Sliding Mode Control for Trajectory Tracking of an Intelligent Wheelchair

Directory of Open Access Journals (Sweden)

Razvan SOLEA

2009-12-01

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

Construction of a WMR for Trajectory Tracking Control: Experimental Results

Directory of Open Access Journals (Sweden)

R. Silva-Ortigoza

2013-01-01

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

Trajectory Control of Rendezvous with Maneuver Target Spacecraft

Science.gov (United States)

Zhou, Zhinqiang

2012-01-01

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

DEVELOPMENT OF TRAJECTORY CONTROL SYSTEM FOR THE OMNIDIRECTIONAL MOBILE ROBOT

Directory of Open Access Journals (Sweden)

Y. A. Kapitanyuk

2014-03-01

Full Text Available The article deals with a trajectory control system development for the omnidirectional mobile robot. This kind of robots gives the possibility to control separately each degree of freedom due to special design of the wheels, which greatly facilitates the solution of the spatial control tasks and makes it possible to focus directly on the development of algorithms. Control law synthesis is based on kinematic model of a solid body on a plane. Desired trajectory is defined as a smooth implicit function in a fixed coordinate system. Procedure of control design is represented by using a differential-geometric method of nonlinear transformation of the original model to the task-oriented form, which describes the longitudinal motion along a trajectory and orthogonal deviation. Proportional controllers with direct compensation of nonlinear terms are synthesized for the transformed model. Main results are represented by nonlinear control algorithms and experimental data. Practical implementation of considered control laws for the Robotino mobile robot by Festo Didactics Company is done for illustration of this approach workability. The cases of straight line motion and movement along a circle are represented as desirable trajectories, and the majority of practical tasks for mobile robots control can be implemented by their combination.

Optimal control and optimal trajectories of regional macroeconomic dynamics based on the Pontryagin maximum principle

Science.gov (United States)

Bulgakov, V. K.; Strigunov, V. V.

2009-05-01

The Pontryagin maximum principle is used to prove a theorem concerning optimal control in regional macroeconomics. A boundary value problem for optimal trajectories of the state and adjoint variables is formulated, and optimal curves are analyzed. An algorithm is proposed for solving the boundary value problem of optimal control. The performance of the algorithm is demonstrated by computing an optimal control and the corresponding optimal trajectories.

[Near infrared spectroscopy based process trajectory technology and its application in monitoring and controlling of traditional Chinese medicine manufacturing process].

Science.gov (United States)

Li, Wen-Long; Qu, Hai-Bin

2016-10-01

In this paper, the principle of NIRS (near infrared spectroscopy)-based process trajectory technology was introduced.The main steps of the technique include:① in-line collection of the processes spectra of different technics; ② unfolding of the 3-D process spectra;③ determination of the process trajectories and their normal limits;④ monitoring of the new batches with the established MSPC (multivariate statistical process control) models.Applications of the technology in the chemical and biological medicines were reviewed briefly. By a comprehensive introduction of our feasibility research on the monitoring of traditional Chinese medicine technical process using NIRS-based multivariate process trajectories, several important problems of the practical applications which need urgent solutions are proposed, and also the application prospect of the NIRS-based process trajectory technology is fully discussed and put forward in the end. Copyright© by the Chinese Pharmaceutical Association.

Design of an Ecological Flow-based Interface for 4D Trajectory Management in Air Traffic Control

NARCIS (Netherlands)

Pinto, J.; Klomp, R.E.; Borst, C.; Van Paassen, M.M.; Mulder, M.

2015-01-01

The concept of trajectory-based operations as proposed by SESAR and NextGen seeks to increase airspace efficiency and capacity by introducing time as an explicit control variable. Such form of operations lean heavily on the introduction of higher levels of automation to support the human air traffic

Vibration Isolation and Trajectory Following Control of a Cable Suspended Stewart Platform

Directory of Open Access Journals (Sweden)

Xuechao Duan

2016-10-01

Full Text Available To achieve high-quality vibration isolation and trajectory following control of a cable driven parallel robot based Stewart platform in the five hundred meter aperture spherical radio telescope (FAST design, the integrated dynamic model of the Stewart platform including the electric cylinder is established in this paper, the globally feedback linearization of the dynamic model is implemented based on the control law partitioning approach. To overcome the disadvantages of the external disturbance on the base and unmodeled flexibility of the mechanism, a PID (Proportional-Derivative-Integral controller with base acceleration feedforward is designed in the operational space of the Stewart platform. Experiments of the vibration isolation and trajectory following control of the cable suspended Stewart platform with presence of the base disturbance is carried out. The experimental results show that the presented control scheme has the advantage of stable dynamics, high accuracy and strong robustness.

Active disturbance rejection based trajectory linearization control for hypersonic reentry vehicle with bounded uncertainties.

Science.gov (United States)

Shao, Xingling; Wang, Honglun

2015-01-01

This paper investigates a novel compound control scheme combined with the advantages of trajectory linearization control (TLC) and alternative active disturbance rejection control (ADRC) for hypersonic reentry vehicle (HRV) attitude tracking system with bounded uncertainties. Firstly, in order to overcome actuator saturation problem, nonlinear tracking differentiator (TD) is applied in the attitude loop to achieve fewer control consumption. Then, linear extended state observers (LESO) are constructed to estimate the uncertainties acting on the LTV system in the attitude and angular rate loop. In addition, feedback linearization (FL) based controllers are designed using estimates of uncertainties generated by LESO in each loop, which enable the tracking error for closed-loop system in the presence of large uncertainties to converge to the residual set of the origin asymptotically. Finally, the compound controllers are derived by integrating with the nominal controller for open-loop nonlinear system and FL based controller. Also, comparisons and simulation results are presented to illustrate the effectiveness of the control strategy. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Parametric Approach to Trajectory Tracking Control of Robot Manipulators

Directory of Open Access Journals (Sweden)

Shijie Zhang

2013-01-01

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

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

Directory of Open Access Journals (Sweden)

Claudio Urrea

2016-06-01

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

Duality-Based Nonlinear Quadratic Control: Application to Mobile Robot Trajectory-Following

Czech Academy of Sciences Publication Activity Database

Arnesto, L.; Girbés, V.; Sala, A.; Zima, M.; Šmídl, Václav

2015-01-01

Roč. 23, č. 4 (2015), s. 1494-1504 ISSN 1063-6536 R&D Projects: GA ČR(CZ) GAP102/11/0437 Grant - others:GA MŠk(CZ) CZ.1.05/2.1.00/03.0094 Institutional support: RVO:67985556 Keywords : trajectory planning * duality of estimation and control Subject RIV: BC - Control Systems Theory Impact factor: 2.818, year: 2015 http://library.utia.cas.cz/separaty/2015/AS/smidl-0445192.pdf

Pneumatic motor speed control by trajectory tracking fuzzy logic

Indian Academy of Sciences (India)

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

Path-based Queries on Trajectory Data

DEFF Research Database (Denmark)

Krogh, Benjamin Bjerre; Pelekis, Nikos; Theodoridis, Yannis

2014-01-01

In traffic research, management, and planning a number of path-based analyses are heavily used, e.g., for computing turn-times, evaluating green waves, or studying traffic flow. These analyses require retrieving the trajectories that follow the full path being analyzed. Existing path queries cannot...... sufficiently support such path-based analyses because they retrieve all trajectories that touch any edge in the path. In this paper, we define and formalize the strict path query. This is a novel query type tailored to support path-based analysis, where trajectories must follow all edges in the path...... a specific path by only retrieving data from the first and last edge in the path. To correctly answer strict path queries existing network-constrained trajectory indexes must retrieve data from all edges in the path. An extensive performance study of NETTRA using a very large real-world trajectory data set...

Robot trajectory tracking with self-tuning predicted control

Science.gov (United States)

Cui, Xianzhong; Shin, Kang G.

1988-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2009-12-15

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

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

International Nuclear Information System (INIS)

Moreno-Valenzuela, Javier; Orozco-Manriquez, Ernesto

2009-01-01

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

Sliding mode based trajectory linearization control for hypersonic reentry vehicle via extended disturbance observer.

Science.gov (United States)

Xingling, Shao; Honglun, Wang

2014-11-01

This paper proposes a novel hybrid control framework by combing observer-based sliding mode control (SMC) with trajectory linearization control (TLC) for hypersonic reentry vehicle (HRV) attitude tracking problem. First, fewer control consumption is achieved using nonlinear tracking differentiator (TD) in the attitude loop. Second, a novel SMC that employs extended disturbance observer (EDO) to counteract the effect of uncertainties using a new sliding surface which includes the estimation error is integrated to address the tracking error stabilization issues in the attitude and angular rate loop, respectively. In addition, new results associated with EDO are examined in terms of dynamic response and noise-tolerant performance, as well as estimation accuracy. The key feature of the proposed compound control approach is that chattering free tracking performance with high accuracy can be ensured for HRV in the presence of multiple uncertainties under control constraints. Based on finite time convergence stability theory, the stability of the resulting closed-loop system is well established. Also, comparisons and extensive simulation results are presented to demonstrate the effectiveness of the control strategy. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Quadrotor trajectory tracking using PID cascade control

Science.gov (United States)

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

2017-12-01

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

Commercial Aircraft Trajectory Planning based on Multiphase Mixed-Integer Optimal Control

OpenAIRE

Soler Arnedo, Manuel Fernando

2017-01-01

The main goal of this dissertation is to develop optimal control techniques for aircraft trajectory planning looking at reduction of fuel consumption, emissions and overfly charges in flight plans. The calculation of a flight plan involves the consideration of multiple factors. They can be classified as either continuous or discrete, and include nonlinear aircraft performance, atmospheric conditions, wind conditions, airspace structure, amount of departure fuel, and operational...

Intelligent landing strategy for the small bodies: from passive bounce to active trajectory control

Science.gov (United States)

Cui, Pingyuan; Liu, Yanjie; Yu, Zhengshi; Zhu, Shengying; Shao, Wei

2017-08-01

Landing exploration is an important way to improve the understanding of small bodies. Considering the weak gravity field as well as the strict attitude constraints which make bounce a common situation and a tough issue for safe landing on small bodies, a novel active trajectory control-based intelligent landing strategy is proposed to improve the safety and reliability of mission. The scenarios of intelligent landing strategy for both safe landing and hopping exploration are introduced in detail and a potential structure for autonomous navigation and control system is presented. Furthermore, a convex optimization-based control algorithm is developed, which is the key technology fulfilling the active trajectory control. Meanwhile a novel discretization method based on the fourth-order Runge-Kutta rule is proposed to improve the accuracy. A helpful adjustment process of time-to-landing is also introduced when the feasible trajectory does not exist. Comprehensive simulations about the proposed intelligent landing strategy are performed to demonstrate the improved safety and accuracy of both landing and hopping exploration on small bodies. Meanwhile, the performance and accuracy of the proposed convex optimization-based control algorithms is also compared and discussed thoroughly. Some useful conclusions for control system design are also obtained.

Trajectory Specification for Automation of Terminal Air Traffic Control

Science.gov (United States)

Paielli, Russell A.

2016-01-01

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

Bell trajectories for revealing quantum control mechanisms

International Nuclear Information System (INIS)

Dennis, Eric; Rabitz, Herschel

2003-01-01

The dynamics induced while controlling quantum systems by optimally shaped laser pulses have often been difficult to understand in detail. A method is presented for quantifying the importance of specific sequences of quantum transitions involved in the control process. The method is based on a ''beable'' formulation of quantum mechanics due to John Bell that rigorously maps the quantum evolution onto an ensemble of stochastic trajectories over a classical state space. Detailed mechanism identification is illustrated with a model seven-level system. A general procedure is presented to extract mechanism information directly from closed-loop control experiments. Application to simulated experimental data for the model system proves robust with up to 25% noise

THE DYNAMIC MODEL FOR CONTROL OF STUDENT’S LEARNING INDIVIDUAL TRAJECTORY

Directory of Open Access Journals (Sweden)

A. A. Mitsel

2015-01-01

Full Text Available In connection with the transition of the educational system to a competence-oriented approach, the problem of learning outcomes assessment and creating an individual learning trajectory of a student has become relevant. Its solution requires the application of modern information technologies. The third generation of Federal state educational standards of higher professional education (FSES HPE defines the requirements for the results of Mastering the basic educational programs (BEP. According to FSES HPE up to 50% of subjects have a variable character, i.e. depend on the choice of a student. It significantly influences on the results of developing various competencies. The problem of forming student’s learning trajectory is analyzed in general and the choice of an individual direction was studied in details. Various methods, models and algorithms of the student’s individual learning trajectory formation were described. The analysis of the model of educational process organization in terms of individual approach makes it possible to develop a decision support system (DSS. DSS is a set of interrelated programs and data used for analysis of situation, development of alternative solutions and selection of the most acceptable alternative. DSSs are often used when building individual learning path, because this task can be considered as a discrete multi-criteria problem, creating a significant burden on the decision maker. A new method of controlling the learning trajectory has been developed. The article discusses problem statement and solution of determining student’s optimal individual educational trajectory as a dynamic model of learning trajectory control, which uses score assessment to construct a sequence of studied subjects. A new model of management learning trajectory is based on dynamic models for tracking the reference trajectory. The task can be converted to an equivalent model of linear programming, for which a reliable solution

Helicopter trajectory planning using optimal control theory

Science.gov (United States)

Menon, P. K. A.; Cheng, V. H. L.; Kim, E.

1988-01-01

A methodology for optimal trajectory planning, useful in the nap-of-the-earth guidance of helicopters, is presented. This approach uses an adjoint-control transformation along with a one-dimensional search scheme for generating the optimal trajectories. In addition to being useful for helicopter nap-of-the-earth guidance, the trajectory planning solution is of interest in several other contexts, such as robotic vehicle guidance and terrain-following guidance for cruise missiles and aircraft. A distinguishing feature of the present research is that the terrain constraint and the threat envelopes are incorporated in the equations of motion. Second-order necessary conditions are examined.

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

Science.gov (United States)

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

2016-01-01

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

4D Trajectory Estimation for Air Traffic Control Automation System Based on Hybrid System Theory

Directory of Open Access Journals (Sweden)

Xin-Min Tang

2012-03-01

Full Text Available To resolve the problem of future airspace management under great traffic flow and high density condition, 4D trajectory estimation has become one of the core technologies of the next new generation air traffic control automation system. According to the flight profile and the dynamics models of different aircraft types under different flight conditions, a hybrid system model that switches the aircraft from one flight stage to another with aircraft state changing continuously in one state is constructed. Additionally, air temperature and wind speed are used to modify aircraft true airspeed as well as ground speed, and the hybrid system evolution simulation is used to estimate aircraft 4D trajectory. The case study proves that 4D trajectory estimated through hybrid system model can image the flight dynamic states of aircraft and satisfy the needs of the planned flight altitude profile.KEY WORDSair traffic management, 4D trajectory estimation, hybrid system model, aircraft dynamic model

DISTURBANCE ERROR INVARIANCE IN AUTOMATIC CONTROL SYSTEMS FOR TECHNOLOGICAL OBJECT TRAJECTORY MOVEMENT

Directory of Open Access Journals (Sweden)

A. V. Lekareva

2016-09-01

Full Text Available We consider combined control in automatic control systems for technological objects trajectory movements. We present research results of the system disturbance invariance ensuring on the example of the technological manipulator that implements hydrocutting of the oil pipelines. Control is based on the propositions of the fourth modified invariance form with the use of bootstrapping methods. The paper presents analysis of results obtained by two different correction methods. The essence of the first method lies in injection of additional component into the already established control signal and formation of the channel for that component. Control signal correction during the signal synthesis stage in the control device constitutes the basis for the second method. Research results have shown high efficiency of application for both correction methods. Both methods have roughly the same precision. We have shown that the correction in the control device is preferable because it has no influence on the inner contour of the system. We have shown the necessity of the block usage with the variable transmission coefficient, which value is determined by technological trajectory parameters. Research results can be applied in practice for improvement of the precision specifications of automatic control systems for trajectorial manipulators.

Adaptive Trajectory Tracking Control using Reinforcement Learning for Quadrotor

Directory of Open Access Journals (Sweden)

Wenjie Lou

2016-02-01

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

Strategic Deconfliction of 4D Trajectory and Perturbation Analysis for Air Traffic Control and Automation System

Directory of Open Access Journals (Sweden)

Xinmin Tang

2016-01-01

Full Text Available Strategic 4D trajectory conflict-free planning is recognized as one of the core technologies of next-generation air traffic control and automation systems. To resolve potential conflicts during strategic 4D conflict-free trajectory planning, a protection-zone conflict-control model based on air traffic control separation constraints was proposed, in which relationships between expected arrival time and adjusted arrival time at conflicting waypoints for aircraft queues were built and transformed into dynamic linear equations under the definition of max-plus algebra. A method for strategic deconfliction of 4D trajectory was then proposed using two strategies: arrival time adjustment and departure time adjustment. In addition, departure time and flight duration perturbations were introduced to analyze the sensitivity of the planned strategic conflict-free 4D trajectories, and a robustness index for the conflict-free 4D trajectories was calculated. Finally, the proposed method was tested for the Shanghai air traffic control terminal area. The outcomes demonstrated that the planned strategic conflict-free 4D trajectories could avoid potential conflicts, and the slack time could be used to indicate their robustness. Complexity analysis demonstrated that deconfliction using max-plus algebra is more suitable for deconfliction of 4D trajectory with random sampling period in fix air route.

Trajectory Design to Benefit Trajectory-Based Surface Operations, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Trajectory-based operations constitute a key mechanism considered by the Joint Planning and Development Office (JPDO) for managing traffic in high-density or...

Trajectory Design to Benefit Trajectory-Based Surface Operations, Phase II

Data.gov (United States)

National Aeronautics and Space Administration — Trajectory-based operations constitute a key mechanism considered by the Joint Planning and Development Office (JPDO) for managing traffic in high-density or...

Controlling particle trajectories using oscillating microbubbles

Science.gov (United States)

Jalikop, Shreyas; Wang, Cheng; Hilgenfeldt, Sascha

2010-11-01

In many applications of microfluidics and biotechnology, such as cytometry and drug delivery, it is vital to manipulate the trajectories of microparticles such as vesicles or cells. On this small scale, inertial or gravitational effects are often too weak to exploit. We propose a mechanism to selectively trap and direct particles based on their size in creeping transport flows (Re1). We employ Rayleigh-Nyborg-Westervelt (RNW) streaming generated by an oscillating microbubble, which in turn generates a streaming flow component around the mobile particles. The result is an attractive interaction that draws the particle closer to the bubble. The impenetrability of the bubble interface destroys time-reversal symmetry and forces the particles onto either narrow trajectory bundles or well-defined closed trajectories, where they are trapped. The effect is dependent on particle size and thus allows for the passive focusing and sorting of selected sizes, on scales much smaller than the geometry of the microfluidic device. The device could eliminate the need for complicated microchannel designs with external magnetic or electric fields in applications such as particle focusing and size-based sorting.

Depressed trajectory SLBMs: A technical evaluation and arms control possibilities

International Nuclear Information System (INIS)

Gronlund, L.; Wright, D.C.

1992-01-01

SLBMs (sea-launched ballistic missiles) flown on depressed trajectories would have short flight times, comparable to escape times of bombers and launch times of ICBMs, thus raising the possibility of short time-of-flight (STOF) nuclear attacks. We assess the depressed trajectory (DT) capability of existing SLBMs by calculating the flight times, atmospheric loading on the booster, reentry heating on the reentry vehicle (RV), and degradation of accuracy for a DT SLBM. We find that current US and CIS SLBMs flown on depressed trajectories would have the capability to attack bomber bases at ranges of up to about 2,000 kilometers, and possibly at ranges up to 3,000 kilometers. To target bombers based furthest inland, a new high-velocity booster might be required, and attacking hardened targets would require a maneuvering RV (MaRV). We conclude that DT capabilities could be effectively controlled by the combination of an apogee restriction on the flight testing of existing SLBMs and bans on the development of high-velocity boosters and MaRVs, and that, in view of their inherent STOF capabilities, deep cuts in the number of SLBMs or their elimination might be desirable for an optimal minimum-deterrent force structure

Multi Sector Planning Tools for Trajectory-Based Operations

Science.gov (United States)

Prevot, Thomas; Mainini, Matthew; Brasil, Connie

2010-01-01

This paper discusses a suite of multi sector planning tools for trajectory-based operations that were developed and evaluated in the Airspace Operations Laboratory (AOL) at the NASA Ames Research Center. The toolset included tools for traffic load and complexity assessment as well as trajectory planning and coordination. The situation assessment tools included an integrated suite of interactive traffic displays, load tables, load graphs, and dynamic aircraft filters. The planning toolset allowed for single and multi aircraft trajectory planning and data communication-based coordination of trajectories between operators. Also newly introduced was a real-time computation of sector complexity into the toolset that operators could use in lieu of aircraft count to better estimate and manage sector workload, especially in situations with convective weather. The tools were used during a joint NASA/FAA multi sector planner simulation in the AOL in 2009 that had multiple objectives with the assessment of the effectiveness of the tools being one of them. Current air traffic control operators who were experienced as area supervisors and traffic management coordinators used the tools throughout the simulation and provided their usefulness and usability ratings in post simulation questionnaires. This paper presents these subjective assessments as well as the actual usage data that was collected during the simulation. The toolset was rated very useful and usable overall. Many elements received high scores by the operators and were used frequently and successfully. Other functions were not used at all, but various requests for new functions and capabilities were received that could be added to the toolset.

Underwater navigation using diffusion-based trajectory observers

DEFF Research Database (Denmark)

Jouffroy, Jerome; Opderbecke, Jan

2007-01-01

This paper addresses the issue of estimating underwater vehicle trajectories using gyro-Doppler (body-fixed velocities) and acoustic positioning signals (earth-fixed positions). The approach consists of diffusion-based observers processing a whole trajectory segment at a time, allowing the consid...

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

Directory of Open Access Journals (Sweden)

Ce Shang

2016-04-01

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

Trajectories of personal control in cancer patients receiving psychological care

NARCIS (Netherlands)

Zhu, Lei; Schroevers, Maya J.; van der Lee, Marije; Garssen, Bert; Stewart, Roy E.; Sanderman, Robbert; Ranchor, Adelita V.

Objective: This study aimed to (1) identify subgroups of cancer patients with distinct personal control trajectories during psychological care, (2) examine whether socio-demographic, clinical, and psychological care characteristics could distinguish trajectories, and (3) examine differential

Trajectories of personal control in cancer patients receiving psychological care

NARCIS (Netherlands)

Zhu, Lei; Schroevers, Maya J.; van der Lee, Marije; Garssen, Bert; Stewart, Roy E.; Sanderman, Robbert; Ranchor, A.V.

2015-01-01

Objective This study aimed to (1) identify subgroups of cancer patients with distinct personal control trajectories during psychological care, (2) examine whether socio-demographic, clinical, and psychological care characteristics could distinguish trajectories, and (3) examine differential patterns

Implementation of optimal trajectory control of series resonant converter

Science.gov (United States)

Oruganti, Ramesh; Yang, James J.; Lee, Fred C.

1987-01-01

Due to the presence of a high-frequency LC tank circuit, the dynamics of a resonant converter are unpredictable. There is often a large surge of tank energy during transients. Using state-plane analysis technique, an optimal trajectory control utilizing the desired solution trajectory as the control law was previously proposed for the series resonant converters. The method predicts the fastest response possible with minimum energy surge in the resonant tank. The principle of the control and its experimental implementation are described here. The dynamics of the converter are shown to be close to time-optimal.

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

Directory of Open Access Journals (Sweden)

Xuan Vinh Ha

2013-04-01

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

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

International Nuclear Information System (INIS)

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

1991-01-01

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

Generic trajectory representation and trajectory following for wheeled robots

DEFF Research Database (Denmark)

Kjærgaard, Morten; Andersen, Nils Axel; Ravn, Ole

2014-01-01

will drive. Safe: Avoid fatal collisions. Based on a survey of existing methods and algorithms the article presents a generic way to represent constraints for different types of robots, a generic way to represent trajectories using Bëzier curves, a method to convert the trajectory so it can be driven...... in a smooth motion, a method to create a safe velocity profile for the robot, and a path following controller....

Trajectory Control of Scale-Free Dynamical Networks with Exogenous Disturbances

International Nuclear Information System (INIS)

Yang Hongyong; Zhang Shun; Zong Guangdeng

2011-01-01

In this paper, the trajectory control of multi-agent dynamical systems with exogenous disturbances is studied. Suppose multiple agents composing of a scale-free network topology, the performance of rejecting disturbances for the low degree node and high degree node is analyzed. Firstly, the consensus of multi-agent systems without disturbances is studied by designing a pinning control strategy on a part of agents, where this pinning control can bring multiple agents' states to an expected consensus track. Then, the influence of the disturbances is considered by developing disturbance observers, and disturbance observers based control (DOBC) are developed for disturbances generated by an exogenous system to estimate the disturbances. Asymptotical consensus of the multi-agent systems with disturbances under the composite controller can be achieved for scale-free network topology. Finally, by analyzing examples of multi-agent systems with scale-free network topology and exogenous disturbances, the verities of the results are proved. Under the DOBC with the designed parameters, the trajectory convergence of multi-agent systems is researched by pinning two class of the nodes. We have found that it has more stronger robustness to exogenous disturbances for the high degree node pinned than that of the low degree node pinned. (interdisciplinary physics and related areas of science and technology)

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

Science.gov (United States)

Zhang, Xuefu

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

Xenon oscillation control in large PWR using a characteristic ellipse trajectory drawn by three axial offsets

International Nuclear Information System (INIS)

Yoichiro, Shimazu

2007-01-01

We have proposed a very simple xenon oscillation control procedure based on a characteristic trajectory. The trajectory is drawn by three offsets of power distributions, namely, AOp, AOi and AOx. They are defined as the offset of axial power distribution, the offset of the power distribution under which the current iodine distribution is obtained as the equilibrium and that for xenon distribution, respectively. When these offsets are plotted on X-Y plane for (AOp-AOx, AOi-AOx) the trajectory shows a quite characteristic ellipse (or an elliptic spiral). It shows characteristics such that the center of the ellipse is at the origin, the gradient of the major axis is constant, direction of the trajectory progress is always anti-clock wise, plot goes around the ellipse during a cycle of the xenon oscillation and so on. This characteristic does not change even if the control rods are moved. When the plot is at the origin of the X-Y plane, no xenon oscillation exists. Using the characteristics of the ellipse the xenon oscillation can be eliminated by guiding the plot to the origin with control rod operation. This concept can be applied not only to the axial xenon oscillation but also to the radial xenon oscillation control. Conventionally, the trajectory is drawn based on the xenon dynamics using reactor parameters such as core averaged macroscopic fission cross section, xenon micro absorption cross section, fission yields of iodine and xenon, and so on together with the neutron flux signals. The accuracy is expected to be better. (authors)

A Near-Term Concept for Trajectory Based Operations with Air/Ground Data Link Communication

Science.gov (United States)

McNally, David; Mueller, Eric; Thipphavong, David; Paielli, Russell; Cheng, Jinn-Hwei; Lee, Chuhan; Sahlman, Scott; Walton, Joe

2010-01-01

An operating concept and required system components for trajectory-based operations with air/ground data link for today's en route and transition airspace is proposed. Controllers are fully responsible for separation as they are today, and no new aircraft equipage is required. Trajectory automation computes integrated solutions to problems like metering, weather avoidance, traffic conflicts and the desire to find and fly more time/fuel efficient flight trajectories. A common ground-based system supports all levels of aircraft equipage and performance including those equipped and not equipped for data link. User interface functions for the radar controller's display make trajectory-based clearance advisories easy to visualize, modify if necessary, and implement. Laboratory simulations (without human operators) were conducted to test integrated operation of selected system components with uncertainty modeling. Results are based on 102 hours of Fort Worth Center traffic recordings involving over 37,000 individual flights. The presence of uncertainty had a marginal effect (5%) on minimum-delay conflict resolution performance, and windfavorable routes had no effect on detection and resolution metrics. Flight plan amendments and clearances were substantially reduced compared to today s operations. Top-of-descent prediction errors are the largest cause of failure indicating that better descent predictions are needed to reliably achieve fuel-efficient descent profiles in medium to heavy traffic. Improved conflict detections for climbing flights could enable substantially more continuous climbs to cruise altitude. Unlike today s Conflict Alert, tactical automation must alert when an altitude amendment is entered, but before the aircraft starts the maneuver. In every other failure case tactical automation prevented losses of separation. A real-time prototype trajectory trajectory-automation system is running now and could be made ready for operational testing at an en route

Extension of a chaos control method to unstable trajectories on infinite- or finite-time intervals: Experimental verification

International Nuclear Information System (INIS)

Yagasaki, Kazuyuki

2007-01-01

In experiments for single and coupled pendula, we demonstrate the effectiveness of a new control method based on dynamical systems theory for stabilizing unstable aperiodic trajectories defined on infinite- or finite-time intervals. The basic idea of the method is similar to that of the OGY method, which is a well-known, chaos control method. Extended concepts of the stable and unstable manifolds of hyperbolic trajectories are used here

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

Science.gov (United States)

Jia, Yinghong; Misra, Arun K.

2017-08-01

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

An incremental DPMM-based method for trajectory clustering, modeling, and retrieval.

Science.gov (United States)

Hu, Weiming; Li, Xi; Tian, Guodong; Maybank, Stephen; Zhang, Zhongfei

2013-05-01

Trajectory analysis is the basis for many applications, such as indexing of motion events in videos, activity recognition, and surveillance. In this paper, the Dirichlet process mixture model (DPMM) is applied to trajectory clustering, modeling, and retrieval. We propose an incremental version of a DPMM-based clustering algorithm and apply it to cluster trajectories. An appropriate number of trajectory clusters is determined automatically. When trajectories belonging to new clusters arrive, the new clusters can be identified online and added to the model without any retraining using the previous data. A time-sensitive Dirichlet process mixture model (tDPMM) is applied to each trajectory cluster for learning the trajectory pattern which represents the time-series characteristics of the trajectories in the cluster. Then, a parameterized index is constructed for each cluster. A novel likelihood estimation algorithm for the tDPMM is proposed, and a trajectory-based video retrieval model is developed. The tDPMM-based probabilistic matching method and the DPMM-based model growing method are combined to make the retrieval model scalable and adaptable. Experimental comparisons with state-of-the-art algorithms demonstrate the effectiveness of our algorithm.

Human action recognition using trajectory-based representation

Directory of Open Access Journals (Sweden)

Haiam A. Abdul-Azim

2015-07-01

Full Text Available Recognizing human actions in video sequences has been a challenging problem in the last few years due to its real-world applications. A lot of action representation approaches have been proposed to improve the action recognition performance. Despite the popularity of local features-based approaches together with “Bag-of-Words” model for action representation, it fails to capture adequate spatial or temporal relationships. In an attempt to overcome this problem, a trajectory-based local representation approaches have been proposed to capture the temporal information. This paper introduces an improvement of trajectory-based human action recognition approaches to capture discriminative temporal relationships. In our approach, we extract trajectories by tracking the detected spatio-temporal interest points named “cuboid features” with matching its SIFT descriptors over the consecutive frames. We, also, propose a linking and exploring method to obtain efficient trajectories for motion representation in realistic conditions. Then the volumes around the trajectories’ points are described to represent human actions based on the Bag-of-Words (BOW model. Finally, a support vector machine is used to classify human actions. The effectiveness of the proposed approach was evaluated on three popular datasets (KTH, Weizmann and UCF sports. Experimental results showed that the proposed approach yields considerable performance improvement over the state-of-the-art approaches.

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

Science.gov (United States)

Ren, Wei

stringent inter-vehicle communication limitations. A constructive approach based on the satisficing control paradigm is also applied to multi-robot coordination in hardware. For trajectory tracking, we investigate nonlinear tracking controllers for fixed wing unmanned air vehicles and nonholonomic mobile robots with velocity and heading rate constraints. The main contribution of this dissertation in this area is that our proposed tracking controllers are shown to be robust to input uncertainties and measurement noise, and are computationally simple and can be implemented with low-cost, low-power microcontrollers. In addition, our approach allows piecewise continuous reference velocity and heading rate and can be extended to derive a variety of other trajectory tracking strategies.

Multiphase Return Trajectory Optimization Based on Hybrid Algorithm

Directory of Open Access Journals (Sweden)

Yi Yang

2016-01-01

Full Text Available A hybrid trajectory optimization method consisting of Gauss pseudospectral method (GPM and natural computation algorithm has been developed and utilized to solve multiphase return trajectory optimization problem, where a phase is defined as a subinterval in which the right-hand side of the differential equation is continuous. GPM converts the optimal control problem to a nonlinear programming problem (NLP, which helps to improve calculation accuracy and speed of natural computation algorithm. Through numerical simulations, it is found that the multiphase optimal control problem could be solved perfectly.

A population-feedback control based algorithm for well trajectory optimization using proxy model

Directory of Open Access Journals (Sweden)

Javad Kasravi

2017-04-01

Full Text Available Wellbore instability is one of the concerns in the field of drilling engineering. This phenomenon is affected by several factors such as azimuth, inclination angle, in-situ stress, mud weight, and rock strength parameters. Among these factors, azimuth, inclination angle, and mud weight are controllable. The objective of this paper is to introduce a new procedure based on elastoplastic theory in wellbore stability solution to determine the optimum well trajectory and global minimum mud pressure required (GMMPR. Genetic algorithm (GA was applied as a main optimization engine that employs proportional feedback controller to obtain the minimum mud pressure required (MMPR. The feedback function repeatedly calculated and updated the error between the simulated and set point of normalized yielded zone area (NYZA. To reduce computation expenses, an artificial neural network (ANN was used as a proxy (surrogate model to approximate the behavior of the actual wellbore model. The methodology was applied to a directional well in southwestern Iranian oilfield. The results demonstrated that the error between the predicted GMMPR and practical safe mud pressure was 4% for elastoplastic method, and 22% for conventional elastic solution.

A trajectory tracking controller for an underwater hexapod vehicle.

Science.gov (United States)

Plamondon, N; Nahon, M

2009-09-01

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

A trajectory tracking controller for an underwater hexapod vehicle

International Nuclear Information System (INIS)

Plamondon, N; Nahon, M

2009-01-01

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

Optimal trajectory control of a CLCC resonant power converter

NARCIS (Netherlands)

Huisman, H.; Visser, de I.; Duarte, J.L.

2015-01-01

A CLCC resonant converter to be used in an isolated power supply is operated using optimal trajectory control (OTC). As a consequence, the converter's inner loop behavior is changed to that of a controlled current source. The controller is implemented in an FPGA. Simulation results and recorded

Trajectory-Based Visual Localization in Underwater Surveying Missions

Directory of Open Access Journals (Sweden)

Antoni Burguera

2015-01-01

Full Text Available We present a new vision-based localization system applied to an autonomous underwater vehicle (AUV with limited sensing and computation capabilities. The traditional EKF-SLAM approaches are usually expensive in terms of execution time; the approach presented in this paper strengthens this method by adopting a trajectory-based schema that reduces the computational requirements. The pose of the vehicle is estimated using an extended Kalman filter (EKF, which predicts the vehicle motion by means of a visual odometer and corrects these predictions using the data associations (loop closures between the current frame and the previous ones. One of the most important steps in this procedure is the image registration method, as it reinforces the data association and, thus, makes it possible to close loops reliably. Since the use of standard EKFs entail linearization errors that can distort the vehicle pose estimations, the approach has also been tested using an iterated Kalman filter (IEKF. Experiments have been conducted using a real underwater vehicle in controlled scenarios and in shallow sea waters, showing an excellent performance with very small errors, both in the vehicle pose and in the overall trajectory estimates.

Trajectory-Based Visual Localization in Underwater Surveying Missions

Science.gov (United States)

Burguera, Antoni; Bonin-Font, Francisco; Oliver, Gabriel

2015-01-01

We present a new vision-based localization system applied to an autonomous underwater vehicle (AUV) with limited sensing and computation capabilities. The traditional EKF-SLAM approaches are usually expensive in terms of execution time; the approach presented in this paper strengthens this method by adopting a trajectory-based schema that reduces the computational requirements. The pose of the vehicle is estimated using an extended Kalman filter (EKF), which predicts the vehicle motion by means of a visual odometer and corrects these predictions using the data associations (loop closures) between the current frame and the previous ones. One of the most important steps in this procedure is the image registration method, as it reinforces the data association and, thus, makes it possible to close loops reliably. Since the use of standard EKFs entail linearization errors that can distort the vehicle pose estimations, the approach has also been tested using an iterated Kalman filter (IEKF). Experiments have been conducted using a real underwater vehicle in controlled scenarios and in shallow sea waters, showing an excellent performance with very small errors, both in the vehicle pose and in the overall trajectory estimates. PMID:25594602

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

International Nuclear Information System (INIS)

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

2009-01-01

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

Trajectory control with continuous thrust applied to a rendezvous maneuver

International Nuclear Information System (INIS)

Santos, W G; Rocco, E M

2013-01-01

A rendezvous mission can be divided into the following phases: launch, phasing, far range rendezvous, close range rendezvous and mating (docking or berthing). This paper aims to present a close range rendezvous with closed loop controlled straight line trajectory. The approaching is executed on V-bar axis. A PID controller and continuous thrust are used to eliminate the residual errors in the trajectory. A comparative study about the linear and nonlinear dynamics is performed and the results showed that the linear equations become inaccurate insofar as the chaser moves away from the target

Estimation Trajectory of the Low-Frequency Floating Car Considering the Traffic Control

Directory of Open Access Journals (Sweden)

Zhijian Wang

2013-01-01

Full Text Available Floating car equipped with GPS to detect traffic flow has been widely used in ITS research and applications. The trajectory estimation is the most critical and complex part in the floating vehicle information processing system. However, the trajectory estimation would be more difficult when using the low-frequency data sampling because of the high communication cost and the numerous data. Specifically, the ordinary algorithm cannot determine the specific vehicle paths with two anchor points across multiple intersections. Considering the accuracy in map matching, this paper used a delay matching algorithm and studied the trajectory estimation algorithm focusing on the issue of existence of a small road network between two anchor points. A method considering the three multiobjective factors of signal control and driving distance and number of intersections was developed. Firstly, an optimal solution set was acquired according to multiobjective decision theory and Pareto optimal principles in game theory. Then, the optimal solution set was evaluated synthetically based on the fuzzy set theory. Finally, the candidate trajectory which is the core evaluation factor was identified as the best possible travel path. The algorithm was validated by using the real traffic data in Wangjing area of Beijing. The results showed that the algorithm can get a better trajectory estimation and provide more traffic information to traffic management department.

SU-E-T-436: Fluence-Based Trajectory Optimization for Non-Coplanar VMAT

Energy Technology Data Exchange (ETDEWEB)

Smyth, G; Bamber, JC; Bedford, JL [Joint Department of Physics at The Institute of Cancer Research and The Royal Marsden NHS Foundation Trust, London (United Kingdom); Evans, PM [Centre for Vision, Speech and Signal Processing, University of Surrey, Guildford (United Kingdom); Saran, FH; Mandeville, HC [The Royal Marsden NHS Foundation Trust, Sutton (United Kingdom)

2015-06-15

Purpose: To investigate a fluence-based trajectory optimization technique for non-coplanar VMAT for brain cancer. Methods: Single-arc non-coplanar VMAT trajectories were determined using a heuristic technique for five patients. Organ at risk (OAR) volume intersected during raytracing was minimized for two cases: absolute volume and the sum of relative volumes weighted by OAR importance. These trajectories and coplanar VMAT formed starting points for the fluence-based optimization method. Iterative least squares optimization was performed on control points 24° apart in gantry rotation. Optimization minimized the root-mean-square (RMS) deviation of PTV dose from the prescription (relative importance 100), maximum dose to the brainstem (10), optic chiasm (5), globes (5) and optic nerves (5), plus mean dose to the lenses (5), hippocampi (3), temporal lobes (2), cochleae (1) and brain excluding other regions of interest (1). Control point couch rotations were varied in steps of up to 10° and accepted if the cost function improved. Final treatment plans were optimized with the same objectives in an in-house planning system and evaluated using a composite metric - the sum of optimization metrics weighted by importance. Results: The composite metric decreased with fluence-based optimization in 14 of the 15 plans. In the remaining case its overall value, and the PTV and OAR components, were unchanged but the balance of OAR sparing differed. PTV RMS deviation was improved in 13 cases and unchanged in two. The OAR component was reduced in 13 plans. In one case the OAR component increased but the composite metric decreased - a 4 Gy increase in OAR metrics was balanced by a reduction in PTV RMS deviation from 2.8% to 2.6%. Conclusion: Fluence-based trajectory optimization improved plan quality as defined by the composite metric. While dose differences were case specific, fluence-based optimization improved both PTV and OAR dosimetry in 80% of cases.

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

Directory of Open Access Journals (Sweden)

Junqiu Li

2016-01-01

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

Control the length of beam trajectory with a quadruple triplet for heavy ion accelerator

International Nuclear Information System (INIS)

Zhang, Zhan; Wei, Shaoqing; Lee, Sang Jin; Kim, Do Gyun; Kim, Jang Youl

2016-01-01

Beam trajectory is needed to be controlled in heavy ion accelerator system. Quadruple magnets are widely used in heavy ion accelerator for focusing the transporting particles. A quadruple triplet system which consists of three consecutive quadrupoles, Q1, Q2 and Q3, is used to control beam trajectory at a focused position. Q1 and Q3 have symmetry with respect to Q2. The beam trajectory in magnet system is affected by higher order fields existed in real fields. For quadrupoles, the representation simulation of beam trajectory was carried out to study the beam trajectory and to estimate an effect of higher order field in triplet system. SCALA program was used to simulate the beam trajectory in OperaTM. SCALA can analyze a large number of beam trajectories at the same time by adjusting the size of finite element of the emitter. With OperaTM and MatlabTM programs, the position of focused beam spot in quadruple triplet system can be increased or decreased using evolution strategy (ES) method, therefore the length of triplet system can be controlled. Finally, the quadruple triplet system with the appropriate length and expected beam spot range was suggested in this paper

Control the length of beam trajectory with a quadruple triplet for heavy ion accelerator

Energy Technology Data Exchange (ETDEWEB)

Zhang, Zhan; Wei, Shaoqing; Lee, Sang Jin [Uiduk University, Gyeongju (Korea, Republic of); Kim, Do Gyun; Kim, Jang Youl [Rare Isotope Science Project, Institute for Basic Science, Daejeon (Korea, Republic of)

2016-12-15

Beam trajectory is needed to be controlled in heavy ion accelerator system. Quadruple magnets are widely used in heavy ion accelerator for focusing the transporting particles. A quadruple triplet system which consists of three consecutive quadrupoles, Q1, Q2 and Q3, is used to control beam trajectory at a focused position. Q1 and Q3 have symmetry with respect to Q2. The beam trajectory in magnet system is affected by higher order fields existed in real fields. For quadrupoles, the representation simulation of beam trajectory was carried out to study the beam trajectory and to estimate an effect of higher order field in triplet system. SCALA program was used to simulate the beam trajectory in OperaTM. SCALA can analyze a large number of beam trajectories at the same time by adjusting the size of finite element of the emitter. With OperaTM and MatlabTM programs, the position of focused beam spot in quadruple triplet system can be increased or decreased using evolution strategy (ES) method, therefore the length of triplet system can be controlled. Finally, the quadruple triplet system with the appropriate length and expected beam spot range was suggested in this paper.

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

Science.gov (United States)

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

2016-04-22

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

Impacts of Deflection Nose on Ballistic Trajectory Control Law

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Bo Zhang

2014-01-01

Full Text Available The deflection of projectile nose is aimed at changing the motion of the projectile in flight with the theory of motion control and changing the exterior ballistics so as to change its range and increase its accuracy. The law of external ballistics with the deflectable nose is considered as the basis of the design of a flight control system and an important part in the process of projectile development. Based on the existing rigid external ballistic model, this paper establishes an external ballistic calculation model for deflectable nose projectile and further establishes the solving programs accordingly. Different angle of attack, velocity, coefficients of lift, resistance, and moment under the deflection can be obtained in this paper based on the previous experiments and emulation researches. In the end, the author pointed out the laws on the impaction of external ballistic trajectory by the deflection of nose of the missile.

Model-based segmentation and classification of trajectories (Extended abstract)

NARCIS (Netherlands)

Alewijnse, S.P.A.; Buchin, K.; Buchin, M.; Sijben, S.; Westenberg, M.A.

2014-01-01

We present efficient algorithms for segmenting and classifying a trajectory based on a parameterized movement model like the Brownian bridge movement model. Segmentation is the problem of subdividing a trajectory into parts such that each art is homogeneous in its movement characteristics. We

Adaptive fuzzy trajectory control for biaxial motion stage system

Directory of Open Access Journals (Sweden)

Wei-Lung Mao

2016-04-01

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

Young adults' trajectories of Ecstasy use: a population based study.

Science.gov (United States)

Smirnov, Andrew; Najman, Jake M; Hayatbakhsh, Reza; Plotnikova, Maria; Wells, Helene; Legosz, Margot; Kemp, Robert

2013-11-01

Young adults' Ecstasy use trajectories have important implications for individual and population-level consequences of Ecstasy use, but little relevant research has been conducted. This study prospectively examines Ecstasy trajectories in a population-based sample. Data are from the Natural History Study of Drug Use, a retrospective/prospective cohort study conducted in Australia. Population screening identified a probability sample of Ecstasy users aged 19-23 years. Complete data for 30 months of follow-up, comprising 4 time intervals, were available for 297 participants (88.4% of sample). Trajectories were derived using cluster analysis based on recent Ecstasy use at each interval. Trajectory predictors were examined using a generalized ordered logit model and included Ecstasy dependence (World Mental Health Composite International Diagnostic Instrument), psychological distress (Hospital Anxiety Depression Scale), aggression (Young Adult Self Report) and contextual factors (e.g. attendance at electronic/dance music events). Three Ecstasy trajectories were identified (low, intermediate and high use). At its peak, the high-use trajectory involved 1-2 days Ecstasy use per week. Decreasing frequency of use was observed for intermediate and high-use trajectories from 12 months, independently of market factors. Intermediate and high-use trajectory membership was predicted by past Ecstasy consumption (>70 pills) and attendance at electronic/dance music events. High-use trajectory members were unlikely to have used Ecstasy for more than 3 years and tended to report consistently positive subjective effects at baseline. Given the social context and temporal course of Ecstasy use, Ecstasy trajectories might be better understood in terms of instrumental rather than addictive drug use patterns. © 2013 Elsevier Ltd. All rights reserved.

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

OpenAIRE

Shiuh-Jer Huang; Yu-Sheng Hsu

2017-01-01

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

Controller Strategies for Automation Tool Use under Varying Levels of Trajectory Prediction Uncertainty

Science.gov (United States)

Morey, Susan; Prevot, Thomas; Mercer, Joey; Martin, Lynne; Bienert, Nancy; Cabrall, Christopher; Hunt, Sarah; Homola, Jeffrey; Kraut, Joshua

2013-01-01

A human-in-the-loop simulation was conducted to examine the effects of varying levels of trajectory prediction uncertainty on air traffic controller workload and performance, as well as how strategies and the use of decision support tools change in response. This paper focuses on the strategies employed by two controllers from separate teams who worked in parallel but independently under identical conditions (airspace, arrival traffic, tools) with the goal of ensuring schedule conformance and safe separation for a dense arrival flow in en route airspace. Despite differences in strategy and methods, both controllers achieved high levels of schedule conformance and safe separation. Overall, results show that trajectory uncertainties introduced by wind and aircraft performance prediction errors do not affect the controllers' ability to manage traffic. Controller strategies were fairly robust to changes in error, though strategies were affected by the amount of delay to absorb (scheduled time of arrival minus estimated time of arrival). Using the results and observations, this paper proposes an ability to dynamically customize the display of information including delay time based on observed error to better accommodate different strategies and objectives.

Efficient Trajectory Options Allocation for the Collaborative Trajectory Options Program

Science.gov (United States)

Rodionova, Olga; Arneson, Heather; Sridhar, Banavar; Evans, Antony

2017-01-01

The Collaborative Trajectory Options Program (CTOP) is a Traffic Management Initiative (TMI) intended to control the air traffic flow rates at multiple specified Flow Constrained Areas (FCAs), where demand exceeds capacity. CTOP allows flight operators to submit the desired Trajectory Options Set (TOS) for each affected flight with associated Relative Trajectory Cost (RTC) for each option. CTOP then creates a feasible schedule that complies with capacity constraints by assigning affected flights with routes and departure delays in such a way as to minimize the total cost while maintaining equity across flight operators. The current version of CTOP implements a Ration-by-Schedule (RBS) scheme, which assigns the best available options to flights based on a First-Scheduled-First-Served heuristic. In the present study, an alternative flight scheduling approach is developed based on linear optimization. Results suggest that such an approach can significantly reduce flight delays, in the deterministic case, while maintaining equity as defined using a Max-Min fairness scheme.

Stabilization Algorithms for Automatic Control of the Trajectory Movement of Quadcopter

Directory of Open Access Journals (Sweden)

KeKe Gen

2015-01-01

Full Text Available The article considers an automatic quadcopter routing task. The quadcopter is an unmanned aerial vehicle (UAV, which has four engines. Currently, such already widely used vehicles are controlled, mainly, from the operator’s control panel. A relevant task is to develop a quadcopter control system that enables an autonomous flight. The aim of this paper is to study the possibility for solving this problem using an algorithm of the stabilization and trajectory control.A mathematical model of the quadrocopter is the fairly complicated non-linear system, which can be obtained by using the Matlab Simulink and Universal Mechanism software systems simultaneously. Comparison of the simulation results in two software packages, i.e. Matlab wherein the nonlinear system of equations is modeled and UM wherein the flight path and other parameters are calculated according to transmitted forces and moments may prove correctness of the model used.Synthesis of controllers for the orientation and stabilization subsystem and trajectory control subsystem, is performed on traditional principles, in particular using the PID controllers and method based on Lyapunov functions known in the literature as "backstepping." The most appropriate controls are selected by comparing the simulation results. Responses to the stepped impacts and to tracking the given paths have been simulated. It has been found that the flight path of a quadcopter almost coincides with designated routing, changes of coordinates for the quadcopter mass center of two controllers under comparison are almost the same, but a deviation range of the angular position for the controller backstepping is much smaller than that of for the PID controller.

Diffusion-Based Trajectory Observers with Variance Constraints

DEFF Research Database (Denmark)

Alcocer, Alex; Jouffroy, Jerome; Oliveira, Paulo

Diffusion-based trajectory observers have been recently proposed as a simple and efficient framework to solve diverse smoothing problems in underwater navigation. For instance, to obtain estimates of the trajectories of an underwater vehicle given position fixes from an acoustic positioning system...... of smoothing and is determined by resorting to trial and error. This paper presents a methodology to choose the observer gain by taking into account a priori information on the variance of the position measurement errors. Experimental results with data from an acoustic positioning system are presented...

Didactic trajectory of research in mathematics education using research-based learning

Science.gov (United States)

Charitas Indra Prahmana, Rully; Kusumah, Yaya S.; Darhim

2017-10-01

This study aims to describe the role of research-based learning in design a learning trajectory of research in mathematics education to enhance research and academic writing skills for pre-service mathematics teachers. The method used is a design research with three stages, namely the preliminary design, teaching experiment, and retrospective analysis. The research subjects are pre-service mathematics teacher class of 2012 from one higher education institution in Tangerang - Indonesia. The use of research-based learning in designing learning trajectory of research in mathematics education plays a crucial role as a trigger to enhancing math department preservice teachers research and academic writing skills. Also, this study also describes the design principles and characteristics of the learning trajectory namely didactic trajectory generated by the role of research-based learning syntax.

Automatic Generation of Complex Spatial Trajectories of the UAV and Synthesis of Control

Directory of Open Access Journals (Sweden)

S. B. Tkachev

2015-01-01

Full Text Available In this paper, we propose a new method and algorithms that allow us to design complex spatial trajectories for an unmanned aerial vehicle (UAV passing through a given sequence of waypoints in the three-dimensional space.The nonlinear six-dimensional model of the UAV center-of-mass motion given in the trajectory frame is used for calculations. The state vector includes the altitude, the along-track deviation, the cross-track position, the velocity, the flight-path angle and the heading angle. The longitudinal and transverse overloads and the angle between the cross overload vector and vertical plane are considered as controls. This angle is often named as the roll angle.The feature of the problem is that both positions at waypoints and additional conditions are given. These conditions determine orientation of the velocity vector at each point (using the flight path angle and the heading angle. We also set either the point-visiting time or the pointvisiting velocity. The full state vector and controls are fixed at the starting waypoint.To construct a spatial trajectory, the concept of inverse dynamics problems is applied, as well as modern results of mathematical control theory of nonlinear dynamical systems. The introduction of new virtual controls allows us to represent the original system as an affine (linear in control system. Then, the designed system is converted into the regular canonical form.When we set flight times between any two waypoints, the corresponding segments of the trajectory are designed using time-dependent polynomials of the fifth degree. These polynomials specify the altitude variation, the variation of the along-track deviation and that of the cross-track position. If the point-visiting times are not fixed, the transition to a new independent variable (the normalized mechanical energy of the system is used. This transition is possible if the energy varies monotonically. In this case, the spatial trajectory is defined as a

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

Science.gov (United States)

Meng, Deyuan; Tao, Guoliang; Zhu, Xiaocong

2013-09-01

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

Dynamic trajectory-based couch motion for improvement of radiation therapy trajectories in cranial SRT

Energy Technology Data Exchange (ETDEWEB)

MacDonald, R. Lee [Department of Physics and Atmospheric Science, Dalhousie University, Halifax, Nova Scotia B3H 4R2 (Canada); Thomas, Christopher G., E-mail: Chris.Thomas@cdha.nshealth.ca [Department of Physics and Atmospheric Science, Dalhousie University, Halifax, Nova Scotia B3H 4R2 (Canada); Department of Medical Physics, Nova Scotia Cancer Centre, Queen Elizabeth II Health Sciences Centre, Halifax, Nova Scotia B3H 1V7 (Canada); Department of Radiation Oncology, Dalhousie University, Halifax, Nova Scotia B3H 4R2 (Canada); Department of Radiology, Dalhousie University, Halifax, Nova Scotia B3H 4R2 (Canada)

2015-05-15

Purpose: To investigate potential improvement in external beam stereotactic radiation therapy plan quality for cranial cases using an optimized dynamic gantry and patient support couch motion trajectory, which could minimize exposure to sensitive healthy tissue. Methods: Anonymized patient anatomy and treatment plans of cranial cancer patients were used to quantify the geometric overlap between planning target volumes and organs-at-risk (OARs) based on their two-dimensional projection from source to a plane at isocenter as a function of gantry and couch angle. Published dose constraints were then used as weighting factors for the OARs to generate a map of couch-gantry coordinate space, indicating degree of overlap at each point in space. A couch-gantry collision space was generated by direct measurement on a linear accelerator and couch using an anthropomorphic solid-water phantom. A dynamic, fully customizable algorithm was written to generate a navigable ideal trajectory for the patient specific couch-gantry space. The advanced algorithm can be used to balance the implementation of absolute minimum values of overlap with the clinical practicality of large-scale couch motion and delivery time. Optimized cranial cancer treatment trajectories were compared to conventional treatment trajectories. Results: Comparison of optimized treatment trajectories with conventional treatment trajectories indicated an average decrease in mean dose to the OARs of 19% and an average decrease in maximum dose to the OARs of 12%. Degradation was seen for homogeneity index (6.14% ± 0.67%–5.48% ± 0.76%) and conformation number (0.82 ± 0.02–0.79 ± 0.02), but neither was statistically significant. Removal of OAR constraints from volumetric modulated arc therapy optimization reveals that reduction in dose to OARs is almost exclusively due to the optimized trajectory and not the OAR constraints. Conclusions: The authors’ study indicated that simultaneous couch and gantry motion

Dynamic trajectory-based couch motion for improvement of radiation therapy trajectories in cranial SRT

International Nuclear Information System (INIS)

MacDonald, R. Lee; Thomas, Christopher G.

2015-01-01

Purpose: To investigate potential improvement in external beam stereotactic radiation therapy plan quality for cranial cases using an optimized dynamic gantry and patient support couch motion trajectory, which could minimize exposure to sensitive healthy tissue. Methods: Anonymized patient anatomy and treatment plans of cranial cancer patients were used to quantify the geometric overlap between planning target volumes and organs-at-risk (OARs) based on their two-dimensional projection from source to a plane at isocenter as a function of gantry and couch angle. Published dose constraints were then used as weighting factors for the OARs to generate a map of couch-gantry coordinate space, indicating degree of overlap at each point in space. A couch-gantry collision space was generated by direct measurement on a linear accelerator and couch using an anthropomorphic solid-water phantom. A dynamic, fully customizable algorithm was written to generate a navigable ideal trajectory for the patient specific couch-gantry space. The advanced algorithm can be used to balance the implementation of absolute minimum values of overlap with the clinical practicality of large-scale couch motion and delivery time. Optimized cranial cancer treatment trajectories were compared to conventional treatment trajectories. Results: Comparison of optimized treatment trajectories with conventional treatment trajectories indicated an average decrease in mean dose to the OARs of 19% and an average decrease in maximum dose to the OARs of 12%. Degradation was seen for homogeneity index (6.14% ± 0.67%–5.48% ± 0.76%) and conformation number (0.82 ± 0.02–0.79 ± 0.02), but neither was statistically significant. Removal of OAR constraints from volumetric modulated arc therapy optimization reveals that reduction in dose to OARs is almost exclusively due to the optimized trajectory and not the OAR constraints. Conclusions: The authors’ study indicated that simultaneous couch and gantry motion

VISUAL UAV TRAJECTORY PLAN SYSTEM BASED ON NETWORK MAP

Directory of Open Access Journals (Sweden)

X. L. Li

2012-07-01

Full Text Available The base map of the current software UP-30 using in trajectory plan for Unmanned Aircraft Vehicle is vector diagram. UP-30 draws navigation points manually. But in the field of operation process, the efficiency and the quality of work is influenced because of insufficient information, screen reflection, calculate inconveniently and other factors. If we do this work in indoor, the effect of external factors on the results would be eliminated, the network earth users can browse the free world high definition satellite images through downloading a client software, and can export the high resolution image by standard file format. This brings unprecedented convenient of trajectory plan. But the images must be disposed by coordinate transformation, geometric correction. In addition, according to the requirement of mapping scale ,camera parameters and overlap degree we can calculate exposure hole interval and trajectory distance between the adjacent trajectory automatically . This will improve the degree of automation of data collection. Software will judge the position of next point according to the intersection of the trajectory and the survey area and ensure the position of point according to trajectory distance. We can undertake the points artificially. So the trajectory plan is automatic and flexible. Considering safety, the date can be used in flying after simulating flight. Finally we can export all of the date using a key

Visual Uav Trajectory Plan System Based on Network Map

Science.gov (United States)

Li, X. L.; Lin, Z. J.; Su, G. Z.; Wu, B. Y.

2012-07-01

The base map of the current software UP-30 using in trajectory plan for Unmanned Aircraft Vehicle is vector diagram. UP-30 draws navigation points manually. But in the field of operation process, the efficiency and the quality of work is influenced because of insufficient information, screen reflection, calculate inconveniently and other factors. If we do this work in indoor, the effect of external factors on the results would be eliminated, the network earth users can browse the free world high definition satellite images through downloading a client software, and can export the high resolution image by standard file format. This brings unprecedented convenient of trajectory plan. But the images must be disposed by coordinate transformation, geometric correction. In addition, according to the requirement of mapping scale ,camera parameters and overlap degree we can calculate exposure hole interval and trajectory distance between the adjacent trajectory automatically . This will improve the degree of automation of data collection. Software will judge the position of next point according to the intersection of the trajectory and the survey area and ensure the position of point according to trajectory distance. We can undertake the points artificially. So the trajectory plan is automatic and flexible. Considering safety, the date can be used in flying after simulating flight. Finally we can export all of the date using a key

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

Directory of Open Access Journals (Sweden)

Jose P. Perez

2014-01-01

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

A Trajectory Generation Method Based on Edge Detection for Auto-Sealant Cartesian Robot

Directory of Open Access Journals (Sweden)

Eka Samsul Maarif

2014-07-01

Full Text Available This paper presents algorithm ingenerating trajectory for sealant process using captured image. Cartesian robot as auto-sealant in manufacturing process has increased productivity, reduces human error and saves time. But, different sealant path in many engine models means not only different trajectory but also different program. Therefore robot with detection ability to generate its own trajectory is needed. This paper describes best lighting technique in capturing image and applies edge detection in trajectory generation as the solution. The algorithm comprises image capturing, Canny edge detection, integral projection in localizing outer most edge, scanning coordinates, and generating vector direction codes. The experiment results show that the best technique is diffuse lighting at 10 Cd. The developed method gives connected point to point trajectory which forms sealant path with a point to next point distance is equal to 90° motor rotation. Directional movement for point to point trajectory is controlled by generated codes which are ready to be sent by serial communication to robot controller as instruction for motors which actuate axes X and Y directions.

Trajectory Evaluation of Rotor-Flying Robots Using Accurate Inverse Computation Based on Algorithm Differentiation

Directory of Open Access Journals (Sweden)

Yuqing He

2014-01-01

Full Text Available Autonomous maneuvering flight control of rotor-flying robots (RFR is a challenging problem due to the highly complicated structure of its model and significant uncertainties regarding many aspects of the field. As a consequence, it is difficult in many cases to decide whether or not a flight maneuver trajectory is feasible. It is necessary to conduct an analysis of the flight maneuvering ability of an RFR prior to test flight. Our aim in this paper is to use a numerical method called algorithm differentiation (AD to solve this problem. The basic idea is to compute the internal state (i.e., attitude angles and angular rates and input profiles based on predetermined maneuvering trajectory information denoted by the outputs (i.e., positions and yaw angle and their higher-order derivatives. For this purpose, we first present a model of the RFR system and show that it is flat. We then cast the procedure for obtaining the required state/input based on the desired outputs as a static optimization problem, which is solved using AD and a derivative based optimization algorithm. Finally, we test our proposed method using a flight maneuver trajectory to verify its performance.

Adaptive density trajectory cluster based on time and space distance

Science.gov (United States)

Liu, Fagui; Zhang, Zhijie

2017-10-01

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

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

Directory of Open Access Journals (Sweden)

Hwa-Jung Lim

2010-04-01

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

Integrating the Base of Aircraft Data (BADA) in CTAS Trajectory Synthesizer

Science.gov (United States)

Abramson, Michael; Ali, Kareem

2012-01-01

The Center-Terminal Radar Approach Control (TRACON) Automation System (CTAS), developed at NASA Ames Research Center for assisting controllers in the management and control of air traffic in the extended terminal area, supports the modeling of more than four hundred aircraft types. However, 90% of them are supported indirectly by mapping them to one of a relatively few aircraft types for which CTAS has detailed drag and engine thrust models. On the other hand, the Base of Aircraft Data (BADA), developed and maintained by Eurocontrol, supports more than 300 aircraft types, about one third of which are directly supported, i.e. they have validated performance data. All these data were made available for CTAS by integrating BADA version 3.8 into CTAS Trajectory Synthesizer (TS). Several validation tools were developed and used to validate the integrated code and to evaluate the accuracy of trajectory predictions generated using CTAS "native" and BADA Aircraft Performance Models (APM) comparing them with radar track data. Results of these comparisons indicate that the two models have different strengths and weaknesses. The BADA APM can improve the accuracy of CTAS predictions at least for some aircraft types, especially small aircraft, and for some flight phases, especially climb.

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

Science.gov (United States)

Yang, Chenguang; Li, Zhijun; Li, Jing

2013-02-01

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

The trajectory control in the SLC linac

International Nuclear Information System (INIS)

Hsu, I.C.; Adolphsen, C.E.; Himel, T.M.; Seeman, J.T.

1991-05-01

Due to wake field effects, the trajectories of accelerated beams in the Linac should be well maintained to avoid severe beam breakup. In order to maintain a small emittance at the end of the Linac, the tolerance on the trajectory deviations become tighter when the beam intensities increase. The existing two beam trajectory correction method works well when the theoretical model agrees with the real machine lattice. Unknown energy deviations along the linac as well as wake field effects can cause the real lattice to deviate from the model. This makes the trajectory correction difficult. Several automated procedures have been developed to solve these problems. They are: an automated procedure to frequently steer the whole Linac by dividing the Linac into several small regions; an automated procedure to empirically correct the model to fit the real lattice and eight trajectory correcting feedback loops along the linac and steering through the collimator region with restricted corrector strengths and a restricted number of correctors. 6 refs., 2 figs

Trajectory Orientation: A Technology-Enabled Concept Requiring a Shift in Controller Roles and Responsibilities

Science.gov (United States)

Leiden, Ken; Green, Steven

2000-01-01

The development of a decision support tool (DST) for the en-route domain with accurate conflict prediction time horizons of 20 minutes has introduced an interesting problem. A 20 minute time horizon for conflict prediction often results in the predicted conflict occurring one or more sectors downstream from the sector controller who "owns" (i-e., is responsible for the safe separation of aircraft) one or both of the aircraft in the conflict pair. Based on current roles and responsibilities of today's en route controllers, the upstream controller would not resolve this conflict. In most cases, the downstream controller would wait until the conflicting aircraft entered higher sector before resolving the conflict. This results in a delay of several minutes from the time when the conflict was initially predicted. This delay is inefficient from both a controller workload and user's cost of operations perspective. Trajectory orientation, a new concept for facilitating an efficient, conflict-free flight path across several sectors while conforming to metering or miles-in-trail spacing, is proposed as an alternative to today's sector-oriented method. This concept necessitates a fundamental shift in thinking about inter-sector coordination. Instead of operating independently, with the main focus on protecting their internal airspace, controllers would work cooperatively, depending on each other for well-planned, conflict-free flow of aircraft. To support the trajectory orientation concept, a long time horizon (15 to 20 minutes) for conflict prediction and resolution would most likely be a primary requirement. In addition, new tools, such as controller-pilot data link will be identified to determine their necessity and applicability for trajectory orientation. Finally, with significant controller participation from selected Air Route Traffic Control Centers, potential shifts in R-side/D-side roles and responsibilities as well as the creation of a new controller position for

Feedforward hysteresis compensation in trajectory control of piezoelectrically-driven nanostagers

Science.gov (United States)

Bashash, Saeid; Jalili, Nader

2006-03-01

Complex structural nonlinearities of piezoelectric materials drastically degrade their performance in variety of micro- and nano-positioning applications. From the precision positioning and control perspective, the multi-path time-history dependent hysteresis phenomenon is the most concerned nonlinearity in piezoelectric actuators to be analyzed. To realize the underlying physics of this phenomenon and to develop an efficient compensation strategy, the intelligent properties of hysteresis with the effects of non-local memories are discussed. Through performing a set of experiments on a piezoelectrically-driven nanostager with high resolution capacitive position sensor, it is shown that for the precise prediction of hysteresis path, certain memory units are required to store the previous hysteresis trajectory data. Based on the experimental observations, a constitutive memory-based mathematical modeling framework is developed and trained for the precise prediction of hysteresis path for arbitrarily assigned input profiles. Using the inverse hysteresis model, a feedforward control strategy is then developed and implemented on the nanostager to compensate for the system everpresent nonlinearity. Experimental results demonstrate that the controller remarkably eliminates the nonlinear effect if memory units are sufficiently chosen for the inverse model.

Oceanic Flights and Airspace: Improving Efficiency by Trajectory-Based Operations

Science.gov (United States)

Fernandes, Alicia Borgman; Rebollo, Juan; Koch, Michael

2016-01-01

Oceanic operations suffer from multiple inefficiencies, including pre-departure planning that does not adequately consider uncertainty in the proposed trajectory, restrictions on the routes that a flight operator can choose for an oceanic crossing, time-consuming processes and procedures for amending en route trajectories, and difficulties exchanging data between Flight Information Regions (FIRs). These inefficiencies cause aircraft to fly suboptimal trajectories, burning fuel and time that could be conserved. A concept to support integration of existing and emerging capabilities and concepts is needed to transition to an airspace system that employs Trajectory Based Operations (TBO) to improve efficiency and safety in oceanic operations. This paper describes such a concept and the results of preliminary activities to evaluate the concept, including a stakeholder feedback activity, user needs analysis, and high level benefits analysis.

Rapid space trajectory generation using a Fourier series shape-based approach

Science.gov (United States)

Taheri, Ehsan

With the insatiable curiosity of human beings to explore the universe and our solar system, it is essential to benefit from larger propulsion capabilities to execute efficient transfers and carry more scientific equipments. In the field of space trajectory optimization the fundamental advances in using low-thrust propulsion and exploiting the multi-body dynamics has played pivotal role in designing efficient space mission trajectories. The former provides larger cumulative momentum change in comparison with the conventional chemical propulsion whereas the latter results in almost ballistic trajectories with negligible amount of propellant. However, the problem of space trajectory design translates into an optimal control problem which is, in general, time-consuming and very difficult to solve. Therefore, the goal of the thesis is to address the above problem by developing a methodology to simplify and facilitate the process of finding initial low-thrust trajectories in both two-body and multi-body environments. This initial solution will not only provide mission designers with a better understanding of the problem and solution but also serves as a good initial guess for high-fidelity optimal control solvers and increases their convergence rate. Almost all of the high-fidelity solvers enjoy the existence of an initial guess that already satisfies the equations of motion and some of the most important constraints. Despite the nonlinear nature of the problem, it is sought to find a robust technique for a wide range of typical low-thrust transfers with reduced computational intensity. Another important aspect of our developed methodology is the representation of low-thrust trajectories by Fourier series with which the number of design variables reduces significantly. Emphasis is given on simplifying the equations of motion to the possible extent and avoid approximating the controls. These facts contribute to speeding up the solution finding procedure. Several example

Controlling X-ray beam trajectory with a flexible hollow glass fibre

Energy Technology Data Exchange (ETDEWEB)

Tanaka, Yoshihito, E-mail: yotanaka@riken.jp [RIKEN, 1-1-1 Kouto, Sayo-cho, Hyogo 679-5148 (Japan); Kwansei Gakuin University, Gakuen, Sanda, Hyogo 669-1337 (Japan); Nakatani, Takashi; Onitsuka, Rena [Kwansei Gakuin University, Gakuen, Sanda, Hyogo 669-1337 (Japan); Sawada, Kei [RIKEN, 1-1-1 Kouto, Sayo-cho, Hyogo 679-5148 (Japan); Takahashi, Isao [Kwansei Gakuin University, Gakuen, Sanda, Hyogo 669-1337 (Japan)

2014-01-01

X-ray beam trajectory control has been performed by using a 1.5 m-long flexible hollow glass fibre. A two-dimensional scan of a synchrotron radiation beam was demonstrated for X-ray absorption mapping. A metre-length flexible hollow glass fibre with 20 µm-bore and 1.5 mm-cladding diameters for transporting a synchrotron X-ray beam and controlling the trajectory has been examined. The large cladding diameter maintains a moderate curvature to satisfy the shallow glancing angle of total reflection. The observed transmission efficiency was more than 20% at 12.4 keV. As a demonstration, a wide-area scan of a synchrotron radiation beam was performed to identify the elements for a fixed metal film through its absorption spectra.

Trajectory Based Traffic Analysis

DEFF Research Database (Denmark)

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

2013-01-01

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

Trajectory data privacy protection based on differential privacy mechanism

Science.gov (United States)

Gu, Ke; Yang, Lihao; Liu, Yongzhi; Liao, Niandong

2018-05-01

In this paper, we propose a trajectory data privacy protection scheme based on differential privacy mechanism. In the proposed scheme, the algorithm first selects the protected points from the user’s trajectory data; secondly, the algorithm forms the polygon according to the protected points and the adjacent and high frequent accessed points that are selected from the accessing point database, then the algorithm calculates the polygon centroids; finally, the noises are added to the polygon centroids by the differential privacy method, and the polygon centroids replace the protected points, and then the algorithm constructs and issues the new trajectory data. The experiments show that the running time of the proposed algorithms is fast, the privacy protection of the scheme is effective and the data usability of the scheme is higher.

Trajectories of delinquency and parenting styles.

Science.gov (United States)

Hoeve, Machteld; Blokland, Arjan; Dubas, Judith Semon; Loeber, Rolf; Gerris, Jan R M; van der Laan, Peter H

2008-02-01

We investigated trajectories of adolescent delinquent development using data from the Pittsburgh Youth Study and examined the extent to which these different trajectories are differentially predicted by childhood parenting styles. Based on self-reported and official delinquency seriousness, covering ages 10-19, we identified five distinct delinquency trajectories differing in both level and change in seriousness over time: a nondelinquent, minor persisting, moderate desisting, serious persisting, and serious desisting trajectory. More serious delinquents tended to more frequently engage in delinquency, and to report a higher proportion of theft. Proportionally, serious persistent delinquents were the most violent of all trajectory groups. Using cluster analysis we identified three parenting styles: authoritative, authoritarian (moderately supportive), and neglectful (punishing). Controlling for demographic characteristics and childhood delinquency, neglectful parenting was more frequent in moderate desisters, serious persisters, and serious desisters, suggesting that parenting styles differentiate non- or minor delinquents from more serious delinquents.

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

Directory of Open Access Journals (Sweden)

Lie Guo

2014-01-01

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

Introduction to Mobile Trajectory Based Services: A New Direction in Mobile Location Based Services

Science.gov (United States)

Khokhar, Sarfraz; Nilsson, Arne A.

The mandate of E911 gave birth to the idea of Location Based Services (LBS) capitalizing on the knowledge of the mobile location. The underlying estimated location is a feasible area. There is yet another class of mobile services that could be based on the mobility profiling of a mobile user. The mobility profile of a mobile user is a set of the routine trajectories of his or her travel paths. We called such services as Mobile Trajectory Based Services (MTBS). This paper introduces MTBS and functional architecture of an MTBS system. Suitability of different location estimation technologies for MTBS has been discussed and supported with simulation results.

A Framework for Autonomous Trajectory-Based Operations, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — The innovation proposed is a framework for autonomous Traffic Flow Management (TFM) under Trajectory Based Operations (TBO) for Unmanned Aerial Systems (UAS). The...

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

Science.gov (United States)

Lu, Xiaojun; Liu, Changli; Chen, Lei

2018-04-01

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

Reconfigurable logic via gate controlled domain wall trajectory in magnetic network structure

Science.gov (United States)

Murapaka, C.; Sethi, P.; Goolaup, S.; Lew, W. S.

2016-01-01

An all-magnetic logic scheme has the advantages of being non-volatile and energy efficient over the conventional transistor based logic devices. In this work, we present a reconfigurable magnetic logic device which is capable of performing all basic logic operations in a single device. The device exploits the deterministic trajectory of domain wall (DW) in ferromagnetic asymmetric branch structure for obtaining different output combinations. The programmability of the device is achieved by using a current-controlled magnetic gate, which generates a local Oersted field. The field generated at the magnetic gate influences the trajectory of the DW within the structure by exploiting its inherent transverse charge distribution. DW transformation from vortex to transverse configuration close to the output branch plays a pivotal role in governing the DW chirality and hence the output. By simply switching the current direction through the magnetic gate, two universal logic gate functionalities can be obtained in this device. Using magnetic force microscopy imaging and magnetoresistance measurements, all basic logic functionalities are demonstrated. PMID:26839036

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

Directory of Open Access Journals (Sweden)

Chengshun Yang

2013-01-01

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

SU-F-BRB-16: A Spreadsheet Based Automatic Trajectory GEnerator (SAGE): An Open Source Tool for Automatic Creation of TrueBeam Developer Mode Robotic Trajectories

International Nuclear Information System (INIS)

Etmektzoglou, A; Mishra, P; Svatos, M

2015-01-01

Purpose: To automate creation and delivery of robotic linac trajectories with TrueBeam Developer Mode, an open source spreadsheet-based trajectory generation tool has been developed, tested and made freely available. The computing power inherent in a spreadsheet environment plus additional functions programmed into the tool insulate users from the underlying schema tedium and allow easy calculation, parameterization, graphical visualization, validation and finally automatic generation of Developer Mode XML scripts which are directly loadable on a TrueBeam linac. Methods: The robotic control system platform that allows total coordination of potentially all linac moving axes with beam (continuous, step-and-shoot, or combination thereof) becomes available in TrueBeam Developer Mode. Many complex trajectories are either geometric or can be described in analytical form, making the computational power, graphing and programmability available in a spreadsheet environment an easy and ideal vehicle for automatic trajectory generation. The spreadsheet environment allows also for parameterization of trajectories thus enabling the creation of entire families of trajectories using only a few variables. Standard spreadsheet functionality has been extended for powerful movie-like dynamic graphic visualization of the gantry, table, MLC, room, lasers, 3D observer placement and beam centerline all as a function of MU or time, for analysis of the motions before requiring actual linac time. Results: We used the tool to generate and deliver extended SAD “virtual isocenter” trajectories of various shapes such as parameterized circles and ellipses. We also demonstrated use of the tool in generating linac couch motions that simulate respiratory motion using analytical parameterized functions. Conclusion: The SAGE tool is a valuable resource to experiment with families of complex geometric trajectories for a TrueBeam Linac. It makes Developer Mode more accessible as a vehicle to quickly

SU-F-BRB-16: A Spreadsheet Based Automatic Trajectory GEnerator (SAGE): An Open Source Tool for Automatic Creation of TrueBeam Developer Mode Robotic Trajectories

Energy Technology Data Exchange (ETDEWEB)

Etmektzoglou, A; Mishra, P; Svatos, M [Varian Medical Systems, Palo Alto, CA (United States)

2015-06-15

Purpose: To automate creation and delivery of robotic linac trajectories with TrueBeam Developer Mode, an open source spreadsheet-based trajectory generation tool has been developed, tested and made freely available. The computing power inherent in a spreadsheet environment plus additional functions programmed into the tool insulate users from the underlying schema tedium and allow easy calculation, parameterization, graphical visualization, validation and finally automatic generation of Developer Mode XML scripts which are directly loadable on a TrueBeam linac. Methods: The robotic control system platform that allows total coordination of potentially all linac moving axes with beam (continuous, step-and-shoot, or combination thereof) becomes available in TrueBeam Developer Mode. Many complex trajectories are either geometric or can be described in analytical form, making the computational power, graphing and programmability available in a spreadsheet environment an easy and ideal vehicle for automatic trajectory generation. The spreadsheet environment allows also for parameterization of trajectories thus enabling the creation of entire families of trajectories using only a few variables. Standard spreadsheet functionality has been extended for powerful movie-like dynamic graphic visualization of the gantry, table, MLC, room, lasers, 3D observer placement and beam centerline all as a function of MU or time, for analysis of the motions before requiring actual linac time. Results: We used the tool to generate and deliver extended SAD “virtual isocenter” trajectories of various shapes such as parameterized circles and ellipses. We also demonstrated use of the tool in generating linac couch motions that simulate respiratory motion using analytical parameterized functions. Conclusion: The SAGE tool is a valuable resource to experiment with families of complex geometric trajectories for a TrueBeam Linac. It makes Developer Mode more accessible as a vehicle to quickly

Picking Robot Arm Trajectory Planning Method

Directory of Open Access Journals (Sweden)

Zhang Zhiyong

2014-01-01

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

Sensor-Based Trajectory Generation for Advanced Driver Assistance System

Directory of Open Access Journals (Sweden)

Christopher James Shackleton

2013-03-01

Full Text Available This paper investigates the trajectory generation problem for an advanced driver assistance system that could sense the driving state of the vehicle, so that a collision free trajectory can be generated safely. Specifically, the problem of trajectory generation is solved for the safety assessment of the driving state and to manipulate the vehicle in order to avoid any possible collisions. The vehicle senses the environment so as to obtain information about other vehicles and static obstacles ahead. Vehicles may share the perception of the environment via an inter-vehicle communication system. The planning algorithm is based on a visibility graph. A lateral repulsive potential is applied to adaptively maintain a trade-off between the trajectory length and vehicle clearance, which is the greatest problem associated with visibility graphs. As opposed to adaptive roadmap approaches, the algorithm exploits the structured nature of the environment for construction of the roadmap. Furthermore, the mostly organized nature of traffic systems is exploited to obtain orientation invariance, which is another limitation of both visibility graphs and adaptive roadmaps. Simulation results show that the algorithm can successfully solve the problem for a variety of commonly found scenarios.

Impedance Control of the Rehabilitation Robot Based on Sliding Mode Control

Science.gov (United States)

Zhou, Jiawang; Zhou, Zude; Ai, Qingsong

As an auxiliary treatment, the 6-DOF parallel robot plays an important role in lower limb rehabilitation. In order to improve the efficiency and flexibility of the lower limb rehabilitation training, this paper studies the impedance controller based on the position control. A nonsingular terminal sliding mode control is developed to ensure the trajectory tracking precision and in contrast to traditional PID control strategy in the inner position loop, the system will be more stable. The stability of the system is proved by Lyapunov function to guarantee the convergence of the control errors. Simulation results validate the effectiveness of the target impedance model and show that the parallel robot can adjust gait trajectory online according to the human-machine interaction force to meet the gait request of patients, and changing the impedance parameters can meet the demands of different stages of rehabilitation training.

A Segment-Based Trajectory Similarity Measure in the Urban Transportation Systems.

Science.gov (United States)

Mao, Yingchi; Zhong, Haishi; Xiao, Xianjian; Li, Xiaofang

2017-03-06

With the rapid spread of built-in GPS handheld smart devices, the trajectory data from GPS sensors has grown explosively. Trajectory data has spatio-temporal characteristics and rich information. Using trajectory data processing techniques can mine the patterns of human activities and the moving patterns of vehicles in the intelligent transportation systems. A trajectory similarity measure is one of the most important issues in trajectory data mining (clustering, classification, frequent pattern mining, etc.). Unfortunately, the main similarity measure algorithms with the trajectory data have been found to be inaccurate, highly sensitive of sampling methods, and have low robustness for the noise data. To solve the above problems, three distances and their corresponding computation methods are proposed in this paper. The point-segment distance can decrease the sensitivity of the point sampling methods. The prediction distance optimizes the temporal distance with the features of trajectory data. The segment-segment distance introduces the trajectory shape factor into the similarity measurement to improve the accuracy. The three kinds of distance are integrated with the traditional dynamic time warping algorithm (DTW) algorithm to propose a new segment-based dynamic time warping algorithm (SDTW). The experimental results show that the SDTW algorithm can exhibit about 57%, 86%, and 31% better accuracy than the longest common subsequence algorithm (LCSS), and edit distance on real sequence algorithm (EDR) , and DTW, respectively, and that the sensitivity to the noise data is lower than that those algorithms.

Trajectory-based nonadiabatic dynamics with time-dependent density functional theory.

Science.gov (United States)

Curchod, Basile F E; Rothlisberger, Ursula; Tavernelli, Ivano

2013-05-10

Understanding the fate of an electronically excited molecule constitutes an important task for theoretical chemistry, and practical implications range from the interpretation of atto- and femtosecond spectroscopy to the development of light-driven molecular machines, the control of photochemical reactions, and the possibility of capturing sunlight energy. However, many challenging conceptual and technical problems are involved in the description of these phenomena such as 1) the failure of the well-known Born-Oppenheimer approximation; 2) the need for accurate electronic properties such as potential energy surfaces, excited nuclear forces, or nonadiabatic coupling terms; and 3) the necessity of describing the dynamics of the photoexcited nuclear wavepacket. This review provides an overview of the current methods to address points 1) and 3) and shows how time-dependent density functional theory (TDDFT) and its linear-response extension can be used for point 2). First, the derivation of Ehrenfest dynamics and nonadiabatic Bohmian dynamics is discussed and linked to Tully's trajectory surface hopping. Second, the coupling of these trajectory-based nonadiabatic schemes with TDDFT is described in detail with special emphasis on the derivation of the required electronic structure properties. Copyright © 2013 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Trajectory-based understanding of the quantum-classical transition for barrier scattering

Science.gov (United States)

Chou, Chia-Chun

2018-06-01

The quantum-classical transition of wave packet barrier scattering is investigated using a hydrodynamic description in the framework of a nonlinear Schrödinger equation. The nonlinear equation provides a continuous description for the quantum-classical transition of physical systems by introducing a degree of quantumness. Based on the transition equation, the transition trajectory formalism is developed to establish the connection between classical and quantum trajectories. The quantum-classical transition is then analyzed for the scattering of a Gaussian wave packet from an Eckart barrier and the decay of a metastable state. Computational results for the evolution of the wave packet and the transmission probabilities indicate that classical results are recovered when the degree of quantumness tends to zero. Classical trajectories are in excellent agreement with the transition trajectories in the classical limit, except in some regions where transition trajectories cannot cross because of the single-valuedness of the transition wave function. As the computational results demonstrate, the process that the Planck constant tends to zero is equivalent to the gradual removal of quantum effects originating from the quantum potential. This study provides an insightful trajectory interpretation for the quantum-classical transition of wave packet barrier scattering.

HOTSPOTS DETECTION FROM TRAJECTORY DATA BASED ON SPATIOTEMPORAL DATA FIELD CLUSTERING

Directory of Open Access Journals (Sweden)

K. Qin

2017-09-01

Full Text Available City hotspots refer to the areas where residents visit frequently, and large traffic flow exist, which reflect the people travel patterns and distribution of urban function area. Taxi trajectory data contain abundant information about urban functions and citizen activities, and extracting interesting city hotspots from them can be of importance in urban planning, traffic command, public travel services etc. To detect city hotspots and discover a variety of changing patterns among them, we introduce a data field-based cluster analysis technique to the pick-up and drop-off points of taxi trajectory data and improve the method by introducing the time weight, which has been normalized to estimate the potential value in data field. Thus, in the light of the new potential function in data field, short distance and short time difference play a powerful role. So the region full of trajectory points, which is regarded as hotspots area, has a higher potential value, while the region with thin trajectory points has a lower potential value. The taxi trajectory data of Wuhan city in China on May 1, 6 and 9, 2015, are taken as the experimental data. From the result, we find the sustaining hotspots area and inconstant hotspots area in Wuhan city based on the spatiotemporal data field method. Further study will focus on optimizing parameter and the interaction among hotspots area.

Identifying Different Transportation Modes from Trajectory Data Using Tree-Based Ensemble Classifiers

Directory of Open Access Journals (Sweden)

Zhibin Xiao

2017-02-01

Full Text Available Recognition of transportation modes can be used in different applications including human behavior research, transport management and traffic control. Previous work on transportation mode recognition has often relied on using multiple sensors or matching Geographic Information System (GIS information, which is not possible in many cases. In this paper, an approach based on ensemble learning is proposed to infer hybrid transportation modes using only Global Position System (GPS data. First, in order to distinguish between different transportation modes, we used a statistical method to generate global features and extract several local features from sub-trajectories after trajectory segmentation, before these features were combined in the classification stage. Second, to obtain a better performance, we used tree-based ensemble models (Random Forest, Gradient Boosting Decision Tree, and XGBoost instead of traditional methods (K-Nearest Neighbor, Decision Tree, and Support Vector Machines to classify the different transportation modes. The experiment results on the later have shown the efficacy of our proposed approach. Among them, the XGBoost model produced the best performance with a classification accuracy of 90.77% obtained on the GEOLIFE dataset, and we used a tree-based ensemble method to ensure accurate feature selection to reduce the model complexity.

Coupled Low-thrust Trajectory and System Optimization via Multi-Objective Hybrid Optimal Control

Science.gov (United States)

Vavrina, Matthew A.; Englander, Jacob Aldo; Ghosh, Alexander R.

2015-01-01

The optimization of low-thrust trajectories is tightly coupled with the spacecraft hardware. Trading trajectory characteristics with system parameters ton identify viable solutions and determine mission sensitivities across discrete hardware configurations is labor intensive. Local independent optimization runs can sample the design space, but a global exploration that resolves the relationships between the system variables across multiple objectives enables a full mapping of the optimal solution space. A multi-objective, hybrid optimal control algorithm is formulated using a multi-objective genetic algorithm as an outer loop systems optimizer around a global trajectory optimizer. The coupled problem is solved simultaneously to generate Pareto-optimal solutions in a single execution. The automated approach is demonstrated on two boulder return missions.

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

Directory of Open Access Journals (Sweden)

J. Humberto Pérez-Cruz

2014-01-01

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

Trajectory control of robot manipulators with closed-kinematic chain mechanism

Science.gov (United States)

Nguyen, Charles C.; Pooran, Farhad J.; Premack, Timothy

1987-01-01

The problem of Cartesian trajectory control of a closed-kinematic chain mechanism robot manipulator, recently built at CAIR to study the assembly of NASA hardware for the future Space Station, is considered. The study is performed by both computer simulation and experimentation for tracking of three different paths: a straight line, a sinusoid, and a circle. Linearization and pole placement methods are employed to design controller gains. Results show that the controllers are robust and there are good agreements between simulation and experimentation. The results also show excellent tracking quality and small overshoots.

A real-time brain-machine interface combining motor target and trajectory intent using an optimal feedback control design.

Directory of Open Access Journals (Sweden)

Maryam M Shanechi

Full Text Available Real-time brain-machine interfaces (BMI have focused on either estimating the continuous movement trajectory or target intent. However, natural movement often incorporates both. Additionally, BMIs can be modeled as a feedback control system in which the subject modulates the neural activity to move the prosthetic device towards a desired target while receiving real-time sensory feedback of the state of the movement. We develop a novel real-time BMI using an optimal feedback control design that jointly estimates the movement target and trajectory of monkeys in two stages. First, the target is decoded from neural spiking activity before movement initiation. Second, the trajectory is decoded by combining the decoded target with the peri-movement spiking activity using an optimal feedback control design. This design exploits a recursive Bayesian decoder that uses an optimal feedback control model of the sensorimotor system to take into account the intended target location and the sensory feedback in its trajectory estimation from spiking activity. The real-time BMI processes the spiking activity directly using point process modeling. We implement the BMI in experiments consisting of an instructed-delay center-out task in which monkeys are presented with a target location on the screen during a delay period and then have to move a cursor to it without touching the incorrect targets. We show that the two-stage BMI performs more accurately than either stage alone. Correct target prediction can compensate for inaccurate trajectory estimation and vice versa. The optimal feedback control design also results in trajectories that are smoother and have lower estimation error. The two-stage decoder also performs better than linear regression approaches in offline cross-validation analyses. Our results demonstrate the advantage of a BMI design that jointly estimates the target and trajectory of movement and more closely mimics the sensorimotor control system.

A high precision dual feedback discrete control system designed for satellite trajectory simulator

Science.gov (United States)

Liu, Ximin; Liu, Liren; Sun, Jianfeng; Xu, Nan

2005-08-01

Cooperating with the free-space laser communication terminals, the satellite trajectory simulator is used to test the acquisition, pointing, tracking and communicating performances of the terminals. So the satellite trajectory simulator plays an important role in terminal ground test and verification. Using the double-prism, Sun etc in our group designed a satellite trajectory simulator. In this paper, a high precision dual feedback discrete control system designed for the simulator is given and a digital fabrication of the simulator is made correspondingly. In the dual feedback discrete control system, Proportional- Integral controller is used in velocity feedback loop and Proportional- Integral- Derivative controller is used in position feedback loop. In the controller design, simplex method is introduced and an improvement to the method is made. According to the transfer function of the control system in Z domain, the digital fabrication of the simulator is given when it is exposed to mechanism error and moment disturbance. Typically, when the mechanism error is 100urad, the residual standard error of pitching angle, azimuth angle, x-coordinate position and y-coordinate position are 0.49urad, 6.12urad, 4.56urad, 4.09urad respectively. When the moment disturbance is 0.1rad, the residual standard error of pitching angle, azimuth angle, x-coordinate position and y-coordinate position are 0.26urad, 0.22urad, 0.16urad, 0.15urad respectively. The digital fabrication results demonstrate that the dual feedback discrete control system designed for the simulator can achieve the anticipated high precision performance.

Modification of the axial offsets trajectory method to control xenon oscillation during load following operations

International Nuclear Information System (INIS)

Shimazu, Yoichiro

1996-01-01

A new method which can give continuous guidance for controlling axial xenon oscillations in large PWRs has been presented. The method is based on two additional newly defined axial offsets, A Oi and A Ox together with the conventional axial offset of power distribution A Op. A Oi and A Ox are the axial offsets of power distributions which would give the current iodine and xenon distributions under equilibrium conditions, respectively. The information from A Oi, A Ox and A Op are used to display the trajectory of (A Op - A Ox, A Oi - A Ox) in the X-Y plane. The trajectory shows a very characteristic behavior. With the characteristics in mind the xenon oscillation can be controlled quite easily to lead the plot to the origin where three A Os are identical. The method has been proved with the power level constant. However, it is necessary to modify the definition of A Ox so as to apply this method to load following operations. A reasonable way of the modification is described and the results are presented. (author)

Embedded harmonic control for dynamic trajectory planning on FPGA

OpenAIRE

Girau , Bernard; Boumaza , Amine

2007-01-01

International audience; This paper presents a parallel hardware implementation of a well-known navigation control method on reconfigurable digital circuits. Trajectories are estimated after an iterated computation of the harmonic functions, given the goal and obstacle positions of the navigation problem. The proposed massively distributed implementation locally computes the direction to choose to get to the goal position at any point of the environment. Changes in this environment may be imme...

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

Directory of Open Access Journals (Sweden)

Hongxiao Yu

2015-05-01

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

Trajectory Browser Website

Science.gov (United States)

Foster, Cyrus; Jaroux, Belgacem A.

2012-01-01

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

CONTROL OF AIRCRAFT TRAJECTORIES IN THE CONDITIONS OF THE NAVIGATION SESSION OPTIMIZATION AT AUTOMATIC DEPENDENT SURVEILLANCE

Directory of Open Access Journals (Sweden)

V. V. Erokhin

2015-01-01

Full Text Available Algorithms of determination of coordinates of the aircraft in the integrated system of navigation and optimum control of a trajectory are considered. Results of researches of parameters of a navigation session and precision characteristics of an assessment of location showed that application of optimum control of a trajectory allowув to increase the accuracy of navigation definitions in case of incomplete constellation of navigation satellites.

Synthetic triphones from trajectory-based feature distributions

CSIR Research Space (South Africa)

Badenhorst, J

2015-11-01

Full Text Available we reconstruct models for unseen transitions. In the current study, we restrict ourselves to triphone modelling, and aim to generate synthetic triphones from seen diphones. If this is possible, the same approach should be applicable to larger contexts... are applied in a similar fashion. Using trajectory models for the same goal, builds on prior work analysing co-articulation trajectories [7], [8], [9] as well as various studies on trajectory modelling for ASR purposes [10], [11], [12], [13]. Particularly...

Catching what we can't see: manual interception of occluded fly-ball trajectories.

Science.gov (United States)

Bosco, Gianfranco; Delle Monache, Sergio; Lacquaniti, Francesco

2012-01-01

Control of interceptive actions may involve fine interplay between feedback-based and predictive mechanisms. These processes rely heavily on target motion information available when the target is visible. However, short-term visual memory signals as well as implicit knowledge about the environment may also contribute to elaborate a predictive representation of the target trajectory, especially when visual feedback is partially unavailable because other objects occlude the visual target. To determine how different processes and information sources are integrated in the control of the interceptive action, we manipulated a computer-generated visual environment representing a baseball game. Twenty-four subjects intercepted fly-ball trajectories by moving a mouse cursor and by indicating the interception with a button press. In two separate sessions, fly-ball trajectories were either fully visible or occluded for 750, 1000 or 1250 ms before ball landing. Natural ball motion was perturbed during the descending trajectory with effects of either weightlessness (0 g) or increased gravity (2 g) at times such that, for occluded trajectories, 500 ms of perturbed motion were visible before ball disappearance. To examine the contribution of previous visual experience with the perturbed trajectories to the interception of invisible targets, the order of visible and occluded sessions was permuted among subjects. Under these experimental conditions, we showed that, with fully visible targets, subjects combined servo-control and predictive strategies. Instead, when intercepting occluded targets, subjects relied mostly on predictive mechanisms based, however, on different type of information depending on previous visual experience. In fact, subjects without prior experience of the perturbed trajectories showed interceptive errors consistent with predictive estimates of the ball trajectory based on a-priori knowledge of gravity. Conversely, the interceptive responses of subjects

Robust Feedback Linearization-based Control Design for a Wheeled Mobile Robot

DEFF Research Database (Denmark)

Bendtsen, Jan Dimon; Andersen, Palle; Pedersen, Tom Søndergaard

This paper considers the trajectory tracking problem for a four-wheel driven, four-wheel steered mobile robot moving in outdoor terrain. The robot is modeled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. A nonlinear trajectory tracking feedback control law based...

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

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Jiajia Zhou

2018-05-01

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

Model Predictive Control-based gait pattern generation for wearable exoskeletons.

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Wang, Letian; van Asseldonk, Edwin H F; van der Kooij, Herman

2011-01-01

This paper introduces a new method for controlling wearable exoskeletons that do not need predefined joint trajectories. Instead, it only needs basic gait descriptors such as step length, swing duration, and walking speed. End point Model Predictive Control (MPC) is used to generate the online joint trajectories based on these gait parameters. Real-time ability and control performance of the method during the swing phase of gait cycle is studied in this paper. Experiments are performed by helping a human subject swing his leg with different patterns in the LOPES gait trainer. Results show that the method is able to assist subjects to make steps with different step length and step duration without predefined joint trajectories and is fast enough for real-time implementation. Future study of the method will focus on controlling the exoskeletons in the entire gait cycle. © 2011 IEEE

Complexity Science Applications to Dynamic Trajectory Management: Research Strategies

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Sawhill, Bruce; Herriot, James; Holmes, Bruce J.; Alexandrov, Natalia

2009-01-01

The promise of the Next Generation Air Transportation System (NextGen) is strongly tied to the concept of trajectory-based operations in the national airspace system. Existing efforts to develop trajectory management concepts are largely focused on individual trajectories, optimized independently, then de-conflicted among each other, and individually re-optimized, as possible. The benefits in capacity, fuel, and time are valuable, though perhaps could be greater through alternative strategies. The concept of agent-based trajectories offers a strategy for automation of simultaneous multiple trajectory management. The anticipated result of the strategy would be dynamic management of multiple trajectories with interacting and interdependent outcomes that satisfy multiple, conflicting constraints. These constraints would include the business case for operators, the capacity case for the Air Navigation Service Provider (ANSP), and the environmental case for noise and emissions. The benefits in capacity, fuel, and time might be improved over those possible under individual trajectory management approaches. The proposed approach relies on computational agent-based modeling (ABM), combinatorial mathematics, as well as application of "traffic physics" concepts to the challenge, and modeling and simulation capabilities. The proposed strategy could support transforming air traffic control from managing individual aircraft behaviors to managing systemic behavior of air traffic in the NAS. A system built on the approach could provide the ability to know when regions of airspace approach being "full," that is, having non-viable local solution space for optimizing trajectories in advance.

Optimal trajectories of aircraft and spacecraft

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Miele, A.

1990-01-01

Work done on algorithms for the numerical solutions of optimal control problems and their application to the computation of optimal flight trajectories of aircraft and spacecraft is summarized. General considerations on calculus of variations, optimal control, numerical algorithms, and applications of these algorithms to real-world problems are presented. The sequential gradient-restoration algorithm (SGRA) is examined for the numerical solution of optimal control problems of the Bolza type. Both the primal formulation and the dual formulation are discussed. Aircraft trajectories, in particular, the application of the dual sequential gradient-restoration algorithm (DSGRA) to the determination of optimal flight trajectories in the presence of windshear are described. Both take-off trajectories and abort landing trajectories are discussed. Take-off trajectories are optimized by minimizing the peak deviation of the absolute path inclination from a reference value. Abort landing trajectories are optimized by minimizing the peak drop of altitude from a reference value. Abort landing trajectories are optimized by minimizing the peak drop of altitude from a reference value. The survival capability of an aircraft in a severe windshear is discussed, and the optimal trajectories are found to be superior to both constant pitch trajectories and maximum angle of attack trajectories. Spacecraft trajectories, in particular, the application of the primal sequential gradient-restoration algorithm (PSGRA) to the determination of optimal flight trajectories for aeroassisted orbital transfer are examined. Both the coplanar case and the noncoplanar case are discussed within the frame of three problems: minimization of the total characteristic velocity; minimization of the time integral of the square of the path inclination; and minimization of the peak heating rate. The solution of the second problem is called nearly-grazing solution, and its merits are pointed out as a useful

Trajectories of health-related quality of life among family caregivers of individuals with dementia: A home-based caregiver-training program matters.

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Kuo, Li-Min; Huang, Huei-Ling; Liang, Jersey; Kwok, Yam-Ting; Hsu, Wen-Chuin; Liu, Chin-Yi; Shyu, Yea-Ing L

To determine distinct courses of change in health-related quality of life (HRQoL) among family caregivers of individuals with dementia and how participating in a home-based caregiver-training program affects the probability of belonging to each course. Sixty three caregivers were in the intervention group, and 66 caregivers were in the control group of a single-blinded randomized clinical trial. Two distinct trajectories of HRQoL were identified: a well-functioning trajectory and a poor-functioning trajectory. Caregivers who received the training program were more likely than those who did not have a well-functioning trajectory of HRQoL over 18 months. This trajectory included bodily pain (b = 1.02, odds ratio [OR] = 2.76), general health perception (b = 1.28, OR = 3.60), social functioning (b = 1.12, OR = 3.05), vitality (b = 1.51, OR = 4.49), general mental health (b = 1.08, OR = 2.94), and mental component summary (b = 1.27, OR = 3.55). Home-based caregiver training can be considered as part of the protocol for managing patients with dementia and their caregivers. NCT02667951. Copyright © 2016 Elsevier Inc. All rights reserved.

Trajectories of change and long-term outcomes in a randomised controlled trial of internet-based insomnia treatment to prevent depression.

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Batterham, Philip J; Christensen, Helen; Mackinnon, Andrew J; Gosling, John A; Thorndike, Frances P; Ritterband, Lee M; Glozier, Nick; Griffiths, Kathleen M

2017-09-01

Insomnia treatment using an internet-based cognitive-behavioural therapy for insomnia (CBT-I) program reduces depression symptoms, anxiety symptoms and suicidal ideation. However, the speed, longevity and consistency of these effects are unknown. To test the following: whether the efficacy of online CBT-I was sustained over 18 months; how rapidly the effects of CBT-I emerged; evidence for distinct trajectories of change in depressive symptoms; and predictors of these trajectories. A randomised controlled trial compared the 6-week Sleep Healthy Using the Internet (SHUTi) CBT-I program to an attention control program. Adults ( N =1149) with clinical insomnia and subclinical depression symptoms were recruited online from the Australian community. Depression, anxiety and insomnia decreased significantly by week 4 of the intervention period and remained significantly lower relative to control for >18 months (between-group Cohen's d =0.63, 0.47, 0.55, respectively, at 18 months). Effects on suicidal ideation were only short term. Two depression trajectories were identified using growth mixture models: improving (95%) and stable/deteriorating (5%) symptoms. More severe baseline depression, younger age and limited comfort with the internet were associated with reduced odds of improvement. Online CBT-I produced rapid and long-term symptom reduction in people with subclinical depressive symptoms, although the initial effect on suicidal ideation was not sustained. P.J.B. has received grants from the National Health and Medical Research Council (NHMRC) during the conduct of the study. H.C. has received grants from the NHMRC and the Australian Research Council during the conduct of the study. L.M.R. receives research funding from the National Institutes of Health (NIH) that, in part, focuses on insomnia. F.P.T. and L.M.R. have equity ownership in BeHealth Solutions (Charlottesville, VA, USA), a company that develops and makes available products related to the research reported

Learning-based position control of a closed-kinematic chain robot end-effector

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Nguyen, Charles C.; Zhou, Zhen-Lei

1990-01-01

A trajectory control scheme whose design is based on learning theory, for a six-degree-of-freedom (DOF) robot end-effector built to study robotic assembly of NASA hardwares in space is presented. The control scheme consists of two control systems: the feedback control system and the learning control system. The feedback control system is designed using the concept of linearization about a selected operating point, and the method of pole placement so that the closed-loop linearized system is stabilized. The learning control scheme consisting of PD-type learning controllers, provides additional inputs to improve the end-effector performance after each trial. Experimental studies performed on a 2 DOF end-effector built at CUA, for three tracking cases show that actual trajectories approach desired trajectories as the number of trials increases. The tracking errors are substantially reduced after only five trials.

Trajectory Planning of 7-DOF Space Manipulator for Minimizing Base Disturbance

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Qiang Zhang

2016-03-01

Full Text Available In the free-floating mode, there is intense dynamic coupling existing between the space manipulator and the base, and the base attitude may change while performing a motion with its manipulator. Therefore, it is necessary to reduce the interference that resulted from the manipulator movement. For planning trajectories of the space manipulator with 7 degrees of freedom (7-DOF, simulated annealing particle swarm optimization (SAPSO algorithm is presented in the paper. Firstly, kinematics equations are setup. Secondly, the joint functions are parameterized by sinusoidal functions, and the objective function is defined according to the motion constraints of manipulator and accuracy requirements of the base attitude. Finally, SAPSO algorithm is used to search the optimal trajectory. The simulation results verify the proposed method.

An Effective Privacy Architecture to Preserve User Trajectories in Reward-Based LBS Applications

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A S M Touhidul Hasan

2018-02-01

Full Text Available How can training performance data (e.g., running or walking routes be collected, measured, and published in a mobile program while preserving user privacy? This question is becoming important in the context of the growing use of reward-based location-based service (LBS applications, which aim to promote employee training activities and to share such data with insurance companies in order to reduce the healthcare insurance costs of an organization. One of the main concerns of such applications is the privacy of user trajectories, because the applications normally collect user locations over time with identities. The leak of the identified trajectories often results in personal privacy breaches. For instance, a trajectory would expose user interest in places and behaviors in time by inference and linking attacks. This information can be used for spam advertisements or individual-based assaults. To the best of our knowledge, no existing studies can be directly applied to solve the problem while keeping data utility. In this paper, we identify the personal privacy problem in a reward-based LBS application and propose privacy architecture with a bounded perturbation technique to protect user’s trajectory from the privacy breaches. Bounded perturbation uses global location set (GLS to anonymize the trajectory data. In addition, the bounded perturbation will not generate any visiting points that are not possible to visit in real time. The experimental results on real-world datasets demonstrate that the proposed bounded perturbation can effectively anonymize location information while preserving data utility compared to the existing methods.

Maximum likelihood-based analysis of photon arrival trajectories in single-molecule FRET

Energy Technology Data Exchange (ETDEWEB)

Waligorska, Marta [Adam Mickiewicz University, Faculty of Chemistry, Grunwaldzka 6, 60-780 Poznan (Poland); Molski, Andrzej, E-mail: amolski@amu.edu.pl [Adam Mickiewicz University, Faculty of Chemistry, Grunwaldzka 6, 60-780 Poznan (Poland)

2012-07-25

Highlights: Black-Right-Pointing-Pointer We study model selection and parameter recovery from single-molecule FRET experiments. Black-Right-Pointing-Pointer We examine the maximum likelihood-based analysis of two-color photon trajectories. Black-Right-Pointing-Pointer The number of observed photons determines the performance of the method. Black-Right-Pointing-Pointer For long trajectories, one can extract mean dwell times that are comparable to inter-photon times. -- Abstract: When two fluorophores (donor and acceptor) are attached to an immobilized biomolecule, anti-correlated fluctuations of the donor and acceptor fluorescence caused by Foerster resonance energy transfer (FRET) report on the conformational kinetics of the molecule. Here we assess the maximum likelihood-based analysis of donor and acceptor photon arrival trajectories as a method for extracting the conformational kinetics. Using computer generated data we quantify the accuracy and precision of parameter estimates and the efficiency of the Akaike information criterion (AIC) and the Bayesian information criterion (BIC) in selecting the true kinetic model. We find that the number of observed photons is the key parameter determining parameter estimation and model selection. For long trajectories, one can extract mean dwell times that are comparable to inter-photon times.

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

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

2017-06-02

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

Trajectory Generation and Stability Analysis for Reconfigurable Klann Mechanism Based Walking Robot

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Jaichandar Kulandaidaasan Sheba

2016-06-01

Full Text Available Reconfigurable legged robots based on one degree of freedom are highly desired because they are effective on rough and irregular terrains and they provide mobility in such terrain with simple control schemes. It is necessary that reconfigurable legged robots should maintain stability during rest and motion, with a minimum number of legs while maintaining their full range of walking patterns resulting from different gait configuration. In this paper we present a method to generate input trajectory for reconfigurable quadruped robots based on Klann mechanism to properly synchronize movement. Six useful gait cycles based on this reconfigurable Klann mechanism for quadruped robots has been clearly shown here. The platform stability for these six useful gait cycles are validated through simulated results which clearly shows the capabilities of reconfigurable design.

Association between Adolescent Substance Use and Obesity in Young Adulthood: A Group-based Dual Trajectory Analysis

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Huang, David Y.C.; Lanza, H. Isabella; Anglin, M. Douglas

2013-01-01

Purpose This study investigated whether and how trajectories of substance use in adolescence were associated with obesity trajectories in young adulthood. We hypothesized that: (1) exposure to persistent substance use throughout adolescence may heighten obesity risk in young adulthood; and (2) such associations may differ once gender, ethnicity, socioeconomic status, and obesity status in adolescence, are considered. Methods The study included 5,141 adolescents from the child sample of the 1979 National Longitudinal Survey of Youth and utilized biennial data across the 12 assessments (1986-2008) to examine trajectories of substance use behaviors (i.e., cigarette smoking, alcohol use, and marijuana use) from ages 12 to 18 and obesity trajectories from ages 20 to 24. Group-based dual trajectory modeling was applied to examine sequential associations of trajectories of each type of substance use behavior with obesity trajectories. Results Three distinctive trajectory patterns were respectively identified for cigarette smoking, alcohol use, and marijuana use from ages 12 to 18, as well as for obesity status (BMI ≥ 30) from ages 20 to 24. Taking into account gender, ethnicity, socioeconomic status, and obesity status in adolescence, adolescents with the most problematic smoking trajectory (High-decreasing) were more likely to exhibit a High-obesity trajectory from ages 20 to 24. Also, adolescents with an Increasing marijuana use trajectory were more likely to exhibit an Increased obesity trajectory in young adulthood. Conclusions The current study demonstrates that adolescent substance use is associated with subsequent obesity in young adulthood. The associations appear to differ based on type of substance use and patterns of use. PMID:23899428

Co-Occurring Trajectory of Mothers' Substance Use and Psychological Control and Children's Behavior Problems: The Effects of a Family Systems Intervention.

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Zhang, Jing; Slesnick, Natasha; Feng, Xin

2018-03-01

This study examined the effects of a family systems therapy (Ecologically-Based Family Therapy [EBFT]) on the co-occurring trajectory of mothers' substance use and psychological control, and its association with children's problem behaviors. Participants included 183 mothers with a substance use disorder who had at least one biological child in their care. Mothers were randomly assigned to one of the three intervention conditions: EBFT-home, n = 62; EBFT-office, n = 61; or Women's Health Education, n = 60. Participants were assessed at baseline, 3, 6, 12, and 18 months post-baseline. A dual-trajectory class growth analysis identified three groups of mothers in regard to their change trajectories. The majority of the mothers exhibited a synchronous decrease in substance use and psychological control (n = 107). In all, 46 mothers exhibited a synchronous increase in substance use and psychological control. For the remaining 30 mothers, substance use and psychological control remained stable. Mothers in the family therapy condition were more likely to show reduced substance use and psychological control compared to mothers in the control condition. Moreover, children with mothers who showed decreased substance use and psychological control exhibited lower levels of problem behaviors compared to children with mothers showing increased substance use and psychological control. The findings provide evidence for the effectiveness of family systems therapy, EBFT, in treating mothers' substance use, improving parenting behaviors, and subsequently improving child behavioral outcomes. © 2017 Family Process Institute.

Numerical analysis for trajectory controllability of a coupled multi-order fractional delay differential system via the shifted Jacobi method

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Priya, B. Ganesh; Muthukumar, P.

2018-02-01

This paper deals with the trajectory controllability for a class of multi-order fractional linear systems subject to a constant delay in state vector. The solution for the coupled fractional delay differential equation is established by the Mittag-Leffler function. The necessary and sufficient condition for the trajectory controllability is formulated and proved by the generalized Gronwall's inequality. The approximate trajectory for the proposed system is obtained through the shifted Jacobi operational matrix method. The numerical simulation of the approximate solution shows the theoretical results. Finally, some remarks and comments on the existing results of constrained controllability for the fractional dynamical system are also presented.

Guidance and Control Design for a Class of Spin-Stabilized Projectiles with a Two-Dimensional Trajectory Correction Fuze

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Yi Wang

2015-01-01

Full Text Available A guidance and control strategy for a class of 2D trajectory correction fuze with fixed canards is developed in this paper. Firstly, correction control mechanism is researched through studying the deviation motion, the key point of which is the dynamic equilibrium angle. Phase lag of swerve response is the dominating factor for correction control, and formula is deduced with the Mach number as argument. Secondly, impact point deviation prediction based on perturbation theory is proposed, and the numerical solution and application method are introduced. Finally, guidance and control strategy is developed, and simulations to validate the strategy are conducted.

Robust control of chaos in Chua's circuit based on internal model principle

International Nuclear Information System (INIS)

Lee, Keum W.; Singh, Sahjendra N.

2007-01-01

The paper treats the question of robust control of chaos in Chua's circuit based on the internal model principle. The Chua's diode has polynomial non-linearity and it is assumed that the parameters of the circuit are not known. A robust control law for the asymptotic regulation of the output (node voltage) along constant and sinusoidal reference trajectories is derived. For the derivation of the control law, the non-linear regulator equations are solved to obtain a manifold in the state space on which the output error is zero and an internal model of the k-fold exosystem (k = 3 here) is constructed. Then a feedback control law using the optimal control theory or pole placement technique for the stabilization of the augmented system including the Chua's circuit and the internal model is derived. In the closed-loop system, robust output node voltage trajectory tracking of sinusoidal and constant reference trajectories are accomplished and in the steady state, the remaining state variables converge to periodic and constant trajectories, respectively. Simulation results are presented which show that in the closed-loop system, asymptotic trajectory control, disturbance rejection and suppression of chaotic motion in spite of uncertainties in the system are accomplished

Image-Based Visual Servoing for Manipulation Via Predictive Control – A Survey of Some Results

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Corneliu Lazăr

2016-09-01

Full Text Available In this paper, a review of predictive control algorithms developed by the authors for visual servoing of robots in manipulation applications is presented. Using these algorithms, a control predictive framework was created for image-based visual servoing (IBVS systems. Firstly, considering the point features, in the year 2008 we introduced an internal model predictor based on the interaction matrix. Secondly, distinctly from the set-point trajectory, we introduced in 2011 the reference trajectory using the concept from predictive control. Finally, minimizing a sum of squares of predicted errors, the optimal input trajectory was obtained. The new concept of predictive control for IBVS systems was employed to develop a cascade structure for motion control of robot arms. Simulation results obtained with a simulator for predictive IBVS systems are also presented.

Reliability-based trajectory optimization using nonintrusive polynomial chaos for Mars entry mission

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Huang, Yuechen; Li, Haiyang

2018-06-01

This paper presents the reliability-based sequential optimization (RBSO) method to settle the trajectory optimization problem with parametric uncertainties in entry dynamics for Mars entry mission. First, the deterministic entry trajectory optimization model is reviewed, and then the reliability-based optimization model is formulated. In addition, the modified sequential optimization method, in which the nonintrusive polynomial chaos expansion (PCE) method and the most probable point (MPP) searching method are employed, is proposed to solve the reliability-based optimization problem efficiently. The nonintrusive PCE method contributes to the transformation between the stochastic optimization (SO) and the deterministic optimization (DO) and to the approximation of trajectory solution efficiently. The MPP method, which is used for assessing the reliability of constraints satisfaction only up to the necessary level, is employed to further improve the computational efficiency. The cycle including SO, reliability assessment and constraints update is repeated in the RBSO until the reliability requirements of constraints satisfaction are satisfied. Finally, the RBSO is compared with the traditional DO and the traditional sequential optimization based on Monte Carlo (MC) simulation in a specific Mars entry mission to demonstrate the effectiveness and the efficiency of the proposed method.

Catching what we can't see: manual interception of occluded fly-ball trajectories.

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Gianfranco Bosco

Full Text Available Control of interceptive actions may involve fine interplay between feedback-based and predictive mechanisms. These processes rely heavily on target motion information available when the target is visible. However, short-term visual memory signals as well as implicit knowledge about the environment may also contribute to elaborate a predictive representation of the target trajectory, especially when visual feedback is partially unavailable because other objects occlude the visual target. To determine how different processes and information sources are integrated in the control of the interceptive action, we manipulated a computer-generated visual environment representing a baseball game. Twenty-four subjects intercepted fly-ball trajectories by moving a mouse cursor and by indicating the interception with a button press. In two separate sessions, fly-ball trajectories were either fully visible or occluded for 750, 1000 or 1250 ms before ball landing. Natural ball motion was perturbed during the descending trajectory with effects of either weightlessness (0 g or increased gravity (2 g at times such that, for occluded trajectories, 500 ms of perturbed motion were visible before ball disappearance. To examine the contribution of previous visual experience with the perturbed trajectories to the interception of invisible targets, the order of visible and occluded sessions was permuted among subjects. Under these experimental conditions, we showed that, with fully visible targets, subjects combined servo-control and predictive strategies. Instead, when intercepting occluded targets, subjects relied mostly on predictive mechanisms based, however, on different type of information depending on previous visual experience. In fact, subjects without prior experience of the perturbed trajectories showed interceptive errors consistent with predictive estimates of the ball trajectory based on a-priori knowledge of gravity. Conversely, the interceptive responses

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

NARCIS (Netherlands)

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

2017-01-01

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

Development of a Quadrotor Test Bed — Modelling, Parameter Identification, Controller Design and Trajectory Generation

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Wei Dong

2015-02-01

Full Text Available In this paper, a quadrotor test bed is developed. The technical approach for this test bed is firstly proposed by utilizing a commercial quadrotor, a Vicon motion capture system and a ground station. Then, the mathematical model of the quadrotor is formulated considering aerodynamic effects, and the parameter identification approaches for this model are provided accordingly. Based on the developed model and identified parameters, a simulation environment that is consistent with the real system is developed. Subsequently, a flight control strategy and a trajectory generation method, both of which are conceptually and computationally lightweight, are developed and tested in the simulation environment. The developed algorithms are then directly transplanted to the real system, and the experimental results show that their responses in the real-time flights match well with those from the simulations. This indicates that the control algorithms developed for the quadrotor can be preliminarily verified and refined though simulations, and then directly implemented to the real system, which could significantly reduce the experimental risks and costs. Meanwhile, real-time experiments show that the developed flight controller can efficiently stabilize the quadrotor when external disturbances exist, and the trajectory generation approach can provide safe guidance for the quadrotor to fly smoothly through cluttered environments with obstacle rings. All of these features are valuable for real applications, thus demonstrating the feasibility of further development.

Kinect-Based Sliding Mode Control for Lynxmotion Robotic Arm

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Ismail Ben Abdallah

2016-01-01

Full Text Available Recently, the technological development of manipulator robot increases very quickly and provides a positive impact to human life. The implementation of the manipulator robot technology offers more efficiency and high performance for several human’s tasks. In reality, efforts published in this context are focused on implementing control algorithms with already preprogrammed desired trajectories (passive robots case or trajectory generation based on feedback sensors (active robots case. However, gesture based control robot can be considered as another channel of system control which is not widely discussed. This paper focuses on a Kinect-based real-time interactive control system implementation. Based on LabVIEW integrated development environment (IDE, a developed human-machine-interface (HMI allows user to control in real time a Lynxmotion robotic arm. The Kinect software development kit (SDK provides a tool to keep track of human body skeleton and abstract it into 3-dimensional coordinates. Therefore, the Kinect sensor is integrated into our control system to detect the different user joints coordinates. The Lynxmotion dynamic has been implemented in a real-time sliding mode control algorithm. The experimental results are carried out to test the effectiveness of the system, and the results verify the tracking ability, stability, and robustness.

Groebner Basis Solutions to Satellite Trajectory Control by Pole Placement

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Kukelova, Z.; Krsek, P.; Smutny, V.; Pajdla, T.

2013-09-01

Satellites play an important role, e.g., in telecommunication, navigation and weather monitoring. Controlling their trajectories is an important problem. In [1], an approach to the pole placement for the synthesis of a linear controller has been presented. It leads to solving five polynomial equations in nine unknown elements of the state space matrices of a compensator. This is an underconstrained system and therefore four of the unknown elements need to be considered as free parameters and set to some prior values to obtain a system of five equations in five unknowns. In [1], this system was solved for one chosen set of free parameters with the help of Dixon resultants. In this work, we study and present Groebner basis solutions to this problem of computation of a dynamic compensator for the satellite for different combinations of input free parameters. We show that the Groebner basis method for solving systems of polynomial equations leads to very simple solutions for all combinations of free parameters. These solutions require to perform only the Gauss-Jordan elimination of a small matrix and computation of roots of a single variable polynomial. The maximum degree of this polynomial is not greater than six in general but for most combinations of the input free parameters its degree is even lower. [1] B. Palancz. Application of Dixon resultant to satellite trajectory control by pole placement. Journal of Symbolic Computation, Volume 50, March 2013, Pages 79-99, Elsevier.

Research on Trajectory Planning and Autodig of Hydraulic Excavator

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Bin Zhang

2017-01-01

Full Text Available As the advances in computer control technology keep emerging, robotic hydraulic excavator becomes imperative. It can improve excavation accuracy and greatly reduce the operator’s labor intensity. The 12-ton backhoe bucket excavator has been utilized in this research work where this type of excavator is commonly used in engineering work. The kinematics model of operation device (boom, arm, bucket, and swing in excavator is established in both Denavit-Hartenberg coordinates for easy programming and geometric space for avoiding blind spot. The control approach is based on trajectory tracing method with displacements and velocities feedbacks. The trajectory planning and autodig program is written by Visual C++. By setting the bucket teeth’s trajectory, the program can automatically plan the velocity and acceleration of each hydraulic cylinder and motor. The results are displayed through a 3D entity simulation environment which can present real-time movements of excavator kinematics. Object-Oriented Graphics Rendering Engine and skeletal animation are used to give accurate parametric control and feedback. The simulation result shows that a stable linear autodig can be achieved. The errors between trajectory planning command and simulation model are analyzed.

Development of an Integrated Intelligent Multi -Objective Framework for UAV Trajectory Generation

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Wilburn, Jennifer Nicole

This thesis explores a variety of path planning and trajectory generation schemes intended for small, fixed-wing Unmanned Aerial Vehicles. Throughout this analysis, discrete and pose-based methods are investigated. Pose-based methods are the focus of this research due to their increased flexibility and typically lower computational overhead. Path planning in 3 dimensions is also performed. The 3D Dubins methodology presented is an extension of a previously suggested approach and addresses both the mathematical formulation of the methodology, as well as an assessment of numerical issues encountered and the solutions implemented for these. The main contribution of this thesis is a 3-dimensional clothoid trajectory generation algorithm, which produces flyable paths of continuous curvature to ensure a more followable commanded path. This methodology is an extension of the 3D Dubins method and the 2D clothoid method, which have been implemented herein. To ensure flyability of trajectories produced by 3D pose-based trajectory generation methodologies, a set of criteria are specified to limit the possible solutions to only those flyable by the aircraft. Additionally, several assumptions are made concerning the motion of the aircraft in order to simplify the path generation problem. The 2D and 3D clothoid and Dubins trajectory planners are demonstrated through a trajectory tracking performance comparison between first the 2D Dubins and 2D clothoid methods using a position proportional-integral-derivative controller, then the 3D Dubins and 3D clothoid methods using both a position proportional-integral-derivative controller and an outer-loop non-linear dynamic inversion controller, within the WVU UAV Simulation Environment. These comparisons are demonstrated for both nominal and off-nominal conditions, and show that for both 2D and 3D implementations, the clothoid path planners yields paths with better trajectory tracking performance as compared to the Dubins path planners

Vision-based map building and trajectory planning to enable autonomous flight through urban environments

Science.gov (United States)

Watkins, Adam S.

The desire to use Unmanned Air Vehicles (UAVs) in a variety of complex missions has motivated the need to increase the autonomous capabilities of these vehicles. This research presents autonomous vision-based mapping and trajectory planning strategies for a UAV navigating in an unknown urban environment. It is assumed that the vehicle's inertial position is unknown because GPS in unavailable due to environmental occlusions or jamming by hostile military assets. Therefore, the environment map is constructed from noisy sensor measurements taken at uncertain vehicle locations. Under these restrictions, map construction becomes a state estimation task known as the Simultaneous Localization and Mapping (SLAM) problem. Solutions to the SLAM problem endeavor to estimate the state of a vehicle relative to concurrently estimated environmental landmark locations. The presented work focuses specifically on SLAM for aircraft, denoted as airborne SLAM, where the vehicle is capable of six degree of freedom motion characterized by highly nonlinear equations of motion. The airborne SLAM problem is solved with a variety of filters based on the Rao-Blackwellized particle filter. Additionally, the environment is represented as a set of geometric primitives that are fit to the three-dimensional points reconstructed from gathered onboard imagery. The second half of this research builds on the mapping solution by addressing the problem of trajectory planning for optimal map construction. Optimality is defined in terms of maximizing environment coverage in minimum time. The planning process is decomposed into two phases of global navigation and local navigation. The global navigation strategy plans a coarse, collision-free path through the environment to a goal location that will take the vehicle to previously unexplored or incompletely viewed territory. The local navigation strategy plans detailed, collision-free paths within the currently sensed environment that maximize local coverage

Trajectory Planning with Pose Feedback for a Dual-Arm Space Robot

Directory of Open Access Journals (Sweden)

Yicheng Liu

2016-01-01

Full Text Available In order to obtain high precision path tracking for a dual-arm space robot, a trajectory planning method with pose feedback is proposed to be introduced into the design process in this paper. Firstly, pose error kinematic models are derived from the related kinematics and desired pose command for the end-effector and the base, respectively. On this basis, trajectory planning with pose feedback is proposed from a control perspective. Theoretical analyses show that the proposed trajectory planning algorithm can guarantee that pose error converges to zero exponentially for both the end-effector and the base when the robot is out of singular configuration. Compared with the existing algorithms, the proposed algorithm can lead to higher precision path tracking for the end-effector. Furthermore, the algorithm renders the system good anti-interference property for the base. Simulation results demonstrate the effectiveness of the proposed trajectory planning algorithm.

TrajAnalytics: An Open-Source, Web-Based Visual Analytics Software of Urban Trajectory Data

OpenAIRE

Zhao, Ye

2018-01-01

We developed a software system named TrajAnalytics, which explicitly supports interactive visual analytics of the emerging trajectory data. It offers data management capability and support various data queries by leveraging web-based computing platforms. It allows users to visually conduct queries and make sense of massive trajectory data.

A new circulation type classification based upon Lagrangian air trajectories

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Alexandre M. Ramos

2014-10-01

Full Text Available A new classification method of the large-scale circulation characteristic for a specific target area (NW Iberian Peninsula is presented, based on the analysis of 90-h backward trajectories arriving in this area calculated with the 3-D Lagrangian particle dispersion model FLEXPART. A cluster analysis is applied to separate the backward trajectories in up to five representative air streams for each day. Specific measures are then used to characterise the distinct air streams (e.g., curvature of the trajectories, cyclonic or anticyclonic flow, moisture evolution, origin and length of the trajectories. The robustness of the presented method is demonstrated in comparison with the Eulerian Lamb weather type classification.A case study of the 2003 heatwave is discussed in terms of the new Lagrangian circulation and the Lamb weather type classifications. It is shown that the new classification method adds valuable information about the pertinent meteorological conditions, which are missing in an Eulerian approach. The new method is climatologically evaluated for the five-year time period from December 1999 to November 2004. The ability of the method to capture the inter-seasonal circulation variability in the target region is shown. Furthermore, the multi-dimensional character of the classification is shortly discussed, in particular with respect to inter-seasonal differences. Finally, the relationship between the new Lagrangian classification and the precipitation in the target area is studied.

Exploring the propagation of relativistic quantum wavepackets in the trajectory-based formulation

Science.gov (United States)

Tsai, Hung-Ming; Poirier, Bill

2016-03-01

In the context of nonrelativistic quantum mechanics, Gaussian wavepacket solutions of the time-dependent Schrödinger equation provide useful physical insight. This is not the case for relativistic quantum mechanics, however, for which both the Klein-Gordon and Dirac wave equations result in strange and counterintuitive wavepacket behaviors, even for free-particle Gaussians. These behaviors include zitterbewegung and other interference effects. As a potential remedy, this paper explores a new trajectory-based formulation of quantum mechanics, in which the wavefunction plays no role [Phys. Rev. X, 4, 040002 (2014)]. Quantum states are represented as ensembles of trajectories, whose mutual interaction is the source of all quantum effects observed in nature—suggesting a “many interacting worlds” interpretation. It is shown that the relativistic generalization of the trajectory-based formulation results in well-behaved free-particle Gaussian wavepacket solutions. In particular, probability density is positive and well-localized everywhere, and its spatial integral is conserved over time—in any inertial frame. Finally, the ensemble-averaged wavepacket motion is along a straight line path through spacetime. In this manner, the pathologies of the wave-based relativistic quantum theory, as applied to wavepacket propagation, are avoided.

Multi-Body Ski Jumper Model with Nonlinear Dynamic Inversion Muscle Control for Trajectory Optimization

Directory of Open Access Journals (Sweden)

Patrick Piprek

2018-02-01

Full Text Available This paper presents an approach to model a ski jumper as a multi-body system for an optimal control application. The modeling is based on the constrained Newton-Euler-Equations. Within this paper the complete multi-body modeling methodology as well as the musculoskeletal modeling is considered. For the musculoskeletal modeling and its incorporation in the optimization model, we choose a nonlinear dynamic inversion control approach. This approach uses the muscle models as nonlinear reference models and links them to the ski jumper movement by a control law. This strategy yields a linearized input-output behavior, which makes the optimal control problem easier to solve. The resulting model of the ski jumper can then be used for trajectory optimization whose results are compared to literature jumps. Ultimately, this enables the jumper to get a very detailed feedback of the flight. To achieve the maximal jump length, exact positioning of his body with respect to the air can be displayed.

Firing Control Optimization of Impulse Thrusters for Trajectory Correction Projectiles

Directory of Open Access Journals (Sweden)

Min Gao

2015-01-01

Full Text Available This paper presents an optimum control scheme of firing time and firing phase angle by taking impact point deviation as optimum objective function which takes account of the difference of longitudinal and horizontal correction efficiency, firing delay, roll rate, flight stability, and so forth. Simulations indicate that this control scheme can assure lateral impulse thrusters are activated at time and phase angle when the correction efficiency is higher. Further simulations show that the impact point dispersion is mainly influenced by the total impulse deployed, and the impulse, number, and firing interval need to be optimized to reduce the impact point dispersion of rockets. Live firing experiments with two trajectory correction rockets indicate that the firing control scheme works effectively.

IMPORTANCE OF KINETIC MEASURES IN TRAJECTORY PREDICTION WITH OPTIMAL CONTROL

Directory of Open Access Journals (Sweden)

Ömer GÜNDOĞDU

2001-02-01

Full Text Available A two-dimensional sagittally symmetric human-body model was established to simulate an optimal trajectory for manual material handling tasks. Nonlinear control techniques and genetic algorithms were utilized in the optimizations to explore optimal lifting patterns. The simulation results were then compared with the experimental data. Since the kinetic measures such as joint reactions and moments are vital parameters in injury determination, the importance of comparing kinetic measures rather than kinematical ones was emphasized.

Maximum likelihood-based analysis of single-molecule photon arrival trajectories

Science.gov (United States)

Hajdziona, Marta; Molski, Andrzej

2011-02-01

In this work we explore the statistical properties of the maximum likelihood-based analysis of one-color photon arrival trajectories. This approach does not involve binning and, therefore, all of the information contained in an observed photon strajectory is used. We study the accuracy and precision of parameter estimates and the efficiency of the Akaike information criterion and the Bayesian information criterion (BIC) in selecting the true kinetic model. We focus on the low excitation regime where photon trajectories can be modeled as realizations of Markov modulated Poisson processes. The number of observed photons is the key parameter in determining model selection and parameter estimation. For example, the BIC can select the true three-state model from competing two-, three-, and four-state kinetic models even for relatively short trajectories made up of 2 × 103 photons. When the intensity levels are well-separated and 104 photons are observed, the two-state model parameters can be estimated with about 10% precision and those for a three-state model with about 20% precision.

Maximum likelihood-based analysis of single-molecule photon arrival trajectories.

Science.gov (United States)

Hajdziona, Marta; Molski, Andrzej

2011-02-07

In this work we explore the statistical properties of the maximum likelihood-based analysis of one-color photon arrival trajectories. This approach does not involve binning and, therefore, all of the information contained in an observed photon strajectory is used. We study the accuracy and precision of parameter estimates and the efficiency of the Akaike information criterion and the Bayesian information criterion (BIC) in selecting the true kinetic model. We focus on the low excitation regime where photon trajectories can be modeled as realizations of Markov modulated Poisson processes. The number of observed photons is the key parameter in determining model selection and parameter estimation. For example, the BIC can select the true three-state model from competing two-, three-, and four-state kinetic models even for relatively short trajectories made up of 2 × 10(3) photons. When the intensity levels are well-separated and 10(4) photons are observed, the two-state model parameters can be estimated with about 10% precision and those for a three-state model with about 20% precision.

Analysis of several Boolean operation based trajectory generation strategies for automotive spray applications

Science.gov (United States)

Gao, Guoyou; Jiang, Chunsheng; Chen, Tao; Hui, Chun

2018-05-01

Industrial robots are widely used in various processes of surface manufacturing, such as thermal spraying. The established robot programming methods are highly time-consuming and not accurate enough to fulfil the demands of the actual market. There are many off-line programming methods developed to reduce the robot programming effort. This work introduces the principle of several based robot trajectory generation strategy on planar surface and curved surface. Since the off-line programming software is widely used and thus facilitates the robot programming efforts and improves the accuracy of robot trajectory, the analysis of this work is based on the second development of off-line programming software Robot studio™. To meet the requirements of automotive paint industry, this kind of software extension helps provide special functions according to the users defined operation parameters. The presented planning strategy generates the robot trajectory by moving an orthogonal surface according to the information of coating surface, a series of intersection curves are then employed to generate the trajectory points. The simulation results show that the path curve created with this method is successive and smooth, which corresponds to the requirements of automotive spray industrial applications.

Intelligence rules of hysteresis in the feedforward trajectory control of piezoelectrically-driven nanostagers

Science.gov (United States)

Bashash, Saeid; Jalili, Nader

2007-02-01

Piezoelectrically-driven nanostagers have limited performance in a variety of feedforward and feedback positioning applications because of their nonlinear hysteretic response to input voltage. The hysteresis phenomenon is well known for its complex and multi-path behavior. To realize the underlying physics of this phenomenon and to develop an efficient compensation strategy, the intelligence properties of hysteresis with the effects of non-local memories are discussed here. Through performing a set of experiments on a piezoelectrically-driven nanostager with a high resolution capacitive position sensor, it is shown that for the precise prediction of the hysteresis path, certain memory units are required to store the previous hysteresis trajectory data. Based on the experimental observations, a constitutive memory-based mathematical modeling framework is developed and trained for the precise prediction of the hysteresis path for arbitrarily assigned input profiles. Using the inverse hysteresis model, a feedforward control strategy is then developed and implemented on the nanostager to compensate for the ever-present nonlinearity. Experimental results demonstrate that the controller remarkably eliminates the nonlinear effect, if memory units are sufficiently chosen for the inverse model.

Implementation and analysis of trajectory schemes for informate: a serial link robot manipulator

International Nuclear Information System (INIS)

Rauf, A.; Ahmed, S.M.; Asif, M.; Ahmad, M.

1997-01-01

Trajectory planning schemes generally interpolate or approximate the desired path by a class of polynomial functions and generate a sequence of time based control set points for the control of the manipulator movement from certain initial configuration to final configuration. Schemes for trajectory generation can be implemented in Joint space and in Cartesian space. This paper describes Joint Space trajectory schemes and Cartesian Space trajectory schemes and their implementation for Infomate, a six degrees of freedom serial link robot manipulator. LSPBs and cubic Spline are chosen as interpolating functions of time for each type of schemes. Modules developed have been incorporated in an OLP system for Infomate. Trajectory planning Schemes discussed in this paper incorporate the constraints of velocities and accelerations of the actuators. comparison with respect to computation and motion time is presented for above mentioned trajectory schemes. Algorithms have been developed that enable the end effector to follow a straight line; other paths like circle, ellipse, etc. can be approximated by straight line segments. (author)

UAV Trajectory Modeling Using Neural Networks

Science.gov (United States)

Xue, Min

2017-01-01

Massive small unmanned aerial vehicles are envisioned to operate in the near future. While there are lots of research problems need to be addressed before dense operations can happen, trajectory modeling remains as one of the keys to understand and develop policies, regulations, and requirements for safe and efficient unmanned aerial vehicle operations. The fidelity requirement of a small unmanned vehicle trajectory model is high because these vehicles are sensitive to winds due to their small size and low operational altitude. Both vehicle control systems and dynamic models are needed for trajectory modeling, which makes the modeling a great challenge, especially considering the fact that manufactures are not willing to share their control systems. This work proposed to use a neural network approach for modelling small unmanned vehicle's trajectory without knowing its control system and bypassing exhaustive efforts for aerodynamic parameter identification. As a proof of concept, instead of collecting data from flight tests, this work used the trajectory data generated by a mathematical vehicle model for training and testing the neural network. The results showed great promise because the trained neural network can predict 4D trajectories accurately, and prediction errors were less than 2:0 meters in both temporal and spatial dimensions.

Path tracking control of mobile robots with techniques based on the use of curved abscissa

International Nuclear Information System (INIS)

Micaelli, A.

1992-01-01

The paper describes a particular method, developed by the CEA, for the control of mobile robot trajectories based on Cornu's spiral, i.e; sections of trajectories with constant curvature. New approaches are discussed for methods more convenient

Differing Air Traffic Controller Responses to Similar Trajectory Prediction Errors

Science.gov (United States)

Mercer, Joey; Hunt-Espinosa, Sarah; Bienert, Nancy; Laraway, Sean

2016-01-01

A Human-In-The-Loop simulation was conducted in January of 2013 in the Airspace Operations Laboratory at NASA's Ames Research Center. The simulation airspace included two en route sectors feeding the northwest corner of Atlanta's Terminal Radar Approach Control. The focus of this paper is on how uncertainties in the study's trajectory predictions impacted the controllers ability to perform their duties. Of particular interest is how the controllers interacted with the delay information displayed in the meter list and data block while managing the arrival flows. Due to wind forecasts with 30-knot over-predictions and 30-knot under-predictions, delay value computations included errors of similar magnitude, albeit in opposite directions. However, when performing their duties in the presence of these errors, did the controllers issue clearances of similar magnitude, albeit in opposite directions?

Flight trajectory recreation and playback system of aerial mission based on ossimplanet

OpenAIRE

Wu, Wu; Hu, Jiulin; Huang, Xiaofang; Chen, Huijie; Sun, Bo

2014-01-01

Recreation of flight trajectory is important among research areas. The design of a flight trajectory recreation and playback system is presented in this paper. Rather than transferring the flight data to diagram, graph and table, flight data is visualized on the 3D global of ossimPlanet. ossimPlanet is an open-source 3D global geo-spatial viewer and the system realization is based on analysis it. Users are allowed to choose their interested flight of aerial mission. The aerial ...

Longitudinal Trajectories of Metabolic Control From Childhood to Young Adulthood in Type 1 Diabetes From a Large German/Austrian Registry: A Group-Based Modeling Approach.

Science.gov (United States)

Schwandt, Anke; Hermann, Julia M; Rosenbauer, Joachim; Boettcher, Claudia; Dunstheimer, Désirée; Grulich-Henn, Jürgen; Kuss, Oliver; Rami-Merhar, Birgit; Vogel, Christian; Holl, Reinhard W

2017-03-01

Worsening of glycemic control in type 1 diabetes during puberty is a common observation. However, HbA 1c remains stable or even improves for some youths. The aim is to identify distinct patterns of glycemic control in type 1 diabetes from childhood to young adulthood. A total of 6,433 patients with type 1 diabetes were selected from the prospective, multicenter diabetes patient registry Diabetes-Patienten-Verlaufsdokumentation (DPV) (follow-up from age 8 to 19 years, baseline diabetes duration ≥2 years, HbA 1c aggregated per year of life). We used latent class growth modeling as the trajectory approach to determine distinct subgroups following a similar trajectory for HbA 1c over time. Five distinct longitudinal trajectories of HbA 1c were determined, comprising group 1 = 40%, group 2 = 27%, group 3 = 15%, group 4 = 13%, and group 5 = 5% of patients. Groups 1-3 indicated stable glycemic control at different HbA 1c levels. At baseline, similar HbA 1c was observed in group 1 and group 4, but HbA 1c deteriorated in group 4 from age 8 to 19 years. Similar patterns were present in group 3 and group 5. We observed differences in self-monitoring of blood glucose, insulin therapy, daily insulin dose, physical activity, BMI SD score, body-height SD score, and migration background across all HbA 1c trajectories (all P ≤ 0.001). No sex differences were present. Comparing groups with similar initial HbA 1c but different patterns, groups with higher HbA 1c increase were characterized by lower frequency of self-monitoring of blood glucose and physical activity and reduced height (all P demographics were related to different HbA 1c courses. © 2017 by the American Diabetes Association.

The potential of agent-based modelling for verification of people trajectories based on smartphone sensor data

International Nuclear Information System (INIS)

Hillen, F; Ehlers, M; Höfle, B; Reinartz, P

2014-01-01

In this paper the potential of smartphone sensor data for verification of people trajectories derived from airborne remote sensing data are investigated and discussed based on simulated test recordings in the city of Osnabrueck, Germany. For this purpose, the airborne imagery is simulated by images taken from a high building with a typical single lens reflex camera. The smartphone data required for the analysis of the potential is simultaneously recorded by test persons on the ground. In a second step, the quality of the smartphone sensor data is evaluated regarding the integration into simulation and modelling approaches. In this context we studied the potential of the agent-based modelling technique concerning the verification of people trajectories

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

Science.gov (United States)

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

2018-03-01

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

Understanding Random Effects in Group-Based Trajectory Modeling: An Application of Moffitt’s Developmental Taxonomy

OpenAIRE

Saunders, Jessica M.

2010-01-01

The group-based trajectory modeling approach is a systematic way of categorizing subjects into different groups based on their developmental trajectories using formal and objective statistical criteria. With the recent advancement in methods and statistical software, modeling possibilities are almost limitless; however, parallel advances in theory development have not kept pace. This paper examines some of the modeling options that are becoming more widespread and how they impact both empiric...

Robust control of chaos in Chua's circuit based on internal model principle

Energy Technology Data Exchange (ETDEWEB)

Lee, Keum W. [Department of Electrical and Computer Engineering, University of Nevada Las Vegas, 4505 Maryland Parkway, Las Vegas, NV, 89154-4026 (United States); Singh, Sahjendra N. [Department of Electrical and Computer Engineering, University of Nevada Las Vegas, 4505 Maryland Parkway, Las Vegas, NV, 89154-4026 (United States)]. E-mail: sahaj@ee.unlv.edu

2007-03-15

The paper treats the question of robust control of chaos in Chua's circuit based on the internal model principle. The Chua's diode has polynomial non-linearity and it is assumed that the parameters of the circuit are not known. A robust control law for the asymptotic regulation of the output (node voltage) along constant and sinusoidal reference trajectories is derived. For the derivation of the control law, the non-linear regulator equations are solved to obtain a manifold in the state space on which the output error is zero and an internal model of the k-fold exosystem (k = 3 here) is constructed. Then a feedback control law using the optimal control theory or pole placement technique for the stabilization of the augmented system including the Chua's circuit and the internal model is derived. In the closed-loop system, robust output node voltage trajectory tracking of sinusoidal and constant reference trajectories are accomplished and in the steady state, the remaining state variables converge to periodic and constant trajectories, respectively. Simulation results are presented which show that in the closed-loop system, asymptotic trajectory control, disturbance rejection and suppression of chaotic motion in spite of uncertainties in the system are accomplished.

MILP-Based 4D Trajectory Planning for Tactical Trajectory Management, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Aurora Flight Sciences proposes to develop specialized algorithms and software decision-aiding tools for four-dimensional (4D) vehicle-centric, tactical trajectory...

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

Science.gov (United States)

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

2012-01-01

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

Spline Trajectory Algorithm Development: Bezier Curve Control Point Generation for UAVs

Science.gov (United States)

Howell, Lauren R.; Allen, B. Danette

2016-01-01

A greater need for sophisticated autonomous piloting systems has risen in direct correlation with the ubiquity of Unmanned Aerial Vehicle (UAV) technology. Whether surveying unknown or unexplored areas of the world, collecting scientific data from regions in which humans are typically incapable of entering, locating lost or wanted persons, or delivering emergency supplies, an unmanned vehicle moving in close proximity to people and other vehicles, should fly smoothly and predictably. The mathematical application of spline interpolation can play an important role in autopilots' on-board trajectory planning. Spline interpolation allows for the connection of Three-Dimensional Euclidean Space coordinates through a continuous set of smooth curves. This paper explores the motivation, application, and methodology used to compute the spline control points, which shape the curves in such a way that the autopilot trajectory is able to meet vehicle-dynamics limitations. The spline algorithms developed used to generate these curves supply autopilots with the information necessary to compute vehicle paths through a set of coordinate waypoints.

Introducing the fit-criteria assessment plot - A visualisation tool to assist class enumeration in group-based trajectory modelling.

Science.gov (United States)

Klijn, Sven L; Weijenberg, Matty P; Lemmens, Paul; van den Brandt, Piet A; Lima Passos, Valéria

2017-10-01

Background and objective Group-based trajectory modelling is a model-based clustering technique applied for the identification of latent patterns of temporal changes. Despite its manifold applications in clinical and health sciences, potential problems of the model selection procedure are often overlooked. The choice of the number of latent trajectories (class-enumeration), for instance, is to a large degree based on statistical criteria that are not fail-safe. Moreover, the process as a whole is not transparent. To facilitate class enumeration, we introduce a graphical summary display of several fit and model adequacy criteria, the fit-criteria assessment plot. Methods An R-code that accepts universal data input is presented. The programme condenses relevant group-based trajectory modelling output information of model fit indices in automated graphical displays. Examples based on real and simulated data are provided to illustrate, assess and validate fit-criteria assessment plot's utility. Results Fit-criteria assessment plot provides an overview of fit criteria on a single page, placing users in an informed position to make a decision. Fit-criteria assessment plot does not automatically select the most appropriate model but eases the model assessment procedure. Conclusions Fit-criteria assessment plot is an exploratory, visualisation tool that can be employed to assist decisions in the initial and decisive phase of group-based trajectory modelling analysis. Considering group-based trajectory modelling's widespread resonance in medical and epidemiological sciences, a more comprehensive, easily interpretable and transparent display of the iterative process of class enumeration may foster group-based trajectory modelling's adequate use.

Personalized trajectory matching in spatial networks

KAUST Repository

Shang, Shuo

2013-07-31

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

Lunar and interplanetary trajectories

CERN Document Server

Biesbroek, Robin

2016-01-01

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

Minimum Time Trajectory Optimization of CNC Machining with Tracking Error Constraints

Directory of Open Access Journals (Sweden)

Qiang Zhang

2014-01-01

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

Low Emissions and Delay Optimization for an Isolated Signalized Intersection Based on Vehicular Trajectories.

Science.gov (United States)

Lin, Ciyun; Gong, Bowen; Qu, Xin

2015-01-01

A traditional traffic signal control system is established based on vehicular delay, queue length, saturation and other indicators. However, due to the increasing severity of urban environmental pollution issues and the development of a resource-saving and environmentally friendly social philosophy, the development of low-carbon and energy-efficient urban transport is required. This paper first defines vehicular trajectories and the calculation of vehicular emissions based on VSP. Next, a regression analysis method is used to quantify the relationship between vehicular emissions and delay, and a traffic signal control model is established to reduce emissions and delay using the enumeration method combined with saturation constraints. Finally, one typical intersection of Changchun is selected to verify the model proposed in this paper; its performance efficiency is also compared using simulations in VISSIM. The results of this study show that the proposed model can significantly reduce vehicle delay and traffic emissions simultaneously.

A new strategy of axial power distribution control based on three axial offsets concept

International Nuclear Information System (INIS)

Shimazu, Yoichiro

2009-01-01

We have proposed a very simple control procedure for axial xenon oscillation control based on a characteristic trajectory. The trajectory is drawn by three offsets of power distributions, namely, AOp, AOi and AOx. They are defined as the offset of axial power distribution, the offset of the power distribution under which the current iodine distribution is obtained as the equilibrium and that for xenon distribution, respectively. When these offsets are plotted on X-Y plane for (AOp-AOx, AOi-AOx) the trajectory draws a quite characteristic ellipse (or an elliptic spiral). On the other hands, Constant Axial Offset Control (CAOC) procedure is adopted as axial power distribution control strategy during both base load and load following operations in domestic PWRs. In the previous paper, we have presented an innovative procedure of axial power distribution control during load following in PWRs based on this trajectory such that the AOp-AOx is to be controlled to zero when the value deviates the pre-determined limiting values. In this paper we propose a modified control strategy to get more stability of axial power distributions. In this strategy, we control the trajectory to be close to the major axis of the ellipse when the power distribution reaches the limiting values. In other words, the plot is not controlled only to reduce AOp-AOx but also AOi-AOx is taken into account at the same time. It is known that when the plot is controlled to the major axis, it means that the point gives the peak position of axial xenon oscillation. Therefore xenon oscillation will not increase its amplitude any more. Thus more stable axial power distribution control is attained. This kind of design concept is quite important especially for the future PWRs with elongated fuel length and longer core life. Because in a longer effective core and also the longer core life, it has been known that the stability of axial xenon oscillation becomes more unstable. In this paper, some simulation

An Orthogonal Multi-Swarm Cooperative PSO Algorithm with a Particle Trajectory Knowledge Base

Directory of Open Access Journals (Sweden)

Jun Yang

2017-01-01

Full Text Available A novel orthogonal multi-swarm cooperative particle swarm optimization (PSO algorithm with a particle trajectory knowledge base is presented in this paper. Different from the traditional PSO algorithms and other variants of PSO, the proposed orthogonal multi-swarm cooperative PSO algorithm not only introduces an orthogonal initialization mechanism and a particle trajectory knowledge base for multi-dimensional optimization problems, but also conceives a new adaptive cooperation mechanism to accomplish the information interaction among swarms and particles. Experiments are conducted on a set of benchmark functions, and the results show its better performance compared with traditional PSO algorithm in aspects of convergence, computational efficiency and avoiding premature convergence.

Towards a Formal Semantics of Flight Plans and Trajectories

Science.gov (United States)

Hagen, George E.; Butler, Ricky W.

2014-01-01

In the National Airspace System, ight plans are often used only as a planning tool by air trac controllers and aircraft operators. These plans are implicitly translated into trajectories by the pilot or by the ight management system, and subsequently own by the aircraft. This translation process inevitably introduces di erences between the plan and the trajectory. However, given the current intended usage, exact correspondence between the plan and the trajectory is not needed. To achieve greater capacity and eciency, future air trac management concepts are being designed around the use of trajectories where predictability is extremely important. In this paper, a mathematical relationship between ight plans and trajectories is explored with the goal of making feasible, highly accurate predictions of future positions and velocities of aircraft. The goal here is to describe, in mathematically precise detail, a formal language of trajectories, whereby all receivers of the trajectory information will be able to arrive at precisely the same trajectory predication and to do this without having aircraft broadcast a large amount of data. Although even a four-dimensional ight plan is simple in structure, this paper will show that it is inherently ambiguous and will explore these issues in detail. In e ect, we propose that a rigorous semantics for ight plans can be developed and this will serve as an important stepping stone towards trajectory-based operations in the National Airspace System.

Dynamic Weather Routes: A Weather Avoidance Concept for Trajectory-Based Operations

Science.gov (United States)

McNally, B. David; Love, John

2011-01-01

The integration of convective weather modeling with trajectory automation for conflict detection, trial planning, direct routing, and auto resolution has uncovered a concept that could help controllers, dispatchers, and pilots identify improved weather routes that result in significant savings in flying time and fuel burn. Trajectory automation continuously and automatically monitors aircraft in flight to find those that could potentially benefit from improved weather reroutes. Controllers, dispatchers, and pilots then evaluate reroute options to assess their suitability given current weather and traffic. In today's operations aircraft fly convective weather avoidance routes that were implemented often hours before aircraft approach the weather and automation does not exist to automatically monitor traffic to find improved weather routes that open up due to changing weather conditions. The automation concept runs in real-time and employs two keysteps. First, a direct routing algorithm automatically identifies flights with large dog legs in their routes and therefore potentially large savings in flying time. These are common - and usually necessary - during convective weather operations and analysis of Fort Worth Center traffic shows many aircraft with short cuts that indicate savings on the order of 10 flying minutes. The second and most critical step is to apply trajectory automation with weather modeling to determine what savings could be achieved by modifying the direct route such that it avoids weather and traffic and is acceptable to controllers and flight crews. Initial analysis of Fort Worth Center traffic suggests a savings of roughly 50% of the direct route savings could be achievable.The core concept is to apply trajectory automation with convective weather modeling in real time to identify a reroute that is free of weather and traffic conflicts and indicates enough time and fuel savings to be considered. The concept is interoperable with today

Towards Efficient Search for Activity Trajectories

DEFF Research Database (Denmark)

Zheng, Kai; Shang, Shuo; Yuan, Jing

2013-01-01

, recent proliferation in location-based web applications (e.g., Foursquare, Facebook) has given rise to large amounts of trajectories associated with activity information, called activity trajectory. In this paper, we study the problem of efficient similarity search on activity trajectory database. Given...

Sliding Mode Tracking Control of Manipulator Based on the Improved Reaching Law

Directory of Open Access Journals (Sweden)

Wei-Na ZHAI

2013-04-01

Full Text Available Due to the mechanical hand often have serious uncertainty, as the state in which the different and external changes, also its parameters are changing, this is very adverse to achieve precise control. In this paper, the traditional sliding mode variable structure was improved, the sign function is replaced by saturated function based on the double power reaching law, by adjusting the values of e1, e2, a, b, g and k to effectively improve the manipulator joint reaching speed, track expected trajectory fast and shorten the system response time. Finally, the method is used for simulation of manipulator trajectory tracking, compared to two reaching law control algorithms. The simulation results show that the control algorithm has good dynamic performance, which can effectively restrain the chattering and quickly track the desired trajectory. Therefore, the improved reaching law can effectively improve the performance of robotic manipulator.

Trajectory Optimization of Spray Painting Robot for Complex Curved Surface Based on Exponential Mean Bézier Method

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Wei Chen

2017-01-01

Full Text Available Automated tool trajectory planning for spray painting robots is still a challenging problem, especially for a large complex curved surface. This paper presents a new method of trajectory optimization for spray painting robot based on exponential mean Bézier method. The definition and the three theorems of exponential mean Bézier curves are discussed. Then a spatial painting path generation method based on exponential mean Bézier curves is developed. A new simple algorithm for trajectory optimization on complex curved surfaces is introduced. A golden section method is adopted to calculate the values. The experimental results illustrate that the exponential mean Bézier curves enhanced flexibility of the path planning, and the trajectory optimization algorithm achieved satisfactory performance. This method can also be extended to other applications.

Low Emissions and Delay Optimization for an Isolated Signalized Intersection Based on Vehicular Trajectories.

Directory of Open Access Journals (Sweden)

Ciyun Lin

Full Text Available A traditional traffic signal control system is established based on vehicular delay, queue length, saturation and other indicators. However, due to the increasing severity of urban environmental pollution issues and the development of a resource-saving and environmentally friendly social philosophy, the development of low-carbon and energy-efficient urban transport is required. This paper first defines vehicular trajectories and the calculation of vehicular emissions based on VSP. Next, a regression analysis method is used to quantify the relationship between vehicular emissions and delay, and a traffic signal control model is established to reduce emissions and delay using the enumeration method combined with saturation constraints. Finally, one typical intersection of Changchun is selected to verify the model proposed in this paper; its performance efficiency is also compared using simulations in VISSIM. The results of this study show that the proposed model can significantly reduce vehicle delay and traffic emissions simultaneously.

Disturbance observer based model predictive control for accurate atmospheric entry of spacecraft

Science.gov (United States)

Wu, Chao; Yang, Jun; Li, Shihua; Li, Qi; Guo, Lei

2018-05-01

Facing the complex aerodynamic environment of Mars atmosphere, a composite atmospheric entry trajectory tracking strategy is investigated in this paper. External disturbances, initial states uncertainties and aerodynamic parameters uncertainties are the main problems. The composite strategy is designed to solve these problems and improve the accuracy of Mars atmospheric entry. This strategy includes a model predictive control for optimized trajectory tracking performance, as well as a disturbance observer based feedforward compensation for external disturbances and uncertainties attenuation. 500-run Monte Carlo simulations show that the proposed composite control scheme achieves more precise Mars atmospheric entry (3.8 km parachute deployment point distribution error) than the baseline control scheme (8.4 km) and integral control scheme (5.8 km).

Kinematic evaluation of virtual walking trajectories.

Science.gov (United States)

Cirio, Gabriel; Olivier, Anne-Hélène; Marchal, Maud; Pettré, Julien

2013-04-01

Virtual walking, a fundamental task in Virtual Reality (VR), is greatly influenced by the locomotion interface being used, by the specificities of input and output devices, and by the way the virtual environment is represented. No matter how virtual walking is controlled, the generation of realistic virtual trajectories is absolutely required for some applications, especially those dedicated to the study of walking behaviors in VR, navigation through virtual places for architecture, rehabilitation and training. Previous studies focused on evaluating the realism of locomotion trajectories have mostly considered the result of the locomotion task (efficiency, accuracy) and its subjective perception (presence, cybersickness). Few focused on the locomotion trajectory itself, but in situation of geometrically constrained task. In this paper, we study the realism of unconstrained trajectories produced during virtual walking by addressing the following question: did the user reach his destination by virtually walking along a trajectory he would have followed in similar real conditions? To this end, we propose a comprehensive evaluation framework consisting on a set of trajectographical criteria and a locomotion model to generate reference trajectories. We consider a simple locomotion task where users walk between two oriented points in space. The travel path is analyzed both geometrically and temporally in comparison to simulated reference trajectories. In addition, we demonstrate the framework over a user study which considered an initial set of common and frequent virtual walking conditions, namely different input devices, output display devices, control laws, and visualization modalities. The study provides insight into the relative contributions of each condition to the overall realism of the resulting virtual trajectories.

Task Decomposition Module For Telerobot Trajectory Generation

Science.gov (United States)

Wavering, Albert J.; Lumia, Ron

1988-10-01

A major consideration in the design of trajectory generation software for a Flight Telerobotic Servicer (FTS) is that the FTS will be called upon to perform tasks which require a diverse range of manipulator behaviors and capabilities. In a hierarchical control system where tasks are decomposed into simpler and simpler subtasks, the task decomposition module which performs trajectory planning and execution should therefore be able to accommodate a wide range of algorithms. In some cases, it will be desirable to plan a trajectory for an entire motion before manipulator motion commences, as when optimizing over the entire trajectory. Many FTS motions, however, will be highly sensory-interactive, such as moving to attain a desired position relative to a non-stationary object whose position is periodically updated by a vision system. In this case, the time-varying nature of the trajectory may be handled either by frequent replanning using updated sensor information, or by using an algorithm which creates a less specific state-dependent plan that determines the manipulator path as the trajectory is executed (rather than a priori). This paper discusses a number of trajectory generation techniques from these categories and how they may be implemented in a task decompo-sition module of a hierarchical control system. The structure, function, and interfaces of the proposed trajectory gener-ation module are briefly described, followed by several examples of how different algorithms may be performed by the module. The proposed task decomposition module provides a logical structure for trajectory planning and execution, and supports a large number of published trajectory generation techniques.

Simulating the influence of life trajectory events on transport mode behavior in an agent-based system

NARCIS (Netherlands)

Verhoeven, M.; Arentze, T.A.; Timmermans, H.J.P.; Waerden, van der P.J.H.J.

2007-01-01

this paper describes the results of a study on the impact of lifecycle or life trajectory events on activity-travel decisions. This lifecycle trajectory of individual agents can be easily incorporated in an agent-based simulation system. This paper focuses on two lifecycle events, change in

Trajectory Optimization Based on Multi-Interval Mesh Refinement Method

Directory of Open Access Journals (Sweden)

Ningbo Li

2017-01-01

Full Text Available In order to improve the optimization accuracy and convergence rate for trajectory optimization of the air-to-air missile, a multi-interval mesh refinement Radau pseudospectral method was introduced. This method made the mesh endpoints converge to the practical nonsmooth points and decreased the overall collocation points to improve convergence rate and computational efficiency. The trajectory was divided into four phases according to the working time of engine and handover of midcourse and terminal guidance, and then the optimization model was built. The multi-interval mesh refinement Radau pseudospectral method with different collocation points in each mesh interval was used to solve the trajectory optimization model. Moreover, this method was compared with traditional h method. Simulation results show that this method can decrease the dimensionality of nonlinear programming (NLP problem and therefore improve the efficiency of pseudospectral methods for solving trajectory optimization problems.

Prediction of three-dimensional arm trajectories based on ECoG signals recorded from human sensorimotor cortex.

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Yasuhiko Nakanishi

Full Text Available Brain-machine interface techniques have been applied in a number of studies to control neuromotor prostheses and for neurorehabilitation in the hopes of providing a means to restore lost motor function. Electrocorticography (ECoG has seen recent use in this regard because it offers a higher spatiotemporal resolution than non-invasive EEG and is less invasive than intracortical microelectrodes. Although several studies have already succeeded in the inference of computer cursor trajectories and finger flexions using human ECoG signals, precise three-dimensional (3D trajectory reconstruction for a human limb from ECoG has not yet been achieved. In this study, we predicted 3D arm trajectories in time series from ECoG signals in humans using a novel preprocessing method and a sparse linear regression. Average Pearson's correlation coefficients and normalized root-mean-square errors between predicted and actual trajectories were 0.44~0.73 and 0.18~0.42, respectively, confirming the feasibility of predicting 3D arm trajectories from ECoG. We foresee this method contributing to future advancements in neuroprosthesis and neurorehabilitation technology.

Back to the Future: Consistency-Based Trajectory Tracking

Science.gov (United States)

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

2000-01-01

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

Residual translation compensations in radar target narrowband imaging based on trajectory information

Science.gov (United States)

Yue, Wenjue; Peng, Bo; Wei, Xizhang; Li, Xiang; Liao, Dongping

2018-05-01

High velocity translation will result in defocusing scattering centers in radar imaging. In this paper, we propose a Residual Translation Compensations (RTC) method based on target trajectory information to eliminate the translation effects in radar imaging. Translation could not be simply regarded as a uniformly accelerated motion in reality. So the prior knowledge of the target trajectory is introduced to enhance compensation precision. First we use the two-body orbit model to figure out the radial distance. Then, stepwise compensations are applied to eliminate residual propagation delay based on conjugate multiplication method. Finally, tomography is used to confirm the validity of the method. Compare with translation parameters estimation method based on the spectral peak of the conjugate multiplied signal, RTC method in this paper enjoys a better tomography result. When the Signal Noise Ratio (SNR) of the radar echo signal is 4dB, the scattering centers can also be extracted clearly.

A Trajectory Correction based on Multi-Step Lining-up for the CLIC Main Linac

CERN Document Server

D'Amico, T E

1999-01-01

In the CLIC main linac it is very important to minimise the trajectory excursion and consequently the emittance dilution in order to obtain the required luminosity. Several algorithms have been proposed and lately the ballistic method has proved to be very effective. The trajectory method described in this Note retains the main advantages of the latter while adding some interesting features. It is based on the separation of the unknown variables like the quadrupole misalignments, the offset and slope of the injection straight line and the misalignments of the beam position monitors (BPM). This is achieved by referring the trajectory relatively to the injection line and not to the average pre-alignment line and by using two trajectories each corresponding to slightly different quadrupole strengths. A reference straight line is then derived onto which the beam is bent by a kick obtained by moving the first quadrupole. The other quadrupoles are then aligned on that line. The quality of the correction depends mai...

Early expressive and receptive language trajectories in high-risk infant siblings of children with autism spectrum disorder

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Julie Longard

2017-11-01

Full Text Available Background & aims In response to limited research on early language development in infants at high risk for Autism Spectrum Disorder (ASD, the current prospective study examined early expressive and receptive language trajectories in familial high-risk (HR infants who were and were not later diagnosed with ASD (HR-ASD and HR-N, respectively, and low-risk (LR controls with no family history of ASD. Methods Participants were 523 children (371 HR siblings, 56% boys; 152 LR controls, 52% boys followed from age 6 or 12 months to 36 months. Based on independent, best-estimate clinical diagnoses at 36 months, HR participants were classified as HR-ASD (n = 94; 69% boys, or HR-N (n = 277; 52% boys; the sample also included 152 LR controls (52% boys. Expressive and receptive language trajectories were examined based on corresponding domain standard scores on the Mullen Scales of Early Learning ( MSEL at 6, 12, 24, and 36 months. In the combined sample of HR and LR infants, semi-parametric group-based modeling was used to identify distinct trajectories in MSEL standard scores. Results A 3-group solution provided optimal fit to variation in both expressive and receptive language, with the following patterns of scores: (1 inclining from average to above average, (2 stable-average, and (3 declining from average to well below average. For both expressive and receptive language, membership in these trajectories was related to 3-year diagnostic outcomes. Conclusions Although HR-ASD, HR-N, and LR control infants were in each trajectory group, membership in the declining trajectory (expressive and/or receptive was associated with an ASD diagnosis. Implications Evidence of declining trajectories in either expressive or receptive language may be a risk marker for ASD in a high-risk sample.

Sensitivity Analysis and Mitigation with Applications to Ballistic and Low-thrust Trajectory Design

Science.gov (United States)

Alizadeh, Iman

The ever increasing desire to expand space mission capabilities within the limited budgets of space industries requires new approaches to the old problem of spacecraft trajectory design. For example, recent initiatives for space exploration involve developing new tools to design low-cost, fail-safe trajectories to visit several potential destinations beyond our celestial neighborhood such as Jupiter's moons, asteroids, etc. Designing and navigating spacecraft trajectories to reach these destinations safely are complex and challenging. In particular, fundamental questions of orbital stability imposed by planetary protection requirements are not easily taken into account by standard optimal control schemes. The event of temporary engine loss or an unexpected missed thrust can indeed quickly lead to impact with planetary bodies or other unrecoverable trajectories. While electric propulsion technology provides superior efficiency compared to chemical engines, the very low-control authority and engine performance degradation can impose higher risk to the mission in strongly perturbed orbital environments. The risk is due to the complex gravitational field and its associated chaotic dynamics which causes large navigation dispersions in a short time if left un-controlled. Moreover, in these situations it can be outside the low-thrust propulsion system capability to correct the spacecraft trajectory in a reasonable time frame. These concerns can lead to complete or partial mission failure or even an infeasible mission concept at the early design stage. The goal of this research is to assess and increase orbital stability of ballistic and low-thrust transfer trajectories in multi-body systems. In particular, novel techniques are presented to characterize sensitivity and improve recovery characteristics of ballistic and low-thrust trajectories in unstable orbital environments. The techniques developed are based on perturbation analysis around ballistic trajectories to

Parameter Identification of Static Friction Based on An Optimal Exciting Trajectory

Science.gov (United States)

Tu, X.; Zhao, P.; Zhou, Y. F.

2017-12-01

In this paper, we focus on how to improve the identification efficiency of friction parameters in a robot joint. First, the static friction model that has only linear dependencies with respect to their parameters is adopted so that the servomotor dynamics can be linearized. In this case, the traditional exciting trajectory based on Fourier series is modified by replacing the constant term with quintic polynomial to ensure the boundary continuity of speed and acceleration. Then, the Fourier-related parameters are optimized by genetic algorithm(GA) in which the condition number of regression matrix is set as the fitness function. At last, compared with the constant-velocity tracking experiment, the friction parameters from the exciting trajectory experiment has the similar result with the advantage of time reduction.

The impact of covariance misspecification in group-based trajectory models for longitudinal data with non-stationary covariance structure.

Science.gov (United States)

Davies, Christopher E; Glonek, Gary Fv; Giles, Lynne C

2017-08-01

One purpose of a longitudinal study is to gain a better understanding of how an outcome of interest changes among a given population over time. In what follows, a trajectory will be taken to mean the series of measurements of the outcome variable for an individual. Group-based trajectory modelling methods seek to identify subgroups of trajectories within a population, such that trajectories that are grouped together are more similar to each other than to trajectories in distinct groups. Group-based trajectory models generally assume a certain structure in the covariances between measurements, for example conditional independence, homogeneous variance between groups or stationary variance over time. Violations of these assumptions could be expected to result in poor model performance. We used simulation to investigate the effect of covariance misspecification on misclassification of trajectories in commonly used models under a range of scenarios. To do this we defined a measure of performance relative to the ideal Bayesian correct classification rate. We found that the more complex models generally performed better over a range of scenarios. In particular, incorrectly specified covariance matrices could significantly bias the results but using models with a correct but more complicated than necessary covariance matrix incurred little cost.

An Energy-Aware Trajectory Optimization Layer for sUAS

Science.gov (United States)

Silva, William A.

The focus of this work is the implementation of an energy-aware trajectory optimization algorithm that enables small unmanned aircraft systems (sUAS) to operate in unknown, dynamic severe weather environments. The software is designed as a component of an Energy-Aware Dynamic Data Driven Application System (EA-DDDAS) for sUAS. This work addresses the challenges of integrating and executing an online trajectory optimization algorithm during mission operations in the field. Using simplified aircraft kinematics, the energy-aware algorithm enables extraction of kinetic energy from measured winds to optimize thrust use and endurance during flight. The optimization layer, based upon a nonlinear program formulation, extracts energy by exploiting strong wind velocity gradients in the wind field, a process known as dynamic soaring. The trajectory optimization layer extends the energy-aware path planner developed by Wenceslao Shaw-Cortez te{Shaw-cortez2013} to include additional mission configurations, simulations with a 6-DOF model, and validation of the system with flight testing in June 2015 in Lubbock, Texas. The trajectory optimization layer interfaces with several components within the EA-DDDAS to provide an sUAS with optimal flight trajectories in real-time during severe weather. As a result, execution timing, data transfer, and scalability are considered in the design of the software. Severe weather also poses a measure of unpredictability to the system with respect to communication between systems and available data resources during mission operations. A heuristic mission tree with different cost functions and constraints is implemented to provide a level of adaptability to the optimization layer. Simulations and flight experiments are performed to assess the efficacy of the trajectory optimization layer. The results are used to assess the feasibility of flying dynamic soaring trajectories with existing controllers as well as to verify the interconnections between

Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics

Directory of Open Access Journals (Sweden)

Zhaoxia Peng

2014-01-01

Full Text Available This paper investigates the distributed consensus-based robust adaptive formation control for nonholonomic mobile robots with partially known dynamics. Firstly, multirobot formation control problem has been converted into a state consensus problem. Secondly, the practical control strategies, which incorporate the distributed kinematic controllers and the robust adaptive torque controllers, are designed for solving the formation control problem. Thirdly, the specified reference trajectory for the geometric centroid of the formation is assumed as the trajectory of a virtual leader, whose information is available to only a subset of the followers. Finally, numerical results are provided to illustrate the effectiveness of the proposed control approaches.

Quantum dynamics modeled by interacting trajectories

Science.gov (United States)

Cruz-Rodríguez, L.; Uranga-Piña, L.; Martínez-Mesa, A.; Meier, C.

2018-03-01

We present quantum dynamical simulations based on the propagation of interacting trajectories where the effect of the quantum potential is mimicked by effective pseudo-particle interactions. The method is applied to several quantum systems, both for bound and scattering problems. For the bound systems, the quantum ground state density and zero point energy are shown to be perfectly obtained by the interacting trajectories. In the case of time-dependent quantum scattering, the Eckart barrier and uphill ramp are considered, with transmission coefficients in very good agreement with standard quantum calculations. Finally, we show that via wave function synthesis along the trajectories, correlation functions and energy spectra can be obtained based on the dynamics of interacting trajectories.

Sustaining trajectory flexibility for air traffic complexity alleviation

Science.gov (United States)

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

2012-11-01

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

Rapid Preliminary Design of Interplanetary Trajectories Using the Evolutionary Mission Trajectory Generator

Science.gov (United States)

Englander, Jacob

2016-01-01

Preliminary design of interplanetary missions is a highly complex process. The mission designer must choose discrete parameters such as the number of flybys, the bodies at which those flybys are performed, and in some cases the final destination. In addition, a time-history of control variables must be chosen that defines the trajectory. There are often many thousands, if not millions, of possible trajectories to be evaluated. This can be a very expensive process in terms of the number of human analyst hours required. An automated approach is therefore very desirable. This work presents such an approach by posing the mission design problem as a hybrid optimal control problem. The method is demonstrated on notional high-thrust chemical and low-thrust electric propulsion missions. In the low-thrust case, the hybrid optimal control problem is augmented to include systems design optimization.

Trajectory-based morphological operators: a model for efficient image processing.

Science.gov (United States)

Jimeno-Morenilla, Antonio; Pujol, Francisco A; Molina-Carmona, Rafael; Sánchez-Romero, José L; Pujol, Mar

2014-01-01

Mathematical morphology has been an area of intensive research over the last few years. Although many remarkable advances have been achieved throughout these years, there is still a great interest in accelerating morphological operations in order for them to be implemented in real-time systems. In this work, we present a new model for computing mathematical morphology operations, the so-called morphological trajectory model (MTM), in which a morphological filter will be divided into a sequence of basic operations. Then, a trajectory-based morphological operation (such as dilation, and erosion) is defined as the set of points resulting from the ordered application of the instant basic operations. The MTM approach allows working with different structuring elements, such as disks, and from the experiments, it can be extracted that our method is independent of the structuring element size and can be easily applied to industrial systems and high-resolution images.

Longitudinal Trajectories of Metabolic Control across Adolescence: Associations with Parental Involvement, Adolescents’ Psychosocial Maturity, and Health Care Utilization

Science.gov (United States)

King, Pamela S.; Berg, Cynthia A.; Butner, Jonathan; Drew, Linda M.; Foster, Carol; Donaldson, David; Murray, Mary; Swinyard, Michael; Wiebe, Deborah J.

2012-01-01

Purpose To predict trajectories of metabolic control across adolescence from parental involvement and adolescent psychosocial maturity, and to link metabolic control trajectories to health care utilization. Methods 252 adolescents (M age at study initiation = 12.5, SD=1.5, range 10–14 years) with type 1 diabetes (54.4% female, 92.8% Caucasian, length of diagnosis M=4.7 years, SD=3.0, range 1–12) participated in a 2-year longitudinal study. Metabolic control was gathered from medical records every three months. Adolescents completed measures of self-reliance (functional autonomy and extreme peer orientation), self-control (self-control and externalizing behavior), and parental involvement in diabetes care (acceptance, monitoring, and frequency of help). At the end of the study, mothers reported health care utilization (diabetes-related emergency room visits and hospitalizations) over the past six months. Results Latent class growth analyses indicated two distinct trajectories of metabolic control across adolescence: moderate control with slight deterioration (92% of the sample; average HbA1c = 8.18%) and poor control with rapid deterioration (8% of the sample; average HbA1c of 12.09%). Adolescents with poor and rapidly deteriorating metabolic control reported lower paternal monitoring and frequency of help with diabetes management, lower functional autonomy, and lower self-control than others. Those with poor and rapidly deteriorating metabolic control were 6.4 times more likely to report diabetes-related emergency room visits, and 9.3 times more likely to report diabetes-related hospitalizations near the end of the study. Conclusions Parental involvement and adolescents’ psychosocial maturity predict patterns of deteriorating metabolic control across adolescence and could be targeted for intervention. PMID:22525113

Searching Trajectories by Regions of Interest

KAUST Repository

Shang, Shuo

2017-03-22

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

Searching Trajectories by Regions of Interest

KAUST Repository

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

2017-01-01

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

SU-E-T-473: A Patient-Specific QC Paradigm Based On Trajectory Log Files and DICOM Plan Files

International Nuclear Information System (INIS)

DeMarco, J; McCloskey, S; Low, D; Moran, J

2014-01-01

Purpose: To evaluate a remote QC tool for monitoring treatment machine parameters and treatment workflow. Methods: The Varian TrueBeamTM linear accelerator is a digital machine that records machine axis parameters and MLC leaf positions as a function of delivered monitor unit or control point. This information is saved to a binary trajectory log file for every treatment or imaging field in the patient treatment session. A MATLAB analysis routine was developed to parse the trajectory log files for a given patient, compare the expected versus actual machine and MLC positions as well as perform a cross-comparison with the DICOM-RT plan file exported from the treatment planning system. The parsing routine sorts the trajectory log files based on the time and date stamp and generates a sequential report file listing treatment parameters and provides a match relative to the DICOM-RT plan file. Results: The trajectory log parsing-routine was compared against a standard record and verify listing for patients undergoing initial IMRT dosimetry verification and weekly and final chart QC. The complete treatment course was independently verified for 10 patients of varying treatment site and a total of 1267 treatment fields were evaluated including pre-treatment imaging fields where applicable. In the context of IMRT plan verification, eight prostate SBRT plans with 4-arcs per plan were evaluated based on expected versus actual machine axis parameters. The average value for the maximum RMS MLC error was 0.067±0.001mm and 0.066±0.002mm for leaf bank A and B respectively. Conclusion: A real-time QC analysis program was tested using trajectory log files and DICOM-RT plan files. The parsing routine is efficient and able to evaluate all relevant machine axis parameters during a patient treatment course including MLC leaf positions and table positions at time of image acquisition and during treatment

Training trajectories by continuous recurrent multilayer networks.

Science.gov (United States)

Leistritz, L; Galicki, M; Witte, H; Kochs, E

2002-01-01

This paper addresses the problem of training trajectories by means of continuous recurrent neural networks whose feedforward parts are multilayer perceptrons. Such networks can approximate a general nonlinear dynamic system with arbitrary accuracy. The learning process is transformed into an optimal control framework where the weights are the controls to be determined. A training algorithm based upon a variational formulation of Pontryagin's maximum principle is proposed for such networks. Computer examples demonstrating the efficiency of the given approach are also presented.

Real-time control of Tokamak plasmas: from control of physics to physics-based control

International Nuclear Information System (INIS)

Felici, F. A. A.

2011-11-01

measured by a diagnostic, but that an estimate for any quantity can be computed at any time. This includes estimates of unmeasurable quantities such as the loop voltage profile or the bootstrap current distribution. In a first closed-loop experiment, an estimate of the internal inductance resulting from the real-time simulation is feedback controlled, independently from the plasma central temperature, by an appropriate mix of co- and counter- ECCD. As a tokamak plasma evolves from one state to another during plasma ramp-up or ramp-down, the profile trajectories must stay within a prescribed operational envelope delimited by physics instabilities and engineering constraints. A computational technique based on the RAPTOR code can calculate these trajectories based on the profile transport physics model, by solving an open-loop optimal control problem. The code returns the plasma state trajectory sensitivities to input trajectory parameters, a functionality which is unique to RAPTOR. This information can also be used to construct linearized models around the optimal trajectory, and to determine the active constraint, which can be used for time-varying closed-loop controller design. This physics-model based approach has shown excellent results and can be applied in other tokamaks as well as in future devices. (author)

Multi-Objective Trajectory Optimization of a Hypersonic Reconnaissance Vehicle with Temperature Constraints

Science.gov (United States)

Masternak, Tadeusz J.

This research determines temperature-constrained optimal trajectories for a scramjet-based hypersonic reconnaissance vehicle by developing an optimal control formulation and solving it using a variable order Gauss-Radau quadrature collocation method with a Non-Linear Programming (NLP) solver. The vehicle is assumed to be an air-breathing reconnaissance aircraft that has specified takeoff/landing locations, airborne refueling constraints, specified no-fly zones, and specified targets for sensor data collections. A three degree of freedom scramjet aircraft model is adapted from previous work and includes flight dynamics, aerodynamics, and thermal constraints. Vehicle control is accomplished by controlling angle of attack, roll angle, and propellant mass flow rate. This model is incorporated into an optimal control formulation that includes constraints on both the vehicle and mission parameters, such as avoidance of no-fly zones and coverage of high-value targets. To solve the optimal control formulation, a MATLAB-based package called General Pseudospectral Optimal Control Software (GPOPS-II) is used, which transcribes continuous time optimal control problems into an NLP problem. In addition, since a mission profile can have varying vehicle dynamics and en-route imposed constraints, the optimal control problem formulation can be broken up into several "phases" with differing dynamics and/or varying initial/final constraints. Optimal trajectories are developed using several different performance costs in the optimal control formulation: minimum time, minimum time with control penalties, and maximum range. The resulting analysis demonstrates that optimal trajectories that meet specified mission parameters and constraints can be quickly determined and used for larger-scale operational and campaign planning and execution.

Generic FMS Platform for Evaluation of Autonomous Trajectory-Based Operation Concepts, Phase II

Data.gov (United States)

National Aeronautics and Space Administration — The objective of the Phase II work is to develop a generic, advanced Flight Management System (FMS) for the evaluation of autonomous 4D-trajectory based operations...

Do body mass index trajectories affect the risk of type 2 diabetes? A case-control study.

Science.gov (United States)

Mano, Yoshihiko; Yokomichi, Hiroshi; Suzuki, Kohta; Takahashi, Atsunori; Yoda, Yoshioki; Tsuji, Masahiro; Sato, Miri; Shinohara, Ryoji; Mizorogi, Sonoko; Mochizuki, Mie; Yamagata, Zentaro

2015-07-28

Although obesity is a well-studied risk factor for diabetes, there remains an interest in whether "increasing body mass index (BMI)," "high BMI per se," or both are the actual risk factors for diabetes. The present study aimed to retrospectively compare BMI trajectories of individuals with and without diabetes in a case-control design and to assess whether increasing BMI alone would be a risk factor. Using comprehensive health check-up data measured over ten years, we conducted a case-control study and graphically drew the trajectories of BMIs among diabetic patients and healthy subjects, based on coefficients in fitted linear mixed-effects models. Patient group was matched with healthy control group at the onset of diabetes with an optimal matching method in a 1:10 ratio. Simple fixed-effects models assessed the differences in increasing BMIs over 10 years between patient and control groups. At the time of matching, the mean ages in male patients and controls were 59.3 years [standard deviation (SD) = 9.2] and 57.7 years (SD = 11.2), whereas the mean BMIs were 25.0 kg/m(2) (SD = 3.1) and 25.2 kg/m(2) (SD = 2.9), respectively. In female patients and controls, the mean ages were 61.4 years (SD = 7.9) and 60.1 years (SD = 9.6), whereas the mean BMIs were 24.8 kg/m(2) (SD = 3.5) and 24.9 kg/m(2) (SD = 3.4), respectively. The simple fixed-effects models detected no statistical significance for the differences of increasing BMIs between patient and control groups in males (P = 0.19) and females (P = 0.67). Sudden increases in BMI were observed in both male and female patients when compared with BMIs 1 year prior to diabetes onset. The present study suggested that the pace of increasing BMIs is similar between Japanese diabetic patients and healthy individuals. The increasing BMI was not detected to independently affect the onset of type 2 diabetes.

Segmenting Trajectories by Movement States

NARCIS (Netherlands)

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

2013-01-01

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

Pulse width modulation-based temperature tracking for feedback control of a shape memory alloy actuator.

Science.gov (United States)

Ayvali, Elif; Desai, Jaydev P

2014-04-01

This work presents a temperature-feedback approach to control the radius of curvature of an arc-shaped shape memory alloy (SMA) wire. The nonlinear properties of the SMA such as phase transformation and its dependence on temperature and stress make SMA actuators difficult to control. Tracking a desired trajectory is more challenging than controlling just the position of the SMA actuator since the desired path is continuously changing. Consequently, tracking the desired strain directly or tracking the parameters such as temperature and electrical resistance that are related to strain with a model is a challenging task. Temperature-feedback is an attractive approach when direct measurement of strain is not practical. Pulse width modulation (PWM) is an effective method for SMA actuation and it can be used along with a compensator to control the temperature of the SMA. Using the constitutive model of the SMA, the desired temperature profile can be obtained for a given strain trajectory. A PWM-based nonlinear PID controller with a feed-forward heat transfer model is proposed to use temperature-feedback for tracking a desired temperature trajectory. The proposed controller is used during the heating phase of the SMA actuator. The controller proves to be effective in tracking step-wise and continuous trajectories.

Drinking and smoking patterns during pregnancy: Development of group-based trajectories in the Safe Passage Study.

Science.gov (United States)

Dukes, Kimberly; Tripp, Tara; Willinger, Marian; Odendaal, Hein; Elliott, Amy J; Kinney, Hannah C; Robinson, Fay; Petersen, Julie M; Raffo, Cheryl; Hereld, Dale; Groenewald, Coen; Angal, Jyoti; Hankins, Gary; Burd, Larry; Fifer, William P; Myers, Michael M; Hoffman, Howard J; Sullivan, Lisa

2017-08-01

Precise identification of drinking and smoking patterns during pregnancy is crucial to better understand the risk to the fetus. The purpose of this manuscript is to describe the methodological approach used to define prenatal drinking and smoking trajectories from a large prospective pregnancy cohort, and to describe maternal characteristics associated with different exposure patterns. In the Safe Passage Study, detailed information regarding quantity, frequency, and timing of exposure was self-reported up to four times during pregnancy and at 1 month post-delivery. Exposure trajectories were developed using data from 11,692 pregnancies (9912 women) where pregnancy outcome was known. Women were from three diverse populations: white (23%) and American Indian (17%) in the Northern Plains, US, and mixed ancestry (59%) in South Africa (other/not specified [1%]). Group-based trajectory modeling was used to identify 5 unique drinking trajectories (1 none/minimal, 2 quitting groups, 2 continuous groups) and 7 smoking trajectories (1 none/minimal, 2 quitting groups, 4 continuous groups). Women with pregnancies assigned to the low- or high-continuous drinking groups were less likely to have completed high school and were more likely to have enrolled in the study in the third trimester, be of mixed ancestry, or be depressed than those assigned to the none/minimal or quit-drinking groups. Results were similar when comparing continuous smokers to none/minimal and quit-smoking groups. Further, women classified as high- or low-continuous drinkers were more likely to smoke at moderate-, high-, and very high-continuous levels, as compared to women classified as non-drinkers and quitters. This is the first study of this size to utilize group-based trajectory modeling to identify unique prenatal drinking and smoking trajectories. These trajectories will be used in future analyses to determine which specific exposure patterns subsequently manifest as poor peri- and postnatal outcomes

UAV Trajectory Modeling Using Neural Networks

Science.gov (United States)

Xue, Min

2017-01-01

Large amount of small Unmanned Aerial Vehicles (sUAVs) are projected to operate in the near future. Potential sUAV applications include, but not limited to, search and rescue, inspection and surveillance, aerial photography and video, precision agriculture, and parcel delivery. sUAVs are expected to operate in the uncontrolled Class G airspace, which is at or below 500 feet above ground level (AGL), where many static and dynamic constraints exist, such as ground properties and terrains, restricted areas, various winds, manned helicopters, and conflict avoidance among sUAVs. How to enable safe, efficient, and massive sUAV operations at the low altitude airspace remains a great challenge. NASA's Unmanned aircraft system Traffic Management (UTM) research initiative works on establishing infrastructure and developing policies, requirement, and rules to enable safe and efficient sUAVs' operations. To achieve this goal, it is important to gain insights of future UTM traffic operations through simulations, where the accurate trajectory model plays an extremely important role. On the other hand, like what happens in current aviation development, trajectory modeling should also serve as the foundation for any advanced concepts and tools in UTM. Accurate models of sUAV dynamics and control systems are very important considering the requirement of the meter level precision in UTM operations. The vehicle dynamics are relatively easy to derive and model, however, vehicle control systems remain unknown as they are usually kept by manufactures as a part of intellectual properties. That brings challenges to trajectory modeling for sUAVs. How to model the vehicle's trajectories with unknown control system? This work proposes to use a neural network to model a vehicle's trajectory. The neural network is first trained to learn the vehicle's responses at numerous conditions. Once being fully trained, given current vehicle states, winds, and desired future trajectory, the neural

Supervised Learning Applied to Air Traffic Trajectory Classification

Science.gov (United States)

Bosson, Christabelle; Nikoleris, Tasos

2018-01-01

Given the recent increase of interest in introducing new vehicle types and missions into the National Airspace System, a transition towards a more autonomous air traffic control system is required in order to enable and handle increased density and complexity. This paper presents an exploratory effort of the needed autonomous capabilities by exploring supervised learning techniques in the context of aircraft trajectories. In particular, it focuses on the application of machine learning algorithms and neural network models to a runway recognition trajectory-classification study. It investigates the applicability and effectiveness of various classifiers using datasets containing trajectory records for a month of air traffic. A feature importance and sensitivity analysis are conducted to challenge the chosen time-based datasets and the ten selected features. The study demonstrates that classification accuracy levels of 90% and above can be reached in less than 40 seconds of training for most machine learning classifiers when one track data point, described by the ten selected features at a particular time step, per trajectory is used as input. It also shows that neural network models can achieve similar accuracy levels but at higher training time costs.

Model-based expert systems for linac computer controls

International Nuclear Information System (INIS)

Lee, M.J.

1988-09-01

The use of machine modeling and beam simulation programs for the control of accelerator operation has become standard practice. The success of a model-based control operation depends on how the parameter to be controlled is measured, how the measured data is analyzed, how the result of the analysis is interpreted, and how a solution is implemented. There is considerable interest in applying expert systems technology that can automate all of these processes. The design of an expert system to control the beam trajectory in linear accelerators will be discussed as an illustration of this approach. 4 figs., 1 tab

Trajectory Specification for Terminal Air Traffic: Pairwise Conflict Detection and Resolution

Science.gov (United States)

Paielli, Russ; Erzberger, Heinz

2017-01-01

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

Aircraft 4D trajectories planning under uncertainties

OpenAIRE

Chaimatanan , Supatcha; Delahaye , Daniel; Mongeau , Marcel

2015-01-01

International audience; To sustain the rapidly increasing air traffic demand, the future air traffic management system will rely on a concept, called Trajectory-Based Operations (TBO), that will require aircraft to follow an assigned 4D trajectory (time-constrained trajectory) with high precision. TBO involves separating aircraft via strategic (long-term) trajectory deconfliction rather than the currently-practicing tactical (short-term) conflict resolution. In this context, this paper presen...

Task driven optimal leg trajectories in insect-scale legged microrobots

Science.gov (United States)

Doshi, Neel; Goldberg, Benjamin; Jayaram, Kaushik; Wood, Robert

Origami inspired layered manufacturing techniques and 3D-printing have enabled the development of highly articulated legged robots at the insect-scale, including the 1.43g Harvard Ambulatory MicroRobot (HAMR). Research on these platforms has expanded its focus from manufacturing aspects to include design optimization and control for application-driven tasks. Consequently, the choice of gait selection, body morphology, leg trajectory, foot design, etc. have become areas of active research. HAMR has two controlled degrees-of-freedom per leg, making it an ideal candidate for exploring leg trajectory. We will discuss our work towards optimizing HAMR's leg trajectories for two different tasks: climbing using electroadhesives and level ground running (5-10 BL/s). These tasks demonstrate the ability of single platform to adapt to vastly different locomotive scenarios: quasi-static climbing with controlled ground contact, and dynamic running with un-controlled ground contact. We will utilize trajectory optimization methods informed by existing models and experimental studies to determine leg trajectories for each task. We also plan to discuss how task specifications and choice of objective function have contributed to the shape of these optimal leg trajectories.

Two-Step System Identification and Primitive-Based Motion Planning for Control of Small Unmanned Aerial Vehicles

Science.gov (United States)

Grymin, David J.

This dissertation addresses motion planning, modeling, and feedback control for autonomous vehicle systems. A hierarchical approach for motion planning and control of nonlinear systems operating in obstacle environments is presented. To reduce computation time during the motion planning process, dynamically feasible trajectories are generated in real-time through concatenation of pre-specified motion primitives. The motion planning task is posed as a search over a directed graph, and the applicability of informed graph search techniques is investigated. Specifically, a locally greedy algorithm with effective backtracking ability is developed and compared to weighted A* search. The greedy algorithm shows an advantage with respect to solution cost and computation time when larger motion primitive libraries that do not operate on a regular state lattice are utilized. Linearization of the nonlinear system equations about the motion primitive library results in a hybrid linear time-varying model, and an optimal control algorithm using the l 2-induced norm as the performance measure is applied to ensure that the system tracks the desired trajectory. The ability of the resulting controller to closely track the trajectory obtained from the motion planner, despite various disturbances and uncertainties, is demonstrated through simulation. Additionally, an approach for obtaining dynamically feasible reference trajectories and feedback controllers for a small unmanned aerial vehicle (UAV) based on an aerodynamic model derived from flight tests is presented. The modeling approach utilizes the two step method (TSM) with stepwise multiple regression to determine relevant explanatory terms for the aerodynamic models. Dynamically feasible trajectories are then obtained through the solution of an optimal control problem using pseudospectral optimal control software. Discretetime feedback controllers are then obtained to regulate the vehicle along the desired reference trajectory

The impact of group prenatal care on pregnancy and postpartum weight trajectories.

Science.gov (United States)

Magriples, Urania; Boynton, Marcella H; Kershaw, Trace S; Lewis, Jessica; Rising, Sharon Schindler; Tobin, Jonathan N; Epel, Elissa; Ickovics, Jeannette R

2015-11-01

The objective of the study was to investigate whether group prenatal care (Centering Pregnancy Plus [CP+]) has an impact on pregnancy weight gain and postpartum weight loss trajectories and to determine whether prenatal depression and distress might moderate these trajectories. This was a secondary analysis of a cluster-randomized trial of CP+ in 14 Community Health Centers and hospitals in New York City. Participants were pregnant women aged 14-21 years (n = 984). Medical record review and 4 structured interviews were conducted: in the second and third trimesters and 6 and 12 months postpartum. Longitudinal mixed modeling was utilized to evaluate the weight change trajectories in the control and intervention groups. Prenatal distress and depression were also assessed to examine their impact on weight change. There were no significant differences between the intervention and control groups in baseline demographics. Thirty-five percent of the participants were overweight or obese, and more than 50% had excessive weight gain by Institute of Medicine standards. CP+ was associated with improved weight trajectories compared with controls (P prenatal care gained less weight during pregnancy and lost more weight postpartum. This effect was sustained among women who were categorized as obese based on prepregnancy body mass index (P Prenatal depression and distress were significantly associated with higher antepartum weight gain and postpartum weight retention. Women with the highest levels of depression and prenatal distress exhibited the greatest positive impact of group prenatal care on weight trajectories during pregnancy and through 12 months postpartum. Group prenatal care has a significant impact on weight gain trajectories in pregnancy and postpartum. The intervention also appeared to mitigate the effects of depression and prenatal distress on antepartum weight gain and postpartum weight retention. Targeted efforts are needed during and after pregnancy to improve

Trajectories of Delinquency and Parenting Styles

OpenAIRE

Hoeve, Machteld; Blokland, Arjan; Dubas, Judith Semon; Loeber, Rolf; Gerris, Jan R. M.; van der Laan, Peter H.

2007-01-01

We investigated trajectories of adolescent delinquent development using data from the Pittsburgh Youth Study and examined the extent to which these different trajectories are differentially predicted by childhood parenting styles. Based on self-reported and official delinquency seriousness, covering ages 10?19, we identified five distinct delinquency trajectories differing in both level and change in seriousness over time: a nondelinquent, minor persisting, moderate desisting, serious persist...

Stratal Control Volumes and Stratal Control Trajectories: A New Method to Constrain, Understand and Reconcile Results from Stratigraphic Outcrop Analysis, Subsurface Analysis and Analogue and Numerical Modelling

Science.gov (United States)

Burgess, P. M.; Steel, R. J.

2016-12-01

Decoding a history of Earth's surface dynamics from strata requires robust quantitative understanding of supply and accommodation controls. The concept of stratigraphic solution sets has proven useful in this decoding, but application and development of this approach has so far been surprisingly limited. Stratal control volumes, areas and trajectories are new approaches defined here, building on previous ideas about stratigraphic solution sets, to help analyse and understand the sedimentary record of Earth surface dynamics. They may have particular application reconciling results from outcrop and subsurface analysis with results from analogue and numerical experiments. Stratal control volumes are sets of points in a three-dimensional volume, with axes of subsidence, sediment supply and eustatic rates of change, populated with probabilities derived from analysis of subsidence, supply and eustasy timeseries (Figure 1). These empirical probabilities indicate the likelihood of occurrence of any particular combination of control rates defined by any point in the volume. The stratal control volume can then by analysed to determine which parts of the volume represent relative sea-level fall and rise, where in the volume particular stacking patterns will occur, and how probable those stacking patterns are. For outcrop and subsurface analysis, using a stratal control area with eustasy and subsidence combined on a relative sea-level axis allows similar analysis, and may be preferable. A stratal control trajectory is a history of supply and accommodation creation rates, interpreted from outcrop or subsurface data, or observed in analogue and numerical experiments, and plotted as a series of linked points forming a trajectory through the stratal control volume (Figure 1) or area. Three examples are presented, one from outcrop and two theoretical. Much work remains to be done to build a properly representative database of stratal controls, but careful comparison of stratal

Implementation of impedance trajectory control on a 6-DoF manipulator

Directory of Open Access Journals (Sweden)

Shardyko Igor

2018-01-01

Full Text Available Aiming at enhancing the performance of a robotic system, i.e. of a robot manipulator, it is extremely important to ensure the safety of its functioning and the convenience of operating it. Special attention is required if there is a possibility of a collision, especially with costly equipment or with a person. Among the different means and approaches to prevent or react to such situations, implementation of forcetorque control is considered in this paper. A trajectory task is analysed and an impedance control law is employed to achieve the desired robot behaviour. The effectiveness of the approach has been verified by using a 6-DoF elbow manipulator to perform two types of operations: a peg-in-hole task and path execution with obstacles on the way.

Emittance and trajectory control in the main linacs of the NLC

International Nuclear Information System (INIS)

Assmann, R.; Adolphsen, C.; Bane, K.; Raubenheimer, T.O.; Thompson, K.

1996-09-01

The main linacs of the next generation of linear colliders need to accelerate the particle beams to energies of up to 750 GeV while maintaining very small emittances. This paper describes the main mechanisms of static emittance growth in the main linacs of the Next Linear Collider (NLC). The authors present detailed simulations of the trajectory and emittance control algorithms that are foreseen for the NLC. They show that the emittance growth in the main linacs can be corrected down to about 110%. That number is significantly better than required for the NLC design luminosity

Management by Trajectory Trade Study of Roles and Responsibilities Between Participants and Automation Report

Science.gov (United States)

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

2017-01-01

This report describes a trade study of roles and responsibilities associated with the Management by Trajectory (MBT) concept. The MBT concept describes roles, responsibilities, and information and automation requirements for providing air traffic controllers and managers the ability to quickly generate, evaluate and implement changes to an aircraft's trajectory. In addition, the MBT concept describes mechanisms for imposing constraints on flight operator preferred trajectories only to the extent necessary to maintain safe and efficient traffic flows, and the concept provides a method for the exchange of trajectory information between ground automation systems and the aircraft that allows for trajectory synchronization and trajectory negotiation. The participant roles considered in this trade study include: airline dispatcher, flight crew, radar controller, traffic manager, and Air Traffic Control System Command Center (ATCSCC) traffic management specialists. The proposed allocation of roles and responsibilities was based on analysis of several use cases that were developed for this purpose as well as for walking through concept elements. The resulting allocation of roles and responsibilities reflects both increased automation capability to support many aviation functions, as well as increased flexibility to assign responsibilities to different participants - in many cases afforded by the increased automation capabilities. Note that the selection of participants to consider for allocation of each function is necessarily rooted in the current environment, in that MBT is envisioned as an evolution of the National Airspace System (NAS), and not a revolution. A key feature of the MBT allocations is a vision for the traffic management specialist to take on a greater role. This is facilitated by the vision that separation management functions, in addition to traffic management functions, will be carried out as trajectory management functions. This creates an opportunity

Trajectory following and stabilization control of fully actuated AUV using inverse kinematics and self-tuning fuzzy PID.

Science.gov (United States)

Hammad, Mohanad M; Elshenawy, Ahmed K; El Singaby, M I

2017-01-01

In this work a design for self-tuning non-linear Fuzzy Proportional Integral Derivative (FPID) controller is presented to control position and speed of Multiple Input Multiple Output (MIMO) fully-actuated Autonomous Underwater Vehicles (AUV) to follow desired trajectories. Non-linearity that results from the hydrodynamics and the coupled AUV dynamics makes the design of a stable controller a very difficult task. In this study, the control scheme in a simulation environment is validated using dynamic and kinematic equations for the AUV model and hydrodynamic damping equations. An AUV configuration with eight thrusters and an inverse kinematic model from a previous work is utilized in the simulation. In the proposed controller, Mamdani fuzzy rules are used to tune the parameters of the PID. Nonlinear fuzzy Gaussian membership functions are selected to give better performance and response in the non-linear system. A control architecture with two feedback loops is designed such that the inner loop is for velocity control and outer loop is for position control. Several test scenarios are executed to validate the controller performance including different complex trajectories with and without injection of ocean current disturbances. A comparison between the proposed FPID controller and the conventional PID controller is studied and shows that the FPID controller has a faster response to the reference signal and more stable behavior in a disturbed non-linear environment.

Trajectories of delinquency and parenting styles

NARCIS (Netherlands)

Hoeve, M.; van Blokland, A.; Dubas, J.S.; Loeber, R; Gerris, J.R.M.; van der Laan, P.H.

2008-01-01

We investigated trajectories of adolescent delinquent development using data from the Pittsburgh Youth Study and examined the extent to which these different trajectories are differentially predicted by childhood parenting styles. Based on self-reported and official delinquency seriousness, covering

Trajectories of Delinquency and Parenting Styles

NARCIS (Netherlands)

Hoeve, M.; Blokland, A.A.J.; Dubas, J.S.; Loeber, R.; Gerris, J.R.M.; Laan, P.H. van der

2008-01-01

We investigated trajectories of adolescent delinquent development using data from the Pittsburgh Youth Study and examined the extent to which these different trajectories are differentially predicted by childhood parenting styles. Based on self-reported and official delinquency seriousness, covering

Neural network-based optimal adaptive output feedback control of a helicopter UAV.

Science.gov (United States)

Nodland, David; Zargarzadeh, Hassan; Jagannathan, Sarangapani

2013-07-01

Helicopter unmanned aerial vehicles (UAVs) are widely used for both military and civilian operations. Because the helicopter UAVs are underactuated nonlinear mechanical systems, high-performance controller design for them presents a challenge. This paper introduces an optimal controller design via an output feedback for trajectory tracking of a helicopter UAV, using a neural network (NN). The output-feedback control system utilizes the backstepping methodology, employing kinematic and dynamic controllers and an NN observer. The online approximator-based dynamic controller learns the infinite-horizon Hamilton-Jacobi-Bellman equation in continuous time and calculates the corresponding optimal control input by minimizing a cost function, forward-in-time, without using the value and policy iterations. Optimal tracking is accomplished by using a single NN utilized for the cost function approximation. The overall closed-loop system stability is demonstrated using Lyapunov analysis. Finally, simulation results are provided to demonstrate the effectiveness of the proposed control design for trajectory tracking.

RGBD Video Based Human Hand Trajectory Tracking and Gesture Recognition System

Directory of Open Access Journals (Sweden)

Weihua Liu

2015-01-01

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

Solar sail time-optimal interplanetary transfer trajectory design

International Nuclear Information System (INIS)

Gong Shengpin; Gao Yunfeng; Li Junfeng

2011-01-01

The fuel consumption associated with some interplanetary transfer trajectories using chemical propulsion is not affordable. A solar sail is a method of propulsion that does not consume fuel. Transfer time is one of the most pressing problems of solar sail transfer trajectory design. This paper investigates the time-optimal interplanetary transfer trajectories to a circular orbit of given inclination and radius. The optimal control law is derived from the principle of maximization. An indirect method is used to solve the optimal control problem by selecting values for the initial adjoint variables, which are normalized within a unit sphere. The conditions for the existence of the time-optimal transfer are dependent on the lightness number of the sail and the inclination and radius of the target orbit. A numerical method is used to obtain the boundary values for the time-optimal transfer trajectories. For the cases where no time-optimal transfer trajectories exist, first-order necessary conditions of the optimal control are proposed to obtain feasible solutions. The results show that the transfer time decreases as the minimum distance from the Sun decreases during the transfer duration. For a solar sail with a small lightness number, the transfer time may be evaluated analytically for a three-phase transfer trajectory. The analytical results are compared with previous results and the associated numerical results. The transfer time of the numerical result here is smaller than the transfer time from previous results and is larger than the analytical result.

Quantifying ataxia: ideal trajectory analysis--a technical note

Science.gov (United States)

McPartland, M. D.; Krebs, D. E.; Wall, C. 3rd

2000-01-01

We describe a quantitative method to assess repeated stair stepping stability. In both the mediolateral (ML) and anterioposterior (AP) directions, the trajectory of the subject's center of mass (COM) was compared to an ideal sinusoid. The two identified sinusoids were unique in each direction but coupled. Two dimensionless numbers-the mediolateral instability index (IML) and AP instability index (IAP)-were calculated using the COM trajectory and ideal sinusoids for each subject with larger index values resulting from less stable performance. The COM trajectories of nine nonimpaired controls and six patients diagnosed with unilateral or bilateral vestibular labyrinth hypofunction were analyzed. The average IML and IAP values of labyrinth disorder patients were respectively 127% and 119% greater than those of controls (panalysis distinguishes persons with labyrinth disorder from those without. The COM trajectories also identify movement inefficiencies attributable to vestibulopathy.

Towards Designing Graceful Degradation into Trajectory Based Operations: A Human-systems Integration Approach

Science.gov (United States)

Edwards, Tamsyn; Lee, Paul

2017-01-01

One of the most fundamental changes to the air traffic management system in NextGen is the concept of trajectory based operations (TBO). With the introduction of such change, system safety and resilience is a critical concern, in particular, the ability of systems to gracefully degrade. In order to design graceful degradation into a TBO envrionment, knowledge of the potential causes of degradation, and appropriate solutions, is required. In addition, previous research has predominantly explored the technological contribution to graceful degradation, frequently neglecting to consider the role of the human operator, specifically, air traffic controllers (ATCOs). This is out of step with real-world operations, and potentially limits an ecologically valid understanding of achieving graceful degradation in an air traffic control (ATC) environment. The following literature review aims to identify and summarize the literature to date on the potential causes of degradation in ATC and the solutions that may be applied within a TBO context, with a specific focus on the contribution of the air traffic controller. A framework of graceful degradation, developed from the literature, is presented. It is argued that in order to achieve graceful degradation within TBO, a human-system integration approach must be applied.

On the Optimization of Aerospace Plane Ascent Trajectory

Science.gov (United States)

Al-Garni, Ahmed; Kassem, Ayman Hamdy

A hybrid heuristic optimization technique based on genetic algorithms and particle swarm optimization has been developed and tested for trajectory optimization problems with multi-constraints and a multi-objective cost function. The technique is used to calculate control settings for two types for ascending trajectories (constant dynamic pressure and minimum-fuel-minimum-heat) for a two-dimensional model of an aerospace plane. A thorough statistical analysis is done on the hybrid technique to make comparisons with both basic genetic algorithms and particle swarm optimization techniques with respect to convergence and execution time. Genetic algorithm optimization showed better execution time performance while particle swarm optimization showed better convergence performance. The hybrid optimization technique, benefiting from both techniques, showed superior robust performance compromising convergence trends and execution time.

Hand interception of occluded motion in humans: a test of model-based vs. on-line control.

Science.gov (United States)

La Scaleia, Barbara; Zago, Myrka; Lacquaniti, Francesco

2015-09-01

Two control schemes have been hypothesized for the manual interception of fast visual targets. In the model-free on-line control, extrapolation of target motion is based on continuous visual information, without resorting to physical models. In the model-based control, instead, a prior model of target motion predicts the future spatiotemporal trajectory. To distinguish between the two hypotheses in the case of projectile motion, we asked participants to hit a ball that rolled down an incline at 0.2 g and then fell in air at 1 g along a parabola. By varying starting position, ball velocity and trajectory differed between trials. Motion on the incline was always visible, whereas parabolic motion was either visible or occluded. We found that participants were equally successful at hitting the falling ball in both visible and occluded conditions. Moreover, in different trials the intersection points were distributed along the parabolic trajectories of the ball, indicating that subjects were able to extrapolate an extended segment of the target trajectory. Remarkably, this trend was observed even at the very first repetition of movements. These results are consistent with the hypothesis of model-based control, but not with on-line control. Indeed, ball path and speed during the occlusion could not be extrapolated solely from the kinematic information obtained during the preceding visible phase. The only way to extrapolate ball motion correctly during the occlusion was to assume that the ball would fall under gravity and air drag when hidden from view. Such an assumption had to be derived from prior experience. Copyright © 2015 the American Physiological Society.

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

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Luliang Tang

2015-11-01

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

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

Science.gov (United States)

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

2017-11-01

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

Shaping low-thrust trajectories with thrust-handling feature

Science.gov (United States)

Taheri, Ehsan; Kolmanovsky, Ilya; Atkins, Ella

2018-02-01

Shape-based methods are becoming popular in low-thrust trajectory optimization due to their fast computation speeds. In existing shape-based methods constraints are treated at the acceleration level but not at the thrust level. These two constraint types are not equivalent since spacecraft mass decreases over time as fuel is expended. This paper develops a shape-based method based on a Fourier series approximation that is capable of representing trajectories defined in spherical coordinates and that enforces thrust constraints. An objective function can be incorporated to minimize overall mission cost, i.e., achieve minimum ΔV . A representative mission from Earth to Mars is studied. The proposed Fourier series technique is demonstrated capable of generating feasible and near-optimal trajectories. These attributes can facilitate future low-thrust mission designs where different trajectory alternatives must be rapidly constructed and evaluated.

Optimal planning approaches with multiple impulses for rendezvous based on hybrid genetic algorithm and control method

Directory of Open Access Journals (Sweden)

JingRui Zhang

2015-03-01

Full Text Available In this article, we focus on safe and effective completion of a rendezvous and docking task by looking at planning approaches and control with fuel-optimal rendezvous for a target spacecraft running on a near-circular reference orbit. A variety of existent practical path constraints are considered, including the constraints of field of view, impulses, and passive safety. A rendezvous approach is calculated by using a hybrid genetic algorithm with those constraints. Furthermore, a control method of trajectory tracking is adopted to overcome the external disturbances. Based on Clohessy–Wiltshire equations, we first construct the mathematical model of optimal planning approaches of multiple impulses with path constraints. Second, we introduce the principle of hybrid genetic algorithm with both stronger global searching ability and local searching ability. We additionally explain the application of this algorithm in the problem of trajectory planning. Then, we give three-impulse simulation examples to acquire an optimal rendezvous trajectory with the path constraints presented in this article. The effectiveness and applicability of the tracking control method are verified with the optimal trajectory above as control objective through the numerical simulation.

A Robot Trajectory Optimization Approach for Thermal Barrier Coatings Used for Free-Form Components

Science.gov (United States)

Cai, Zhenhua; Qi, Beichun; Tao, Chongyuan; Luo, Jie; Chen, Yuepeng; Xie, Changjun

2017-10-01

This paper is concerned with a robot trajectory optimization approach for thermal barrier coatings. As the requirements of high reproducibility of complex workpieces increase, an optimal thermal spraying trajectory should not only guarantee an accurate control of spray parameters defined by users (e.g., scanning speed, spray distance, scanning step, etc.) to achieve coating thickness homogeneity but also help to homogenize the heat transfer distribution on the coating surface. A mesh-based trajectory generation approach is introduced in this work to generate path curves on a free-form component. Then, two types of meander trajectories are generated by performing a different connection method. Additionally, this paper presents a research approach for introducing the heat transfer analysis into the trajectory planning process. Combining heat transfer analysis with trajectory planning overcomes the defects of traditional trajectory planning methods (e.g., local over-heating), which helps form the uniform temperature field by optimizing the time sequence of path curves. The influence of two different robot trajectories on the process of heat transfer is estimated by coupled FEM models which demonstrates the effectiveness of the presented optimization approach.

CC_TRS: Continuous Clustering of Trajectory Stream Data Based on Micro Cluster Life

Directory of Open Access Journals (Sweden)

Musaab Riyadh

2017-01-01

Full Text Available The rapid spreading of positioning devices leads to the generation of massive spatiotemporal trajectories data. In some scenarios, spatiotemporal data are received in stream manner. Clustering of stream data is beneficial for different applications such as traffic management and weather forecasting. In this article, an algorithm for Continuous Clustering of Trajectory Stream Data Based on Micro Cluster Life is proposed. The algorithm consists of two phases. There is the online phase where temporal micro clusters are used to store summarized spatiotemporal information for each group of similar segments. The clustering task in online phase is based on temporal micro cluster lifetime instead of time window technique which divides stream data into time bins and clusters each bin separately. For offline phase, a density based clustering approach is used to generate macro clusters depending on temporal micro clusters. The evaluation of the proposed algorithm on real data sets shows the efficiency and the effectiveness of the proposed algorithm and proved it is efficient alternative to time window technique.

Ground-based telescope pointing and tracking optimization using a neural controller.

Science.gov (United States)

Mancini, D; Brescia, M; Schipani, P

2003-01-01

Neural network models (NN) have emerged as important components for applications of adaptive control theories. Their basic generalization capability, based on acquired knowledge, together with execution rapidity and correlation ability between input stimula, are basic attributes to consider NN as an extremely powerful tool for on-line control of complex systems. By a control system point of view, not only accuracy and speed, but also, in some cases, a high level of adaptation capability is required in order to match all working phases of the whole system during its lifetime. This is particularly remarkable for a new generation ground-based telescope control system. Infact, strong changes in terms of system speed and instantaneous position error tolerance are necessary, especially in case of trajectory disturb induced by wind shake. The classical control scheme adopted in such a system is based on the proportional integral (PI) filter, already applied and implemented on a large amount of new generation telescopes, considered as a standard in this technological environment. In this paper we introduce the concept of a new approach, the neural variable structure proportional integral, (NVSPI), related to the implementation of a standard multi layer perceptron network in new generation ground-based Alt-Az telescope control systems. Its main purpose is to improve adaptive capability of the Variable structure proportional integral model, an already innovative control scheme recently introduced by authors [Proc SPIE (1997)], based on a modified version of classical PI control model, in terms of flexibility and accuracy of the dynamic response range also in presence of wind noise effects. The realization of a powerful well tested and validated telescope model simulation system allowed the possibility to directly compare performances of the two control schemes on simulated tracking trajectories, revealing extremely encouraging results in terms of NVSPI control robustness and

TH-EF-BRB-10: Dosimetric Validation of a Trajectory Based Cranial SRS Treatment Technique On a Varian TrueBeam Linac

Energy Technology Data Exchange (ETDEWEB)

Wilson, B [University of British Columbia, Vancouver, BC (Canada); Vancouver Cancer Centre, Vancouver, BC (Canada); Gete, E [Vancouver Cancer Centre, Vancouver, BC (Canada)

2016-06-15

Purpose: This work investigates the dosimetric accuracy of a trajectory based delivery technique in which an optimized radiation beam is delivered along a Couch-Gantry trajectory that is formed by simultaneous rotation of the linac gantry and the treatment couch. Methods: Nine trajectory based cranial SRS treatment plans were created using in-house optimization software. The plans were calculated for delivery on the TrueBeam STx linac with 6MV photon beam. Dose optimization was performed along a user-defined trajectory using MLC modulation, dose rate modulation and jaw tracking. The pre-defined trajectory chosen for this study is formed by a couch rotation through its full range of 180 degrees while the gantry makes four partial arc sweeps which are 170 degrees each. For final dose calculation, the trajectory based plans were exported to the Varian Eclipse Treatment Planning System. The plans were calculated on a homogeneous cube phantom measuring 18.2×18.2×18.2 cm3 with the analytical anisotropic algorithm (AAA) using a 1mm3 calculation voxel. The plans were delivered on the TrueBeam linac via the developer’s mode. Point dose measurements were performed on 9 patients with the IBA CC01 mini-chamber with a sensitive volume of 0.01 cc. Gafchromic film measurements along the sagittal and coronal planes were performed on three of the 9 treatment plans. Point dose values were compared with ion chamber measurements. Gamma analysis comparing film measurement and AAA calculations was performed using FilmQA Pro. Results: The AAA calculations and measurements were in good agreement. The point dose difference between AAA and ion chamber measurements were within 2.2%. Gamma analysis test pass rates (2%, 2mm passing criteria) for the Gafchromic film measurements were >95%. Conclusion: We have successfully tested TrueBeam’s ability to deliver accurate trajectory based treatments involving simultaneous gantry and couch rotation with MLC and dose rate modulation along the

Spatiotemporal Interpolation Methods for Solar Event Trajectories

Science.gov (United States)

Filali Boubrahimi, Soukaina; Aydin, Berkay; Schuh, Michael A.; Kempton, Dustin; Angryk, Rafal A.; Ma, Ruizhe

2018-05-01

This paper introduces four spatiotemporal interpolation methods that enrich complex, evolving region trajectories that are reported from a variety of ground-based and space-based solar observatories every day. Our interpolation module takes an existing solar event trajectory as its input and generates an enriched trajectory with any number of additional time–geometry pairs created by the most appropriate method. To this end, we designed four different interpolation techniques: MBR-Interpolation (Minimum Bounding Rectangle Interpolation), CP-Interpolation (Complex Polygon Interpolation), FI-Interpolation (Filament Polygon Interpolation), and Areal-Interpolation, which are presented here in detail. These techniques leverage k-means clustering, centroid shape signature representation, dynamic time warping, linear interpolation, and shape buffering to generate the additional polygons of an enriched trajectory. Using ground-truth objects, interpolation effectiveness is evaluated through a variety of measures based on several important characteristics that include spatial distance, area overlap, and shape (boundary) similarity. To our knowledge, this is the first research effort of this kind that attempts to address the broad problem of spatiotemporal interpolation of solar event trajectories. We conclude with a brief outline of future research directions and opportunities for related work in this area.

The role of locus of control and coping style in predicting longitudinal PTSD-trajectories after combat exposure.

Science.gov (United States)

Karstoft, Karen-Inge; Armour, Cherie; Elklit, Ask; Solomon, Zahava

2015-05-01

While longitudinal posttraumatic stress responses are known to be heterogeneous, little is known about predictors of those responses. We investigated if locus of control (LOC) and coping style are associated with long-term PTSD-trajectories after exposure to combat. Six hundred and seventy five Israeli soldiers with or without combat stress reaction (CSR) from the Lebanon war were assessed 1, 2, and 20 years after the war. Combat exposure, LOC, and coping style were then investigated as covariates of the trajectories of resilience, recovery, delayed onset, and chronicity. Symptomatic trajectories in the CSR and the non-CSR group were significantly associated to varying degrees with perceived life threat during combat (ORs: 1.76-2.53), internal LOC (0.77-0.87), emotional coping style (0.28-0.34), and low use of problem-focused coping (2.12-3.11). In conclusion, assessment of LOC and coping can aid prediction of chronic PTSD outcomes of combat exposure. Copyright © 2015 Elsevier Ltd. All rights reserved.

Sequence-to-Sequence Prediction of Vehicle Trajectory via LSTM Encoder-Decoder Architecture

OpenAIRE

Park, Seong Hyeon; Kim, ByeongDo; Kang, Chang Mook; Chung, Chung Choo; Choi, Jun Won

2018-01-01

In this paper, we propose a deep learning based vehicle trajectory prediction technique which can generate the future trajectory sequence of surrounding vehicles in real time. We employ the encoder-decoder architecture which analyzes the pattern underlying in the past trajectory using the long short-term memory (LSTM) based encoder and generates the future trajectory sequence using the LSTM based decoder. This structure produces the $K$ most likely trajectory candidates over occupancy grid ma...

Rapid Optimal Generation Algorithm for Terrain Following Trajectory Based on Optimal Control

Institute of Scientific and Technical Information of China (English)

杨剑影; 张海; 谢邦荣; 尹健

2004-01-01

Based on the optimal control theory, a 3-dimensionnal direct generation algorithm is proposed for anti-ground low altitude penetration tasks under complex terrain. By optimizing the terrain following(TF) objective function,terrain coordinate system, missile dynamic model and control vector, the TF issue is turning into the improved optimal control problem whose mathmatical model is simple and need not solve the second order terrain derivative. Simulation results prove that this method is reasonable and feasible. The TF precision is in the scope from 0.3 m to 3.0 m,and the planning time is less than 30 min. This method have the strongpionts such as rapidness, precision and has great application value.

Parameterized data-driven fuzzy model based optimal control of a semi-batch reactor.

Science.gov (United States)

Kamesh, Reddi; Rani, K Yamuna

2016-09-01

A parameterized data-driven fuzzy (PDDF) model structure is proposed for semi-batch processes, and its application for optimal control is illustrated. The orthonormally parameterized input trajectories, initial states and process parameters are the inputs to the model, which predicts the output trajectories in terms of Fourier coefficients. Fuzzy rules are formulated based on the signs of a linear data-driven model, while the defuzzification step incorporates a linear regression model to shift the domain from input to output domain. The fuzzy model is employed to formulate an optimal control problem for single rate as well as multi-rate systems. Simulation study on a multivariable semi-batch reactor system reveals that the proposed PDDF modeling approach is capable of capturing the nonlinear and time-varying behavior inherent in the semi-batch system fairly accurately, and the results of operating trajectory optimization using the proposed model are found to be comparable to the results obtained using the exact first principles model, and are also found to be comparable to or better than parameterized data-driven artificial neural network model based optimization results. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Decentralized flight trajectory planning of multiple aircraft

OpenAIRE

Yokoyama, Nobuhiro; 横山　信宏

2008-01-01

Conventional decentralized algorithms for optimal trajectory planning tend to require prohibitive computational time as the number of aircraft increases. To overcome this drawback, this paper proposes a novel decentralized trajectory planning algorithm adopting a constraints decoupling approach for parallel optimization. The constraints decoupling approach is formulated as the path constraints of the real-time trajectory optimization problem based on nonlinear programming. Due to the parallel...

Control of a flexible beam actuated by macro-fiber composite patches: I. Modeling and feedforward trajectory control

International Nuclear Information System (INIS)

Schröck, Johannes; Meurer, Thomas; Kugi, Andreas

2011-01-01

This paper considers a systematic approach for motion planning and feedforward control design for a flexible cantilever actuated by piezoelectric macro-fiber composite (MFC) patches. For accurate feedforward tracking control, special attention has to be paid to the inherent nonlinear hysteresis and creep behavior of these actuators. In order to account for these effects an appropriate compensator is applied which allows us to perform the tracking controller design on the basis of a linear infinite-dimensional model. A detailed analysis of the nonlinear actuator behavior as well as the compensator design and the overall experimental validation is presented in the companion paper (Schröck et al 2011 Smart Mater. Struct. 20 015016). The governing equations of motion of the hysteresis and creep compensated cantilever are determined by means of the extended Hamilton's principle. This allows us to consider the influence of the bonded patch actuators on the mechanical properties of the underlying beam structure in a straightforward manner and results in a model with spatially varying system parameters. For the solution of the motion planning and feedforward control problem a flatness-based methodology is proposed. In a first step, the infinite-dimensional system of the MFC-actuated flexible cantilever is approximated by a finite-dimensional model, where all system variables, i.e. the states, input and output, can be parameterized in terms of a so-called flat output. In a second step, it is shown by numerical simulations that these parameterizations converge with increasing system order of the finite-dimensional model such that the feedforward control input can be directly calculated in order to realize prescribed output trajectories

The power of a single trajectory

Science.gov (United States)

Schnellbächer, Nikolas D.; Schwarz, Ulrich S.

2018-03-01

Random walks are often evaluated in terms of their mean squared displacements, either for a large number of trajectories or for one very long trajectory. An alternative evaluation is based on the power spectral density, but here it is less clear which information can be extracted from a single trajectory. For continuous-time Brownian motion, Krapf et al now have mathematically proven that the one property that can be reliably extracted from a single trajectory is the frequency dependence of the ensemble-averaged power spectral density (Krapf et al 2018 New J. Phys. 20 023029). Their mathematical analysis also identifies the appropriate frequency window for this procedure and shows that the diffusion coefficient can be extracted by averaging over a small number of trajectories. The authors have verified their analytical results both by computer simulations and experiments.

Active trajectory control for a heavy ion beam probe on the compact helical system

International Nuclear Information System (INIS)

Fujisawa, A.; Iguchi, H.; Lee, S.; Crowley, T.P.; Hamada, Y.; Hidekuma, S.; Kojima, M.

1996-05-01

A 200 keV heavy ion beam probe (HIBP) on the Compact Helical System torsatron/heliotron uses a newly proposed method in order to control complicated beam trajectories in non-axisymmetrical devices. As a result, the HIBP has successfully measured potential profiles of the toroidal helical plasma. The article will describe the results of the potential profile measurements, together with the HIBP hardware system and procedures to realize the method. (author)

Terminal Control Area Aircraft Scheduling and Trajectory Optimization Approaches

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Samà Marcella

2017-01-01

Full Text Available Aviation authorities are seeking optimization methods to better use the available infrastructure and better manage aircraft movements. This paper deals with the realtime scheduling of take-off and landing aircraft at a busy terminal control area and with the optimization of aircraft trajectories during the landing procedures. The first problem aims to reduce the propagation of delays, while the second problem aims to either minimize the travel time or reduce the fuel consumption. Both problems are particularly complex, since the first one is NP-hard while the second one is nonlinear and a combined solution needs to be computed in a short-time during operations. This paper proposes a framework for the lexicographic optimization of the two problems. Computational experiments are performed for the Milano Malpensa airport and show the existing gaps between the performance indicators of the two problems when different lexicographic optimization approaches are considered.

Design Genetic Algorithm Optimization Education Software Based Fuzzy Controller for a Tricopter Fly Path Planning

Science.gov (United States)

Tran, Huu-Khoa; Chiou, Juing -Shian; Peng, Shou-Tao

2016-01-01

In this paper, the feasibility of a Genetic Algorithm Optimization (GAO) education software based Fuzzy Logic Controller (GAO-FLC) for simulating the flight motion control of Unmanned Aerial Vehicles (UAVs) is designed. The generated flight trajectories integrate the optimized Scaling Factors (SF) fuzzy controller gains by using GAO algorithm. The…

OPTIMAL AIRCRAFT TRAJECTORIES FOR SPECIFIED RANGE

Science.gov (United States)

Lee, H.

1994-01-01

For an aircraft operating over a fixed range, the operating costs are basically a sum of fuel cost and time cost. While minimum fuel and minimum time trajectories are relatively easy to calculate, the determination of a minimum cost trajectory can be a complex undertaking. This computer program was developed to optimize trajectories with respect to a cost function based on a weighted sum of fuel cost and time cost. As a research tool, the program could be used to study various characteristics of optimum trajectories and their comparison to standard trajectories. It might also be used to generate a model for the development of an airborne trajectory optimization system. The program could be incorporated into an airline flight planning system, with optimum flight plans determined at takeoff time for the prevailing flight conditions. The use of trajectory optimization could significantly reduce the cost for a given aircraft mission. The algorithm incorporated in the program assumes that a trajectory consists of climb, cruise, and descent segments. The optimization of each segment is not done independently, as in classical procedures, but is performed in a manner which accounts for interaction between the segments. This is accomplished by the application of optimal control theory. The climb and descent profiles are generated by integrating a set of kinematic and dynamic equations, where the total energy of the aircraft is the independent variable. At each energy level of the climb and descent profiles, the air speed and power setting necessary for an optimal trajectory are determined. The variational Hamiltonian of the problem consists of the rate of change of cost with respect to total energy and a term dependent on the adjoint variable, which is identical to the optimum cruise cost at a specified altitude. This variable uniquely specifies the optimal cruise energy, cruise altitude, cruise Mach number, and, indirectly, the climb and descent profiles. If the optimum

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

Directory of Open Access Journals (Sweden)

Humin Lei

2017-01-01

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

Data-Driven Based Asynchronous Motor Control for Printing Servo Systems

Science.gov (United States)

Bian, Min; Guo, Qingyun

Modern digital printing equipment aims to the environmental-friendly industry with high dynamic performances and control precision and low vibration and abrasion. High performance motion control system of printing servo systems was required. Control system of asynchronous motor based on data acquisition was proposed. Iterative learning control (ILC) algorithm was studied. PID control was widely used in the motion control. However, it was sensitive to the disturbances and model parameters variation. The ILC applied the history error data and present control signals to approximate the control signal directly in order to fully track the expect trajectory without the system models and structures. The motor control algorithm based on the ILC and PID was constructed and simulation results were given. The results show that data-driven control method is effective dealing with bounded disturbances for the motion control of printing servo systems.

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

Science.gov (United States)

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

2017-03-01

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

Component protection based automatic control

International Nuclear Information System (INIS)

Otaduy, P.J.

1992-01-01

Control and safety systems as well as operation procedures are designed on the basis of critical process parameters limits. The expectation is that short and long term mechanical damage and process failures will be avoided by operating the plant within the specified constraints envelopes. In this paper, one of the Advanced Liquid Metal Reactor (ALMR) design duty cycles events is discussed to corroborate that the time has come to explicitly make component protection part of the control system. Component stress assessment and aging data should be an integral part of the control system. Then transient trajectory planning and operating limits could be aimed at minimizing component specific and overall plant component damage cost functions. The impact of transients on critical components could then be managed according to plant lifetime design goals. The need for developing methodologies for online transient trajectory planning and assessment of operating limits in order to facilitate the explicit incorporation of damage assessment capabilities to the plant control and protection systems is discussed. 12 refs

Trajectory Shape Analysis and Anomaly Detection Utilizing Information Theory Tools

Directory of Open Access Journals (Sweden)

Yuejun Guo

2017-06-01

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

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

Directory of Open Access Journals (Sweden)

Dębski Roman

2016-06-01

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

Finite-time tracking control for multiple non-holonomic mobile robots based on visual servoing

Science.gov (United States)

Ou, Meiying; Li, Shihua; Wang, Chaoli

2013-12-01

This paper investigates finite-time tracking control problem of multiple non-holonomic mobile robots via visual servoing. It is assumed that the pinhole camera is fixed to the ceiling, and camera parameters are unknown. The desired reference trajectory is represented by a virtual leader whose states are available to only a subset of the followers, and the followers have only interaction. First, the camera-objective visual kinematic model is introduced by utilising the pinhole camera model for each mobile robot. Second, a unified tracking error system between camera-objective visual servoing model and desired reference trajectory is introduced. Third, based on the neighbour rule and by using finite-time control method, continuous distributed cooperative finite-time tracking control laws are designed for each mobile robot with unknown camera parameters, where the communication topology among the multiple mobile robots is assumed to be a directed graph. Rigorous proof shows that the group of mobile robots converges to the desired reference trajectory in finite time. Simulation example illustrates the effectiveness of our method.

Long Range Aircraft Trajectory Prediction

OpenAIRE

Magister, Tone

2009-01-01

The subject of the paper is the improvement of the aircraft future trajectory prediction accuracy for long-range airborne separation assurance. The strategic planning of safe aircraft flights and effective conflict avoidance tactics demand timely and accurate conflict detection based upon future four–dimensional airborne traffic situation prediction which is as accurate as each aircraft flight trajectory prediction. The improved kinematics model of aircraft relative flight considering flight ...

Multi-Objective Trajectory Optimization of a Hypersonic Reconnaissance Vehicle with Temperature Constraints

Science.gov (United States)

2014-12-26

geocentric gravitational constant ν basis functions ω angular velocity of the Earth Φ fuel-air ratio φ longitude φ optimal control terminal cost (Mayer) xxvi...incorporate sensor parameters. The current methodologies are also numerically inefficient. A trajectory optimization approach , or a general optimal...control software approach , that is computationally ef- ficient and versatile, while based on a robust mathematical foundation, would provide significant

Towards Designing Graceful Degradation into Trajectory Based Operations: A Human-Machine System Integration Approach

Science.gov (United States)

Edwards, Tamsyn; Lee, Paul

2017-01-01

One of the most fundamental changes to the air traffic management system in NextGen is the concept of trajectory based operations (TBO). With the introduction of such change, system safety and resilience is a critical concern, in particular, the ability of systems to gracefully degrade. In order to design graceful degradation into a TBO envrionment, knowledge of the potential causes of degradation, and appropriate solutions, is required. In addition, previous research has predominantly explored the technological contribution to graceful degradation, frequently neglecting to consider the role of the human operator, specifically, air traffic controllers (ATCOs). This is out of step with real-world operations, and potentially limits an ecologically valid understanding of achieving graceful degradation in an air traffic control (ATC) environment. The following literature review aims to identify and summarize the literature to date on the potential causes of degradation in ATC and the solutions that may be applied within a TBO context, with a specific focus on the contribution of the air traffic controller. A framework of graceful degradation, developed from the literature, is presented. It is argued that in order to achieve graceful degradation within TBO, a human-system integration approach must be applied.

Satellite Images-Based Obstacle Recognition and Trajectory Generation for Agricultural Vehicles

Directory of Open Access Journals (Sweden)

Mehmet Bodur

2015-12-01

Full Text Available In this study, a method for the generation of tracking trajectory points, detection and positioning of obstacles in agricultural fields have been presented. Our principal contribution is to produce traceable GPS trajectories for agricultural vehicles to be utilized by path planning algorithms, rather than a new path planning algorithm. The proposed system works with minimal initialization requirements, specifically, a single geographical coordinate entry of an agricultural field. The automation of agricultural plantation requires many aspects to be addressed, many of which have been covered in previous studies. Depending on the type of crop, different agricultural vehicles may be used in the field. However, regardless of their application, they all follow a specified trajectory in the field. This study takes advantage of satellite images for the detection and positioning of obstacles, and the generation of GPS trajectories in the agricultural realm. A set of image processing techniques is applied in Matlab for detection and positioning.

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

Energy Technology Data Exchange (ETDEWEB)

DRIESSEN,BRIAN; PARKER,GORDON G.

1999-09-01

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

DataComm in Flight Deck Surface Trajectory-Based Operations

Science.gov (United States)

Bakowski, Deborah L.; Foyle, David C.; Hooey, Becky L.; Meyer, Glenn R.; Wolter, Cynthia A.

2012-01-01

The purpose of this pilot-in-the-loop aircraft taxi simulation was to evaluate a NextGen concept for surface trajectory-based operations (STBO) in which air traffic control (ATC) issued taxi clearances with a required time of arrival (RTA) by Data Communications (DataComm). Flight deck avionics, driven by an error-nulling algorithm, displayed the speed needed to meet the RTA. To ensure robustness of the algorithm, the ability of 10 two-pilot crews to meet the RTA was tested in nine experimental trials representing a range of realistic conditions including a taxi route change, an RTA change, a departure clearance change, and a crossing traffic hold scenario. In some trials, these DataComm taxi clearances or clearance modifications were accompanied by 'preview' information, in which the airport map display showed a preview of the proposed route changes, including the necessary speed to meet the RTA. Overall, the results of this study show that with the aid of the RTA speed algorithm, pilots were able to meet their RTAs with very little time error in all of the robustness-testing scenarios. Results indicated that when taxi clearance changes were issued by DataComm only, pilots required longer notification distances than with voice communication. However, when the DataComm was accompanied by graphical preview, the notification distance required by pilots was equivalent to that for voice.

Action Recognition Using Discriminative Structured Trajectory Groups

KAUST Repository

Atmosukarto, Indriyati

2015-01-06

In this paper, we develop a novel framework for action recognition in videos. The framework is based on automatically learning the discriminative trajectory groups that are relevant to an action. Different from previous approaches, our method does not require complex computation for graph matching or complex latent models to localize the parts. We model a video as a structured bag of trajectory groups with latent class variables. We model action recognition problem in a weakly supervised setting and learn discriminative trajectory groups by employing multiple instance learning (MIL) based Support Vector Machine (SVM) using pre-computed kernels. The kernels depend on the spatio-temporal relationship between the extracted trajectory groups and their associated features. We demonstrate both quantitatively and qualitatively that the classification performance of our proposed method is superior to baselines and several state-of-the-art approaches on three challenging standard benchmark datasets.

PRESS: A Novel Framework of Trajectory Compression in Road Networks

OpenAIRE

Song, Renchu; Sun, Weiwei; Zheng, Baihua; Zheng, Yu

2014-01-01

Location data becomes more and more important. In this paper, we focus on the trajectory data, and propose a new framework, namely PRESS (Paralleled Road-Network-Based Trajectory Compression), to effectively compress trajectory data under road network constraints. Different from existing work, PRESS proposes a novel representation for trajectories to separate the spatial representation of a trajectory from the temporal representation, and proposes a Hybrid Spatial Compression (HSC) algorithm ...

Study of talcum charging status in parallel plate electrostatic separator based on particle trajectory analysis

Science.gov (United States)

Yunxiao, CAO; Zhiqiang, WANG; Jinjun, WANG; Guofeng, LI

2018-05-01

Electrostatic separation has been extensively used in mineral processing, and has the potential to separate gangue minerals from raw talcum ore. As for electrostatic separation, the particle charging status is one of important influence factors. To describe the talcum particle charging status in a parallel plate electrostatic separator accurately, this paper proposes a modern images processing method. Based on the actual trajectories obtained from sequence images of particle movement and the analysis of physical forces applied on a charged particle, a numerical model is built, which could calculate the charge-to-mass ratios represented as the charging status of particle and simulate the particle trajectories. The simulated trajectories agree well with the experimental results obtained by images processing. In addition, chemical composition analysis is employed to reveal the relationship between ferrum gangue mineral content and charge-to-mass ratios. Research results show that the proposed method is effective for describing the particle charging status in electrostatic separation.

Integral force feedback control with input shaping: Application to piezo-based scanning systems in ECDLs

Science.gov (United States)

Zhang, Meng; Liu, Zhigang; Zhu, Yu; Bu, Mingfan; Hong, Jun

2017-07-01

In this paper, a hybrid control system is developed by integrating the closed-loop force feedback and input shaping method to overcome the problem of the hysteresis and dynamic behavior in piezo-based scanning systems and increase the scanning speed of tunable external cavity diode lasers. The flexible hinge and piezoelectric actuators are analyzed, and a dynamic model of the scanning systems is established. A force sensor and an integral controller are utilized in integral force feedback (IFF) to directly augment the damping of the piezoelectric scanning systems. Hysteresis has been effectively eliminated, but the mechanical resonance is still evident. Noticeable residual vibration occurred after the inflection points and then gradually disappeared. For the further control of mechanical resonance, based on the theory of minimum-acceleration trajectory planning, the time-domain input shaping method was developed. The turning sections of a scanning trajectory are replaced by smooth curves, while the linear sections are retained. The IFF method is combined with the input shaping method to control the non-linearity and mechanical resonance in high-speed piezo-based scanning systems. Experiments are conducted, and the results demonstrate the effectiveness of the proposed control approach.

Integral force feedback control with input shaping: Application to piezo-based scanning systems in ECDLs.

Science.gov (United States)

Zhang, Meng; Liu, Zhigang; Zhu, Yu; Bu, Mingfan; Hong, Jun

2017-07-01

In this paper, a hybrid control system is developed by integrating the closed-loop force feedback and input shaping method to overcome the problem of the hysteresis and dynamic behavior in piezo-based scanning systems and increase the scanning speed of tunable external cavity diode lasers. The flexible hinge and piezoelectric actuators are analyzed, and a dynamic model of the scanning systems is established. A force sensor and an integral controller are utilized in integral force feedback (IFF) to directly augment the damping of the piezoelectric scanning systems. Hysteresis has been effectively eliminated, but the mechanical resonance is still evident. Noticeable residual vibration occurred after the inflection points and then gradually disappeared. For the further control of mechanical resonance, based on the theory of minimum-acceleration trajectory planning, the time-domain input shaping method was developed. The turning sections of a scanning trajectory are replaced by smooth curves, while the linear sections are retained. The IFF method is combined with the input shaping method to control the non-linearity and mechanical resonance in high-speed piezo-based scanning systems. Experiments are conducted, and the results demonstrate the effectiveness of the proposed control approach.

Automated trajectory planning for multiple-flyby interplanetary missions

Science.gov (United States)

Englander, Jacob

Many space mission planning problems may be formulated as hybrid optimal control problems (HOCP), i.e. problems that include both real-valued variables and categorical variables. In interplanetary trajectory design problems the categorical variables will typically specify the sequence of planets at which to perform flybys, and the real-valued variables will represent the launch date, ight times between planets, magnitudes and directions of thrust, flyby altitudes, etc. The contribution of this work is a framework for the autonomous optimization of multiple-flyby interplanetary trajectories. The trajectory design problem is converted into a HOCP with two nested loops: an "outer-loop" that finds the sequence of flybys and an "inner-loop" that optimizes the trajectory for each candidate yby sequence. The problem of choosing a sequence of flybys is posed as an integer programming problem and solved using a genetic algorithm (GA). This is an especially difficult problem to solve because GAs normally operate on a fixed-length set of decision variables. Since in interplanetary trajectory design the number of flyby maneuvers is not known a priori, it was necessary to devise a method of parameterizing the problem such that the GA can evolve a variable-length sequence of flybys. A novel "null gene" transcription was developed to meet this need. Then, for each candidate sequence of flybys, a trajectory must be found that visits each of the flyby targets and arrives at the final destination while optimizing some cost metric, such as minimizing ▵v or maximizing the final mass of the spacecraft. Three different classes of trajectory are described in this work, each of which requireda different physical model and optimization method. The choice of a trajectory model and optimization method is especially challenging because of the nature of the hybrid optimal control problem. Because the trajectory optimization problem is generated in real time by the outer-loop, the inner

Trajectory optimization of multiple quad-rotor UAVs in collaborative assembling task

Directory of Open Access Journals (Sweden)

Chen Yongbo

2016-02-01

Full Text Available A hierarchic optimization strategy based on the offline path planning process and online trajectory planning process is presented to solve the trajectory optimization problem of multiple quad-rotor unmanned aerial vehicles in the collaborative assembling task. Firstly, the path planning process is solved by a novel parallel intelligent optimization algorithm, the central force optimization-genetic algorithm (CFO-GA, which combines the central force optimization (CFO algorithm with the genetic algorithm (GA. Because of the immaturity of the CFO, the convergence analysis of the CFO is completed by the stability theory of the linear time-variant discrete-time systems. The results show that the parallel CFO-GA algorithm converges faster than the parallel CFO and the central force optimization-sequential quadratic programming (CFO-SQP algorithm. Then, the trajectory planning problem is established based on the path planning results. In order to limit the range of the attitude angle and guarantee the flight stability, the optimized object is changed from the ordinary six-degree-of-freedom rigid-body dynamic model to the dynamic model with an inner-loop attitude controller. The results show that the trajectory planning process can be solved by the mature SQP algorithm easily. Finally, the discussion and analysis of the real-time performance of the hierarchic optimization strategy are presented around the group number of the waypoints and the equal interval time.

BALCO 6/7-DoF trajectory model

NARCIS (Netherlands)

Wey, P.; Corriveau, D.; Saitz, T.A.; Ruijter, W. de; Strömbäck, P.

2016-01-01

BALCO is a six- and seven-degree-of-freedom trajectory simulation program based on the mathematical model defined by the NATO Standardization Recommendation 4618. The primary goal of BALCO is to compute high-fidelity trajectories for both conventional and precision-guided projectiles. The 6-DoF

Group-based developmental BMI trajectories, polycystic ovary syndrome, and gestational diabetes: a community-based longitudinal study.

Science.gov (United States)

Kakoly, Nadira Sultana; Earnest, Arul; Moran, Lisa J; Teede, Helena J; Joham, Anju E

2017-11-06

Obesity is common in young women, increasing insulin resistance (IR) and worsening pregnancy complications, including gestational diabetes (GDM). Women with polycystic ovary syndrome (PCOS) are commonly obese, which aggravates the severity of PCOS clinical expression. Relationships between these common insulin-resistant conditions, however, remain unclear. We conducted a secondary analysis of the Australian Longitudinal Study on Women's Health (ALSWH) database, including data from 8009 women aged 18-36 years across six surveys. We used latent-curve growth modelling to identify distinct body mass index (BMI) trajectories and multinomial logistic regression to explore sociodemographic and health variables characterizing BMI group membership. Logistic regression was used to assess independent risk of GDM. A total of 662 women (8.29%, 95% CI 7.68-8.89) reported PCOS. Three distinct BMI trajectories emerged, namely low stable (LSG) (63.8%), defined as an average trajectory remaining at ~25 kg/m 2 ; moderately rising (MRG) (28.8%), a curvilinear trajectory commencing in a healthy BMI and terminating in the overweight range; and high-rising (HRG) (7.4%), a curvilinear trajectory starting and terminating in the obese range. A high BMI in early reproductive life predicted membership in higher trajectories. The HRG BMI trajectory was independently associated with GDM (OR 2.50, 95% CI 1.80-3.48) and was a stronger correlate than PCOS (OR 1.89, 95% CI 1.41-2.54), maternal age, socioeconomic status, or parity. Our results suggest heterogeneity in BMI change among Australian women of reproductive age, with and without PCOS. Reducing early adult life weight represents an ideal opportunity to intervene at an early stage of reproductive life and decreases the risk of long-term metabolic complications such as GDM.

A model for helicopter guidance on spiral trajectories

Science.gov (United States)

Mendenhall, S.; Slater, G. L.

1980-01-01

A point mass model is developed for helicopter guidance on spiral trajectories. A fully coupled set of state equations is developed and perturbation equations suitable for 3-D and 4-D guidance are derived and shown to be amenable to conventional state variable feedback methods. Control variables are chosen to be the magnitude and orientation of the net rotor thrust. Using these variables reference controls for nonlevel accelerating trajectories are easily determined. The effects of constant wind are shown to require significant feedforward correction to some of the reference controls and to the time. Although not easily measured themselves, the controls variables chosen are shown to be easily related to the physical variables available in the cockpit.

Analytical Ballistic Trajectories with Approximately Linear Drag

Directory of Open Access Journals (Sweden)

Giliam J. P. de Carpentier

2014-01-01

Full Text Available This paper introduces a practical analytical approximation of projectile trajectories in 2D and 3D roughly based on a linear drag model and explores a variety of different planning algorithms for these trajectories. Although the trajectories are only approximate, they still capture many of the characteristics of a real projectile in free fall under the influence of an invariant wind, gravitational pull, and terminal velocity, while the required math for these trajectories and planners is still simple enough to efficiently run on almost all modern hardware devices. Together, these properties make the proposed approach particularly useful for real-time applications where accuracy and performance need to be carefully balanced, such as in computer games.

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

Science.gov (United States)

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

2015-11-01

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

Indexing the Trajectories of Moving Objects in Symbolic Indoor Space

DEFF Research Database (Denmark)

Jensen, Christian Søndergaard; Lu, Hua; Yang, Bin

2009-01-01

. This scenario calls for the indexing of indoor trajectories. Based on an appropriate notion of indoor trajectory and definitions of pertinent types of queries, the paper proposes two R-tree based structures for indexing object trajectories in symbolic indoor space. The RTR-tree represents a trajectory as a set......Indoor spaces accommodate large populations of individuals. With appropriate indoor positioning, e.g., Bluetooth and RFID, in place, large amounts of trajectory data result that may serve as a foundation for a wide variety of applications, e.g., space planning, way finding, and security...... for each index. An empirical performance study suggests that the two indexes are effective, efficient, and robust. The study also elicits the circumstances under which our proposals perform the best....

Parenting styles and body mass index trajectories from adolescence to adulthood.

Science.gov (United States)

Fuemmeler, Bernard F; Yang, Chongming; Costanzo, Phil; Hoyle, Rick H; Siegler, Ilene C; Williams, Redford B; Ostbye, Truls

2012-07-01

Parenting styles such as authoritarian, disengaged, or permissive are thought to be associated with greater adolescent obesity risk than an authoritative style. This study assessed the relationship between parenting styles and changes in body mass index (BMI) from adolescence to young adulthood. The study included self-reported data from adolescents in the National Longitudinal Study of Adolescent Health. Factor mixture modeling, a data-driven approach, was used to classify participants into parenting style groups based on measures of acceptance and control. Latent growth modeling (LGM) identified patterns of developmental changes in BMI. After a number of potential confounders were controlled for, parenting style variables were entered as predictors of BMI trajectories. Analyses were also conducted for male and female individuals of 3 racial-ethnic groups (Hispanic, black, white) to assess whether parenting styles were differentially associated with BMI trajectories in these 6 groups. Parenting styles were classified into 4 groups: authoritarian, disengaged, permissive, and balanced. Compared with the balanced parenting style, authoritarian and disengaged parenting styles were associated with a less steep average BMI increase (linear slope) over time, but also less leveling off (quadratic) of BMI over time. Differences in BMI trajectories were observed for various genders and races, but the differences did not reach statistical significance. Adolescents who reported having parents with authoritarian or disengaged parenting styles had greater increases in BMI as they transitioned to young adulthood despite having a lower BMI trajectory through adolescence.

Parenting Styles and Body Mass Index Trajectories From Adolescence to Adulthood

Science.gov (United States)

Fuemmeler, Bernard F.; Yang, Chongming; Costanzo, Phil; Hoyle, Rick H.; Ph.D.; Siegler, Ilene C.; Williams, Redford B.; Østbye, Truls

2013-01-01

Objective Parenting styles such as authoritarian, disengaged, or permissive are thought to be associated with greater adolescent obesity risk than an authoritative style. This study assessed the relationship between parenting styles and changes in body mass index (BMI) from adolescence to young adulthood. Methods The study included self-reported data from adolescents in the National Longitudinal Study of Adolescent Health. Factor mixture modeling, a data-driven approach, was used to classify participants into parenting style groups based on measures of acceptance and control. Latent growth modeling (LGM) identified patterns of developmental changes in BMI. After a number of potential cofounders were controlled for, parenting style variables were entered as predictors of BMI trajectories. Analyses were also conducted for males and females of three racial/ethnic groups (Hispanic, black, white) to assess whether parenting styles were differentially associated with BMI trajectories in these 6 groups. Results Parenting styles were classified into 4 groups: authoritarian, disengaged, permissive, and balanced. Compared with the balanced parenting style, authoritarian and disengaged parenting styles were associated with a less steep average BMI increase (linear slope) over time, but also less leveling off (quadratic) of BMI over time. Differences in BMI trajectories were observed for various genders and races, but the differences did not reach statistical significance. Conclusions Adolescents who reported having parents with authoritarian or disengaged parenting styles had greater increases in BMI as they transitioned to young adulthood despite having a lower BMI trajectory through adolescence. PMID:22545979

Sensitivity of trajectory calculations to the temporal frequency of wind data

Science.gov (United States)

Doty, Kevin G.; Perkey, Donald J.

1993-01-01

A mesoscale primitive equation model is used to create a 36-h simulation of the three-dimensional wind field of an intense maritime extratropical cyclone. The control experiment uses the simulated wind field every 15 min in a trajectory model to calculate back trajectories from various horizontal and vertical positions of interest relative to synoptic features of the storm. The latter trajectories are compared to trajectories that were calculated with the simulated wind data degraded in time to 30 min, 1 h, 3 h, 6h, and 12 h. Various error statistics reveal significant deterioration in trajectory accuracy between trajectories calculated with 1- and 3-h data frequencies. Trajectories calculated with 15-min, 30-min, and 1-h data frequencies yielded similar results, while trajectories calculated with data time frequencies 3 h and greater yielded results with unacceptably large errors.

Measuring the Distance of Moving Objects from Big Trajectory Data

Directory of Open Access Journals (Sweden)

Khaing Phyo Wai

2017-03-01

Full Text Available Location-based services have become important in social networking, mobile applications, advertising, traffic monitoring, and many other domains. The growth of location sensing devices has led to the vast generation of dynamic spatial-temporal data in the form of moving object trajectories which can be characterized as big trajectory data. Big trajectory data enables the opportunities such as analyzing the groups of moving objects. To obtain such facilities, the issue of this work is to find a distance measurement method that respects the geographic distance and the semantic similarity for each trajectory. Measurement of similarity between moving objects is a difficult task because not only their position changes but also their semantic features vary. In this research, a method to measure trajectory similarity based on both geographical features and semantic features of motion is proposed. Finally, the proposed methods are practically evaluated by using real trajectory dataset.

Windfield and trajectory models for tornado-propelled objects. Final report

International Nuclear Information System (INIS)

Redmann, G.H.; Radbill, J.R.; Marte, J.E.; Dergarabedian, P.; Fendell, F.E.

1983-03-01

This is the final report of a three-phased research project to develop a six-degree-of-freedom mathematical model to predict the trajectories of tornado-propelled objects. The model is based on the meteorological, aerodynamic, and dynamic processes that govern the trajectories of missiles in a tornadic windfield. The aerodynamic coefficients for the postulated missiles were obtained from full-scale wind tunnel tests on a 12-inch pipe and car and from drop tests. Rocket sled tests were run whereby the 12-inch pipe and car were injected into a worst-case tornado windfield in order to verify the trajectory model. To simplify and facilitate the use of the trajectory model for design applications without having to run the computer program, this report gives the trajectory data for NRC-postulated missiles in tables based on given variables of initial conditions of injection and tornado windfield. Complete descriptions of the tornado windfield and trajectory models are presented. The trajectory model computer program is also included for those desiring to perform trajectory or sensitivity analyses beyond those included in the report or for those wishing to examine other missiles and use other variables

Iterated non-linear model predictive control based on tubes and contractive constraints.

Science.gov (United States)

Murillo, M; Sánchez, G; Giovanini, L

2016-05-01

This paper presents a predictive control algorithm for non-linear systems based on successive linearizations of the non-linear dynamic around a given trajectory. A linear time varying model is obtained and the non-convex constrained optimization problem is transformed into a sequence of locally convex ones. The robustness of the proposed algorithm is addressed adding a convex contractive constraint. To account for linearization errors and to obtain more accurate results an inner iteration loop is added to the algorithm. A simple methodology to obtain an outer bounding-tube for state trajectories is also presented. The convergence of the iterative process and the stability of the closed-loop system are analyzed. The simulation results show the effectiveness of the proposed algorithm in controlling a quadcopter type unmanned aerial vehicle. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Simulation-Based Early Prediction of Rocket, Artillery, and Mortar Trajectories and Real-Time Optimization for Counter-RAM Systems

Directory of Open Access Journals (Sweden)

Arash Ramezani

2017-01-01

Full Text Available The threat imposed by terrorist attacks is a major hazard for military installations, for example, in Iraq and Afghanistan. The large amounts of rockets, artillery projectiles, and mortar grenades (RAM that are available pose serious threats to military forces. An important task for international research and development is to protect military installations and implement an accurate early warning system against RAM threats on conventional computer systems in out-of-area field camps. This work presents a method for determining the trajectory, caliber, and type of a projectile based on the estimation of the ballistic coefficient. A simulation-based optimization process is presented that enables iterative adjustment of predicted trajectories in real time. Analytical and numerical methods are used to reduce computing time for out-of-area missions and low-end computer systems. A GUI is programmed to present the results. It allows for comparison between predicted and actual trajectories. Finally, different aspects and restrictions for measuring the quality of the results are discussed.

Extended state observer-based motion synchronisation control for hybrid actuation system of large civil aircraft

Science.gov (United States)

Wang, Xingjian; Shi, Cun; Wang, Shaoping

2017-07-01

Hybrid actuation system with dissimilar redundant actuators, which is composed of a hydraulic actuator (HA) and an electro-hydrostatic actuator (EHA), has been applied on modern civil aircraft to improve the reliability. However, the force fighting problem arises due to different dynamic performances between HA and EHA. This paper proposes an extended state observer (ESO)-based motion synchronisation control method. To cope with the problem of unavailability of the state signals, the well-designed ESO is utilised to observe the HA and EHA state variables which are unmeasured. In particular, the extended state of ESO can estimate the lumped effect of the unknown external disturbances acting on the control surface, the nonlinear dynamics, uncertainties, and the coupling term between HA and EHA. Based on the observed states of ESO, motion synchronisation controllers are presented to make HA and EHA to simultaneously track the desired motion trajectories, which are generated by a trajectory generator. Additionally, the unknown disturbances and the coupling terms can be compensated by using the extended state of the proposed ESO. Finally, comparative simulation results indicate that the proposed ESO-based motion synchronisation controller can achieve great force fighting reduction between HA and EHA.

Intelligent robust control law for induction motors based on field-oriented control theory

Energy Technology Data Exchange (ETDEWEB)

Barambones, O.; Alcorta, P.; Sevillano, G.; Garrido, A.; Garrido, I. [Univ. del Pais Vasco, Bilbao (Spain). Dpto. Ingenieri a de Sistemas y Automatica

2009-07-01

A sensorless adaptive control law was developed to improve the trajectory tracking performance of induction motors. The law used an integral sliding mode algorithm to avoid the necessity of calculating an upper bound for system uncertainties. The vector control theory was used to develop the induction motor drives. The sliding mode control law incorporated an adaptive switching gain and included a method of estimating rotor speeds. Rotor speed estimation errors were presented as a first order simple function based on the difference between real stator currents and estimated stator currents. The Lyapunov stability theory was used to analyze the controller under different load disturbances and parameter uncertainties. Results of the study showed that the control signal of the scheme was smaller than signals obtained using traditional variable structure control schemes. It was concluded that speed tracking objectives can be obtained under various parameter and torque uncertainties. 9 refs., 7 figs.

Complexity Management Using Metrics for Trajectory Flexibility Preservation and Constraint Minimization

Science.gov (United States)

Idris, Husni; Shen, Ni; Wing, David J.

2011-01-01

The growing demand for air travel is increasing the need for mitigating air traffic congestion and complexity problems, which are already at high levels. At the same time new surveillance, navigation, and communication technologies are enabling major transformations in the air traffic management system, including net-based information sharing and collaboration, performance-based access to airspace resources, and trajectory-based rather than clearance-based operations. The new system will feature different schemes for allocating tasks and responsibilities between the ground and airborne agents and between the human and automation, with potential capacity and cost benefits. Therefore, complexity management requires new metrics and methods that can support these new schemes. This paper presents metrics and methods for preserving trajectory flexibility that have been proposed to support a trajectory-based approach for complexity management by airborne or ground-based systems. It presents extensions to these metrics as well as to the initial research conducted to investigate the hypothesis that using these metrics to guide user and service provider actions will naturally mitigate traffic complexity. The analysis showed promising results in that: (1) Trajectory flexibility preservation mitigated traffic complexity as indicated by inducing self-organization in the traffic patterns and lowering traffic complexity indicators such as dynamic density and traffic entropy. (2)Trajectory flexibility preservation reduced the potential for secondary conflicts in separation assurance. (3) Trajectory flexibility metrics showed potential application to support user and service provider negotiations for minimizing the constraints imposed on trajectories without jeopardizing their objectives.

Visiting Vehicle Ground Trajectory Tool

Science.gov (United States)

Hamm, Dustin

2013-01-01

The International Space Station (ISS) Visiting Vehicle Group needed a targeting tool for vehicles that rendezvous with the ISS. The Visiting Vehicle Ground Trajectory targeting tool provides the ability to perform both realtime and planning operations for the Visiting Vehicle Group. This tool provides a highly reconfigurable base, which allows the Visiting Vehicle Group to perform their work. The application is composed of a telemetry processing function, a relative motion function, a targeting function, a vector view, and 2D/3D world map type graphics. The software tool provides the ability to plan a rendezvous trajectory for vehicles that visit the ISS. It models these relative trajectories using planned and realtime data from the vehicle. The tool monitors ongoing rendezvous trajectory relative motion, and ensures visiting vehicles stay within agreed corridors. The software provides the ability to update or re-plan a rendezvous to support contingency operations. Adding new parameters and incorporating them into the system was previously not available on-the-fly. If an unanticipated capability wasn't discovered until the vehicle was flying, there was no way to update things.

Prediction-Based Control for Nonlinear Systems with Input Delay

Directory of Open Access Journals (Sweden)

I. Estrada-Sánchez

2017-01-01

Full Text Available This work has two primary objectives. First, it presents a state prediction strategy for a class of nonlinear Lipschitz systems subject to constant time delay in the input signal. As a result of a suitable change of variable, the state predictor asymptotically provides the value of the state τ units of time ahead. Second, it proposes a solution to the stabilization and trajectory tracking problems for the considered class of systems using predicted states. The predictor-controller convergence is proved by considering a complete Lyapunov functional. The proposed predictor-based controller strategy is evaluated using numerical simulations.

Predictors of Latent Trajectory Classes of Dating Violence Victimization

Science.gov (United States)

Brooks-Russell, Ashley; Foshee, Vangie; Ennett, Susan

2014-01-01

This study identified classes of developmental trajectories of physical dating violence victimization from grades 8 to 12 and examined theoretically-based risk factors that distinguished among trajectory classes. Data were from a multi-wave longitudinal study spanning 8th through 12th grade (n = 2,566; 51.9% female). Growth mixture models were used to identify trajectory classes of physical dating violence victimization separately for girls and boys. Logistic and multinomial logistic regressions were used to identify situational and target vulnerability factors associated with the trajectory classes. For girls, three trajectory classes were identified: a low/non-involved class; a moderate class where victimization increased slightly until the 10th grade and then decreased through the 12th grade; and a high class where victimization started at a higher level in the 8th grade, increased substantially until the 10th grade, and then decreased until the 12th grade. For males, two classes were identified: a low/non-involved class, and a victimized class where victimization increased slightly until the 9th grade, decreased until the 11th grade, and then increased again through the 12th grade. In bivariate analyses, almost all of the situational and target vulnerability risk factors distinguished the victimization classes from the non-involved classes. However, when all risk factors and control variables were in the model, alcohol use (a situational vulnerability) was the only factor that distinguished membership in the moderate trajectory class from the non-involved class for girls; anxiety and being victimized by peers (target vulnerability factors) were the factors that distinguished the high from the non-involved classes for the girls; and victimization by peers was the only factor distinguishing the victimized from the non-involved class for boys. These findings contribute to our understanding of the heterogeneity in physical dating violence victimization during

POLYANA-A tool for the calculation of molecular radial distribution functions based on Molecular Dynamics trajectories

Science.gov (United States)

Dimitroulis, Christos; Raptis, Theophanes; Raptis, Vasilios

2015-12-01

We present an application for the calculation of radial distribution functions for molecular centres of mass, based on trajectories generated by molecular simulation methods (Molecular Dynamics, Monte Carlo). When designing this application, the emphasis was placed on ease of use as well as ease of further development. In its current version, the program can read trajectories generated by the well-known DL_POLY package, but it can be easily extended to handle other formats. It is also very easy to 'hack' the program so it can compute intermolecular radial distribution functions for groups of interaction sites rather than whole molecules.

Regularity of Center of Pressure Trajectories in Expert Gymnasts during Bipedal Closed-Eyes Quiet Standing

Directory of Open Access Journals (Sweden)

Brice Isableu

2017-06-01

Full Text Available We compared postural control of expert gymnasts (G to that of non-gymnasts (NG during bipedal closed-eyes quiet standing using conventional and nonlinear dynamical measures of center of foot pressure (COP trajectories. Earlier findings based on COP classical variables showed that gymnasts exhibited a better control of postural balance but only in demanding stances. We examined whether the effect of expertise in Gymnastic can be uncovered in less demanding stances, from the analysis of the dynamic patterns of COP trajectories. Three dependent variables were computed to describe the subject’s postural behavior: the variability of COP displacements (ACoP, the variability of the COP velocities (VCoP and the sample entropy of COP (SEnCoP to quantify COP regularity (i.e., predictability. Conventional analysis of COP trajectories showed that NG and G exhibited similar amount and control of postural sway, as indicated by similar ACoP and VCoP values observed in NG and G, respectively. These results suggest that the specialized balance training received by G may not transfer to less challenging balance conditions such as the bipedal eyes-closed stance condition used in the present experiment. Interestingly, nonlinear dynamical analysis of COP trajectories regarding COP regularity showed that G exhibited more irregular COP fluctuations relative to NG, as indicated by the higher SEnCoP values observed for the G than for the NG. The present results showed that a finer-grained analysis of the dynamic patterns of the COP displacements is required to uncover an effect of gymnastic expertise on postural control in nondemanding postural stance. The present findings shed light on the surplus value in the nonlinear dynamical analysis of COP trajectories to gain further insight into the mechanisms involved in the control of bipedal posture.

Long range trajectories

Energy Technology Data Exchange (ETDEWEB)

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

1967-07-01

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

High-performance simulation-based algorithms for an alpine ski racer’s trajectory optimization in heterogeneous computer systems

Directory of Open Access Journals (Sweden)

Dębski Roman

2014-09-01

Full Text Available Effective, simulation-based trajectory optimization algorithms adapted to heterogeneous computers are studied with reference to the problem taken from alpine ski racing (the presented solution is probably the most general one published so far. The key idea behind these algorithms is to use a grid-based discretization scheme to transform the continuous optimization problem into a search problem over a specially constructed finite graph, and then to apply dynamic programming to find an approximation of the global solution. In the analyzed example it is the minimum-time ski line, represented as a piecewise-linear function (a method of elimination of unfeasible solutions is proposed. Serial and parallel versions of the basic optimization algorithm are presented in detail (pseudo-code, time and memory complexity. Possible extensions of the basic algorithm are also described. The implementation of these algorithms is based on OpenCL. The included experimental results show that contemporary heterogeneous computers can be treated as μ-HPC platforms-they offer high performance (the best speedup was equal to 128 while remaining energy and cost efficient (which is crucial in embedded systems, e.g., trajectory planners of autonomous robots. The presented algorithms can be applied to many trajectory optimization problems, including those having a black-box represented performance measure

Parallel trajectory similarity joins in spatial networks

KAUST Repository

Shang, Shuo

2018-04-04

The matching of similar pairs of objects, called similarity join, is fundamental functionality in data management. We consider two cases of trajectory similarity joins (TS-Joins), including a threshold-based join (Tb-TS-Join) and a top-k TS-Join (k-TS-Join), where the objects are trajectories of vehicles moving in road networks. Given two sets of trajectories and a threshold θ, the Tb-TS-Join returns all pairs of trajectories from the two sets with similarity above θ. In contrast, the k-TS-Join does not take a threshold as a parameter, and it returns the top-k most similar trajectory pairs from the two sets. The TS-Joins target diverse applications such as trajectory near-duplicate detection, data cleaning, ridesharing recommendation, and traffic congestion prediction. With these applications in mind, we provide purposeful definitions of similarity. To enable efficient processing of the TS-Joins on large sets of trajectories, we develop search space pruning techniques and enable use of the parallel processing capabilities of modern processors. Specifically, we present a two-phase divide-and-conquer search framework that lays the foundation for the algorithms for the Tb-TS-Join and the k-TS-Join that rely on different pruning techniques to achieve efficiency. For each trajectory, the algorithms first find similar trajectories. Then they merge the results to obtain the final result. The algorithms for the two joins exploit different upper and lower bounds on the spatiotemporal trajectory similarity and different heuristic scheduling strategies for search space pruning. Their per-trajectory searches are independent of each other and can be performed in parallel, and the mergings have constant cost. An empirical study with real data offers insight in the performance of the algorithms and demonstrates that they are capable of outperforming well-designed baseline algorithms by an order of magnitude.

Parallel trajectory similarity joins in spatial networks

KAUST Repository

Shang, Shuo; Chen, Lisi; Wei, Zhewei; Jensen, Christian S.; Zheng, Kai; Kalnis, Panos

2018-01-01

The matching of similar pairs of objects, called similarity join, is fundamental functionality in data management. We consider two cases of trajectory similarity joins (TS-Joins), including a threshold-based join (Tb-TS-Join) and a top-k TS-Join (k-TS-Join), where the objects are trajectories of vehicles moving in road networks. Given two sets of trajectories and a threshold θ, the Tb-TS-Join returns all pairs of trajectories from the two sets with similarity above θ. In contrast, the k-TS-Join does not take a threshold as a parameter, and it returns the top-k most similar trajectory pairs from the two sets. The TS-Joins target diverse applications such as trajectory near-duplicate detection, data cleaning, ridesharing recommendation, and traffic congestion prediction. With these applications in mind, we provide purposeful definitions of similarity. To enable efficient processing of the TS-Joins on large sets of trajectories, we develop search space pruning techniques and enable use of the parallel processing capabilities of modern processors. Specifically, we present a two-phase divide-and-conquer search framework that lays the foundation for the algorithms for the Tb-TS-Join and the k-TS-Join that rely on different pruning techniques to achieve efficiency. For each trajectory, the algorithms first find similar trajectories. Then they merge the results to obtain the final result. The algorithms for the two joins exploit different upper and lower bounds on the spatiotemporal trajectory similarity and different heuristic scheduling strategies for search space pruning. Their per-trajectory searches are independent of each other and can be performed in parallel, and the mergings have constant cost. An empirical study with real data offers insight in the performance of the algorithms and demonstrates that they are capable of outperforming well-designed baseline algorithms by an order of magnitude.

Influence of the snubbers and matching transformer on an optimal trajectory controlled resonant transistor DC/DC converter

Directory of Open Access Journals (Sweden)

Bankov Dimitrov Nikolay

2012-01-01

Full Text Available This work examines a series resonant DC/DC optimal trajectory controlled converter during operation above resonant frequency, taking into account the influence of the snubbers and matching transformer. We obtain expressions for the load characteristics, boundary curves between possible modes and limits of the soft commutation area. Computer simulation and experimental observation confirm the theoretical results.

Logarithmic spiral trajectories generated by Solar sails

Science.gov (United States)

Bassetto, Marco; Niccolai, Lorenzo; Quarta, Alessandro A.; Mengali, Giovanni

2018-02-01

Analytic solutions to continuous thrust-propelled trajectories are available in a few cases only. An interesting case is offered by the logarithmic spiral, that is, a trajectory characterized by a constant flight path angle and a fixed thrust vector direction in an orbital reference frame. The logarithmic spiral is important from a practical point of view, because it may be passively maintained by a Solar sail-based spacecraft. The aim of this paper is to provide a systematic study concerning the possibility of inserting a Solar sail-based spacecraft into a heliocentric logarithmic spiral trajectory without using any impulsive maneuver. The required conditions to be met by the sail in terms of attitude angle, propulsive performance, parking orbit characteristics, and initial position are thoroughly investigated. The closed-form variations of the osculating orbital parameters are analyzed, and the obtained analytical results are used for investigating the phasing maneuver of a Solar sail along an elliptic heliocentric orbit. In this mission scenario, the phasing orbit is composed of two symmetric logarithmic spiral trajectories connected with a coasting arc.

Developmental Trajectories of Childhood Obesity and Risk Behaviors in Adolescence

Science.gov (United States)

Huang, David Y. C.; Lanza, H. Isabella; Wright-Volel, Kynna; Anglin, M. Douglas

2013-01-01

Using group-based trajectory modeling, this study examined 5156 adolescents from the child sample of the 1979 National Longitudinal Survey of Youth to identify developmental trajectories of obesity from ages 6-18 and evaluate associations of such trajectories with risk behaviors and psychosocial health in adolescence. Four distinctive obesity…

Displaced Electric Sail Orbits Design and Transition Trajectory Optimization

Directory of Open Access Journals (Sweden)

Naiming Qi

2014-01-01

Full Text Available Displaced orbits for spacecraft propelled by electric sails are investigated as an alternative to the use of solar sails. The orbital dynamics of electric sails based spacecraft are studied within a spherical coordinate system, which permits finding the solutions of displaced electric sail orbits and optimize transfer trajectory. Transfer trajectories from Earth's orbit to displaced orbit are also studied in an optimal framework, by using genetic algorithm and Gauss pseudospectral method. The initial guesses for the state and control histories used in the Gauss pseudospectral method are interpolated from the best solution of a genetic algorithm. Numerical simulations show that the electric sail is able to perform the transfer from Earth’s orbit to displaced orbit in acceptable time, and the hybrid optimization method has the capability to search the feasible and optimal solution without any initial value guess.

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

Directory of Open Access Journals (Sweden)

Qingxuan Jia

2014-01-01

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

Trajectory of a synthetic jet issuing into a high Reynolds number turbulent boundary layer

Science.gov (United States)

Berk, Tim; Baidya, Rio; de Silva, Charitha; Marusic, Ivan; Hutchins, Nicholas; Ganapathisubramani, Bharathram

2017-11-01

Synthetic jets are zero-net-mass-flux actuators that can be used in a range of flow control applications. For several pulsed/synthetic jet in cross-flow applications the variation of the jet trajectory in the mean flow with jet and boundary layer parameters is important. This trajectory will provide an indication of the penetration depth of the pulsed/synthetic jet into a boundary layer. Trajectories of a synthetic jet in a turbulent boundary layer are measured for a range of actuation parameters in both low- and high Reynolds numbers (up to Reτ = 13000). The important parameters influencing the trajectory are determined from these measurements. The Reynolds number of the boundary layer is shown to only have a small effect on the trajectory. In fact, the critical parameters are found to be the Strouhal number of the jet based on jet dimensions as well as the velocity ratio of the jet (defined as a ratio between peak jet velocity and the freestream velocity). An expression for the trajectory of the synthetic (or pulsed) jet is derived from the data, which (in the limit) is consistent with known expressions for the trajectory of a steady jet in a cross-flow. T.B. and B.G. are grateful to the support from the ERC (Grant Agreement No. 277472) and the EPSRC (Grant ref. no. EP/L006383/1).

Trajectories of women's abortion-related care: A conceptual framework.

Science.gov (United States)

Coast, Ernestina; Norris, Alison H; Moore, Ann M; Freeman, Emily

2018-03-01

We present a new conceptual framework for studying trajectories to obtaining abortion-related care. It assembles for the first time all of the known factors influencing a trajectory and encourages readers to consider the ways these macro- and micro-level factors operate in multiple and sometimes conflicting ways. Based on presentation to and feedback from abortion experts (researchers, providers, funders, policymakers and advisors, advocates) (n = 325) between 03/06/2014 and 22/08/2015, and a systematic mapping of peer-reviewed literature (n = 424) published between 01/01/2011 and 30/10/2017, our framework synthesises the factors shaping abortion trajectories, grouped into three domains: abortion-specific experiences, individual contexts, and (inter)national and sub-national contexts. Our framework includes time-dependent processes involved in an individual trajectory, starting with timing of pregnancy awareness. This framework can be used to guide testable hypotheses about enabling and inhibiting influences on care-seeking behaviour and consideration about how abortion trajectories might be influenced by policy or practice. Research based on understanding of trajectories has the potential to improve women's experiences and outcomes of abortion-related care. Copyright © 2018 The Author(s). Published by Elsevier Ltd.. All rights reserved.

User oriented trajectory search for trip recommendation

KAUST Repository

Shang, Shuo

2012-01-01

Trajectory sharing and searching have received significant attentions in recent years. In this paper, we propose and investigate a novel problem called User Oriented Trajectory Search (UOTS) for trip recommendation. In contrast to conventional trajectory search by locations (spatial domain only), we consider both spatial and textual domains in the new UOTS query. Given a trajectory data set, the query input contains a set of intended places given by the traveler and a set of textual attributes describing the traveler\\'s preference. If a trajectory is connecting/close to the specified query locations, and the textual attributes of the trajectory are similar to the traveler\\'e preference, it will be recommended to the traveler for reference. This type of queries can bring significant benefits to travelers in many popular applications such as trip planning and recommendation. There are two challenges in the UOTS problem, (i) how to constrain the searching range in two domains and (ii) how to schedule multiple query sources effectively. To overcome the challenges and answer the UOTS query efficiently, a novel collaborative searching approach is developed. Conceptually, the UOTS query processing is conducted in the spatial and textual domains alternately. A pair of upper and lower bounds are devised to constrain the searching range in two domains. In the meantime, a heuristic searching strategy based on priority ranking is adopted for scheduling the multiple query sources, which can further reduce the searching range and enhance the query efficiency notably. Furthermore, the devised collaborative searching approach can be extended to situations where the query locations are ordered. The performance of the proposed UOTS query is verified by extensive experiments based on real and synthetic trajectory data in road networks. © 2012 ACM.

Management by Trajectory: Trajectory Management Study Report

Science.gov (United States)

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

2017-01-01

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

Quantum trajectory phase transitions in the micromaser.

Science.gov (United States)

Garrahan, Juan P; Armour, Andrew D; Lesanovsky, Igor

2011-08-01

We study the dynamics of the single-atom maser, or micromaser, by means of the recently introduced method of thermodynamics of quantum jump trajectories. We find that the dynamics of the micromaser displays multiple space-time phase transitions, i.e., phase transitions in ensembles of quantum jump trajectories. This rich dynamical phase structure becomes apparent when trajectories are classified by dynamical observables that quantify dynamical activity, such as the number of atoms that have changed state while traversing the cavity. The space-time transitions can be either first order or continuous, and are controlled not just by standard parameters of the micromaser but also by nonequilibrium "counting" fields. We discuss how the dynamical phase behavior relates to the better known stationary-state properties of the micromaser.

Parallel Aircraft Trajectory Optimization with Analytic Derivatives

Science.gov (United States)

Falck, Robert D.; Gray, Justin S.; Naylor, Bret

2016-01-01

Trajectory optimization is an integral component for the design of aerospace vehicles, but emerging aircraft technologies have introduced new demands on trajectory analysis that current tools are not well suited to address. Designing aircraft with technologies such as hybrid electric propulsion and morphing wings requires consideration of the operational behavior as well as the physical design characteristics of the aircraft. The addition of operational variables can dramatically increase the number of design variables which motivates the use of gradient based optimization with analytic derivatives to solve the larger optimization problems. In this work we develop an aircraft trajectory analysis tool using a Legendre-Gauss-Lobatto based collocation scheme, providing analytic derivatives via the OpenMDAO multidisciplinary optimization framework. This collocation method uses an implicit time integration scheme that provides a high degree of sparsity and thus several potential options for parallelization. The performance of the new implementation was investigated via a series of single and multi-trajectory optimizations using a combination of parallel computing and constraint aggregation. The computational performance results show that in order to take full advantage of the sparsity in the problem it is vital to parallelize both the non-linear analysis evaluations and the derivative computations themselves. The constraint aggregation results showed a significant numerical challenge due to difficulty in achieving tight convergence tolerances. Overall, the results demonstrate the value of applying analytic derivatives to trajectory optimization problems and lay the foundation for future application of this collocation based method to the design of aircraft with where operational scheduling of technologies is key to achieving good performance.

Online Detection of Anomalous Sub-trajectories: A Sliding Window Approach Based on Conformal Anomaly Detection and Local Outlier Factor

OpenAIRE

Laxhammar , Rikard; Falkman , Göran

2012-01-01

Part 4: First Conformal Prediction and Its Applications Workshop (COPA 2012); International audience; Automated detection of anomalous trajectories is an important problem in the surveillance domain. Various algorithms based on learning of normal trajectory patterns have been proposed for this problem. Yet, these algorithms suffer from one or more of the following limitations: First, they are essentially designed for offline anomaly detection in databases. Second, they are insensitive to loca...

A MapReduce-Based Parallel Frequent Pattern Growth Algorithm for Spatiotemporal Association Analysis of Mobile Trajectory Big Data

Directory of Open Access Journals (Sweden)

Dawen Xia

2018-01-01

Full Text Available Frequent pattern mining is an effective approach for spatiotemporal association analysis of mobile trajectory big data in data-driven intelligent transportation systems. While existing parallel algorithms have been successfully applied to frequent pattern mining of large-scale trajectory data, two major challenges are how to overcome the inherent defects of Hadoop to cope with taxi trajectory big data including massive small files and how to discover the implicitly spatiotemporal frequent patterns with MapReduce. To conquer these challenges, this paper presents a MapReduce-based Parallel Frequent Pattern growth (MR-PFP algorithm to analyze the spatiotemporal characteristics of taxi operating using large-scale taxi trajectories with massive small file processing strategies on a Hadoop platform. More specifically, we first implement three methods, that is, Hadoop Archives (HAR, CombineFileInputFormat (CFIF, and Sequence Files (SF, to overcome the existing defects of Hadoop and then propose two strategies based on their performance evaluations. Next, we incorporate SF into Frequent Pattern growth (FP-growth algorithm and then implement the optimized FP-growth algorithm on a MapReduce framework. Finally, we analyze the characteristics of taxi operating in both spatial and temporal dimensions by MR-PFP in parallel. The results demonstrate that MR-PFP is superior to existing Parallel FP-growth (PFP algorithm in efficiency and scalability.

Model-based Optimization and Feedback Control of the Current Density Profile Evolution in NSTX-U

Science.gov (United States)

Ilhan, Zeki Okan

Nuclear fusion research is a highly challenging, multidisciplinary field seeking contributions from both plasma physics and multiple engineering areas. As an application of plasma control engineering, this dissertation mainly explores methods to control the current density profile evolution within the National Spherical Torus eXperiment-Upgrade (NSTX-U), which is a substantial upgrade based on the NSTX device, which is located in Princeton Plasma Physics Laboratory (PPPL), Princeton, NJ. Active control of the toroidal current density profile is among those plasma control milestones that the NSTX-U program must achieve to realize its next-step operational goals, which are characterized by high-performance, long-pulse, MHD-stable plasma operation with neutral beam heating. Therefore, the aim of this work is to develop model-based, feedforward and feedback controllers that can enable time regulation of the current density profile in NSTX-U by actuating the total plasma current, electron density, and the powers of the individual neutral beam injectors. Motivated by the coupled, nonlinear, multivariable, distributed-parameter plasma dynamics, the first step towards control design is the development of a physics-based, control-oriented model for the current profile evolution in NSTX-U in response to non-inductive current drives and heating systems. Numerical simulations of the proposed control-oriented model show qualitative agreement with the high-fidelity physics code TRANSP. The next step is to utilize the proposed control-oriented model to design an open-loop actuator trajectory optimizer. Given a desired operating state, the optimizer produces the actuator trajectories that can steer the plasma to such state. The objective of the feedforward control design is to provide a more systematic approach to advanced scenario planning in NSTX-U since the development of such scenarios is conventionally carried out experimentally by modifying the tokamak's actuator

Pair-Wise Trajectory Management-Oceanic (PTM-O) . [Concept of Operations—Version 3.9

Science.gov (United States)

Jones, Kenneth M.

2014-01-01

This document describes the Pair-wise Trajectory Management-Oceanic (PTM-O) Concept of Operations (ConOps). Pair-wise Trajectory Management (PTM) is a concept that includes airborne and ground-based capabilities designed to enable and to benefit from, airborne pair-wise distance-monitoring capability. PTM includes the capabilities needed for the controller to issue a PTM clearance that resolves a conflict for a specific pair of aircraft. PTM avionics include the capabilities needed for the flight crew to manage their trajectory relative to specific designated aircraft. Pair-wise Trajectory Management PTM-Oceanic (PTM-O) is a regional specific application of the PTM concept. PTM is sponsored by the National Aeronautics and Space Administration (NASA) Concept and Technology Development Project (part of NASA's Airspace Systems Program). The goal of PTM is to use enhanced and distributed communications and surveillance along with airborne tools to permit reduced separation standards for given aircraft pairs, thereby increasing the capacity and efficiency of aircraft operations at a given altitude or volume of airspace.

Religiousness and Longitudinal Trajectories in Elders' Functional Status

Science.gov (United States)

Park, Nan Sook; Klemmack, David L.; Roff, Lucinda L.; Parker, Michael W.; Koenig, Harold G.; Sawyer, Patricia; Allman, Richard M.

2010-01-01

The purpose of this study was to examine the effects of religiousness on the trajectories of difficulties with activities of daily living (ADLs) and instrumental ADLs (IADLs) in community-dwelling older adults over a three-year period. Seven waves of data from the University of Alabama at Birmingham Study of Aging were analyzed using a hierarchical linear modeling method. The study was based on the 784 participants who completed interviews every six months between December 1999 and February 2004. Frequent religious service attendance was associated with fewer ADL difficulties and IADL difficulties at baseline. Furthermore, religious service attendance predicted slower increases for frequent churchgoers and steeper increases for less frequent churchgoers in IADL difficulties, controlling for variables related to demographics and resources. Religious service attendance was independently associated with ADL and IADL difficulties cross-sectionally. However, significant protective effects of religious service attendance were identified longitudinally only for the IADL trajectory. PMID:20485460

Lane-Level Vehicle Trajectory Reckoning for Cooperative Vehicle-Infrastructure System

Directory of Open Access Journals (Sweden)

Yinsong Wang

2012-01-01

Full Text Available This paper presents a lane-level positioning method by trajectory reckoning without Global Positioning System (GPS equipment in the environment of Cooperative Vehicle-Infrastructure System (CVIS. Firstly, the accuracy requirements of vehicle position in CVIS applications and the applicability of GPS positioning methods were analyzed. Then, a trajectory reckoning method based on speed and steering data from vehicle’s Control Area Network (CAN and roadside calibration facilities was proposed, which consists of three critical models, including real-time estimation of steering angle and vehicle direction, vehicle movement reckoning, and wireless calibration. Finally, the proposed method was validated through simulation and field tests under a variety of traffic conditions. Results show that the accuracy of the reckoned vehicle position can reach the lane level and match the requirements of common CVIS applications.

Association between mild cognitive impairment and trajectory-based spatial parameters during timed up and go test using a laser range sensor.

Science.gov (United States)

Nishiguchi, Shu; Yorozu, Ayanori; Adachi, Daiki; Takahashi, Masaki; Aoyama, Tomoki

2017-08-08

The Timed Up and Go (TUG) test may be a useful tool to detect not only mobility impairment but also possible cognitive impairment. In this cross-sectional study, we used the TUG test to investigate the associations between trajectory-based spatial parameters measured by laser range sensor (LRS) and cognitive impairment in community-dwelling older adults. The participants were 63 community-dwelling older adults (mean age, 73.0 ± 6.3 years). The trajectory-based spatial parameters during the TUG test were measured using an LRS. In each forward and backward phase, we calculated the minimum distance from the marker, the maximum distance from the x-axis (center line), the length of the trajectories, and the area of region surrounded by the trajectory of the center of gravity and the x-axis (center line). We measured mild cognitive impairment using the Mini-Mental State Examination score (26/27 was the cut-off score for defining mild cognitive impairment). Compared with participants with normal cognitive function, those with mild cognitive impairment exhibited the following trajectory-based spatial parameters: short minimum distance from the marker (p = 0.044), narrow area of center of gravity in the forward phase (p = 0.012), and a large forward/whole phase ratio of the area of the center of gravity (p = 0.026) during the TUG test. In multivariate logistic regression analyses, a short minimum distance from the marker (odds ratio [OR]: 0.82, 95% confidence interval [CI]: 0.69-0.98), narrow area of the center of gravity in the forward phase (OR: 0.01, 95% CI: 0.00-0.36), and large forward/whole phase ratio of the area of the center of gravity (OR: 0.94, 95% CI: 0.88-0.99) were independently associated with mild cognitive impairment. In conclusion, our results indicate that some of the trajectory-based spatial parameters measured by LRS during the TUG test were independently associated with cognitive impairment in older adults. In particular, older adults with

Global Launcher Trajectory Optimization for Lunar Base Settlement

NARCIS (Netherlands)

Pagano, A.; Mooij, E.

2010-01-01

The problem of a mission to the Moon to set a permanent outpost can be tackled by dividing the journey into three phases: the Earth ascent, the Earth-Moon transfer and the lunar landing. In this paper we present an optimization analysis of Earth ascent trajectories of existing launch vehicles

Simulation of boundary layer trajectory dispersion sensitivity to soil moisture conditions: MM5 and noah-based investigation

Science.gov (United States)

The sensitivity of trajectories from experiments in which volumetric values of soil moisture were changed with respect to control values were analyzed during three different synoptic episodes in June 2006. The MM5 and Noah land surface models were used to simulate the response of the planetary boun...

Depressive symptom trajectories in women affected by breast cancer and their male partners

DEFF Research Database (Denmark)

Rottmann, Nina; Hansen, Dorte Gilså; Hagedoorn, Mariët

2016-01-01

whether patients and partners had similar trajectories. METHODS: A nationwide, population-based cohort of couples dealing with breast cancer was established in Denmark. Participants completed the Center for Epidemiologic Studies-Depression Scale at baseline and 5 and 12 months later. Sociodemographic......PURPOSE: The purpose of this study was to identify subgroups of breast cancer patients and their partners based on distinct trajectories of depressive symptoms, to examine how relationship quality and medical and sociodemographic factors were associated with these trajectories, and to explore...... and medical characteristics were retrieved from registers. A trajectory finite mixture model was used to identify trajectories. RESULTS: The trajectories of depressive symptoms over time were analyzed in 546 patients and 508 partners. Among patients, 13 % had a high stable trajectory, 38 % an intermediate...

Estimation of Foot Plantar Center of Pressure Trajectories with Low-Cost Instrumented Insoles Using an Individual-Specific Nonlinear Model

Directory of Open Access Journals (Sweden)

Xinyao Hu

2018-02-01

Full Text Available Postural control is a complex skill based on the interaction of dynamic sensorimotor processes, and can be challenging for people with deficits in sensory functions. The foot plantar center of pressure (COP has often been used for quantitative assessment of postural control. Previously, the foot plantar COP was mainly measured by force plates or complicated and expensive insole-based measurement systems. Although some low-cost instrumented insoles have been developed, their ability to accurately estimate the foot plantar COP trajectory was not robust. In this study, a novel individual-specific nonlinear model was proposed to estimate the foot plantar COP trajectories with an instrumented insole based on low-cost force sensitive resistors (FSRs. The model coefficients were determined by a least square error approximation algorithm. Model validation was carried out by comparing the estimated COP data with the reference data in a variety of postural control assessment tasks. We also compared our data with the COP trajectories estimated by the previously well accepted weighted mean approach. Comparing with the reference measurements, the average root mean square errors of the COP trajectories of both feet were 2.23 mm (±0.64 (left foot and 2.72 mm (±0.83 (right foot along the medial–lateral direction, and 9.17 mm (±1.98 (left foot and 11.19 mm (±2.98 (right foot along the anterior–posterior direction. The results are superior to those reported in previous relevant studies, and demonstrate that our proposed approach can be used for accurate foot plantar COP trajectory estimation. This study could provide an inexpensive solution to fall risk assessment in home settings or community healthcare center for the elderly. It has the potential to help prevent future falls in the elderly.

Estimation of Foot Plantar Center of Pressure Trajectories with Low-Cost Instrumented Insoles Using an Individual-Specific Nonlinear Model.

Science.gov (United States)

Hu, Xinyao; Zhao, Jun; Peng, Dongsheng; Sun, Zhenglong; Qu, Xingda

2018-02-01

Postural control is a complex skill based on the interaction of dynamic sensorimotor processes, and can be challenging for people with deficits in sensory functions. The foot plantar center of pressure (COP) has often been used for quantitative assessment of postural control. Previously, the foot plantar COP was mainly measured by force plates or complicated and expensive insole-based measurement systems. Although some low-cost instrumented insoles have been developed, their ability to accurately estimate the foot plantar COP trajectory was not robust. In this study, a novel individual-specific nonlinear model was proposed to estimate the foot plantar COP trajectories with an instrumented insole based on low-cost force sensitive resistors (FSRs). The model coefficients were determined by a least square error approximation algorithm. Model validation was carried out by comparing the estimated COP data with the reference data in a variety of postural control assessment tasks. We also compared our data with the COP trajectories estimated by the previously well accepted weighted mean approach. Comparing with the reference measurements, the average root mean square errors of the COP trajectories of both feet were 2.23 mm (±0.64) (left foot) and 2.72 mm (±0.83) (right foot) along the medial-lateral direction, and 9.17 mm (±1.98) (left foot) and 11.19 mm (±2.98) (right foot) along the anterior-posterior direction. The results are superior to those reported in previous relevant studies, and demonstrate that our proposed approach can be used for accurate foot plantar COP trajectory estimation. This study could provide an inexpensive solution to fall risk assessment in home settings or community healthcare center for the elderly. It has the potential to help prevent future falls in the elderly.

Algorithm research for user trajectory matching across social media networks based on paragraph2vec

Science.gov (United States)

Xu, Qian; Chen, Hongchang; Zhi, Hongxin; Wang, Yanchuan

2018-04-01

Identifying users across different social media networks (SMN) is to link accounts of the same user that belong to the same individual across SMNs. The problem is fundamental and important, and its results can benefit many applications such as cross SMN user modeling and recommendation. With the development of GPS technology and mobile communication, more and more social networks provide location services. This provides a new opportunity for cross SMN user identification. In this paper, we solve cross SMN user identification problem in an unsupervised manner by utilizing user trajectory data in SMNs. A paragraph2vec based algorithm is proposed in which location sequence feature of user trajectory is captured in temporal and spatial dimensions. Our experimental results validate the effectiveness and efficiency of our algorithm.

Rare behavior of growth processes via umbrella sampling of trajectories

Science.gov (United States)

Klymko, Katherine; Geissler, Phillip L.; Garrahan, Juan P.; Whitelam, Stephen

2018-03-01

We compute probability distributions of trajectory observables for reversible and irreversible growth processes. These results reveal a correspondence between reversible and irreversible processes, at particular points in parameter space, in terms of their typical and atypical trajectories. Thus key features of growth processes can be insensitive to the precise form of the rate constants used to generate them, recalling the insensitivity to microscopic details of certain equilibrium behavior. We obtained these results using a sampling method, inspired by the "s -ensemble" large-deviation formalism, that amounts to umbrella sampling in trajectory space. The method is a simple variant of existing approaches, and applies to ensembles of trajectories controlled by the total number of events. It can be used to determine large-deviation rate functions for trajectory observables in or out of equilibrium.

Trajectories of Depressive Symptoms Among Web-Based Health Risk Assessment Participants.

Science.gov (United States)

Bedrosian, Richard; Hawrilenko, Matt; Cole-Lewis, Heather

2017-03-31

Health risk assessments (HRAs), which often screen for depressive symptoms, are administered to millions of employees and health plan members each year. HRA data provide an opportunity to examine longitudinal trends in depressive symptomatology, as researchers have done previously with other populations. The primary research questions were: (1) Can we observe longitudinal trajectories in HRA populations like those observed in other study samples? (2) Do HRA variables, which primarily reflect modifiable health risks, help us to identify predictors associated with these trajectories? (3) Can we make meaningful recommendations for population health management, applicable to HRA participants, based on predictors we identify? This study used growth mixture modeling (GMM) to examine longitudinal trends in depressive symptomatology among 22,963 participants in a Web-based HRA used by US employers and health plans. The HRA assessed modifiable health risks and variables such as stress, sleep, and quality of life. Five classes were identified: A "minimal depression" class (63.91%, 14,676/22,963) whose scores were consistently low across time, a "low risk" class (19.89%, 4568/22,963) whose condition remained subthreshold, a "deteriorating" class (3.15%, 705/22,963) who began at subthreshold but approached severe depression by the end of the study, a "chronic" class (4.71%, 1081/22,963) who remained highly depressed over time, and a "remitting" class (8.42%, 1933/22,963) who had moderate depression to start, but crossed into minimal depression by the end. Among those with subthreshold symptoms, individuals who were male (PInternet Research (http://www.jmir.org), 31.03.2017.

Trajectories of martian habitability.

Science.gov (United States)

Cockell, Charles S

2014-02-01

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

A Dimensionality Reduction-Based Multi-Step Clustering Method for Robust Vessel Trajectory Analysis

Directory of Open Access Journals (Sweden)

Huanhuan Li

2017-08-01

Full Text Available The Shipboard Automatic Identification System (AIS is crucial for navigation safety and maritime surveillance, data mining and pattern analysis of AIS information have attracted considerable attention in terms of both basic research and practical applications. Clustering of spatio-temporal AIS trajectories can be used to identify abnormal patterns and mine customary route data for transportation safety. Thus, the capacities of navigation safety and maritime traffic monitoring could be enhanced correspondingly. However, trajectory clustering is often sensitive to undesirable outliers and is essentially more complex compared with traditional point clustering. To overcome this limitation, a multi-step trajectory clustering method is proposed in this paper for robust AIS trajectory clustering. In particular, the Dynamic Time Warping (DTW, a similarity measurement method, is introduced in the first step to measure the distances between different trajectories. The calculated distances, inversely proportional to the similarities, constitute a distance matrix in the second step. Furthermore, as a widely-used dimensional reduction method, Principal Component Analysis (PCA is exploited to decompose the obtained distance matrix. In particular, the top k principal components with above 95% accumulative contribution rate are extracted by PCA, and the number of the centers k is chosen. The k centers are found by the improved center automatically selection algorithm. In the last step, the improved center clustering algorithm with k clusters is implemented on the distance matrix to achieve the final AIS trajectory clustering results. In order to improve the accuracy of the proposed multi-step clustering algorithm, an automatic algorithm for choosing the k clusters is developed according to the similarity distance. Numerous experiments on realistic AIS trajectory datasets in the bridge area waterway and Mississippi River have been implemented to compare our

A Dimensionality Reduction-Based Multi-Step Clustering Method for Robust Vessel Trajectory Analysis.

Science.gov (United States)

Li, Huanhuan; Liu, Jingxian; Liu, Ryan Wen; Xiong, Naixue; Wu, Kefeng; Kim, Tai-Hoon

2017-08-04

The Shipboard Automatic Identification System (AIS) is crucial for navigation safety and maritime surveillance, data mining and pattern analysis of AIS information have attracted considerable attention in terms of both basic research and practical applications. Clustering of spatio-temporal AIS trajectories can be used to identify abnormal patterns and mine customary route data for transportation safety. Thus, the capacities of navigation safety and maritime traffic monitoring could be enhanced correspondingly. However, trajectory clustering is often sensitive to undesirable outliers and is essentially more complex compared with traditional point clustering. To overcome this limitation, a multi-step trajectory clustering method is proposed in this paper for robust AIS trajectory clustering. In particular, the Dynamic Time Warping (DTW), a similarity measurement method, is introduced in the first step to measure the distances between different trajectories. The calculated distances, inversely proportional to the similarities, constitute a distance matrix in the second step. Furthermore, as a widely-used dimensional reduction method, Principal Component Analysis (PCA) is exploited to decompose the obtained distance matrix. In particular, the top k principal components with above 95% accumulative contribution rate are extracted by PCA, and the number of the centers k is chosen. The k centers are found by the improved center automatically selection algorithm. In the last step, the improved center clustering algorithm with k clusters is implemented on the distance matrix to achieve the final AIS trajectory clustering results. In order to improve the accuracy of the proposed multi-step clustering algorithm, an automatic algorithm for choosing the k clusters is developed according to the similarity distance. Numerous experiments on realistic AIS trajectory datasets in the bridge area waterway and Mississippi River have been implemented to compare our proposed method with

Diagnostic throughput factor analysis for en-route airspace and optimal aircraft trajectory generation based on capacity prediction and controller workload

Science.gov (United States)

Shin, Sanghyun

Today's National Airspace System (NAS) is approaching its limit to efficiently cope with the increasing air traffic demand. Next Generation Air Transportation System (NextGen) with its ambitious goals aims to make the air travel more predictable with fewer delays, less time sitting on the ground and holding in the air to improve the performance of the NAS. However, currently the performance of the NAS is mostly measured using delay-based metrics which do not capture a whole range of important factors that determine the quality and level of utilization of the NAS. The factors affecting the performance of the NAS are themselves not well defined to begin with. To address these issues, motivated by the use of throughput-based metrics in many areas such as ground transportation, wireless communication and manufacturing, this thesis identifies the different factors which majorly affect the performance of the NAS as demand (split into flight cancellation and flight rerouting), safe separation (split into conflict and metering) and weather (studied as convective weather) through careful comparison with other applications and performing empirical sensitivity analysis. Additionally, the effects of different factors on the NAS's performance are quantitatively studied using real traffic data with the Future ATM Concepts Evaluation Tool (FACET) for various sectors and centers of the NAS on different days. In this thesis we propose a diagnostic tool which can analyze the factors that have greater responsibility for regions of poor and better performances of the NAS. Based on the throughput factor analysis for en-route airspace, it was found that weather and controller workload are the major factors that decrease the efficiency of the airspace. Also, since resources such as air traffic controllers, infrastructure and airspace are limited, it is becoming increasingly important to use the available resources efficiently. To alleviate the impact of the weather and controller

A STUDY OF SHUTTLECOCK'S TRAJECTORY IN BADMINTON

Directory of Open Access Journals (Sweden)

Yung-Jen Chen

2009-12-01

Full Text Available The main purpose of this study was to construct and validate a motion equation for the flight of the badminton and to find the relationship between the air resistance force and a shuttlecock's speed. This research method was based on motion laws of aerodynamics. It applied aerodynamic theories to construct motion equation of a shuttlecock's flying trajectory under the effects of gravitational force and air resistance force. The result showed that the motion equation of a shuttlecock's flight trajectory could be constructed by determining the terminal velocity. The predicted shuttlecock trajectory fitted the measured data fairly well. The results also revealed that the drag force was proportional to the square of a shuttlecock velocity. Furthermore, the angle and strength of a stroke could influence trajectory. Finally, this study suggested that we could use a scientific approach to measure a shuttlecock's velocity objectively when testing the quality of shuttlecocks. And could be used to replace the traditional subjective method of the Badminton World Federation based on players' striking shuttlecocks, as well as applying research findings to improve professional knowledge of badminton player training

An Integrated Tool for Low Thrust Optimal Control Orbit Transfers in Interplanetary Trajectories

Science.gov (United States)

Dargent, T.; Martinot, V.

In the last recent years a significant progress has been made in optimal control orbit transfers using low thrust electrical propulsion for interplanetary missions. The system objective is always the same: decrease the transfer duration and increase the useful satellite mass. The optimum control strategy to perform the minimum time to orbit or the minimum fuel consumption requires the use of sophisticated mathematical tools, most of the time dedicated to a specific mission and therefore hardly reusable. To improve this situation and enable Alcatel Space to perform rather quick trajectory design as requested by mission analysis, we have developed a software tool T-3D dedicated to optimal control orbit transfers which integrates various initial and terminal rendezvous conditions - e.g. fixed arrival time for planet encounter - and engine thrust profiles -e.g. thrust law variation with respect to the distance to the Sun -. This single and quite versatile tool allows to perform analyses like minimum consumption for orbit insertions around a planet from an hyperbolic trajectory, interplanetary orbit transfers, low thrust minimum time multiple revolution orbit transfers, etc… From a mathematical point of view, the software relies on the minimum principle formulation to find the necessary conditions of optimality. The satellite dynamics is a two body model and relies of an equinoctial formulation of the Gauss equation. This choice has been made for numerical purpose and to solve more quickly the two point boundaries values problem. In order to handle the classical problem of co-state variables initialization, problems simpler than the actual one can be solved straight forward by the tool and the values of the co-state variables are kept as first guess for a more complex problem. Finally, a synthesis of the test cases is presented to illustrate the capacities of the tool, mixing examples of interplanetary mission, orbit insertion, multiple revolution orbit transfers

History matters: childhood weight trajectories as a basis for planning community-based obesity prevention to adolescents.

Science.gov (United States)

Ekberg, J; Angbratt, M; Valter, L; Nordvall, M; Timpka, T

2012-04-01

To use epidemiological data and a standardized economic model to compare projected costs for obesity prevention in late adolescence accrued using a cross-sectional weight classification for selecting adolescents at age 15 years compared with a longitudinal classification. All children born in a Swedish county (population 440 000) in 1991 who participated in all regular measurements of height and weight at ages 5, 10 and 15 years (n=4312) were included in the study. The selection strategies were compared by calculating the projected financial load resulting from supply of obesity prevention services from providers at all levels in the health care system. The difference in marginal cost per 1000 children was used as the primary end point for the analyses. Using the cross-sectional selection strategy, 3.8% of adolescents at age 15 years were selected for evaluation by a pediatric specialist, and 96.2% were chosen for population-based interventions. In the trajectory-based strategy, 2.4% of the adolescents were selected for intensive pediatric care, 1.4% for individual clinical interventions in primary health care, 14.0% for individual primary obesity prevention using the Internet and 82.1% for population-based interventions. Costs for the cross-sectional selection strategy were projected to USD463 581 per 1000 adolescents and for the trajectory-based strategy were USD 302 016 per 1000 adolescents. Using projections from epidemiological data, we found that by basing the selection of adolescents for obesity prevention on weight trajectories, the load on highly specialized pediatric care can be reduced by one-third and total health service costs for obesity management among adolescents reduced by one-third. Before use in policies and prevention program planning, our findings warrant confirmation in prospective cost-benefit studies.

Sampling Based Trajectory Planning for Robots in Dynamic Human Environments

DEFF Research Database (Denmark)

Svenstrup, Mikael

2010-01-01

Open-ended human environments, such as pedestrian streets, hospital corridors, train stations etc., are places where robots start to emerge. Hence, being able to plan safe and natural trajectories in these dynamic environments is an important skill for future generations of robots. In this work...... the problem is formulated as planning a minimal cost trajectory through a potential field, defined from the perceived position and motion of persons in the environment. A modified Rapidlyexploring Random Tree (RRT) algorithm is proposed as a solution to the planning problem. The algorithm implements a new...... for the uncertainty in the dynamic environment. The planning algorithm is demonstrated in a simulated pedestrian street environment....

Developmental Trajectories of Social Skills during Early Childhood and Links to Parenting Practices in a Japanese Sample.

Science.gov (United States)

Takahashi, Yusuke; Okada, Kensuke; Hoshino, Takahiro; Anme, Tokie

2015-01-01

This study used data from a nationwide survey in Japan to model the developmental course of social skills during early childhood. The goals of this study were to identify longitudinal profiles of social skills between 2 and 5 years of age using a group-based trajectory approach, and to investigate whether and to what extent parenting practices at 2 years of age predicted developmental trajectories of social skills during the preschool period. A relatively large sample of boys and girls (N > 1,000) was assessed on three social skill dimensions (Cooperation, Self-control, and Assertion) at four time points (ages 2, 3, 4, and 5), and on four parenting practices (cognitive and emotional involvement, avoidance of restriction and punishment, social stimulation, and social support for parenting) at age 2. The results indicated that for each social skill dimension, group-based trajectory models identified three distinct trajectories: low, moderate, and high. Multinomial regression analysis revealed that parenting practice variables showed differential contributions to development of child social skills. Specifically, Cooperation and Assertion were promoted by cognitive and emotional involvement, Self-control by social stimulation, and Assertion by avoidance of restriction and punishment. Abundant social support for parenting was not associated with higher child social skills trajectories. We found heterogeneity in developmental profiles of social skills during the preschool ages, and we identified parenting practices that contributed to different patterns of social skills development. We discussed the implications of higher-quality parenting practices on the improvement of child social skills across early childhood.

Grasping trajectories in a virtual environment adhere to Weber's law.

Science.gov (United States)

Ozana, Aviad; Berman, Sigal; Ganel, Tzvi

2018-06-01

Virtual-reality and telerobotic devices simulate local motor control of virtual objects within computerized environments. Here, we explored grasping kinematics within a virtual environment and tested whether, as in normal 3D grasping, trajectories in the virtual environment are performed analytically, violating Weber's law with respect to object's size. Participants were asked to grasp a series of 2D objects using a haptic system, which projected their movements to a virtual space presented on a computer screen. The apparatus also provided object-specific haptic information upon "touching" the edges of the virtual targets. The results showed that grasping movements performed within the virtual environment did not produce the typical analytical trajectory pattern obtained during 3D grasping. Unlike as in 3D grasping, grasping trajectories in the virtual environment adhered to Weber's law, which indicates relative resolution in size processing. In addition, the trajectory patterns differed from typical trajectories obtained during 3D grasping, with longer times to complete the movement, and with maximum grip apertures appearing relatively early in the movement. The results suggest that grasping movements within a virtual environment could differ from those performed in real space, and are subjected to irrelevant effects of perceptual information. Such atypical pattern of visuomotor control may be mediated by the lack of complete transparency between the interface and the virtual environment in terms of the provided visual and haptic feedback. Possible implications of the findings to movement control within robotic and virtual environments are further discussed.

Two-phase strategy of neural control for planar reaching movements: II--relation to spatiotemporal characteristics of movement trajectory.

Science.gov (United States)

Rand, Miya K; Shimansky, Yury P

2013-09-01

In the companion paper utilizing a quantitative model of optimal motor coordination (Part I, Rand and Shimansky, in Exp Brain Res 225:55-73, 2013), we examined coordination between X and Y movement directions (XYC) during reaching movements performed under three prescribed speeds, two movement amplitudes, and two target sizes. The obtained results indicated that the central nervous system (CNS) utilizes a two-phase strategy, where the initial and the final phases correspond to lower and higher precision of information processing, respectively, for controlling goal-directed reach-type movements to optimize the total cost of task performance including the cost of neural computations. The present study investigates how two different well-known concepts used for describing movement performance relate to the concepts of optimal XYC and two-phase control strategy. First, it is examined to what extent XYC is equivalent to movement trajectory straightness. The data analysis results show that the variability, the movement trajectory's deviation from the straight line, increases with an increase in prescribed movement speed. In contrast, the dependence of XYC strength on movement speed is opposite (in total agreement with an assumption of task performance optimality), suggesting that XYC is a feature of much higher level of generality than trajectory straightness. Second, it is tested how well the ballistic and the corrective components described in the traditional concept of two-component model of movement performance match with the initial and the final phase of the two-phase control strategy, respectively. In fast reaching movements, the percentage of trials with secondary corrective submovement was smaller under larger-target shorter-distance conditions. In slower reaching movements, meaningful parsing was impossible due to massive fluctuations in the kinematic profile throughout the movement. Thus, the parsing points determined by the conventional submovement analysis

LINEAR LATTICE AND TRAJECTORY RECONSTRUCTION AND CORRECTION AT FAST LINEAR ACCELERATOR

Energy Technology Data Exchange (ETDEWEB)

Romanov, A. [Fermilab; Edstrom, D. [Fermilab; Halavanau, A. [Northern Illinois U.

2017-07-16

The low energy part of the FAST linear accelerator based on 1.3 GHz superconducting RF cavities was successfully commissioned [1]. During commissioning, beam based model dependent methods were used to correct linear lattice and trajectory. Lattice correction algorithm is based on analysis of beam shape from profile monitors and trajectory responses to dipole correctors. Trajectory responses to field gradient variations in quadrupoles and phase variations in superconducting RF cavities were used to correct bunch offsets in quadrupoles and accelerating cavities relative to their magnetic axes. Details of used methods and experimental results are presented.

On Integral Invariants for Effective 3-D Motion Trajectory Matching and Recognition.

Science.gov (United States)

Shao, Zhanpeng; Li, Youfu

2016-02-01

Motion trajectories tracked from the motions of human, robots, and moving objects can provide an important clue for motion analysis, classification, and recognition. This paper defines some new integral invariants for a 3-D motion trajectory. Based on two typical kernel functions, we design two integral invariants, the distance and area integral invariants. The area integral invariants are estimated based on the blurred segment of noisy discrete curve to avoid the computation of high-order derivatives. Such integral invariants for a motion trajectory enjoy some desirable properties, such as computational locality, uniqueness of representation, and noise insensitivity. Moreover, our formulation allows the analysis of motion trajectories at a range of scales by varying the scale of kernel function. The features of motion trajectories can thus be perceived at multiscale levels in a coarse-to-fine manner. Finally, we define a distance function to measure the trajectory similarity to find similar trajectories. Through the experiments, we examine the robustness and effectiveness of the proposed integral invariants and find that they can capture the motion cues in trajectory matching and sign recognition satisfactorily.

A Formally Verified Conflict Detection Algorithm for Polynomial Trajectories

Science.gov (United States)

Narkawicz, Anthony; Munoz, Cesar

2015-01-01

In air traffic management, conflict detection algorithms are used to determine whether or not aircraft are predicted to lose horizontal and vertical separation minima within a time interval assuming a trajectory model. In the case of linear trajectories, conflict detection algorithms have been proposed that are both sound, i.e., they detect all conflicts, and complete, i.e., they do not present false alarms. In general, for arbitrary nonlinear trajectory models, it is possible to define detection algorithms that are either sound or complete, but not both. This paper considers the case of nonlinear aircraft trajectory models based on polynomial functions. In particular, it proposes a conflict detection algorithm that precisely determines whether, given a lookahead time, two aircraft flying polynomial trajectories are in conflict. That is, it has been formally verified that, assuming that the aircraft trajectories are modeled as polynomial functions, the proposed algorithm is both sound and complete.

Control Algorithm Trajectory Planning for Dual Cooperative Manipulators with Experimental Verification

Directory of Open Access Journals (Sweden)

Omar Ahmed

2016-01-01

Full Text Available In order to achieve cooperation of multi-robots simultaneously, this paper presents an approach of Trajectory planning for two decoupled robots with six degrees of freedom (DOF each to execute packing task. The Denavit-Hartenberg (D-H representation is used to model robot links and solve the transformation matrices of each joint. The inverse kinematics solution using for a 6- DOF Robotic arm is presented, for given initial and final configurations of the robots, the robots are placed so that their workspaces overlap. An algorithm successfully finds a set of configurations to ensure, collision free transition from start to end configuration. Simulation and experiments based on 6-dof robot are carried out and the results verified the effectiveness of the proposed algorithm.

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

International Nuclear Information System (INIS)

Park, Moon Ghu; Cho, Nam Zin

1993-01-01

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

Clustering Trajectories by Relevant Parts for Air Traffic Analysis.

Science.gov (United States)

Andrienko, Gennady; Andrienko, Natalia; Fuchs, Georg; Garcia, Jose Manuel Cordero

2018-01-01

Clustering of trajectories of moving objects by similarity is an important technique in movement analysis. Existing distance functions assess the similarity between trajectories based on properties of the trajectory points or segments. The properties may include the spatial positions, times, and thematic attributes. There may be a need to focus the analysis on certain parts of trajectories, i.e., points and segments that have particular properties. According to the analysis focus, the analyst may need to cluster trajectories by similarity of their relevant parts only. Throughout the analysis process, the focus may change, and different parts of trajectories may become relevant. We propose an analytical workflow in which interactive filtering tools are used to attach relevance flags to elements of trajectories, clustering is done using a distance function that ignores irrelevant elements, and the resulting clusters are summarized for further analysis. We demonstrate how this workflow can be useful for different analysis tasks in three case studies with real data from the domain of air traffic. We propose a suite of generic techniques and visualization guidelines to support movement data analysis by means of relevance-aware trajectory clustering.

A new trajectory concept for exploring the earth's geomagnetic tail

Science.gov (United States)

Farquhar, R. W.; Dunham, D. W.

1981-01-01

An innovative trajectory technique for a magnetotail mapping mission is described which can control the apsidal rotation of an elliptical earth orbit and keep its apogee segment inside the tail region. The required apsidal rotation rate of approximately 1 deg/day is achieved by using the moon to carry out a prescribed sequence of gravity-assist maneuvers. Apogee distances are alternately raised and lowered by the lunar-swingby maneuvers; several categories of the 'sun-synchronous' swingby trajectories are identified. The strength and flexibility of the new trajectory concept is demonstrated by using real-world simulations showing that a large variety of trajectory shapes can be used to explore the earth's geomagnetic tail between 60 and 250 R sub E.

Anxiety trajectories in response to a speech task in social anxiety disorder: Evidence from a randomized controlled trial of CBT

Science.gov (United States)

Morrison, Amanda S.; Brozovich, Faith A.; Lee, Ihno A.; Jazaieri, Hooria; Goldin, Philippe R.; Heimberg, Richard G.; Gross, James J.

2016-01-01

The subjective experience of anxiety plays a central role in cognitive behavioral models of social anxiety disorder (SAD). However, much remains to be learned about the temporal dynamics of anxiety elicited by feared social situations. The aims of the current study were: 1) to compare anxiety trajectories during a speech task in individuals with SAD (n = 135) versus healthy controls (HCs; n = 47), and 2) to compare the effects of CBT on anxiety trajectories with a waitlist control condition. SAD was associated with higher levels of anxiety and greater increases in anticipatory anxiety compared to HCs, but not differential change in anxiety from pre- to post-speech. CBT was associated with decreases in anxiety from pre- to post-speech but not with changes in absolute levels of anticipatory anxiety or rates of change in anxiety during anticipation. The findings suggest that anticipatory experiences should be further incorporated into exposures. PMID:26760456

Dynamics and control of quadcopter using linear model predictive control approach

Science.gov (United States)

Islam, M.; Okasha, M.; Idres, M. M.

2017-12-01

This paper investigates the dynamics and control of a quadcopter using the Model Predictive Control (MPC) approach. The dynamic model is of high fidelity and nonlinear, with six degrees of freedom that include disturbances and model uncertainties. The control approach is developed based on MPC to track different reference trajectories ranging from simple ones such as circular to complex helical trajectories. In this control technique, a linearized model is derived and the receding horizon method is applied to generate the optimal control sequence. Although MPC is computer expensive, it is highly effective to deal with the different types of nonlinearities and constraints such as actuators’ saturation and model uncertainties. The MPC parameters (control and prediction horizons) are selected by trial-and-error approach. Several simulation scenarios are performed to examine and evaluate the performance of the proposed control approach using MATLAB and Simulink environment. Simulation results show that this control approach is highly effective to track a given reference trajectory.

Early maternal depressive symptom trajectories: Associations with 7-year maternal depressive symptoms and child behavior.

Science.gov (United States)

Buckingham-Howes, Stacy; Oberlander, Sarah E; Wang, Yan; Black, Maureen M

2017-06-01

This study examines potential mechanisms linking maternal depressive symptoms over 2 years postpartum with child behavior problems at school-age in a sample of adolescent mothers and their first-born child. Potential mechanisms include: mother-reported caregiving engagement at 6 months; observed parental nurturance and control, and child competence and affect at 24 months; and mother-reported resilience at 7 years based on achievement of adult developmental tasks. One hundred eighteen low-income African American adolescent mothers were recruited at delivery and followed through child age 7 years. Maternal depressive symptom trajectories over 24 months were estimated (low, medium, and high) based on mother-reported depressive symptoms. Direct and indirect associations between depressive symptom trajectories with 7-year maternal depressive symptoms and child behavior problems were examined. The high maternal depressive symptom trajectory was associated with 7-year maternal depressive symptoms (b = 5.52, SE = 1.65, p child internalizing problems (b = 7.60, SE = 3.12, p = .02) and externalizing problems (b = 6.23, SE = 3.22, p = .05). Caregiving engagement among high depressive symptom trajectory mothers was significantly associated with observed child affect (b = -0.21, SE = 0.11, p = 0.05). Parental nurturance in toddlerhood mediated the association between high maternal depressive symptom trajectory and child internalizing problems at 7 years (indirect effect b = 2.33, 95% CI: 0.32-5.88). Findings suggest that family based interventions to promote parenting and adolescent resiliency strengthening may be beneficial in this population. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

The Control Based on Internal Average Kinetic Energy in Complex Environment for Multi-robot System

Science.gov (United States)

Yang, Mao; Tian, Yantao; Yin, Xianghua

In this paper, reference trajectory is designed according to minimum energy consumed for multi-robot system, which nonlinear programming and cubic spline interpolation are adopted. The control strategy is composed of two levels, which lower-level is simple PD control and the upper-level is based on the internal average kinetic energy for multi-robot system in the complex environment with velocity damping. Simulation tests verify the effectiveness of this control strategy.

Analysis and control of nonlinear systems. A flatness-based approach

Energy Technology Data Exchange (ETDEWEB)

Levine, Jean [MINES-Paris Tech, 77 - Fontainebleau (France). CAS, Unite Mathematiques et Systemes

2009-07-01

This is the first book on a hot topic in the field of control of nonlinear systems. It ranges from mathematical system theory to practical industrial control applications and addresses two fundamental questions in Systems and Control: how to plan the motion of a system and track the corresponding trajectory in presence of perturbations. It emphasizes on structural aspects and in particular on a class of systems called differentially flat. Part 1 discusses the mathematical theory and part 2 outlines applications of this method in the fields of electric drives (DC motors and linear synchronous motors), magnetic bearings, automotive equipments, cranes, and automatic flight control systems. The author offers web-based videos illustrating some dynamical aspects and case studies in simulation (Scilab and Matlab). (orig.)

PANTHER. Trajectory Analysis

Energy Technology Data Exchange (ETDEWEB)

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

2015-09-01

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

Analysis of Methods of Determining the Safe Ship Trajectory

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Jozef Lisowski

2016-07-01

Full Text Available The paper describes six methods of optimal and game theory and artificial neural network for synthesis of safe control in collision situations at sea. The application of optimal and game control algorithms to determine the own ship safe trajectory during the passing of other encountered ships in good and restricted visibility at sea is presented. The comparison of the safe ship control in collision situation: multi-step matrix non-cooperative and cooperative games, multi-stage positional non-cooperative and cooperative games have been introduced. The considerations have been illustrated with examples of computer simulation of the algorithms to determine safe of own ship trajectories in a navigational situation during passing of eight met ships.

SU-F-T-288: Impact of Trajectory Log Files for Clarkson-Based Independent Dose Verification of IMRT and VMAT

Energy Technology Data Exchange (ETDEWEB)

Takahashi, R; Kamima, T [Cancer Institute Hospital of Japanese Foundation for Cancer Research, Koto, Tokyo (Japan); Tachibana, H [National Cancer Center, Kashiwa, Chiba (Japan)

2016-06-15

Purpose: To investigate the effect of the trajectory files from linear accelerator for Clarkson-based independent dose verification in IMRT and VMAT plans. Methods: A CT-based independent dose verification software (Simple MU Analysis: SMU, Triangle Products, Japan) with a Clarksonbased algorithm was modified to calculate dose using the trajectory log files. Eclipse with the three techniques of step and shoot (SS), sliding window (SW) and Rapid Arc (RA) was used as treatment planning system (TPS). In this study, clinically approved IMRT and VMAT plans for prostate and head and neck (HN) at two institutions were retrospectively analyzed to assess the dose deviation between DICOM-RT plan (PL) and trajectory log file (TJ). An additional analysis was performed to evaluate MLC error detection capability of SMU when the trajectory log files was modified by adding systematic errors (0.2, 0.5, 1.0 mm) and random errors (5, 10, 30 mm) to actual MLC position. Results: The dose deviations for prostate and HN in the two sites were 0.0% and 0.0% in SS, 0.1±0.0%, 0.1±0.1% in SW and 0.6±0.5%, 0.7±0.9% in RA, respectively. The MLC error detection capability shows the plans for HN IMRT were the most sensitive and 0.2 mm of systematic error affected 0.7% dose deviation on average. Effect of the MLC random error did not affect dose error. Conclusion: The use of trajectory log files including actual information of MLC location, gantry angle, etc should be more effective for an independent verification. The tolerance level for the secondary check using the trajectory file may be similar to that of the verification using DICOM-RT plan file. From the view of the resolution of MLC positional error detection, the secondary check could detect the MLC position error corresponding to the treatment sites and techniques. This research is partially supported by Japan Agency for Medical Research and Development (AMED)

Trajectories of childhood weight gain: the relative importance of local environment versus individual social and early life factors.

Directory of Open Access Journals (Sweden)

Megan A Carter

Full Text Available To determine the association between local environmental factors with child weight status in a longitudinal study, using a semi-parametric, group-based method, while also considering social and early life factors.Standardized, directly measured BMI from 4-10 y of age, and group-based trajectory modeling (PROC TRAJ were used to estimate developmental trajectories of weight change in a Québec birth cohort (n = 1,566. Associations between the weight trajectories and living location, social cohesion, disorder, and material and social deprivation were estimated after controlling for social and early life factors.FOUR WEIGHT TRAJECTORY GROUPS WERE ESTIMATED: low-increasing (9.7%; low-medium, accelerating (36.2%; medium-high, increasing (43.0%; and high-stable (11.1%. In the low-increasing and medium-high trajectory groups, living in a semi-urban area was inversely related to weight, while living in a rural area was positively related to weight in the high-stable group. Disorder was inversely related to weight in the low-increasing group only. Other important risk factors for high-stable weight included obesity status of the mother, smoking during pregnancy, and overeating behaviors.In this study, associations between local environment factors and weight differed by trajectory group. Early life factors appear to play a more consistent role in weight status. Further work is needed to determine the influence of place on child weight.

Dynamic Trajectory Extraction from Stereo Vision Using Fuzzy Clustering

Science.gov (United States)

Onishi, Masaki; Yoda, Ikushi

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

Growth Trajectories of Health Behaviors from Adolescence through Young Adulthood

Directory of Open Access Journals (Sweden)

Nora Wiium

2015-10-01

Full Text Available Based on nine waves of data collected during a period of 17 years (1990–2007, the present study explored different developmental trajectories of the following unhealthy behaviors: regular smoking, lack of regular exercise, lack of daily fruit intake, and drunkenness. A baseline sample of 1195 13-year-old pupils was from 22 randomly selected schools in the Hordaland County in western Norway. Latent class growth analysis revealed three developmental trajectories. The first trajectory was a conventional trajectory, comprising 36.3% of participants, who showed changes in smoking, physical exercise, fruit intake, and drunkenness consistent with the prevailing age specific norms of these behaviors in the Norwegian society at the time. The second trajectory was a passive trajectory, comprising 25.5% of participants, who reported low levels of both healthy and unhealthy behaviors during the 17-year period. The third trajectory was an unhealthy trajectory, comprising 38.2% of participants, who had high levels of unhealthy behaviors over time. Several covariates were examined, but only sex and mother’s and father’s educational levels were found to be significantly associated with the identified trajectories. While these findings need to be replicated in future studies, the identification of the different trajectories suggests the need to tailor intervention according to specific needs.

Growth Trajectories of Health Behaviors from Adolescence through Young Adulthood

Science.gov (United States)

Wiium, Nora; Breivik, Kyrre; Wold, Bente

2015-01-01

Based on nine waves of data collected during a period of 17 years (1990–2007), the present study explored different developmental trajectories of the following unhealthy behaviors: regular smoking, lack of regular exercise, lack of daily fruit intake, and drunkenness. A baseline sample of 1195 13-year-old pupils was from 22 randomly selected schools in the Hordaland County in western Norway. Latent class growth analysis revealed three developmental trajectories. The first trajectory was a conventional trajectory, comprising 36.3% of participants, who showed changes in smoking, physical exercise, fruit intake, and drunkenness consistent with the prevailing age specific norms of these behaviors in the Norwegian society at the time. The second trajectory was a passive trajectory, comprising 25.5% of participants, who reported low levels of both healthy and unhealthy behaviors during the 17-year period. The third trajectory was an unhealthy trajectory, comprising 38.2% of participants, who had high levels of unhealthy behaviors over time. Several covariates were examined, but only sex and mother’s and father’s educational levels were found to be significantly associated with the identified trajectories. While these findings need to be replicated in future studies, the identification of the different trajectories suggests the need to tailor intervention according to specific needs. PMID:26516889

Growth Trajectories of Health Behaviors from Adolescence through Young Adulthood.

Science.gov (United States)

Wiium, Nora; Breivik, Kyrre; Wold, Bente

2015-10-28

Based on nine waves of data collected during a period of 17 years (1990-2007), the present study explored different developmental trajectories of the following unhealthy behaviors: regular smoking, lack of regular exercise, lack of daily fruit intake, and drunkenness. A baseline sample of 1195 13-year-old pupils was from 22 randomly selected schools in the Hordaland County in western Norway. Latent class growth analysis revealed three developmental trajectories. The first trajectory was a conventional trajectory, comprising 36.3% of participants, who showed changes in smoking, physical exercise, fruit intake, and drunkenness consistent with the prevailing age specific norms of these behaviors in the Norwegian society at the time. The second trajectory was a passive trajectory, comprising 25.5% of participants, who reported low levels of both healthy and unhealthy behaviors during the 17-year period. The third trajectory was an unhealthy trajectory, comprising 38.2% of participants, who had high levels of unhealthy behaviors over time. Several covariates were examined, but only sex and mother's and father's educational levels were found to be significantly associated with the identified trajectories. While these findings need to be replicated in future studies, the identification of the different trajectories suggests the need to tailor intervention according to specific needs.

Synthetic Jet Actuator-Based Aircraft Tracking Using a Continuous Robust Nonlinear Control Strategy

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N. Ramos-Pedroza

2017-01-01

Full Text Available A robust nonlinear control law that achieves trajectory tracking control for unmanned aerial vehicles (UAVs equipped with synthetic jet actuators (SJAs is presented in this paper. A key challenge in the control design is that the dynamic characteristics of SJAs are nonlinear and contain parametric uncertainty. The challenge resulting from the uncertain SJA actuator parameters is mitigated via innovative algebraic manipulation in the tracking error system derivation along with a robust nonlinear control law employing constant SJA parameter estimates. A key contribution of the paper is a rigorous analysis of the range of SJA actuator parameter uncertainty within which asymptotic UAV trajectory tracking can be achieved. A rigorous stability analysis is carried out to prove semiglobal asymptotic trajectory tracking. Detailed simulation results are included to illustrate the effectiveness of the proposed control law in the presence of wind gusts and varying levels of SJA actuator parameter uncertainty.

PARALLEL SPATIOTEMPORAL SPECTRAL CLUSTERING WITH MASSIVE TRAJECTORY DATA

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Y. Z. Gu

2017-09-01

Full Text Available Massive trajectory data contains wealth useful information and knowledge. Spectral clustering, which has been shown to be effective in finding clusters, becomes an important clustering approaches in the trajectory data mining. However, the traditional spectral clustering lacks the temporal expansion on the algorithm and limited in its applicability to large-scale problems due to its high computational complexity. This paper presents a parallel spatiotemporal spectral clustering based on multiple acceleration solutions to make the algorithm more effective and efficient, the performance is proved due to the experiment carried out on the massive taxi trajectory dataset in Wuhan city, China.

Efficient One-click Browsing of Large Trajectory Sets

DEFF Research Database (Denmark)

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

2014-01-01

presents a novel query type called sheaf, where users can browse trajectory data sets using a single mouse click. Sheaves are very versatile and can be used for location-based advertising, travel-time analysis, intersection analysis, and reachability analysis (isochrones). A novel in-memory trajectory...... index compresses the data by a factor of 12.4 and enables execution of sheaf queries in 40 ms. This is up to 2 orders of magnitude faster than existing work. We demonstrate the simplicity, versatility, and efficiency of sheaf queries using a real-world trajectory set consisting of 2.7 million...

Fractional dynamics using an ensemble of classical trajectories

Science.gov (United States)

Sun, Zhaopeng; Dong, Hao; Zheng, Yujun

2018-01-01

A trajectory-based formulation for fractional dynamics is presented and the trajectories are generated deterministically. In this theoretical framework, we derive a new class of estimators in terms of confluent hypergeometric function (F11) to represent the Riesz fractional derivative. Using this method, the simulation of free and confined Lévy flight are in excellent agreement with the exact numerical and analytical results. In addition, the barrier crossing in a bistable potential driven by Lévy noise of index α is investigated. In phase space, the behavior of trajectories reveal the feature of Lévy flight in a better perspective.

Anxiety trajectories in response to a speech task in social anxiety disorder: Evidence from a randomized controlled trial of CBT.

Science.gov (United States)

Morrison, Amanda S; Brozovich, Faith A; Lee, Ihno A; Jazaieri, Hooria; Goldin, Philippe R; Heimberg, Richard G; Gross, James J

2016-03-01

The subjective experience of anxiety plays a central role in cognitive behavioral models of social anxiety disorder (SAD). However, much remains to be learned about the temporal dynamics of anxiety elicited by feared social situations. The aims of the current study were: (1) to compare anxiety trajectories during a speech task in individuals with SAD (n=135) versus healthy controls (HCs; n=47), and (2) to compare the effects of CBT on anxiety trajectories with a waitlist control condition. SAD was associated with higher levels of anxiety and greater increases in anticipatory anxiety compared to HCs, but not differential change in anxiety from pre- to post-speech. CBT was associated with decreases in anxiety from pre- to post-speech but not with changes in absolute levels of anticipatory anxiety or rates of change in anxiety during anticipation. The findings suggest that anticipatory experiences should be further incorporated into exposures. Copyright © 2015 Elsevier Ltd. All rights reserved.

Disturbance attenuation of nonlinear control systems using an observer-based fuzzy feedback linearization control

International Nuclear Information System (INIS)

Chen, C.-C.; Hsu, C.-H.; Chen, Y.-J.; Lin, Y.-F.

2007-01-01

The almost disturbance decoupling and trajectory tracking of nonlinear control systems using an observer-based fuzzy feedback linearization control (FLC) is developed. Because not all of the state variables of the nonlinear dynamic equations are available, a nonlinear state observer is employed to estimate the state variables. The feedback linearization control guarantees the almost disturbance decoupling performance and the uniform ultimate bounded stability of the tracking error system. Once the tracking errors are driven to touch the global final attractor with the desired radius, the fuzzy logic control is immediately applied via human expert's knowledge to improve the convergence rate. One example, which cannot be solved by the first paper on the almost disturbance decoupling problem, is proposed in this paper to exploit the fact that the tracking and the almost disturbance decoupling performances are easily achieved by our proposed approach. In order to demonstrate the practical applicability, the study has investigated a pendulum control system

Resonant power processors. II - Methods of control

Science.gov (United States)

Oruganti, R.; Lee, F. C.

1984-01-01

The nature of resonant converter control is discussed. Employing the state-portrait, different control methods for series resonant converter are identified and their performance evaluated based on their stability, response to control and load changes and range of operation. A new control method, optimal-trajectory control, is proposed which, by utilizing the state trajectories as control laws, continuously monitors the energy level of the resonant tank. The method is shown to have superior control properties especially under transient operation.

Monotone viable trajectories for functional differential inclusions

Science.gov (United States)

Haddad, Georges

This paper is a study on functional differential inclusions with memory which represent the multivalued version of retarded functional differential equations. The main result gives a necessary and sufficient equations. The main result gives a necessary and sufficient condition ensuring the existence of viable trajectories; that means trajectories remaining in a given nonempty closed convex set defined by given constraints the system must satisfy to be viable. Some motivations for this paper can be found in control theory where F( t, φ) = { f( t, φ, u)} uɛU is the set of possible velocities of the system at time t, depending on the past history represented by the function φ and on a control u ranging over a set U of controls. Other motivations can be found in planning procedures in microeconomics and in biological evolutions where problems with memory do effectively appear in a multivalued version. All these models require viability constraints represented by a closed convex set.

Adaptive Trajectory Design

Data.gov (United States)

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

Constructing activity–mobility trajectories of college students based on smart card transaction data

Directory of Open Access Journals (Sweden)

Negin Ebadi

2017-12-01

Full Text Available In this research, we use UB card as a convenient source of combined smart transaction data in order to define a campus-wide model for constructing students’ activity–mobility trajectories in time–space dimension. UB Card is a student’s official ID at the University at Buffalo and is used across campus for various activities including Stampedes and Shuttles (on-campus bus system, facilities access, library services, dining, shopping, and etc. Two activity–mobility trajectory construction algorithms are developed. The base algorithm constructs students’ activity–mobility patterns in space–time dimension using a set of smart card transaction data points as the only inputs. The modified individualized algorithm constructs activity–mobility patterns with prior knowledge of students’ previous patterns as they have similar patterns for certain days of the week. A database of 37 students’ travel survey and UB card transactions that contains a period of 5 days have been used to illustrate the results of the study. Three measures of errors have been proposed to capture the time allocation, location deviation, and activity sequences. These errors present an acceptable accuracy (12–25% error ranges for activity types and average 0.04–0.16 miles of error for location predictions and show the potential of inferring activity–mobility behaviors based on smart card transaction type data sets.

Trajectory Calculation as Forecasting Support Tool for Dust Storms

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Sultan Al-Yahyai

2014-01-01

Full Text Available In arid and semiarid regions, dust storms are common during windy seasons. Strong wind can blow loose sand from the dry surface. The rising sand and dust is then transported to other places depending on the wind conditions (speed and direction at different levels of the atmosphere. Considering dust as a moving object in space and time, trajectory calculation then can be used to determine the path it will follow. Trajectory calculation is used as a forecast supporting tool for both operational and research activities. Predefined dust sources can be identified and the trajectories can be precalculated from the Numerical Weather Prediction (NWP forecast. In case of long distance transported dust, the tool should allow the operational forecaster to perform online trajectory calculation. This paper presents a case study for using trajectory calculation based on NWP models as a forecast supporting tool in Oman Meteorological Service during some dust storm events. Case study validation results showed a good agreement between the calculated trajectories and the real transport path of the dust storms and hence trajectory calculation can be used at operational centers for warning purposes.