOE under DE-FG02-09ER55064 and DE-FC02-04ER54698.

  6. Projection-Based Adaptive Backstepping Control of a Transport Aircraft for Heavyweight Airdrop

    Directory of Open Access Journals (Sweden)

    Ri Liu

    2015-01-01

    Full Text Available An autopilot inner loop that combines backstepping control with adaptive function approximation is developed for airdrop operations. The complex nonlinear uncertainty of the aircraft-cargo model is factorized into a known matrix and an uncertainty function, and a projection-based adaptive approach is proposed to estimate this function. Using projection in the adaptation law bounds the estimated function and guarantees the robustness of the controller against time-varying external disturbances and uncertainties. The convergence properties and robustness of the control method are proved via Lyapunov theory. Simulations are conducted under the condition that one transport aircraft performs a maximum load airdrop task at a height of 82 ft, using single row single platform mode. The results show good performance and robust operation of the controller, and the airdrop mission performance indexes are satisfied, even in the presence of ±15% uncertainty in the aerodynamic coefficients, ±0.01 rad/s pitch rate disturbance, and 20% actuators faults.

  7. Backstepping Based Global Exponential Stabilization of a Tracked Mobile Robot with Slipping Perturbation

    Institute of Scientific and Technical Information of China (English)

    Bo Zhou; Jianda Han; Xianzhong Dai

    2011-01-01

    While the nonholonomic robots with no-slipping constraints are studied extensively nowadays, the slipping effect is inevitable in many practical applications and should be considered necessarily to achieve autonomous navigation and control purposes especially in outdoor environments. In this paper the robust point stabilization problem of a tracked mobile robot is discussed in the presence of track slipping, which can be treated as model perturbation that violates the pure nonholonomic constraints. The kinematic model of the tracked vehicle is created, in which the slipping is assumed to be a time-varying parameter under certain assumptions of track-soil interaction. By transforming the original system to the special chained form of nonholonomic system, the integrator backstepping procedure with a state-scaling technique is used to construct the controller to stabilize the system at the kinematic level. The global exponential stability of the final system can be guaranteed by Lyapunov theory. Simulation results with different initial states and slipping parameters demonstrate the fast convergence, robustness and insensitivity to the initial state of the proposed method.

  8. Commissioning of an integrated platform for time-resolved treatment delivery in scanned ion beam therapy by means of optical motion monitoring.

    Science.gov (United States)

    Fattori, G; Saito, N; Seregni, M; Kaderka, R; Pella, A; Constantinescu, A; Riboldi, M; Steidl, P; Cerveri, P; Bert, C; Durante, M; Baroni, G

    2014-12-01

    The integrated use of optical technologies for patient monitoring is addressed in the framework of time-resolved treatment delivery for scanned ion beam therapy. A software application has been designed to provide the therapy control system (TCS) with a continuous geometrical feedback by processing the external surrogates tridimensional data, detected in real-time via optical tracking. Conventional procedures for phase-based respiratory phase detection were implemented, as well as the interface to patient specific correlation models, in order to estimate internal tumor motion from surface markers. In this paper, particular attention is dedicated to the quantification of time delays resulting from system integration and its compensation by means of polynomial interpolation in the time domain. Dedicated tests to assess the separate delay contributions due to optical signal processing, digital data transfer to the TCS and passive beam energy modulation actuation have been performed. We report the system technological commissioning activities reporting dose distribution errors in a phantom study, where the treatment of a lung lesion was simulated, with both lateral and range beam position compensation. The zero-delay systems integration with a specific active scanning delivery machine was achieved by tuning the amount of time prediction applied to lateral (14.61 ± 0.98 ms) and depth (34.1 ± 6.29 ms) beam position correction signals, featuring sub-millimeter accuracy in forward estimation. Direct optical target observation and motion phase (MPh) based tumor motion discretization strategies were tested, resulting in 20.3(2.3)% and 21.2(9.3)% median (IQR) percentual relative dose difference with respect to static irradiation, respectively. Results confirm the technical feasibility of the implemented strategy towards 4D treatment delivery, with negligible percentual dose deviations with respect to static irradiation.

  9. Application of Adaptive Backstepping Sliding Mode Control in Alternative Current Servo System of Rocket Launcher%Application of Adaptive Backstepping Sliding Mode Control in Alternative Current Servo System of Rocket Launcher

    Institute of Scientific and Technical Information of China (English)

    郭亚军; 马大为; 王晓峰; 乐贵高

    2011-01-01

    An adaptive backstepping sliding mode control approach is introduced to control the pitch motion of a rocket launcher. Its control law is proposed to guarantee that the control system is ultimately bounded in a Lyapunov sense and make the servo system track the instruction of reference position globally and asymptotically. In addition, the sliding mode control can restrain the effects of parameter uncertainties and external disturbance. The functions of adaptive mechanism and sliding mode control are analyzed through the simulation in the different conditions. The simulation results illustrate that the method is applicable and robust.

  10. Scanning transmission ion microscopy mass measurements for quantitative trace element analysis within biological samples and validation using atomic force microscopy thickness measurements

    Science.gov (United States)

    Devès, Guillaume; Cohen-Bouhacina, Touria; Ortega, Richard

    2004-10-01

    We used the nuclear microprobe techniques, micro-PIXE (particle-induced X-ray emission), micro-RBS (Rutherford backscattering spectrometry) and scanning transmission ion microscopy (STIM) in order to perform the characterization of trace element content and spatial distribution within biological samples (dehydrated cultured cells, tissues). The normalization of PIXE results was usually expressed in terms of sample dry mass as determined by micro-RBS recorded simultaneously to micro-PIXE. However, the main limit of RBS mass measurement is the sample mass loss occurring during irradiation and which could be up to 30% of the initial sample mass. We present here a new methodology for PIXE normalization and quantitative analysis of trace element within biological samples based on dry mass measurement performed by mean of STIM. The validation of STIM cell mass measurements was obtained in comparison with AFM sample thickness measurements. Results indicated the reliability of STIM mass measurement performed on biological samples and suggested that STIM should be performed for PIXE normalization. Further information deriving from direct confrontation of AFM and STIM analysis could as well be obtained, like in situ measurements of cell specific gravity within cells compartment (nucleolus and cytoplasm).

  11. Scanning transmission ion microscopy mass measurements for quantitative trace element analysis within biological samples and validation using atomic force microscopy thickness measurements

    Energy Technology Data Exchange (ETDEWEB)

    Deves, Guillaume [Laboratoire de chimie nucleaire analytique et bioenvironnementale, UMR 5084, CNRS-Universite de Bordeaux 1, BP 120 Chemin du solarium, F33175 Gradignan cedex (France)]. E-mail: deves@cenbg.in2p3.fr; Cohen-Bouhacina, Touria [Centre de Physique Moleculaire Optique et Hertzienne, Universite de Bordeaux 1, 351, cours de la Liberation, F33405 Talence cedex (France); Ortega, Richard [Laboratoire de chimie nucleaire analytique et bioenvironnementale, UMR 5084, CNRS-Universite de Bordeaux 1, BP 120 Chemin du solarium, F33175 Gradignan cedex (France)

    2004-10-08

    We used the nuclear microprobe techniques, micro-PIXE (particle-induced X-ray emission), micro-RBS (Rutherford backscattering spectrometry) and scanning transmission ion microscopy (STIM) in order to perform the characterization of trace element content and spatial distribution within biological samples (dehydrated cultured cells, tissues). The normalization of PIXE results was usually expressed in terms of sample dry mass as determined by micro-RBS recorded simultaneously to micro-PIXE. However, the main limit of RBS mass measurement is the sample mass loss occurring during irradiation and which could be up to 30% of the initial sample mass. We present here a new methodology for PIXE normalization and quantitative analysis of trace element within biological samples based on dry mass measurement performed by mean of STIM. The validation of STIM cell mass measurements was obtained in comparison with AFM sample thickness measurements. Results indicated the reliability of STIM mass measurement performed on biological samples and suggested that STIM should be performed for PIXE normalization. Further information deriving from direct confrontation of AFM and STIM analysis could as well be obtained, like in situ measurements of cell specific gravity within cells compartment (nucleolus and cytoplasm)

  12. Comparison of the Chromium Distribution in New Super Koropon Primer to 30 Year Old Super Koropon Using Focused Ion Beam/Scanning Electron Microscopy

    Science.gov (United States)

    Lomness, Janice K.; Calle, Luz Marina

    2006-01-01

    Super Koropon primer (MB0125-055) plays a significant role in the corrosion protection of areas throughout the Orbiter. Because the Shuttle Program relies so heavily upon the performance of the Koropon primer, it is necessary to fully understand all aspects of the behavior of the coating. One area where little understanding of the Koropon primer still exists is the level of risk associated with age related degradation. Recently, efforts were undertaken to better understand the age life of the Koropon primer and to gain some insight into the aging process of this coating. In that study, an aluminum access panel from the Orbiter Enterprise was used to investigate the performance of the old Koropon film. A control panel was also used to study the performance of new Koropon coating. Preliminary investigations into the performance of aged Super Koropon primer indicated a significant decrease in corrosion protection. This investigation serves as an example of how Focused Ion Beam/Scanning Microscopy can be used to characterize the changes that occur as coatings age.

  13. Ring-Mesh Model of Proteoglycan Glycosaminoglycan Chains in Tendon based on Three-dimensional Reconstruction by Focused Ion Beam Scanning Electron Microscopy.

    Science.gov (United States)

    Watanabe, Takafumi; Kametani, Kiyokazu; Koyama, Yoh-Ichi; Suzuki, Daisuke; Imamura, Yasutada; Takehana, Kazushige; Hiramatsu, Kohzy

    2016-11-04

    Tendons are composed of collagen fibrils and proteoglycan predominantly consisting of decorin. Decorin is located on the d-band of collagen fibrils, and its glycosaminoglycan (GAG) chains have been observed between collagen fibrils with transmission electron microscopy. GAG chains have been proposed to interact with each other or with collagen fibrils, but its three-dimensional organization remains unclear. In this report, we used focused ion beam scanning electron microscopy to examine the three-dimensional organization of the GAG chain in the Achilles tendon of mature rats embedded in epoxy resin after staining with Cupromeronic blue, which specifically stains GAG chains. We used 250 serial back-scattered electron images of longitudinal sections with a 10-nm interval for reconstruction. Three-dimensional images revealed that GAG chains form a ring mesh-like structure with each ring surrounding a collagen fibril at the d-band and fusing with adjacent rings to form the planar network. This ring mesh model of GAG chains suggests that more than two GAG chains may interact with each other around collagen fibrils, which could provide new insights into the roles of GAG chains.

  14. Visualizing the 3D Architecture of Multiple Erythrocytes Infected with Plasmodium at Nanoscale by Focused Ion Beam-Scanning Electron Microscopy

    Science.gov (United States)

    Soares Medeiros, Lia Carolina; De Souza, Wanderley; Jiao, Chengge; Barrabin, Hector; Miranda, Kildare

    2012-01-01

    Different methods for three-dimensional visualization of biological structures have been developed and extensively applied by different research groups. In the field of electron microscopy, a new technique that has emerged is the use of a focused ion beam and scanning electron microscopy for 3D reconstruction at nanoscale resolution. The higher extent of volume that can be reconstructed with this instrument represent one of the main benefits of this technique, which can provide statistically relevant 3D morphometrical data. As the life cycle of Plasmodium species is a process that involves several structurally complex developmental stages that are responsible for a series of modifications in the erythrocyte surface and cytoplasm, a high number of features within the parasites and the host cells has to be sampled for the correct interpretation of their 3D organization. Here, we used FIB-SEM to visualize the 3D architecture of multiple erythrocytes infected with Plasmodium chabaudi and analyzed their morphometrical parameters in a 3D space. We analyzed and quantified alterations on the host cells, such as the variety of shapes and sizes of their membrane profiles and parasite internal structures such as a polymorphic organization of hemoglobin-filled tubules. The results show the complex 3D organization of Plasmodium and infected erythrocyte, and demonstrate the contribution of FIB-SEM for the obtainment of statistical data for an accurate interpretation of complex biological structures. PMID:22432024

  15. Imaging of intracellular spherical lamellar structures and tissue gross morphology by a focused ion beam/scanning electron microscope (FIB/SEM)

    Energy Technology Data Exchange (ETDEWEB)

    Drobne, Damjana [Department of Biology, University of Ljubljana, Vecna pot 111, SI-1000 Ljubljana (Slovenia)], E-mail: damjana.drobne@bf.uni-lj.si; Milani, Marziale [Materials Science Department, University of Milano-Bicocca, Via Cozzi 53, I-20125 Milano (Italy); Leser, Vladka [Department of Biology, University of Ljubljana, Vecna pot 111, SI-1000 Ljubljana (Slovenia); Tatti, Francesco [FEI Italia, Via Cervi 40, I-00139 Roma (Italy); Zrimec, Alexis [Institute of Physical Biology, Velika Loka 90, SI-1290 Grosuplje (Slovenia); Znidarsic, Nada; Kostanjsek, Rok; Strus, Jasna [Department of Biology, University of Ljubljana, Vecna pot 111, SI-1000 Ljubljana (Slovenia)

    2008-06-15

    We report the use of a focused ion beam/scanning electron microscope (FIB/SEM) for simultaneous investigation of digestive gland epithelium gross morphology and ultrastructure of multilamellar intracellular structures. Digestive glands of a terrestrial isopod (Porcellio scaber, Isopoda, Crustacea) were examined by FIB/SEM and by transmission electron microscopy (TEM). The results obtained by FIB/SEM and by TEM are comparable and complementary. The FIB/SEM shows the same ultrastructural complexity of multilamellar intracellular structures as indicated by TEM. The term lamellar bodies was used for the multillamellar structures in the digestive glands of P. scaber due to their structural similarity to the lamellar bodies found in vertebrate lungs. Lamellar bodies in digestive glands of different animals vary in their abundance, and number as well as the thickness of concentric lamellae per lamellar body. FIB/SEM revealed a connection between digestive gland gross morphological features and the structure of lamellar bodies. Serial slicing and imaging of cells enables easy identification of the contact between a lamellar body and a lipid droplet. There are frequent reports of multilamellar intracellular structures in different vertebrate as well as invertebrate cells, but laminated cellular structures are still poorly known. The FIB/SEM can significantly contribute to the structural knowledge and is always recommended when a link between gross morphology and ultrastrucutre is investigated, especially when cells or cellular inclusions have a dynamic nature due to normal, stressed or pathological conditions.

  16. Nuclear Scans

    Science.gov (United States)

    Nuclear scans use radioactive substances to see structures and functions inside your body. They use a special ... images. Most scans take 20 to 45 minutes. Nuclear scans can help doctors diagnose many conditions, including ...

  17. Development and implementation of scanning ion conductance microscope%扫描离子电导显微镜的研制与实现

    Institute of Scientific and Technical Information of China (English)

    李鹏; 张常麟; 王文学; 刘连庆

    2014-01-01

    High- resolution imaging of living cell at the micro- /nano- scale is important for life science research. It may help to observe biological activities of cells, and to detect cell responses to external stimuli and even movements of some protein molecules in cell membranes. However, there have not been effective methods to realize such objectives yet. Scanning ion conductance microscope (SICM) has been widely applied in many fields and is receiving increasing attention due to its non- contact, force- free, and high- resolution imaging features. Herein, a design of SICM, including hardware integration and scanning algorithms, was introduced from the point of view of system firstly; then the feasibility and effectiveness of the system was evaluated through comparison of PDMS gratings measurements by SICM and AFM;finally, in situ experiments of living- cell imaging in physiological environment had been carried out, and the topography of living neuro- 2A cell had been successfully obtained. The well- established scanning ion conductance microscope will provide an effective tool for investigating functional mechanism and micro-structure on the surface of living biological samples.%在微纳米尺度上对活细胞高分辨率成像对生命科学研究具有重要的意义,其将有助于再现正在发生的生命过程、检测细胞对外界刺激做出的响应,甚至观测某些蛋白簇在细胞膜表面的运动。然而直到今天,仍然没有很好的实现上述目标。扫描离子电导显微镜(SICM)由于其真正的非接触、高分辨、无损独特成像方式,规避了扫描过程中探针与样品表面发生力的接触,得到越来越多的关注和广泛的应用。从系统的角度阐述自制SICM系统的设计、硬件集成及跳跃模式扫描算法的实现,并通过对聚二甲基硅氧烷(PDMS)栅格成像以及与原子力显微镜(AFM)成像结果的对比,验证了系统功能的正确性和有效性;最后开展了

  18. A General Response System Control Method Based on Backstepping Design for Synchronization of Continuous Scalar Chaotic Signal

    Institute of Scientific and Technical Information of China (English)

    WANG Jing; GAO Jin-Feng; MA Xi-Kui; LIANG Zhan-Hong

    2006-01-01

    @@ A general response system control method for synchronization of continuous scalar chaotic signal is presented. The proposed canonical general response system can cover most of the well-known chaotic systems. Conversely, each of these chaotic systems can also be used to construct the general response system. Furthermore, a novel controller of the proposed response system is designed based on backstepping technique, with which the output of the general response system and the given continuous chaotic signal can synchronize perfectly. Two numerical examples are given to illustrate the effectiveness of the proposed control method.

  19. Commande de vol non lineaire d'un drone a voilure fixe par la methode du backstepping

    Science.gov (United States)

    Finoki, Edouard

    This thesis describes the design of a non-linear controller for a UAV using the backstepping method. It is a fixed-wing UAV, the NexSTAR ARF from HobbicoRTM. The aim is to find the expressions of the aileron, the elevator, and the rudder deflection in order to command the flight path angle, the heading angle and the sideslip angle. Controlling the flight path angle allows a steady, climb or descent flight, controlling the heading cap allows to choose the heading and annul the sideslip angle allows an efficient flight. A good technical control has to ensure the stability of the system and provide optimal performances. Backstepping interlaces the choice of a Lyapunov function with the design of feedback control. This control technique works with the true non-linear model without any approximation. The procedure is to transform intermediate state variables into virtual inputs which will control other state variables. Advantages of this technique are its recursivity, its minimum control effort and its cascaded structure that allows dividing a high order system into several simpler lower order systems. To design this non-linear controller, a non-linear model of the UAV was used. Equations of motion are very accurate, aerodynamic coefficients result from interpolations between several essential variables in flight. The controller has been implemented in Matlab/Simulink and FlightGear.

  20. Nonlinear Control of an Autonomous Quadrotor Unmanned Aerial Vehicle using Backstepping Controller Optimized by Particle Swarm Optimization

    Directory of Open Access Journals (Sweden)

    Mohd Ariffanan Mohd Basri

    2015-09-01

    Full Text Available Quadrotor unmanned aerial vehicle (UAV is an unstable nonlinear control system. Therefore, the development of a high performance controller for such a multi-input and multi-output (MIMO system is important. The backstepping controller (BC has been successfully applied to control a variety of nonlinear systems. Conventionally, control parameters of a BC are usually chosen arbitrarily. The problems in this method are the adjustment is time demanding and a designer can never tell exactly what are the optimal control parameters should be selected. In this paper, the contribution is focused on an optimal control design for stabilization and trajectory tracking of a quadrotor UAV. Firstly, a dynamic model of the aerial vehicle is mathematically formulated. Then, an optimal backstepping controller (OBC is proposed. The particle swarm optimization (PSO algorithm is used to compute control parameters of the OBC. Finally, simulation results of a highly nonlinear quadrotor system are presented to demonstrate the effectiveness of the proposed control method. From the simulation results it is observed that the OBC tuned by PSO provides a high control performance of an autonomous quadrotor UAV.

  1. Characterization of stainless steel through Scanning Electron Microscopy, nitrided in the process of implantation of immersed ions in plasma; Caracterizacion de acero inoxidable mediante Microscopia Electronica de Barrido nitrurado en el proceso de implantacion de iones inmersos en plasmas

    Energy Technology Data Exchange (ETDEWEB)

    Moreno S, H

    2003-07-01

    The present project carries out the investigation of the nitridation of the austenitic stainless steel schedule 304, applying the novel technology of installation of nitrogen ions in immersed materials in plasma (Plll), by means of which they modify those properties of the surface of the steel. The obtained results by means of tests of Vickers microhardness, shows that the hardness was increment from 266 to 740 HV (microhardness units). It was determined by means of scanning electron microscopy, the one semiquantitative chemical analysis of the elements that constitute the austenitic stainless steel schedule 304; the obtained results, show to the nitrogen like an element of their composition in the pieces where carried out to end the PIII technology. The parameters of the plasma with which carried out the technology Plll, were monitored and determined by means of electric probes, and with which it was determined that the density of particles is stable in the interval of 1x10{sup -1} at 3x10{sup -1}Torr, and it is where better results of hardness were obtained. That reported in this work, they are the first results obtained when applying the technology Plll in Mexico, and with base in these, it is even necessary to investigate and to deepen until to dominate the process and to be in possibilities of proposing it to be carried out and exploited in an industrial way. (Author)

  2. SU-C-303-06: Treatment Planning Study for Non-Invasive Cardiac Arrhythmia Ablation with Scanned Carbon Ions in An Animal Model

    Energy Technology Data Exchange (ETDEWEB)

    Eichhorn, A; Constantinescu, A; Prall, M; Kaderka, R; Durante, M; Graeff, C [GSI Helmholtz Center, Darmstadt, DE (Germany); Lehmann, H I; Takami, M; Packer, D L [Mayo Clinic, Rochester, Minnesota (United States); Lugenbiel, P; Thomas, D [University of Heidelberg, Heidelberg, DE (Germany); Richter, D; Bert, C [University Clinic Erlangen, Erlagen, DE (Germany)

    2015-06-15

    Purpose: Scanned carbon ion beams might offer a non-invasive alternative treatment for cardiac arrhythmia, which are a major health-burden. We studied the feasibility of this procedure in an animal model. The underlying treatment planning and motion mitigation strategies will be presented. Methods: The study was carried out in 15 pigs, randomly distributed to 3 target groups: atrioventricular node (AVN, 8 animals with 25, 40, and 55 Gy target dose), left ventricular free-wall (LV, 4 animals with 40 Gy) and superior pulmonary vein (SPV, 3 animals with 40 Gy). Breathing motion was suppressed by repeated enforced breathholds at end exhale. Cardiac motion was mitigated by an inhomogeneous rescanning scheme with up to 15 rescans. The treatment planning was performed using the GSI in-house software TRiP4D on cardiac-gated 4DCTs, applying a range-considering ITV based on an extended CTV. For AVN and SPV isotropic 5 mm margins were applied to the CTV, while for the LV 2mm+2% range margins were used. The opposing fields for AVN and LV targets were optimized independently (SFUD), while SPV treatments were optimized as IMPT deliveries, including dose restrictions to the radiosensitive AVN. Results: Median value of D{sub 95} over all rescanning simulations was 99.1% (AVN), 98.0% (SPV) and 98.3% (LV) for the CTV and 94.7% (AVN) and 92.7% (SPV) for the PTV, respectively. The median D{sub 5}-D{sub 95} was improved with rescanning compared to unmitigated delivery from 13.3 to 6.5% (CTV) and from 23.4 to 11.6% (PTV). ICRP dose limits for aorta, trachea, esophagus and skin were respected. The maximal dose in the coronary arteries was limited to 30 Gy. Conclusion: We demonstrated the feasibility of a homogeneous dose delivery to different cardiac structures in a porcine model using a time-optimized inhomogeneous rescanning scheme. The presented treatment planning strategies were applied in a pig study with the analysis ongoing. Funding: This work was supported in part by the

  3. Global Profiling and Novel Structure Discovery Using Multiple Neutral Loss/Precursor Ion Scanning Combined with Substructure Recognition and Statistical Analysis (MNPSS): Characterization of Terpene-Conjugated Curcuminoids in Curcuma longa as a Case Study.

    Science.gov (United States)

    Qiao, Xue; Lin, Xiong-hao; Ji, Shuai; Zhang, Zheng-xiang; Bo, Tao; Guo, De-an; Ye, Min

    2016-01-05

    To fully understand the chemical diversity of an herbal medicine is challenging. In this work, we describe a new approach to globally profile and discover novel compounds from an herbal extract using multiple neutral loss/precursor ion scanning combined with substructure recognition and statistical analysis. Turmeric (the rhizomes of Curcuma longa L.) was used as an example. This approach consists of three steps: (i) multiple neutral loss/precursor ion scanning to obtain substructure information; (ii) targeted identification of new compounds by extracted ion current and substructure recognition; and (iii) untargeted identification using total ion current and multivariate statistical analysis to discover novel structures. Using this approach, 846 terpecurcumins (terpene-conjugated curcuminoids) were discovered from turmeric, including a number of potentially novel compounds. Furthermore, two unprecedented compounds (terpecurcumins X and Y) were purified, and their structures were identified by NMR spectroscopy. This study extended the application of mass spectrometry to global profiling of natural products in herbal medicines and could help chemists to rapidly discover novel compounds from a complex matrix.

  4. Adaptive NN backstepping output-feedback control for stochastic nonlinear strict-feedback systems with time-varying delays.

    Science.gov (United States)

    Chen, Weisheng; Jiao, Licheng; Li, Jing; Li, Ruihong

    2010-06-01

    For the first time, this paper addresses the problem of adaptive output-feedback control for a class of uncertain stochastic nonlinear strict-feedback systems with time-varying delays using neural networks (NNs). The circle criterion is applied to designing a nonlinear observer, and no linear growth condition is imposed on nonlinear functions depending on system states. Under the assumption that time-varying delays exist in the system output, only an NN is employed to compensate for all unknown nonlinear terms depending on the delayed output, and thus, the proposed control algorithm is more simple even than the existing NN backstepping control schemes for uncertain systems described by ordinary differential equations. Three examples are given to demonstrate the effectiveness of the control scheme proposed in this paper.

  5. Adaptive-backstepping force/motion control for mobile-manipulator robot based on fuzzy CMAC neural networks

    Institute of Scientific and Technical Information of China (English)

    Thang-Long MAI; Yaonan WANG

    2014-01-01

    In this paper, an adaptive backstepping fuzzy cerebellar-model-articulation-control neural-networks control (ABFCNC) system for motion/force control of the mobile-manipulator robot (MMR) is proposed. By applying the ABFCNC in the tracking-position controller, the unknown dynamics and parameter variation problems of the MMR control system are relaxed. In addition, an adaptive robust compensator is proposed to eliminate uncertainties that consist of approximation errors, uncertain disturbances. Based on the tracking position-ABFCNC design, an adaptive robust control strategy is also developed for the nonholonomic-constraint force of the MMR. The design of adaptive-online learning algorithms is obtained by using the Lyapunov stability theorem. Therefore, the proposed method proves that it not only can guarantee the stability and robustness but also the tracking performances of the MMR control system. The effectiveness and robustness of the proposed control system are verified by comparative simulation results.

  6. Robust adaptive fuzzy tracking control for a class of strict-feedback nonlinear systems based on backstepping technique

    Institute of Scientific and Technical Information of China (English)

    Min WANG; Xiuying WANG; Bing CHEN; Shaocheng TONG

    2007-01-01

    In this paper, the robust adaptive fuzzy tracking control problem is discussed for a class of perturbed strict-feedback nonlinear systems. The fuzzy logic systems in Mamdani type are used to approximate unknown nonlinear functions. A design scheme of the robust adaptive fuzzy controller is proposed by use of the backstepping technique. The proposed controller guarantees semi-global uniform ultimate boundedness of all the signals in the derived closed-loop system and achieves the good tracking performance. The possible controller singularity problem which may occur in some existing adaptive control schemes with feedback linearization techniques can be avoided. In addition, the number of the on-line adaptive parameters is not more than the order of the designed system. Finally, two simulation examples are used to demonstrate the effectiveness of the proposed control scheme.

  7. 基于Backstepping方法的MIMO过程分散PID控制器设计%Backstepping-based Decentralized PID Controller Design for MIMO Processes

    Institute of Scientific and Technical Information of China (English)

    张艳; 李少远

    2005-01-01

    A novel decentralized PID controller design procedure based on backstepping principles is presented to operate multiple-input multiple-output (MIMO)dynamic processes. The first key feature of the design procedure is that a whole MIMO control system is decomposed into multiple control loops, therefore the sub-controllers can be efficiently flexibly designed in parallel prototype.The second key feature is that the decentralized controller has equivalency to those designed by backstepping approach. As a complementary support to the design procedure, the sufficient condition of the whole closed-loop system stability is analyzed via the small gain theorem and it can be proven that the process tracking performance is improved. The simulation results of the Shell benchmark control problem are provided to verify the effectiveness and practicality of the proposed decentralized PID control.

  8. Comparison of backstepping and modified active control in projective synchronization of chaos in an extended Bonhöffer–van der Pol oscillator

    Indian Academy of Sciences (India)

    K S Ojo; A N Njah; S T Ogunjo

    2013-05-01

    In this article, projective synchronization of double–scroll attractor of an extended Bonöffer–van der Pol oscillator (BVPO) is considered via the backstepping and active control techniques. In each synchronization scheme, a single control function is designed to achieve projective synchronization between two Bonhöffer–van der Pol oscillator evolving from different initial conditions. To obtain a single control function via the active control, the coefficient of the error dynamics is chosen such that the number of control functions is reduced from three to one, thereby, reducing control function complexity in design. The results show that the transient error dynamics convergence and synchronization time are achieved faster via the backstepping than that of the active control technique. However, the control function obtained via the active control is simpler with a more stable synchronization time and hence, it is more suitable for practical implementation. Numerical simulations are presented to confirm the effectiveness of the analytical results.

  9. Application of Backstepping to the Virtual Flux Direct Power Control of Five-Level Three-Phase Shunt Active Power Filter

    Directory of Open Access Journals (Sweden)

    Bouzidi Mansour

    2014-03-01

    Full Text Available This paper proposes a virtual flux direct power control-space vector modulation combined with backstepping control for three-phase five-level neutral point clamped shunt active power filter. The main goal of the proposed active filtering system is to eliminate the unwanted harmonics and compensate fundamental reactive power drawn from the nonlinear loads. In this study, the voltage-balancing control of four split dc capacitors of the five-level active filter is achieved using five-level space vector modulation with balancing strategy based on the effective use of the redundant switching states of the inverter voltage vectors. The obtained results showed that, the proposed multilevel shunt active power filter with backstepping control can produce a sinusoidal supply current with low harmonic distortion and in phase with the line voltage.

  10. Global Harmonic Current Rejection of Nonlinear Backstepping Control with Multivariable Adaptive Internal Model Principle for Grid-Connected Inverter under Distorted Grid Voltage

    Directory of Open Access Journals (Sweden)

    Yang Yu

    2013-01-01

    Full Text Available Based on a brief review on current harmonics generation mechanism for grid-connected inverter under distorted grid voltage, the harmonic disturbances and uncertain items are immersed into the original state-space differential equation of grid-connected inverter. A new algorithm of global current harmonic rejection based on nonlinear backstepping control with multivariable internal model principle is proposed for grid-connected inverter with exogenous disturbances and uncertainties. A type of multivariable internal model for a class of nonlinear harmonic disturbances is constructed. Based on application of backstepping control law of the nominal system, a multivariable adaptive state feedback controller combined with multivariable internal model and adaptive control law is designed to guarantee the closed-loop system globally uniformly bounded, which is proved by a constructed Lyapunov function. The presented algorithm extends rejection of nonlinear single-input systems to multivariable globally defined normal form, the correctness and effectiveness of which are verified by the simulation results.

  11. Geant4 simulation for a study of a possible use of carbon ions pencil beam for the treatment of ocular melanomas with the active scanning system at CNAO Centre

    Energy Technology Data Exchange (ETDEWEB)

    Farina, E. [University of Pavia-Department of Physics, via Bassi 6, 27100 Pavia (Italy); Piersimoni, P. [Division of Radiation Research, Loma Linda University, Loma Linda, CA 92354 (United States); Riccardi, C.; Rimoldi, A.; Tamborini, A. [University of Pavia-Department of Physics, via Bassi 6, 27100 Pavia (Italy); INFN Section of Pavia, via Bassi 6, 27100 Pavia (Italy); Ciocca, M. [Medical Physics Unit, Centro Nazionale di Adroterapia Oncologica - CNAO Foundation, Strada Campeggi 53, 27100 Pavia (Italy)

    2015-07-01

    The aim of this work is to validate the Geant4 application reproducing the CNAO (National Centre for Oncological Hadrontherapy) beamline and to study of a possible use of carbon ion pencil beams for the treatment of ocular melanomas at the CNAO Centre. The promising aspect of carbon ions radiotherapy for the treatment of this disease lies in its superior relative radiobiological effectiveness (RBE). The Monte Carlo Geant4 toolkit is used to simulate the complete CNAO extraction beamline, with the active and passive components along it. A human eye modeled detector, including a realistic target tumor volume, is used as target. Cross check with previous studies at CNAO using protons allows comparisons on possible benefits on using such a technique with respect to proton beams. Before the eye-detector irradiation a validation of the Geant4 simulation with CNAO experimental data is carried out with both carbon ions and protons. Important beam parameters such as the transverse FWHM and scanned radiation field 's uniformity are tested within the simulation and compared with experimental measurements at CNAO Centre. The physical processes involved in secondary particles generation by carbon ions and protons in the eye-detector are reproduced to take into account the additional dose to the primary beam given to irradiated eye's tissues. A study of beam shaping is carried out to produce a uniform 3D dose distribution (shaped on the tumor) by the use of a spread out Bragg peak. The eye-detector is then irradiated through a two dimensional transverse beam scan at different depths. In the use case the eye-detector is rotated of an angle of 40 deg. in the vertical direction, in order to mis-align the tumor from healthy tissues in front of it. The treatment uniformity on the tumor in the eye-detector is tested. For a more quantitative description of the deposited dose in the eye-detector and for the evaluation of the ratio between the dose deposited in the tumor and

  12. MRI Scans

    Science.gov (United States)

    Magnetic resonance imaging (MRI) uses a large magnet and radio waves to look at organs and structures inside your body. Health care professionals use MRI scans to diagnose a variety of conditions, from ...

  13. Scan Statistics

    CERN Document Server

    Glaz, Joseph

    2009-01-01

    Suitable for graduate students and researchers in applied probability and statistics, as well as for scientists in biology, computer science, pharmaceutical science and medicine, this title brings together a collection of chapters illustrating the depth and diversity of theory, methods and applications in the area of scan statistics.

  14. Back-stepping active disturbance rejection control design for integrated missile guidance and control system via reduced-order ESO.

    Science.gov (United States)

    Xingling, Shao; Honglun, Wang

    2015-07-01

    This paper proposes a novel composite integrated guidance and control (IGC) law for missile intercepting against unknown maneuvering target with multiple uncertainties and control constraint. First, by using back-stepping technique, the proposed IGC law design is separated into guidance loop and control loop. The unknown target maneuvers and variations of aerodynamics parameters in guidance and control loop are viewed as uncertainties, which are estimated and compensated by designed model-assisted reduced-order extended state observer (ESO). Second, based on the principle of active disturbance rejection control (ADRC), enhanced feedback linearization (FL) based control law is implemented for the IGC model using the estimates generated by reduced-order ESO. In addition, performance analysis and comparisons between ESO and reduced-order ESO are examined. Nonlinear tracking differentiator is employed to construct the derivative of virtual control command in the control loop. Third, the closed-loop stability for the considered system is established. Finally, the effectiveness of the proposed IGC law in enhanced interception performance such as smooth interception course, improved robustness against multiple uncertainties as well as reduced control consumption during initial phase are demonstrated through simulations.

  15. Head CT scan

    Science.gov (United States)

    Brain CT; Cranial CT; CT scan - skull; CT scan - head; CT scan - orbits; CT scan - sinuses; Computed tomography - cranial; CAT scan - brain ... hold your breath for short periods. A complete scan usually take only 30 seconds to a few ...

  16. Adsorption behavior of poly(dimethyl-diallylammonium chloride) on pulp fiber studied by cryo-time-of-flight secondary ion mass spectrometry and cryo-scanning electron microscopy

    Science.gov (United States)

    Masumi, Takashi; Matsushita, Yasuyuki; Aoki, Dan; Takama, Ruka; Saito, Kaori; Kuroda, Katsushi; Fukushima, Kazuhiko

    2014-01-01

    In this study, the adsorption behavior of poly(dimethyl-diallylammonium chloride) (PDADMAC), a retention agent used in papermaking, in a dual polymer system with anionic poly(acrylamide) (A-PAM) was investigated by time-of-flight secondary ion mass spectrometry (TOF-SIMS). Initially, fragment structures and cleavage patterns were identified via TOF-SIMS experiments with deuterium-labeled PDADMAC and the unlabeled analogue. Visualization of PDADMAC on a dry handsheet surface using traditional TOF-SIMS analysis indicated that the electrostatic interaction between coagulated PDADMAC and A-PAM was relatively weak. A novel cryo-TOF-SIMS/SEM system enabled the evaluation of a wet handsheet containing PDADMAC. Analysis of this sample indicated that PDADMAC adsorbs onto the fiber surface and collects preferentially on the tangled fibrils located between fibers.

  17. Quantitative profiling of PE, MMPE, DMPE, and PC lipid species by multiple precursor ion scanning: A tool for monitoring PE metabolism

    DEFF Research Database (Denmark)

    Bilgin, Mesut; Markgraf, Daniel F; Duchoslav, Eva

    2011-01-01

    We report a method for the simultaneous identification and quantification of phosphatidylethanolamine (PE), monomethyl-phosphatidylethanolamine (MMPE), dimethyl-phosphatidylethanolamine (DMPE), and phosphatidylcholine (PC) species in lipid extracts. The method employs a specific "mass-tag" strategy...... where DMPE, MMPE, and PE species are chemically methylated with deuterated methyliodide (CD(3)I) to produce PC molecules having class-specific mass offsets of 3, 6 and 9Da, respectively. The derivatized aminoglycerophospholipids release characteristic phosphorylcholine-like fragment ions having specific...... and DMPE, and abundant PE and PC species in a single mass spectrometric analysis. We demonstrated the efficacy of the methodology by conducting a series of biochemical experiments using stable isotope labeled ethanolamine to survey the activities and substrate specificities of enzymes involved in PE...

  18. Adsorption behavior of poly(dimethyl-diallylammonium chloride) on pulp fiber studied by cryo-time-of-flight secondary ion mass spectrometry and cryo-scanning electron microscopy

    Energy Technology Data Exchange (ETDEWEB)

    Masumi, Takashi [Graduate School of Bioagricultural Sciences, Nagoya University, Furo-cho Chikusa-ku, Nagoya, Aichi 464-8601 (Japan); Matsushita, Yasuyuki, E-mail: ysmatsu@agr.nagoya-u.ac.jp [Graduate School of Bioagricultural Sciences, Nagoya University, Furo-cho Chikusa-ku, Nagoya, Aichi 464-8601 (Japan); Aoki, Dan [Graduate School of Bioagricultural Sciences, Nagoya University, Furo-cho Chikusa-ku, Nagoya, Aichi 464-8601 (Japan); Takama, Ruka [Technical Center, Nagoya University, Furo-cho Chikusa-ku Nagoya, Aichi 464-8601 (Japan); Saito, Kaori [Graduate School of Bioagricultural Sciences, Nagoya University, Furo-cho Chikusa-ku, Nagoya, Aichi 464-8601 (Japan); Kuroda, Katsushi [Department of Wood Properties, Forestry and Forest Products Research Institute, 1 Matsunosato, Tsukuba, Ibaraki 305-8687 (Japan); Fukushima, Kazuhiko [Graduate School of Bioagricultural Sciences, Nagoya University, Furo-cho Chikusa-ku, Nagoya, Aichi 464-8601 (Japan)

    2014-01-15

    In this study, the adsorption behavior of poly(dimethyl-diallylammonium chloride) (PDADMAC), a retention agent used in papermaking, in a dual polymer system with anionic poly(acrylamide) (A-PAM) was investigated by time-of-flight secondary ion mass spectrometry (TOF-SIMS). Initially, fragment structures and cleavage patterns were identified via TOF-SIMS experiments with deuterium-labeled PDADMAC and the unlabeled analogue. Visualization of PDADMAC on a dry handsheet surface using traditional TOF-SIMS analysis indicated that the electrostatic interaction between coagulated PDADMAC and A-PAM was relatively weak. A novel cryo-TOF-SIMS/SEM system enabled the evaluation of a wet handsheet containing PDADMAC. Analysis of this sample indicated that PDADMAC adsorbs onto the fiber surface and collects preferentially on the tangled fibrils located between fibers.

  19. A pH and solvent optimized reverse-phase ion-paring-LC–MS/MS method that leverages multiple scan-types for targeted absolute quantification of intracellular metabolites

    DEFF Research Database (Denmark)

    McCloskey, Douglas; Gangoiti, Jon A.; Palsson, Bernhard O.;

    2015-01-01

    to the understanding of intracellular metabolism. Liquid chromatography coupled to mass spectrometry (LC–MS and LC–MS/MS) has become a reliable means with which to quantify a multitude of intracellular metabolites in parallel with great specificity and accuracy. This work details a method that builds and extends upon...... existing reverse phase ion-paring liquid chromatography methods for separation and detection of polar and anionic compounds that comprise key nodes of intracellular metabolism by optimizing pH and solvent composition. In addition, the presented method utilizes multiple scan types provided by hybrid...... instrumentation to improve confidence in compound identification. The developed method was validated for a broad coverage of polar and anionic metabolites of intracellular metabolism...

  20. 一类欠驱动系统的频域反步法设计%Frequency-domain backstepping design of a class of underactuated systems

    Institute of Scientific and Technical Information of China (English)

    何朕; 王广雄; 杨文哲

    2012-01-01

    现有的状态空间反步法存在着设计上的问题,如对非线性函数求导的项数过多,且鲁棒性较差.结合一类欠驱动系统的控制设计,提出一种频域反步设计方法.该方法不同于标准的反步法,不是在每一步加一个积分器,而是每一步设计一个输出反馈回路.这样系统将更为紧凑,也更便于实现.每一步的回路都采用H∞设计.为了解决线性化设计可能带来的非线性尖峰现象,控制回路中增加饱和设计.以无动态联系的欠驱动系统为例来进行讨论.因为这类系统是欠驱动系统设计的难点,其相对阶不能定义,且其未建模非线性不能用有界算子来描述,而且还起一种正反馈的作用.%The existing state-space backstepping method suffers from design problems. For example, the increasing of the terms of the required derivatives of nonlinear functions during the recursive design, and less robustness caused by the single loop implementation of the integrator backstepping design. A frequency-domain backstepping technique is proposed in the paper with applications to a class of underactu-ated systems. The new method is not like the standard backstepping design by adding one integrator at each design step. Instead, an output feedback loop was designed at each step. Thus the resulting system was more compact and can be implemented more easily. The H∞ design was used for each loop. A con trol saturation design is added to counteract the nonlinear peaking phenomenon caused by the linearized design. An underactuated system with no dynamic relations between the generalized coordinates was used as an application example. Because for such underactuated system, the relative degree of the system is not well defined, and the unmodeled nonlinearity cannot be described by a bounded-norm operator, and even it acts as a positive feedback.

  1. Thyroid Scan and Uptake

    Science.gov (United States)

    ... Physician Resources Professions Site Index A-Z Thyroid Scan and Uptake Thyroid scan and uptake uses small ... Thyroid Scan and Uptake? What is a Thyroid Scan and Uptake? A thyroid scan is a type ...

  2. Dynamic modeling of a hose-drogue aerial refueling system and integral sliding mode backstepping control for the hose whipping phenomenon

    Institute of Scientific and Technical Information of China (English)

    Wang Haitao; Dong Xinmin; Xue Jianping; Liu Jiaolong

    2014-01-01

    Dynamic modeling of a hose-drogue aerial refueling system (HDARS) and an integral sliding mode backstepping controller design for the hose whipping phenomenon (HWP) during probe-drogue coupling are studied. Firstly, a dynamic model of the variable-length hose-drogue assembly is built for the sake of exploiting suppression methods for the whipping phenomenon. Based on the lumped parameter method, the hose is modeled by a series of variable-length links connected with frictionless joints. A set of iterative equations of the hose’s three-dimensional motion is derived subject to hose reeling in/out, tanker motion, gravity, and aerodynamic loads accounting for the effects of steady wind, atmospheric turbulence, and tanker wake. Secondly, relying on a permanent magnet synchronous motor and high-precision position sensors, a new active control strategy for the HWP on the basis of the relative position between the tanker and the receiver is proposed. Considering the strict-feedback configuration of the permanent magnet synchronous motor, a rotor position control law based on the backstepping method is designed to insure global stability. An integral of the rotor position error and an exponential sliding mode reaching law of the current errors are applied to enhance control accuracy and robustness. Finally, the simulation results show the effectiveness of the proposed model and control laws.

  3. Research on quality testing for active spot scanning proton and heavy ion accelerator%主动式点扫描质子重离子加速器质量检测研究

    Institute of Scientific and Technical Information of China (English)

    程金生; 袁继龙; 李明生

    2016-01-01

    Objective To study the quality testing of dose delivery system of the active spot scanning proton and heavy ion accelerator,in order to provide the reference for the quality control of related equipment.Methods In the four therapy rooms,both 0.6 cc chambers and Gafchromic EBT3 films were used,respectively,to test the accelerator for dose reproducibility,dose linearity,dose stability,depth dose distribution,beam scanning position deviation and radiation field uniformity in each therapy room.Results Dose reproducibility variation coefficients are all less than 1.5%,dose linearity's maximum deviations less than 2%,dose stability's deviations less than 2%,depth dose distribution stability within 2%,beam scanning position deviation less than 1 mm,consistency of irradiation field's deviation less than 2 mm,and flatness within ± 5%.Conclusions The indicators about quality testing for the active spot scanning proton and heavy ion accelerator are all in line with the requirements of IEC standards draft.%目的 对主动式点扫描质子重离子加速器剂量传输系统进行质量检测,为相关设备质量检测研究提供参考.方法 在4个治疗室中,分别采用0.6 CC指型电离室和辐射胶片测量质子重离子加速器在每间治疗室的输出剂量重复性、剂量线性、剂量日稳定性、深度剂量分布、束流扫描位置偏差和射野的一致性.结果 4个治疗室分别对应的4个终端的剂量重复性变异系数均<1.5%,剂量线性最大偏差均<2%,剂量日稳定性偏差均<2%,深度剂量分布稳定性均在2%之内,束流扫描位置偏差均<1 mm,射野一致性中射野大小偏差均<2 mm,射野平坦度均<±5%.结论 本研究涉及的主动式点扫描质子重离子加速器质量检测的各项指标均符合国际电工委员会(IEC)相关标准草案的要求.

  4. Helix Scan: A Scan Design for Diagnosis

    Institute of Scientific and Technical Information of China (English)

    WANG Fei; HU Yu; LI Xiaowei

    2007-01-01

    Scan design is a widely used design-for-testability technique to improve test quality and efficiency. For the scan-designed circuit, test and diagnosis of the scan chain and the circuit is an important process for silicon debug and yield learning. However, conventional scan designs and diagnosis methods abort the subsequent diagnosis process after diagnosing the scan chain if the scan chain is faulty. In this work, we propose a design-for-diagnosis scan strategy called helix scan and a diagnosis algorithm to address this issue. Unlike previous proposed methods, helix scan has the capability to carry on the diagnosis process without losing information when the scan chain is faulty. What is more, it simplifies scan chain diagnosis and achieves high diagnostic resolution as well as accuracy. Experimental results demonstrate the effectiveness of our design.

  5. Lumbar spine CT scan

    Science.gov (United States)

    CAT scan - lumbar spine; Computed axial tomography scan - lumbar spine; Computed tomography scan - lumbar spine; CT - lower back ... your breath for short periods of time. The scan should take only 10 to 15 minutes.

  6. Linking environmental processes to the in situ functioning of microorganisms by high-resolution secondary ion mass spectrometry (NanoSIMS) and scanning transmission X-ray microscopy (STXM).

    Science.gov (United States)

    Behrens, Sebastian; Kappler, Andreas; Obst, Martin

    2012-11-01

    Environmental microbiology research increasingly focuses on the single microbial cell as the defining entity that drives environmental processes. The interactions of individual microbial cells with each other, the environment and with higher organisms shape microbial communities and control the functioning of whole ecosystems. A single-cell view of microorganisms in their natural environment requires analytical tools that measure both cell function and chemical speciation at the submicrometre scale. Here we review the technical capabilities and limitations of high-resolution secondary ion mass spectrometry (NanoSIMS) and scanning transmission (soft) X-ray microscopy (STXM) and give examples of their applications. Whereas NanoSIMS can be combined with isotope-labelling, thereby localizing the distribution of cellular activities (e.g. carbon/nitrogen fixation/turnover), STXM provides information on the location and chemical speciation of metabolites and products of redox reactions. We propose the combined use of both techniques and discuss the technical challenges of their joint application. Both techniques have the potential to enhance our understanding of cellular mechanisms and activities that contribute to microbially mediated processes, such as the biogeochemical cycling of elements, the transformation of contaminants and the precipitation of mineral phases.

  7. Understanding the micro structure of Berea Sandstone by the simultaneous use of micro-computed tomography (micro-CT) and focused ion beam-scanning electron microscopy (FIB-SEM).

    Science.gov (United States)

    Bera, Bijoyendra; Mitra, Sushanta K; Vick, Douglas

    2011-07-01

    Berea sandstone is the building block for reservoirs containing precious hydrocarbon fuel. In this study, we comprehensively reveal the microstructure of Berea sandstone, which is often treated as a porous material with interconnected micro-pores of 2-5 μm. This has been possible due to the combined application of micro-computed tomography (CT) and focused ion beam (FIB)-scanning electron microscopy (SEM) on a Berea sample. While the use of micro-CT images are common for geological materials, the clubbing and comparison of tomography on Berea with state-of-the-art microstructure imaging techniques like FIB-SEM reveals some unforeseen features of Berea microstructure. In particular, for the first time FIB-SEM has been used to understand the micro-structure of reservoir rock material like Berea sandstone. By using these characterization tools, we are able to show that the micro-pores (less than 30 μm) are absent below the solid material matrix, and that it has small interconnected pores (30-40 μm) and large crater-like voids (100-250 μm) throughout the bulk material. Three-dimensional pore space reconstructions have been prepared from the CT images. Accordingly, characterization of Berea sandstone specimen is performed by calculation of pore-structure volumes and determination of porosity values.

  8. Design and Simulation of Adaptive Backstepping Control Law for BTT Missile%BTT导弹自适应反演控制律设计与仿真

    Institute of Scientific and Technical Information of China (English)

    施敏良; 王凌艳; 李青山; 刘洪昌

    2012-01-01

    针对倾斜转弯(BTT)导弹控制中的多变量强耦合问题,研究了一种适用于BTT导弹的反演算法,以实现自动驾驶仪的自适应解耦控制.根据BTT导弹控制的基本特性,建立导弹的非线性控制模型,并将其转化为适合于反演设计的反馈块模型.在此模型上,基于反演的非线性控制系统综合设计方法,加入自适应神经网络逼近系统中存在的不确定性,利用Lyapunov稳定性定理推导了自适应调节律,设计了导弹控制律.通过仿真验证了该设计方法的有效性和可行性,该控制器能够实现控制解耦目的,且对指令信号跟踪效果良好.%In order to solve the problems of multiple variables and strong coupling in BIT (bank-to-turn) missile control, a backstepping algorithm suitable for the BTT missile autopilot controller was proposed. Based on the peculiarity of BTT missile,the nonlinear model of missile was built up. Then,the missile model was translated into a feedback block model to realize the backstepping design. A special nonlinear synthetical backstepping method was applied in design of the control law for BTT missile, which added neural networks to solve the uncertainties problems, and the adaptive tuning rules were derived using the Lyapunov stability theorem. This method can implement the decoupling design of controller and track the command signals well. Simulation was made to demonstrate the effectiveness of the proposed method.

  9. Adaptive sliding mode back-stepping pitch angle control of a variable-displacement pump controlled pitch system for wind turbines.

    Science.gov (United States)

    Yin, Xiu-xing; Lin, Yong-gang; Li, Wei; Liu, Hong-wei; Gu, Ya-jing

    2015-09-01

    A variable-displacement pump controlled pitch system is proposed to mitigate generator power and flap-wise load fluctuations for wind turbines. The pitch system mainly consists of a variable-displacement hydraulic pump, a fixed-displacement hydraulic motor and a gear set. The hydraulic motor can be accurately regulated by controlling the pump displacement and fluid flows to change the pitch angle through the gear set. The detailed mathematical representation and dynamic characteristics of the proposed pitch system are thoroughly analyzed. An adaptive sliding mode pump displacement controller and a back-stepping stroke piston controller are designed for the proposed pitch system such that the resulting pitch angle tracks its desired value regardless of external disturbances and uncertainties. The effectiveness and control efficiency of the proposed pitch system and controllers have been verified by using realistic dataset of a 750 kW research wind turbine.

  10. 基于SG的Buck变换器自适应反步法控制%Adaptive Backstepping Control for Buck Converter via System Generator

    Institute of Scientific and Technical Information of China (English)

    王艳; 陈进军; 纪志成

    2009-01-01

    针对Buck变换器的非线性特性,考虑在电感电流连续导通模式下的数学模型,采用自适应反步法设计其闭环控制器,同时基于System Generator提出了数字控制器的实现方法,并分析了其负载扰动和电源扰动特性,将仿真结果与PI控制方式相比较,结果表明自适应反步控制的优越性和System Generator设计开发的有效性,为FPGA实现Buck变换器的数字控制器提供了新的设计流程,也为进一步研究其他DC-DC变换器的非线性控制提供了新思路.%Taking the nonlinear characteristic of Buck converter,a closed loop controller using adaptive backstepping method is presented based on the continuous current mode of the converter. A design method of digital controller via system generator(SG)is proposed. The performance undergoing disturbances both from load and power is analyzed. The simulation results show that the adaptive backstepping controller is superior to the PI controller. A novel design flow of the digital controller is provided for Buck converter using FPGA,as well as a new way is provided for further research of nonlinear control for other DC-DC converters.

  11. Scanning ion-selective electrode technique and X-ray microanalysis provide direct evidence of contrasting Na+ transport ability from root to shoot in salt-sensitive cucumber and salt-tolerant pumpkin under NaCl stress.

    Science.gov (United States)

    Lei, Bo; Huang, Yuan; Sun, Jingyu; Xie, Junjun; Niu, Mengliang; Liu, Zhixiong; Fan, Molin; Bie, Zhilong

    2014-12-01

    Grafting onto salt-tolerant pumpkin rootstock can increase cucumber salt tolerance. Previous studies have suggested that this can be attributed to pumpkin roots with higher capacity to limit the transport of Na(+) to the shoot than cucumber roots. However, the mechanism remains unclear. This study investigated the transport of Na(+) in salt-tolerant pumpkin and salt-sensitive cucumber plants under high (200 mM) or moderate (90 mM) NaCl stress. Scanning ion-selective electrode technique showed that pumpkin roots exhibited a higher capacity to extrude Na(+), and a correspondingly increased H(+) influx under 200 or 90 mM NaCl stress. The 200 mM NaCl induced Na(+)/H(+) exchange in the root was inhibited by amiloride (a Na(+)/H(+) antiporter inhibitor) or vanadate [a plasma membrane (PM) H(+) -ATPase inhibitor], indicating that Na(+) exclusion in salt stressed pumpkin and cucumber roots was the result of an active Na(+)/H(+) antiporter across the PM, and the Na(+)/H(+) antiporter system in salt stressed pumpkin roots was sufficient to exclude Na(+) X-ray microanalysis showed higher Na(+) in the cortex, but lower Na(+) in the stele of pumpkin roots than that in cucumber roots under 90 mM NaCl stress, suggesting that the highly vacuolated root cortical cells of pumpkin roots could sequester more Na(+), limit the radial transport of Na(+) to the stele and thus restrict the transport of Na(+) to the shoot. These results provide direct evidence for pumpkin roots with higher capacity to limit the transport of Na(+) to the shoot than cucumber roots.

  12. Lung gallium scan

    Science.gov (United States)

    Gallium 67 lung scan; Lung scan; Gallium scan - lung; Scan - lung ... Gallium is injected into a vein. The scan will be taken 6 to 24 hours after the gallium is injected. (Test time depends on whether your condition is acute or chronic .) ...

  13. Heart PET scan

    Science.gov (United States)

    ... nuclear medicine scan; Heart positron emission tomography; Myocardial PET scan ... A PET scan requires a small amount of radioactive material (tracer). This tracer is given through a vein (IV), ...

  14. Scan BIST with biased scan test signals

    Institute of Scientific and Technical Information of China (English)

    XIANG Dong; CHEN MingJing; SUN JiaGuang

    2008-01-01

    The conventional test-per-scan built-in self-test (BIST) scheme needs a number of shift cycles followed by one capture cycle.Fault effects received by the scan flip-flops are shifted out while shifting in the next test vector like scan testing.Unlike deterministic testing,it is unnecessary to apply a complete test vector to the scan chains.A new scan-based BIST scheme is proposed by properly controlling the test signals of the scan chains,Different biased random values are assigned to the test signals of scan flip-flops in separate scan chains.Capture cycles can be inserted at any clock cycle if necessary.A new testability estimation procedure according to the proposed testing scheme is presented.A greedy procedure is proposed to select a weight for each scan chain.Experimental results show that the proposed method can improve test effectiveness of scan-based BIST greatly,and most circuits can obtain complete fault coverage or very close to complete fault coverage.

  15. Conventional cerebrospinal fluid scanning

    Energy Technology Data Exchange (ETDEWEB)

    Schicha, H.

    1985-06-01

    Conventional cerebrospinal fluid scanning (CSF scanning) today is mainly carried out in addition to computerized tomography to obtain information about liquor flow kinetics. Especially in patients with communicating obstructive hydrocephalus, CSF scanning is clinically useful for the decision for shunt surgery. In patients with intracranial cysts, CSF scanning can provide information about liquor circulation. Further indications for CSF scanning include the assessment of shunt patency especially in children, as well as the detection and localization of cerebrospinal fluid leaks.

  16. Adaptive backstepping fuzzy control for servo systems with backlash%考虑齿隙伺服系统的反步自适应模糊控制

    Institute of Scientific and Technical Information of China (English)

    杜仁慧; 吴益飞; 陈威; 陈庆伟

    2013-01-01

    An approximate dead-zone function is introduced to build the model of the electromechanical servo system with unknown parameters and nonlinear backlash; the method for selecting parameters of the approximate dead-zone function is also given. Two adaptive fuzzy logic systems are employed to approximate unknown parameters and the nonlinear part of the servo system online, to avoid the derivation of adaptive law for each unknown parameter. Adaptive fuzzy controller is also developed based on backstepping method, which effectively inhibits the influence of parameter uncertainties and backlash nonlinearity. It is theoretically shown by using Lyapunov function that the position tracking error converges exponentially. Finally simulations show that the adaptive backstepping fuzzy controller not only reduces gear transmitting torque oscillation significantly, but also have higher accuracy and robustness in performances than PID controller.%针对具有未知参数和齿隙非线性的机电伺服系统,引入一种近似死区函数建立了系统的数学模型,给出了死区函数中参数的选取方法.用两个自适应模糊逻辑系统在线逼近机电伺服系统中的未知参数和非线性环节,从而避免了对每个未知参数推导自适应律.基于反步法设计了自适应模糊控制器,可抑制未知参数和齿隙非线性对系统性能的影响.采用Lyapunov方法证明了位置跟踪误差的指数收敛性.与PID控制方法对比的仿真实验表明,本文方法能够显著减小齿轮间传递力矩的振荡,并具有很好的控制精度和鲁棒性.

  17. Sample preparation method for scanning force microscopy

    CERN Document Server

    Jankov, I R; Szente, R N; Carreno, M N P; Swart, J W; Landers, R

    2001-01-01

    We present a method of sample preparation for studies of ion implantation on metal surfaces. The method, employing a mechanical mask, is specially adapted for samples analysed by Scanning Force Microscopy. It was successfully tested on polycrystalline copper substrates implanted with phosphorus ions at an acceleration voltage of 39 keV. The changes of the electrical properties of the surface were measured by Kelvin Probe Force Microscopy and the surface composition was analysed by Auger Electron Spectroscopy.

  18. Characteristics of recursive backstepping algorithm and active damping of oscillations in feedback linearization for electromechanical system with extended stability analysis and perturbation rejection.

    Science.gov (United States)

    Anand, V; Narendran, R

    2016-09-01

    In this paper, a technique for estimation of state variables and control of a class of electromechanical system is proposed. Initially, an attempt is made on rudimentary pole placement technique for the control of rotor position and angular velocity profiles of Permanent Magnet Stepper Motor. Later, an alternative approach is analyzed using feedback linearization method to reduce the error in tracking performances. A damping control scheme was additionally incorporated into the feedback linearization system in order to nullify the persistent oscillations present in the system. Furthermore, a robust backstepping controller with high efficacy is put forth to enhance the overall performance and to carry out disturbance rejection. The predominant advantage of this control technique is that it does not require the DQ Transformation of the motor dynamics. A Lyapunov candidate was employed to ensure global asymptotical stability criterion. Also, a nonlinear observer is presented to estimate the unknown states namely load torque and rotor angular velocity, even under load uncertainty conditions. Finally, the performances of all the aforementioned control schemes and estimation techniques are compared and analyzed extensively through simulation.

  19. Adaptive Backstepping Control for a Class of Uncertain Nonaffine Nonlinear Time-Varying Delay Systems with Unknown Dead-Zone Nonlinearity

    Directory of Open Access Journals (Sweden)

    Wei-Dong Zhou

    2014-01-01

    Full Text Available An adaptive backstepping controller is constructed for a class of nonaffine nonlinear time-varying delay systems in strict feedback form with unknown dead zone and unknown control directions. To simplify controller design, nonaffine system is first transformed into an affine system by using mean value theorem and the unknown nonsymmetric dead-zone nonlinearity is treated as a combination of a linear term and a bounded disturbance-like term. Owing to the universal approximation property, fuzzy logic systems (FLSs are employed to approximate the uncertain nonlinear part in controller design process. By introducing Nussbaum-type function, the a priori knowledge of the control gains signs is not required. By constructing appropriate Lyapunov-Krasovskii functionals, the effect of time-varying delay is compensated. Theoretically, it is proved that this scheme can guarantee that all signals in closed-loop system are semiglobally uniformly ultimately bounded (SUUB and the tracking error converges to a small neighbourhood of the origin. Finally, the simulation results validate the effectiveness of the proposed scheme.

  20. RBC nuclear scan

    Science.gov (United States)

    ... page: //medlineplus.gov/ency/article/003835.htm RBC nuclear scan To use the sharing features on this page, please enable JavaScript. An RBC nuclear scan uses small amounts of radioactive material to ...

  1. Thyroid Scan and Uptake

    Medline Plus

    Full Text Available ... of the Thyroid Scan and Uptake? What is a Thyroid Scan and Uptake? A thyroid scan is ... encourage linking to this site. × Recommend RadiologyInfo to a friend Send to (friend's e-mail address): From ( ...

  2. Three dimensional analysis of the pore space in fine-grained Boom Clay, using BIB-SEM (broad-ion beam scanning electron microscopy), combined with FIB (focused ion-beam) serial cross-sectioning, pore network modeling and Wood's metal injection

    Science.gov (United States)

    Hemes, Susanne; Klaver, Jop; Desbois, Guillaume; Urai, Janos

    2014-05-01

    The Boom Clay is, besides the Ypresian clays, one of the potential host rock materials for radioactive waste disposal in Belgium (Gens et al., 2003; Van Marcke & Laenen, 2005; Verhoef et al., 2011). To access parameters, which are relevant for the diffusion controlled transport of radionuclides in the material, such as porosity, pore connectivity and permeability, it is crucial to characterize the pore space at high resolution (nm-scale) and in 3D. Focused-ion-beam (FIB) serial cross-sectioning in combination with high resolution scanning electron microscopy (SEM), pore network modeling, Wood's metal injection and broad-ion-beam (BIB) milling, constitute a superior set of methods to characterize the 3D pore space in fine-grained, clayey materials, down to the nm-scale resolution. In the present study, we identified characteristic 3D pore space morphologies, determined the 3D volume porosity of the material and applied pore network extraction modeling (Dong and Blunt, 2009), to access the connectivity of the pore space and to discriminate between pore bodies and pore throats. Moreover, we used Wood's metal injection (WMI) in combination with BIB-SEM imaging to assess the pore connectivity at a larger scale and even higher resolution. The FIB-SEM results show a highly (~ 90 %) interconnected pore space in Boom Clay, down to the resolution of ~ 3E+03 nm³ (voxel-size), with a total volume porosity of ~ 20 %. Pore morphologies of large (> 5E+08 nm³), highly interconnected pores are complex, with high surface area to volume ratios (shape factors G ~ 0.01), whereas small (BIB-SEM, down to a resolution of ~ 50 nm² pixel-size, indicates an interconnected porosity fraction of ~ 80 %, of a total measured 2D porosity of ~ 20 %. Determining and distinguishing between pore bodies and pore throats enables us to compare 3D FIB-SEM pore-size distributions to 2D BIB-SEM data, as well as MIP data. Results show a good agreement between the 2D BIB-SEM and 3D FIB-SEM inferred pore

  3. Pulmonary ventilation/perfusion scan

    Science.gov (United States)

    V/Q scan; Ventilation/perfusion scan; Lung ventilation/perfusion scan ... A pulmonary ventilation/perfusion scan is actually two tests. They may be done separately or together. During the perfusion scan, a health care provider injects ...

  4. Comparative evaluation of scanned stripping techniques: SSCP vs. SSV

    NARCIS (Netherlands)

    Town, R.M.; Leeuwen, van H.P.

    2006-01-01

    The characteristic features of scanned deposition potential curves constructed from stripping chronopotentiometry (SSCP) and various modes of stripping voltammetry (SSV) are critically evaluated. The strengths and weaknesses of each method for identification of metal ion speciation features and susc

  5. Laser Scanning in Forests

    OpenAIRE

    Håkan Olsson; Juha Hyyppä; Markus Holopainen

    2012-01-01

    The introduction of Airborne Laser Scanning (ALS) to forests has been revolutionary during the last decade. This development was facilitated by combining earlier ranging lidar discoveries [1–5], with experience obtained from full-waveform ranging radar [6,7] to new airborne laser scanning systems which had components such as a GNSS receiver (Global Navigation Satellite System), IMU (Inertial Measurement Unit) and a scanning mechanism. Since the first commercial ALS in 1994, new ALS-based fore...

  6. Radionucleotide scanning in osteomyelitis

    Energy Technology Data Exchange (ETDEWEB)

    Sachs, W.; Kanat, I.O.

    1986-07-01

    Radionucleotide bone scanning can be an excellent adjunct to the standard radiograph and clinical findings in the diagnosis of osteomyelitis. Bone scans have the ability to detect osteomyelitis far in advance of the standard radiograph. The sequential use of technetium and gallium has been useful in differentiating cellulitis and osteomyelitis. Serial scanning with technetium and gallium may be used to monitor the response of osteomyelitis to antibiotic therapy.

  7. 船舶航向非线性Backstepping自适应鲁棒控制%Ship Course Nonlinear Adaptive Backstepping Control

    Institute of Scientific and Technical Information of China (English)

    叶宝玉; 王钦若; 熊建斌; 邓九英

    2013-01-01

    针对非线性船舶航向控制中船舶参数及扰动的不确定性,提出了带有积分器的非线性Backstepping自适应鲁棒控制算法.首先对扰动界已知的非线性船舶实现船舶航向跟踪控制,并取得了全局指数稳定的控制效果.考虑到海洋环境的随机性对船舶的影响,又对扰动界未知的非线性船舶实现船舶航向跟踪控制,并利用Lyapunov稳定性理论证明其满足L2控制标准,取得了全局稳定的控制效果.仿真结果验证了所设计方法的有效性.%Considering the nonlinear ship course control with uncertain parameters and disturbance,a nonlinear adaptive Backstepping control algorithm with integrator is proposed.Firstly,the control algorithm realizes the tracking control of nonlinear ship course with the known perturbation bounds,and obtained the control effects of global exponential stability.Taking the influence of the random Marine environment to the ship into account,the other control algorithm realizes the tracking control of nonlinear ship course with the unknown perturbation bounds,and proved that the control algorithm meets L2 control standards and has the control effect of global stability make use of Lyapunov stability theory.The simulation results show the effectiveness of the design method.

  8. Bone scanning in otolaryngology.

    Science.gov (United States)

    Noyek, A M

    1979-09-01

    Modern radionuclide bone scanning has introduced a new concept in physiologic and anatomic diagnostic imaging to general medicine. As otolaryngologists must diagnose and treat disease in relation to the bony and/or cartilaginous supporting structures of the neurocranium and upper airway, this modality should be included in the otolaryngologist's diagnostic armamentarium. It is the purpose of this manuscript to study the specific applications of bone scanning to our specialty at this time, based on clinical experience over the past three years. This thesis describes the development of bone scanning in general (history of nuclear medicine and nuclear physics; history of bone scanning in particular). General concepts in nuclear medicine are then presented; these include a discussion of nuclear semantics, principles of radioactive emmissions, the properties 99mTc as a radionuclide, and the tracer principle. On the basis of these general concepts, specific concepts in bone scanning are then brought forth. The physiology of bone and the action of the bone scan agents is presented. Further discussion considers the availability and production of the bone scan agent, patient factors, the gamma camera, the triphasic bone scan and the ultimate diagnostic principle of the bone scan. Clinical applications of bone scanning in otolaryngology are then presented in three sections. Proven areas of application include the evaluation of malignant tumors of the head and neck, the diagnosis of temporomandibular joint disorders, the diagnosis of facial fractures, the evaluation of osteomyelitis, nuclear medicine imaging of the larynx, and the assessment of systemic disease. Areas of adjunctive or supplementary value are also noted, such as diagnostic imaging of meningioma. Finally, areas of marginal value in the application of bone scanning are described.

  9. Scanning laser Doppler vibrometry

    DEFF Research Database (Denmark)

    Brøns, Marie; Thomsen, Jon Juel

    With a Scanning Laser Doppler Vibrometer (SLDV) a vibrating surface is automatically scanned over predefined grid points, and data processed for displaying vibration properties like mode shapes, natural frequencies, damping ratios, and operational deflection shapes. Our SLDV – a PSV-500H from...

  10. Frequency scanning microstrip antennas

    DEFF Research Database (Denmark)

    Danielsen, Magnus; Jørgensen, Rolf

    1979-01-01

    The principles of using radiating microstrip resonators as elements in a frequency scanning antenna array are described. The resonators are cascade-coupled. This gives a scan of the main lobe due to the phase-shift in the resonator in addition to that created by the transmission line phase...

  11. Optical Scanning Applications.

    Science.gov (United States)

    Wagner, Hans

    The successful use of optical scanning at the University of the Pacific (UOP) indicates that such techniques can simplify a number of administrative data processing tasks. Optical scanning is regularly used at UOP to assist with data processing in the areas of admissions, registration and grade reporting and also has applications for other tasks…

  12. LIDAR COMBINED SCANNING UNIT

    Directory of Open Access Journals (Sweden)

    V. V. Elizarov

    2016-11-01

    Full Text Available Subject of Research. The results of lidar combined scanning unit development for locating leaks of hydrocarbons are presented The unit enables to perform high-speed scanning of the investigated space in wide and narrow angle fields. Method. Scanning in a wide angular field is produced by one-line scanning path by means of the movable aluminum mirror with a frequency of 20Hz and amplitude of 20 degrees of swing. Narrowband scanning is performed along a spiral path by the deflector. The deflection of the beam is done by rotation of the optical wedges forming part of the deflector at an angle of ±50. The control function of the scanning node is performed by a specialized software product written in C# programming language. Main Results. This scanning unit allows scanning the investigated area at a distance of 50-100 m with spatial resolution at the level of 3 cm. The positioning accuracy of the laser beam in space is 15'. The developed scanning unit gives the possibility to browse the entire investigated area for the time not more than 1 ms at a rotation frequency of each wedge from 50 to 200 Hz. The problem of unambiguous definition of the beam geographical coordinates in space is solved at the software level according to the rotation angles of the mirrors and optical wedges. Lidar system coordinates are determined by means of GPS. Practical Relevance. Development results open the possibility for increasing the spatial resolution of scanning systems of a wide range of lidars and can provide high positioning accuracy of the laser beam in space.

  13. Classification of Jet Fuels by Fuzzy Rule-Building Expert Systems Applied to Three-Way Data by Fast Gas Chromatography-Fast Scanning Quadrupole Ion Trap Mass Spectrometry

    Science.gov (United States)

    2011-01-01

    car - rier gas speed, and a higher head pressure, etc., fast GC separation can be realized. Compared with conventional GC, fast GC offers the...themost common, sensitive, and informativedetectors for GC, MS has promise for the composition-property correlation studyof jet fuels. Time-of-flight ( ToF ... ToF -MS [42]. However, they have the disadvantage of relatively higher costs to purchase and maintain compared to ion trap mass spectrometers. Most

  14. Direct Torque Control of Induction Motor Based on Back-stepping Principle%基于反推原理感应电机直接转矩控制

    Institute of Scientific and Technical Information of China (English)

    刘艳科; 申群太

    2012-01-01

    In order to achieve high performance on induction motor control, to solve the parameter perturbations , uncertainties and other issues , the application of a nonlinear controller based on the principle of back-stepping was used, consider the induction motor iron loss in the static model to establish non-linear motor controller. The overall stability of the controller was proved by Lyapunov theory, using the voltage space vector modulation to direct torque control system. Simulation slows that using back-stepping controller enabled direct torque control of induction motors to achieve good tracking results.%为了实现感应电机高性能控制,克服运行过程参数摄动、不确定等问题的影响,应用反推原理设计的非线性控制器,考虑感应电机的铁损.并且通过李雅普诺夫理论证明控制器的整体稳定,采用电压空间矢量调制,应用于直接转矩控制系统.仿真结果表明,采用反推原理设计控制器能够使感应电机直接转矩控制达到很好的跟踪效果,具有推广意义.

  15. 基于反步滑模控制的TCP网络的主动队列管理%Active queue management for TCP networks based on backstepping sliding mode control

    Institute of Scientific and Technical Information of China (English)

    叶成荫

    2012-01-01

    For the problem of congestion control in TCP networks,considered the parameter uncertainties of the networks itself and the disturbance of unresponsive flows, an active queue management algorithm is proposed based on the backstepping sliding mode control. Considered the bound of the lumped uncertainty known and not to be small, a backstepping sliding mode controller is designed to compensate the effects of the system uncertainties. The simulation results verify that the proposed algorithm has good robustness and fast system response for complicated changes in TCP networks.%针对TCP网络的拥塞问题,考虑到网络本身存在参数不确定因素和非响应流的干扰,基于反步滑模控制提出了一种主动队列管理算法.在总的不确定的界已知而且不必很小的情况下,设计了一种反步滑模控制器来补偿系统不确定所带来的影响.仿真结果表明,该方法对TCP网络的复杂变化具有较好的鲁棒性和较快的系统响应.

  16. Laser Scanning in Forests

    Directory of Open Access Journals (Sweden)

    Håkan Olsson

    2012-09-01

    Full Text Available The introduction of Airborne Laser Scanning (ALS to forests has been revolutionary during the last decade. This development was facilitated by combining earlier ranging lidar discoveries [1–5], with experience obtained from full-waveform ranging radar [6,7] to new airborne laser scanning systems which had components such as a GNSS receiver (Global Navigation Satellite System, IMU (Inertial Measurement Unit and a scanning mechanism. Since the first commercial ALS in 1994, new ALS-based forest inventory approaches have been reported feasible for operational activities [8–12]. ALS is currently operationally applied for stand level forest inventories, for example, in Nordic countries. In Finland alone, the adoption of ALS for forest data collection has led to an annual savings of around 20 M€/year, and the work is mainly done by companies instead of governmental organizations. In spite of the long implementation times and there being a limited tradition of making changes in the forest sector, laser scanning was commercially and operationally applied after about only one decade of research. When analyzing high-ranked journal papers from ISI Web of Science, the topic of laser scanning of forests has been the driving force for the whole laser scanning research society over the last decade. Thus, the topic “laser scanning in forests” has provided a significant industrial, societal and scientific impact. [...

  17. Resonant scanning mechanism

    Science.gov (United States)

    Wallace, John; Newman, Mike; Gutierrez, Homero; Hoffman, Charlie; Quakenbush, Tim; Waldeck, Dan; Leone, Christopher; Ostaszewski, Miro

    2014-10-01

    Ball Aerospace & Technologies Corp. developed a Resonant Scanning Mechanism (RSM) capable of combining a 250- Hz resonant scan about one axis with a two-hertz triangular scan about the orthogonal axis. The RSM enables a rapid, high-density scan over a significant field of regard (FOR) while minimizing size, weight, and power requirements. The azimuth scan axis is bearing mounted allowing for 30° of mechanical travel, while the resonant elevation axis is flexure and spring mounted with five degrees of mechanical travel. Pointing-knowledge error during quiescent static pointing at room temperature across the full range is better than 100 μrad RMS per axis. The compact design of the RSM, roughly the size of a soda can, makes it an ideal mechanism for use on low-altitude aircraft and unmanned aerial vehicles. Unique aspects of the opto-mechanical design include i) resonant springs which allow for a high-frequency scan axis with low power consumption; and ii) an independent lower-frequency scan axis allowing for a wide FOR. The pointing control system operates each axis independently and employs i) a position loop for the azimuth axis; and ii) a unique combination of parallel frequency and amplitude control loops for the elevation axis. All control and pointing algorithms are hosted on a 200-MHz microcontroller with 516 KB of RAM on a compact 3"×4" digital controller, also of Ball design.

  18. CT scan of choristoma

    Energy Technology Data Exchange (ETDEWEB)

    Moriki, A.; Morimoto, M.; Sada, Y.; Kurisaka, M.; Mori, K.

    1987-02-01

    Choristoma is a rare tumor that occurs in the pituitary gland. The case presented here is a 44-year-old male. A plain CT scan demonstrated a slight high-density mass near the posterior clinoid of the sella turcica, while a moderate and homogeneous enhancing effect and a clear borderline were shown by an enhanced CT scan. A cornal CT scan study showed that the tumor extended from the intrasellar to the suprasellar region. The diagnosis of choristoma was made by means of histology.

  19. Cervical spine CT scan

    Science.gov (United States)

    ... defects of the cervical spine Bone problems Fracture Osteoarthritis Disc herniation Risks Risks of CT scans include: ... Ma, MD, Assistant Professor, Chief, Sports Medicine and Shoulder Service, UCSF Department of Orthopaedic Surgery, San Francisco, ...

  20. Scanning Auger Electron Microscope

    Data.gov (United States)

    Federal Laboratory Consortium — A JEOL model 7830F field emission source, scanning Auger microscope. Specifications / Capabilities: Ultra-high vacuum (UHV), electron gun range from 0.1 kV to 25 kV,...

  1. Scanning Auger Electron Microscope

    Data.gov (United States)

    Federal Laboratory Consortium — A JEOL model 7830F field emission source, scanning Auger microscope.Specifications / Capabilities:Ultra-high vacuum (UHV), electron gun range from 0.1 kV to 25 kV,...

  2. Shoulder MRI scan

    Science.gov (United States)

    ... finding on an x-ray or bone scan Shoulder pain and fever Decreased motion of the shoulder joint ... of the shoulder joint Shoulder instability Shoulder weakness Shoulder pain and a history of cancer Shoulder pain that ...

  3. Slow Scan Telemedicine

    Science.gov (United States)

    1984-01-01

    Originally developed under contract for NASA by Ball Bros. Research Corporation for acquiring visual information from lunar and planetary spacecraft, system uses standard closed circuit camera connected to a device called a scan converter, which slows the stream of images to match an audio circuit, such as a telephone line. Transmitted to its destination, the image is reconverted by another scan converter and displayed on a monitor. In addition to assist scans, technique allows transmission of x-rays, nuclear scans, ultrasonic imagery, thermograms, electrocardiograms or live views of patient. Also allows conferencing and consultation among medical centers, general practitioners, specialists and disease control centers. Commercialized by Colorado Video, Inc., major employment is in business and industry for teleconferencing, cable TV news, transmission of scientific/engineering data, security, information retrieval, insurance claim adjustment, instructional programs, and remote viewing of advertising layouts, real estate, construction sites or products.

  4. Thyroid Scan and Uptake

    Medline Plus

    Full Text Available ... as an overactive thyroid gland, a condition called hyperthyroidism , cancer or other growths assess the nature of ... an x-ray or CT scan, surgeries or treatments using iodinated contrast material within the last two ...

  5. Photothermal imaging scanning microscopy

    Science.gov (United States)

    Chinn, Diane; Stolz, Christopher J.; Wu, Zhouling; Huber, Robert; Weinzapfel, Carolyn

    2006-07-11

    Photothermal Imaging Scanning Microscopy produces a rapid, thermal-based, non-destructive characterization apparatus. Also, a photothermal characterization method of surface and subsurface features includes micron and nanoscale spatial resolution of meter-sized optical materials.

  6. The conical scan radiometer

    Science.gov (United States)

    Prosch, T.; Hennings, D.

    1982-07-01

    A satellite-borne conical scan radiometer (CSR) is proposed, offering multiangular and multispectral measurements of Earth radiation fields, including the total radiances, which are not available from conventional radiometers. Advantages of the CSR for meteorological studies are discussed. In comparison to conventional cross track scanning instruments, the CSR is unique with respect to the selected picture element size which is kept constant by means of a specially shaped detector matrix at all scan angles. The conical scan mode offers the chance to improve angular sampling. Angular sampling gaps of previous satellite-borne radiometers can be interpolated and complemented by CSR data. Radiances are measured through 10 radiometric channels which are selected to study cloudiness, water vapor, ozone, surface albedo, ground and mean stratospheric temperature, and aerosols.

  7. Thyroid Scan and Uptake

    Medline Plus

    Full Text Available ... Uptake? A thyroid scan is a type of nuclear medicine imaging. The radioactive iodine uptake test (RAIU) ... of thyroid function, but does not involve imaging. Nuclear medicine is a branch of medical imaging that ...

  8. Thyroid Scan and Uptake

    Medline Plus

    Full Text Available ... which are encased in metal and plastic and most often shaped like a box, attached to a ... will I experience during and after the procedure? Most thyroid scan and thyroid uptake procedures are painless. ...

  9. Thyroid Scan and Uptake

    Medline Plus

    Full Text Available ... of page What are some common uses of the procedure? The thyroid scan is used to determine ... you are undergoing. top of page What does the equipment look like? Special camera or imaging devices ...

  10. Scanning laser Doppler vibrometry

    OpenAIRE

    2016-01-01

    With a Scanning Laser Doppler Vibrometer (SLDV) a vibrating surface is automatically scanned over predefined grid points, and data processed for displaying vibration properties like mode shapes, natural frequencies, damping ratios, and operational deflection shapes. Our SLDV – a PSV-500H from Polytec Inc. – was acquired and put to operation in October 2014, paid by a sub-donation of DKK 1,5 mill. of the total VILLUM CASMaT grant. Opening possibilities of measuring complicated vibration shapes...

  11. Advanced Network Scanning

    Directory of Open Access Journals (Sweden)

    Ashiqur Rahman

    2016-07-01

    Full Text Available Network scanning is à procedure for identifying active hosts on a network, either for the purpose of attacking them or for network security assessment. Scanning procedures, such as ping sweeps and port scans, return information about which IP addresses map to live hosts that are active on the Internet and what services they offer. Another scanning method, inverse mapping, returns information about what IP addresses do not map to live hosts; this enables an attacker to make assumptions about viable addresses. Scanning is one of three components of intelligence gathering for an attacker. In the foot printing phase, the attacker creates a profile of the target organization, with information such as its domain name system (DNS and e-mail servers, and its IP address range. Most of this information is available online. In the scanning phase, the attacker finds information about the specific IP addresses that can be accessed over the Internet, their operating systems, the system architecture, and the services running on each computer. In the enumeration phase, the attacker gathers information such as network user and group names, routing tables, and Simple Network Management Protocol (SNMP data

  12. Average mass scan of the total ion chromatograms: a new gas chromatography-mass spectrometry derived variable for fast and reliable multivariate statistical treatment of essential oil compositional data.

    Science.gov (United States)

    Radulović, Niko S; Blagojević, Polina D

    2013-08-02

    Plant volatiles have been repeatedly shown to provide valuable insight into the evolutionary relationships among plant taxa on various taxonomical levels. The number of variables available from GC-MS analyses of these plant metabolites usually represents a large data set. The comparison of such data sets requires the use of multivariate statistical analyses (MSA) but with several serious shortcomings. In order to make multivariate statistical comparison of essential oils more applicable, reliable and faster, this work was set to explore the suitability of a complementary use of relative abundances of m/z values of the average mass scan of the total GC chromatograms instead of the traditionally used variables-percentages (peak areas) of individual oil constituents. To achieve this, essential oils extracted from 12 different Artemisia species were analyzed using GC-FID and GC-MS. Almost 500 different constituents were successfully identified. Average mass scans of the total GC chromatograms (AMS) and chemical compositions (relative percentages) of the analyzed oils were separately compared using two MSA methods: agglomerative hierarchical cluster analysis and principal component analysis. This approach was applied to an additional set of essential oil compositional data (representatives of a number of different genera/families; data from the literature) using both types of variables. The obtained results strongly suggest that MSA of complex volatile mixtures, using the corresponding directly obtainable AMS, could be considered as a promising time saving tool for easy and reliable comparison purposes. The AMS approach gives comparable or even better results than the traditional method - it reflected the natural relationships between observations within both studied groups of oils.

  13. 含齿隙伺服系统的反步自适应模糊滑模控制%Adaptive Fuzzy Sliding Mode Control Based on Backstepping Method for Position Servo System with Backlash

    Institute of Scientific and Technical Information of China (English)

    肖宇强; 陈龙淼

    2016-01-01

    An adaptive fuzzy sliding mode control( AFSMC) based on backstepping method is proposed for a rotary positioning sys ̄tem with parametric variation and nonlinear backlash. Firstly, an approximate dead-zone model in the system is introduced into the system dynamics model with backlash. Then, by selecting the Lyapunov function through the backstepping method, an AFSMC scheme is developed,which is used to compensate the influence of the parametric variation and nonlinear backlash. And a fuzzy log ̄ic inference mechanism is utilized for implementing a hitting control law to avoid the chattering phenomenon in the traditional sliding mode control. Final y, compared with the PID control,simulations show that the AFSMC based on backstepping method is not only used to reduce the gear transmitting torque oscil ation significantly,but also it has higher accuracy and robustness.%针对具有齿隙非线性和参数摄动的某机械传动回转位置伺服系统,提出一种基于反演法的自适应模糊滑模控制策略。首先,在两质量系统中,引入近似死区模型,建立含齿隙的系统动力学模型。然后,通过反演法逐步选择Lyapunov函数,结合滑模控制补偿系统中的参数不确定和齿隙非线性。通过模糊推理机制将不连续切换项线性处理,消除传统滑模控制中的抖振现象。对比试验表明,基于反演法的自适应模糊滑模控制较PID控制更能有效削弱大、小齿轮间传递力矩的波动,并具有更高的位置跟踪精度和对系统参数变化的鲁棒性。

  14. Femtosecond scanning tunneling microscope

    Energy Technology Data Exchange (ETDEWEB)

    Taylor, A.J.; Donati, G.P.; Rodriguez, G.; Gosnell, T.R.; Trugman, S.A.; Some, D.I.

    1998-11-01

    This is the final report of a three-year, Laboratory Directed Research and Development (LDRD) project at the Los Alamos National Laboratory (LANL). By combining scanning tunneling microscopy with ultrafast optical techniques we have developed a novel tool to probe phenomena on atomic time and length scales. We have built and characterized an ultrafast scanning tunneling microscope in terms of temporal resolution, sensitivity and dynamic range. Using a novel photoconductive low-temperature-grown GaAs tip, we have achieved a temporal resolution of 1.5 picoseconds and a spatial resolution of 10 nanometers. This scanning tunneling microscope has both cryogenic and ultra-high vacuum capabilities, enabling the study of a wide range of important scientific problems.

  15. Adaptive Optical Scanning Holography

    Science.gov (United States)

    Tsang, P. W. M.; Poon, Ting-Chung; Liu, J.-P.

    2016-01-01

    Optical Scanning Holography (OSH) is a powerful technique that employs a single-pixel sensor and a row-by-row scanning mechanism to capture the hologram of a wide-view, three-dimensional object. However, the time required to acquire a hologram with OSH is rather lengthy. In this paper, we propose an enhanced framework, which is referred to as Adaptive OSH (AOSH), to shorten the holographic recording process. We have demonstrated that the AOSH method is capable of decreasing the acquisition time by up to an order of magnitude, while preserving the content of the hologram favorably. PMID:26916866

  16. COSMIC: A Regimen of Intensity Modulated Radiation Therapy Plus Dose-Escalated, Raster-Scanned Carbon Ion Boost for Malignant Salivary Gland Tumors: Results of the Prospective Phase 2 Trial

    Energy Technology Data Exchange (ETDEWEB)

    Jensen, Alexandra D., E-mail: alexdjensen@gmx.de [Department of Radiation Oncology, University of Heidelberg, Heidelberg (Germany); Nikoghosyan, Anna V.; Lossner, Karen [Department of Radiation Oncology, University of Heidelberg, Heidelberg (Germany); Haberer, Thomas; Jäkel, Oliver [Heidelberg Ion Beam Therapy Centre, Heidelberg (Germany); Münter, Marc W.; Debus, Jürgen [Department of Radiation Oncology, University of Heidelberg, Heidelberg (Germany)

    2015-09-01

    Purpose: To investigate the effect of intensity modulated radiation therapy (IMRT) and dose-escalated carbon ion (C12) therapy in adenoid cystic carcinoma (ACC) and other malignant salivary gland tumors (MSGTs) of the head and neck. Patients and Methods: COSMIC (combined treatment of malignant salivary gland tumors with intensity modulated radiation therapy and carbon ions) is a prospective phase 2 trial of 24 Gy(RBE) C12 followed by 50 Gy IMRT in patients with pathologically confirmed MSGT. The primary endpoint is mucositis Common Terminology Criteria grade 3; the secondary endpoints are locoregional control (LC), progression-free survival (PFS), overall survival (OS), and toxicity. Toxicity was scored according to the Common Terminology Criteria for Adverse Events version 3; treatment response was scored according to Response Evaluation Criteria in Solid Tumors 1.1. Results: Between July 2010 and August 2011, 54 patients were accrued, and 53 were available for evaluation. The median follow-up time was 42 months; patients with microscopically incomplete resections (R1, n=20), gross residual disease (R2, n=17), and inoperable disease (n=16) were included. Eighty-nine percent of patients had ACC, and 57% had T4 tumors. The most common primary sites were paranasal sinus (34%), submandibular gland, and palate. At the completion of radiation therapy, 26% of patients experienced grade 3 mucositis, and 20 patients reported adverse events of the ear (38%). The most common observed late effects were grade 1 xerostomia (49%), hearing impairment (25%, 2% ipsilateral hearing loss), and adverse events of the eye (20%), but no visual impairment or loss of vision. Grade 1 central nervous system necrosis occurred in 6%, and 1 grade 4 ICA hemorrhage without neurologic sequelae. The best response was 54% (complete response/partial remission). At 3 years, the LC, PFS, and OS were 81.9%, 57.9%, and 78.4%, respectively. No difference was found regarding resection status. The

  17. Applications. SCANS Plans Portfolio.

    Science.gov (United States)

    Sample, Barbara

    This guide assists English-as-a-Second-Language educators in helping students fill out simple application forms. The guide discusses performance outcomes, communications teaching points, SCANS (Secretary's Committee on Achieving Necessary Skills) competencies, classroom configurations, materials, and procedures. Blank forms, suitable for…

  18. Sinus MRI scan

    Science.gov (United States)

    ... A CT scan may be preferred in emergency cases, since it is faster and often available in the emergency room. Note: MRI is not as effective as CT in defining the anatomy of the sinuses, and therefore is not typically used for suspected acute sinusitis.

  19. Scanning bubble chamber pictures

    CERN Multimedia

    1974-01-01

    These were taken at the 2 m hydrogen bubble chamber. The photo shows an early Shiva system where the pre-measurements needed to qualify the event were done manually (cf photo 7408136X). The scanning tables were located in bld. 12. Gilberte Saulmier sits on foreground, Inge Arents at centre.

  20. SCANNING-DLTS

    OpenAIRE

    Breitenstein, O.

    1989-01-01

    Scanning Deep Level Transient Spectroscopy (SDLTS) is a current SEM technique for the detection of the local distribution of deep level centres in semiconductors. The contribution deals with the physical foundations of the SDLTS technique and it discusses the demands on the instrumentation. The measurement practice is described and illustrated by several experimental examples. Finally, the possibilities and limitations of SDLTS are critically reviewed.

  1. Classification of jet fuels by fuzzy rule-building expert systems applied to three-way data by fast gas chromatography--fast scanning quadrupole ion trap mass spectrometry.

    Science.gov (United States)

    Sun, Xiaobo; Zimmermann, Carolyn M; Jackson, Glen P; Bunker, Christopher E; Harrington, Peter B

    2011-01-30

    A fast method that can be used to classify unknown jet fuel types or detect possible property changes in jet fuel physical properties is of paramount interest to national defense and the airline industries. While fast gas chromatography (GC) has been used with conventional mass spectrometry (MS) to study jet fuels, fast GC was combined with fast scanning MS and used to classify jet fuels into lot numbers or origin for the first time by using fuzzy rule-building expert system (FuRES) classifiers. In the process of building classifiers, the data were pretreated with and without wavelet transformation and evaluated with respect to performance. Principal component transformation was used to compress the two-way data images prior to classification. Jet fuel samples were successfully classified with 99.8 ± 0.5% accuracy for both with and without wavelet compression. Ten bootstrapped Latin partitions were used to validate the generalized prediction accuracy. Optimized partial least squares (o-PLS) regression results were used as positively biased references for comparing the FuRES prediction results. The prediction results for the jet fuel samples obtained with these two methods were compared statistically. The projected difference resolution (PDR) method was also used to evaluate the fast GC and fast MS data. Two batches of aliquots of ten new samples were prepared and run independently 4 days apart to evaluate the robustness of the method. The only change in classification parameters was the use of polynomial retention time alignment to correct for drift that occurred during the 4-day span of the two collections. FuRES achieved perfect classifications for four models of uncompressed three-way data. This fast GC/fast MS method furnishes characteristics of high speed, accuracy, and robustness. This mode of measurement may be useful as a monitoring tool to track changes in the chemical composition of fuels that may also lead to property changes.

  2. 飞翼布局无人机反步L2增益纵向着陆鲁棒控制%Backstepping L2 gain robust control of longitudinal landing of flying-wing UAV

    Institute of Scientific and Technical Information of China (English)

    谭健; 周洲; 祝小平; 许晓平

    2016-01-01

    For the longitudinal landing control problem of flying⁃wing UAV with unknown external disturbances, a backstepping L2 gain robust control scheme based on super twisting sliding mode disturbance observer and tracking differentiator is proposed. The tracking differentiator is introduced to calculate the derivative of virtual control law which is very difficult to evaluate with the traditional backstepping control. Super twisting sliding mode disturbance observer and L2 gain robust item are designed to increase the robustness of the control system. Simulation results show:the altitude and airspeed of UAV are tracked on control command, vertical ground speed is within the allowable range. Compared with traditional PID control scheme, the proposed control scheme has better automatical landing control performance.%针对存在干扰的飞翼布局无人机纵向着陆控制问题,提出一种基于super twisting滑模干扰观测器与跟踪微分器的反步L2增益鲁棒控制方案。为解决反步控制虚拟控制量求导复杂的问题,设计了跟踪微分器对虚拟控制量进行求导,同时综合采用super twisting滑模干扰观测器和L2增益鲁棒项增强了控制系统的鲁棒性。仿真结果表明,无人机高度、空速都跟踪上控制指令,垂直接地速度在允许的范围内,与传统的PID着陆控制方案相比具有更好的着陆控制性能。

  3. Robust backstepping control based on disturbance observer for hypersonic vehicle%基于干扰观测器的高超音速飞行器鲁棒反步控制

    Institute of Scientific and Technical Information of China (English)

    王首斌; 王新民; 谢蓉; 姚从潮

    2013-01-01

    To solve the control problem of a general hypersonic vehicle which is a strict-feedback nonlinear uncertain MIMO system, a robust backstepping control strategy based on the disturbance observer is proposed. The super-twisting algorithm is used to estimate and compensate for disturbances. The finite time convergence is guaranteed. A nonlinear backstepping control law is designed. Robust items are designed to make the whole control system has the L2 gain which is less than or equal to the prescribed positive const. Theoretical analysis is done to validate that the system can satisfy dissipative inequality and is uniformly ultimately bounded. The simulation results show that the developed method is effective and deals with the problem of uncertain factors preferably.%针对高超音速飞行器严格反馈不确定非线性MIMO系统,提出一种基于干扰观测器的鲁棒反步控制方法。该方法采用超扭曲算法设计干扰观测器以估计系统复合干扰,观测误差有限时间收敛。设计非线性反步控制律,引入鲁棒项使得系统满足干扰到性能输出的L2增益不超过设定的正实数,满足耗散不等式,使闭环系统跟踪误差一致最终有界稳定。仿真结果表明,所设计的控制律可以有效抑制系统复合干扰的影响,设计方法可行。

  4. Backstepping adaptive sliding mode control for unmanned surface vessel course tracking with water-jet-propelled%喷水推进型无人艇航向跟踪的反步自适应滑模控制

    Institute of Scientific and Technical Information of China (English)

    廖煜雷; 庞永杰; 庄佳园

    2012-01-01

    This paper presented a method of Backstepping adaptive sliding mode control for the course tracking nonlinear system of the unmanned hydroplane with single water-jet-propelled. The autopilot system consisted of the nonlinear ship response model and the rudder actuator dynamics. The motion response model took account of the modeling errors and external disturbances. It transformed the original system into a nonlinear system based on global diffeomorphism change of coordinate. And propsed an adaptive sliding mode control law based on sliding mode control theory and Backstepping method. By means of Lya-punov function, it proved that the proposed control law could render the course tracking system globally asymptotically stable. Simulations results illustrate the effectiveness of the proposed method.%针对单泵喷水推进型无人滑行艇的航向跟踪非线性系统,提出了一种反步自适应滑模控制方法.该系统由无人艇运动非线性响应模型和舵机伺服系统组成,并考虑运动响应模型的建模误差、外界干扰力等非匹配不确定性,利用全局微分同胚坐标变换将原系统变换为具有下三角特征的非线性系统.基于Backstepping方法和滑模控制理论,提出了一种自适应滑模控制律;利用Lyapunov函数,证明该控制律保证了航向跟踪系统的全局渐近稳定性.仿真对比结果验证了所提出控制器的有效性.

  5. 基于反演滑模控制的导弹制导控制一体化设计%Integrated design of missile guidance and control based on back-stepping and sliding mode control

    Institute of Scientific and Technical Information of China (English)

    齐辉; 张泽; 韩鹏鑫; 许江涛; 张德伟

    2016-01-01

    Aiming at the defects that the traditional design for guidance and control is separated when inter-cepting high-speed maneuvering targets,an integrated algorithm for missile guidance and control based on back-stepping and sliding is presented.Firstly,the integrated mode of guidance and control is established based on the differential geometry theory.Then,according to the principle of parallel approach,an integrated algorithm of guidance and control is proposed by using the method of back-stepping and the sliding mode control (SMC) technique.Finally,system stability has been proved based on the Lyapunov theory.The simulation results demonstrate that the design for the integrated method of guidance and control can overcome the interference of unmodeled dynamics uncertainty and target maneuver,which has strong robustness.%针对传统制导和控制分开设计在拦截高速机动目标时的不足,给出了一种反演滑模一体化制导控制算法。首先利用微分几何理论,建立了一体化制导控制模型;然后根据平行接近原理,基于滑模控制和反演法,设计了一种反演滑模控制的导弹制导控制一体化算法;最后基于 Lyapunov 理论证明了系统的稳定性。数值仿真结果表明,所给出的一体化制导控制方法能够克服未建模的不确定性和目标机动干扰,具有较强的鲁棒性。

  6. Backstepping adaptive dynamical sliding mode control method for path following of underactuated surface vessel%欠驱动船路径跟踪的反演自适应动态滑模控制方法

    Institute of Scientific and Technical Information of China (English)

    廖煜雷; 万磊; 庄佳园

    2012-01-01

    针对欠驱动水面船的路径跟踪控制系统,提出一种反演自适应动态滑模控制方法.该系统由船舶艏摇非线性响应模型和Serret-Frenet误差动力学方程组成,并考虑建模误差和外界干扰力等不确定性.经过简化处理,将原欠驱动系统的控制问题转化为非线性系统的镇定问题.同时,基于反步方法和动态滑模控制理论,设计自适应动态滑模控制器.通过理论分析,证明在该控制器作用下,路径跟踪控制系统是全局渐近稳定的.仿真试验表明:该控制器对系统参数摄动和外界干扰不敏感,具有强鲁棒性和自适应性.%A method of backstepping adaptive dynamical sliding mode control (DSMC) was addressed for the path following control system of the underactuated surface vessel. The system consists of the nonlinear ship response model and the Serret-Frenet error dynamics equations. The control system takes account of the modeling errors and external disturbances. It transformed the original underactuated system into a nonlinear system via simplified analysis. An adaptive dynamical sliding mode controller was proposed based on backstepping method and dynamical sliding mode control theory. By means of theory analysis, it was proven that the proposed controller can render the path following control system globally asymptotically stable. Simulation results show that the controller is robust and adaptive to the systemic variations or disturbances.

  7. 基于自适应反步滑模控制的主动队列管理%Active Queue Management Based on Adaptive Backstepping Sliding Mode Control

    Institute of Scientific and Technical Information of China (English)

    叶成荫

    2012-01-01

    针对TCP网络的拥塞控制问题,基于自适应反步滑模控制提出了一种主动队列管理算法.由于系统的不确定在实际工程中很难或根本无法事先获得,设计一个自适应律来实时适应系统不确定的值,从而消除系统不确定所带来的影响.利用此自适应律,提出一个自适应反步滑模控制器,使得系统具有较好的暂态性能和鲁棒性能.仿真结果表明,该方法对TCP网络的复杂变化具有较好的鲁棒性和较快的系统响应.%For the problem of congestion control in TCP networks,an active queue management algorithm is proposed based on the adaptive backstepping sliding mode control. Since the lumped uncertainties of the network systems is difficult to obtain in advance in practical applications, an adaptive law is proposed to compensate the effects of the system uncertainties. Using the proposed adaptive law, an adaptive backstepping sliding mode controller is proposed to make systems possesses the advantages of good transient control and robust performance. Simulation results verifies that the proposed algorithm has good robustness and fast system response for complicated changes in TCP networks.

  8. Ion-Ion Neutralization.

    Science.gov (United States)

    1980-12-31

    plasma were identified using a downstream quadrupole mass spectrometer. In these experimento it is a simple matter to establish H+(H 2 0):f as the...pressure as predicted by the Thomson t2rnary mechanism whicK hzr been suownr to be valid experimentally at hiTh rrsurs (,han and Peron, 1:EI4 hereafter t...of NO , NO2 ions in various gases and the ternary recombination coefficients of these ions in the higher pres:;ure ( Thomson ) re"ie. Equation (5) cr>n

  9. Scanning Quantum Decoherence Microscopy

    OpenAIRE

    2008-01-01

    The use of qubits as sensitive magnetometers has been studied theoretically and recent demonstrated experimentally. In this paper we propose a generalisation of this concept, where a scanning two-state quantum system is used to probe the subtle effects of decoherence (as well as its surrounding electromagnetic environment). Mapping both the Hamiltonian and decoherence properties of a qubit simultaneously, provides a unique image of the magnetic (or electric) field properties at the nanoscale....

  10. Forensic Scanning Electron Microscope

    Science.gov (United States)

    Keeley, R. H.

    1983-03-01

    The scanning electron microscope equipped with an x-ray spectrometer is a versatile instrument which has many uses in the investigation of crime and preparation of scientific evidence for the courts. Major applications include microscopy and analysis of very small fragments of paint, glass and other materials which may link an individual with a scene of crime, identification of firearms residues and examination of questioned documents. Although simultaneous observation and chemical analysis of the sample is the most important feature of the instrument, other modes of operation such as cathodoluminescence spectrometry, backscattered electron imaging and direct x-ray excitation are also exploited. Marks on two bullets or cartridge cases can be compared directly by sequential scanning with a single beam or electronic linkage of two instruments. Particles of primer residue deposited on the skin and clothing when a gun is fired can be collected on adhesive tape and identified by their morphology and elemental composition. It is also possible to differentiate between the primer residues of different types of ammunition. Bullets may be identified from the small fragments left behind as they pass through the body tissues. In the examination of questioned documents the scanning electron microscope is used to establish the order in which two intersecting ink lines were written and to detect traces of chemical markers added to the security inks on official documents.

  11. Scanning ultrafast electron microscopy.

    Science.gov (United States)

    Yang, Ding-Shyue; Mohammed, Omar F; Zewail, Ahmed H

    2010-08-24

    Progress has been made in the development of four-dimensional ultrafast electron microscopy, which enables space-time imaging of structural dynamics in the condensed phase. In ultrafast electron microscopy, the electrons are accelerated, typically to 200 keV, and the microscope operates in the transmission mode. Here, we report the development of scanning ultrafast electron microscopy using a field-emission-source configuration. Scanning of pulses is made in the single-electron mode, for which the pulse contains at most one or a few electrons, thus achieving imaging without the space-charge effect between electrons, and still in ten(s) of seconds. For imaging, the secondary electrons from surface structures are detected, as demonstrated here for material surfaces and biological specimens. By recording backscattered electrons, diffraction patterns from single crystals were also obtained. Scanning pulsed-electron microscopy with the acquired spatiotemporal resolutions, and its efficient heat-dissipation feature, is now poised to provide in situ 4D imaging and with environmental capability.

  12. Further progress for a fast scanning of nuclear emulsions with Large Angle Scanning System

    Science.gov (United States)

    Alexandrov, A.; Tioukov, V.; Vladymyrov, M.

    2014-02-01

    The LASSO (Large Angle Scanning System for OPERA) is a scanning system designed in the framework of the OPERA experiment as a result of several R&Ds aimed to improve the performance of the European Scanning System (ESS) by increasing the scanning speed, the angular acceptance and the efficiency in microtrack reconstruction. The novel Continuous Motion (CM) scanning approach allows to double the ESS nominal speed without any changes in the hardware set-up. The LASSO modular design makes the system easily adaptable to new hardware. The novel microtrack reconstruction algorithm has been developed to be efficient in both standard Stop&Go (SG) and CM modes, performing a number of corrections during the processing like corrections for vibrations, optical distortions, field of view curvature. As an intermediate step it reconstructs silver grains positions inside emulsion layer to make a transition from 2D images to real 3D traces of a charged particle. This allows the algorithm to have no internal limits on the slope of microtracks being equally efficient on all angles. The LASSO has been used for about one year for mass production scanning of emulsion films of OPERA, Muon Radiography and also of films employed to study nuclear fragmentation of ion beams used in medical physics. More than 50000 cm2 of the emulsion surface have been analyzed during this period.

  13. Surface micromachined scanning mirrors

    DEFF Research Database (Denmark)

    Mattsson, Kent Erik

    1992-01-01

    Both aluminum cantilever and torsional scanning mirrors have been fabricated and their static and dynamic properties are studied experimentally and theoretically. The experiments showed resonance frequencies in the range of 163 k-Hz - 632 kHz for cantilever beams with Q values between 5 and 11....... Torsional mirrors showed resonance frequencies in the range of 410 kHz - 667 kHz with Q values of 10 - 17. All measurements performed at atmospheric pressure. Both types of mechanical structures were deflected electrostatically at large angles (± 5°) more than 1011 times without breaking and without any...

  14. Ultrafast scanning tunneling microscopy

    Energy Technology Data Exchange (ETDEWEB)

    Botkin, D.A. [California Univ., Berkeley, CA (United States). Dept. of Physics]|[Lawrence Berkeley Lab., CA (United States)

    1995-09-01

    I have developed an ultrafast scanning tunneling microscope (USTM) based on uniting stroboscopic methods of ultrafast optics and scanned probe microscopy to obtain nanometer spatial resolution and sub-picosecond temporal resolution. USTM increases the achievable time resolution of a STM by more than 6 orders of magnitude; this should enable exploration of mesoscopic and nanometer size systems on time scales corresponding to the period or decay of fundamental excitations. USTM consists of a photoconductive switch with subpicosecond response time in series with the tip of a STM. An optical pulse from a modelocked laser activates the switch to create a gate for the tunneling current, while a second laser pulse on the sample initiates a dynamic process which affects the tunneling current. By sending a large sequence of identical pulse pairs and measuring the average tunnel current as a function of the relative time delay between the pulses in each pair, one can map the time evolution of the surface process. USTM was used to measure the broadband response of the STM`s atomic size tunnel barrier in frequencies from tens to hundreds of GHz. The USTM signal amplitude decays linearly with the tunnel junction conductance, so the spatial resolution of the time-resolved signal is comparable to that of a conventional STM. Geometrical capacitance of the junction does not appear to play an important role in the measurement, but a capacitive effect intimately related to tunneling contributes to the measured signals and may limit the ultimate resolution of the USTM.

  15. Bone Densitometry (Bone Density Scan)

    Science.gov (United States)

    ... News Physician Resources Professions Site Index A-Z Bone Densitometry (DEXA) Bone densitometry, also called dual-energy ... limitations of DEXA Bone Densitometry? What is a Bone Density Scan (DEXA)? Bone density scanning, also called ...

  16. Scanned-cantilever atomic force microscope with large scanning range

    Institute of Scientific and Technical Information of China (English)

    Jintao Yang; Wendong Xu

    2006-01-01

    A scanned-cantilever atomic force microscope (AFM) with large scanning range is proposed, which adopts a new design named laser spot tracking. The scanned-cantilever AFM uses the separate flexure x-y scanner and z scanner instead of the conventional piezoelectric tube scanner. The closed-loop control and integrated capacitive sensors of these scanners can insure that the images of samples have excellent linearity and stability. According to the experimental results, the scanned-cantilever AFM can realize maximal 100 × 100 (μm) scanning range, and 1-nm resolution in z direction, which can meet the requirements of large scale sample testing.

  17. Resonance methods in quadrupole ion traps

    Science.gov (United States)

    Snyder, Dalton T.; Peng, Wen-Ping; Cooks, R. Graham

    2017-01-01

    The quadrupole ion trap is widely used in the chemical physics community for making measurements on dynamical systems, both intramolecular (e.g. ion fragmentation reactions) and intermolecular (e.g. ion/molecule reactions). In this review, we discuss linear and nonlinear resonances in quadrupole ion traps, an understanding of which is critical for operation of these devices and interpretation of the data which they provide. The effect of quadrupole field nonlinearity is addressed, with important implications for promoting fragmentation and achieving unique methods of mass scanning. Methods that depend on ion resonances (i.e. matching an external perturbation with an ion's induced frequency of motion) are discussed, including ion isolation, ion activation, and ion ejection.

  18. A Scanning Cavity Microscope

    CERN Document Server

    Mader, Matthias; Hänsch, Theodor W; Hunger, David

    2014-01-01

    Imaging of the optical properties of individual nanosystems beyond fluorescence can provide a wealth of information. However, the minute signals for absorption and dispersion are challenging to observe, and only specialized techniques requiring sophisticated noise rejection are available. Here we use signal enhancement in a scanning optical microcavity to demonstrate ultra-sensitive imaging. Harnessing multiple interactions of probe light with a sample within an optical resonator, we achieve a 1700-fold signal enhancement compared to diffraction-limited microscopy. We demonstrate quantitative imaging of the extinction cross section of gold nanoparticles with a sensitivity below 1 nm2, we show a method to improve spatial resolution potentially below the diffraction limit by using higher order cavity modes, and we present measurements of the birefringence and extinction contrast of gold nanorods. The demonstrated simultaneous enhancement of absorptive and dispersive signals promises intriguing potential for opt...

  19. Automatic Ultrasound Scanning

    DEFF Research Database (Denmark)

    Moshavegh, Ramin

    Medical ultrasound has been a widely used imaging modality in healthcare platforms for examination, diagnostic purposes, and for real-time guidance during surgery. However, despite the recent advances, medical ultrasound remains the most operator-dependent imaging modality, as it heavily relies...... on the user adjustments on the scanner interface to optimize the scan settings. This explains the huge interest in the subject of this PhD project entitled “AUTOMATIC ULTRASOUND SCANNING”. The key goals of the project have been to develop automated techniques to minimize the unnecessary settings...... on the scanners, and to improve the computer-aided diagnosis (CAD) in ultrasound by introducing new quantitative measures. Thus, four major issues concerning automation of the medical ultrasound are addressed in this PhD project. They touch upon gain adjustments in ultrasound, automatic synthetic aperture image...

  20. Micro scanning probes

    CERN Document Server

    Niblock, T

    2001-01-01

    This thesis covers the design methodology, theory, modelling, fabrication and evaluation of a Micro-Scanning-Probe. The device is a thermally actuated bimorph quadrapod fabricated using Micro Electro Mechanical Systems technology. A quadrapod is a structure with four arms, in this case a planar structure with the four arms forming a cross which is dry etched out of a silicon diaphragm. Each arm has a layer of aluminium deposited on it forming a bimorph. Through heating each arm actuation is achieved in the plane of the quadrapod and the direction normal to it. Fabrication of the device has required the development of bulk micromachining techniques to handle post CMOS fabricated wafers and the patterning of thickly sputtered aluminium in bulk micro machined cavities. CMOS fabrication techniques were used to incorporate diodes onto the quadrapod arms for temperature measurement of the arms. Fine tungsten and silicon tips have also been fabricated to allow tunnelling between the tip and the platform at the centr...

  1. State-reconstruction-based robust backstepping control of air-breathing hypersonic vehicles%基于状态重构的吸气式高超声速飞行器鲁棒反演控制

    Institute of Scientific and Technical Information of China (English)

    卜祥伟; 吴晓燕; 马震; 张蕊

    2015-01-01

    A robust backstepping controller was designed based on state reconstruction for flexible air⁃breathing hypersonic ve⁃hicles considering that only the velocity,altitude and pitch rate were observable. Firstly,the controlled plant was rewritten as a strict feedback form,and the actual control laws and virtual control laws were designed based on dynamic inversion and backstepping re⁃spectively. Secondly,arctangent tracking differentiator was introduced to estimate the derivatives of virtual control laws and recon⁃struct the states of flight⁃path angle and angle of attack.Finally,in order to guarantee the backstepping controller'robustness,a new nonlinear disturbance observer was designed based on nonlinear⁃linear tracking differentiator to estimate and compensate uncertain⁃ties of the model precisely.Simulation results show that a high precise state construction can be obtained by the proposed strategy and the presented control methodology can provide a stable altitude and velocity tracking,and eliminate the influence of the uncer⁃tainties of the model.%针对吸气式高超声速飞行器参数不确定弹性体模型,仅考虑速度、高度和俯仰角速度可测的情况,提出了一种基于状态重构的鲁棒反演控制器设计方法。首先,将被控对象模型表示为严格反馈形式,分别采用动态逆和反演设计实际控制律和虚拟控制律;其次,引入反正切跟踪微分器来简化虚拟控制律求导运算,并用于对弹道角和攻角进行状态重构;最后,为了保证反演控制器的鲁棒性,基于非线性⁃线性跟踪微分器,设计了一种新型非线性干扰观测器,可实现对模型不确定项的精确估计和补偿。仿真结果表明,所提策略取得了较高的状态重构精度,控制器能够克服模型不确定项的影响,且能保证速度和高度对参考输入的稳定跟踪。

  2. Immersion and invariance adaptive backstepping attitude tracking of micro-spacecraft%小型航天器浸入与不变自适应反步姿态跟踪

    Institute of Scientific and Technical Information of China (English)

    张超; 张胜修; 蔡光斌; 侯明哲

    2014-01-01

    针对具有惯性张量不确定性、外干扰及饱和限制的小型航天器非线性姿态跟踪问题,将反步法和系统浸入与流形不变理论相结合,提出了分块自适应约束控制结构。航天器姿态模型由修正罗德里格参数进行全局非奇异描述。在设计反步控制器时,引入指令滤波器和修正跟踪误差信号以施加系统状态和执行器的饱和限制,同时较容易地获得虚拟控制导数。为提高反步控制器的鲁棒性和性能,利用基于不变流形的非线性观测器对时变的系统“总干扰”进行在线估计补偿。由于不变流形方法使得估计误差具有指定的一致稳定动态,因而该分块自适应控制器比传统的自适应反步控制器更容易调节,且性能不受未知的估计律动态的影响。李亚普诺夫直接方法证明了估计误差有界性和闭环系统输入状态稳定。数值仿真表明,与传统方法相比,所提出的控制器结构具有更高的姿态跟踪性能和干扰估计精度。%A modular adaptive controller is proposed for the nonlinear attitude tracking of micro-spacecraft in the presence of uncertain inertial tensor, external disturbances and saturation constraints, which combines the theory of system immersion and manifold invariance ( I&I ) and constrained backstepping. Firstly, the spacecraft attitude is globally represented by modified Rodrigues parameters. Then the backstepping controller is derived to implement any operating constraints and obtain the derivatives of virtual control easily by introducing command filters and modified tracking errors. To improve the robustness of baseline controller, the nonlinear estimator is constructed based on I&I to estimate and compensate the time-varying total disturbances on line. Because the I&I approach allows for prescribed uniformly stable dynamics to be assigned to the estimation error, the resulting modular adaptive controller is easier to tune

  3. Nanochannel alignment analysis by scanning transmission ion microscopy

    DEFF Research Database (Denmark)

    Rajta, I.; Gál, G.A.B.; Szilasi, S.Z.;

    2010-01-01

    thickness, had pore diameters of ∼ 215nm and spacing of ∼ 450nm. When the proton beam size was limited to a single domain, a peak transmission ratio of 19% was observed as is expected from the geometry (∼19-20%). This result points out an almost perfectly parallel alignment of the capillaries within one...

  4. A Back-Stepping Sliding Mode Control Strategy for Single-Phase Photovoltaic Grid-Connected Inverter%单相光伏并网逆变器的反步滑模控制策略

    Institute of Scientific and Technical Information of China (English)

    游国栋; 李继生; 侯勇; 赵春东

    2015-01-01

    Since the photovoltaic (PV) grid-connected inverter system is easy to be affected by such factors as external interference and the uncertainty of its system parameters, taking the output voltage of filter capacitor and its derivative as state variables and integrating the back-stepping method with sliding mode control, a back-stepping sliding mode control based control strategy for PV grid-connected inverter is proposed, and the feedback control law for the inverter under parameter uncertainty and external interference is derived. To achieve the global maximum power point (MPP) of PV array, an improved particle swarm optimization (PSO) algorithm based maximum power point tracking (MPPT) method is put forward, and the duty ratio is divided into two parts for the initialization, thus a linear relation between the operational power of PV array and the duty ratio is established. The effectiveness of the proposed control strategy is validated by both results of simulation and experiments.%为了克服光伏并网逆变系统受外界干扰和系统参数的不确定性等多种因素的干扰,以逆变器的输出滤波电容电压及其导数为状态变量,将反步法和滑模控制相结合,提出了基于反步滑模控制的光伏并网逆变器控制策略。推导了具有参数不确定和外界干扰情况下的逆变器的反馈控制律。为了获取光伏阵列的全局最大功率点(maximum power point, MPP),提出了一种基于改进粒子群优化算法(particle swarm optimization,PSO)的最大功率点跟踪(maximum power point tracking,MPPT)方法,将占空比分为两部分进行初始化,建立了光伏阵列运行功率与占空比之间的线性关系。仿真和试验结果验证了所提控制策略的有效性。

  5. 基于路径规划和反推技术挠性航天器姿态控制%Attitude control of flexible spacecraft based on path planning and backstepping technique

    Institute of Scientific and Technical Information of China (English)

    赖爱芳; 郭毓; 周端; 魏国平

    2011-01-01

    In order to suppress appendages' vibration of a flexible spacecraft during attitude maneuver, an adaptive attitude control scheme was proposed based on path planning and backstepping technique. The maneuver path was planned to solve the conflict between swiftness and overshoot in traditional control as well as to suppress the vibration of flexible appendages. For flexible spacecraft dynamics and kinematics constituting a nonlinear cascaded system with uncertainties, an adaptive attitude controller was designed based on backstepping technique, in which only the output information was utilized. And the global uniform ultimate bounded stability of the system has been proved. For the system subject to inertia parameter uncertainties and bounded disturbances, the proposed controller in this paper can not only suppress the flexible appendages' vibration, but also realize fast maneuver and fast stability of spacecraft attitude. Simulation results show the effectiveness of the proposed adaptive controller.%为抑制航天器姿态机动过程中挠性附件的振动,提出了一种基于路径规划和反推技术的姿态自适应控制方案.对航天器姿态机动路径进行规划,以缓解传统控制中快速性和超调量之间的矛盾,并减小姿态机动引起的挠性附件振动.针对航天器姿态动力学和运动学构成的具有不确定性的非线性串级系统,基于反推技术设计了一种仅利用输出信息的自适应控制器,并证明了系统全局一致最终有界稳定.在系统具有惯量参数不确定及有界干扰力矩的情况下,设计的控制器能快速抑制挠性附件的振动,实现航天器姿态的快速机动和快速稳定.仿真结果验证了该挠性航天器自适应姿态控制算法的有效性.

  6. 吸气式高超声速飞行器纵向运动反演控制器设计%Design of Backstepping Controller for Longitudinal Motion of an Air-Breathing Hypersonic Vehicle

    Institute of Scientific and Technical Information of China (English)

    时建明; 王洁; 王琨; 邵雷

    2013-01-01

    针对气动/推进/结构耦合的吸气式高超声速飞行器纵向平面飞行控制问题,提出了基于反演的鲁棒控制器设计方法.利用曲线拟合模型将控制系统表示为反馈形式,采用反演方法设计虚拟和实际控制器,并引入鲁棒微分器估计虚拟控制量的导数,解决了虚拟控制量求导运算复杂的问题.为增强控制器应对不确定项的鲁棒性,设计了超扭曲滑模干扰观测器,实现了对系统模型不确定项的估计和补偿.对吸气式高超声速飞行器一体化原理模型的速度和高度指令跟踪仿真表明,该控制器对拟合误差和外加干扰等系统不确定项具有鲁棒性,系统状态量能够在指令跟踪过程中趋于平衡状态,从而验证了所提方案的有效性.%A robust controller based on backstepping design procedure is proposed for an air-breathing hypersonic vehicle with aerodynamic, propulsion and structural couplings. Expressing the control system as strict feedback form via the curve-fitted model, virtual and actual controllers are constructed for the velocity and altitude subsystems. To omit analytic calculation of the virtual control law derivatives, which is very difficult to evaluate in the traditional backstepping control, robust differentiators are introduced. Super-twisting sliding mode disturbance observers are designed to compensate uncertainties in the system dynamics. Trajectory tracking simulation performed on the first principle model of the vehicle's longitudinal dynamics shows that the designed controllers are robust to model fitting errors and outside disturbances, and the system states reach trimmed condition asymptotically.

  7. Backstepping high order sliding mode control for brushless DC motor speed servo control system%无刷直流电机转速伺服系统反步高阶滑模控制

    Institute of Scientific and Technical Information of China (English)

    张庆超; 马瑞卿

    2016-01-01

    针对无刷直流电机转速伺服系统高性能非线性鲁棒控制,提出一种新型的多滑模反步高阶滑模非线性控制方法。在控制律设计的每一步都引入二阶滑模Super-Twisting算法,无需计算变量导数,消除了滑模抖振,并在第1级子系统虚拟控制律设计中提出一种改进的二阶滑模Super-Twisting算法。与传统双闭环PI控制相比,能够令系统的动静态性能更好,转矩脉动更小,鲁棒性更强;与标准Super-Twisting算法相比,进一步提高了系统对阶跃负载扰动的抑制能力。最后通过仿真分析表明了所提出方法的有效性。%For higher performance speed servo robustness control of brushless DC motor(BLDCM), a novel multiple sliding mode backstepping high order sliding mode nonlinear control approach is proposed. The second order sliding mode Super-Twisting algorithm(STA) ,which needs no derivative of any variables and eliminates the sliding mode chattering, is used in each step design of the whole backstepping control law. And a self-adaption STA(SSTA) is proposed and used in the virtual control law of the first level subsystem. Compared with the traditional dual closed loop PI control, the proposed method makes the system have higher dynamic and static performance, smaller torque ripple and stronger robustness. Compared with the traditional STA, the proposed SSTA can futher improve the system’s robustness for the step load disturbance. Finally, simulation analysis shows the effectiveness of the proposed method.

  8. Adaptive Backstepping Control of Resonant Frequency Based on DRFNN%基于动态递归模糊神经网络的共振频率自适应反推控制

    Institute of Scientific and Technical Information of China (English)

    张平均; 蒋新华

    2011-01-01

    For the non-linear and parameter uncertainties of the resonant frequency controlling system of resonant machine, the adaptive back-stepping control method combined with the dynamic recurrent fuzzy neural network (DRFNN) is studied.A mathematic model of the resonant frequency controlling system is presented firstly, and the control law is designed based on adaptive back-stepping method with regardless of the parameter uncertainties.Next, the parameter uncertainties of the electro-hydraulic proportional system which affect the frequency controlling performance are defined as items to be estimated using DRFNN, the parameter adjustment law is given based on DRFNN method, and the convergence of output tracking is proved through Lyapunov function.Finally, the results from simulated experiment and test on vehicle show that this method has a better resonant frequency controlling performance for the parameter uncertainties and the load disturbance.%针对共振破碎机频率控制系统的非线性和参数不确定性问题,提出基于动态递归模糊神经网络的自适应反推控制策略.建立了破碎机频率控制系统的数学模型,在忽略不确定性项的前提下,设计了基于自适应反推方法控制律.其次将电液比例系统中影响频率控制性能的不确定性因素定义为待估计项,采用动态递归模糊神经网络对其进行估计,给出了基于动态递归模糊神经网络的参数自适应律,并通过Lyapunov方法证明了输出跟踪的收敛性.仿真实验和车载测试结果表明,对于参数的不确定性和负载扰动,该方法具有较好的频率控制性能.

  9. Backstepping adaptive high maneuvers flight control based on neural network%基于神经网络的反步自适应大机动飞行控制

    Institute of Scientific and Technical Information of China (English)

    孙勇; 章卫国; 章萌

    2011-01-01

    针对飞机大机动飞行时模型非线性和参数不确定性的特点,提出了一种基于全调节神经网络的反步自适应控制方法.飞机模型不确定部分由全调节径向基函数(radical basis function,RBF)神经网络在线补偿,控制律及神经网络参数自适应律由反步法回馈递推得到,并利用一种自适应参数策略的混沌粒子群算法优化控制嚣固定参数,改善动态性能,最后通过加权伪逆控制分配方法得到最终控制信号.仿真结果表明:在较大的模型气动参数不确定及控制增益矩阵未知时,所设计的控制律仍能理想地跟踪飞机大机动指令飞行,神经网络参数估计误差指数收敛到有界紧集,系统具有快速的收敛性和良好的鲁棒性.%A backstepping adaptive control method based on fulIy tuned neural network is proposed in the presence of model nonlinearity and parameters uncertainty for high maneuvers flight. Parameter uncertainties are compensated for online by the fully tuned radical basis function (RBF) neural network. The control law and the adaptive law of neural network are recursively achieved through a backstepping method. The fixed parameters optimization is done using a chaotic particle swarm optimization algorithm with adaptive parameter strategy for achieving a good transient performance. The final control surface deflections are derived by a weighted pseudoinverse control allocation method. Simulation results show that precise high maneuvers can be performed with fast convergence and good robustness properties in spite of large aerodynamic parameters uncertainty and unknown control gain matrix Moreover, the estimation errors of neural networks' parameters are remained in compact sets.

  10. 基于反步法的主从航天器相对姿态控制%Backstepping-based relative-attitude control for the leader-follower spacecrafts

    Institute of Scientific and Technical Information of China (English)

    马广富; 张海博; 胡庆雷

    2012-01-01

    An attitude-control scheme based on the backstepping technique is developed for controlling the relative attitude between the leader spacecraft and the follower spacecraft, and the adaptive control law is applied to deal with the uncertainties in the follower spacecraft attitude system. According to the current relative positions between the leader and the follower, this scheme determines the required attitude of the follower to align its observation axis to the leader, and the required attitude of the follower to track the orbital coordinates of the leader. With the above-obtained results, an adaptive backstepping attitude controller is synthesized for the follower with unknown inertia matrix, based on the follower attitude-error dynamic model represented by modified Rodrigues parameters (MRP). Lyapunov stability analysis shows that the developed controller ensures the relative-attitude control system for globally asymptotical stability. Simulation results of the application to a spacecraft formation flying show the effectiveness and feasibility of the designed controller.%对主从航天器的相对姿态控制问题,考虑从航天器系统不确定因素,提出了一种基于反步法的姿态控制方法,并引入自适应控制律.该方法首先根据主从航天器的相对位置信息,解算出从航天器观测轴指向主航天器以及从航天器跟踪主航天器轨道坐标系等两种任务的期望姿态;然后基于修正罗德里格参数(MI(P)描述的从航天器姿态误差动力学模型设计了姿态控制器以及针对航天器惯量的不确定性设计了自适应控制律;并基于Lyapunov方法从理论上证明了该方法能够实现全局渐近稳定的相对姿态控制.最后将该方法应用于某编队飞行任务,仿真结果表明此控制器能够实现其编队飞行控制,具有良好的控制性能.

  11. 磁悬浮球系统的自适应反演滑模控制%Adaptive back-stepping sliding mode control of magnetic levitation ball system

    Institute of Scientific and Technical Information of China (English)

    郑建英; 于占东

    2016-01-01

    磁悬浮球系统是一种典型的开环不稳定系统,为了实现磁悬浮球系统的精确控制,而且使系统更具有实际意义,设计了一种自适应反演滑模控制器。在实际控制系统中,不确定性及外加干扰是未知的,本文基于实际应用,利用该系统的线性化模型,来设计此控制器。实验结果表明:所设计的自适应反演滑模控制器与普通滑模控制器相比,能减小系统的抖振,能较好的实现小球的稳定悬浮并具有良好的动态跟踪性能,与自适应滑模控制器相比,能更好的在实践中应用。%Magnetic levitation ball system is a typical open-loop and unstable system, in order to achieve precise control of the magnetic levitation ball system, and make the system more practical, we design an adaptive back-stepping sliding mode controller. In the actual control system, uncertainties and external disturbances are unknown, we base on the practical application of this system, use a linear model of the system, to design the controller. The results show that:compared with the normal mode controller, the design of adaptive back-stepping sliding mode controller can reduce chattering of the system, can better achieve a stable suspension of the ball and has good dynamic tracking performance, and compared to the adaptive sliding mode controller, the controller we design in this paper can better applied in practice.

  12. 基于名义模型的飞行模拟转台反演滑模控制%Nominal Model-Based Sliding Mode Control with Backstepping for 3-Axis Flight Table

    Institute of Scientific and Technical Information of China (English)

    刘金琨; 孙富春

    2006-01-01

    针对飞行模拟转台这一实际的不确定伺服系统,提出一种新型控制策略,该控制策略是建立在名义模型基础上的一种新型全鲁棒滑模控制器.控制系统由两种控制器构成,一种是针对实际对象的全鲁棒滑模控制器,另一种是针对名义模型的积分反演滑模控制器.采用名义模型与实际对象之间的建模误差设计全鲁棒滑模控制器,采用积分反演滑模控制器来保证控制精度,全鲁棒性能由全局滑模控制器来保证.采用Lyapunov方法实现了两种控制器的稳定性分析.以飞行模拟转台伺服系统为被控对象,针对正弦和阶跃响应的仿真结果表明,采用所提出的控制方法,可实现全局鲁棒性并保证较高的位置跟踪精度.%Based on nominal model, a novel global sliding mode controller (GSMC) with a new control scheme is proposed for a practical uncertain servo system. This control scheme consists of two combined controllers. One is the global sliding mode controller for practical plant, the other is the integral backstepping controller for nominal model. Modeling error between practical plant and nominal model is used to design GSMC. The steady-state control accuracy can be guaranteed by the integral backstepping control law, and the global robustness can be obtained by GSMC. The stability of the proposed controller is proved according to the Lyapunov approach. The simulation results both of sine signal and step signal tracking for 3-axis flight table are investigated to show good position tracking performance and high robustness with respect to large and parameter changes over all the response time.

  13. GPR scan assessment

    Directory of Open Access Journals (Sweden)

    Abbas M. Abbas

    2015-06-01

    Full Text Available Mekaad Radwan monument is situated in the neighborhood of Bab Zuweila in the historical Cairo, Egypt. It was constructed at the middle XVII century (1635 AD. The building has a rectangle shape plan (13 × 6 m with the longitudinal sides approximately WNW-ESE. It comprises three storages namely; the ground floor; the opened floor (RADWAN Bench and the living floor with a total elevation of 15 m above the street level. The building suffers from severe deterioration phenomena with patterns of damage which have occurred over time. These deterioration and damages could be attributed to foundation problems, subsoil water and also to the earthquake that affected the entire Greater Cairo area in October 1992. Ground Penetrating Radar (GPR scan was accomplished against the walls of the opened floor (RADWAN Bench to evaluate the hazard impact on the walls textures and integrity. The results showed an anomalous feature through the southern wall of RADWAN Bench. A mathematical model has been simulated to confirm the obtained anomaly and the model response exhibited a good matching with the outlined anomaly.

  14. Differential scanning calorimetry.

    Science.gov (United States)

    Spink, Charles H

    2008-01-01

    Differential scanning calorimetry (DSC) has emerged as a powerful experimental technique for determining thermodynamic properties of biomacromolecules. The ability to monitor unfolding or phase transitions in proteins, polynucleotides, and lipid assemblies has not only provided data on thermodynamic stability for these important molecules, but also made it possible to examine the details of unfolding processes and to analyze the characteristics of intermediate states involved in the melting of biopolymers. The recent improvements in DSC instrumentation and software have generated new opportunities for the study of the effects of structure and changes in environment on the behavior of proteins, nucleic acids, and lipids. This review presents some of the details of application of DSC to the examination of the unfolding of biomolecules. After a brief introduction to DSC instrumentation used for the study of thermal transitions, the methods for obtaining basic thermodynamic information from the DSC curve are presented. Then, using DNA unfolding as an example, methods for the analysis of the melting transition are presented that allow deconvolution of the DSC curves to determine more subtle characteristics of the intermediate states involved in unfolding. Two types of transitions are presented for analysis, the first example being the unfolding of two large synthetic polynucleotides, which display high cooperativity in the melting process. The second example shows the application of DSC for the study of the unfolding of a simple hairpin oligonucleotide. Details of the data analysis are presented in a simple spreadsheet format.

  15. LANL Robotic Vessel Scanning

    Energy Technology Data Exchange (ETDEWEB)

    Webber, Nels W. [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2015-11-25

    Los Alamos National Laboratory in J-1 DARHT Operations Group uses 6ft spherical vessels to contain hazardous materials produced in a hydrodynamic experiment. These contaminated vessels must be analyzed by means of a worker entering the vessel to locate, measure, and document every penetration mark on the vessel. If the worker can be replaced by a highly automated robotic system with a high precision scanner, it will eliminate the risks to the worker and provide management with an accurate 3D model of the vessel presenting the existing damage with the flexibility to manipulate the model for better and more in-depth assessment.The project was successful in meeting the primary goal of installing an automated system which scanned a 6ft vessel with an elapsed time of 45 minutes. This robotic system reduces the total time for the original scope of work by 75 minutes and results in excellent data accumulation and transmission to the 3D model imaging program.

  16. Ion Colliders

    CERN Document Server

    Fischer, W

    2014-01-01

    High-energy ion colliders are large research tools in nuclear physics to study the Quark-Gluon-Plasma (QGP). The range of collision energy and high luminosity are important design and operational considerations. The experiments also expect flexibility with frequent changes in the collision energy, detector fields, and ion species. Ion species range from protons, including polarized protons in RHIC, to heavy nuclei like gold, lead and uranium. Asymmetric collision combinations (e.g. protons against heavy ions) are also essential. For the creation, acceleration, and storage of bright intense ion beams, limits are set by space charge, charge change, and intrabeam scattering effects, as well as beam losses due to a variety of other phenomena. Currently, there are two operating ion colliders, the Relativistic Heavy Ion Collider (RHIC) at BNL, and the Large Hadron Collider (LHC) at CERN.

  17. Gas and metal ion sources

    Energy Technology Data Exchange (ETDEWEB)

    Oaks, E. [High Current Electronics Institute, Tomsk (Russian Federation)]|[State Academy of Control System and Radioelectronics, Tomsk (Russian Federation); Yushkov, G. [High Current Electronics Institute, Tomsk (Russian Federation)

    1996-08-01

    The positive ion sources are now of interest owing to both their conventional use, e.g., as injectors in charged-particle accelerators and the promising capabilities of intense ion beams in the processes related to the action of ions on various solid surfaces. For industrial use, the sources of intense ion beams and their power supplies should meet the specific requirements as follows: They should be simple, technologically effective, reliable, and relatively low-cost. Since the scanning of an intense ion beam is a complicated problem, broad ion beams hold the greatest promise. For the best use of such beams it is desirable that the ion current density be uniformly distributed over the beam cross section. The ion beam current density should be high enough for the treatment process be accomplished for an acceptable time. Thus, the ion sources used for high-current, high-dose metallurgical implantation should provide for gaining an exposure dose of {approximately} 10{sup 17} cm{sup {minus}2} in some tens of minutes. So the average ion current density at the surface under treatment should be over 10{sup {minus}5} A/cm{sup 2}. The upper limit of the current density depends on the admissible heating of the surface under treatment. The accelerating voltage of an ion source is dictated by its specific use; it seems to lie in the range from {approximately}1 kV (for the ion source used for surface sputtering) to {approximately}100 kV and over (for the ion sources used for high-current, high-dose metallurgical implantation).

  18. A Mobile Robotic Motion Control Algorithm Based on the Back-step Theory%一种基于反步法的移动机器人运动控制算法

    Institute of Scientific and Technical Information of China (English)

    段文杰; 武颖; 刘大亮

    2012-01-01

    针对球形机器人、独轮机器人和双轮机器人的一种共同运动方式,提出一种稳定的运动控制算法.首先,将运动控制方式简化为平面内均质圆盘的垂直运动,并基于拉格朗日法建立了具有链式形式的非完整运动模型;其次,利用反步法设计一种反馈控制算法,并证明了该算法是原点渐进稳定的.仿真结果表明该算法是可行的、有效的.%A stable motion control algorithm was designed to develop the motion methods of three kinds of robots including spherical robot,unicycle robot and two-wheeled robot. First, the motion methods were simplified to a vertical motion of a circle plate in the plane and the chained non-holonomic motion model was developed using the Lagrangian approach. Then, a feedback control algorithm, which was proved to be asymptotically stable, was designed based on the back-step theory. The simulation results showed that the developed algorithm was feasible and effective.

  19. 非线性系统模糊间接自适应控制的后推设计%Backstepping design of robust indirect fuzzy controller for nonlinear systems

    Institute of Scientific and Technical Information of China (English)

    李亚辉; 庄显义; 王述一; 强盛

    2003-01-01

    采用模糊神经网络作为非线性逼近器,针对一类一阶非线性多入多出系统,提出了一种具有扰动抑制的鲁棒自适应控制方法,给出了高阶多入多出系统具有扰动抑制的自适应后推(backstepping)设计方法.在鲁棒项合理简化的情况下,给出了系统Lyapunov意义下的稳定性证明,简略分析了各设计参数的物理意义及其对系统性能的影响.理论分析和仿真实验均显示,本方法可以保证系统的全局渐近稳定性,且若选取恰当的设计参数可保证系统对输入信号的跟踪达到任意精度;由于鲁棒项的引入可使系统的设计更具灵活性.

  20. Gallium scans in myasthenia gravis

    Energy Technology Data Exchange (ETDEWEB)

    Swick, H.M. (Univ. of Kentucky, Lexington); Preston, D.F.; McQuillen, M.P.

    1976-01-01

    A study was conducted to determine whether /sup 67/Ga scans could be used for the detection of thymomas and to investigate the activity of the thymus gland in patients with myasthenia gravis. Scans of the anterior mediastinum proved to be a reliable way to detect thymomas. The scans were positive in eight patients including three with myasthenia gravis and histologically proved thymomas, three others with severe myasthenia gravis and thymic tumors, and two with histologically proved thymomas not associated with myasthenia. Activity on /sup 67/Ga scans was not directly related to the increased activity of the thymus gland that is presumed to be associated with myasthenia gravis. (HLW)

  1. Re-scan confocal microscopy: scanning twice for better resolution

    NARCIS (Netherlands)

    De Luca, G.M.R.; Breedijk, R.M.P.; Brandt, R.A.J.; Zeelenberg, C.H.C.; De Jong, B.E.; Timmermans, W.; Nahidi Azar, L.; Hoebe, R.A.; Stallinga, S.; Manders, E.M.M.

    2013-01-01

    We present a new super-resolution technique, Re-scan Confocal Microscopy (RCM), based on standard confocal microscopy extended with an optical (re-scanning) unit that projects the image directly on a CCD-camera. This new microscope has improved lateral resolution and strongly improved sensitivity wh

  2. Re-scan confocal microscopy : scanning twice for better resolution

    NARCIS (Netherlands)

    De Luca, G.M.R.; Breedijk, R.M.P.; Brandt, R.A.J.; Zeelenberg, C.H.C.; de Jong, B.E.; Timmermans, W.; Azar, L.N.; Hoebe, R.A.; Stallinga, S.; Manders, E.M.M.

    2013-01-01

    We present a new super-resolution technique, Re-scan Confocal Microscopy (RCM), based on standard confocal microscopy extended with an optical (re-scanning) unit that projects the image directly on a CCD-camera. This new microscope has improved lateral resolution and strongly improved sensitivity wh

  3. Scanning tunneling microscopy II further applications and related scanning techniques

    CERN Document Server

    Güntherodt, Hans-Joachim

    1992-01-01

    Scanning Tunneling Microscopy II, like its predecessor, presents detailed and comprehensive accounts of the basic principles and broad range of applications of STM and related scanning probe techniques. The applications discussed in this volume come predominantly from the fields of electrochemistry and biology. In contrast to those described in Vol. I, these sudies may be performed in air and in liquids. The extensions of the basic technique to map other interactions are described inchapters on scanning force microscopy, magnetic force microscopy, scanning near-field optical microscopy, together with a survey of other related techniques. Also described here is the use of a scanning proximal probe for surface modification. Togehter, the two volumes give a comprehensive account of experimental aspcets of STM. They provide essentialreading and reference material for all students and researchers involvedin this field.

  4. Scanning tunneling microscopy II further applications and related scanning techniques

    CERN Document Server

    Güntherodt, Hans-Joachim

    1995-01-01

    Scanning Tunneling Microscopy II, like its predecessor, presents detailed and comprehensive accounts of the basic principles and broad range of applications of STM and related scanning probe techniques. The applications discussed in this volume come predominantly from the fields of electrochemistry and biology. In contrast to those described in STM I, these studies may be performed in air and in liquids. The extensions of the basic technique to map other interactions are described in chapters on scanning force microscopy, magnetic force microscopy, and scanning near-field optical microscopy, together with a survey of other related techniques. Also described here is the use of a scanning proximal probe for surface modification. Together, the two volumes give a comprehensive account of experimental aspects of STM. They provide essential reading and reference material for all students and researchers involved in this field. In this second edition the text has been updated and new methods are discussed.

  5. Development of a focused ion beam micromachining system

    Energy Technology Data Exchange (ETDEWEB)

    Pellerin, J.G.; Griffis, D.; Russell, P.E.

    1988-12-01

    Focused ion beams are currently being investigated for many submicron fabrication and analytical purposes. An FIB micromachining system consisting of a UHV vacuum system, a liquid metal ion gun, and a control and data acquisition computer has been constructed. This system is being used to develop nanofabrication and nanomachining techniques involving focused ion beams and scanning tunneling microscopes.

  6. Application for the On-line Isotope Mass Separator ISOLDE Facility: the Mass Scan

    CERN Document Server

    Sánchez-Conejo, Jorge

    2003-01-01

    The purpose of the Mass Scan Application is to scan the mass of the ion beam that passes through the GPS (General Purpose Separator) on the On-Line Isotope Mass Separator ISOLDE facility. The application has been developed in Java, making use of the Java Development Kit 1.4 and the PS Java environment.

  7. Bone Densitometry (Bone Density Scan)

    Science.gov (United States)

    ... of DXA Bone Densitometry? What is a Bone Density Scan (DXA)? Bone density scanning, also called dual-energy x-ray absorptiometry ( ... is today's established standard for measuring bone mineral density (BMD). An x-ray (radiograph) is a noninvasive ...

  8. An interchangeable scanning Hall probe/scanning SQUID microscope.

    Science.gov (United States)

    Tang, Chiu-Chun; Lin, Hui-Ting; Wu, Sing-Lin; Chen, Tse-Jun; Wang, M J; Ling, D C; Chi, C C; Chen, Jeng-Chung

    2014-08-01

    We have constructed a scanning probe microscope for magnetic imaging, which can function as a scanning Hall probe microscope (SHPM) and as a scanning SQUID microscope (SSM). The scanning scheme, applicable to SHPM and SSM, consists of a mechanical positioning (sub) micron-XY stage and a flexible direct contact to the sample without a feedback control system for the Z-axis. With the interchangeable capability of operating two distinct scanning modes, our microscope can incorporate the advantageous functionalities of the SHPM and SSM with large scan range up to millimeter, high spatial resolution (⩽4 μm), and high field sensitivity in a wide range of temperature (4.2 K-300 K) and magnetic field (10(-7) T-1 T). To demonstrate the capabilities of the system, we present magnetic images scanned with SHPM and SSM, including a RbFeB magnet and a nickel grid pattern at room temperature, surface magnetic domain structures of a La(2/3)Ca(1/3)MnO3 thin film at 77 K, and superconducting vortices in a striped niobium film at 4.2 K.

  9. Ion Chromatography.

    Science.gov (United States)

    Mulik, James D.; Sawicki, Eugene

    1979-01-01

    Accurate for the analysis of ions in solution, this form of analysis enables the analyst to directly assay many compounds that previously were difficult or impossible to analyze. The method is a combination of the methodologies of ion exchange, liquid chromatography, and conductimetric determination with eluant suppression. (Author/RE)

  10. Beam energy scan with asymmetric collision at RHIC

    Energy Technology Data Exchange (ETDEWEB)

    Liu, C. [Brookhaven National Lab. (BNL), Upton, NY (United States); Alessi, J. [Brookhaven National Lab. (BNL), Upton, NY (United States); Beebe, E. [Brookhaven National Lab. (BNL), Upton, NY (United States); Blaskiewicz, M. [Brookhaven National Lab. (BNL), Upton, NY (United States); Brennan, J. M. [Brookhaven National Lab. (BNL), Upton, NY (United States); Brown, K. A. [Brookhaven National Lab. (BNL), Upton, NY (United States); Bruno, D. [Brookhaven National Lab. (BNL), Upton, NY (United States); Butler, J. [Brookhaven National Lab. (BNL), Upton, NY (United States); Connolly, R. [Brookhaven National Lab. (BNL), Upton, NY (United States); D Ottavio, T. [Brookhaven National Lab. (BNL), Upton, NY (United States); Drees, K. A. [Brookhaven National Lab. (BNL), Upton, NY (United States); Fischer, W. [Brookhaven National Lab. (BNL), Upton, NY (United States); Gardner, C. J. [Brookhaven National Lab. (BNL), Upton, NY (United States); Gassner, D. M. [Brookhaven National Lab. (BNL), Upton, NY (United States); Gu, X. [Brookhaven National Lab. (BNL), Upton, NY (United States); Hao, Y. [Brookhaven National Lab. (BNL), Upton, NY (United States); Harvey, M. [Brookhaven National Lab. (BNL), Upton, NY (United States); Hayes, T. [Brookhaven National Lab. (BNL), Upton, NY (United States); Huang, H. [Brookhaven National Lab. (BNL), Upton, NY (United States); Hulsart, R. [Brookhaven National Lab. (BNL), Upton, NY (United States); Ingrassia, P. [Brookhaven National Lab. (BNL), Upton, NY (United States); Jamilkowski, J. [Brookhaven National Lab. (BNL), Upton, NY (United States); Laster, J. S. [Brookhaven National Lab. (BNL), Upton, NY (United States); Litvinenko, V. [Brookhaven National Lab. (BNL), Upton, NY (United States); Luo, Y. [Brookhaven National Lab. (BNL), Upton, NY (United States); Mapes, M. [Brookhaven National Lab. (BNL), Upton, NY (United States); Marr, G. J. [Brookhaven National Lab. (BNL), Upton, NY (United States); Marusic, A. [Brookhaven National Lab. (BNL), Upton, NY (United States); McIntyre, G. [Brookhaven National Lab. (BNL), Upton, NY (United States); Mernick, K. [Brookhaven National Lab. (BNL), Upton, NY (United States); Michnoff, R. [Brookhaven National Lab. (BNL), Upton, NY (United States); Minty, M. [Brookhaven National Lab. (BNL), Upton, NY (United States); Montag, C. [Brookhaven National Lab. (BNL), Upton, NY (United States); Morris, J. [Brookhaven National Lab. (BNL), Upton, NY (United States); Naylor, C. [Brookhaven National Lab. (BNL), Upton, NY (United States); Nemesure, S. [Brookhaven National Lab. (BNL), Upton, NY (United States); Pinayev, I. [Brookhaven National Lab. (BNL), Upton, NY (United States); Ranjbar, V. [Brookhaven National Lab. (BNL), Upton, NY (United States); Raparia, D. [Brookhaven National Lab. (BNL), Upton, NY (United States); Robert-Demolaize, G. [Brookhaven National Lab. (BNL), Upton, NY (United States); Roser, T. [Brookhaven National Lab. (BNL), Upton, NY (United States); Sampson, P. [Brookhaven National Lab. (BNL), Upton, NY (United States); Sandberg, J. [Brookhaven National Lab. (BNL), Upton, NY (United States); Schoefer, V. [Brookhaven National Lab. (BNL), Upton, NY (United States); Severino, F. [Brookhaven National Lab. (BNL), Upton, NY (United States); Shrey, T. [Brookhaven National Lab. (BNL), Upton, NY (United States); Smith, K. [Brookhaven National Lab. (BNL), Upton, NY (United States); Tepikian, S. [Brookhaven National Lab. (BNL), Upton, NY (United States); Than, Y. [Brookhaven National Lab. (BNL), Upton, NY (United States); thieberger, P. [Brookhaven National Lab. (BNL), Upton, NY (United States); Tuozzolo, J. [Brookhaven National Lab. (BNL), Upton, NY (United States); Wang, G. [Brookhaven National Lab. (BNL), Upton, NY (United States); Wu, Q. [Brookhaven National Lab. (BNL), Upton, NY (United States); Zaltsman, A. [Brookhaven National Lab. (BNL), Upton, NY (United States); Zeno, K. [Brookhaven National Lab. (BNL), Upton, NY (United States); Zhang, S. [Brookhaven National Lab. (BNL), Upton, NY (United States); Zhang, W. [Brookhaven National Lab. (BNL), Upton, NY (United States)

    2016-11-15

    A beam energy scan of deuteron-gold collision, with center-of-mass energy at 19.6, 39, 62.4 and 200.7 GeV/n, was performed at the Relativistic Heavy Ion Collider in 2016 to study the threshold for quark-gluon plasma (QGP) production. The lattice, RF, stochastic cooling and other subsystems were in different configurations for the various energies. The operational challenges changed with every new energy. The operational experience at each energy, the operation performance, highlights and lessons of the beam energy scan are reviewed in this report.

  11. Re-scan confocal microscopy: scanning twice for better resolution.

    Science.gov (United States)

    De Luca, Giulia M R; Breedijk, Ronald M P; Brandt, Rick A J; Zeelenberg, Christiaan H C; de Jong, Babette E; Timmermans, Wendy; Azar, Leila Nahidi; Hoebe, Ron A; Stallinga, Sjoerd; Manders, Erik M M

    2013-01-01

    We present a new super-resolution technique, Re-scan Confocal Microscopy (RCM), based on standard confocal microscopy extended with an optical (re-scanning) unit that projects the image directly on a CCD-camera. This new microscope has improved lateral resolution and strongly improved sensitivity while maintaining the sectioning capability of a standard confocal microscope. This simple technology is typically useful for biological applications where the combination high-resolution and high-sensitivity is required.

  12. Lidar arc scan uncertainty reduction through scanning geometry optimization

    Directory of Open Access Journals (Sweden)

    H. Wang

    2015-10-01

    Full Text Available Doppler lidars are frequently operated in a mode referred to as arc scans, wherein the lidar beam scans across a sector with a fixed elevation angle and the resulting measurements are used to derive an estimate of the n minute horizontal mean wind velocity (speed and direction. Previous studies have shown that the uncertainty in the measured wind speed originates from turbulent wind fluctuations and depends on the scan geometry (the arc span and the arc orientation. This paper is designed to provide guidance on optimal scan geometries for two key applications in the wind energy industry: wind turbine power performance analysis and annual energy production. We present a quantitative analysis of the retrieved wind speed uncertainty derived using a theoretical model with the assumption of isotropic and frozen turbulence, and observations from three sites that are onshore with flat terrain, onshore with complex terrain and offshore, respectively. The results from both the theoretical model and observations show that the uncertainty is scaled with the turbulence intensity such that the relative standard error on the 10 min mean wind speed is about 30 % of the turbulence intensity. The uncertainty in both retrieved wind speeds and derived wind energy production estimates can be reduced by aligning lidar beams with the dominant wind direction, increasing the arc span and lowering the number of beams per arc scan. Large arc spans should be used at sites with high turbulence intensity and/or large wind direction variation when arc scans are used for wind resource assessment.

  13. Residual biomass for removal of uranyl ions;Biomassa residual para remocao de ions uranilo

    Energy Technology Data Exchange (ETDEWEB)

    Boniolo, Milena Rodrigues [Universidade Federal de Sao Carlos (UFScar), SP (Brazil). Dept. de Biogeoquimica Ambiental; Yamaura, Mitiko; Monteiro, Raquel Almeida, E-mail: milenaboniolo@usp.b [Instituto de Pesquisas Energeticas e Nucleares (IPEN/CNEN-SP), Sao Paulo, SP (Brazil). Centro de Quimica e Meio Ambiente

    2010-07-01

    Activities related to nuclear industry, production of phosphoric acid and hospitals have generated considerable volumes of radioactive waste containing uranyl ions. Banana pith was characterized by scanning electron microscopy and Fourier transform infrared spectroscopy and was investigated as a biosorbent for uranyl ions from nitric solutions by batch experiments. Influences of adsorbent size, kinetics and equilibrium adsorption were studied. The biosorption of the uranyl ions followed pseudo-second-order kinetics. The adsorption isotherm data were closely fitted to the Freundlich equation. (author)

  14. Heuristic optimization of the scanning path of particle therapy beams

    Energy Technology Data Exchange (ETDEWEB)

    Pardo, J.; Donetti, M.; Bourhaleb, F.; Ansarinejad, A.; Attili, A.; Cirio, R.; Garella, M. A.; Giordanengo, S.; Givehchi, N.; La Rosa, A.; Marchetto, F.; Monaco, V.; Pecka, A.; Peroni, C.; Russo, G.; Sacchi, R. [Istituto Nazionale di Fisica Nucleare, Sezione di Torino, Via P. Giuria 1, I-10125 Torino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Torino, Via P. Giuria 1, I-10125 Torino (Italy) and Fondazione CNAO, Via Caminadella 16, I-20123, Milano (Italy); Dipartimento di Fisica Sperimentale, Universita di Torino, Via P. Giuria 1, I-10125 Torino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Torino, Via P. Giuria 1, I-10125 Torino (Italy) and Dipartimento di Fisica Sperimentale, Universita di Torino, Via P. Giuria 1, I-10125 Torino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Torino, Via P. Giuria 1, I-10125 Torino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Torino, Via P. Giuria 1, I-10125 Torino (Italy) and Dipartimento di Fisica Sperimentale, Universita di Torino, Via P. Giuria 1, I-10125 Torino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Torino, Via P. Giuria 1, I-10125 Torino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Torino, Via P. Giuria 1, I-10125 Torino (Italy) and Dipartimento di Fisica Sperimentale, Universita di Torino, Via P. Giuria 1, I-10125 Torino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Torino, Via P. Giuria 1, I-10125 Torino (Italy); Istituto Nazionale di Fisica Nucleare, Sezione di Torino, Via P. Giuria 1, I-10125 Torino (Italy) and Dipartimento di Fisica Sperimentale, Universita di Torino, Via P. Giuria 1, I-10125 Torino (Italy)

    2009-06-15

    Quasidiscrete scanning is a delivery strategy for proton and ion beam therapy in which the beam is turned off when a slice is finished and a new energy must be set but not during the scanning between consecutive spots. Different scanning paths lead to different dose distributions due to the contribution of the unintended transit dose between spots. In this work an algorithm to optimize the scanning path for quasidiscrete scanned beams is presented. The classical simulated annealing algorithm is used. It is a heuristic algorithm frequently used in combinatorial optimization problems, which allows us to obtain nearly optimal solutions in acceptable running times. A study focused on the best choice of operational parameters on which the algorithm performance depends is presented. The convergence properties of the algorithm have been further improved by using the next-neighbor algorithm to generate the starting paths. Scanning paths for two clinical treatments have been optimized. The optimized paths are found to be shorter than the back-and-forth, top-to-bottom (zigzag) paths generally provided by the treatment planning systems. The gamma method has been applied to quantify the improvement achieved on the dose distribution. Results show a reduction of the transit dose when the optimized paths are used. The benefit is clear especially when the fluence per spot is low, as in the case of repainting. The minimization of the transit dose can potentially allow the use of higher beam intensities, thus decreasing the treatment time. The algorithm implemented for this work can optimize efficiently the scanning path of quasidiscrete scanned particle beams. Optimized scanning paths decrease the transit dose and lead to better dose distributions.

  15. Heuristic optimization of the scanning path of particle therapy beams.

    Science.gov (United States)

    Pardo, J; Donetti, M; Bourhaleb, F; Ansarinejad, A; Attili, A; Cirio, R; Garella, M A; Giordanengo, S; Givehchi, N; La Rosa, A; Marchetto, F; Monaco, V; Pecka, A; Peroni, C; Russo, G; Sacchi, R

    2009-06-01

    Quasidiscrete scanning is a delivery strategy for proton and ion beam therapy in which the beam is turned off when a slice is finished and a new energy must be set but not during the scanning between consecutive spots. Different scanning paths lead to different dose distributions due to the contribution of the unintended transit dose between spots. In this work an algorithm to optimize the scanning path for quasidiscrete scanned beams is presented. The classical simulated annealing algorithm is used. It is a heuristic algorithm frequently used in combinatorial optimization problems, which allows us to obtain nearly optimal solutions in acceptable running times. A study focused on the best choice of operational parameters on which the algorithm performance depends is presented. The convergence properties of the algorithm have been further improved by using the next-neighbor algorithm to generate the starting paths. Scanning paths for two clinical treatments have been optimized. The optimized paths are found to be shorter than the back-and-forth, top-to-bottom (zigzag) paths generally provided by the treatment planning systems. The gamma method has been applied to quantify the improvement achieved on the dose distribution. Results show a reduction of the transit dose when the optimized paths are used. The benefit is clear especially when the fluence per spot is low, as in the case of repainting. The minimization of the transit dose can potentially allow the use of higher beam intensities, thus decreasing the treatment time. The algorithm implemented for this work can optimize efficiently the scanning path of quasidiscrete scanned particle beams. Optimized scanning paths decrease the transit dose and lead to better dose distributions.

  16. Retinal locus for scanning text.

    Science.gov (United States)

    Timberlake, George T; Sharma, Manoj K; Grose, Susan A; Maino, Joseph H

    2006-01-01

    A method of mapping the retinal location of text during reading is described in which text position is plotted cumulatively on scanning laser ophthalmoscope retinal images. Retinal locations that contain text most often are the brightest in the cumulative plot, and locations that contain text least often are the darkest. In this way, the retinal area that most often contains text is determined. Text maps were plotted for eight control subjects without vision loss and eight subjects with central scotomas from macular degeneration. Control subjects' text maps showed that the fovea contained text most often. Text maps of five of the subjects with scotomas showed that they used the same peripheral retinal area to scan text and fixate. Text maps of the other three subjects with scotomas showed that they used separate areas to scan text and fixate. Retinal text maps may help evaluate rehabilitative strategies for training individuals with central scotomas to use a particular retinal area to scan text.

  17. Scanning Gate Spectroscopy on Nanoclusters

    OpenAIRE

    Gurevich, L.; Canali, L.; Kouwenhoven, L.P.

    1999-01-01

    A gated probe for scanning tunnelling microscopy (STM) has been developed. The probe extends normal STM operations by means of an additional electrode fabricated next to the tunnelling tip. The extra electrode does not make contact with the sample and can be used as a gate. We report on the recipe used for fabricating the tunnelling tip and the gate electrode on a silicon nitride cantilever. We demonstrate the functioning of the scanning gate probes by performing single-electron tunnelling sp...

  18. IMM Based Adaptive Backstepping Variable Structure Fault-Tolerant Control for Spacecraft with Reaction Wheel Dynamics%轮控航天器的IMM自适应反步变结构容错控制

    Institute of Scientific and Technical Information of China (English)

    马广富; 王宇雷; 李传江; 张海博

    2011-01-01

    A new adaptive backstepping variable structure control combined with interactive multiple model ( IMM)method is proposed in this paper for the attitude maneuver problem of rigid spacecraft in the presence of actuator faults, uncertainties of moment af inertia and external disturbance torques. The algorithm can guarantee attitude maneuver errors converged to a smatl set around the equilibrium point. limit the chatter of variable structure control caused hy actuator faults and reduce the impact of diagnostical uncertainty on system. By using Matlab/Simulink programming, modeling and simulation of spacecraft attitude maneuver are also discussed in the paper. Simulation results demonstrate the effectiveness and feasibility of the proposed control algorithm.%针对存在飞轮故障、转动惯量不确定性和干扰力矩的轮控航天器姿态机动问题,提出了一种基于交互多模型算法(IMM)的自适应反步变结构容错控制方法.该方法可以有效提高系统控制精度,保航天器姿态机动误差收敛到系统平衡点的较小邻域;同时有效减小飞轮抖振,降低诊断不确定性对系统的影响.最后在Matlab/Simulink环境下对航天器姿态机动进行了仿真研究,结果表明了提出的控制算法在处理航天器姿态机动问题方面的有效性和可行性.

  19. Adaptive backstepping control for an air-breathing hypersonic vehicle with input constraints%吸气式高超声速飞行器输入受限自适应反演控制

    Institute of Scientific and Technical Information of China (English)

    时建明; 王洁; 叶继坤; 邵雷

    2012-01-01

    The issues of flight control of an air-breathing hypersonic vehicle with constrained inputs and uncertain aerodynamic coefficients were addressed. Based on backstepping procedure, virtual and actual controllers were designed for linearly parameterized form of the vehicle longitudinal motion model. To deal with uncertain parametric coefficients, on-line adaptive bounding learning scheme was selected. Considering input constraints condition, tracking errors were modified by introducing margin filtering terms of designed controllers and executable inputs. Stability analysis was implemented to prove the effectiveness of the proposed method. Reference trajectory tracking simulation results demonstrate the effectiveness of the control law design under wind disturbance.%针对输入受限和气动与推进参数存在不确定时的吸气式高超声速飞行器飞行控制问题,建立了线性参数化形式的纵向运动模型,通过引入控制量与可执行输入之间的差值滤波环节,修正跟踪误差的定义,设计了使闭环系统稳定的反演鲁棒控制器,给出了气动与推进参数向量的有界自适应估计律.轨迹跟踪仿真结果表明,提出的自适应控制方法能够保证阵风干扰情况下飞行器控制的稳定性.

  20. 动力定位船舶纵向运动的反步法控制器设计%Backstepping Controller Design for Dynamic Positioning Ship of Vertical Motion

    Institute of Scientific and Technical Information of China (English)

    张晓兰; 王钦若; 时丽丽

    2011-01-01

    本文研究了动力定位系统的控制策略,针对船舶动力定位系统模型的非线性特性,考虑到风浪流等外部环境扰动对船舶引起的恒值干扰及其不确定性,基于带有未知定常扰动的三自由度非线性船舶水面运动数学模型,应用自适应反步法设计船舶动力定位控制律,将Lyapunov函数选取和控制器设计相结合的回归设计方法,并在MATLAB软件环境下通过仿真研究验证模型和控制策略的有效性。在计算机仿真研究中,以26:1比例建造的2800mm×762mm×498mm船模为设计实例。%This paper discusses the control strategy of dynamic positioning system. For the nonlinear characteristics of dynamic positioning system model, the paper takes constant interference of ship and its uncertainty caused by external disturbances such as the wind, waves and current into account. Based on the stationary disturbance with unknown three degrees of freedom nonlinear ship motion mathematical surface model, we apply adaptive backstepping control law for the nonlinear dynamic positioning. The selection of Lyapunov function and the controller design are combined with regression. The control strategy and mathematical model are proved to be effective with the MATLAB simulation. The design example is a 2800mm×762mm×498mm ship model with 26:1 ratio.

  1. 液力自动变速器换挡过程的反演优化控制%Optimizing gear shifting quality with backstepping control for automatic transmission

    Institute of Scientific and Technical Information of China (English)

    赵鑫鑫; 杨珏; 张静; 张文明

    2016-01-01

    The Automatic Transmission is widely equipped in the heavy-duty trucks, while the driving comfort reduction during gear shift is the major drawbacks, and the optimization of gear shifting process is quite challenging due to the various objectives. With the development of modern control theory, it has been widely applied into gear shifting duration, such as PID control, genetic algorithm and dynamic programming et al. In this paper, a backstepping control strategy is proposed to enhance the gear shift quality, which will transform the multi-objective optimization to a single target tracking as well. According to the gear shifting dynamic model, gear shifting can be divided into four phases, lower gear phase, torque phase, inertial phase and higher gear phase. The clutch output torques during engagement and disengagement are derived considering the motion states of the off-going and on-coming clutches. The trajectory target is defined on the basis of the rotatory input and output speed of the transmission. Since the torque is hard to be measured accurately and the transmission output speed does not has obvious change during the torque phase of gear shifting, we will adjust the current of pressure reducing valves in the inertial phase. By analyzing the motion states of off-going clutch and on-coming clutch, the mathematical model of output torque for clutches has been built in this paper. The backstepping method and state stability theory (ISS) are utilized in the sliding mode controller to control the synchronization torques by tuning the valves current. The shifting quality is assessed in terms of the shift time, jerk and sliding friction work which are considered into the objective function in sliding control problem. All of them are fitted as three-order polynomial functions, and the controller parameters are evaluated according to the system parameters and the margin of errors. Based on the reference trajectory, the speed of driven plate on-coming clutch

  2. Ion focusing

    Energy Technology Data Exchange (ETDEWEB)

    Cooks, Robert Graham; Baird, Zane; Peng, Wen-Ping

    2017-01-17

    The invention generally relates to apparatuses for focusing ions at or above ambient pressure and methods of use thereof. In certain embodiments, the invention provides an apparatus for focusing ions that includes an electrode having a cavity, at least one inlet within the electrode configured to operatively couple with an ionization source, such that discharge generated by the ionization source is injected into the cavity of the electrode, and an outlet. The cavity in the electrode is shaped such that upon application of voltage to the electrode, ions within the cavity are focused and directed to the outlet, which is positioned such that a proximal end of the outlet receives the focused ions and a distal end of the outlet is open to ambient pressure.

  3. Heavy ions: Report from Relativistic Heavy Ion Collider

    Indian Academy of Sciences (India)

    Sonia Kabana

    2012-10-01

    We review selected highlights from the experiments at the Relativistic Heavy Ion Collider (RHIC) exploring the QCD phase diagram. A wealth of new results appeared recently from RHIC due to major recent upgrades, like for example the $\\Upsilon$ suppression in central nucleus-nucleus collisions which has been discovered recently in both RHIC and LHC. Furthermore, we discuss RHIC results from the beam energy scan (BES) program aiming to search for a possible critical point and to map out the QCD phase diagram.

  4. Holders for in situ treatments of scanning tunneling microscopy tips.

    Science.gov (United States)

    Ishida, Nobuyuki; Subagyo, Agus; Ikeuchi, Akira; Sueoka, Kazuhisa

    2009-09-01

    We have developed holders for scanning tunneling microscopy tips that can be used for in situ treatments of the tips, such as electron bombardment (EB) heating, ion sputtering, and the coating of magnetic materials. The holders can be readily installed into the transfer paths and do not require any special type of base stages. Scanning electron microscopy is used to characterize the tip apex after EB heating. Also, spin-polarized scanning tunneling spectroscopy using an Fe coated W tip on the Cr(001) single crystal surface is performed in order to confirm both the capability of heating a tip up to about 2200 K and the spin sensitivity of the magnetically coated tip.

  5. Trails of kilovolt ions created by subsurface channeling.

    Science.gov (United States)

    Redinger, Alex; Standop, Sebastian; Michely, Thomas; Rosandi, Yudi; Urbassek, Herbert M

    2010-02-19

    Using scanning tunneling microscopy, we observe the damage trails produced by keV noble-gas ions incident at glancing angles onto Pt(111). Surface vacancies and adatoms aligned along the ion trajectory constitute the ion trails. Atomistic simulations reveal that these straight trails are produced by nuclear (elastic) collisions with surface layer atoms during subsurface channeling of the projectiles. In a small energy window around 5 keV, Xe+ ions create vacancy grooves that mark the ion trajectory with atomic precision. The asymmetry of the adatom production on the two sides of the projectile path is traced back to the asymmetry of the ion's subsurface channel.

  6. Interesting bone scans - unusual findings

    Energy Technology Data Exchange (ETDEWEB)

    Dobson, M.; Wadhwa, S.S.; Mansberg, R.; Fernandes, V.B. [Wollongong Hospital, Wollongong, NSW (Australia)

    1997-12-01

    A 59-year-old female with carcinoma of the colon and known liver metastatic disease was referred for bone scan to evaluate for bone metastases. Although no bone metastases were found, there was abnormal uptake noted in the liver corresponding to a metastatic calcified lesion. The only other findings were of degenerative disease in the cervical spine, right shoulder and small joints of the hands. A 69-year-old male with carcinoma of the prostate and right side low back pain was referred for bone scan. No focal abnormalities to suggest metastatic disease were identified; findings within the cervical spine, lumber spine and knees were presumed secondary to degenerative disease. Intermittent pain persisted and the patient was referred for a repeat bone scan six months later. Previous scan findings of degenerative disease and no metastatic disease were confirmed; however, closer inspection revealed an enlarged right kidney with significant retention of tracer in the pelvicalyceal system suggesting possible obstruction. A Retrograde pyelogram was performed, and no obvious obstruction demonstrated. As bone scan findings were very suggestive of obstruction, a DTPA scan with lasix was performed showing a dilated right collecting system with no functional obstruction. Given the degree of dilation, it is possible that the patient experiences intermittent PUJ obstruction causing his symptoms. A 33-year-old male with insulin dependent diabetes mellitus and viral arthritis was referred for a bone scan. A three phase revealed increased uptake in the region of the knee and leR proximal tibia. Delayed whole body images revealed multiple focal areas of osteoblastic activity in the leR tibia. Abnormal uptake was also seen in the upper third of the leR femur. The remainder of the skeletal survey was normal. X-ray correlation of the leR tibia and femoral findings was undertaken. Combinating unilateral changes on bone scan and X-ray although very suggestive of sclerotic polyostotic

  7. The boundary-scan handbook

    CERN Document Server

    Parker, Kenneth P

    2016-01-01

    Aimed at electronics industry professionals, this 4th edition of the Boundary Scan Handbook describes recent changes to the IEEE1149.1 Standard Test Access Port and Boundary-Scan Architecture. This updated edition features new chapters on the possible effects of the changes on the work of the practicing test engineers and the new 1149.8.1 standard. Anyone needing to understand the basics of boundary scan and its practical industrial implementation will need this book. Provides an overview of the recent changes to the 1149.1 standard and the effect of the changes on the work of test engineers;   Explains the new IEEE 1149.8.1 subsidiary standard and applications;   Describes the latest updates on the supplementary IEEE testing standards. In particular, addresses: IEEE Std 1149.1                      Digital Boundary-Scan IEEE Std 1149.4                      Analog Boundary-Scan IEEE Std 1149.6                      Advanced I/O Testing IEEE Std 1149.8.1           �...

  8. Hot pressed K+ ion conducting solid polymer electrolytes: synthesis, ion conduction and polymeric battery fabrication

    Science.gov (United States)

    Chandra, Angesh

    2016-07-01

    Synthesis and ion transport studies of hot pressed K+ ion conducting solid polymer electrolytes (SPEs): (1 - x) PEO: x KBr, where 0 polymer-salt complexation in SPE composition: (70:30) with conductivity ( σ) 5.01 × 10-7 S cm-1 from the room temperature conductivity measurements. Materials characterization and polymer-salt complexations of present SPEs have been explained with the help of various techniques viz. X-ray diffraction, Fourier transform infrared, differential scanning calorimetry, thermogravimetric analysis, scanning electron microscopy technique. To explain the ion conduction in the present SPEs, temperature dependent ionic conductivity ( σ), ionic mobility ( μ), mobile ion concentration ( n), ionic transference number ( t ion ) and ionic drift velocity ( v d ) have been calculated with the help of various experimental techniques. A solid state polymer battery is also fabricated by using the present SPE as an electrolyte and have been calculated their important cell parameters at room temperature.

  9. A Plasma Ion Source for ISOLTRAP

    CERN Document Server

    Skov, Thomas Guldager

    2016-01-01

    In this report, my work testing the new Penning ion source as a summer student at ISOLTRAP is described. The project was composed of three stages: (1) Setting up a test laboratory in building 275, (2) characterizing the ion source, and (3) implementing and testing the source in the ISOLTRAP setup. After setting up the test laboratory, the ion source was tested in a constant pressure environment with produced ion currents in the range of nA . An extensive scan of the source ion current versus operating parameters (pressure, voltage) was performed. A setup with pulsed gas flow was also tested, allowing a reduction of the gas load on the vacuum system. The behavior of the ion source together with the ISOLTRAP setup was also investigated, allowing to understand current limitations and future directions of improvement.

  10. Scanning probe microscopy competency development

    Energy Technology Data Exchange (ETDEWEB)

    Hawley, M.E.; Reagor, D.W.; Jia, Quan Xi [and others

    1998-12-31

    This is the final report of a three-year, Laboratory Directed Research and Development (LDRD) project at Los Alamos National Laboratory (LANL). The project collaborators developed an ultra-high vacuum scanning tunneling microscope (UHV-STM) capability, integrated it with existing scanning probe microscopes, and developed new, advanced air-based scanning force techniques (SPMs). Programmatic, basic, and industrially related laboratory research requires the existence of SPMs, as well as expertise capable of providing local nano-scale information. The UHV-STM capability, equipped with load-lock system and several surface science techniques, will allow introduction, examination, and reaction of surfaces prepared under well-controlled vacuum conditions, including the examination of morphology and local bonding associated with the initial stages of film growth under controlled growth conditions. The resulting capabilities will enable the authors to respond to a variety of problems requiring local characterization of conducting and nonconducting surfaces in liquids, air, and UHV.

  11. Nanobits: customizable scanning probe tips

    DEFF Research Database (Denmark)

    Kumar, Rajendra; Shaik, Hassan Uddin; Sardan Sukas, Özlem

    2009-01-01

    silicon processing. Using a microgripper they were detached from an array and fixed to a standard pyramidal AFM probe or alternatively inserted into a tipless cantilever equipped with a narrow slit. The nanobit-enhanced probes were used for imaging of deep trenches, without visible deformation, wear......We present here a proof-of-principle study of scanning probe tips defined by planar nanolithography and integrated with AFM probes using nanomanipulation. The so-called 'nanobits' are 2-4 mu m long and 120-150 nm thin flakes of Si3N4 or SiO2, fabricated by electron beam lithography and standard...... or dislocation of the tips of the nanobit after several scans. This approach allows an unprecedented freedom in adapting the shape and size of scanning probe tips to the surface topology or to the specific application....

  12. Scanning Terahertz Heterodyne Imaging Systems

    Science.gov (United States)

    Siegel, Peter; Dengler, Robert

    2007-01-01

    Scanning terahertz heterodyne imaging systems are now at an early stage of development. In a basic scanning terahertz heterodyne imaging system, (see Figure 1) two far-infrared lasers generate beams denoted the local-oscillator (LO) and signal that differ in frequency by an amount, denoted the intermediate frequency (IF), chosen to suit the application. The LO beam is sent directly to a mixer as one of two inputs. The signal beam is focused to a spot on or in the specimen. After transmission through or reflection from the specimen, the beams are focused to a spot on a terahertz mixer, which extracts the IF outputs. The specimen is mounted on a translation stage, by means of which the focal spot is scanned across the specimen to build up an image.

  13. Calculation of Uniform of Beam Scanning

    Institute of Scientific and Technical Information of China (English)

    2011-01-01

    For the electron beam application, it is always scanned by a dipole magnet. The uniform of the scanning has great influence for some application, such as the irradiation of the thyristor. There are two methods for improving the scanning uniform:

  14. High precision prism scanning system

    Science.gov (United States)

    García-Torales, G.; Flores, J. L.; Muñoz, Roberto X.

    2007-03-01

    Risley prisms are commonly used in continuous scanning manner. Each prism is capable of rotating separately about a common axis at different speeds. Scanning patterns are determined by the ratios of the wedge angles, the speed and direction of rotation of both prisms. The use of this system is conceptually simple. However, mechanical action in most applications becomes a challenge often solved by the design of complex control algorithms. We propose an electronic servomotor system that controls incremental and continuous rotations of the prisms wedges by means of an auto-tuning PID control using a Adaline Neural Network Algorithm, NNA.

  15. Localizing Test Power Consumption for Scan Testing

    Institute of Scientific and Technical Information of China (English)

    XIANG Dong; LI Kai-wei

    2005-01-01

    A two stage scan architecture is proposed to do low powerand low test application cost scan testing. The first stage includes multiple scan chains, where each scan chain is driven by a primary input. Each scan flip-flop in the multiple scan chains drives a group of scan flip-flops. The scan flip-flop in the multiple scan chain and the scan flipflop driven by it are assigned the same values for all test vectors. Scan flip-flops in the multiple scan chains and those in the second stage use separate clock signals, but the design for testability technqiue needs only one clock. The proposed scan architecture localizes test power consumption to the multiple scan chains during test application. Test signals assigned to scan flip-flops in the multiple scan chains are applied to the scan flip-flops in the second stage after the test vector has been applied to the multiple scan chains. This technique can make test power consumption very small.

  16. Electrochemical metal speciation analysis of chemically heterogeneous samples: the outstanding features of stripping chronopotentiometry at scanned deposition potential

    NARCIS (Netherlands)

    Leeuwen, van H.P.; Town, R.M.

    2003-01-01

    The application of depletive stripping chronopotentiometry at scanned deposition potential (SSCP) to metal ion speciation analysis of chemically heterogeneous complex systems is described. In this electroanalytical stripping technique, metal which is accumulated in the electrode during the depositio

  17. Broadband antenna with frequency scanning

    Directory of Open Access Journals (Sweden)

    A. A. Shekaturin

    2014-06-01

    Full Text Available Relevance of this study. The main advantage of frequency scanning is simplicity of implementation. At this point, multifunctional usage of microwave modules is an urgent task, as well as their maximum simpler and cheaper. Antenna design and operation. The study is aimed at providing electric antenna with frequency scanning. It was based on the log-periodic antenna due to its wideband and negotiation capability over the entire operating frequency range. For this distribution line is bent in an arc of a circle in a plane blade while vibrators are arranged along the radius. Computer modeling of antennas with frequency scanning. Modeled with a non-mechanical motion antenna beam emitters representing system for receiving a radio frequency signal on mobile objects calculated for 1.8 GHz ... 4.2 GHz. The simulation was performed in a software environment for numerical modeling of electromagnetic «Feko 5.5». Analysis of the interaction of radiation is based on the method of moments. Findings. The result of this work is to propose a new design of the antenna with a frequency scanning method as agreed in a wide frequency range. In the studied technical solution provided by the rotation of NAM in the frequency range, and the matching of the antenna to the feed line is maintained. Application of this type of antennas on the proposed technical solution in communication systems will improve the communication reliability by maintaining coordination in the frequency range

  18. Technical aspects of CT scanning.

    Science.gov (United States)

    Maravilla, K R; Pastel, M S

    1978-01-01

    The advent of computed tomography (CT) has initiated a technological revolution which continues to the present time. A brief review of basic principles of CT scanning is presented, and the evolution of modern CT scanner systems is traced. Some early indications of future trends are also presented.

  19. Introduction to scanning tunneling microscopy

    CERN Document Server

    Chen, C Julian

    2008-01-01

    The scanning tunneling and the atomic force microscope, both capable of imaging individual atoms, were crowned with the Physics Nobel Prize in 1986, and are the cornerstones of nanotechnology today. This is a thoroughly updated version of this 'bible' in the field.

  20. Low energy ion beam dynamics of NANOGAN ECR ion source

    Energy Technology Data Exchange (ETDEWEB)

    Kumar, Sarvesh, E-mail: sarvesh@iuac.res.in; Mandal, A.

    2016-04-01

    A new low energy ion beam facility (LEIBF) has been developed for providing the mass analyzed highly charged intense ion beams of energy ranging from a few tens of keV to a few MeV for atomic, molecular and materials sciences research. The new facility consists of an all permanent magnet 10 GHz electron cyclotron resonance (ECR) ion source (NANOGAN) installed on a high voltage platform (400 kV) which provides large currents of multiply charged ion beams. Higher emittance at low energy of intense ion beam puts a tremendous challenge to the beam optical design of this facility. The beam line consists of mainly the electrostatic quadrupoles, an accelerating section, analyzing cum switching magnet and suitable beam diagnostics including vacuum components. The accelerated ion beam is analyzed for a particular mass to charge (m/q) ratio as well as guided to three different lines along 75°, 90° and 105° using a large acceptance analyzing cum switching magnet. The details of transverse beam optics to all the beam lines with TRANSPORT and GICOSY beam optics codes are being described. Field computation code, OPERA 3D has been utilized to design the magnets and electrostatic quadrupoles. A theoretical estimation of emittance for optimized geometry of ion source is given so as to form the basis of beam optics calculations. The method of quadrupole scan of the beam is used to characterize the emittance of the final beam on the target. The measured beam emittance increases with m/q ratios of various ion beams similar to the trend observed theoretically.

  1. Backstepping and dynamic control-allocation for attitude maneuver of spacecraft with redundant reaction fly-wheels%基于反步法与动态控制分配的航天器姿态机动控制

    Institute of Scientific and Technical Information of China (English)

    李波; 胡庆雷; 石忠; 马广富

    2012-01-01

    We develop a robust adaptive controller based on the backstepping method for the attitude maneuver of the spacecraft with unknown rotational inertia and unknown external disturbances. The stability of the closed-loop system is validated by using Lyapunov analysis. In considering the redundancy of the actuators-the reaction fly-wheels, we propose a dynamic allocation algorithm based on the constrained optimal quadratic programming for distributing the control command to the proper fly-wheel. This eliminates the physical restrictions on the fly-wheel characteristics and the limitation of the maximal torque, which are required in the conventional pseudo-inverse method. In addition, it also effectively suppresses the measurement noises and rejects the abnormal data from attitude sensors, improving the smoothness of the control torque. The proposed scheme has been applied to control the attitude maneuver of a wheel-control rigid spacecraft. Simulation results validate the efficacy of the proposed method.%针对存在未知转动惯量与外部干扰的航天器姿态机动控制问题,提出了一类基于反步法的鲁棒自适应控制器,并利用Lyapunov方法分析了系统的稳定性;考虑到作为执行机构的反作用飞轮存在冗余性,进一步提出了一种基于约束最优二次规划的动态控制分配算法来实现指令到期望飞轮的指令分配,克服传统伪逆法难以考虑飞轮动态特性、最大力矩等物理约束,并能有效的抑制姿态敏感器的测量噪声和测量异常值,实现控制力矩的平稳性.最后,将本文提出的控制方案应用于某型轮控刚体航天器的姿态机动任务中,仿真结果验证了本文提出方法的可行性、有效性.

  2. 模型不确定非线性系统的自适应模糊Backstepping预测控制%Adaptive fuzzy backstepping predictive control for a class for nonlinear systems with model uncertainty

    Institute of Scientific and Technical Information of China (English)

    郑兰; 周卫东; 廖成毅; 程华

    2014-01-01

    为解决一类模型不确定严格反馈非线性系统的跟踪控制问题,提出一种使闭环系统稳定且滚动时域性能指标在线最小化的自适应模糊反步预测控制策略。模糊系统用来逼近该设计过程中的未知非线性项,自适应参数直接用来估计最优逼近权值向量范数的平方,从而只有一个自适应参数需要在线调节;同时考虑模糊基函数的性质,所设计的控制律与自适应律均不含模糊基函数项,理论证明该方法设计的控制器保证闭环系统所有信号是半全局有界的,并且跟踪误差收敛于零的某一邻域。该方法所设计的控制器形式简单,计算量小,更易于实际应用,仿真算例验证提出算法的有效性。%To overcome the tracking control problem for a class of strict⁃feedback nonlinear system with model uncertain , an adaptive fuzzy backstepping predication control algorithm which can make the closed⁃loop system stable and minimize the receding horizon guaranteed cost on⁃line is proposed. Fuzzy logic systems are employed to approximate the unknown term in the design process. As the adaptive parameter are directly used to estimate the norm of the optimal approximation weight vector, only one parameter need to be tuned on⁃line. Considering the property of the fuzzy basis function, the designed control laws and adaptive laws do not contain the fuzzy basis function term. Theoretically, it is proved that the using the constructed controller can guarantee that all signals in closed⁃loop are semi⁃globally uniformly ultimately bounded, and the tracking error convergence to a small neighborhood of the origin. As the form of the controller designed in this way is simplicity and the computation is small, this control strategy is easily realized in practice. Finally, the simulation results demonstrate the feasibility of the proposed scheme.

  3. A method about backstepping control for waverider slide hypersonic vehicle with large envelope%乘波构型高超声速滑翔飞行器大包线反步控制方法

    Institute of Scientific and Technical Information of China (English)

    李健; 张为华; 郑伟

    2013-01-01

    Waverider slide hypersonic vehicle will be very useful for transport and even a powerful weapon in the future.The flight environment is very complex as the hypersonic vehicle flies at high speed and covers wide range,thus the control system of the hypersonic vehicle must have good adaptability.As decoupling pseudolinear system does not have fine dynamic performance,this research established the attitude model of the hypersonic vehicle,using the discoupling method and Block Backstepping theory to design the control system.The stability of close-loop system was proved and the simulation with large flight envelope and large-scale parameters perturbation was accomplished.The results showed that the method can ensure the stability of close-loop system's Lyapunov functions.With functional agility and rapid response,the control system can solve the problem brought about by large flight envelope and large-scale parameters perturbation,and can enhance the system's robustness.%高超声速滑翔飞行器在高速突防、快速打击等方面具有重要应用前景,是航空航天领域的重要发展方向。针对高超声速飞行器快速、大空域的飞行环境特性复杂、姿态控制系统适应性要求高的特点,建立高超声速飞行器姿态运动模型,采用解耦设计方法,利用块控反步控制理论设计姿态控制器。经证明和仿真结果可知,该方法严格保证闭环系统的 Lyapunov 稳定性,控制律设计具有灵活性,响应速度快,能克服气动参数变化带来的影响,鲁棒性较好。

  4. Control on Electron Beam Scanning Track

    Institute of Scientific and Technical Information of China (English)

    王学东; 姚舜

    2004-01-01

    In order to use electron beam as a movable welding heat source and whose energy distribution along its moving trace can be controlled, a method of electron beam scanning track and scanning mode control was put forward. Based on it, the electron beam scanning track and scanning mode can be edited at will according to actual requirements, and the energy input of each point of the scanning track can be controlled. In addition, the scanning frequency and points control, real time adjusting of the scanning track etc. were explained. This method can be used in electron beam brazing, surface modification, surface heat treatment etc.

  5. Seismic scanning tunneling macroscope - Theory

    KAUST Repository

    Schuster, Gerard T.

    2012-09-01

    We propose a seismic scanning tunneling macroscope (SSTM) that can detect the presence of sub-wavelength scatterers in the near-field of either the source or the receivers. Analytic formulas for the time reverse mirror (TRM) profile associated with a single scatterer model show that the spatial resolution limit to be, unlike the Abbe limit of λ/2, independent of wavelength and linearly proportional to the source-scatterer separation as long as the point scatterer is in the near-field region; if the sub-wavelength scatterer is a spherical impedance discontinuity then the resolution will also be limited by the radius of the sphere. Therefore, superresolution imaging can be achieved as the scatterer approaches the source. This is analogous to an optical scanning tunneling microscope that has sub-wavelength resolution. Scaled to seismic frequencies, it is theoretically possible to extract 100 Hz information from 20 Hz data by imaging of near-field seismic energy.

  6. A Laser Scanning Tracking Method

    Science.gov (United States)

    Xu, Gaoyue; Hu, Baoli; Wang, Jiangping

    1988-04-01

    In this paper, a new tracking approach, a laser scanning tracking method (LSTM) is proposed. The LSTM has been designed to track a cylindrical retroreflective target mounted on the object, which makes plane motion. The retroreflector pasted by scotchlite reflective sheeting (mad. in 3M ,0.) i s located by scanning a laser beam in holizontal. When the retroreflector is struck, its position that is azimuth is read by microcomputer and the aiming device is servocontrolled by microcomputer according to this azimuth immediately. This is a step-by-step tracking method. The time of servo-reponse is less than one millisecona in actual tests. The angular accuracy is less than 0.5 milliradian. The track angular velocity is greater than one radian/second.

  7. 3D scanning with Kinect

    OpenAIRE

    Novak, David

    2012-01-01

    This paper describes the procedures and technologies used for scanning and three-dimensional reconstruction of objects using the optical scanner Kinect. Theoretical backgrounds of basic computer graphics, projective geometry, optics and graphical reconstruction were studied for better understanding of this field of computer science. A part of the content also describes the structure and operating of the Kinect and is used as a theoretical basis for implementing a new framework for three-di...

  8. Cloud Top Scanning radiometer (CTS)

    Science.gov (United States)

    1978-01-01

    A scanning radiometer to be used for measuring cloud radiances in each of three spectral regions is described. Significant features incorporated in the Cloud Top Scanner design are: (1) flexibility and growth potential through use of easily replaceable modular detectors and filters; (2) full aperture, multilevel inflight calibration; (3) inherent channel registration through employment of a single shared field stop; and (4) radiometric sensitivity margin in a compact optical design through use of Honeywell developed (Hg,Cd)Te detectors and preamplifiers.

  9. Differential scanning calorimetry of coal

    Science.gov (United States)

    Gold, P. I.

    1978-01-01

    Differential scanning calorimetry studies performed during the first year of this project demonstrated the occurrence of exothermic reactions associated with the production of volatile matter in or near the plastic region. The temperature and magnitude of the exothermic peak were observed to be strongly affected by the heating rate, sample mass and, to a lesser extent, by sample particle size. Thermal properties also were found to be influenced by oxidation of the coal sample due to weathering effects.

  10. Plasma ion sources and ion beam technology inmicrofabrications

    Energy Technology Data Exchange (ETDEWEB)

    Ji, Lili [Univ. of California, Berkeley, CA (United States)

    2007-01-01

    For over decades, focused ion beam (FIB) has been playing a very important role in microscale technology and research, among which, semiconductor microfabrication is one of its biggest application area. As the dimensions of IC devices are scaled down, it has shown the need for new ion beam tools and new approaches to the fabrication of small-scale devices. In the meanwhile, nanotechnology has also deeply involved in material science research and bioresearch in recent years. The conventional FIB systems which utilize liquid gallium ion sources to achieve nanometer scale resolution can no longer meet the various requirements raised from such a wide application area such as low contamination, high throughput and so on. The drive towards controlling materials properties at nanometer length scales relies on the availability of efficient tools. In this thesis, three novel ion beam tools have been developed and investigated as the alternatives for the conventional FIB systems in some particular applications. An integrated focused ion beam (FIB) and scanning electron microscope (SEM) system has been developed for direct doping or surface modification. This new instrument employs a mini-RF driven plasma source to generate focused ion beam with various ion species, a FEI two-lens electron (2LE) column for SEM imaging, and a five-axis manipulator system for sample positioning. An all-electrostatic two-lens column has been designed to focus the ion beam extracted from the source. Based on the Munro ion optics simulation, beam spot sizes as small as 100 nm can be achieved at beam energies between 5 to 35 keV if a 5 μm-diameter extraction aperture is used. Smaller beam spot sizes can be obtained with smaller apertures at sacrifice of some beam current. The FEI 2LE column, which utilizes Schottky emission, electrostatic focusing optics, and stacked-disk column construction, can provide high-resolution (as small as 20 nm) imaging capability, with fairly long working distance (25

  11. New Snail Mail Scanning Service

    CERN Multimedia

    2012-01-01

    Modernisation does not stop at the CERN postal service (GS/PS). “With more and more digitisation and the prevalence of e-mail throughout the site, we were hoping to provide more timely delivery of letters and make further saving in resources”, said Tueri Datta, head of GS/PS.   Instead of the standard delivery to your P.O. box, the CERN postal service will digitally scan all letters and books up to 100 pages on reception. These scans will subsequently be sent via e-mail to the corresponding recipient as PDF (Portable Data Format - you will need to install “Acrobat Reader” on your PC). Express mail will be handled with priority. Users without a valid CERN mailbox can register at mail.scan.service@cern.ch in order to have their letters read to them via the phone line (we are currently investigating whether we can use the voices of the last five DGs).   This service will start on 1st April 2012 on the Meyrin site and will gradually replace th...

  12. ION VATAMANU

    Directory of Open Access Journals (Sweden)

    l. Povar

    2012-12-01

    Full Text Available Ion Vatamanu was a chemist, writer and public figure. He was equally passionate about both his chosen fields of activity: chemistry and poetry. Chemistry, with its perfect equilibrium of logic and precision, provided inspiration for lyrical creativity, whereas poetry writing enlivened his imagination and passion for chemistry. He loved his parents. He adored his wife Elena, whom he often gifted a sea of flowers. He loved his daughters Mihaela, Mariana, and Leontina. He loved life, and he loved people.

  13. Investigation of microstructures in naturally and experimentally deformed reference clay rocks using innovative methods in scanning electron microscopy

    NARCIS (Netherlands)

    Desbois, Guillaume; Hemes, Susanne; Laurich, Ben; Houben, M.E.; Klaver, J.; Hohne, N.; Urai, Janos L.; Viggiani, G.; Bésuelle, P.

    2016-01-01

    The application of ion-beam milling techniques to clays allows investigation of the porosity at nm resolution using scanning electron microscopy (SEM). Imaging of pores by SEM of surfaces prepared by broad ion beam (BIB) gives both qualitative and quantitative insights into the porosity and mineral

  14. Electron Beam Ion Sources

    OpenAIRE

    Zschornacka, G.; Schmidt, M.; Thorn, A.

    2014-01-01

    Electron beam ion sources (EBISs) are ion sources that work based on the principle of electron impact ionization, allowing the production of very highly charged ions. The ions produced can be extracted as a DC ion beam as well as ion pulses of different time structures. In comparison to most of the other known ion sources, EBISs feature ion beams with very good beam emittances and a low energy spread. Furthermore, EBISs are excellent sources of photons (X-rays, ultraviolet, extreme ultraviole...

  15. Ion Beam Extraction by Discrete Ion Focusing

    DEFF Research Database (Denmark)

    2010-01-01

    An apparatus (900) and methods are disclosed for ion beam extraction. In an implementation, the apparatus includes a plasma source (or plasma) (802) and an ion extractor (804). The plasma source is adapted to generate ions and the ion extractor is immersed in the plasma source to extract a fraction...... of the generated ions. The ion extractor is surrounded by a space charge (810) formed at least in part by the extracted ions. The ion extractor includes a biased electrode (806) forming an interface with an insulator (808). The interface is customized to form a strongly curved potential distribution (812......) in the space-charge surrounding the ion extractor. The strongly curved potential distribution focuses the extracted ions towards an opening (814) on a surface of the biased electrode thereby resulting in an ion beam....

  16. On the role of ion-based imaging methods in modern ion beam therapy

    Science.gov (United States)

    Magallanes, L.; Brons, S.; Marcelos, T.; Takechi, M.; Voss, B.; Jäkel, O.; Rinaldi, I.; Parodi, K.

    2014-11-01

    External beam radiotherapy techniques have the common aim to maximize the radiation dose to the target while sparing the surrounding healthy tissues. The inverted and finite depth-dose profile of ion beams (Bragg peak) allows for precise dose delivery and conformai dose distribution. Furthermore, increased radiobiological effectiveness of ions enhances the capability to battle radioresistant tumors. Ion beam therapy requires a precise determination of the ion range, which is particularly sensitive to range uncertainties. Therefore, novel imaging techniques are currently investigated as a tool to improve the quality of ion beam treatments. Approaches already clinically available or under development are based on the detection of secondary particles emitted as a result of nuclear reactions (e.g., positron-annihilation or prompt gammas, charged particles) or transmitted high energy primary ion beams. Transmission imaging techniques make use of the beams exiting the patient, which have higher initial energy and lower fluence than the therapeutic ones. At the Heidelberg Ion Beam Therapy Center, actively scanned energetic proton and carbon ion beams provide an ideal environment for the investigation of ion-based radiography and tomography. This contribution presents the rationale of ion beam therapy, focusing on the role of ion-based transmission imaging methods towards the reduction of range uncertainties and potential improvement of treatment planning.

  17. On the role of ion-based imaging methods in modern ion beam therapy

    Energy Technology Data Exchange (ETDEWEB)

    Magallanes, L., E-mail: lorena.magallanes@med.uni-heidelberg.de; Rinaldi, I., E-mail: ilaria.rinaldi@med.uni-heidelberg.de [Heidelberg University Clinic (Dep. Radiation Therapy and Radiation Oncology). Im Neuenheimer Feld 400 69120 Heidelberg, Germany and Ludwig Maximilians University Munich. Am Coulombwall 1, D-85748, Garching (Germany); Brons, S., E-mail: stephan.brons@med.uni-heidelberg.de [Heidelberg Ion Therapy Center. Im Neuenheimer Feld 450 69120 Heidelberg (Germany); Marcelos, T., E-mail: tiago.marcelos@physik.uni-muenchen.de; Parodi, K., E-mail: katia.parodi@physik.uni-muenchen.de [Ludwig Maximilians University Munich. Am Coulombwall 1, D-85748, Garching (Germany); Takechi, M., E-mail: m.takechi@gsi.de [GSI Heimholtz Center for Heavy Ion Research. Planckstraße 1, 64291, Darmstadt (Germany); Voss, B., E-mail: b.voss@gsi.de [GSI Heimholte Center for Heavy Ion Research. Planckstraße 1, 64291, Darmstadt (Germany); Jäkel, O., E-mail: o.jaekel@dkfz-heidelberg.de [Heidelberg University Clinic (Dep. Radiation Therapy and Radiation Oncology). Im Neuenheimer Feld 400 69120 Heidelberg (Germany); Heidelberg Ion Therapy Center. Im Neuenheimer Feld 450 69120 Heidelberg (Germany); German Cancer Research Center, Im N (Germany)

    2014-11-07

    External beam radiotherapy techniques have the common aim to maximize the radiation dose to the target while sparing the surrounding healthy tissues. The inverted and finite depth-dose profile of ion beams (Bragg peak) allows for precise dose delivery and conformai dose distribution. Furthermore, increased radiobiological effectiveness of ions enhances the capability to battle radioresistant tumors. Ion beam therapy requires a precise determination of the ion range, which is particularly sensitive to range uncertainties. Therefore, novel imaging techniques are currently investigated as a tool to improve the quality of ion beam treatments. Approaches already clinically available or under development are based on the detection of secondary particles emitted as a result of nuclear reactions (e.g., positron-annihilation or prompt gammas, charged particles) or transmitted high energy primary ion beams. Transmission imaging techniques make use of the beams exiting the patient, which have higher initial energy and lower fluence than the therapeutic ones. At the Heidelberg Ion Beam Therapy Center, actively scanned energetic proton and carbon ion beams provide an ideal environment for the investigation of ion-based radiography and tomography. This contribution presents the rationale of ion beam therapy, focusing on the role of ion-based transmission imaging methods towards the reduction of range uncertainties and potential improvement of treatment planning.

  18. Probing cytotoxicity of nanoparticles and organic compounds using scanning proton microscopy, scanning electron microscopy and fluorescence microscopy

    Energy Technology Data Exchange (ETDEWEB)

    Tong Yongpeng [Institute of Nuclear Techniques, Shenzhen University, Nanhai Avenue 3688, Shenzhen 518060 (China)], E-mail: yongpengt@yahoo.com.cn; Li Changming [School of Chemical and Biomedical Engineering, Nanyang Technological University, Singapore 637457 (Singapore); Liang Feng [Institute Pasteur of Shanghai, Chinese Academy of Sciences, Shanghai 200025 (China); Chen Jianmin [Shenzhen Municipal Hospital for Chronic Disease Control and Prevention, Guangdong 518020 (China); Zhang Hong; Liu Guoqing; Sun Huibin [Institute of Nuclear Techniques, Shenzhen University, Nanhai Avenue 3688, Shenzhen 518060 (China); Luong, John H.T. [Biotechnology Research Institute, National Research Council Canada, Montreal, Quebec, H4P 2R2 (Canada)

    2008-12-15

    Scanning proton microscopy, scanning electron microscopy (SEM) and fluorescence microscopy have been used to probe the cytotoxicity effect of benzo[a]pyrene (BaP), ethidium bromide (EB) and nanoparticles (ZnO, Al{sub 2}O{sub 3} and TiO{sub 2}) on a T lymphoblastic leukemia Jurkat cell line. The increased calcium ion (from CaCl{sub 2}) in the culture medium stimulated the accumulation of BaP and EB inside the cell, leading to cell death. ZnO, Al{sub 2}O{sub 3} and TiO{sub 2} nanoparticles, however, showed a protective effect against these two organic compounds. Such inorganic nanoparticles complexed with BaP or EB which became less toxic to the cell. Fe{sub 2}O{sub 3} nanoparticles as an insoluble particle model scavenged by macrophage were investigated in rats. They were scavenged out of the lung tissue about 48 h after infection. This result suggest that some insoluble inorganic nanoparticles of PM (particulate matters) showed protective effects on organic toxins induced acute toxic effects as they can be scavenged by macrophage cells. Whereas, some inorganic ions such as calcium ion in PM may help environmental organic toxins to penetrate cell membrane and induce higher toxic effect.

  19. Instrumentation: Ion Chromatography.

    Science.gov (United States)

    Fritz, James S.

    1987-01-01

    Discusses the importance of ion chromatography in separating and measuring anions. The principles of ion exchange are presented, along with some applications of ion chromatography in industry. Ion chromatography systems are described, as well as ion pair and ion exclusion chromatography, column packings, detectors, and programming. (TW)

  20. Hydrolyzed Poly(acrylonitrile) Electrospun Ion-Exchange Fibers

    OpenAIRE

    Jassal, Manisha; Bhowmick, Sankha; Sengupta, Sukalyan; Patra, Prabir K.; Walker, Douglas I.

    2014-01-01

    A potential ion-exchange material was developed from poly(acrylonitrile) fibers that were prepared by electrospinning followed by alkaline hydrolysis (to convert the nitrile group to the carboxylate functional group). Characterization studies performed on this material using X-ray photoelectron spectroscopy, scanning electron microscopy, Fourier-Transform infra-red spectroscopy, and ion chromatography confirmed the presence of ion-exchange functional group (carboxylate). Optimum hydrolysis co...

  1. Broadband lasercooling of relativistic ion beams at ESR

    Energy Technology Data Exchange (ETDEWEB)

    Bussmann, Michael; Seltmann, Michael; Siebold, Matthias; Schramm, Ulrich [HZDR (Germany); Wen, Weiqiang; Zhang, Dacheng; Ma, Xinwen [IMPCAS, Lanzhou (China); Winters, Danyal; Clark, Colin; Kozhuharov, Christophor; Steck, Markus; Dimopoulou, Christina; Nolden, Fritz; Stoehlker, Thomas [GSI (Germany); Beck, Tobias; Rein, Benjamin; Walther, Thomas; Tichelmann, Sascha; Birkl, Gerhard [TU Darmstadt (Germany); Sanchez-Alarcon, Rodolfo; Ullmann, Johannes; Lochmann, Matthias; Noertershaeuser, Wilfried [GSI (Germany); Univ. Mainz (Germany)

    2013-07-01

    We present new results on laser cooling of relativistic C{sup 3+} ion beams at the Experimental Storage Ring at GSI. For the first time we could show laser cooling of bunched relativistic ion beams using fast scanning of the frequency of the cooling laser over a range larger than the momentum acceptance of the bucket. Unlike previously employed cooling schemes where the bucket frequency was scanned relatively to a fixed laser frequency, scanning of the laser frequency can be readily applied to future high energy storage rings such as HESR or SIS100 at FAIR.

  2. Verification of high efficient broad beam cold cathode ion source

    Science.gov (United States)

    Abdel Reheem, A. M.; Ahmed, M. M.; Abdelhamid, M. M.; Ashour, A. H.

    2016-08-01

    An improved form of cold cathode ion source has been designed and constructed. It consists of stainless steel hollow cylinder anode and stainless steel cathode disc, which are separated by a Teflon flange. The electrical discharge and output characteristics have been measured at different pressures using argon, nitrogen, and oxygen gases. The ion exit aperture shape and optimum distance between ion collector plate and cathode disc are studied. The stable discharge current and maximum output ion beam current have been obtained using grid exit aperture. It was found that the optimum distance between ion collector plate and ion exit aperture is equal to 6.25 cm. The cold cathode ion source is used to deposit aluminum coating layer on AZ31 magnesium alloy using argon ion beam current which equals 600 μA. Scanning electron microscope and X-ray diffraction techniques used for characterizing samples before and after aluminum deposition.

  3. Development of heavy-ion irradiation technique for single-event in semiconductor devices

    Energy Technology Data Exchange (ETDEWEB)

    Nemoto, Norio; Akutsu, Takao; Matsuda, Sumio [National Space Development Agency of Japan, Tsukuba, Ibaraki (Japan). Tsukuba Space Center; Naitoh, Ichiro; Itoh, Hisayoshi; Agematsu, Takashi; Kamiya, Tomihiro; Nashiyama, Isamu

    1997-03-01

    Heavy-ion irradiation technique has been developed for the evaluation of single-event effects on semiconductor devices. For the uniform irradiation of high energy heavy ions to device samples, we have designed and installed a magnetic beam-scanning system in a JAERI cyclotron beam course. It was found that scanned area was approximately 4 x 2 centimeters and that the deviation of ion fluence from the average value was less than 7%. (author)

  4. ABS: Sequence alignment by scanning

    KAUST Repository

    Bonny, Mohamed Talal

    2011-08-01

    Sequence alignment is an essential tool in almost any computational biology research. It processes large database sequences and considered to be high consumers of computation time. Heuristic algorithms are used to get approximate but fast results. We introduce fast alignment algorithm, called Alignment By Scanning (ABS), to provide an approximate alignment of two DNA sequences. We compare our algorithm with the well-known alignment algorithms, the FASTA (which is heuristic) and the \\'Needleman-Wunsch\\' (which is optimal). The proposed algorithm achieves up to 76% enhancement in alignment score when it is compared with the FASTA Algorithm. The evaluations are conducted using different lengths of DNA sequences. © 2011 IEEE.

  5. Aperture scanning Fourier ptychographic microscopy

    Science.gov (United States)

    Ou, Xiaoze; Chung, Jaebum; Horstmeyer, Roarke; Yang, Changhuei

    2016-01-01

    Fourier ptychographic microscopy (FPM) is implemented through aperture scanning by an LCOS spatial light modulator at the back focal plane of the objective lens. This FPM configuration enables the capturing of the complex scattered field for a 3D sample both in the transmissive mode and the reflective mode. We further show that by combining with the compressive sensing theory, the reconstructed 2D complex scattered field can be used to recover the 3D sample scattering density. This implementation expands the scope of application for FPM and can be beneficial for areas such as tissue imaging and wafer inspection. PMID:27570705

  6. Scanning Miniature Microscopes without Lenses

    Science.gov (United States)

    Wang, Yu

    2009-01-01

    The figure schematically depicts some alternative designs of proposed compact, lightweight optoelectronic microscopes that would contain no lenses and would generate magnified video images of specimens. Microscopes of this type were described previously in Miniature Microscope Without Lenses (NPO - 20218), NASA Tech Briefs, Vol. 22, No. 8 (August 1998), page 43 and Reflective Variants of Miniature Microscope Without Lenses (NPO 20610), NASA Tech Briefs, Vol. 26, No. 9 (September 1999), page 6a. To recapitulate: In the design and construction of a microscope of this type, the focusing optics of a conventional microscope are replaced by a combination of a microchannel filter and a charge-coupled-device (CCD) image detector. Elimination of focusing optics reduces the size and weight of the instrument and eliminates the need for the time-consuming focusing operation. The microscopes described in the cited prior articles contained two-dimensional CCDs registered with two-dimensional arrays of microchannels and, as such, were designed to produce full two-dimensional images, without need for scanning. The microscopes of the present proposal would contain one-dimensional (line image) CCDs registered with linear arrays of microchannels. In the operation of such a microscope, one would scan a specimen along a line perpendicular to the array axis (in other words, one would scan in pushbroom fashion). One could then synthesize a full two-dimensional image of the specimen from the line-image data acquired at one-pixel increments of position along the scan. In one of the proposed microscopes, a beam of unpolarized light for illuminating the specimen would enter from the side. This light would be reflected down onto the specimen by a nonpolarizing beam splitter attached to the microchannels at their lower ends. A portion of the light incident on the specimen would be reflected upward, through the beam splitter and along the microchannels, to form an image on the CCD. If the

  7. An Adaptive Algorithm to Detect Port Scans

    Institute of Scientific and Technical Information of China (English)

    单蓉胜; 李小勇; 李建华

    2004-01-01

    Detection of port scan is an important component in a network intrusion detection and prevention system. Traditional statistical methods can be easily evaded by stealthy scans and are prone to DeS attacks. This paper presents a new mechanism termed PSD(port scan detection), which is based on TCP packet anomaly evaluation. By learning the port distribution and flags of TCP packets arriving at the protected hosts, PSD can compute the anomaly score of each packet and effectively detect port scans including slow scans and stealthy scans. Experiments show that PSD has high detection accuracy and low detection latency.

  8. Maskless, resistless ion beam lithography

    Energy Technology Data Exchange (ETDEWEB)

    Ji, Qing

    2003-03-10

    are presented. The formation of shallow pn-junctions in bulk silicon wafers by scanning focused P{sup +} beam implantation at 5 keV is also presented. With implantation dose of around 10{sup 16} cm{sup -2}, the electron concentration is about 2.5 x 10{sup 18} cm{sup -3} and electron mobility is around 200 cm{sup 2}/V{center_dot}s. To demonstrate the suitability of scanning FIB lithography for the manufacture of integrated circuit devices, SOI MOSFET fabrication using the maskless, resistless ion beam lithography is demonstrated. An array of microcolumns can be built by stacking multi-aperture electrode and insulator layers. Because the multicusp plasma source can achieve uniform ion density over a large area, it can be used in conjunction with the array of microcolumns, for massively parallel FIB processing to achieve reasonable exposure throughput.

  9. Maskless, resistless ion beam lithography

    Energy Technology Data Exchange (ETDEWEB)

    Ji, Qing [Univ. of California, Berkeley, CA (United States)

    2003-01-01

    process flow and the experimental results for directly patterned poly-Si features are presented. The formation of shallow pn-junctions in bulk silicon wafers by scanning focused P+ beam implantation at 5 keV is also presented. With implantation dose of around 1016 cm-2, the electron concentration is about 2.5 x 1018 cm-3 and electron mobility is around 200 cm2/V•s. To demonstrate the suitability of scanning FIB lithography for the manufacture of integrated circuit devices, SOI MOSFET fabrication using the maskless, resistless ion beam lithography is demonstrated. An array of microcolumns can be built by stacking multi-aperture electrode and insulator layers. Because the multicusp plasma source can achieve uniform ion density over a large area, it can be used in conjunction with the array of microcolumns, for massively parallel FIB processing to achieve reasonable exposure throughput.

  10. A design for a pinhole scanning helium microscope

    Energy Technology Data Exchange (ETDEWEB)

    Barr, M.; Fahy, A. [Centre for Organic Electronics, University of Newcastle, Callaghan, NSW 2308 (Australia); Jardine, A.; Ellis, J.; Ward, D. [Cavendish Laboratory, University of Cambridge, Madingley Road, Cambridge CB3 0HE (United Kingdom); MacLaren, D.A. [Dept. of Physics, University of Glasgow, Glasgow G12 8QQ (United Kingdom); Allison, W. [Cavendish Laboratory, University of Cambridge, Madingley Road, Cambridge CB3 0HE (United Kingdom); Dastoor, P.C., E-mail: Paul.Dastoor@newcastle.edu.au [Centre for Organic Electronics, University of Newcastle, Callaghan, NSW 2308 (Australia)

    2014-12-01

    We present a simplified design for a scanning helium microscope (SHeM) which utilises almost entirely off the shelf components. The SHeM produces images by detecting scattered neutral helium atoms from a surface, forming an entirely surface sensitive and non-destructive imaging technique. This particular prototype instrument avoids the complexities of existing neutral atom optics by replacing them with an aperture in the form of an ion beam milled pinhole, resulting in a resolution of around 5 microns. Using the images so far produced, an initial investigation of topological contrast has been performed.

  11. ION GUN

    Science.gov (United States)

    Dandl, R.A.

    1961-10-24

    An ion gun is described for the production of an electrically neutral ionized plasma. The ion gun comprises an anode and a cathode mounted in concentric relationship with a narrow annulus between. The facing surfaces of the rear portions of the anode and cathode are recessed to form an annular manifold. Positioned within this manifold is an annular intermediate electrode aligned with the an nulus between the anode and cathode. Gas is fed to the manifold and an arc discharge is established between the anode and cathode. The gas is then withdrawn from the manifold through the annulus between the anode and cathode by a pressure differential. The gas is then ionized by the arc discharge across the annulus. The ionized gas is withdrawn from the annulus by the combined effects of the pressure differential and a collimating magnetic field. In a 3000 gauss magnetic field, an arc voltage of 1800 volts, and an arc current of 0.2 amp, a plasma of about 3 x 10/sup 11/ particles/cc is obtained. (AEC)

  12. Optical analysis of scanning microstereolithography systems

    Science.gov (United States)

    Deshmukh, Suhas P.; Dubey, Shashikant; Gandhi, P. S.

    2006-01-01

    Microstereolithography (MSL) is rapidly developing technique for micro-fabrication. Vector-by-vector scanning MSL has a potential to create true 3D micro-devices as compared to mostly planar (2D-2 1/2 D) devices fabricated by conventional MEMS techniques. Previous literature shows two different scanning methods:(1) Galvanomirror scanning, (2) Photoreactor tank scanning. Galvanomirror scanning technique has higher fabrication speed but poor resolution because of defocusing of laser spot on the resin surface. Photo-reactor tank scanning has higher resolution but produces a wavy structures and limited speed of fabrication. This paper proposes and develops an offaxis lens scanning technique for MSL and carries out optical analysis to compare its performance with the existing techniques mentioned above. The comparison clearly demonstrates improved performance with the proposed offaxis lens scanning technique.

  13. Electronically-Scanned Fourier-Transform Spectrometer

    Science.gov (United States)

    Breckinridge, J. B.; Ocallaghan, F. G.

    1984-01-01

    Instrument efficient, lightweight, and stable. Fourier-transform spectrometer configuration uses electronic, instead of mechanical, scanning. Configuration insensitive to vibration-induced sampling errors introduced into mechanically scanned systems.

  14. Influence of scanning force microscope loading force on measurement of ion—track diameter

    Institute of Scientific and Technical Information of China (English)

    WangYu-Gang; AckermannJ; 等

    1997-01-01

    Scanning force microscope(SFM) was operated in the lateral-force mode with different loading forces.The mica samples were irradiated by Se ions with a kinetic energy of 11.4MeV/u.The"full-height width" and the "half-height width" of track profiles were used to evaluate the ion-track diameter,For the former method,the average track diameter increases slowly with increasing loading force between SFM tip and sample.For the later method,the average diameters of ion track nearly keep a common value as the SFM loading force increases.

  15. Intelligent nonlinear control for the hypersonic morphing vehicle based on the backstepping method%基于回馈递推的可变翼高超声速飞行器智能非线性控制

    Institute of Scientific and Technical Information of China (English)

    吴雨珊; 江驹; 甄子洋; 顾臣风

    2016-01-01

    In this paper, an intelligence nonlinear control scheme is proposed based on the backstepping method to solve the difficulty of the stable tracking control of the hypersonic morphing vehicle, considering compound disturb⁃ances as well as the influence of model uncertainties and unknown outside disturbances. First, the aerodynamic pa⁃rameters of the morphing vehicle are replaced with a curve⁃fitted approximation in order to build an accurate hyper⁃sonic model. Then, the feedback linearization approach is used to transform the nonlinear vehicle model into a strict feedback multi⁃input/multi⁃output nonlinear system. The nonlinear system is divided into three subsystems accord⁃ing to the features of the state variables and the virtual control signals are calculated for every subsystem. Next, the radial basis function ( RBF) is proved to have excellent capability in restraining unknown disturbances, and a dy⁃namic surface control strategy is employed to eliminate the explosion terms. The simulation results show that the pro⁃posed method can ensure the integral stability of the closed⁃loop system, as well as can have excellent tracing per⁃formance and robustness.%针对可变翼高超声速飞行器的外环稳定跟踪控制问题,考虑可变翼对建模的影响、模型参数不确定和外界未知干扰对跟踪控制性能的影响,提出基于回馈递推的智能非线性控制策略。本文首先利用巡航段气动参数的插值数据建立精确的纵向模型;然后采用输入-输出反馈线性化方法对飞行器纵向模型进行非线性映射,并根据状态变量特性将飞行器划分为三个子系统,利用回馈递推依次求取控制信号,采用RBF神经网络对未知干扰进行逼近,保证鲁棒性能。针对回馈递推设计过程中微分膨胀的问题,加入动态面控制思想进行改进。通过仿真表明,该方法可以保证闭环系统的全局稳定,并且拥有良好的跟踪性能和鲁棒性能。

  16. Speckle analysis in laser scanning display system

    Institute of Scientific and Technical Information of China (English)

    Hong Chang; Wei Huang; Fugui Yang; Hai Ming; Jianping Xie

    2009-01-01

    The theory of speckle formation in laser scanning display system is established based on the averaging effect of eye response as laser beam scanning through an eye resolution spot.It is analyzed that speckle reduction can be obtained by averaging states of speckle during scanning.The theoretical results show that a smaller correlation length of screen surface and the narrowing of laser beam in scanning direction can reduce speckle contrast for this system.

  17. Analysis of VX on soil particles using ion trap secondary ion mass spectrometry.

    Science.gov (United States)

    Groenewold, G S; Appelhans, A D; Gresham, G L; Olson, J E; Jeffery, M; Wright, J B

    1999-07-01

    The direct detection of the nerve agent VX (methylphosphonothioic acid, S-[2-[bis(1-methylethyl)amino]ethyl] O-ethyl ester) on milligram quantities of soil particles has been achieved using ion trap secondary ion mass spectrometry (IT-SIMS). VX is highly adsorptive toward a wide variety of surfaces; this attribute makes detection using gas-phase approaches difficult but renders the compound very amenable to surface detection. An ion trap mass spectrometer, modified to perform SIMS, was employed in the present study. A primary ion beam (ReO4-) was fired on axis through the ion trap, where it impacted the soil particle samples. [VX + H]+, [VX + H]+ fragment ions, and ions from the chemical background were sputtered into the gas-phase environment of the ion trap, where they were either scanned out or isolated and fragmented (MS2). At a surface concentration of 0.4 monolayer, intact [VX + H]+, and its fragment ions, were readily observable above background. However, at lower concentrations, the secondary ion signal from VX became obscured by ions derived from the chemical background on the surface of the soil particles. MS2 analysis using the ion trap was employed to improve detection of lower concentrations of VX: detection of the 34S isotopic ion of [VX + H]+, present at a surface concentration of approximately 0.002 monolayer, was accomplished. The study afforded the opportunity to investigate the fragmentation chemistry of VX. Semiempirical calculations suggest strongly that the molecule is protonated at the N atom. Deuterium labeling showed that formation of the base peak ion (C2H4)N(i-C3H7)2+ involves transfer of the amino proton to the phosphonothioate moiety prior to, or concurrent with, C-S bond cleavage. To manage the risk associated with working with the compound, the vacuum unit of the IT-SIMS was located in a hood, connected by cables to the externally located electronics and computer.

  18. Getting a CAT Scan (For Kids)

    Science.gov (United States)

    ... A Kid's Guide to Fever Getting a CAT Scan (Video) KidsHealth > For Kids > Getting a CAT Scan (Video) A A A en español Obtención de ... of what's going on inside your body. The scan itself is painless. All you'll need to ...

  19. Cobalt ion-containing epoxies

    Science.gov (United States)

    Stoakley, D. M.; St.clair, A. K.

    1983-01-01

    Varying concentrations of an organometallic cobalt complex were added to an epoxy system currently used by the aerospace industry as a composite matrix resin. Methods for combining cobalt (III) acetylacetonate with a tetraglycidyl 4,4 prime - diaminodiphenylmethane-based epoxy were investigated. The effects of increasing cobalt ion concentration on the epoxy cure were demonstrated by epoxy gel times and differential scanning calorimetry cure exotherms. Analysis on cured cobalt-containing epoxy castings included determination of glass transition temperatures by thermomechanical analysis, thermooxidative stabilities by thermogravimetric analysis, and densities in a density gradient column. Flexural strength and stiffness were also measured on the neat resin castings.

  20. Scanning laser polarimetry in glaucoma.

    Science.gov (United States)

    Dada, Tanuj; Sharma, Reetika; Angmo, Dewang; Sinha, Gautam; Bhartiya, Shibal; Mishra, Sanjay K; Panda, Anita; Sihota, Ramanjit

    2014-11-01

    Glaucoma is an acquired progressive optic neuropathy which is characterized by changes in the optic nerve head and retinal nerve fiber layer (RNFL). White-on-white perimetry is the gold standard for the diagnosis of glaucoma. However, it can detect defects in the visual field only after the loss of as many as 40% of the ganglion cells. Hence, the measurement of RNFL thickness has come up. Optical coherence tomography and scanning laser polarimetry (SLP) are the techniques that utilize the evaluation of RNFL for the evaluation of glaucoma. SLP provides RNFL thickness measurements based upon the birefringence of the retinal ganglion cell axons. We have reviewed the published literature on the use of SLP in glaucoma. This review elucidates the technological principles, recent developments and the role of SLP in the diagnosis and monitoring of glaucomatous optic neuropathy, in the light of scientific evidence so far.

  1. Scanning strategies for imaging arrays

    CERN Document Server

    Kovács, A

    2008-01-01

    Large-format (sub)millimeter wavelength imaging arrays are best operated in scanning observing modes rather than traditional position-switched (chopped) modes. The choice of observing mode is critical for isolating source signals from various types of noise interference, especially for ground-based instrumentation operating under a bright atmosphere. Ideal observing strategies can combat 1/f noise, resist instrumental defects, sensitively recover emission on large scales, and provide an even field coverage -- all under feasible requirements of telescope movement. This work aims to guide the design of observing patterns that maximize scientific returns. It also compares some of the popular choices of observing modes for (sub)millimeter imaging, such as random, Lissajous, billiard, spiral, On-The-Fly (OTF), DREAM, chopped and stare patterns. Many of the conclusions are also applicable other imaging applications and imaging in one dimension (e.g. spectroscopic observations).

  2. A fluorescence scanning electron microscope

    Directory of Open Access Journals (Sweden)

    Takaaki Kanemaru

    2010-01-01

    Full Text Available Fluorescence techniques are widely used in biological research to examine molecular localization, while electron microscopy can provide unique ultrastructural information. To date, correlative images from both fluorescence and electron microscopy have been obtained separately using two different instruments, i.e. a fluorescence microscope (FM and an electron microscope (EM. In the current study, a scanning electron microscope (SEM (JEOL JXA8600 M was combined with a fluorescence digital camera microscope unit and this hybrid instrument was named a fluorescence SEM (FL-SEM. In the labeling of FL-SEM samples, both Fluolid, which is an organic EL dye, and Alexa Fluor, were employed. We successfully demonstrated that the FL-SEM is a simple and practical tool for correlative fluorescence and electron microscopy.

  3. QUANTITATIVE CONFOCAL LASER SCANNING MICROSCOPY

    Directory of Open Access Journals (Sweden)

    Merete Krog Raarup

    2011-05-01

    Full Text Available This paper discusses recent advances in confocal laser scanning microscopy (CLSM for imaging of 3D structure as well as quantitative characterization of biomolecular interactions and diffusion behaviour by means of one- and two-photon excitation. The use of CLSM for improved stereological length estimation in thick (up to 0.5 mm tissue is proposed. The techniques of FRET (Fluorescence Resonance Energy Transfer, FLIM (Fluorescence Lifetime Imaging Microscopy, FCS (Fluorescence Correlation Spectroscopy and FRAP (Fluorescence Recovery After Photobleaching are introduced and their applicability for quantitative imaging of biomolecular (co-localization and trafficking in live cells described. The advantage of two-photon versus one-photon excitation in relation to these techniques is discussed.

  4. Scanning ARM Cloud Radar Handbook

    Energy Technology Data Exchange (ETDEWEB)

    Widener, K; Bharadwaj, N; Johnson, K

    2012-06-18

    The scanning ARM cloud radar (SACR) is a polarimetric Doppler radar consisting of three different radar designs based on operating frequency. These are designated as follows: (1) X-band SACR (X-SACR); (2) Ka-band SACR (Ka-SACR); and (3) W-band SACR (W-SACR). There are two SACRs on a single pedestal at each site where SACRs are deployed. The selection of the operating frequencies at each deployed site is predominantly determined by atmospheric attenuation at the site. Because RF attenuation increases with atmospheric water vapor content, ARM's Tropical Western Pacific (TWP) sites use the X-/Ka-band frequency pair. The Southern Great Plains (SGP) and North Slope of Alaska (NSA) sites field the Ka-/W-band frequency pair. One ARM Mobile Facility (AMF1) has a Ka/W-SACR and the other (AMF2) has a X/Ka-SACR.

  5. Focused ion beams in biology.

    Science.gov (United States)

    Narayan, Kedar; Subramaniam, Sriram

    2015-11-01

    A quiet revolution is under way in technologies used for nanoscale cellular imaging. Focused ion beams, previously restricted to the materials sciences and semiconductor fields, are rapidly becoming powerful tools for ultrastructural imaging of biological samples. Cell and tissue architecture, as preserved in plastic-embedded resin or in plunge-frozen form, can be investigated in three dimensions by scanning electron microscopy imaging of freshly created surfaces that result from the progressive removal of material using a focused ion beam. The focused ion beam can also be used as a sculpting tool to create specific specimen shapes such as lamellae or needles that can be analyzed further by transmission electron microscopy or by methods that probe chemical composition. Here we provide an in-depth primer to the application of focused ion beams in biology, including a guide to the practical aspects of using the technology, as well as selected examples of its contribution to the generation of new insights into subcellular architecture and mechanisms underlying host-pathogen interactions.

  6. Correlative photoactivated localization and scanning electron microscopy.

    Science.gov (United States)

    Kopek, Benjamin G; Shtengel, Gleb; Grimm, Jonathan B; Clayton, David A; Hess, Harald F

    2013-01-01

    The ability to localize proteins precisely within subcellular space is crucial to understanding the functioning of biological systems. Recently, we described a protocol that correlates a precise map of fluorescent fusion proteins localized using three-dimensional super-resolution optical microscopy with the fine ultrastructural context of three-dimensional electron micrographs. While it achieved the difficult simultaneous objectives of high photoactivated fluorophore preservation and ultrastructure preservation, it required a super-resolution optical and specialized electron microscope that is not available to many researchers. We present here a faster and more practical protocol with the advantage of a simpler two-dimensional optical (Photoactivated Localization Microscopy (PALM)) and scanning electron microscope (SEM) system that retains the often mutually exclusive attributes of fluorophore preservation and ultrastructure preservation. As before, cryosections were prepared using the Tokuyasu protocol, but the staining protocol was modified to be amenable for use in a standard SEM without the need for focused ion beam ablation. We show the versatility of this technique by labeling different cellular compartments and structures including mitochondrial nucleoids, peroxisomes, and the nuclear lamina. We also demonstrate simultaneous two-color PALM imaging with correlated electron micrographs. Lastly, this technique can be used with small-molecule dyes as demonstrated with actin labeling using phalloidin conjugated to a caged dye. By retaining the dense protein labeling expected for super-resolution microscopy combined with ultrastructural preservation, simplifying the tools required for correlative microscopy, and expanding the number of useful labels we expect this method to be accessible and valuable to a wide variety of researchers.

  7. Correlative photoactivated localization and scanning electron microscopy.

    Directory of Open Access Journals (Sweden)

    Benjamin G Kopek

    Full Text Available The ability to localize proteins precisely within subcellular space is crucial to understanding the functioning of biological systems. Recently, we described a protocol that correlates a precise map of fluorescent fusion proteins localized using three-dimensional super-resolution optical microscopy with the fine ultrastructural context of three-dimensional electron micrographs. While it achieved the difficult simultaneous objectives of high photoactivated fluorophore preservation and ultrastructure preservation, it required a super-resolution optical and specialized electron microscope that is not available to many researchers. We present here a faster and more practical protocol with the advantage of a simpler two-dimensional optical (Photoactivated Localization Microscopy (PALM and scanning electron microscope (SEM system that retains the often mutually exclusive attributes of fluorophore preservation and ultrastructure preservation. As before, cryosections were prepared using the Tokuyasu protocol, but the staining protocol was modified to be amenable for use in a standard SEM without the need for focused ion beam ablation. We show the versatility of this technique by labeling different cellular compartments and structures including mitochondrial nucleoids, peroxisomes, and the nuclear lamina. We also demonstrate simultaneous two-color PALM imaging with correlated electron micrographs. Lastly, this technique can be used with small-molecule dyes as demonstrated with actin labeling using phalloidin conjugated to a caged dye. By retaining the dense protein labeling expected for super-resolution microscopy combined with ultrastructural preservation, simplifying the tools required for correlative microscopy, and expanding the number of useful labels we expect this method to be accessible and valuable to a wide variety of researchers.

  8. Organizations as Information Processing Systems. Environmental Characteristics, Company Performance, and Chief Executive Scanning: An Empirical Study.

    Science.gov (United States)

    1986-04-01

    Environmental sectors also differ in their pePV𔃻...., .’,.porte:,: e for or),n.ini at i ionI performance ( Aaker , 1983). Importance is related t,) the notion of...your company’s external environment. . % 30 Re f e rences Aaker , David A., "Organizing a Strategic inturmatLou Scanning System," % California

  9. Fast scanning mode and its realization in a scanning acoustic microscope.

    Science.gov (United States)

    Ju, Bing-Feng; Bai, Xiaolong; Chen, Jian

    2012-03-01

    The scanning speed of the two-dimensional stage dominates the efficiency of mechanical scanning measurement systems. This paper focused on a detailed scanning time analysis of conventional raster and spiral scan modes and then proposed two fast alternative scanning modes. Performed on a self-developed scanning acoustic microscope (SAM), the measured images obtained by using the conventional scan mode and fast scan modes are compared. The total scanning time is reduced by 29% of the two proposed fast scan modes. It will offer a better solution for high speed scanning without sacrificing the system stability, and will not introduce additional difficulties to the configuration of scanning measurement systems. They can be easily applied to the mechanical scanning measuring systems with different driving actuators such as piezoelectric, linear motor, dc motor, and so on. The proposed fast raster and square spiral scan modes are realized in SAM, but not specially designed for it. Therefore, they have universal adaptability and can be applied to other scanning measurement systems with two-dimensional mechanical scanning stages, such as atomic force microscope or scanning tunneling microscope.

  10. Hydrogenation of zirconium film by implantation of hydrogen ions

    Science.gov (United States)

    Yang, LIU; Kaihong, FANG; Huiyi, LV; Jiwei, LIU; Boyu, WANG

    2017-03-01

    In order to understand the drive-in target in a D–D type neutron generator, it is essential to study the mechanism of the interaction between hydrogen ion beams and the hydrogen-absorbing metal film. The present research concerns the nucleation of hydride within zirconium film implanted with hydrogen ions. Doses of 30 keV hydrogen ions ranging from 4.30 × 1017 to 1.43 × 1018 ions cm‑2 were loaded into the zirconium film through the ion beam implantation technique. Features of the surface morphology and transformation of phase structures were investigated with scanning electron microscopy, atomic force microscopy and x-ray diffraction. Confirmation of the formation of δ phase zirconium hydride in the implanted samples was first made by x-ray diffraction, and the different stages in the gradual nucleation and growth of zirconium hydride were then observed by atomic force microscope and scanning electron microscopy.

  11. Handbook of optical and laser scanning

    CERN Document Server

    Marshall, Gerald F

    2011-01-01

    From its initial publication titled Laser Beam Scanning in 1985 to Handbook of Optical and Laser Scanning, now in its second edition, this reference has kept professionals and students at the forefront of optical scanning technology. Carefully and meticulously updated in each iteration, the book continues to be the most comprehensive scanning resource on the market. It examines the breadth and depth of subtopics in the field from a variety of perspectives. The Second Edition covers: Technologies such as piezoelectric devices Applications of laser scanning such as Ladar (laser radar) Underwater

  12. Laser Scanning Applications in Fluvial Geomorphology

    Science.gov (United States)

    Alho, P.

    2014-12-01

    During recent decades, the use of high-resolution laser scanning data in fluvial studies has rapidly increased. Airborne laser scanning (ALS) can be used to extensively map riverine topography. Laser scanning data have great potential to improve the effectiveness of topographical data acquisition and the accuracy and resolution of DTMs (Digital Terrain Models) needed in fluvial geomorphology. Airborne Laser Scanning (ALS) is applicable for mapping areas varying from reach to catchment scale and these data are, therefore, particularly suitable, especially for hydraulic modelling, mapping of flood inundation, and the detection of macro-scale fluvial geomorphology. With Terrestrial Laser Scanning (TLS) a spatial resolution of less than 1 mm and a range accuracy of few millimetres can be achieved. Mobile Laser Scanning (MLS) enables a remarkably faster survey approach compared to the conventional TLS method. One of the newest applications of MLS approaches involves a boat/cart/backpack -based mobile mapping system. This set-up includes laser scanning and imaging from a platform moving along a river course or floodplain and may be used to expand the spatial extent of terrestrial scanning. Detailed DTMs derived from laser scanning data can be used to improve the recognition of fluvial landforms, the geometric data of hydraulic modelling, and the estimation of flood inundation extents and the associated fluvial processes. Fluvial environments also offer challenges for the application of laser scanning techniques. Factors such as vegetation cover, terrain undulation, coarse surface materials and water surfaces may distort a laser scanning survey.

  13. Spatial heterodyne scanning laser confocal holographic microscopy

    CERN Document Server

    Liu, Changgeng

    2016-01-01

    Scanning laser confocal holographic microscopy using a spatial heterodyne detection method is presented. Spatial heterodyne detection technique employs a Mach-Zehnder interferometer with the reference beam frequency shifted by two acousto-optic modulators (AOM) relative to the object beam frequency. Different from the traditional temporal heterodyne detection technique in which hundreds temporal samples are taken at each scanning point to achieve the complex signal, the spatial heterodyne detection technique generates spatial interference fringes by use of a linear tempo-spatial relation provided by galvanometer scanning in a typical line-scanning confocal microscope or for the slow-scanning on one dimension in a point-scanning confocal microscope, thereby significantly reducing sampling rate and increasing the signal to noise ratio under the same illumination compared to the traditional temporal heterodyne counterpart. The proposed spatial heterodyne detection scheme applies to both line-scanning and point-s...

  14. Ion funnel ion trap and process

    Science.gov (United States)

    Belov, Mikhail E [Richland, WA; Ibrahim, Yehia M [Richland, WA; Clowers, Biran H [West Richland, WA; Prior, David C [Hermiston, OR; Smith, Richard D [Richland, WA

    2011-02-15

    An ion funnel trap is described that includes a inlet portion, a trapping portion, and a outlet portion that couples, in normal operation, with an ion funnel. The ion trap operates efficiently at a pressure of .about.1 Torr and provides for: 1) removal of low mass-to-charge (m/z) ion species, 2) ion accumulation efficiency of up to 80%, 3) charge capacity of .about.10,000,000 elementary charges, 4) ion ejection time of 40 to 200 .mu.s, and 5) optimized variable ion accumulation times. Ion accumulation with low concentration peptide mixtures has shown an increase in analyte signal-to-noise ratios (SNR) of a factor of 30, and a greater than 10-fold improvement in SNR for multiply charged analytes.

  15. The INTEGRAL Galactic Plane Scanning

    CERN Document Server

    Fiocchi, Mariateresa

    2013-01-01

    After the first nine years of INTEGRAL operational life, the discovery of new sources and source types, a large fraction of which are highly transient or highly absorbed, is certainly one of the most compelling results and legacies of INTEGRAL. Frequent monitoring of the Galactic Plane in AO8 and AO9 campaigns allowed us to detect transient sources, both known and new, confirming that the gamma-ray sky is dominated by the extreme variability of different classes of objects. Regular scans of the Galactic Plane by INTEGRAL provide the most sensitive hard X-ray wide survey to date of our Galaxy, with flux limits of the order of 0.3 mCrab for an exposure time of ~2Ms. Many transient sources have been detected on a wide range of time scales (~hours to months) and identified by triggered followup observations, mainly by Swift/XRT and optical/infrared telescopes. These discoveries are very important to characterize the X-ray binary population in our Galaxy, that is necessary input for evolution studies. The transien...

  16. Advanced oxidation scanning probe lithography

    Science.gov (United States)

    Ryu, Yu K.; Garcia, Ricardo

    2017-04-01

    Force microscopy enables a variety of approaches to manipulate and/or modify surfaces. Few of those methods have evolved into advanced probe-based lithographies. Oxidation scanning probe lithography (o-SPL) is the only lithography that enables the direct and resist-less nanoscale patterning of a large variety of materials, from metals to semiconductors; from self-assembled monolayers to biomolecules. Oxidation SPL has also been applied to develop sophisticated electronic and nanomechanical devices such as quantum dots, quantum point contacts, nanowire transistors or mechanical resonators. Here, we review the principles, instrumentation aspects and some device applications of o-SPL. Our focus is to provide a balanced view of the method that introduces the key steps in its evolution, provides some detailed explanations on its fundamentals and presents current trends and applications. To illustrate the capabilities and potential of o-SPL as an alternative lithography we have favored the most recent and updated contributions in nanopatterning and device fabrication.

  17. A negative ion source for alkali ions

    NARCIS (Netherlands)

    Vermeer, A.; Zwol, N.A. van

    1980-01-01

    An ion source is described which delivers negative alkali ions. With this source, which consists of a duoplasmatron and a charge exchange canal with alkali vapour, negative Li, Na and K ions are produced. The oven in which alkali metals are evaporated can reach temperatures up to 575°C.

  18. Surface vacancy channels through ion channeling

    Energy Technology Data Exchange (ETDEWEB)

    Redinger, Alex; Standop, Sebastian; Michely, Thomas [II. Physikalisches Institut, Universitaet Koeln, Zuelpicher Strasse 77, 50937 Koeln (Germany); Rosandi, Yudi; Urbassek, Herbert M. [Fachbereich Physik, Technische Universitaet Kaiserslautern, Erwin-Schroedinger-Strasse, D-67663 Kaiserslautern (Germany)

    2009-07-01

    Damage patterns of single ion impacts on Pt(111) have been studied by scanning tunneling microscopy (STM) and molecular dynamics simulations (MD). Low temperature experiments, where surface diffusion is absent, have been performed for argon and xenon ions with energies between 1 keV and 15 keV at an angle of incidence of 86 {sup circle} measured with respect to the surface normal. Ions hitting preexisting illuminated step edges penetrate into the crystal and are guided in open crystallographic directions, one or more layers underneath the surface (subsurface channeling). In the case of argon channeling the resulting surface damage consists of adatom and vacancy pairs aligned in ion beam direction. After xenon channeling thin surface vacancy trenches along the ion trajectories - surface vacancy channels - are observed. They result from very efficient sputtering and adatom production along the ion trajectory. This phenomena is well reproduced in molecular dynamics simulations of single ion impacts at 0 K. The damage patterns of Argon and Xenon impacts can be traced back to the different energy losses of the particles in the channel. Channeling distances exceeding 1000 A for 15 keV xenon impacts are observed.

  19. Scanning Synchronization of Colliding Bunches for MEIC Project

    Energy Technology Data Exchange (ETDEWEB)

    Derbenev, Yaroslav S. [Thomas Jefferson National Accelerator Facility, Newport News, VA (United States); Popov, V. P. [Thomas Jefferson National Accelerator Facility, Newport News, VA (United States); Chernousov, Yu D. [Inst. of Chemical Kinetics and Combustion, Novosibirsk (Russian Federation); Kazakevich, G. M. [Euclid Techlabs LLC., Cleveland, OH (United States)

    2015-09-01

    Synchronization of colliding beams is one of the major issues of an electron-ion collider (EIC) design because of sensitivity of ion revolution frequency to beam energy. A conventional solution for this trouble is insertion of bent chicanes in the arcs space. In our report we consider a method to provide space coincidence of encountering bunches in the crab-crossing orbits Interaction Region (IR) while repetition rates of two beams do not coincide. The method utilizes pair of fast kickers realizing a bypass for the electron bunches as the way to equalize positions of the colliding bunches at the Interaction Point (IP). A dipole-mode warm or SRF cavities fed by the magnetron transmitters are used as fast kickers, allowing a broad-band phase and amplitude control. The proposed scanning synchronization method implies stabilization of luminosity at a maximum via a feedback loop. This synchronization method is evaluated as perspective for the Medium Energy Electron-Ion collider (MEIC) project of JLab with its very high bunch repetition rate.

  20. Image scanning microscopy with radially polarized light

    Science.gov (United States)

    Xiao, Yun; Zhang, Yunhai; Wei, Tongda; Huang, Wei; Shi, Yaqin

    2017-03-01

    In order to improve the resolution of image scanning microscopy, we present a method based on image scanning microscopy and radially polarized light. According to the theory of image scanning microscopy, we get the effective point spread function of image scanning microscopy with the longitudinal component of radially polarized light and a 1 AU detection area, and obtain imaging results of the analyzed samples using this method. Results show that the resolution can be enhanced by 7% compared with that in image scanning microscopy with circularly polarized light, and is 1.54-fold higher than that in confocal microscopy with a pinhole of 1 AU. Additionally, the peak intensity of ISM is 1.54-fold higher than that of a confocal microscopy with a pinhole of 1 AU. In conclusion, the combination of the image scanning microscopy and the radially polarized light could improve the resolution, and it could realize high-resolution and high SNR imaging at the same time.

  1. LHC Report: Ion Age

    CERN Multimedia

    John Jowett for the LHC team

    2013-01-01

    The LHC starts the New Year facing a new challenge: proton-lead collisions in the last month before the shutdown in mid-February.    Commissioning this new and almost unprecedented mode of collider operation is a major challenge both for the LHC and its injector chain. Moreover, it has to be done very quickly to achieve a whole series of physics goals, requiring modifications of the LHC configuration, in a very short time. These include a switch of the beam directions halfway through the run, polarity reversals of the ALICE spectrometer magnet and Van der Meer scans.    The Linac3 team kept the lead source running throughout the end-of-year technical stop, and recovery of the accelerator complex was very quick. New proton and lead beams were soon ready, with a bunch filling pattern that ensures they will eventually match up in the LHC. The LEIR machine has even attained a new ion beam intensity record.  On Friday 11 January the first single bunches o...

  2. Imaging ion and molecular transport at subcellular resolution by secondary ion mass spectrometry

    Science.gov (United States)

    Chandra, Subhash; Morrison, George H.

    1995-05-01

    The transport of K+, Na+, and Ca2+ were imaged in individual cells with a Cameca IMS-3f ion microscope. Strict cryogenic frozen freeze-dry sample preparations were employed. Ion redistribution artifacts in conventional chemical preparations are discussed. Cryogenically prepared freeze-fractured freeze-dried cultured cells allowed the three-dimensional ion microscopic imaging of elements. As smaller structures in calcium images can be resolved with the 0.5 [mu]m spatial resolution, correlative techniques are needed to confirm their identity. The potentials of reflected light microscopy, scanning electron microscopy and laser scanning confocal microscopy are discussed for microfeature recognition in freeze-fractured freeze-dried cells. The feasibility of using frozen freeze-dried cells for imaging molecular transport at subcellular resolution was tested. Ion microscopy successfully imaged the transport of the isotopically tagged (13C, 15N) amino acid, -arginine. The labeled amino acid was imaged at mass 28 with a Cs+ primary ion beam as the 28(13C15N)- species. After a 4 h exposure of LLC-PK1 kidney cells to 4 mM labeled arginine, the amino acid was localized throughout the cell with a preferential incorporation into the nucleus and nucleolus. An example is also shown of the ion microscopic imaging of sodium borocaptate, an experimental therapeutic drug for brain tumors, in cryogenically prepared frozen freeze-dried Swiss 3T3 cells.

  3. Human Digital Modeling & Hand Scanning Lab

    Data.gov (United States)

    Federal Laboratory Consortium — This laboratory incorporates specialized scanning equipment, computer workstations and software applications for the acquisition and analysis of digitized models of...

  4. Parallel scanning probe arrays: their applications

    Directory of Open Access Journals (Sweden)

    Chang Liu

    2008-01-01

    Full Text Available Since the invention of the scanning tunneling microscope (STM1 and the atomic force microscope (AFM2, the field of scanning probe microscopy (SPM instruments has grown steadily and has had a profound influence in materials research, chemistry, biology, nanotechnology, and electronics3,4. Today, scanning probe instruments are used for metrology, characterization5, detection6, manipulation7, patterning8,9, and material modification. A wide range of scanning probe applications are available, taking advantage of various modes of tip–substrate interactions, including force, optics10,11, electrochemistry12, electromagnetics, electrostatics, thermal and mass transfer13,14, and vibration15,16.

  5. Influence of scanning strategies on the accuracy of digital intraoral scanning systems.

    Science.gov (United States)

    Ender, A; Mehl, A

    2013-01-01

    The digital intraoral impression is a central part in today's CAD/CAM dentistry. With its possibilities, new treatment options for the patient is provided and the prosthetic workflow is accelerated. Nowadays, the major issue with intraoral scanning systems is to gain more accuracy especially for larger scan areas and to simplify clinical handling for the dentist. The aim of this study was to investigate different scanning strategies regardingtheir accuracy with full arch scans in an in-vitro study design. A reference master model was used for the digital impressions with the Lava COS, the Cerec Bluecam and a powderfree intraoral scanning system, Cadent iTero. The trueness and precision of each scanning protocol was measured. Lava COS provides the a trueness of 45.8 microm with the scanning protocol recommended from the manufacturer. A different scanning protocol shows significantly lower accuracy (trueness +/- 90.2 microm). Cerec Bluecam also benefits from an optimal scanning protocol with a trueness of +/- 23.3 microm compared to +/- 52.5 microm with a standard protocol. The powderfree impression system Cadent iTero shows also a high accurate full-arch scan with a trueness of +/- 35.0 microm and a precision of +/- 30.9 microm. With the current intraoral scanning systems, full arch dental impressions are possible with a high accuracy, if adequate scan strategies are used. The powderfree scanning system provides the same level of accuracy compared to scanning systems with surface pretreatment.

  6. Gas phase ion chemistry

    CERN Document Server

    Bowers, Michael T

    1979-01-01

    Gas Phase Ion Chemistry, Volume 1 covers papers on the advances of gas phase ion chemistry. The book discusses the advances in flow tubes and the measurement of ion-molecule rate coefficients and product distributions; the ion chemistry of the earth's atmosphere; and the classical ion-molecule collision theory. The text also describes statistical methods in reaction dynamics; the state selection by photoion-photoelectron coincidence; and the effects of temperature and pressure in the kinetics of ion-molecule reactions. The energy distribution in the unimolecular decomposition of ions, as well

  7. Microfabricated ion frequency standard

    Science.gov (United States)

    Schwindt, Peter; Biedermann, Grant; Blain, Matthew G.; Stick, Daniel L.; Serkland, Darwin K.; Olsson, III, Roy H.

    2010-12-28

    A microfabricated ion frequency standard (i.e. an ion clock) is disclosed with a permanently-sealed vacuum package containing a source of ytterbium (Yb) ions and an octupole ion trap. The source of Yb ions is a micro-hotplate which generates Yb atoms which are then ionized by a ultraviolet light-emitting diode or a field-emission electron source. The octupole ion trap, which confines the Yb ions, is formed from suspended electrodes on a number of stacked-up substrates. A microwave source excites a ground-state transition frequency of the Yb ions, with a frequency-doubled vertical-external-cavity laser (VECSEL) then exciting the Yb ions up to an excited state to produce fluorescent light which is used to tune the microwave source to the ground-state transition frequency, with the microwave source providing a precise frequency output for the ion clock.

  8. A Student-Built Scanning Tunneling Microscope

    Science.gov (United States)

    Ekkens, Tom

    2015-01-01

    Many introductory and nanotechnology textbooks discuss the operation of various microscopes including atomic force (AFM), scanning tunneling (STM), and scanning electron microscopes (SEM). In a nanotechnology laboratory class, students frequently utilize microscopes to obtain data without a thought about the detailed operation of the tool itself.…

  9. Getting a CAT Scan (For Kids)

    Science.gov (United States)

    ... What Happens in the Operating Room? Getting a CAT Scan (Video) KidsHealth > For Kids > Getting a CAT Scan (Video) A A A en español Obtención de una tomografía computada (video) CAT stands for "computerized axial tomography." Translated, that means ...

  10. Spatial scan statistics using elliptic windows

    DEFF Research Database (Denmark)

    Christiansen, Lasse Engbo; Andersen, Jens Strodl; Wegener, Henrik Caspar

    The spatial scan statistic is widely used to search for clusters in epidemiologic data. This paper shows that the usually applied elimination of secondary clusters as implemented in SatScan is sensitive to smooth changes in the shape of the clusters. We present an algorithm for generation of set...

  11. Spatial scan statistics using elliptic windows

    DEFF Research Database (Denmark)

    Christiansen, Lasse Engbo; Andersen, Jens Strodl; Wegener, Henrik Caspar

    2006-01-01

    The spatial scan statistic is widely used to search for clusters. This article shows that the usually applied elimination of secondary clusters as implemented in SatScan is sensitive to smooth changes in the shape of the clusters. We present an algorithm for generation of a set of confocal elliptic...

  12. Towards high-speed scanning tunneling microscopy

    NARCIS (Netherlands)

    Tabak, Femke Chantal

    2013-01-01

    In this thesis, two routes towards high-speed scanning tunneling microscopy (STM) are described. The first possibility for high-speed scanning that is discussed is the use of MEMS (Micro-Electro Mechanical Systems) devices as high-speed add-ons in STM microscopes. The functionality of these devices

  13. Live ultrasound volume reconstruction using scout scanning

    Science.gov (United States)

    Meyer, Amelie; Lasso, Andras; Ungi, Tamas; Fichtinger, Gabor

    2015-03-01

    Ultrasound-guided interventions often necessitate scanning of deep-seated anatomical structures that may be hard to visualize. Visualization can be improved using reconstructed 3D ultrasound volumes. High-resolution 3D reconstruction of a large area during clinical interventions is challenging if the region of interest is unknown. We propose a two-stage scanning method allowing the user to perform quick low-resolution scouting followed by high-resolution live volume reconstruction. Scout scanning is accomplished by stacking 2D tracked ultrasound images into a low-resolution volume. Then, within a region of interest defined in the scout scan, live volume reconstruction can be performed by continuous scanning until sufficient image density is achieved. We implemented the workflow as a module of the open-source 3D Slicer application, within the SlicerIGT extension and building on the PLUS toolkit. Scout scanning is performed in a few seconds using 3 mm spacing to allow region of interest definition. Live reconstruction parameters are set to provide good image quality (0.5 mm spacing, hole filling enabled) and feedback is given during live scanning by regularly updated display of the reconstructed volume. Use of scout scanning may allow the physician to identify anatomical structures. Subsequent live volume reconstruction in a region of interest may assist in procedures such as targeting needle interventions or estimating brain shift during surgery.

  14. Camera Systems Rapidly Scan Large Structures

    Science.gov (United States)

    2013-01-01

    Needing a method to quickly scan large structures like an aircraft wing, Langley Research Center developed the line scanning thermography (LST) system. LST works in tandem with a moving infrared camera to capture how a material responds to changes in temperature. Princeton Junction, New Jersey-based MISTRAS Group Inc. now licenses the technology and uses it in power stations and industrial plants.

  15. Security scanning of Web sites at CERN

    CERN Multimedia

    IT Department

    2010-01-01

    As of early 2010, the CERN Computer Security Team will start regular scanning of all Web sites and Web applications at CERN, visible on the Internet, or on the General Purpose Network (office network). The goal of this scanning is to improve the quality of CERN Web sites. All deficits found will be reported by e-mail to the relevant Web site owners, and must be fixed in a timely manner. Web site owners may also request one-off scans of their Web site or Web application, by sending an e-mail to Computer.Security@cern.ch. These Web scans are designed to limit the impact on the scanned Web sites. Nevertheless, in very rare cases scans may cause undesired side-effects, e.g. generate a large number of log entries, or cause particularly badly designed or less robust Web applications to crash. If a Web site is affected by these security scans, it will also be susceptible to any more aggressive scan that can be performed any time by a malicious attacker. Such Web applications should be fixed, and also additionally...

  16. Colloquium: Time-resolved scanning tunneling microscopy

    NARCIS (Netherlands)

    Houselt, van Arie; Zandvliet, Harold J.W.

    2010-01-01

    Scanning tunneling microscopy has revolutionized our ability to image, study, and manipulate solid surfaces on the size scale of atoms. One important limitation of the scanning tunneling microscope (STM) is, however, its poor time resolution. Recording a standard image with a STM typically takes abo

  17. Biological Effects on Fruit Fly by N+ ion Beam Implantation

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Mutation induced by low energy ion beam implantation has beenapplied widely both in plants and microbes. However, due to the vacuum limitation, such ion implantation into animals was never studied except for silkworm. In this study, Pupae of fruit fly were irradiated with different dosage N+ ions at energy 20 KeV to study the biological effect of ion beam on animal. The results showed a saddle-like curve exists between incubate rate and dosage. Damage of pupae by ion beam implantation was observed using scanning electron microscope. Some individuals with incomplete wing were obtained after implantation but no similar character was observed in their offspring. Furthermore, about 5.47% mutants with wide variation appeared in M1 generation. Therefore, ion beam implantation could be widely used for mutation breeding.

  18. Measurements of Beam Ion Loss from the Compact Helical System

    Energy Technology Data Exchange (ETDEWEB)

    D. S. Darrow, M. Isobe, Takashi Kondo, M. Sasao, and the CHS Group National Institute for Fusion Science, Toki, Gifu, Japan

    2010-02-03

    Beam ion loss from the Compact Helical System (CHS) has been measured with a scintillator-type probe. The total loss to the probe, and the pitch angle and gyroradius distributions of that loss, have been measured as various plasma parameters were scanned. Three classes of beam ion loss were observed at the probe position: passing ions with pitch angles within 10o of those of transition orbits, ions on transition orbits, and ions on trapped orbits, typically 15o or more from transition orbits. Some orbit calculations in this geometry have been performed in order to understand the characteristics of the loss. Simulation of the detector signal based upon the following of orbits from realistic beam deposition profiles is not able to reproduce the pitch angle distribution of the losses measured. Consequently it is inferred that internal plasma processes, whether magnetohydrodynamic modes, radial electric fields, or plasma turbulence, move previously confined beam ions to transition orbits, resulting in their loss.

  19. Successive Resonances for Ion Ejection at Arbitrary Frequencies in an Ion Trap

    Science.gov (United States)

    Snyder, Dalton T.; Cooks, R. Graham

    2016-09-01

    The use of successive resonances for ion ejection is demonstrated here as a method of scanning quadrupole ion traps with improvement in both resolution and sensitivity compared with single frequency resonance ejection. The conventional single frequency resonance ejection waveform is replaced with a dual-frequency waveform. The two included frequencies are spaced very closely and their relative amplitudes are adjusted so that the first frequency that ions encounter excites them to higher amplitudes where space charge effects are less prominent, thereby giving faster and more efficient ejection when the ions come into resonance with the second frequency. The method is applicable at any arbitrary frequency, unlike double and triple resonance methods. However, like double and triple resonance ejection, ejection using successive resonances requires the rf and AC waveforms to be phase-locked in order to retain mass accuracy and mass precision. The improved performance is seen in mass spectra acquired by rf amplitude scans (resonance ejection) as well as by secular frequency scans.

  20. Ion sources for ion implantation technology (invited)

    Energy Technology Data Exchange (ETDEWEB)

    Sakai, Shigeki, E-mail: sakai-shigeki@nissin.co.jp; Hamamoto, Nariaki; Inouchi, Yutaka; Umisedo, Sei; Miyamoto, Naoki [Nissin Ion Equipment co., ltd, 575 Kuze-Tonoshiro-cho Minami-ku, Kyoto 601-8205 (Japan)

    2014-02-15

    Ion sources for ion implantation are introduced. The technique is applied not only to large scale integration (LSI) devices but also to flat panel display. For LSI fabrication, ion source scheduled maintenance cycle is most important. For CMOS image sensor devices, metal contamination at implanted wafer is most important. On the other hand, to fabricate miniaturized devices, cluster ion implantation has been proposed to make shallow PN junction. While for power devices such as silicon carbide, aluminum ion is required. For doping processes of LCD fabrication, a large ion source is required. The extraction area is about 150 cm × 10 cm, and the beam uniformity is important as well as the total target beam current.

  1. Scanning tunneling microscope assembly, reactor, and system

    Science.gov (United States)

    Tao, Feng; Salmeron, Miquel; Somorjai, Gabor A

    2014-11-18

    An embodiment of a scanning tunneling microscope (STM) reactor includes a pressure vessel, an STM assembly, and three spring coupling objects. The pressure vessel includes a sealable port, an interior, and an exterior. An embodiment of an STM system includes a vacuum chamber, an STM reactor, and three springs. The three springs couple the STM reactor to the vacuum chamber and are operable to suspend the scanning tunneling microscope reactor within the interior of the vacuum chamber during operation of the STM reactor. An embodiment of an STM assembly includes a coarse displacement arrangement, a piezoelectric fine displacement scanning tube coupled to the coarse displacement arrangement, and a receiver. The piezoelectric fine displacement scanning tube is coupled to the coarse displacement arrangement. The receiver is coupled to the piezoelectric scanning tube and is operable to receive a tip holder, and the tip holder is operable to receive a tip.

  2. Theory of second optimization for scan experiment

    CERN Document Server

    Mo, X H

    2015-01-01

    The optimal design of scan experiment is of great significance both for scientific research and from economical viewpoint. Two approaches, one has recourse to the sampling technique and the other resorts to the analytical proof, are adopted to figure out the optimized scan scheme for the relevant parameters. The final results indicate that for $n$ parameters scan experiment, $n$ energy points are necessary and sufficient for optimal determination of these $n$ parameters; each optimal position can be acquired by single parameter scan (sampling method), or by analysis of auxiliary function (analytic method); the luminosity allocation among the points can be determined analytically with respect to the relative importance between parameters. By virtue of the second optimization theory established in this paper, it is feasible to accommodate the perfectly optimal scheme for any scan experiment.

  3. Optical scanning holography for stereoscopic display

    Science.gov (United States)

    Liu, Jung-Ping; Wen, Hsuan-Hsuan

    2016-10-01

    Optical Scanning Holography (OSH) is a scanning-type digital holographic recording technique. One of OSH's most important properties is that the OSH can record an incoherent hologram, which is free of speckle and thus is suitable for the applications of holographic display. The recording time of a scanning hologram is proportional to the sampling resolution. Hence the viewing angle as well as the resolution of a scanning hologram is limited for avoid too long recording. As a result, the viewing angle is not large enough for optical display. To solve this problem, we recorded two scanning holograms at different viewing angles. The two holograms are synthesized to a single stereoscopic hologram with two main viewing angles. In displaying, two views at the two main viewing angles are reconstructed. Because both views contain full-depth-resolved 3D scenes, the problem of accommodation conflict in conventional stereogram is avoided.

  4. CHARACTERIZATION OF PRECIPITATES IN CUBIC SILICON CARBIDE IMPLANTED WITH 25Mg+ IONS

    Energy Technology Data Exchange (ETDEWEB)

    Jiang, Weilin; Spurgeon, Steven R.; Liu, Jia; Edwards, Danny J.; Schreiber, Daniel K.; Henager, Charles H.; Kurtz, Richard J.; Wang, Yongqiang

    2016-09-26

    The aim of this study is to characterize precipitates in Mg+ ion implanted and high-temperature annealed cubic silicon carbide using scanning transmission electron microscopy, electron energy loss spectroscopy and atom probe tomography.

  5. Electron Beam Ion Sources

    CERN Document Server

    Zschornacka, G; Thorn, A

    2013-01-01

    Electron beam ion sources (EBISs) are ion sources that work based on the principle of electron impact ionization, allowing the production of very highly charged ions. The ions produced can be extracted as a DC ion beam as well as ion pulses of different time structures. In comparison to most of the other known ion sources, EBISs feature ion beams with very good beam emittances and a low energy spread. Furthermore, EBISs are excellent sources of photons (X-rays, ultraviolet, extreme ultraviolet, visible light) from highly charged ions. This chapter gives an overview of EBIS physics, the principle of operation, and the known technical solutions. Using examples, the performance of EBISs as well as their applications in various fields of basic research, technology and medicine are discussed.

  6. Graphene engineering by neon ion beams.

    Science.gov (United States)

    Iberi, Vighter; Ievlev, Anton V; Vlassiouk, Ivan; Jesse, Stephen; Kalinin, Sergei V; Joy, David C; Rondinone, Adam J; Belianinov, Alex; Ovchinnikova, Olga S

    2016-03-29

    Achieving the ultimate limits of lithographic resolution and material performance necessitates engineering of matter with atomic, molecular, and mesoscale fidelity. With the advent of scanning helium ion microscopy, maskless He(+) and Ne(+) beam lithography of 2D materials, such as graphene-based nanoelectronics, is coming to the forefront as a tool for fabrication and surface manipulation. However, the effects of using a Ne focused-ion-beam on the fidelity of structures created out of 2D materials have yet to be explored. Here, we will discuss the use of energetic Ne ions in engineering graphene nanostructures and explore their mechanical, electromechanical and chemical properties using scanning probe microscopy (SPM). By using SPM-based techniques such as band excitation (BE) force modulation microscopy, Kelvin probe force microscopy (KPFM) and Raman spectroscopy, we are able to ascertain changes in the mechanical, electrical and optical properties of Ne(+) beam milled graphene nanostructures and surrounding regions. Additionally, we are able to link localized defects around the milled graphene to ion milling parameters such as dwell time and number of beam passes in order to characterize the induced changes in mechanical and electromechanical properties of the graphene surface.

  7. Magnetic field imaging of a tungsten carbide film by scanning nano-SQUID microscope

    Science.gov (United States)

    Shibata, Yusuke; Nomura, Shintaro; Ishiguro, Ryosuke; Kashiwaya, Hiromi; Kashiwaya, Satoshi; Nago, Yusuke; Takayanagi, Hideaki

    2016-10-01

    We present the results of magnetic field imaging by scanning nano-superconducting quantum interference device (SQUID) microscopy on a tungsten carbide (W-C) film fabricated using focused-ion-beam chemical vapor deposition. We have investigated magnetic field change by a W-C film in an external magnetic field using a scanning nano-SQUID microscope system. We have found that the reduction of the magnetic field above the W-C film was 0.9%, indicating the penetration of vortices in the W-C at an external magnetic field of 0.171 mT.

  8. Miniaturized Linear Wire Ion Trap Mass Analyzer.

    Science.gov (United States)

    Wu, Qinghao; Li, Ailin; Tian, Yuan; Zare, Richard N; Austin, Daniel E

    2016-08-02

    We report a linear ion trap (LIT) in which the electric field is formed by fine wires held under tension and accurately positioned using holes drilled in two end plates made of plastic. The coordinates of the hole positions were optimized in simulation. The stability diagram and mass spectra using boundary ejection were compared between simulation and experiment and good agreement was found. The mass spectra from experiments show peak widths (fwhm) in units of mass-to-charge of around 0.38 Th using a scan rate of 3830 Th/s. The limits of detection are 137 ppbv and 401 ppbv for benzene and toluene, respectively. Different sizes of the wire ion trap can be easily fabricated by drilling holes in scaled positions. Other distinguishing features, such as high ion and photon transmission, low capacitance, high tolerance to mechanical and assembly error, and low weight, are discussed.

  9. Scanning tunneling microscope-laser fabrication of nanostructures

    Energy Technology Data Exchange (ETDEWEB)

    Yau, S.T.; Saltz, D.; Nayfeh, M.H. (Univ. of Illinois, Urbana (United States))

    The authors report on a technique to write nanometer-scale features on surfaces. The technique combines two of the most advanced technologies: the laser and the scanning tunneling microscope (STM). Laser radiation is used to break the chemical bonds of trimethylaluminum to free aluminum atoms in the region of the tunneling gap of the STM. The atoms are subsequently selectively excited and ionized. The ions are then driven softly toward the surface where they are deposited by the field in the tunneling gap of the microscope. Since the field of the tip can be confined to a few nanometers, the writing can be controlled with high resolution. The technique is also capable of filling holes and addressable nondestructive erasing.

  10. The Emulsion Scanning System of the OPERA experiment

    CERN Document Server

    Juget, F

    2010-01-01

    The OPERA experiment has for goal the direct detection of !μ ! !! oscilla- tion, using an hybrid apparatus composed of electronic detectors and nuclear photographic emulsions. A charged particle crossing an emulsion layer ion- izes the medium along its path leaving a latent image which leads, after de- velopment, to a sequence of aligned grains. Nuclear emulsions are analyzed by means of optical microscopes to reconstruct the 3D particle tracks. The OPERA collaboration has developed a dedicated system to scan a large num- ber of emulsions (surface of about 1000 m2). The achieved resolution is "1 μm and "1 mrad allowing to observe directly the short-lived " particles pro- duced in !!CC interactions.

  11. Local deposition of anisotropic nanoparticles using scanning electrochemical microscopy (SECM).

    Science.gov (United States)

    Fedorov, Roman G; Mandler, Daniel

    2013-02-28

    We demonstrate localized electrodeposition of anisotropic metal nanoobjects, namely Au nanorods (GNR), on indium tin oxide (ITO) using scanning electrochemical microscopy (SECM). A gold microelectrode was the source of the gold ions whereby double pulse chronoamperometry was employed to generate initially Au seeds which were further grown under controlled conditions. The distance between the microelectrode and the ITO surface as well as the different experimental parameters (electrodeposition regime, solution composition and temperature) were optimized to produce faceted gold seeds with the required characteristics (size and distribution). Colloidal chemical synthesis was successfully exploited for better understanding the role of the surfactant and different additives in breaking the crystallographic symmetry and anisotropic growth of GNR. Experiments performed in a conventional three-electrode cell revealed the most appropriate electrochemical conditions allowing high yield synthesis of nanorods with well-defined shape as well as nanocubes and bipyramids.

  12. Ions and light

    CERN Document Server

    Bowers, Michael T

    2013-01-01

    Gas Phase Ion Chemistry, Volume 3: Ions and Light discusses how ions are formed by electron impact, ion-molecule reactions, or electrical discharge. This book discusses the use of light emitted by excited molecules to characterize either the chemistry that formed the excited ion, the structure of the excited ion, or both.Organized into 10 chapters, this volume begins with an overview of the extension of the classical flowing afterglow technique to include infrared and chemiluminescence and laser-induced fluorescence detection. This text then examines the experiments involving molecules that ar

  13. A dynamic scanning method based on signal-statistics for scanning electron microscopy.

    Science.gov (United States)

    Timischl, F

    2014-01-01

    A novel dynamic scanning method for noise reduction in scanning electron microscopy and related applications is presented. The scanning method dynamically adjusts the scanning speed of the electron beam depending on the statistical behavior of the detector signal and gives SEM images with uniform and predefined standard deviation, independent of the signal value itself. In the case of partially saturated images, the proposed method decreases image acquisition time without sacrificing image quality. The effectiveness of the proposed method is shown and compared to the conventional scanning method and median filtering using numerical simulations.

  14. pMSSM scans in ATLAS

    CERN Document Server

    Heinrich, Lukas; The ATLAS collaboration

    2016-01-01

    Multidimensional scans of the pMSSM have been used in ATLAS to assess the experiment sensitivity to classess of models usually not well represented by simplified models. Such scans require a well defined approach in generating signal events and deciding which ones should be passed through the CPU-intensive detector simulation and for which ones the sensitivity can be instead parametrised. They also impose challenges in deciding how the experiment sensitivity should be summarised. The talk will discuss in detail hos such large-scale scans have been approached by ATLAS, touching upon recent results obtained.

  15. Gigahertz-band electronically scanned antennas

    Science.gov (United States)

    Bei, Nikolai A.

    2000-12-01

    Foundation and principles of radio lenses construction of centimeter and millimeter wave ranges with controlled refracting index, combining the quality of phased array antennas with optical devices are stated. Possibilities of the electronically scanning with wide-angle sector and high gain are maintained. Construction principles of scanning antennas with controlled lenses, combining the quality of phased array antennas with optical devices, are stated. Possibilities of electronically scanning with broad angle sector and high gain are maintained. Some examples of construction of antennas millimeter range of waves are listed here.

  16. The external scanning proton microprobe of Firenze: A comprehensive description

    Science.gov (United States)

    Giuntini, L.; Massi, M.; Calusi, S.

    2007-06-01

    An external proton scanning microbeam setup is installed on the -30° line of the new 3 MV tandem accelerator in Firenze; the most relevant features of the line, such as detection setup for IBA measurements, target viewing system, beam diagnostic and transport are described here. With our facility we can work with a beam spot on sample better than 10 μm full-width half-maximum (FWHM) and an intensity of some nanoamperes. Standard beam exit windows are silicon nitride (Si 3N 4) TEM membranes, 100 nm thick and 0.5×0.5 mm 2 wide; we also successfully performed measurements using membranes 1×1 mm 2 wide, 100 nm thick, and 2×2 mm 2 wide, 200 and 500 nm thick. Exploiting the yield of Si X-rays produced by the beam in the exit window as an indirect measurement of the charge, a beam charge monitor system was implemented. The analytical capabilities of the microbeam have been extended by integrating a two-detector PIXE setup with BS and PIGE detectors; the external scanning proton microprobe in Firenze is thus a powerful instrument to fully characterize samples by ion beam analysis, through the simultaneous collection of PIXE, PIGE and BS elemental maps. Its characteristics can make it often competitive with traditional in vacuum microbeam for measurements of thick targets.

  17. Scanning Nanospin Ensemble Microscope for Nanoscale Magnetic and Thermal Imaging.

    Science.gov (United States)

    Tetienne, Jean-Philippe; Lombard, Alain; Simpson, David A; Ritchie, Cameron; Lu, Jianing; Mulvaney, Paul; Hollenberg, Lloyd C L

    2016-01-13

    Quantum sensors based on solid-state spins provide tremendous opportunities in a wide range of fields from basic physics and chemistry to biomedical imaging. However, integrating them into a scanning probe microscope to enable practical, nanoscale quantum imaging is a highly challenging task. Recently, the use of single spins in diamond in conjunction with atomic force microscopy techniques has allowed significant progress toward this goal, but generalization of this approach has so far been impeded by long acquisition times or by the absence of simultaneous topographic information. Here, we report on a scanning quantum probe microscope which solves both issues by employing a nanospin ensemble hosted in a nanodiamond. This approach provides up to an order of magnitude gain in acquisition time while preserving sub-100 nm spatial resolution both for the quantum sensor and topographic images. We demonstrate two applications of this microscope. We first image nanoscale clusters of maghemite particles through both spin resonance spectroscopy and spin relaxometry, under ambient conditions. Our images reveal fast magnetic field fluctuations in addition to a static component, indicating the presence of both superparamagnetic and ferromagnetic particles. We next demonstrate a new imaging modality where the nanospin ensemble is used as a thermometer. We use this technique to map the photoinduced heating generated by laser irradiation of a single gold nanoparticle in a fluid environment. This work paves the way toward new applications of quantum probe microscopy such as thermal/magnetic imaging of operating microelectronic devices and magnetic detection of ion channels in cell membranes.

  18. A scanning tunneling microscopy tip with a stable atomic structure

    Science.gov (United States)

    Kim, Yeong-Cheol; Seidman, David N.

    2004-02-01

    A single stable adatom on a {110}-type plane of a tungsten tip is created via field-evaporation in a field-ion microscope (FIM) operating at room temperature. This single adatom has sufficient surface mobility at room temperature and migrates, in one-dimension, along a -type direction toward an edge of a {110}-type plane, due to the existence of an electric field gradient. The plane edge has a higher local electric field than its center, since it has a higher local geometric curvature. This result implies that the stable position of a single adatom during a scan of a scanning tunneling microscope (STM) tip on a surface is at the edge and not at the center of a {110}-type plane at room temperature. Therefore, the electron wave function of a tip is not symmetric and this fact should be taken into account in a careful analysis of STM images. Also a tip with a dislocation emerging at a {110}-type plane is suggested as an improved STM tip configuration, as the step at the surface, created by the intersection of the dislocation with it, is a perpetual source of single adatoms.

  19. The design of laser scanning galvanometer system

    Science.gov (United States)

    Sun, Xiaoling; Zhou, Bin; Xie, Weihao; Zhang, Yuangeng

    2015-02-01

    In this paper, we designed the laser scanning galvanometer system according to our requirements. Based on scanning range of our laser scanning galvanometer system, the design parameters of this system were optimized. During this work, we focused on the design of the f-θ field lens. An optical system of patent lens in the optical manual book, which had three glasses structure, was used in our designs. Combining the aberration theory, the aberration corrections and image quality evaluations were finished using Code V optical design software. An optimum f-θ field lens was designed, which had focal length of 434 mm, pupil diameter of 30 mm, scanning range of 160 mm × 160 mm, and half field angle of 18°×18°. At the last, we studied the influences of temperature changes on our system.

  20. EO Scanned Micro-LADAR Project

    Data.gov (United States)

    National Aeronautics and Space Administration — In this SBIR program we will develop, design and build new scanning based micro-ladar sensors with unprecedented small size, weight, and power (SWaP), thereby...