WorldWideScience

Sample records for bilateral position control

  1. The effect of enhanced trunk control on balance and falls through bilateral upper extremity exercises among chronic stroke patients in a standing position

    OpenAIRE

    Shin, Ji Won; Don Kim, Kyoung

    2016-01-01

    [Purpose] This study examined the effects of bilateral upper extremity exercises on trunk control, balance, and risk of falls in stroke patients. [Subjects and Methods] A total of 30 study subjects were selected and randomly divided into experimental and control groups containing 15 subjects each, who received bilateral upper extremity activities and conventional rehabilitation treatment, respectively. [Results] There were statistically significant differences between groups in all sub-items ...

  2. Parallel control method for a bilateral master-slave manipulator

    International Nuclear Information System (INIS)

    Miyazaki, Tomohiro; Hagihara, Shiro

    1989-01-01

    In this paper, a new control method for a bilateral master-slave manipulator is proposed. The proposed method yields stable and fast response of the control system. These are essential to obtain a precise position control and a sensitive force reflection control. In the conventional position-force control method, each control loop of the master and the slave arms are connected in series to construct a bilateral control loop. Therefore the total phase lag through the bilateral control loop becomes twice as much as that of one arm control. Such phase lag makes the control system unstable and control performance worse. To improve the stability and the control performance, we propose 'parallel control method.' In the proposed method, the control loops of the master and the slave arms are connected in parallel so that the total phase lag is reduced to as much as that of one arm. The stability condition of the proposed method is studied and it is proved that the stability of this method can be guaranteed independent of the rigidness of a reaction surface and the position/force ratio between the master and the slave arms while the stability of the conventional method depends on them. (author)

  3. Bilateral Diabetic Papillopathy and Metabolic Control

    DEFF Research Database (Denmark)

    Ostri, Christoffer; Lund-Andersen, Henrik; Sander, Birgit

    2010-01-01

    OBJECTIVE: The pathogenesis of diabetic papillopathy largely is unknown, but case reports suggest that it may follow rapidly improved metabolic control. The present study was designed to investigate this hypothesis. DESIGN: Retrospective case-control study. PARTICIPANTS: Two thousand sixty......-six patients with type 1 diabetes. METHODS: Review of clinical, photographic, and clinical chemistry records from a large diabetology and ophthalmology unit between 2001 and 2008. MAIN OUTCOME MEASURES: Simultaneous, bilateral diabetic papillopathy. RESULTS: The mean follow-up was 4.9 years. During 10 020...... patient-years of observation, bilateral diabetic papillopathy developed in 5 patients. During the year preceding this incident, all 5 patients had experienced a decrease in glycosylated hemoglobin A(1c) (HbA(1C)) at a maximum rate of -2.5 (mean) percentage points per quarter year, which was significantly...

  4. Generalized approach to bilateral control for EMG driven exoskeleton

    Directory of Open Access Journals (Sweden)

    Gradetsky Valery

    2017-01-01

    Full Text Available The paper discusses a generalized approach to bilateral control for EMG driven exoskeleton systems. In this paper we consider a semi-automatic mechatronic system that is controlled via human muscle activity (EMG level. The problem is to understand how the movement of the exoskeleton effects on the control. The considered system can be described in terms of bilateral control. This means the existence of force feedback from the object via the exoskeleton links and drives to operator. The simulation of the considered model was held on the MATLAB Simulink. The mathematical model of the bilateral system with exoskeleton and operator was developed. Transient functions for different dynamic parameters were obtained. It was shown that force feedback is essential for the R&D of such systems.

  5. Dual arm master controller for a bilateral servo-manipulator

    Science.gov (United States)

    Kuban, Daniel P.; Perkins, Gerald S.

    1989-01-01

    A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences therebetween. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed.

  6. Bilateral Moyamoya Disease in a 2-Year-Old Pakistani Male Treated with Bilateral Encephaloduroarteriosynangiosis: A Positive Outcome

    Directory of Open Access Journals (Sweden)

    Shahvaiz Magsi

    2016-01-01

    Full Text Available Background. We present a rare case of bilateral moyamoya disease presenting as multiple strokes and neurological deficits, treated with the neurosurgical procedure, encephaloduroarteriosynangiosis (EDAS, in a 2-year-old male Pakistani minor. A positive outcome was achieved and the patient recovered fully. Case Summary. Our patient presented with a history of seizures and multiple episodes of hemiparesis (on and off weakness at the age of 2 years. He had a delayed speech development and could not speak more than a few words. He had a slight slurring of speech too. He was diagnosed with bilateral moyamoya disease on Computed Tomography Angiography (CTA. Bilateral EDAS was done in the same year, after which his symptoms improved and patient had moderate functional recovery. Conclusion. A rare disease, moyamoya has been left unexplored in Pakistan; physicians and surgeons when dealing with cases in the pediatric population presenting with symptoms of stroke, signs of generalized weakness, and seizures should consider moyamoya disease as a possibility. Furthermore, this case demonstrates the effectiveness of EDAS procedure for the treatment of moyamoya disease.

  7. Control rod position control device

    International Nuclear Information System (INIS)

    Ubukata, Shinji.

    1997-01-01

    The present invention provides a control rod position control device which stores data such as of position signals and driving control rod instruction before and after occurrence of abnormality in control for the control rod position for controlling reactor power and utilized the data effectively for investigating the cause of abnormality. Namely, a plurality of individual control devices have an operation mismatching detection circuit for outputting signals when difference is caused between a driving instruction given to the control rod position control device and the control rod driving means and signals from a detection means for detecting an actual moving amount. A general control device collectively controls the individual control devices. In addition, there is also disposed a position storing circuit for storing position signals at least before and after the occurrence of the control rod operation mismatching. With such procedures, the cause of the abnormality can be determined based on the position signals before and after the occurrence of control rod mismatching operation stored in the position storing circuit. Accordingly, the abnormality cause can be determined to conduct restoration in an early stage. (I.S.)

  8. Bilateral axillary masses mimicking as accessory breast with multiple fibroadenoma and bilateral gigantomastia in HIV-positive patient.

    Science.gov (United States)

    Singh, Saumya; Mishra, Anand K; Tewari, S; Kumar, Sanjeev

    2013-06-24

    Accessory breast is a rare entity that can present as asymptomatic masses or can cause symptoms like heaviness, pain, restriction of arm movement and limitation in daily pursuits with allied apprehension and anxiety for the patient. We present a case of bilateral axillary masses mimicking as accessory breast with multiple fibroadenoma in a 28 years, nulliparous, Indian woman who is HIV positive, which proves to be a diagnostic dilemma. Excisional biopsy was diagnostic. The rarity of such cases imposes challenges on the management in terms of diagnosis, prognosis and therapeutic options.

  9. A Case Report of Positive HTLV-I Infection with Bilateral Facial Weakness and Myelitis

    Directory of Open Access Journals (Sweden)

    M. Mazdeh

    2005-04-01

    Full Text Available Infection with human T cell lymphotropic virus type I (HTLV-I causes multiple neurologic disorder , due to the retroviruses.Spinal cord disease of this type is named TSP (tropical spastic paraparesis that were drawn to the attention of neurologists 45 years ago. The clinical picture is one of the slowly progressive paraparesis with increased tendon reflexes & Babinski signs ; disorder of sphincteric control is usually an early change. Paresthesia , reduced vibratory & position senses, & ataxia have been described. The diagnosis is confirmed by the detection the antibodies to the virus in serum . There are anecdotal reports of improvement with IV-administration of gammaglobulin. But HTLV1-infection has other clinical manifestations. This report presents a rare case with bilateral facial weakness as primary manifestation. This case is related to a 41 years old woman. The clinical picture was bilateral facial weekness and approximately after 2 months, she referred to hospital with myelitis. In primary exams and evaluation, the diagnose was HTLV-I infection. The diagnosis was confirmed by the detection of the antibodies against the virus in her serum. She dead after 2.5 months of the first sign due to disease severity and bulbar palsy. Possible transmission routes and the risk of encountering the disease outside endemic areas must be attended , and it is recommended to evaluate antibodies in the children of the patients.

  10. Plasma position control device

    International Nuclear Information System (INIS)

    Takase, Haruhiko.

    1987-01-01

    Purpose: To conduct position control stably to various plasmas and reduce the burden on the control coil power source. Constitution: Among the proportional, integration and differentiation controls, a proportional-differentiation control section and an integration control section are connected in parallel. Then, a signal switching circuit is disposed to the control signal input section for the proportional-differentiation control section such that either a present position of plasmas or deviation between the present plasma position and an aimed value can be selected as a control signal depending on the control procedures or the state of the plasmas. For instance, if a rapid response is required for the control, the deviation between the present plasma position and the aimed value is selected as the input signal to conduct proportional, integration and differentiation controls. While on the other hand, if it is intended to reduce the burden on the control coil power source, it is adapted such that the control signal inputted to the proportional-differentiation control section itself can select the present plasma position. (Yoshihara, H.)

  11. Control for delayed bilateral teleoperation of a quadrotor.

    Science.gov (United States)

    Slawiñski, E; Santiago, D; Mut, V

    2017-11-01

    This paper proposes a cascade control scheme for delayed bilateral teleoperation of a quadcopter. The strategy transforms a 6D real quadcopter to an easy-to-teleoperate 3D virtual quadcopter. The scheme is formed by a P+d plus PID controller for each dof. The analysis based on Lyapunov theory gets as result the way to set the control parameters depending on the magnitude of the asymmetric time delays (forward and backward delays). This technic aims to reach stability, simplicity and good performance in practice. Besides, experimental tests about delayed bilateral teleoperation of a quadcopter including the proposed control scheme are shown in order to evaluate the system performance. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  12. Dual arm master controller for a bilateral servo-manipulator

    International Nuclear Information System (INIS)

    Kuban, D.P.; Perkins, G.S.

    1989-01-01

    A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences there between. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed. 13 figs

  13. Single-staged uniportal VATS in the supine position for simultaneous bilateral primary spontaneous pneumothorax.

    Science.gov (United States)

    Kim, Kyung Soo

    2017-05-15

    Simultaneous bilateral primary spontaneous pneumothorax (SBPSP) is rare, but requires surgery on both sides, in patients with definite bilateral bullae to prevent life-threatening conditions. Recently, uniportal video-assisted thoracoscopic surgery (VATS) has been widely accepted as a less invasive technique for the treatment of pneumothorax. Thus, we introduced single-staged uniportal VATS technique in the supine position, for the management of two cases of SBPSP. A 17-year-old boy presented with bilateral spontaneous pneumothorax and he underwent single-staged uniportal VATS in the supine position. Single wide draping in consecutive bilateral approaches removes the needs of changing patients' position. Whole thoracoscopic procedure for wedge resection of bullae lesions was conducted without difficulty. The total operation time took 65 min and the patient discharged 3 days after the operation. The patient was followed for 24 months without recurrence of both sides. Another 18-year-old boy was admitted with bilateral spontaneous pneumothorax and single-staged uniportal VATS was also performed in the supine position. The total operation time took 79 min and the patient discharged on postoperative day 4. He was followed for 19 months without recurrence of both sides. Single-staged uniportal VATS approach yielded satisfactory results from simplicity that not requires position change compared to conventional multi-ports VATS in the lateral position, and with better cosmetics. This technique is thought to be a feasible procedure in selective patients with SBPSP or with contralateral bullae for preventive role.

  14. Bilateral diaphragmatic paralysis after cardiac surgery: ventilatory assistance by nasal mask continuous positive airway pressure.

    Science.gov (United States)

    Hoch, B; Zschocke, A; Barth, H; Leonhardt, A

    2001-01-01

    The case of an 8-month-old boy with bilateral diaphragmatic paralysis after surgical reoperation for congenital heart disease is presented. In order to avoid repeated intubation and long-term mechanical ventilation or tracheotomy, we used nasal mask continuous positive airway pressure (CPAP) as an alternative method for assisted ventilation. Within 24 hours the boy accepted the nasal mask and symptoms such as dyspnea and sweating disappeared. Respiratory movements became regular and oxygen saturation increased. Nasal mask CPAP may serve as an alternative treatment of bilateral diaphragmatic paralysis in infants, thereby avoiding tracheotomy or long-term mechanical ventilation.

  15. Time domain passivity controller for 4-channel time-delay bilateral teleoperation.

    Science.gov (United States)

    Rebelo, Joao; Schiele, Andre

    2015-01-01

    This paper presents an extension of the time-domain passivity control approach to a four-channel bilateral controller under the effects of time delays. Time-domain passivity control has been used successfully to stabilize teleoperation systems with position-force and position-position controllers; however, the performance with such control architectures is sub-optimal both with and without time delays. This work extends the network representation of the time-domain passivity controller to the four-channel architecture, which provides perfect transparency to the user without time delay. The proposed architecture is based on modelling the controllers as dependent voltage sources and using only series passivity controllers. The obtained results are shown on a one degree-of-freedom setup and illustrate the stabilization behaviour of the proposed controller when time delay is present in the communication channel.

  16. An EMG-Controlled Robotic Hand Exoskeleton for Bilateral Rehabilitation.

    Science.gov (United States)

    Leonardis, Daniele; Barsotti, Michele; Loconsole, Claudio; Solazzi, Massimiliano; Troncossi, Marco; Mazzotti, Claudio; Castelli, Vincenzo Parenti; Procopio, Caterina; Lamola, Giuseppe; Chisari, Carmelo; Bergamasco, Massimo; Frisoli, Antonio

    2015-01-01

    This paper presents a novel electromyography (EMG)-driven hand exoskeleton for bilateral rehabilitation of grasping in stroke. The developed hand exoskeleton was designed with two distinctive features: (a) kinematics with intrinsic adaptability to patient's hand size, and (b) free-palm and free-fingertip design, preserving the residual sensory perceptual capability of touch during assistance in grasping of real objects. In the envisaged bilateral training strategy, the patient's non paretic hand acted as guidance for the paretic hand in grasping tasks. Grasping force exerted by the non paretic hand was estimated in real-time from EMG signals, and then replicated as robotic assistance for the paretic hand by means of the hand-exoskeleton. Estimation of the grasping force through EMG allowed to perform rehabilitation exercises with any, non sensorized, graspable objects. This paper presents the system design, development, and experimental evaluation. Experiments were performed within a group of six healthy subjects and two chronic stroke patients, executing robotic-assisted grasping tasks. Results related to performance in estimation and modulation of the robotic assistance, and to the outcomes of the pilot rehabilitation sessions with stroke patients, positively support validity of the proposed approach for application in stroke rehabilitation.

  17. Incorrect position of Essure microinserts 3 months after successful bilateral placement.

    Science.gov (United States)

    Gerritse, Maria B E; Veersema, Sebastiaan; Timmermans, Anne; Brölmann, Hans A M

    2009-03-01

    To describe incorrect positions of Essure microinserts detected at 3 months' follow-up. Case report. Outpatient department of obstetrics and gynecology in a Dutch teaching hospital. Initial series of 100 patients who underwent hysteroscopic sterilization using Essure between December 2003 and June 2004. Hysteroscopic placement of the Essure System, follow-up at 3 months with transvaginal ultrasound (TVU), and hysterosalpingography. Bilateral placement rate, tubal obstruction, and detection of incorrect Essure microinsert localization at follow-up after apparent successful bilateral placement. Bilateral placement of Essure microinserts in one session was successful in 93 women (93%). In 90 of these women (96.8%), tubal obstruction was proven at follow-up 3 months later. Three incorrect positions of an Essure insert were seen: two expulsions and one perforation into the abdominal cavity. Incorrect position of Essure microinserts was seen only when the initial placement procedure was difficult. When a placement procedure was difficult or other suboptimal conditions are present during the procedure, we advise performing a TVU or pelvic X-ray in these women 4 weeks after the procedure or after the first vaginal bleeding, instead of waiting for follow-up after 3 months.

  18. Wide-bandwidth bilateral control using two-stage actuator system

    International Nuclear Information System (INIS)

    Kokuryu, Saori; Izutsu, Masaki; Kamamichi, Norihiro; Ishikawa, Jun

    2015-01-01

    This paper proposes a two-stage actuator system that consists of a coarse actuator driven by a ball screw with an AC motor (the first stage) and a fine actuator driven by a voice coil motor (the second stage). The proposed two-stage actuator system is applied to make a wide-bandwidth bilateral control system without needing expensive high-performance actuators. In the proposed system, the first stage has a wide moving range with a narrow control bandwidth, and the second stage has a narrow moving range with a wide control bandwidth. By consolidating these two inexpensive actuators with different control bandwidths in a complementary manner, a wide bandwidth bilateral control system can be constructed based on a mechanical impedance control. To show the validity of the proposed method, a prototype of the two-stage actuator system has been developed and basic performance was evaluated by experiment. The experimental results showed that a light mechanical impedance with a mass of 10 g and a damping coefficient of 2.5 N/(m/s) that is an important factor to establish good transparency in bilateral control has been successfully achieved and also showed that a better force and position responses between a master and slave is achieved by using the proposed two-stage actuator system compared with a narrow bandwidth case using a single ball screw system. (author)

  19. Control system design concepts for improving bilateral characteristics of master-slave manipulators

    International Nuclear Information System (INIS)

    Hewitt, J.E.; Siva, K.V.

    1986-01-01

    The paper concerns control system design concepts for improving bilateral characteristics of master-slave manipulators. In particular, the article concentrates on the identification of the remote manipulative process itself from studying direct manipulation with hand tools. Bilateral servo loop systems in operator controlled manipular systems are discussed, as well as Bond Graph modelling techniques. The performance of different kinds of bilateral servos are compared. (U.K.)

  20. Bilateral parotitis in a patient under continuous positive airway pressure treatment.

    Science.gov (United States)

    Abdullayev, Ruslan; Saral, Filiz Cosku; Kucukebe, Omer Burak; Sayiner, Hakan Sezgin; Bayraktar, Cem; Akgun, Sadik

    Many conditions such as bacterial and viral infectious diseases, mechanical obstruction due to air and calculi and drugs can cause parotitis. We present a case of unusual bilateral parotitis in a patient under non-invasive continuous positive airway pressure (CPAP) therapy for chronic obstructive pulmonary disease exacerbation in intensive care unit. A 36-year-old patient was admitted to intensive care unit with the diagnosis of chronic obstructive pulmonary disease exacerbation. Antibiotherapy, bronchodilator therapy and non-invasive positive pressure ventilation were applied as treatment regimen. Painless swellings developed on the 3rd day of admission on the right and a day after this on the left parotid glands. Amylase levels were increased and ultrasonographic evaluation revealed bilateral parotitis. No intervention was made and the therapy was continued. The patient was discharged on the 6th day with clinical improvement and regression of parotid swellings without any complications. Parotitis may have occurred after retrograde air flow in the Stensen duct during CPAP application. After the exclusion of possible viral and bacteriological etiologies and possible drug reactions we can focus on this diagnosis. Copyright © 2014 Sociedade Brasileira de Anestesiologia. Published by Elsevier Editora Ltda. All rights reserved.

  1. Postural Control in Bilateral Vestibular Failure: Its Relation to Visual, Proprioceptive, Vestibular, and Cognitive Input.

    Science.gov (United States)

    Sprenger, Andreas; Wojak, Jann F; Jandl, Nico M; Helmchen, Christoph

    2017-01-01

    Patients with bilateral vestibular failure (BVF) suffer from postural and gait unsteadiness with an increased risk of falls. The aim of this study was to elucidate the differential role of otolith, semicircular canal (SSC), visual, proprioceptive, and cognitive influences on the postural stability of BVF patients. Center-of-pressure displacements were recorded by posturography under six conditions: target visibility; tonic head positions in the pitch plane; horizontal head shaking; sensory deprivation; dual task; and tandem stance. Between-group analysis revealed larger postural sway in BVF patients on eye closure; but with the eyes open, BVF did not differ from healthy controls (HCs). Head tilts and horizontal head shaking increased sway but did not differ between groups. In the dual task condition, BVF patients maintained posture indistinguishable from controls. On foam and tandem stance, postural sway was larger in BVF, even with the eyes open. The best predictor for the severity of bilateral vestibulopathy was standing on foam with eyes closed. Postural control of our BVF was indistinguishable from HCs once visual and proprioceptive feedback is provided. This distinguishes them from patients with vestibulo-cerebellar disorders or functional dizziness. It confirms previous reports and explains that postural unsteadiness of BVF patients can be missed easily if not examined by conditions of visual and/or proprioceptive deprivation. In fact, the best predictor for vestibular hypofunction (VOR gain) was examining patients standing on foam with the eyes closed. Postural sway in that condition increased with the severity of vestibular impairment but not with disease duration. In the absence of visual control, impaired otolith input destabilizes BVF with head retroflexion. Stimulating deficient SSC does not distinguish patients from controls possibly reflecting a shift of intersensory weighing toward proprioceptive-guided postural control. Accordingly, proprioceptive

  2. Postural Control in Bilateral Vestibular Failure: Its Relation to Visual, Proprioceptive, Vestibular, and Cognitive Input

    Directory of Open Access Journals (Sweden)

    Andreas Sprenger

    2017-09-01

    Full Text Available Patients with bilateral vestibular failure (BVF suffer from postural and gait unsteadiness with an increased risk of falls. The aim of this study was to elucidate the differential role of otolith, semicircular canal (SSC, visual, proprioceptive, and cognitive influences on the postural stability of BVF patients. Center-of-pressure displacements were recorded by posturography under six conditions: target visibility; tonic head positions in the pitch plane; horizontal head shaking; sensory deprivation; dual task; and tandem stance. Between-group analysis revealed larger postural sway in BVF patients on eye closure; but with the eyes open, BVF did not differ from healthy controls (HCs. Head tilts and horizontal head shaking increased sway but did not differ between groups. In the dual task condition, BVF patients maintained posture indistinguishable from controls. On foam and tandem stance, postural sway was larger in BVF, even with the eyes open. The best predictor for the severity of bilateral vestibulopathy was standing on foam with eyes closed. Postural control of our BVF was indistinguishable from HCs once visual and proprioceptive feedback is provided. This distinguishes them from patients with vestibulo-cerebellar disorders or functional dizziness. It confirms previous reports and explains that postural unsteadiness of BVF patients can be missed easily if not examined by conditions of visual and/or proprioceptive deprivation. In fact, the best predictor for vestibular hypofunction (VOR gain was examining patients standing on foam with the eyes closed. Postural sway in that condition increased with the severity of vestibular impairment but not with disease duration. In the absence of visual control, impaired otolith input destabilizes BVF with head retroflexion. Stimulating deficient SSC does not distinguish patients from controls possibly reflecting a shift of intersensory weighing toward proprioceptive-guided postural control. Accordingly

  3. Postural Control in Bilateral Vestibular Failure: Its Relation to Visual, Proprioceptive, Vestibular, and Cognitive Input

    Science.gov (United States)

    Sprenger, Andreas; Wojak, Jann F.; Jandl, Nico M.; Helmchen, Christoph

    2017-01-01

    Patients with bilateral vestibular failure (BVF) suffer from postural and gait unsteadiness with an increased risk of falls. The aim of this study was to elucidate the differential role of otolith, semicircular canal (SSC), visual, proprioceptive, and cognitive influences on the postural stability of BVF patients. Center-of-pressure displacements were recorded by posturography under six conditions: target visibility; tonic head positions in the pitch plane; horizontal head shaking; sensory deprivation; dual task; and tandem stance. Between-group analysis revealed larger postural sway in BVF patients on eye closure; but with the eyes open, BVF did not differ from healthy controls (HCs). Head tilts and horizontal head shaking increased sway but did not differ between groups. In the dual task condition, BVF patients maintained posture indistinguishable from controls. On foam and tandem stance, postural sway was larger in BVF, even with the eyes open. The best predictor for the severity of bilateral vestibulopathy was standing on foam with eyes closed. Postural control of our BVF was indistinguishable from HCs once visual and proprioceptive feedback is provided. This distinguishes them from patients with vestibulo-cerebellar disorders or functional dizziness. It confirms previous reports and explains that postural unsteadiness of BVF patients can be missed easily if not examined by conditions of visual and/or proprioceptive deprivation. In fact, the best predictor for vestibular hypofunction (VOR gain) was examining patients standing on foam with the eyes closed. Postural sway in that condition increased with the severity of vestibular impairment but not with disease duration. In the absence of visual control, impaired otolith input destabilizes BVF with head retroflexion. Stimulating deficient SSC does not distinguish patients from controls possibly reflecting a shift of intersensory weighing toward proprioceptive-guided postural control. Accordingly, proprioceptive

  4. HIF2α contributes to antiestrogen resistance via positive bilateral crosstalk with EGFR in breast cancer cells

    DEFF Research Database (Denmark)

    Alam, Muhammad Wasi; Persson, Camilla Ulrika; Reinbothe, Susann

    2016-01-01

    or inhibition of EGFR led to decreased HIF2α levels. This positive and bilateral HIF2-EGFR regulatory crosstalk promotes antiestrogen resistance and, where intrinsic hypoxic resistance exists, therapy itself may exacerbate the problem. Finally, inhibition of HIFs by FM19G11 restores antiestrogen sensitivity...

  5. A case of MOG antibody-positive bilateral optic neuritis and meningoganglionitis following a genital herpes simplex virus infection.

    Science.gov (United States)

    Nakamura, Masataka; Iwasaki, Yuko; Takahashi, Toshiyuki; Kaneko, Kimihiko; Nakashima, Ichiro; Kunieda, Takenobu; Kaneko, Satoshi; Kusaka, Hirofumi

    2017-10-01

    Myelin oligodendrocyte glycoprotein (MOG) antibody-positive optic neuritis (ON) and myelitis are recognized as important differential diagnosis of aquaporin-4 (AQP4) antibody-positive neuromyelitis optica (NMO)/NMO spectrum disorder (NMOSD). Similar to NMO/NMOSD associated with AQP4 antibodies, preceding infections have been reported in patients with MOG antibody-positive ON. This is the first report of bilateral ON following a herpes simplex virus (HSV) infection associated with a positive MOG antibody. A 41-year-old man who initially presented with genital herpes developed allodynia in the Th2-Th5 and Th8-L2 areas, urinary retention, and painful visual loss in the left eye. Ophthalmological evaluation and brain magnetic resonance imaging (MRI) revealed bilateral ON. A spinal MRI showed leptomeningeal enhancement from the thoracic to lumbar vertebrae and abnormal enhancement of the L3 to S3 dorsal root ganglia without a change in intramedullary signals. Following treatment with acyclovir and steroid pulse, he fully recovered. Serum anti-AQP4 antibodies were negative, but anti-MOG antibodies were positive. Finally, he was diagnosed with MOG antibody-positive bilateral ON and meningoganglionitis following an HSV infection. Our case supports a relationship between anti-MOG antibodies and ON triggered by an HSV infection. Clinicians should thus consider testing for MOG antibodies in patients with post-infectious neurological symptoms due to an HSV infection. Copyright © 2017 Elsevier B.V. All rights reserved.

  6. A universal bilateral manual controller utilizing a unique parallel architecture

    International Nuclear Information System (INIS)

    Bevill, P.J.; Lovett, J.T.

    1990-01-01

    Since 1987, the Advanced Technology Division of the US Department of Energy has sponsored a team composed of four universities and Oak Ridge National Laboratory to pursue research leading to the development and deployment of an advanced robotic system. The tasks to be performed by this system will be those tasks that are hazardous to humans, that generate significant occupational radiation exposure, and those which can be performed more rapidly and more accurately by an automated system. An essential component of the program plan is the annual technology demonstration performed at the Center for Engineering Systems Advanced Research (CESAR) at Oak Ridge National Laboratory. The scenario selected for the 1989 technology demonstration involved the cleanup of a spill of a simulated hazardous material. The demonstration utilized the seven-degrees-of-freedom CESARm manipulator, which is mounted aboard the HERMIES III transporter. The transporter traveled to the site of the simulated spill through an obstacle-strewn environment both under direct human control and autonomously, navigating by reference to the computer-stored world model. After arriving at the site of the spill, the vision system scanned and located the spill, thus determining its position in local and global coordinate frames. This information was used to generate a manipulator sweep pattern that resulted in the removal of the spilled material by a vacuum device

  7. False Positive Uptake in Bilateral Gynecomastia on 68Ga-PSMA PET/CT Scan.

    Science.gov (United States)

    Sasikumar, Arun; Joy, Ajith; Nair, Bindu P; Pillai, M R A; Madhavan, Jayaprakash

    2017-09-01

    A 66-year-old man on hormonal therapy with prostate cancer was referred for Ga-PSMA PET/CT scan for biochemical recurrence. Ga-PSMA PET/CT scan detected moderate heterogeneous tracer concentration in bilateral breast parenchyma, in addition to the abnormal tracer concentration in enlarged prostate gland, right external iliac lymph node, and sclerotic lesion in L4 vertebra. On clinical examination, he was found to have bilateral gynecomastia. Abnormal concentration of Ga-PSMA in breast cancer is now well known, and in this context, it is important to know that tracer localization can occur in gynecomastia as well, as evidenced in this case.

  8. Control rod position detection device

    International Nuclear Information System (INIS)

    Akita, Haruo; Ogiwara, Sakae.

    1996-01-01

    The device of the present invention is used in a back-up shut down system of an LMFBR type reactor which is easy for maintenance, has high reliability and can recognize the position of control rods accurately. Namely, a permanent magnet is disposed to a control rod extension tube connected to the lower portion of the control rod. The detector guide tube is disposed in the vicinity of the control rod extension tube. A detector having a detection coil is inserted into a detector tube. With such constitution, the control rod can be detected at one position using the following method. (1) the movement of the magnetic field of the permanent magnet is detected by the detection coil. (2) a plurality of grooves are formed on the control rod extension tube, and the movement of the grooves is detected. In addition, the detection coil is inserted into the detector guide tube, and the signals from the detection coil are inputted to a signal processing circuit disposed at the outside of the reactor vessel using an MI cable to enable the maintenance of the detector. Further, if the detector comprises a detection coil and an excitation coil, the position of a dropped control rod can be recognized at a plurality of points. (I.S.)

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

    NARCIS (Netherlands)

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

    2015-01-01

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

  10. Positive immunolabelling for feline infectious peritonitis in an African lion (Panthera leo) with bilateral panuveitis.

    Science.gov (United States)

    Mwase, M; Shimada, K; Mumba, C; Yabe, J; Squarre, D; Madarame, H

    2015-01-01

    A 15-year-old male African lion (Panthera leo) was presented with blindness due to bilateral panuveitis with retinal detachment. Feline coronavirus (FCoV) antigen was identified immunohistochemically in ocular macrophages, consistent with a diagnosis of feline infectious peritonitis (FIP) infection. This is the first report of FIP in an African lion and the first report of ocular FIP in a non-domestic felid. Copyright © 2014 Elsevier Ltd. All rights reserved.

  11. Comparison of unilateral and simultaneous bilateral measurement of the globe position, using the Hertel exophthalmometer.

    LENUS (Irish Health Repository)

    Ameri, Hossein

    2012-02-03

    PURPOSE: To assess the effect of simultaneous measurement of the two eyes in Hertel exophthalmometry (i.e., when both readings are taken sequentially, without removing the instrument from the orbital rims) and to find out whether simultaneous measurement would influence the final reading of each eye. METHODS: In this prospective, comparative study, Hertel exophthalmometry was performed on 61 patients by two experienced observers. Only patients with no history of orbital disease were included. Three different measurements were performed on each patient by each observer. Initially, the right eye was measured separately, then the left eye was measured separately, and finally, both eyes were measured together. RESULTS: When the eyes were measured separately, in 30% of cases observers obtained equal readings in both eyes; in 47%, the difference between the two eyes was 1 mm; and in 23%, the difference was 2 mm or more. However, in simultaneous bilateral measurements, in 73% of cases, observers obtained equal readings in both eyes; in 24%, the difference between the two eyes was 1 mm; and only in 3% was the difference 2 mm or greater. Paired t tests showed that the mean difference between measurements of the two eyes was significantly smaller in simultaneous bilateral measurements (p <0.001). Interobserver variation was similar for measurements taken separately on each eye and for simultaneous bilateral measurements. CONCLUSIONS: When both eyes were measured simultaneously with the Hertel exophthalmometer, examiners were inclined to obtain similar readings in both eyes of patients with symmetrical-appearing eyes. The possible bias arising this way may reduce the reliability of Hertel exophthalmometer in relative exophthalmometry.

  12. Neuropsychological effects of bilateral STN stimulation in Parkinson disease - A controlled study

    NARCIS (Netherlands)

    Smeding, HMM; Koning-Haanstra, M; Schuurman, PR; Nijssen, P; van Laar, T; Schmand, B; Speelman, J.D.

    2006-01-01

    Objective: To evaluate the cognitive and behavioral effects of bilateral subthalamic nucleus (STN) stimulation in patients with Parkinson disease (PD). Methods: The authors included 103 patients; 99 patients were evaluated 6 months after surgery. A control group of 39 patients with PD was formed and

  13. Unilateral posterior canal-plugging surgery for intractable bilateral posterior canal-type benign paroxysmal positional vertigo.

    Science.gov (United States)

    Hotta, Sayaka; Imai, Takao; Higashi-Shingai, Kayoko; Okazaki, Suzuyo; Okumura, Tomoko; Uno, Atsuhiko; Ohta, Yumi; Morihana, Tetsuo; Sato, Takashi; Inohara, Hidenori

    2017-10-01

    To investigate the effectiveness of unilateral posterior semicircular canal (PSCC)-plugging surgery for patients with intractable bilateral PSCC-type benign paroxysmal positional vertigo (P-BPPV). From July 2011 to December 2015, we diagnosed 136 patients with P-BPPV. Of these, 3 patients had bilateral P-BPPV, and in 2 of the 3, the condition had been refractory to conservative treatment for more than 1 year. We planned a staged PSCC-plugging surgery for these 2 patients; initially one side was treated, and the contralateral side was treated 6 months later. After the first surgery, both patients experienced improvement in symptoms of vertigo and nystagmus on the operated side and no change on the non-operated side. Patients underwent the Epley maneuver for the non-operated side. In one case, the non-operated side was cured. In the other case, although the P-BPPV was not completely resolved, the patient was satisfied with the result of unilateral surgery because he was now able to turn in bed to the operated side without vertigo. Before surgery, he had experienced vertigo when turning even slightly in bed. We propose that even unilateral PSCC-plugging surgery is effective for some patients with intractable bilateral P-BPPV. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

  14. MIS Single-position Lateral and Oblique Lateral Lumbar Interbody Fusion and Bilateral Pedicle Screw Fixation: Feasibility and Perioperative Results.

    Science.gov (United States)

    Blizzard, Daniel J; Thomas, J Alex

    2018-03-15

    Retrospective review of prospectively collected data of the first 72 consecutive patients treated with single-position one- or two-level lateral (LLIF) or oblique lateral interbody fusion (OLLIF) with bilateral percutaneous pedicle screw and rod fixation by a single spine surgeon. To evaluate the clinical feasibility, accuracy, and efficiency of a single-position technique for LLIF and OLLIF with bilateral pedicle screw and rod fixation. Minimally-invasive lateral interbody approaches are performed in the lateral decubitus position. Subsequent repositioning prone for bilateral pedicle screw and rod fixation requires significant time and resources and does not facilitate increased lumbar lordosis. The first 72 consecutive patients (300 screws) treated with single-position LLIF or OLLIF and bilateral pedicle screws by a single surgeon between December 2013 and August 2016 were included in the study. Screw accuracy and fusion were graded using computed tomography and several timing parameters were recorded including retractor, fluoroscopy, and screw placement time. Complications including reoperation, infection, and postoperative radicular pain and weakness were recorded. Average screw placement time was 5.9 min/screw (standard deviation, SD: 1.5 min; range: 3-9.5 min). Average total operative time (interbody cage and pedicle screw placement) was 87.9 minutes (SD: 25.1 min; range: 49-195 min). Average fluoroscopy time was 15.0 s/screw (SD: 4.7 s; range: 6-25 s). The pedicle screw breach rate was 5.1% with 10/13 breaches measured as < 2 mm in magnitude. Fusion rate at 6-months postoperative was 87.5%. Two (2.8%) patients underwent reoperation for malpositioned pedicle screws with subsequent resolution of symptoms. The single-position, all-lateral technique was found to be feasible with accuracy, fluoroscopy usage, and complication rates comparable with the published literature. This technique eliminates the time and staffing associated with

  15. Neurologic music therapy in upper-limb rehabilitation in children with severe bilateral cerebral palsy: a randomized controlled trial.

    Science.gov (United States)

    Marrades-Caballero, Eugenio; Santonja-Medina, Clara S; Sanz-Mengibar, Jose M; Santonja-Medina, Fernando

    2018-02-26

    After receiving neurologic music therapy, functional improvements in children with severe bilateral cerebral palsy have not been found in the literature. Musical training with instruments allows interrelationships between movement, emotions and cognition for task-based learning, in order to improve motor control. To understand whether neurologic music therapy has an impact on the functionality of children with severe cerebral palsy. A randomized controlled assessor-blind trial was carried out. Children were recruited and treated in their own community center. Eighteen children with severe bilateral cerebral palsy between 4 and 16 years old were studied. The intervention group (n=18) received music therapy for 16 weeks, in addition to its usual physiotherapy input. Two music therapists implemented a neurologic music therapy program of therapeutic instrumental music performance. The control group (n=9) received its usual therapeutic input, similar to the intervention group, but not neurologic music therapy. Overall and specific "Chailey levels of Ability" were quantified, as well as the Locomotor Stages. Significant improvements in the overall and specific "arm and hand position" as well as "activities" from the Chailey Levels of Ability and the Locomotor Stages were observed (pmusic therapy (corregir si se acepta en la editing proofs). All these improvements persisted after 4 months. The control group showed no improvements after a four-month follow-up. Optimized intervention of neurologic music therapy can improve the functionality of children with severe bilateral cerebral palsy. Music therapy is a useful tool in rehabilitation and its positive effects remain four months after completing the treatment.

  16. Position control device for a control rod

    International Nuclear Information System (INIS)

    Ono, Takehiko; Kusaka, Shuji.

    1976-01-01

    Purpose: To reliably prevent dangerous operation in the control of the position of the control rod by checking for abnormal pulse motor coil excitation voltage and, at the time of occurrence of abnormality, immediately holding the control rod stationary lest it should be moved to an unsafe position, this being accomplished excitation from a compensating excitation system. Constitution: In an FBR reactor, a circuit for memorizing the correct output states of individual drive signals at arbitrary instants and consequtively producing the memorized results is provided, and the output of the circuit and the actual drive signal are compared at all times to discriminate whether the drive signal being compared is normal or not. When the actual drive signal is abnormal, a series signal varying after a predetermined pattern is shifted to enable replacement of the actual drive signal, so that irrespective of whether the problem drive signal is ''on'' or ''off'', a drive signal of the correct pattern may be supplied to the pulse motor to hold the control rod and prevent it from being moved toward the dangerous side due to its own weight or other causes. (Horiuchi, T.)

  17. Intracranially protruded bilateral posterior and superior SCCs with multiple dehiscences in a patient with positional vertigo: CT and MR imaging findings and review of literature

    International Nuclear Information System (INIS)

    Kundaragi, Nischal G; Mudali, Srinivasa; Karpagam, Bulabai; Priya, Rathna

    2014-01-01

    We report a rare case of intracranially protruded posterior and superior semicircular canals beyond the margins of temporal bone with bony roof dehiscence in bilateral posterior and left superior semicircular canals in a patient with benign paroxysmal positional vertigo (BPPV)

  18. Tranexamic acid for control of blood loss in bilateral total knee replacement in a single stage

    Directory of Open Access Journals (Sweden)

    Mandeep S Dhillon

    2011-01-01

    Full Text Available Background: Tranexamic acid (TEA reduces blood loss and red cell transfusions in patients undergoing unilateral total knee arthroplasty (TKA. However, there is not much literature regarding the use of TEA in patients undergoing bilateral TKA in a single stage and the protocols for administration of TEA in such patients are ill-defined. Materials and Methods: We carried out a case control study evaluating the effect of TEA on postoperative hemoglobin (Hb, total drain output, and number of blood units transfused in 52 patients undergoing bilateral TKA in a single stage, and compared it with 56 matched controls who did not receive TEA. Two doses of TEA were administered in doses of 10 mg / kg each (slow intravenous (IV infusion, with the first dose given just before tourniquet release of the first knee and the second dose three hours after the first one. Results: A statistically significant reduction in the total drain output and requirement of allogenic blood transfusion in cases who received TEA, as compared to the controls was observed. The postoperative Hb and Hb at the time of discharge were found to be lower in the control group, and this result was found to be statistically significant. Conclusion: TEA administered in patients undergoing single stage bilateral TKA helped reduce total blood loss and decreased allogenic blood transfusion requirements. This might be particularly relevant, where facilities such as autologous reinfusion might not be available.

  19. PD-like controller for delayed bilateral teleoperation of wheeled robots

    Science.gov (United States)

    Slawiñski, E.; Mut, V.; Santiago, D.

    2016-08-01

    This paper proposes a proportional derivative (PD)-like controller applied to the delayed bilateral teleoperation of wheeled robots with force feedback in face of asymmetric and varying-time delays. In contrast to bilateral teleoperation of manipulator robots, in these systems, there is a mismatch between the models of the master and slave (mobile robot), problem that is approached in this work, where the system stability is analysed. From this study, it is possible to infer the control parameters, depending on the time delay, necessary to assure stability. Finally, the performance of the delayed teleoperation system is evaluated through tests where a human operator drives a 3D simulator as well as a mobile robot for pushing objects.

  20. A design method of bilateral control system with uncertain dynamics of environments

    International Nuclear Information System (INIS)

    Yamada, Kou; Iida, Noriyuki; Kudou, Naoki

    2002-01-01

    In the present paper, we examine a design method for master-slave systems of bilateral control systems. In master-slave systems, human operator works to achieve tasks via the master and the salve system. The salve system contacts the environment and works the tasks. According to past studies, when the dynamics of environment is treated as uncertainties, the number of unstable poles of the slave system is required to be equivalent to that of the slave system with the dynamics of the environment. In some cases, the number of unstable poles of the slave system with the dynamics of environment is different from that of the slave system. We propose a simple design method of bilateral control systems such that the number of unstable poles of the slave system with the dynamics of environmental is different from that of the slave system without the dynamics of the environment. (author)

  1. Continuous bilateral thoracic paravertebral blockade for analgesia after cardiac surgery: a randomised, controlled trial.

    Science.gov (United States)

    Lockwood, Geoff G; Cabreros, Leilani; Banach, Dorota; Punjabi, Prakash P

    2017-10-01

    Continuous bilateral thoracic paravertebral blockade has been used for analgesia after cardiac surgery, but its efficacy has never been formally tested. Fifty adult patients were enrolled in a double-blind, randomised, controlled study of continuous bilateral thoracic paravertebral infusion of 0.5% lidocaine (1 mg.kg -1 .hr -1 ) for analgesia after coronary surgery. Control patients received a subcutaneous infusion of lidocaine at the same rate through catheters inserted at the same locations as the study group. The primary outcome was morphine consumption at 48 hours using patient-controlled analgesia (PCA). Secondary outcomes included pain, respiratory function, nausea and vomiting. Serum lidocaine concentrations were measured on the first two post-operative days. There was no difference in morphine consumption or in any other outcome measure between the groups. Serum lidocaine concentrations increased during the study, with a maximum of 5.9 mg.l -1 . There were no adverse events as a consequence of the study. Bilateral paravertebral infusion of lidocaine confers no advantage over systemic lidocaine infusion after cardiac surgery. ISRCTN13424423 ( https://www.isrctn.com ).

  2. Incorrect position of Essure microinserts 3 months after successful bilateral placement

    NARCIS (Netherlands)

    Gerritse, Maria B. E.; Veersema, Sebastiaan; Timmermans, Anne; Brolmann, Hans A. M.

    Objective: To describe incorrect positions of Essure microinserts detected at 3 months' follow-up. Design: Case report. Setting: Outpatient department of obstetrics and gynecology in a Dutch teaching hospital. Patient(s): Initial series of 100 patients who underwent hysteroscopic sterilization using

  3. Positive immunostaining for feline infectious peritonitis (FIP) in a Sphinx cat with cutaneous lesions and bilateral panuveitis.

    Science.gov (United States)

    Bauer, Bianca S; Kerr, Moira E; Sandmeyer, Lynne S; Grahn, Bruce H

    2013-07-01

    Feline infectious peritonitis (FIP) is a common, fatal, systemic disease of cats. This case report describes the antemortem diagnosis of FIP in a 2-year-old spayed female Sphinx cat that presented with a bilateral panuveitis and multiple papular cutaneous lesions. Histopathologically, the skin lesions were characterized by perivascular infiltrates of macrophages, neutrophils, with fewer plasma cells, mast cells, and small lymphocytes in the mid- to deep dermis. Immunohistochemistry for intracellular feline coronavirus (FeCoV) antigen demonstrated positive staining in dermal macrophages providing an antemortem diagnosis of a moderate, nodular to diffuse, pyogranulomatous perivascular dermatitis due to FIP infection. Obtaining an antemortem diagnosis of FIP can be a challenge and cutaneous lesions are rare in the disease. Recognition and biopsy of any cutaneous lesions in cats with panuveitis and suspected FIP can help establish an antemortem diagnosis of the disease. © 2013 American College of Veterinary Ophthalmologists.

  4. Bilateral teleoperation control to improve transparency in stiff environment with time delay

    Directory of Open Access Journals (Sweden)

    M. Azadegan

    2014-09-01

    Full Text Available This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. Furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. This framework is composed of an adaptive sliding mode controller and an adaptive impedance controller, where online estimation of the environment impedance is performed, and then used as the desired impedance at the master side. Numerical simulations are provided to verify the theoretical results under different conditions, such as constant and time-varying delay, obstructed environment and transitioning between soft and stiff environment. Afterwards, comparison with a recent work is addressed.

  5. Optogenetic control of organelle transport and positioning

    NARCIS (Netherlands)

    van Bergeijk, Petra; Adrian, Max; Hoogenraad, Casper C; Kapitein, Lukas C

    2015-01-01

    Proper positioning of organelles by cytoskeleton-based motor proteins underlies cellular events such as signalling, polarization and growth. For many organelles, however, the precise connection between position and function has remained unclear, because strategies to control intracellular organelle

  6. Design and Interaction Control of a New Bilateral Upper-Limb Rehabilitation Device

    Directory of Open Access Journals (Sweden)

    Qing Miao

    2017-01-01

    Full Text Available This paper proposed a bilateral upper-limb rehabilitation device (BULReD with two degrees of freedom (DOFs. The BULReD is portable for both hospital and home environment, easy to use for therapists and patients, and safer with respect to upper-limb robotic exoskeletons. It was implemented to be able to conduct both passive and interactive training, based on system kinematics and dynamics, as well as the identification of real-time movement intention of human users. Preliminary results demonstrate the potential of the BULReD for clinical applications, with satisfactory position and interaction force tracking performance. Future work will focus on the clinical evaluation of the BULReD on a large sample of poststroke patients.

  7. Control rod position detector for nuclear reactor

    International Nuclear Information System (INIS)

    Kudo, Mitsuru; Fujiwara, Hiroshi.

    1981-01-01

    Purpose: To improve the reliability of a control rod position detector by detecting a reactive code with a combination of control rod position change signals produced from vertical and horizontal axis decoders, generation an error signal and thus simultaneously detecting the operation of more than two lead switches. Constitution: Horizontal and vertical axis position signals responsive to changes in the control rod position are applied from lead switches connected in a predetermined matrix connection corresponding to the notches of the positions of respective position detecting probes, the reactive output from the decoder is detected by a reactive code detecting circuit, which in turn generates a fault signal, and the control rod position code converted in a notch number generating circuit is converted to a predetermined value indicating invalidity. Accordingly, a fault caused by the simultaneous operation of a plurality of failed lead switches can be effectively detected. (Yoshino, Y.)

  8. Unilateral versus bilateral robot-assisted rehabilitation on arm-trunk control and functions post stroke: a randomized controlled trial.

    Science.gov (United States)

    Wu, Ching-Yi; Yang, Chieh-Ling; Chen, Ming-de; Lin, Keh-Chung; Wu, Li-Ling

    2013-04-12

    Although the effects of robot-assisted arm training after stroke are promising, the relative effects of unilateral (URT) vs. bilateral (BRT) robot-assisted arm training remain uncertain. This study compared the effects of URT vs. BRT on upper extremity (UE) control, trunk compensation, and function in patients with chronic stroke. This was a single-blinded, randomized controlled trial. The intervention was implemented at 4 hospitals. Fifty-three patients with stroke were randomly assigned to URT, BRT, or control treatment (CT). Each group received UE training for 90 to 105 min/day, 5 days/week, for 4 weeks. The kinematic variables for arm motor control and trunk compensation included normalized movement time, normalized movement units, and the arm-trunk contribution slope in unilateral and bilateral tasks. Motor function and daily function were measured by the Wolf Motor Function Test (WMFT), Motor Activity Log (MAL), and ABILHAND Questionnaire. The BRT and CT groups elicited significantly larger slope values (i.e., less trunk compensation) at the start of bilateral reaching than the URT group. URT led to significantly better effects on WMFT-Time than BRT. Differences in arm control kinematics and performance on the MAL and ABILHAND among the 3 groups were not significant. BRT and URT resulted in differential improvements in specific UE/trunk performance in patients with stroke. BRT elicited larger benefits than URT on reducing compensatory trunk movements at the beginning of reaching. In contrast, URT produced better improvements in UE temporal efficiency. These relative effects on movement kinematics, however, did not translate into differential benefits in daily functions. ClinicalTrials.gov: NCT00917605.

  9. Plasma position and shape control for ITER

    International Nuclear Information System (INIS)

    Portone, A.; Gribov, Y.; Huguet, M.

    1995-01-01

    Key features and main results about the control of the plasma shape in ITER are presented. A control algorithm is designed to control up to 6 gaps between the plasma separatrix and the plasma facing components during the reference burn phase. Nonlinear simulations show the performances of the controller in the presence of plasma vertical position offsets, beta drops and power supply voltage saturation

  10. Plasma position control on Alcator C

    International Nuclear Information System (INIS)

    Pribyl, P.A.

    1981-05-01

    The Alcator C MHD equilibrium is investigated from the standpoint of determining the plasma position. A review of equilibrium theory is presented, indicating that the central flux surfaces of the plasma should be displaced about 1 to 2 cm from the outermost. Further, the plasma should have a slightly noncircular cross-section. A comparison is made between the observed and predicted profiles. Flux loops sensitive to plasma position generate the error signal for the feedback control circuit. This measurement agrees with other position-sensitive diagnostics, such as limiter heating, and centroids of density, soft x-ray, and electron cyclotron emission. A linear model is developed for the position control feedback system, including the vertical field SCR supply, plasma, and feedback electronics. Operation of the control system agrees well with that predicted by the model, with acceptable plasma position being maintained for the duration of the discharge. The feedback control system is in daily use for Alcator C runs

  11. Positive Exchange of Flight Controls Program

    Science.gov (United States)

    1995-03-10

    This advisory circular provides guidance for all pilots, especially student pilots, flight instructors, and pilot examiners, on the recommended procedure to use for the positive exchange of flight controls between pilots when operating an aircraft.

  12. Control issues related to bilateral teleoperation of long-reach, flexible manipulators

    International Nuclear Information System (INIS)

    Love, L.J.

    1997-01-01

    A challenging problem presently being addressed by the Department of Energy (DOE) is the extraction of large volumes of hazardous waste from underground waste storage facilities. The nature of the material requires the use of robotic and teleoperated systems. Furthermore, the constraints of the storage tanks require the use of long reach manipulators. These robots are characterized by their large workspace and reduced mass. Unfortunately, this reduction in mass increases structural compliance, making these robots susceptible to vibration. Until recently, no attempt has been made to provide the operator any type of force reflection due to the compliance of the slave robot. This paper addresses the control of bilateral teleoperation systems that use long-reach, flexible manipulators. Analysis and experiments show that the compliance of the slave robot directly affects the stability of the teleoperation system. This study suggests that this may be controlled by increasing the damping on the master robot. However, this increase in target damping increases the energy an operator must exert during the execution of a task. A new teleoperation strategy adapts the target impedance of the master robot to variations in the identified impedance of the remote environment coupled to the slave robot. Experiments show increased performance due to a decrease in the energy the operator must provide during task execution

  13. The Assessment of Postural Control, Reflex Integration, and Bilateral Motor Coordination of Young Handicapped Children. Final Report.

    Science.gov (United States)

    DeGangi, Georgia; Larsen, Lawrence A.

    A measurement device, Assessment of Sensorimotor Integration in Preschool Children, was developed to assess postural control, reflex integration and bilateral motor integration in developmentally delayed children (3 to 5 years old). The test was administered to 113 normal children and results were compared with data collected on 23 developmentally…

  14. Craniofacial morphology of Dutch patients with bilateral cleft lip and palate and noncleft controls at the age of 15 years

    NARCIS (Netherlands)

    van den Dungen, G.M.; Ongkosuwito, E.M.; Aartman, I.H.A.; Prahl-Andersen, B.

    2008-01-01

    Objective: Comparison of craniofacial morphology in bilateral cleft lip and palate patients to that of a noncleft control group at the age of 15 years. Design: A cross-sectional study of cephalometric data. Subjects and Methods: Cephalometric records of 41 consecutive patients (32 boys and 9 girls)

  15. Plasma position control in TCABR Tokamak

    International Nuclear Information System (INIS)

    Galvao, R.M.O.; Kuznetsov, Yu. K.; Nascimento, I.C.; Fonseca, A.M.M.; Silva, R.P. da; Ruchko, L.F.; Tuszel, A.G.; Reis, A.P. dos; Sanada, E.K.

    1998-01-01

    The plasma control position in the TCABR tokamak is described. The TCA tokamak was transferred from the Centre de Recherches en Physique des Plasmas, Lausanne, to the Institute of Physics of University of Sao Paulo, renamed TCABR (α=0.18 m, R = 0.62 m, B = 1 T,I p = 100 kA). The control system was reconstructed using mainly components obtained from the TCA tokamak. A new method of plasma position determination is used in TCABR to improve its accuracy. A more detailed theoretical analysis of the feed forward and feedback control is performed as compared with. (author)

  16. Short and long term effects of left and bilateral repetitive transcranial magnetic stimulation in schizophrenia patients with auditory verbal hallucinations: a randomized controlled trial.

    Directory of Open Access Journals (Sweden)

    Leonie Bais

    Full Text Available BACKGROUND: Repetitive transcranial magnetic stimulation of the left temporo-parietal junction area has been studied as a treatment option for auditory verbal hallucinations. Although the right temporo-parietal junction area has also shown involvement in the genesis of auditory verbal hallucinations, no studies have used bilateral stimulation. Moreover, little is known about durability effects. We studied the short and long term effects of 1 Hz treatment of the left temporo-parietal junction area in schizophrenia patients with persistent auditory verbal hallucinations, compared to sham stimulation, and added an extra treatment arm of bilateral TPJ area stimulation. METHODS: In this randomized controlled trial, 51 patients diagnosed with schizophrenia and persistent auditory verbal hallucinations were randomly allocated to treatment of the left or bilateral temporo-parietal junction area or sham treatment. Patients were treated for six days, twice daily for 20 minutes. Short term efficacy was measured with the Positive and Negative Syndrome Scale (PANSS, the Auditory Hallucinations Rating Scale (AHRS, and the Positive and Negative Affect Scale (PANAS. We included follow-up measures with the AHRS and PANAS at four weeks and three months. RESULTS: The interaction between time and treatment for Hallucination item P3 of the PANSS showed a trend for significance, caused by a small reduction of scores in the left group. Although self-reported hallucination scores, as measured with the AHRS and PANAS, decreased significantly during the trial period, there were no differences between the three treatment groups. CONCLUSION: We did not find convincing evidence for the efficacy of left-sided rTMS, compared to sham rTMS. Moreover, bilateral rTMS was not superior over left rTMS or sham in improving AVH. Optimizing treatment parameters may result in stronger evidence for the efficacy of rTMS treatment of AVH. Moreover, future research should consider

  17. Plasma position control device for thermonuclear device

    Energy Technology Data Exchange (ETDEWEB)

    Onozuka, Masanori [Mitsubishi Heavy Industries Ltd., Tokyo (Japan); Fujita, Jun-ya; Ioki, Kimihiro

    1995-10-03

    The present invention concerns plasma position control coils having a feeder line structure not requiring high strength for the support portion. Namely, the coils are formed by twisting feeder lines extended from plasma position control coils in a vacuum vessel. The twisted feeder lines are supported using an appropriate structural member. Electromagnetic load is generated to the feeder lines being extended from the position control coils and traversing toroidal fields at a current introduction lines and at current delivery lines respectively. However, since the feeder lines have substantially spiral shape consisting of two twisted lines, the electromagnetic load and the moment caused by the generated load which are inversed to each other are off set. Accordingly, only extremely small force is exerted on the fittings which support the feeder lines. Therefore, small strength may suffice for the fittings and the gaps of mounting the fittings may be made longer. (I.S.).

  18. Plasma position control device for thermonuclear device

    International Nuclear Information System (INIS)

    Onozuka, Masanori; Fujita, Jun-ya; Ioki, Kimihiro.

    1995-01-01

    The present invention concerns plasma position control coils having a feeder line structure not requiring high strength for the support portion. Namely, the coils are formed by twisting feeder lines extended from plasma position control coils in a vacuum vessel. The twisted feeder lines are supported using an appropriate structural member. Electromagnetic load is generated to the feeder lines being extended from the position control coils and traversing toroidal fields at a current introduction lines and at current delivery lines respectively. However, since the feeder lines have substantially spiral shape consisting of two twisted lines, the electromagnetic load and the moment caused by the generated load which are inversed to each other are off set. Accordingly, only extremely small force is exerted on the fittings which support the feeder lines. Therefore, small strength may suffice for the fittings and the gaps of mounting the fittings may be made longer. (I.S.)

  19. Validation of ISTTOK Plasma Position Controller

    International Nuclear Information System (INIS)

    Valcarcel, D. F.; Carvalho, I. S.; Carvalho, B. B.; Fernandes, H.; Silva, C.; Duarte, P.; Duarte, A.; Carvalho, P. J.; Pereira, T.

    2008-01-01

    Active control of plasma position on the ISTTOK tokamak is of extreme importance due to the inherent instability caused by an unfavourable curvature of the external equilibrium magnetic field. The consequences of this instability can be suppressed by applying a dynamic equilibrium field. A digital real-time plasma position control system for ISTTOK has been developed to perform this task. This system uses magnetic measurements to determine the plasma position and feeds the control signal to power supplies that generate the equilibrium fields. After commissioning, the results obtained have shown some discrepancies between the magnetic plasma position reconstruction and several other diagnostics, such as tomography. This discrepancy at some extent is due to the effect of the external magnetic fields on the poloidal magnetic measurements. This work presents a study that addresses this issue. In a future work it will lead to the development of a corrected plasma position algorithm, aiming at obtaining improved performance of plasma discharges and controlled plasma column displacements

  20. Impulse position control algorithms for nonlinear systems

    Energy Technology Data Exchange (ETDEWEB)

    Sesekin, A. N., E-mail: sesekin@list.ru [Ural Federal University, 19 S. Mira, Ekaterinburg, 620002 (Russian Federation); Institute of Mathematics and Mechanics, Ural Division of Russian Academy of Sciences, 16 S. Kovalevskaya, Ekaterinburg, 620990 (Russian Federation); Nepp, A. N., E-mail: anepp@urfu.ru [Ural Federal University, 19 S. Mira, Ekaterinburg, 620002 (Russian Federation)

    2015-11-30

    The article is devoted to the formalization and description of impulse-sliding regime in nonlinear dynamical systems that arise in the application of impulse position controls of a special kind. The concept of trajectory impulse-sliding regime formalized as some limiting network element Euler polygons generated by a discrete approximation of the impulse position control This paper differs from the previously published papers in that it uses a definition of solutions of systems with impulse controls, it based on the closure of the set of smooth solutions in the space of functions of bounded variation. The need for the study of such regimes is the fact that they often arise when parry disturbances acting on technical or economic control system.

  1. Impulse position control algorithms for nonlinear systems

    Science.gov (United States)

    Sesekin, A. N.; Nepp, A. N.

    2015-11-01

    The article is devoted to the formalization and description of impulse-sliding regime in nonlinear dynamical systems that arise in the application of impulse position controls of a special kind. The concept of trajectory impulse-sliding regime formalized as some limiting network element Euler polygons generated by a discrete approximation of the impulse position control This paper differs from the previously published papers in that it uses a definition of solutions of systems with impulse controls, it based on the closure of the set of smooth solutions in the space of functions of bounded variation. The need for the study of such regimes is the fact that they often arise when parry disturbances acting on technical or economic control system.

  2. Automatic positioning control device for automatic control rod exchanger

    International Nuclear Information System (INIS)

    Nasu, Seiji; Sasaki, Masayoshi.

    1982-01-01

    Purpose: To attain accurate positioning for a control rod exchanger. Constitution: The present position for an automatic control rod exchanger is detected by a synchro generator. An aimed stopping position for the exchanger, a stop instruction range depending on the distantial operation delay in the control system and the inertia-running distance of the mechanical system, and a coincidence confirmation range depending on the required positioning accuracy are previously set. If there is a difference between the present position and the aimed stopping position, the automatic exchanger is caused to run toward the aimed stopping position. A stop instruction is generated upon arrival at the position within said stop instruction range, and a coincidence confirmation signal is generated upon arrival at the position within the coincidence confirmation range. Since uncertain factors such as operation delay in the control system and the inertia-running distance of the mechanical system that influence the positioning accuracy are made definite by the method of actual measurement or the like and the stop instruction range and the coincidence confirmation range are set based on the measured data, the accuracy for the positioning can be improved. (Ikeda, J.)

  3. Adverse childhood or adult experiences and risk of bilateral oophorectomy: a population-based case-control study.

    Science.gov (United States)

    Gazzuola Rocca, Liliana; Smith, Carin Y; Grossardt, Brandon R; Faubion, Stephanie S; Shuster, Lynne T; Stewart, Elizabeth A; Rocca, Walter A

    2017-06-07

    Bilateral oophorectomy has commonly been performed in conjunction with hysterectomy even in women without a clear ovarian indication; however, oophorectomy may have long-term deleterious consequences. To better understand this surgical practice from the woman's perspective, we studied the possible association of adverse childhood or adult experiences with the subsequent occurrence of bilateral oophorectomy. Population-based case-control study. Olmsted County, Minnesota (USA). From an established population-based cohort study, we sampled 128 women who underwent bilateral oophorectomy before age 46 years for a non-cancerous condition in 1988-2007 (cases) and 128 age-matched controls (±1 year). Information about adverse experiences was abstracted from the medical records dating back to age 15 years or earlier archived in the Rochester Epidemiology Project (REP) records-linkage system. Adverse childhood experiences were summarised using the Adverse Childhood Experience (ACE) score. We observed an association of bilateral oophorectomy performed before age 46 years with verbal or emotional abuse, physical abuse, any abuse, substance abuse in the household, and with an ACE score ≥1 experienced before age 19 years (OR=3.23; 95% CI 1.73 to 6.02; padult abuse are at increased risk of undergoing bilateral oophorectomy before menopause. We suggest that the association may be explained by a series of biological, emotional, and psychodynamic mechanisms. © Article author(s) (or their employer(s) unless otherwise stated in the text of the article) 2017. All rights reserved. No commercial use is permitted unless otherwise expressly granted.

  4. Upper limb position control in fibromyalgia

    Directory of Open Access Journals (Sweden)

    Bardal Ellen

    2012-09-01

    Full Text Available Abstract Background Motor problems are reported by patients with fibromyalgia (FM. However, the mechanisms leading to alterations in motor performance are not well understood. In this study, upper limb position control during sustained isometric contractions was investigated in patients with FM and in healthy controls (HCs. Methods Fifteen female FM patients and 13 HCs were asked to keep a constant upper limb position during sustained elbow flexion and shoulder abduction, respectively. Subjects received real-time visual feedback on limb position and both tasks were performed unloaded and while supporting loads (1, 2, and 3 kg. Accelerations of the dominant upper limb were recorded, with variance (SD of mean position and power spectrum analysis used to characterize limb position control. Normalized power of the acceleration signal was extracted for three frequency bands: 1–3 Hz, 4–7 Hz, and 8–12 Hz. Results Variance increased with load in both tasks (P 0.001 but did not differ significantly between patients and HCs (P > 0.17. Power spectrum analysis showed that the FM patients had a higher proportion of normalized power in the 1–3 Hz band, and a lower proportion of normalized power in the 8–12 Hz band compared to HCs (P 0.05. The results were consistent for all load conditions and for both elbow flexion and shoulder abduction. Conclusion FM patients exhibit an altered neuromuscular strategy for upper limb position control compared to HCs. The predominance of low-frequency limb oscillations among FM patients may indicate a sensory deficit.

  5. Bilateral control of master-slave manipulators with constant time delay.

    Science.gov (United States)

    Forouzantabar, A; Talebi, H A; Sedigh, A K

    2012-01-01

    This paper presents a novel teleoperation controller for a nonlinear master-slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the passivity based architecture upon the earlier work of Lee and Spong (2006) [14] to improve position tracking and consequently transparency in the face of disturbances and environmental contacts. The proposed controller employs a PID controller in each side to overcome some limitations of a PD controller and guarantee an improved performance. Moreover, by using Fourier transform and Parseval's identity in the frequency domain, we demonstrate that this new PID controller preserves the passivity of the system. Simulation and semi-experimental results show that the PID controller tracking performance is superior to that of the PD controller tracking performance in slave/environmental contacts. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

  6. Bilateral robotic priming before task-oriented approach in subacute stroke rehabilitation: a pilot randomized controlled trial.

    Science.gov (United States)

    Hsieh, Yu-Wei; Wu, Ching-Yi; Wang, Wei-En; Lin, Keh-Chung; Chang, Ku-Chou; Chen, Chih-Chi; Liu, Chien-Ting

    2017-02-01

    To investigate the treatment effects of bilateral robotic priming combined with the task-oriented approach on motor impairment, disability, daily function, and quality of life in patients with subacute stroke. A randomized controlled trial. Occupational therapy clinics in medical centers. Thirty-one subacute stroke patients were recruited. Participants were randomly assigned to receive bilateral priming combined with the task-oriented approach (i.e., primed group) or to the task-oriented approach alone (i.e., unprimed group) for 90 minutes/day, 5 days/week for 4 weeks. The primed group began with the bilateral priming technique by using a bimanual robot-aided device. Motor impairments were assessed by the Fugal-Meyer Assessment, grip strength, and the Box and Block Test. Disability and daily function were measured by the modified Rankin Scale, the Functional Independence Measure, and actigraphy. Quality of life was examined by the Stroke Impact Scale. The primed and unprimed groups improved significantly on most outcomes over time. The primed group demonstrated significantly better improvement on the Stroke Impact Scale strength subscale ( p = 0.012) and a trend for greater improvement on the modified Rankin Scale ( p = 0.065) than the unprimed group. Bilateral priming combined with the task-oriented approach elicited more improvements in self-reported strength and disability degrees than the task-oriented approach by itself. Further large-scale research with at least 31 participants in each intervention group is suggested to confirm the study findings.

  7. Variable pattern contamination control under positive pressure

    International Nuclear Information System (INIS)

    Philippi, H.M.

    1997-01-01

    Airborne contamination control in nuclear and biological laboratories is traditionally achieved by directing the space ventilation air at subatmospheric pressures in one fixed flow pattern. However, biological and nuclear contamination flow control in the new Biological Research Facility, to be commissioned at the Chalk River Laboratories in 1996, will have the flexibility to institute a number of contamination control patterns, all achieved at positive (above atmospheric) pressures. This flexibility feature, made possible by means of a digitally controlled ventilation system, changes the facility ventilation system from being a relatively rigid building service operated by plant personnel into a flexible building service which can be operated by the facility research personnel. This paper focuses on and describes the application of these unique contamination control features in the design of the new Biological Research Facility. 3 refs., 7 figs

  8. Variable pattern contamination control under positive pressure

    Energy Technology Data Exchange (ETDEWEB)

    Philippi, H.M. [Chalk River Labs., Ontario (Canada)

    1997-08-01

    Airborne contamination control in nuclear and biological laboratories is traditionally achieved by directing the space ventilation air at subatmospheric pressures in one fixed flow pattern. However, biological and nuclear contamination flow control in the new Biological Research Facility, to be commissioned at the Chalk River Laboratories in 1996, will have the flexibility to institute a number of contamination control patterns, all achieved at positive (above atmospheric) pressures. This flexibility feature, made possible by means of a digitally controlled ventilation system, changes the facility ventilation system from being a relatively rigid building service operated by plant personnel into a flexible building service which can be operated by the facility research personnel. This paper focuses on and describes the application of these unique contamination control features in the design of the new Biological Research Facility. 3 refs., 7 figs.

  9. Bilateral Sturge-Weber Syndrome and glaucoma controlled with Ahmed valve implant

    Directory of Open Access Journals (Sweden)

    Marcelo Jarczun Kac

    2015-02-01

    Full Text Available Sturge-Weber Syndrome is a rare neuro-oculocutaneous disorder. The authors describe the case of a 13 years old boy, presented with bilateral Sturge-Weber Syndrome and glaucoma. Surgical treatment with Ahmed valve implantation in both eyes was carried out achieving lower levels of intraocular pressure.

  10. RODMOD: a code for control rod positioning

    International Nuclear Information System (INIS)

    Vondy, D.R.; Fowler, T.B.

    1978-11-01

    The report documents a computer code which has been implemented to position control rods according to a prescribed schedule during the calculation of a reactor history. Control rods may be represented explicitly with or without internal black absorber conditions in selected energy groups, or fractional insertion may be done, or both, in a problem. There is provision for control rod follower, movement of materials through a series of zones in a closed loop, and shutdown rod insertion and subsequent removal to allow the reactor history calculation to be continued. This code is incorporated in the system containing the VENTURE diffusion theory neutronics and the BURNER exposure codes for routine use. The implemented automated procedures cause the prescribed control rod insertion schedule to be applied without the access of additional user input data during the calculation of a reactor operating history

  11. Robust hydraulic position controller by a fuzzy state controller

    International Nuclear Information System (INIS)

    Zhao, T.; Van der Wal, A.J.

    1994-01-01

    In nuclear industry, one of the most important design considerations of controllers is their robustness. Robustness in this context is defined as the ability of a system to be controlled in a stable way over a wide range of system parameters. Generally the systems to be controlled are linearized, and stability is subsequently proven for this idealized system. By combining classical control theory and fuzzy set theory, a new kind of state controller is proposed and successfully applied to a hydraulic position servo with excellent robustness against variation of system parameters

  12. Pregnancy following bilateral salpingectomy

    DEFF Research Database (Denmark)

    Oturai, Annette Bang

    2008-01-01

    This report presents a rare case of spontaneous pregnancy following bilateral salpingectomy. A woman with a history of bilateral salpingectomy was admitted to hospital because of abdominal pain and positive urine HCG. Surprisingly, ultrasound confirmed a live intrauterine fetus. The pregnancy...... was unwanted, and the woman decided to terminate the pregnancy. She was offered diagnostic examination to localise a potential fistula, but she declined. In a MEDLINE search of English literature this is only the second case of spontaneous pregnancy following bilateral salpingectomy Udgivelsesdato: 2008/4/21...

  13. An assessment of the EU-Chinese bilateral relationship under the current economic and geostrategic context. Romania's position

    Directory of Open Access Journals (Sweden)

    Iulia Monica Oehler-Şincai

    2016-10-01

    Full Text Available China stands out as a rising economic power. Its leap in international hierarchies is remarkable both in terms of GDP, international trade and investment flows and qualitative indicators. Based on these developments, China is increasingly assertive, both regionally and internationally. At the global level, China's assertiveness is revealed by the largest project ever launched by a single country: One Belt, One Road (OBOR. It represents "a strategic priority" of the Chinese leaders, motivated by economic and geopolitical factors, internal and external determinants. This initiative includes cooperation with over 70 countries and international organizations from Asia to Europe and Africa. At the same time, it involves growing coordination among the countries in terms of policies, increasing financial integration, promoting trade and investment, fostering connectivity through infrastructure projects, and encouraging the movement of people and cultural exchanges. This initiative, as well as the platform for cooperation with 16 countries in Central and Eastern Europe (16+1 have opened on the one hand new ways of enhancing the bilateral EU-China, but on the other hand an unjustified competition between EU countries for financial resources Chinese, although the EU-China strategic partnership, OBOR and 16+1 can benefit all countries involved, given their competitive advantages. Romania, as a member country of the EU and participant at the platform 16+1 should take into account both such new opportunities and the need for an active cooperation with all countries.

  14. Angular Position Tracking Control of a Quadcopter

    Directory of Open Access Journals (Sweden)

    T. V. Glazkov

    2017-01-01

    Full Text Available The paper dwells on tracking the quad-copter angular position with desired quality parameters of transient processes. The aerial vehicle is considered as a rigid body with six degrees of freedom.  A full rigid body quad-copter mathematical model is considered without the assumption of smallness of the Euler angles.Among the most well known methods of non-linear stabilization are feedback linearization and backstepping. The backstepping approach allows us to have an effective solution of the stabilization problems with uncertainties available in the system. However, in synthesis of the feedback through backstepping, there is still an urgent issue: how to ensure desirable quality of transients in the closed-loop system. The paper presents a solution of this problem using as an example the tracking a given (programmed change of the angular position of a quad-copter.The control algorithms obtained in this paper are implemented using the Rolling Spider MATLAB Toolbox (ROSMAT tool package on the Parrot Rolling Spider quad-copter. A numerical simulation and experiments have shown the efficiency of obtained control laws, with the transient processes taking into account the desired quality indicators. However, the experiments showed that lack of terms in the mathematical model to describe the aerodynamic effects, resulted in the instability of the quad-copter flight near the obstacle (the effect of the reflected airflow.Further research can be aimed at solving the control problem in question using a mathematical model of the quad-copter motion that takes into account various aerodynamic effects.One of the potential application areas for the theoretical results, obtained in the paper, is to solve the problems of automatic control of unmanned aerial vehicles.

  15. Active vibration control of clamped beams using positive position feedback controllers with moment pair

    International Nuclear Information System (INIS)

    Shin, Chang Joo; Jeong, Weui Bong; Hong, Chin Suk

    2012-01-01

    This paper investigates the active vibration control of clamp beams using positive position feedback (PPF) controllers with a sensor/ moment pair actuator. The sensor/moment pair actuator which is the non-collocated configuration leads to instability of the control system when using the direct velocity feedback (DVFB) control. To alleviate the instability problem, a PPF controller is considered in this paper. A parametric study of the control system with PPF controller is first conducted to characterize the effects of the design parameters (gain and damping ratio in this paper) on the stability and performance. The gain of the controller is found to affect only the relative stability. Increasing the damping ratio of the controller slightly improves the stability condition while the performance gets worse. In addition, the higher mode tuned PPF controller affects the system response at the lower modes significantly. Based on the characteristics of PPF controllers, a multi-mode controllable SISO PPF controller is then considered and tuned to different modes (in this case, three lowest modes) numerically and experimentally. The multi-mode PPF controller can be achieved to have a high gain margin. Moreover, it reduces the vibration of the beam significantly. The vibration levels at the tuned modes are reduced by about 11 dB

  16. Boundary mediated position control of traveling waves

    Science.gov (United States)

    Martens, Steffen; Ziepke, Alexander; Engel, Harald

    Reaction control is an essential task in biological systems and chemical process industry. Often, the excitable medium supporting wave propagation exhibits an irregular shape and/or is limited in size. In particular, the analytic treatment of wave phenomena is notoriously difficult due to the spatial modulation of the domain's. Recently, we have provided a first systematic treatment by applying asymptotic perturbation analysis leading to an approximate description that involves a reduction of dimensionality; the 3D RD equation with spatially dependent NFBCs on the reactants reduces to a 1D reaction-diffusion-advection equation. Here, we present a novel method to control the position ϕ (t) of traveling waves in modulated domains according to a prespecified protocol of motion. Given this protocol, the ``optimal'' geometry of reactive domains Q (x) is found as the solution of the perturbatively derived equation of motion. Noteworthy, such a boundary control can be expressed in terms of the uncontrolled wave profile and its propagation velocity, rendering detailed knowledge of the reaction kinetics unnecessary. German Science Foundation DFG through the SFB 910 ''Control of Self-Organizing Nonlinear Systems''.

  17. Robust position control of induction motor using fuzzy logic control

    International Nuclear Information System (INIS)

    Kim, Sei Chan; Kim, Duk Hun; Yang, Seung Ho; Won, Chung Yuen

    1993-01-01

    In recent years, fuzzy logic or fuzzy set theory has reveived attention of a number of researchers in the area of power electronics and motion control. The paper describes a vector-controlled induction motor position servo drive where fuzzy control is used to get robustness against parameter variation and load torque disturbance effects. Both coarse and fine control with the help of look-up rule tables are used to improve transient response and system settling time. The performance characteristics are then compared with those of proportional-integral(PI) control. The simulation results clearly indicate the superiority of fuzzy control with larger number of rules. The fuzzy controller was implemented with a 16-bit microprocessor and tested in laboratory on a 3-hp IGBT inverter induction motor drive system. The test results verify the simulation performance. (Author)

  18. [Bilateral cochlear implants].

    Science.gov (United States)

    Müller, J

    2017-07-01

    Cochlear implants (CI) are standard for the hearing rehabilitation of severe to profound deafness. Nowadays, if bilaterally indicated, bilateral implantation is usually recommended (in accordance with German guidelines). Bilateral implantation enables better speech discrimination in quiet and in noise, and restores directional and spatial hearing. Children with bilateral CI are able to undergo hearing-based hearing and speech development. Within the scope of their individual possibilities, bilaterally implanted children develop faster than children with unilateral CI and attain, e.g., a larger vocabulary within a certain time interval. Only bilateral implantation allows "binaural hearing," with all the benefits that people with normal hearing profit from, namely: better speech discrimination in quiet and in noise, as well as directional and spatial hearing. Naturally, the developments take time. Binaural CI users benefit from the same effects as normal hearing persons: head shadow effect, squelch effect, and summation and redundancy effects. Sequential CI fitting is not necessarily disadvantageous-both simultaneously and sequentially fitted patients benefit in a similar way. For children, earliest possible fitting and shortest possible interval between the two surgeries seems to positively influence the outcome if bilateral CI are indicated.

  19. Bilateral deficits in fine motor control and pinch grip force are not associated with electrodiagnostic findings in women with carpal tunnel syndrome.

    Science.gov (United States)

    de la Llave-Rincón, Ana Isabel; Fernández-de-Las-Peñas, César; Pérez-de-Heredia-Torres, Marta; Martínez-Perez, Almudena; Valenza, Marie Carmen; Pareja, Juan A

    2011-06-01

    : The aim of this study was to analyze the differences in deficits in fine motor control and pinch grip force between patients with minimal, moderate/mild, or severe carpal tunnel syndrome (CTS) and healthy age- and hand dominance-matched controls. : A case-control study was conducted. The subtests of the Purdue Pegboard Test (one-hand and bilateral pin placements and assemblies) and pinch grip force between the thumb and the remaining four fingers of the hand were bilaterally evaluated in 66 women with minimal (n = 16), moderate (n = 16), or severe (n = 34) CTS and in 20 age- and hand-matched healthy women. The differences among the groups were analyzed using different mixed models of analysis of variance. : A two-way mixed analysis of variance revealed significant differences between groups, not depending on the presence of unilateral or bilateral symptoms (side), for the one-hand pin placement subtest: patients showed bilateral lower scores compared with controls (P < 0.001), without differences among those with minimal, moderate, or severe CTS (P = 0.946). The patients also exhibited lower scores in bilateral pin placement (P < 0.001) and assembly (P < 0.001) subtests, without differences among them. The three-way analysis of variance revealed significant differences among groups (P < 0.001) and fingers (P < 0.001), not depending on the presence of unilateral/bilateral symptoms (P = 0.684), for pinch grip force: patients showed bilateral lower pinch grip force in all fingers compared with healthy controls, without differences among those with minimal, moderate, or severe CTS. : The current study revealed similar bilateral deficits in fine motor control and pinch grip force in patients with minimal, moderate, or severe CTS, supporting that fine motor control deficits are a common feature of CTS not associated with electrodiagnostic findings.

  20. A bilateral advantage in controlling access to visual short-term memory.

    Science.gov (United States)

    Holt, Jessica L; Delvenne, Jean-François

    2014-01-01

    Recent research on visual short-term memory (VSTM) has revealed the existence of a bilateral field advantage (BFA--i.e., better memory when the items are distributed in the two visual fields than if they are presented in the same hemifield) for spatial location and bar orientation, but not for color (Delvenne, 2005; Umemoto, Drew, Ester, & Awh, 2010). Here, we investigated whether a BFA in VSTM is constrained by attentional selective processes. It has indeed been previously suggested that the BFA may be a general feature of selective attention (Alvarez & Cavanagh, 2005; Delvenne, 2005). Therefore, the present study examined whether VSTM for color benefits from bilateral presentation if attentional selective processes are particularly engaged. Participants completed a color change detection task whereby target stimuli were presented either across both hemifields or within one single hemifield. In order to engage attentional selective processes, some trials contained irrelevant stimuli that needed to be ignored. Targets were selected based on spatial locations (Experiment 1) or on a salient feature (Experiment 2). In both cases, the results revealed a BFA only when irrelevant stimuli were presented among the targets. Overall, the findings strongly suggest that attentional selective processes at encoding can constrain whether a BFA is observed in VSTM.

  1. Bilateral passive leg raising attenuates and delays tourniquet deflation-induced hypotension and tachycardia under spinal anaesthesia: a randomised controlled trial.

    Science.gov (United States)

    Huang, Go-Shine; Wang, Chih-Chien; Hu, Mei-Hua; Cherng, Chen-Hwan; Lee, Meei-Shyuan; Tsai, Chien-Sung; Chan, Wei-Hung; Hsieh, Xhang-Xian; Lin, Leou-Chyr

    2014-01-01

    The pneumatic tourniquet is frequently used in total knee arthroplasty. Tourniquet deflation may result in hypotension and tachycardia caused by the rapid shift of blood volume back to the ischaemic limb and a decrease in cardiac preload. Passive leg raising (PLR) represents a 'self-volume challenge' that can result in an increase in preload. Such a PLR-induced increase in preload was hypothesised to attenuate the decrease in preload resulting from tourniquet deflation. To evaluate the effect of PLR on hypotension and tachycardia following tourniquet deflation. A randomised controlled trial. Single medical centre. Seventy patients who underwent unilateral total knee arthroplasty were randomised into two groups: tourniquet deflation with PLR (n = 35) or without PLR (control group, n = 35). Patients in both groups were administered a single dose of plain bupivacaine for spinal anaesthesia. The pneumatic tourniquet was inflated on the thigh and the surgery was performed. The study composed of four steps: for the PLR group, step 1 - inflation of the tourniquet while the patient was supine; step 2 - the patient's legs were raised to a 45° angle; step 3 - the tourniquet was deflated while the patient's legs were still raised; and step 4 - the legs were returned to the supine position. In the control group, the same perioperative procedure was used, but PLR was not conducted. The patients' blood pressure and heart rate were measured before, during and after tourniquet deflation. After tourniquet deflation, the magnitude of the changes in blood pressure and heart rate was less in the PLR group than that in the control group. In addition, the blood pressure nadir also occurred later in the PLR group than in the controls. Bilateral PLR is a simple, reversible manoeuvre that mimics rapid fluid loading. Bilateral PLR attenuates the severity of, and delays the time to, hypotension and tachycardia following deflation of a lower limb tourniquet. ClinicalTrials.gov number

  2. A randomised controlled trial of bilateral dual transversus abdominis plane blockade for laparoscopic appendicectomy

    DEFF Research Database (Denmark)

    Tanggaard, K; Jensen, K; Lenz, K

    2015-01-01

    We investigated the effects of pre-operative ultrasound-guided bilateral dual transversus abdominis plane blocks on pain when sitting up and pain at rest after laparoscopic appendicectomy. We allocated 28 participants to injection with 60 ml ropivacaine 0.375% and 28 participants to 60 ml isotonic...... saline. The median (IQR [range]) cumulative pain scores during the first 12 postoperative hours were less after ropivacaine than saline (maximum 120): on sitting, 34 (19-46 [0-59]) vs 50 (30-59 [0-97]), respectively, p = 0.009; and at rest, 25 (10-33 [0-49]) vs 31 (24-43 [0-72]), respectively, p = 0...

  3. Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

    Directory of Open Access Journals (Sweden)

    Juan Manuel Ibarra-Zannatha

    2007-01-01

    Full Text Available The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position–position and/or force–position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed.

  4. [Bilateral torticollis].

    Science.gov (United States)

    Kustos, T; Magdics, M

    1993-12-19

    Bilateral torticollis is a very rare form of a well known deformity i.e. muscular torticollis. This malformation might present a differential diagnostic problem both for orthopaedic surgeons and ophthalmologists, as well as, for neurologists. In agreement with the literature, the role of an injury during labour or defective embriogenesis is suggested to play a part.

  5. Neural correlates of preparatory and regulatory control over positive and negative emotion.

    Science.gov (United States)

    Seo, Dongju; Olman, Cheryl A; Haut, Kristen M; Sinha, Rajita; MacDonald, Angus W; Patrick, Christopher J

    2014-04-01

    This study used functional magnetic resonance imaging to investigate brain activation during preparatory and regulatory control while participants (N = 24) were instructed either to simply view or decrease their emotional response to, pleasant, neutral or unpleasant pictures. A main effect of emotional valence on brain activity was found in the right precentral gyrus, with greater activation during positive than negative emotion regulation. A main effect of regulation phase was evident in the bilateral anterior prefrontal cortex (PFC), precuneus, posterior cingulate cortex, right putamen and temporal and occipital lobes, with greater activity in these regions during preparatory than regulatory control. A valence X regulation interaction was evident in regions of ventromedial PFC and anterior cingulate cortex, reflecting greater activation while regulating negative than positive emotion, but only during active emotion regulation (not preparation). Conjunction analyses revealed common brain regions involved in differing types of emotion regulation including selected areas of left lateral PFC, inferior parietal lobe, temporal lobe, right cerebellum and bilateral dorsomedial PFC. The right lateral PFC was additionally activated during the modulation of both positive and negative valence. Findings demonstrate significant modulation of brain activity during both preparation for, and active regulation of positive and negative emotional states.

  6. Bilateral electromyogram response latency following platform perturbation in unilateral transtibial prosthesis users: influence of weight distribution and limb position.

    Science.gov (United States)

    Rusaw, David; Hagberg, Kerstin; Nolan, Lee; Ramstrand, Nerrolyn

    2013-01-01

    Appropriate muscular response following an external perturbation is essential in preventing falls. Transtibial prosthesis users lack a foot-ankle complex and associated sensorimotor structures on the side with the prosthesis. The effect of this lack on rapid responses of the lower limb to external surface perturbations is unknown. The aim of the present study was to compare electromyogram (EMG) response latencies of otherwise healthy, unilateral, transtibial prosthesis users (n = 23, mean +/- standard deviation [SD] age = 48 +/- 14 yr) and a matched control group (n = 23, mean +/- SD age = 48 +/- 13 yr) following sudden support-surface rotations in the pitch plane (toes-up and toes-down). Perturbations were elicited in various weight-bearing and limb-perturbed conditions. The results indicated that transtibial prosthesis users have delayed responses of multiple muscles of the lower limb following perturbation, both in the intact and residual limbs. Weight-bearing had no influence on the response latency in the residual limb, but did on the intact limb. Which limb received the perturbation was found to influence the muscular response, with the intact limb showing a significantly delayed response when the perturbation was received only on the side with a prosthesis. These delayed responses may represent an increased risk of falling for individuals who use transtibial prostheses.

  7. Bilateral agreements

    International Nuclear Information System (INIS)

    Anon.

    2004-01-01

    The bilateral agreements concern Brazil with United States relative to the co operation in nuclear energy, Germany with Russian Federation relative to the elimination and disposal of nuclear weapons; The multilateral agreements concerns the signature of the Protocols to amend the Paris and Brussels Conventions, the multilateral nuclear environmental programme in the Russian Federation, the status of Conventions in the field of nuclear energy. (N.C.)

  8. Patient–machine interactions of intravenous patient-controlled analgesia in bilateral versus unilateral total knee arthroplasty: A retrospective study

    Directory of Open Access Journals (Sweden)

    Yu-Chieh Wang

    2013-06-01

    Conclusion: In this study, we successfully demonstrated that our IVPCA protocol can provide adequate analgesia for patients after both bilateral and unilateral TKA. However, sedation, nausea, and vomiting occurred more frequently during the postoperative 24–48-hour period in patients who underwent bilateral than unilateral TKA. This may due of the increased number of bolus doses administered to the patients in the bilateral TKA group during the postoperative 12–18, 18–24, and 30–36-hour periods. Therefore, the initial infusion rates for patients undergoing bilateral TKA could be set at a lower threshold in order to reduce the incidence of these side effects.

  9. Plasma position control in SST1 tokamak

    Indian Academy of Sciences (India)

    also placed inside the vessel, however the controller would ignore fast but insignificant changes in radius arising ... poloidal cross-sectional view of the SST1 plasma along with the stabilizers are shown in figure 1 and ... [1] model which has shown excellent agreement with control experiments in TCV tokamak and also with ...

  10. The role of intraoperative positioning of the inferior alveolar nerve on postoperative paresthesia after bilateral sagittal split osteotomy of the mandible: prospective clinical study.

    Science.gov (United States)

    Hanzelka, T; Foltán, R; Pavlíková, G; Horká, E; Sedý, J

    2011-09-01

    Bilateral sagittal split osteotomy (BSSO) aims to correct congenital or acquired mandibular abnormities. Temporary or permanent neurosensory disturbance is the most frequent complication of BSSO. To evaluate the influence of IAN handling during osteotomy, the authors undertook a prospective study in 290 patients who underwent BSSO. The occurrence and duration of paresthesia was evaluated 4 weeks, 3 months, 6 months, and 1 year after surgery. Paresthesia developed immediately after surgery in almost half of the patients. Most cases of paresthesia resolved within 1 year after surgery. A significantly higher prevalence of paresthesia was observed on the left side. The authors found a correlation between the type of IAN position between the left and right side. The type of split (and IAN exposure) did not have a significant effect on the occurrence or duration of neurosensory disturbance of the IAN. The authors did not find a correlation between the occurrence and duration of paresthesia and the direction of BSSO. Mandibular hypoplasia or mandibular progenia did not represent a predisposition for the development of paresthesia. In the development of IAN paresthesia, the type of IAN exposure and the split is less important than the side on which the split is carried out. Copyright © 2011 International Association of Oral and Maxillofacial Surgeons. Published by Elsevier Ltd. All rights reserved.

  11. Positional control of space robot manipulator

    Science.gov (United States)

    Kurochkin, Vladislav; Shymanchuk, Dzmitry

    2018-05-01

    In this article the mathematical model of a planar space robot manipulator is under study. The space robot manipulator represents a solid body with attached manipulators. The system of equations of motion is determined using the Lagrange's equations. The control problem concerning moving the robot to a given point and return it to a given trajectory in the phase space is solved. Changes of generalized coordinates and necessary control actions are plotted for a specific model.

  12. Angular Position Tracking Control of a Quadcopter

    OpenAIRE

    T. V. Glazkov; A. E. Golubev

    2017-01-01

    The paper dwells on tracking the quad-copter angular position with desired quality parameters of transient processes. The aerial vehicle is considered as a rigid body with six degrees of freedom.  A full rigid body quad-copter mathematical model is considered without the assumption of smallness of the Euler angles.Among the most well known methods of non-linear stabilization are feedback linearization and backstepping. The backstepping approach allows us to have an effective solution of the s...

  13. Improving the performance of DTP2 bilateral teleoperation control system with haptic augmentation

    International Nuclear Information System (INIS)

    Viinikainen, Mikko; Tuominen, Janne; Alho, Pekka; Mattila, Jouni

    2014-01-01

    Highlights: •An experimental haptic shared control system, called CAT developed at the DTP2. •We investigate how the system integrates with the ITER compliant DTP2 RHCS. •The effect of CAT experimentally assessed in an ITER relevant maintenance scenario. -- Abstract: The remote maintenance of the ITER divertor is largely dependent on the usage of haptically teleoperated manipulators and man-in-the-loop operations. These maintenance operations are very demanding for the manipulator operators, yet vital for the success of the whole ITER experiment. Haptic shared control of the maintenance manipulators offers a promising solution for assisting the teleoperators in the maintenance tasks. A shared control system assists the operator by generating artificial guiding force effects and overlaying them on top of the haptic feedback from the teleoperation environment. An experimental haptic shared control system, called the Computer Assisted Teleoperation (CAT) has been developed at the Divertor Test Platform 2 (DTP2). In this paper, we investigate the design of the system and how the system integrates with the ITER compliant DTP2 prototype Remote Handling Control System (RHCS). We also experimentally assess the effect of the guidance to the operator performance in an ITER-relevant maintenance scenario using the Water Hydraulic MANipulator (WHMAN), which is specially designed for the divertor maintenance. The result of the experiment gives suggestive indication that the CAT system improves the performance of the operators of the system

  14. Bilateral control of master-slave manipulators for ideal kinesthetic coupling

    International Nuclear Information System (INIS)

    Yokokohji, Yasuyoshi; Yoshikawa, Tsuneo

    1991-01-01

    The way to control master-slave manipulators affects considerably to the maneuverability of the master-slave systems. The ideal state of master-slave systems can be regarded that the operator can operate the system as if he were directly manipulating the object which is actually existing at the remote site. In other saying, the system must be coupled with the operator to give the ideal kinesthetic sense so that he can perceive the object. So far, several researches discussed about the ideal states of master-slave systems in their own descriptions. However, there is few exact discussion about how close the ideal state can be achieved actually or what kind of control scheme should be designed in order to achieve it. In this paper, we propose a control scheme which can achieve the ideal kinesthetic coupling with the operator and realize three ideal responses which were previously defined by the authors. Secondly, we show the stability of the system controlled by the proposed scheme by using the concept of passivity. We then discuss about the system stability when the sensor signals are pass through the filters. Lastly, the validity of the proposed scheme is confirmed by simulations. (author)

  15. Bilateral control of master-slave manipulators for ideal kinesthetic coupling

    Energy Technology Data Exchange (ETDEWEB)

    Yokokohji, Yasuyoshi; Yoshikawa, Tsuneo (Kyoto Univ. (Japan). Faculty of Engineering)

    1991-01-01

    The way to control master-slave manipulators affects considerably to the maneuverability of the master-slave systems. The ideal state of master-slave systems can be regarded that the operator can operate the system as if he were directly manipulating the object which is actually existing at the remote site. In other saying, the system must be coupled with the operator to give the ideal kinesthetic sense so that he can perceive the object. So far, several researches discussed about the ideal states of master-slave systems in their own descriptions. However, there is few exact discussion about how close the ideal state can be achieved actually or what kind of control scheme should be designed in order to achieve it. In this paper, we propose a control scheme which can achieve the ideal kinesthetic coupling with the operator and realize three ideal responses which were previously defined by the authors. Secondly, we show the stability of the system controlled by the proposed scheme by using the concept of passivity. We then discuss about the system stability when the sensor signals are pass through the filters. Lastly, the validity of the proposed scheme is confirmed by simulations. (author).

  16. Scaled Bilateral Teleoperation Using Discrete-Time Sliding-Mode Controller

    NARCIS (Netherlands)

    Khan, S.; Sabanovic, A.; Nergiz, A.O.

    2009-01-01

    In this paper, the design of a discrete-time sliding-mode controller based on Lyapunov theory is presented along with a robust disturbance observer and is applied to a piezostage for high-precision motion. A linear model of a piezostage was used with nominal parameters to compensate the disturbance

  17. Fractional-Order Control of Pneumatic Position Servosystems

    Directory of Open Access Journals (Sweden)

    Cao Junyi

    2011-01-01

    Full Text Available A fractional-order control strategy for pneumatic position servosystem is presented in this paper. The idea of the fractional calculus application to control theory was introduced in many works, and its advantages were proved. However, the realization of fractional-order controllers for pneumatic position servosystems has not been investigated. Based on the relationship between the pressure in cylinder and the rate of mass flow into the cylinder, the dynamic model of pneumatic position servo system is established. The fractional-order controller for pneumatic position servo and its implementation in industrial computer is designed. The experiments with fractional-order controller are carried out under various conditions, which include sine position signal with different frequency and amplitude, step position signal, and variety inertial load. The results show the effectiveness of the proposed scheme and verify their fine control performance for pneumatic position servo system.

  18. Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master-Slave Systems.

    Science.gov (United States)

    Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

    2017-01-01

    Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master-slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user's wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a

  19. Application of Adaptive Sliding Mode Position Controller with PI ...

    African Journals Online (AJOL)

    PISMC) techniques for controlling the rotor position of PMDC motor drive system. In particular, since SMC is robust in the presence of the matched uncertainties and external disturbances, the desired position is perfectly tracked. In addition, the ...

  20. Tool position tracking control of a nonlinear uncertain flexible robot ...

    Indian Academy of Sciences (India)

    Robot manipulators have become progressively important in the field of flexible ... this research, tracking of tool position and minimization of motor torque are ...... and Menhaj M B 2013a Position and current control of a permanent-magnet syn-.

  1. Two-Channel Transparency-Optimized Control Architectures in Bilateral Teleoperation With Time Delay.

    Science.gov (United States)

    Kim, Jonghyun; Chang, Pyung Hun; Park, Hyung-Soon

    2013-01-01

    This paper introduces transparency-optimized control architectures (TOCAs) using two communication channels. Two classes of two-channel TOCAs are found, thereby showing that two channels are sufficient to achieve transparency. These TOCAs achieve a greater level of transparency but poorer stability than three-channel TOCAs and four-channel TOCAs. Stability of the two-channel TOCAs has been enhanced while minimizing transparency degradation by adding a filter; and a combined use of the two classes of two-channel TOCAs is proposed for both free space and constrained motion, which involve switching between two TOCAs for transition between free space and constrained motions. The stability condition of the switched teleoperation system is derived for practical applications. Through the one degree-of-freedom (DOF) experiment, the proposed two-channel TOCAs were shown to operate stably, while achieving better transparency under time delay than the other TOCAs.

  2. Two-Channel Transparency-Optimized Control Architectures in Bilateral Teleoperation With Time Delay

    Science.gov (United States)

    Kim, Jonghyun; Chang, Pyung Hun; Park, Hyung-Soon

    2013-01-01

    This paper introduces transparency-optimized control architectures (TOCAs) using two communication channels. Two classes of two-channel TOCAs are found, thereby showing that two channels are sufficient to achieve transparency. These TOCAs achieve a greater level of transparency but poorer stability than three-channel TOCAs and four-channel TOCAs. Stability of the two-channel TOCAs has been enhanced while minimizing transparency degradation by adding a filter; and a combined use of the two classes of two-channel TOCAs is proposed for both free space and constrained motion, which involve switching between two TOCAs for transition between free space and constrained motions. The stability condition of the switched teleoperation system is derived for practical applications. Through the one degree-of-freedom (DOF) experiment, the proposed two-channel TOCAs were shown to operate stably, while achieving better transparency under time delay than the other TOCAs. PMID:23833548

  3. Fractional-Order Control of Pneumatic Position Servosystems

    OpenAIRE

    Junyi, Cao; Binggang, Cao

    2011-01-01

    A fractional-order control strategy for pneumatic position servosystem is presented in this paper. The idea of the fractional calculus application to control theory was introduced in many works, and its advantages were proved. However, the realization of fractional-order controllers for pneumatic position servosystems has not been investigated. Based on the relationship between the pressure in cylinder and the rate of mass flow into the cylinder, the dynamic model of pneumatic position servo ...

  4. Anti-Windup Scheme for Practical Control of Positioning Systems

    Directory of Open Access Journals (Sweden)

    Wahyudi Tarig Faisal and Abdulgani Albagul

    2012-10-01

    Full Text Available Positioning systems generally need a good controller to achieve high accuracy, fast response and robustness. In addition, ease of controller design and simplicity of controller structure are very important for practical application.  For satisfying these requirements, nominal characteristic trajectory following controller (NCTF has been proposed as a practical point-to-point (PTP positioning control. However, the effect of actuator saturation can not be completely compensated for due to the integrator windup as the plant parameters vary. This paper presents a method to improve the NCTF controller for overcoming the problem of integrator windup using simple and classical tracking anti-windup scheme. The improved NCTF controller is evaluated through simulation using a rotary positioning system. The results show that the improved NCTF controller is adequate to compensate for the effect of integrator windup. Keywords: Positioning, point-to-point, integrator windup, compensation, controller, robustness.

  5. Sensorless SPMSM Position Estimation Using Position Estimation Error Suppression Control and EKF in Wide Speed Range

    Directory of Open Access Journals (Sweden)

    Zhanshan Wang

    2014-01-01

    Full Text Available The control of a high performance alternative current (AC motor drive under sensorless operation needs the accurate estimation of rotor position. In this paper, one method of accurately estimating rotor position by using both motor complex number model based position estimation and position estimation error suppression proportion integral (PI controller is proposed for the sensorless control of the surface permanent magnet synchronous motor (SPMSM. In order to guarantee the accuracy of rotor position estimation in the flux-weakening region, one scheme of identifying the permanent magnet flux of SPMSM by extended Kalman filter (EKF is also proposed, which formed the effective combination method to realize the sensorless control of SPMSM with high accuracy. The simulation results demonstrated the validity and feasibility of the proposed position/speed estimation system.

  6. Bilateral and unilateral arm training improve motor function through differing neuroplastic mechanisms: a single-blinded randomized controlled trial.

    Science.gov (United States)

    Whitall, Jill; Waller, Sandy McCombe; Sorkin, John D; Forrester, Larry W; Macko, Richard F; Hanley, Daniel F; Goldberg, Andrew P; Luft, Andreas

    2011-02-01

    This randomized controlled trial tests the efficacy of bilateral arm training with rhythmic auditory cueing (BATRAC) versus dose-matched therapeutic exercises (DMTEs) on upper-extremity (UE) function in stroke survivors and uses functional magnetic resonance imaging (fMRI) to examine effects on cortical reorganization. A total of 111 adults with chronic UE paresis were randomized to 6 weeks (3×/week) of BATRAC or DMTE. Primary end points of UE assessments of Fugl-Meyer UE Test (FM) and modified Wolf Motor Function Test Time (WT) were performed 6 weeks prior to and at baseline, after training, and 4 months later. Pretraining and posttraining, fMRI for UE movement was evaluated in 17 BATRAC and 21 DMTE participants. The improvements in UE function (BATRAC: FM Δ = 1.1 + 0.5, P = .03; WT Δ = -2.6 + 0.8, P frontal gyrus (P < .05). Activation change in the latter was correlated with improvement in the WMFT (P = .01). BATRAC is not superior to DMTE, but both rehabilitation programs durably improve motor function for individuals with chronic UE hemiparesis and with varied deficit severity. Adaptations in brain activation are greater after BATRAC than DMTE, suggesting that given similar benefits to motor function, these therapies operate through different mechanisms.

  7. Nano positioning control for dual stage using minimum order observer

    International Nuclear Information System (INIS)

    Kim, Hong Gun

    2012-01-01

    A nano positioning control is developed using the ultra-precision positioning apparatus such as actuator, sensor, guide, power transmission element with an appropriate control method. Using established procedures, a single plane X-Y stage with ultra-precision positioning is manufactured. A global stage for materialization with robust system is combined by using an AC servo motor with a ball screw and rolling guide. An ultra-precision positioning system is developed using a micro stage with an elastic hinge and piezo element. Global and micro servos for positioning with nanometer accuracy are controlled simultaneously using an incremental encoder and a laser interferometer to measure displacement. Using established procedures, an ultra-precision positioning system (100 mm stroke and ±10 nm positioning accuracy) with a single plane X-Y stage is fabricated. Its performance is evaluated through simulation using Matlab. After analyzing previous control algorithms and adapting modern control theory, a dual servo algorithm is developed for a minimum order observer to secure the stability and priority on the controller. The simulations and experiments on the ultra precision positioning and the stability of the ultra-precision positioning system with single plane X-Y stage and the priority of the control algorithm are secured by using Matlab with Simulink and ControlDesk made in dSPACE

  8. Nano positioning control for dual stage using minimum order observer

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Hong Gun [Jeonju University, Jeonju (Korea, Republic of)

    2012-03-15

    A nano positioning control is developed using the ultra-precision positioning apparatus such as actuator, sensor, guide, power transmission element with an appropriate control method. Using established procedures, a single plane X-Y stage with ultra-precision positioning is manufactured. A global stage for materialization with robust system is combined by using an AC servo motor with a ball screw and rolling guide. An ultra-precision positioning system is developed using a micro stage with an elastic hinge and piezo element. Global and micro servos for positioning with nanometer accuracy are controlled simultaneously using an incremental encoder and a laser interferometer to measure displacement. Using established procedures, an ultra-precision positioning system (100 mm stroke and {+-}10 nm positioning accuracy) with a single plane X-Y stage is fabricated. Its performance is evaluated through simulation using Matlab. After analyzing previous control algorithms and adapting modern control theory, a dual servo algorithm is developed for a minimum order observer to secure the stability and priority on the controller. The simulations and experiments on the ultra precision positioning and the stability of the ultra-precision positioning system with single plane X-Y stage and the priority of the control algorithm are secured by using Matlab with Simulink and ControlDesk made in dSPACE.

  9. CT volumetry of lumbar vertebral bodies in patients with hypoplasia L5 and bilateral spondylolysis and in normal controls

    International Nuclear Information System (INIS)

    Wilms, Guido E.; Demaerel, Philippe; Keyzer, Frederik de; Willems, Endry

    2012-01-01

    To examine the feasibility and results of calculating the volume of lumbar vertebral bodies in normal patients and patients with suspected hypoplasia of L5. Lumbar multi-detector CT was performed in 38 patients with bilateral spondylolysis and hypoplasia of L5 and in 38 normal patients. Lumbar vertebral body volume of L3, L4 and L5 was measured by CT volumetry with a semi-automated program, created with MeVisLab. In the control group, the average vertebral body volume (in cubic centimeters) of L3 was 35.93 (±7.33), 36.34 (±7.13) for L4 and 34.63 (±6.88) for L5. In patients with suspected hypoplasia L5 the average body volume (in cubic centimeters) of L3 was 36.85 (±7.37), 36.90 (±6.99) for L4 and 33.14 (±6.57) for L5. The difference in mean vertebral body volume for L3, L4 and L5 between both groups was statistically not significant. However, there was a statistically significant difference of the ratio L5/L4 (P < 0.001) between both groups: the mean ratio L5/L4 in the control group was 95.3 ± 3.9%, the ratio for the hypoplastic L5 group was 89.9 ± 6.3%. There was no significant difference in the vertebral body volume for L3, L4 and L5 between both groups due to inter-patient variability. However, the relation between the body volume of L5 and L4 is significantly different between both groups. The volume of the vertebral body of L5 proved to be on average 10.2% smaller than the volume of L4 in the group with hypoplasia L5 versus 4.7% in the control group. (orig.)

  10. CT volumetry of lumbar vertebral bodies in patients with hypoplasia L5 and bilateral spondylolysis and in normal controls

    Energy Technology Data Exchange (ETDEWEB)

    Wilms, Guido E.; Demaerel, Philippe; Keyzer, Frederik de [UZ Leuven, Campus Gasthuisberg, Department of Radiology, Leuven (Belgium); Willems, Endry [ZOL, Department of Radiology, Genk (Belgium)

    2012-08-15

    To examine the feasibility and results of calculating the volume of lumbar vertebral bodies in normal patients and patients with suspected hypoplasia of L5. Lumbar multi-detector CT was performed in 38 patients with bilateral spondylolysis and hypoplasia of L5 and in 38 normal patients. Lumbar vertebral body volume of L3, L4 and L5 was measured by CT volumetry with a semi-automated program, created with MeVisLab. In the control group, the average vertebral body volume (in cubic centimeters) of L3 was 35.93 ({+-}7.33), 36.34 ({+-}7.13) for L4 and 34.63 ({+-}6.88) for L5. In patients with suspected hypoplasia L5 the average body volume (in cubic centimeters) of L3 was 36.85 ({+-}7.37), 36.90 ({+-}6.99) for L4 and 33.14 ({+-}6.57) for L5. The difference in mean vertebral body volume for L3, L4 and L5 between both groups was statistically not significant. However, there was a statistically significant difference of the ratio L5/L4 (P < 0.001) between both groups: the mean ratio L5/L4 in the control group was 95.3 {+-} 3.9%, the ratio for the hypoplastic L5 group was 89.9 {+-} 6.3%. There was no significant difference in the vertebral body volume for L3, L4 and L5 between both groups due to inter-patient variability. However, the relation between the body volume of L5 and L4 is significantly different between both groups. The volume of the vertebral body of L5 proved to be on average 10.2% smaller than the volume of L4 in the group with hypoplasia L5 versus 4.7% in the control group. (orig.)

  11. Controlled elastic postbuckling of bilaterally constrained non-prismatic columns: application to enhanced quasi-static energy harvesters

    Science.gov (United States)

    Liu, Suihan; Burgueño, Rigoberto

    2016-12-01

    Axially compressed bilaterally constrained columns, which can attain multiple snap-through buckling events in their elastic postbuckling response, can be used as energy concentrators and mechanical triggers to transform external quasi-static displacement input to local high-rate motions and excite vibration-based piezoelectric transducers for energy harvesting devices. However, the buckling location with highest kinetic energy release along the element, and where piezoelectric oscillators should be optimally placed, cannot be controlled or isolated due to the changing buckling configurations. This paper proposes the concept of stiffness variations along the column to gain control of the buckling location for optimal placement of piezoelectric transducers. Prototyped non-prismatic columns with piece-wise varying thickness were fabricated through 3D printing for experimental characterization and numerical simulations were conducted using the finite element method. A simple theoretical model was also developed based on the stationary potential energy principle for predicting the critical line contact segment that triggers snap-through events and the buckling morphologies as compression proceeds. Results confirm that non-prismatic column designs allow control of the buckling location in the elastic postbuckling regime. Compared to prismatic columns, non-prismatic designs can attain a concentrated kinetic energy release spot and a higher number of snap-buckling mode transitions under the same global strain. The direct relation between the column’s dynamic response and the output voltage from piezoelectric oscillator transducers allows the tailorable postbuckling response of non-prismatic columns to be used as multi-stable energy concentrators with enhanced performance in micro-energy harvesters.

  12. Control system design for nano-positioning using piezoelectric actuators

    International Nuclear Information System (INIS)

    Shan, Jinjun; Liu, Yanfang; Cui, Naigang; Gabbert, Ulrich

    2016-01-01

    This paper presents a systematic control system design for nano-positioning of a piezoelectric actuator (PEA). PEAs exhibit hysteresis nonlinearity, which can dramatically limit the application and performance of linear feedback control theory. Thus the hysteresis is compensated for based on the Maxwell resistive capacitor (MRC) model first. Then a proportional plus integral (PI) controller and a proportional double integral plus lead compensation (PII and L) controller are designed for the hysteresis-compensated PEA to account for model uncertainty, disturbance, and noise. The robust stability of both controllers is proved. The effectiveness of the proposed control scheme is demonstrated experimentally. Both controllers achieve fast precise positioning. The 2% settling times for the PI controller and the PII and L controller are 1.5 ms and 4.7 ms, respectively. The positioning resolution is upto 1 nm for both controllers. (paper)

  13. Modeling And Position Control Of Scara Type 3D Printer

    Directory of Open Access Journals (Sweden)

    Ahmet Saygamp305n Ogulmuamp351

    2015-08-01

    Full Text Available In this work a scara robot type 3D printer system is dynamically modeled and position control of the system is realized. For this aim computer aided design model of three degrees of freedom robotic system is created using SolidWorks program then obtained model is exported to MATLABSimMechanics software for position control. Also mathematical model of servo motors used in robotic 3D printer system is included in control methodology to design proportional controllers. Uncontrolled and controlled position results are simulated and given in the form of the graphics.

  14. Bilateral agreements

    International Nuclear Information System (INIS)

    1998-01-01

    Ten bilateral agreements are presented. These are: 1) Co-operation agreement relating to the peaceful uses of nuclear energy between Argentina and EURATOM (1996); 2) Agreement on co-operation in the peaceful uses of nuclear energy between Argentina and Greece (1997); 3) Implementing arrangement for technical exchange and co-operation in the area of peaceful uses of nuclear energy between Argentina and the United States (1997); 4) Agreement concerning co-operation in nuclear science and technology between Australia and Indonesia (1997); 5) Implementation of the 1985 Agreement for co-operation concerning the peaceful uses of nuclear energy between the People's Republic of China and the United States (1998); 6) Protocol of co-operation between France and Lithuania (1997); 7) Agreement on co-operation in energy research, science and technology, and development between Germany and the United States (1998); 8) Agreement on early notification of a nuclear accident and exchange of information on nuclear facilities between Greece and Romania (1997); 9) Agreement on early notification of nuclear accidents and co-operation in the field of nuclear safety between Hungary and the Ukraine (1997); 10) Agreement in the field of radioactive waste management between Switzerland and the United States (1997). (K.A.)

  15. Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master–Slave Systems

    Science.gov (United States)

    Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

    2017-01-01

    Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master–slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user’s wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a

  16. Feedback control of plasma position in the HL-1 tokamak

    International Nuclear Information System (INIS)

    Yuan Baoshan; Jiao Boliang; Yang Kailing

    1991-01-01

    In the HL-1 tokamak with a thick copper shell, the control of plasma position is successfully performed by a feedback-feedforward system with dual mode regulator and the equilibrium field coils outside the shell. The plasma position can be controlled within ±2 mm in both vertical and horizontal directions under the condition that the iron core of transformer is not saturated

  17. Positive affect improves working memory: implications for controlled cognitive processing.

    Science.gov (United States)

    Yang, Hwajin; Yang, Sujin; Isen, Alice M

    2013-01-01

    This study examined the effects of positive affect on working memory (WM) and short-term memory (STM). Given that WM involves both storage and controlled processing and that STM primarily involves storage processing, we hypothesised that if positive affect facilitates controlled processing, it should improve WM more than STM. The results demonstrated that positive affect, compared with neutral affect, significantly enhanced WM, as measured by the operation span task. The influence of positive affect on STM, however, was weaker. These results suggest that positive affect enhances WM, a task that involves controlled processing, not just storage processing. Additional analyses of recall and processing times and accuracy further suggest that improved WM under positive affect is not attributable to motivational differences, but results instead from improved controlled cognitive processing.

  18. Is magnetotherapy applied to bilateral hips effective in ankylosing spondylitis patients? A randomized, double-blind, controlled study.

    Science.gov (United States)

    Turan, Yasemin; Bayraktar, Kevser; Kahvecioglu, Fatih; Tastaban, Engin; Aydin, Elif; Kurt Omurlu, Imran; Berkit, Isil Karatas

    2014-03-01

    This double-blind, randomized controlled study was conducted with the aim to investigate the effect of magnetic field therapy applied to the hip region on clinical and functional status in ankylosing spondylitis (AS) patients. Patients with AS (n = 66) who were diagnosed according to modified New York criteria were enrolled in this study. Patients were randomly divided in two groups. Participants were randomly assigned to receive magnetic field therapy (2 Hz) (n = 35), or placebo magnetic field therapy (n = 31) each hip region for 20 min. Patients in each group were given heat pack and short-wave treatments applied to bilateral hip regions. Both groups had articular range of motion and stretching exercises and strengthening exercises for surrounding muscles for the hip region as well as breathing and postural exercises by the same physical therapist. These treatment protocols were continued for a total of 15 sessions (1 session per day), and patients were examined by the same physician at months 1, 3 and 6. Visual analogue scale (VAS) pain, VAS fatigue, Bath Ankylosing Spondylitis Disease Activity Index (BASDAI), Bath Ankylosing Spondylitis Functional Index (BASFI), Bath Ankylosing Spondylitis Metrologic Index (BASMI), DFI, Harris hip assessment index and Ankylosing Spondylitis Quality of Life scale (ASQOL) were obtained at the beginning of therapy and at month 1, month 3 and month 6 for each patient. There were no significant differences between groups in the VAS pain, VAS fatigue, morning stiffness, BASDAI, BASFI, BASMI, DFI, Harris hip assessment index and ASQoL at baseline, month 1, month 3 or month 6 (p > 0.05). Further randomized, double-blind controlled studies are needed in order to establish the evidence level for the efficacy of modalities with known analgesic and anti-inflammatory action such as magnetotherapy, particularly in rheumatic disorders associated with chronic pain.

  19. Bilateral Olecranon Tophaceous Gout Bursitis

    Directory of Open Access Journals (Sweden)

    Güzelali Özdemir

    2017-01-01

    Full Text Available In this case, we present a patient with the diagnosis of bilateral olecranon tophaceous gout. After the surgical treatment, there was no limitation of range of motion or wound problem at 6th month control.

  20. Control of plasma position in the CASTOR tokamak

    International Nuclear Information System (INIS)

    Valovic, M.

    1988-11-01

    A simple servo-system designed for plasma position control in the CASTOR tokamak is described. Both radial and vertical plasma displacements were minimized using two servo-loops consisting of detection coils, a conventional electric controller and an amplifier operated as an unipolar voltage-controlled current source. To ensure the optimum conditions in the start-up phase of the discharge, currents in the servo-systems were externally preprogrammed. The prescribed plasma position was maintained with the accuracy of 3 mm. The feedback control improves plasma parameters, e.g. it removes the positional disruption at the end of the tokamak discharge. (J.U.). 4 figs., 3 refs

  1. Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

    Directory of Open Access Journals (Sweden)

    Noureddine Ouadah

    2008-11-01

    Full Text Available In this paper, fuzzy logic controllers (FLC are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called "Oriented Positioning", two FLC have been developed: robot positioning controller (RPC and robot following controller (RFC. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called "Robucar", developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.

  2. Robust Position Control of Electro-mechanical Systems

    OpenAIRE

    Rong Mei; Mou Chen

    2013-01-01

    In this work, the robust position control scheme is proposed for the electro-mechanical system using the disturbance observer and backstepping control method. To the external unknown load of the electro-mechanical system, the nonlinear disturbance observer is given to estimate the external unknown load. Combining the output of the developed nonlinear disturbance observer with backstepping technology, the robust position control scheme is proposed for the electro-mechanical system. The stabili...

  3. Advanced control of piezoelectric micro-nano-positioning systems

    CERN Document Server

    Xu, Qingsong

    2016-01-01

    This book explores emerging methods and algorithms that enable precise control of micro-/nano-positioning systems. The text describes three control strategies: hysteresis-model-based feedforward control and hysteresis-model-free feedback control based on and free from state observation. Each paradigm receives dedicated attention within a particular part of the text. Readers are shown how to design, validate and apply a variety of new control approaches in micromanipulation: hysteresis modelling, discrete-time sliding-mode control and model-reference adaptive control. Experimental results are provided throughout and build up to a detailed treatment of practical applications in the fourth part of the book. The applications focus on control of piezoelectric grippers. Advanced Control of Piezoelectric Micro-/Nano-Positioning Systems will assist academic researchers and practising control and mechatronics engineers interested in suppressing sources of nonlinearity such as hysteresis and drift when combining positi...

  4. Automation of Aditya tokamak plasma position control DC power supply

    Energy Technology Data Exchange (ETDEWEB)

    Arambhadiya, Bharat, E-mail: bharat@ipr.res.in; Raj, Harshita; Tanna, R.L.; Edappala, Praveenlal; Rajpal, Rachana; Ghosh, Joydeep; Chattopadhyay, P.K.; Kalal, M.B.

    2016-11-15

    Highlights: • Plasma position control is very essential for obtaining repeatable high temperature, high-density discharges of longer durations in tokomak. • The present capacitor bank has limitations of maximum current capacity and position control beyond 200 ms. • The installation of a separate set of coils and a DC power supply can control the plasma position beyond 200 ms. • A high power thyristor (T588N1200) triggers for DC current pulse of 300 A fires precisely at required positions to modify plasma position. • The commissioning is done for the automated in-house, quick and reliable solution. - Abstract: Plasma position control is essential for obtaining repeatable high temperature, high-density discharges of longer duration in tokamaks. Recently, a set of external coils is installed in the vertical field mode configuration to control the radial plasma position in ADITYA tokamak. The existing capacitor bank cannot provide the required current pulse beyond 200 ms for position control. This motivated to have a DC power supply of 500 A to provide current pulse beyond 200 ms for the position control. The automatization of the DC power supply mandated interfaces with the plasma control system, Aditya Pulse Power supply, and Data acquisition system for coordinated discharge operation. A high current thyristor circuit and a timer circuit have been developed for controlling the power supply automatically for charging vertical field coils of Aditya tokamak. Key protection interlocks implemented in the development ensure machine and occupational safety. Fiber-optic trans-receiver isolates the power supply with other subsystems, while analog channel is optically isolated. Commissioning and testing established proper synchronization of the power supply with tokamak operation. The paper discusses the automation of the DC power supply with main circuit components, timing control, and testing results.

  5. Development of the 'JFT-2' tokamak plasma position control system

    International Nuclear Information System (INIS)

    Fujisawa, Noboru; Matsuzaki, Yoshimi; Suzuki, Norio; Murai, Katsuji; Suzuki, Satoshi.

    1980-01-01

    Digital control technique was applied to control the plasma position in the JFT-2 tokamak experiment device. The detail of the JFT-2 is described elsewhere. The plasma position control system consists of a Hitachi control computer, HIDIC 80, and a Hitachi micro-computer, HIDIC 08E. The plasma position is detected by the position control computer, and compared with a preset value. Then, a reference signal is supplied to the micro-computer controlling power source, and the phase control of the thyristor controlling power source is performed. Since the behavior of plasma is very fast, the fast control is required. The control of the thyristor controlling power source is made by direct digital control (DDC). The main component of the hardware of the present system is the micro-computer HIDIC 08E. The software is the direct task system without the operating system (OS). The results of experiments showed that the feedback control of the system worked well. (Kato, T.)

  6. Tracking control mechanisms for positioning automatic CRD exchanger

    International Nuclear Information System (INIS)

    Koizumi, Akira; Takada, Satoshi.

    1984-01-01

    Purpose: To enable completely automatic positioning for the automatic CRD (control rod drives) exchanger, as well as shorten the time for the exchanging operation and save the operator's labour. Constitution: Images of a target attached to the lower flange face of CRD are picked up by a fiber scope mounted to a mounting head. The images are converted through I.T.V. into electrical signals, passed through a cable and then sent to a pattern recognition mechanism. The position for the images of the target is calculated and the calculated position is sent to a drive control section, where the position for the images of the target is compared with a reference position for the images (exactly aligned position) and the moving amount of the mounting head is calculated to move the driving section and thereby complete the positioning. (Kawakami, Y.)

  7. Fractional-order positive position feedback compensator for active vibration control of a smart composite plate

    Science.gov (United States)

    Marinangeli, L.; Alijani, F.; HosseinNia, S. Hassan

    2018-01-01

    In this paper, Active Vibration Control (AVC) of a rectangular carbon fibre composite plate with free edges is presented. The plate is subjected to out-of-plane excitation by a modal vibration exciter and controlled by Macro Fibre Composite (MFC) transducers. Vibration measurements are performed by using a Laser Doppler Vibrometer (LDV) system. A fractional-order Positive Position Feedback (PPF) compensator is proposed, implemented and compared to the standard integer-order PPF. MFC actuator and sensor are positioned on the plate based on maximal modal strain criterion, so as to control the second natural mode of the plate. Both integer and fractional-order PPF allowed for the effective control of the second mode of vibration. However, the newly proposed fractional-order controller is found to be more efficient in achieving the same performance with less actuation voltage. Moreover, it shows promising performance in reducing spillover effect due to uncontrolled modes.

  8. Coordinated joint motion control system with position error correction

    Science.gov (United States)

    Danko, George L.

    2016-04-05

    Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

  9. Bilateral sensory deprivation of trigeminal afferent fibers on corticomotor control of human tongue musculature: A preliminary study

    DEFF Research Database (Denmark)

    Kothari, Mohit; Baad-Hansen, Lene; Svensson, Peter

    2016-01-01

    Background: Transcranial magnetic stimulation (TMS) has demonstrated changes in motor evoked potentials (MEPs) in human limb muscles following modulation of sensory afferent inputs. Objective: The aim of the present study was to determine whether bilateral local anaesthesia (LA) of the lingual ne...

  10. Digital control of plasma position in Damavand tokamak

    Energy Technology Data Exchange (ETDEWEB)

    Emami, M.; Babazadeh, A.R.; Roshan, M.V.; Memarzadeh, M.; Habibi, H. [Atomic Energy Organization of Iran (AEOI), Tehran (Iran, Islamic Republic of). Nuclear Fusion Research Center. Plasma Physics Lab.

    2002-03-01

    Plasma position control is one of the important issues in the design and operation of tokamak fusion research device. Since a tokamak is basically an electrical system consisting of power supplies, coils, plasma and eddy currents, a model in which these components are treated as an electrical circuits is used in designing Damavand plasma position control system. This model is used for the simulation of the digital control system and its parameters have been verified experimentally. In this paper, the performance of a high-speed digital controller as well as a simulation study and its application to the Damavand tokamak is discussed. (author)

  11. Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

    Directory of Open Access Journals (Sweden)

    Noureddine Ouadah

    2008-09-01

    Full Text Available In this paper, fuzzy logic controllers (FLC are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called “Oriented Positioning”, two FLC have been developed: robot positioning controller (RPC and robot following controller (RFC. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called “Robucar”, developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.

  12. Dynamic Positioning of Ships : A nonlinear control design study

    NARCIS (Netherlands)

    Muhammad, S.

    2012-01-01

    Dynamic positioning (DP) is relatively a new technique used to maintain the position and heading of ships in various offshore operations. Due to the features like better safety and operating efficiency, DP systems are becoming more and more popular. This thesis mainly focusses on the control system

  13. INDOOR POSITIONING AND NAVIGATION BASED ON CONTROL SPHERECAL PANORAMIC IMAGES

    Directory of Open Access Journals (Sweden)

    T.-C. Huang

    2016-06-01

    Full Text Available Continuous indoor and outdoor positioning and navigation is the goal to achieve in the field of mobile mapping technology. However, accuracy of positioning and navigation will be largely degraded in indoor or occluded areas, due to receiving weak or less GNSS signals. Targeting the need of high accuracy indoor and outdoor positioning and navigation for mobile mapping applications, the objective of this study is to develop a novel method of indoor positioning and navigation with the use of spherical panoramic image (SPI. Two steps are planned in the technology roadmap. First, establishing a control SPI database that contains a good number of well-distributed control SPIs pre-acquired in the target space. A control SPI means an SPI with known exterior orientation parameters, which can be solved with a network bundle adjustment of SPIs. Having a control SPI database, the target space will be ready to provide the service of positioning and navigation. Secondly, the position and orientation of a newly taken SPI can be solved by using overlapped SPIs searched from the control SPI database. The method of matching SPIs and finding conjugate image features will be developed and tested. Two experiments will be planned and conducted in this paper to test the feasibility and validate the test results of the proposed methods. Analysis of appropriate number and distribution of needed control SPIs will also be included in the experiments with respect to different test cases.

  14. Position Control of Switched Reluctance Motor Using Super Twisting Algorithm

    Directory of Open Access Journals (Sweden)

    Muhammad Rafiq Mufti

    2016-01-01

    Full Text Available The inherent problem of chattering in traditional sliding mode control is harmful for practical application of control system. This paper pays a considerable attention to a chattering-free control method, that is, higher-order sliding mode (super twisting algorithm. The design of a position controller for switched reluctance motor is presented and its stability is assured using Lyapunov stability theorem. In order to highlight the advantages of higher-order sliding mode controller (HOSMC, a classical first-order sliding mode controller (FOSMC is also applied to the same system and compared. The simulation results reflect the effectiveness of the proposed technique.

  15. Position and Attitude Alternate of Path Tracking Heading Control

    Directory of Open Access Journals (Sweden)

    Baocheng Tan

    2014-03-01

    Full Text Available The path tracking control algorithm is one of the key problems in the control system design of autonomous vehicle. In this paper, we have conducted dynamic modeling for autonomous vehicle, the relationship between course deviation and yaw rate and centroid deflection angle. From the angle of the dynamics and geometrical, this paper have described the path tracking problem, analyzed the emergence of the eight autonomous vehicles pose binding - position and attitude alternate control methods to identify the relationship between posture and the controlling variables, and design a controller, the experimental results verify the feasibility and effectiveness of this control method.

  16. Experimental Study on Position Control System Using Encoderless Magnetic Motion

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Hong Youn; Heo, Hoon [Korea Univ., Seoul (Korea, Republic of); Yun, Young Min; Shim, Ho Keun; Kwon, Young Mok [TPC Mechatronics, Daejeon (Korea, Republic of)

    2016-01-15

    A position control system composed of the PMLSM(Permanent Magnet Linear Synchronous Motor), unlike conventional linear permanent magnet synchronous motor is fixed to the permanent magnet moving coil rails (permanent magnet = stator, coil = mover), the coil is fixed, moving the permanent magnet, we propose a position control system (permanent magnet = mover, coil = stator) structure. Position is measured not using conventional encoder or resolver but by adopting vector control method using 2 hall sensors generating rectangular signal. This method estimate the velocity and position of mover by using the quadruple of two hall sensor signal instead of encoder signal. Vector control of PMLSM using 2 hall sensor generating rectangular wave is proved to control the system stable and efficiently through simulation. Also hardware experiment reveals that the position control performance is measured within the range of 30-50μ in the accuracy of 10-20μ, which is improved twice to the conventional method. The proposed method exhibits its economical efficiency and practical usefulness. The vector control technique using two hall sensors can be installed in narrow place, accordingly it can be implemented on the system where the conventional encoder or resolver cannot operate.

  17. Cylinder Position Servo Control Based on Fuzzy PID

    Directory of Open Access Journals (Sweden)

    Shibo Cai

    2013-01-01

    Full Text Available The arbitrary position control of cylinder has always been the hard challenge in pneumatic system. We try to develop a cylinder position servo control method by combining fuzzy PID with the theoretical model of the proportional valve-controlled cylinder system. The pressure differential equation of cylinder, pressure-flow equation of proportional valve, and moment equilibrium equation of cylinder are established. And the mathematical models of the cylinder driving system are linearized. Then fuzzy PID control algorithm is designed for the cylinder position control, including the detail analysis of fuzzy variables and domain, fuzzy logic rules, and defuzzification. The stability of the proposed fuzzy PID controller is theoretically proved according to the small gain theorem. Experiments for targets position of 250 mm, 300 mm, and 350 mm were done and the results showed that the absolute error of the position control is less than 0.25 mm. And comparative experiment between fuzzy PID and classical PID verified the advantage of the proposed algorithm.

  18. Positive sliding mode control for blood glucose regulation

    Science.gov (United States)

    Menani, Karima; Mohammadridha, Taghreed; Magdelaine, Nicolas; Abdelaziz, Mourad; Moog, Claude H.

    2017-11-01

    Biological systems involving positive variables as concentrations are some examples of so-called positive systems. This is the case of the glycemia-insulinemia system considered in this paper. To cope with these physical constraints, it is shown that a positive sliding mode control (SMC) can be designed for glycemia regulation. The largest positive invariant set (PIS) is obtained for the insulinemia subsystem in open and closed loop. The existence of a positive SMC for glycemia regulation is shown here for the first time. Necessary conditions to design the sliding surface and the discontinuity gain are derived to guarantee a positive SMC for the insulin dynamics. SMC is designed to be positive everywhere in the largest closed-loop PIS of plasma insulin system. Two-stage SMC is employed; the last stage SMC2 block uses the glycemia error to design the desired insulin trajectory. Then the plasma insulin state is forced to track the reference via SMC1. The resulting desired insulin trajectory is the required virtual control input of the glycemia system to eliminate blood glucose (BG) error. The positive control is tested in silico on type-1 diabetic patients model derived from real-life clinical data.

  19. Time course of subacute pain after transoral robotic surgery (TORS) for oropharyngeal squamous cell carcinoma versus traditional bilateral tonsillectomy in adults - a case-control study

    DEFF Research Database (Denmark)

    Scott, Susanne Irene; Madsen, Anne Kathrine Østergaard; Rubek, Niclas

    2018-01-01

    OBJECTIVE: To examine pain after Transoral Robotic Surgery (TORS) for oropharyngeal squamous cell carcinoma (OPSCC) versus traditional bilateral tonsillectomy in adults. METHODS: Pain evolvement was assessed in a prospective case-control design of 16 consecutive patients treated with TORS for early...... stage OPSCC versus 12 patients, who underwent bilateral tonsillectomy on suspicion of malignant disease. The TORS group received an optimized analgesia regime of preoperative oral celecoxib and gabapentin, intra- and postoperative high-dose intravenous dexamethasone, and regular postoperative oral...... contalgin, gabapentin, celecoxib, paracetamol and rescue morphine. The tonsillectomy group received the departmental standard analgesia regime with low-dose preoperative oral dexamethasone, celecoxib and paracetamol. Postoperative regular analgesia consisted of oral NSAID and paracetamol with weak opioids...

  20. Motivation enhances control of positive and negative emotional distractions.

    Science.gov (United States)

    Walsh, Amy T; Carmel, David; Harper, David; Grimshaw, Gina M

    2018-01-03

    Using cognitive control to ignore distractions is essential for successfully achieving our goals. In emotionally-neutral contexts, motivation can reduce interference from irrelevant stimuli by enhancing cognitive control. However, attention is commonly biased towards emotional stimuli, making them potent distractors. Can motivation aid control of emotional distractions, and does it do so similarly for positive and negative stimuli? Here, we examined how task motivation influences control of distraction from positive, negative, and neutral scenes. Participants completed a simple perceptual task while attempting to ignore task-irrelevant images. One group received monetary reward for fast and accurate task performance; another (control) group did not. Overall, both negative (mutilation) and positive (erotic) images caused greater slowing of responses than neutral images of people, but emotional distraction was reduced with reward. Crucially, despite the different motivational directions associated with negative and positive stimuli, reward reduced negative and positive distraction equally. Our findings suggest that motivation may encourage the use of a sustained proactive control strategy that can effectively reduce the impact of emotional distraction.

  1. The role of intraoperative positioning of the inferior alveolar nerve on postoperative paresthesia after bilateral sagittal split osteotomy of the mandible: prospective clinical study

    Czech Academy of Sciences Publication Activity Database

    Hanzelka, T.; Foltán, R.; Pavlíková, G.; Horká, E.; Šedý, Jiří

    2011-01-01

    Roč. 40, č. 9 (2011), s. 901-906 ISSN 0901-5027 R&D Projects: GA MŠk(CZ) LC554; GA ČR GAP304/10/0320 Grant - others:GA MŠk(CZ) 1M0538 Program:1M Institutional research plan: CEZ:AV0Z50390703 Keywords : orthognathic surgery * paresthesia * bilateral sagittal split osteotomy Subject RIV: FJ - Surgery incl. Transplants; FH - Neurology (UEM-P) Impact factor: 1.506, year: 2011

  2. Consensus positive position feedback control for vibration attenuation of smart structures

    Science.gov (United States)

    Omidi, Ehsan; Nima Mahmoodi, S.

    2015-04-01

    This paper presents a new network-based approach for active vibration control in smart structures. In this approach, a network with known topology connects collocated actuator/sensor elements of the smart structure to one another. Each of these actuators/sensors, i.e., agent or node, is enhanced by a separate multi-mode positive position feedback (PPF) controller. The decentralized PPF controlled agents collaborate with each other in the designed network, under a certain consensus dynamics. The consensus constraint forces neighboring agents to cooperate with each other such that the disagreement between the time-domain actuation of the agents is driven to zero. The controller output of each agent is calculated using state-space variables; hence, optimal state estimators are designed first for the proposed observer-based consensus PPF control. The consensus controller is numerically investigated for a flexible smart structure, i.e., a thin aluminum beam that is clamped at its both ends. Results demonstrate that the consensus law successfully imposes synchronization between the independently controlled agents, as the disagreements between the decentralized PPF controller variables converge to zero in a short time. The new consensus PPF controller brings extra robustness to vibration suppression in smart structures, where malfunctions of an agent can be compensated for by referencing the neighboring agents’ performance. This is demonstrated in the results by comparing the new controller with former centralized PPF approach.

  3. Optimising position control of a solar parabolic trough

    Directory of Open Access Journals (Sweden)

    Puramanathan Naidoo

    2011-03-01

    Full Text Available In today’s climate of growing energy needs and increasing environmental concerns, alternatives to the use of non-renewable and polluting fossil fuels have to be investigated. One such alternative is solar energy. This study is based on the implementation of a mathematical computation – the PSA (Plataforma Solar de Almeria computation developed at PSA (the European Test Centre for solar energy applications – embedded in a control algorithm to locate the position of the sun. Tests were conducted on a solar parabolic trough (SPT constructed at the Solar Thermal Applications Research Laboratory of the Mangosuthu University of Technology (Durban, South Africa for optimal position control using the PSA value. The designed control algorithm embedded in an industrial Siemens S7-314 C-2PtP programmable logic controller compared the PSA computation to a measured position of the SPT to optimally rotate the SPT to a desired position with the constant movement of the sun. The two main angles of the sun relative to the position of the SPT on earth, the zenith angle and the azimuth angle, both calculated in the PSA from the vertical and horizontal planes, respectively, were applied to the control algorithm to generate an appropriate final tracking angle within a 0.007 radian (0° 24′ 3.6″ tolerance, in accordance to the construction specifications and solar collector testing standards of the American Society of Heating, Refrigerating and Air-Conditioning Engineers (ASHRAE, 1991. These values, together with the longitude and latitude applicable to the geographical location of the SPT, were processed in the control software to rotate the SPT to an optimal position with respect to the position of the sun in its daily path, for solar-to-thermal conversion.

  4. Selective control of attention supports the positivity effect in aging.

    Directory of Open Access Journals (Sweden)

    Laura K Sasse

    Full Text Available There is emerging evidence for a positivity effect in healthy aging, which describes an age-specific increased focus on positive compared to negative information. Life-span researchers have attributed this effect to the selective allocation of cognitive resources in the service of prioritized emotional goals. We explored the basic principles of this assumption by assessing selective attention and memory for visual stimuli, differing in emotional content and self-relevance, in young and old participants. To specifically address the impact of cognitive control, voluntary attentional selection during the presentation of multiple-item displays was analyzed and linked to participants' general ability of cognitive control. Results revealed a positivity effect in older adults' selective attention and memory, which was particularly pronounced for self-relevant stimuli. Focusing on positive and ignoring negative information was most evident in older participants with a generally higher ability to exert top-down control during visual search. Our findings highlight the role of controlled selectivity in the occurrence of a positivity effect in aging. Since the effect has been related to well-being in later life, we suggest that the ability to selectively allocate top-down control might represent a resilience factor for emotional health in aging.

  5. Selective control of attention supports the positivity effect in aging.

    Science.gov (United States)

    Sasse, Laura K; Gamer, Matthias; Büchel, Christian; Brassen, Stefanie

    2014-01-01

    There is emerging evidence for a positivity effect in healthy aging, which describes an age-specific increased focus on positive compared to negative information. Life-span researchers have attributed this effect to the selective allocation of cognitive resources in the service of prioritized emotional goals. We explored the basic principles of this assumption by assessing selective attention and memory for visual stimuli, differing in emotional content and self-relevance, in young and old participants. To specifically address the impact of cognitive control, voluntary attentional selection during the presentation of multiple-item displays was analyzed and linked to participants' general ability of cognitive control. Results revealed a positivity effect in older adults' selective attention and memory, which was particularly pronounced for self-relevant stimuli. Focusing on positive and ignoring negative information was most evident in older participants with a generally higher ability to exert top-down control during visual search. Our findings highlight the role of controlled selectivity in the occurrence of a positivity effect in aging. Since the effect has been related to well-being in later life, we suggest that the ability to selectively allocate top-down control might represent a resilience factor for emotional health in aging.

  6. A digital position-indication system for control rods

    International Nuclear Information System (INIS)

    Nishizawa, Yukio; Hayakawa, Toshifumi

    1979-01-01

    Systems that detect and indicate the position of the control rods that regulate the thermal output of a nuclear reactor play a particularly important role in monitoring its operational status. Conventionally, control rod position indication in pressurized water reactors has been of the analog type, utilizing the principle of the differential transformer. The present digital system was developed with the objective of achieving greater stability, greater accuracy, and higher reliability. The article gives a general description of the system and describes its advantages. (author)

  7. Acupuncture and Auricular Acupressure in Relieving Menopausal Hot Flashes of Bilaterally Ovariectomized Chinese Women: A Randomized Controlled Trial

    Directory of Open Access Journals (Sweden)

    Jue Zhou

    2011-01-01

    Full Text Available The objective of this study is to explore the effects of acupuncture and auricular acupressure in relieving menopausal hot flashes of bilaterally ovariectomized Chinese women. Between May 2006 and March 2008, 46 bilaterally ovariectomized Chinese women were randomized into an acupuncture and auricular acupressure group (n = 21 and a hormone replacement therapy (HRT group (Tibolone, n = 25. Each patient was given a standard daily log and was required to record the frequency and severity of hot flashes and side effects of the treatment felt daily, from 1 week before the treatment started to the fourth week after the treatment ended. The serum levels of follicle stimulating hormone (FSH, LH and E2 were detected before and after the treatment. After the treatment and the follow-up, both the severity and frequency of hot flashes in the two groups were relieved significantly when compared with pre-treatment (P   .05, while after the follow-up, the severity of hot flashes in the HRT group was alleviated more. After the treatment and the follow-up, the frequency of menopausal hot flashes in the HRT group was reduced more (P <  .05. After treatment, the levels of FSH decreased significantly and the levels of E2 increased significantly in both groups (P <  .05, and they changed more in the HRT group (P <  .05. Acupuncture and auricular acupressure can be used as alternative treatments to relieve menopausal hot flashes for those bilaterally ovariectomized women who are unable or unwilling to receive HRT.

  8. Stability of position control system in JIPP T-II

    International Nuclear Information System (INIS)

    Sakurai, Keiichi; Tanahashi, Shygo

    1980-01-01

    Computations and experiments on the stability of a feedback control system for maintaining a plasma column in equilibrium are described. The time response of the displacement of the plasma to the desired position is examined by solving the equation of motion of the plasma column. We show that the stability of the feedback control system is improved by using an additional term which represents the shift velocity of the plasma column. (author)

  9. The position control of a capsule filled with magnetic fluid

    International Nuclear Information System (INIS)

    Rhee, E.J.; Park, M.K.; Yamane, R.; Oshima, S.

    2002-01-01

    In this paper, in order to establish the technique of a nozzle-flapper system of a servo valve using magnetic fluid in hydraulic system, a governing equation regarding the levitation of a capsule filled with magnetic fluid is formulated. Using PID control, an experiment for the position control of a capsule was performed. The experimental results were compared with the simulation results found by the governing equation

  10. Peer Positive Social Control and Men's Health-Promoting Behaviors.

    Science.gov (United States)

    Houle, Janie; Meunier, Sophie; Coulombe, Simon; Mercerat, Coralie; Gaboury, Isabelle; Tremblay, Gilles; de Montigny, Francine; Cloutier, Lyne; Roy, Bernard; Auger, Nathalie; Lavoie, Brigitte

    2017-09-01

    Men are generally thought to be less inclined to take care of their health. To date, most studies about men's health have focused on deficits in self-care and difficulties in dealing with this sphere of their life. The present study reframes this perspective, using a salutogenic strengths-based approach and seeking to identify variables that influence men to take care of their health, rather than neglect it. This study focuses on the association between peer positive social control and men's health behaviors, while controlling for other important individual and social determinants (sociodemographic characteristics, health self-efficacy, home neighborhood, spousal positive social control, and the restrictive emotionality norm). In a mixed-method study, 669 men answered a self-reported questionnaire, and interviews were conducted with a maximum variation sample of 31 men. Quantitative results indicated that, even after controlling for sociodemographic variables and other important factors, peer positive social control was significantly associated with the six health behaviors measured in the study (health responsibility, nutrition, physical activity, interpersonal relations, stress management, and spirituality). Interview results revealed that peer positive social control influenced men's health behaviors through three different mechanisms: shared activity, being inspired, and serving as a positive role model for others. In summary, friends and coworkers could play a significant role in promoting various health behaviors among adult men in their daily life. Encouraging men to socialize and discuss health, and capitalizing on healthy men as role models appear to be effective ways to influence health behavior adoption among this specific population.

  11. Structure of the automatic system for plasma equilibrium position control

    International Nuclear Information System (INIS)

    Gubarev, V.F.; Krivonos, Yu.G.; Samojlenko, Yu.I.; Snegur, A.A.

    1978-01-01

    Considered are the principles of construction of the automatic system for plasma filament equilibrium position control inside the discharge chamber for the installation of a tokamak type. The combined current control system in control winding is suggested. The most powerful subsystem creates current in the control winding according to the program calculated beforehand. This system provides plasma rough equilibrium along the ''big radius''. The subsystem performing the current change in small limits according to the principle of feed-back coupling is provided simultaneously. The stabilization of plasma position is achieved in the discharge chamber. The advantage of construction of such system is in decreasing of the automatic requlator power without lowering the requirements to the accuracy of equilibrium preservation. The subsystem of automatic control of plasma position over the vertical is put into the system. Such an approach to the construction of the automatic control system proves to be correct; it is based on the experience of application of similar devices for some existing thermonuclear plants

  12. Position and attitude tracking control for a quadrotor UAV.

    Science.gov (United States)

    Xiong, Jing-Jing; Zheng, En-Hui

    2014-05-01

    A synthesis control method is proposed to perform the position and attitude tracking control of the dynamical model of a small quadrotor unmanned aerial vehicle (UAV), where the dynamical model is underactuated, highly-coupled and nonlinear. Firstly, the dynamical model is divided into a fully actuated subsystem and an underactuated subsystem. Secondly, a controller of the fully actuated subsystem is designed through a novel robust terminal sliding mode control (TSMC) algorithm, which is utilized to guarantee all state variables converge to their desired values in short time, the convergence time is so small that the state variables are acted as time invariants in the underactuated subsystem, and, a controller of the underactuated subsystem is designed via sliding mode control (SMC), in addition, the stabilities of the subsystems are demonstrated by Lyapunov theory, respectively. Lastly, in order to demonstrate the robustness of the proposed control method, the aerodynamic forces and moments and air drag taken as external disturbances are taken into account, the obtained simulation results show that the synthesis control method has good performance in terms of position and attitude tracking when faced with external disturbances. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  13. a positive control plasmid for reporter gene assay

    African Journals Online (AJOL)

    STORAGESEVER

    2008-07-04

    Jul 4, 2008 ... qualification as a positive control for luciferase reporter gene assays. Key words: Reporter gene plasmid, luciferase assay, cytomegalovirus promoter/enhancer, human melanoma cell line. INTRODUCTION. Reporter genes, often called reporters, have become a precious tool in studies of gene expression ...

  14. The plasma position control of ITER EDA plasma

    International Nuclear Information System (INIS)

    Senda, Ikuo; Nishio, Satoshi; Tsunematsu, Toshihide; Nishino, Toru; Fujieda, Hirobumi.

    1994-09-01

    The study on the plasma position control of ITER EDA performed by Japan Home Team during the sensitivity study in 1994 is summarized. The controllabilities of plasmas in the Outline Design and elongated version are compared. The model used to describe the motion of the plasma is a rigid model. The PD feedback control is applied with respect to the displacements of the plasma from the equilibrium. Three types of fluctuations, which initiate the motion of the plasma, are examined, namely a finite horizontal fluctuation field, a small horizontal fluctuation field such that the motion of the plasma is governed by the passive structures and an abrupt change of the poloidal beta β p and internal inductance l i . In the simulations of finite horizontal fluctuation fields, controls depend on the strength of the fluctuations, for instance, 3-5V is needed for 5-10G of fluctuation fields in the Outline Design. When the fluctuation field is small and the plasma displacement grows in a characteristic time of the passive structures, a few volt of the control voltage is enough to obtain good controllability. It is shown that the control when (β p , l i ) changes simultaneously is demanding and a large control voltage is required to maintain satisfactory control. Comparing the elongated version with the Outline Design, the control voltage which is larger than the Outline Design by a factor of 2-3 is required to obtain the same controllability in the elongated version. (author)

  15. Position Control of a 3-CPU Spherical Parallel Manipulator

    Directory of Open Access Journals (Sweden)

    Massimo Callegari

    2013-01-01

    Full Text Available The paper presents the first experimental results on the control of a prototypal robot designed for the orientation of parts or tools. The innovative machine is a spherical parallel manipulator actuated by 3 linear motors; several position control schemes have been tested and compared with the final aim of designing an interaction controller. The relative simplicity of machine kinematics allowed to test algorithms requiring the closed-loop evaluation of both inverse and direct kinematics; the compensation of gravitational terms has been experimented as well.

  16. Signal differentiation in position tracking control of dc motors

    International Nuclear Information System (INIS)

    Beltran-Carbajal, F; Valderrabano-Gonzalez, A; Rosas-Caro, J C

    2015-01-01

    An asymptotic differentiation approach with respect to time is used for on-line estimation of velocity and acceleration signals in controlled dc motors. The attractive feature of this differentiator of signals is that it does not require any system mathematical model, which allows its use in engineering systems that require the signal differentiation for its control, identification, fault detection, among other applications. Moreover, it is shown that the differentiation approach can be applied for output signals showing a chaotic behavior. In addition a differential flatness control scheme with additional integral compensation of the output error is proposed for tracking tasks of position reference trajectories for direct current electric motors using angular position measurements only

  17. Nonlinear control of ships minimizing the position tracking errors

    Directory of Open Access Journals (Sweden)

    Svein P. Berge

    1999-07-01

    Full Text Available In this paper, a nonlinear tracking controller with integral action for ships is presented. The controller is based on state feedback linearization. Exponential convergence of the vessel-fixed position and velocity errors are proven by using Lyapunov stability theory. Since we only have two control devices, a rudder and a propeller, we choose to control the longship and the sideship position errors to zero while the heading is stabilized indirectly. A Virtual Reference Point (VRP is defined at the bow or ahead of the ship. The VRP is used for tracking control. It is shown that the distance from the center of rotation to the VRP will influence on the stability of the zero dynamics. By selecting the VRP at the bow or even ahead of the bow, the damping in yaw can be increased and the zero dynamics is stabilized. Hence, the heading angle will be less sensitive to wind, currents and waves. The control law is simulated by using a nonlinear model of the Japanese training ship Shiojimaru with excellent results. Wind forces are added to demonstrate the robustness and performance of the integral controller.

  18. Tinnitus after Simultaneous and Sequential Bilateral Cochlear Implantation.

    Science.gov (United States)

    Ramakers, Geerte G J; Kraaijenga, Véronique J C; Smulders, Yvette E; van Zon, Alice; Stegeman, Inge; Stokroos, Robert J; Free, Rolien H; Frijns, Johan H M; Huinck, Wendy J; Van Zanten, Gijsbert A; Grolman, Wilko

    2017-01-01

    There is an ongoing global discussion on whether or not bilateral cochlear implantation should be standard care for bilateral deafness. Contrary to unilateral cochlear implantation, however, little is known about the effect of bilateral cochlear implantation on tinnitus. To investigate tinnitus outcomes 1 year after bilateral cochlear implantation. Secondarily, to compare tinnitus outcomes between simultaneous and sequential bilateral cochlear implantation and to investigate long-term follow-up (3 years). This study is a secondary analysis as part of a multicenter randomized controlled trial. Thirty-eight postlingually deafened adults were included in the original trial, in which the presence of tinnitus was not an inclusion criterion. All participants received cochlear implants (CIs) because of profound hearing loss. Nineteen participants received bilateral CIs simultaneously and 19 participants received bilateral CIs sequentially with an inter-implant interval of 2 years. The prevalence and severity of tinnitus before and after simultaneous and sequential bilateral cochlear implantation were measured preoperatively and each year after implantation with the Tinnitus Handicap Inventory (THI) and Tinnitus Questionnaire (TQ). The prevalence of preoperative tinnitus was 42% (16/38). One year after bilateral implantation, there was a median difference of -8 (inter-quartile range (IQR): -28 to 4) in THI score and -9 (IQR: -17 to -9) in TQ score in the participants with preoperative tinnitus. Induction of tinnitus occurred in five participants, all in the simultaneous group, in the year after bilateral implantation. Although the preoperative and also the postoperative median THI and TQ scores were higher in the simultaneous group, the median difference scores were equal in both groups. In the simultaneous group, tinnitus scores fluctuated in the 3 years after implantation. In the sequential group, four patients had an additional benefit of the second CI: a total

  19. Tinnitus after Simultaneous and Sequential Bilateral Cochlear Implantation

    Directory of Open Access Journals (Sweden)

    Geerte G. J. Ramakers

    2017-11-01

    Full Text Available ImportanceThere is an ongoing global discussion on whether or not bilateral cochlear implantation should be standard care for bilateral deafness. Contrary to unilateral cochlear implantation, however, little is known about the effect of bilateral cochlear implantation on tinnitus.ObjectiveTo investigate tinnitus outcomes 1 year after bilateral cochlear implantation. Secondarily, to compare tinnitus outcomes between simultaneous and sequential bilateral cochlear implantation and to investigate long-term follow-up (3 years.Study designThis study is a secondary analysis as part of a multicenter randomized controlled trial.MethodsThirty-eight postlingually deafened adults were included in the original trial, in which the presence of tinnitus was not an inclusion criterion. All participants received cochlear implants (CIs because of profound hearing loss. Nineteen participants received bilateral CIs simultaneously and 19 participants received bilateral CIs sequentially with an inter-implant interval of 2 years. The prevalence and severity of tinnitus before and after simultaneous and sequential bilateral cochlear implantation were measured preoperatively and each year after implantation with the Tinnitus Handicap Inventory (THI and Tinnitus Questionnaire (TQ.ResultsThe prevalence of preoperative tinnitus was 42% (16/38. One year after bilateral implantation, there was a median difference of −8 (inter-quartile range (IQR: −28 to 4 in THI score and −9 (IQR: −17 to −9 in TQ score in the participants with preoperative tinnitus. Induction of tinnitus occurred in five participants, all in the simultaneous group, in the year after bilateral implantation. Although the preoperative and also the postoperative median THI and TQ scores were higher in the simultaneous group, the median difference scores were equal in both groups. In the simultaneous group, tinnitus scores fluctuated in the 3 years after implantation. In the sequential group

  20. Bilateral acoustic neuromas.

    Science.gov (United States)

    Anand, V T; Byrnes, D P; Walby, A P; Kerr, A G

    1993-10-01

    This article reviews 12 patients with bilateral acoustic neuromas. The sex incidence was equal and the mean age at diagnosis was 26.2 years. The family history was positive in nine of the patients. Five patients have had incomplete surgical removal of acoustic neuromas on both sides. Two of them are completely deaf and the other three have severe sensorineural hearing loss in one ear and no hearing in the other ear. In five patients the tumour on one side has been operated on and the other side is being observed with at least short-term preservation of good hearing. The remaining two patients died of intra-cranial complications, one of them post-operatively. Four patients developed facial palsy immediately following surgery and one developed facial weakness 6 months after surgery. Guidelines are discussed for the care of these patients including the timing of surgery and alternative treatment options (observation, radio-surgery and chemotherapy). This is essentially a group of young individuals who have had multiple operations for bilateral acoustic tumours and associated manifestations and for whom the disease and the sequelae of treatment can be tragic.

  1. A deterministic - approach controller design for electrohydraulic position servo control system

    International Nuclear Information System (INIS)

    Johari Osman

    2000-01-01

    This paper is concerned with the design of a tracking controller for controlling electrohydraulic position servo system based on a deterministic approach. The system is treated as an uncertain system with bounded uncertainties where the bounds are assumed known. It will be shown that the electrohydraulic position servo systems with the proposed controller is practically stable and tracks the desired position in spite of the uncertainties and nonlinearities present in the system (author)

  2. Could positive affect help engineer robot control systems?

    Science.gov (United States)

    Quirin, Markus; Hertzberg, Joachim; Kuhl, Julius; Stephan, Achim

    2011-11-01

    Emotions have long been seen as counteracting rational thought, but over the last decades, they have been viewed as adaptive processes to optimize human (but also animal) behaviour. In particular, positive affect appears to be a functional aspect of emotions closely related to that. We argue that positive affect as understood in Kuhl's PSI model of the human cognitive architecture appears to have an interpretation in state-of-the-art hybrid robot control architectures, which might help tackle some open questions in the field.

  3. Position Mooring Control Based on a Structural Reliability Criterion

    DEFF Research Database (Denmark)

    Fang, Shaoji; Leira, Bernt J.; Blanke, Mogens

    2013-01-01

    is achieved using structural reliability indices in a cost function, where both the mean mooring-line tension and dynamic effects are considered. An optimal set-point is automatically produced without need for manual interaction. The parameters of the extreme value distribution are calculated on-line thereby...... mooring lines simultaneously from exceeding a stress threshold, this paper suggests a new algorithm to determine the reference position and an associated control system. The safety of each line is assessed through a structural reliability index. A reference position where all mooring lines are safe...

  4. Continuous, saturation, and discontinuous tokamak plasma vertical position control systems

    Energy Technology Data Exchange (ETDEWEB)

    Mitrishkin, Yuri V., E-mail: y_mitrishkin@hotmail.com [M. V. Lomonosov Moscow State University, Faculty of Physics, Moscow 119991 (Russian Federation); Pavlova, Evgeniia A., E-mail: janerigoler@mail.ru [M. V. Lomonosov Moscow State University, Faculty of Physics, Moscow 119991 (Russian Federation); Kuznetsov, Evgenii A., E-mail: ea.kuznetsov@mail.ru [Troitsk Institute for Innovation and Fusion Research, Moscow 142190 (Russian Federation); Gaydamaka, Kirill I., E-mail: k.gaydamaka@gmail.com [V. A. Trapeznikov Institute of Control Sciences of the Russian Academy of Sciences, Moscow 117997 (Russian Federation)

    2016-10-15

    Highlights: • Robust new linear state feedback control system for tokamak plasma vertical position. • Plasma vertical position relay control system with voltage inverter in sliding mode. • Design of full models of multiphase rectifier and voltage inverter. • First-order unit approximation of full multiphase rectifier model with high accuracy. • Wider range of unstable plant parameters of stable control system with multiphase rectifier. - Abstract: This paper is devoted to the design and comparison of unstable plasma vertical position control systems in the T-15 tokamak with the application of two types of actuators: a multiphase thyristor rectifier and a transistor voltage inverter. An unstable dynamic element obtained by the identification of plasma-physical DINA code was used as the plasma model. The simplest static feedback state space control law was synthesized as a linear combination of signals accessible to physical measurements, namely the plasma vertical displacement, the current, and the voltage in a horizontal field coil, to solve the pole placement problem for a closed-loop system. Only one system distinctive parameter was used to optimize the performance of the feedback system, viz., a multiple real pole. A first-order inertial unit was used as the rectifier model in the feedback. A system with a complete rectifier model was investigated as well. A system with the voltage inverter model and static linear controller was brought into a sliding mode. As this takes place, real time delays were taken into account in the discontinuous voltage inverter model. The comparison of the linear and sliding mode systems showed that the linear system enjoyed an essentially wider range of the plant model parameters where the feedback system was stable.

  5. Continuous, saturation, and discontinuous tokamak plasma vertical position control systems

    International Nuclear Information System (INIS)

    Mitrishkin, Yuri V.; Pavlova, Evgeniia A.; Kuznetsov, Evgenii A.; Gaydamaka, Kirill I.

    2016-01-01

    Highlights: • Robust new linear state feedback control system for tokamak plasma vertical position. • Plasma vertical position relay control system with voltage inverter in sliding mode. • Design of full models of multiphase rectifier and voltage inverter. • First-order unit approximation of full multiphase rectifier model with high accuracy. • Wider range of unstable plant parameters of stable control system with multiphase rectifier. - Abstract: This paper is devoted to the design and comparison of unstable plasma vertical position control systems in the T-15 tokamak with the application of two types of actuators: a multiphase thyristor rectifier and a transistor voltage inverter. An unstable dynamic element obtained by the identification of plasma-physical DINA code was used as the plasma model. The simplest static feedback state space control law was synthesized as a linear combination of signals accessible to physical measurements, namely the plasma vertical displacement, the current, and the voltage in a horizontal field coil, to solve the pole placement problem for a closed-loop system. Only one system distinctive parameter was used to optimize the performance of the feedback system, viz., a multiple real pole. A first-order inertial unit was used as the rectifier model in the feedback. A system with a complete rectifier model was investigated as well. A system with the voltage inverter model and static linear controller was brought into a sliding mode. As this takes place, real time delays were taken into account in the discontinuous voltage inverter model. The comparison of the linear and sliding mode systems showed that the linear system enjoyed an essentially wider range of the plant model parameters where the feedback system was stable.

  6. Plasma position and shape control device for thermonuclear device

    International Nuclear Information System (INIS)

    Takeuchi, Kazuhiro; Abe, Mitsushi; Kinoshita, Shigemi.

    1993-01-01

    A plasma position and shape control system is constituted with a measuring device, a quenching probability calculation section and a control calculation section. A quenching probability is calculated in the quenching probability calculation section by using a measuring data on temperature, electric current and magnetic field of superconductive coils, based on a margin upto a limit value. The control calculation section selects a control method which decreases applied voltage or current instruction value as the quenching probability of the coils is higher. Since the quenching probability of the superconductive coils can be forecast and a state of low quenching danger can be selected, the safety of the device is improved. When the quenching danger is allowed to a predetermined value, a wide operation region can be provided. (N.H.)

  7. Improved Position Sensor for Feedback Control of Levitation

    Science.gov (United States)

    Hyers, Robert; Savage, Larry; Rogers, Jan

    2004-01-01

    An improved optoelectronic apparatus has been developed to provide the position feedback needed for controlling the levitation subsystem of a containerless-processing system. As explained, the advantage of this apparatus over prior optoelectronic apparatuses that have served this purpose stems from the use of an incandescent lamp, instead of a laser, to illuminate the levitated object. In containerless processing, a small object to be processed is levitated (e.g., by use of a microwave, low-frequency electromagnetic, electrostatic, or acoustic field) so that it is not in contact with the wall of the processing chamber or with any other solid object during processing. In the case of electrostatic or low-frequency electromagnetic levitation, real-time measurement of the displacement of the levitated object from its nominal levitation position along the vertical axis (and, in some cases, along one or two horizontal axes) is needed for feedback control of the levitating field.

  8. Using Positive Deviance for Determining Successful Weight-Control Practices

    Science.gov (United States)

    Stuckey, Heather L.; Boan, Jarol; Kraschnewski, Jennifer L.; Miller-Day, Michelle; Lehman, Erik B.; Sciamanna, Christopher N.

    2013-01-01

    Based on positive deviance (examining the practices of successful individuals), we identified five primary themes from 36 strategies that help to maintain long-term weight loss (weight control) in 61 people. We conducted in-depth interviews to determine what successful individuals did and/or thought about regularly to control their weight. The themes included weight-control practices related to (a) nutrition: increase water, fruit, and vegetable intake, and consistent meal timing and content; (b) physical activity: follow and track an exercise routine at least 3×/week; (c) restraint: practice restraint by limiting and/or avoiding unhealthy foods; (d) self-monitor: plan meals, and track calories/weight progress; and (e) motivation: participate in motivational programs and cognitive processes that affect weight-control behavior. Using the extensive data involving both the practices and practice implementation, we used positive deviance to create a comprehensive list of practices to develop interventions for individuals to control their weight. PMID:20956609

  9. Position Control of Linear Synchronous Motor Drives with Exploitation of Forced Dynamics Control Principles

    Directory of Open Access Journals (Sweden)

    Jan Vittek

    2004-01-01

    Full Text Available Closed-loop position control of mechanisms directly driven by linear synchronous motors with permanent magnets is presented. The control strategy is based on forced dynamic control, which is a form of feedback linearisation, yielding a non-liner multivariable control law to obtain a prescribed linear speed dynamics together with the vector control condition of mutal orthogonality between the stator current and magnetic flux vectors (assuming perfect estimates of the plant parameters. Outer position control loop is closed via simple feedback with proportional gain. Simulations of the design control sysstem, including the drive with power electronic switching, predict the intended drive performance.

  10. Positive and negative dimensions of weight control motivation.

    Science.gov (United States)

    Stotland, S; Larocque, M; Sadikaj, G

    2012-01-01

    This study examined weight control motivation among patients (N=5460 females and 547 males) who sought weight loss treatment with family physicians. An eight-item measure assessed the frequency of thoughts and feelings related to weight control "outcome" (e.g. expected physical and psychological benefits) and "process" (e.g. resentment and doubt). Factor analysis supported the existence of two factors, labeled Positive and Negative motivation. Positive motivation was high (average frequency of thoughts about benefits was 'every day') and stable throughout treatment, while Negative motivation declined rapidly and then stabilized. The determinants of changes in the Positive and Negative dimensions during treatment were examined within 3 time frames: first month, months 2-6, and 6-12. Maintenance of high scores on Positive motivation was associated with higher BMI and more disturbed eating habits. Early reductions in Negative motivation were greater for those starting treatment with higher weight and more disturbed eating habits, but less depression and stress, while later reductions in Negative motivation were predicted by improvements in eating habits, weight, stress and perfectionism. Clinicians treating obesity should be sensitive to fluctuations in both motivational dimensions, as they are likely to play a central role in determining long-term behavior and weight change. Copyright © 2011 Elsevier Ltd. All rights reserved.

  11. A randomized controlled trial of positioning treatments in infants with positional head shape deformities.

    Science.gov (United States)

    Hutchison, B Lynne; Stewart, Alistair W; De Chalain, Tristan B; Mitchell, Edwin A

    2010-10-01

    Randomized controlled trials of treatment for deformational plagiocephaly and brachycephaly have been lacking in the literature. Infants (n = 126) presenting to a plagiocephaly clinic were randomized to either positioning strategies or to positioning plus the use of a Safe T Sleep™ positioning wrap. Head shape was measured using a digital photographic technique, and neck function was assessed. They were followed up at home 3, 6 and 12 months later. There was no difference in head shape outcomes for the two treatment groups after 12 months of follow-up, with 42% of infants having head shapes in the normal range by that time. Eighty per cent of children showed good improvement. Those that had poor improvement were more likely to have both plagiocephaly and brachycephaly and to have presented later to clinic. Most infants improved over the 12-month study period, although the use of a sleep positioning wrap did not increase the rate of improvement. © 2010 The Author(s)/Journal Compilation © 2010 Foundation Acta Paediatrica.

  12. Plasma position control in a tokamak reactor around ignition

    International Nuclear Information System (INIS)

    Carretta, U.; Minardi, E.; Bacelli, N.

    1986-01-01

    Plasma position control in a tokamak reactor in the phase approaching ignition is closely related to burn control. If ignited burn corresponds to a thermally unstable situation the plasma becomes sensitive to the thermal instability already in the phase when ignition is approached so that the trajectory in the position-pressure (R,p) space becomes effectively unpredictable. For example, schemes involving closed cycles around ignition can be unstable in the heating-cooling phases, and the deviations may be cumulative in time. Reliable plasma control in pressure-position (p, R) space is achieved by beforehand constraining the p, R trajectory rigidly with suitable feedback vertical field stabilization, which is to be established already below ignition. A scheme in which ignition is approached in a stable and automatic way by feedback stabilization on the vertical field is proposed and studied in detail. The values of the gain coefficient ensuring stabilization and the associated p and R excursions are discussed both analytically, with a 0-D approximation including non-linear effects, and numerically with a 1-D code in cylindrical geometry. Profile effects increase the excursions, in particular above ignition. (author)

  13. Position Control of an X4-Flyer Using a Tether

    Directory of Open Access Journals (Sweden)

    , Keigo Watanabe

    2014-10-01

    Full Text Available In Japan, aging of infrastructures, such as roads, bridges, and water and sewer services, etc. poses a problem, and it is required to extend the life-span of such infrastructures by maintenance. Among infrastructures, especially bridges are periodically inspected by short range visual observations, which check the damage and deterioration of the surface. However, since there are some cases where the short range visual observation is difficult, an alternative method is required so as to replace the short range visual observation with it. So, "X4-Flyer" is very attractive because of realizing a movement at high altitude easily. The objective of this study is to develop a tethered X4- Flyer, so that the conventional short range visual observation of bridges is replaced by it. In this paper, a method for the measurement and control of the position is described by using a tether for controlling the position of the X4-Flyer. In addition, it is checked whether the tethered X4-Flyer can control the position using the proposed method or not, letting it fly in a state in which a tether is being attached.

  14. Strategies for the plasma position and shape control in IGNITOR

    International Nuclear Information System (INIS)

    Ramogida, G.; Alladio, F.; Albanese, R.

    2006-01-01

    The control of the plasma position and shape is a crucial issue in IGNITOR as in every compact, high field, elongated tokamak. The capability of the Poloidal Field Coil system, as presently designed, to provide an effective vertical stabilization of the plasma has been investigated using the CREATE L response model [R. Albanese, F. Villone, '' The Linearized CREATE L Plasma Response Model for the Control of Current, Position and Shape in Tokamaks '', Nucl. Fus., vol. 38, p. 723 (1998)]. This linearized MHD model assumes an axisymmetric deformable plasma described by few global parameters. An optimization of the vertical position control strategy has been carried out and the most effective coil combination has been selected to stabilize the plasma while fulfilling engineering constraints on the coils and minimizing the required power and voltage. The two pairs of coils selected for the vertical control will be fed up with up-down anti-symmetric currents provided by a dedicated supply and overlapped to the scenario currents. The growth rate of the vertical instability and the power required by the active stabilization system have been estimated with this model, indicating that it is possible to design a control system able to guarantee a stability region that includes the most interesting operation conditions. An assessment of the requirements for the plasma cross section shape control has been carried out considering independent perturbations of the plasma global parameters as disturbances and showing that the undesired shape modification rejection is possible with the present PFC and power supply system. The PF coils have been ranked with respect to their capability to restore the shape modifications due to different plasma disturbances and the most effective coil combination, that minimizes recovery time and voltage required, has been selected. In order to have additional means to monitor and control the centre of the plasma column, under demanding conditions

  15. Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

    Directory of Open Access Journals (Sweden)

    Hamed Navabi

    2017-01-01

    Full Text Available A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivial. We compare the performance of four different fuzzy controllers: (a regulation with one signal, (b regulation and position control with one signal, (c regulation and position control with two signals, and (d FSMC for regulation and position control with two signals. The system is evaluated in a realistic simulation and the robot parameters are chosen based on a LEGO platform, so the designed controllers have the ability to be implemented on real hardware.

  16. Predictive IP controller for robust position control of linear servo system.

    Science.gov (United States)

    Lu, Shaowu; Zhou, Fengxing; Ma, Yajie; Tang, Xiaoqi

    2016-07-01

    Position control is a typical application of linear servo system. In this paper, to reduce the system overshoot, an integral plus proportional (IP) controller is used in the position control implementation. To further improve the control performance, a gain-tuning IP controller based on a generalized predictive control (GPC) law is proposed. Firstly, to represent the dynamics of the position loop, a second-order linear model is used and its model parameters are estimated on-line by using a recursive least squares method. Secondly, based on the GPC law, an optimal control sequence is obtained by using receding horizon, then directly supplies the IP controller with the corresponding control parameters in the real operations. Finally, simulation and experimental results are presented to show the efficiency of proposed scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  17. Strategies for the plasma position and shape control in IGNITOR

    International Nuclear Information System (INIS)

    Villone, F.; Albanese, R.; Ambrosino, G.; Pironti, A.; Rubinacci, G.; Ramogida, G.; Alladio, F.; Bombarda, F.; Coletti, A.; Cucchiaro, A.; Maddaluno, G.; Pizzicaroli, G.; Pizzuto, A.; Roccella, M.; Santinelli, M.; Coppi, B.

    2007-01-01

    The capability of the poloidal field coil system, as presently designed, to provide an effective vertical stabilization of the plasma in the IGNITOR machine has been investigated using the CREATE L response model. An optimization of the vertical position control strategy has been carried out and the most effective coil combination has been selected to stabilize the plasma while fulfilling engineering constraints on the coils and minimizing the required power and voltage. The growth rate of the vertical instability and the power required by the active stabilization system has been estimated with this model. The possible failure of the relevant electromagnetic diagnostics has been taken into account, evaluating the robustness of the plasma position reconstruction strategy. A realistic description of the power supply system has permitted to carry out the optimization of the proportional-integrative-derivative (PID) controller, both with a voltage and a current loop control scheme. An assessment of the requirements for the plasma cross section shape control has been carried out considering perturbations of the plasma global parameters independent of each other and showing that the undesired shape modification rejection is possible with the present PFC and power supply system. The PF coils have been rated relative to their capability to restore shape modifications due to different plasma disturbances. The most effective coil combination, that minimizes recovery time and voltage required, has been identified

  18. One-year follow-up of mud-bath therapy in patients with bilateral knee osteoarthritis: a randomized, single-blind controlled trial

    Science.gov (United States)

    Fioravanti, A.; Bacaro, G.; Giannitti, C.; Tenti, S.; Cheleschi, S.; Guidelli, G. M.; Pascarelli, N. A.; Galeazzi, M.

    2015-09-01

    The objective of this prospective parallel randomized single-blind study was to assess that a cycle of mud-bath therapy (MBT) provides any benefits over usual treatment in patients with bilateral knee osteoarthritis (OA). Patients with symptomatic primary bilateral knee OA, according to ACR criteria, were included in the study and randomized to one of two groups: one group received a cycle of MBT at spa center of Chianciano Terme (Italy) in addition to the usual treatment, and one group continued their regular care routine alone. Clinical assessments were performed 7 days before enrollment (screening visit), at the time of enrollment (basal time), after 2 weeks, and after 3, 6, 9, and 12 months after the beginning of the study. All assessments were conducted by two researchers blinded to treatment allocation. The primary efficacy outcomes were the global pain score evaluated by Visual Analog Scale (VAS) and the Western Ontario and McMaster Universities Osteoarthritis Index (WOMAC) subscore for physical function (W-TPFS). Of the 235 patients screened, 103 met the inclusion criteria: 53 patients were included in the MBT group and 50 in the control group. In the group of patients treated with MBT, we observed a statistically significant ( p knee OA that lasts over time. Mud-bath therapy can represent a useful backup to pharmacologic treatment of knee OA or a valid alternative for patients who do not tolerate pharmacological treatments.

  19. Electro-Pneumatic Control System with Hydraulically Positioning Actuator Motor

    Directory of Open Access Journals (Sweden)

    V. N. Pilgunov

    2016-01-01

    Full Text Available A compressibility of the actuating fluid of a pneumatic drive (compressed air leads to significant landing of the pneumatic cylinder piston at the time of stop and hold of the load, a constant component of which can fluctuate significantly for the holding period.There are a lot of factors, which have a significant impact on the landing value of piston. Those are: an initial position of the piston at its stop, which determines the volume of the an active area of the piston, a value of the constant load component at the time of stop and its variation for the holding period, a transfer coefficient of the position component of the load, an active area of the pneumatic cylinder piston, as well as reduction in atmospheric pressure, which can significantly affect the operation of the control systems of small aircrafts flying at high altitudes.To reduce the landing value of piston due to changing value of the constant load component for its holding period, it is proposed to use a hydraulic positioner, which comprises a hydraulic cylinder the rod of which is rigidly connected to the rod of the pneumatic cylinder through the traverse, a cross-feed valve of the hydro-cylinder cavities with discrete electro-magnetic control, and adjustable chokes.A programmable logic controller provides the hydraulic positioner control. At the moment the piston stops and the load is held the cross-feed valve overlaps the hydro-cylinder cavities thereby locking the pneumatic cylinder piston and preventing its landing. With available pneumatic cylinder-controlled signal the cross-feed valve connects the piston and rod cavities of the positioner hydro-cylinder, the pneumatic cylinder piston is released and becomes capable of moving.A numerical estimate of landing of the pneumatic cylinder piston and its positioning quality is of essential interest. For this purpose, a technique to calculate the landing of piston has been developed taking into consideration that different

  20. MDEP Common Position No EPR-01 - Common positions on the EPR instrumentation and controls design

    International Nuclear Information System (INIS)

    2010-01-01

    The purpose of the EPR Working Group (EPRWG) of the Multinational Design Evaluation Program (MDEP) is to identify common positions among the regulators reviewing the EPR Instrumentation and Controls (I and C) Systems in order to: 1. Promote understanding of each country 's regulatory decisions and basis for the decisions, 2. Enhance communication among the members and with external stakeholders, 3. Identify areas where harmonization and convergence of regulations, standards, and guidance can be achieved or improved, and 4. Supports standardization of new reactor designs. Since January 2008, the EPR I and C Technical Expert Subgroup (TESG) members met five times to exchange information regarding their country 's review of the EPR I and C design. The EPR I and C TESG consists of regulators from China, Canada, Finland, France, the United Kingdom, and the United States. The information exchange includes presentation of each country 's review status and technical issues, sharing of guidance documents, and sharing of regulatory decision documents. The TESG focused on the following four core areas of the EPR I and C design: 1. I and C System Independence (particularly for data communications), 2. Level of Defense and Diversity (back-up systems), 3. Qualification/quality of digital platforms, 4. Categorization/classification of systems and functions. As meetings were conducted, some areas were emphasized more depending on the significance of the issues for each country. During the TESG interactions, it became apparent that there were aspects of the EPR design where the countries had common agreement. On November 2, 2009, three of the subgroup countries, France, Finland and the United Kingdom, issued a joint regulatory position on the EPR I and C design as result of the 'Groupe Permanent' meeting in France. This statement of common positions expands upon that joint regulatory position

  1. Position Control of an X4-Flyer Using a Tether

    Directory of Open Access Journals (Sweden)

    Yusuke Ouchi

    2016-05-01

    Full Text Available In Japan, aging of infrastructures, such as roads,bridges, and water and sewer services, etc. poses a problem, andit is required to extend the life-span of such infrastructures bymaintenance. Among infrastructures, especially bridges areperiodically inspected by short range visual observations, whichcheck the damage and deterioration of the surface. However,since there are some cases where the short range visualobservation is difficult, an alternative method is required so as toreplace the short range visual observation with it. So, "X4-Flyer"is very attractive because of realizing a movement at high altitudeeasily. The objective of this study is to develop a tethered X4-Flyer, so that the conventional short range visual observation ofbridges is replaced by it. In this paper, a method for themeasurement and control of the position is described by using atether for controlling the position of the X4-Flyer. In addition, itis checked whether the tethered X4-Flyer can control the positionusing the proposed method or not, letting it fly in a state in whicha tether is being attached

  2. Robust control design for the plasma horizontal position control on J-TEXT Tokamak

    International Nuclear Information System (INIS)

    Yu, W.Z.; Chen, Z.P.; Zhuang, G.; Wang, Z.J.

    2013-01-01

    It is extremely important for tokamak to control the plasma position during routine discharge. However, the model of plasma in tokamak usually contains much of the uncertainty, such as structured uncertainties and unmodeled dynamics. Compared with the traditional PID control approach, robust control theory is more suitable to handle this problem. In the paper, we propose a H ∞ robust control scheme to control the horizontal position of plasma during the flat-top phase of discharge on Joint Texas Experimental Tokamak (J-TEXT) tokamak. First, the model of our plant for plasma horizontal position control is obtained from the position equilibrium equations. Then the H ∞ robust control framework is used to synthesize the controller. Based on this, an H ∞ controller is designed to minimize the regulation/tracking error. Finally, a comparison study is conducted between the optimized H ∞ robust controller and the traditional PID controller in simulations. The simulation results of the H ∞ robust controller show a significant improvement of the performance with respect to those obtained with traditional PID controller, which is currently used on our machine

  3. Controlled positioning of nanoparticles on graphene by noninvasive AFM lithography.

    Science.gov (United States)

    Bellido, Elena; Ojea-Jiménez, Isaac; Ghirri, Alberto; Alvino, Christian; Candini, Andrea; Puntes, Victor; Affronte, Marco; Domingo, Neus; Ruiz-Molina, Daniel

    2012-08-21

    Atomic force microscopy is shown to be an excellent lithographic technique to directly deposit nanoparticles on graphene by capillary transport without any previous functionalization of neither the nanoparticles nor the graphene surface while preserving its integrity and conductivity properties. Moreover this technique allows for (sub)micrometric control on the positioning thanks to a new three-step protocol that has been designed with this aim. With this methodology the exact target coordinates are registered by scanning the tip over the predetermined area previous to its coating with the ink and deposition. As a proof-of-concept, this strategy has successfully allowed the controlled deposition of few nanoparticles on 1 μm(2) preselected sites of a graphene surface with high accuracy.

  4. Quality control in diagnostic immunohistochemistry: integrated on-slide positive controls.

    Science.gov (United States)

    Bragoni, A; Gambella, A; Pigozzi, S; Grigolini, M; Fiocca, R; Mastracci, L; Grillo, F

    2017-11-01

    Standardization in immunohistochemistry is a priority in modern pathology and requires strict quality control. Cost containment has also become fundamental and auditing of all procedures must take into account both these principles. Positive controls must be routinely performed so that their positivity guarantees the appropriateness of the immunohistochemical procedure. The aim of this study is to develop a low cost (utilizing a punch biopsy-PB-tool) procedure to construct positive controls which can be integrated in the patient's tissue slide. Sixteen frequently used control blocks were selected and multiple cylindrical samples were obtained using a 5-mm diameter punch biopsy tool, separately re-embedding them in single blocks. For each diagnostic immunoreaction requiring a positive control, an integrated PB-control section (cut from the appropriate PB-control block) was added to the top right corner of the diagnostic slide before immunostaining. This integrated control technique permitted a saving of 4.75% in total direct lab costs and proved to be technically feasible and reliable. Our proposal is easy to perform and within the reach of all pathology labs, requires easily available tools, its application costs is less than using external paired controls and ensures that a specific control for each slide is always available.

  5. Bilateral herpes zoster

    Directory of Open Access Journals (Sweden)

    Singh K

    1993-01-01

    Full Text Available A case of bilateral herpes zoster of lumbosacral region is reported in association with diabetes mellitus in a 55 years old female. The case is of interest due to bilateral distribution which is rare and sacral region involvement which is quite uncommon.

  6. Bilateral herpes zoster

    OpenAIRE

    Singh K; Bajaj A; Dwivedi N; Merchery A

    1993-01-01

    A case of bilateral herpes zoster of lumbosacral region is reported in association with diabetes mellitus in a 55 years old female. The case is of interest due to bilateral distribution which is rare and sacral region involvement which is quite uncommon.

  7. Review of design technology of control rod position indicators

    International Nuclear Information System (INIS)

    Yu, Je Yong; Huh, Hyung; Kim, Ji Ho; Kim, Jong In; Chang, Moon Hee

    1999-10-01

    An integral reactor SMART is under development at KAERI. The design characteristics of SMART are radically different from those employer in currently operating loop type water reactors in Korea. The objective of this report is to review the design technology of position indicator, and to study the various sensors which can be used in rod position indicator. Design criteria that rod position indicator should satisfy are also examined. Following position indicators are reviewed in this report. 1. Digital positioning indicator (DRPI), 2. Reed switch type position indicator (RSPT), 3. Choke sensor type position indicator, 4. Ultrasonic sensor type position indicator, 5. Comparison of each position indicator. (author)

  8. Position control of a floating nuclear power plant

    International Nuclear Information System (INIS)

    Motohashi, K.; Hamamoto, T.; Sasaki, R.; Kojima, M.

    1993-01-01

    In spite of the increasing demand of electricity in Japan, the sites of nuclear power plants suitable for conventional seismic regulations become severely limited. Under these circumstances, several types of advanced siting technology have been developed. Among them, floating power plants have a great advantage of seismic isolation that leads to the seismic design standardization and factory fabrication. The feasibility studies or preliminary designs of floating power plants enclosed by breakwaters in the shallow sea have been carried out last two decades in U.S. and Japan. On the other hand, there are few investigations on the dynamic behavior of floating power plants in the deep sea. The offshore floating nuclear power plants have an additional advantage in that large breakwaters are not required, although the safety checking is inevitable against wind-induced waves. The tension-leg platforms which have been constructed for oil drilling in the deep sea seem to be a promising offshore siting technology of nuclear power plants. The tension-leg mooring system can considerably restrain the heave and pitch of a floating power plant because of significant stiffness in the vertical direction. Different from seismic effects, wind-induced waves may be predicted in advance by making use of ocean weather forecasts using artificial satellites. According to the wave prediction, the position of the floating plant may be controlled by adjusting the water content in ballast tanks and the length of tension-legs before the expected load arrives. The position control system can reduce the wave force acting on the plant and to avoid the unfavorable response behavior of the plant. In this study a semi-submerged circular cylinder with tension-legs is considered as a mathematical model. The configuration of circular cylinder is effective because the dynamic behavior does not depend on incident wave directions. It is also unique in that it can obtain the closed-form solution of

  9. Fault Tolerant Position-mooring Control for Offshore Vessels

    DEFF Research Database (Denmark)

    Blanke, Mogens; Nguyen, Trong Dong

    2018-01-01

    Fault-tolerance is crucial to maintain safety in offshore operations. The objective of this paper is to show how systematic analysis and design of fault-tolerance is conducted for a complex automation system, exemplified by thruster assisted Position-mooring. Using redundancy as required....... Functional faults that are only detectable, are rendered isolable through an active isolation approach. Once functional faults are isolated, they are handled by fault accommodation techniques to meet overall control objectives specified by class requirements. The paper illustrates the generic methodology...... by a system to handle faults in mooring lines, sensors or thrusters. Simulations and model basin experiments are carried out to validate the concept for scenarios with single or multiple faults. The results demonstrate that enhanced availability and safety are obtainable with this design approach. While...

  10. Asymmetric positive feedback loops reliably control biological responses.

    Science.gov (United States)

    Ratushny, Alexander V; Saleem, Ramsey A; Sitko, Katherine; Ramsey, Stephen A; Aitchison, John D

    2012-04-24

    Positive feedback is a common mechanism enabling biological systems to respond to stimuli in a switch-like manner. Such systems are often characterized by the requisite formation of a heterodimer where only one of the pair is subject to feedback. This ASymmetric Self-UpREgulation (ASSURE) motif is central to many biological systems, including cholesterol homeostasis (LXRα/RXRα), adipocyte differentiation (PPARγ/RXRα), development and differentiation (RAR/RXR), myogenesis (MyoD/E12) and cellular antiviral defense (IRF3/IRF7). To understand why this motif is so prevalent, we examined its properties in an evolutionarily conserved transcriptional regulatory network in yeast (Oaf1p/Pip2p). We demonstrate that the asymmetry in positive feedback confers a competitive advantage and allows the system to robustly increase its responsiveness while precisely tuning the response to a consistent level in the presence of varying stimuli. This study reveals evolutionary advantages for the ASSURE motif, and mechanisms for control, that are relevant to pharmacologic intervention and synthetic biology applications.

  11. A longitudinal study of the bilateral benefit in children with bilateral cochlear implants.

    Science.gov (United States)

    Asp, Filip; Mäki-Torkko, Elina; Karltorp, Eva; Harder, Henrik; Hergils, Leif; Eskilsson, Gunnar; Stenfelt, Stefan

    2015-02-01

    To study the development of the bilateral benefit in children using bilateral cochlear implants by measurements of speech recognition and sound localization. Bilateral and unilateral speech recognition in quiet, in multi-source noise, and horizontal sound localization was measured at three occasions during a two-year period, without controlling for age or implant experience. Longitudinal and cross-sectional analyses were performed. Results were compared to cross-sectional data from children with normal hearing. Seventy-eight children aged 5.1-11.9 years, with a mean bilateral cochlear implant experience of 3.3 years and a mean age of 7.8 years, at inclusion in the study. Thirty children with normal hearing aged 4.8-9.0 years provided normative data. For children with cochlear implants, bilateral and unilateral speech recognition in quiet was comparable whereas a bilateral benefit for speech recognition in noise and sound localization was found at all three test occasions. Absolute performance was lower than in children with normal hearing. Early bilateral implantation facilitated sound localization. A bilateral benefit for speech recognition in noise and sound localization continues to exist over time for children with bilateral cochlear implants, but no relative improvement is found after three years of bilateral cochlear implant experience.

  12. Vertical position control of the elongated INTOR plasma

    International Nuclear Information System (INIS)

    Ueda, Kojyu; Nishio, Satoshi; Fujisawa, Noboru; Sugihara, Masayoshi; Saito, Seiji; Miyamoto, Kenro.

    1983-01-01

    A newly devised rectangular shell, which has the sufficient shell effect for the stabilization of the fast mode, is presented, along with the studies of various kinds of shell-structures described on this paper. It can be expected that the rectangular shells have negligibly small effect on the breeding ratio by locating them separately on both of the front and rear surfaces of blanket. Some properties with the modelled feedback control system are elucidated under a disturbance field, B sub(d) = B sub(infinity).[1-exp(-t/tau sub(d))] (B sub(infinity): field strength at t = infinity, tau sub(d): time constant). They are studied for two kinds of decay indices, that is, -1.0 for the pump limiter and -1.3 for the divertor. Conclusively, the control system is found to have good characteristics. The PID controller seems to provide the stable control of vertical position better than the PI controller. The maximum of vertical displacement, Z sub(p)sup(max) under the disturbance field, B sub(d), are in proportion to B sub(infinity). The power required for its stabilization, P, are also in proportion to B sub(infinity)sup(2), and then to (Z sub(P)sup(MAX))sup(2), too. Therefore, some common basis for B sub(infinity) or Z sub(P)sup(MAX) is required for its estimation. Moreover, the power is found to be independent of selection of the PI or PID controller, and to have approximately the same relation with Z sub(P)sup(MAX). The difference of P between -1.0 and -1.3 in the decay index is very large when Z sub(P)sup(MAX) is more than -1.0 cm. For example, in the vicinity of Z sub(P)sup(MAX) = 1.0 cm, the power in the case of n = -1.0 is about one half of that in the case of n = -1.3. But it decreases abruptly when Z sub(P)sup(MAX) is less than 0.5 cm. (J.P.N.)

  13. Adductor canal block for post-operative analgesia after simultaneous bilateral total knee replacement: A randomised controlled trial to study the effect of addition of dexmedetomidine to ropivacaine

    Directory of Open Access Journals (Sweden)

    Rakhee Goyal

    2017-01-01

    Full Text Available Background and Aims: Knee replacement surgery causes tremendous post-operative pain and adductor canal block (ACB is used for post-operative analgesia. This is a randomised, controlled, three-arm parallel group study using different doses of dexmedetomidine added to ropiavcaine for ACB. Methods: A total of 150 patients aged 18–75 years, scheduled for simultaneous bilateral total knee replacement, received ultrasound-guided ACB. They were randomised into three groups -Group A received ACB with plain ropivacaine; Groups B and C received ACB with ropivacaine and addition of dexmedetomidine 0.25 μg/kg and 0.50 μg/kg, respectively, on each side of ACB. The primary outcome was the duration of analgesia. Total opioid consumption, success of early ambulation, and level of patient satisfaction were also assessed. Results: The patient characteristics and block success rates were comparable in all groups. Group C patients had longer duration of analgesia (Group C 18.4 h ± 7.4; Group B 14.6 ± 7.1; Group A 10.8 ± 7; P < 0.001; lesser tramadol consumption (Group C 43.8 mg ± 53.2; Group B 76.4 ± 49.6; Group A 93.9 mg ± 58.3; P < 0.001 and lesser pain on movement (P < 0.001. The patients in Group B and C walked more steps than in Group A (P < 0.002. The level of patient satisfaction was highest in Group C (P < 0.001. Conclusions: The addition of dexmedetomidine to ropivacaine resulted in longer duration of analgesia after adductor canal block for simultaneous bilateral total knee replacement surgery.

  14. Temporomandibular joint arthroplasty for osteoarthrosis: A series of 24 patients that received a uni- or bilateral inter-positional silicone sheet.

    Science.gov (United States)

    Boutault, F; Cavallier, Z; Lauwers, F; Prevost, A

    2018-06-01

    To evaluate mid-term results from using a silicone sheet for inter-positional arthroplasty in moderate or severe cases of osteoarthrosis of the temporo-mandibular joint (TMJ). To also determine any remaining indications from this method. This retrospective study included patients that underwent surgery between 2008 and 2016. Pre- and post-operative mouth opening (MO), according to inter-incisal distance (mm) and pain score (PS: 0=no pain to 4=very severe pain) were recorded for 24 patients. Patients were divided according to thickness of the silicone sheet (group A: 1.0 mm, group B: 1.5 mm). The cohort included 22 females (92%). Mean age at surgery was 55 years±13 (26-80). Mean length of follow-up was 26 months±24 (6-80). Mean improvement in MO was 8.2 mm (+33%) and of PS was 1.7 (-68%). MO was not improved for two patients and worsened for one. PS score improved for all patients. No statistical difference was found between groups A and B. There was also a tendency for degradation of outcomes over time. The poor reputation of prosthetic discoplasty was not as evident in our series, even though anatomical and functional status seemed to deteriorate over time. This is because total-joint prosthetic replacement is often proposed instead. However, for elderly or fragile patients that have severe pain, and regarding cost-benefit aspects, conventional arthroplasty can still be discussed, especially since French national health-care insurance does not yet support TMJ prosthetic replacement for osteoarthrosis. Copyright © 2018 Elsevier Masson SAS. All rights reserved.

  15. VelC positively controls sexual development in Aspergillus nidulans.

    Directory of Open Access Journals (Sweden)

    Hee-Soo Park

    Full Text Available Fungal development and secondary metabolism is intimately associated via activities of the fungi-specific velvet family proteins including VeA, VosA, VelB and VelC. Among these, VelC has not been characterized in Aspergillus nidulans. In this study, we characterize the role of VelC in asexual and sexual development in A. nidulans. The velC mRNA specifically accumulates during the early phase of sexual development. The deletion of velC leads to increased number of conidia and reduced production of sexual fruiting bodies (cleistothecia. In the velC deletion mutant, mRNA levels of the brlA, abaA, wetA and vosA genes that control sequential activation of asexual sporulation increase. Overexpression of velC causes increased formation of cleistothecia. These results suggest that VelC functions as a positive regulator of sexual development. VelC is one of the five proteins that physically interact with VosA in yeast two-hybrid and GST pull down analyses. The ΔvelC ΔvosA double mutant produced fewer cleistothecia and behaved similar to the ΔvosA mutant, suggesting that VosA is epistatic to VelC in sexual development, and that VelC might mediate control of sex through interacting with VosA at specific life stages for sexual fruiting.

  16. The Human Eye Position Control System in a Rehabilitation Setting

    Directory of Open Access Journals (Sweden)

    Yvonne Nolan

    2005-01-01

    Full Text Available Our work at Ireland’s National Rehabilitation Hospital involves designing communication systems for people suffering from profound physical disabilities. One such system uses the electro-oculogram, which is an (x,y system of voltages picked up by pairs of electrodes placed, respectively, above and below and on either side of the eyes. The eyeball has a dc polarisation between cornea and back, arising from the photoreceptor rods and cones in the retina. As the eye rotates, the varying voltages projected onto the electrodes drive a cursor over a mimic keyboard on a computer screen. Symbols are selected with a switching action derived, for example, from a blink. Experience in using this mode of communication has given us limited facilities to study the eye position control system. We present here a resulting new feedback model for rotation in either the vertical or the horizontal plane, which involves the eyeball controlled by an agonist-antagonist muscle pair, modelled by a single equivalent bidirectional muscle with torque falling off linearly with angular velocity. We have incorporated muscle spindles and have tuned them by pole assignment associated with an optimum stability criterion.

  17. Position control of ECRH launcher mirrors by laser speckle sensor

    International Nuclear Information System (INIS)

    Michelsen, Poul K.; Bindslev, Henrik; Hansen, Rene Skov; Hanson, Steen G.

    2003-01-01

    The planned ECRH system for JET included several fixed and steerable mirrors some of which should have been fixed to the building structure and some to the JET vessel structure. A similar system may be anticipated for ITER and for other fusion devices in the future. In order to have high reproducibility of the ECRH beam direction, it is necessary to know the exact positions of the mirrors. This is not a trivial problem because of thermal expansion of the vessel structures and of the launcher itself and of its support structure, the mechanical load on mirrors and support structures, and the accessibility to the various mirrors. We suggest to use a combination of infrared diagnostic of beam spot positions and a new technique published recently, which is based on a non-contact laser speckle sensor for measuring one- and two-dimensional angular displacement. The method is based on Fourier transforming the scattered field from a single laser beam that illuminates the target. The angular distribution of the light field at the target is linearly mapped onto an array image sensor placed in the Fourier plane. Measuring the displacement of this so-called speckle pattern facilitates the determination of the mirror orientation. Transverse target movement can be measured by observing the speckle movement in the image plane of the object. No special surface treatment is required for surfaces having irregularities of the order of or larger than the wavelength of the incident light. For the JET ECRH launcher it is mainly for the last mirror pointing towards the plasma where the technique may be useful. This mirror has to be steerable in order to reflect the microwave beam in the correct direction towards the plasma. Maximum performance of the microwave heating requires that the beam hits this mirror at its centre and that the mirror is turned in the correct angle. Inaccuracies in the positioning of the pull rods for controlling the mirror turning and thermal effects makes it

  18. Single axis control of ball position in magnetic levitation system using fuzzy logic control

    Science.gov (United States)

    Sahoo, Narayan; Tripathy, Ashis; Sharma, Priyaranjan

    2018-03-01

    This paper presents the design and real time implementation of Fuzzy logic control(FLC) for the control of the position of a ferromagnetic ball by manipulating the current flowing in an electromagnet that changes the magnetic field acting on the ball. This system is highly nonlinear and open loop unstable. Many un-measurable disturbances are also acting on the system, making the control of it highly complex but interesting for any researcher in control system domain. First the system is modelled using the fundamental laws, which gives a nonlinear equation. The nonlinear model is then linearized at an operating point. Fuzzy logic controller is designed after studying the system in closed loop under PID control action. The controller is then implemented in real time using Simulink real time environment. The controller is tuned manually to get a stable and robust performance. The set point tracking performance of FLC and PID controllers were compared and analyzed.

  19. Prospective, randomized, and controlled trial on ketamine infusion during bilateral axillo-breast approach (BABA) robotic or endoscopic thyroidectomy: Effects on postoperative pain and recovery profiles

    Science.gov (United States)

    Kim, Dong-Ho; Choi, June Young; Kim, Byoung-Gook; Hwang, Jin-Young; Park, Seong-Joo; Oh, Ah-Young; Jeon, Young-Tae; Ryu, Jung-Hee

    2016-01-01

    Abstract Background: Robotic or endoscopic thyroidectomy using bilateral axillo-breast approach (BABA) is frequently performed for excellent cosmesis. However, postoperative pain is remained as concerns due to the extent tissue dissection and tension during the operation. Ketamine is a noncompetitive N-methyl-d-aspartate (NMDA) receptor antagonist that reduces acute postoperative pain. We evaluated the effects of intraoperative ketamine infusion on postoperative pain control and recovery profiles following BABA robotic or endoscopic thyroidectomy. Methods: Fifty-eight adult patients scheduled for BABA robotic or endoscopic thyroidectomy were randomized into a control group (n = 29) and ketamine group (n = 29). Following induction of anesthesia, patients in each group were infused with the same volume of saline or ketamine solution (1 mg/kg bolus, 60 μg/kg/h continuous infusion). Total intravenous anesthesia with propofol and remifentanil was used to induce and maintain anesthesia. Pain scores (101-point numerical rating scale, 0 = no pain, 100 = the worst imaginable pain), the consumption of rescue analgesics, and other postoperative adverse effects were assessed at 1, 6, 24, and 48 hours postoperatively. Results: Patients in the ketamine group reported lower pain scores than those in the control group at 6 hours (30 [30] vs 50 [30]; P = 0.017), 24 hours (20 [10] vs 30 [20]; P ketamine infusion during anesthesia resulted in lower postoperative pain scores following BABA robotic or endoscopic thyroidectomy, with no increase in adverse events. PMID:27930531

  20. Position Control of a Pneumatic Muscle Actuator Using RBF Neural Network Tuned PID Controller

    Directory of Open Access Journals (Sweden)

    Jie Zhao

    2015-01-01

    Full Text Available Pneumatic Muscle Actuator (PMA has a broad application prospect in soft robotics. However, PMA has highly nonlinear and hysteretic properties among force, displacement, and pressure, which lead to difficulty in accurate position control. A phenomenological model is developed to portray the hysteretic behavior of PMA. This phenomenological model consists of linear component and hysteretic component force. The latter component is described by Duhem model. An experimental apparatus is built up and sets of experimental data are acquired. Based on the experimental data, parameters of the model are identified. Validation of the model is performed. Then a novel cascade position PID controller is devised for a 1-DOF manipulator actuated by PMA. The outer loop of the controller is to cope with position control whilst the inner loop deals with pressure dynamics within PMA. To enhance the adaptability of the PID algorithm to the high nonlinearities of the manipulator, PID parameters are tuned online using RBF Neural Network. Experiments are performed and comparison between position response of RBF Neural Network based PID controller and that of classic PID controller demonstrates the effectiveness of the novel adaptive controller on the manipulator.

  1. Postoperative Analgesic Efficacy of Bilateral Transversus Abdominis Plane Block in Patients Undergoing Midline Colorectal Surgeries Using Ropivacaine: A Randomized, Double-blind, Placebo-controlled Trial.

    Science.gov (United States)

    Qazi, Nahida; Bhat, Wasim Mohammad; Iqbal, Malik Zaffar; Wani, Anisur Rehman; Gurcoo, Showkat A; Rasool, Sahir

    2017-01-01

    Ultrasound-guided transversus abdominis plane (TAP) block is done as a part of multimodal analgesia for pain relief after abdominal surgeries. This prospective randomized, double-blind, placebo-controlled trial was conducted to evaluate the postoperative analgesic efficacy of bilateral TAP block in patients undergoing midline colorectal surgeries using ropivacaine. Eighty patients scheduled for elective colorectal surgeries involving midline abdominal wall incision under general anesthesia were enrolled in this prospective randomized controlled trial. Group A received TAP block with 20 ml of 0.2% ropivacaine on either side of the abdominal wall, and Group B received 20 ml of normal saline. The time to request for rescue analgesia, total analgesic consumption in 24 h, and satisfaction with the anesthetic technique were assessed. The mean visual analog scale scores at rest and on coughing were higher in control group ( P > 0.05). Time (min) to request for the first rescue analgesia was prolonged in study group compared to control group ( P consumption in 24 h postoperatively was significantly high in control group ( P 0.05). The level of satisfaction concerning postoperative pain control/anesthetic technique was higher in study group ( P < 0.001). TAP block produces effective and prolonged postoperative analgesia in patients undergoing midline colorectal surgery. It is a technically simple block to perform with a high margin of safety. It produces a considerable reduction in mean intravenous postoperative tramadol requirements, reduction in postoperative pain scores, and increased time to first request for further analgesia, both at rest and on movement.

  2. Positive and negative peptide signals control stomatal density.

    Science.gov (United States)

    Shimada, Tomoo; Sugano, Shigeo S; Hara-Nishimura, Ikuko

    2011-06-01

    The stoma is a micro valve found on aerial plant organs that promotes gas exchange between the atmosphere and the plant body. Each stoma is formed by a strict cell lineage during the early stages of leaf development. Molecular genetics research using the model plant Arabidopsis has revealed the genes involved in stomatal differentiation. Cysteine-rich secretory peptides of the EPIDERMAL PATTERNING FACTOR-LIKE (EPFL) family play crucial roles as extracellular signaling factors. Stomatal development is orchestrated by the positive factor STOMAGEN/EPFL9 and the negative factors EPF1, EPF2, and CHALLAH/EPFL6 in combination with multiple receptors. EPF1 and EPF2 are produced in the stomatal lineage cells of the epidermis, whereas STOMAGEN and CHALLAH are derived from the inner tissues. These findings highlight the complex cell-to-cell and intertissue communications that regulate stomatal development. To optimize gas exchange, particularly the balance between the uptake of carbon dioxide (CO(2)) and loss of water, plants control stomatal activity in response to environmental conditions. The CO(2) level and light intensity influence stomatal density. Plants sense environmental cues in mature leaves and adjust the stomatal density of newly forming leaves, indicating the involvement of long-distance systemic signaling. This review summarizes recent research progress in the peptide signaling of stomatal development and discusses the evolutionary model of the signaling machinery.

  3. Selective bilateral internal iliac artery embolization for controlling refractory hematuria due to the metastatic squamous cell carcinoma of the urinary bladder: a case report

    Directory of Open Access Journals (Sweden)

    Gholamreza Mokhtari

    2016-09-01

    Full Text Available Bladder squamous cell carcinoma (SCC may lead to gross hematuria. However, the metastasis of head and neck cutaneous SCC to the urinary bladder has not been described in literature. Nowadays, noninvasive methods such as embolization, are considered as an appropriate choice for controlling life-threatening hematuria in patients with high operative risk. However, few reports exist on the effectiveness of this approach in managing the hematuria secondary to metastatic bladder SCC. Here we report a case of bladder SCC originating from the forehead cutaneous SCC. An 83-year-old man, a known case of forehead cutaneous SCC with distant metastasis, referred to our clinic with a chief complaint of hematuria. Pathology confirmed the diagnosis of metastatic urinary bladder SCC. Angiography and embolization were undertaken and resulted in complete alleviation of the symptoms. The recurrence of hematuria or embolization-related complications were not observed during 3-month follow-up. Selective embolization of the bilateral internal iliac artery is a safe and efficient procedure for controlling severe hematuria in patients with primary or metastatic bladder SCC.

  4. Linear quadratic Gaussian controller design for plasma current, position and shape control system in ITER

    International Nuclear Information System (INIS)

    Belyakov, V.; Kavin, A.; Rumyantsev, E.; Kharitonov, V.; Misenov, B.; Ovsyannikov, A.; Ovsyannikov, D.; Veremei, E.; Zhabko, A.; Mitrishkin, Y.

    1999-01-01

    This paper is focused on the linear quadratic Gaussian (LQG) controller synthesis methodology for the ITER plasma current, position and shape control system as well as power derivative management system. It has been shown that some poloidal field (PF) coils have less influence on reference plasma-wall gaps control during plasma disturbances and hence they have been used to reduce total control power derivative by means of the additional non-linear feedback. The design has been done on the basis of linear models. Simulation was provided for non-linear model and results are presented and discussed. (orig.)

  5. Responses of the less affected arm to bilateral upper limb task training in early rehabilitation after stroke: a randomized controlled trial.

    Science.gov (United States)

    Morris, Jacqui H; Van Wijck, Frederike

    2012-07-01

    To investigate effects of bilateral training (BT) on ipsilesional arm dexterity and activity limitation; to explore clinical and demographic factors that influence training effects; and to explore relationships between contralesional and ipsilesional recovery. Single-blind randomized controlled trial with outcome assessment at baseline, postintervention (6 wk), and follow-up (18 wk). Inpatient acute and rehabilitation hospitals. Participants were randomized to a BT group in which training involved the ipsilesional and contralesional arms (n=56) or control training involving the contralesional arm only (n=50). Supervised BT or control training for 20 minutes on weekdays over a 6-week period using a standardized program. Upper limb activity limitation: Action Research Arm Test; and dexterity: Nine-Hole Peg Test (9HPT). Lower baseline scores were found for the ipsilesional arm on both measures compared with published normative values. The BT group demonstrated significantly greater change in dexterity (P=.03) during the intervention phase at 0 to 6 weeks (.06±.07pegs/s) compared with the control group (.02±.02pegs/s). The effect was lost for overall recovery at 0 to 18 weeks (P=.93). Younger participants (age≤68y) performed the 9HPT faster at baseline than older participants (P=.04) and demonstrated greater overall recovery with BT than older participants (P=.04). There was no significant correlation between ipsilesional and contralesional recovery. The study suggests that BT may lead to clinically small improvements in ipsilesional performance of fine, rapid dexterity tasks. Younger participants responded better to BT. There was no relationship between contralesional and ipsilesional recovery, suggesting that different causes and recovery mechanisms may exist. Copyright © 2012 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

  6. Mud-Bath Therapy in Addition to Usual Care in Bilateral Knee Osteoarthritis: An Economic Evaluation Alongside a Randomized Controlled Trial.

    Science.gov (United States)

    Ciani, Oriana; Pascarelli, Nicola Antonio; Giannitti, Chiara; Galeazzi, Mauro; Meregaglia, Michela; Fattore, Giovanni; Fioravanti, Antonella

    2017-07-01

    To perform a cost-effectiveness analysis of mud-bath therapy (MBT) in addition to usual treatment compared to usual treatment alone in patients with bilateral knee osteoarthritis (OA). An economic evaluation alongside a randomized controlled trial was conducted. Patients were randomly assigned to receive either a 2-week cycle of MBT in addition to their usual treatment or to continue routine care alone. The EuroQol 5-domain questionnaire was administered at baseline, 2 weeks, and at 3, 6, 9, and 12 months. Direct health care resource consumption data up until 12 months were derived from a daily diary given to patients and returned at prescheduled followup visits. A total of 103 patients were included (n = 53 for MBT patients; n = 50 for controls). Overall, patients in the MBT group accrued mean ± SD 0.835 ± 0.10 quality-adjusted life years (QALYs) compared to 0.753 ± 0.11 in the control group (P < 0.001). Average direct costs per patient (€303 versus €975; P < 0.001) were higher in the control group, primarily because of hospitalization for total knee replacement and use of intraarticular hyaluronic acid. Bootstrapping replications of costs and QALY sample distributions consistently indicated that the MBT therapy combined with standard therapy represents a dominant strategy as compared with standard therapy alone. The probability of MBT being cost-effective at standard cost-effectiveness thresholds (e.g., €20,000/QALY) is 100%. The results of this cost-effectiveness analysis support the use of MBT as midterm complementary therapy in the management of knee OA. © 2016, American College of Rheumatology.

  7. Immediate Sequential Bilateral Cataract Surgery

    DEFF Research Database (Denmark)

    Kessel, Line; Andresen, Jens; Erngaard, Ditte

    2015-01-01

    The aim of the present systematic review was to examine the benefits and harms associated with immediate sequential bilateral cataract surgery (ISBCS) with specific emphasis on the rate of complications, postoperative anisometropia, and subjective visual function in order to formulate evidence......-based national Danish guidelines for cataract surgery. A systematic literature review in PubMed, Embase, and Cochrane central databases identified three randomized controlled trials that compared outcome in patients randomized to ISBCS or bilateral cataract surgery on two different dates. Meta-analyses were...... performed using the Cochrane Review Manager software. The quality of the evidence was assessed using the GRADE method (Grading of Recommendation, Assessment, Development, and Evaluation). We did not find any difference in the risk of complications or visual outcome in patients randomized to ISBCS or surgery...

  8. FPGA based Fuzzy Logic Controller for plasma position control in ADITYA Tokamak

    International Nuclear Information System (INIS)

    Suratia, Pooja; Patel, Jigneshkumar; Rajpal, Rachana; Kotia, Sorum; Govindarajan, J.

    2012-01-01

    Highlights: ► Evaluation and comparison of the working performance of FLC is done with that of PID Controller. ► FLC is designed using MATLAB Fuzzy Logic Toolbox, and validated on ADITYA RZIP model. ► FLC was implemented on a FPGA. The close-loop testing is done by interfacing FPGA to MATLAB/Simulink. ► Developed FLC controller is able to maintain the plasma column within required range of ±0.05 m and was found to give robust control against various disturbances and faster and smoother response compared to PID Controller. - Abstract: Tokamaks are the most promising devices for obtaining nuclear fusion energy from high-temperature, ionized gas termed as Plasma. The successful operation of tokamak depends on its ability to confine plasma at the geometric center of vacuum vessel with sufficient stability. The quality of plasma discharge in ADITYA Tokamak is strongly related to the radial position of the plasma column in the vacuum vessel. If the plasma column approaches too near to the wall of vacuum vessel, it leads to minor or complete disruption of plasma. Hence the control of plasma position throughout the entire plasma discharge duration is a fundamental requirement. This paper describes Fuzzy Logic Controller (FLC) which is designed for radial plasma position control. This controller is tested and evaluated on the ADITYA RZIP control model. The performance of this FLC was compared with that of Proportional–Integral–Derivative (PID) Controller and the response was found to be faster and smoother. FLC was implemented on a Field Programmable Gate Array (FPGA) chip with the use of a Very High-Speed Integrated-Circuits Hardware Description-Language (VHDL).

  9. Development of Vision Control Scheme of Extended Kalman filtering for Robot's Position Control

    International Nuclear Information System (INIS)

    Jang, W. S.; Kim, K. S.; Park, S. I.; Kim, K. Y.

    2003-01-01

    It is very important to reduce the computational time in estimating the parameters of vision control algorithm for robot's position control in real time. Unfortunately, the batch estimation commonly used requires too murk computational time because it is iteration method. So, the batch estimation has difficulty for robot's position control in real time. On the other hand, the Extended Kalman Filtering(EKF) has many advantages to calculate the parameters of vision system in that it is a simple and efficient recursive procedures. Thus, this study is to develop the EKF algorithm for the robot's vision control in real time. The vision system model used in this study involves six parameters to account for the inner(orientation, focal length etc) and outer (the relative location between robot and camera) parameters of camera. Then, EKF has been first applied to estimate these parameters, and then with these estimated parameters, also to estimate the robot's joint angles used for robot's operation. finally, the practicality of vision control scheme based on the EKF has been experimentally verified by performing the robot's position control

  10. Development of EPICS based beam-line experimental control employing motor controller for precision positioning

    International Nuclear Information System (INIS)

    Tuli, Anupriya; Jain, Rajiv; Vora, H.S.

    2015-01-01

    In a Synchrotron Radiation Source the beamline experiments are carried out in radiation prone environment, inside the hutch, which demands to conduct experiments remotely. These experiments involves instrument control and data acquisition from various devices. Another factor which attributes to system complexity is precise positioning of sample and placement of detectors. A large number of stepper motors are engaged for achieving the required precision positioning. This work is a result of development of Experimental Physics and Industrial Control System (EPICS) based control system to interface a stepper motor controller developed indigenously by Laser Electronics Support Division of RRCAT. EPICS is an internationally accepted open source software environment which follows toolkit approach and standard model paradigm. The operator interface for the control system software was implemented using CSS BOY. The system was successfully tested for Ethernet based remote access. The developed control software comprises of an OPI and alarm handler (EPICS ALH). Both OPI and ALH are linked with PV's defined in database files. The development process resulted into a set of EPICS based commands for controlling stepper motor. These commands are independent of operator interface, i.e. stepper motor can be controlled by using these set of commands directly on EPICS prompt. This command set is illustrated in the above table. EPICS Alarm Handler was also tested independently by running these commands on EPIC prompt. If not using ALH, operator can read the alarm status of a PV using 'SEVR' and 'STAT' attributes. (author)

  11. Efficacy of bilateral repetitive transcranial magnetic stimulation for negative symptoms of schizophrenia : results of a multicenter double-blind randomized controlled trial

    NARCIS (Netherlands)

    Dlabac-de Lange, J. J.; Bais, L.; van Es, F. D.; Visser, B. G. J.; Reinink, E.; Bakker, B.; van den Heuvel, E. R.; Aleman, A.; Knegtering, H.

    Background. Few studies have investigated the efficacy of repetitive transcranial magnetic stimulation (rTMS) treatment for negative symptoms of schizophrenia, reporting inconsistent results. We aimed to investigate whether 10 Hz stimulation of the bilateral dorsolateral prefrontal cortex during 3

  12. Bilateral sphenopalatine ganglion block reduces blood pressure in never treated patients with essential hypertension. A randomized controlled single-blinded study.

    Science.gov (United States)

    Triantafyllidi, Helen; Arvaniti, Chrysa; Schoinas, Antonios; Benas, Dimitris; Vlachos, Stefanos; Palaiodimos, Leonidas; Pavlidis, George; Ikonomidis, Ignatios; Batistaki, Chrysanthi; Voumvourakis, Costas; Lekakis, John

    2018-01-01

    Sympathetic fibers connect sphenopalatine ganglion (SPG) with the central nervous system. We aimed to study the effect of SPG block in blood pressure (BP) in never treated patients with stage I-II essential hypertension. We performed bilateral SPG block with lidocaine 2% in 33 hypertensive patients (mean age 48±12years, 24 men) and a sham operation with water for injection in 11 patients who served as the control group (mean age 51±12years, 8 men). All patients have been subjected to 24h ambulatory blood pressure monitoring prior and a month after the SBG block in order to estimate any differences in blood pressure parameters. We defined as responders to SBG block those patients with a 24h SBP decrease ≥5mmHg. We found that 24h and daytime DBP (p=0.02) as well as daytime DBP load (p=0.03) were decreased in the study group a month after SPG block. In addition, a significant response was noted in 12/33 responders (36%) regarding: a. SBP and DBP during overall 24h and daytime (pblock is a promising, minimally invasive option of BP decrease in hypertensives, probably through SNS modulation. Additionally, due to its anesthetic effect, SPG block might act as a method of selection for those hypertensive patients with an activated SNS before any other invasive antihypertensive procedure. Copyright © 2017 Elsevier B.V. All rights reserved.

  13. Fault Monitoring and Fault Recovery Control for Position Moored Tanker

    DEFF Research Database (Denmark)

    Fang, Shaoji; Blanke, Mogens

    2011-01-01

    . In addition to dedicated diagnosis, an optimal position algorithm is proposed to accommodate buoyancy element failure and keep the mooring system in a safe state. Furthermore, even in the case of line breakage, this optimal position strategy could be utilised to avoid breakage of a second mooring line...

  14. Irradiation position-control equipment for the HIMAC

    Energy Technology Data Exchange (ETDEWEB)

    Higashi, Seiichi; Kuma, Shoichiro [Mitsubishi Electric Corp., Tokyo (Japan); Nomura, Kazuaki; Endo, Masahiro; Minohara, Shin-ichi

    1995-02-01

    Use of heavy-ion beams to mount a pinpoint attack on unhealthy tissue requires that the target tissue be placed in the precise location specified by the therapy planning equipment. The article reports on the detailed specifications, positioning mechanism, position verification method and the interface with the therapy planning equipment. (author).

  15. Verification of Positional Accuracy of ZVS3003 Geodetic Control ...

    African Journals Online (AJOL)

    The International GPS Service (IGS) has provided GPS orbit products to the scientific community with increased precision and timeliness. Many users interested in geodetic positioning have adopted the IGS precise orbits to achieve centimeter level accuracy and ensure long-term reference frame stability. Positioning with ...

  16. Adaptive Positive Position Feedback Control of Flexible Aircraft Structures Using Piezoelectric Actuators

    Science.gov (United States)

    2014-03-27

    need for adaptive control of BIVs. Adaptive control methods have been used in aerospace applications of many years, from flight controls [20] to cabin ... stress in the separated boundary layer causes larger values of the recirculating velocity, thus leading to a more unstable flow” [26]. In essence, as...Air Academy High School in Colorado Springs, Colorado. He attended the University of Colorado, Colorado Springs while completing a four year Reserve

  17. Hydraulic bilateral construction robot; Yuatsushiki bilateral kensetsu robot

    Energy Technology Data Exchange (ETDEWEB)

    Maehata, K.; Mori, N. [Kayaba Industry Co. Ltd., Tokyo (Japan)

    1999-05-15

    Concerning a hydraulic bilateral construction robot, its system constitution, structures and functions of important components, and the results of some tests are explained, and the researches conducted at Gifu University are described. The construction robot in this report is a servo controlled system of a version developed from the mini-shovel now available in the market. It is equipped, in addition to an electrohydraulic servo control system, with various sensors for detecting the robot attitude, vibration, and load state, and with a camera for visualizing the surrounding landscape. It is also provided with a bilateral joy stick which is a remote control actuator capable of working sensation feedback and with a rocking unit that creates robot movements of rolling, pitching, and heaving. The construction robot discussed here, with output increased and response faster thanks to the employment of a hydraulic driving system for the aim of building a robot system superior in performance to the conventional model designed primarily for heavy duty, proves after tests to be a highly sophisticated remotely controlled robot control system. (NEDO)

  18. Modelling and control of neutron and synchrotron beamline positioning systems

    Energy Technology Data Exchange (ETDEWEB)

    Nneji, S.O., E-mail: Stephen.nneji@open.ac.uk [The Open University, Materials Engineering, Walton Hall, Milton Keynes, Buckinghamshire MK7 6AA (United Kingdom); Science and Technology Facility Council , Rutherford Appleton Laboratory, Harwell Science and Innovation Campus, Didcot, OX110QX Oxfordshire (United Kingdom); Zhang, S.Y.; Kabra, S. [Science and Technology Facility Council , Rutherford Appleton Laboratory, Harwell Science and Innovation Campus, Didcot, OX110QX Oxfordshire (United Kingdom); Moat, R.J.; James, J.A. [The Open University, Materials Engineering, Walton Hall, Milton Keynes, Buckinghamshire MK7 6AA (United Kingdom)

    2016-03-21

    Measurement of residual stress using neutron or synchrotron diffraction relies on the accurate alignment of the sample in relation to the gauge volume of the instrument. Automatic sample alignment can be achieved using kinematic models of the positioning system provided the relevant kinematic parameters are known, or can be determined, to a suitable accuracy. In this paper, the use of techniques from robotic calibration theory to generate kinematic models of both off-the-shelf and custom-built positioning systems is demonstrated. The approach is illustrated using a positioning system in use on the ENGIN-X instrument at the UK's ISIS pulsed neutron source comprising a traditional XYZΩ table augmented with a triple axis manipulator. Accuracies better than 100 microns were achieved for this compound system. Discussed here in terms of sample positioning systems these methods are entirely applicable to other moving instrument components such as beam shaping jaws and detectors.

  19. Staged bilateral carotid endarterectomy

    DEFF Research Database (Denmark)

    Schroeder, T; Sillesen, H; Engell, Hans Christian

    1986-01-01

    In a series of 56 staged bilateral carotid endarterectomies, new neurologic symptoms developed in 5% and 20% following the first and second procedure, respectively. All complications were transient or minor. The incidence of postendarterectomy hypertension was significantly higher following...... the second procedure, when operations were staged less than 3 weeks apart. A correlation between these hypertensive episodes and the occurrence of new neurologic symptoms could not be shown. However, as this correlation has been proved in several other reports, bilateral carotid endarterectomy is advised...... to be staged at least 3 weeks apart. In addition, a conservative attitude towards contralateral asymptomatic lesions is proposed....

  20. Port-contact systems in bilateral telemanipulation

    NARCIS (Netherlands)

    Secchi, C; Stramigioli, Stefano; Fantuzzi, C.

    2007-01-01

    In this paper we develop one of the first control applications of the recently proposed port-contact framework. We show how it is possible to model and control a bilateral telemanipulation system using port-contact systems and we develop a port-contact impedance controller that allows to impose a

  1. FLOWING BILATERAL FILTER: DEFINITION AND IMPLEMENTATIONS

    Directory of Open Access Journals (Sweden)

    Maxime Moreaud

    2015-06-01

    Full Text Available The bilateral filter plays a key role in image processing applications due to its intuitive parameterization and its high quality filter result, smoothing homogeneous regions while preserving the edges of the objects. Considering the image as a topological relief, seeing pixel intensities as peaks and valleys, we introduce a way to control the tonal weighting coefficients, the flowing bilateral filter, reducing "halo" artifacts typically produced by the regular bilateral filter around a large peak surrounded by two valleys of lower values. In this paper we propose to investigate exact and approximated versions of CPU and parallel GPU (Graphical Processing Unit based implementations of the regular and flowing bilateral filter using the NVidia CUDA API. Fast implementations of these filters are important for the processing of large 3D volumes up to several GB acquired by x-ray or electron tomography.

  2. Positive polynomials and robust stabilization with fixed-order controllers

    Czech Academy of Sciences Publication Activity Database

    Henrion, Didier; Šebek, M.; Kučera, V.

    2003-01-01

    Roč. 48, č. 7 (2003), s. 1178-1186 ISSN 0018-9286 R&D Projects: GA ČR GA102/02/0709; GA MŠk ME 496 Institutional research plan: CEZ:AV0Z1075907 Keywords : fixed-order control lers * linear matrix inequality * polynomials, robust control Subject RIV: BC - Control Systems Theory Impact factor: 1.896, year: 2003

  3. Modeling, Simulation and Position Control of 3DOF Articulated Manipulator

    Directory of Open Access Journals (Sweden)

    Hossein Sadegh Lafmejani

    2014-08-01

    Full Text Available In this paper, the modeling, simulation and control of 3 degrees of freedom articulated robotic manipulator have been studied. First, we extracted kinematics and dynamics equations of the mentioned manipulator by using the Lagrange method. In order to validate the analytical model of the manipulator we compared the model simulated in the simulation environment of Matlab with the model was simulated with the SimMechanics toolbox. A sample path has been designed for analyzing the tracking subject. The system has been linearized with feedback linearization and then a PID controller was applied to track a reference trajectory. Finally, the control results have been compared with a nonlinear PID controller.

  4. Longitudinal Bunch Position Control for the Super-B Accelerator

    International Nuclear Information System (INIS)

    Bertsche, Kirk; Rivetta, Claudio; Sullivam, Michael K.; SLAC; Drago, Alessandro; Frascati

    2009-01-01

    The use of normal conducting cavities and an ion-clearing gap will cause a significant RF accelerating voltage gap transient and longitudinal phase shift of the individual bunches along the bunch train in both rings of the SuperB accelerator. Small relative centroid position shifts between bunches of the colliding beams will have a large adverse impact on the luminosity due to the small β* y at the interaction point (IP). We investigate the possibility of minimizing the relative longitudinal position shift between bunches by reducing the gap transient in each ring and matching the longitudinal bunch positions of the two rings at the IP using feedback/feedforward techniques in the LLRF. The analysis is conducted assuming maximum use of the klystron power installed in the system

  5. Bilateral cleft lip nasal deformity

    Directory of Open Access Journals (Sweden)

    Singh Arun

    2009-01-01

    Full Text Available Bilateral cleft lip nose deformity is a multi-factorial and complex deformity which tends to aggravate with growth of the child, if not attended surgically. The goals of primary bilateral cleft lip nose surgery are, closure of the nasal floor and sill, lengthening of the columella, repositioning of the alar base, achieving nasal tip projection, repositioning of the lower lateral cartilages, and reorienting the nares from horizontal to oblique position. The multiplicity of procedures in the literature for correction of this deformity alludes to the fact that no single procedure is entirely effective. The timing for surgical intervention and its extent varies considerably. Early surgery on cartilage may adversely affect growth and development; at the same time, allowing the cartilage to grow in an abnormal position and contributing to aggravation of deformity. Some surgeons advocate correction of deformity at an early age. However, others like the cartilages to grow and mature before going in for surgery. With peer pressure also becoming an important consideration during the teens, the current trend is towards early intervention. There is no unanimity in the extent of nasal dissection to be done at the time of primary lip repair. While many perform limited nasal dissection for the fear of growth retardation, others opt for full cartilage correction at the time of primary surgery itself. The value of naso-alveolar moulding (NAM too is not universally accepted and has now more opponents than proponents. Also most centres in the developing world have neither the personnel nor the facilities for the same. The secondary cleft nasal deformity is variable and is affected by the extent of the original abnormality, any prior surgeries performed and alteration due to nasal growth. This article reviews the currently popular methods for correction of nasal deformity associated with bilateral cleft lip, it′s management both at the time of cleft lip repair

  6. Digital feed back control for radial beam position

    International Nuclear Information System (INIS)

    Mestha, L.K.

    1989-09-01

    In the development of wide spread large scale distributed digital control systems, there is a requirement to automate small processes like radial beam control which will not only improve the beam quality but will also add local intelligence. Hence use is made here of digital control principles for such applications. The work concerned with the radial beam control discussed in this report has been developed for ISIS at RAL. The structure of the report is hence inclined more towards the local hardware system. The general feed back loop techniques can also be implemented for other control purpose. For instance, the author has successfully tested similar techniques to minimise the RF cavity tuning error, where the improvement in performance could not be matched by the analogue loop. A description of the RF cavity tuning programme and the associated experimental results will be published as a local paper for ISIS division. (author)

  7. Bilateral meandering pulmonary veins

    Energy Technology Data Exchange (ETDEWEB)

    Thupili, Chakradhar R.; Udayasankar, Unni [Pediatric Imaging, Imaging Institute Cleveland Clinic, Cleveland, OH (United States); Renapurkar, Rahul [Imaging Institute Cleveland Clinic, Thoracic Imaging, L10, Cleveland, OH (United States)

    2015-06-15

    Meandering pulmonary veins is a rare clinical entity that can be mistaken for more complex congenital syndromes such as hypogenetic lung syndrome. We report imaging findings in a rare incidentally detected case of bilateral meandering pulmonary veins. We briefly discuss the role of imaging in diagnosing this condition, with particular emphasis on contrast-enhanced CT. (orig.)

  8. Bilateral Periventricular Nodular Heterotopia

    OpenAIRE

    J Gordon Millichap

    1998-01-01

    Two unrelated boys, ages 8 and 5 years, with a syndrome of bilateral periventricular nodular heterotopia (BPNH), regional cortical dysplasia, mild mental retardation, and frontonasal malformation (FNM) are reported from the Instituto di Neuropsychiatria Infantile, University of Pisa, Italy, and the Institute of Human Genetics, University of Minnesota Medical School, Minneapolis, MN.

  9. Homogeneous bilateral block shifts

    Indian Academy of Sciences (India)

    Douglas class were classified in [3]; they are unilateral block shifts of arbitrary block size (i.e. dim H(n) can be anything). However, no examples of irreducible homogeneous bilateral block shifts of block size larger than 1 were known until now.

  10. Synchronous, bilateral tonsillar carcinomas

    DEFF Research Database (Denmark)

    Nami Saber, Camelia; Grønhøj, Christian; Jensen, David Hebbelstrup

    2017-01-01

    INTRODUCTION: The incidence of oropharyngeal squamous cell carcinoma (OPSCC) is increasing, but data on the incidence of synchronous, bilateral tonsillar squamous cell carcinomas (BiTSCCs) is sparse. In this study, we report the incidence and tumour characteristics of BiTSCCs in a population-base...

  11. Bilateral breast carcinoma

    International Nuclear Information System (INIS)

    Kim, Eung Jo; Oh, Ki Keun

    1990-01-01

    We evaluate 311 breast cancer patients admitted to Yong Dong Severance Hospital Between October 1st 1985 and July 31th 1989, and were able to obtain the following conclusions. 1) There were 14(4.5%) bilateral breast cancers among the 311 confirmed breast cancers. 2) Among the bilateral breast cancers, 5(31%) were synchronous and 9(69%) metachronous. 3) Average interval between the first and the second breast cancer in metachronous cancers was 3.8 year(1-15 years). 4) Bilateral breast cancer was most prevalent in the fifth decade (6/14) with the mean age of 47 years. 5) Film mammogram and sonomammogram showed findings of typical breast malignancies. There was no additional specific findings for each cancer in bilateral breast cancers which was different from unilateral cancers. Therefor, in the patients with unilateral breast cancer, possibility of the second lesion in the contralateral side must be considered and a close follow up observation should be done for at least 3 years

  12. Experimental Robustness Study of Positive Position Feedback Control for Active Vibration Suppression

    Science.gov (United States)

    2001-01-01

    several distinguished advantagesas compared to thenwidely used velocity feedbackcon- trol laws. It is insensitive to spillover,2 where contributions from...be known exactlyor itmayvarywith time.When the frequencyused in thePPF controller is different from that of the structure, the performanceof the PPF...revision received 30 July 2001; accepted for pub- lication 7 September 2001. This material is declared a work of the U.S. Government and is not subject

  13. Efficacy and safety of bilateral continuous theta burst stimulation (cTBS for the treatment of chronic tinnitus: design of a three-armed randomized controlled trial

    Directory of Open Access Journals (Sweden)

    Plontke Stefan K

    2009-08-01

    Full Text Available Abstract Background Tinnitus, the perception of sound and noise in absence of an auditory stimulus, has been shown to be associated with maladaptive neuronal reorganization and increased activity of the temporoparietal cortex. Transient modulation of tinnitus by repetitive transcranial magnetic stimulation (rTMS indicated that these areas are critically involved in the pathophysiology of tinnitus and suggested new treatment strategies. However, the therapeutic efficacy of rTMS in tinnitus is still unclear, individual response is variable, and the optimal stimulation area disputable. Recently, continuous theta burst stimulation (cTBS has been put forward as an effective rTMS protocol for the reduction of pathologically enhanced cortical excitability. Methods 48 patients with chronic subjective tinnitus will be included in this randomized, placebo controlled, three-arm trial. The treatment consists of two trains of cTBS applied bilaterally to the secondary auditory cortex, the temporoparietal associaction cortex, or to the lower occiput (sham condition every working day for four weeks. Primary outcome measure is the change of tinnitus distress as quantified by the Tinnitus Questionnaire (TQ. Secondary outcome measures are tinnitus loudness and annoyance as well as tinnitus change during and after treatment. Audiologic and speech audiometric measurements will be performed to assess potential side effects. The aim of the present trail is to investigate effectiveness and safety of a four weeks cTBS treatment on chronic tinnitus and to compare two areas of stimulation. The results will contribute to clarify the therapeutic capacity of rTMS in tinnitus. Trial registration The trial was registered with the clinical trials register of http://www.clinicaltrials.gov (NCT00518024.

  14. Tool position tracking control of a nonlinear uncertain flexible robot ...

    Indian Academy of Sciences (India)

    Moreover, other different papers and thesis of flexible manipulators ... various applications is highly sensitive to variations of disturbance torque acting on ...... Dang X 2014 Robust adaptive sliding-mode control of condenser-cleaning mobile.

  15. Positive valence music restores executive control over sustained attention.

    Science.gov (United States)

    Baldwin, Carryl L; Lewis, Bridget A

    2017-01-01

    Music sometimes improves performance in sustained attention tasks. But the type of music employed in previous investigations has varied considerably, which can account for equivocal results. Progress has been hampered by lack of a systematic database of music varying in key characteristics like tempo and valence. The aims of this study were to establish a database of popular music varying along the dimensions of tempo and valence and to examine the impact of music varying along these dimensions on restoring attentional resources following performance of a sustained attention to response task (SART) vigil. Sixty-nine participants rated popular musical selections that varied in valence and tempo to establish a database of four musical types: fast tempo positive valence, fast tempo negative valence, slow tempo positive valence, and slow tempo negative valence. A second group of 89 participants performed two blocks of the SART task interspersed with either no break or a rest break consisting of 1 of the 4 types of music or silence. Presenting positive valence music (particularly of slow tempo) during an intermission between two successive blocks of the SART significantly decreased miss rates relative to negative valence music or silence. Results support an attentional restoration theory of the impact of music on sustained attention, rather than arousal theory and demonstrate a means of restoring sustained attention. Further, the results establish the validity of a music database that will facilitate further investigations of the impact of music on performance.

  16. Positive emotion, reward, and cognitive control: emotional versus motivational influences

    Directory of Open Access Journals (Sweden)

    Kimberly Sarah Chiew

    2011-10-01

    Full Text Available It is becoming increasingly appreciated that affective influences can contribute strongly to goal-oriented cognition and behaviour. However, much work is still needed to properly characterize these influences and the mechanisms by which they contribute to cognitive processing. An important question concerns the nature of emotional manipulations (i.e., direct induction of affectively-valenced subjective experience versus motivational manipulations (e.g., delivery of performance-contingent rewards and punishments and their impact on cognitive control. Empirical evidence suggests that both kinds of manipulations can influence cognitive control in a systematic fashion, but investigations of both have largely been conducted independently of one another. Likewise, some theoretical accounts suggest that emotion and motivation may modulate cognitive control via common neural mechanisms, while others suggest the possibility of dissociable influences. Here, we provide an analysis and synthesis of these various accounts, suggesting potentially fruitful new research directions to test competing hypotheses.

  17. Control of plasma column horizontal position in TBR-1

    International Nuclear Information System (INIS)

    Tuszel, A.G.; Rincoski, C.R.M.

    1990-01-01

    The TBR-1 is a small tokamak built at the Physics Institute of the University of Sao Paulo. It was originally designed with a simple vertical field power supply made of one fast capacitor bank for vertical current build-up and one slow capacitor bank for flat-top phase, without any control but the adjustable initial voltages of the capacitors. With such an elementary system, the plasma cannot be held in the center of the vacuum vessel for the whole duration of the plasma. This led to a suboptimal performance with easy disruptions. A control system was designed to hold the plasma centered in the radial coordinate. (Author)

  18. Position-controlled epitaxial III-V nanowires on silicon

    Energy Technology Data Exchange (ETDEWEB)

    Roest, Aarnoud L; Verheijen, Marcel A; Wunnicke, Olaf; Serafin, Stacey; Wondergem, Harry; Bakkers, Erik P A M [Philips Research Laboratories, Professor Holstlaan 4, 5656 AA Eindhoven (Netherlands); Kavli Institute of NanoScience, Delft University of Technology, PO Box 5046, 2600 GA Delft (Netherlands)

    2006-06-14

    We show the epitaxial integration of III-V semiconductor nanowires with silicon technology. The wires are grown by the VLS mechanism with laser ablation as well as metal-organic vapour phase epitaxy. The hetero-epitaxial growth of the III-V nanowires on silicon was confirmed with x-ray diffraction pole figures and cross-sectional transmission electron microscopy. We show preliminary results of two-terminal electrical measurements of III-V nanowires grown on silicon. E-beam lithography was used to predefine the position of the nanowires.

  19. Position-controlled epitaxial III-V nanowires on silicon

    International Nuclear Information System (INIS)

    Roest, Aarnoud L; Verheijen, Marcel A; Wunnicke, Olaf; Serafin, Stacey; Wondergem, Harry; Bakkers, Erik P A M

    2006-01-01

    We show the epitaxial integration of III-V semiconductor nanowires with silicon technology. The wires are grown by the VLS mechanism with laser ablation as well as metal-organic vapour phase epitaxy. The hetero-epitaxial growth of the III-V nanowires on silicon was confirmed with x-ray diffraction pole figures and cross-sectional transmission electron microscopy. We show preliminary results of two-terminal electrical measurements of III-V nanowires grown on silicon. E-beam lithography was used to predefine the position of the nanowires

  20. Electro-Pneumatic Control System with Hydraulically Positioning Actuator Motor

    OpenAIRE

    V. N. Pilgunov; K. D. Efremova

    2016-01-01

    A compressibility of the actuating fluid of a pneumatic drive (compressed air) leads to significant landing of the pneumatic cylinder piston at the time of stop and hold of the load, a constant component of which can fluctuate significantly for the holding period.There are a lot of factors, which have a significant impact on the landing value of piston. Those are: an initial position of the piston at its stop, which determines the volume of the an active area of the piston, a value of the con...

  1. Beam position monitor readout and control in the SLC linac

    International Nuclear Information System (INIS)

    Bogart, J.; Phinney, N.; Ross, M.; Yaffe, D.

    1985-04-01

    A beam position monitoring system has been implemented in the first third of the SLC linac which provides a complete scan of the trajectory on a single beam pulse. The data is collected from the local micro-computers and viewed with an updating display at a console or passed on to application programs. The system must operate with interlaced beams so the scans are also interlaced, providing each user with the ability to select the beam, the update rate, and the attenuation level in the digitizing hardware. In addition each user calibrates the hardware for his beam. A description of the system architecture will be presented. 6 refs., 4 figs

  2. Robust combined position and formation control for marine surface craft

    DEFF Research Database (Denmark)

    Ihle, Ivar-Andre F.; Jouffroy, Jerome; Fossen, Thor I.

    We consider the robustness properties of a formation control system for marine surface vessels. Intervessel constraint functions are stabilized to achieve the desired formation configuration. We show that the formation dynamics is Input-to-State Stable (ISS) to both environmental perturbations th...

  3. Position control of a wheeled mobile robot including tire behavior

    NARCIS (Netherlands)

    Ploeg, J.; Schouten, H.E.; Nijmeijer, H.

    2009-01-01

    Advanced driver assistance systems are increasingly available on road vehicles. These systems require a thorough development procedure, an important part of which consists of hardware-in-the-loop experiments in a controlled environment. To this end, a facility called Vehicle Hardware-In-the-Loop

  4. Lateral position detection and control for friction stir systems

    Science.gov (United States)

    Fleming, Paul; Lammlein, David; Cook, George E.; Wilkes, Don Mitchell; Strauss, Alvin M.; Delapp, David; Hartman, Daniel A.

    2010-12-14

    A friction stir system for processing at least a first workpiece includes a spindle actuator coupled to a rotary tool comprising a rotating member for contacting and processing the first workpiece. A detection system is provided for obtaining information related to a lateral alignment of the rotating member. The detection system comprises at least one sensor for measuring a force experienced by the rotary tool or a parameter related to the force experienced by the rotary tool during processing, wherein the sensor provides sensor signals. A signal processing system is coupled to receive and analyze the sensor signals and determine a lateral alignment of the rotating member relative to a selected lateral position, a selected path, or a direction to decrease a lateral distance relative to the selected lateral position or selected path. In one embodiment, the friction stir system can be embodied as a closed loop tracking system, such as a robot-based tracked friction stir welding (FSW) or friction stir processing (FSP) system.

  5. Effects of Tadalafil Once-Daily or On-Demand vs Placebo on Return to Baseline Erectile Function After Bilateral Nerve-Sparing Radical Prostatectomy - Results from a Randomized Controlled Trial (REACTT)

    DEFF Research Database (Denmark)

    Mulhall, John P; Brock, Gerald; Oelke, Matthias

    2016-01-01

    INTRODUCTION AND AIM: The multicenter, randomized, double-blind, double-dummy, placebo-controlled REACTT trial suggested that treatment with tadalafil once daily (OaD) started early after bilateral nerve-sparing radical prostatectomy (nsRP) for prostate cancer may contribute to erectile function......: REACTT included 422 men blind treatment (DBT) with tadalafil 5 mg OaD (n = 139), tadalafil 20 mg on...

  6. Preliminary performance test of control rod position indicator for ballscrew type CEDM

    International Nuclear Information System (INIS)

    Yoo, J. Y.; Kim, J. H.; Hu, H.; Lee, J. S.; Kim, J. I.

    2003-01-01

    The reliability and accuracy of the information on control rod position are very important to the reactor safety and the design of the core protection system. A survey on the RSPT(Reed Switch Position Transmitter) type control rod position indication system and its actual implementation in the exiting nuclear power plants in Korea was performed first. The prototype of control rod position indicator having the high performance for the ballscrew type CEDM was developed on the basis of RSPT technology identified through the survey. The characteristics of control rod position indicator was defined and documented through design procedure and preliminary performance test

  7. [Ligament-controlled positioning of the knee prosthesis components].

    Science.gov (United States)

    Widmer, K-H; Zich, A

    2015-04-01

    There are at least two predominant goals in total knee replacement: first, the surgeon aims to achieve an optimal postoperative kinematic motion close to the patient's physiological range, and second, he aims for concurrent high ligament stability to establish pain-free movement for the entire range of motion. A number of prosthetic designs and surgical techniques have been developed in recent years to achieve both of these targets. This study presents another modified surgical procedure for total knee implantation. As in common practice the osteotomies are planned preoperatively, referencing well-defined bony landmarks, but their placement and orientation are also controlled intraoperatively in a stepwise sequence via ligamentous linkages. This method is open to all surgical approaches and can be applied for PCL-conserving or -sacrificing techniques. The anterior femoral osteotomy is carried out first, followed by the distal femoral osteotomy. Then, the extension gap is finalized by tensioning the ligaments and "top-down" referencing at the level of the tibial osteotomy, followed by finishing the flexion gap in the same way, except that the osteotomy of the posterior condyles is referenced in a "bottom-up" fashion. Hence, this technique relies on both bony and ligament-controlled procedures. Thus, it respects the modified ligamentous framework and drives the prosthetic components into the new ligamentous envelope. Further improvement may be achieved by additional control of the kinematics during surgery by applying modern computer navigation technology.

  8. Bilateral renal calculi

    Science.gov (United States)

    Sreenevasan, G

    1974-01-01

    Bilateral renal calculi were present in 114 (10.7%) of 1,070 cases of proved urinary calculus admitted to the Urological Department of the General Hospital, Kuala Lumpur, during the period November 1968—May 1973. The management of bilateral renal calculi is discussed with reference to the first 100 cases in this series. The introduction of renography has greatly facilitated the decision as to which kidney should be operated on first. The management of patients with and without uraemia is discussed and the use of the modified V and V—Y incisions for the removal of staghorn calculi is described. Complications and results are briefly reviewed. ImagesFig. 1Fig. 4Fig. 6Fig. 7 PMID:4845653

  9. Bilateral chronic subdural hematoma

    DEFF Research Database (Denmark)

    Andersen-Ranberg, Nina Christine; Rom Poulsen, Frantz; Bergholt, Bo

    2017-01-01

    OBJECTIVE Bilateral chronic subdural hematoma (bCSDH) is a common neurosurgical condition frequently associated with the need for retreatment. The reason for the high rate of retreatment has not been thoroughly investigated. Thus, the authors focused on determining which independent predictors...... are associated with the retreatment of bCSDH with a focus on surgical laterality. METHODS In a national database of CSDHs (Danish Chronic Subdural Hematoma Study) the authors retrospectively identified all bCSDHs treated in the 4 Danish neurosurgical departments over the 3-year period from 2010 to 2012...... that a separated hematoma density and the absence of postoperative drainage were independent predictors of retreatment. CONCLUSIONS In bCSDHs bilateral surgical intervention significantly lowers the risk of retreatment compared with unilateral intervention and should be considered when choosing a surgical...

  10. Bilateral Wilms' tumor

    International Nuclear Information System (INIS)

    Malcolm, A.W.; Jaffe, N.; Folkman, M.J.; Cassady, J.R.

    1980-01-01

    Twenty children with bilateral Wilms' tumor were presented to the Children's Hospital Medical Center and Children's Cancer Research Foundation, Sidney Farber Cancer Institute, and Joint Center for Radiation Therapy (CHMC-CCRF, SFCI, JCRT) from January 1, 1956 to December 31, 1976. Of these 20, 16 had simultaneous and 4 had metachronous disease on presentation. All patients were treated with surgery, radiation and chemotherapy. Of the 16 patients with simultaneous disease, 10 (63%) are alive and free of disease 12+ to 175+ months post diagnosis and treatment, with median follow-up of 121 months. There were no long-term survivors in the metachronous group; all were dead of disease within 21 months from initial presentation of original tumor. With these data we relate prognosis to extent of disease and discuss a general approach to the management of bilateral Wilms' tumor

  11. Multilateral and bilateral agreements

    International Nuclear Information System (INIS)

    Koponen, H.

    1993-01-01

    Finland has made both multilateral and bilateral agreements on the exchange of information related to radiation safety. The first arrangements for international agreements and exchange of information were made after the Chernobyl accident. In 1987, Finland joined the convention on early notification of a nuclear power accident coordinated by International Atomic Energy Agency. The convention is applied to accidents that cause of may cause emissions of radioactive substances that might affect the radiation safety of another country. Besides the convention on early notification, some other individual agreements have also been made. These include the International Nuclear Event Scale (INES) system and power companies own information exchange systems. Finland has conducted bilateral agreements with the Nordic countries and the Soviet Union on the notification of accidents and exchange of nuclear power plant information. Today, Russia answers for the Soviet Union's contractual obligations. (orig.)

  12. Bilateral renal artery variation

    OpenAIRE

    Üçerler, Hülya; Üzüm, Yusuf; İkiz, Z. Aslı Aktan

    2014-01-01

    Each kidney is supplied by a single renal artery, although renal artery variations are common. Variations of the renal arteryhave become important with the increasing number of renal transplantations. Numerous studies describe variations in renalartery anatomy. Especially the left renal artery is among the most critical arterial variations, because it is the referred side forresecting the donor kidney. During routine dissection in a formalin fixed male cadaver, we have found a bilateral renal...

  13. File: International bilateral relations

    International Nuclear Information System (INIS)

    Feltin, Ch.; Rabouhams, J.; Bravo, X.; Rousseau, M.; Le Breton, S.; Saint Raymond, Ph.; Brigaud, O.; Pertuis, V.; McNair, J.; Sayers, M.R.; Bye, R.; Scherrer, J.

    1998-01-01

    Since its creation in 1973, the Authority of Safety was assigned missions in the international field with following objectives: to develop information exchanges with its foreign counterpart, to make know and to explain the French approach and practice; to give to concerned countries the useful information on french nuclear facilities situated near the border; This file shows with some examples, how bilateral relations allow to fill up these objectives and how the French Authority got the foreign experience. (N.C.)

  14. Control of Position for a Telescope with Stepping Motors

    OpenAIRE

    Quintero Salazar, Edwin Andrés; Gallego Becerra, Hugo Armando; Gallego Orozco, Hoover

    2008-01-01

    En este documento se muestran los resultados obtenidos al construir un control electrónico de posición para un telescopio reflector de 15 cm de objetivo, con motores paso a paso manejados desde un microcontrolador. También se ilustra el diseño circuital realizado, la simulación obtenida en la herramienta informática Proteus, el software desarrollado en lenguaje ensamblador para el microcontrolador, y el circuito final resultante montado sobre protoboard. In this paper the obtained resul...

  15. Bilateral teleoperation for force sensorless 1-dof robots

    NARCIS (Netherlands)

    Lichiardopol, S.; Wouw, van de N.; Nijmeijer, H.; Filipe, J.; Cetto, J.A.; Ferrier, J.-L.

    2010-01-01

    It is well known that for bilateral teleoperation, force feedback information is needed. In this paper, we propose a control approach for bilateral teleoperation with uncertainties in the model of the slave robot and which does not use force sensors for haptic feedback. The controller design is

  16. Bilateral teleoperation for linear force sensorless 3D robots

    NARCIS (Netherlands)

    Lichiardopol, S.; Wouw, van de N.; Nijmeijer, H.; Andrade Cetto, J.; Ferrier, J.; Filipe, J.

    2011-01-01

    It is well known that for bilateral teleoperation, force feedback information is needed. In this paper, we propose a control approach for bilateral teleoperation with uncertainties in the model of the slave robot and which does not use force sensors for haptic feedback. The controller design is

  17. Idiopathic bilateral male breast abscess.

    Science.gov (United States)

    Sinha, Rajan Kumar; Sinha, Mithilesh Kumar; Gaurav, Kumar; Kumar, Amar

    2014-03-10

    A 38-year-old man presented with bilateral breast swelling, along with pain and redness for 7 days. Bilateral axillary nodes were also palpable; which were multiple and discrete. A provisional diagnosis of bilateral breast abscess was made with suspicion of underlying malignancy. Incision and drainage through subareolar incision was performed and the adjoining tissue was excised and sent for histopathological examination.

  18. Mayer control problem with probabilistic uncertainty on initial positions

    Science.gov (United States)

    Marigonda, Antonio; Quincampoix, Marc

    2018-03-01

    In this paper we introduce and study an optimal control problem in the Mayer's form in the space of probability measures on Rn endowed with the Wasserstein distance. Our aim is to study optimality conditions when the knowledge of the initial state and velocity is subject to some uncertainty, which are modeled by a probability measure on Rd and by a vector-valued measure on Rd, respectively. We provide a characterization of the value function of such a problem as unique solution of an Hamilton-Jacobi-Bellman equation in the space of measures in a suitable viscosity sense. Some applications to a pursuit-evasion game with uncertainty in the state space is also discussed, proving the existence of a value for the game.

  19. Danish Exports and Danish Bilateral Aid

    DEFF Research Database (Denmark)

    Hansen, Henrik; Rand, John

    higher in the 1980s compared to in particular the most recent decade. This may be related to factors such as untying of aid in the same period. The econometric analysis has two important limitations. First of all, the model can only give information about marginal changes in aid. As a decision to give...... and trade policies. The main result of the study is that Danish bilateral aid has a positive and statistically significant impact on Danish exports to the recipient countries. Bilateral development assistance may affect exports through several channels. Three of the main channels are direct aid tying......; increasing recipient income where higher income leads to higher imports, and decreased trade costs, say due to improved information about cultural and administrative customs and practices. Thus, as for preferential trade arrangements, bilateral aid has two potential economic effects; trade creation working...

  20. Explicit Generalized Predictive Control of Speed and Position of PMSM Drives

    Czech Academy of Sciences Publication Activity Database

    Belda, Květoslav; Vošmik, D.

    2016-01-01

    Roč. 63, č. 6 (2016), s. 3889-3896 ISSN 0278-0046 Institutional support: RVO:67985556 Keywords : current limitation * field weakening * motion control * permanent magnet synchronous motors * position control * predictive control * speed control Subject RIV: BC - Control Systems Theory Impact factor: 7.168, year: 2016 http://library.utia.cas.cz/separaty/2016/AS/belda-0457259.pdf

  1. Diffusion tensor MR imaging of white matter integrity in HIV-positive patients with planning deficit

    International Nuclear Information System (INIS)

    Correa, Diogo Goulart; Doring, Thomas M.; Wilner, Nina Ventura; Cabral, Rafael Ferracini; Gasparetto, Emerson Leandro; Zimmermann, Nicolle; Fonseca, Rochele Paz; Leite, Sarah C.B.; Bahia, Paulo R.V.

    2015-01-01

    The aim of this study was to evaluate whether normal controls and human immunodeficiency virus (HIV) patients with and without planning deficits differ on white matter integrity. A total of 34 HIV-positive patients with planning deficits were compared with 13 HIV-positive patients without planning deficits and 19 gender-, age-, and education-matched control subjects. Diffusion tensor imaging (DTI) was performed along 30 noncolinear directions in a 1.5-T scanner. For tract-based spatial statistics analysis, a white matter skeleton was created, and a permutation-based inference with 5000 permutations with a threshold of p < 0.05 was used to identify abnormalities in fractional anisotropy (FA). The median, radial, and axial diffusivities were also projected onto the mean FA skeleton. Compared with controls, HIV-positive patients with planning deficits had decreased FA in bilateral anterior thalamic radiations, bilateral inferior fronto-occiptal fasciculi, genu and splenium of the corpus callosum, bilateral superior longitudinal fascicule, and bilateral uncinate fasciculi. Compared to HIV-positive patients without planning deficits, patients with planning deficits had decreased FA in bilateral anterior thalamic radiations, bilateral inferior fronto-occiptal fasciculi, genu of the corpus callosum, bilateral superior longitudinal fascicule, and right uncinate fascicule. DTI can detect extensive white matter abnormalities in the normal-appearing white matter of HIV-positive patients with planning deficits compared with controls and HIV-positive patients without planning deficits. (orig.)

  2. Diffusion tensor MR imaging of white matter integrity in HIV-positive patients with planning deficit

    Energy Technology Data Exchange (ETDEWEB)

    Correa, Diogo Goulart; Doring, Thomas M.; Wilner, Nina Ventura; Cabral, Rafael Ferracini; Gasparetto, Emerson Leandro [Hospital Universitario Clementino Fraga Filho, Rio de Janeiro, RJ (Brazil); Clinica de Diagnostico por Imagem (CDPI), Rio de Janeiro, RJ (Brazil); Zimmermann, Nicolle; Fonseca, Rochele Paz [Hospital Universitario Clementino Fraga Filho, Rio de Janeiro, RJ (Brazil); Pontifical Catholic University of Rio Grande do Sul, Department of Psychology, Rio Grande do Sul (Brazil); Leite, Sarah C.B.; Bahia, Paulo R.V. [Hospital Universitario Clementino Fraga Filho, Rio de Janeiro, RJ (Brazil)

    2015-05-01

    The aim of this study was to evaluate whether normal controls and human immunodeficiency virus (HIV) patients with and without planning deficits differ on white matter integrity. A total of 34 HIV-positive patients with planning deficits were compared with 13 HIV-positive patients without planning deficits and 19 gender-, age-, and education-matched control subjects. Diffusion tensor imaging (DTI) was performed along 30 noncolinear directions in a 1.5-T scanner. For tract-based spatial statistics analysis, a white matter skeleton was created, and a permutation-based inference with 5000 permutations with a threshold of p < 0.05 was used to identify abnormalities in fractional anisotropy (FA). The median, radial, and axial diffusivities were also projected onto the mean FA skeleton. Compared with controls, HIV-positive patients with planning deficits had decreased FA in bilateral anterior thalamic radiations, bilateral inferior fronto-occiptal fasciculi, genu and splenium of the corpus callosum, bilateral superior longitudinal fascicule, and bilateral uncinate fasciculi. Compared to HIV-positive patients without planning deficits, patients with planning deficits had decreased FA in bilateral anterior thalamic radiations, bilateral inferior fronto-occiptal fasciculi, genu of the corpus callosum, bilateral superior longitudinal fascicule, and right uncinate fascicule. DTI can detect extensive white matter abnormalities in the normal-appearing white matter of HIV-positive patients with planning deficits compared with controls and HIV-positive patients without planning deficits. (orig.)

  3. A comparison of proximal and distal Chevron osteotomy, both with lateral soft-tissue release, for moderate to severe hallux valgus in patients undergoing simultaneous bilateral correction: a prospective randomised controlled trial.

    Science.gov (United States)

    Lee, K B; Cho, N Y; Park, H W; Seon, J K; Lee, S H

    2015-02-01

    Moderate to severe hallux valgus is conventionally treated by proximal metatarsal osteotomy. Several recent studies have shown that the indications for distal metatarsal osteotomy with a distal soft-tissue procedure could be extended to include moderate to severe hallux valgus. The purpose of this prospective randomised controlled trial was to compare the outcome of proximal and distal Chevron osteotomy in patients undergoing simultaneous bilateral correction of moderate to severe hallux valgus. The original study cohort consisted of 50 female patients (100 feet). Of these, four (8 feet) were excluded for lack of adequate follow-up, leaving 46 female patients (92 feet) in the study. The mean age of the patients was 53.8 years (30.1 to 62.1) and the mean duration of follow-up 40.2 months (24.1 to 80.5). After randomisation, patients underwent a proximal Chevron osteotomy on one foot and a distal Chevron osteotomy on the other. At follow-up, the American Orthopedic Foot and Ankle Society (AOFAS) hallux metatarsophalangeal interphalangeal (MTP-IP) score, patient satisfaction, post-operative complications, hallux valgus angle, first-second intermetatarsal angle, and tibial sesamoid position were similar in each group. Both procedures gave similar good clinical and radiological outcomes. This study suggests that distal Chevron osteotomy with a distal soft-tissue procedure is as effective and reliable a means of correcting moderate to severe hallux valgus as proximal Chevron osteotomy with a distal soft-tissue procedure. ©2015 The British Editorial Society of Bone & Joint Surgery.

  4. Development of control rod position indicator using seismic-resistance reed switches for integral reactor

    International Nuclear Information System (INIS)

    Yu, Je Yong; Kim, Ji Ho; Huh, Hyung; Choi, Myoung Hwan; Sohn, Dong Seong

    2008-01-01

    The Reed Switch Position Transmitter (RSPT) is used as a position indicator for the control rod in commercial nuclear power plants made by ABB-CE. But this position indicator has some problems when directly adopting it to the integral reactor. The Control Element Drive Mechanism (CEDM) for the integral reactor is designed to raise and lower the control rod in steps of 2mm in order to satisfy the design features of the integral reactor which are the soluble boron free operation and the use of a nuclear heating for the reactor start-up. Therefore the resolution of the position indicator for the integral reactor should be achieved to sense the position of the control rod more precisely than that of the RSPT of the ABB-CE. This paper adopts seismic resistance reed switches to the position indicator in order to reduce the damages or impacts during the handling of the position indicator and earthquake

  5. New approach for control rod position indication system for light water power reactor

    International Nuclear Information System (INIS)

    Bahuguna, Sushil; Dhage, Sangeeta; Nawaj, S.; Salek, C.; Lahiri, S.K.; Marathe, P.P.; Mukhopadhyay, S.; Taly, Y.K.

    2015-01-01

    Control rod position indication system is an important system in a nuclear power plant to monitor and display control rod position in all regimes of reactor operation. A new approach to design a control rod position indication system for sensing absolute position of control rod in Light Water Power Reactor has been undertaken. The proposed system employs an inductive type, hybrid measurement strategy providing both analog position as well as digital zone indication with built-in temperature compensation. The new design approach meets single failure criterion through redundancy in design without sacrificing measurement resolution. It also provides diversity in measurement technique by indirect position sensing based on analysis of drive coil current signature. Prototype development and qualification at room temperature of the control rod position indication system (CRPIS) has been demonstrated. The article presents the design philosophy of control rod position indication system, the new measurement strategy for sensing absolute position of control rod, position estimation algorithm for both direct and indirect sensing and a brief account associated processing electronics. (author)

  6. Fatal bilateral dioctophymatosis.

    Science.gov (United States)

    Li, Gang; Liu, Caigang; Li, Fang; Zhou, Maoyi; Liu, Xiangyong; Niu, Yuanjie

    2010-12-01

    Dioctophyma renale is a parasite that frequently occurs in animals but rarely in humans. The present report describes the clinical observations of a D. renale infection in a 51-yr-old woman. Its clinical signs and diagnostic findings were unspecific until giant worms were observed in the urine and histological findings confirmed it was a D. renale infection. She refused treatment and died of bilateral renal function failure. This is the first confirmed report to follow the natural progression of D. renale infection in a human. Here, we discuss a conservative therapeutic approach and features associated with this parasitic infection.

  7. Recurrent Bilateral Focal Myositis.

    Science.gov (United States)

    Nagafuchi, Hiroko; Nakano, Hiromasa; Ooka, Seido; Takakuwa, Yukiko; Yamada, Hidehiro; Tadokoro, Mamoru; Shimojo, Sadatomo; Ozaki, Shoichi

    This report describes a rare case of recurrent bilateral focal myositis and its successful treatment via methotrexate. A 38-year-old man presented myalgia of the right gastrocnemius in May 2005. Magnetic resonance imaging showed very high signal intensity in the right gastrocnemius on short-tau inversion recovery images. A muscle biopsy revealed inflammatory CD4+ cell-dominant myogenic change. Focal myositis was diagnosed. The first steroid treatment was effective. Tapering of prednisolone, however, repeatedly induced myositis relapse, which progressed to multiple muscle lesions of both lower limbs. Initiation of methotrexate finally allowed successful tapering of prednisolone, with no relapse in the past 4 years.

  8. Robust Operation of Tendon-Driven Robot Fingers Using Force and Position-Based Control Laws

    Science.gov (United States)

    Abdallah, Muhammad E (Inventor); Platt, Jr., Robert J. (Inventor); Reiland, Matthew J (Inventor); Hargrave, Brian (Inventor); Diftler, Myron A (Inventor); Strawser, Philip A (Inventor); Ihrke, Chris A. (Inventor)

    2013-01-01

    A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.

  9. Bilateral breast carcinoma: results with breast conservation therapy and a comparison with bilateral mastectomy

    International Nuclear Information System (INIS)

    Kim, David H.; Haffty, Bruce G.

    1996-01-01

    Purpose: To assess outcome of patients with bilateral breast carcinoma treated with bilateral breast conserving surgery with radiation therapy (CS+RT) and to compare their outcome to (1) patients with unilateral disease treated with CS+RT and (2) patients of comparable stage treated with bilateral mastectomy. Methods and Materials: The charts of all patients with the diagnosis of breast cancer treated with CS+RT at our facilities prior to 1993 were reviewed to identify patients with bilateral disease. A total of 50 patients identified as having bilateral breast cancer conservatively treated(BCT) served as the index population. Out of the 50 patients, 23 presented with synchronous bilateral breast cancer and 27 presented with metachronous bilateral breast cancer. A group of 984 patients with unilateral breast cancer (UCT) treated with CS+RT during the same time interval served as the first control group. A second control group was comprised of 42 patients with early stage bilateral breast cancer presenting during the same time interval treated with bilateral mastectomy (BMAST). Patients who had locally advanced disease in either breast or those patients treated exclusively for lobular carcinoma in situ in either breast were excluded from the analysis. Of the 42 BMAST patients, 33 presented with synchronous disease and nine presented with metachronous disease. Local-regional relapse rates were calculated from the date of treatment of each breast. Overall survival and distant relapse rates were calculated from the date of treatment of the second breast cancer diagnosed. Survival curves were calculated via the life table method and statistical comparisons between curves were performed using the log rank statistic. Chi square analysis was used to detect differences between categorical variables. Results: As of December 1995, the median follow-up of the bilateral conservatively treated patient population was 9.4 years. No statistically significant differences were noted

  10. Design and performance analysis of position-based impedance control for an electrohydrostatic actuation system

    Directory of Open Access Journals (Sweden)

    Yongling FU

    2018-03-01

    Full Text Available Electrohydrostatic actuator (EHA is a type of power-by-wire actuator that is widely implemented in the aerospace industry for flight control, landing gears, thrust reversers, thrust vector control, and space robots. This paper presents the development and evaluation of position-based impedance control (PBIC for an EHA. Impedance control provides the actuator with compliance and facilitates the interaction with the environment. Most impedance control applications utilize electrical or valve-controlled hydraulic actuators, whereas this work realizes impedance control via a compact and efficient EHA. The structures of the EHA and PBIC are firstly introduced. A mathematical model of the actuation system is established, and values of its coefficients are identified by particle swarm optimization. This model facilitates the development of a position controller and the selection of target impedance parameters. A nonlinear proportional-integral position controller is developed for the EHA to achieve the accurate positioning requirement of PBIC. The controller compensates for the adverse effect of stiction, and a position accuracy of 0.08 mm is attained. Various experimental results are presented to verify the applicability of PBIC to the EHA. The compliance of the actuator is demonstrated in an impact test. Keywords: Actuation system, Aerospace, Electrohydrostatic actuator, Force control, Nonlinear dynamics, Particle swarm optimization, Position control

  11. A modern automatic Carriage-Trolley Position Control System for Dhruva fuelling machine

    International Nuclear Information System (INIS)

    Agrawal, Ankit; Hari Balakrishna; Narvekar, J.P.; Sanadhya, Vivek

    2014-01-01

    A fully automatic absolute encoder based position control system has been designed developed implemented and commissioned for the Dhruva Fuelling Machine A (FM/A). This supports both the coarse and fine positioning modes. Provision for fully manual positioning as a standby system has been retained. This system replaces the ageing peg counting based incremental positioner used briefly during the early period after the Dhruva FM/A was commissioned. The older system suffered from peg detection skipping problems; hence it was not being used. Only full manual positioning was being carried out. This paper describes the automatic Carriage Trolley Position Control System (CTPCS). (author)

  12. 78 FR 979 - Petition for Positive Train Control Safety Plan Approval and System Certification of the...

    Science.gov (United States)

    2013-01-07

    ...] Petition for Positive Train Control Safety Plan Approval and System Certification of the Electronic Train... the Federal Railroad Administration (FRA) for Positive Train Control (PTC) Safety Plan (PTCSP) approval and system certification of the Electronic Train Management System (ETMS) as required by 49 U.S.C...

  13. Automatic beam position control at Los Alamos Spallation Radiation Effects Facility (LASREF)

    International Nuclear Information System (INIS)

    Oothoudt, M.; Pillai, C.; Zumbro, M.

    1997-01-01

    Historically the Los Alamos Spallation Radiation Effects Facility (LASREF) has used manual methods to control the position of the 800 kW, 800 MeV proton beam on targets. New experiments, however, require more stringent position control more frequently than can be done manually for long periods of time. Data from an existing harp is used to automatically adjust steering magnets to maintain beam position to required tolerances

  14. Bilateral cervical lung hernia with T1 nerve compression.

    Science.gov (United States)

    Rahman, Mesbah; Buchan, Keith G; Mandana, Kyapanda M; Butchart, Eric G

    2006-02-01

    Lung hernia is a rare condition. Approximately one third of cases occur in the cervical position. We report a case of bilateral cervical lung hernia associated with neuralgic pain that was repaired using bovine pericardium and biological glue.

  15. Feedback control of horizontal position and plasma surface shape in a non-circular tokamak

    International Nuclear Information System (INIS)

    Moriyama, Shin-ichi; Nakamura, Kazuo; Nakamura, Yukio; Itoh, Satoshi

    1986-01-01

    The linear model for the coupled horizontal position and plasma surface shape control in the non-circular tokamak device was described. It enables us to estimate easily the displacement and the distortion due to the changes in plasma pressure and current density distribution. The PI-controller and the optimal regulator were designed with the linear model. Transient-response analysis of the control system in the TRIAM-1M tokamak showed that the optimal regulator is superior to the PI-controller with regard to the mutual-interference between the position control system and the elongation control system. (author)

  16. POSITION CONTROL OF BRUSHLESS DC MOTOR BASED ON DIGITAL SIGNAL PROCESSING

    Directory of Open Access Journals (Sweden)

    Çetin GENÇER

    2006-01-01

    Full Text Available Brushless DC Motors (BLDC have been used widely high performance control systems which are depended on to development of power electronic and control technology. In these motors to fed commutated supply, the control of position without oscilation has been required. In this study, position control of BLDC with digital signal processing has been implemented by a proportional-derivative (PD controller because of its simple structure. It has been seen that the controller which is proposed from simulation and experimental studies, has a quick dynamic responce with nonoscillation.

  17. Passive Transparency Compensation for Bilateral Teleoperators with Communication Delays

    Directory of Open Access Journals (Sweden)

    Erick J. Rodríguez-Seda

    2015-01-01

    Full Text Available One of the main challenges in the realization of time-delayed bilateral teleoperators is the stable adaptation of transparency when the remote environmental dynamics are time-varying. In this paper, we propose a bilateral control strategy that passively adjusts the transparency of the system when the slave robot transitions between two different environments. The proposed controller exploits the effect that the wave impedance (a design parameter of the passivity-based scattering transformation has on transparency without comprising closed-loop stability, regardless of time-varying communication delays. To properly adjust transparency, the control scheme smoothly switches the wave impedance parameter between a low value, ideal for free motion, and a sufficiently large value, suited for hard-contact tasks. We show that, by adopting this strategy, the transmitted impedance to the operator approximates more closely the environmental impedance value. Furthermore, we theoretically prove master-slave position coordination and force tracking under different scenarios. Simulation results illustrate the effectiveness of the proposed control strategy.

  18. Conceptual Design of Angular Position Detector for Control Element Drive Mechanism of Small and Medium Reactor

    International Nuclear Information System (INIS)

    Yu, Je-Yong; Huh, Hyung; Kim, Ji-Ho; Choi, Suhn

    2007-01-01

    When the small and medium reactor is designed with a soluble boron free operation and nuclear heating for the reactor start-up, the design features require a Control Element Drive Mechanism (CEDM) to have a fine-step movement capability as well as a high reliability for a fine reactivity control. Also the reliability and accuracy of the information for the control rod position is important to the reactor safety as well as to design of the core protection system. The position signal of control rod is classified as a Class 1E because the rod position signal is used in the safety related systems. Therefore it will be separated from the control systems to the extent that a failure of any single control system component of a channel and shall have sufficient independence, redundancy, and testability to perform its safety functions assuming a single failure. The position indicator is composed of a permanent magnet, reed switches and a voltage divider. Four independent position indicators around the upper pressure housing provide an indication of the position of a control rod comprising of a permanent magnet with a magnetic field concentrator which moves with the extension shaft connected to the control rod. The zigzag arranged reed switches are positioned along a line parallel to the path of the movement of the permanent magnet and it is activated selectively when the permanent magnet passes by. A voltage divider electrically connected to the reed switches provides a signal commensurate with the position of the control rod. The signal may then be transmitted to a position indicating device. But position indicator can not recognize the malfunction of the rotary step motor of CEDM instantly because its signal output is changed after the control rod moves more than a distance of reed switch interval

  19. A compound control strategy combining velocity compensation with ADRC of electro-hydraulic position servo control system.

    Science.gov (United States)

    Gao, Bingwei; Shao, Junpeng; Yang, Xiaodong

    2014-11-01

    In order to enhance the anti-jamming ability of electro-hydraulic position servo control system at the same time improve the control precision of the system, a compound control strategy that combines velocity compensation with Active Disturbance Rejection Controller (ADRC) is proposed, and the working principle of the compound control strategy is given. ADRC controller is designed, and the extended state observer is used for observing internal parameters uncertainties and external disturbances, so that the disturbances of the system are suppressed effectively. Velocity compensation controller is designed and the compensation model is derived to further improve the positioning accuracy of the system and to achieve the velocity compensation without disturbance. The compound control strategy is verified by the simulation and experiment respectively, and the simulation and experimental results show that the electro-hydraulic position servo control system with ADRC controller can effectively inhibit the external disturbances, the precise positioning control is realized after introducing the velocity compensation controller, and verify that the compound control strategy is effective. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  20. Maxillary arch width in unoperated adult bilateral cleft lip and alveolus and complete bilateral cleft lip and palate.

    NARCIS (Netherlands)

    Latief, B.S.; Lekkas, C.; Kuijpers, M.A.R.

    2010-01-01

    OBJECTIVES: To study maxillary arch width in adult patients with bilateral cleft lip and alveolus (BCLA) or with complete bilateral cleft lip and palate (BCLP), who have not had any surgery. SETTING AND SAMPLING POPULATION: Eighteen patients with BCLA, 13 patients with BCLP, and 24 controls from

  1. Bilateral tubercular mastitis

    Directory of Open Access Journals (Sweden)

    Kant Surya

    2007-01-01

    Full Text Available Breast tuberculosis is a rare form of tuberculosis. Moreover the disease is often overlooked and misdiagnosed as carcinoma or pyogenic abscess. Reports on breast tuberculosis from India have been few; reported incidence of breast tuberculosis amongst the total number of mammary conditions varies between 0.64 and 3.59 per cent. Bilateral involvement is still more uncommon (3%. Most accepted view for spread of infection is centripetal lymphatic spread as axillary node involvement was shown to occur in 50 to 75 per cent of cases of tubercular mastitis. Here we re-port a case of a young female who presented with draining sinuses in the breast and no axillary lymphadenopathy. Fine needle aspiration cytology (FNAC of breast lump showed evidence of granulomatous mastitis. She was given therapeutic trial of four drug antitubercular treatment. Both the lump disappeared and sinus healed after six months of antitubercular treatment. Thus a retrospective diagnosis of tu-bercular mastitis was made.

  2. Bilateral triple renal arteries

    International Nuclear Information System (INIS)

    Pestemalci, Turan; Yildiz, Yusuf Zeki; Yildirim, Mehmet; Mavi, Ayfer; Gumusburun, Erdem

    2009-01-01

    Knowledge of the variations of the renal artery has grown in importance with increasing numbers of renal transplants, vascular reconstructions and various surgical and radio logic techniques being performed in recent years. We report the presence of bilateral triple renal arteries, discovered on routine dissection of a male cadaver. On the right side, one additional renal artery originated from the abdominal aorta (distributed to superior pole of the kidney) and one other originated from the right common iliac artery (distributed to lower pole of the kidney). On the left side, both additional renal arteries originated from the abdominal aorta. Our observation has been compared with variations described in the literature and their clinical importance has been emphasized. (author)

  3. Idiopathic Bilateral Bloody Tearing

    Directory of Open Access Journals (Sweden)

    Emrullah Beyazyıldız

    2015-01-01

    Full Text Available Bloody tear is a rare and distinct clinic phenomenon. We report a case presenting with the complaint of recurrent episodes of bilateral bloody tearing. A 16-year-old girl presented to our clinic with complaint of bloody tearing in both eyes for 3 months. Bloody tearing was not associated with her menses. A blood-stained discharge from the punctum was not observed during the compression of both nasolacrimal ducts. Nasolacrimal passage was not obstructed. Imaging studies such as dacryocystography and gradient-echo magnetic resonance imaging (MRI of nasolacrimal canal were normal. Intranasal endoscopic evaluation was normal. We collected samples from bloody tears two times and pathological examination was performed. Pathological analysis showed lots of squamous cells and no endometrial cells; dysplastic cells were found. Further evaluations for underlying causes were unremarkable. No abnormalities were found in ophthalmologic, radiologic, and pathologic investigations. This condition is likely a rare abnormality and the least recognized aetiology for the idiopathic phenomenon.

  4. Bilateral Antepartum Mastitis

    Directory of Open Access Journals (Sweden)

    Peyman Alibeigi

    2010-12-01

    Full Text Available Antepartum mastitis is a rare condition, whereas postpartum orlactation mastitis is a common problem. This report introducesa case of complicated bilateral antepartum mastitis, which wastreated successfully by drain insertion and antibiotic therapy.The patient was a 23-year-old woman in the 23rd week of herfirst pregnancy. Her chief complaint was progressive swelling,redness and radicular pain in both breasts, which had beenstarted gradually from the 18th week of pregnancy. The patientwas admitted to hospital, and received oral and intravenous antibioticsempirically, which was not effective. The patient wastreated by drainage and oral antibiotic therapy. Based on theapproaches employed and the outcomes achieved it is suggestedthat early surgical insertion in the presence of fluid collection inantepartum mastitis will shorten hospitalization and course ofintravenous antibiotic therapy.Iran J Med Sci 2010; 35(4: 327-330.

  5. Attentional control mediates the effect of social anxiety on positive affect☆

    Science.gov (United States)

    Morrison, Amanda S.; Heimberg, Richard G.

    2015-01-01

    The goal of the present studies was to examine whether attentional control, a self-regulatory attentional mechanism, mediates the effect of social anxiety on positive affect. We tested this mediation in two studies using undergraduate students selected to represent a broad range of severity of social anxiety. Self-report assessments of social anxiety, attentional control, and positive affect were collected in a cross-sectional design (Study 1) and in a longitudinal design with three assessment points (Study 2). Results of both studies supported the hypothesized mediational model. Specifically, social anxiety was inversely related to attentional control, which itself positively predicted positive affect. This mediation remained significant even when statistically controlling for the effects of depression. Additionally, the hypothesized model provided superior model fit to theoretically-grounded equivalent models in both studies. Implications of these findings for understanding diminished positive affect in social anxiety are discussed. PMID:23254261

  6. Arrangement of permanent magnet and reed switches for control rod position indicator of SMART CEDM

    International Nuclear Information System (INIS)

    Yoo, J. Y.; Kim, J. I.; Kim, J. H.; Hur, H.; Jang, M. H.

    2001-01-01

    The reliability and accuracy of the information on control rod position are very important to the reactor safety and the design of the core protection system. A survey on the RSPT(Reed Switch Position Transmitter) type control rod position indication system and its actual implementation in the exiting nuclear power plants in Korea was performed first. The control rod position indicator having the high performance for SMART was developed on the basis of RSPT technology identified through the survey. The arrangement of permanent magnet and reed switches is the most important procedure in the design of control rod position indication. In this study, the characteristics of permanent magnet and reed switches are introduced and the calculation method for arrangement of permanent magnet and reed switch is presented

  7. Design of magnetic flux concentrator of permancent magnet for control rod position indicator of SMART CEDM

    International Nuclear Information System (INIS)

    Yoo, J. Y.; Kim, J. H.; Hur, H.; Kim, J. I.

    2002-01-01

    The reliability and accuracy of the information on control rod position are very important to the reactor safety and the design of the core protection system. A survey on the RSPT(Reed Switch Position Transmitter) type control rod position indication system and its actual implementation in the exiting nuclear power plants in Korea was performed first. The control rod position indicator having the high performance for SMART was developed on the basis of RSPT technology identified through the survey. The arrangement of permanent magnet and reed switches is the most important procedure in the design of control rod position indication. In this study, the magnetic flux concentrator of permanent magnet is introduced and the calculation method for effective flux area for reed switch is presented

  8. Determination of the plasma position for its real-time control in the COMPASS tokamak

    International Nuclear Information System (INIS)

    Janky, F.; Havlicek, J.; Valcarcel, D.; Hron, M.; Horacek, J.; Kudlacek, O.; Panek, R.; Carvalho, B.B.

    2011-01-01

    An efficient horizontal and vertical stabilization of the plasma column position are essential for a reliable tokamak operation. Plasma position is generally determined by plasma current, plasma pressure and external vertical and horizontal magnetic fields. Such fields are generated by poloidal field coils and proper algorithm for the current control have to by applied, namely, in case of fast feedback loops. This paper presents a real-time plasma position reconstruction algorithms developed for the COMPASS tokamak. Further, its implementation in the MARTe (Multithreaded Application Real-Time executor) is described and the first results from test of the algorithm for real-time control of horizontal plasma positions are presented.

  9. Determination of the plasma position for its real-time control in the COMPASS tokamak

    Energy Technology Data Exchange (ETDEWEB)

    Janky, F., E-mail: jankyf@ipp.cas.cz [Institute of Plasma Physics, AS CR, v.v.i., Association EURATOM/IPP.CR, Za Slovankou 3, 182 00 Prague (Czech Republic); Charles University in Prague, Faculty of Mathematics and Physics, V Holesovickach 2, CZ-18000 Prague (Czech Republic); Havlicek, J. [Institute of Plasma Physics, AS CR, v.v.i., Association EURATOM/IPP.CR, Za Slovankou 3, 182 00 Prague (Czech Republic); Charles University in Prague, Faculty of Mathematics and Physics, V Holesovickach 2, CZ-18000 Prague (Czech Republic); Valcarcel, D. [Associacao EURATOM/IST, Instituto de Plasmas e Fusao Nuclear - Laboratorio Associado, Instituto Superior Tecnico, P1049-001 Lisboa (Portugal); Hron, M.; Horacek, J. [Institute of Plasma Physics, AS CR, v.v.i., Association EURATOM/IPP.CR, Za Slovankou 3, 182 00 Prague (Czech Republic); Kudlacek, O. [Czech Technical University, Faculty of Nuclear Sciences and Physical Engineering, Technicka 2, 166 27 Prague (Czech Republic); Panek, R. [Institute of Plasma Physics, AS CR, v.v.i., Association EURATOM/IPP.CR, Za Slovankou 3, 182 00 Prague (Czech Republic); Carvalho, B.B. [Associacao EURATOM/IST, Instituto de Plasmas e Fusao Nuclear - Laboratorio Associado, Instituto Superior Tecnico, P1049-001 Lisboa (Portugal)

    2011-10-15

    An efficient horizontal and vertical stabilization of the plasma column position are essential for a reliable tokamak operation. Plasma position is generally determined by plasma current, plasma pressure and external vertical and horizontal magnetic fields. Such fields are generated by poloidal field coils and proper algorithm for the current control have to by applied, namely, in case of fast feedback loops. This paper presents a real-time plasma position reconstruction algorithms developed for the COMPASS tokamak. Further, its implementation in the MARTe (Multithreaded Application Real-Time executor) is described and the first results from test of the algorithm for real-time control of horizontal plasma positions are presented.

  10. Real-time horizontal position control for Aditya-upgrade tokamak

    International Nuclear Information System (INIS)

    Kumar, Rohit; Ghosh, Joydeep; Tanna, Rakesh L.

    2015-01-01

    Position of plasma column is required to be controlled in real time for improved operation of any tokamak. A PID based system for real-time horizontal plasma position control has been designed for Aditya Upgrade tokamak. Modelling of transfer functions of actuators, plasma and diagnostic system are carried out for ADITYA-U tokamak. The PID controller is optimized using MATLAB-SIMULINK for horizontal position control. Further feed-forward loop is implemented where disturbance due to density variation is suppressed, which results in improved performance as compared to conventional PID operation. In this paper the detailed design of the whole system for real time control of plasma horizontal position in Aditya Upgrade tokamak is presented. (author)

  11. Simultaneous bilateral contracture of the infraspinatus muscle.

    Science.gov (United States)

    Franch, J; Bertran, J; Remolins, G; Fontecha, P; Díaz-Bertrana, M C; Durall, I

    2009-01-01

    A case of bilateral fibrotic contracture of the infraspinatus muscles in a five-year-old Belgian Shepherd dog is described. The dog was presented with progressive forelimb lameness with postural and gait abnormalities three months after an episode of overexertion. When walking, the lower part of both forelimbs swung in a lateral arc causing a circumduction movement and in the standing position, the dog showed elbow adduction with external rotation of the distal part of both front limbs. Orthopaedic examination revealed bilateral atrophy of both infraspinatus and supraspinatus muscles and restriction in the range of motion of both shoulders, especially when attempting abduction and flexion. No specific findings were observed in the shoulder or elbow radiographs but hyperechogenic areas were evident in the ultrasonographic examination of both infraspinatus muscles. A diagnosis of fibrotic contracture of both infraspinatus muscles was established and bilateral tenectomy of the insertion tendons of the infraspinatus muscles was performed. Complete recovery of the animal was achieved after the surgery, which was confirmed in a long-term follow-up (10 months). In conclusion, physical examination and ultrasonography allowed a proper diagnosis of the condition, and tenectomy of the infraspinatus muscles resulted in a complete recovery of the patient even with bilateral involvement.

  12. Hybrid Force and Position Control Strategy of Robonaut Performing Object Transfer Task

    Directory of Open Access Journals (Sweden)

    Chen Gang

    2018-01-01

    Full Text Available This paper proposes a coordinated hybrid force/position control strategy of robonaut performing object transfer operation. Firstly, the constraint relationships between robonaut and object are presented. Base on them, the unified dynamic model of the robonaut and object is established to design the hybrid force/position control method. The movement, the internal force and the external constraint force of the object are considered as the control targets of the control system. Finally, a MATLAB simulation of the robonaut performing object transfer task verifies the correctness and effectiveness of the proposed method. The results show that all the targets can be control accurately by using the method proposed in this paper. The presented control method can control both internal and external forces while maintaining control accuracy, which is a common control strategy.

  13. Design and reliability analysis of DP-3 dynamic positioning control architecture

    Science.gov (United States)

    Wang, Fang; Wan, Lei; Jiang, Da-Peng; Xu, Yu-Ru

    2011-12-01

    As the exploration and exploitation of oil and gas proliferate throughout deepwater area, the requirements on the reliability of dynamic positioning system become increasingly stringent. The control objective ensuring safety operation at deep water will not be met by a single controller for dynamic positioning. In order to increase the availability and reliability of dynamic positioning control system, the triple redundancy hardware and software control architectures were designed and developed according to the safe specifications of DP-3 classification notation for dynamically positioned ships and rigs. The hardware redundant configuration takes the form of triple-redundant hot standby configuration including three identical operator stations and three real-time control computers which connect each other through dual networks. The function of motion control and redundancy management of control computers were implemented by software on the real-time operating system VxWorks. The software realization of task loose synchronization, majority voting and fault detection were presented in details. A hierarchical software architecture was planed during the development of software, consisting of application layer, real-time layer and physical layer. The behavior of the DP-3 dynamic positioning control system was modeled by a Markov model to analyze its reliability. The effects of variation in parameters on the reliability measures were investigated. The time domain dynamic simulation was carried out on a deepwater drilling rig to prove the feasibility of the proposed control architecture.

  14. Scapular Resting Position and Gleno-Humeral Movement Dysfunction in Asymptomatic Racquet Players: A Case-Control Study.

    Science.gov (United States)

    Shimpi, Apurv P; Bhakti, Shah; Roshni, Karnik; Rairikar, Savita A; Shyam, Ashok; Sancheti, Parag K

    2015-12-01

    Racquet sports, especially lawn tennis and badminton have been gaining popularity in Asian countries like India. With this increase in popularity, the injury rate in the sport has also increased. The study will help detect the presence of gleno-humeral movement dysfunction and scapular resting position abnormality in asymptomatic racquet players, thus providing basis for screening the players and allow the clinician to determine if the asymmetry is a normal adaptation in the player or an abnormal change associated with injury. 46 asymptomatic professional players were divided into a study group of 23 players (16 tennis and 7 badminton) and control group of 23 football players. Assessment of passive gleno-humeral range of motion and distance of spine and inferior angle of scapula from corresponding spinous process were measured bilaterally and between groups. There was statistically significant reduction in range of internal rotation (62.17 ± 8.09), extension (39.78 ± 4.12) and an increase in the external rotation (106.95 ± 7.49) of dominant compared to non-dominant arm of racquet players and a statistically significant decrease in internal rotation (78.69 ± 10.24), extension (44.78 ± 3.19), adduction (37.39 ± 6.54) and an increase in external rotation (102.6 ± 5.19) of dominant arm of racquet players compared to football players. Study also showed statistically significant increase in the spino-scapular distance at the level of inferior angle of scapula (10.23 ± 1.43) on dominant side compared to non-dominant. The dominant side scapula of asymptomatic racquet players showed increased external rotation and elevation as compared to the non-dominant side. Also, reduced shoulder internal rotation, extension and adduction and gain in shoulder external rotation was observed on the dominant side of racquet players when compared to the control group.

  15. A boy with bilateral SUNA

    DEFF Research Database (Denmark)

    Vuković Cvetković, Vlasta; Jensen, Rigmor Højland

    2017-01-01

    secondary causes should be searched for vigorously if there are bilateral symptoms. Despite a number of therapeutic trials, effective management for the majority of SUNA patients is not available at present. Management of SUNA is often difficult. Case We report the case of a young boy with bilateral SUNA...

  16. Silicosis with bilateral spontaneous pneumothorax

    Directory of Open Access Journals (Sweden)

    Fotedar Sanjay

    2010-01-01

    Full Text Available Presentation with simultaneous bilateral pneumothorax is uncommon and usually in the context of secondary spontaneous pneumothorax.The association of pneumothorax and silicosis is infrequent and most cases are unilateral. Bilateral pneumothorax in silicosis is very rare with just a few reports in medical literature.

  17. FRF based position controller design through system identification for A hydraulic cylinder

    Energy Technology Data Exchange (ETDEWEB)

    Seo, Hyoung Kyu; Kim, Dong Hwan [Dept. of Mechanical Design and Robot Engineering, Seoul National University of Science and Technology, Seoul (Korea, Republic of); Park, Jong Won [Reliability Assessment Center, Korea Institute of Machinery and Materials, Daejeon (Korea, Republic of)

    2015-11-15

    In this study, we have focused on the design of a controller and an operating program for the operation of the hydraulic actuators used in a shaker. To control the motion of the shaker accurately, the position of each hydraulic cylinder should be controlled precisely even under an uncertain environment. For this purpose, we have suggested a control algorithm using an FRF (frequency response function) based control which senses the behavior of the actuator in advance, calculates a transfer function through the system identification method, and provides the final control input. The experimental results on the performance of this system were compared with that of a simple PID control algorithm.

  18. Novel electro-hydraulic position control system for primary mirror supporting system

    Directory of Open Access Journals (Sweden)

    Xiongbin Peng

    2016-05-01

    Full Text Available In the field of modern large-scale telescope, primary mirror supporting system technology faces the difficulties of theoretically uniform output force request and bias compensation. Therefore, a novel position control system combining hydraulic system with servo motor system is introduced. The novel system ensures uniform output force on supporting points without complicating the mechanical structure. The structures of both primary mirror supporting system and novel position system are described. Then, the mathematical model of novel position control system is derived for controller selection. A proportional–derivative controller is adopted for simulations and experiments of step response and triangle path tracking. The results show that proportional–derivative controller guarantees the system with micrometer-level positioning ability. A modified proportional–derivative controller is utilized to promote system behavior with faster response overshoot. The novel position control system is then applied on primary mirror supporting system. Coupling effect is observed among actuator partitions, and relocation of virtual pivot supporting point is chosen as the decoupling measurement. The position keeping ability of the primary mirror supporting system is verified by rotating the mirror cell at a considerably high rate. The experiment results show that the decoupled system performs better with smaller bias and shorter recovery time.

  19. Bilateral persistent hyperplastic primary vitreous

    Directory of Open Access Journals (Sweden)

    Jain Tarun

    2009-01-01

    Full Text Available A case of bilateral persistent hyperplastic primary vitreous (PHPV in a 3-month-old male infant, who had bilateral leukokoria, is presented. The child was referred for imaging with a clinical suspicion of retinoblastoma. Gray-scale ultrasound evaluation revealed an echogenic band in the posterior segment of both globes, extending from the posterior surface of the lens capsule to the optic disc. Doppler examination revealed the presence of arterial flow in the band in both globes. Associated echogenic hemorrhage was also seen, which was confirmed by computed tomography. Most cases of PHPV are sporadic and unilateral, and bilateral PHPV is rare. The imaging features in this case suggest the diagnosis of bilateral PHPV and differentiate it from retinoblastoma. This entity, although infrequent, should be considered in the differential diagnosis while evaluating bilateral leukokoria.

  20. Quantum dots for future nanophotonic devices : lateral ordering, position, and number control

    NARCIS (Netherlands)

    Nötzel, R.; Sritirawisarn, N.; Selçuk, E.; Wang, H.; Yuan, J.

    2009-01-01

    We review our recent advances in the lateral ordering, position, and number control of self-organized epitaxial semiconductor quantum dots based on self-organized anisotropic strain engineering, growth on patterned substrates, and selective area growth.

  1. Railway cognitive radio to enhance safety, security, and performance of positive train control.

    Science.gov (United States)

    2013-02-01

    Robust and interoperable wireless communications are vital to Positive Train Control (PTC). The railway industry has started adopting software-defined radios (SDRs) for packet-data transmission. SDR systems realize previously fixed components as reco...

  2. Precision position control of servo systems using adaptive back-stepping and recurrent fuzzy neural networks

    International Nuclear Information System (INIS)

    Kim, Han Me; Kim, Jong Shik; Han, Seong Ik

    2009-01-01

    To improve position tracking performance of servo systems, a position tracking control using adaptive back-stepping control(ABSC) scheme and recurrent fuzzy neural networks(RFNN) is proposed. An adaptive rule of the ABSC based on system dynamics and dynamic friction model is also suggested to compensate nonlinear dynamic friction characteristics. However, it is difficult to reduce the position tracking error of servo systems by using only the ABSC scheme because of the system uncertainties which cannot be exactly identified during the modeling of servo systems. Therefore, in order to overcome system uncertainties and then to improve position tracking performance of servo systems, the RFNN technique is additionally applied to the servo system. The feasibility of the proposed control scheme for a servo system is validated through experiments. Experimental results show that the servo system with ABS controller based on the dual friction observer and RFNN including the reconstruction error estimator can achieve desired tracking performance and robustness

  3. Integrated shell approach to vertical position control on PBX-M

    International Nuclear Information System (INIS)

    Hatcher, R.E.; Okabayashi, M.

    1995-03-01

    The PBX-M device produces highly shaped discharges that, because of the negative external magnetic field decay index required, are vertically unstable. Vertical positional stability in PBX-M has been achieved by directly controlling the n = 0 component of the eddy current in the passive shell instead of the commonly used function of magnetic flux signals. Because the active coil is controlled via currents in the passive shell we call this an ''integrated shell'' approach to vertical position control. We present results of these experiments and make comparisons between the two methods of control

  4. Control rod position fault diagnosis and its software realization of pressurized water reactor

    International Nuclear Information System (INIS)

    Chang Zhengke; Shao Dinghong

    2004-11-01

    PLC software is adopted in the Rod Position Monitoring System of QS2NPS. By this software, the position of control rods can be monitored in real time, the abnormal phenomena can be identified immediately, the correctness and timeliness of fault diagnosis are improved remarkably. the identification and recordance of rod position fault, the performance validation of measure channel are realized also. The function and effect of this software are introduced. (authors)

  5. Dissociable influences of reward motivation and positive emotion on cognitive control.

    Science.gov (United States)

    Chiew, Kimberly S; Braver, Todd S

    2014-06-01

    It is becoming increasingly appreciated that affective and/or motivational influences contribute strongly to goal-oriented cognition and behavior. An unresolved question is whether emotional manipulations (i.e., direct induction of affectively valenced subjective experience) and motivational manipulations (e.g., delivery of performance-contingent rewards and punishments) have similar or distinct effects on cognitive control. Prior work has suggested that reward motivation can reliably enhance a proactive mode of cognitive control, whereas other evidence is suggestive that positive emotion improves cognitive flexibility, but reduces proactive control. However, a limitation of the prior research is that reward motivation and positive emotion have largely been studied independently. Here, we directly compared the effects of positive emotion and reward motivation on cognitive control with a tightly matched, within-subjects design, using the AX-continuous performance task paradigm, which allows for relative measurement of proactive versus reactive cognitive control. High-resolution pupillometry was employed as a secondary measure of cognitive dynamics during task performance. Robust increases in behavioral and pupillometric indices of proactive control were observed with reward motivation. The effects of positive emotion were much weaker, but if anything, also reflected enhancement of proactive control, a pattern that diverges from some prior findings. These results indicate that reward motivation has robust influences on cognitive control, while also highlighting the complexity and heterogeneity of positive-emotion effects. The findings are discussed in terms of potential neurobiological mechanisms.

  6. Control of spool position of on/off solenoid operated hydraulic valve by sliding-mode controller

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Jae Hak; Hong, Hyun Wook; Park, Myeong Kwan [Pusan National University, Busan (Korea, Republic of); Yun, Young Won [KHPS, Busan (Korea, Republic of)

    2015-11-15

    The use of on/off solenoid operated hydraulic valves instead of proportional valves has been attracting the interest of many researchers and engineers. However, there exist difficulties in controlling the on/off valve because of highly nonlinear characteristics including hysteresis and saturation. This paper considers the application of on/off solenoid operated hydraulic valves to control position of a hydraulic cylinder with the aim of evaluating, feasibility and practicability of their implementation and understanding the potential benefits when they are used in existing hydraulic systems. Assuming that only the current is measured, a sliding mode observer is designed to estimate the spool position and velocity. To alleviate the aforementioned difficulties in controlling the spool position, a nonlinear observer-based controller of an on/off solenoid valve is designed, taking into account the estimated values, based on a nonlinear model including hysteresis and saturation. The control objective is to track a desired spool trajectory. Simulation and experimental results illustrate the efficiency of the designed controller. The proposed controller is validated again in a single-rod hydraulic actuator. Experimental results show that the fluid flow through the valve orifice by controlling the spool position was successfully controlled.

  7. Development of a mcirocontroller to the positioning control of an ionization chamber

    International Nuclear Information System (INIS)

    Manfrini, Francisco A.L.; Rocha, Cristina S.C.; Reis, Renato J.; Oliveira, Arno Heeren de

    2007-01-01

    It was developed a microcontroller to positioning of ionization chamber with high precision. Considering the high sensitivity of intensity of radiation with the distance source-detector is necessary to develop an eletronics able to control position the detector with high precision. The project was based on microcontroller AT 89S8252 of Atmel company. (author)

  8. Practical controller design for ultra-precision positioning of stages with a pneumatic artificial muscle actuator

    Science.gov (United States)

    Tang, T. F.; Chong, S. H.

    2017-06-01

    This paper presents a practical controller design method for ultra-precision positioning of pneumatic artificial muscle actuator stages. Pneumatic artificial muscle (PAM) actuators are safe to use and have numerous advantages which have brought these actuators to wide applications. However, PAM exhibits strong non-linear characteristics, and these limitations lead to low controllability and limit its application. In practice, the non-linear characteristics of PAM mechanism are difficult to be precisely modeled, and time consuming to model them accurately. The purpose of the present study is to clarify a practical controller design method that emphasizes a simple design procedure that does not acquire plants parameters modeling, and yet is able to demonstrate ultra-precision positioning performance for a PAM driven stage. The practical control approach adopts continuous motion nominal characteristic trajectory following (CM NCTF) control as the feedback controller. The constructed PAM driven stage is in low damping characteristic and causes severe residual vibration that deteriorates motion accuracy of the system. Therefore, the idea to increase the damping characteristic by having an acceleration feedback compensation to the plant has been proposed. The effectiveness of the proposed controller was verified experimentally and compared with a classical PI controller in point-to-point motion. The experiment results proved that the CM NCTF controller demonstrates better positioning performance in smaller motion error than the PI controller. Overall, the CM NCTF controller has successfully to reduce motion error to 3µm, which is 88.7% smaller than the PI controller.

  9. Sensory systems for a control rod position using reed switches for the integral reactor

    International Nuclear Information System (INIS)

    Yu, J. Y.; Choi, S.; Kim, J. H.; Lee, D. J.

    2007-01-01

    The system-integrated modular advanced reactor (SMART) currently under development at the Korea Atomic Energy Research Institute is being designed with a soluble boron free operation and the use of nuclear heating for the reactor start-up. These design features require a Control Element Drive Mechanism (CEDM) for the SMART to have a fine-step movement capability as well as a high reliability for a fine reactivity control. Also the reliability and accuracy of the information for the control rod position is very important to the reactor safety as well as the design of the core protection system. The position indicator is classified as a Class 1E component because the rod position signal of the position indicator is used in the safety related systems. Therefore it will be separated from the control systems to the extent that a failure of any single control system component of a channel and shall have sufficient independence, redundancy, and testability to perform its safety functions assuming a single failure. The position indicator is composed of a permanent magnet, reed switches and a voltage divider. Four independent position indicators around the upper pressure housing provide an indication of the position of a control rod comprising of a permanent magnet with a magnetic field concentrator which moves with the extension shaft connected to the control rod. The zigzag arranged reed switches are positioned along a line parallel to the path of the movement of the permanent magnet and it is activated selectively when the permanent magnet passes by. A voltage divider electrically connected to the reed switches provides a signal commensurate with the position of the control rod. The signal may then be transmitted to a position indicating device. In order to monitor the operating condition of the rotary step motor of CEDM, the angular position detector was installed at the top of the rotary step motor by means of connecting between the planetary gear and the rotating

  10. Positive control for cytotoxicity evaluation of dental vinyl polysiloxane impression materials using sodium lauryl sulfate.

    Science.gov (United States)

    Kwon, Jae-Sung; Lee, Sang-Bae; Kim, Kwang-Mahn; Kim, Kyoung-Nam

    2014-11-01

    Vinyl polysiloxane (VPS) is elastomeric dental impression material which, despite having very few reports of adverse reactions, has shown high levels of cytotoxicity that is difficult to be interpreted without referencing to the positive control material. Therefore, in this study, positive control VPS was developed using sodium lauryl sulfate (SLS) for the reference of cytotoxicity test. The positive control VPS with SLS was formed with a different proportion of SLS (0, 1, 2, 4, 8 and 16 wt%) added to the base. The cytotoxicity test was then carried out using the extractions or dilutions of the extractions from each of the test samples using murine fibroblast cells (L929). The final product of positive control VPS behaved similar to commercially available VPS; being initially liquid-like and then becoming rubber-like. Ion chromatography showed that the level of SLS released from the product increased as the proportion of added SLS increased, consequently resulting in an increased level of cytotoxicity. Also, the commercially available VPS was less cytotoxic than the positive control VPS with more or equal to 2 wt% of SLS. However, even the VPS with the highest SLS (16 wt%) did not cause oral mucosa irritation during the animal study. The positive control VPS was successfully produced using SLS, which will be useful in terms of providing references during in vitro cytotoxicity testing.

  11. Performance estimation of control rod position indicator due to aging of magnet

    International Nuclear Information System (INIS)

    Yu, Je Yong; Kim, Ji Ho; Huh, Hyung; Choi, Myoung Hwan; Sohn, Dong Seong

    2009-01-01

    The Control Element Drive Mechanism (CEDM) for the integral reactor is designed to raise and lower the control rod in steps of 2mm in order to satisfy the design features of the integral reactor which are the soluble boron free operation and the use of a nuclear heating for the reactor start-up. The actual position of the control rod could be achieved to sense the magnet connected to the control rod by the position indicator around the upper pressure housing of CEDM. It is sufficient that the actual position information of control rod at 20mm interval from the position indicator is used for the core safety analysis. As the magnet moves upward along the position indicator assembly from the bottom to the top in the upper pressure housing, the output voltage increases linearly step-wise at 0.2VDC increments. Between every step there are transient areas which occur by a contact closing of three reed switches which is the 2-3-2 contact closing sequence. In this paper the output voltage signal corresponding to the position of control rod was estimated on the 2-1-2 contact closing sequence due to the aging of the magnet.

  12. Design and analysis of plasma position and shape control in superconducting tokamak JT-60SC

    Energy Technology Data Exchange (ETDEWEB)

    Matsukawa, M. E-mail: matsukaw@naka.jaeri.go.jp; Ishida, S.; Sakasai, A.; Urata, K.; Senda, I.; Kurita, G.; Tamai, H.; Sakurai, S.; Miura, Y.M.; Masaki, K.; Shimada, K.; Terakado, T

    2003-09-01

    The analyses of the plasma position and shape control in the superconducting tokamak JT-60SC in JAERI are presented. The vacuum vessel and stabilizing plates located closely to the plasma are modeled in 3 dimension, and we can take into account the large ports in the vacuum vessel. The linear numerical model used in the design for the plasma feedback control system is based on Grad-Shafranov equation, which allows the plasma surface deformation. For a slower control of the plasma shape, the superconducting equilibrium field (EF) coils outside toroidal field coils are used, while for a fast control of the plasma position, in-vessel normal conducting coils (IV coil) are used. It is shown that the available loop voltages of the EF and IV coils are very limited, but there are sufficient accuracy and acceptable response time of plasma position and shape control.

  13. Design and analysis of plasma position and shape control in superconducting tokamak JT-60SC

    International Nuclear Information System (INIS)

    Matsukawa, M.; Ishida, S.; Sakasai, A.; Urata, K.; Senda, I.; Kurita, G.; Tamai, H.; Sakurai, S.; Miura, Y.M.; Masaki, K.; Shimada, K.; Terakado, T.

    2003-01-01

    The analyses of the plasma position and shape control in the superconducting tokamak JT-60SC in JAERI are presented. The vacuum vessel and stabilizing plates located closely to the plasma are modeled in 3 dimension, and we can take into account the large ports in the vacuum vessel. The linear numerical model used in the design for the plasma feedback control system is based on Grad-Shafranov equation, which allows the plasma surface deformation. For a slower control of the plasma shape, the superconducting equilibrium field (EF) coils outside toroidal field coils are used, while for a fast control of the plasma position, in-vessel normal conducting coils (IV coil) are used. It is shown that the available loop voltages of the EF and IV coils are very limited, but there are sufficient accuracy and acceptable response time of plasma position and shape control

  14. Pneumatic Rotary Actuator Position Servo System Based on ADE-PD Control

    Directory of Open Access Journals (Sweden)

    Yeming Zhang

    2018-03-01

    Full Text Available In order to accurately control the rotation position of a pneumatic rotary actuator, the flow state of the gas and the motion state of the pneumatic rotary actuator in the pneumatic rotary actuator position servo system are analyzed in this paper. The mathematical model of the system and the experiment platform are established after that. An Adaptive Differential Evolution (ADE algorithm which adaptively ameliorates the scaling factor and crossover probability in the process of individual evolution is proposed and applied to the parameter optimization of PD controller. The experimental platform is used to compare the controller with Differential Evolution (DE algorithm and NCD-PID controller. Finally, the characteristics of the system are tested by increasing the inertial load. The experimental results illustrate that system using ADE-PD control strategy has greater position precision and faster response than using DE-PD and NCD-PID strategies, and shows great robustness.

  15. Research of Control Strategy in the Large Electric Cylinder Position Servo System

    Directory of Open Access Journals (Sweden)

    Yongguang Liu

    2015-01-01

    Full Text Available An ideal positioning response is very difficult to realize in the large electric cylinder system that is applied in missile launcher because of the presence of many nonlinear factors such as load disturbance, parameter variations, lost motion, and friction. This paper presents a piecewise control strategy based on the optimized positioning principle. The combined application of position interpolation method and modified incremental PID with dead band is proposed and applied into control system. The experimental result confirms that this combined control strategy is not only simple to be applied into high accuracy real-time control system but also significantly improves dynamic response, steady accuracy, and anti-interference performance, which has very important significance to improve the smooth control of the large electric cylinder.

  16. Hardware Implementation of a Bilateral Subtraction Filter

    Science.gov (United States)

    Huertas, Andres; Watson, Robert; Villalpando, Carlos; Goldberg, Steven

    2009-01-01

    its position in the window as well as the pixel value for the central pixel of the window. The absolute difference between these two pixel values is calculated and used as an address in a lookup table. Each processing element has a lookup table, unique for its position in the window, containing the weight coefficients for the Gaussian function for that position. The pixel value is multiplied by the weight, and the outputs of the processing element are the weight and pixel-value weight product. The products and weights are fed to the adder tree. The sum of the products and the sum of the weights are fed to the divider, which computes the sum of products the sum of weights. The output of the divider is denoted the bilateral smoothed image. The smoothing function is a simple weighted average computed over a 3 3 subwindow centered in the 9 9 window. After smoothing, the image is delayed by an additional amount of time needed to match the processing time for computing the bilateral smoothed image. The bilateral smoothed image is then subtracted from the 3 3 smoothed image to produce the final output. The prototype filter as implemented in a commercially available FPGA processes one pixel per clock cycle. Operation at a clock speed of 66 MHz has been demonstrated, and results of a static timing analysis have been interpreted as suggesting that the clock speed could be increased to as much as 100 MHz.

  17. Nonlinear control of marine vehicles using only position and attitude measurements

    Energy Technology Data Exchange (ETDEWEB)

    Paulsen, Marit Johanne

    1996-12-31

    This thesis presents new results on the design and analysis of nonlinear output feedback controllers for auto pilots and dynamic positioning systems for ships and underwater vehicles. Only position and attitude measurements of the vehicle are used in the control design. The underlying idea of the work is to use certain structural properties of the equations of motion in the controller design and analysis. New controllers for regulation and tracking have been developed and the stability of the resulting closed-loop systems has been rigorously established. The results are supported by simulations. The following problems have been investigated covering design of passive controller for regulation, comparison of two auto pilots, nonlinear damping compensation for tracking, tracking control for nonlinear ships, and output tracking control with wave filtering for multivariable models of possibly unstable vehicles. 97 refs., 32 figs.

  18. Simultaneous positioning and orientation of a single nano-object by flow control: theory and simulations

    International Nuclear Information System (INIS)

    Mathai, Pramod P; Berglund, Andrew J; Alexander Liddle, J; Shapiro, Benjamin A

    2011-01-01

    In this paper, we theoretically describe a method to simultaneously control both the position and orientation of single nano-objects in fluids by precisely controlling the flow around them. We develop and simulate a control law that uses electro-osmotic flow (EOF) actuation to translate and rotate rigid nano-objects in two spatial dimensions. Using EOF to control nano-objects offers advantages as compared to other approaches: a wide class of objects can be manipulated (no magnetic or electric dipole moments are needed), the object can be controlled over a long range (>100 μm) with sub-micrometer accuracy, and control may be achieved with simple polydimethylsiloxane (PDMS) devices. We demonstrate the theory and numerical solutions that will enable deterministic control of the position and orientation of a nano-object in solution, which can be used, for example, to integrate nanostructures in circuits and orient sensors to probe living cells.

  19. Virtual reality simulation of fuzzy-logic control during underwater dynamic positioning

    Science.gov (United States)

    Thekkedan, Midhin Das; Chin, Cheng Siong; Woo, Wai Lok

    2015-03-01

    In this paper, graphical-user-interface (GUI) software for simulation and fuzzy-logic control of a remotely operated vehicle (ROV) using MATLAB™ GUI Designing Environment is proposed. The proposed ROV's GUI platform allows the controller such as fuzzy-logic control systems design to be compared with other controllers such as proportional-integral-derivative (PID) and sliding-mode controller (SMC) systematically and interactively. External disturbance such as sea current can be added to improve the modelling in actual underwater environment. The simulated results showed the position responses of the fuzzy-logic control exhibit reasonable performance under the sea current disturbance.

  20. Self-tuning control studies of the plasma vertical position problem

    International Nuclear Information System (INIS)

    Zheng, Guang Lin; Wellstead, P.E.; Browne, M.L.

    1993-01-01

    The plasma vertical position system in a tokamak device can be open-loop unstable with time-varying dynamics, such that the instability increases with system dynamical changes. Time-varying unstable dynamics makes the plasma vertical position a particularly difficult one to control with traditional fixed-coefficient controllers. A self-tuning technique offers a new solution of the plasma vertical position control problem by an adaptive control approach. Specifically, the self-tuning controller automatically tunes the controller parameters without an a priori knowledge of the system dynamics and continuously tracks dynamical changes within the system, thereby providing the system with auto-tuning and adaptive tuning capabilities. An overview of the self-tuning methods is given, and their applicability to a simulation of the Joint European Torus (JET) vertical plasma positions system is illustrated. Specifically, the applicability of pole-assignment and generalized predictive control self-tuning methods to the vertical plasma position system is demonstrated. 26 refs., 16 figs., 1 tab

  1. Magnetic sensorless control of plasma position and shape in a tokamak

    International Nuclear Information System (INIS)

    Nakamura, K.; Luo, J.R.; Wang, H.Z.

    2005-01-01

    Magnetic sensorless sensing and control experiments of the plasma horizontal position have been carried out in the superconducting tokamak HT-7. The sensing is made focusing on the ripple frequency component of the power supply with thyristor and directly from them without time integration. There is no drift problem of integrator of magnetic sensors. Two kinds of control experiments were carried out, to keep the position constant and swing the position in a triangular waveform. And magnetic sensorless sensing of plasma shape is discussed. (author)

  2. A Position Sensorless Control Method for SRM Based on Variation of Phase Inductance

    Science.gov (United States)

    Komatsuzaki, Akitomo; Miki, Ichiro

    Switched reluctance motor (SRM) drives are suitable for variable speed industrial applications because of the simple structure and high-speed capability. However, it is necessary to detect the rotor position with a position sensor attached to the motor shaft. The use of the sensor increases the cost of the drive system and machine size, and furthermore the reliability of the system is reduced. Therefore, several approaches to eliminate the position sensor have already been reported. In this paper, a position sensorless control method based on the variation of the phase inductance is described. The phase inductance regularly varies with the rotor position. The SRM is controlled without the position sensor using the de-fluxing period and the phase inductance. The turn-off timing is determined by computing the difference of angle between the sampling point and the aligned point and the variation of angle during the de-fluxing period. In the magnetic saturation region, the phase inductance at the current when the effect of the saturation starts is computed and the sensorless control can be carried out using this inductance. Experimental results show that the SRM is well controlled without the position sensor using the proposed method.

  3. [A case of Crow-Fukase syndrome with respiratory failure due to bilateral diaphragmatic paralysis].

    Science.gov (United States)

    Namekawa, Michito; Muramatsu, Shin-ichi; Hashimoto, Ritsuo; Kawakami, Tadataka; Fujimoto, Ken-ichi; Nakano, Imaharu

    2002-07-01

    A 62-year-old man with well-controlled diabetes mellitus developed numbness of the bilateral feet and hands, followed by subacutely progressive weakness and amyotrophy of extremities. He became bed-ridden state, and dyspnea also appeared, so he was referred to our hospital. Physical examination revealed a lean man, with dark-reddish skin pigmentation, crabbed fingers, bilateral pretibial pitting edema, and bristles in extremities. Thoracoabdominal paradoxical respiration was observed and pulmonary vesicular sounds was decreased markedly in the both lungs. Laboratory data revealed hypoproteinemia, abnormalities of endocrine system, but M-protein was not detected. Serum vascular endothelial growth factor level was quite high. Chest radiography revealed elevation of the bilateral diaphragm, the % vital capacity (%VC) was 24%, and arterial blood gas analysis showed marked hypoxia with hypercapnia. These findings suggested that his respiratory failure was induced by bilateral diaphragmatic paralysis caused by bilateral phrenic nerve palsy due to Crow-Fukase syndrome. He became somnolent because of hypercapnic narcosis, so non-invasive positive pressure ventilation (NIPPV) was started. We treated him with intravenous immunoglobulin and oral corticosteroids therapies, and after these therapies, his symptoms were remarkably recovered and NIPPV became unnecessary soon. The most frequent causes of respiratory failure in Crow-Fukase syndrome are pleural effusion and pulmonary hypertension, and only two cases of this syndrome with respiratory failure caused by bilateral diaphragmatic paralysis were reported until now. When the patients with Crow-Fukase syndrome complain of dyspnea, we should take the diaphragmatic paralysis into consideration, which may be improved by appropriate therapies.

  4. Maternal sensitivity and latency to positive emotion following challenge: pathways through effortful control.

    Science.gov (United States)

    Conway, Anne; McDonough, Susan C; Mackenzie, Michael; Miller, Alison; Dayton, Carolyn; Rosenblum, Katherine; Muzik, Maria; Sameroff, Arnold

    2014-01-01

    The ability to self-generate positive emotions is an important component of emotion regulation. In this study, we focus on children's latency to express positive emotions following challenging situations and assess whether this ability operates through early maternal sensitivity and children's effortful control. Longitudinal relations between maternal sensitivity, infant negative affect, effortful control, and latency to positive emotion following challenge were examined in 156 children who were 33 months of age. Structural equation models supported the hypothesis that maternal sensitivity during infancy predicted better effortful control and, in turn, shorter latencies to positive emotions following challenge at 33 months. Directions for future research are discussed. © 2014 Michigan Association for Infant Mental Health.

  5. Bilateral nephroblastoma - case report

    International Nuclear Information System (INIS)

    Luczynska, E.; Aniol, J.

    2008-01-01

    Wilms tumor is the most common renal tumor in children Synchronous bilateral Wilms tumor (BWT) accounts for 5% of all patients registered to the National Wilms Tumor Study Group (NWSTG). A 28-year-old female patient was presented to Oncology Institute with right kidney tumor. Her left kidney was resected due to Wilms tumor in the sixth month of her life. Abdominal ultrasound was performed and demonstrated a massive right kidney tumor. Then the abdominal CT was undertaken with the use of 16-slice CT scanner, revealing rotation displacement of the right kidney, with signs of compensative overgrowth and displaced upwards. In the lower and peripheral part of the kidney a nodular mass 7 X 10 X 9 cm in size was visible. The tumor was well-demarcated, showing heterogeneous contrast enhancement, extending from the inferio-lateral renal pole.The tumor was adjacent to iliopsoas muscle and abdominal cavity walls; no infiltration of those structures was noted. Described lesion surrounded inferio-medial part of the kidney, approaching kidney pelvis without infiltrating them. Supero-anterior and medial part of the kidney showed normal structure with correct contrasted urine excretion. Lymph nodes enlargement within periaortal area was not detected. Surgical procedure was performed resulting in excision of the tumor with kidney preservation. Histopathology examination revealed nephroblastoma. The tumor was surrounded by a thin, fibrous capsule. Surrounding parenchyma and far tissue were not involved. The CT examination performed 4 months after nephron sparing surgery revealed: right kidney of 137 X 51 mm in size, normally located, with correct structure and function. Multislice abdominal CT have clearly visualized the tumor of the single kidney, showing precise localization of the mass with relation to the kidney pelvis and vessels, allowing for nephron sparing surgical excision. (authors)

  6. Friction-resilient position control for machine tools—Adaptive and sliding-mode methods compared

    DEFF Research Database (Denmark)

    Papageorgiou, Dimitrios; Blanke, Mogens; Niemann, Hans Henrik

    2018-01-01

    Robust trajectory tracking and increasing demand for high-accuracy tool positioning have motivated research in advanced control design for machine tools. State-of-the-art industry solutions employ cascades of Proportional (P) and Proportional-Integral (PI) controllers for closed-loop servo contro...

  7. Imagined Positive Emotions and Inhibitory Control: The Differentiated Effect of Pride versus Happiness

    Science.gov (United States)

    Katzir, Maayan; Eyal, Tal; Meiran, Nachshon; Kessler, Yoav

    2010-01-01

    "Inhibitory control" is a cognitive mechanism that contributes to successful self-control (i.e., adherence to a long-term goal in the face of an interfering short-term goal). This research explored the effect of imagined positive emotional events on inhibition. The authors proposed that the influence of imagined emotions on inhibition…

  8. Real-time digital control of plasma position and shape on the TEXTOR tokamak

    International Nuclear Information System (INIS)

    Mitri, Mikhael

    2009-01-01

    Beside the objective of contributing to the controlled thermonuclear fusion research and ultimately the development of a fusion based power plant, the main objectives of the thesis are a substantial improvement of plasma vertical position control and plasma shape control as well as a better understanding of formerly unexplained effects, e.g. disturbance fields. As for the vertical position control, a deep analysis has to be undertaken to identify the problem sources. Accurate control of the plasma position is very difficult to achieve. This is mainly due to the complexity of the tokamak and the difficulty in measuring or modelling all relevant discharge variables. Any models would be highly nonlinear and time varying. Thus, for simulation and controller design, a simplified, but nevertheless accurate model has to be developed, based on physics and measured data of the process. Furthermore, the quality of the measured position has to be improved by using new inductive sensors, integrators, and hardware. The integration drift problem has to be analysed and resolved by developing a drift-free integration method. Concerning the shape control, a better understanding of the relation between the stray fields and the iron core saturation is required. Furthermore, the influence on the plasma elongation has to be determined. Upon this, a shape compensation algorithm has to be developed accordingly. The accuracy of the shape control has to be better than 1%. (orig.)

  9. A satellite digital controller or 'play that PID tune again, Sam'. [Position, Integral, Derivative feedback control algorithm for design strategy

    Science.gov (United States)

    Seltzer, S. M.

    1976-01-01

    The problem discussed is to design a digital controller for a typical satellite. The controlled plant is considered to be a rigid body acting in a plane. The controller is assumed to be a digital computer which, when combined with the proposed control algorithm, can be represented as a sampled-data system. The objective is to present a design strategy and technique for selecting numerical values for the control gains (assuming position, integral, and derivative feedback) and the sample rate. The technique is based on the parameter plane method and requires that the system be amenable to z-transform analysis.

  10. Anticipatory planning and control of grasp positions and forces for dexterous two-digit manipulation.

    Science.gov (United States)

    Fu, Qiushi; Zhang, Wei; Santello, Marco

    2010-07-07

    Dexterous object manipulation requires anticipatory control of digit positions and forces. Despite extensive studies on sensorimotor learning of digit forces, how humans learn to coordinate digit positions and forces has never been addressed. Furthermore, the functional role of anticipatory modulation of digit placement to object properties remains to be investigated. We addressed these questions by asking human subjects (12 females, 12 males) to grasp and lift an inverted T-shaped object using precision grip at constrained or self-chosen locations. The task requirement was to minimize object roll during lift. When digit position was not constrained, subjects could have implemented many equally valid digit position-force coordination patterns. However, choice of digit placement might also have resulted in large trial-to-trial variability of digit position, hence challenging the extent to which the CNS could have relied on sensorimotor memories for anticipatory control of digit forces. We hypothesized that subjects would modulate digit placement for optimal force distribution and digit forces as a function of variable digit positions. All subjects learned to minimize object roll within the first three trials, and the unconstrained device was associated with significantly smaller grip forces but larger variability of digit positions. Importantly, however, digit load force modulation compensated for position variability, thus ensuring consistent object roll minimization on each trial. This indicates that subjects learned object manipulation by integrating sensorimotor memories with sensory feedback about digit positions. These results are discussed in the context of motor equivalence and sensorimotor integration of grasp kinematics and kinetics.

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

    International Nuclear Information System (INIS)

    Oka, Kiyoshi; Kakudate, Satoshi; Nakahira, Masataka

    1994-10-01

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

  12. A test of positive affect induction for countering self-control depletion in cigarette smokers.

    Science.gov (United States)

    Shmueli, Dikla; Prochaska, Judith J

    2012-03-01

    The self-control strength model posits that exerting self-control on one task, such as resisting temptations, will deplete self-control and impair subsequent self-regulatory performance, such as controlling smoking. The current study examined interventions designed to replenish depleted self-control strength to prevent tobacco use by inducing positive affect. In a 2 × 2 design, 200 participants were randomized to either (1) resist eating from a plate of desserts (high temptation) or from a plate of raw vegetables (low temptation) and then (2) undergo a positive or neutral affect induction. Two inductions were compared (video vs. writing technique). Participants were then given a 10-min recess. Whether or not participants smoked during the recess, assessed by self-report and biochemical verification, served as the primary dependent variable. The interaction between depletion and exposure group was significant, Wald's χ² = 9.66, df = 3, p desserts, 65.5% to 85% smoked if they were in the neutral video or writing conditions versus 10.5% in the positive affect video group. Positive affect elicited with a video was able to counteract the detrimental effects of self-control depletion on smoking behavior, while writing exercises were associated with smoking. Implications for tobacco cessation intervention are discussed. PsycINFO Database Record (c) 2012 APA, all rights reserved.

  13. Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

    OpenAIRE

    Hamed Navabi; Soroush Sadeghnejad; Sepehr Ramezani; Jacky Baltes

    2017-01-01

    A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC) implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivi...

  14. Position feedback control of a nonmagnetic body levitated in magnetic fluid

    International Nuclear Information System (INIS)

    Lee, J H; Nam, Y J; Park, M K; Yamane, R

    2009-01-01

    This paper is concerned with the position feedback control of a magnetic fluid actuator which is characterized by the passive levitation of a nonmagnetic body immersed in a magnetic fluid under magnetic fields. First of all, the magnetic fluid actuator is designed based on the ferrohydrostatic relation. After manufacturing the actuator, its static and dynamic characteristics are investigated experimentally. With the aid of the dynamic governing relation obtained experimentally and the proportional-derivative controller, the position tracking control of the actuator is carried out both theoretically and experimentally. As a result, the applicability of the proposed magnetic fluid actuator to various engineering devices is verified.

  15. Musical Applications and Design Techniques for the Gametrak Tethered Spatial Position Controller

    DEFF Research Database (Denmark)

    Freed, Adrian; Overholt, Daniel; Hansen, Anne-Marie

    2009-01-01

    The Gametrak spatial position controller has been saved from the fate of so many discontinued gaming controllers to become an attractive and increasingly popular platform for experimental musical controllers, math and science manipulatives, large scale interactive installations and as a playful...... tangible gaming interface that promotes inter-generational creative play and discovery . After introducing the peculiarities of the GameTrak and comparing it to related spatial position sensing systems we survey musical applications of the device. The short paper format cannot do justice to the depth...

  16. Bilateral metachronous periosteal tibial amyloid tumors

    International Nuclear Information System (INIS)

    Murata, H.; Kusuzaki, Katsuyuki; Hashiguchi, S.; Ueda, Hidetaka; Hirasawa, Yasusuke

    2000-01-01

    Localized primary periosteal amyloid tumors are extremely rare. A case of bilateral tibial amyloid tumor is presented. A 62-year-old woman initially presented with a painful mass in the anterior aspect of the right leg. There was no evidence of underlying systemic disease, including chronic infection or malignancy. Based on the results of resistance with Congo red staining to treatment with potassium permanganate and positivity for kappa light chain, we classified this particular case as AL-type amyloidosis. The patient noticed a swelling in the opposite leg 2 years later. The second tumor was also an AL-type amyloidoma. Amyloid tumors are generally solitary. This is the first case of bilateral periosteal amyloid tumors of the AL-type occurring in the tibiae. (orig.)

  17. Robust independent modal space control of a coupled nano-positioning piezo-stage

    Science.gov (United States)

    Zhu, Wei; Yang, Fufeng; Rui, Xiaoting

    2018-06-01

    In order to accurately control a coupled 3-DOF nano-positioning piezo-stage, this paper designs a hybrid controller. In this controller, a hysteresis observer based on a Bouc-Wen model is established to compensate the hysteresis nonlinearity of the piezoelectric actuator first. Compared to hysteresis compensations using Preisach model and Prandt-Ishlinskii model, the compensation method using the hysteresis observer is computationally lighter. Then, based on the proposed dynamics model, by constructing the modal filter, a robust H∞ independent modal space controller is designed and utilized to decouple the piezo-stage and deal with the unmodeled dynamics, disturbance, and hysteresis compensation error. The effectiveness of the proposed controller is demonstrated experimentally. The experimental results show that the proposed controller can significantly achieve the high-precision positioning.

  18. A Double-Blind, Active-Controlled Clinical Trial of Sodium Bicarbonate and Calcium Gluconate in the Treatment of Bilateral Osteoarthritis of the Knee

    Directory of Open Access Journals (Sweden)

    María del Carmen Caamaño

    2017-02-01

    Full Text Available Objective: To evaluate the effect of intra-articular injections of sodium bicarbonate with a single (SBCG1 or double dose (SBCG2 of calcium gluconate administered monthly compared with methylprednisolone (MP for treatment of knee osteoarthritis. Methods: A 3-month, randomized, double-blind clinical trial with patients diagnosed with knee osteoarthritis (OA. The outcome variables were the Western Ontario-McMaster University Osteoarthritis Index (WOMAC and the Lequesne functional index. Results: After 3 months, all treatments significantly improved in overall WOMAC and Lequesne scores. Mean changes (95% confidence interval in WOMAC total score and the Lequesne index, respectively, for SBCG1 (−12.5 [−14.3, −10.7]; −9.0 [−11.4, −6.7] and SBCG2 (−12.3 [−14.3, −10.4]; −8.9 [−10.4, −7.4] were significantly greater than for MP (−5.0 [−7.2, −2.8]; −3.2 [−4.9, −1.5] ( P  < .001. Conclusions: Intra-articular injections of sodium bicarbonate and calcium gluconate are useful for short-term relief of OA symptoms in patients with bilateral knee osteoarthritis. Both treatments are more effective than MP injections in the reduction of knee OA symptoms. Trial Registration: Clinicaltrials.gov NCT00977444

  19. Studies on performances of the control system of plasma position and shape

    International Nuclear Information System (INIS)

    Aikawa, Hiroshi; Tsuzuki, Naohisa; Kimura, Toyoaki; Ogata, Atsushi; Ninomiya, Hiromasa

    1978-09-01

    Performance in the control system of plasma position and shape is determined by estimating the disturbing field, system functions and load variation of the controlled object. Various stray fields are considered as disturbing field. Plasma internal inductance and poloidal beta are taken into consideration as load variation of the controlled object. The required performance is obtained through considerations of plasma equilibrium, stability, impurity concentration and sensors accuracy. The results are described as requests to the poloidal power supply system. (author)

  20. Robust quasi NID current and flux control of an induction motor for position control

    NARCIS (Netherlands)

    van Duijnhoven, M.; Blachuta, M.J.

    1999-01-01

    In the paper, a new control design method called Dynamic Contraction method is applied to the flux and quadrature current robust control of an induction motor operated using the field orientation principle. The resulting input-output decoupled and linearized drive is then used for time-optimal

  1. Design of L1 -Adaptive Controller for Single Axis Positioning Table

    Directory of Open Access Journals (Sweden)

    Amjad Jalil Humaidi

    2017-11-01

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

  2. Positioning and tracking control system analysis for mobile free space optical network

    Science.gov (United States)

    Li, Yushan; Refai, Hazem; Sluss, , James J., Jr.; Verma, Pramode; LoPresti, Peter

    2005-08-01

    Free Space Optical (FSO) communication has evolved to be applied to the mobile network, because it can provide up to 2.5Gbps or higher data rate wireless communication. One of the key challenges with FSO systems is to maintain the Line of Sight (LOS) between transmitter and receiver. In this paper, the feasibility and performance of applying the FSO technology to the mobile network is explored, and the design plan of the attitude positioning and tracking control system of the FSO transceiver is investigated. First, the system architecture is introduced, the requirements for the control system are analyzed, the involved reference frames and frame transformation are presented. Second, the control system bandwidth is used to evaluate the system performance in controlling a positioning system consisting of a gimbal and a steering mirror, some definitions to describe the positioning accuracy and tracking capacity are given. The attitude control of a FSO transceiver is split into 2 similar channels: pitch and yaw. Using an equivalent linear control system model, the simulations are carried out, with and without the presence of uncertainties that includes GPS data errors and sensor measurement errors. Finally, based on the simulation results in the pitch channel, the quantitative evaluation on the performance of the control system is given, including positioning accuracy, tracking capability and uncertainty tolerance.

  3. Position calibration of a 3-DOF hand-controller with hybrid structure

    Science.gov (United States)

    Zhu, Chengcheng; Song, Aiguo

    2017-09-01

    A hand-controller is a human-robot interactive device, which measures the 3-DOF (Degree of Freedom) position of the human hand and sends it as a command to control robot movement. The device also receives 3-DOF force feedback from the robot and applies it to the human hand. Thus, the precision of 3-DOF position measurements is a key performance factor for hand-controllers. However, when using a hybrid type 3-DOF hand controller, various errors occur and are considered originating from machining and assembly variations within the device. This paper presents a calibration method to improve the position tracking accuracy of hybrid type hand-controllers by determining the actual size of the hand-controller parts. By re-measuring and re-calibrating this kind of hand-controller, the actual size of the key parts that cause errors is determined. Modifying the formula parameters with the actual sizes, which are obtained in the calibrating process, improves the end position tracking accuracy of the device.

  4. Bilateral, independent juvenile nasopharyngeal angiofibroma

    DEFF Research Database (Denmark)

    Mørkenborg, Marie-Louise; Frendø, M; Stavngaard, T

    2015-01-01

    BACKGROUND: Juvenile nasopharyngeal angiofibroma is a benign, vascular tumour that primarily occurs in adolescent males. Despite its benign nature, aggressive growth patterns can cause potential life-threatening complications. Juvenile nasopharyngeal angiofibroma is normally unilateral, originating...... from the sphenopalatine artery, but bilateral symptoms can occur if a large tumour extends to the contralateral side of the nasopharynx. This paper presents the first reported case of true bilateral extensive juvenile nasopharyngeal angiofibroma involving clinically challenging pre-surgical planning...... embolisation. Radical removal performed as one-step, computer-assisted functional endoscopic sinus surgery was performed. The follow-up period was uncomplicated. CONCLUSION: This case illustrates the importance of suspecting bilateral juvenile nasopharyngeal angiofibroma in patients presenting with bilateral...

  5. Bilateral papillary renal cell carcinoma

    International Nuclear Information System (INIS)

    Gossios, K.; Vazakas, P.; Argyropoulou, M.; Stefanaki, S.; Stavropoulos, N.E.

    2001-01-01

    Papillary renal cell carcinoma is a subgroup of malignant renal epithelial neoplasms. We report the clinical and imaging findings of a case with multifocal and bilateral renal cell carcinoma which are nonspecific. (orig.)

  6. Bilateral internal laryngoceles mimicking asthma

    Directory of Open Access Journals (Sweden)

    Elif A Aksoy

    2013-01-01

    Full Text Available Laryngocele is an air-filled, abnormal dilation of the laryngeal saccule that extends upward within the false vocal fold, in communication with the laryngeal lumen. A case of 43-year-old male with bilateral internal laryngoceles, who has been treated as asthma for 4 years, is presented. The patient had dyspnea, cough, and excessive phlegm for a month and a late onset stridor. Flexible nasopharyngolaryngoscopy showed bilateral cystic enlargements of the false vocal folds and true vocal folds could not be visualized. Laryngeal CT without contrast enhancement showed bilateral internal laryngoceles. Submucosal total excision of bilateral cystic masses including parts of false vocal folds was performed. The symptoms resolved immediately after surgery. Although the incidence of internal laryngocele is rare, it should be remembered in the differential diagnosis of upper airway problems and diagnostic flexible nasopharnygolaryngoscopy is routinely indicated for airway evaluation in at-risk patients.

  7. Study of Globus-M Tokamak Poloidal System and Plasma Position Control

    Science.gov (United States)

    Dokuka, V. N.; Korenev, P. S.; Mitrishkin, Yu. V.; Pavlova, E. A.; Patrov, M. I.; Khayrutdinov, R. R.

    2017-12-01

    In order to provide efficient performance of tokamaks with vertically elongated plasma position, control systems for limited and diverted plasma configuration are required. The accuracy, stability, speed of response, and reliability of plasma position control as well as plasma shape and current control depend on the performance of the control system. Therefore, the problem of the development of such systems is an important and actual task in modern tokamaks. In this study, the measured signals from the magnetic loops and Rogowski coils are used to reconstruct the plasma equilibrium, for which linear models in small deviations are constructed. We apply methods of the H∞-optimization theory to the synthesize control system for vertical and horizontal position of plasma capable to working with structural uncertainty of the models of the plant. These systems are applied to the plasma-physical DINA code which is configured for the tokamak Globus-M plasma. The testing of the developed systems applied to the DINA code with Heaviside step functions have revealed the complex dynamics of plasma magnetic configurations. Being close to the bifurcation point in the parameter space of unstable plasma has made it possible to detect an abrupt change in the X-point position from the top to the bottom and vice versa. Development of the methods for reconstruction of plasma magnetic configurations and experience in designing plasma control systems with feedback for tokamaks provided an opportunity to synthesize new digital controllers for plasma vertical and horizontal position stabilization. It also allowed us to test the synthesized digital controllers in the closed loop of the control system with the DINA code as a nonlinear model of plasma.

  8. Incentive-Rewarding Mechanism for User-position Control in Mobile Services

    Science.gov (United States)

    Yoshino, Makoto; Sato, Kenichiro; Shinkuma, Ryoichi; Takahashi, Tatsuro

    When the number of users in a service area increases in mobile multimedia services, no individual user can obtain satisfactory radio resources such as bandwidth and signal power because the resources are limited and shared. A solution for such a problem is user-position control. In the user-position control, the operator informs users of better communication areas (or spots) and navigates them to these positions. However, because of subjective costs caused by subjects moving from their original to a new position, they do not always attempt to move. To motivate users to contribute their resources in network services that require resource contributions for users, incentive-rewarding mechanisms have been proposed. However, there are no mechanisms that distribute rewards appropriately according to various subjective factors involving users. Furthermore, since the conventional mechanisms limit how rewards are paid, they are applicable only for the network service they targeted. In this paper, we propose a novel incentive-rewarding mechanism to solve these problems, using an external evaluator and interactive learning agents. We also investigated ways of appropriately controlling rewards based on user contributions and system service quality. We applied the proposed mechanism and reward control to the user-position control, and demonstrated its validity.

  9. Simultaneous bilateral patellar tendon rupture ?

    OpenAIRE

    Moura, Diogo Lino; Marques, Jos? Pedro; Lucas, Francisco Manuel; Fonseca, Fernando Pereira

    2016-01-01

    Bilateral patellar tendon rupture is a rare entity, often associated with systemic diseases and patellar tendinopathy. The authors report a rare case of a 34-year-old man with simultaneous bilateral rupture of the patellar tendon caused by minor trauma. The patient is a retired basketball player with no past complaints of chronic knee pain and a history of steroid use. Surgical management consisted in primary end-to-end tendon repair protected temporarily with cerclage wiring, followed by a s...

  10. Bilateral sarkoidose i glandula parotis

    DEFF Research Database (Denmark)

    Hahn, Pernille; Krogdahl, Annelise; Godballe, Christian

    2012-01-01

    We describe an unusual case of sarcoidosis in which the patient presented with a bilateral swelling of the parotid salivary glands and no other manifestation of the disease. Sarcoidosis is a multisystem granulomatous disorder of unknown cause in which there may be multiple exocrine involvement......, including the salivary glands. This case emphasises the importance of including sarcoidosis in the differential diagnosis of bilateral parotid swelling....

  11. The control system position to the electric probe in the Tokamak Novillo

    International Nuclear Information System (INIS)

    Sanchez Garcia, A.M.

    1993-01-01

    The electric probe are used to determine the parameters of electronic temperatures, the electron density and the plasma potential in Tokamak machines. On this machines the electric probes are used only in the plasma edge due to the intensive flow of high energy particles. This is the region in which the plasma density and temperature are relatively low. It is showed, in this work, the design and construction of an electro mechanic system which is used to control the position of the probe into the discharge chamber. This system is called T he control system position to the electric probe in the tokamak Novillo . This controller is a minimum system that is in charge , by a programming, to rule a step motor by a logic sequence commutation. This is done with the purpose of slide the probe in a radial way with a milli metric precision into the discharge chamber. To this purpose it is used a step motor, due it is principal characteristic is the control of the end element position without a feedback needing of the wrong signal. The system function consist on reading, through a board, the corresponding data to the position where it is wanted to place the probe, it also displays by a numeric indicator the position in which the probe is located (in an interval from 0 to 100 mm), and provide the logic sequence commutation for the step motor. The minimum system is constituted by the micro controller 8748-8 that gives with all precision the control of the electric probe position in the Tokamak Novillo, by programming, associated circuits, amplification unit bi phase unipolar and switching power (they supply the power to the control circuit and to the step motor too), avoiding the destruction of the electric probe. (Author). 17 refs, 29 figs

  12. BP neural network tuned PID controller for position tracking of a pneumatic artificial muscle.

    Science.gov (United States)

    Fan, Jizhuang; Zhong, Jun; Zhao, Jie; Zhu, Yanhe

    2015-01-01

    Although Pneumatic Artificial Muscle (PAM) has a promising future in rehabilitation robots, it's difficult to realize accurate position control due to its highly nonlinear properties. This paper deals with position control of PAM. To describe the hysteresis inside PAM, a polynomial based phenomenological function is developed. Based on the phenomenological model for PAM and analysis of pressure dynamics within PAM, an adaptive cascade controller is proposed. Both outer loop and inner loop employ BP Neural Network tuned PID algorithm. The outer loop is to handle high nonlinearities and unmodeled dynamics of PAM, while the inner loop is responsible for nonlinearities caused by pressure dynamics. Experimental results show high tracking accuracy as compared with a convention PID controller. The proposed controller is effective in improving performance of PAM and will be implemented in a rehabilitation robot.

  13. Diagnosis and Fault-Tolerant Control for Thruster-Assisted Position Mooring System

    DEFF Research Database (Denmark)

    Nguyen, Trong Dong; Blanke, Mogens; Sørensen, Asgeir

    2007-01-01

    Development of fault-tolerant control systems is crucial to maintain safe operation of o®shore installations. The objective of this paper is to develop a fault- tolerant control for thruster-assisted position mooring (PM) system with faults occurring in the mooring lines. Faults in line......'s pretension or line breaks will degrade the performance of the positioning of the vessel. Faults will be detected and isolated through a fault diagnosis procedure. When faults are detected, they can be accommodated through the control action in which only parameter of the controlled plant has to be updated...... to cope with the faulty condition. Simulations will be carried out to verify the advantages of the fault-tolerant control strategy for the PM system....

  14. A remote handling rate-position controller for telemanipulating in a large workspace

    International Nuclear Information System (INIS)

    Barrio, Jorge; Ferre, Manuel; Suárez-Ruiz, Francisco; Aracil, Rafael

    2014-01-01

    This paper presents a new haptic rate-position controller, which allows manipulating a slave robot in a large workspace using a small haptic device. This control algorithm is very effective when the master device is much smaller than the slave device. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing tasks in a large remote workspace by using a haptic device with a reduced workspace such as Phantom. Experimental results have been carried out using a slave robot from Kraft Telerobotics and a commercial haptic interface as a master device. A curvature path following task has been simulated using the proposed controller which was compared with the force-position control algorithm. Results obtained show that higher accuracy is obtained when the proposed method is used, spending a similar amount of time to perform the task

  15. A remote handling rate-position controller for telemanipulating in a large workspace

    Energy Technology Data Exchange (ETDEWEB)

    Barrio, Jorge, E-mail: jordi.barrio@upm.es; Ferre, Manuel, E-mail: m.ferre@upm.es; Suárez-Ruiz, Francisco, E-mail: fa.suarez@upm.es; Aracil, Rafael, E-mail: rafael.aracil@upm.es

    2014-01-15

    This paper presents a new haptic rate-position controller, which allows manipulating a slave robot in a large workspace using a small haptic device. This control algorithm is very effective when the master device is much smaller than the slave device. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing tasks in a large remote workspace by using a haptic device with a reduced workspace such as Phantom. Experimental results have been carried out using a slave robot from Kraft Telerobotics and a commercial haptic interface as a master device. A curvature path following task has been simulated using the proposed controller which was compared with the force-position control algorithm. Results obtained show that higher accuracy is obtained when the proposed method is used, spending a similar amount of time to perform the task.

  16. A switched energy saving position controller for variable-pressure electro-hydraulic servo systems.

    Science.gov (United States)

    Tivay, Ali; Zareinejad, Mohammad; Rezaei, S Mehdi; Baghestan, Keivan

    2014-07-01

    The electro-hydraulic servo system (EHSS) demonstrates a relatively low level of efficiency compared to other available actuation methods. The objective of this paper is to increase this efficiency by introducing a variable supply pressure into the system and controlling this pressure during the task of position tracking. For this purpose, an EHSS structure with controllable supply pressure is proposed and its dynamic model is derived from the basic laws of physics. A switching control structure is then proposed to control both the supply pressure and the cylinder position at the same time, in a way that reduces the overall energy consumption of the system. The stability of the proposed switching control system is guaranteed by proof, and its performance is verified by experimental testing. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  17. Position and force control of a vehicle with two or more steerable drive wheels

    Energy Technology Data Exchange (ETDEWEB)

    Reister, D.B.; Unseren, M.A.

    1992-10-01

    When a vehicle with two or more steerable drive wheels is traveling in a circle, the motion of the wheels is constrained. The wheel translational velocity divided by the radius to the center of rotation must be the same for all wheels. When the drive wheels are controlled independently using position control, the motion of the wheels may violate the constraints and the wheels may slip. Consequently, substantial errors can occur in the orientation of the vehicle. A vehicle with N drive wheels has (N - 1) constraints and one degree of freedom. We have developed a new approach to the control of a vehicle with N steerable drive wheels. The novel aspect of our approach is the use of force control. To control the vehicle, we have one degree of freedom for the position on the circle and (N - 1) forces that can be used to reduce errors. Recently, Kankaanranta and Koivo developed a control architecture that allows the force and position degrees of freedom to be decoupled. In the work of Kankaanranta and Koivo the force is an exogenous input. We have made the force endogenous by defining the force in terms of the errors in satisfying the rigid body kinematic constraints. We have applied the control architecture to the HERMIES-III robot and have measured a dramatic reduction in error (more than a factor of 20) compared to motions without force control.

  18. IgG4-Related Disease of Bilateral Temporal Bones.

    Science.gov (United States)

    Li, Lilun; Ward, Bryan; Cocks, Margaret; Kheradmand, Amir; Francis, Howard W

    2017-03-01

    IgG4-related disease (IgG4-RD) is an idiopathic inflammatory condition that causes pseudotumor formation in single or multiple organs, including those of the head and neck. Temporal bone involvement is rare, with only 3 cases of unilateral temporal bone IgG4-RD described in the literature. We report the first known case of IgG4-RD of bilateral temporal bones and describe its clinical presentation, diagnosis, and treatment. The patient was a 52-year-old man with latent tuberculosis (TB) who presented with a 10-year history of bilateral profound hearing loss and vestibular dysfunction. Computed tomography and magnetic resonance imaging demonstrated bilateral labyrinthine destruction with invasion of the posterior fossa. Immunoglobulin level testing showed elevated total serum IgG levels with normal IgG4 levels. Bilateral mastoidectomies were performed, with biopsy samples demonstrating IgG4 staining with IgG4-positive plasma cells up to 40/HPF (high power field) on the right and 20/HPF on the left, consistent with bilateral IgG4-RD. IgG4-RD of bilateral temporal bones presents with chronic and progressive bilateral hearing loss and vestibular dysfunction. Clinical presentation and radiologic findings are nonspecific, and definitive diagnosis must be made with histopathology and immunostaining. Corticosteroids are therapeutic, but surgical resection may be necessary for temporal bone IgG4-RD to improve long-term remission.

  19. Design of a Single-Cell Positioning Controller Using Electroosmotic Flow and Image Processing

    Directory of Open Access Journals (Sweden)

    Jhong-Yin Chen

    2013-05-01

    Full Text Available The objective of the current research was not only to provide a fast and automatic positioning platform for single cells, but also improved biomolecular manipulation techniques. In this study, an automatic platform for cell positioning using electroosmotic flow and image processing technology was designed. The platform was developed using a PCI image acquisition interface card for capturing images from a microscope and then transferring them to a computer using human-machine interface software. This software was designed by the Laboratory Virtual Instrument Engineering Workbench, a graphical language for finding cell positions and viewing the driving trace, and the fuzzy logic method for controlling the voltage or time of an electric field. After experiments on real human leukemic cells (U-937, the success of the cell positioning rate achieved by controlling the voltage factor reaches 100% within 5 s. A greater precision is obtained when controlling the time factor, whereby the success rate reaches 100% within 28 s. Advantages in both high speed and high precision are attained if these two voltage and time control methods are combined. The control speed with the combined method is about 5.18 times greater than that achieved by the time method, and the control precision with the combined method is more than five times greater than that achieved by the voltage method.

  20. Hysteresis Analysis and Positioning Control for a Magnetic Shape Memory Actuator

    Science.gov (United States)

    Lin, Jhih-Hong; Chiang, Mao-Hsiung

    2015-01-01

    Magnetic shape memory alloys (MSM alloys), a new kind of smart materials, have become a potential candidate in many engineering fields. MSMs have the advantage of bearing a huge strain, much larger than other materials. In addition, they also have fast response. These characteristics make MSM a good choice in micro engineering. However, MSMs display the obvious hysteresis phenomenon of nonlinear behavior. Thus the difficulty in using the MSM element as a positioning actuator is increased due to the hysteresis. In this paper, the hysteresis phenomenon of the MSM actuator is analyzed, and the closed-loop positioning control is also implemented experimentally. For that, a modified fuzzy sliding mode control (MFSMC) is proposed. The MFSMC and the PID control are used to design the controllers for realizing the positioning control. The experimental results are compared under different experimental conditions, such as different frequency, amplitude, and loading. The experimental results show that the precise positioning control of MFSMC can be achieved satisfactorily. PMID:25853405

  1. Hydrostatic control system for the height position of the JINR synchrotron

    International Nuclear Information System (INIS)

    Vasyutinskij, I.Yu.; Zinov'ev, L.P.; Karpov, I.I.

    1978-01-01

    Hydrostatic system with remote read-out is created for a more operative control of height position of synchrocyclotrone electromagnet. 3 hydrostatic heads with electrocontact registration of liquid level position were mounted on every electromagnet quadrant. The heads are placed under the magnet in centers of survey channel of the foundation and are switched on in series. Teh schemes of the main system units are given. The order of assembling and adjustment of hydrostatic system elements of the accelerator is described

  2. Growth-related changes of skeletal and upper-airway features in bilateral cleft lip and palate patients.

    Science.gov (United States)

    Akarsu-Guven, Bengisu; Karakaya, Jale; Ozgur, Figen; Aksu, Muge

    2015-10-01

    The craniofacial morphology of subjects with cleft lip and palate differs from that of subjects without clefts. Subjects with bilateral cleft lip and palate tend to have maxillary retrognathism, a smaller mandible with an obtuse gonial angle, greater anterior upper and lower facial heights, and retroclined maxillary incisors. The purposes of this research were to compare the skeletal and upper-airway features of subjects with bilateral cleft lip and palate with the same features in control subjects without clefts and to determine the growth-related changes at different growth stages. The sample comprised 212 subjects divided into 2 groups: 68 with bilateral cleft lip and palate, and 144 controls without clefts; each group was further divided into 4 subgroups according to growth stage using the cervical vertebral maturation stage method. The subgroups were defined as early childhood (stage 1), prepubertal (stage 2), pubertal (stage 3), and postpubertal (stage 4). The cephalometric variables were evaluated with 2-way analysis of variance and the Bonferroni test. Maxillary position showed no significant differences between the male groups. The maxilla was more prognathic at stage 2 and became more retrognathic at stages 3 and 4 in the females. The mandible was more retrusive in the bilateral cleft lip and palate subjects at stage 1 in males and at stages 3 and 4 in females. ANB was larger at stages 1 and 2, and it became similar to the controls at stages 3 and 4 in male and female bilateral cleft lip and palate subjects. Vertical growth was seen in the bilateral cleft lip and palate subjects regardless of sex, and no change was observed with age. Posterior airway space was narrower in all stages (except for stage 1 in females). Middle airway space was wider after stage 1 in the male and female bilateral cleft lip and palate subjects. Inferior airway space was narrower in the male bilateral cleft lip and palate patients at the early childhood and pubertal stages. Age

  3. Application of robot kinematics methods to the simulation and control of neutron beam line positioning systems

    Energy Technology Data Exchange (ETDEWEB)

    James, Jonathan A. [Open University, Materials Engineering, Walton Hall, Milton Keynes, Buckinghamshire MK7 6AA (United Kingdom)]. E-mail: j.a.j.james@open.ac.uk; Edwards, Lyndon [Open University, Materials Engineering, Walton Hall, Milton Keynes, Buckinghamshire MK7 6AA (United Kingdom)

    2007-02-11

    Neutron stress measurements require specimens of complex geometry to be speedily and accurately positioned and oriented with respect to the neutron beam. Recognition that a majority of the specimen positioning systems in use at strain scanning facilities are effectively serial robot manipulators, suggests that the methods of serial robot kinematic modelling may be applied to advantage. The adoption of robotics methods provides a simple and reliable framework for controlling positioning systems of arbitrary geometry and complexity. In addition the numerical solution of the inverse kinematic problem is facilitated, allowing specimens to be automatically positioned and orientated so that pre-determined strain components are measured. It is also shown that, given sufficient degrees of freedom, a secondary characteristic of the measurement position such as the measurement count time may be simultaneously optimised.

  4. Method of improving heterogeneous oil reservoir polymer flooding effect by positively-charged gel profile control

    Science.gov (United States)

    Zhao, Ling; Xia, Huifen

    2018-01-01

    The project of polymer flooding has achieved great success in Daqing oilfield, and the main oil reservoir recovery can be improved by more than 15%. But, for some strong oil reservoir heterogeneity carrying out polymer flooding, polymer solution will be inefficient and invalid loop problem in the high permeability layer, then cause the larger polymer volume, and a significant reduction in the polymer flooding efficiency. Aiming at this problem, it is studied the method that improves heterogeneous oil reservoir polymer flooding effect by positively-charged gel profile control. The research results show that the polymer physical and chemical reaction of positively-charged gel with the residual polymer in high permeability layer can generate three-dimensional network of polymer, plugging high permeable layer, and increase injection pressure gradient, then improve the effect of polymer flooding development. Under the condition of the same dosage, positively-charged gel profile control can improve the polymer flooding recovery factor by 2.3∼3.8 percentage points. Under the condition of the same polymer flooding recovery factor increase value, after positively-charged gel profile control, it can reduce the polymer volume by 50 %. Applying mechanism of positively-charged gel profile control technology is feasible, cost savings, simple construction, and no environmental pollution, therefore has good application prospect.

  5. Determination of curve 1/M profile as a function of control rod bank position

    International Nuclear Information System (INIS)

    Pereira, Valmir; Martinez, Aquilino Senra; Silva, Fernando Carvalho da

    2002-01-01

    Determination of the subcritical multiplication curve profile (1/M) as a function of control rod bank position is of paramount importance to the development of a system which allows to foresee and also anticipate determination of criticality of a PWR reactor core. This work aims at determining this profile. For that, the 3D- two group-diffusion equations for a subcritical PWR reactor core with external neutron source is solved for different control rod bank positions. Results obtained are compared with the results from the corresponding eigenvalue problem, in order to verify how the external neutron source interferes with the reactor criticality search. (author)

  6. A Toroidally Symmetric Plasma Simulation code for design of position and shape control on tokamak plasmas

    International Nuclear Information System (INIS)

    Takase, Haruhiko; Senda, Ikuo

    1999-01-01

    A Toroidally Symmetric Plasma Simulation (TSPS) code has been developed for investigating the position and shape control on tokamak plasmas. The analyses of three-dimensional eddy currents on the conducting components around the plasma and the two-dimensional magneto-hydrodynamic (MHD) equilibrium are taken into account in this code. The code can analyze the plasma position and shape control during the minor disruption in which the deformation of plasma is not negligible. Using the ITER (International Thermonuclear Experimental Reactor) parameters, some examples of calculations are shown in this paper. (author)

  7. Theoretical and experimental investigation of position-controlled semi-active friction damper for seismic structures

    Science.gov (United States)

    Lu, Lyan-Ywan; Lin, Tzu-Kang; Jheng, Rong-Jie; Wu, Hsin-Hsien

    2018-01-01

    A semi-active friction damper (SAFD) can be employed for the seismic protection of structural systems. The effectiveness of an SAFD in absorbing seismic energy is usually superior to that of its passive counterpart, since its slip force can be altered in real time according to structural response and excitation. Most existing SAFDs are controlled by adjusting the clamping force applied on the friction interface. Thus, the implementation of SAFDs in practice requires precision control of the clamping force, which is usually substantially larger than the slip force. This may increase the implementation complexity and cost of SAFDs. To avoid this problem, this study proposes a novel position-controlled SAFD, named the leverage-type controllable friction damper (LCFD). The LCFD system combines a traditional passive friction damper and a leverage mechanism with a movable central pivot. By simply controlling the pivot position, the damping force generated by the LCFD system can be adjusted in real time. In order to verify the feasibility of the proposed SAFD, a prototype LCFD was tested by using a shaking table. The test results demonstrate that the equivalent friction force and hysteresis loop of the LCFD can be regulated by controlling the pivot position. By considering 16 ground motions with two different intensities, the adaptive feature of the LCFD for seismic structural control is further demonstrated numerically.

  8. Position controller for the arm of a neutron diffractometer using fuzzy logic

    International Nuclear Information System (INIS)

    Ayala P, G.F.

    1994-01-01

    The neutron diffractometer is an important instrument coupled to one of the radial outlets of the TRIGA-3-Salazar Reactor and is used mainly to analyze textures and crystal lattices. One of its main components is the velocity analysis goniometer which controls in a tangential way the movements of the sensor requiring for this a resolution of a hundredth of degree, but at the same time wide displacements are required. It is necessary to design and construct a system on the basis of a micro controller which control the long movements in a rapid way and with the needed accuracy. In this work, a proposition is presented: to replace the A.C. motor with a D.C. motor with a wide range of velocity and supplied with a card (DAC) to control the velocity by means of digital data. Moreover, a programmed micro controller with an algorithm based on fuzzy logic receiving data in BCD will be use. The use of micro controller will allow to set free the personal computer of the position of the goniometer; nevertheless, the system will report to the P C and its control program about the present position of the goniometer and the time when the desired position is reached. It is also consider that the user will be away from the system (a minimum of 15 meters) in order to avoid the zone with a high intensity of background radiation. (Author)

  9. A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm

    Directory of Open Access Journals (Sweden)

    Giovanni Gerardo Muscolo

    2013-01-01

    Full Text Available The authors propose a comparison between two force-position controllers with gravity compensation simulated on the DEXTER bioinspired robotic arm. The two controllers are both constituted by an internal proportional-derivative (PD closed-loop for the position control. The force control of the two systems is composed of an external proportional (P closed-loop for one system (P system and an external proportional-integrative (PI closed-loop for the other system (PI system. The simulation tests performed with the two systems on a planar representation of the DEXTER, an eight-DOF bioinspired arm, showed that by varying the stiffness of the environment, with a correct setting of parameters, both systems ensure the achievement of the desired force regime and with great precision the desired position. The two controllers do not have large differences in performance when interacting with a lower stiffness environment. In case of an environment with greater rigidity, the PI system is more stable. The subsequent implementation of these control systems on the DEXTER robotic bioinspired arm gives guidance on the design and control optimisation of the arms of the humanoid robot named SABIAN.

  10. [Bilateral ovarian Burkitt's lymphoma. A case presentation].

    Science.gov (United States)

    Briseño-Hernández, Andrés Alejandro; Quezada-López, Deissy Roxana; Castañeda-Chávez, Agar; Dassaejv Macías-Amezcua, Michel; Pintor-Belmontes, Julio Cesar

    2014-01-01

    Burkitt lymphoma, is described as an aggressive form of non-Hodgkin lymphoma of B cells which occurs most often in children and young adults, ovarian lymphoma can appear as a primary lesion or more commonly referred to as a metastasis. Primary ovarian lesions are rare manifestations corresponding to 0.5% of non-Hodgkin lymphoma and 1.5% of ovarian tumors. Clinic case: 31 years old female with general weakness, march incapacity, dyspnea, hyporexia, fever, diaphoresis, weight loss of 20 kg, flat abs with abdominal pain; Ca125 610 U/ml. Abdominal computed tomography shows a solid aspect tumor which affects the right pelvic cavity. Bilateral ovarian tumors were removed. Microscopically, both lesions show a "starry sky" pattern composed by a monotonous infiltration of lymphocytes mixed with large and clear macrophages, several atypical mitoses, and necrosis and hemorrhage areas. Immunohistochemistry was positive for CD10, CD20, and negative for CD3 and high Ki67 proliferation index. Bilateral ovarian Burkitt's lymphoma was diagnosed. Bilateral ovarian Burkitt's lymphoma is a rare entity, with a variability of presentations, the abdominal pain and abdominal tumors are the most frequent. The patient's prognosis at short term is poor, therefore it's necessary to know this entity and make an early diagnosis.

  11. Identification and control of plasma vertical position using neural network in Damavand tokamak

    International Nuclear Information System (INIS)

    Rasouli, H.; Rasouli, C.; Koohi, A.

    2013-01-01

    In this work, a nonlinear model is introduced to determine the vertical position of the plasma column in Damavand tokamak. Using this model as a simulator, a nonlinear neural network controller has been designed. In the first stage, the electronic drive and sensory circuits of Damavand tokamak are modified. These circuits can control the vertical position of the plasma column inside the vacuum vessel. Since the vertical position of plasma is an unstable parameter, a direct closed loop system identification algorithm is performed. In the second stage, a nonlinear model is identified for plasma vertical position, based on the multilayer perceptron (MLP) neural network (NN) structure. Estimation of simulator parameters has been performed by back-propagation error algorithm using Levenberg–Marquardt gradient descent optimization technique. The model is verified through simulation of the whole closed loop system using both simulator and actual plant in similar conditions. As the final stage, a MLP neural network controller is designed for simulator model. In the last step, online training is performed to tune the controller parameters. Simulation results justify using of the NN controller for the actual plant.

  12. Identification and control of plasma vertical position using neural network in Damavand tokamak

    Energy Technology Data Exchange (ETDEWEB)

    Rasouli, H. [School of Plasma Physics and Nuclear Fusion, Institute of Nuclear Science and Technology, AEOI, P.O. Box 14155-1339, Tehran (Iran, Islamic Republic of); Advanced Process Automation and Control (APAC) Research Group, Faculty of Electrical Engineering, K.N. Toosi University of Technology, P.O. Box 16315-1355, Tehran (Iran, Islamic Republic of); Rasouli, C.; Koohi, A. [School of Plasma Physics and Nuclear Fusion, Institute of Nuclear Science and Technology, AEOI, P.O. Box 14155-1339, Tehran (Iran, Islamic Republic of)

    2013-02-15

    In this work, a nonlinear model is introduced to determine the vertical position of the plasma column in Damavand tokamak. Using this model as a simulator, a nonlinear neural network controller has been designed. In the first stage, the electronic drive and sensory circuits of Damavand tokamak are modified. These circuits can control the vertical position of the plasma column inside the vacuum vessel. Since the vertical position of plasma is an unstable parameter, a direct closed loop system identification algorithm is performed. In the second stage, a nonlinear model is identified for plasma vertical position, based on the multilayer perceptron (MLP) neural network (NN) structure. Estimation of simulator parameters has been performed by back-propagation error algorithm using Levenberg-Marquardt gradient descent optimization technique. The model is verified through simulation of the whole closed loop system using both simulator and actual plant in similar conditions. As the final stage, a MLP neural network controller is designed for simulator model. In the last step, online training is performed to tune the controller parameters. Simulation results justify using of the NN controller for the actual plant.

  13. Position Control Method For Pick And Place Robot Arm For Object Sorting System

    Directory of Open Access Journals (Sweden)

    Khin Moe Myint

    2015-08-01

    Full Text Available The more increase the number of industries in developing countries the more require labourers or workers in that. To reduce the cost of labour force and to increase the manufacturing capacity of industries the advanced robot arms are more needed. The aim of this journal is to eliminate the manual control for object sorting system.Robot arm design in this research uses two joints three links and servo motors to drive. Microcontroller is used to generate required PWM signal for servo motors. In this research the position control of robot arm was designed by using kinematic control methods. There are two types of kinematic control methods which are forward and reverse kinematic methods. In forward kinematic method the input parameters are the joint angles and link length of robot arm and then the output is the position at XYZ coordinate of tool or gripper. In inverse kinematic the input parameters are position at XYZ coordinate of gripper and the link length of robot arm and then the output parameters are the joint angles. So kinematic methods can explain the analytical description of the geometry motion of the manipulator with reference to a robot coordinate system fixed to a frame without consideration of the forces or the moments causing the movements. For sorting system Metal detector is used to detect the metal or non-metal. This position control of pick and place robot arm is fully tested and the result is obtained more precisely.

  14. A Clustered Randomized Controlled Trial of the Positive Prevention PLUS Adolescent Pregnancy Prevention Program.

    Science.gov (United States)

    LaChausse, Robert G

    2016-09-01

    To determine the impact of Positive Prevention PLUS, a school-based adolescent pregnancy prevention program on delaying sexual intercourse, birth control use, and pregnancy. I randomly assigned a diverse sample of ninth grade students in 21 suburban public high schools in California into treatment (n = 2483) and control (n = 1784) groups that participated in a clustered randomized controlled trial. Between October 2013 and May 2014, participants completed baseline and 6-month follow-up surveys regarding sexual behavior and pregnancy. Participants in the treatment group were offered Positive Prevention PLUS, an 11-lesson adolescent pregnancy prevention program. The program had statistically significant impacts on delaying sexual intercourse and increasing the use of birth control. However, I detected no program effect on pregnancy rates at 6-month follow-up. The Positive Prevention PLUS program demonstrated positive impacts on adolescent sexual behavior. This suggests that programs that focus on having students practice risk reduction skills may delay sexual activity and increase birth control use.

  15. Asymmetric Fuzzy Control of a Positive and Negative Pneumatic Pressure Servo System

    Science.gov (United States)

    Yang, Gang; Du, Jing-Min; Fu, Xiao-Yun; Li, Bao-Ren

    2017-11-01

    The pneumatic pressure control systems have been used in some fields. However, the researches on pneumatic pressure control mainly focus on constant pressure regulation. Poor dynamic characteristics and strong nonlinearity of such systems limit its application in the field of pressure tracking control. In order to meet the demand of generating dynamic pressure signal in the application of the hardware-in-the-loop simulation of aerospace engineering, a positive and negative pneumatic pressure servo system is provided to implement dynamic adjustment of sealed chamber pressure. A mathematical model is established with simulation and experiment being implemented afterwards to discuss the characteristics of the system, which shows serious asymmetry in the process of charging and discharging. Based on the analysis of the system dynamics, a fuzzy proportional integral derivative (PID) controller with asymmetric fuzzy compensator is proposed. Different from conventional adjusting mechanisms employing the error and change in error of the controlled variable as input parameters, the current chamber pressure and charging or discharging state are chosen as inputs of the compensator, which improves adaptability. To verify the effectiveness and performance of the proposed controller, the comparison experiments tracking sinusoidal and square wave commands are conducted. Experimental results show that the proposed controller can obtain better dynamic performance and relatively consistent control performance across the scope of work (2-140 kPa). The research proposes a fuzzy control method to overcome asymmetry and enhance adaptability for the positive and negative pneumatic pressure servo system.

  16. A rare case of bilateral aspergillus endophthalmitis

    Directory of Open Access Journals (Sweden)

    Saurabh Gupta

    2015-12-01

    Full Text Available Aspergillus endophthalmitis is a devastating inflammatory condition of the intraocular cavities that may result in irreparable loss of vision and rapid destruction of the eye. Almost all cases in the literature have shown an identified source causing aspergillus endophthalmitis as a result of direct extension of disease. We present a rare case of bilateral aspergillus endophthalmitis. A 72-year-old woman with a history of diabetes mellitus, congenital Hirschsprung disease, and recent culture-positive candida pyelonephritis with hydronephrosis status post-surgical stent placement presented with difficulty opening her eyes. She complained of decreased vision (20/200 with pain and redness in both eyes – right worse then left. Examination demonstrated multiple white fungal balls in both retinas consistent with bilateral fungal endophthalmitis. Bilateral vitreous taps for cultures and staining were performed. Patient was given intravitreal injections of amphotericin B, vancomycin, ceftazidime, and started on oral fluconazole. Patient was scheduled for vitrectomy to decrease organism burden and to remove loculated areas of infection that would not respond to systemic antifungal agents. Four weeks after initial presentation, the fungal cultures revealed mold growth consistent with aspergillus. Patient was subsequently started on voriconazole and fluconazole was discontinued due to poor efficacy against aspergillus. Further workup was conducted to evaluate for the source of infection and seeding. Transthoracic cardiogram was unremarkable for any vegetation or valvular abnormalities. MRI of the orbits and sinuses did not reveal any mass lesions or bony destruction. CT of the chest was unremarkable for infection. Aspergillus endophthalmitis may occur because of one of these several mechanisms: hematogenous dissemination, direct inoculation by trauma, and contamination during surgery. Our patient's cause of bilateral endophthalmitis was through an

  17. Research of fuel temperature control in fuel pipeline of diesel engine using positive temperature coefficient material

    Directory of Open Access Journals (Sweden)

    Xiaolu Li

    2016-01-01

    Full Text Available As fuel temperature increases, both its viscosity and surface tension decrease, and this is helpful to improve fuel atomization and then better combustion and emission performances of engine. Based on the self-regulated temperature property of positive temperature coefficient material, this article used a positive temperature coefficient material as electric heating element to heat diesel fuel in fuel pipeline of diesel engine. A kind of BaTiO3-based positive temperature coefficient material, with the Curie temperature of 230°C and rated voltage of 24 V, was developed, and its micrograph and element compositions were also analyzed. By the fuel pipeline wrapped in six positive temperature coefficient ceramics, its resistivity–temperature and heating characteristics were tested on a fuel pump bench. The experiments showed that in this installation, the surface temperature of six positive temperature coefficient ceramics rose to the equilibrium temperature only for 100 s at rated voltage. In rated power supply for six positive temperature coefficient ceramics, the temperature of injection fuel improved for 21°C–27°C within 100 s, and then could keep constant. Using positive temperature coefficient material to heat diesel in fuel pipeline of diesel engine, the injection mass per cycle had little change, approximately 0.3%/°C. This study provides a beneficial reference for improving atomization of high-viscosity liquids by employing positive temperature coefficient material without any control methods.

  18. Robust balancing and position control of a single spherical wheeled mobile platform

    OpenAIRE

    Yavuz, Fırat; Yavuz, Firat; Ünel, Mustafa; Unel, Mustafa

    2016-01-01

    Self-balancing mobile platforms with single spherical wheel, generally called ballbots, are suitable example of underactuated systems. Balancing control of a ballbot platform, which aims to maintain the upright orientation by rejecting external disturbances, is important during station keeping or trajectory tracking. In this paper, acceleration based balancing and position control of a single spherical wheeled mobile platform that has three single-row omniwheel drive m...

  19. Positive Analysis of Invasive Species Control as a Dynamic Spatial Process

    OpenAIRE

    Buyuktahtakin, Esra; Feng, Zhuo; Olsson, Aaryn; Frisvold, George B.; Szidarovszky, Ferenc

    2010-01-01

    This paper models control of invasive buffelgrass (Pennisetum ciliare), a fire-prone African bunchgrass spreading rapidly across the southern Arizona desert as a spatial dynamic process. Buffelgrass spreads over a gridded landscape. Weed carrying capacity, treatment costs, and damages vary over grid cells. Damage from buffelgrass depends on its spatial distribution in relation to valued resources. We conduct positive analysis of recommended heuristic strategies for buffelgrass control, evalua...

  20. Control of plasma poloidal shape and position in the DIII-D tokamak

    International Nuclear Information System (INIS)

    Walker, M.L.; Humphreys, D.A.; Ferron, J.R.

    1997-11-01

    Historically, tokamak control design has been a combination of theory driving an initial control design and empirical tuning of controllers to achieve satisfactory performance. This approach was in line with the focus of past experiments on simply obtaining sufficient control to study many of the basic physics issues of plasma behavior. However, in recent years existing experimental devices have required increasingly accurate control. New tokamaks such as ITER or the eventual fusion power plant must achieve and confine burning fusion plasmas, placing unprecedented demands on regulation of plasma shape and position, heat flux, and burn characteristics. Control designs for such tokamaks must also function well during initial device operation with minimal empirical optimization required. All of these design requirements imply a heavy reliance on plasma modeling and simulation. Thus, plasma control design has begun to use increasingly modern and sophisticated control design methods. This paper describes some of the history of plasma control for the DIII-D tokamak as well as the recent effort to implement modern controllers. This effort improves the control so that one may obtain better physics experiments and simultaneously develop the technology for designing controllers for next-generation tokamaks

  1. Open-loop position tracking control of a piezoceramic flexible beam using a dynamic hysteresis compensator

    International Nuclear Information System (INIS)

    Nguyen, Phuong-Bac; Choi, Seung-Bok

    2010-01-01

    This paper proposes a novel hysteresis compensator to enhance control accuracy in open-loop position tracking control of a piezoceramic flexible beam. The proposed hysteresis compensator consists of two components: a rate-independent hysteresis compensator and a nonlinear filter. The compensator is formulated based on the inverse Preisach model, while the weight coefficients of the filter are identified adaptively using a recursive least square (RLS) algorithm. In this work, two dynamic hysteresis compensators (or rate-independent hysteresis compensators) are developed by adopting two different nonlinear filters: Volterra and bilinear filters. In order to demonstrate the improved control accuracy of the proposed dynamic compensators, a flexible beam associated with the piezoceramic actuator is modeled using the finite element method (FEM) and Euler–Bernoulli beam theory. The beam model is then integrated with the proposed hysteresis model to achieve accurate position tracking control at the tip of the beam. An experimental investigation on the tip position tracking control is undertaken by realizing three different hysteresis compensators: a rate-independent hysteresis compensator, a rate-dependent hysteresis compensator with a Volterra nonlinear filter and a rate-independent hysteresis compensator with a bilinear nonlinear filter. It is shown that the proposed dynamic hysteresis compensators can provide much better tracking control accuracy than conventional rate-independent hysteresis compensators

  2. 38 CFR 4.26 - Bilateral factor.

    Science.gov (United States)

    2010-07-01

    ... 38 Pensions, Bonuses, and Veterans' Relief 1 2010-07-01 2010-07-01 false Bilateral factor. 4.26... DISABILITIES General Policy in Rating § 4.26 Bilateral factor. When a partial disability results from disease... disability. The bilateral factor will be applied to such bilateral disabilities before other combinations are...

  3. Tri-code inductance control rod position indicator with several multi-coding-bars

    International Nuclear Information System (INIS)

    Shi Jibin; Jiang Yueyuan; Wang Wenran

    2004-01-01

    A control rod position indicator named as tri-code inductance control rod position indicator with multi-coding-bars, which possesses simple structure, reliable operation and high precision, is developed. The detector of the indicator is composed of K coils, a compensatory coil and K coding bars. Each coding bar consists of several sections of strong magnetic cores, several sections of weak magnetic cores and several sections of non-magnetic portions. As the control rod is withdrawn, the coding bars move in the center of the coils respectively, while the constant alternating current passes the coils and makes them to create inductance alternating voltage signals. The outputs of the coils are picked and processed, and the tri-codes indicating rod position can be gotten. Moreover, the coding principle of the detector and its related structure are introduced. The analysis shows that the indicator owns more advantage over the coils-coding rod position indicator, so it can meet the demands of the rod position indicating in nuclear heating reactor (NHR). (authors)

  4. Bilateral Endoscopic Medial Maxillectomy for Bilateral Inverted Papilloma

    Science.gov (United States)

    Kodama, Satoru; Kawano, Toshiaki; Suzuki, Masashi

    2012-01-01

    Inverted papilloma (IP) is a benign tumor of the nasal cavity and paranasal sinuses that is unilateral in most cases. Bilateral IP, involving both sides of the nasal cavity and sinuses, is extremely rare. This paper describes a large IP that filled in both sides of the nasal cavity and sinuses, mimicking association with malignancy. The tumor was successfully treated by bilateral endoscopic medial maxillectomy (EMM). The patient is without evidence of the disease 24 months after surgery. If preoperative diagnosis does not confirm the association with malignancy in IP, endoscopic sinus surgery (ESS) should be selected, and ESS, including EMM, is a good first choice of the treatment for IP. PMID:22953103

  5. Bilateral spontaneous hemotympanum: Case report

    Directory of Open Access Journals (Sweden)

    Economou Nicolas C

    2006-10-01

    Full Text Available Abstract Background The most common causes of hemotympanum are therapeutic nasal packing, epistaxis, blood disorders and blunt trauma to the head. Hemotympanum is characterized as idiopathic, when it is detected in the presence of chronic otitis media. A rare case of spontaneous bilateral hemotympanum in a patient treated with anticoagulants is presented herein. Case presentation A 72-year-old male presented with acute deterioration of hearing. In the patient's medical history aortic valve replacement 1 year before presentation was reported. Since then he had been administered regularly coumarinic anticoagulants, with INR levels maintained between 3.4 and 4.0. Otoscopy revealed the presence of bilateral hemotympanum. The audiogram showed symmetrical moderately severe mixed hearing loss bilaterally, with the conductive component predominating. Tympanograms were flat bilaterally with absent acoustic reflexes. A computerized tomography scan showed the presence of fluid in the mastoid and middle ear bilaterally. Treatment was conservative and consisted of a 10-day course of antibiotics, anticongestants and temporary interruption of the anticoagulant therapy. After 3 weeks, normal tympanic membranes were found and hearing had returned to previous levels. Conclusion Anticoagulant intake should be included in the differential diagnosis of hemotympanum, because its detection and appropriate treatment may lead to resolution of the disorder.

  6. Testing links between childhood positive peer relations and externalizing outcomes through a randomized controlled intervention study

    NARCIS (Netherlands)

    Witvliet, M.; van Lier, P.A.C.; Cuijpers, P.; Koot, H.M.

    2009-01-01

    In this study, the authors used a randomized controlled trial to explore the link between having positive peer relations and externalizing outcomes in 758 children followed from kindergarten to the end of 2nd grade. Children were randomly assigned to the Good Behavior Game (GBG), a universal

  7. A Positive Control for Detection of Functional CD4 T Cells in PBMC: The CPI Pool.

    Science.gov (United States)

    Schiller, Annemarie; Zhang, Ting; Li, Ruliang; Duechting, Andrea; Sundararaman, Srividya; Przybyla, Anna; Kuerten, Stefanie; Lehmann, Paul V

    2017-12-07

    Testing of peripheral blood mononuclear cells (PBMC) for immune monitoring purposes requires verification of their functionality. This is of particular concern when the PBMC have been shipped or stored for prolonged periods of time. While the CEF (Cytomegalo-, Epstein-Barr and Flu-virus) peptide pool has become the gold standard for testing CD8 cell functionality, a positive control for CD4 cells is so far lacking. The latter ideally consists of proteins so as to control for the functionality of the antigen processing and presentation compartments, as well. Aiming to generate a positive control for CD4 cells, we first selected 12 protein antigens from infectious/environmental organisms that are ubiquitous: Varicella, Influenza, Parainfluenza, Mumps, Cytomegalovirus, Streptococcus , Mycoplasma , Lactobacillus , Neisseria , Candida , Rubella, and Measles. Of these antigens, three were found to elicited interferon (IFN)-γ-producing CD4 cells in the majority of human test subjects: inactivated cytomegalo-, parainfluenza-, and influenza virions (CPI). While individually none of these three antigens triggered a recall response in all donors, the pool of the three (the 'CPI pool'), did. One hundred percent of 245 human donors tested were found to be CPI positive, including Caucasians, Asians, and African-Americans. Therefore, the CPI pool appears to be suitable to serve as universal positive control for verifying the functionality of CD4 and of antigen presenting cells.

  8. Quantum dots for future nanophotonic devices : lateral ordering, position, and number control

    NARCIS (Netherlands)

    Nötzel, R.

    2010-01-01

    After the general aspects of InAs/InP (100) quantum dots (QDs) regarding the formation of QDs versus quantum dashes, wavelength tuning from telecom to mid-infrared region, and device applications, we discuss our recent progress on the lateral ordering, position, and number control of QDs.

  9. Control rod position and temperature coefficients in HTTR power-rise tests. Interim report

    International Nuclear Information System (INIS)

    Fujimoto, Nozomu; Nojiri, Naoki; Takada, Eiji; Saito, Kenji; Kobayashi, Shoichi; Sawahata, Hiroaki; Kokusen, Sigeru

    2001-03-01

    Power-rise tests of the High Temperature Engineering Test Reactor (HTTR) have been carried out aiming to achieve 100% power. So far, 50% of power operation and many tests have been carried out. In the HTTR, temperature change in core is so large to achieve the outlet coolant temperature of 950degC. To improve the calculation accuracy of the HTTR reactor physics characteristics, control rod positions at criticality and temperature coefficients were measured at each step to achieve 50% power level. The calculations were carried out using Monte Carlo code and diffusion theory with temperature distributions in the core obtained by reciprocal calculation of thermo-hydraulic code and diffusion theory. Control rod positions and temperature coefficients were calculated by diffusion theory and Monte Carlo method. The test results were compared to calculation results. The control rod positions at criticality showed good agreement with calculation results by Monte Carlo method with error of 50 mm. The control position at criticality at 100% was predicted around 2900mm. Temperature coefficients showed good agreement with calculation results by diffusion theory. The improvement of calculation will be carried out comparing the measured results up to 100% power level. (author)

  10. Radiometric control of the position of blind holes axes in graphite blocks of high temperature reactors

    International Nuclear Information System (INIS)

    Boutaine, J.L.; Bujas, R.; Lemonnier, A.; Tortel, J.

    1976-01-01

    The principles of a radiometric method intended for controlling the positions of blind hole axes are given. A comparison is made between radiometry and radiography and the performances obtained using a thulium 170 source are described. The automation capabilities are discussed [fr

  11. The Relationships between Positive Thinking Skills, Academic Locus of Control and Grit in Adolescents

    Science.gov (United States)

    Çelik, Ismail; Sariçam, Hakan

    2018-01-01

    The main purpose of this study is to examine the possible relationships between academic locus of control, positive thinking skills and grit in high school students. The participants of the research are composed of 288 adolescents continuing their high school education from 4 different schools in Agri, Turkey, which were selected with convenient…

  12. Voltage directive drive with claw pole motor and control without rotor position indicator

    Science.gov (United States)

    Stroenisch, Volker Ewald

    Design and testing of a voltage directive drive for synchronous variable speed claw pole motor and control without rotor position indicator is described. Economic analysis of the designed regulation is performed. Computations of stationary and dynamic behavior are given and experimental operational behavior is determined. The motors can be used for electric transportation vehicles, diesel motors, and electric railway engines.

  13. 78 FR 51078 - Reporting Requirements for Positive Train Control Expenses and Investments

    Science.gov (United States)

    2013-08-20

    ...] Reporting Requirements for Positive Train Control Expenses and Investments AGENCY: Surface Transportation... investments and expenses. PTC is an automated system designed to prevent train-to-train collisions and other..., PTC expenditures are incorporated into the R-1 under the category of ``capital investments and...

  14. [Relationship between the prone position and achieving head control at 3 months].

    Science.gov (United States)

    Pérez-Machado, J L; Rodríguez-Fuentes, G

    2013-10-01

    Owing to the significant increase of mild motor delays and the strong intolerance of infants to be placed on prone position observed in the Physiotherapy Unit of the Maternal and Children's University Hospital of the Canaries (HUMIC), a study was conducted to determine whether positioning infants in the prone position while awake affected the achievement and quality of head control at three months. A prospective comparative practice-based study of a representative sample of 67 healthy infants born in the HUMIC, and divided into an experimental group (n = 35) and control group (n = 32). The Alberta Infant Motor Scale (AIMS) and a parent questionnaire were used as measurement tools. The intervention consisted of regular home visits to the experimental group (from the first to the third month). The two groups were evaluated in their homes at the end of 3 months. The differences in mean raw score of the AIMS at 3 months were, 16.26 in the experimental group and 10.38 in control group (P<.001). The percentile mean was 94 in the experimental group, and less than 50 (42) in the control group. All of the experimental group babies achieved the head control, with only 8 in the control group (25%). The significant findings suggest a direct relationship between the time spent in the prone position when the baby is awake and the achievement of head control at three months. Copyright © 2012 Asociación Española de Pediatría. Published by Elsevier Espana. All rights reserved.

  15. Positioning of sensors for control of ventilation systems in broiler houses: a case study

    Directory of Open Access Journals (Sweden)

    Thayla Morandi Ridolfi de Carvalho Curi

    Full Text Available ABSTRACT Ventilation systems are incorporated at intensive poultry farms to control environment conditions and thermal comfort of broilers. The ventilation system operates based on environmental data, particularly measured by sensors of temperature and relative humidity. Sensors are placed at different positions of the facility. Quality, number and positioning of the sensors are critical factors to achieve an efficient performance of the system. For this reason, a strategic positioning of the sensors associated to controllers could support the maintenance and management of the microclimate inside the facility. This research aims to identify the three most representative points for the positioning of sensors in order to support the ventilation system during the critical period from 12h00 to 15h00 on summer days. Temperature, relative humidity and wind speed were measured in four different tunnel ventilated barns at the final stage of the production cycle. The descriptive analysis was performed on these data. The Temperature and Humidity Index (THI was also calculated. Then, the geostatistical analysis of THI was performed by GS+ and the position of sensors was determined by ordinary kriging. The methodology was able to detect the most representative points for the positioning of sensors in a case study (southeastern Brazil. The results suggested that this strategic positioning would help controllers to obtain a better inference of the microclimate during the studied period (the hottest microclimate, considered critical in Brazil. In addition, these results allow developing a future road map for a decision support system based on 24 h monitoring of the ventilation systems in broiler houses.

  16. Pull-pull position control of dual motor wire rope transmission.

    Science.gov (United States)

    Guo, Quan; Jiao, Zongxia; Yan, Liang; Yu, Qian; Shang, Yaoxing

    2016-08-01

    Wire rope transmission is very efficient because of the small total moving object mass. The wire rope could only transmit pulling force. Therefore it has to be kept in a tightened state during transmission; in high speed applications the dynamic performance depends on the rope's stiffness, which can be adjusted by the wire rope tension. To improve the system dynamic performance output, this paper proposes a novel pull-pull method based on dual motors connected by wire ropes, for precise, high speed position control applications. The method can regulate target position and wire rope tension simultaneously. Wire ropes remain in a pre-tightening state at all times, which prevents the influence of elasticity and reduces the position tracking error in the changing direction process. Simulations and experiments were conducted; the results indicate that both position precision and superior dynamic performance can be synchronously achieved. The research is relevant to space craft precision pointing instruments.

  17. Membrane tension controls adhesion positioning at the leading edge of cells.

    Science.gov (United States)

    Pontes, Bruno; Monzo, Pascale; Gole, Laurent; Le Roux, Anabel-Lise; Kosmalska, Anita Joanna; Tam, Zhi Yang; Luo, Weiwei; Kan, Sophie; Viasnoff, Virgile; Roca-Cusachs, Pere; Tucker-Kellogg, Lisa; Gauthier, Nils C

    2017-09-04

    Cell migration is dependent on adhesion dynamics and actin cytoskeleton remodeling at the leading edge. These events may be physically constrained by the plasma membrane. Here, we show that the mechanical signal produced by an increase in plasma membrane tension triggers the positioning of new rows of adhesions at the leading edge. During protrusion, as membrane tension increases, velocity slows, and the lamellipodium buckles upward in a myosin II-independent manner. The buckling occurs between the front of the lamellipodium, where nascent adhesions are positioned in rows, and the base of the lamellipodium, where a vinculin-dependent clutch couples actin to previously positioned adhesions. As membrane tension decreases, protrusion resumes and buckling disappears, until the next cycle. We propose that the mechanical signal of membrane tension exerts upstream control in mechanotransduction by periodically compressing and relaxing the lamellipodium, leading to the positioning of adhesions at the leading edge of cells. © 2017 Pontes et al.

  18. Global stabilisation of large-scale hydraulic networks with quantised and positive proportional controls

    DEFF Research Database (Denmark)

    Jensen, Tom Nørgaard; Wisniewski, Rafal

    2013-01-01

    a set of decentralised, logarithmic quantised and constrained control actions with properly designed quantisation parameters. That is, an attractor set with a compact basin of attraction exists. Subsequently, the basin can be increased by increasing the control gains. In our work, this result...... is extended by showing that an attractor set with a global basin of attraction exists for arbitrary values of positive control gains, given that the upper level of the quantiser is properly designed. Furthermore, the proof is given for general monotone quantisation maps. Since the basin of attraction...

  19. Guaranteed Cost Finite-Time Control of Fractional-Order Positive Switched Systems

    Directory of Open Access Journals (Sweden)

    Leipo Liu

    2017-01-01

    Full Text Available The problem of guaranteed cost finite-time control of fractional-order positive switched systems (FOPSS is considered in this paper. Firstly, a new cost function is defined. Then, by constructing linear copositive Lyapunov functions and using the average dwell time (ADT approach, a state feedback controller and a static output feedback controller are constructed, respectively, and sufficient conditions are derived to guarantee that the corresponding closed-loop systems are guaranteed cost finite-time stable (GCFTS. Such conditions can be easily solved by linear programming. Finally, two examples are given to illustrate the effectiveness of the proposed method.

  20. Positive and Negative Perfectionism in Migrainus Patients Compaired with Control Group

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    H Afshar

    2008-01-01

    Full Text Available ABSTRACT: Introduction & Objective: The positive and negative effects of perfectionism on human cognition, affection and behavior have been emphasized. Perfectionism has been conceptualized as a multidimensional construct, with both adaptive and maladaptive aspects, which is one of the common personality traits that cause lifelong stress in human and results in anxiety, depression and physical and mental distress.The aim of this study was to assess the positive and negative perfectionism in migrainus patients in comparison with control group. Materials & Methods: This is an analytical (Case-control study which was performed on 91 migraine patients and 88 healthy individuals. The pqtients and controls completed a standard 40 item questionnaire for perfectionism – PANPS (20 for positive and 20 for negative perfectionism . The patients in both groups were matched for gender and age. Mean of positive and negative perfectionism scores for two groups was statistically analysed using SPSS software. Results: Mean positive perfectionism score was 83.47±8.5 for migraine group and 65.47±7.54 for control group (p=0.0001. The difference between two groups was significant. Mean of negative perfectionism score was 74.12±10.6 for migraine group and 51.79±7.8 for control group(p=0.0001. Conclusion: The results show that migraine patients have higher mean of perfectionism scores than healthy individuals. Based on this study and other clinical experiences more attention to psychotherapy is necessary for better management of migraine and recognition of personality profile in migraine patient helps to reduce patient’s complaints.

  1. Asynchronous L1-gain control of uncertain switched positive linear systems with dwell time.

    Science.gov (United States)

    Li, Yang; Zhang, Hongbin

    2018-04-01

    In this paper, dwell time (DT) stability, L 1 -gain performance analysis and asynchronous L 1 -gain controller design problems of uncertain switched positive linear systems (SPLSs) are investigated. Via a time-scheduled multiple linear co-positive Lyapunov function (TSMLCLF) approach, convex sufficient conditions of DT stability and L 1 -gain performance of SPLSs with interval and polytopic uncertainties are presented. Furthermore, by utilizing the feature that the TSMLCLF keeps decreasing even if the controller is running asynchronously with the system, the asynchronous L 1 -gain controller design problem of SPLSs with interval and polytopic uncertainties is investigated. Convex sufficient conditions of the existence of time-varying asynchronous state-feedback controller which can ensure the closed-loop system's positivity, stability and L 1 -gain performance are established, and the controller gain matrices can be calculated instantaneously online. The obtained L 1 -gain in the paper is standard. All the results are presented in terms of linear programming. A practical example is provided to show the effectiveness of the results. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  2. Achondroplasia Associated with Bilateral Keratoconus

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    Ammar M. Al Mahmood

    2012-01-01

    Full Text Available We report a rare case of bilateral keratoconus in association with achondroplasia. A 26-year-old male, with a known case of achondroplasia, complained of bilateral gradual deterioration in vision for the past few years. Slit lamp biomicroscopy showed bilateral central corneal protrusion and stromal thinning at the apex consistent with keratoconus. a trial of hard contact lens fitting failed to improve VA in the left eye (LE. Right eye (RE improved to 20/25. The patient underwent penetrating keratoplasty (PKP in his LE. Twenty-seven months postoperatively, uncorrected visual acuity (UCVA was 20/30. Ophthalmologists should be aware that patients with achondroplasia who complain of poor vision should be suspected of having keratoconus once other more common conditions are ruled out.

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

    Science.gov (United States)

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

    2015-07-01

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

  4. The Influence of PZT Actuators Positioning in Active Structural Acoustic Control

    Directory of Open Access Journals (Sweden)

    P. Švec

    2007-01-01

    Full Text Available This paper deals with the effect of secondary actuator positioning in an active structural acoustics control (ASAC experiment. The ASAC approach is based on minimizing the sound radiation from structures to the far field by controlling the structural vibrations. In this article a rectangular steel plate structure was assumed with one secondary actuator attached to it. As a secondary actuator, a specially designed piezoelectric stripe actuator was used. We studied the effect of the position of the actuator on the pattern and on the radiated sound field of the structural vibration, with and without active control. The total radiated power was also measured. The experimental data was confronted with the results obtained by a numerical solution of the mathematical model used. For the solution, the finite element method in the ANSYS software package was used. 

  5. Position Control of Pneumatic Actuator Using Self-Regulation Nonlinear PID

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    Syed Najib Syed Salim

    2014-01-01

    Full Text Available The enhancement of nonlinear PID (N-PID controller for a pneumatic positioning system is proposed to improve the performance of this controller. This is executed by utilizing the characteristic of rate variation of the nonlinear gain that is readily available in N-PID controller. The proposed equation, namely, self-regulation nonlinear function (SNF, is used to reprocess the error signal with the purpose of generating the value of the rate variation, continuously. With the addition of this function, a new self-regulation nonlinear PID (SN-PID controller is proposed. The proposed controller is then implemented to a variably loaded pneumatic actuator. Simulation and experimental tests are conducted with different inputs, namely, step, multistep, and random waveforms, to evaluate the performance of the proposed technique. The results obtained have been proven as a novel initiative at examining and identifying the characteristic based on a new proposal controller resulting from N-PID controller. The transient response is improved by a factor of 2.2 times greater than previous N-PID technique. Moreover, the performance of pneumatic positioning system is remarkably good under various loads.

  6. An energy-saving nonlinear position control strategy for electro-hydraulic servo systems.

    Science.gov (United States)

    Baghestan, Keivan; Rezaei, Seyed Mehdi; Talebi, Heidar Ali; Zareinejad, Mohammad

    2015-11-01

    The electro-hydraulic servo system (EHSS) demonstrates numerous advantages in size and performance compared to other actuation methods. Oftentimes, its utilization in industrial and machinery settings is limited by its inferior efficiency. In this paper, a nonlinear backstepping control algorithm with an energy-saving approach is proposed for position control in the EHSS. To achieve improved efficiency, two control valves including a proportional directional valve (PDV) and a proportional relief valve (PRV) are used to achieve the control objectives. To design the control algorithm, the state space model equations of the system are transformed to their normal form and the control law through the PDV is designed using a backstepping approach for position tracking. Then, another nonlinear set of laws is derived to achieve energy-saving through the PRV input. This control design method, based on the normal form representation, imposes internal dynamics on the closed-loop system. The stability of the internal dynamics is analyzed in special cases of operation. Experimental results verify that both tracking and energy-saving objectives are satisfied for the closed-loop system. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  7. tDCS over the left prefrontal cortex enhances cognitive control for positive affective stimuli.

    Science.gov (United States)

    Vanderhasselt, Marie-Anne; De Raedt, Rudi; Brunoni, Andre R; Campanhã, Camila; Baeken, Chris; Remue, Jonathan; Boggio, Paulo S

    2013-01-01

    Transcranial Direct Current Stimulation (tDCS) is a neuromodulation technique with promising results for enhancing cognitive information processes. So far, however, research has mainly focused on the effects of tDCS on cognitive control operations for non-emotional material. Therefore, our aim was to investigate the effects on cognitive control considering negative versus positive material. For this sham-controlled, within-subjects study, we selected a homogeneous sample of twenty-five healthy participants. By using behavioral measures and event related potentials (ERP) as indexes, we aimed to investigate whether a single session of anodal tDCS of the left dorsolateral prefrontal cortex (DLPFC) would have specific effects in enhancing cognitive control for positive and negative valenced stimuli. After tDCS over the left DLPFC (and not sham control stimulation), we observed more negative N450 amplitudes along with faster reaction times when inhibiting a habitual response to happy compared to sad facial expressions. Gender did not influence the effects of tDCS on cognitive control for emotional information. In line with the Valence Theory of side-lateralized activity, this stimulation protocol might have led to a left dominant (relative to right) prefrontal cortical activity, resulting in augmented cognitive control specifically for positive relative to negative stimuli. To verify that tDCS induces effects that are in line with all aspects of the well known Valence Theory, future research should investigate the effects of tDCS over the left vs. right DLPFC on cognitive control for emotional information.

  8. tDCS over the left prefrontal cortex enhances cognitive control for positive affective stimuli.

    Directory of Open Access Journals (Sweden)

    Marie-Anne Vanderhasselt

    Full Text Available Transcranial Direct Current Stimulation (tDCS is a neuromodulation technique with promising results for enhancing cognitive information processes. So far, however, research has mainly focused on the effects of tDCS on cognitive control operations for non-emotional material. Therefore, our aim was to investigate the effects on cognitive control considering negative versus positive material. For this sham-controlled, within-subjects study, we selected a homogeneous sample of twenty-five healthy participants. By using behavioral measures and event related potentials (ERP as indexes, we aimed to investigate whether a single session of anodal tDCS of the left dorsolateral prefrontal cortex (DLPFC would have specific effects in enhancing cognitive control for positive and negative valenced stimuli. After tDCS over the left DLPFC (and not sham control stimulation, we observed more negative N450 amplitudes along with faster reaction times when inhibiting a habitual response to happy compared to sad facial expressions. Gender did not influence the effects of tDCS on cognitive control for emotional information. In line with the Valence Theory of side-lateralized activity, this stimulation protocol might have led to a left dominant (relative to right prefrontal cortical activity, resulting in augmented cognitive control specifically for positive relative to negative stimuli. To verify that tDCS induces effects that are in line with all aspects of the well known Valence Theory, future research should investigate the effects of tDCS over the left vs. right DLPFC on cognitive control for emotional information.

  9. Bilateral Testicular Tumors Resulting in Recurrent Cushing Disease After Bilateral Adrenalectomy.

    Science.gov (United States)

    Puar, Troy; Engels, Manon; van Herwaarden, Antonius E; Sweep, Fred C G J; Hulsbergen-van de Kaa, Christina; Kamphuis-van Ulzen, Karin; Chortis, Vasileios; Arlt, Wiebke; Stikkelbroeck, Nike; Claahsen-van der Grinten, Hedi L; Hermus, Ad R M M

    2017-02-01

    Recurrence of hypercortisolism in patients after bilateral adrenalectomy for Cushing disease is extremely rare. We present a 27-year-old man who previously underwent bilateral adrenalectomy for Cushing disease with complete clinical resolution. Cushingoid features recurred 12 years later, with bilateral testicular enlargement. Hormonal tests confirmed adrenocorticotropic hormone (ACTH)-dependent Cushing disease. Surgical resection of the testicular tumors led to clinical and biochemical remission. Gene expression analysis of the tumor tissue by quantitative polymerase chain reaction showed high expression of all key steroidogenic enzymes. Adrenocortical-specific genes were 5.1 × 105 (CYP11B1), 1.8 × 102 (CYP11B2), and 6.3 × 104 (MC2R) times higher than nonsteroidogenic fibroblast control. This correlated with urine steroid metabolome profiling showing 2 fivefold increases in the excretion of the metabolites of 11-deoxycortisol, 21-deoxycortisol, and total glucocorticoids. Leydig-specific genes were 4.3 × 101 (LHCGR) and 9.3 × 100 (HSD17B3) times higher than control, and urinary steroid profiling showed twofold increased excretion of the major androgen metabolites androsterone and etiocholanolone. These distinctly increased steroid metabolites were suppressed by dexamethasone but unresponsive to human chorionic gonadotropin stimulation, supporting the role of ACTH, but not luteinizing hormone, in regulating tumor-specific steroid excess. We report bilateral testicular tumors occurring in a patient with recurrent Cushing disease 12 years after bilateral adrenalectomy. Using mRNA expression analysis and steroid metabolome profiling, the tumors demonstrated both adrenocortical and gonadal steroidogenic properties, similar to testicular adrenal rest tumors found in patients with congenital adrenal hyperplasia, suggesting the presence of pluripotent cells even in patients without congenital adrenal hyperplasia. Copyright © 2017 by the Endocrine Society

  10. Coronally positioned flap with or without acellular dermal matrix graft in the treatment of class II gingival recession defects: A randomized controlled clinical study

    Directory of Open Access Journals (Sweden)

    Sunitha Jagannathachary

    2010-01-01

    Full Text Available The aim of the randomized controlled single blind study is to evaluate the treatment of Miller′s class II gingival recessions by coronally positioned flap (CPF with or without acellular dermal matrix allograft (ADMA. Ten patients with 20 sites with maxillary bilateral Miller′s class II facial recession defects were selected randomly into two groups of test (ADMA+CPF and control (CPF alone group with each group having 10 recession defects to be treated. The clinical parameters included plaque index (PI, gingival index (GI, probing pocket depth (PPD, clinical attachment level (CAL, recession height (RH, recession width (RW, height of the keratinized tissue (HKT, and thickness of the keratinized tissue (TKT. These measurements were recorded at baseline and after 6 months post-surgery. Statistical analysis was made by the paired "t" test for intragroup and intergroup comparison was done by the unpaired "t" test. The percentage of root coverage for both the experimental and control groups were 82.2% and 50%, respectively. The changes from baseline to 6 months were significant in both the groups for PD, CAL, and RH; however, for parameters such as RW, HKT, and TKT significance was seen only in the experimental group. On comparison between two groups, only TKT showed statistically significance. It can be concluded that the amount of root coverage obtained with ADMA + CPF was superior compared to CPF alone.

  11. Design of Optimal Hybrid Position/Force Controller for a Robot Manipulator Using Neural Networks

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    Vikas Panwar

    2007-01-01

    Full Text Available The application of quadratic optimization and sliding-mode approach is considered for hybrid position and force control of a robot manipulator. The dynamic model of the manipulator is transformed into a state-space model to contain two sets of state variables, where one describes the constrained motion and the other describes the unconstrained motion. The optimal feedback control law is derived solving matrix differential Riccati equation, which is obtained using Hamilton Jacobi Bellman optimization. The optimal feedback control law is shown to be globally exponentially stable using Lyapunov function approach. The dynamic model uncertainties are compensated with a feedforward neural network. The neural network requires no preliminary offline training and is trained with online weight tuning algorithms that guarantee small errors and bounded control signals. The application of the derived control law is demonstrated through simulation with a 4-DOF robot manipulator to track an elliptical planar constrained surface while applying the desired force on the surface.

  12. Relative position control design of receiver UAV in flying-boom aerial refueling phase.

    Science.gov (United States)

    An, Shuai; Yuan, Suozhong

    2018-02-01

    This paper proposes the design of the relative position-keeping control of the receiver unmanned aerial vehicle (UAV) with the time-varying mass in the refueling phase utilizing an inner-outer loop structure. Firstly, the model of the receiver in the refueling phase is established. And then tank model is set up to analyze the influence of fuel transfer on the receiver. Subsequently, double power reaching law based sliding mode controller is designed to control receiver translational motion relative to tanker aircraft in the outer loop while active disturbance rejection control technique is applied to the inner loop to stabilize the receiver. In addition, the closed-loop stabilities of the subsystems are established, respectively. Finally, an aerial refueling model under various refueling strategies is utilized. Simulations and comparative analysis demonstrate the effectiveness and robustness of the proposed controllers. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  13. Beam position monitor multiplexer controller upgrade at the LAMPF proton storage ring

    International Nuclear Information System (INIS)

    Scarborough, W.K.; Cohen, S.

    1992-01-01

    The beam position monitor (BPM) is one of the primary diagnostic tools used for the tuning of the proton storage ring (PSR) at the Clinton P. Anderson Meson Physics Facility (LAMPF). A replacement for the existing, monolithic, wire-wrapped microprocessor-based BPM multiplexer controller has been built. The controller has been redesigned as a modular system retaining the same functionality of the original system built in 1981. Individual printed circuit cards are used for each controller function to insure greater maintainability and ease of keeping a spare parts inventory. Programmable logic device technology has substantially reduced the component count of the new controller. Diagnostic software was written to support the development of the upgraded controller. The new software actually uncovered some flaws in the original CAMAC interface. (author)

  14. Position control of an electro-pneumatic system based on PWM technique and FLC.

    Science.gov (United States)

    Najjari, Behrouz; Barakati, S Masoud; Mohammadi, Ali; Futohi, Muhammad J; Bostanian, Muhammad

    2014-03-01

    In this paper, modeling and PWM based control of an electro-pneumatic system, including the four 2-2 valves and a double acting cylinder are studied. Dynamic nonlinear behavior of the system, containing fast switching solenoid valves and a pneumatic cylinder, as well as electrical, magnetic, mechanical, and fluid subsystems are modeled. A DC-DC power converter is employed to improve solenoid valve performance and suppress system delay. Among different position control methods, a proportional integrator derivative (PID) controller and fuzzy logic controller (FLC) are evaluated. An experimental setup, using an AVR microcontroller is implemented. Simulation and experimental results verify the effectiveness of the proposed control strategies. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  15. Simultaneous bilateral patellar tendon rupture.

    Science.gov (United States)

    Moura, Diogo Lino; Marques, José Pedro; Lucas, Francisco Manuel; Fonseca, Fernando Pereira

    2017-01-01

    Bilateral patellar tendon rupture is a rare entity, often associated with systemic diseases and patellar tendinopathy. The authors report a rare case of a 34-year-old man with simultaneous bilateral rupture of the patellar tendon caused by minor trauma. The patient is a retired basketball player with no past complaints of chronic knee pain and a history of steroid use. Surgical management consisted in primary end-to-end tendon repair protected temporarily with cerclage wiring, followed by a short immobilization period and intensive rehabilitation program. Five months after surgery, the patient was able to fully participate in sport activities.

  16. Simultaneous bilateral patellar tendon rupture

    Directory of Open Access Journals (Sweden)

    Diogo Lino Moura

    Full Text Available ABSTRACT Bilateral patellar tendon rupture is a rare entity, often associated with systemic diseases and patellar tendinopathy. The authors report a rare case of a 34-year-old man with simultaneous bilateral rupture of the patellar tendon caused by minor trauma. The patient is a retired basketball player with no past complaints of chronic knee pain and a history of steroid use. Surgical management consisted in primary end-to-end tendon repair protected temporarily with cerclage wiring, followed by a short immobilization period and intensive rehabilitation program. Five months after surgery, the patient was able to fully participate in sport activities.

  17. Improving tokamak vertical position control in the presence of power supply voltage saturation

    International Nuclear Information System (INIS)

    Favez, J-Y; Lister, J B; Muellhaupt, Ph; Srinivasan, B

    2005-01-01

    The control of the current, position and shape of an elongated cross-section tokamak plasma is complicated by the so-called instability of the current vertical position. Linearized models all share the feature of a single unstable eigenmode, attributable to this vertical instability of the plasma equilibrium movement, and a large number of stable or marginally stable eigenmodes, attributable to zero or positive resistance in all other model circuit equations. Due to the size and therefore cost of the ITER tokamak, there will naturally be smaller margins in the poloidal field coil power supplies, implying that the feedback control will experience actuator saturation during large transients due to a variety of plasma disturbances. Current saturation is relatively benign, due to the integrating nature of the tokamak, resulting in a reasonable time horizon for strategically handling the approach to saturation which leads to the loss of one degree of freedom in the feedback control for each saturated coil. On the other hand, voltage saturation is produced by the feedback controller itself, with no intrinsic delay. This paper presents a feedback controller design approach which explicitly takes saturation of the power supply voltage into account when producing the power supply demand signals. We consider the vertically stabilizing part of the ITER controller (fast controller) with one power supply and therefore a single saturated input. We consider an existing ITER controller and enlarge its region of attraction to the full null controllable region by adding a continuous nonlinearity into the control. In a system with a single unstable eigenmode and a single stable eigenmode we have already provided a proof of the asymptotical stability of the closed loop system, and we have examined the performance of this new continuous nonlinear controller. We have subsequently extended this analysis to a system with a single eigenmode and multiple stable eigenmodes. The method

  18. Paresia diafragmática bilateral idiopática Idiopathic bilateral diaphragmatic paresis

    Directory of Open Access Journals (Sweden)

    Mônica Corso Pereira

    2006-10-01

    Full Text Available Relata-se o caso de um paciente com dispnéia intensa ao se deitar, em que foram excluídas doenças pulmonares, neuromusculares ou cardíacas, cuja investigação revelou paresia diafragmática bilateral. Um sinal chave para o diagnóstico foi a evidência de respiração paradoxal com o doente em decúbito supino. Havia piora da oxigenação e da capacidade vital forçada com a mudança da posição ortostática para supina. A fluoroscopia ortostática foi normal. A pressão inspiratória máxima estava muito reduzida. A estimulação elétrica transcutânea do diafragma foi normal, e a eletroestimulação do nervo frênico mostrou ausência de resposta, permitindo o diagnóstico de paresia bilateral do diafragma.We report the case of a patient with severe dyspnea upon reclining. Lung disease, neuromuscular disorders and heart disease were ruled out. However, during the course of the investigation, bilateral diaphragmatic paresis was discovered. A key sign leading to the diagnosis was evidence of paradoxical respiration in the dorsal decubitus position. When the patient was moved from the orthostatic position to the dorsal decubitus position, oxygenation and forced vital capacity worsened. The orthostatic fluoroscopy was normal. Maximal inspiratory pressure was severely reduced. The responses to transcutaneous electric stimulation of the diaphragm were normal. However, electric stimulation of the phrenic nerve produced no response, leading to the diagnosis of bilateral diaphragmatic paresis.

  19. Kept in His Care: The Role of Perceived Divine Control in Positive Reappraisal Coping

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    Reed T. DeAngelis

    2017-07-01

    Full Text Available A formidable body of literature suggests that numerous dimensions of religious involvement can facilitate productive coping. One common assumption in this field is that religious worldviews provide overarching frameworks of meaning by which to positively reinterpret stressors. The current study explicitly tests this assumption by examining whether perceived divine control—i.e., the notion that God controls the course and direction of one’s life—buffers the adverse effects of recent traumatic life events on one’s capacity for positive reappraisal coping. We analyze cross-sectional survey data from Vanderbilt University’s Nashville Stress and Health Study (2011–2014, a probability sample of non-Hispanic black and white adults aged 22 to 69 living in Davidson County, Tennessee (n = 1252. Findings from multivariate regression models confirm: (1 there was an inverse association between past-year traumatic life events and positive reappraisals; but (2 perceived divine control significantly attenuated this inverse association. Substantively, our findings suggest that people who believe God controls their life outcomes are better suited for positively reinterpreting traumatic experiences. Implications, limitations, and avenues for future research are discussed.

  20. On Position Sensorless Control for Permanent Magnet Synchronous Motor Based on a New Sliding Mode Observer

    Directory of Open Access Journals (Sweden)

    Qixin Zhu

    2014-10-01

    Full Text Available For the problems of buffeting and phase delay in traditional rotor detection in sensorless vector control of permanent magnet synchronous motor (PMSM, the Sigmoid function is proposed to replace sign function and the approach of piecewise linearization is proposed to compensate phase delay. To the problem that the output of traditional low pass filter contains high- order harmonic, two-stage filter including traditional low-pass filter and Kalman filter is proposed in this paper. Based on the output of traditional first-order low-pass filter, the Kalman filter is used to get modified back-EMF. The phase-locked loop control of rotor position is adopted to estimate motor position and speed. A Matlab/Simulink simulation model of PMSM position servo control system is established. The simulation analysis of the new sliding mode observer’s back-EMF detection, position and speed estimation, load disturbance and dynamic process are carried out respectively. Simulation results verify feasibility of the new sliding mode observer algorithm.

  1. Assessment of Motor Control during Three-Dimensional Movements Tracking with Position-Varying Gravity Compensation

    Directory of Open Access Journals (Sweden)

    Yao Huang

    2017-05-01

    Full Text Available Active movements are important in the rehabilitation training for patients with neurological motor disorders, while weight of upper limb impedes movements due to muscles weakness. The objective of this study is to develop a position-varying gravity compensation strategy for a cable-based rehabilitation robot. The control strategy can estimate real-time gravity torque according to position feedback. Then, the performance of this control strategy was compared with the other two kinds of gravity compensation strategies (i.e., without compensation and with fixed compensation during movements tracking. Seven healthy subjects were invited to conduct tracking tasks along four different directions (i.e., upward, forward, leftward, and rightward. The performance of movements with different compensation strategies was compared in terms of root mean square error (RMSE between target and actual moving trajectories, normalized jerk score (NJS, mean velocity ratio (MVR of main motion direction, and the activation of six muscles. The results showed that there were significant effects in control strategies in all four directions with the RMSE and NJS values in the following order: without compensation > fixed compensation > position-varying compensation and MVR values in the following order: without compensation < fixed compensation < position-varying compensation (p < 0.05. Comparing with movements without compensation in all four directions, the activation of muscles during movements with position-varying compensation showed significant reductions, except the activations of triceps and in forward and leftward movements, the activations of upper trapezius and middle parts of deltoid in upward movements and the activations of posterior parts of deltoid in all four directions (p < 0.05. Therefore, with position-varying gravity compensation, the upper limb cable-based rehabilitation robotic system might assist subjects to perform movements with higher quality and

  2. Longitudinal investigation on learned helplessness tested under negative and positive reinforcement involving stimulus control.

    Science.gov (United States)

    Oliveira, Emileane C; Hunziker, Maria Helena

    2014-07-01

    In this study, we investigated whether (a) animals demonstrating the learned helplessness effect during an escape contingency also show learning deficits under positive reinforcement contingencies involving stimulus control and (b) the exposure to positive reinforcement contingencies eliminates the learned helplessness effect under an escape contingency. Rats were initially exposed to controllable (C), uncontrollable (U) or no (N) shocks. After 24h, they were exposed to 60 escapable shocks delivered in a shuttlebox. In the following phase, we selected from each group the four subjects that presented the most typical group pattern: no escape learning (learned helplessness effect) in Group U and escape learning in Groups C and N. All subjects were then exposed to two phases, the (1) positive reinforcement for lever pressing under a multiple FR/Extinction schedule and (2) a re-test under negative reinforcement (escape). A fourth group (n=4) was exposed only to the positive reinforcement sessions. All subjects showed discrimination learning under multiple schedule. In the escape re-test, the learned helplessness effect was maintained for three of the animals in Group U. These results suggest that the learned helplessness effect did not extend to discriminative behavior that is positively reinforced and that the learned helplessness effect did not revert for most subjects after exposure to positive reinforcement. We discuss some theoretical implications as related to learned helplessness as an effect restricted to aversive contingencies and to the absence of reversion after positive reinforcement. This article is part of a Special Issue entitled: insert SI title. Copyright © 2014. Published by Elsevier B.V.

  3. Bilateral hand/wrist heat and cold hyperalgesia, but not hypoesthesia, in unilateral carpal tunnel syndrome.

    Science.gov (United States)

    de la Llave-Rincón, Ana Isabel; Fernández-de-las-Peñas, César; Fernández-Carnero, Josué; Padua, Luca; Arendt-Nielsen, Lars; Pareja, Juan A

    2009-10-01

    The aim of the current study was to evaluate bilaterally warm/cold detection and heat/cold pain thresholds over the hand/wrist in patients with carpal tunnel syndrome (CTS). A total of 25 women with strictly unilateral CTS (mean 42 +/- 10 years), and 20 healthy matched women (mean 41 +/- 8 years) were recruited. Warm/cold detection and heat/cold pain thresholds were assessed bilaterally over the carpal tunnel and the thenar eminence in a blinded design. Self-reported measures included both clinical pain history (intensity, location and area) and Boston Carpal Tunnel Questionnaire. No significant differences between groups for both warm and cold detection thresholds in either carpal tunnel or thenar eminence (P > 0.5) were found. Further, significant differences between groups, but not between sides, for both heat and cold pain thresholds in both the carpal tunnel and thenar eminence were found (all P < 0.001). Heat pain thresholds (P < 0.01) were negatively correlated, whereas cold pain thresholds (P < 0.001) were positively correlated with hand pain intensity and duration of symptoms. Our findings revealed bilateral thermal hyperalgesia (lower heat pain and reduced cold pain thresholds) but not hypoesthesia (normal warm/cold detection thresholds) in patients with strictly unilateral CTS when compared to controls. We suggest that bilateral heat and cold hyperalgesia may reflect impairments in central nociceptive processing in patients with unilateral CTS. The bilateral thermal hyperalgesia associated with pain intensity and duration of pain history supports a role of generalized sensitization mechanisms in the initiation, maintenance and spread of pain in CTS.

  4. Enhancement of control rod drive mechanism seating position detector for JRR-3

    International Nuclear Information System (INIS)

    Ohuchi, Satoshi; Kurumada, Osamu; Kamiishi, Eigo; Sato, Masayuki; Ikekame, Yoshinori; Wada, Shigeru

    2016-06-01

    The purpose of the control rod drive mechanism seating position detector for JRR-3 is one of methods for confirming the shutdown condition of the reactor and sending out the seat position signal to other systems. The detector has been utilizing more than 25 years with maintenance regularly. However, some troubles occurred recently. Moreover, the detector has already been discontinued, and it is confirmed that the successor detector is unsuitable for the control rod drive mechanism of JRR-3. Therefore, it was necessary to select the adequate detector to the control rod drive mechanism of JRR-3. Accordingly, we built a test device with the aim of verifying several detectors for integrity and function. At the time of the test for performance confirmation, it was occurred unexpected problems. Nevertheless, we devise improvement of the problems and took measures. Thus we were able to make adequate detector for JRR-3 and replace to enhanced detector. This paper reports the Enhanced of Control rod drive mechanism seating position detector. (author)

  5. Prospective, randomized, and controlled trial on ketamine infusion during bilateral axillo-breast approach (BABA) robotic or endoscopic thyroidectomy: Effects on postoperative pain and recovery profiles: A consort compliant article.

    Science.gov (United States)

    Kim, Dong-Ho; Choi, June Young; Kim, Byoung-Gook; Hwang, Jin-Young; Park, Seong-Joo; Oh, Ah-Young; Jeon, Young-Tae; Ryu, Jung-Hee

    2016-12-01

    Robotic or endoscopic thyroidectomy using bilateral axillo-breast approach (BABA) is frequently performed for excellent cosmesis. However, postoperative pain is remained as concerns due to the extent tissue dissection and tension during the operation. Ketamine is a noncompetitive N-methyl-D-aspartate (NMDA) receptor antagonist that reduces acute postoperative pain. We evaluated the effects of intraoperative ketamine infusion on postoperative pain control and recovery profiles following BABA robotic or endoscopic thyroidectomy. Fifty-eight adult patients scheduled for BABA robotic or endoscopic thyroidectomy were randomized into a control group (n = 29) and ketamine group (n = 29). Following induction of anesthesia, patients in each group were infused with the same volume of saline or ketamine solution (1 mg/kg bolus, 60 μg/kg/h continuous infusion). Total intravenous anesthesia with propofol and remifentanil was used to induce and maintain anesthesia. Pain scores (101-point numerical rating scale, 0 = no pain, 100 = the worst imaginable pain), the consumption of rescue analgesics, and other postoperative adverse effects were assessed at 1, 6, 24, and 48 hours postoperatively. Patients in the ketamine group reported lower pain scores than those in the control group at 6 hours (30 [30] vs 50 [30]; P = 0.017), 24 hours (20 [10] vs 30 [20]; P ketamine infusion during anesthesia resulted in lower postoperative pain scores following BABA robotic or endoscopic thyroidectomy, with no increase in adverse events.

  6. Review of the patient positioning reproducibility in head-and-neck radiotherapy using Statistical Process Control.

    Science.gov (United States)

    Moore, Sarah J; Herst, Patries M; Louwe, Robert J W

    2018-05-01

    A remarkable improvement in patient positioning was observed after the implementation of various process changes aiming to increase the consistency of patient positioning throughout the radiotherapy treatment chain. However, no tool was available to describe these changes over time in a standardised way. This study reports on the feasibility of Statistical Process Control (SPC) to highlight changes in patient positioning accuracy and facilitate correlation of these changes with the underlying process changes. Metrics were designed to quantify the systematic and random patient deformation as input for the SPC charts. These metrics were based on data obtained from multiple local ROI matches for 191 patients who were treated for head-and-neck cancer during the period 2011-2016. SPC highlighted a significant improvement in patient positioning that coincided with multiple intentional process changes. The observed improvements could be described as a combination of a reduction in outliers and a systematic improvement in the patient positioning accuracy of all patients. SPC is able to track changes in the reproducibility of patient positioning in head-and-neck radiation oncology, and distinguish between systematic and random process changes. Identification of process changes underlying these trends requires additional statistical analysis and seems only possible when the changes do not overlap in time. Copyright © 2018 Elsevier B.V. All rights reserved.

  7. Study of intelligent system for control of the tokamak-ETE plasma positioning

    International Nuclear Information System (INIS)

    Barbosa, Luis Filipe de Faria Pereira Wiltgen

    2003-01-01

    The development of an intelligent neural control system of the neural type, capable to perform real time control of the plasma displacement in the experiment tokamak spheric - ETE (spherical tokamak experiment ) is presented. The ETE machine is in operation since Nov 2000, in the LAP - Plasma Associated Laboratory of the Brazilian Institute on Spatial Research (INPE) in Sao Jose dos Campos, S P, Brazil. The experiment is dedicated to study the magnetic confinement of a fusion plasma in a configuration favorable for the construction of future reactors. Nuclear fusion constitutes a renewable energy source with low environmental impact, which uses atomic energy in pacific applications for the sustainable development of humanity. One of the important questions for the attainment of fusion relates to the stability of the plasma and control of its position during the reactor operation. Therefore, the development of systems to control the plasma in tokamaks constitutes a necessary technological advance for the feasibility of nuclear fusion. In particular, the research carried out in this thesis concerns the proposal of a system to control the vertical displacement of the plasma in the ETE tokamak, aiming to obtain steady pulses in this machine. A Magnetic Levitation system (Mag Lev) was developed as part of this work, allowing to study the nonlinear behavior of a device that, from the aspect of position control, is similar (analogous) to the plasma in the ETE tokamak, This magnetic levitation system was designed, mathematically modeled and built in order to test both classical and intelligent type controllers. The results of this comparison are very promising for the use of intelligent controllers in the ETE tokamak as well as other control applications. (author)

  8. Bilateral changes in forearm oxygen consumption at rest and after exercise in patients with unilateral Repetitive Strain Injury : A case control study

    NARCIS (Netherlands)

    J. Oosterhof; D. Thijssen; M. Hopman; J. Brunnekreef

    2011-01-01

    To investigate whether oxygen consumption and blood flow at rest and after exercise are lower in the affected arm of patients with repetitive strain injury (RSI) compared to controls, and lower in the healthy nonaffected forearm within patients with unilateral RSI. RSI is considered an upper

  9. Direct force-reflecting two-layer approach for passive bilateral teleoperation with time delays

    NARCIS (Netherlands)

    Heck, D.; Saccon, A.; Beerens, R.; Nijmeijer, H.

    2018-01-01

    We propose a two-layer control architecture for bilateral teleoperation with communication delays. The controller is structured with an (inner) performance layer and an (outer) passivity layer. In the performance layer, any traditional controller for bilateral teleoperation can be implemented. The

  10. A two-layer architecture for force-reflecting bilateral teleoperation with time delays

    NARCIS (Netherlands)

    Heck, D.J.F.; Saccon, A.; Nijmeijer, H.

    2015-01-01

    We propose a two-layer control architecture for bilateral teleoperation with communication delays. The controller is structured with an (outer) performance layer and an (inner) passivity layer. In the performance layer, any traditional controller for bilateral teleoperation can be implemented. In

  11. Bilateral tension pneumothorax after acupuncture.

    Science.gov (United States)

    Mohammad, Nurashikin

    2018-04-19

    Acupuncture is an ancient complementary medicine which is currently used worldwide. Many serious adverse events have been reported which include a spectrum of mild-to-fatal complications. However, the level of awareness with regard to complications is still low both to physicians and patients. We report a 63-year-old who presented with acute shortness of breath 2 hours after having had acupuncture. On examination, there was absent breath sound heard on the left lung and slightly reduced breath sound on the right lung. She had type 1 respiratory failure. Urgent chest radiograph confirmed bilateral pneumothorax which was more severe on the left with tension pneumothorax and mediastinal shift. Chest tubes were inserted bilaterally after failed needle aspiration attempts. Subsequently, the pneumothoraces resolved, and she was discharged well. The bilateral pneumothoraces caused by acupuncture were curable but could have been potentially fatal if diagnosis was delayed. This case report adds to the limited current literature on the complications of acupuncture leading to bilateral pneumothoraces. © BMJ Publishing Group Ltd (unless otherwise stated in the text of the article) 2018. All rights reserved. No commercial use is permitted unless otherwise expressly granted.

  12. Bilateral breast in brothers - abreast

    Directory of Open Access Journals (Sweden)

    Altamash Mohammed Yusuf Shaikh

    2013-01-01

    Full Text Available Gynecomastia is a common occurrence in pubertal age group, and is physiological in up to 65 percent of cases. When occurs in the family it should be investigated in order not to miss on a treatable etiology. Two brothers within the same family, presenting with bilateral gynecomastia of different causes and requiring different treatment are presented.

  13. Positive deviance as a strategy to prevent and control bloodstream infections in intensive care

    Directory of Open Access Journals (Sweden)

    Francimar Tinoco de Oliveira

    Full Text Available Abstract OBJECTIVE To describe the application of positive deviance as a strategy to prevent and control bloodstream infections. METHOD An intervention study with nursing and medical team members working in an intensive care unit in a university hospital, between June and December 2014. The four steps of the positive defiance methodology were applied: to define, to determine, to discover and to design. RESULTS In 90 days, 188 actions were observed, of these, 36.70% (n=69 were related to catheter dressing. In 81.15% (n=56 of these dressings, the professionals most adhered to the use of flexible sterile cotton-tipped swabs to perform antisepsis at catheter entry sites and fixation dressing. CONCLUSION Positive deviance contributed to the implementation of proposals to improve work processes and team development related to problems identified in central venous catheter care.

  14. Dynamics and feedback control of plasma equilibrium position in a tokamak

    International Nuclear Information System (INIS)

    Burenko, O.

    1983-01-01

    A brief history of the beginnings of nuclear fusion research involving toroidal closed-system magnetic plasma containment is presented. A tokamak machine is defined mathematically for the purposes of plasma equilibrium position perturbation analysis. The perturbation equations of a tokamak plasma equilibrium position are developed. Solution of the approximated perturbation equations is carried out. A unique, simple, and useful plasma displacement dynamics transfer function of a tokamak is developed. The dominant time constants of the dynamics transfer function are determined in a symbolic form. This symbolic form of the dynamics transfer function makes it possible to study the stability of a tokamak's plasma equilibrium position. Knowledge of the dynamics transfer function permits systematic syntheses of the required plasma displacement feedback control systems

  15. Robust H∞ Control of Neutral System with Time-Delay for Dynamic Positioning Ships

    Directory of Open Access Journals (Sweden)

    Dawei Zhao

    2015-01-01

    Full Text Available Due to the input time-delay existing in most thrust systems of the ships, the robust H∞ controller is designed for the ship dynamic positioning (DP system with time-delay. The input delay system is turned to a neutral time-delay system by a state-derivative control law. The less conservative result is derived for the neutral system with state-derivative feedback by the delay-decomposition approach and linear matrix inequality (LMI. Finally, the numerical simulations demonstrate the asymptotic stability and robustness of the controller and verify that the designed DP controller is effective in the varying environment disturbances of wind, waves, and ocean currents.

  16. Robust Hinfinity position control synthesis of an electro-hydraulic servo system.

    Science.gov (United States)

    Milić, Vladimir; Situm, Zeljko; Essert, Mario

    2010-10-01

    This paper focuses on the use of the techniques based on linear matrix inequalities for robust H(infinity) position control synthesis of an electro-hydraulic servo system. A nonlinear dynamic model of the hydraulic cylindrical actuator with a proportional valve has been developed. For the purpose of the feedback control an uncertain linearized mathematical model of the system has been derived. The structured (parametric) perturbations in the electro-hydraulic coefficients are taken into account. H(infinity) controller extended with an integral action is proposed. To estimate internal states of the electro-hydraulic servo system an observer is designed. Developed control algorithms have been tested experimentally in the laboratory model of an electro-hydraulic servo system. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

  17. An adaptive feedback controller for transverse angle and position jitter correction in linear particle beam accelerators

    International Nuclear Information System (INIS)

    Barr, D.S.

    1993-01-01

    It is desired to design a position and angle jitter control system for pulsed linear accelerators that will increase the accuracy of correction over that achieved by currently used standard feedback jitter control systems. Interpulse or pulse-to-pulse correction is performed using the average value of each macropulse. The configuration of such a system resembles that of a standard feedback correction system with the addition of an adaptive controller that dynamically adjusts the gain-phase contour of the feedback electronics. The adaptive controller makes changes to the analog feedback system between macropulses. A simulation of such a system using real measured jitter data from the Stanford Linear Collider was shown to decrease the average rms jitter by over two and a half times. The system also increased and stabilized the correction at high frequencies; a typical problem with standard feedback systems

  18. An adaptive feedback controller for transverse angle and position jitter correction in linear particle beam accelerators

    International Nuclear Information System (INIS)

    Barr, D.S.

    1992-01-01

    It is desired to design a position and angle jitter control system for pulsed linear accelerators that will increase the accuracy of correction over that achieved by currently used standard feedback jitter control systems. Interpulse or pulse-to-pulse correction is performed using the average value of each macropulse. The configuration of such a system resembles that of a standard feedback correction system with the addition of an adaptive controller that dynamically adjusts the gain-phase contour of the feedback electronics. The adaptive controller makes changes to the analog feedback system between macropulses. A simulation of such a system using real measured jitter data from the Stanford Linear Collider was shown to decrease the average rms jitter by over two and a half times. The system also increased and stabilized the correction at high frequencies; a typical problem with standard feedback systems

  19. Automated positioning dual-axis solar tracking system with precision elevation and azimuth angle control

    International Nuclear Information System (INIS)

    Sidek, M.H.M.; Azis, N.; Hasan, W.Z.W.; Ab Kadir, M.Z.A.; Shafie, S.; Radzi, M.A.M.

    2017-01-01

    This paper presents a study on an automated positioning open-loop dual-axis solar tracking system. The solar tracker was designed and fabricated using standard cylindrical aluminium hollow and Polyuthrene (PE). The control system of the solar tracker was governed by Micro Controller Unit (MCU) with auxiliary devices which includes encoder and Global Positioning System (GPS). The sun path trajectory algorithm utilizing the astronomical equation and GPS information was also embedded in the system. The power generation performance of the dual-axis solar tracking system was compared with the fixed-tilted Photovoltaic (PV) system. It is found that the solar tracker is able to position itself automatically based on sun path trajectory algorithm with an accuracy of ±0.5°. The embedded Proportional Integral Derivative (PID) positioning system improves the tracking of elevation and azimuth angles with minimum energy consumption. It is reveals that the proposed solar tracker is able generate 26.9% and 12.8% higher power than fixed-tilted PV system on a clear and heavy overcast conditions respectively. Overall, the open-loop dual-axis solar tracker can be deployed automatically at any location on the earth with minimal configurations and is suitable for mobile solar tracking system. - Highlights: • Self-positioning dual-axis solar tracking system. • Precise control of elevation and azimuth angle. • Sun path trajectory based on astronomical equation and GPS. • Can achieve up to 26.9% higher power than fixed-tilted PV system under clear weather condition.

  20. Optimal Control Method of Robot End Position and Orientation Based on Dynamic Tracking Measurement

    Science.gov (United States)

    Liu, Dalong; Xu, Lijuan

    2018-01-01

    In order to improve the accuracy of robot pose positioning and control, this paper proposed a dynamic tracking measurement robot pose optimization control method based on the actual measurement of D-H parameters of the robot, the parameters is taken with feedback compensation of the robot, according to the geometrical parameters obtained by robot pose tracking measurement, improved multi sensor information fusion the extended Kalan filter method, with continuous self-optimal regression, using the geometric relationship between joint axes for kinematic parameters in the model, link model parameters obtained can timely feedback to the robot, the implementation of parameter correction and compensation, finally we can get the optimal attitude angle, realize the robot pose optimization control experiments were performed. 6R dynamic tracking control of robot joint robot with independent research and development is taken as experimental subject, the simulation results show that the control method improves robot positioning accuracy, and it has the advantages of versatility, simplicity, ease of operation and so on.

  1. Wideband Motion Control by Position and Acceleration Input Based Disturbance Observer

    Science.gov (United States)

    Irie, Kouhei; Katsura, Seiichiro; Ohishi, Kiyoshi

    The disturbance observer can observe and suppress the disturbance torque within its bandwidth. Recent motion systems begin to spread in the society and they are required to have ability to contact with unknown environment. Such a haptic motion requires much wider bandwidth. However, since the conventional disturbance observer attains the acceleration response by the second order derivative of position response, the bandwidth is limited due to the derivative noise. This paper proposes a novel structure of a disturbance observer. The proposed disturbance observer uses an acceleration sensor for enlargement of bandwidth. Generally, the bandwidth of an acceleration sensor is from 1Hz to more than 1kHz. To cover DC range, the conventional position sensor based disturbance observer is integrated. Thus, the performance of the proposed Position and Acceleration input based disturbance observer (PADO) is superior to the conventional one. The PADO is applied to position control (infinity stiffness) and force control (zero stiffness). The numerical and experimental results show viability of the proposed method.

  2. Zigbee networking technology and its application in Lamost optical fiber positioning and control system

    Science.gov (United States)

    Jin, Yi; Zhai, Chao; Gu, Yonggang; Zhou, Zengxiang; Gai, Xiaofeng

    2010-07-01

    4,000 fiber positioning units need to be positioned precisely in LAMOST(Large Sky Area Multi-object Optical Spectroscopic Telescope) optical fiber positioning & control system, and every fiber positioning unit needs two stepper motors for its driven, so 8,000 stepper motors need to be controlled in the entire system. Wireless communication mode is adopted to save the installing space on the back of the focal panel, and can save more than 95% external wires compared to the traditional cable control mode. This paper studies how to use the ZigBee technology to group these 8000 nodes, explores the pros and cons of star network and tree network in order to search the stars quickly and efficiently. ZigBee technology is a short distance, low-complexity, low power, low data rate, low-cost two-way wireless communication technology based on the IEEE 802.15.4 protocol. It based on standard Open Systems Interconnection (OSI): The 802.15.4 standard specifies the lower protocol layers-the physical layer (PHY), and the media access control (MAC). ZigBee Alliance defined on this basis, the rest layers such as the network layer and application layer, and is responsible for high-level applications, testing and marketing. The network layer used here, based on ad hoc network protocols, includes the following functions: construction and maintenance of the topological structure, nomenclature and associated businesses which involves addressing, routing and security and a self-organizing-self-maintenance functions which will minimize consumer spending and maintenance costs. In this paper, freescale's 802.15.4 protocol was used to configure the network layer. A star network and a tree network topology is realized, which can build network, maintenance network and create a routing function automatically. A concise tree network address allocate algorithm is present to assign the network ID automatically.

  3. Tungsten carbide-cobalt as a nanoparticulate reference positive control in in vitro genotoxicity assays.

    Science.gov (United States)

    Moche, Hélène; Chevalier, Dany; Barois, Nicolas; Lorge, Elisabeth; Claude, Nancy; Nesslany, Fabrice

    2014-01-01

    With the increasing human exposure to nanoparticles (NP), the evaluation of their genotoxic potential is of significant importance. However, relevance for NP of the routinely used in vitro genotoxicity assays is often questioned, and a nanoparticulate reference positive control would therefore constitute an important step to a better testing of NP, ensuring that test systems are really appropriate. In this study, we investigated the possibility of using tungsten carbide-cobalt (WC-Co) NP as reference positive control in in vitro genotoxicity assays, including 2 regulatory assays, the mouse lymphoma assay and the micronucleus assay, and in the Comet assay, recommended for the toxicological evaluation of nanomedicines by the French Agency of Human Health Products (Afssaps). Through these assays, we were able to study different genetic endpoints in 2 cell types commonly used in regulatory genotoxicity assays: the L5178Y mouse lymphoma cell line and primary cultures of human lymphocytes. Our results showed that the use of WC-Co NP as positive control in in vitro genotoxicity assays was conceivable, but that different parameters have to be considered, such as cell type and treatment schedule. L5178Y mouse lymphoma cells did not provide satisfactory results in the 3 performed tests. However, human lymphocytes were more sensitive to genotoxic effects induced by WC-Co NP, particularly after a 24-h treatment in the in vitro micronucleus assay and after a 4-h treatment in the in vitro Comet assay. Under such conditions, WC-Co could be used as a nanoparticulate reference positive control in these assays.

  4. The Marketing & Positive Impacts of Behavioral Control System on Societies & Countries

    OpenAIRE

    Ahmad Adel Mostafa; Ahmed Mohamed Tawfik

    2015-01-01

    Behavioral control systems are one of the most prominent tools used by managers and marketers for different internal and external purposes. One of the most important external purposes they have been used for is influencing consumer behavior. This paper explores the positive effects of implementing such systems on societies. It discusses consumer perception of the systems, their influence on their financial behavior in different contexts, how can they create order and how as well ...

  5. An Angular Method with Position Control for Block Mesh Squareness Improvement

    Energy Technology Data Exchange (ETDEWEB)

    Yao, J. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Stillman, D. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States)

    2017-09-19

    We optimize a target function de ned by angular properties with a position control term for a basic stencil with a block-structured mesh, to improve element squareness in 2D and 3D. Comparison with the condition number method shows that besides a similar mesh quality regarding orthogonality can be achieved as the former does, the new method converges faster and provides a more uniform global mesh spacing in our numerical tests.

  6. Bilateral renal dysplasia, nephroblastomatosis, and bronchial stenosis. A new syndrome?

    Science.gov (United States)

    Rodriguez, Maria Matilde; Correa-Medina, Mayrin; Whittington, Elizabeth E

    2015-06-01

    Bilateral nephroblastomatosis (NB) is an uncommon renal anomaly characterized by multiple confluent nephrogenic rests scattered through both kidneys, with only a limited number of cases reported in the medical literature. Some of these children may have associated either Perlman or Beckwith-Wiedemann syndrome and others do not demonstrate syndromic features. We report a full-term boy with anteverted nose, bilateral bronchial stenosis due to lack of cartilage, bilateral obstructive renal dysplasia and NB with glomeruloid features. The infant had visceromegaly, but neither gigantism nor hemihypertrophy. Immunohistochemistry for PAX2 (Paired box gene-2) and WT-1 (Wilms Tumor 1) were strongly positive in the areas of NB. GLEPP-1 (Glomerular Epithelial Protein) did not stain the areas of NB with a glomeruloid appearance, but was positive in the renal glomeruli as expected. We found neither associated bronchial stenosis nor the histology of NB resembling giant glomeruli in any of the reported cases of NB.

  7. Position, Attitude, and Fault-Tolerant Control of Tilting-Rotor Quadcopter

    Science.gov (United States)

    Kumar, Rumit

    The aim of this thesis is to present algorithms for autonomous control of tilt-rotor quadcopter UAV. In particular, this research work describes position, attitude and fault tolerant control in tilt-rotor quadcopter. Quadcopters are one of the most popular and reliable unmanned aerial systems because of the design simplicity, hovering capabilities and minimal operational cost. Numerous applications for quadcopters have been explored all over the world but very little work has been done to explore design enhancements and address the fault-tolerant capabilities of the quadcopters. The tilting rotor quadcopter is a structural advancement of traditional quadcopter and it provides additional actuated controls as the propeller motors are actuated for tilt which can be utilized to improve efficiency of the aerial vehicle during flight. The tilting rotor quadcopter design is accomplished by using an additional servo motor for each rotor that enables the rotor to tilt about the axis of the quadcopter arm. Tilting rotor quadcopter is a more agile version of conventional quadcopter and it is a fully actuated system. The tilt-rotor quadcopter is capable of following complex trajectories with ease. The control strategy in this work is to use the propeller tilts for position and orientation control during autonomous flight of the quadcopter. In conventional quadcopters, two propellers rotate in clockwise direction and other two propellers rotate in counter clockwise direction to cancel out the effective yawing moment of the system. The variation in rotational speeds of these four propellers is utilized for maneuvering. On the other hand, this work incorporates use of varying propeller rotational speeds along with tilting of the propellers for maneuvering during flight. The rotational motion of propellers work in sync with propeller tilts to control the position and orientation of the UAV during the flight. A PD flight controller is developed to achieve various modes of the

  8. Testing links between childhood positive peer relations and externalizing outcomes through a randomized controlled intervention study.

    Science.gov (United States)

    Witvliet, Miranda; van Lier, Pol A C; Cuijpers, Pim; Koot, Hans M

    2009-10-01

    In this study, the authors used a randomized controlled trial to explore the link between having positive peer relations and externalizing outcomes in 758 children followed from kindergarten to the end of 2nd grade. Children were randomly assigned to the Good Behavior Game (GBG), a universal classroom-based preventive intervention, or a control condition. Children's acceptance by peers, their number of mutual friends, and their proximity to others were assessed annually through peer ratings. Externalizing behavior was annually rated by teachers. Reductions in children's externalizing behavior and improvements in positive peer relations were found among GBG children, as compared with control-group children. Reductions in externalizing behavior appeared to be partly mediated by the improvements in peer acceptance. This mediating role of peer acceptance was found for boys only. The results suggest that positive peer relations are not just markers, but they are environmental mediators of boys' externalizing behavior development. Implications for research and prevention are discussed. (c) 2009 APA, all rights reserved.

  9. The Marketing & Positive Impacts of Behavioral Control System on Societies & Countries

    Directory of Open Access Journals (Sweden)

    Ahmad Adel Mostafa

    2015-03-01

    Full Text Available Behavioral control systems are one of the most prominent tools used by managers and marketers for different internal and external purposes. One of the most important external purposes they have been used for is influencing consumer behavior. This paper explores the positive effects of implementing such systems on societies. It discusses consumer perception of the systems, their influence on their financial behavior in different contexts, how can they create order and how as well as to what extent should it be implemented and finally how can minimize negative consumer behavior. A judgment based sample of typical consumers was surveyed using questionnaires for collecting primary data on these aspects. Secondary data from Egypt, Singapore and Malaysia was also used as an example of using behavioral control systems. Results show that consumers in general have a positive attitude towards imposing such systems. However, there were worries about misuse, abuse and overuse of theses systems’ policies. Consequently, data shows that behavioral control systems can positively enhance and influence consumer behavior as long as it is used to balance both consumer and retailer interests in a moderate, risk free manner.

  10. Modeling and controller design of a 6-DOF precision positioning system

    Science.gov (United States)

    Cai, Kunhai; Tian, Yanling; Liu, Xianping; Fatikow, Sergej; Wang, Fujun; Cui, Liangyu; Zhang, Dawei; Shirinzadeh, Bijan

    2018-05-01

    A key hurdle to meet the needs of micro/nano manipulation in some complex cases is the inadequate workspace and flexibility of the operation ends. This paper presents a 6-degree of freedom (DOF) serial-parallel precision positioning system, which consists of two compact type 3-DOF parallel mechanisms. Each parallel mechanism is driven by three piezoelectric actuators (PEAs), guided by three symmetric T-shape hinges and three elliptical flexible hinges, respectively. It can extend workspace and improve flexibility of the operation ends. The proposed system can be assembled easily, which will greatly reduce the assembly errors and improve the positioning accuracy. In addition, the kinematic and dynamic model of the 6-DOF system are established, respectively. Furthermore, in order to reduce the tracking error and improve the positioning accuracy, the Discrete-time Model Predictive Controller (DMPC) is applied as an effective control method. Meanwhile, the effectiveness of the DMCP control method is verified. Finally, the tracking experiment is performed to verify the tracking performances of the 6-DOF stage.

  11. Affective processing in positive schizotypy: Loose control of social-emotional information.

    Science.gov (United States)

    Papousek, Ilona; Weiss, Elisabeth M; Mosbacher, Jochen A; Reiser, Eva M; Schulter, Günter; Fink, Andreas

    2014-10-30

    Behavioral studies suggested heightened impact of emotionally laden perceptual input in schizophrenia spectrum disorders, in particular in patients with prominent positive symptoms. De-coupling of prefrontal and posterior cortices during stimulus processing, which is related to loosening of control of the prefrontal cortex over incoming affectively laden information, may underlie this abnormality. Pre-selected groups of individuals with low versus high positive schizotypy (lower and upper quartile of a large screening sample) were tested. During exposure to auditory displays of strong emotions (anger, sadness, cheerfulness), individuals with elevated levels of positive schizotypal symptoms showed lesser prefrontal-posterior coupling (EEG coherence) than their symptom-free counterparts (right hemisphere). This applied to negative emotions in particular and was most pronounced during confrontation with anger. The findings indicate a link between positive symptoms and a heightened impact particularly of threatening emotionally laden stimuli which might lead to exacerbation of positive symptoms and inappropriate behavior in interpersonal situations. Copyright © 2014 Elsevier Inc. All rights reserved.

  12. Informed cytology for triaging HPV-positive women: substudy nested in the NTCC randomized controlled trial.

    Science.gov (United States)

    Bergeron, Christine; Giorgi-Rossi, Paolo; Cas, Frederic; Schiboni, Maria Luisa; Ghiringhello, Bruno; Dalla Palma, Paolo; Minucci, Daria; Rosso, Stefano; Zorzi, Manuel; Naldoni, Carlo; Segnan, Nereo; Confortini, Massimo; Ronco, Guglielmo

    2015-02-01

    Human papillomavirus (HPV)-based screening needs triage. In most randomized controlled trials (RCTs) on HPV testing with cytological triage, cytology interpretation has been blind to HPV status. Women age 25 to 60 years enrolled in the New Technology in Cervical Cancer (NTCC) RCT comparing HPV testing with cytology were referred to colposcopy if HPV positive and, if no cervical intraepithelial neoplasia (CIN) was detected, followed up until HPV negativity. Cytological slides taken at the first colposcopy were retrieved and independently interpreted by an external laboratory, which was only aware of patients' HPV positivity. Sensitivity, specificity, and positive (PPV) and negative (NPV) predictive values were computed for histologically proven CIN2+ with HPV status-informed cytology for women with a determination of atypical squamous cells of undetermined significance (ASCUS) or more severe. All statistical tests were two-sided. Among HPV-positive women, informed cytology had cross-sectional sensitivity, specificity, PPV and 1-NPV for CIN2+ of 85.6% (95% confidence interval [CI] = 76.6 to 92.1), 65.9% (95% CI = 63.1 to 68.6), 16.2% (95% CI = 13.0 to 19.8), and 1.7 (95% CI = 0.9 to 2.8), respectively. Cytology was also associated with subsequent risk of newly diagnosed CIN2+ and CIN3+. The cross-sectional relative sensitivity for CIN2+ vs blind cytology obtained by referring to colposcopy and following up only HPV positive women who had HPV status-informed cytology greater than or equal to ASCUS was 1.58 (95% CI = 1.22 to 2.01), while the corresponding relative referral to colposcopy was 0.95 (95% CI = 0.86 to 1.04). Cytology informed of HPV positivity is more sensitive than blind cytology and could allow longer intervals before retesting HPV-positive, cytology-negative women. © The Author 2015. Published by Oxford University Press.

  13. Prone position as prevention of lung injury in comatose patients: a prospective, randomized, controlled study.

    Science.gov (United States)

    Beuret, Pascal; Carton, Marie-Jose; Nourdine, Karim; Kaaki, Mahmoud; Tramoni, Gerard; Ducreux, Jean-Claude

    2002-05-01

    Comatose patients frequently exhibit pulmonary function worsening, especially in cases of pulmonary infection. It appears to have a deleterious effect on neurologic outcome. We therefore conducted a randomized trial to determine whether daily prone positioning would prevent lung worsening in these patients. Prospective, randomized, controlled study. Sixteen-bed intensive care unit. Fifty-one patients who required invasive mechanical ventilation because of coma with Glascow coma scores of 9 or less. In the prone position (PP) group: prone positioning for 4 h once daily until the patients could get up to sit in an armchair; in the supine position (SP) group: supine positioning. The primary end point was the incidence of lung worsening defined by an increase in the Lung Injury Score of at least 1 point since the time of randomization. The secondary end point was the incidence of ventilator-associated pneumonia (VAP). A total of 25 patients were randomly assigned to the PP group and 26 patients to the SP group. The characteristics of the patients from the two groups were similar at randomization. The incidence of lung worsening was lower in the PP group (12%) than in the SP group (50%) ( p=0.003). The incidence of VAP was 20% in the PP group and 38.4% in the SP group ( p=0.14). There was no serious complication attributable to prone positioning, however, there was a significant increase of intracranial pressure in the PP. In a selected population of comatose ventilated patients, daily prone positioning reduced the incidence of lung worsening.

  14. An information theory account of late frontoparietal ERP positivities in cognitive control.

    Science.gov (United States)

    Barceló, Francisco; Cooper, Patrick S

    2018-03-01

    ERP research on task switching has revealed distinct transient and sustained positive waveforms (latency circa 300-900 ms) while shifting task rules or stimulus-response (S-R) mappings. However, it remains unclear whether such switch-related positivities show similar scalp topography and index context-updating mechanisms akin to those posed for domain-general (i.e., classic P300) positivities in many task domains. To examine this question, ERPs were recorded from 31 young adults (18-30 years) while they were intermittently cued to switch or repeat their perceptual categorization of Gabor gratings varying in color and thickness (switch task), or else they performed two visually identical control tasks (go/no-go and oddball). Our task cueing paradigm examined two temporarily distinct stages of proactive rule updating and reactive rule execution. A simple information theory model helped us gauge cognitive demands under distinct temporal and task contexts in terms of low-level S-R pathways and higher-order rule updating operations. Task demands modulated domain-general (indexed by classic oddball P3) and switch positivities-indexed by both a cue-locked late positive complex and a sustained positivity ensuing task transitions. Topographic scalp analyses confirmed subtle yet significant split-second changes in the configuration of neural sources for both domain-general P3s and switch positivities as a function of both the temporal and task context. These findings partly meet predictions from information estimates, and are compatible with a family of P3-like potentials indexing functionally distinct neural operations within a common frontoparietal "multiple demand" system during the preparation and execution of simple task rules. © 2016 Society for Psychophysiological Research.

  15. Mapping with MAV: Experimental Study on the Contribution of Absolute and Relative Aerial Position Control

    Directory of Open Access Journals (Sweden)

    J. Skaloud

    2014-03-01

    Full Text Available This study highlights the benefit of precise aerial position control in the context of mapping using frame-based imagery taken by small UAVs. We execute several flights with a custom Micro Aerial Vehicle (MAV octocopter over a small calibration field equipped with 90 signalized targets and 25 ground control points. The octocopter carries a consumer grade RGB camera, modified to insure precise GPS time stamping of each exposure, as well as a multi-frequency/constellation GNSS receiver. The GNSS antenna and camera are rigidly mounted together on a one-axis gimbal that allows control of the obliquity of the captured imagery. The presented experiments focus on including absolute and relative aerial control. We confirm practically that both approaches are very effective: the absolute control allows omission of ground control points while the relative requires only a minimum number of control points. Indeed, the latter method represents an attractive alternative in the context of MAVs for two reasons. First, the procedure is somewhat simplified (e.g. the lever-arm between the camera perspective and antenna phase centers does not need to be determined and, second, its principle allows employing a single-frequency antenna and carrier-phase GNSS receiver. This reduces the cost of the system as well as the payload, which in turn increases the flying time.

  16. Bilateral Endoscopic Medial Maxillectomy for Bilateral Inverted Papilloma

    Directory of Open Access Journals (Sweden)

    Satoru Kodama

    2012-01-01

    Full Text Available Inverted papilloma (IP is a benign tumor of the nasal cavity and paranasal sinuses that is unilateral in most cases. Bilateral IP, involving both sides of the nasal cavity and sinuses, is extremely rare. This paper describes a large IP that filled in both sides of the nasal cavity and sinuses, mimicking association with malignancy. The tumor was successfully treated by bilateral endoscopic medial maxillectomy (EMM. The patient is without evidence of the disease 24 months after surgery. If preoperative diagnosis does not confirm the association with malignancy in IP, endoscopic sinus surgery (ESS should be selected, and ESS, including EMM, is a good first choice of the treatment for IP.

  17. Tobacco control and the World Trade Organization: mapping member states' positions after the framework convention on tobacco control.

    Science.gov (United States)

    Eckhardt, Jappe; Holden, Chris; Callard, Cynthia D

    2016-11-01

    To note the frequency of discussions and disputes about tobacco control measures at the World Trade Organization (WTO) before and after the coming into force of the Framework Convention on Tobacco Control (FCTC). To review trends or patterns in the positions taken by members of the WTO with respect to tobacco control measures. To discuss possible explanations for these observed trends/patterns. We gathered data on tobacco-related disputes in the WTO since its establishment in 1995 and its forerunner, the General Agreement on Tariffs and Trade (GATT), prior-FCTC and post-FCTC. We also looked at debates on tobacco control measures within the WTO more broadly. To this end, we classified and coded the positions of WTO member states during discussions on tobacco control and the FCTC, from 1995 until 2013, within the Technical Barriers to Trade (TBT) Committee and the Trade-Related Aspects of Intellectual Property Rights (TRIPS) Council. There is a growing interest within the WTO for tobacco-related issues and opposition to tobacco control measures is moving away from high-income countries towards low(er) income countries. The growing prominence of tobacco issues in the WTO can be attributed at least in part to the fact that during the past decade tobacco firms have been marginalised from the domestic policy-making process in many countries, which has forced them to look for other ways and forums to influence decision-making. Furthermore, the finding that almost all recent opposition within the WTO to stronger tobacco regulations came from developing countries is consistent with a relative shift of transnational tobacco companies' lobbying efforts from developed to developing countries. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://www.bmj.com/company/products-services/rights-and-licensing/.

  18. Scapular positioning and motor control in children and adults: a laboratory study using clinical measures.

    Science.gov (United States)

    Struyf, Filip; Nijs, Jo; Horsten, Stijn; Mottram, Sarah; Truijen, Steven; Meeusen, Romain

    2011-04-01

    The scapular muscular system is the major determinant of scapular positioning. In addition, strength and muscular endurance develops from childhood through adolescence. It is not known whether differences in scapular positioning and motor control between adults and children may exist. Ninety-two shoulders of 46 adults (mean = 39.4; 18-86 years; SD = 22.5), and 116 shoulders of 59 children (mean = 11.6; 6-17 years; SD = 3.5), were included in the study. Scapular positioning data were collected using a clinical assessment protocol including visual observation of titling and winging, measurement of forward shoulder posture, measurement of scapular upward rotation, and the Kinetic Medial Rotation Test (KMRT). The observation protocol for scapular winging and tilting did not show significant differences between adults and children. After controlling for height, forward shoulder posture (relaxed (0.28 cm/cm (0.06) vs. 0.31 cm/cm (0.07) and retracted (0.15 cm/cm (0.05) vs. 0.20 cm/cm (0.06)) were significantly smaller in children than in adults (P < 0.01). In addition, children showed greater scapular upward rotation (18.6°; SD 9.6°) than adults (14.5°; SD 10.9°) at 90° shoulder abduction. No significant differences were seen between children (19% positive test) and adults (24% positive test) using the KMRT. Children and adults show significant but small differences in scapular upward rotation and forward shoulder posture. These data provide useful reference values using a clinical protocol. Copyright © 2010 Elsevier Ltd. All rights reserved.

  19. Reporting of Positive Results in Randomized Controlled Trials of Mindfulness-Based Mental Health Interventions.

    Directory of Open Access Journals (Sweden)

    Stephanie Coronado-Montoya

    Full Text Available A large proportion of mindfulness-based therapy trials report statistically significant results, even in the context of very low statistical power. The objective of the present study was to characterize the reporting of "positive" results in randomized controlled trials of mindfulness-based therapy. We also assessed mindfulness-based therapy trial registrations for indications of possible reporting bias and reviewed recent systematic reviews and meta-analyses to determine whether reporting biases were identified.CINAHL, Cochrane CENTRAL, EMBASE, ISI, MEDLINE, PsycInfo, and SCOPUS databases were searched for randomized controlled trials of mindfulness-based therapy. The number of positive trials was described and compared to the number that might be expected if mindfulness-based therapy were similarly effective compared to individual therapy for depression. Trial registries were searched for mindfulness-based therapy registrations. CINAHL, Cochrane CENTRAL, EMBASE, ISI, MEDLINE, PsycInfo, and SCOPUS were also searched for mindfulness-based therapy systematic reviews and meta-analyses.108 (87% of 124 published trials reported ≥1 positive outcome in the abstract, and 109 (88% concluded that mindfulness-based therapy was effective, 1.6 times greater than the expected number of positive trials based on effect size d = 0.55 (expected number positive trials = 65.7. Of 21 trial registrations, 13 (62% remained unpublished 30 months post-trial completion. No trial registrations adequately specified a single primary outcome measure with time of assessment. None of 36 systematic reviews and meta-analyses concluded that effect estimates were overestimated due to reporting biases.The proportion of mindfulness-based therapy trials with statistically significant results may overstate what would occur in practice.

  20. A 3D Printed Linear Pneumatic Actuator for Position, Force and Impedance Control

    Directory of Open Access Journals (Sweden)

    Jeremy Krause

    2018-05-01

    Full Text Available Although 3D printing has the potential to provide greater customization and to reduce the costs of creating actuators for industrial applications, the 3D printing of actuators is still a relatively new concept. We have developed a pneumatic actuator with 3D-printed parts and placed sensors for position and force control. So far, 3D printing has been used to create pneumatic actuators of the bellows type, thus having a limited travel distance, utilizing low pressures for actuation and being capable of only limited force production and response rates. In contrast, our actuator is linear with a large travel distance and operating at a relatively higher pressure, thus providing great forces and response rates, and this the main novelty of the work. We demonstrate solutions to key challenges that arise during the design and fabrication of 3D-printed linear actuators. These include: (1 the strategic use of metallic parts in high stress areas (i.e., the piston rod; (2 post-processing of the inner surface of the cylinder for smooth finish; (3 piston head design and seal placement for strong and leak-proof action; and (4 sensor choice and placement for position and force control. A permanent magnet placed in the piston head is detected using Hall effect sensors placed along the length of the cylinder to measure the position, and pressure sensors placed at the supply ports were used for force measurement. We demonstrate the actuator performing position, force and impedance control. Our work has the potential to open new avenues for creating less expensive, customizable and capable actuators for industrial and other applications.

  1. MAPPING GNSS RESTRICTED ENVIRONMENTS WITH A DRONE TANDEM AND INDIRECT POSITION CONTROL

    Directory of Open Access Journals (Sweden)

    E. Cledat

    2017-08-01

    Full Text Available The problem of autonomously mapping highly cluttered environments, such as urban and natural canyons, is intractable with the current UAV technology. The reason lies in the absence or unreliability of GNSS signals due to partial sky occlusion or multi-path effects. High quality carrier-phase observations are also required in efficient mapping paradigms, such as Assisted Aerial Triangulation, to achieve high ground accuracy without the need of dense networks of ground control points. In this work we consider a drone tandem in which the first drone flies outside the canyon, where GNSS constellation is ideal, visually tracks the second drone and provides an indirect position control for it. This enables both autonomous guidance and accurate mapping of GNSS restricted environments without the need of ground control points. We address the technical feasibility of this concept considering preliminary real-world experiments in comparable conditions and we perform a mapping accuracy prediction based on a simulation scenario.

  2. Global asymptotic stabilization of large-scale hydraulic networks using positive proportional controls

    DEFF Research Database (Denmark)

    Jensen, Tom Nørgaard; Wisniewski, Rafal

    2014-01-01

    An industrial case study involving a large-scale hydraulic network underlying a district heating system subject to structural changes is considered. The problem of controlling the pressure drop across the so-called end-user valves in the network to a designated vector of reference values under...... directional actuator constraints is addressed. The proposed solution consists of a set of decentralized positively constrained proportional control actions. The results show that the closed-loop system always has a globally asymptotically stable equilibrium point independently on the number of end......-users. Furthermore, by a proper design of controller gains the closed-loop equilibrium point can be designed to belong to an arbitrarily small neighborhood of the desired equilibrium point. Since there exists a globally asymptotically stable equilibrium point independently on the number of end-users in the system...

  3. Cervical Joint Position Sense in Hypobaric Conditions: A Randomized Double-Blind Controlled Trial.

    Science.gov (United States)

    Bagaianu, Diana; Van Tiggelen, Damien; Duvigneaud, N; Stevens, Veerle; Schroyen, Danny; Vissenaeken, Dirk; D'Hondt, Gino; Pitance, Laurent

    2017-09-01

    Well-adapted motor actions require intact and well-integrated information from all of the sensory systems, specifically the visual, vestibular, and somatosensory systems, including proprioception. Proprioception is involved in the sensorimotor control by providing the central nervous system with an updated body schema of the biomechanical and spatial properties of the body parts. With regard to the cervical spine, proprioceptive information from joint and muscle mechanoreceptors is integrated with vestibular and visual feedback to control head position, head orientation, and whole body posture. Postural control is highly complex and proprioception from joints is an important contributor to the system. Altitude has been used as a paradigm to study the mechanisms of postural control. Determining the mechanisms of postural control that are affected by moderate altitude is important as unpressurized aircrafts routinely operate at altitudes where hypoxia may be a concern. Deficits in motor performance arise when the reliance on proprioceptive feedback is abolished either experimentally or because of a disorder. As pilots require good neck motor control to counteract the weight of their head gear and proprioceptive information plays an important role in this process, the aim of this study was to determine if hypoxia at moderate altitudes would impair proprioception measured by joint position sense of the cervical spine in healthy subjects. Thirty-six healthy subjects (Neck Disability Index environment, a hypobaric chamber was used to simulate artificial moderate altitude. Head repositioning error was measured by asking the subject to perform a head-to-neutral task after submaximal flexion-extension and right/left rotation movements, and a head-to-target task, in which the subjects had to return to a 30° right and left rotation position. Exposure to artificial acute moderate altitude of 7,000 feet had no significant effects on cervical joint position sense measured by

  4. Enabling Spacecraft Formation Flying through Position Determination, Control and Enhanced Automation Technologies

    Science.gov (United States)

    Bristow, John; Bauer, Frank; Hartman, Kate; How, Jonathan

    2000-01-01

    Formation Flying is revolutionizing the way the space community conducts science missions around the Earth and in deep space. This technological revolution will provide new, innovative ways for the community to gather scientific information, share that information between space vehicles and the ground, and expedite the human exploration of space. Once fully matured, formation flying will result in numerous sciencecraft acting as virtual platforms and sensor webs, gathering significantly more and better science data than call be collected today. To achieve this goal, key technologies must be developed including those that address the following basic questions posed by the spacecraft: Where am I? Where is the rest of the fleet? Where do I need to be? What do I have to do (and what am I able to do) to get there? The answers to these questions and the means to implement those answers will depend oil the specific mission needs and formation configuration. However, certain critical technologies are common to most formations. These technologies include high-precision position and relative-position knowledge including Global Positioning System (GPS) mid celestial navigation; high degrees of spacecraft autonomy inter-spacecraft communication capabilities; targeting and control including distributed control algorithms, and high precision control thrusters and actuators. This paper provides an overview of a selection of the current activities NASA/DoD/Industry/Academia are working to develop Formation Flying technologies as quickly as possible, the hurdles that need to be overcome to achieve our formation flying vision, and the team's approach to transfer this technology to space. It will also describe several of the formation flying testbeds, such as Orion and University Nanosatellites, that are being developed to demonstrate and validate many of these innovative sensing and formation control technologies.

  5. The constrained control of force and position in multi-joint movements.

    Science.gov (United States)

    van Ingen Schenau, G J; Boots, P J; de Groot, G; Snackers, R J; van Woensel, W W

    1992-01-01

    In many arm or leg movements the hand or foot has to exert an external force on the environment. Based on an inverse dynamical analysis of cycling, it is shown that the distribution of net moments in the joints needed to control the direction of the external force is often opposite to the direction of joint displacements associated with this task. Kinetic and kinematic data were obtained from five experienced cyclists during ergometer cycling by means of film analysis and pedal force measurement. An inverse dynamic analysis, based on a linked segments model, yielded net joint moments, joint powers and muscle shortening velocities of eight leg muscles. Activation patterns of the muscles were obtained by means of surface electromyography. The results show that the transfer of rotations in hip, knee and ankle joints into the translation of the pedal is constrained by conflicting requirements. This occurs between the joint moments necessary to contribute to joint power and the moments necessary to establish a direction of the force on the pedal which allows this force to do work on the pedal. Co-activation of mono-articular agonists and their bi-articular antagonists appear to provide a unique solution for these conflicting requirements: bi-articular muscles appear to be able to control the desired direction of the external force on the pedal by adjusting the relative distribution of net moments over the joints while mono-articular muscles appear to be primarily activated when they are in the position to shorten and thus to contribute to positive work. Examples are given to illustrate the universal nature of this constrained control of force (external) and position (joint). Based on this study and published data it is suggested that different processes may underlie the organization of the control of mono- and bi-articular muscles.

  6. Relative position vectors: an alternative approach to conflict detection in air traffic control.

    Science.gov (United States)

    Vuckovic, Anita; Sanderson, Penelope; Neal, Andrew; Gaukrodger, Stephen; Wong, B L William

    2013-10-01

    We explore whether the visual presentation of relative position vectors (RPVs) improves conflict detection in conditions representing some aspects of future airspace concepts. To help air traffic controllers manage increasing traffic, new tools and systems can automate more cognitively demanding processes, such as conflict detection. However, some studies reveal adverse effects of such tools, such as reduced situation awareness and increased workload. New displays are needed that help air traffic controllers handle increasing traffic loads. A new display tool based on the display of RPVs, the Multi-Conflict Display (MCD), is evaluated in a series of simulated conflict detection tasks. The conflict detection performance of air traffic controllers with the MCD plus a conventional plan-view radar display is compared with their performance with a conventional plan-view radar display alone. Performance with the MCD plus radar was better than with radar alone in complex scenarios requiring controllers to find all actual or potential conflicts, especially when the number of aircraft on the screen was large. However performance with radar alone was better for static scenarios in which conflicts for a target aircraft, or target pair of aircraft, were the focus. Complementing the conventional plan-view display with an RPV display may help controllers detect conflicts more accurately with extremely high aircraft counts. We provide an initial proof of concept that RPVs may be useful for supporting conflict detection in situations that are partially representative of conditions in which controllers will be working in the future.

  7. Studies on preparation and adaptive thermal control performance of novel PTC (positive temperature coefficient) materials with controllable Curie temperatures

    International Nuclear Information System (INIS)

    Cheng, Wen-long; Yuan, Shuai; Song, Jia-liang

    2014-01-01

    PTC (positive temperature coefficient) material is a kind of thermo-sensitive material. In this study, a series of novel PTC materials adapted to thermal control of electron devices are prepared. By adding different low-melting-point blend matrixes into GP (graphite powder)/LDPE (low density polyethylene) composite, the Curie temperatures are adjusted to 9 °C, 25 °C, 34 °C and 41 °C, and the resistance–temperature coefficients are enhanced to 1.57/°C–2.15/°C. These PTC materials remain solid in the temperature region of PTC effect, which makes it possible to be used as heating element to achieve adaptive temperature control. In addition, the adaptive thermal control performances of this kind of materials are investigated both experimentally and theoretically. The result shows that the adaptive effect becomes more significant while the resistance–temperature coefficient increases. A critical heating power defined as the initial heating power which makes the equilibrium temperature reach terminal temperature is presented. The adaptive temperature control will be effective only if the initial power is below this value. The critical heating power is determined by the Curie temperature and resistance–temperature coefficient of PTC materials, and a higher Curie temperature or resistance–temperature coefficient will lead to a larger critical heating power. - Highlights: • A series of novel PTC (positive temperature coefficient) materials were prepared. • The Curie point of PTC material can be adjusted by choosing different blend matrixes. • The resistance–temperature coefficient of PTC materials is enhanced to 2.15/°C. • The material has good adaptive temperature control ability with no auxiliary method. • A mathematical model is established to analyze the performance and applicability

  8. Neural network control of focal position during time-lapse microscopy of cells.

    Science.gov (United States)

    Wei, Ling; Roberts, Elijah

    2018-05-09

    Live-cell microscopy is quickly becoming an indispensable technique for studying the dynamics of cellular processes. Maintaining the specimen in focus during image acquisition is crucial for high-throughput applications, especially for long experiments or when a large sample is being continuously scanned. Automated focus control methods are often expensive, imperfect, or ill-adapted to a specific application and are a bottleneck for widespread adoption of high-throughput, live-cell imaging. Here, we demonstrate a neural network approach for automatically maintaining focus during bright-field microscopy. Z-stacks of yeast cells growing in a microfluidic device were collected and used to train a convolutional neural network to classify images according to their z-position. We studied the effect on prediction accuracy of the various hyperparameters of the neural network, including downsampling, batch size, and z-bin resolution. The network was able to predict the z-position of an image with ±1 μm accuracy, outperforming human annotators. Finally, we used our neural network to control microscope focus in real-time during a 24 hour growth experiment. The method robustly maintained the correct focal position compensating for 40 μm of focal drift and was insensitive to changes in the field of view. About ~100 annotated z-stacks were required to train the network making our method quite practical for custom autofocus applications.

  9. Conceptual design of plasma position control of SST-1 tokamak using vertical field coil

    International Nuclear Information System (INIS)

    Gulati, Hitesh Kumar; Patel, Kiritkumar B.; Dhongde, Jasraj

    2015-01-01

    SST-1 (Steady State Superconducting Tokamak) is a plasma confinement device in Institute for Plasma Research (IPR) India. SST-1 has been commissioned successfully and has been carrying out plasma experiments since the beginning of 2014 achieved a maximum plasma current of 75 kA at a central field of 1.5 T and the plasma duration ∼ 500 ms. SST-1 looks forward to carrying out elongated plasma experiments and stretching plasma pulses beyond 1s. Based on the solution of Grad-Shafranov equation the shift of plasma column center from geometrical centre of vacuum chamber is measured using various magnetic probes and flux loops installed in the machine. The closed feedback loop uses plasma current (Ip), Delta R as feedback signal and manipulate the vertical field current (Ivf). The discharge starts with feed forward loop using initially provided reference then the active feedback starts after discharge by few msec once plasma column is completely formed. The feedback loop time is of the order of 10 msec. The primary objective is to acquire plasma position control related signals, compute plasma position and generate position correction signal for VF coil power supply, communicate correction to VF coil power supply and modify VF power supply output in a deterministic time span. In this we present the methodology used for plasma horizontal displacement control using vertical field and discuss the preliminary results. (author)

  10. Bilateral pallidotomy for generalized dystonia Palidotomia bilateral para distonias generalizadas

    Directory of Open Access Journals (Sweden)

    Hélio A. G. Teive

    2001-06-01

    Full Text Available OBJECTIVE: To evaluate the efficacy and safety of bilateral pallidotomies in five patients with generalized dystonia. BACKGROUND: Generalized dystonias are frequently a therapeutic challenge, with poor responses to pharmacological treatment. GPi (globus pallidus internus pallidotomies for Parkinson's disease ameliorate all kinds of dyskinesias/dystonia, and recent studies reported a marked improvement of refractory dystonias with this procedure. METHODS: Five patients with generalized dystonias refractory to medical treatment were selected; one posttraumatic and four idiopathic. The decision to perform bilateral procedures was based on the predominant axial involvement in these patients. Dystonia severity was assessed with the Burke-Fahn-Marsden Dystonia Scale (BFM. Simultaneous procedures were performed in all but one patient, who had a staged procedure. They were reevaluated with the same scale (BFM by an unblinded rater at 1, 2, 3, 30, 60, 90, 120 and 180 days post-operatively. RESULTS: The four patients with idiopathic dystonia showed a progressive improvement up to three months; the patient with posttraumatic dystonia relapsed at three months. One patient had a marked improvement, being able to discontinue all the medications. A mean decrease in the BFM scores of 52,58% was noted. One patient had a trans-operative motor seizure followed by a transient hemiparesis secondary to rack hemorrhage; other was lethargic up to three days after the procedure. CONCLUSIONS: Our results show that bilateral GPi pallidotomies may be a safe and effective approach to medically refractory generalized dystonias; it can also be speculated that the posttraumatic subgroup may not benefit with this procedure.As distonias generalizadas são freqüentemente um desafio terapêutico, com pobres respostas aos tratamentos farmacológicos. As cirurgias estereotáxicas, como a palidotomia, têm sido utilizadas com êxito no tratamento da doença de Parkinson e estudos

  11. Applying Positive Deviance for Improving Compliance to Adolescent Anemia Control Program in Tribal Communities of India.

    Science.gov (United States)

    Sethi, Vani; Sternin, Monique; Sharma, Deepika; Bhanot, Arti; Mebrahtu, Saba

    2017-09-01

    Positive deviance (PD) is an asset-based social and behavior change communication strategy, utilizing successful outliers within a specific context. It has been applied to tackling major public health problems but not adolescent anemia. The study, first of its kind, used PD to improve compliance to adolescent anemia control program in Jharkhand, India, where anemia prevalence in adolescent girls is 70%, and program compliance is low. With leadership of state government, the study was designed and implemented by a multidisciplinary 42 member PD team, in Khunti district, in 2014. Participatory appraisals were undertaken with 434 adolescent girls, 18 frontline workers, 15 teachers, and 751 community leaders/parents/relatives. Stakeholders were interviewed to identify positive deviants and PD determinants across 17 villages. Perceived benefits of iron folic acid tablet and nutritional care during adolescence are low. Positive deviants exist among adolescent girls (26 of 434), villages (2 of 17), and schools (2 of 17). Positive deviant adolescent girls consumed variety of iron-rich foods and in higher frequency, consumed iron folic acid tablets, and practiced recommended personal hygiene behaviors. Deviant practices in schools included supervision of students during tablet distribution among others. Government-led PD approach uncovered local solutions and provided a forum for government functionaries to listen to and dialogue with, and an opportunity to adapt the program according to the needs of the affected communities, who are missing partners in program design and management.

  12. Bilateral tubal ectopic pregnancies: A report of two cases | Eze ...

    African Journals Online (AJOL)

    Bilateral tubal ectopic pregnancies are rare occurrences. Two recently managed cases are discussed. The first was a single, sexually active 23-year-old nullipara with family history of twinning who presented with eight weeks amenorrhea, positive pregnancy test, lower abdominal discomfort and other clinical and ultrasound ...

  13. BILATERAL DUPLICATION OF RENAL ARTERIES

    OpenAIRE

    Prajkta A Thete; Mehera Bhoir; M.V.Ambiye

    2014-01-01

    Routine dissection of a male cadaver revealed the presence of bilateral double renal arteries. On the right side the accessory renal artery originated from the abdominal aorta just above the main renal artery. On the left side the accessory renal artery originated from the abdominal aorta about 1 cm above the main renal artery. Knowledge of the variations of renal vascular anatomy has importance in exploration and treatment of renal trauma, renal transplantation, renal artery embolization, su...

  14. China's Bilateral Currency Swap Lines

    OpenAIRE

    Zhitao, Lin; Wenjie, Zhan; Cheung, Yin-Wong

    2016-01-01

    We study the determinants of China’s bilateral local currency swap lines that were established since the recent global finance crisis. It is found that economic factors, political considerations, and institutional characteristics including trade intensity, economic size, strategic partnership, free trade agreement, corruption, and stability affect the decision of signing a swap line agreement. Once a swap line agreement decision is made, the size of the swap line is then mainly affected by tr...

  15. Continuous positive airway pressure improves gait control in severe obstructive sleep apnoea: A prospective study.

    Directory of Open Access Journals (Sweden)

    Sébastien Baillieul

    Full Text Available Severe obstructive sleep apnoea (OSA can lead to neurocognitive alterations, including gait impairments. The beneficial effects of continuous positive airway pressure (CPAP on improving excessive daytime sleepiness and daily functioning have been documented. However, a demonstration of CPAP treatment efficacy on gait control is still lacking. This study aims to test the hypothesis that CPAP improves gait control in severe OSA patients.In this prospective controlled study, twelve severe OSA patients (age = 57.2±8.9 years, body mass index = 27.4±3.1 kg·m-2, apnoea-hypopnoea index = 46.3±11.7 events·h-1 and 10 healthy matched subjects were included. Overground gait parameters were recorded at spontaneous speed and stride time variability, a clinical marker of gait control, was calculated. To assess the role of executive functions in gait and postural control, a dual-task paradigm was applied using a Stroop test as secondary cognitive task. All assessments were performed before and after 8 weeks of CPAP treatment.Before CPAP treatment, OSA patients had significantly larger stride time variability (3.1±1.1% vs 2.1±0.5% and lower cognitive performances under dual task compared to controls. After CPAP treatment, stride time variability was significantly improved and no longer different compared to controls. Cognitive performance under dual task also improved after CPAP treatment.Eight weeks of CPAP treatment improves gait control of severe OSA patients, suggesting morphological and functional cerebral improvements. Our data provide a rationale for further mechanistic studies and the use of gait as a biomarker of OSA brain consequences.

  16. A process for providing positive primary control power by wind turbines

    Science.gov (United States)

    Marschner, V.; Michael, J.; Liersch, J.

    2014-12-01

    Due to the increasing share of wind energy in electricity generation, wind turbines have to fulfil additional requirements in the context of grid integration. The paper examines to which extent wind turbines can provide positive control power following the related grid code. The additional power has to be obtained from the rotating flywheel mass of the wind turbine's rotor. A simple physical model is developed that allows to draw conclusions about appropriate concepts by means of a dynamic simulation of the variables rotational speed, torque, power output and rotor power. The paper discusses scenarios to provide control power. The supply of control power at partial load is examined in detail using simulations. Under partial load conditions control power can be fed into the grid for a short time. Thereby the rotational speed drops so that aerodynamic efficiency decreases and feed-in power is below the initial value after the control process. In this way an unfavourable situation for the grid control is produced, therefore the paper proposes a modified partial load condition with a higher rotational speed. By providing primary control power the rotor is delayed to the optimum rotational speed so that more rotational energy can be fed in and fed-in power can be increased persistently. However, as the rotor does not operate at optimum speed, a small amount of the energy yield is lost. Finally, the paper shows that a wind farm can combine these two concepts: A part of the wind turbines work under modified partial load conditions can compensate the decrease of power of the wind turbines working under partial load conditions. Therefore the requested control power is provided and afterwards the original value of power is maintained.

  17. Controlling resonance energy transfer in nanostructure emitters by positioning near a mirror

    Science.gov (United States)

    Weeraddana, Dilusha; Premaratne, Malin; Gunapala, Sarath D.; Andrews, David L.

    2017-08-01

    The ability to control light-matter interactions in quantum objects opens up many avenues for new applications. We look at this issue within a fully quantized framework using a fundamental theory to describe mirror-assisted resonance energy transfer (RET) in nanostructures. The process of RET communicates electronic excitation between suitably disposed donor and acceptor particles in close proximity, activated by the initial excitation of the donor. Here, we demonstrate that the energy transfer rate can be significantly controlled by careful positioning of the RET emitters near a mirror. The results deliver equations that elicit new insights into the associated modification of virtual photon behavior, based on the quantum nature of light. In particular, our results indicate that energy transfer efficiency in nanostructures can be explicitly expedited or suppressed by a suitably positioned neighboring mirror, depending on the relative spacing and the dimensionality of the nanostructure. Interestingly, the resonance energy transfer between emitters is observed to "switch off" abruptly under suitable conditions of the RET system. This allows one to quantitatively control RET systems in a new way.

  18. Effects of sleeping position on back pain in physically active seniors: A controlled pilot study.

    Science.gov (United States)

    Desouzart, Gustavo; Matos, Rui; Melo, Filipe; Filgueiras, Ernesto

    2015-01-01

    The increase in life expectancy of elderly population has aroused the interest of different knowledge areas in understanding the variables that are involved in the aging process, linking them to other concepts such as active aging, healthy aging and the bio-psycho-social changes. This paper presents the results of the first controlled, experimental pilot study that aimed to analyze the relationship between the perception of back pain and the sleeping position adopted by physically active female seniors. Twenty female seniors (mean age 62.70 ± 3.827) participated in this study. The individuals were separated in 2 groups (Experimental and Control Group). For the carrying out of this study, the Visual Analogue Scale (VAS) was used to measure the intensity of back pain in the spine before and after four consecutive weeks an Intervention program. Individuals in the Experimental Group were instructed regarding the recommended way to sleep position (Intervention program) according to the pathological problems or the amount of pain reported. The Experimental Group (N = 10) presented significantly (p = 0.009) fewer complaints of back pain after an Intervention program in comparison to individuals who did not receive this type of information (Control Group).

  19. Plasma position and current control system enhancements for the JET ITER-like wall

    Energy Technology Data Exchange (ETDEWEB)

    De Tommasi, G. [Associazione EURATOM-ENEA-CREATE, Univ. di Napoli Federico II, Via Claudio 21, 80125 Napoli (Italy); Maviglia, F. [Associazione EURATOM-ENEA-CREATE, Via Claudio 21, 80125 Napoli (Italy); Neto, A.C. [Ass. EURATOM-IST, Instituto de Plasmas e Fusão Nuclear, IST, 1049-001 Lisboa (Portugal); Lomas, P.J.; McCullen, P.; Rimini, F.G. [Euratom-CCFE, Culham Science Centre, OX14 3DB Abingdon (United Kingdom)

    2014-03-15

    Highlights: • JET plasma position and current control system enhanced for the JET ITER like wall. • Vertical stabilization system enhanced to speed up its response and to withstand larger perturbations. • Improved termination management system. • Implementation of the current limit avoidance system. • Implementation of PFX-on-early-task. - Abstract: The upgrade of Joint European Torus (JET) to a new all-metal wall, the so-called ITER-like wall (ILW), has posed a set of new challenges regarding both machine operation and protection. The plasma position and current control (PPCC) system plays a crucial role in minimizing the possibility that the plasma could permanently damage the ILW. The installation of the ILW has driven a number of upgrades of the two PPCC components, namely the Vertical Stabilization (VS) system and the Shape Controller (SC). The VS system has been enhanced in order to speed up its response and to withstand larger perturbations. The SC upgrade includes three new features: an improved termination management system, the current limit avoidance system, and the PFX-on-early-task. This paper describes the PPCC upgrades listed above, focusing on the implementation issues and on the experimental results achieved during the 2011–12 JET experimental campaigns.

  20. Motivational intensity modulates the effects of positive emotions on set shifting after controlling physiological arousal.

    Science.gov (United States)

    Zhou, Ya; Siu, Angela F Y

    2015-12-01

    Recent research on the construct of emotion suggests the integration of a motivational dimension into the traditional two-dimension (subjective valence and physiological arousal) model. The motivational intensity of an emotional state should be taken into account while investigating the emotion-cognition relationship. This study examined how positive emotional states varying in motivational intensity influenced set shifting, after controlling the potential confounding impacts of physiological arousal. In Experiment 1, 155 volunteers performed a set-shifting task after being randomly assigned to five states: high- vs. low-motivating positive affect (interest vs. serenity), high- vs. low-motivating negative affect (disgust vs. anxiety), and neutral state. Eighty-five volunteers participated in Experiment 2, which further examined the effects of higher vs. lower degree of interest. Both experiments measured and compared participants' physiological arousal (blood pressure and pulse rate) under the normal and experimental conditions as the covariate. Results showed no difference in switching performance between the neutral and serenity groups. As compared with the neutral state, the high-motivating positive affect significantly increased set-switching reaction time costs, but reduced error rate costs; the higher the motivational intensity, the greater the time-costs impairment. This indicates a role of the high-motivating positive affect in regulating the balance between the flexible and stable cognitive control. Motivational intensity also modulated the effects of negative emotional states, i.e., disgust caused a larger increase in time costs than anxiety. Further exploration into neurobiological mechanisms that may mediate the emotional effects on set shifting is warranted. © 2015 Scandinavian Psychological Associations and John Wiley & Sons Ltd.

  1. Simultaneous and staged bilateral total hip arthroplasty

    DEFF Research Database (Denmark)

    Lindberg-Larsen, Martin; Joergensen, Christoffer Calov; Husted, Henrik

    2013-01-01

    Bilateral total hip arthroplasty (BTHA) and bilateral simultaneous total hip arthroplasty (BSTHA) are done increasingly. Previous studies evaluating outcomes after bilateral procedures have found different results. The aim of this study was to investigate length of hospital stay (LOS), 30 days...

  2. BILATERAL SINGLE SESSION URETEROSCOPY FOR URETERAL ...

    African Journals Online (AJOL)

    Objectives: To determine the feasibility, safety and success rate of bilateral single session rigid retrograde ureteroscopy (URS) for bilateral ureteral calculi. Patients and Methods: Thirty-five patients underwent bilateral single session ureteroscopic calculus removal. Results: Out of 70 renal units in 35 patients treated, ...

  3. Visual control improves the accuracy of hand positioning in Huntington’s disease

    Directory of Open Access Journals (Sweden)

    Emilia J. Sitek

    2017-08-01

    Full Text Available Background: The study aimed at demonstrating dependence of visual feedback during hand and finger positioning task performance among Huntington’s disease patients in comparison to patients with Parkinson’s disease and cervical dystonia. Material and methods: Eighty-nine patients participated in the study (23 with Huntington’s disease, 25 with Parkinson’s disease with dyskinesias, 21 with Parkinson’s disease without dyskinesias, and 20 with cervical dystonia, scoring ≥20 points on Mini-Mental State Examination in order to assure comprehension of task instructions. Neurological examination comprised of the motor section from the Unified Huntington’s Disease Rating Scale for Huntington’s disease, the Unified Parkinson’s Disease Rating Scale Part II–IV for Parkinson’s disease and the Toronto Western Spasmodic Torticollis Rating Scale for cervical dystonia. In order to compare hand position accuracy under visually controlled and blindfolded conditions, the patient imitated each of the 10 examiner’s hand postures twice, once under the visual control condition and once with no visual feedback provided. Results: Huntington’s disease patients imitated examiner’s hand positions less accurately under blindfolded condition in comparison to Parkinson’s disease without dyskinesias and cervical dystonia participants. Under visually controlled condition there were no significant inter-group differences. Conclusions: Huntington’s disease patients exhibit higher dependence on visual feedback while performing motor tasks than Parkinson’s disease and cervical dystonia patients. Possible improvement of movement precision in Huntington’s disease with the use of visual cues could be potentially useful in the patients’ rehabilitation.

  4. Prone positioning in hypoxemic respiratory failure: meta-analysis of randomized controlled trials.

    Science.gov (United States)

    Kopterides, Petros; Siempos, Ilias I; Armaganidis, Apostolos

    2009-03-01

    Prone positioning is used to improve oxygenation in patients with hypoxemic respiratory failure (HRF). However, its role in clinical practice is not yet clearly defined. The aim of this meta-analysis was to assess the effect of prone positioning on relevant clinical outcomes, such as intensive care unit (ICU) and hospital mortality, days of mechanical ventilation, length of stay, incidence of ventilator-associated pneumonia (VAP) and pneumothorax, and associated complications. We used literature search of MEDLINE, Current Contents, and Cochrane Central Register of Controlled Trials. We focused only on randomized controlled trials reporting clinical outcomes in adult patients with HRF. Four trials met our inclusion criteria, including 662 patients randomized to prone ventilation and 609 patients to supine ventilation. The pooled odds ratio (OR) for the ICU mortality in the intention-to-treat analysis was 0.97 (95% confidence interval [CI], 0.77-1.22), for the comparison between prone and supine ventilated patients. Interestingly, the pooled OR for the ICU mortality in the selected group of the more severely ill patients favored prone positioning (OR, 0.34; 95% CI, 0.18-0.66). The duration of mechanical ventilation and the incidence of pneumothorax were not different between the 2 groups. The incidence of VAP was lower but not statistically significant in patients treated with prone positioning (OR, 0.81; 95% CI, 0.61-1.10). However, prone positioning was associated with a higher risk of pressure sores (OR, 1.49; 95% CI, 1.17-1.89) and a trend for more complications related to the endotracheal tube (OR, 1.30; 95% CI, 0.94-1.80). Despite the inherent limitations of the meta-analytic approach, it seems that prone positioning has no discernible effect on mortality in patients with HRF. It may decrease the incidence of VAP at the expense of more pressure sores and complications related to the endotracheal tube. However, a subgroup of the most severely ill patients may

  5. Positive deviance as a strategy to prevent and control bloodstream infections in intensive care.

    Science.gov (United States)

    Oliveira, Francimar Tinoco de; Ferreira, Maria Manuela Frederico; Araújo, Silvia Teresa Carvalho de; Bessa, Amanda Trindade Teixeira de; Moraes, Advi Catarina Barbachan; Stipp, Marluci Andrade Conceição

    2017-04-03

    To describe the application of positive deviance as a strategy to prevent and control bloodstream infections. An intervention study with nursing and medical team members working in an intensive care unit in a university hospital, between June and December 2014. The four steps of the positive defiance methodology were applied: to define, to determine, to discover and to design. In 90 days, 188 actions were observed, of these, 36.70% (n=69) were related to catheter dressing. In 81.15% (n=56) of these dressings, the professionals most adhered to the use of flexible sterile cotton-tipped swabs to perform antisepsis at catheter entry sites and fixation dressing. Positive deviance contributed to the implementation of proposals to improve work processes and team development related to problems identified in central venous catheter care. Descrever a aplicação do Positive Deviance como estratégia na prevenção e no controle da infecção de corrente sanguínea. Estudo de intervenção realizado na Unidade de Terapia Intensiva de um hospital universitário, com os membros das equipes de enfermagem e médica, de junho a dezembro de 2014. Foram aplicados os quatro passos da metodologia Positive Deviance: Definir, Determinar, Descobrir e Desenhar. Em 90 dias 188 ações foram observadas, destas, 36,70% (n=69) estavam relacionadas aos curativos dos cateteres. Em 81,15% (n=56) desses curativos, o uso da haste flexível estéril para realização da antissepsia do local de inserção do cateter e de sua placa de fixação foi a ação de maior adesão. O Positive Deviance auxiliou na implementação de propostas de melhorias de processo de trabalho e no desenvolvimento da equipe para os problemas identificados no cuidado com o cateter venoso central.

  6. Bilateral s-shaped kidneys: A rare congenital malformation

    Directory of Open Access Journals (Sweden)

    Nikhil Ranjan

    2015-01-01

    Full Text Available A bilateral S-shaped kidney is a rare anomaly in which both the kidneys are in their normal position, in contrast to the commonly reported S-shaped fusion anomaly, in which the contralateral kidney crosses the midline to fuse with opposite kidney leaving the ipsilateral renal fossa empty. Here we present the diagnosis and management of a case of bilateral S-shaped renal anomaly with associated left pelviureteric junction obstruction and nonfunctioning kidney and right renal stones. Left kidney was managed by open nephrectomy and right kidney by PNL.

  7. Binaural Speech Understanding With Bilateral Cochlear Implants in Reverberation.

    Science.gov (United States)

    Kokkinakis, Kostas

    2018-03-08

    The purpose of this study was to investigate whether bilateral cochlear implant (CI) listeners who are fitted with clinical processors are able to benefit from binaural advantages under reverberant conditions. Another aim of this contribution was to determine whether the magnitude of each binaural advantage observed inside a highly reverberant environment differs significantly from the magnitude measured in a near-anechoic environment. Ten adults with postlingual deafness who are bilateral CI users fitted with either Nucleus 5 or Nucleus 6 clinical sound processors (Cochlear Corporation) participated in this study. Speech reception thresholds were measured in sound field and 2 different reverberation conditions (0.06 and 0.6 s) as a function of the listening condition (left, right, both) and the noise spatial location (left, front, right). The presence of the binaural effects of head-shadow, squelch, summation, and spatial release from masking in the 2 different reverberation conditions tested was determined using nonparametric statistical analysis. In the bilateral population tested, when the ambient reverberation time was equal to 0.6 s, results indicated strong positive effects of head-shadow and a weaker spatial release from masking advantage, whereas binaural squelch and summation contributed no statistically significant benefit to bilateral performance under this acoustic condition. These findings are consistent with those of previous studies, which have demonstrated that head-shadow yields the most pronounced advantage in noise. The finding that spatial release from masking produced little to almost no benefit in bilateral listeners is consistent with the hypothesis that additive reverberation degrades spatial cues and negatively affects binaural performance. The magnitude of 4 different binaural advantages was measured on the same group of bilateral CI subjects fitted with clinical processors in 2 different reverberation conditions. The results of this work

  8. Position Control of Servo Systems Using Feed-Forward Friction Compensation

    International Nuclear Information System (INIS)

    Park, Min Gyu; Kim, Han Me; Shin, Jong Min; Kim, Jong Shik

    2009-01-01

    Friction is an important factor for precise position tracking control of servo systems. Servo systems with highly nonlinear friction are sensitive to the variation of operating condition. To overcome this problem, we use the LuGre friction model which can consider dynamic characteristics of friction. The LuGre friction model is used as a feed-forward compensator to improve tracking performance of servo systems. The parameters of the LuGre friction model are identified through experiments. The experimental result shows that the tracking performance of servo systems with higherly nonlinear friction can be improved by using feed-forward friction compensation

  9. Guaranteed Cost Finite-Time Control of Discrete-Time Positive Impulsive Switched Systems

    Directory of Open Access Journals (Sweden)

    Leipo Liu

    2018-01-01

    Full Text Available This paper considers the guaranteed cost finite-time boundedness of discrete-time positive impulsive switched systems. Firstly, the definition of guaranteed cost finite-time boundedness is introduced. By using the multiple linear copositive Lyapunov function (MLCLF and average dwell time (ADT approach, a state feedback controller is designed and sufficient conditions are obtained to guarantee that the corresponding closed-loop system is guaranteed cost finite-time boundedness (GCFTB. Such conditions can be solved by linear programming. Finally, a numerical example is provided to show the effectiveness of the proposed method.

  10. Minimum Energy Control of 2D Positive Continuous-Discrete Linear Systems

    Directory of Open Access Journals (Sweden)

    Kaczorek Tadeusz

    2014-09-01

    Full Text Available The minimum energy control problem for the 2D positive continuous-discrete linear systems is formulated and solved. Necessary and sufficient conditions for the reachability at the point of the systems are given. Sufficient conditions for the existence of solution to the problem are established. It is shown that if the system is reachable then there exists an optimal input that steers the state from zero boundary conditions to given final state and minimizing the performance index for only one step (q = 1. A procedure for solving of the problem is proposed and illustrated by a numerical example.

  11. ITER-FEAT magnetic configuration and plasma position/shape control in the nominal PF scenario

    International Nuclear Information System (INIS)

    Gribov, Y.V.; Albanese, R.; Ambrosino, G.

    2001-01-01

    The capability of the ITER-FEAT poloidal field system to support the four 'design' scenarios and the high current 'assessed' scenario have been studied. To operate with highly elongated plasma, the system has segmentation of the central solenoid and a separate fast feedback loop for plasma vertical stabilisation. Within the limits imposed on the coil currents, voltages and power, the poloidal field system provides the required plasma scenario and control capabilities. The separatrix deviation from the required position, in scenarios with minor disruptions is within less than about 100 mm. (author)

  12. Bilateral foreign direct investment in forest industry between the U.S. and Canada

    Science.gov (United States)

    Rao V Nagubadi; Daowei Zhang

    2011-01-01

    In this study we examine the trends and various factors influencing bilateral foreign direct investment (FDI) in the U.S. and Canadian forest industry between 1989 and 2008. Using panel data analysis methods, we find that bilateral FDI is positively influenced by depreciation of host country's real exchange rates and exchange rate volatility, and home country...

  13. Position and Speed Control of Brushless DC Motors Using Sensorless Techniques and Application Trends

    Directory of Open Access Journals (Sweden)

    Jaime Gómez-Gil

    2010-07-01

    Full Text Available This paper provides a technical review of position and speed sensorless methods for controlling Brushless Direct Current (BLDC motor drives, including the background analysis using sensors, limitations and advances. The performance and reliability of BLDC motor drivers have been improved because the conventional control and sensing techniques have been improved through sensorless technology. Then, in this paper sensorless advances are reviewed and recent developments in this area are introduced with their inherent advantages and drawbacks, including the analysis of practical implementation issues and applications. The study includes a deep overview of state-of-the-art back-EMF sensing methods, which includes Terminal Voltage Sensing, Third Harmonic Voltage Integration, Terminal Current Sensing, Back-EMF Integration and PWM strategies. Also, the most relevant techniques based on estimation and models are briefly analysed, such as Sliding-mode Observer, Extended Kalman Filter, Model Reference Adaptive System, Adaptive observers (Full-order and Pseudoreduced-order and Artificial Neural Networks.

  14. Positive identity entry control system with geographically distributed portals and enrollment stations

    International Nuclear Information System (INIS)

    McIntire, J.M.

    1985-01-01

    A positive identity entry control system using distributed processing to allow reliable geographically separated portals and enrollment stations has been installed and is fully operational at a large area DOE site. Identity verification requires a credential, a memorized number and measurement of a physical characteristic of the user. Additionally, all portal activity is monitored by guards. The portal system is dual redundant such that no single point failure will shut down operations. Each portal site maintains its own subset of the master data base so off-site failure of the central data base manager or its communication links will not significantly affect local portal activity. The system is suitable for installations with large populations requiring access control at several remote sites scattered over a large area

  15. Efficient Use of Automatic Exposure Control Systems in Computed Tomography Requires Correct Patient Positioning

    Energy Technology Data Exchange (ETDEWEB)

    Gudjonsdottir, J.; Jonsdottir, B. (Roentgen Domus Medica, Reykjavik (Iceland)); Svensson, J.R.; Campling, S. (Faculty of Health and Social Care, Anglia Ruskin Univ., Cambridge (United Kingdom)); Brennan, P.C. (Diagnostic Imaging, Biological Imaging Research, UCD School of Medicine and Medical Science, Univ. College Dublin, Belfield, Dublin (Ireland))

    2009-11-15

    Background: Image quality and radiation dose to the patient are important factors in computed tomography (CT). To provide constant image quality, tube current modulation (TCM) performed by automatic exposure control (AEC) adjusts the tube current to the patient's size and shape. Purpose: To evaluate the effects of patient centering on tube current-time product (mAs) and image noise. Material and Methods: An oval-shaped acrylic phantom was scanned in various off-center positions, at 30-mm intervals within a 500-mm field of view, using three different CT scanners. Acquisition parameters were similar to routine abdomen examinations at each site. The mAs was recorded and noise measured in the images. The correlation of mAs and noise with position was calculated using Pearson correlation. Results: In all three scanners, the mAs delivered by the AEC changed with y-position of the phantom (P<0.001), with correlation values of 0.98 for scanners A and B and -0.98 for scanner C. With x-position, mAs changes were 4.9% or less. As the phantom moved into the y-positions, compared with the iso-center, the mAs varied by up to +70%, -34%, and +56% in scanners A, B, and C, respectively. For scanners A and B, noise in two regions of interest in the lower part of the phantom decreased with elevation, with correlation factors from -0.95 to -0.86 (P<0.02). In the x-direction, significant noise relationships (P<0.005) were only seen in scanner A. Conclusion: This study demonstrates that patient centering markedly affects the efficacy of AEC function and that tube current changes vary between scanners. Tube position when acquiring the scout projection radiograph is decisive for the direction of the mAs change. Off-center patient positions cause errors in tube current modulation that can outweigh the dose reduction gained by AEC use, and image quality is affected

  16. The reproducibility of organ position using active breathing control (ABC) during liver radiotherapy

    International Nuclear Information System (INIS)

    Dawson, Laura A.; Brock, Kristy K.; Kazanjian, Sahira; Fitch, Dwight; McGinn, Cornelius J.; Lawrence, Theodore S.; Haken, Randall K. ten; Balter, James

    2001-01-01

    Purpose: To evaluate the intrafraction and interfraction reproducibility of liver immobilization using active breathing control (ABC). Methods and Materials: Patients with unresectable intrahepatic tumors who could comfortably hold their breath for at least 20 s were treated with focal liver radiation using ABC for liver immobilization. Fluoroscopy was used to measure any potential motion during ABC breath holds. Preceding each radiotherapy fraction, with the patient setup in the nominal treatment position using ABC, orthogonal radiographs were taken using room-mounted diagnostic X-ray tubes and a digital imager. The radiographs were compared to reference images using a 2D alignment tool. The treatment table was moved to produce acceptable setup, and repeat orthogonal verification images were obtained. The positions of the diaphragm and the liver (assessed by localization of implanted radiopaque intra-arterial microcoils) relative to the skeleton were subsequently analyzed. The intrafraction reproducibility (from repeat radiographs obtained within the time period of one fraction before treatment) and interfraction reproducibility (from comparisons of the first radiograph for each treatment with a reference radiograph) of the diaphragm and the hepatic microcoil positions relative to the skeleton with repeat breath holds using ABC were then measured. Caudal-cranial (CC), anterior-posterior (AP), and medial-lateral (ML) reproducibility of the hepatic microcoils relative to the skeleton were also determined from three-dimensional alignment of repeat CT scans obtained in the treatment position. Results: A total of 262 fractions of radiation were delivered using ABC breath holds in 8 patients. No motion of the diaphragm or hepatic microcoils was observed on fluoroscopy during ABC breath holds. From analyses of 158 sets of positioning radiographs, the average intrafraction CC reproducibility (σ) of the diaphragm and hepatic microcoil position relative to the skeleton

  17. Deep breathing exercises with positive expiratory pressure in patients with multiple sclerosis - a randomized controlled trial.

    Science.gov (United States)

    Westerdahl, Elisabeth; Wittrin, Anna; Kånåhols, Margareta; Gunnarsson, Martin; Nilsagård, Ylva

    2016-11-01

    Breathing exercises with positive expiratory pressure are often recommended to patients with advanced neurological deficits, but the potential benefit in multiple sclerosis (MS) patients with mild and moderate symptoms has not yet been investigated in randomized controlled trials. To study the effects of 2 months of home-based breathing exercises for patients with mild to moderate MS on respiratory muscle strength, lung function, and subjective breathing and health status outcomes. Forty-eight patients with MS according to the revised McDonald criteria were enrolled in a randomized controlled trial. Patients performing breathing exercises (n = 23) were compared with a control group (n = 25) performing no breathing exercises. The breathing exercises were performed with a positive expiratory pressure device (10-15 cmH 2 O) and consisted of 30 slow deep breaths performed twice a day for 2 months. Respiratory muscle strength (maximal inspiratory and expiratory pressure at the mouth), spirometry, oxygenation, thoracic excursion, subjective perceptions of breathing and self-reported health status were evaluated before and after the intervention period. Following the intervention, there was a significant difference between the breathing group and the control group regarding the relative change in lung function, favoring the breathing group (vital capacity: P < 0.043; forced vital capacity: P < 0.025). There were no other significant differences between the groups. Breathing exercises may be beneficial in patients with mild to moderate stages of MS. However, the clinical significance needs to be clarified, and it remains to be seen whether a sustainable effect in delaying the development of respiratory dysfunction in MS can be obtained. © 2015 The Authors. The Clinical Respiratory Journal published by John Wiley & Sons Ltd.

  18. Design and control of a decoupled two degree of freedom translational parallel micro-positioning stage.

    Science.gov (United States)

    Lai, Lei-Jie; Gu, Guo-Ying; Zhu, Li-Min

    2012-04-01

    This paper presents a novel decoupled two degrees of freedom (2-DOF) translational parallel micro-positioning stage. The stage consists of a monolithic compliant mechanism driven by two piezoelectric actuators. The end-effector of the stage is connected to the base by four independent kinematic limbs. Two types of compound flexure module are serially connected to provide 2-DOF for each limb. The compound flexure modules and mirror symmetric distribution of the four limbs significantly reduce the input and output cross couplings and the parasitic motions. Based on the stiffness matrix method, static and dynamic models are constructed and optimal design is performed under certain constraints. The finite element analysis results are then given to validate the design model and a prototype of the XY stage is fabricated for performance tests. Open-loop tests show that maximum static and dynamic cross couplings between the two linear motions are below 0.5% and -45 dB, which are low enough to utilize the single-input-single-out control strategies. Finally, according to the identified dynamic model, an inversion-based feedforward controller in conjunction with a proportional-integral-derivative controller is applied to compensate for the nonlinearities and uncertainties. The experimental results show that good positioning and tracking performances are achieved, which verifies the effectiveness of the proposed mechanism and controller design. The resonant frequencies of the loaded stage at 2 kg and 5 kg are 105 Hz and 68 Hz, respectively. Therefore, the performance of the stage is reasonably good in term of a 200 N load capacity. © 2012 American Institute of Physics

  19. Bilateral Ramsay Hunt syndrome in a diabetic patient

    Directory of Open Access Journals (Sweden)

    Goyal Amit

    2004-12-01

    Full Text Available Abstract Background Herpes zoster oticus accounts for about 10% cases of facial palsy, which is usually unilateral and complete and full recovery occurs in only about 20% of untreated patients. Bilateral herpes zoster oticus can sometime occur in immunocompromised patients, though incidence is very rare. Case presentation Diabetic male, 57 year old presented to us with bilateral facial palsy due to herpes zoster oticus. Patient was having bilateral mild to moderate sensorineural hearing loss. Patient was treated with appropriate metabolic control, anti-inflammatory drugs and intravenous acyclovir. Due to uncontrolled diabetes, glucocorticoids were not used in this patient. Significant improvement in hearing status and facial nerve functions were seen in this patient. Conclusions Herpes zoster causes severe infections in diabetic patients and can be a cause of bilateral facial palsy and bilateral Ramsay Hunt syndrome. Herpes zoster in diabetic patients should be treated with appropriate metabolic control, NSAIDS and intravenous acyclovir, which we feel should be started at the earliest. Glucocorticoids should be avoided in diabetic patients.

  20. Bilateral cochlear implantation in a patient with bilateral temporal bone fractures.

    Science.gov (United States)

    Chung, Jae Ho; Shin, Myung Chul; Min, Hyun Jung; Park, Chul Won; Lee, Seung Hwan

    2011-01-01

    With the emphasis on bilateral hearing nowadays, bilateral cochlear implantation has been tried out for bilateral aural rehabilitation. Bilateral sensorineural hearing loss caused by head trauma can get help from cochlear implantation. We present the case of a 44-year-old man with bilateral otic capsule violating temporal bone fractures due to head trauma. The patient demonstrated much improved audiometric and psychoacoustic performance after bilateral cochlear implantation. We believe bilateral cochlear implantation in such patient can be a very effective tool for rehabilitation. Copyright © 2011 Elsevier Inc. All rights reserved.