WorldWideScience

Sample records for control branch flexibility

  1. Wind-Induced Reconfigurations in Flexible Branched Trees

    Science.gov (United States)

    Ojo, Oluwafemi; Shoele, Kourosh

    2017-11-01

    Wind induced stresses are the major mechanical cause of failure in trees. We know that the branching mechanism has an important effect on the stress distribution and stability of a tree in the wind. Eloy in PRL 2011, showed that Leonardo da Vinci's original observation which states the total cross section of branches is conserved across branching nodes is the best configuration for resisting wind-induced fracture in rigid trees. However, prediction of the fracture risk and pattern of a tree is also a function of their reconfiguration capabilities and how they mitigate large wind-induced stresses. In this studies through developing an efficient numerical simulation of flexible branched trees, we explore the role of the tree flexibility on the optimal branching. Our results show that the probability of a tree breaking at any point depends on both the cross-section changes in the branching nodes and the level of tree flexibility. It is found that the branching mechanism based on Leonardo da Vinci's original observation leads to a uniform stress distribution over a wide range of flexibilities but the pattern changes for more flexible systems.

  2. BDC 500 branch driver controller

    CERN Document Server

    Dijksman, A

    1981-01-01

    This processor has been designed for very fast data acquisition and date pre-processing. The dataway and branch highway speeds have been optimized for approximately 1.5 mu sec. The internal processor cycle is approximately 0.8 mu sec. The standard version contains the following functions (slots): crate controller type A1; branch highway driver including terminator; serial I/O port (TTY, VDU); 24 bit ALU and 24 bit program counter; 16 bit memory address counter and 4 word stack; 4k bit memory for program and/or data; battery backup for the memory; CNAFD and crate LAM display; request/grant logic for time- sharing operation of several BDCs. The free slots can be equipped with e.g. extra RAM, computer interfaces, hardware multiplier/dividers, etc. (0 refs).

  3. Flow Control of Flexible Structures

    Science.gov (United States)

    2017-09-06

    United States Government. Approved for public release, distribution is unlimited. PI: J. Farnsworth USAFA: Flow Control of Flexible Structures Table of...Contents Abstract iii List of Figures iv List of Tables vi Acknowledgments vii 1 Summary 1 2 Introduction 1 2.1 Proposed Research Effort...a small parabolic region of flow separation centered around 75% span location and at the wing trailing edge . The second wing section studied was a

  4. NASA Armstrong Flight Research Center Dynamics and Controls Branch

    Science.gov (United States)

    Jacobson, Steve

    2015-01-01

    NASA Armstrong continues its legacy of exciting work in the area of Dynamics and Control of advanced vehicle concepts. This presentation describes Armstrongs research in control of flexible structures, peak seeking control and adaptive control in the Spring of 2015.

  5. Adaptive Control Strategies for Flexible Robotic Arm

    Science.gov (United States)

    Bialasiewicz, Jan T.

    1996-01-01

    The control problem of a flexible robotic arm has been investigated. The control strategies that have been developed have a wide application in approaching the general control problem of flexible space structures. The following control strategies have been developed and evaluated: neural self-tuning control algorithm, neural-network-based fuzzy logic control algorithm, and adaptive pole assignment algorithm. All of the above algorithms have been tested through computer simulation. In addition, the hardware implementation of a computer control system that controls the tip position of a flexible arm clamped on a rigid hub mounted directly on the vertical shaft of a dc motor, has been developed. An adaptive pole assignment algorithm has been applied to suppress vibrations of the described physical model of flexible robotic arm and has been successfully tested using this testbed.

  6. Gas compressor with side branch absorber for pulsation control

    Science.gov (United States)

    Harris, Ralph E [San Antonio, TX; Scrivner, Christine M [San Antonio, TX; Broerman, III, Eugene L.

    2011-05-24

    A method and system for reducing pulsation in lateral piping associated with a gas compressor system. A tunable side branch absorber (TSBA) is installed on the lateral piping. A pulsation sensor is placed in the lateral piping, to measure pulsation within the piping. The sensor output signals are delivered to a controller, which controls actuators that change the acoustic dimensions of the SBA.

  7. Controlling the branching ratio of photodissociation using aligned molecules

    DEFF Research Database (Denmark)

    Larsen, J.J.; Wendt-Larsen, I.; Stapelfeldt, H.

    1999-01-01

    Using a sample of iodine molecules, aligned by a strong, linearly polarized laser pulse, we control the branching ratio of the I+I and I+I* photodissociation channels by a factor of 26. The control relies on selective photoexcitation of two potential curves that each correlate adiabatically...

  8. Flexible body control using neural networks

    Science.gov (United States)

    Mccullough, Claire L.

    1992-01-01

    Progress is reported on the control of Control Structures Interaction suitcase demonstrator (a flexible structure) using neural networks and fuzzy logic. It is concluded that while control by neural nets alone (i.e., allowing the net to design a controller with no human intervention) has yielded less than optimal results, the neural net trained to emulate the existing fuzzy logic controller does produce acceptible system responses for the initial conditions examined. Also, a neural net was found to be very successful in performing the emulation step necessary for the anticipatory fuzzy controller for the CSI suitcase demonstrator. The fuzzy neural hybrid, which exhibits good robustness and noise rejection properties, shows promise as a controller for practical flexible systems, and should be further evaluated.

  9. Flexible AC transmission systems modelling and control

    CERN Document Server

    Zhang, Xiao-Ping; Pal, Bikash

    2012-01-01

    The extended and revised second edition of this successful monograph presents advanced modeling, analysis and control techniques of Flexible AC Transmission Systems (FACTS). The book covers comprehensively a range of power-system control problems: from steady-state voltage and power flow control, to voltage and reactive power control, to voltage stability control, to small signal stability control using FACTS controllers. In the six years since the first edition of the book has been published research on the FACTS has continued to flourish while renewable energy has developed into a mature and

  10. Autonomous control unit for CAMAC-branch universal driver

    International Nuclear Information System (INIS)

    Efimov, L.G.; Chernykh, E.V.

    1979-01-01

    An autonomous program control module with an instrumental program used in the multipurpose driver of the CAMAC branch is described. The module is designed to provide rapid acquisition and record, into a buffer storage, of information on spatial characteristics of an extracted beam in the system for control the parameters of slow extraction of the synchrophasotron beam. The module makes it possible to reduce the data acquisition and recording time 9 times and also fast control of operation of proportional chamber electronic circuits

  11. Aggregation and Control of Flexible Consumers

    DEFF Research Database (Denmark)

    Biegel, Benjamin; Andersen, Palle; Stoustrup, Jakob

    2014-01-01

    In this paper, we present an architecture for aggregation and co ntrol of a portfolio of flexible consumers. The architecture makes it possible to control the aggregated consumption of the portfolio to follow a power reference while honoring local consumer constraints. Hereby, an aggregator is ab...

  12. Flight Controller Software Protects Lightweight Flexible Aircraft

    Science.gov (United States)

    2015-01-01

    Lightweight flexible aircraft may be the future of aviation, but a major problem is their susceptibility to flutter-uncontrollable vibrations that can destroy wings. Armstrong Flight Research Center awarded SBIR funding to Minneapolis, Minnesota-based MUSYN Inc. to develop software that helps program flight controllers to suppress flutter. The technology is now available for aircraft manufacturers and other industries that use equipment with automated controls.

  13. Cell lineage branching as a strategy for proliferative control.

    Science.gov (United States)

    Buzi, Gentian; Lander, Arthur D; Khammash, Mustafa

    2015-02-19

    How tissue and organ sizes are specified is one of the great unsolved mysteries in biology. Experiments and mathematical modeling implicate feedback control of cell lineage progression, but a broad understanding of what lineage feedback accomplishes is lacking. By exploring the possible effects of various biologically relevant disturbances on the dynamic and steady state behaviors of stem cell lineages, we find that the simplest and most frequently studied form of lineage feedback - which we term renewal control - suffers from several serious drawbacks. These reflect fundamental performance limits dictated by universal conservation-type laws, and are independent of parameter choice. Here we show that introducing lineage branches can circumvent all such limitations, permitting effective attenuation of a wide range of perturbations. The type of feedback that achieves such performance - which we term fate control - involves promotion of lineage branching at the expense of both renewal and (primary) differentiation. We discuss the evidence that feedback of just this type occurs in vivo, and plays a role in tissue growth control. Regulated lineage branching is an effective strategy for dealing with disturbances in stem cell systems. The existence of this strategy provides a dynamics-based justification for feedback control of cell fate in vivo.

  14. Control of a Lightweight Flexible Robotic Arm Using Sliding Modes

    OpenAIRE

    Etxebarria, Victor; Sanz, Arantza; Lizarraga, Ibone

    2006-01-01

    This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. The rigid dynamics is controlled by means of a robust sliding-mode approach with well-established stability properties while an LQR optimal design is adopted for the flexible dynamics. Experimental results show that this composite approach achieves good clos...

  15. Advanced Branching Control and Characterization of Inorganic Semiconducting Nanocrystals

    Energy Technology Data Exchange (ETDEWEB)

    Hughes, Steven Michael [Univ. of California, Berkeley, CA (United States)

    2007-01-01

    The ability to finely tune the size and shape of inorganic semiconducting nanocrystals is an area of great interest, as the more control one has, the more applications will be possible for their use. The first two basic shapes develped in nanocrystals were the sphere and the anistropic nanorod. the II_VI materials being used such as Cadmium Selenide (CdSe) and Cadmium Telluride (CdTe), exhibit polytypism, which allows them to form in either the hexagonally packed wurtzite or cubically packed zinc blende crystalline phase. The nanorods are wurtzite with the length of the rod growing along the c-axis. As this grows, stacking faults may form, which are layers of zinc blende in the otherwise wurtzite crystal. Using this polytypism, though, the first generation of branched crystals were developed in the form of the CdTe tetrapod. This is a nanocrystal that nucleates in the zincblend form, creating a tetrahedral core, on which four wurtzite arms are grown. This structure opened up the possibility of even more complex shapes and applications. This disseration investigates the advancement of branching control and further understanding the materials polytypism in the form of the stacking faults in nanorods.

  16. Fusion Control of Flexible Logic Control and Neural Network

    Directory of Open Access Journals (Sweden)

    Lihua Fu

    2014-01-01

    Full Text Available Based on the basic physical meaning of error E and error variety EC, this paper analyzes the logical relationship between them and uses Universal Combinatorial Operation Model in Universal Logic to describe it. Accordingly, a flexible logic control method is put forward to realize effective control on multivariable nonlinear system. In order to implement fusion control with artificial neural network, this paper proposes a new neuron model of Zero-level Universal Combinatorial Operation in Universal Logic. And the artificial neural network of flexible logic control model is implemented based on the proposed neuron model. Finally, stability control, anti-interference control of double inverted-pendulum system, and free walking of cart pendulum system on a level track are realized, showing experimentally the feasibility and validity of this method.

  17. Flatness based GPI Control for Flexible Robots

    Science.gov (United States)

    Becedas, Jonathan; Feliu, Vicente; Sira-Ramírez, Hebertt

    In this article, a new method to control a flexible robotic arm using a conventional direct current (DC) motor with a gear actuator strongly affected by non-linear friction torque is proposed. This control method does not require friction compensation and hence the estimation of this term because the control scheme is robust with respect to this effect. In addition, the only variables to measure are the motor shaft and tip angular positions. Velocity measurements, which always introduce errors and noises, are not required. The use of filters to estimate velocities and bounded derivatives are not needed. The Generalized Proportional Integral GPI controller is designed using a two-stage design procedure entitling an outer loop, designed under the assumption of no motor dynamics, and subsequently an inner loop which forces the motor response to track the control input position reference trajectory derived in the previous design stage. Velocity measurements, which always introduce errors and noises, are not required. Experimental results are presented.

  18. Modern Control Design for Flexible Wind Turbines

    Energy Technology Data Exchange (ETDEWEB)

    Wright, A. D.

    2004-07-01

    Control can improve energy capture and reduce dynamic loads in wind turbines. In the 1970s and 1980s, wind turbines used classical control designs to regulate power and speed. The methods used, however, were not always successful. Modern turbines are larger, mounted on taller towers, and more dynamically active than their predecessors. Control systems to regulate turbine power and maintain stable, closed-loop behavior in the presence of turbulent wind inflow will be critical for these designs. This report applies modern state-space control design methods to a two-bladed teetering hub upwind machine at the National Wind Technology Center (NWTC), which is managed by the U.S. Department of Energy's National Renewable Energy Laboratory (NREL) in Golden, Colorado. The design objective is to regulate turbine speed and enhance damping in several low-damped flexible modes of the turbine. Starting with simple control algorithms based on linear models, complexity is added incrementally until the desired performance is firmly established.

  19. Fuzzy Control of Flexible-Link Manipulators: A Review

    Science.gov (United States)

    Akbarzadeh-T, M.-R.; Quintana, S.; Jamshidi, M.

    1998-01-01

    Several recent research efforts are reviewed here which have applied fuzzy logic in control of flexible-link manipulators. A flexible robot is a distributed parameter system represented by complex nonlinear dynamics, its actuator and the control parameters are non-colocated, and lastly, unstructured/unknown parameters play a significant role in model dynamics of a flexible robot operating in the real world. As a result, control of flexible robots is considered a promising area for application of intelligent control methodologies such as fuzzy logic, genetic algorithms, and neural networks.

  20. Active Vibration Control of a Flexible Structure Using Piezoceramic Actuators

    Directory of Open Access Journals (Sweden)

    J. Fei

    2008-03-01

    Full Text Available Considerable attention has been devoted recently to active vibration control using intelligent materials as actuators. This paper presents results on active control schemes for vibration suppression of flexible steel cantilever beam with bonded piezoelectric actuators. The PZT patches are surface bonded near the fixed end of flexible steel cantilever beam. The dynamic model of the flexible steel cantilever beam is derived. Active vibration control methods, strain rate feedback control (SRF, positive position feedback control (PPF are investigated and implemented using xPC Target real-time system. Experimental results demonstrate that the SRF control and PPF control achieve effective vibration suppression results of steel cantilever beam.

  1. Flexibility.

    Science.gov (United States)

    Humphrey, L. Dennis

    1981-01-01

    Flexibility is an important aspect of all sports and recreational activities. Flexibility can be developed and maintained by stretching exercises. Exercises designed to develop flexibility in ankle joints, knees, hips, and the lower back are presented. (JN)

  2. Nuclear reactor power control system based on flexibility model

    International Nuclear Information System (INIS)

    Li Gang; Zhao Fuyu; Li Chong; Tai Yun

    2011-01-01

    Design the nuclear reactor power control system in this paper to cater to a nonlinear nuclear reactor. First, calculate linear power models at five power levels of the reactor as five local models and design controllers of the local models as local controllers. Every local controller consists of an optimal controller contrived by the toolbox of Optimal Controller Designer (OCD) and a proportion-integration-differentiation (PID) controller devised via Genetic Algorithm (GA) to set parameters of the PID controller. According to the local models and controllers, apply the principle of flexibility model developed in the paper to obtain the flexibility model and the flexibility controller at every power level. Second, the flexibility model and the flexibility controller at a level structure the power control system of this level. The set of the whole power control systems corresponding to global power levels is to approximately carry out the power control of the reactor. Finally, the nuclear reactor power control system is simulated. The simulation result shows that the idea of flexibility model is feasible and the nuclear reactor power control system is effective. (author)

  3. Foreign Banks: Internal Control and Audit Weaknesses in U.S. Branches

    National Research Council Canada - National Science Library

    1997-01-01

    .... Weaknesses in the branch's internal controls, including inadequate segregation of duties in trading and electronic funds transfer activities, had enabled an employee to trade illegally and to hide...

  4. Adaptive output feedback control of aircraft flexible modes

    OpenAIRE

    Ponnusamy, Sangeeth Saagar; Bordeneuve-Guibé, Joël

    2012-01-01

    The application of adaptive output feedback augmentative control to the flexible aircraft problem is presented. Experimental validation of control scheme was carried out using a three disk torsional pendulum. In the reference model adaptive control scheme, the rigid aircraft reference model and neural network adaptation is used to control structural flexible modes and compensate for the effects unmodeled dynamics and parametric variations of a classical high order large passenger aircraft. Th...

  5. Robotic Control of a Traditional Flexible Endoscope for Therapy

    NARCIS (Netherlands)

    Ruiter, Jeroen; Bonnema, Gerrit Maarten; van der Voort, Mascha C.; Broeders, Ivo Adriaan Maria Johannes

    2013-01-01

    In therapeutic flexible endoscopy a team of physician and assistant(s) is required to control all independent translations and rotations of the flexible endoscope and its instruments. As a consequence the physician lacks valuable force feedback information on tissue interaction, communication errors

  6. Flexibility and Control : An empirical study relating production flexibility to the design of performance management systems

    NARCIS (Netherlands)

    Van Veen-Dirks, P.M.G.

    2002-01-01

    A critical challenge facing organizations is the design of management control systems, which play a key role in evaluating the achievement of organizational and individual objectives. This thesis addresses the design of management control (performance management) systems in the current flexible

  7. Flexible Power Control of Photovoltaic Systems

    DEFF Research Database (Denmark)

    Blaabjerg, Frede; Sangwongwanich, Ariya; Yang, Yongheng

    2018-01-01

    With a still increasing penetration level of grid-connected photovoltaic (PV) systems, more advanced and flexible control functionalities are demanded. To ensure a smooth and friendly integration between the PV systems and the grid, the power generated by the PV system needs to be flexible...... the Maximum Power Point Tracking (MPPT) control algorithm of the power converter can realize the flexible power control requirement by regulating the operating point of the PV system below the maximum available power of the PV arrays. Therefore, this approach does not require an extra component, being a cost......-effective solution in terms of component cost and at the same time offering high reliability. The operational principle of the PV systems with the modifying MPPT algorithm is discussed in this chapter, where the flexible active power control functionalities are demonstrate via experiments on a two-stage grid...

  8. Flexible and Safe Control of Mobile Surface Systems, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — The primary innovation of this work is a novel Petri net based approach for safe and flexible control of highly capable mobile surface systems, such as long-duration...

  9. Flexible and Safe Control of Mobile Surface Systems, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — The primary innovation of this work is a novel approach for flexible and safe control of highly capable mobile surface systems, such as long-duration science rovers,...

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

    Directory of Open Access Journals (Sweden)

    Lilia Zouari

    2014-12-01

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

  11. Indirect control of flexible demand for power system applications

    DEFF Research Database (Denmark)

    Sossan, Fabrizio

    This thesis addresses the topic of control of flexible demand to provide support to the operation of the electric power system. We focus on the indirect control approach, a framework that enables demand response by means of a consumption incentive signal. Initially, the concept of flexibility...... Flexhouse, a facility of DTU Elektro for testing demand side management strategies, as experimental site. In the latter case, we develop four applications where flexible demand is required to support power system operations. The applications are: integration of the operation of flexible demand...... and storage in the operation of the future power system, we develop a model predictive control strategy for a smart building with the objective of supplying iii space heating and providing regulating power to the grid according to a dynamic electricity price. We named this application energy replacement...

  12. Flexible spacecraft dynamics, control and guidance technologies by giovanni campolo

    CERN Document Server

    Mazzini, Leonardo

    2016-01-01

    This book is an up-to-date compendium on spacecraft attitude and orbit control (AOC) that offers a systematic and complete treatment of the subject with the aim of imparting the theoretical and practical knowledge that is required by designers, engineers, and researchers. After an introduction on the kinematics of the flexible and agile space vehicles, the modern architecture and functions of an AOC system are described and the main AOC modes reviewed with possible design solutions and examples. The dynamics of the flexible body in space are then considered using an original Lagrangian approach suitable for the control applications of large space flexible structures. Subsequent chapters address optimal control theory, attitude control methods, and orbit control applications, including the optimal orbital transfer with finite and infinite thrust. The theory is integrated with a description of current propulsion systems, with the focus especially on the new electric propulsion systems and state of the art senso...

  13. An Intuitive Definition of Demand Flexibility in Direct Load Control

    DEFF Research Database (Denmark)

    Tahersima, Fatemeh; Madsen, Per Printz; Andersen, Palle

    2013-01-01

    Two control approaches: direct and indirect control of demand side energy management in a smart grid are studied. Indirect control of energy demands is based on economic incentives. In this approach, consumers will shift their energy consumption with the benefit of a cut down in the electricity...... in terms of the amount of energy that can be shifted without sacrificing comfort. A specific case study i.e. a residential building equipped with an electric floor heating system is used for demonstration of simulation results. Finally, we proposed a control method to serve both direct and indirect load...... bill and in the cost of being flexible in terms of accepting a wider comfort zone. The other approach is to directly command a power signal to end-user loads provided that the electricity provider company is already aware of the consumer's flexibility degree. We have framed a measure of the flexibility...

  14. Optimal resonant control of flexible structures

    DEFF Research Database (Denmark)

    Krenk, Steen; Høgsberg, Jan Becker

    2009-01-01

    of freedom, and then it is extended to multi-mode structures. A root locus analysis of the controlled single-mode structure identifies the equal modal damping property as a condition oil the linear and Cubic terms of the characteristic equation. Particular solutions for filtered displacement feedback......When introducing a resonant controller for a particular vibration mode in a structure this mode splits into two. A design principle is developed for resonant control based oil equal damping of these two modes. First the design principle is developed for control of a system with a single degree...... and filtered acceleration feedback are developed by combining the root locus analysis with optimal properties of the displacement amplification frequency curve. The results are then extended to multi-mode structures by including a quasi-static representation of the background modes in the equations...

  15. Intelligent Control of Flexible-Joint Robotic Manipulators

    Science.gov (United States)

    Colbaugh, R.; Gallegos, G.

    1997-01-01

    This paper considers the trajectory tracking problem for uncertain rigid-link. flexible.joint manipulators, and presents a new intelligent controller as a solution to this problem. The proposed control strategy is simple and computationally efficient, requires little information concerning either the manipulator or actuator/transmission models and ensures uniform boundedness of all signals and arbitrarily accurate task-space trajectory tracking.

  16. An adaptive learning control system for large flexible structures

    Science.gov (United States)

    Thau, F. E.

    1985-01-01

    The objective of the research has been to study the design of adaptive/learning control systems for the control of large flexible structures. In the first activity an adaptive/learning control methodology for flexible space structures was investigated. The approach was based on using a modal model of the flexible structure dynamics and an output-error identification scheme to identify modal parameters. In the second activity, a least-squares identification scheme was proposed for estimating both modal parameters and modal-to-actuator and modal-to-sensor shape functions. The technique was applied to experimental data obtained from the NASA Langley beam experiment. In the third activity, a separable nonlinear least-squares approach was developed for estimating the number of excited modes, shape functions, modal parameters, and modal amplitude and velocity time functions for a flexible structure. In the final research activity, a dual-adaptive control strategy was developed for regulating the modal dynamics and identifying modal parameters of a flexible structure. A min-max approach was used for finding an input to provide modal parameter identification while not exceeding reasonable bounds on modal displacement.

  17. Optimally Controlled Flexible Fuel Powertrain System

    Energy Technology Data Exchange (ETDEWEB)

    Hakan Yilmaz; Mark Christie; Anna Stefanopoulou

    2010-12-31

    The primary objective of this project was to develop a true Flex Fuel Vehicle capable of running on any blend of ethanol from 0 to 85% with reduced penalty in usable vehicle range. A research and development program, targeting 10% improvement in fuel economy using a direct injection (DI) turbocharged spark ignition engine was conducted. In this project a gasoline-optimized high-technology engine was considered and the hardware and configuration modifications were defined for the engine, fueling system, and air path. Combined with a novel engine control strategy, control software, and calibration this resulted in a highly efficient and clean FFV concept. It was also intended to develop robust detection schemes of the ethanol content in the fuel integrated with adaptive control algorithms for optimized turbocharged direct injection engine combustion. The approach relies heavily on software-based adaptation and optimization striving for minimal modifications to the gasoline-optimized engine hardware system. Our ultimate objective was to develop a compact control methodology that takes advantage of any ethanol-based fuel mixture and not compromise the engine performance under gasoline operation.

  18. Compact Active Vibration Control System for a Flexible Panel

    Science.gov (United States)

    Schiller, Noah H. (Inventor); Cabell, Randolph H. (Inventor); Perey, Daniel F. (Inventor)

    2014-01-01

    A diamond-shaped actuator for a flexible panel has an inter-digitated electrode (IDE) and a piezoelectric wafer portion positioned therebetween. The IDE and/or the wafer portion are diamond-shaped. Point sensors are positioned with respect to the actuator and measure vibration. The actuator generates and transmits a cancelling force to the panel in response to an output signal from a controller, which is calculated using a signal describing the vibration. A method for controlling vibration in a flexible panel includes connecting a diamond-shaped actuator to the flexible panel, and then connecting a point sensor to each actuator. Vibration is measured via the point sensor. The controller calculates a proportional output voltage signal from the measured vibration, and transmits the output signal to the actuator to substantially cancel the vibration in proximity to each actuator.

  19. Microtransformers: controlled microscale navigation with flexible robots

    OpenAIRE

    Montenegro-Johnson, Thomas D.

    2018-01-01

    Artificial microswimmers are a new technology with promising microfluidics and biomedical applications, such as directed cargo transport, microscale assembly, and targeted drug delivery. A fundamental barrier to realising this potential is the ability to control the trajectories of multiple individuals within a large group. A promising navigation mechanism for "fuel-based" microswimmers, for example autophoretic Janus particles, entails modulating the local environment to guide the swimmer, f...

  20. Facile one-step synthesis of highly branched ZnO nanostructures on titanium foil for flexible dye-sensitized solar cells.

    Science.gov (United States)

    Zhang, Juntao; He, Meng; Fu, Nianqing; Li, Jianye; Yin, Xiong

    2014-04-21

    Highly branched ZnO (HBZ) nanostructures were prepared on titanium (Ti) foil using a facile, one-step vapor confined chemical vapor deposition technique. The as-prepared ZnO layer showed a good connection with the Ti foil even after 50 bending cycles, and the resultant HBZ/Ti electrode possessed high bendability. The HBZ/Ti electrode was composed of four different layers, including a highly branched ZnO layer, a ZnO compact layer, a Ti-Zn alloy layer and Ti foil. The good adhesion of the as-prepared ZnO layer to Ti foil was ascribed to the formation of a Ti-Zn alloy layer and a ZnO compact layer during the growth process. A flexible dye-sensitized solar cell was assembled using the D149-sensitized HBZ/Ti as a photoanode, and a power conversion efficiency (PCE) of 3.3% was achieved with an open-circuit photovoltage of 0.664 V, a short-circuit current density of 7.53 mA cm(-2), and a fill factor of 0.66 measured under rear-side illumination (AM 1.5, 100 mW cm(-2)). The power conversion efficiency of the device remained at 92% of the initial value even after 50 bending cycles. These results indicate that the vapor confined chemical vapor deposition method which does not necessarily use any catalyst or seed is a facile, one-step approach to obtain highly branched ZnO nanostructures with high bendability on Ti foil. The tight bonding between the highly branched ZnO layer and Ti substrate by a Ti-Zn alloy layer and a ZnO compact layer makes the vapor confined CVD method very attractive for the preparation of high-performance flexible photoanodes.

  1. Distributed active control of large flexible space structures

    Science.gov (United States)

    Nguyen, C. C.; Baz, A.

    1986-01-01

    This progress report summarizes the research work performed at the Catholic University of America on the research grant entitled Distributed Active Control of Large Flexible Space Structures, funded by NASA/Goddard Space Flight Center, under grant number NAG5-749, during the period of March 15, 1986 to September 15, 1986.

  2. The flexibility controlling study for 3D printed splint

    Science.gov (United States)

    Li, Jianyou; Tanaka, Hiroya

    2017-04-01

    The 3D printed splint's light weight, ventilation and water proof are considered as significant improvement for patients' comfortableness. Somehow, the flexible material is required in the splint to avoid skin friction may cased by its rigid edge, but this would increase the complexity and timeconsuming. In this study, two main techniques to control the infilling densities and printing temperature are applied on printing splint prototype. The gradual increasing of infilling density from splint outside to inside would turn the partial strength from hard to flexible. Besides, higher printing temperature can also achieve stronger hardness after cooling. Such structural can provide high strength in outside surface to keep the immovable function, and give flexible touch of inside surface to decrease friction on the patient's skin.

  3. A decision support system for crew planning in passenger transportation using a flexible branch-and-price algorithm

    NARCIS (Netherlands)

    R. Freling (Richard); R.M. Lentink (Ramon); A.P.M. Wagelmans (Albert)

    2001-01-01

    textabstractThis paper discusses a decision support system for airline and railway crew planning. The system is a state-of-the-art branch-and-price solver that is used for crew scheduling and crew rostering. We briefly discuss the mathematical background of the solver, of which most part is covered

  4. Vibration control of a flexible structure with electromagnetic actuators

    DEFF Research Database (Denmark)

    Gruzman, Maurício; Santos, Ilmar

    2016-01-01

    This work presents the model of a shear-frame-type structure composed of six flexible beams and three rigid masses. Fixed on the ground, outside the structure, two voltage-controlled electromagnetic actuators are used for vibration control. To model the flexible beams, unidimensional finite...... elements were used. Nonlinear equations for the actuator electromagnetic force, noise in the position sensor, time delays for the control signal update and voltage saturation were also considered in the model. For controlling purposes, a discrete linear quadratic regulator combined with a predictive full......-order discrete linear observer was employed. Results of numerical simulations, where the structure is submitted to an impulsive disturbance force and to a harmonic force, show that the oscillations can be significantly reduced with the use of the electromagnetic actuators....

  5. Optimal Sliding Mode Controllers for Attitude Stabilization of Flexible Spacecraft

    Directory of Open Access Journals (Sweden)

    Chutiphon Pukdeboon

    2011-01-01

    Full Text Available The robust optimal attitude control problem for a flexible spacecraft is considered. Two optimal sliding mode control laws that ensure the exponential convergence of the attitude control system are developed. Integral sliding mode control (ISMC is applied to combine the first-order sliding mode with optimal control and is used to control quaternion-based spacecraft attitude manoeuvres with external disturbances and an uncertainty inertia matrix. For the optimal control part the state-dependent Riccati equation (SDRE and optimal Lyapunov techniques are employed to solve the infinite-time nonlinear optimal control problem. The second method of Lyapunov is used to guarantee the stability of the attitude control system under the action of the proposed control laws. An example of multiaxial attitude manoeuvres is presented and simulation results are included to verify the usefulness of the developed controllers.

  6. Control over the branched structures of platinum nanocrystals for electrocatalytic applications.

    Science.gov (United States)

    Ma, Liang; Wang, Chengming; Gong, Ming; Liao, Lingwen; Long, Ran; Wang, Jinguo; Wu, Di; Zhong, Wei; Kim, Moon J; Chen, Yanxia; Xie, Yi; Xiong, Yujie

    2012-11-27

    Structural control of branched nanocrystals allows tuning two parameters that are critical to their catalytic activity--the surface-to-volume ratio, and the number of atomic steps, ledges, and kinks on surface. In this work, we have developed a simple synthetic system that allows tailoring the numbers of branches in Pt nanocrystals by tuning the concentration of additional HCl. In the synthesis, HCl plays triple functions in tuning branched structures via oxidative etching: (i) the crystallinity of seeds and nanocrystals; (ii) the number of {111} or {100} faces provided for growth sites; (iii) the supply kinetics of freshly formed Pt atoms in solution. As a result, tunable Pt branched structures--tripods, tetrapods, hexapods, and octopods with identical chemical environment--can be rationally synthesized in a single system by simply altering the etching strength. The controllability in branched structures enables to reveal that their electrocatalytic performance can be optimized by constructing complex structures. Among various branched structures, Pt octopods exhibit particularly high activity in formic acid oxidation as compared with their counterparts and commercial Pt/C catalysts. It is anticipated that this work will open a door to design more complex nanostructures and to achieve specific functions for various applications.

  7. INCAP - Applying short-term flexibility to control inventories

    OpenAIRE

    Lödding , Hermann; Lohmann , Steffen

    2011-01-01

    Abstract Inventory Based Capacity Control (INCAP) is a very simple method that allows inventory levels to be effectively controlled by using short-term capacity flexibility in make-to-stock settings. Moreover, INCAP can be used for finished goods inventories as well as for semi-finished goods inventories. The basic idea is to define upper and lower inventory limits and to adjust capacities if the inventory level reaches either limit. Should the inventory fall below the lower limit,...

  8. Nonlinear vibration with control for flexible and adaptive structures

    CERN Document Server

    Wagg, David

    2015-01-01

    This book provides a comprehensive discussion of nonlinear multi-modal structural vibration problems, and shows how vibration suppression can be applied to such systems by considering a sample set of relevant control techniques. It covers the basic principles of nonlinear vibrations that occur in flexible and/or adaptive structures, with an emphasis on engineering analysis and relevant control techniques. Understanding nonlinear vibrations is becoming increasingly important in a range of engineering applications, particularly in the design of flexible structures such as aircraft, satellites, bridges, and sports stadia. There is an increasing trend towards lighter structures, with increased slenderness, often made of new composite materials and requiring some form of deployment and/or active vibration control. There are also applications in the areas of robotics, mechatronics, micro electrical mechanical systems, non-destructive testing and related disciplines such as structural health monitoring. Two broader ...

  9. Abscisic acid signaling is controlled by a BRANCHED1/HD-ZIP i cascade in Arabidopsis axillary buds

    NARCIS (Netherlands)

    Gonzalez-Grandio, Eduardo; Pajoro, Alice; Franco-Zorrilla, Jose M.; Tarancon, Carlos; Immink, Richard G.H.; Cubas, Pilar

    2017-01-01

    Shoot-branching patterns determine key aspects of plant life and are important targets for crop breeding. However, we are still largely ignorant of the genetic networks controlling locally themost important decision during branch development: whether the axillary bud, or branch primordium, grows out

  10. THE ROLE OF MORPHOLOGICAL VARIABLES IN DETERMINING STRENGTH AND FLEXIBILITY IN DIFFERENT SPORTS BRANCHES IN SCHOOL OF PHYSICAL EDUCATION AND SPORTS STUDENTS

    Directory of Open Access Journals (Sweden)

    Ali ÖZKAN

    2014-07-01

    Full Text Available The purpose of the present study was to determination of the morphological variables in determining role of strength and flexibility in dıfferent sports branches in School of Physical Education and Sports sudents . A total of 71 different sports branches players ( 푋 age: 21.16±3.65 year participated in this study voluntarily. Subjects’ height, body weight, body mass index, body fat percentage and total of seven skinfold thicknesses were determined. Body fat percentage was determined by Yuhasz formula. Sit and reach test was used to determinate. Isometric dynamometer was used for the determination of knee (KS, back (BS, grip (GS and total strength (TS. Results of Pearson Product Moment correlation analysis, height was significantly correlated with right hand grip strength (r=.267, p<.01 and total strength (r= .354, p<.05. Similarly body weight was significantly positive correlated with right hand grip strength (r=.250, p<.01 and total strength (r=.542, p<.05. On the other hand, total of seven skinfol d thicknesses was significantly positive correlated with left hand grip strength (r=.286, p<.01. As a conclusion, the findings of the present study indicated that morphological variables plays important role in different sports branches in School of Physi cal Education and Sports sudents.

  11. Detailed requirements and constraints for the control of flexibility

    DEFF Research Database (Denmark)

    Hänninen, Seppo; Kyritsis, Anastasios; Abdulhadi, Ibrahim

    2015-01-01

    until 2030 and what are the general trends for development of amount and controllability of this resource types. The parameters characterising different energy resources provide the technical requirements for their applicability to flexible operation of the grid and their suitability for frequency...... with necessary reactive power. FACTS devices and cross-border connections based on HVDC converter schemes can play an important role in frequency and voltage support. Demand response, including industrial loads and household devices and electric vehicles, will have great influence in flexible operation...... between day-ahead production and consumption schedule and will leave energy markets with higher and less predictable need for balancing power. The actors involved in the future grid control are balance responsible Party (BRP), cell system operator (CSO), cell operational information system (COIS...

  12. Flexible particle array structures by controlling polymer graft architecture.

    Science.gov (United States)

    Choi, Jihoon; Dong, Hongchen; Matyjaszewski, Krzysztof; Bockstaller, Michael R

    2010-09-15

    Surface-initiated atom-transfer radical polymerization is used to synthesize particle brushes with controlled fraction of extended and relaxed conformations of surface-grafted chains. In the semidilute brush limit, the grafting of polymeric ligands is shown to facilitate the formation of ordered yet plastic-compliant particle array structures in which chain entanglements give rise to fracture through a polymer-like crazing process that dramatically increases the toughness and flexibility of the particle assembly.

  13. Tracking control of a flexible beam by nonlinear boundary feedback

    Directory of Open Access Journals (Sweden)

    Bao-Zhu Guo

    1995-01-01

    Full Text Available This paper is concerned with tracking control of a dynamic model consisting of a flexible beam rotated by a motor in a horizontal plane at the one end and a tip body rigidly attached at the free end. The well-posedness of the closed loop systems considering the dissipative nonlinear boundary feedback is discussed and the asymptotic stability about difference energy of the hybrid system is also investigated.

  14. Techniques for controlling a two-link flexible arm

    Energy Technology Data Exchange (ETDEWEB)

    Feddema, J.T.; Eisler, G.R.; Segalman, D.J.; Robinett, R.D. III; Morimoto, A.K.; Schoenwald, D.A.

    1990-01-01

    The long length and relatively small cross sectional area of the robotic arms envisioned for use inside of the underground nuclear waste storage tanks will require the control of flexible structures. This will become an important problem in the characterization and remediation of these tanks. We are developing control strategies to actively damp residual vibrations in flexible robotic arms caused by high speed motion and abrupt external forces. A planar, two-link flexible arm is currently being used to test these control strategies. In this paper, two methods of control are discussed. The first is a minimum-time control approach which utilizes a finite element model and and optimization program. These tools plan the motor torque profiles necessary for the tip of the arm to move along a straight line, in minimum time, within the motors' torque constraints, and end in a quiescent state. To account for modeling errors in the finite element model, errors in joint angles, velocities, and link curvatures are added to the optimal torque trajectory. Linear quadratic Gaussian (LQG) regulatory design theory is used to determine the feedback gains. The second method of control is a teleoperated joystick controller which uses an input shaping technique to alter the commands of the joystick so as to reduce the residual vibration of the fundamental modes. Approximating the system as linear, the natural frequency and damping ratio are estimated on-line for the complete system, which includes the structure plus a lower level proportional derivative controller. An input shaping filter is determined from the estimated natural frequency, estimated damping ratio, and the desired transfer function of the system. 11 reps., 9 figs.

  15. Kidney branching morphogenesis under the control of a ligand-receptor-based Turing mechanism

    Science.gov (United States)

    Menshykau, Denis; Iber, Dagmar

    2013-08-01

    The main signalling proteins that control early kidney branching have been defined. Yet the underlying mechanism is still elusive. We have previously shown that a Schnakenberg-type Turing mechanism can recapitulate the branching and protein expression patterns in wild-type and mutant lungs, but it is unclear whether this mechanism would extend to other branched organs that are regulated by other proteins. Here, we show that the glial cell line-derived neurotrophic factor-RET regulatory interaction gives rise to a Schnakenberg-type Turing model that reproduces the observed budding of the ureteric bud from the Wolffian duct, its invasion into the mesenchyme and the observed branching pattern. The model also recapitulates all relevant protein expression patterns in wild-type and mutant mice. The lung and kidney models are both based on a particular receptor-ligand interaction and require (1) cooperative binding of ligand and receptor, (2) a lower diffusion coefficient for the receptor than for the ligand and (3) an increase in the receptor concentration in response to receptor-ligand binding (by enhanced transcription, more recycling or similar). These conditions are met also by other receptor-ligand systems. We propose that ligand-receptor-based Turing patterns represent a general mechanism to control branching morphogenesis and other developmental processes.

  16. Effects of flood controls proposed for West Branch Brandywine Creek, Chester County, Pennsylvania

    Science.gov (United States)

    Sloto, R.A.

    1988-01-01

    Twenty-four-hour rainfall, distributed over time according to the U.S. Soil Conservation Service type II rainfall distribution, was used as input to calibrated rainfall-runoff models of three subbasins in the West Branch Brandywine Creek watershed. The effects of four proposed flood controls were evaluated by using these rainfalls to simulate discharge hydrographs with and without the flood controls and comparing the simulated peak discharges. In the Honey Brook subbasin, 2-, 10-, and 100-year flood-discharge hydrographs were generated for station West Branch Brandywine Creek at Coatesville. For the 2- and 10-year floods, proposed flood controls would reduce the peak discharge from 1 to 8 percent. The combination of all three flood controls proposed for the Coatesville subbasin would reduce the 100-year peak discharge 44 percent. In the Modena subbasin, 2-, 10-, and 100-year flood-discharge hydrographs were generated for station West Branch Brandywine Creek at Modena. A flood control proposed for Sucker Run, a tributary, would reduce the peak discharge of Sucker Run at State Route 82 by 22, 25, and 27 percent and the peak discharge of West Branch Brandywine Creek at Modena by 10, 6, and less than 1 percent for the 2-, 10-, and 100-year floods, respectively. For the 2- and 10- year floods, flood control proposed for the Coatesville subbasin would have little effect on the peak discharge of West Branch Brandywine Creek at Modena. For the 100-year flood, the combination of all three flood controls proposed for the Coatesville subbasin would reduce the peak discharge at Modena 25 percent. When flood control in the Modena subbasin was combined with flood control in the Coatesville subbasin, the 10-percent reduction in the 2-year flood peak of West Branch Brandywine Creek at Modena was due almost entirely to flood control in the Modena subbasin. For the 10-year flood, flood control in the Modena subbasin would reduce the peak discharge 6 percent, and any single flood

  17. Adaptive control for evaluation of flexibility benefits in microgrid systems

    International Nuclear Information System (INIS)

    Holjevac, Ninoslav; Capuder, Tomislav; Kuzle, Igor

    2015-01-01

    Aggregating groups of loads and generators at the same location with centralized control is known as the concept of microgrids. However, if those flexible producers and consumers do not have the ability to balance the variability and uncertainty of RES (renewable energy sources) production within them, from the system perspective they are seen as a source of imbalances and potential problems in maintaining the equilibrium of production and consumption. The papers main goal is to quantify the ability of microgrid components to provide flexibility. This flexibility is analysed from two perspectives, defining two operating principles of each microgrid: independently from the distribution grid and connected, interacting and responding to signals from the upstream system. Following on this, the paper presents two relevant cases. In the first part a deterministic model is developed based on MILP (Mixed Integer Linear programming) simulating the microgrid operation over one year period. This model is used to determine the optimal microgrid configuration with respect to the amount of unused energy, thus defining role and capability of different pieces of equipment and their size (RES (renewable energy sources) wind and solar, HS (heat storage), μCHP (micro combined heat and power plants) and EHP (electric heat pumps)). The second part of this paper further expands the model with MPC (Model Predictive Control) approach in order to capture the behaviour of microgrid interaction with the distribution grid, modelling uncertainties of forecasting RES production by stochastic programming. The model is capable to evaluate both the impact of variable energy production and consumption and the impact of energy balancing tariffs depending on the amount of balancing energy needed for the microgrid operation. - Highlights: • Integrated MILP (Mixed Integer Linear programming) formulation for optimal operation of developed microgrid model. • Determining operational flexibility of

  18. Control of flexible robots with prismatic joints and hydraulic drives

    International Nuclear Information System (INIS)

    Love, L.J.; Kress, R.L.; Jansen, J.F.

    1997-01-01

    The design and control of long-reach, flexible manipulators has been an active research topic for over 20 years. Most of the research to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long-reach systems. One example is the Modified Light Duty Utility Arm (MLDUA) designed and built by Spar Aerospace for Oak Ridge National Laboratory (ORNL). This arm operates in larger, underground waste storage tanks located at ORNL. The size and nature of the tanks require that the robot have a reach of approximately 15 ft and a payload capacity of 250 lb. In order to achieve these criteria, each joint is hydraulically actuated. Furthermore, the robot has a prismatic degree-of-freedom to ease deployment. When fully extended, the robot's first natural frequency is 1.76 Hz. Many of the projected tasks, coupled with the robot's flexibility, present an interesting problem. How will many of the existing flexure control algorithms perform on a hydraulic, long-reach manipulator with prismatic links? To minimize cost and risk of testing these algorithms on the MLDUA, the authors have designed a new test bed that contains many of the same elements. This manuscript described a new hydraulically actuated, long-reach manipulator with a flexible prismatic link at ORNL. Focus is directed toward both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies

  19. Towards flexible control and communication of mini-grids

    Energy Technology Data Exchange (ETDEWEB)

    Kullmann, Daniel; Bindner, Henrik; Gehrke, Oliver [Risoe DTU, Roskilde (Denmark). Intelligent Energy Systems

    2010-07-01

    Access to electricity is one of the most important factors for economical development. In many places that are remote and isolated, mini-grids are a appropriate option for establishing electricity supply. When designing and implementing such systems there are a number of challenges. These challenges are mainly concerned with the investment, the technical risk, and the sustainability of the system. To a large extent these challenges are concerned with the control and communication of the system. This paper proposes a communication and control concept that can be used to implement advanced control using standard communications. The concept is based on so-called policy-based control which implements an abstract control scheme. It can be implemented on top of the existing communication protocols such as IEC61850 and it makes easy to implement flexible control that can adapt to changes in systems configuration and in types of components that are connected to the system. (orig.)

  20. Stability control of a flexible maneuverable tethered space net robot

    Science.gov (United States)

    Zhang, Fan; Huang, Panfeng

    2018-04-01

    As a promising solution for active space debris capture and removal, a maneuverable Tethered Space Net Robot (TSNR) is proposed as an improved Space Tethered Net (TSN). In addition to the advantages inherit to the TSN, the TSNR's maneuverability expands the capture's potential. However, oscillations caused by the TSNR's flexibility and elasticity of make higher requests of the control scheme. Based on the dynamics model, a modified adaptive super-twisting sliding mode control scheme is proposed in this paper for TSNR stability control. The proposed continuous control force can effectively suppress oscillations. Theoretical verification and numerical simulations demonstrate that the desired trajectory can be tracked steadily and efficiently by employing the proposed control scheme.

  1. Development and evaluation of a flexible distributed robot control architecture

    Science.gov (United States)

    Ellsberry, Andrew John

    2011-12-01

    The communications and electronic systems that comprise a distributed control architecture for a robotic manipulator tie the high level control and motion planning to the electromechanical components. Custom solutions to this problem can be expensive in terms of time, cost, and maintenance. The integration of commercial off the shelf (COTS) motion controllers, combined with a robust communication standard, offers the potential to reduce the costs and development times for new robots. This thesis demonstrates an implementation of this architecture using commercial controllers and the CANopen communications bus on two existing dexterous robots. Testing is conducted to quantify the single joint performance of these modules. Additionally, the implementation of the system on a second robot arm was conducted in order to test the flexibility of the system for use with different actuators and feedback.

  2. A novel branched side-chain-type sulfonated polyimide membrane with flexible sulfoalkyl pendants and trifluoromethyl groups for vanadium redox flow batteries

    Science.gov (United States)

    Li, Jinchao; Liu, Suqin; He, Zhen; Zhou, Zhi

    2017-04-01

    A novel branched side-chain-type sulfonated polyimide (6F-s-bSPI) membrane with accessible branching agents of melamine, hydrophobic trifluoromethyl groups (sbnd CF3), and flexible sulfoalkyl pendants is prepared by a high-temperature polycondensation and post-sulfonation method for use in vanadium redox flow batteries (VRFBs). The chemical structure of the 6F-s-bSPI membrane is confirmed by ATR-FTIR and 1H NMR spectra. The physico-chemical properties of the as-prepared 6F-s-bSPI membrane are systematically investigated and found to be strongly related to the specially designed structure. The 6F-s-bSPI membrane offers a reduced cost and possesses a significantly lowered vanadium ion permeability (1.18 × 10-7 cm2 min-1) compared to the linear SPI (2.25 × 10-7 cm2 min-1) and commercial Nafion 115 (1.36 × 10-6 cm2 min-1) membranes, prolonging the self-discharge duration of the VRFBs. In addition, the VRFB assembled with a 6F-s-bSPI membrane shows higher coulombic (98.3%-99.7%) and energy efficiencies (88.4%-66.12%) than that with a SPI or Nafion 115 membrane under current densities ranging from 20 to 100 mA cm-2. Moreover, the VRFB with a 6F-s-bSPI membrane delivers a stable cycling performance over 100 cycles with no decline in coulombic and energy efficiencies. These results show that the branched side-chain-type structure is a promising design to prepare excellent proton conductive membranes.

  3. Gust Load Alleviation with Robust Control for a Flexible Wing

    Directory of Open Access Journals (Sweden)

    Xiang Liu

    2016-01-01

    Full Text Available Traditional methods for gust alleviation of aircraft are mostly proposed based on a specific flight condition. In this paper, robust control laws are designed for a large flexible wing with uncertainty in Mach number and dynamic pressure. To accurately describe the aeroelastic model over a large flight envelope, a nonlinear parameter-varying model is developed which is a function of both Mach number and dynamic pressure. Then a linear fractional transformation is established accordingly and a modified model order reduction technique is applied to reduce the size of the uncertainty block. The developed model, in which the statistic nature of the gust is considered by using the Dryden power spectral density function, enables the use of μ-synthesis procedures for controller design. The simulations show that the μ controller can always effectively reduce the wing root shear force and bending moment at a given range of Mach number and dynamic pressure.

  4. Controlling Flexible Robot Arms Using High Speed Dynamics Process

    Science.gov (United States)

    Jain, Abhinandan (Inventor)

    1996-01-01

    A robot manipulator controller for a flexible manipulator arm having plural bodies connected at respective movable hinges and flexible in plural deformation modes corresponding to respective modal spatial influence vectors relating deformations of plural spaced nodes of respective bodies to the plural deformation modes, operates by computing articulated body quantities for each of the bodies from respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables, and computing modal deformation accelerations and hinge accelerations is carried out for each one of the bodies beginning with the outermost body by computing a residual body force from a residual body force of a previous body and from the vector of deformation and hinge configuration variables, computing a resultant hinge acceleration from the body force, the residual body force and the articulated hinge inertia, and revising the residual body force modal body acceleration.

  5. Controlling flexible robot arms using a high speed dynamics process

    Science.gov (United States)

    Jain, Abhinandan (Inventor); Rodriguez, Guillermo (Inventor)

    1992-01-01

    Described here is a robot controller for a flexible manipulator arm having plural bodies connected at respective movable hinges, and flexible in plural deformation modes. It is operated by computing articulated body qualities for each of the bodies from the respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables. Computing modal deformation accelerations and hinge accelerations is carried out for each of the bodies, beginning with the outermost body by computing a residual body force from a residual body force of a previous body, computing a resultant hinge acceleration from the body force, and then, for each one of the bodies beginning with the innermost body, computing a modal body acceleration from a modal body acceleration of a previous body, computing a modal deformation acceleration and hinge acceleration from the resulting hinge acceleration and from the modal body acceleration.

  6. Water infrastructure flexibility through real-time control

    Science.gov (United States)

    Wong, B. P.; Kerkez, B.

    2016-12-01

    We present a real-time control framework to enable the management and coordination of distributed urban stormwater systems. We show that by equipping existing stormwater infrastructure with affordable internet-enabled control valves, stormwater systems can be "redesigned" in real-time to adapt to individual storm events. This effectively shrinks the decision window to minutes or seconds, permitting for extended flexibility and true adaptation of stormwater systems. This is crucial particularly in flashy, urban catchments where control enables transient flows to be managed to avoid flooding and water quality impairments. By assimilating streaming sensor data into real-time control models, we show how uncertainty can be reduced across large watersheds to improve control decisions. A use case in southeast Michigan is presented where an urban of three square miles has been instrumented for stormwater control. Unlike traditional stormwater designs, which cannot provide system-level performance guarantees, the addition of remotely controllable valves enables these stormwater assets to resiliently coordinate response under a variety of precipitation and flow conditions.

  7. Modeling and control of a flexible one-link robot driven by a velocity controlled actuator

    Science.gov (United States)

    Torfs, D.; De Schutter, J.

    1995-01-01

    This paper describes a new approach to control flexible robots. Many control schemes for flexible robots have been developed and published in robotics research literature. All of them assume the use of torque controlled actuators (DC-motors), while most commercially available robots have velocity controlled actuators. It is possible to extend a traditional controller, which uses velocity controlled actuators and which is designed to control rigid robots, to a controller for flexible robots. However, it is shown that the high gain velocity loop introduces a controllability problem. The proposed control approach is based on state feedback, built around a high gain velocity controlled actuator. The total dynamic model consists of a parallel combination of the models relating the differential velocity input to the joint position on the one hand and relating the differential velocity input to the flexible deformation on the other. This structure is proven to solve the controllability problem. By state feedback together with feedforward, accurate tracking, proper positioning and oscillation suppression during and after positioning of the end point are achieved. Test results on a bread board model prove the applicability of the proposed control scheme.

  8. Design and experimental evaluation of flexible manipulator control algorithms

    International Nuclear Information System (INIS)

    Kwon, D.S.; Hwang, D.H.; Babcock, S.M.; Kress, R.L.

    1995-01-01

    Within the Environmental Restoration and Waste Management Program of the US Department of Energy, the remediation of single-shell radioactive waste storage tanks is one of the areas that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this task. Because of high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has been designed to compensate for the hydraulic actuator dynamics by using a load-compensated velocity feedforward loop and to increase the bandwidth by using an inner pressure feedback loop. Shaping filter techniques have been applied as feedforward controllers to avoid structural vibrations during operation. Various types of shaping filter methods have been investigated. Among them, a new approach, referred to as a ''feedforward simulation filter'' that uses embedded simulation, has been presented

  9. Multistable decision switches for flexible control of epigenetic differentiation.

    Directory of Open Access Journals (Sweden)

    Raúl Guantes

    2008-11-01

    Full Text Available It is now recognized that molecular circuits with positive feedback can induce two different gene expression states (bistability under the very same cellular conditions. Whether, and how, cells make use of the coexistence of a larger number of stable states (multistability is however largely unknown. Here, we first examine how autoregulation, a common attribute of genetic master regulators, facilitates multistability in two-component circuits. A systematic exploration of these modules' parameter space reveals two classes of molecular switches, involving transitions in bistable (progression switches or multistable (decision switches regimes. We demonstrate the potential of decision switches for multifaceted stimulus processing, including strength, duration, and flexible discrimination. These tasks enhance response specificity, help to store short-term memories of recent signaling events, stabilize transient gene expression, and enable stochastic fate commitment. The relevance of these circuits is further supported by biological data, because we find them in numerous developmental scenarios. Indeed, many of the presented information-processing features of decision switches could ultimately demonstrate a more flexible control of epigenetic differentiation.

  10. HACS: A Hybrid Framework for Continuous Flexible and Controlled Architecting

    Directory of Open Access Journals (Sweden)

    Bentlemsan Khadidja

    2017-12-01

    Full Text Available Systems like e-voting, e-banking or e-health must offer flexibility to continuously meet technical and legal changing requirements and must at the same time guarantee robustness to respect their security and sensitivity. Component Based Software Engineering (CBSE and Service Oriented Software Engineering (SOSE with their modular design represent the most suitable paradigms for those systems. They have strong complementary advantages, despite their similarities, their heterogeneity still hinders systems to benefit from both of them. In this paper, we propose a hybrid framework HACS (Hybrid Approach between Component and Service. HACS proposes to define sensitive systems as a hybrid architecture where the critical parts are controlled according to CBSE coupled to the flexibility and dynamism of SOSE. To address heterogeneity and make possible the substitution between hybrid components, HACS uses a common syntax with semantic annotations based on SAWSDL related to two ontologies; HACS ontology and domain ontology. We illustrate HACS all along the paper through an e-voting case study.

  11. Adaptive output feedback control based on neural networks: application to flexible aircraft control

    OpenAIRE

    Bordeneuve-Guibé, Joël; Bako, Laurent; Jeanneau, Matthieu

    2009-01-01

    One of the major challenges in aeronautical flexible structures control is the uncertain for the non stationary feature of the systems. Transport aircrafts are of unceasingly growing size but are made from increasingly light materials so that their motion dynamics present some flexible low frequency modes coupled to rigid modes. For reasons that range from fuel transfer to random flying conditions, the parameters of these planes may be subject to significative variations during a flight. A...

  12. Flexible aircraft control based on an adaptive output feedback control scheme

    OpenAIRE

    Bordeneuve-Guibé, Joël; Bako, Laurent; Miksch, Roland; Jeanneau, Matthieu

    2009-01-01

    One of the major challenges in aeronautical flexible structures control is the uncertain or the non stationary feature of the systems. Transport aircrafts are of unceasingly growing size but are made from increasingly light materials so that their motion dynamics present some flexible low frequency modes coupled to rigid modes. For reasons that range from fuel transfer to random flying conditions, the parameters of these planes may be subject to significative variations during a flight. A sin...

  13. Protein kinase A is involved in the control of morphology and branching during aerobic growth of Mucor circinelloides

    DEFF Research Database (Denmark)

    Lübbehüsen, Tina Louise; Polo, V.G.; Rossi, S.

    2004-01-01

    and colony morphology suggested a role for PKAR in the control of morphology and branching. Here strain KFA121, which overexpresses the M. circinelloides pkaR gene, was used to quantify growth and branching under different aerobic growth conditions in a flow-through cell by computerized image analysis...

  14. Branched-Chain Aminotransferases Control TORC1 Signaling in Saccharomyces cerevisiae.

    Directory of Open Access Journals (Sweden)

    Joanne M Kingsbury

    2015-12-01

    Full Text Available The conserved target of rapamycin complex 1 (TORC1 integrates nutrient signals to orchestrate cell growth and proliferation. Leucine availability is conveyed to control TORC1 activity via the leu-tRNA synthetase/EGOC-GTPase module in yeast and mammals, but the mechanisms sensing leucine remain only partially understood. We show here that both leucine and its α-ketoacid metabolite, α-ketoisocaproate, effectively activate the yeast TORC1 kinase via both EGOC GTPase-dependent and -independent mechanisms. Leucine and α-ketoisocaproate are interconverted by ubiquitous branched-chain aminotransferases (BCAT, which in yeast are represented by the mitochondrial and cytosolic enzymes Bat1 and Bat2, respectively. BCAT yeast mutants exhibit severely compromised TORC1 activity, which is partially restored by expression of Bat1 active site mutants, implicating both catalytic and structural roles of BCATs in TORC1 control. We find that Bat1 interacts with branched-chain amino acid metabolic enzymes and, in a leucine-dependent fashion, with the tricarboxylic acid (TCA-cycle enzyme aconitase. BCAT mutation perturbed TCA-cycle intermediate levels, consistent with a TCA-cycle block, and resulted in low ATP levels, activation of AMPK, and TORC1 inhibition. We propose the biosynthetic capacity of BCAT and its role in forming multicomplex metabolons connecting branched-chain amino acids and TCA-cycle metabolism governs TCA-cycle flux to activate TORC1 signaling. Because mammalian mitochondrial BCAT is known to form a supramolecular branched-chain α-keto acid dehydrogenase enzyme complex that links leucine metabolism to the TCA-cycle, these findings establish a precedent for understanding TORC1 signaling in mammals.

  15. Hybrid adaptive ascent flight control for a flexible launch vehicle

    Science.gov (United States)

    Lefevre, Brian D.

    hybrid adaptive flight controller, development of a Newton's method based online parameter update that is modified to include a step size which regulates the rate of change in the parameter estimates, comparison of the modified Newton's method and recursive least squares online parameter update algorithms, modification of the neural network's input structure to accommodate for the nature of the nonlinearities present in a launch vehicle's ascent flight, examination of both tracking error based and modeling error based neural network weight update laws, and integration of feedback filters for the purpose of preventing harmful interaction between the flight control system and flexible structural modes. To validate the hybrid adaptive controller, a high-fidelity Ares I ascent flight simulator and a classical gain-scheduled proportional-integral-derivative (PID) ascent flight controller were obtained from the NASA Marshall Space Flight Center. The classical PID flight controller is used as a benchmark when analyzing the performance of the hybrid adaptive flight controller. Simulations are conducted which model both nominal and off-nominal flight conditions with structural flexibility of the vehicle either enabled or disabled. First, rigid body ascent simulations are performed with the hybrid adaptive controller under nominal flight conditions for the purpose of selecting the update laws which drive the indirect and direct adaptive components. With the neural network disabled, the results revealed that the recursive least squares online parameter update caused high frequency oscillations to appear in the engine gimbal commands. This is highly undesirable for long and slender launch vehicles, such as the Ares I, because such oscillation of the rocket nozzle could excite unstable structural flex modes. In contrast, the modified Newton's method online parameter update produced smooth control signals and was thus selected for use in the hybrid adaptive launch vehicle flight

  16. Control system design for flexible structures using data models

    Science.gov (United States)

    Irwin, R. Dennis; Frazier, W. Garth; Mitchell, Jerrel R.; Medina, Enrique A.; Bukley, Angelia P.

    1993-01-01

    The dynamics and control of flexible aerospace structures exercises many of the engineering disciplines. In recent years there has been considerable research in the developing and tailoring of control system design techniques for these structures. This problem involves designing a control system for a multi-input, multi-output (MIMO) system that satisfies various performance criteria, such as vibration suppression, disturbance and noise rejection, attitude control and slewing control. Considerable progress has been made and demonstrated in control system design techniques for these structures. The key to designing control systems for these structures that meet stringent performance requirements is an accurate model. It has become apparent that theoretically and finite-element generated models do not provide the needed accuracy; almost all successful demonstrations of control system design techniques have involved using test results for fine-tuning a model or for extracting a model using system ID techniques. This paper describes past and ongoing efforts at Ohio University and NASA MSFC to design controllers using 'data models.' The basic philosophy of this approach is to start with a stabilizing controller and frequency response data that describes the plant; then, iteratively vary the free parameters of the controller so that performance measures become closer to satisfying design specifications. The frequency response data can be either experimentally derived or analytically derived. One 'design-with-data' algorithm presented in this paper is called the Compensator Improvement Program (CIP). The current CIP designs controllers for MIMO systems so that classical gain, phase, and attenuation margins are achieved. The center-piece of the CIP algorithm is the constraint improvement technique which is used to calculate a parameter change vector that guarantees an improvement in all unsatisfied, feasible performance metrics from iteration to iteration. The paper also

  17. Physiological controls of chrysanthemum DgD27 gene expression in regulation of shoot branching.

    Science.gov (United States)

    Wen, Chao; Zhao, Qingcui; Nie, Jing; Liu, Guoqin; Shen, Lin; Cheng, Chenxia; Xi, Lin; Ma, Nan; Zhao, Liangjun

    2016-05-01

    DgD27 was cloned from D. grandiflorum for the first time and played an important role in shoot branching of chrysanthemum. Shoot branching plays an important role in determining plant architecture. D27 was previously proven to be involved in the strigolactone biosynthetic pathway in rice, Arabidopsis, and Medicago. To investigate the role of D27 in shoot branching of chrysanthemum, we isolated the D27 homolog DgD27. Functional analysis showed that DgD27 was a plastid-localized protein that restored the phenotype of Arabidopsis d27-1. Gene expression analysis revealed that DgD27 was expressed at the highest levels in stem, and was up-regulated by exogenous auxin. Decapitation could down-regulate DgD27 expression, but this effect could be restored by exogenous auxin. DgD27 expression was significantly down-regulated by dark treatment in axillary buds. In addition, DgD27 transcripts produced rapid responses in shoots and roots under conditions of phosphate absence, but only mild variation in responses in buds, stems, and roots with low nitrogen treatment. DgBRC1 transcripts also showed the same response in buds under low nitrogen conditions. Under phosphate deficiency, indole-3-acetic acid (IAA) levels increased, zeatin riboside levels decreased, and abscisic acid (ABA) levels increased in the shoot, while both IAA and ABA levels increased in the shoot under low nitrogen treatments. Gibberellin acid levels were unaffected by phosphate deficiency and low nitrogen treatments. Taken together, these results demonstrated the diverse roles of DgD27 in response to physiological controls in chrysanthemum shoot branching.

  18. Advanced Durable Flexible Ultra Low Outgassing Thermal Control Coatings for NASA Science Missions, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — This Phase I program proposes to synthesize novel nanoengineered ultra low out gassing elastomers and formulate high temperature capable flexible thermal control...

  19. Active control of a flexible structure using a modal positive position feedback controller

    Science.gov (United States)

    Poh, S.; Baz, A.

    1990-01-01

    The feasibility of a new Modal Positive Position Feedback (MPPF) strategy in controlling the vibration of a complex flexible structure using a single piezo-electric active structural member is demonstrated. The control strategy generates its control forces by manipulating only the modal position signals of the structure to provide a damping action to undamped modes. This is in contrast to conventional modal controllers that rely in their operation on negative feedback of both the modal position and velocity. The proposed strategy is very simple to design and implement as it designs the controller at the uncoupled modal level and utilizes simple first order filters to achieve the Positive Position Feedback effect. The performance of the new strategy is enhanced by augmenting it with a time sharing strategy to share a small number of actuators between larger number of modes. The effectiveness of the new strategy is validated experimentally on a flexible box-type structure that has four bays and its first two bending modes are 2.015 and 6.535 Hz, respectively. A single piezo-electric actuator is utilized as an active structural member to control several transverse bending modes of the structure. The performance of the active control system is determined in the time and the frequency domains. The results are compared with those obtained when using the Independent Modal Space Control (IMSC) of Meirovitch. The experimental results suggest the potential of the proposed strategy as a viable means for controlling the vibration of large flexible structures in real time.

  20. Increasing flexibility of coal power plant by control system modifications

    Directory of Open Access Journals (Sweden)

    Marušić Ante

    2016-01-01

    Full Text Available Expanding implementation of intermittent renewable energy sources has already started to change the role of thermal power plants in energy systems across Europe. Traditionally base load plants are now forced to operate as peaking plants. A familiar transition in upcoming years is expected in Croatia and coal power plant operators are preparing accordingly. To evaluate cycling capabilities and control system operation for flexible operation of selected 210 MW coal plant, series of tests with different load gradients were performed and results were thoroughly analyzed. Two possible “bottlenecks” are identified, thermal stress in superheater header, and achievable ramping rate considering operational limitations of coal feeders, firing system and evaporator dynamics. Several unexpected readings were observed, usually caused by malfunctioning sensors and equipment, resulting in unexpected oscillations of superheated steam temperature. Based on superheater geometry and experimental data, maximal steam temperature gradient during ramping was evaluated. Since thermal stress was well inside the safety margins, the simulation model of the whole boiler was used to evaluate achievable ramping on electric side.

  1. Control of flying flexible aircraft using control surfaces and dispersed piezoelectric actuators

    Science.gov (United States)

    Tuzcu, Ilhan; Meirovitch, Leonard

    2006-08-01

    The flight of relatively stiff aircraft can be adequately controlled by standard means, i.e., by the engine throttles and control surfaces. When the flexibility becomes a factor, the standard controls may not be sufficient. In several earlier papers, the authors have addressed the problem of dynamics and control of maneuvering flexible aircraft. Using a perturbation approach they separated the problem into a quasi-rigid flight dynamics problem for the flight variables, which tend to be large, and an extended perturbation problem for the perturbations in the flight variables and the elastic vibration, which tend to be small, where the second problem receives input from the first. It was suggested in the earlier papers that, in addition to the standard controls, the controls for the extended perturbation problem include actuators whose task is to control the vibration. In this paper, the possibility of controlling the vibration by means of piezoelectric actuators dispersed over the flexible structural components, and in particular over the wing and empennage, is explored. It is concluded that piezoelectric actuators can be effective in damping out vibration if adequate power sources can be provided. This is the first time that the feasibility of piezoelectric actuators has been investigated in a flight environment.

  2. Experimental Study of Flexible Plate Vibration Control by Using Two-Loop Sliding Mode Control Strategy

    Science.gov (United States)

    Yang, Jingyu; Lin, Jiahui; Liu, Yuejun; Yang, Kang; Zhou, Lanwei; Chen, Guoping

    2017-08-01

    It is well known that intelligent control theory has been used in many research fields, novel modeling method (DROMM) is used for flexible rectangular active vibration control, and then the validity of new model is confirmed by comparing finite element model with new model. In this paper, taking advantage of the dynamics of flexible rectangular plate, a two-loop sliding mode (TSM) MIMO approach is introduced for designing multiple-input multiple-output continuous vibration control system, which can overcome uncertainties, disturbances or unstable dynamics. An illustrative example is given in order to show the feasibility of the method. Numerical simulations and experiment confirm the effectiveness of the proposed TSM MIMO controller.

  3. Association mapping in sunflower (Helianthus annuus L.) reveals independent control of apical vs. basal branching.

    Science.gov (United States)

    Nambeesan, Savithri U; Mandel, Jennifer R; Bowers, John E; Marek, Laura F; Ebert, Daniel; Corbi, Jonathan; Rieseberg, Loren H; Knapp, Steven J; Burke, John M

    2015-03-11

    Shoot branching is an important determinant of plant architecture and influences various aspects of growth and development. Selection on branching has also played an important role in the domestication of crop plants, including sunflower (Helianthus annuus L.). Here, we describe an investigation of the genetic basis of variation in branching in sunflower via association mapping in a diverse collection of cultivated sunflower lines. Detailed phenotypic analyses revealed extensive variation in the extent and type of branching within the focal population. After correcting for population structure and kinship, association analyses were performed using a genome-wide collection of SNPs to identify genomic regions that influence a variety of branching-related traits. This work resulted in the identification of multiple previously unidentified genomic regions that contribute to variation in branching. Genomic regions that were associated with apical and mid-apical branching were generally distinct from those associated with basal and mid-basal branching. Homologs of known branching genes from other study systems (i.e., Arabidopsis, rice, pea, and petunia) were also identified from the draft assembly of the sunflower genome and their map positions were compared to those of associations identified herein. Numerous candidate branching genes were found to map in close proximity to significant branching associations. In sunflower, variation in branching is genetically complex and overall branching patterns (i.e., apical vs. basal) were found to be influenced by distinct genomic regions. Moreover, numerous candidate branching genes mapped in close proximity to significant branching associations. Although the sunflower genome exhibits localized islands of elevated linkage disequilibrium (LD), these non-random associations are known to decay rapidly elsewhere. The subset of candidate genes that co-localized with significant associations in regions of low LD represents the most

  4. Tip position control of a two-link flexible robot manipulator based on nonlinear deflection feedback

    CERN Document Server

    Oke, G

    2003-01-01

    The control of flexible link manipulators has gained an increasing importance in robotics, in recent years. To control the tip of a flexible manipulator, the joint angles should converge to the desired positions fast and elastic deflections must be effectively suppressed. In this study, a two-link flexible manipulator is controlled by three methods and the results are compared. These methods are, Pd control, PD control augmented by a nonlinear correction term feedback, where the correction term is a function of the deflection of each link, and an adaptive fuzzy controller with the nonlinear correction term feedback. Simulations have been carried out to compare the performances of all three methods.

  5. Two-Link Flexible Manipulator Control Using Sliding Mode Control Based Linear Matrix Inequality

    Science.gov (United States)

    Zulfatman; Marzuki, Mohammad; Alif Mardiyah, Nur

    2017-04-01

    Two-link flexible manipulator is a manipulator robot which at least one of its arms is made of lightweight material and not rigid. Flexible robot manipulator has some advantages over the rigid robot manipulator, such as lighter, requires less power and costs, and to result greater payload. However, suitable control algorithm to maintain the two-link flexible robot manipulator in accurate positioning is very challenging. In this study, sliding mode control (SMC) was employed as robust control algorithm due to its insensitivity on the system parameter variations and the presence of disturbances when the system states are sliding on a sliding surface. SMC algorithm was combined with linear matrix inequality (LMI), which aims to reduce the effects of chattering coming from the oscillation of the state during sliding on the sliding surface. Stability of the control algorithm is guaranteed by Lyapunov function candidate. Based on simulation works, SMC based LMI resulted in better performance improvements despite the disturbances with significant chattering reduction. This was evident from the decline of the sum of squared tracking error (SSTE) and the sum of squared of control input (SSCI) indexes respectively 25.4% and 19.4%.

  6. NASA Marshall Space Flight Center Controls Systems Design and Analysis Branch

    Science.gov (United States)

    Gilligan, Eric

    2014-01-01

    Marshall Space Flight Center maintains a critical national capability in the analysis of launch vehicle flight dynamics and flight certification of GN&C algorithms. MSFC analysts are domain experts in the areas of flexible-body dynamics and control-structure interaction, thrust vector control, sloshing propellant dynamics, and advanced statistical methods. Marshall's modeling and simulation expertise has supported manned spaceflight for over 50 years. Marshall's unparalleled capability in launch vehicle guidance, navigation, and control technology stems from its rich heritage in developing, integrating, and testing launch vehicle GN&C systems dating to the early Mercury-Redstone and Saturn vehicles. The Marshall team is continuously developing novel methods for design, including advanced techniques for large-scale optimization and analysis.

  7. H infinity controller design to a rigid-flexible satellite with two vibration modes

    International Nuclear Information System (INIS)

    De Souza, A G; De Souza, L C G

    2015-01-01

    The satellite attitude control system (ACS) design becomes more complex when the satellite structure has components like, flexible solar panels, antennas and mechanical manipulators. These flexible structures can interact with the satellite rigid parts during translational and/or rotational manoeuvre damaging the ACS pointing accuracy. Although, a well-designed controller can suppress such disturbances quickly, the controller error pointing may be limited by the minimum time necessary to suppress such disturbances thus affecting the satellite attitude acquisition. This paper deals with the rigid-flexible satellite ACS design using the H infinity method. The rigid-flexible satellite is represented by a beam connected to a central rigid hub at one end and free at the other one. The equations of motions are obtained considering small flexible deformations and the Euler-Bernoulli hypothesis. The results of the simulations have shown that the H-infinity controller was able to control the rigid motion and suppress the vibrations. (paper)

  8. Designing Flexible Neuro-Fuzzy System Based on Sliding Mode Controller for Magnetic Levitation Systems

    OpenAIRE

    Zahra Mohammadi; Mohammad Teshnehlab; Mahdi Aliyari Shoorehdeli

    2011-01-01

    This study presents a novel controller of magnetic levitation system by using new neuro-fuzzy structures which called flexible neuro-fuzzy systems. In this type of controller we use sliding mode control with neuro-fuzzy to eliminate the Jacobian of plant. At first, we control magnetic levitation system with Mamdanitype neuro-fuzzy systems and logical-type neuro-fuzzy systems separately and then we use two types of flexible neuro-fuzzy systems as controllers. Basic flexible OR-type neuro-fuzzy...

  9. Dopaminergic control of cognitive flexibility in humans and animals

    Directory of Open Access Journals (Sweden)

    Marianne eKlanker

    2013-11-01

    Full Text Available Striatal dopamine is thought to code for learned associations between cues and reinforcers and to mediate approach behavior towards a reward. Less is known about the contribution of dopamine to cognitive flexibility – the ability to adapt behavior in response to changes in the environment. Altered reward processing and impairments in cognitive flexibility are observed in psychiatric disorders such as obsessive compulsive disorder. Patients with this disorder show a disruption of functioning in the frontostriatal circuit and alterations in dopamine signaling. In this review we summarize findings from animal and human studies that have investigated the involvement of striatal dopamine in cognitive flexibility. These findings may provide a better understanding of the role of dopaminergic dysfunction in cognitive inflexibility in psychiatric disorders, such as OCD.

  10. Efficient dynamic simulation of flexible link manipulators with PID control

    NARCIS (Netherlands)

    Aarts, Ronald G.K.M.; Jonker, Jan B.; Mook, D.T.; Balachandran, B.

    2001-01-01

    For accurate simulations of the dynamic behavior of flexible manipulators the combination of a perturbation method and modal analysis is proposed. First, the vibrational motion is modeled as a first-order perturbation of a nominal rigid link motion. The vibrational motion is then described by a set

  11. Dynamic pricing and inventory control with delivery flexibility

    DEFF Research Database (Denmark)

    Chen, Wen; He, Ying

    2018-01-01

    We study a multi-period inventory system with price-sensitive demand and uncertain supplier, focusing on the advantage of delivery flexibility. The optimal pricing and inventory replenishment decisions are explored. We also investigate the changes of marginal profit, optimal order quantities...

  12. Control and Kinetics of Branch Root Formation in Cultured Root Segments of Haplopappus ravenii.

    Science.gov (United States)

    Blakely, L M; Rodaway, S J; Hollen, L B; Croker, S G

    1972-07-01

    Branch root formation required only the presence of minerals, sucrose as a carbon source, and an auxin. The number of primordia formed was a function of auxin concentration. With naphthaleneacetic acid at 0.1 mg/l, up to 60 or more branches were formed per centimeter of Haplopappus ravenii root segment. Under our conditions, pea root segments formed only five or six branches per centimeter, but tomato and radish, like H. ravenii, formed large numbers of branches. Cytokinin inhibited branch formation, while gibberellic acid was without effect. Vitamins were not required for branch formation, although they enhanced elongation. Up to 5 days were required for the maximum number of stable branch primordia to form under the influence of naphthaleneacetic acid. If naphthaleneacetic acid was withdrawn earlier, fewer branch primordia developed. The requirement for a lengthy exposure to naphthaleneacetic acid, the kinetics of the response, and the ease with which naphthaleneacetic acid could be rinsed out of the tissue with consequent cessation of branch root formation, were similar to other hormone-regulated developmental systems. Anatomical and cytological studies were made of segments exposed for various times to auxin. The segments were mostly diarch, and branches formed obliquely to protoxylem poles. While primarily only pericycle-endodermis cells divided, both these and cortex cells responded in the first 24 hours exposure to naphthaleneacetic acid with enlarged nuclei and nucleoli, and a few cortical cells divided. Maximum nucleus and nucleolus size was reached approximately 9 hours after exposure to naphthaleneacetic acid. Branches rarely elongated more than 5 cm before their meristems died. The H. ravenii culture is maintained only by the frequent formation of new naphthaleneacetic acid-induced branches.

  13. Flexible structure control experiments using a real-time workstation for computer-aided control engineering

    Science.gov (United States)

    Stieber, Michael E.

    1989-01-01

    A Real-Time Workstation for Computer-Aided Control Engineering has been developed jointly by the Communications Research Centre (CRC) and Ruhr-Universitaet Bochum (RUB), West Germany. The system is presently used for the development and experimental verification of control techniques for large space systems with significant structural flexibility. The Real-Time Workstation essentially is an implementation of RUB's extensive Computer-Aided Control Engineering package KEDDC on an INTEL micro-computer running under the RMS real-time operating system. The portable system supports system identification, analysis, control design and simulation, as well as the immediate implementation and test of control systems. The Real-Time Workstation is currently being used by CRC to study control/structure interaction on a ground-based structure called DAISY, whose design was inspired by a reflector antenna. DAISY emulates the dynamics of a large flexible spacecraft with the following characteristics: rigid body modes, many clustered vibration modes with low frequencies and extremely low damping. The Real-Time Workstation was found to be a very powerful tool for experimental studies, supporting control design and simulation, and conducting and evaluating tests withn one integrated environment.

  14. The Proprotein Convertase KPC-1/Furin Controls Branching and Self-avoidance of Sensory Dendrites in Caenorhabditis elegans

    Science.gov (United States)

    Bülow, Hannes E.

    2014-01-01

    Animals sample their environment through sensory neurons with often elaborately branched endings named dendritic arbors. In a genetic screen for genes involved in the development of the highly arborized somatosensory PVD neuron in C. elegans, we have identified mutations in kpc-1, which encodes the homolog of the proprotein convertase furin. We show that kpc-1/furin is necessary to promote the formation of higher order dendritic branches in PVD and to ensure self-avoidance of sister branches, but is likely not required during maintenance of dendritic arbors. A reporter for kpc-1/furin is expressed in neurons (including PVD) and kpc-1/furin can function cell-autonomously in PVD neurons to control patterning of dendritic arbors. Moreover, we show that kpc-1/furin also regulates the development of other neurons in all major neuronal classes in C. elegans, including aspects of branching and extension of neurites as well as cell positioning. Our data suggest that these developmental functions require proteolytic activity of KPC-1/furin. Recently, the skin-derived MNR-1/menorin and the neural cell adhesion molecule SAX-7/L1CAM have been shown to act as a tripartite complex with the leucine rich transmembrane receptor DMA-1 on PVD mechanosensory to orchestrate the patterning of dendritic branches. Genetic analyses show that kpc-1/furin functions in a pathway with MNR-1/menorin, SAX-7/L1CAM and DMA-1 to control dendritic branch formation and extension of PVD neurons. We propose that KPC-1/furin acts in concert with the ‘menorin’ pathway to control branching and growth of somatosensory dendrites in PVD. PMID:25232734

  15. Identification for Active Vibration Control of Flexible Structure Based on Prony Algorithm

    Directory of Open Access Journals (Sweden)

    Xianjun Sheng

    2016-01-01

    Full Text Available Flexible structures have been widely used in many fields due to the advantages of light quality, small damping, and strong flexibility. However, flexible structures exhibit the vibration in the process of manipulation, which reduces the pointing precision of the system and causes fatigue of the machine. So, this paper focuses on the identification method for active vibration control of flexible structure. The modal parameters and transfer function of the system are identified from the step response signal based on Prony algorithm, while the vibration is attenuated by using the input shaping technique designed according to the parameters identified from the Prony algorithm. Eventually, the proposed approach is applied to the most common flexible structure, a piezoelectric cantilever beam actuated by Macro Fiber Composite (MFC. The experimental results demonstrate that the Prony algorithm is very effective and accurate on the dynamic modeling of flexible structure and input shaper could significantly reduce the vibration and improve the response speed of system.

  16. High Accuracy Attitude Control System Design for Satellite with Flexible Appendages

    Directory of Open Access Journals (Sweden)

    Wenya Zhou

    2014-01-01

    Full Text Available In order to realize the high accuracy attitude control of satellite with flexible appendages, attitude control system consisting of the controller and structural filter was designed. When the low order vibration frequency of flexible appendages is approximating the bandwidth of attitude control system, the vibration signal will enter the control system through measurement device to bring impact on the accuracy or even the stability. In order to reduce the impact of vibration of appendages on the attitude control system, the structural filter is designed in terms of rejecting the vibration of flexible appendages. Considering the potential problem of in-orbit frequency variation of the flexible appendages, the design method for the adaptive notch filter is proposed based on the in-orbit identification technology. Finally, the simulation results are given to demonstrate the feasibility and effectiveness of the proposed design techniques.

  17. Phase and gain control policies for robust active vibration control of flexible structures

    International Nuclear Information System (INIS)

    Zhang, K; Ichchou, M N; Scorletti, G; Mieyeville, F

    2013-01-01

    The interest of this paper is to develop a general and systematic robust control methodology for active vibration control of flexible structures. For this purpose, first phase and gain control policies are proposed to impose qualitative frequency-dependent requirements on the controller to consider a complete set of control objectives. Then the proposed control methodology is developed by employing phase and gain control policies in the dynamic output feedback H ∞  control: according to the set of control objectives, phase and gain control policies incorporate necessary weighting functions and determine them in a rational and systematic way; on the other hand, with the appropriate weighting functions efficient H ∞  control algorithms can automatically realize phase and gain control policies and generate a satisfactory H ∞  controller. The proposed control methodology can be used for both SISO and MIMO systems with collocated or non-collocated sensors and actuators. In this paper, it is validated on a non-collocated piezoelectric cantilever beam. Both numerical simulations and experimental results demonstrate the effectiveness of the proposed control methodology. (paper)

  18. Design and Nonlinear Control of a 2-DOF Flexible Parallel Humanoid Arm Joint Robot

    Directory of Open Access Journals (Sweden)

    Leijie Jiang

    2017-01-01

    Full Text Available The paper focuses on the design and nonlinear control of the humanoid wrist/shoulder joint based on the cable-driven parallel mechanism which can realize roll and pitch movement. In view of the existence of the flexible parts in the mechanism, it is necessary to solve the vibration control of the flexible wrist/shoulder joint. In this paper, a cable-driven parallel robot platform is developed for the experiment study of the humanoid wrist/shoulder joint. And the dynamic model of the mechanism is formulated by using the coupling theory of the flexible body’s large global motion and small flexible deformation. Based on derived dynamics, antivibration control of the joint robot is studied with a nonlinear control method. Finally, simulations and experiments were performed to validate the feasibility of the developed parallel robot prototype and the proposed control scheme.

  19. Protein kinase A is involved in the control of morphology and branching during aerobic growth of Mucor circinelloides

    DEFF Research Database (Denmark)

    Lübbehüsen, Tina Louise; Polo, V.G.; Rossi, S.

    2004-01-01

    The cAMP signal transduction pathway controls many processes in fungi. The Mucor circinelloides pkaR and pkaC genes, encoding the regulatory (PKAR) and catalytic (PKAC) subunit of the cAMP-dependent protein kinase A (PKA), have been cloned recently. Expression analysis during the dimorphic shift...... and colony morphology suggested a role for PKAR in the control of morphology and branching. Here strain KFA121, which overexpresses the M. circinelloides pkaR gene, was used to quantify growth and branching under different aerobic growth conditions in a flow-through cell by computerized image analysis....... An inverse relationship between the pkaR expression level in KFA121 and the hyphal growth unit length was observed in KFA121, suggesting a central role for PKAR in branching. A biochemical analysis of PKAR using antibodies and enzyme assay demonstrated that the level of PKAR is higher in KFA121 under...

  20. Control of a small working robot on a large flexible manipulator for suppressing vibrations: Development of a robust control law for flexible robot and it's stability analysis

    Science.gov (United States)

    Soo, Han Lee

    1991-01-01

    Researchers developed a robust control law for slow motions for the accurate trajectory control of a flexible robot. The control law does not need larger velocity gains than position gains, which some researchers need to ensure the stability of a rigid robot. Initial experimentation for the Small Articulated Manipulator (SAM) shows that control laws that use smaller velocity gains are more robust to signal noise than the control laws that use larger velocity gains. Researchers analyzed the stability of the composite control law, the robust control for the slow motion, and the strain rate feedback for the fast control. The stability analysis was done by using a quadratic Liapunov function. Researchers found that the flexible motion of links could be controlled by relating the input force to the flexible signals which are sensed at the near tip of each link. The signals are contaminated by the time delayed input force. However, the effect of the time delayed input force can be reduced by giving a certain configuration to the SAM.

  1. The Comparative Study of Vibration Control of Flexible Structure Using Smart Materials

    Directory of Open Access Journals (Sweden)

    Juntao Fei

    2010-01-01

    Full Text Available Considerable attention has been devoted to active vibration control using intelligent materials as PZT actuators. This paper presents results on active control schemes for vibration suppression of flexible steel cantilever beam with bonded piezoelectric actuators. The PZT patches are surface bonded near the fixed end of flexible steel cantilever beam. The dynamic model of the flexible steel cantilever beam is derived. Active vibration control methods: optimal PID control, strain rate feedback control (SRF, and positive position feedback control (PPF are investigated and implemented using xPC Target real-time system. Experimental results demonstrate that the SRF and PPF controls have better performance in suppressing the vibration of cantilever steel beam than the optimal PID control.

  2. A Speed Control Method for Underwater Vehicle under Hydraulic Flexible Traction

    OpenAIRE

    Zhao, Yin; Xia, Ying-kai; Chen, Ying; Xu, Guo-Hua

    2015-01-01

    Underwater vehicle speed control methodology method is the focus of research in this study. Driven by a hydraulic flexible traction system, the underwater vehicle advances steadily on underwater guide rails, simulating an underwater environment for the carried device. Considering the influence of steel rope viscoelasticity and the control system traction structure feature, a mathematical model of the underwater vehicle driven by hydraulic flexible traction system is established. A speed contr...

  3. Chemical control of branched broomrape in processing tomato using sulfonylureas in southern Italy

    Directory of Open Access Journals (Sweden)

    Giulia Conversa

    2017-10-01

    Full Text Available The present research investigated the efficacy and the selectivity of three sulfonylureas (SUs rimsulfuron (RS, chlorsulfuron (CS and triasulfuron (TS for Phelipanche ramosa control in processing tomato. In 2014 a single dose (D (75, 15 and 22.5 g ha–1 active ingredient – a.i.– of RS, CS and TS, respectively, split into three applications at equal rate, was delivered into the soil layer interested by the roots using two herbigation methods i through the drip irrigation system (DH or ii by foliar spray followed by overhead irrigation (FH. In 2015 SUs were applied in pre-transplant at one third of D, and in post-transplant at the dose D, at onehalf and at one-fourth of D, delivered in 3 rates by drip herbigation. In both experiments RS gave the best broomrape control and the highest yield increase compared with the untreated crop and CS improved crop yield similarly to RS despite being less effective in contrasting branched broomrape, In 2014, the foliar application of TS and CS resulted in plant injuries which, more significantly with TS, caused lower numbers and fresh weight of fruits as well as a lower crop productivity increase. In the same year the drip herbigation with TS resulted in the lowest broomrape control and tomato yield increase. In 2015, the best parasite control and tomato yield performances were obtained with RS and CS when applied in pre-transplant at 25.0 and 5.0 g ha–1 a.i., respectively, and in post-transplant at 75.0 and 15.0 g ha–1 a.i., respectively. With TS, the pre-transplant application a.i. was the most effective among the TS treatments resulting in a yield improvement similar to RS and CS, while it was confirmed the low broomrape control when applied through drip irrigation due to its low mobility in the soil. More research is needed in order to better exploit the combination of pre- and post-transplant applications in the chemical control of P. ramosa of tomato under the conditions in southern Italy.

  4. Negative derivative feedback for vibration control of flexible structures

    International Nuclear Information System (INIS)

    Cazzulani, G; Resta, F; Ripamonti, F; Zanzi, R

    2012-01-01

    In this paper a resonant control technique, called negative derivative feedback (NDF), for structural vibration control is presented. Resonant control is a class of control logics, based on the modal approach, which calculates the control action through a dynamic compensator in order to achieve a damping increase on a certain number of system modes. The NDF compensator is designed to work as a band-pass filter, cutting off the control action far from the natural frequencies associated with the controlled modes and reducing the so-called spillover effect. In the paper the proposed control logic is compared both theoretically and experimentally with the most common state-of-the-art resonant control techniques. (paper)

  5. Anti-Unwinding Attitude Control with Fixed-Time Convergence for a Flexible Spacecraft

    Directory of Open Access Journals (Sweden)

    Chutiphon Pukdeboon

    2017-01-01

    Full Text Available This paper investigates the fixed-time attitude tracking control problem for flexible spacecraft with unknown bounded disturbances. First, with the knowledge of norm upper bounds of external disturbances and the coupling effect of flexible modes, a novel robust fixed-time controller is designed to deal with this problem. Second, the controller is further enhanced by an adaptive law to avoid the knowledge of norm upper bounds of external disturbances and coupling effect of flexible modes. This control law guarantees the convergence of attitude tracking errors in fixed time where the settling time is bounded by a constant independent of initial conditions. Moreover, the proposed controllers can prevent the unwinding phenomenon. Simulation results are presented to demonstrate the performance of the proposed control scheme.

  6. Flexible Tube-Based Network Control, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — The Innovation Laboratory, Inc. builds a control system which controls the topology of an air traffic flow network and the network flow properties which enables Air...

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

    Indian Academy of Sciences (India)

    placement state feedback H2/H∞ controller is properly designed via linear matrix inequality (LMI) approach. Parallel Distributed Compensation (PDC) is also used to establish the whole controller for the overall system and the total linear system is ...

  8. Modeling and control of a hydraulically actuated flexible-prismatic link robot

    International Nuclear Information System (INIS)

    Love, L.; Kress, R.; Jansen, J.

    1996-12-01

    Most of the research related to flexible link manipulators to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long reach systems. This manuscript describes a new hydraulically actuated, long reach manipulator with a flexible prismatic link at Oak Ridge National Laboratory (ORNL). Focus is directed towards both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies

  9. Multi-level Control Framework for Enhanced Flexibility of Active Distribution Network

    DEFF Research Database (Denmark)

    Nainar, Karthikeyan; Pokhrel, Basanta Raj; Pillai, Jayakrishnan Radhakrishna

    2017-01-01

    In this paper, the control objectives of future active distribution networks with high penetration of renewables and flexible loads are analyzed and reviewed. From a state of the art review, the important control objectives seen from the perspective of a distribution system operator are identified...... the selected control objectives and provides enhanced flexibility. The control architecture is supported by generation/load forecasting and distribution state estimation techniques to improve the controllability of the network. The multi-level control architecture consists of three levels of hierarchical...... control and an improved interface to the transmission system operator. The functions and the appropriate control methods to be used in each control level are described based on the state of the art review. A combined control action of these control layers is aimed for efficient co...

  10. Utilization of Advanced Methods in the Control of a Mechatronic System with Flexible Elements

    Directory of Open Access Journals (Sweden)

    Juhás Martin

    2016-12-01

    Full Text Available Analysis of the negative impact of a mechatronic system with the flexible elements parameter error and the possibilities of impact reduction are presented in this contribution. Two advanced methods – the Model Predictive Control method and the inclusion of an LMS filter into the control process are proposed for the reduction of the insufficient effect of a double notch filter, which was initially integrated into the system for elimination of two-mass flexible joint parasitic frequencies. Simulation experiments results – response of system angular velocity and control process quality analysis confirmed the correctness of the proposition for the usage of these progressive control elements.

  11. Optimal Stochastic Modeling and Control of Flexible Structures

    Science.gov (United States)

    1988-09-01

    2.17. H. Kwakernaak & R. Sivan, Linear Optimal Control Systems, Wiley-Interscicncc, N.Y., 1972. 2.18. Karl J. Astrom , Introduction to Stochastic...Systems with Multiplicative and Additive Noise," UCLA, Ph.D. Dissertation, 1981. 4.7. K.J. Astrom , Introduction to Stochastic Control Theory, Academic...Unified Approach," to appear. 7.29 Astrom , K. J., Introduction to Stochastic Control Theory, Academic Press, N.Y., 1970. 310 CONCLUSIVE REMARKS A

  12. Passive Control of Flexible Structures by Confinement of Vibrations

    Directory of Open Access Journals (Sweden)

    M. Ouled Chtiba

    2007-01-01

    Full Text Available We propose a two-step strategy for the design of passive controllers for the simultaneous confinement and suppression of vibrations (SCSV in mechanical structures. Once the sensitive and insensitive elements of these structures are identified, the first design step synthesizes an active control law, which is referred to as the reference control law (RCL, for the SCSV. We show that the problem of SCSV can be formulated as an LQR-optimal control problem through which the maximum amplitudes, associated with the control input and the displacements of the sensitive and insensitive parts, can be regulated. In the second design step, a transformation technique that yields an equivalent passive controller is used. Such a technique uses the square root of sum of squares method to approximate an equivalent passive controller while maximizing the effects of springs and dampers characterizing passive elements that are added to the original structure. The viability of the proposed control design is illustrated using a three-DOF mechanical system subject to an excitation. It is assumed that all of the masses are sensitive to the excitation, and thus the vibratory energy must be confined in the added passive elements (insensitive parts. We show that the vibration amplitudes associated with the sensitive masses are attenuated at fast rate at the expense of slowing down the convergence of the passive elements to their steady states. It is also demonstrated that a combination of the RCL and the equivalent passive control strategy leads to similar structural performance.

  13. Active Vibration Suppression of a 3-DOF Flexible Parallel Manipulator Using Efficient Modal Control

    Directory of Open Access Journals (Sweden)

    Quan Zhang

    2014-01-01

    Full Text Available This paper addresses the dynamic modeling and efficient modal control of a planar parallel manipulator (PPM with three flexible linkages actuated by linear ultrasonic motors (LUSM. To achieve active vibration control, multiple lead zirconate titanate (PZT transducers are mounted on the flexible links as vibration sensors and actuators. Based on Lagrange’s equations, the dynamic model of the flexible links is derived with the dynamics of PZT actuators incorporated. Using the assumed mode method (AMM, the elastic motion of the flexible links are discretized under the assumptions of pinned-free boundary conditions, and the assumed mode shapes are validated through experimental modal test. Efficient modal control (EMC, in which the feedback forces in different modes are determined according to the vibration amplitude or energy of their own, is employed to control the PZT actuators to realize active vibration suppression. Modal filters are developed to extract the modal displacements and velocities from the vibration sensors. Numerical simulation and vibration control experiments are conducted to verify the proposed dynamic model and controller. The results show that the EMC method has the capability of suppressing multimode vibration simultaneously, and both the structural and residual vibrations of the flexible links are effectively suppressed using EMC approach.

  14. On flexible CAD of adaptive control and identification algorithms

    DEFF Research Database (Denmark)

    Christensen, Anders; Ravn, Ole

    1988-01-01

    SLLAB is a MATLAB-family software package for solving control and identification problems. This paper concerns the planning of a general-purpose subroutine structure for solving identification and adaptive control problems. A general-purpose identification algorithm is suggested, which allows a t...

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

    Indian Academy of Sciences (India)

    mented state, a regional pole-placement state feedback H2/H∞ controller is properly designed via linear matrix inequality (LMI) approach. Parallel Distributed Compen- sation (PDC) is also used to establish the whole controller for the overall system and the total linear system is obtained by using the weighted sum of the ...

  16. Design of Control System for Flexible Packaging Bags Palletizing Production Line Based on PLC

    Science.gov (United States)

    Zheng, Huiping; Chen, Lin; Zhao, Xiaoming; Liu, Zhanyang

    Flexible packaging bags palletizing production line is to put the bags in the required area according to particular order and size, in order to finish handling, storage, loading and unloading, transportation and other logistics work of goods. Flexible packaging bags palletizing line is composed of turning bags mechanism, shaping mechanism, indexing mechanism, marshalling mechanism, pushing bags mechanism, pressing bags mechanism, laminating mechanism, elevator, tray warehouse, tray conveyor and loaded tray conveyor. Whether the whole production line can smoothly run depends on each of the above equipment and precision control among them. In this paper the technological process and the control logic of flexible packaging bags palletizing production line is introduced. Palletizing process of the production line realized automation by means of a control system based on programmable logic controller (PLC). It has the advantages of simple structure, reliable and easy maintenance etc.

  17. Flexible Joints Robotic Manipulator Control By Adaptive Gain Smooth Sliding Observer-Controller

    Directory of Open Access Journals (Sweden)

    A. FILIPESCU

    2003-12-01

    Full Text Available An adaptive gain sliding observer for uncertain parameter nonlinear systems together with an adaptive gain sliding controller is proposed in this paper. It considered nonlinear, SISO affine systems, with uncertainties in steady-state functions and parameters. A further parameter term, adaptively updated, has been introduced in steady state space model of the controlled system, in order to obtain useful information despite fault detection and isolation. By using of the sliding observer with adaptive gain, the robustness to uncertainties is increased and the parameters adaptively updated can provide useful information in fault detection. Also, the state estimation error is bounded accordingly with bound limits of the uncertainties. The both of them, the sliding adaptive observer and sliding controller are designed to fulfill the attractiveness condition of its corresponding switching surface. An application to a single arm with flexible joint robot is presented. In order to alleviate chattering, a parameterized tangent hyperbolic has been used as switching function, instead of pure relay one, to the observer and the controller. Also, the gains of the switching functions, to the sliding observer and sliding controller are adaptively updated depending of estimation error and tracking error, respectively. By the using adaptive gains, the transient and tracking response can be improved.

  18. Flowfield Mixing Enhancement and Noise Control Using Flexible Filaments

    National Research Council Canada - National Science Library

    Gutmark, Ephraim

    2000-01-01

    The subject research program sought to explore a novel method for achieving passive flow field control, with applications to mixing enhancement and noise reduction, through the interaction of the flow...

  19. PI(3,5)P2 controls endosomal branched actin dynamics by regulating cortactin–actin interactions

    Science.gov (United States)

    Hong, Nan Hyung; Qi, Aidong

    2015-01-01

    Branched actin critically contributes to membrane trafficking by regulating membrane curvature, dynamics, fission, and transport. However, how actin dynamics are controlled at membranes is poorly understood. Here, we identify the branched actin regulator cortactin as a direct binding partner of phosphatidylinositol 3,5-bisphosphate (PI(3,5)P2) and demonstrate that their interaction promotes turnover of late endosomal actin. In vitro biochemical studies indicated that cortactin binds PI(3,5)P2 via its actin filament-binding region. Furthermore, PI(3,5)P2 competed with actin filaments for binding to cortactin, thereby antagonizing cortactin activity. These findings suggest that PI(3,5)P2 formation on endosomes may remove cortactin from endosome-associated branched actin. Indeed, inhibition of PI(3,5)P2 production led to cortactin accumulation and actin stabilization on Rab7+ endosomes. Conversely, inhibition of Arp2/3 complex activity greatly reduced cortactin localization to late endosomes. Knockdown of cortactin reversed PI(3,5)P2-inhibitor–induced actin accumulation and stabilization on endosomes. These data suggest a model in which PI(3,5)P2 binding removes cortactin from late endosomal branched actin networks and thereby promotes net actin turnover. PMID:26323691

  20. Folded plate assemblies with branching column supports : Interaction and control of overall shape

    NARCIS (Netherlands)

    Falk, A.; Turrin, M.; von Buelow, P.

    2010-01-01

    The work described in this paper aims at developing the interrelation and overall effects of interaction between a folded plate roof structure and a system of branching column supports. In the context of architectural performance it is of interest to discuss the effects of the material on

  1. Shape-controlled synthesis of NIR absorbing branched gold nanoparticles and morphology stabilization with alkanethiols

    International Nuclear Information System (INIS)

    Van de Broek, B; Frederix, F; Bonroy, K; Jans, H; Jans, K; Borghs, G; Maes, G

    2011-01-01

    Gold nanoparticles are ideal candidates for clinical applications if their plasmon absorption band is situated in the near infrared region (NIR) of the electromagnetic spectrum. Various parameters, including the nanoparticle shape, strongly influence the position of this absorption band. The aim of this study is to produce stabilized NIR absorbing branched gold nanoparticles with potential for biomedical applications. Hereto, the synthesis procedure for branched gold nanoparticles is optimized varying the different synthesis parameters. By subsequent electroless gold plating the plasmon absorption band is shifted to 747.2 nm. The intrinsic unstable nature of the nanoparticles' morphology can be clearly observed by a spectral shift and limits their use in real applications. However, in this article we show how the stabilization of the branched structure can be successfully achieved by exchanging the initial capping agent for different alkanethiols and disulfides. Furthermore, when using alkanethiols/disulfides with poly(ethylene oxide) units incorporated, an increased stability of the gold nanoparticles is achieved in high salt concentrations up to 1 M and in a cell culture medium. These achievements open a plethora of opportunities for these stabilized branched gold nanoparticles in nanomedicine.

  2. A flexible software architecture for tokamak discharge control systems

    International Nuclear Information System (INIS)

    Ferron, J.R.; Penaflor, B.; Walker, M.L.; Moller, J.; Butner, D.

    1995-01-01

    The software structure of the plasma control system in use on the DIII-D tokamak experiment is described. This system implements control functions through software executing in real time on one or more digital computers. The software is organized into a hierarchy that allows new control functions needed to support the DIII-D experimental program to be added easily without affecting previously implemented functions. This also allows the software to be portable in order to create control systems for other applications. The tokamak operator uses an X-windows based interface to specify the time evolution of a tokamak discharge. The interface provides a high level view for the operator that reduces the need for detailed knowledge of the control system operation. There is provision for an asynchronous change to an alternate discharge time evolution in response to an event that is detected in real time. Quality control is enhanced through off-line testing that can make use of software-based tokamak simulators

  3. The bilingual brain: Flexibility and control in the human cortex

    Science.gov (United States)

    Buchweitz, Augusto; Prat, Chantel

    2013-12-01

    The goal of the present review is to discuss recent cognitive neuroscientific findings concerning bilingualism. Three interrelated questions about the bilingual brain are addressed: How are multiple languages represented in the brain? how are languages controlled in the brain? and what are the real-world implications of experience with multiple languages? The review is based on neuroimaging research findings about the nature of bilingual processing, namely, how the brain adapts to accommodate multiple languages in the bilingual brain and to control which language should be used, and when. We also address how this adaptation results in differences observed in the general cognition of bilingual individuals. General implications for models of human learning, plasticity, and cognitive control are discussed.

  4. Mode Adaptive Droop Control with Virtual Output Impedances for an Inverter-Based Flexible AC Microgrid

    DEFF Research Database (Denmark)

    Kim, Jaehong; Guerrero, Josep M.; Rodriguez, Pedro

    2011-01-01

    A decentralized power control method in a singlephase flexible acmicrogrid is proposed in this paper. Droop control is widely considered to be a good choice for managing the power flows between microgrid converters in a decentralized manner. In this work, to enhance the power loop dynamics, droop...

  5. Flexible Morphogenesis based Formation Control for Multi-Robot Systems

    Directory of Open Access Journals (Sweden)

    Jan Carlo Barca

    2012-09-01

    Full Text Available Inspired by how biological cells communicate with each other at a cell-to-cell level; morphogenesis emerged to be an effective way for local communication between homogenous robots in multi-robot systems. In this paper, we present the first steps towards a scalable morphogenesis style formation control technique, which address the drawbacks associated with current morphogenesis type formation control techniques, including their inability to distribute robots evenly across target shapes. A series of experiments, which demonstrate that the proposed technique enables groups of non-holonomic ground moving robots to generate formations in less than 9 seconds with three robots and less than 22 seconds with five robots, is also presented. These experiments furthermore reveal that the proposed technique enables groups of robots to generate formations without significantly increasing the total travel distance when faced with obstacles. This work is an important contribution to multi-robot control theory as history has shown that the success of groups often depends on efficient and robust formation control.

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

    Indian Academy of Sciences (India)

    update fuzzy weights in real time for different operating points of the system. Simula- tion results are presented to validate the effectiveness of the proposed controller like robustness and good load disturbance attenuation and accurate tracking, even in the presence of parameter variations and also load disturbances on the ...

  7. Control of flexible structures with distributed sensing and processing

    Science.gov (United States)

    Ghosh, Dave; Montgomery, Raymond C.

    1994-01-01

    Technology is being developed to process signals from distributed sensors using distributed computations. These distributed sensors provide a new feedback capability for vibration control that has not been exploited. Additionally, the sensors proposed are of an optical and distributed nature and could be employed with known techniques of distributed optical computation (Fourier optics, etc.) to accomplish the control system functions of filtering and regulation in a distributed computer. This paper extends the traditional digital, optimal estimation and control theory to include distributed sensing and processing for this application. The design model assumes a finite number of modes which make it amenable to empirical determination of the design model via familiar modal-test techniques. The sensors are assumed to be distributed, but a finite number of point actuators are used. The design process is illustrated by application to a Euler beam. A simulation of the beam is used to design an optimal vibration control system that uses a distributed deflection sensor and nine linear force actuators. Simulations are also used to study the influence of design and processing errors on the performance.

  8. Intelligent controller of a flexible hybrid robot machine for ITER assembly and maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Al-saedi, Mazin I., E-mail: mazin.al-saedi@lut.fi; Wu, Huapeng; Handroos, Heikki

    2014-10-15

    Highlights: • Studying flexible multibody dynamic of hybrid parallel robot. • Investigating fuzzy-PD controller to control a hybrid flexible hydraulically driven robot. • Investigating ANFIS-PD controller to control a hybrid flexible robot. Compare to traditional PID this method gives better performance. • Using the equilibrium of reaction forces between the parallel and serial parts of hybrid robot to control the serial part hydraulically driven. - Abstract: The assembly and maintenance of International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. To fulfill the tasks in ITER application, this paper presents a hybrid redundant manipulator with four DOFs provided by serial kinematic axes and six DOFs by parallel mechanism. Thus, in machining, to achieve greater end-effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. In this paper, the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two control schemes have been investigated: (1) fuzzy-PID self tuning controller composed of the conventional PID control and with fuzzy logic; (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel robot based on rod position predictions. The obtained results of the fuzzy-PID and ANFIS-PID self tuning controller can reduce more tracking errors than the conventional PID controller. Subsequently, the serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should

  9. Intelligent controller of a flexible hybrid robot machine for ITER assembly and maintenance

    International Nuclear Information System (INIS)

    Al-saedi, Mazin I.; Wu, Huapeng; Handroos, Heikki

    2014-01-01

    Highlights: • Studying flexible multibody dynamic of hybrid parallel robot. • Investigating fuzzy-PD controller to control a hybrid flexible hydraulically driven robot. • Investigating ANFIS-PD controller to control a hybrid flexible robot. Compare to traditional PID this method gives better performance. • Using the equilibrium of reaction forces between the parallel and serial parts of hybrid robot to control the serial part hydraulically driven. - Abstract: The assembly and maintenance of International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. To fulfill the tasks in ITER application, this paper presents a hybrid redundant manipulator with four DOFs provided by serial kinematic axes and six DOFs by parallel mechanism. Thus, in machining, to achieve greater end-effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. In this paper, the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two control schemes have been investigated: (1) fuzzy-PID self tuning controller composed of the conventional PID control and with fuzzy logic; (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel robot based on rod position predictions. The obtained results of the fuzzy-PID and ANFIS-PID self tuning controller can reduce more tracking errors than the conventional PID controller. Subsequently, the serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should

  10. Integrated Flight/Structural Mode Control for Very Flexible Aircraft Using L1 Adaptive Output Feedback Controller

    Science.gov (United States)

    Che, Jiaxing; Cao, Chengyu; Gregory, Irene M.

    2012-01-01

    This paper explores application of adaptive control architecture to a light, high-aspect ratio, flexible aircraft configuration that exhibits strong rigid body/flexible mode coupling. Specifically, an L(sub 1) adaptive output feedback controller is developed for a semi-span wind tunnel model capable of motion. The wind tunnel mount allows the semi-span model to translate vertically and pitch at the wing root, resulting in better simulation of an aircraft s rigid body motion. The control objective is to design a pitch control with altitude hold while suppressing body freedom flutter. The controller is an output feedback nominal controller (LQG) augmented by an L(sub 1) adaptive loop. A modification to the L(sub 1) output feedback is proposed to make it more suitable for flexible structures. The new control law relaxes the required bounds on the unmatched uncertainty and allows dependence on the state as well as time, i.e. a more general unmatched nonlinearity. The paper presents controller development and simulated performance responses. Simulation is conducted by using full state flexible wing models derived from test data at 10 different dynamic pressure conditions. An L(sub 1) adaptive output feedback controller is designed for a single test point and is then applied to all the test cases. The simulation results show that the L(sub 1) augmented controller can stabilize and meet the performance requirements for all 10 test conditions ranging from 30 psf to 130 psf dynamic pressure.

  11. ROM/RMF control of the flexible, articulated-truss space crane

    Science.gov (United States)

    Reisenauer, Brian T.; Balas, Mark J.

    1992-01-01

    The large size and extreme flexibility of an articulated space crane entail great difficulties in precision positioning. Control strategies for the flexible multibody system are here developed using a Timoshenko-beam finite-element model (FEM) which captures the system's low frequency characteristics. From the FEM, a reduced-order model (ROM) controller is designed which rotates the fixed shape crane about the base alpha joint to actuate positioning control. Eigenvalue analysis of the closed-loop system shows the destabilizing effect of controller-structure interaction (CSI). Making use of a parallel bank of residual mode filters (RMFs) compensated for CSI, restoring system stability and performance. The linear control law is simulated in closed-loop with the beam model. The ROM-based control law with RMF compensation is an effective, low-order controller.

  12. Analytical and Ecperimental Modeling and Control of Flexible Structures

    Science.gov (United States)

    1991-01-30

    problem used is to place the static controller gain on the power amplifiers. This is fine for static compensators or direct output feedback of sensor...loop (FEM) system are fined as: calculated and presented below for comparison: D,,-’,,: I X’’. i= 1, 161 = I - 6.7072,- 5.4904,- 0.7160,- 8.8625 rd S...are Wx motrices while M12 and K,2 ame 2nx2n Smatrices. ), is also partitioned as Y = [YJ y, wherl: Y= ty, y 1r and Y’, = (y) Y. _2..2A.,~. Since Y

  13. Ampicillin-Ester Bonded Branched Polymers: Characterization, Cyto-, Genotoxicity and Controlled Drug-Release Behaviour

    Directory of Open Access Journals (Sweden)

    Ewa Oledzka

    2014-06-01

    Full Text Available The development and characterization of novel macromolecular conjugates of ampicillin using branched biodegradable polymers has been described in this study. The conjugates have been prepared coupling the β-lactam antibiotic with branched polymer matrices based on the natural oligopeptide core. The cyto- and genotoxicity of the synthesized polymers were evaluated with a bacterial luminescence test, two protozoan assays and Salmonella typhimurium TA1535. The presence of a newly formed covalent bond between the drug and the polymer matrices was confirmed by 1H-NMR and FTIR studies. A drug content (15.6 and 10.2 mole % in the macromolecular conjugates has been determined. The obtained macromolecular products have been subjected to further in vitro release studies. The total percentage of ampicillin released after 21 days of incubation was nearly 60% and 14% and this resulted from the different physicochemical properties of the polymeric matrices. This is the first report on the application of branched biodegradable polymeric matrices for the covalent conjugation of ampicillin. The obtained results showed that the synthesized macromolecular drug-conjugates might slowly release the active drug molecule and improve the pharmacokinetics of ampicillin.

  14. Controlled partial embedding of carbon nanotubes within flexible transparent layers

    International Nuclear Information System (INIS)

    Sansom, Elijah B; Rinderknecht, Derek; Gharib, Morteza

    2008-01-01

    Applications of carbon nanotubes (CNTs) like field emission displays, super-capacitors, and cell growth scaffolds can benefit from controllable embedding of the CNTs in a material such that the CNTs are anchored and protrude a desired length. We demonstrate a simple method for anchoring densely packed, vertically aligned arrays of CNTs into silicone layers using spin-coating, CNT insertion, curing, and growth substrate removal. CNT arrays of 51 and 120 μm in height are anchored into silicone layers of thickness 26 and 36 μm, respectively. Scanning electron microscopy (SEM) and optical microscopy are used to characterize the sample morphology, a 5.5 m s -1 impinging water jet is used to apply shear stress, and a tensile test shows that the silicone layer detaches from the substrate before the CNTs are ripped from the layer. The CNTs are thus well anchored in the silicone layers. The spin-coating process gives control over layer thickness, and the method should have general applicability to various nanostructures and anchoring materials

  15. Flexible cortical control of task-specific muscle synergies.

    Science.gov (United States)

    Nazarpour, Kianoush; Barnard, Amy; Jackson, Andrew

    2012-09-05

    Correlation structure in the activity of muscles across movements is often interpreted as evidence for low-level, hardwired constraints on upper-limb function. However, muscle synergies may also emerge from optimal strategies to achieve high-level task goals within a redundant control space. To distinguish these contrasting interpretations, we examined the structure of muscle variability during operation of a myoelectric interface in which task constraints were dissociated from natural limb biomechanics. We found that, with practice, human subjects learned to shape patterns of covariation between arbitrary pairs of hand and forearm muscles appropriately for elliptical targets whose orientation varied on a trial-by-trial basis. Thus, despite arriving at the same average location in the effector space, performance was improved by buffering variability into those dimensions that least impacted task success. Task modulation of beta-frequency intermuscular coherence indicated that differential recruitment of divergent corticospinal pathways contributed to positive correlations among muscles. However, this feedforward mechanism could not account for negative correlations observed in the presence of visual feedback. A second experiment revealed the development of fast, target-dependent visual responses consistent with "minimum intervention" control correcting predominantly task-relevant errors. Together, these mechanisms contribute to the dynamic emergence of task-specific muscle synergies appropriate for a wide range of abstract task goals.

  16. ManiWordle: providing flexible control over Wordle.

    Science.gov (United States)

    Koh, Kyle; Lee, Bongshin; Kim, Bohyoung; Seo, Jinwook

    2010-01-01

    Among the multifarious tag-clouding techniques, Wordle stands out to the community by providing an aesthetic layout, eliciting the emergence of the participatory culture and usage of tag-clouding in the artistic creations. In this paper, we introduce ManiWordle, a Wordle-based visualization tool that revamps interactions with the layout by supporting custom manipulations. ManiWordle allows people to manipulate typography, color, and composition not only for the layout as a whole, but also for the individual words, enabling them to have better control over the layout result. We first describe our design rationale along with the interaction techniques for tweaking the layout. We then present the results both from the preliminary usability study and from the comparative study between ManiWordle and Wordle. The results suggest that ManiWordle provides higher user satisfaction and an efficient method of creating the desired "art work," harnessing the power behind the ever-increasing popularity of Wordle.

  17. Feedback tracking control for dynamic morphing of piezocomposite actuated flexible wings

    Science.gov (United States)

    Wang, Xiaoming; Zhou, Wenya; Wu, Zhigang

    2018-03-01

    Aerodynamic properties of flexible wings can be improved via shape morphing using piezocomposite materials. Dynamic shape control of flexible wings is investigated in this study by considering the interactions between structural dynamics, unsteady aerodynamics and piezo-actuations. A novel antisymmetric angle-ply bimorph configuration of piezocomposite actuators is presented to realize coupled bending-torsional shape control. The active aeroelastic model is derived using finite element method and Theodorsen unsteady aerodynamic loads. A time-varying linear quadratic Gaussian (LQG) tracking control system is designed to enhance aerodynamic lift with pre-defined trajectories. Proof-of-concept simulations of static and dynamic shape control are presented for a scaled high-aspect-ratio wing model. Vibrations of the wing and fluctuations in aerodynamic forces are caused by using the static voltages directly in dynamic shape control. The lift response has tracked the trajectories well with favorable dynamic morphing performance via feedback tracking control.

  18. Information and Communications Systems for Control-by-Price of Distributed Energy Resources and Flexible Demand

    DEFF Research Database (Denmark)

    Nyeng, Preben; Østergaard, Jacob

    2011-01-01

    distributed energy resources and flexible demand as a regulating resource. Furthermore, the results illustrate and verify the applicability of the concept and the proposed infrastructure for controlling distributed energy resources and flexible demand.......The control-by-price concept fits well with controlling small-scale generation, storage and demand. In this paper, we investigate the required information and communications systems that are needed to realize the control-by-price concept for such units. We first present a proposal for overall...... and a small combined heat and power unit. The results show that the price-responsive controller reduces the end user’s electricity cost, or increases his income respectively, by about 7%. At the same time, the price-responsive controller provides an interface for the transmission system operator to utilize...

  19. Development of a modular integrated control architecture for flexible manipulators. Final report

    International Nuclear Information System (INIS)

    Burks, B.L.; Battiston, G.

    1994-01-01

    In April 1994, ORNL and SPAR completed the joint development of a manipulator controls architecture for flexible structure controls under a CRADA between the two organizations. The CRADA project entailed design and development of a new architecture based upon the Modular Integrated Control Architecture (MICA) previously developed by ORNL. The new architecture, dubbed MICA-II, uses an object-oriented coding philosophy to provide a highly modular and expandable architecture for robotic manipulator control. This architecture can be readily ported to control of many different manipulator systems. The controller also provides a user friendly graphical operator interface and display of many forms of data including system diagnostics. The capabilities of MICA-II were demonstrated during oscillation damping experiments using the Flexible Beam Experimental Test Bed at Hanford

  20. Wing Shaping and Gust Load Controls of Flexible Aircraft: An LPV Approach

    Science.gov (United States)

    Hammerton, Jared R.; Su, Weihua; Zhu, Guoming; Swei, Sean Shan-Min

    2018-01-01

    In the proposed paper, the optimum wing shape of a highly flexible aircraft under varying flight conditions will be controlled by a linear parameter-varying approach. The optimum shape determined under multiple objectives, including flight performance, ride quality, and control effort, will be determined as well. This work is an extension of work done previously by the authors, and updates the existing optimization and utilizes the results to generate a robust flight controller.

  1. Involved accounting and control in health care : Different perceptions of management accounting and control systems in the Dutch branch of nursing homes, homes for the elderly and homecare

    NARCIS (Netherlands)

    Wil van Erp

    2014-01-01

    The purpose of this study is to explore why and how Management Accounting and Control Systems (MACS) enact and are enacted upon in the Dutch branch of nursing homes, homes for the elderly and home care. In search for answers, this study chooses an actor-network theory (ANT) perspective combined with

  2. Flexible optical metrology strategies for the control and quality assurance of small series production

    Science.gov (United States)

    Schmitt, R.; Pavim, A.

    2009-06-01

    The demand for achieving smaller and more flexible production series with a considerable diversity of products complicates the control of the manufacturing tasks, leading to big challenges for the quality assurance systems. The quality assurance strategy that is nowadays used for mass production is unable to cope with the inspection flexibility needed among automated small series production, because the measuring strategy is totally dependent on the fixed features of the few manufactured object variants and on process parameters that can be controlled/compensated during production time. The major challenge faced by a quality assurance system applied to small series production facilities is to guarantee the needed quality level already at the first run, and therefore, the quality assurance system has to adapt itself constantly to the new manufacturing conditions. The small series production culture requires a change of paradigms, because its strategies are totally different from mass production. This work discusses the tight inspection requirements of small series production and presents flexible metrology strategies based on optical sensor data fusion techniques, agent-based systems as well as cognitive and self-optimised systems for assuring the needed quality level of flexible small series. Examples of application scenarios are provided among the automated assembly of solid state lasers and the flexible inspection of automotive headlights.

  3. Composite Sliding Mode Control for a Free-Floating Space Rigid-Flexible Coupling Manipulator System

    Directory of Open Access Journals (Sweden)

    Wang Congqing

    2013-02-01

    Full Text Available The flexible space manipulator is a highly nonlinear and coupled dynamic system. This paper proposes a novel composite sliding mode control to deal with the vibration suppression and trajectory tracking of a free-floating space rigid-flexible coupling manipulator with a rigid payload. First, the dynamic equations of this system are established by using Lagrange and assumed mode methods and in the meantime this dynamic modelling allows consideration of the modelling errors, the external disturbance and the vibration damping of a flexible link. Then, in modal space, the problems of the manipulator system's trajectory tracking and the vibration suppression are discussed by using the composite control approach, which combines a non-singular terminal sliding mode control (NTSMC with an active vibration suppression control (AVSC. The NTSMC uses a fuzzy logic output instead of the symbol item, which smoothes the control signal, thereby inhibiting the chattering of the sliding mode control. Compared with common sliding mode control (SMC, the approach not only can reduce the chattering of the sliding mode control, but also can eliminate the singular phenomenon of the system's control input. In addition, it can assure the trajectory tracking and the vibration suppression. Many space missions can benefit from this modelling system, such as autonomous docking of satellites, rescuing and satellite servicing. Finally, the numerical simulations were carried out, which confirmed the effectiveness of these methods.

  4. Active vibration control of flexible cantilever plates using piezoelectric materials and artificial neural networks

    Science.gov (United States)

    Abdeljaber, Osama; Avci, Onur; Inman, Daniel J.

    2016-02-01

    The study presented in this paper introduces a new intelligent methodology to mitigate the vibration response of flexible cantilever plates. The use of the piezoelectric sensor/actuator pairs for active control of plates is discussed. An intelligent neural network based controller is designed to control the optimal voltage applied on the piezoelectric patches. The control technique utilizes a neurocontroller along with a Kalman Filter to compute the appropriate actuator command. The neurocontroller is trained based on an algorithm that incorporates a set of emulator neural networks which are also trained to predict the future response of the cantilever plate. Then, the neurocontroller is evaluated by comparing the uncontrolled and controlled responses under several types of dynamic excitations. It is observed that the neurocontroller reduced the vibration response of the flexible cantilever plate significantly; the results demonstrated the success and robustness of the neurocontroller independent of the type and distribution of the excitation force.

  5. Numerical and Experimental Modal Control of Flexible Rotor Using Electromagnetic Actuator

    Directory of Open Access Journals (Sweden)

    Edson Hideki Koroishi

    2014-01-01

    Full Text Available The present work is dedicated to active modal control applied to flexible rotors. The effectiveness of the corresponding techniques for controlling a flexible rotor is tested numerically and experimentally. Two different approaches are used to determine the appropriate controllers. The first uses the linear quadratic regulator and the second approach is the fuzzy modal control. This paper is focused on the electromagnetic actuator, which in this case is part of a hybrid bearing. Due to numerical reasons it was necessary to reduce the size of the model of the rotating system so that the design of the controllers and estimator could be performed. The role of the Kalman estimator in the present contribution is to estimate the modal states of the system and to determine the displacement of the rotor at the position of the hybrid bearing. Finally, numerical and experimental results demonstrate the success of the methodology conveyed.

  6. Lateral Dynamics of Flexible Rotors Supported by Controllable Gas Bearings Theory & Experiment

    DEFF Research Database (Denmark)

    Pierart Vásquez, Fabián Gonzalo; Santos, Ilmar

    2015-01-01

    . The active control principle is built using eddy-current sensor signals to detect the lateral motion of the rotor. A feedback law is used to couple the lateral dynamics of a flexible rotor-bearing system with the pneumatic and dynamic characteristics of a piezoelectric actuated valve system. A proportional...

  7. Application of partial differential equation modeling of the control/structural dynamics of flexible spacecraft

    Science.gov (United States)

    Taylor, Lawrence W., Jr.; Rajiyah, H.

    1991-01-01

    Partial differential equations for modeling the structural dynamics and control systems of flexible spacecraft are applied here in order to facilitate systems analysis and optimization of these spacecraft. Example applications are given, including the structural dynamics of SCOLE, the Solar Array Flight Experiment, the Mini-MAST truss, and the LACE satellite. The development of related software is briefly addressed.

  8. A manufacturing planning and control system for a flexible manufacturing system

    NARCIS (Netherlands)

    Zijm, Willem H.M.; Slomp, J.; Slomp, J.

    1993-01-01

    A flexible manufacturing system (FMS) can offer important advantages in terms of more efficient production, shorter throughput times, lower stocks and a higher quality of work. To realize these advantages, a well designed manufacturing planning and control system (MPCS) is a key condition. In

  9. Flexible System Integration and Advanced Hierarchical Control Architectures in the Microgrid Research Laboratory of Aalborg University

    DEFF Research Database (Denmark)

    Meng, Lexuan; Hernández, Adriana Carolina Luna; Diaz, Enrique Rodriguez

    2016-01-01

    This paper presents the system integration and hierarchical control implementation in an inverter-based microgrid research laboratory (MGRL) in Aalborg University, Denmark. MGRL aims to provide a flexible experimental platform for comprehensive studies of microgrids. The structure of the laboratory...

  10. Summary of Guidelines for Infection Prevention and Control for Flexible Gastrointestinal Endoscopy

    Directory of Open Access Journals (Sweden)

    Lawrence Hookey

    2013-01-01

    Full Text Available BACKGROUND: High-quality processes to ensure infection prevention and control in the delivery of safe endoscopy services are essential. In 2010, the Public Health Agency of Canada and the Canadian Association of Gastroenterology (CAG developed a Canadian guideline for the reprocessing of flexible gastrointestinal endoscopy equipment.

  11. Force-controlled robotic assembly processes of rigid and flexible objects methodologies and applications

    CERN Document Server

    Ghalyan, Ibrahim Fahad Jasim

    2016-01-01

    This book provides comprehensive and integrated approaches for rigid and flexible object assembly. It presents comparison studies with the available force-guided robotic processes and covers contact-state modeling, scheme control strategies, and position searching algorithms. Further, it includes experimental validations for different assembly situations, including those for the assembly of industrial parts taken from the automotive industry. .

  12. Control system design for flexible rotors supported by actively lubricated bearings

    DEFF Research Database (Denmark)

    Nicoletti, Rodrigo; Santos, Ilmar

    2008-01-01

    and keeping the lengths of the two eigenvalues constant in the real-imaginary plane. The methodology is applied to an industrial gas compressor supported by active tilting-pad journal bearings. The unbalance response functions and mode shapes of the flexible rotor with and without active control are presented...

  13. The task novelty paradox: Flexible control of inflexible neural pathways during rapid instructed task learning.

    Science.gov (United States)

    Cole, Michael W; Braver, Todd S; Meiran, Nachshon

    2017-10-01

    Rapid instructed task learning (RITL) is one of the most remarkable human abilities, when considered from both computational and evolutionary perspectives. A key feature of RITL is that it enables new goals to be immediately pursued (and shared) following formation of task representations. Although RITL is a form of cognitive control that engenders immense flexibility, it also seems to produce inflexible activation of action plans in inappropriate contexts. We argue that this "prepared reflex" effect arises because RITL is implemented in the brain via a "flexible hub" mechanism, in which top-down influences from the frontoparietal control network reroute pathways among procedure-implementing brain areas (e.g., perceptual and motor areas). Specifically, we suggest that RITL-based proactive control - the preparatory biasing of task-relevant functional network routes - results in inflexible associative processing, demanding compensation in the form of increased reactive (in-the-moment) control. Thus, RITL produces a computational trade-off, in which the top-down influences of flexible hubs increase overall cognitive flexibility, but at the cost of temporally localized inflexibility (the prepared reflex effect). Copyright © 2017 Elsevier Ltd. All rights reserved.

  14. Robust control using recursive design method for flexible joint robot manipulators

    Energy Technology Data Exchange (ETDEWEB)

    Yeon, Je Sung; Yim, Jong Guk; Park, Jong Hyeon [Hanyang University, Seoul (Korea, Republic of)

    2011-12-15

    A flexible joint robot manipulator can be regarded as a cascade of two subsystems: link dynamics and the motor dynamics. Using this structural characteristic, we propose a robust nonlinear recursive control method for flexible manipulators. The recursive design is done in two steps. First, a fictitious robust control for the link dynamics is designed as if it has a direct control input. As the fictitious control, a nonlinear H{sub {infinity}} -control using energy dissipation is designed in the sense of L{sub 2}-gain attenuation from the disturbance caused by uncertainties to performance. In the process, Hamilton-Jacobi (HJ) inequality is solved by a more tractable nonlinear matrix inequality (NLMI) method. In the second step, the other fictitious and the actual robust control are designed recursively by using the Lyapunov's second method. The proposed robust control is applied to a two-link robot manipulator with flexible joints in computer simulations. The simulation results show that the proposed robust control has robustness to the model uncertainty caused by changes in the link inertia and the joint stiffness.

  15. Vehicle dynamic control of a passenger car applying flexible body model

    Science.gov (United States)

    Azadi, Shahram; Vaziri, Masoud; Hoseini, Mohsen

    2010-05-01

    Modern software tools have enhanced modelling, analysis and simulation capabilities pertaining to control of dynamic systems. In this regard, in this paper a full vehicle model with flexible body is exposed by using MSC. ADAMS and MSC. NASTRAN. Indeed, one of the most significant vehicle dynamic controls is directional stability control. In this case, the vehicle dynamic control system (VDC) is used to improving the vehicle lateral and yaw motions in critical manoeuvres. In this paper, for design the VDC system, an optimal control strategy has been used for tracking the intended path with optimal energy. For better performance of VDC system, an anti-lock brake system (ABS) is designed as a lower layer of the control system for maintaining the tyre longitudinal slip in proper value. The performances of the controller on rigid and flexible models are illustrated, and the results show the differences between the control efforts for these models, which are related to the differences of dynamic behaviours of rigid and flexible vehicle dynamic models.

  16. A Feed-Forward Control Realizing Fast Response for Three-Branch Interleaved DC-DC Converter in DC Microgrid

    Directory of Open Access Journals (Sweden)

    Haojie Wang

    2016-07-01

    Full Text Available It is a common practice for storage batteries to be connected to DC microgrid buses through DC-DC converters for voltage support on islanded operation mode. A feed-forward control based dual-loop constant voltage PI control for three-branch interleaved DC-DC converters (TIDC is proposed for storage batteries in DC microgrids. The working principle of TIDC is analyzed, and the factors influencing the response rate based on the dual-loop constant voltage control for TIDC are discussed, and then the method of feed-forward control for TIDC is studied to improve the response rate for load changing. A prototype of the TIDC is developed and an experimental platform is built. The experiment results show that DC bus voltage sags or swells caused by load changing can be reduced and the time for voltage recovery can be decreased significantly with the proposed feed-forward control.

  17. Coordination and Control of Flexible Building Loads for Renewable Integration; Demonstrations using VOLTTRON

    Energy Technology Data Exchange (ETDEWEB)

    Hao, He [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Liu, Guopeng [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Huang, Sen [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Katipamula, Srinivas [Pacific Northwest National Lab. (PNNL), Richland, WA (United States)

    2016-10-31

    Renewable energy resources such as wind and solar power have a high degree of uncertainty. Large-scale integration of these variable generation sources into the grid is a big challenge for power system operators. Buildings, in which we live and work, consume about 75% of the total electricity in the United States. They also have a large capacity of power flexibility due to their massive thermal capacitance. Therefore, they present a great opportunity to help the grid to manage power balance. In this report, we study coordination and control of flexible building loads for renewable integration. We first present the motivation and background, and conduct a literature review on building-to-grid integration. We also compile a catalog of flexible building loads that have great potential for renewable integration, and discuss their characteristics. We next collect solar generation data from a photovoltaic panel on Pacific Northwest National Laboratory campus, and conduct data analysis to study their characteristics. We find that solar generation output has a strong uncertainty, and the uncertainty occurs at almost all time scales. Additional data from other sources are also used to verify our study. We propose two transactive coordination strategies to manage flexible building loads for renewable integration. We prove the theories that support the two transactive coordination strategies and discuss their pros and cons. In this report, we select three types of flexible building loads—air-handling unit, rooftop unit, and a population of WHs—for which we demonstrate control of the flexible load to track a dispatch signal (e.g., renewable generation fluctuation) using experiment, simulation, or hardware-in-the-loop study. More specifically, we present the system description, model identification, controller design, test bed setup, and experiment results for each demonstration. We show that coordination and control of flexible loads has a great potential to integrate

  18. Quantifying demand flexibility of power-to-heat and thermal energy storage in the control of building heating systems

    DEFF Research Database (Denmark)

    Finck, Christian; Li, Rongling; Kramer, Rick

    2018-01-01

    In the future due to continued integration of renewable energy sources, demand-side flexibility would be required for managing power grids. Building energy systems will serve as one possible source of energy flexibility. The degree of flexibility provided by building energy systems is highly...... restricted by power-to-heat conversion such as heat pumps and thermal energy storage possibilities of a building. To quantify building demand flexibility, it is essential to capture the dynamic response of the building energy system with thermal energy storage. To identify the maximum flexibility a building......’s energy system can provide, optimal control is required. In this paper, optimal control serves to determine in detail demand flexibility of an office building equipped with heat pump, electric heater, and thermal energy storage tanks. The demand flexibility is quantified using different performance...

  19. Optimal control/structure integrated design of a flexible space platform with articulated appendages

    Science.gov (United States)

    Kelkar, Atul G.; Alberts, Thomas E.

    1991-10-01

    A complete set of closed form symbolic equations are developed for a 2-D model of a system comprised of a flexible platform with articulated appendages. The system considered has a flexible two link manipulator, with joint compliance, at one end of the flexible platform and an articulated antenna on the other end. The model is formulated using a Lagrangian approach which incorporates homogeneous transformation matrices, similar to those typically seen in the robotics literature, for the kinematic representation. The integrated control/structure design strategy considered emphasizes rapid system response and minimal structural weight. Constraints are included to keep antenna pointing error to a minimum, and at the same time achieve accurate end point positioning of the manipulator with minimal oscillations.

  20. Flexible switching of feedback control mechanisms allows for learning of different task dynamics.

    Science.gov (United States)

    White, Olivier; Diedrichsen, Jörn

    2013-01-01

    To produce skilled movements, the brain flexibly adapts to different task requirements and movement contexts. Two core abilities underlie this flexibility. First, depending on the task, the motor system must rapidly switch the way it produces motor commands and how it corrects movements online, i.e. it switches between different (feedback) control policies. Second, it must also adapt to environmental changes for different tasks separately. Here we show these two abilities are related. In a bimanual movement task, we show that participants can switch on a movement-by-movement basis between two feedback control policies, depending only on a static visual cue. When this cue indicates that the hands control separate objects, reactions to force field perturbations of each arm are purely unilateral. In contrast, when the visual cue indicates a commonly controlled object, reactions are shared across hands. Participants are also able to learn different force fields associated with a visual cue. This is however only the case when the visual cue is associated with different feedback control policies. These results indicate that when the motor system can flexibly switch between different control policies, it is also able to adapt separately to the dynamics of different environmental contexts. In contrast, visual cues that are not associated with different control policies are not effective for learning different task dynamics.

  1. Controlled synthesis of ZnO branched nanorod arrays by hierarchical solution growth and application in dye-sensitized solar cells

    International Nuclear Information System (INIS)

    Fang Xiaoming; Peng Lihua; Shang Xiaoying; Zhang Zhengguo

    2011-01-01

    We demonstrate the controlled synthesis of ZnO branched nanorod arrays on fluorine-doped SnO 2 -coated glass substrates by the hierarchical solution growth method. In the secondary growth, the concentration of Zn(NO 3 ) 2 /hexamethylenetetramine plays an important role in controlling the morphology of the branched nanorod arrays, besides that of diaminopropane used as a structure-directing agent to induce the growth of branches. The population density and morphology of the branched nanorod arrays depend on those of the nanorod arrays obtained from the primary growth, which can be modulated though the concentration of Zn(NO 3 ) 2 /hexamethylenetetramine in the primary growth solution. The dye-sensitized ZnO branched nanorod arrays exhibit much stronger optical absorption as compared with its corresponding primary nanorod arrays, suggesting that the addition of the branches improves light harvesting. The dye-sensitized solar cell based on the optimized ZnO branched nanorod array reaches a conversion efficiency of 1.66% under the light radiation of 1000 W/m 2 . The branched nanorod arrays can also be applied in other application fields of ZnO.

  2. Novel adaptive neural control of flexible air-breathing hypersonic vehicles based on sliding mode differentiator

    Directory of Open Access Journals (Sweden)

    Bu Xiangwei

    2015-08-01

    Full Text Available A novel adaptive neural control strategy is exploited for the longitudinal dynamics of a generic flexible air-breathing hypersonic vehicle (FAHV. By utilizing functional decomposition method, the dynamics of FAHV is decomposed into the velocity subsystem and the altitude subsystem. For each subsystem, only one neural network is employed for the unknown function approximation. To further reduce the computational burden, minimal-learning parameter (MLP technology is used to estimate the norm of ideal weight vectors rather than their elements. By introducing sliding mode differentiator (SMD to estimate the newly defined variables, there is no need for the strict-feedback form and virtual controller. Hence the developed control law is considerably simpler than the ones derived from back-stepping scheme. Finally, simulation studies are made to illustrate the effectiveness of the proposed control approach in spite of the flexible effects, system uncertainties and varying disturbances.

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

    Directory of Open Access Journals (Sweden)

    Pengfei Wang

    2015-01-01

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

  4. Multi-Time Scale Control of Demand Flexibility in Smart Distribution Networks

    DEFF Research Database (Denmark)

    Bhattarai, Bishnu P.; Myers, Kurt S.; Bak-Jensen, Birgitte

    2017-01-01

    This paper presents a multi-timescale control strategy to deploy electric vehicle (EV) demand flexibility for simultaneously providing power balancing, grid congestion management, and economic benefits to participating actors. First, an EV charging problem is investigated from consumer, aggregator......-time adaptive control. The performance of the developed method is investigated with high EV penetration in a typical residential distribution grid. The simulation results demonstrate that HCA efficiently utilizes demand flexibility stemming from EVs to solve grid unbalancing and congestions with simultaneous......, and distribution system operator’s perspectives. A hierarchical control architecture (HCA) comprising scheduling, coordinative, and adaptive layers is then designed to realize their coordinative goal. This is realized by integrating multi-time scale controls that work from a day-ahead scheduling up to real...

  5. Singular formalism and admissible control of spacecraft with rotating flexible solar array

    Directory of Open Access Journals (Sweden)

    Lu Dongning

    2014-02-01

    Full Text Available This paper is concerned with the attitude control of a three-axis-stabilized spacecraft which consists of a central rigid body and a flexible sun-tracking solar array driven by a solar array drive assembly. Based on the linearization of the dynamics of the spacecraft and the modal identities about the flexible and rigid coupling matrices, the spacecraft attitude dynamics is reduced to a formally singular system with periodically varying parameters, which is quite different from a spacecraft with fixed appendages. In the framework of the singular control theory, the regularity and impulse-freeness of the singular system is analyzed and then admissible attitude controllers are designed by Lyapunov’s method. To improve the robustness against system uncertainties, an H∞ optimal control is designed by optimizing the H∞ norm of the system transfer function matrix. Comparative numerical experiments are performed to verify the theoretical results.

  6. NASA Workshop on Distributed Parameter Modeling and Control of Flexible Aerospace Systems

    Science.gov (United States)

    Marks, Virginia B. (Compiler); Keckler, Claude R. (Compiler)

    1994-01-01

    Although significant advances have been made in modeling and controlling flexible systems, there remains a need for improvements in model accuracy and in control performance. The finite element models of flexible systems are unduly complex and are almost intractable to optimum parameter estimation for refinement using experimental data. Distributed parameter or continuum modeling offers some advantages and some challenges in both modeling and control. Continuum models often result in a significantly reduced number of model parameters, thereby enabling optimum parameter estimation. The dynamic equations of motion of continuum models provide the advantage of allowing the embedding of the control system dynamics, thus forming a complete set of system dynamics. There is also increased insight provided by the continuum model approach.

  7. Interactive effects between flexible and rigid control of eating behavior on body weight: a moderated serial multiple mediation model

    Directory of Open Access Journals (Sweden)

    Adrian Meule

    2017-09-01

    Full Text Available Background Cognitive restraint of eating can be subdivided into rigid control and flexible control of eating behavior. Flexible control appears to be a more favorable dieting strategy as it relates to lower disinhibited eating and body mass index (BMI, while the opposite is found for rigid control. Yet, previous findings also suggest interactive effects between the two such that rigid control is particularly related to higher BMI when flexible control is low. Participants and procedure Data from a previously reported study (Meule, Westenhöfer, & Kübler, 2011 were reanalyzed to examine such interactive effects (N = 615, 76% female. Results Higher rigid control was particularly associated with more frequent and intense food cravings, lower perceived self-regulatory success in weight regulation, and higher BMI at low levels of flexible control. A moderated serial multiple mediation model revealed that rigid control had an indirect effect on BMI through food cravings and perceived self-regulatory success, particularly when flexible control was low. These interactive effects could largely be replicated in a second study with female participants (n = 70. Conclusions The current findings replicate and extend previous reports in that high flexible control may “compensate” for high rigid control, that is, attenuate the effect of rigid control on eating behaviors and body weight. They also provide insights into the mediating mechanisms that link rigid and flexible control of eating behavior with BMI.

  8. Grey-Box Based Optimal Control for Thermal Systems in Buildings - Unlocking Energy Efficiency and Flexibility

    OpenAIRE

    De Coninck, Roel

    2015-01-01

    Improving the energy efficiency of building energy systems is a key challenge for the mitigation of climate change. In particular, bad controlnbsp;operation often causes large energy efficiency losses, both in new and old buildings.nbsp;implementation of model predictive control (MPC) in buildings could enable an improved thermal comfort, lower operational costs and lower CO2 emissions. Moreover, such a controller can offer services to the energy market by using the flexibility of the buildin...

  9. Reduction of interior sound fields in flexible cylinders by active vibration control

    Science.gov (United States)

    Jones, J. D.; Fuller, C. R.

    1988-01-01

    The mechanisms of interior sound reduction through active control of a thin flexible shell's vibrational response are presently evaluated in view of an analytical model. The noise source is a single exterior acoustic monopole. The active control model is evaluated for harmonic excitation; the results obtained indicate spatially-averaged noise reductions in excess of 20 dB over the source plane, for acoustic resonant conditions inside the cavity.

  10. Controller design for flexible, distributed parameter mechanical arms via combined state space and frequency domain techniques

    Science.gov (United States)

    Book, W. J.; Majett, M.

    1982-01-01

    The potential benefits of the ability to control more flexible mechanical arms are discussed. A justification is made in terms of speed of movement. A new controller design procedure is then developed to provide this capability. It uses both a frequency domain representation and a state variable representation of the arm model. The frequency domain model is used to update the modal state variable model to insure decoupled states. The technique is applied to a simple example with encouraging results.

  11. DAMARIS – a flexible and open software platform for NMR spectrometer control

    OpenAIRE

    Gädke, Achim; Rosenstihl, Markus; Schmitt, Christopher; Stork, Holger; Nestle, Nikolaus

    2016-01-01

    Home-built NMR spectrometers with self-written control software have a long tradition in porous media research. Advantages of such spectrometers are not just lower costs but also more flexibility in developing new experiments (while commercial NMR systems are typically optimized for standard applications such as spectroscopy, imaging or quality control applications). Increasing complexity of computer operating systems, higher expectations with respect to user-friendliness and graphical use...

  12. A hardware demonstration of distributed control for a flexible offset-feed antenna

    Science.gov (United States)

    Schaechter, D. B.; Nguyen, N. C.

    1985-01-01

    A fully instrumented hardware model of a flexible offset-feed antenna has been constructed for laboratory tests. Three rate gyros, four angular position laser sensors, and a set of ten distributed accelerometers are used to rconstruct the antenna state. Three control moment gyros are used to simultaneously orient the antenna, and to maintain a stable line of sight. A description is presented of the distributed antenna control system and experimental results.

  13. A Speed Control Method for Underwater Vehicle under Hydraulic Flexible Traction

    Directory of Open Access Journals (Sweden)

    Yin Zhao

    2015-01-01

    Full Text Available Underwater vehicle speed control methodology method is the focus of research in this study. Driven by a hydraulic flexible traction system, the underwater vehicle advances steadily on underwater guide rails, simulating an underwater environment for the carried device. Considering the influence of steel rope viscoelasticity and the control system traction structure feature, a mathematical model of the underwater vehicle driven by hydraulic flexible traction system is established. A speed control strategy is then proposed based on the sliding mode variable structure of fuzzy reaching law, according to nonlinearity and external variable load of the vehicle speed control system. Sliding mode variable structure control theory for the nonlinear system allows an improved control effect for movements in “sliding mode” when compared with conventional control. The fuzzy control theory is also introduced, weakening output chattering caused by the sliding mode control switchover while producing high output stability. Matlab mathematical simulation and practical test verification indicate the speed control method as effective in obtaining accurate control results, thus inferring strong practical significance for engineering applications.

  14. Stability Result For Dynamic Inversion Devised to Control Large Flexible Aircraft

    Science.gov (United States)

    Gregory, Irene M.

    2001-01-01

    High performance aircraft of the future will be designed lighter, more maneuverable, and operate over an ever expanding flight envelope. One of the largest differences from the flight control perspective between current and future advanced aircraft is elasticity. Over the last decade, dynamic inversion methodology has gained considerable popularity in application to highly maneuverable fighter aircraft, which were treated as rigid vehicles. This paper is an initial attempt to establish global stability results for dynamic inversion methodology as applied to a large, flexible aircraft. This work builds on a previous result for rigid fighter aircraft and adds a new level of complexity that is the flexible aircraft dynamics, which cannot be ignored even in the most basic flight control. The results arise from observations of the control laws designed for a new generation of the High-Speed Civil Transport aircraft.

  15. An optimization-based approach for integrated controls-structures design of flexible spacecraft

    Science.gov (United States)

    Maghami, P. G.; Joshi, S. M.; Armstrong, E. S.

    1994-01-01

    The control of flexible spacecraft is a difficult problem because of large number of elastic modes; low value, closely-spaced frequencies; very small damping; and uncertainties in math models. The traditional design approach is to design the structure first and then to design the control system. This view-graph presentation develops a methodology for spacecraft design which addresses control/structure interaction issues, produces technology for simultaneous control/structure design, and translates into algorithms and computational tools for practical integrated computer-aided design.

  16. Does SAQ training improve the speed and flexibility of young soccer players? A randomized controlled trial.

    Science.gov (United States)

    Milanović, Zoran; Sporiš, Goran; Trajković, Nebojsa; Sekulić, Damir; James, Nic; Vučković, Goran

    2014-12-01

    The aim of this study was to determine the effects of a 12 week speed, agility and quickness (SAQ) training program on speed and flexibility in young soccer players. One hundred and thirty-two soccer players were randomly assigned to experimental (EG; n=66, mean±SD: age: 18.5±0.4 years (range 17-19 years); body mass: 71.30±5.93 kg; stature: 177.2±6.5 cm) and control groups (CG; n=66, mean±SD: age: 18.6±0.6 years (range 17-19 years); body mass: 70.63±4.87 kg; stature: 175.9±5.7 cm). The experimental group performed SAQ training whilst the control group undertook straight-line sprint training matched for volume and duration. Sprint performance was assessed using 5 and 10 m sprints and a further test including maximal speed, a 20 m sprint. Flexibility was assessed using sit and reach, V-sit and reach, leg lift from supine position and lateral leg lift while lying on the side tests. Sprints over 5, 10 and 20 m did not differ between groups at baseline, but by week 12, the 5m sprint had significantly improved (P.05) for all flexibility tests were found between experimental and control group at baseline and after the training programs. Consequently SAQ training was found to be an effective way of improving sprint time for short distances over 5 and 10 m but not over 20 m (where maximum speed was achieved) or flexibility. These results indicate that SAQ training may be more effective for improving sprint performance for some soccer players but more research is required to determine ideal training methods for improving acceleration and flexibility in young soccer players. Copyright © 2014 Elsevier B.V. All rights reserved.

  17. Attitude stabilization of flexible spacecrafts via extended disturbance observer based controller

    Science.gov (United States)

    Yan, Ruidong; Wu, Zhong

    2017-04-01

    To achieve the high-precision attitude stabilization for the flexible spacecraft in the presence of space environmental disturbances, unmodeled dynamics, and the disturbances caused by the elastic vibration of flexible appendages, an extended disturbance observer (EDO) based controller is proposed. The proposed controller is formulated by combining EDO and a backstepping feedback controller. EDO is used to estimate the disturbance, which is modeled as an unknown high-order differentiable equation and the rth-order derivative of the disturbance is assumed to be bounded. Compared to the conventional first-order disturbance observer, the higher order EDO offers improvement in estimate accuracy, if the absolute values of poles for EDO transfer function are chosen larger than the frequency content of the disturbance. Then, the output of EDO plus the backstepping feedback controller are applied to stabilize the attitude with high precision by rejecting disturbances for the flexible spacecraft. Finally, numerical simulations have been conducted to verify the effectiveness of the proposed controller.

  18. Modelling and Control of the Multi-Stage Cable Pulley-Driven Flexible-Joint Robot

    Directory of Open Access Journals (Sweden)

    Phongsaen Pitakwatchara

    2014-07-01

    Full Text Available This work is concerned with the task space impedance control of a robot driven through a multi-stage nonlinear flexible transmission system. Specifically, a two degrees-of-freedom cable pulley-driven flexible-joint robot is considered. Realistic modelling of the system is developed within the bond graph modelling framework. The model captures the nonlinear compliance behaviour of the multi-stage cable pulley transmission system, the spring effect of the augmented counterbalancing mechanism, the major loss throughout the system elements, and the typical inertial dynamics of the robot. Next, a task space impedance controller based on limited information about the angle and the current of the motors is designed. The motor current is used to infer the transmitted torque, by which the motor inertia may be modulated. The motor angle is employed to estimate the stationary distal robot link angle and the robot joint velocity. They are used in the controller to generate the desired damping force and to shape the potential energy of the flexible joint robot system to the desired configuration. Simulation and experimental results of the controlled system signify the competency of the proposed control law.

  19. High Performance, Robust Control of Flexible Space Structures: MSFC Center Director's Discretionary Fund

    Science.gov (United States)

    Whorton, M. S.

    1998-01-01

    Many spacecraft systems have ambitious objectives that place stringent requirements on control systems. Achievable performance is often limited because of difficulty of obtaining accurate models for flexible space structures. To achieve sufficiently high performance to accomplish mission objectives may require the ability to refine the control design model based on closed-loop test data and tune the controller based on the refined model. A control system design procedure is developed based on mixed H2/H(infinity) optimization to synthesize a set of controllers explicitly trading between nominal performance and robust stability. A homotopy algorithm is presented which generates a trajectory of gains that may be implemented to determine maximum achievable performance for a given model error bound. Examples show that a better balance between robustness and performance is obtained using the mixed H2/H(infinity) design method than either H2 or mu-synthesis control design. A second contribution is a new procedure for closed-loop system identification which refines parameters of a control design model in a canonical realization. Examples demonstrate convergence of the parameter estimation and improved performance realized by using the refined model for controller redesign. These developments result in an effective mechanism for achieving high-performance control of flexible space structures.

  20. Construction of a linker library with widely controllable flexibility for fusion protein design.

    Science.gov (United States)

    Li, Gang; Huang, Ziliang; Zhang, Chong; Dong, Bo-Jun; Guo, Ruo-Hai; Yue, Hong-Wei; Yan, Li-Tang; Xing, Xin-Hui

    2016-01-01

    Flexibility or rigidity of the linker between two fused proteins is an important parameter that affects the function of fusion proteins. In this study, we constructed a linker library with five elementary units based on the combination of the flexible (GGGGS) and the rigid (EAAAK) units. Molecular dynamics (MD) simulation showed that more rigid units in the linkers lead to more helical conformation and hydrogen bonds, and less distance fluctuation between the N- and C-termini of the linker. The diversity of linker flexibility of the linker library was then studied by fluorescence resonance energy transfer (FRET) of cyan fluorescent protein (CFP)-yellow fluorescent protein (YFP) fusion proteins, which showed that there is a wide range of distribution of the FRET efficiency. Dissipative particle dynamics (DPD) simulation of CFP-YFP with different linkers also gave identical results with that of FRET efficiency analysis, and we further found that the combination manner of the linker peptide had a remarkable effect on the orientation of CFP and YFP domains. Our studies demonstrated that the construction of the linker library with the widely controllable flexibility could provide appropriate linkers with the desirable characteristics to engineer the fusion proteins with the expected functions.

  1. Control and Analysis of a Single-Link Flexible Beam with Experimental Verification

    Energy Technology Data Exchange (ETDEWEB)

    Jansen, J.F.

    1992-01-01

    The objective of this report is to ascertain the general conditions for the avoidance and reduction of residual vibration in a flexible manipulator. Conventional manipulators usually have a 1.5 to 2-m reach, and their associated dynamic models typically are composed of lumped parameter elements; the major compliance emanates from the, drive trains because of torsional loading effects. The energy storage of the drive system is predominantly potential energy because of the low inertia in the drive tram; thus simple spring models have been adequate. A long-reach manipulator with a large aspect ratio (length to diameter) is a fundamentally different problem. Energy storage for this type of manipulator is distributive by nature because of the potential energy resulting from bending and the kinetic energy due to deflection rates. Instead of ordinary differential equations, partial differential equations are required to describe this system, making the analysis more difficult. The general flexibility problem associated with a distributive dynamic system, with specific emphasis on flexible manipulator, will be addressed in this report. Furthermore, three control schemes will be discussed and demonstrated on, a single flexible manipulator to determine their general merits.

  2. Control and analysis of a single-link flexible beam with experimental verification

    Energy Technology Data Exchange (ETDEWEB)

    Jansen, J.F.

    1992-12-01

    The objective of this report is to ascertain the general conditions for the avoidance and reduction of residual vibration in a flexible manipulator. Conventional manipulators usually have a 1.5 to 2-m reach, and their associated dynamic models typically are composed of lumped parameter elements; the major compliance emanates from the drive trains because of torsional loading effects. The energy storage of the drive system is predominantly potential energy because of the low inertia in the drive train; thus simple spring models have been adequate. A long-reach manipulator with a large aspect ratio (length to diameter) is a fundamentally different problem. Energy storage for this type of manipulator is distributive by nature because of the potential energy resulting from bending and the kinetic energy due to deflection rates. Instead of ordinary differential equations, partial differential equations are required to describe this system, making the analysis more difficult. The general flexibility problem associated with a distributive dynamic system, with specific emphasis on flexible manipulator, will be addressed in this report. Furthermore, three control schemes will be discussed and demonstrated on a single flexible manipulator to determine their general merits.

  3. Modular prototyping engine controller for innovative combustion processes; Flexible Motorprozessregelung fuer neue Brennverfahren

    Energy Technology Data Exchange (ETDEWEB)

    Rempel, Alexander; Stoelting, Eckhard; Predelli, Oliver; Gratzke, Ralf [IAV GmbH, Gifhorn (Germany)

    2009-07-01

    The requirements of the customers and the legislator concerning emission limits, system costs, etc. are well known. This paper presents a rapid prototyping system for engine control, that offers the developer the freedom and the capacity to take this challenge and to achieve the targets. The flexibility of the system and the quick adaptation to a new engine hardware allow a fast realization of new ideas upon an engine test bench or within a vehicle environment. This paper gives an overview about the technical highlights like the Advanced Closedloop Combustion Control (IAVAC3) and the achieved results in the research of innovative combustion processes and their control. (orig.)

  4. Rethinking 'flexibilities' in the international drug control system-Potential, precedents and models for reforms.

    Science.gov (United States)

    Collins, John

    2017-01-24

    Much international drug policy debate centres on, what policies are permissible under the international drug treaties, whether member states are openly 'breaching' these treaties by changing national regulatory frameworks and shifting priorities away from a 'war on drugs' approach, and what 'flexibility' exists for policy reform and experimentation at national and local levels. Orthodox interpretations hold that the current system is a US-led 'prohibition regime' that was constructed in an extremely repressive and restrictive manner with almost no flexibility for significant national deviations. This paper challenges these orthodox interpretive frameworks and suggests no absolute and clear dichotomy between strict adherence and 'breaches' of the international treaties. This paper uses historical analysis to highlight the flaws in orthodox policy analyses, which assume a uniform interpretation, implementation and set of policy trajectories towards a 'prohibition regime' in the 20th century. It challenges some existing legal interpretations of the treaties through recourse to historical precedents of flexible interpretation and policy prioritisation. It then examines the legal justifications currently being formulated by member states to explain a shift towards policies which, until recently, have been viewed as outside the permissible scope of the conventions. It then examines a functionalist framework for understanding the likely contours of drug diplomacy in the post-UN General Assembly Special Session (UNGASS) 2016 era. The paper highlights that, contrary to current policy discourses, the international control system has always been implemented in a 'flexible' manner. It demonstrates that drug control goals were repeatedly subsumed to security, development, political stability and population welfare imperatives, or what we might now refer to under the umbrella of 'development issues.' The paper further demonstrates that policy prioritisation, inherent treaty

  5. Experimental Test Rig for Optimal Control of Flexible Space Robotic Arms

    Science.gov (United States)

    2016-12-01

    control, optimal trajectory , vibration analysis , satellite, flexible space systems, air-bearing, slew rates 15. NUMBER OF PAGES 141 16. PRICE CODE...arm can be used to simulate a moving space antenna or other movable appendages. Optimal trajectories of the two-link arm to simulate a conventional...can be used to simulate a moving space antenna or other movable appendages. Optimal trajectories of the two-link arm to simulate a conventional

  6. Flexible non-volatile ferroelectric polymer memory with gate-controlled multilevel operation.

    Science.gov (United States)

    Hwang, Sun Kak; Bae, Insung; Kim, Richard Hahnkee; Park, Cheolmin

    2012-11-20

    A flexible field-effect transistor with a poly(3-hexylthiophene) (P3HT) active channel and a ferroelectric poly(vinlyidene fluoride-co-trifluoro ethylene) (PVDF-TrFE) insulator exhibits gate-voltage-controllable multilevel non-volatile memory characteristics with highly reliable data retention and endurance. Copyright © 2012 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  7. Continuous high order sliding mode controller design for a flexible air-breathing hypersonic vehicle.

    Science.gov (United States)

    Wang, Jie; Zong, Qun; Su, Rui; Tian, Bailing

    2014-05-01

    This paper investigates the problem of tracking control with uncertainties for a flexible air-breathing hypersonic vehicle (FAHV). In order to overcome the analytical intractability of this model, an Input-Output linearization model is constructed for the purpose of feedback control design. Then, the continuous finite time convergence high order sliding mode controller is designed for the Input-Output linearization model without uncertainties. In addition, a nonlinear disturbance observer is applied to estimate the uncertainties in order to compensate the controller and disturbance suppression, where disturbance observer and controller synthesis design is obtained. Finally, the synthesis of controller and disturbance observer is used to achieve the tracking for the velocity and altitude of the FAHV and simulations are presented to illustrate the effectiveness of the control strategies. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  8. Vibration Control of Manipulators with Flexible Nonprismatic Links Using Piezoelectric Actuators and Sensors

    Directory of Open Access Journals (Sweden)

    Valdecir Bottega

    2009-01-01

    robotic manipulator using simultaneously motor torques and piezoelectric actuators. The dynamic model of the flexible manipulator is obtained in a closed form through the Lagrange equations. The control uses the motor torques for the joints tracking control and also to reduce the low-frequency vibration induced in the manipulator links. The stability of this control is guaranteed by the Lyapunov stability theory. Piezoelectric actuators and sensors are added for controlling vibrations with frequencies beyond the reach of motor torque control. The naturals frequencies are calculated by the finite element method, and the approximated eigenfunctions are interpolated by polynomials. Three eigenfunctions are used for the dynamics of the arm, while only two are used for the control. Numerical experiments on Matlab/Simulink are used to verify the efficiency of the control model.

  9. Learning control for slewing of a flexible panel. [large space structures

    Science.gov (United States)

    Phan, M.; Longman, R. W.; Wei, Y.; Horta, L. G.; Juang, J.-N.

    1989-01-01

    This paper studies the applicability of a discrete-time learning control method to the slewing control of a large flexible panel. Among the issues discussed are feasibility of the desired trajectories and their specification schemes, learning control by linear feedback, limitation of the actuator device output, and robustness to parameter changes or modeling errors associated with the chosen learning control design. To demonstrate the effectiveness of learning control, the system is designed with a proportional controller of the base angle only. Then application of the learning control is shown to make the system learn quickly to achieve the desired slewing without residual vibration at the end of the maneuver. Simulation results are reported and discussed.

  10. Attitude dynamics and control of spacecraft with a partially filled liquid tank and flexible panels

    Science.gov (United States)

    Liu, Feng; Yue, Baozeng; Zhao, Liangyu

    2018-02-01

    A liquid-filled flexible spacecraft is essentially a time-variant fully-coupled system, whose dynamics characteristics are closely associated with its motion features. This paper focuses on the mathematical modelling and attitude control of the spacecraft coupled with fuel sloshing dynamics and flexible solar panels vibration. The slosh motion is represented by a spherical pendulum, whose motion description method is improved by using split variable operation. Benefiting from this improvement, the nonlinear lateral sloshing and the rotary sloshing as well as the rigid motion of a liquid respect to the spacecraft can be approximately described. The assumed modes discretization method has been adopted to approximate the elastic displacements of the attached panels, and the coupled dynamics is derived by using the Lagrangian formulation. A variable substitution method is proposed to obtain the apparently-uncoupled mathematical model of the rigid-flexible-liquid spacecraft. After linearization, this model can be directly used for designing Lyapunov output-feedback attitude controller (OFAC). With only torque actuators, and attitude and rate sensors installed, this kind of attitude controller, as simulation results show, is capable of not only bringing the spacecraft to the desired orientation, but also suppressing the effect of flex and slosh on the attitude motion of the spacecraft.

  11. Planar rigid-flexible coupling spacecraft modeling and control considering solar array deployment and joint clearance

    Science.gov (United States)

    Li, Yuanyuan; Wang, Zilu; Wang, Cong; Huang, Wenhu

    2018-01-01

    Based on Nodal Coordinate Formulation (NCF) and Absolute Nodal Coordinate Formulation (ANCF), this paper establishes rigid-flexible coupling dynamic model of the spacecraft with large deployable solar arrays and multiple clearance joints to analyze and control the satellite attitude under deployment disturbance. Considering torque spring, close cable loop (CCL) configuration and latch mechanisms, a typical spacecraft composed of a rigid main-body described by NCF and two flexible panels described by ANCF is used as a demonstration case. Nonlinear contact force model and modified Coulomb friction model are selected to establish normal contact force and tangential friction model, respectively. Generalized elastic force are derived and all generalized forces are defined in the NCF-ANCF frame. The Newmark-β method is used to solve system equations of motion. The availability and superiority of the proposed model is verified through comparing with numerical co-simulations of Patran and ADAMS software. The numerical results reveal the effects of panel flexibility, joint clearance and their coupling on satellite attitude. The effects of clearance number, clearance size and clearance stiffness on satellite attitude are investigated. Furthermore, a proportional-differential (PD) attitude controller of spacecraft is designed to discuss the effect of attitude control on the dynamic responses of the whole system.

  12. Design of a Compact Actuation and Control System for Flexible Medical Robots.

    Science.gov (United States)

    Morimoto, Tania K; Hawkes, Elliot Wright; Okamura, Allison M

    2017-07-01

    Flexible medical robots can improve surgical procedures by decreasing invasiveness and increasing accessibility within the body. Using preoperative images, these robots can be designed to optimize a procedure for a particular patient. To minimize invasiveness and maximize biocompatibility, the actuation units of flexible medical robots should be placed fully outside the patient's body. In this letter, we present a novel, compact, lightweight, modular actuation, and control system for driving a class of these flexible robots, known as concentric tube robots. A key feature of the design is the use of three-dimensional printed waffle gears to enable compact control of two degrees of freedom within each module. We measure the precision and accuracy of a single actuation module and demonstrate the ability of an integrated set of three actuation modules to control six degrees of freedom. The integrated system drives a three-tube concentric tube robot to reach a final tip position that is on average less than 2 mm from a given target. In addition, we show a handheld manifestation of the device and present its potential applications.

  13. A multi-mode operation control strategy for flexible microgrid based on sliding-mode direct voltage and hierarchical controls.

    Science.gov (United States)

    Zhang, Qinjin; Liu, Yancheng; Zhao, Youtao; Wang, Ning

    2016-03-01

    Multi-mode operation and transient stability are two problems that significantly affect flexible microgrid (MG). This paper proposes a multi-mode operation control strategy for flexible MG based on a three-layer hierarchical structure. The proposed structure is composed of autonomous, cooperative, and scheduling controllers. Autonomous controller is utilized to control the performance of the single micro-source inverter. An adaptive sliding-mode direct voltage loop and an improved droop power loop based on virtual negative impedance are presented respectively to enhance the system disturbance-rejection performance and the power sharing accuracy. Cooperative controller, which is composed of secondary voltage/frequency control and phase synchronization control, is designed to eliminate the voltage/frequency deviations produced by the autonomous controller and prepare for grid connection. Scheduling controller manages the power flow between the MG and the grid. The MG with the improved hierarchical control scheme can achieve seamless transitions from islanded to grid-connected mode and have a good transient performance. In addition the presented work can also optimize the power quality issues and improve the load power sharing accuracy between parallel VSIs. Finally, the transient performance and effectiveness of the proposed control scheme are evaluated by theoretical analysis and simulation results. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  14. Dynamic modeling and hierarchical compound control of a novel 2-DOF flexible parallel manipulator with multiple actuation modes

    Science.gov (United States)

    Liang, Dong; Song, Yimin; Sun, Tao; Jin, Xueying

    2018-03-01

    This paper addresses the problem of rigid-flexible coupling dynamic modeling and active control of a novel flexible parallel manipulator (PM) with multiple actuation modes. Firstly, based on the flexible multi-body dynamics theory, the rigid-flexible coupling dynamic model (RFDM) of system is developed by virtue of the augmented Lagrangian multipliers approach. For completeness, the mathematical models of permanent magnet synchronous motor (PMSM) and piezoelectric transducer (PZT) are further established and integrated with the RFDM of mechanical system to formulate the electromechanical coupling dynamic model (ECDM). To achieve the trajectory tracking and vibration suppression, a hierarchical compound control strategy is presented. Within this control strategy, the proportional-differential (PD) feedback controller is employed to realize the trajectory tracking of end-effector, while the strain and strain rate feedback (SSRF) controller is developed to restrain the vibration of the flexible links using PZT. Furthermore, the stability of the control algorithm is demonstrated based on the Lyapunov stability theory. Finally, two simulation case studies are performed to illustrate the effectiveness of the proposed approach. The results indicate that, under the redundant actuation mode, the hierarchical compound control strategy can guarantee the flexible PM achieves singularity-free motion and vibration attenuation within task workspace simultaneously. The systematic methodology proposed in this study can be conveniently extended for the dynamic modeling and efficient controller design of other flexible PMs, especially the emerging ones with multiple actuation modes.

  15. Electronic Control on Linear versus Branched Alkylation of 2-/3-Aroylbenzofurans with Acrylates: Combined DFT and Synthetic Studies.

    Science.gov (United States)

    Srinivas, Kolluru; Dangat, Yuvraj; Kommagalla, Yadagiri; Vanka, Kumar; Ramana, Chepuri V

    2017-06-01

    Investigations on the factors that govern unusual branched alkylation of 2-aroylbenzofurans with acrylates by Ru-catalyzed carbonyl-directed C-H activation has been carried out by calculating the kinetics associated with the two key steps-the coordination of the acrylate with the intermediate ruthenacycle and the subsequent migratory insertion reaction-studied with the help of DFT calculations. Eight possible orientations for each mode of alkylation have been considered for the calculations. From these calculations, it has been understood that there is a synergistic operation of the steric and electronic effects favoring the branched alkylation. Further DFT investigations on the alkylation of the isomeric 3-aroylbenzofurans indicated a preference for the linear alkylation and this has been verified experimentally. Overall, the observed/calculated complementary selectivity in the alkylation of 2-/3-aroylbenzofurans with acrylates reveals that the substrate-dependent charge distribution of the Ru-C bond in the intermediate ruthenacycle is an important determining factor and thus the current work opens up a new domain of substrate design for controlling regioselectivity. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  16. Integrated controls-structures design methodology development for a class of flexible spacecraft

    Science.gov (United States)

    Maghami, P. G.; Joshi, S. M.; Walz, J. E.; Armstrong, E. S.

    1990-01-01

    Future utilization of space will require large space structures in low-Earth and geostationary orbits. Example missions include: Earth observation systems, personal communication systems, space science missions, space processing facilities, etc., requiring large antennas, platforms, and solar arrays. The dimensions of such structures will range from a few meters to possibly hundreds of meters. For reducing the cost of construction, launching, and operating (e.g., energy required for reboosting and control), it will be necessary to make the structure as light as possible. However, reducing structural mass tends to increase the flexibility which would make it more difficult to control with the specified precision in attitude and shape. Therefore, there is a need to develop a methodology for designing space structures which are optimal with respect to both structural design and control design. In the current spacecraft design practice, it is customary to first perform the structural design and then the controller design. However, the structural design and the control design problems are substantially coupled and must be considered concurrently in order to obtain a truly optimal spacecraft design. For example, let C denote the set of the 'control' design variables (e.g., controller gains), and L the set of the 'structural' design variables (e.g., member sizes). If a structural member thickness is changed, the dynamics would change which would then change the control law and the actuator mass. That would, in turn, change the structural model. Thus, the sets C and L depend on each other. Future space structures can be roughly divided into four mission classes. Class 1 missions include flexible spacecraft with no articulated appendages which require fine attitude pointing and vibration suppression (e.g., large space antennas). Class 2 missions consist of flexible spacecraft with articulated multiple payloads, where the requirement is to fine-point the spacecraft and each

  17. A vision-based end-point control for a two-link flexible manipulator

    Science.gov (United States)

    Obergfell, Klaus

    1991-08-01

    The measurement and control of the end-effector position of a large two-link flexible manipulator are investigated. The system implementation is described and an initial algorithm for static end-point positioning is discussed. Most existing robots are controlled through independent joint controllers, while the end-effector position is estimated from the joint positions using a kinematic relation. End-point position feedback can be used to compensate for uncertainty and structural deflections. Such feedback is especially important for flexible robots. Computer vision is utilized to obtain end-point position measurements. A look-and-move control structure alleviates the disadvantages of the slow and variable computer vision sampling frequency. This control structure consists of an inner joint-based loop and an outer vision-based loop. A static positioning algorithm was implemented and experimentally verified. This algorithm utilizes the manipulator Jacobian to transform a tip position error to a joint error. The joint error is then used to give a new reference input to the joint controller. The convergence of the algorithm is demonstrated experimentally under payload variation. A Landmark Tracking System (Dickerson, et al 1990) is used for vision-based end-point measurements. This system was modified and tested. A real-time control system was implemented on a PC and interfaced with the vision system and the robot.

  18. Modeling and control of flow-induced vibrations of a flexible hydrofoil in viscous flow

    Science.gov (United States)

    Caverly, Ryan James; Li, Chenyang; Chae, Eun Jung; Forbes, James Richard; Young, Yin Lu

    2016-06-01

    In this paper, a reduced-order model (ROM) of the flow-induced vibrations of a flexible cantilevered hydrofoil is developed and used to design an active feedback controller. The ROM is developed using data from high-fidelity viscous fluid-structure interaction (FSI) simulations and includes nonlinear terms to accurately capture the effect of lock-in. An active linear quadratic Gaussian (LQG) controller is designed based on a linearization of the ROM and is implemented in simulation with the ROM and the high-fidelity viscous FSI model. A controller saturation method is also presented that ensures that the control force applied to the system remains within a prescribed range. Simulation results demonstrate that the LQG controller successfully suppresses vibrations in both the ROM and viscous FSI simulations using a reasonable amount of control force.

  19. 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

  20. Advanced optical sensing and processing technologies for the distributed control of large flexible spacecraft

    Science.gov (United States)

    Williams, G. M.; Fraser, J. C.

    1991-01-01

    The objective was to examine state-of-the-art optical sensing and processing technology applied to control the motion of flexible spacecraft. Proposed large flexible space systems, such an optical telescopes and antennas, will require control over vast surfaces. Most likely distributed control will be necessary involving many sensors to accurately measure the surface. A similarly large number of actuators must act upon the system. The used technical approach included reviewing proposed NASA missions to assess system needs and requirements. A candidate mission was chosen as a baseline study spacecraft for comparison of conventional and optical control components. Control system requirements of the baseline system were used for designing both a control system containing current off-the-shelf components and a system utilizing electro-optical devices for sensing and processing. State-of-the-art surveys of conventional sensor, actuator, and processor technologies were performed. A technology development plan is presented that presents a logical, effective way to develop and integrate advancing technologies.

  1. Sleep Deprivation Diminishes Attentional Control Effectiveness and Impairs Flexible Adaptation to Changing Conditions.

    Science.gov (United States)

    Whitney, Paul; Hinson, John M; Satterfield, Brieann C; Grant, Devon A; Honn, Kimberly A; Van Dongen, Hans P A

    2017-11-22

    Insufficient sleep is a global public health problem resulting in catastrophic accidents, increased mortality, and hundreds of billions of dollars in lost productivity. Yet the effect of sleep deprivation (SD) on decision making and performance is often underestimated by fatigued individuals and is only beginning to be understood by scientists. The deleterious impact of SD is frequently attributed to lapses in vigilant attention, but this account fails to explain many SD-related problems, such as loss of situational awareness and perseveration. Using a laboratory study protocol, we show that SD individuals can maintain information in the focus of attention and anticipate likely correct responses, but their use of such a top-down attentional strategy is less effective at preventing errors caused by competing responses. Moreover, when the task environment requires flexibility, performance under SD suffers dramatically. The impairment in flexible shifting of attentional control we observed is distinct from lapses in vigilant attention, as corroborated by the specificity of the influence of a genetic biomarker, the dopaminergic polymorphism DRD2 C957T. Reduced effectiveness of top-down attentional control under SD, especially when conditions require flexibility, helps to explain maladaptive performance that is not readily explained by lapses in vigilant attention.

  2. Guest Editorial: Flexible Operation and Control for Medium Voltage Direct-Current (MVDC) Grid

    DEFF Research Database (Denmark)

    Li, Yong; Guerrero, Josep M.; Siano, Pierluigi

    2017-01-01

    We appreciate very much the support from the IET Power Electronics editorial board for this Special Issue on ‘Flexible Operation and Control for Medium Voltage Direct-Current (MVDC) Grid’. In this final version for publication, 15 papers have been selected for this Special Issue. Three papers...... relate to the topology of MVDC converter, four papers relate to the control of MVDC converter, four papers relate to the introduction of application fields of MVDC grid, and four papers relate to the semiconductor power device and drives towards the application in the medium- and high-voltage DC grid....

  3. Participation of Flexible Loads in Load Frequency Control to Support High Wind Penetration

    DEFF Research Database (Denmark)

    Uslu, Umur; Zhang, Boyang; Pillai, Jayakrishnan Radhakrishna

    2016-01-01

    The increasing amount of fluctuating wind power penetration in power systems presents many challenges to its operation and control. The new wind power plants are replacing many of the conventional large power plants that ensure power balancing and ancillary services for stable and reliable...... operation of the grid. Therefore, new solutions for power balancing reserves have to be explored and utilized by the grid utilities. To meet these challenges, large sizable loads like alkaline electrolysers, heat pumps and electric vehicles which are gaining popularity can provide system support to the grid...... through their inherent flexibility and energy storage characteristics. This paper investigates the possibilities and potential of such flexible loads to participate in power system frequency regulation in a wind dominated power system. The results show that these consumption units provide better...

  4. Visual control as a key factor in a production process of a company from automotive branch

    Directory of Open Access Journals (Sweden)

    Stanisław Borkowski

    2013-04-01

    Full Text Available This article presents a theoretical basis for one type of control in enterprises – visual control. It presents the meaning of visual control in the Toyota Production System and BOST researches as a tool of measure, among other things, the importance of visual control in production companies. The level of importance of visual control usage as one of the production process elements in the analysed company was indicated. The usage of visual control is a main factor in a production process of the analyzed company, the factor which provides continuous help to employees to check whether the process differs from the standard. The characteristic progression of production process elements was indicated and the SW factor (the use of visual control took the third place, PE factor (interruption of production when it detects a problem of quality turned out to be the most important one, while the least important was the EU factor (granting power of attorney down. The main tools for this evaluation: an innovative BOST survey - Toyota's management principles in questions, in particular, the Pareto-Lorenz diagram, radar graph and series of importance as graphical interpretation tools, were used to present the importance of each factor in relation to individual assessments.

  5. Fuzzy based attitude controller for flexible spacecraft with on/off thrusters

    Science.gov (United States)

    Knapp, Roger Glenn

    1993-05-01

    A fuzzy-based attitude controller is designed for attitude control of a generic spacecraft with on/off thrusters. The controller is comprised of packages of rules dedicated to addressing different objectives (e.g., disturbance rejection, low fuel consumption, avoiding the excitation of flexible appendages, etc.). These rule packages can be inserted or removed depending on the requirements of the particular spacecraft and are parameterized based on vehicle parameters such as inertia or operational parameters such as the maneuvering rate. Individual rule packages can be 'weighted' relative to each other to emphasize the importance of one objective relative to another. Finally, the fuzzy controller and rule packages are demonstrated using the high-fidelity Space Shuttle Interactive On-Orbit Simulator (IOS) while performing typical on-orbit operations and are subsequently compared with the existing shuttle flight control system performance.

  6. Multi-Time Scale Control of Demand Flexibility in Smart Distribution Networks

    Directory of Open Access Journals (Sweden)

    Bishnu P. Bhattarai

    2017-01-01

    Full Text Available This paper presents a multi-timescale control strategy to deploy electric vehicle (EV demand flexibility for simultaneously providing power balancing, grid congestion management, and economic benefits to participating actors. First, an EV charging problem is investigated from consumer, aggregator, and distribution system operator’s perspectives. A hierarchical control architecture (HCA comprising scheduling, coordinative, and adaptive layers is then designed to realize their coordinative goal. This is realized by integrating multi-time scale controls that work from a day-ahead scheduling up to real-time adaptive control. The performance of the developed method is investigated with high EV penetration in a typical residential distribution grid. The simulation results demonstrate that HCA efficiently utilizes demand flexibility stemming from EVs to solve grid unbalancing and congestions with simultaneous maximization of economic benefits to the participating actors. This is ensured by enabling EV participation in day-ahead, balancing, and regulation markets. For the given network configuration and pricing structure, HCA ensures the EV owners to get paid up to five times the cost they were paying without control.

  7. A Comparison of the Views of Internal Controllers/Auditors and Branch/Call Center Personnel of the Banks for Operational Risk: A Case for Turkish Banking Sector

    Directory of Open Access Journals (Sweden)

    Sinemis Zengin

    2016-10-01

    Full Text Available The aim of this paper is to compare the views of internal controllers/auditors and branch/call center personnel of the banks with respect to the operational risk. Within this scope, we made two different surveys to the personnel in Turkish banks in order to achieve this objective. The first survey was conducted by 310 branch and call center personnel whereas 151 personnel in internal control and audit departments of the banks carried out the second survey. The major finding in this study is that there is a difference in the views of these two groups regarding the evaluation of operational risk. In general, internal controllers/auditors look at the operational risk more negatively than branch/call center personnel. The personnel who control and audit operations in the bank think that operational risk knowledge level of branch/call center personnel is less sufficient, operational risk levels are higher, the controls to avoid this risk are less efficient than branch/call center personnel consider.

  8. Control system for nuclear reactor with a series of flexible control rods, diverging towards the core from a common channel

    International Nuclear Information System (INIS)

    Doll, D.W.

    1976-01-01

    The description is given of a nuclear reactor control system comprising a pressure vessel having at least one leaktight crossing and a core area enclosed in the pressure vessel and in which a series of control rod guiding channels are distributed over an area exceeding the leaktight crossing section. This control includes a series of flexible control rods, intended to enter the guiding channels at the rate of one per channel, a set of guide tubes which diverge from the leaktight crossing to respective guide channels to guide the control rods, and operating gear to move the control rods in the guide tubes to cause them to take up and leave insertion positions in the guide channels. Each control rod is made up of several rigid sections joined by articulated joints. This invention is intended for high temperature reactors [fr

  9. Improvement in the mechanical properties, proton conductivity, and methanol resistance of highly branched sulfonated poly(arylene ether)/graphene oxide grafted with flexible alkylsulfonated side chains nanocomposite membranes

    Science.gov (United States)

    Liu, Dong; Peng, Jinhua; Li, Zhuoyao; Liu, Bin; Wang, Lei

    2018-02-01

    Sulfonated polymer/graphene oxide (GO) nanocomposites exhibit excellent properties as proton exchange membranes. However, few investigations on highly branched sulfonated poly(arylene ether)s (HBSPE)/GO nanocomposites as proton exchange membranes are reported. In order to obtain HBSPE-based nanocomposite membranes with better dispersibility and properties, a novel GO containing flexible alkylsulfonated side chains (SGO) is designed and prepared for the first time in this work. The HBSPE/SGO nanocomposite membranes with excellent dispersibility are successfully prepared. The properties of these membranes, including the mechanical properties, ion-exchange capacity, water uptake, proton conductivity, and methanol resistance, are characterized. The nanocomposite membranes exhibit higher tensile strength (32.67 MPa), higher proton conductivity (0.39 S cm-1 at 80 °C) and lower methanol permeability (4.89 × 10-7 cm2 s-1) than the pristine membrane. The nanocomposite membranes also achieve a higher maximum power density (82.36 mW cm-2) than the pristine membrane (67.85 mW cm-2) in single-cell direct methanol fuel cell (DMFC) tests, demonstrating their considerable potential for applications in DMFCs.

  10. Computationally Efficient Adaptive Type-2 Fuzzy Control of Flexible-Joint Manipulators

    Directory of Open Access Journals (Sweden)

    Hicham Chaoui

    2013-05-01

    Full Text Available In this paper, we introduce an adaptive type-2 fuzzy logic controller (FLC for flexible-joint manipulators with structured and unstructured dynamical uncertainties. Simplified interval fuzzy sets are used for real-time efficiency, and internal stability is enhanced by adopting a trade-off strategy between the manipulator’s and the actuators’ velocities. Furthermore, the control scheme is independent of the computationally expensive noisy torque and acceleration signals. The controller is validated through a set of numerical simulations and by comparing it against its type-1 counterpart. The ability of the adaptive type-2 FLC in coping with large magnitudes of uncertainties yields an improved performance. The stability of the proposed control system is guaranteed using Lyapunov stability theory.

  11. Flexible decision-making in crisis events : discovering real options in the control of foot-and-mouth disease epidemics

    NARCIS (Netherlands)

    Ge, L.

    2008-01-01

    Keywords
    Crisis event, foot-and-mouth disease (FMD), epidemic control, real options, decision flexibility, multi-level hierarchic Markov process (MLHMP), uncertainty, decision-support framework, turning moment, dynamic programming, Bayesian forecasting, dynamic models, overreacting,

  12. ATTITUDE CONTROL SYSTEM DESIGN FOR A RIGID-FLEXIBLE SATELLITE USING THE H-INFINITY METHOD WITH PARAMETRIC UNCERTAINTY

    OpenAIRE

    Souza, Alain Giacobini de; Souza, Luiz Carlos Gadelha de

    2017-01-01

    This paper presents the Attitude Control System (ACS) design for a rigid-flexible satellite with two vibrations mode, using the H infinity method considering the parametric uncertainty over the mass matrix. Usually the mathematic model obtained from the linearization and/or reduction of the rigid flexible model loses information about the flexible dynamical behavior and introduces some uncertainty. As a result, the ACS performance can be degraded when controlling large angle maneuvers. One wa...

  13. Chain-Branching Control of the Atomic Structure of Alkanethiol-Based Gold–Sulfur Interfaces

    DEFF Research Database (Denmark)

    Wang, Yun; Chi, Qijin; Zhang, Jingdong

    2011-01-01

    Density functional theory structure calculations at 0 K and simulations at 300 K of observed high-resolution in situ scanning tunneling microscopy (STM) images reveal three different atomic-interface structures for the self-assembled monolayers (SAMs) of three isomeric butanethiols on Au(111......): direct binding to the Au(111) surface without pitting, binding to adatoms above a regular surface with extensive pitting, and binding to adatoms with local surface vacancies and some pitting. Thermal motions are shown to produce some observed STM features, with a very tight energy balance controlling...

  14. AB059. A novel technique of suctioning flexible ureteroscopy with automatic control of renal pelvic pressure

    Science.gov (United States)

    Song, Le-Ming; Deng, Xiao-Lin

    2015-01-01

    Objective Flexible ureteroscopy is rapidly becoming a first line therapy for many patients with renal and ureteral calculi. Currently the medical infusion devices cannot monitor the renal pelvic pressure. We introduce a novel technique of flexible ureteroscopy with a suction system to treat upper urinary calculi and automatically control renal pelvic pressure. Methods We performed flexible URSs for patients with the help of a self-designed intelligent system including an irrigation and suctioning platform and a transparent ureteral access sheath (UAS) with a pressure-sensitive tip, which can precisely regulate the infusion flow and control the vacuum suctioning by computerized real-time recording and monitoring of RPP through pressure feedback, ensuring a stable RPP. The outer body diameter of the UAS was 15 F; the diameter of the working channel was 11.55 F; 
the length of the UAS was 20-45 cm. On the platform, RPP control value was set at −2 mmHg, RPP warning value was set at 20 mmHg, and RPP limit value was set at 30 mmHg. Intraoperatively, holmium laser was used to powderize the stone at 0.8 J/pulse with a frequency of 20 pulses/s (Lumenis, fiber diameter 200 um). In the process of powderizing lithotripsy using the laser, the scope body was moved back and forth slightly in an uninterrupted fashion in the sheath, with a distance of about 2-3 mm, to facilitate small gravel particles inside the sheath gap to be sucked out automatically. Gravel particles larger than sheath gap but less than UAS in diameter were sucked out by withdrawing the scope intermittently without a need of stone basketing. We retrospectively reviewed 37 patients with renal or ureteral calculus received the flexible URS from November 2014 to January 2015. Results The procedure was successfully performed in all patients with a clear operating field view. The mean stone size was 15.9±5.2 mm (rang: 8-35 mm). The mean operative time was 24.8±15.9 [13-49] min. The stone-free rates at

  15. Magnetic fish-robot based on multi-motion control of a flexible magnetic actuator

    International Nuclear Information System (INIS)

    Kim, Sung Hoon; Hashi, Shuichiro; Ishiyama, Kazushi; Shin, Kyoosik

    2012-01-01

    This paper presents a biologically inspired fish-robot driven by a single flexible magnetic actuator with a rotating magnetic field in a three-axis Helmholtz coil. Generally, magnetic fish-robots are powered by alternating and gradient magnetic fields, which provide a single motion such as bending the fish-robot's fins. On the other hand, a flexible magnetic actuator driven by an external rotating magnetic field can create several gaits such as the bending vibration, the twisting vibration, and their combination. Most magnetic fish-like micro-robots do not have pectoral fins on the side and are simply propelled by the tail fin. The proposed robot can swim and perform a variety of maneuvers with the addition of pectoral fins and control of the magnetic torque direction. In this paper, we find that the robot's dynamic actuation correlates with the magnetic actuator and the rotating magnetic field. The proposed robot is also equipped with new features, such as a total of six degrees of freedom, a new control method that stabilizes posture, three-dimensional swimming, a new velocity control, and new turning abilities. (paper)

  16. Tendon-Sheath Mechanisms in Flexible Membrane Wing Mini-UAVs: Control and Performance

    Directory of Open Access Journals (Sweden)

    Tegoeh Tjahjowidodo

    2017-01-01

    Full Text Available Flexible membrane wings (FMWs are known for two inherent advantages, that is, adaptability to gusty airflow as the wings can flex according to the gust load to reduce the effective angle of attack and the ability to be folded for compact storage purposes. However, the maneuverability of UAV with FMWs is rather limited as it is impossible to install conventional ailerons. The maneuver relies only on the rudders. Some applications utilize torque rods to warp the wings, but this approach makes the FMW become unfoldable. In this research, we proposed the application of a tendon-sheath mechanism to manipulate the wing shape of UAV. Tendon-sheath mechanism is relatively flexible; thus, it can also be folded together with the wings. However, its severe nonlinearity in its dynamics makes the wing warping difficult to control. To compensate for the nonlinearity, a dedicated adaptive controller is designed and implemented. The proposed approach is validated experimentally in a wind tunnel facility with imitated gusty condition and subsequently tested in a real flight condition. The results demonstrate a stable and robust wing warping actuation, while the adaptive washout capability is also validated. Accurate wing warping is achieved and the UAV is easily controlled in a real flight test.

  17. Adaptive Finite-Time Control for a Flexible Hypersonic Vehicle with Actuator Fault

    Directory of Open Access Journals (Sweden)

    Jie Wang

    2013-01-01

    Full Text Available The problem of robust fault-tolerant tracking control is investigated. Simulation on the longitudinal model of a flexible air-breathing hypersonic vehicle (FAHV with actuator faults and uncertainties is conducted. In order to guarantee that the velocity and altitude track their desired commands in finite time with the partial loss of actuator effectiveness, an adaptive fault-tolerant control strategy is presented based on practical finite-time sliding mode method. The adaptive update laws are used to estimate the upper bound of uncertainties and the minimum value of actuator efficiency factor. Finally, simulation results show that the proposed control strategy is effective in rejecting uncertainties even in the presence of actuator faults.

  18. Solution Coating of Superior Large-Area Flexible Perovskite Thin Films with Controlled Crystal Packing

    KAUST Repository

    Li, Jianbo

    2017-05-08

    Solution coating of organohalide lead perovskites offers great potential for achieving low-cost manufacturing of large-area flexible optoelectronics. However, the rapid coating speed needed for industrial-scale production poses challenges to the control of crystal packing. Herein, this study reports using solution shearing to confine crystal nucleation and growth in large-area printed MAPbI3 thin films. Near single-crystalline perovskite microarrays are demonstrated with a high degree of controlled macroscopic alignment and crystal orientation, which exhibit significant improvements in optical and optoelectronic properties comparing with their random counterparts, spherulitic, and nanograined films. In particular, photodetectors based on the confined films showing intense anisotropy in charge transport are fabricated, and the device exhibits significantly improved performance in all aspects by one more orders of magnitude relative to their random counterparts. It is anticipated that perovskite films with controlled crystal packing may find applications in high-performance, large-area printed optoelectronics, and solar cells.

  19. Backstepping boundary control: an application to the suppression of flexible beam vibration

    Science.gov (United States)

    Boonkumkrong, Nipon; Asadamongkon, Pichai; Chinvorarat, Sinchai

    2018-01-01

    This paper presents a backstepping boundary control for vibration suppression of flexible beam. The applications are such as industrial robotic arms, space structures, etc. Most slender beams can be modelled using a shear beam. The shear beam is more complex than the conventional Euler-Bernoulli beam in that a shear deformation is additionally taken into account. At present, the application of this method in industry is rather limited, because the application of controllers to the beam is difficult. In this research, we use the shear beam with moving base as a model. The beam is cantilever type. This design method allows us to deal directly with the beam’s partial differential equations (PDEs) without resorting to approximations. An observer is used to estimate the deflections along the beam. Gain kernel of the system is calculated and then used in the control law design. The control setup is anti-collocation, i.e. a sensor is placed at the beam tip and an actuator is placed at the beam moving base. Finite difference equations are used to solve the PDEs and the partial integro-differential equations (PIDEs). Control parameters are varied to see their influences that affect the control performance. The results of the control are presented via computer simulation to verify that the control scheme is effective.

  20. Sensor Fusion of a Mobile Device to Control and Acquire Videos or Images of Coffee Branches and for Georeferencing Trees

    Directory of Open Access Journals (Sweden)

    Paula Jimena Ramos Giraldo

    2017-04-01

    Full Text Available Smartphones show potential for controlling and monitoring variables in agriculture. Their processing capacity, instrumentation, connectivity, low cost, and accessibility allow farmers (among other users in rural areas to operate them easily with applications adjusted to their specific needs. In this investigation, the integration of inertial sensors, a GPS, and a camera are presented for the monitoring of a coffee crop. An Android-based application was developed with two operating modes: (i Navigation: for georeferencing trees, which can be as close as 0.5 m from each other; and (ii Acquisition: control of video acquisition, based on the movement of the mobile device over a branch, and measurement of image quality, using clarity indexes to select the most appropriate frames for application in future processes. The integration of inertial sensors in navigation mode, shows a mean relative error of ±0.15 m, and total error ±5.15 m. In acquisition mode, the system correctly identifies the beginning and end of mobile phone movement in 99% of cases, and image quality is determined by means of a sharpness factor which measures blurriness. With the developed system, it will be possible to obtain georeferenced information about coffee trees, such as their production, nutritional state, and presence of plagues or diseases.

  1. Sensor Fusion of a Mobile Device to Control and Acquire Videos or Images of Coffee Branches and for Georeferencing Trees.

    Science.gov (United States)

    Giraldo, Paula Jimena Ramos; Aguirre, Álvaro Guerrero; Muñoz, Carlos Mario; Prieto, Flavio Augusto; Oliveros, Carlos Eugenio

    2017-04-06

    Smartphones show potential for controlling and monitoring variables in agriculture. Their processing capacity, instrumentation, connectivity, low cost, and accessibility allow farmers (among other users in rural areas) to operate them easily with applications adjusted to their specific needs. In this investigation, the integration of inertial sensors, a GPS, and a camera are presented for the monitoring of a coffee crop. An Android-based application was developed with two operating modes: ( i ) Navigation: for georeferencing trees, which can be as close as 0.5 m from each other; and ( ii ) Acquisition: control of video acquisition, based on the movement of the mobile device over a branch, and measurement of image quality, using clarity indexes to select the most appropriate frames for application in future processes. The integration of inertial sensors in navigation mode, shows a mean relative error of ±0.15 m, and total error ±5.15 m. In acquisition mode, the system correctly identifies the beginning and end of mobile phone movement in 99% of cases, and image quality is determined by means of a sharpness factor which measures blurriness. With the developed system, it will be possible to obtain georeferenced information about coffee trees, such as their production, nutritional state, and presence of plagues or diseases.

  2. High-bandwidth and flexible tracking control for precision motion with application to a piezo nanopositioner.

    Science.gov (United States)

    Feng, Zhao; Ling, Jie; Ming, Min; Xiao, Xiao-Hui

    2017-08-01

    For precision motion, high-bandwidth and flexible tracking are the two important issues for significant performance improvement. Iterative learning control (ILC) is an effective feedforward control method only for systems that operate strictly repetitively. Although projection ILC can track varying references, the performance is still limited by the fixed-bandwidth Q-filter, especially for triangular waves tracking commonly used in a piezo nanopositioner. In this paper, a wavelet transform-based linear time-varying (LTV) Q-filter design for projection ILC is proposed to compensate high-frequency errors and improve the ability to tracking varying references simultaneously. The LVT Q-filter is designed based on the modulus maximum of wavelet detail coefficients calculated by wavelet transform to determine the high-frequency locations of each iteration with the advantages of avoiding cross-terms and segmenting manually. The proposed approach was verified on a piezo nanopositioner. Experimental results indicate that the proposed approach can locate the high-frequency regions accurately and achieve the best performance under varying references compared with traditional frequency-domain and projection ILC with a fixed-bandwidth Q-filter, which validates that through implementing the LTV filter on projection ILC, high-bandwidth and flexible tracking can be achieved simultaneously by the proposed approach.

  3. High-bandwidth and flexible tracking control for precision motion with application to a piezo nanopositioner

    Science.gov (United States)

    Feng, Zhao; Ling, Jie; Ming, Min; Xiao, Xiao-Hui

    2017-08-01

    For precision motion, high-bandwidth and flexible tracking are the two important issues for significant performance improvement. Iterative learning control (ILC) is an effective feedforward control method only for systems that operate strictly repetitively. Although projection ILC can track varying references, the performance is still limited by the fixed-bandwidth Q-filter, especially for triangular waves tracking commonly used in a piezo nanopositioner. In this paper, a wavelet transform-based linear time-varying (LTV) Q-filter design for projection ILC is proposed to compensate high-frequency errors and improve the ability to tracking varying references simultaneously. The LVT Q-filter is designed based on the modulus maximum of wavelet detail coefficients calculated by wavelet transform to determine the high-frequency locations of each iteration with the advantages of avoiding cross-terms and segmenting manually. The proposed approach was verified on a piezo nanopositioner. Experimental results indicate that the proposed approach can locate the high-frequency regions accurately and achieve the best performance under varying references compared with traditional frequency-domain and projection ILC with a fixed-bandwidth Q-filter, which validates that through implementing the LTV filter on projection ILC, high-bandwidth and flexible tracking can be achieved simultaneously by the proposed approach.

  4. Does Enhancing Work-Time Control and Flexibility Reduce Turnover? A Naturally Occurring Experiment.

    Science.gov (United States)

    Moen, Phyllis; Kelly, Erin L; Hill, Rachelle

    2011-02-01

    We investigate the turnover effects of an organizational innovation (ROWE-Results Only Work Environment) aimed at moving away from standard time practices to focus on results rather than time spent at work. To model rates of turnover, we draw on survey data from a sample of employees at a corporate headquarters (N = 775) and institutional records of turnover over eight months following the ROWE implementation. We find the odds of turnover are indeed lower for employees participating in the ROWE initiative, which offers employees greater work-time control and flexibility, and that this is the case regardless of employees' gender, age, or family life stage. ROWE also moderates the turnover effects of organizational tenure and negative home-to-work spillover, physical symptoms, and job insecurity, with those in ROWE who report these situations generally less likely to leave the organization. Additionally, ROWE reduces turnover intentions among those remaining with the corporation. This research moves the "opting-out" argument from one of private troubles to an issue of greater employee work-time control and flexibility by showing that an organizational policy initiative can reduce turnover.

  5. Flexibility control and simulation with multi-model and LQG/LTR design for PWR core load following operation

    International Nuclear Information System (INIS)

    Li, Gang; Zhao, Fuyu

    2013-01-01

    Highlights: ► The nonlinear model and linear multi-model of a PWR core are developed. ► The LQG/LTR robust control is used to design local controllers of the core. ► LTR principles are analyzed and proved theoretically. ► Flexibility control is proposed to design flexibility controllers for the core. ► The nonlinear core load following control system is effective. - Abstract: The objective of this investigation is to design a nonlinear Pressurized Water Reactor (PWR) core load following control system. On the basis of modeling a nonlinear PWR core, linearized models of the core at five power levels are chosen as local models of the core to substitute the nonlinear core model in the global range of power level. The Linear Quadratic Gaussian with Loop Transfer Recovery (LQG/LTR) robust optimal control is used to contrive a controller with the robustness of a core local model as a local controller of the nonlinear core. Meanwhile, LTR principles are analyzed and proved theoretically by adopting the matrix inversion lemma. Based on the local controllers, the principle of flexibility control is presented to design a flexibility controller of the nonlinear core at a random power level. A nonlinear core model and a flexibility controller at a random power level compose a core load following control subsystem. The combination of core load following control subsystems at all power levels is the core load following control system. Finally, the core load following control system is simulated and the simulation results show that the control system is effective

  6. Graphene as a flexible template for controlling magnetic interactions between metal atoms.

    Science.gov (United States)

    Lee, Sungwoo; Kim, Dongwook; Robertson, Alex W; Yoon, Euijoon; Hong, Suklyun; Ihm, Jisoon; Yu, Jaejun; Warner, Jamie H; Lee, Gun-Do

    2017-03-01

    Metal-doped graphene produces magnetic moments that have potential application in spintronics. Here we use density function theory computational methods to show how the magnetic interaction between metal atoms doped in graphene can be controlled by the degree of flexure in a graphene membrane. Bending graphene by flexing causes the distance between two substitutional Fe atoms covalently bonded in graphene to gradually increase and these results in the magnetic moment disappearing at a critical strain value. At the critical strain, a carbon atom can enter between the two Fe atoms and blocks the interaction between relevant orbitals of Fe atoms to quench the magnetic moment. The control of interactions between doped atoms by exploiting the mechanical flexibility of graphene is a unique approach to manipulating the magnetic properties and opens up new opportunities for mechanical-magnetic 2D device systems.

  7. Flexible voltage support control for three-phase distributed generation inverters under grid fault

    DEFF Research Database (Denmark)

    Camacho, Antonio; Castilla, Miguel; Miret, Jaume

    2013-01-01

    connected inverters is proposed. In three phase balanced voltage sags, the inverter should inject reactive power in order to raise the voltage in all phases. In one or two phase faults, the main concern of the distributed generation inverter is to equalize voltages by reducing the negative symmetric...... Operators describe the behavior of the energy source, regulating voltage limits and reactive power injection to remain connected and support the grid under fault. On the basis that different kinds of voltage sags require different voltage support strategies, a flexible control scheme for three phase grid...... sequence and clear the phase jump. Due to system limitations, a balance between these two extreme policies is mandatory. Thus, over-voltage and undervoltage can be avoided, and the proposed control scheme prevents disconnection while achieving the desired voltage support service. The main contribution...

  8. Vibration control of a flexible space manipulator during on orbit operations

    Science.gov (United States)

    Sabatini, Marco; Gasbarri, Paolo; Monti, Riccardo; Palmerini, Giovanni Battista

    2012-04-01

    Space manipulators are complex systems, composed by robotic arms accommodated on an orbiting platform. They can be used to perform a variety of tasks: launch of satellites, retrieval of spacecraft for inspection, maintenance and repair, movement of cargo and so on. All these missions require extreme precision. However, in order to respect the mass at launch requirements, manipulators arms are usually very light and flexible, and their motion involves significant structural vibrations, especially after a grasping maneuver. In order to fulfill the maneuvers of space robotic systems it is hence necessary to properly model the forces acting on the space robot, from the main terms, such as the orbital motion, to the second order perturbations, like the gravity gradient and the orbital perturbations; also flexible excitation of the links and of the joints can be of great importance in the manipulators dynamics. The case is furthermore complicated by the fact that the manipulator, together with its supporting spacecraft, is an unconstrained body. Therefore the motion of any of its parts affects the entire system configuration. The governing equations of the dynamics of such robotic systems are highly nonlinear and fully coupled. The present paper aims at designing and studying active damping strategies and relevant devices that could be used to reduce the structural vibrations of a space manipulator with flexible links during its on orbit operations. In particular an optimized adaptive vibration control via piezoelectric devices is proposed. The number of piezoelectric devices, their placement and operational mode should be correctly chosen in order to obtain maximum performance in terms of elastic oscillations reduction and power consumption. Even though an optimal placement cannot have a universal validity, since it depends on the type of maneuver and on the overall inertial and geometrical characteristics, an approach to solve the problem is proposed.

  9. A Flexible framework for forward and inverse modeling of stormwater control measures

    Science.gov (United States)

    Aflaki, S.; Massoudieh, A.

    2016-12-01

    Models that allow for design considerations of green infrastructure (GI) practices to control stormwater runoff and associated contaminants have received considerable attention in recent years. While popular, generally, the GI models are relatively simplistic. However, GI model predictions are being relied upon by many municipalities and State/Local agencies to make decisions about grey vs. green infrastructure improvement planning. Adding complexity to GI modeling frameworks may preclude their use in simpler urban planning situations. Therefore, the goal here was to develop a sophisticated, yet flexible tool that could be used by design engineers and researchers to capture and explore the effect of design factors and properties of the media used in the performance of GI systems at a relatively small scale. We deemed it essential to have a flexible GI modeling tool that is capable of simulating GI system components and specific biophysical processes affecting contaminants such as reactions, and particle-associated transport accurately while maintaining a high degree of flexibly to account for the myriad of GI alternatives. The mathematical framework for a stand-alone GI performance assessment tool has been developed and will be demonstrated. The process-based model framework developed here can be used to model a diverse range of GI practices such as green roof, retention pond, bioretention, infiltration trench, permeable pavement and other custom-designed combinatory systems. Four demonstration applications covering a diverse range of systems will be presented. The example applications include a evaluating hydraulic performance of a complex bioretention system, hydraulic analysis of porous pavement system, flow colloid-facilitated transport, reactive transport and groundwater recharge underneath an infiltration pond and finally reactive transport and bed-sediment interactions in a wetland system will be presented.

  10. Positive affect and cognitive control: approach-motivation intensity influences the balance between cognitive flexibility and stability.

    Science.gov (United States)

    Liu, Ya; Wang, Zhenhong

    2014-05-01

    In most prior research, positive affect has been consistently found to promote cognitive flexibility. However, the motivational dimensional model of affect assumes that the influence of positive affect on cognitive processes is modulated by approach-motivation intensity. In the present study, we extended the motivational dimensional model to the domain of cognitive control by examining the effect of low- versus high-approach-motivated positive affect on the balance between cognitive flexibility and stability in an attentional-set-shifting paradigm. Results showed that low-approach-motivated positive affect promoted cognitive flexibility but also caused higher distractibility, whereas high-approach-motivated positive affect enhanced perseverance but simultaneously reduced distractibility. These results suggest that the balance between cognitive flexibility and stability is modulated by the approach-motivation intensity of positive affective states. Therefore, it is essential to incorporate motivational intensity into studies on the influence of affect on cognitive control.

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

    Directory of Open Access Journals (Sweden)

    Zhonghua Wu

    2017-02-01

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

  12. Robust Switching Control and Subspace Identification for Flutter of Flexible Wing

    Directory of Open Access Journals (Sweden)

    Yizhe Wang

    2018-01-01

    Full Text Available Active flutter suppression and subspace identification for a flexible wing model using micro fiber composite actuator were experimentally studied in a low speed wind tunnel. NACA0006 thin airfoil model was used for the experimental object to verify the performance of identification algorithm and designed controller. The equation of the fluid, vibration, and piezoelectric coupled motion was theoretically analyzed and experimentally identified under the open-loop and closed-loop condition by subspace method for controller design. A robust pole placement algorithm in terms of linear matrix inequality that accommodates the model uncertainty caused by identification deviation and flow speed variation was utilized to stabilize the divergent aeroelastic system. For further enlarging the flutter envelope, additional controllers were designed subject to the models beyond the flutter speed. Wind speed was measured online as the decision parameter of switching between the controllers. To ensure the stability of arbitrary switching, Common Lyapunov function method was applied to design the robust pole placement controllers for different models to ensure that the closed-loop system shared a common Lyapunov function. Wind tunnel result showed that the designed controllers could stabilize the time varying aeroelastic system over a wide range under arbitrary switching.

  13. Reducing the Cost of Branches

    Science.gov (United States)

    1987-01-01

    technique that branch. We will examine some alternative pipeline Scomputers use to reach higher single- processo structures, determine why they impact...fast compare can be done during the ID phase of on the MIPS de : .i..’ough the use of compare-and- the instruction as soon as the register operands are...squashing is Compare Needed 2 3 never done when branches are taken. Table 6 shows the breakdown of comparisons used in Squashing control : the branch

  14. WindoWorks: A flexible program for computerized testing of accelerator control system electronic circuit boards

    International Nuclear Information System (INIS)

    Utterback, J.

    1993-09-01

    Since most accelerator control system circuit boards reside in a commercial bus architecture, such as CAMAC or VMEbus, a computerized test station is needed for exercising the boards. This test station is needed for the development of newly designed prototypes, for commissioning newly manufactured boards, for diagnosing boards which have failed in service, and for long term testing of boards with intermittent failure problems. WindoWorks was created to address these needs. It is a flexible program which runs on a PC compatible computer and uses a PC to bus crate interface. WindoWorks was designed to give the user a flexible way to test circuit boards. Each test is incapsulated into a window. By bringing up several different windows the user can run several different tests simultaneously. The windows are sizable, and moveable. They have data entry boxes so that the test can be customized to the users preference. The windows can be used in conjunction with each other in order to create supertests. There are several windows which are generic. They can be used to test basic functions on any VME (or CAMAC) board. There are other windows which have been created to test specific boards. New windows for testing specific boards can be easily created by a Pascal programmer using the WindoWorks framework

  15. Review of ASME code criteria for control of primary loads on nuclear piping system branch connections and recommendations for additional development work

    International Nuclear Information System (INIS)

    Rodabaugh, E.C.; Gwaltney, R.C.; Moore, S.E.

    1993-11-01

    This report collects and uses available data to reexamine the criteria for controlling primary loads in nuclear piping branch connections as expressed in Section III of the ASME Boiler and Pressure Vessel Code. In particular, the primary load stress indices given in NB-3650 and NB-3683 are reexamined. The report concludes that the present usage of the stress indices in the criteria equations should be continued. However, the complex treatment of combined branch and run moments is not supported by available information. Therefore, it is recommended that this combined loading evaluation procedure be replaced for primary loads by the separate leg evaluation procedure specified in NC/ND-3653.3(c) and NC/ND-3653.3(d). No recommendation is made for fatigue or secondary load evaluations for Class 1 piping. Further work should be done on the development of better criteria for treatment of combined branch and run moment effects

  16. Vibration control of a pneumatic driven piezoelectric flexible manipulator using self-organizing map based multiple models

    Science.gov (United States)

    Zhao, Zhi-li; Qiu, Zhi-cheng; Zhang, Xian-min; Han, Jian-da

    2016-03-01

    A kind of hybrid pneumatic-piezoelectric flexible manipulator system has been presented in the paper. A hybrid driving scheme is achieved by combining of a pneumatic proportional valve based pneumatic drive and a piezoelectric actuator bonded to the flexible beam. The system dynamics models are obtained based on system identification approaches, using the established experimental system. For system identification of the flexible piezoelectric manipulator subsystem, parametric estimation methods are utilized. For the pneumatic driven system, a single global linear model is not accurate enough to describe its dynamics, due to the high nonlinearity of the pneumatic driven system. Therefore, a self-organizing map (SOM) based multi-model system identification approach is used to get multiple local linear models. Then, a SOM based multi-model inverse controller and a variable damping pole-placement controller are applied to the pneumatic drive and piezoelectric actuator, respectively. Experiments on pneumatic driven vibration control, piezoelectric vibration control and hybrid vibration control are conducted, utilized proportional and derivative (PD) control, SOM based multi-model inverse controller, and the variable damping pole-placement controller. Experimental results demonstrate that the investigated control algorithms can improve the vibration control performance of the pneumatic driven flexible piezoelectric manipulator system.

  17. Design and fabrication of magnetically functionalized flexible micropillar arrays for rapid and controllable microfluidic mixing

    KAUST Repository

    Zhou, BingPu

    2015-03-25

    Magnetically functionalized PDMS-based micropillar arrays have been successfully designed, fabricated and implanted for controllable microfluidic mixing. The arrangement of PDMS micropillar arrays inside the microchannel can be flexibly controlled by an external magnetic field. As a consequence, the flow fields inside the microchannel can be regulated at will via magnetic activation conveniently. When a microchannel is implanted with such micropillar arrays, two microstreams can be mixed easily and controllably upon the simple application of an on/off magnetic signal. Mixing efficiencies based on micropillar arrays with different densities were investigated and compared. It was found that micropillar arrays with higher density (i.e. smaller pillar pitch) would render better mixing performance. Our microfluidic system is capable of generating highly reproducible results within many cycles of mixing/non-mixing conversion. We believe that the simple mixing-triggering method together with rapid and controllable mixing control will be extraordinarily valuable for various biological or chemical applications in the future. This journal is © The Royal Society of Chemistry 2015.

  18. Controlled vortex-induced vibration on a fix-supported flexible cylinder in cross-flow

    Science.gov (United States)

    Cheng, L.; Zhou, Y.; Zhang, M. M.

    2006-04-01

    This paper presents an experimental study on the closed-loop control of the vortex-induced vibration of a flexible square cylinder, fixed at both ends, in a cross-flow. Curved piezoceramic actuators were embedded underneath one cylinder surface to generate a controllable motion to perturb the interaction between flow and structure. Five control schemes were investigated based on the feedback from either individual or combined responses of structural vibration and fluctuating flow. Experiments were conducted in the first-mode resonance of the cylinder, when the vortex-shedding frequency coincided with the first-mode natural frequency of the fluid-structure system. The control effect on the structural vibration and the flow was simultaneously monitored using laser vibrometer, optical fiber Bragg grating (FBG) sensor, hot wires, particle image velocimetry, laser-induced fluorescence flow visualization and laser Doppler anemometer. The performances of the different schemes were assessed and compared. The best performance was achieved using the scheme whose feedback signal was a combination of flow and structural vibration. Vortex shedding was almost completely destroyed, resulting in a reduction by 85% in the vortex strength, by 71% in the structural vibration amplitude, and by 30% in the drag coefficient. It was found that the control effect altered the nature of the fluid-structure interactions, changing the in-phased fluid-structure synchronization into anti-phased interactions, thus significantly enhancing the damping of the fluid-structure system and contributing to greatly attenuated vortex shedding and the structural vibration.

  19. A hybrid CPG-ZMP control system for stable walking of a simulated flexible spine humanoid robot.

    Science.gov (United States)

    Or, Jimmy

    2010-04-01

    Biped humanoid robots have gained much popularity in recent years. These robots are mainly controlled by two major control methods, the biologically-inspired approach based on Central Pattern Generator (CPG) and the engineering-oriented approach based on Zero Moment Point (ZMP). Given that flexibility in the body torso is required in some human activities, we believe that it is beneficial for the next generation of humanoid robots to have a flexible spine as humans do. In order to cope with the increased complexity in controlling this type of robot, a new kind of control system is necessary. Currently, there is no controller that allows a flexible spine humanoid robot to maintain stability in real-time while walking with dynamic spine motions. This paper presents a new hybrid CPG-ZMP control system for the walking of a realistically simulated flexible spine humanoid robot. Experimental results showed that using our control method, the robot is able to adapt its spine motions in real-time to allow stable walking. Our control system could be used for the control of the next generation humanoid robots. Copyright 2009 Elsevier Ltd. All rights reserved.

  20. The use of chipped pruned branches to control the soil and water losses in citrus plantations in Eastern Spain

    Science.gov (United States)

    Cerdà, Artemi; Keesstra, Saskia; Jordán, Antonio; Pereira, Paulo; Prosdocimi, Massimo; Ritsema, Coen J.; Burguet, María

    2016-04-01

    three sites the soil erosion is reduced in one order of magnitude in average as a consequence of the cover of the chipped pruned branches (78.45 % in average cover) in comparison to the bare (control) soils. Acknowledgements The research leading to these results has received funding from the European Union Seventh Framework Programme (FP7/2007-2013) under grant agreement n° 603498 (RECARE project). References Berendse, F., van Ruijven, J., Jongejans, E., Keesstra, S. 2015. Loss of plant species diversity reduces soil erosion resistance. Ecosystems, 18 (5), 881-888. DOI: 10.1007/s10021-015-9869-6 Biswas H., Raizada A., Mandal D., Kumar S., Srinivas S., Mishra P. K. 2015. Identification of areas vulnerable to soil erosion risk in India using GIS methods. Solid Earth, 6 (4), pp. 1247-1257. DOI: 10. 5194/se-6-1247-2015v Brevik, E. C., Cerdà, A., Mataix-Solera, J., Pereg, L., Quinton, J. N., Six, J., and Van Oost, K.: The interdisciplinary nature of SOIL, SOIL, 1, 117-129, doi:10.5194/soil-1-117-2015, 2015. Cerdà, A., Giménez-Morera, A. and Bodí, M.B. 2009.Soil and water losses from new citrus orchards growing on sloped soils in the western Mediterranean basin. Earth Surface Processes and Landforms, 34, 1822-1830. DOI: 10.1002/esp.1889 Cerdà, A., González-Pelayo, O., Giménez-Morera, A., Jordán, A., Pereira, P., Novara, A., Brevik, E.C., Prosdocimi, M., Mahmoodabadi, M., Keesstra, S., García Orenes, F., Ritsema, C., 2015. The use of barley straw residues to avoid high erosion and runoff rates on persimmon plantations in Eastern Spain under low frequency - high magnitude simulated rainfall events. Soil Res. (In press) Colazo, J.C., Buschiazzo, D. 2015. The Impact of Agriculture on Soil Texture Due to Wind Erosion.Land Degradation and Development, 26 (1), 62-70 DOI: 10.1002/ldr.2297 Decock, C.,J. Lee, M. Necpalova, E. I. P. Pereira, D. M. Tendall, J. Six. 2015 Mitigating N2O emissions from soil: from patching leaks to transformative action. SOIL, 1, 687-694, doi:10

  1. The Feasibility Study on Thermal Loading Control of Wind Power Converters with a Flexible Switching Frequency

    DEFF Research Database (Denmark)

    Qin, Zian; Wang, Huai; Blaabjerg, Frede

    2015-01-01

    of the IGBT modules, the power losses and thereby the thermal stresses can be controlled by varying the PWM switching frequency according to power loading conditions. This paper investigates the feasibility to apply this flexible modulation strategy in a 3 MW wind power converter application to reduce......Thermal loading of wind power converters is critical to their reliability performance. Especially for IGBT modules applied in a converter, both of the mean value and variation of the junction temperature have significant impact on the lifetime. Besides other strategies to reduce the thermal loading...... the temperature fluctuations due to wind speed variations. The trade-off between the reduced amplitude of temperature fluctuations and the additional power losses that may be introduced is quantitatively studied....

  2. Vibration control of a flexible rotor suspended by shape memory alloy wires

    DEFF Research Database (Denmark)

    Alves, Marco Túlio Santana; Steffen Jr., Valder; Castro dos Santos, Marina

    2018-01-01

    The present contribution is devoted to the study of the influence of shape memory alloys on the dynamic behavior of flexible rotors. In this sense, a suspension composed by pseudoelastic shape memory alloy wires that are connected to a rotor-bearing test rig was designed. To evaluate...... a phase transformation. The constitutive model used to describe the shape memory alloy behavior is a modified version of the Brinson model for the one-dimensional case. To provide all thermomechanical properties of shape memory alloy wire, a complete characterization process was performed. Due...... to numerical reasons, the size of the model of the rotating system was reduced. Finally, numerical and experimental results demonstrate the success of shape memory alloy applied to the suspension of rotating machines as an interesting alternative for vibration control....

  3. Flexible, low-latency architecture for qubit control and measurement in circuit QED

    Science.gov (United States)

    Vlothuizen, Wouter; Deurloo, D.; Sterke, J. De; Vermeulen, R.; Schouten, R. N.; Dicarlo, Leo

    Increasing qubit numbers in circuit QED requires an extensible architecture for digital waveform generation of qubit control and measurement signals. For quantum error correction, the ability to select from a number of predetermined waveforms based on measurement results will become paramount. We present a room-temperature architecture with very low latency from measurement to waveform output. This modular FPGA-based system can generate both baseband and RF modulated signals using DACs clocked at 1 GHz. A backplane that interconnects several modules allows exchange of (measurement) information between modules and maintains deterministic timing across those modules. We replace the typical line based sequencer used in arbitrary waveform generators by a user programmable processor that treats waveforms and measurements as instructions added to a conventional CPU architecture. This allows for flexible coding of triggering, repetitions, delays and interactions between measurement and signal generation. We acknowledge funding from the Dutch Research Organization (NWO), an ERC Synergy Grant, and European project SCALEQIT.

  4. Flexible Demand Control to Enhance the Dynamic Operation of Low Voltage Networks

    DEFF Research Database (Denmark)

    Diaz de Cerio Mendaza, Iker; Szczesny, Ireneusz Grzegorz; Pillai, Jayakrishnan Radhakrishna

    2015-01-01

    Moving towards a carbon free energy system has become an objective for many countries nowadays. Among other changes, the electrification of strategic sectors such as heating and transportation is inevitable. As a consequence, the current power system load will substantially increase...... for controlling the demand response of a low voltage grid. This is designed to; i) maximize the grid utilization, thereby reducing the need for reinforcement, ii) accommodate the maximum number of flexible loads and iii) satisfy the power and comfort requirements from each of the consumers in the network....... In this context, the nature of the expected loads (heat pumps, plug-in electric vehicles, etc.) makes the low voltage networks specially targeted. A promising solution to overcome the challenges resulting from their grid integration, is demand response. This paper introduces a hierarchical structure...

  5. Static deflection control of flexible beams by piezo-electric actuators

    Science.gov (United States)

    Baz, A. M.

    1986-01-01

    This study deals with the utilization of piezo-electric actuators in controlling the static deformation of flexible beams. An optimum design procedure is presented to enable the selection of the optimal location, thickness and excitation voltage of the piezo-electric actuators in a way that would minimize the deflection of the beam to which these actuators are bonded. Numerical examples are presented to illustrate the application of the developed optimization procedure in minimizing the structural deformation of beams of different materials when subjected to different loading and end conditions using ceramic or polymeric piezo-electric actuators. The results obtained emphasize the importance of the devised rational procedure in designing beam-actuator systems with minimal elastic distortions.

  6. Flexible control of cellular encapsulation, permeability, and release in a droplet-templated bifunctional copolymer scaffold.

    Science.gov (United States)

    Chen, Qiushui; Chen, Dong; Wu, Jing; Lin, Jin-Ming

    2016-11-01

    Designing cell-compatible, bio-degradable, and stimuli-responsive hydrogels is very important for biomedical applications in cellular delivery and micro-scale tissue engineering. Here, we report achieving flexible control of cellular microencapsulation, permeability, and release by rationally designing a diblock copolymer, alginate-conjugated poly(N-isopropylacrylamide) (Alg-co-PNiPAM). We use the microfluidic technique to fabricate the bifunctional copolymers into thousands of mono-disperse droplet-templated hydrogel microparticles for controlled encapsulation and triggered release of mammalian cells. In particular, the grafting PNiPAM groups in the synthetic cell-laden microgels produce lots of nano-aggregates into hydrogel networks at elevated temperature, thereafter enhancing the permeability of microparticle scaffolds. Importantly, the hydrogel scaffolds are readily fabricated via on-chip quick gelation by triggered release of Ca 2+ from the Ca-EDTA complex; it is also quite exciting that very mild release of microencapsulated cells is achieved via controlled degradation of hydrogel scaffolds through a simple strategy of competitive affinity of Ca 2+ from the Ca-Alginate complex. This finding suggests that we are able to control cellular encapsulation and release through ion-induced gelation and degradation of the hydrogel scaffolds. Subsequently, we demonstrate a high viability of microencapsulated cells in the microgel scaffolds.

  7. Experimental analysis of flexibility change with different levels of power reduction by demand response activation on thermostat controlled loads

    DEFF Research Database (Denmark)

    Lakshmanan, Venkatachalam; Marinelli, Mattia; Hu, Junjie

    2017-01-01

    This paper studies the flexibility available with thermostatically controlled loads (TCLs) to provide power system services by demand response (DR) activation. Although the DR activation on TCLs can provide power system ancillary services, it is important to know how long such services can...... be provided for when different levels of power reduction are imposed. The flexibility change with different levels of power reduction is tested experimentally with domestic fridges used by real customers with unknown user interaction. The investigation quantifies the flexibility of household fridges...... and the impact of DR activation in terms of deviation in the average temperature. The maximum possible power reduction with the cluster of refrigerators is 67% and the available flexibility with the cluster of refrigerators is 10%. The resulting deviation in the average temperature is 14%....

  8. Quality control process improvement of flexible printed circuit board by FMEA

    Science.gov (United States)

    Krasaephol, Siwaporn; Chutima, Parames

    2018-02-01

    This research focuses on the quality control process improvement of Flexible Printed Circuit Board (FPCB), centred around model 7-Flex, by using Failure Mode and Effect Analysis (FMEA) method to decrease proportion of defective finished goods that are found at the final inspection process. Due to a number of defective units that were found at the final inspection process, high scraps may be escaped to customers. The problem comes from poor quality control process which is not efficient enough to filter defective products from in-process because there is no In-Process Quality Control (IPQC) or sampling inspection in the process. Therefore, the quality control process has to be improved by setting inspection gates and IPCQs at critical processes in order to filter the defective products. The critical processes are analysed by the FMEA method. IPQC is used for detecting defective products and reducing chances of defective finished goods escaped to the customers. Reducing proportion of defective finished goods also decreases scrap cost because finished goods incur higher scrap cost than work in-process. Moreover, defective products that are found during process can reflect the abnormal processes; therefore, engineers and operators should timely solve the problems. Improved quality control was implemented for 7-Flex production lines from July 2017 to September 2017. The result shows decreasing of the average proportion of defective finished goods and the average of Customer Manufacturers Lot Reject Rate (%LRR of CMs) equal to 4.5% and 4.1% respectively. Furthermore, cost saving of this quality control process equals to 100K Baht.

  9. Control of a flexible, surface-piercing hydrofoil for high-speed, small-scale applications

    Science.gov (United States)

    Bousquet, Gabriel; Triantafyllou, Michael; Slotine, Jean-Jacques

    2016-11-01

    In recent years, hydrofoils have become ubiquitous in the design of high performance surface vehicles such as sailboats. They have proven particularly useful at small scales: while the speed of displacement-hull sailboats of length L is limited by their hull speed √{ gL } , due to wave making resistance, such limitations do not apply to hydrofoil crafts and sailboats. Such crafts of length O(1 - 10 m) are capable of reaching speeds in excess of 45 kts, often far faster than the wind. Besides, in the quest for super-maneuverability, actuated hydrofoils enable the efficient generation and control of large forces. With the intent to ultimately enable the design of small-scale, high-speed, and super-maneuverable surface vehicles, we investigate the problem of controlling the lift force generated by a flexible, surface-piercing hydrofoil traveling at high speed through a random wave field. We design a test platform composed of a rudder-like vertical foil, which is actuated in pitch, and instrumented with velocity, force, and immersion sensors. We present a feedback linearization controller, designed to operate over a wide range of velocities and sea states. Validation experiments are carried out on-the-field at speeds ranging from 3 to 10+m/s.

  10. Flexible operation strategy for environment control system in abnormal supply power condition

    Science.gov (United States)

    Liping, Pang; Guoxiang, Li; Hongquan, Qu; Yufeng, Fang

    2017-04-01

    This paper establishes an optimization method that can be applied to the flexible operation of the environment control system in an abnormal supply power condition. A proposed conception of lifespan is used to evaluate the depletion time of the non-regenerative substance. The optimization objective function is to maximize the lifespans. The optimization variables are the allocated powers of subsystems. The improved Non-dominated Sorting Genetic Algorithm is adopted to obtain the pareto optimization frontier with the constraints of the cabin environmental parameters and the adjustable operating parameters of the subsystems. Based on the same importance of objective functions, the preferred power allocation of subsystems can be optimized. Then the corresponding running parameters of subsystems can be determined to ensure the maximum lifespans. A long-duration space station with three astronauts is used to show the implementation of the proposed optimization method. Three different CO2 partial pressure levels are taken into consideration in this study. The optimization results show that the proposed optimization method can obtain the preferred power allocation for the subsystems when the supply power is at a less-than-nominal value. The method can be applied to the autonomous control for the emergency response of the environment control system.

  11. Flexible Mode Control of Grid Connected Wind Energy Conversion System Using Wavelet

    Directory of Open Access Journals (Sweden)

    Bhavna Jain

    2015-01-01

    Full Text Available Small wind turbine systems offer services to critical loads during grid faults and also connected back to grid in normal condition. The connection of a wind energy conversion system to the grid requires a robust phase locked loop (PLL and continuous monitoring of the grid conditions such as overvoltage, undervoltage, overfrequency, underfrequency, and grid outages. This paper describes a flexible control operation to operate a small wind turbine in both stand-alone mode via planned islanding and grid connected mode as well. In particular, a proper monitoring and control algorithm is required for transition between the modes. A wavelet based energy function is used for detection of grid disturbances as well as recovery of grid so that transition between the modes is made. To obtain good power quality LCL filter is used to reduce ripples. PLL is used for synchronization whenever mode changes from stand-alone to grid connected. Simulation results from a 10 kW wind energy conversion system are included to show the usefulness of the proposed methods. The control method is tested by generated gate pulses for single phase bridge inverter using field programmable gate array (FPGA.

  12. Flexible conflict management: conflict avoidance and conflict adjustment in reactive cognitive control.

    Science.gov (United States)

    Dignath, David; Kiesel, Andrea; Eder, Andreas B

    2015-07-01

    Conflict processing is assumed to serve two crucial, yet distinct functions: Regarding task performance, control is adjusted to overcome the conflict. Regarding task choice, control is harnessed to bias decision making away from the source of conflict. Despite recent theoretical progress, until now two lines of research addressed these conflict-management strategies independently of each other. In this research, we used a voluntary task-switching paradigm in combination with response interference tasks to study both strategies in concert. In Experiment 1, participants chose between two univalent tasks on each trial. Switch rates increased following conflict trials, indicating avoidance of conflict. Furthermore, congruency effects in reaction times and error rates were reduced following conflict trials, demonstrating conflict adjustment. In Experiment 2, we used bivalent instead of univalent stimuli. Conflict adjustment in task performance was unaffected by this manipulation, but conflict avoidance was not observed. Instead, task switches were reduced after conflict trials. In Experiment 3, we used tasks comprising univalent or bivalent stimuli. Only tasks with univalent revealed conflict avoidance, whereas conflict adjustment was found for all tasks. On the basis of established theories of cognitive control, an integrative process model is described that can account for flexible conflict management. (c) 2015 APA, all rights reserved.

  13. Evaluations of Silica Aerogel-Based Flexible Blanket as Passive Thermal Control Element for Spacecraft Applications

    Science.gov (United States)

    Hasan, Mohammed Adnan; Rashmi, S.; Esther, A. Carmel Mary; Bhavanisankar, Prudhivi Yashwantkumar; Sherikar, Baburao N.; Sridhara, N.; Dey, Arjun

    2018-03-01

    The feasibility of utilizing commercially available silica aerogel-based flexible composite blankets as passive thermal control element in applications such as extraterrestrial environments is investigated. Differential scanning calorimetry showed that aerogel blanket was thermally stable over - 150 to 126 °C. The outgassing behavior, e.g., total mass loss, collected volatile condensable materials, water vapor regained and recovered mass loss, was within acceptable range recommended for the space applications. ASTM tension and tear tests confirmed the material's mechanical integrity. The thermo-optical properties remained nearly unaltered in simulated space environmental tests such as relative humidity, thermal cycling and thermo-vacuum tests and confirmed the space worthiness of the aerogel. Aluminized Kapton stitched or anchored to the blanket could be used to control the optical transparency of the aerogel. These outcomes highlight the potential of commercial aerogel composite blankets as passive thermal control element in spacecraft. Structural and chemical characterization of the material was also done using scanning electron microscopy, Fourier transform infrared spectroscopy and x-ray photoelectron spectroscopy.

  14. ANALYSIS OF INTERNAL CONTROL COSO THE FUND MANAGEMENT ZAKAT, INFAQ AND SHADAQAH (ZIS (A Case Study Foundation Social Fund Al-Falah branch of Jember

    Directory of Open Access Journals (Sweden)

    Siti Maria W and Siska Putri I

    2015-12-01

    Full Text Available Accountability is often required community of a public institution. Community felt the need to know the flow of funds and the performance of the institution. LAZ and BAZ interested in reporting funds are transparent in order to maintain public trust and its existence by implementing internal control as well. Own internal control policies and procedures are used in operating activities to provide reliable information and ensure compliance with applicable laws or regulations in an organization. Internal control is absolutely necessary in an organization to avoid fraud and is used to ensure the effectiveness and efficiency of resources in order to avoid the loss or waste so that optimal utilization of funds. In addition, internal control is useful in preventing deviations from the implementation of activities as well as corrective actions when deviations have occurred. The purpose of this study was to investigate the application of internal control over management of funds, identify the strengths and weaknesses related to internal control is  applied,  and provide recommendations on the implementation of internal control systems in the Foundation fund management Social Fund Al-Falah branch of Jember. The method used is descriptive qualitative method and the object of the study is the management of the fund's internal control procedures. This study analyzed the internal control in accordance with the internal control components according to COSO and weaknesses found in internal control Foundation Social Fund Al-Falah branch of Jember. The conclusion is that internal control over existing   fund management activities on Yayasan Social Fund Al-Falah branch of Jember have some weaknesses, but overall control has been operating effectively.

  15. Sistemas de controle administrativo no Franchising: aliando controle e flexibilidade estratégica Administrative control systems in Franchising: combining control and strategic flexibility

    Directory of Open Access Journals (Sweden)

    Maria Lúcia Simas Paulino

    2011-03-01

    Full Text Available O presente estudo objetivou verificar como o franqueador alia controle e flexibilidade estratégica, identificando os sistemas de controle que utiliza para monitorar, mensurar, avaliar incertezas, validar estratégias, promover mudanças, fazer emergir iniciativas estratégicas e contribuir com o aprendizado da rede, tendo em vista a melhoria contínua da posição competitiva da franquia. O referencial teórico teve como suporte o relacionamento entre franqueador e franqueado proposto na literatura, os custos de transação, a teoria de agência e os sistemas de controle administrativo definidos e categorizados por Simons (1994. Visando o cumprimento do objetivo proposto, utilizou-se a pesquisa do tipo exploratória e a estratégia de estudo de caso único tendo como unidade de análise a área de Marketing e Vendas de uma franqueadora. O instrumento de coleta de dados foi a entrevista semi-estruturada realizada com 4 executivos da área, escolhidos em razão dos temas pesquisados. Através da identificação dos sistemas de controle interativo utilizados pela franqueadora, verificou-se que ela agrega na administração estratégica da franquia, as abordagens gerenciais de minimização de custos e maximização de oportunidades, aliando controle e flexibilidade estratégica.This study aimed to verify how the franchisor combines control and strategic flexibility, identifying control systems it uses to monitor, measure, assess uncertainty, validate strategies, promote change, strategic initiatives to emerge and contribute to the learning network in order continuous improvement of the competitive position of the franchise. The theoretical framework was to support the relationship between franchiser and franchisee proposed in the literature, transaction costs, the agency theory and management control systems defined and categorized by Simons (1994. To fulfill the objective proposed, we used the exploratory research and the strategy of a single

  16. Long-Term Data Reveal Patterns and Controls on Stream Water Chemistry in a Forested Stream: Walker Branch, Tennessee

    Energy Technology Data Exchange (ETDEWEB)

    Lutz, Brian D [Duke University; Mulholland, Patrick J [ORNL; Bernhardt, Emily [Duke University

    2012-01-01

    We present 20 years of weekly stream water chemistry, hydrology, and climate data for the Walker Branch watershed in eastern Tennessee, USA. Since 1989, the watershed has experienced a similar to 1.08 degrees C increase in mean annual temperature, a similar to 20% decline in precipitation, and a similar to 30% increase in forest evapotranspiration rates. As a result, stream runoff has declined by similar to 34%. We evaluate long-term trends in stream water concentrations and fluxes for nine solutes and use wet deposition data to calculate approximate watershed input-output budgets. Dissolved constituents were classified as geochemical solutes (Ca2+, Mg2+, and SO42-) or nutrients (NH4+, NO3-, soluble reactive phosphorus [SRP], total soluble nitrogen [TSN], total soluble phosphorus [TSP], and dissolved organic carbon [DOC]). Geochemical solutes are predominantly controlled by discharge, and the long-term changes in catchment hydrology have led to significant trends in the concentrations and fluxes of these solutes. Further, the trends in geochemical solute concentrations indicate shifting soil flowpath contributions to streamflow generation through time, with deep groundwater having a greater proportional contribution in recent years. Despite dramatic changes in watershed runoff, there were no trends in inorganic nutrient concentrations (NH4+, NO3-, and SRP). While most nutrients entering the watershed are retained, stream fluxes of nutrient solutes have declined significantly as a result of decreasing runoff. Nutrient concentrations in the stream exhibit large seasonality controlled by in-stream biological uptake. Stream benthic communities are sensitive to hydrologic disturbance, and changes in the frequency or intensity of storm events through time can affect nutrient fluxes. Stream NO3- concentrations are also sensitive to drought, with concentrations decreasing (increasing) if conditions during the three years prior to the time of sampling were drier (wetter

  17. Human spinal locomotor control is based on flexibly organized burst generators.

    Science.gov (United States)

    Danner, Simon M; Hofstoetter, Ursula S; Freundl, Brigitta; Binder, Heinrich; Mayr, Winfried; Rattay, Frank; Minassian, Karen

    2015-03-01

    samples of rhythmic patterns. The basic activation patterns can be interpreted as central drives implemented by spinal burst generators that impose specific spatiotemporally organized activation on the lumbosacral motor neuron pools. Our data thus imply that the human lumbar spinal cord circuits can form burst-generating elements that flexibly combine to obtain a wide range of locomotor outputs from a constant, repetitive input. It may be possible to use this flexibility to incorporate specific adaptations to gait and stance to improve locomotor control, even after severe central nervous system damage. © The Author (2015). Published by Oxford University Press on behalf of the Guarantors of Brain. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

  18. Lateral vibration control of a flexible overcritical rotor via an active gas bearing – Theoretical and experimental comparisons

    DEFF Research Database (Denmark)

    Pierart Vásquez, Fabián Gonzalo; Santos, Ilmar

    2016-01-01

    aided by the finite element method and the rotor–fluid interaction in the gas bearing is included using the solution of a modified version of the Reynolds equation for compressible fluids, taking into account the piezoelectrically controlled jet action. Performance and accuracy of both model...... is proposed. The control action of this active bearing is selected based on two different strategies: a simple proportional integral derivative controller and an optimal controller. Both controllers are designed based on a theoretical model previously presented. The dynamics of the flexible rotor are modelled......-based controllers are compared against experimental results, showing good agreement. Theoretical and experimental results show a significant increase in the damping ratio of the system, enabling the flexible rotor to run safely across the critical speeds and up to 12,000rev/min, i.e. 50 percent over the second...

  19. Flexible Control of Small Wind Turbines With Grid Failure Detection Operating in Stand-Alone and Grid-Connected Mode

    DEFF Research Database (Denmark)

    Teodorescu, Remus; Blaabjerg, Frede

    2004-01-01

    This paper presents the development and test of a flexible control strategy for an 11-kw wind turbine with a back-to-back power converter capable of working in both stand-alone and grid-connected mode. The stand-alone control is featured with a complex output voltage controller capable of handling...... nonlinear load and excess or deficit of generated power. Grid-connection mode with current control is also enabled for the case of isolated local grid involving other dispersed power generators such as other wind turbines or diesel generators. A novel automatic mode switch method based on a phase......-locked loop controller is developed in order to detect the grid failure or recovery and switch the operation mode accordingly. A flexible digital signal processor (DSP) system that allows user-friendly code development and on-line tuning is used to implement and test the different control strategies. The back...

  20. Modeling of Flexible Polyurethane Foam Shrinkage for Bra Cup Moulding Process Control

    Directory of Open Access Journals (Sweden)

    Long Wu

    2018-04-01

    Full Text Available Nowadays, moulding technology has become a remarkable manufacturing process in the intimate apparel industry. Polyurethane (PU foam sheets are used to mould three-dimensional (3D seamless bra cups of various softness and shapes, which eliminate bulky seams and reduce production costs. However, it has been challenging to accurately and effectively control the moulding process and bra cup thickness. In this study, the theoretical mechanism of heat transfer and the thermal conductivity of PU foams are first examined. Experimental studies are carried out to investigate the changes in foam materials at various moulding conditions (viz., temperatures, and lengths of dwell time in terms of surface morphology and thickness by using electron and optical microscopy. Based on the theoretical and experimental investigations of the thermal conductivity of the foam materials, empirical equations of shrinkage ratio and thermal conduction of foam materials were established. A regression model to predict flexible PU foam shrinkage during the bra cup moulding process was formulated by using the Levenberg-Marquardt method of nonlinear least squares algorithm and verified for accuracy. This study therefore provides an effective approach that optimizes control of the bra cup moulding process and assures the ultimate quality and thickness of moulded foam cups.

  1. 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

  2. Flexible Structure Control Scheme of a UAVs Formation to Improve the Formation Stability During Maneuvers

    Directory of Open Access Journals (Sweden)

    Kownacki Cezary

    2017-09-01

    Full Text Available One of the issues related to formation flights, which requires to be still discussed, is the stability of formation flight in turns, where the aerodynamic conditions can be substantially different for outer vehicles due to varying bank angles. Therefore, this paper proposes a decentralized control algorithm based on a leader as the reference point for followers, i.e. other UAVs and two flocking behaviors responsible for local position control, i.e. cohesion and repulsion. But opposite to other research in this area, the structure of the formation becomes flexible (structure is being reshaped and bent according to actual turn radius of the leader. During turns the structure is bent basing on concentred circles with different radiuses corresponding to relative locations of vehicles in the structure. Simultaneously, UAVs' air-speeds must be modified according to the length of turn radius to achieve the stability of the structure. The effectiveness of the algorithm is verified by the results of simulated flights of five UAVs.

  3. Controlling the spotlight of attention: visual span size and flexibility in schizophrenia.

    Science.gov (United States)

    Elahipanah, Ava; Christensen, Bruce K; Reingold, Eyal M

    2011-10-01

    The current study investigated the size and flexible control of visual span among patients with schizophrenia during visual search performance. Visual span is the region of the visual field from which one extracts information during a single eye fixation, and a larger visual span size is linked to more efficient search performance. Therefore, a reduced visual span may explain patients' impaired performance on search tasks. The gaze-contingent moving window paradigm was used to estimate the visual span size of patients and healthy participants while they performed two different search tasks. In addition, changes in visual span size were measured as a function of two manipulations of task difficulty: target-distractor similarity and stimulus familiarity. Patients with schizophrenia searched more slowly across both tasks and conditions. Patients also demonstrated smaller visual span sizes on the easier search condition in each task. Moreover, healthy controls' visual span size increased as target discriminability or distractor familiarity increased. This modulation of visual span size, however, was reduced or not observed among patients. The implications of the present findings, with regard to previously reported visual search deficits, and other functional and structural abnormalities associated with schizophrenia, are discussed. Copyright © 2011 Elsevier Ltd. All rights reserved.

  4. Structural determination of ethylene-propylene-diene rubber (EPDM) containing high degree of controlled long-chain branching

    DEFF Research Database (Denmark)

    Mitra, Susanta; Jørgensen, Mikkel; Pedersen, Walther Batsberg

    2009-01-01

    This work highlights an attempt to characterize the degree and nature of long-chain branching (LCB) in an unknown sample of ethylene-propylene-diene rubber (EPDM). Two EPDM rubbers selected for this study were comparable in comonomer compositions but significantly different with respect to molar ...... Wiley Periodicals, Inc. J Appl Polym Sci, 2009...

  5. Ground Simulator Studies of the Effects of Valve Friction, Stick Friction, Flexibility, and Backwash on Power Control System Quality

    Science.gov (United States)

    Brown, B Porter

    1958-01-01

    Report presents results of tests made on a power control system by means of a ground simulator to determine the effects of various combinations of valve friction and stick friction on the ability of the pilot to control the system. Various friction conditions were simulated with a rigid control system, a flexible system, and a rigid system having some backlash. For the tests, the period and damping of the simulated airplane were held constant.

  6. A stretchable polymer-carbon nanotube composite electrode for flexible lithium-ion batteries: porosity engineering by controlled phase separation

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Hojun; Yoo, Jung-Keun; Jung, Yeon Sik [Department of Materials Science and Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon (Korea, Republic of); Park, Jong-Hyun [Material R and D Department, LG Display Co., Ltd., Paju-si, Gyeonggi-do (Korea, Republic of); Kim, Jin Ho [Icheon Branch, Korea Institute of Ceramic Engineering and Technology, Icheon-si, Gyeonggi-do (Korea, Republic of); Kang, Kisuk [Department of Materials Science and Engineering, Seoul National University, Seoul (Korea, Republic of)

    2012-08-15

    Flexible energy-storage devices have attracted growing attention with the fast development of bendable electronic systems. However, it still remains a challenge to find reliable electrode materials with both high mechanical flexibility/toughness and excellent electron and lithium-ion conductivity. This paper reports the fabrication and characterization of highly porous, stretchable, and conductive polymer nanocomposites embedded with carbon nanotubes (CNTs) for application in flexible lithium-ion batteries. The systematic optimization of the porous morphology is performed by controllably inducing the phase separation of polymethylmethacrylate (PMMA) in polydimethylsiloxane (PDMS) and removing PMMA, in order to generate well-controlled pore networks. It is demonstrated that the porous CNT-embedded PDMS nanocomposites are capable of good electrochemical performance with mechanical flexibility, suggesting these nanocomposites could be outstanding anode candidates for use in flexible lithium-ion batteries. The optimization of the pore size and the volume fraction provides higher capacity by nearly seven-fold compared to a nonporous nanocomposite. (Copyright copyright 2012 WILEY-VCH Verlag GmbH and Co. KGaA, Weinheim)

  7. Modeling and control of a flexible space robot to capture a tumbling debris

    Science.gov (United States)

    Dubanchet, Vincent

    After 60 years of intensive satellite launches, the number of drifting objects in Earth orbits is reaching a shifting point, where human intervention is becoming necessary to reduce the threat of collision. Indeed, a 200 year forecast, known as the "Kessler syndrome", states that space access will be greatly compromised if nothing is done to address the proliferation of these debris. Scientist J.-C. Liou from the National Aeronautics and Space Administration (NASA) has shown that the current trend could be reversed if at least five massive objects, such as dead satellites or rocket upper stages, were de-orbited each year. Among the various technical concepts considered for debris removal, robotics has emerged, over the last 30 years, as one of the most promising solutions. The International Space Station (ISS) already possesses fully operational robotic arms, and other missions have explored the potential of a manipulator embedded onto a satellite. During two of the latter, key capabilities have been demonstrated for on-orbit servicing, and prove to be equally useful for the purpose of debris removal. This thesis focuses on the close range capture of a tumbling debris by a robotic arm with light-weight flexible segments. This phase includes the motion planning and the control of a space robot, in order to smoothly catch a target point on the debris. The validation of such technologies is almost impossible on Earth and leads to prohibitive costs when performed on orbit. Therefore, the modeling and simulation of flexible multi-body systems has been investigated thoroughly, and is likewise a strong contribution of the thesis. Based on these models, an experimental validation is proposed by reproducing the on-orbit kinematics on a test bench made up of two industrial manipulators and driven by a real-time dynamic simulation. In a nutshell, the thesis is built around three main parts: the modeling of a space robot, the design of control laws, and their validation on a

  8. Adaptive simultaneous motion and vibration control for a multi flexible-link mechanism with uncertain general harmonic disturbance

    Science.gov (United States)

    Wang, Ji; Pi, Yangjun; Hu, Yumei; Zhu, Zhencai; Zeng, Lingbin

    2017-11-01

    In this paper, a new motion and vibration synthesized control system-a linear quadratic regulator/strain rate feedback controller (LQR/SRF) with adaptive disturbance attenuation is presented for a multi flexible-link mechanism subjected to uncertain harmonic disturbances with arbitrary frequencies and unknown magnitudes. In the proposed controller, nodal strain rates are introduced into the model of the multi flexible-link mechanism, based upon which a synthesized LQR controller where both rigid-body motion and elastic deformation are considered is designed. The uncertain harmonic disturbances would be canceled in the feedback loop by its approximated value which is computed online via an adaptive update law. Asymptotic stability of the closed-loop system is proved by the Lyapunov analysis. The effectiveness of the proposed controller is shown via simulation.

  9. Thermostat Controlled Loads Flexibility Assessment for Enabling Load Shifting – An Experimental Proof in a Low Voltage Grid

    DEFF Research Database (Denmark)

    Lakshmanan, Venkatachalam; Marinelli, Mattia; Kosek, Anna M.

    2017-01-01

    This paper investigates the usability of thermostat controlled domestic appliances for load shift in LV distribution grids. The proposed method uses refrigerators for the demonstration of adaptive load prediction to estimate its flexibility and perform scheduling based on load threshold limit. Two...

  10. Reach a New Threshold of Freedom and Control with Dell's Flexible Computing Solution: On-Demand Desktop Streaming

    Science.gov (United States)

    Technology & Learning, 2008

    2008-01-01

    When it comes to IT, there has always been an important link between data center control and client flexibility. As computing power increases, so do the potentially crippling threats to security, productivity and financial stability. This article talks about Dell's On-Demand Desktop Streaming solution which is designed to centralize complete…

  11. Residual mode correction in calibrating nonlinear damper for vibration control of flexible structures

    Science.gov (United States)

    Sun, Limin; Chen, Lin

    2017-10-01

    Residual mode correction is found crucial in calibrating linear resonant absorbers for flexible structures. The classic modal representation augmented with stiffness and inertia correction terms accounting for non-resonant modes improves the calibration accuracy and meanwhile avoids complex modal analysis of the full system. This paper explores the augmented modal representation in calibrating control devices with nonlinearity, by studying a taut cable attached with a general viscous damper and its Equivalent Dynamic Systems (EDSs), i.e. the augmented modal representations connected to the same damper. As nonlinearity is concerned, Frequency Response Functions (FRFs) of the EDSs are investigated in detail for parameter calibration, using the harmonic balance method in combination with numerical continuation. The FRFs of the EDSs and corresponding calibration results are then compared with those of the full system documented in the literature for varied structural modes, damper locations and nonlinearity. General agreement is found and in particular the EDS with both stiffness and inertia corrections (quasi-dynamic correction) performs best among available approximate methods. This indicates that the augmented modal representation although derived from linear cases is applicable to a relatively wide range of damper nonlinearity. Calibration of nonlinear devices by this means still requires numerical analysis while the efficiency is largely improved owing to the system order reduction.

  12. Flexible electronic control system based on FPGA for liquid-crystal microlens

    Science.gov (United States)

    Zhang, Bo; Xin, Zhaowei; Li, Dapeng; Wei, Dong; Zhang, Xinyu; Wang, Haiwei; Xie, Changsheng

    2018-02-01

    Traditional imaging based on common optical lens can only be used to collect intensity information of incident beams, but actually lightwave also carries other mode information about targets and environment, including: spectrum, wavefront, and depth of target, and so on. It is very important to acquire those information mentioned for efficiently detecting and identifying targets in complex background. There is a urgent need to develop new high-performance optical imaging components. The liquid-crystal microlens (LCMs) only by applying spatial electrical field to change optical performance, have demonstrated remarkable advantages comparing conventional lenses, and therefore show a widely application prospect. Because the physical properties of the spatial electric fields between electrode plates in LCMs are directly related to the light-field performances of LCMs, the quality of voltage signal applied to LCMs needs high requirements. In this paper, we design and achieve a new type of digital voltage equipment with a wide adjustable voltage range and high precise voltage to effectively drive and adjust LCMs. More importantly, the device primarily based on field-programmable gate array(FPGA) can generate flexible and stable voltage signals to cooperate with the various functions of LCMs. Our experiments show that through the electronic control system, the LCMs already realize several significant functions including: electrically swing focus, wavefront imaging, electrically tunable spectral imaging and light-field imaging.

  13. α/β-Hydrolase Domain 6 in the Ventromedial Hypothalamus Controls Energy Metabolism Flexibility

    Directory of Open Access Journals (Sweden)

    Alexandre Fisette

    2016-10-01

    Full Text Available α/β-Hydrolase domain 6 (ABHD6 is a monoacylglycerol hydrolase that degrades the endocannabinoid 2-arachidonoylglycerol (2-AG. Although complete or peripheral ABHD6 loss of function is protective against diet-induced obesity and insulin resistance, the role of ABHD6 in the central control of energy balance is unknown. Using a viral-mediated knockout approach, targeted endocannabinoid measures, and pharmacology, we discovered that mice lacking ABHD6 from neurons of the ventromedial hypothalamus (VMHKO have higher VMH 2-AG levels in conditions of endocannabinoid recruitment and fail to physiologically adapt to key metabolic challenges. VMHKO mice exhibited blunted fasting-induced feeding and reduced food intake, energy expenditure, and adaptive thermogenesis in response to cold exposure, high-fat feeding, and dieting (transition to a low-fat diet. Our findings identify ABHD6 as a regulator of the counter-regulatory responses to major metabolic shifts, including fasting, nutrient excess, cold, and dieting, thereby highlighting the importance of ABHD6 in the VMH in mediating energy metabolism flexibility.

  14. Rapid instructed task learning: a new window into the human brain's unique capacity for flexible cognitive control.

    Science.gov (United States)

    Cole, Michael W; Laurent, Patryk; Stocco, Andrea

    2013-03-01

    The human ability to flexibly adapt to novel circumstances is extraordinary. Perhaps the most illustrative, yet underappreciated, form of this cognitive flexibility is rapid instructed task learning (RITL)--the ability to rapidly reconfigure our minds to perform new tasks from instructions. This ability is important for everyday life (e.g., learning to use new technologies) and is used to instruct participants in nearly every study of human cognition. We review the development of RITL as a circumscribed domain of cognitive neuroscience investigation, culminating in recent demonstrations that RITL is implemented via brain circuits centered on lateral prefrontal cortex. We then build on this and the recent discovery of compositional representations within lateral prefrontal cortex to develop an integrative theory of cognitive flexibility and cognitive control that identifies mechanisms that may enable RITL within the human brain. The insights gained from this new theoretical account have important implications for further developments and applications of RITL research.

  15. Rapid instructed task learning: A new window into the human brain’s unique capacity for flexible cognitive control

    Science.gov (United States)

    Cole, Michael W.; Laurent, Patryk; Stocco, Andrea

    2012-01-01

    The human ability to flexibly adapt to novel circumstances is extraordinary. Perhaps the most illustrative yet underappreciated form of this cognitive flexibility is rapid instructed task learning (RITL) – the ability to rapidly reconfigure our minds to perform new tasks from instruction. This ability is important for everyday life (e.g., learning to use new technologies), and is used to instruct participants in nearly every study of human cognition. We review the development of RITL as a circumscribed domain of cognitive neuroscience investigation, culminating in recent demonstrations that RITL is implemented via brain circuits centered on lateral prefrontal cortex. We then build on this and other insights to develop an integrative theory of cognitive flexibility and cognitive control, identifying theoretical principles and mechanisms that may make RITL possible in the human brain. Insights gained from this new theoretical account have important implications for further developments and applications of RITL research. PMID:23065743

  16. Roll plus maneuver load alleviation control system designs for the active flexible wing wind-tunnel model

    Science.gov (United States)

    Moore, Douglas B.; Miller, Gerald D.; Klepl, Martin J.

    1991-01-01

    Three designs for controlling loads while rolling for the Active Flexible Wing (AFW) are discussed. The goal is to provide good roll control while simultaneously limiting the torsion and bending loads experienced by the wing. The first design uses Linear Quadratic Gaussian/Loop Transfer Recovery (LQG/LTR) modern control methods to control roll rate and torsional loads at four different wing locations. The second design uses a nonlinear surface command function to produce surface position commands as a function of current roll rate and commanded roll rate. The final design is a flutter suppression control system. This system stabilizes both symmetric and axisymmetric flutter modes of the AFW.

  17. Out-reach in-space technology experiments program: Control of flexible robot manipulators in zero gravity, experiment definition phase

    Science.gov (United States)

    Phillips, Warren F.

    1989-01-01

    The results obtained show that it is possible to control light-weight robots with flexible links in a manner that produces good response time and does not induce unacceptable link vibrations. However, deflections induced by gravity cause large static position errors with such a control system. For this reason, it is not possible to use this control system for controlling motion in the direction of gravity. The control system does, on the other hand, have potential for use in space. However, in-space experiments will be needed to verify its applicability to robots moving in three dimensions.

  18. Feasibility of bispectral index-guided propofol infusion for flexible bronchoscopy sedation: a randomized controlled trial.

    Directory of Open Access Journals (Sweden)

    Yu-Lun Lo

    Full Text Available There are safety issues associated with propofol use for flexible bronchoscopy (FB. The bispectral index (BIS correlates well with the level of consciousness. The aim of this study was to show that BIS-guided propofol infusion is safe and may provide better sedation, benefiting the patients and bronchoscopists.After administering alfentanil bolus, 500 patients were randomized to either propofol infusion titrated to a BIS level of 65-75 (study group or incremental midazolam bolus based on clinical judgment to achieve moderate sedation. The primary endpoint was safety, while the secondary endpoints were recovery time, patient tolerance, and cooperation.The proportion of patients with hypoxemia or hypotensive events were not different in the 2 groups (study vs. control groups: 39.9% vs. 35.7%, p = 0.340; 7.4% vs. 4.4%, p = 0.159, respectively. The mean lowest blood pressure was lower in the study group. Logistic regression revealed male gender, higher American Society of Anesthesiologists physical status, and electrocautery were associated with hypoxemia, whereas lower propofol dose for induction was associated with hypotension in the study group. The study group had better global tolerance (p<0.001, less procedural interference by movement or cough (13.6% vs. 36.1%, p<0.001; 30.0% vs. 44.2%, p = 0.001, respectively, and shorter time to orientation and ambulation (11.7±10.2 min vs. 29.7±26.8 min, p<0.001; 30.0±18.2 min vs. 55.7±40.6 min, p<0.001, respectively compared to the control group.BIS-guided propofol infusion combined with alfentanil for FB sedation provides excellent patient tolerance, with fast recovery and less procedure interference.ClinicalTrials. gov NCT00789815.

  19. Development of Organic FET (OFET)-Based Flexible Integrated Controller for Deformable Mirrors Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The goal is to complete process development to make OFET’s on flexible substrates compatible with ultra-lightweight deformable mirrors and to demonstrate...

  20. Flexibility of Knee Joint Muscles in Women with Knee Osteoarthritis and Healthy Controls

    Directory of Open Access Journals (Sweden)

    Sara Abolahrari Shirazi

    2015-09-01

    Full Text Available Background: Osteoarthritis is one of the most common diseases in synovial joints. Due to high loading forces during weight-bearing activities, the knee joint is prone to degenerative processes. This study aimed to compare the flexibility of muscles around the knee joint in patients with knee osteoarthritis with those of healthy individuals. Methods: Twenty-three women with bilateral knee osteoarthritis and 23 healthy women matched with the patient group for age, height and weight participated in this study. Flexibility of the quadriceps, hamstring, iliotibial band, adductor and gastrocnemius muscles was evaluated with a goniometric device. Pain intensity was assessed with a visual analogue scale. The data were analyzed with independent t-tests to compare the two groups, and Pearson correlation coefficient was calculated to correlate muscle flexibility and pain intensity. Results: significant lower flexibility of the bilateral quadriceps muscles was found in patients compared to healthy women (P<0.05. No significant differences were detected between groups regarding other muscles. Quadriceps flexibility correlated significantly with pain intensity in patients (P<0.001. Conclusion: In patients with osteoarthritis, quadriceps flexibility may be decreased although other muscles may remain unaffected. Quadriceps stretching is thus a potentially important component of treatment, which may influence pain reduction in these patients.

  1. Emotional modulation of control dilemmas: the role of positive affect, reward, and dopamine in cognitive stability and flexibility.

    Science.gov (United States)

    Goschke, Thomas; Bolte, Annette

    2014-09-01

    Goal-directed action in changing environments requires a dynamic balance between complementary control modes, which serve antagonistic adaptive functions (e.g., to shield goals from competing responses and distracting information vs. to flexibly switch between goals and behavioral dispositions in response to significant changes). Too rigid goal shielding promotes stability but incurs a cost in terms of perseveration and reduced flexibility, whereas too weak goal shielding promotes flexibility but incurs a cost in terms of increased distractibility. While research on cognitive control has long been conducted relatively independently from the study of emotion and motivation, it is becoming increasingly clear that positive affect and reward play a central role in modulating cognitive control. In particular, evidence from the past decade suggests that positive affect not only influences the contents of cognitive processes, but also modulates the balance between complementary modes of cognitive control. In this article we review studies from the past decade that examined effects of induced positive affect on the balance between cognitive stability and flexibility with a focus on set switching and working memory maintenance and updating. Moreover, we review recent evidence indicating that task-irrelevant positive affect and performance-contingent rewards exert different and sometimes opposite effects on cognitive control modes, suggesting dissociations between emotional and motivational effects of positive affect. Finally, we critically review evidence for the popular hypothesis that effects of positive affect may be mediated by dopaminergic modulations of neural processing in prefrontal and striatal brain circuits, and we refine this "dopamine hypothesis of positive affect" by specifying distinct mechanisms by which dopamine may mediate effects of positive affect and reward on cognitive control. We conclude with a discussion of limitations of current research, point to

  2. Study of manufacturing resource perception and process control of a radio-frequency-identification-enabled decentralized flexible manufacturing system

    Directory of Open Access Journals (Sweden)

    Zengqiang Jiang

    2017-01-01

    Full Text Available The fusion of mechatronics, communication, control, and information technologies has introduced new automation paradigms into the production environment. Plug-and-play flexible manufacturing systems will become suitable approaches in the future for the development of modular, flexible, and reconfigurable manufacturing systems, addressing the requirements of global markets. This article introduces a Petri Net model-driven methodology for the development, validation, and operation of a radio-frequency identification-enabled decentralized flexible manufacturing system. After analyzing the manufacturing processes and resources of a flexible manufacturing system, the manufacturing resources are classified into active and passive resources. Each active resource is equipped with a radio-frequency identification reader and each passive resource is banded with a radio-frequency identification tag. Real-time state and behavior logic models are built for manufacturing resources based on extended Petri Nets; the models are translated into XML and integrated with the manufacturing resources. In this fashion, each manufacturing resource becomes an autonomous agent, and it can make self-decisions and update its status through the twinned models. In this manner, automatic perception and process control are realized. Finally, the effectiveness and feasibility of the method are verified in an experimental system.

  3. A NASTRAN/TREETOPS solution to a flexible, multi-body dynamics and controls problem on a UNIX workstation

    Science.gov (United States)

    Benavente, Javier E.; Luce, Norris R.

    1989-01-01

    Demands for nonlinear time history simulations of large, flexible multibody dynamic systems has created a need for efficient interfaces between finite-element modeling programs and time-history simulations. One such interface, TREEFLX, an interface between NASTRAN and TREETOPS, a nonlinear dynamics and controls time history simulation for multibody structures, is presented and demonstrated via example using the proposed Space Station Mobile Remote Manipulator System (MRMS). The ability to run all three programs (NASTRAN, TREEFLX and TREETOPS), in addition to other programs used for controller design and model reduction (such as DMATLAB and TREESEL, both described), under a UNIX Workstation environment demonstrates the flexibility engineers now have in designing, developing and testing control systems for dynamically complex systems.

  4. On-line frequency domain information for control of a flexible-link robot with varying payload

    Science.gov (United States)

    Yurkovich, Stephen; Pacheco, Fernando E.; Tzes, Anthony P.

    1989-01-01

    Experimental results are given for the endpoint position control of a single-link, very flexible robot arm carrying an unknown, varying payload. The control objective is to maintain endpoint position accuracy in the presence of flexure effects after rapid movement due to a rigid body slew-angle commanded position. Fast, simple, and efficient frequency-domain schemes are used for online controller gain adjustment within an effective scheduling framework. Only endpoint acceleration and motor shaft angle measurements are utilized in relatively simple control laws where the appropriate gains have been scheduled as correlated to modal frequency information corresponding to a varying, unknown payload.

  5. Flexible Control of Small Wind Turbines With Grid Failure Detection Operating in Stand-Alone and Grid-Connected Mode

    DEFF Research Database (Denmark)

    Teodorescu, Remus; Blaabjerg, Frede

    2004-01-01

    This paper presents the development and test of a flexible control strategy for an 11-kw wind turbine with a back-to-back power converter capable of working in both stand-alone and grid-connected mode. The stand-alone control is featured with a complex output voltage controller capable of handling...... nonlinear load and excess or deficit of generated power. Grid-connection mode with current control is also enabled for the case of isolated local grid involving other dispersed power generators such as other wind turbines or diesel generators. A novel automatic mode switch method based on a phase...

  6. Indirect intelligent sliding mode control of a shape memory alloy actuated flexible beam using hysteretic recurrent neural networks

    International Nuclear Information System (INIS)

    Hannen, Jennifer C; Buckner, Gregory D; Crews, John H

    2012-01-01

    This paper introduces an indirect intelligent sliding mode controller (IISMC) for shape memory alloy (SMA) actuators, specifically a flexible beam deflected by a single offset SMA tendon. The controller manipulates applied voltage, which alters SMA tendon temperature to track reference bending angles. A hysteretic recurrent neural network (HRNN) captures the nonlinear, hysteretic relationship between SMA temperature and bending angle. The variable structure control strategy provides robustness to model uncertainties and parameter variations, while effectively compensating for system nonlinearities, achieving superior tracking compared to an optimized PI controller. (paper)

  7. Adaptive/learning control of large space structures - System identification techniques. [for multi-configuration flexible spacecraft

    Science.gov (United States)

    Thau, F. E.; Montgomery, R. C.

    1980-01-01

    Techniques developed for the control of aircraft under changing operating conditions are used to develop a learning control system structure for a multi-configuration, flexible space vehicle. A configuration identification subsystem that is to be used with a learning algorithm and a memory and control process subsystem is developed. Adaptive gain adjustments can be achieved by this learning approach without prestoring of large blocks of parameter data and without dither signal inputs which will be suppressed during operations for which they are not compatible. The Space Shuttle Solar Electric Propulsion (SEP) experiment is used as a sample problem for the testing of adaptive/learning control system algorithms.

  8. Smooth adaptive sliding mode vibration control of a flexible parallel manipulator with multiple smart linkages in modal space

    Science.gov (United States)

    Zhang, Quan; Li, Chaodong; Zhang, Jiantao; Zhang, Jianhui

    2017-12-01

    This paper addresses the dynamic model and active vibration control of a rigid-flexible parallel manipulator with three smart links actuated by three linear ultrasonic motors. To suppress the vibration of three flexible intermediate links under high speed and acceleration, multiple Lead Zirconium Titanate (PZT) sensors and actuators are collocated mounted on each link, forming a smart structure which can achieve self-sensing and self-actuating. The dynamic characteristics and equations of the flexible link incorporated with the PZT sensors and actuator are analyzed and formulated. The smooth adaptive sliding mode based active vibration control is proposed to suppress the vibration of the smart links, and the first and second modes of the three links are targeted to be suppressed in modal space to avoid the spillover phenomenon. Simulations and experiments are implemented to validate the effectiveness of the smart structures and the proposed control laws. Experimental results show that the vibration of the first mode around 92 Hz and the second mode around 240 Hz of the three smart links are reduced respectively by 64.98%, 59.47%, 62.28%, and 45.80%, 36.79%, 33.33%, which further verify the multi-mode vibration control ability of the smooth adaptive sliding mode control law.

  9. Controlled buckling behavior of patterned oxide structures on compliant substrates for flexible optoelectronics

    Energy Technology Data Exchange (ETDEWEB)

    Bejitual, T.S.; Morris, N.J.; Cairns, D.R.; Sierros, K.A., E-mail: kostas.sierros@mail.wvu.edu

    2013-12-31

    There is currently a great interest to design and fabricate novel flexible devices for solar cell, solid-state lighting, biomedical and energy harvesting applications. Such devices require the use of electrode components. Desired electrodes must exhibit structural integrity, low electrical resistivity and, in most cases, high optical transparency in the visible range. Despite growing efforts to replace them, transparent conducting oxide layers deposited on polymer substrates are still enjoying a dominant role as the electrode component. This is because of their excellent combination of electrical and optical properties. However, their performance when they are subjected to externally-applied mechanical stresses is limited. Such performance has been extensively investigated for the case of continuous brittle oxide films on polymer substrates. However, there is relatively little work reported to date on the mechanical behavior of patterned conducting layers on compliant substrates. In this study we report on the mechanical behavior of various patterned indium tin oxide shapes and sizes on polyethylene terephthalate. Micron-sized shapes include squares, circles, and zigzag-based structures. Controlled buckling experiments are performed in-situ using an optical microscope in order to monitor critical strains and potential failure mechanisms. In addition, ITO electrical resistance changes are continuously monitored during deformation. Furthermore, ex-situ characterization of the tested surfaces using scanning electron microscopy is conducted. Higher crack onset values are observed for the smaller size patterns. Also, square-shaped patterns are found to exhibit the lowest crack onset values. SEM observations suggest cracking-driven and buckling-driven delamination during ITO tensile and compressive buckling mode respectively. In both cases, failure is observed to initiate from the pattern edges. - Highlights: • In-situ experimental analysis of various patterned shapes

  10. SU-F-J-10: Sliding Mode Control of a SMA Actuated Active Flexible Needle for Medical Procedures

    International Nuclear Information System (INIS)

    Podder, T

    2016-01-01

    Purpose: In medical interventional procedures such as brachytherapy, ablative therapies and biopsy precise steering and accurate placement of needles are very important for anatomical obstacle avoidance and accurate targeting. This study presents the efficacy of a sliding mode controller for Shape Memory Alloy (SMA) actuated flexible needle for medical procedures. Methods: Second order system dynamics of the SMA actuated active flexible needle was used for deriving the sliding mode control equations. Both proportional-integral-derivative (PID) and adaptive PID sliding mode control (APIDSMC) algorithms were developed and implemented. The flexible needle was attached at the end of a 6 DOF robotic system. Through LabView programming environment, the control commands were generated using the PID and APIDSMC algorithms. Experiments with artificial tissue mimicking phantom were performed to evaluate the performance of the controller. The actual needle tip position was obtained using an electromagnetic (EM) tracking sensor (Aurora, NDI, waterloo, Canada) at a sampling period of 1ms. During experiment, external disturbances were created applying force and thermal shock to investigate the robustness of the controllers. Results: The root mean square error (RMSE) values for APIDSMC and PID controllers were 0.75 mm and 0.92 mm, respectively, for sinusoidal reference input. In the presence of external disturbances, the APIDSMC controller showed much smoother and less overshooting response compared to that of the PID controller. Conclusion: Performance of the APIDSMC was superior to the PID controller. The APIDSMC was proved to be more effective controller in compensating the SMA uncertainties and external disturbances with clinically acceptable thresholds.

  11. Robust control of nonlinear flexible multibody systems using quaternion feedback and dissipative compensation

    Science.gov (United States)

    Kelkar, Atul G.; Joshi, Suresh M.

    1994-01-01

    Global asymptotic stability of a class of nonlinear multibody flexible space structures under dissipative compensation is established. Two cases are considered. The first case allows unlimited nonlinear motions of the entire system and uses quaternion feedback. The second case assumes that the central body motion is in the linear range although the other bodies can undergo unrestricted nonlinear motion. The stability is proved to be robust to the inherent modeling nonlinearities and uncertainties. Furthermore, for the second case, the stability is also shown to be robust to certain actuator and sensor nonlinearities. The stability proofs use the Lyapunov approach and exploit the inherent passivity of such systems. The results are applicable to a wide class of systems, including flexible space structures with articulated flexible appendages.

  12. An event-based vibration control for a two-link flexible robotic arm: Numerical and experimental observations

    Science.gov (United States)

    Özer, Abdullah; Eren Semercigil, S.

    2008-06-01

    Flexible robot manipulators have numerous advantages over their rigid counterparts. They have increased payload-to-weight ratio, they run at higher speeds, use less energy and smaller actuators, and they are safer during interaction with their environments. On the other hand, light design combined with external effects result in components which can oscillate with excessive amplitudes. These oscillations cause deviation from the desired path and long idle periods between tasks in order to perform the intended operation safely and accurately. This paper is on an investigation into the effectiveness of a vibration control technique for a two-link flexible robotic arm. Variable stiffness control (VSC) technique is used to control the excessive oscillations. Owing to its dissipative nature, the technique is stable, it is relatively insensitive to significant parameter changes and suitable to be implemented on existing robots. This research considers that the source of the flexibility is either the joints or the links or both. Simulation results of the response of the arm are presented to show the versatility of the proposed control technique. Experiments are performed on a laboratory prototype and the results are presented to test the validity of simulations.

  13. A New Approach to Control Single-Link Flexible Arms. Part 2. Control of the Tip Position in the Presence of Joint Friction

    Science.gov (United States)

    1989-07-01

    Force Workshop on Space, Operation, Automation and Robotics. Dayton (USA), July, 1988. [13] Feliu, V. Disefio Automitico con Computador de Sistemas ...July 1989 Copyright @ 1989 Carnegie Mellon University ’Visiting Professor, Dpto Ingenieria Eldctrica, Electr6nica y Control, UNED, Ciudad Universitaria...Winter, 1987. [6] Ower, J. C. and Van de Vegte, J. Classical Control Design for a Flexible Manipulator: Modeling and Control System Design. IEEE Journal

  14. Controllable preparation of TiO2 nanowire arrays on titanium mesh for flexible dye-sensitized solar cells

    International Nuclear Information System (INIS)

    Liu, Wenwu; Lu, Hui; Zhang, Mei; Guo, Min

    2015-01-01

    Graphical abstract: TiO 2 nanowire arrays with controlled morphology and density have been synthesized on Ti mesh substrates by hydrothermal approach for flexible dye-sensitized solar cells which showed well photovoltaic efficiency of 3.42%. - Highlights: • Flexible titanium mesh was first used for hydrothermal preparation of TiO 2 NWAs. • The formation mechanism of the TiO 2 nanostructures was discussed. • The density, average diameter, and morphology of TiO 2 NWAs can be controlled. • The effects of the sensitization temperature and time on the properties were studied. - Abstract: TiO 2 nanowire arrays (NWAs) with an average diameter of 80 nm have been successfully synthesized on titanium (Ti) mesh substrates via hydrothermal method. The effects of preparing conditions such as concentration of NaOH solution, reaction time, and hydrothermal temperature on the growth of TiO 2 nanoarrays and its related photovoltaic properties were systematically investigated by scanning electron microscopy, X-ray diffraction, and photovoltaic properties test. The growth mechanism of the Ti mesh-supported TiO 2 nanostructures was discussed in detail. Moreover, a parametric study was performed to determine the optimized temperature and time of the dye sensitized process for the flexible dye-sensitized solar cell (DSSC). It is demonstrated that hydrothermal parameters had obvious influence on the morphology and growth density of the as-prepared TiO 2 nanoarrays. In addition, the performance of the flexible DSSC depended strongly on the sensitization temperature and time. By utilizing Ti mesh-supported TiO 2 NWAs (with a length of about 14 μm) as a photoanode, the flexible DSSC with a short circuit current density of 10.49 mA cm −2 , an open-circuit voltage of 0.69 V, and an overall power conversion efficiency of 3.42% was achieved

  15. Controllable preparation of TiO{sub 2} nanowire arrays on titanium mesh for flexible dye-sensitized solar cells

    Energy Technology Data Exchange (ETDEWEB)

    Liu, Wenwu; Lu, Hui; Zhang, Mei; Guo, Min, E-mail: guomin@ustb.edu.cn

    2015-08-30

    Graphical abstract: TiO{sub 2} nanowire arrays with controlled morphology and density have been synthesized on Ti mesh substrates by hydrothermal approach for flexible dye-sensitized solar cells which showed well photovoltaic efficiency of 3.42%. - Highlights: • Flexible titanium mesh was first used for hydrothermal preparation of TiO{sub 2} NWAs. • The formation mechanism of the TiO{sub 2} nanostructures was discussed. • The density, average diameter, and morphology of TiO{sub 2} NWAs can be controlled. • The effects of the sensitization temperature and time on the properties were studied. - Abstract: TiO{sub 2} nanowire arrays (NWAs) with an average diameter of 80 nm have been successfully synthesized on titanium (Ti) mesh substrates via hydrothermal method. The effects of preparing conditions such as concentration of NaOH solution, reaction time, and hydrothermal temperature on the growth of TiO{sub 2} nanoarrays and its related photovoltaic properties were systematically investigated by scanning electron microscopy, X-ray diffraction, and photovoltaic properties test. The growth mechanism of the Ti mesh-supported TiO{sub 2} nanostructures was discussed in detail. Moreover, a parametric study was performed to determine the optimized temperature and time of the dye sensitized process for the flexible dye-sensitized solar cell (DSSC). It is demonstrated that hydrothermal parameters had obvious influence on the morphology and growth density of the as-prepared TiO{sub 2} nanoarrays. In addition, the performance of the flexible DSSC depended strongly on the sensitization temperature and time. By utilizing Ti mesh-supported TiO{sub 2} NWAs (with a length of about 14 μm) as a photoanode, the flexible DSSC with a short circuit current density of 10.49 mA cm{sup −2}, an open-circuit voltage of 0.69 V, and an overall power conversion efficiency of 3.42% was achieved.

  16. Potential Advantages of a Single-Port, Operator-Controlled Flexible Endoscope System for Transoral Surgery of the Larynx.

    Science.gov (United States)

    Friedrich, Daniel T; Scheithauer, Marc O; Greve, Jens; Duvvuri, Uma; Sommer, Fabian; Hoffmann, Thomas K; Schuler, Patrick J

    2015-08-01

    Transoral surgery of the larynx is commonly performed with a rigid laryngoscope, a microscope, and a laser. We investigated the potential utility of a flexible, single-port, robot-assisted and physician-controlled endoscopic system to enable easy, transoral surgical access to the larynx. Transoral laryngeal surgery was performed in human cadavers (n = 4) using the Flex System and compatible flexible instruments. Anatomical landmarks were identified, and mock surgical procedures were performed. Standard laryngeal surgical procedures were completed successfully in a human cadaver model. The built-in HD digital camera enabled high-quality visualization of the larynx. Epiglottectomy, as well as posterior cordectomy, were performed by laser and radio-frequency resection. The flexible design of the compatible tools enabled a nontraumatic approach. The Flex System has the potential to improve surgical access to the larynx, especially in patients with challenging anatomy. The associated flexible instruments enabled completion of surgical procedures in the larynx in a human cadaveric model. Further clinical studies, as well as the development of supplemental technology and tools, are recommended for future clinical applications. © The Author(s) 2015.

  17. Control and analysis of a single-link flexible beam with experimental verification. Robotics Technology Development Program

    Energy Technology Data Exchange (ETDEWEB)

    Jansen, J.F.

    1992-12-01

    The objective of this report is to ascertain the general conditions for the avoidance and reduction of residual vibration in a flexible manipulator. Conventional manipulators usually have a 1.5 to 2-m reach, and their associated dynamic models typically are composed of lumped parameter elements; the major compliance emanates from the drive trains because of torsional loading effects. The energy storage of the drive system is predominantly potential energy because of the low inertia in the drive train; thus simple spring models have been adequate. A long-reach manipulator with a large aspect ratio (length to diameter) is a fundamentally different problem. Energy storage for this type of manipulator is distributive by nature because of the potential energy resulting from bending and the kinetic energy due to deflection rates. Instead of ordinary differential equations, partial differential equations are required to describe this system, making the analysis more difficult. The general flexibility problem associated with a distributive dynamic system, with specific emphasis on flexible manipulator, will be addressed in this report. Furthermore, three control schemes will be discussed and demonstrated on a single flexible manipulator to determine their general merits.

  18. One Low-cost Quartz Lamp Radiation Aerodynamic Heating Simulation Experiment System with Control Law Flexible Adjustment Feature

    Directory of Open Access Journals (Sweden)

    Wang Decheng

    2015-01-01

    Full Text Available The quartz lamp radiation aerodynamic heating simulation experiment system plays an important role on the structure strength heat experiment. In order to reduce its price and enhance flexibility on control law design of experiment system, a design method for low-cost quartz lamp radiation aerodynamic heating simulation experiment system with control law flexible adjustment feature is proposed. The hardware part is constructed by taking Digital Signal Processor (DSP as an implementing agency controller. The feedback temperature after processed is computed by DSP. But the experiment process control value is computed by computer. The feedback temperature and experiment process control value data are transferred by serial communication model between DSP and computer. The experiment process relation data is saved by computer with EXCEL file, including the given target spectrum, the feedback temperature and the control value. The results of experiments on system identification, PID spectrum tracking, different zone control and the open loop control show the effectiveness of the proposed method.

  19. 2000 MCM electrical power jumper cable with controlled flexibility: Design and life cycle test

    International Nuclear Information System (INIS)

    Bultman, D.H.; Sims, J.R.; Reass, W.A.

    1989-01-01

    The ZTH Reversed Field Pinch (RFP) plasma confinement experiment being built at the Los Alamos National Laboratory will use magnet coils to provide ohmic heating currents in the plasma. The ohmic heating coils are supported by a structure that will allow them limited movement with respect to surrounding hardware and the connecting electrical bus work. To minimize displacement-induced stresses in the coils, ''flexible'' power conducting links are necessary to accommodate the relative motion between the bus work and the coils. A semi-flexible 2000 MCM jumper cable has been designed with enough flexibility to allow free movement of the coils, yet it is stiff enough to withstand large magnetically-induced lateral loads and minimize the effect of the lateral loads on the magnet coil leads. A full-power life cycle test of the jumper was performed under magnetic, thermal and dynamic loads that closely simulate the expected operating conditions. This test evaluated the structural and electrical integrity of the jumper as well as the quality and reliability of the bolted electrical connections at the jumper ends in a high-stress, cyclic-loading environment. The jumper cable design is presented with an explanation of the requirements for a semi-flexible link. A description of the life cycle test and test results are given, as well as a description of the test apparatus and setup. 4 figs

  20. Optimum Aggregation and Control of Spatially Distributed Flexible Resources in Smart Grid

    DEFF Research Database (Denmark)

    Bhattarai, Bishnu Prasad; Mendaza, Iker Diaz de Cerio; Myers, Kurt S.

    2018-01-01

    This study presents an algorithm to optimally aggregate spatially distributed flexible resources at strategic microgrid/smart-grid locations. The aggregation reduces a distribution network having thousands of nodes to an equivalent network with a few aggregated nodes, thereby enabling distributio...

  1. Can a pilates exercise program be effective on balance, flexibility and muscle endurance? A randomized controlled trial.

    Science.gov (United States)

    Kibar, Sibel; Yardimci, Fatma Ö; Evcik, Deniz; Ay, Saime; Alhan, Aslıhan; Manço, Miray; Ergin, Emine S

    2016-10-01

    This randomized controlled study aims to determine the effect of pilates mat exercises on dynamic and static balance, hamstring flexibility, abdominal muscle activity and endurance in healthy adults. Female healthy volunteer university students randomly assigned into two groups. Group 1 followed a pilates program for an hour two times a week. Group 2 continued daily activities as control group. Dynamic and static balance were evaluated by Sport Kinesthetic Ability Trainer (KAT) 4000 device. Hamstring flexibility and abdominal endurance were determined by sit-and-reach test, curl-up test respectively. Pressure biofeedback unit (PBU) was used to measure transversus abdominis and lumbar muscle activity. The physical activity of the participants was followed by International Physical Activity Questionnaire-Short Form. Twenty-three subjects in pilates group and 24 control subjects completed the study. In pilates group, statistical significant improvements were observed in curl-up, sit-and-reach test, PBU scores at sixth week (Ppilates group for sit-and-reach test (P=0.01) and PBU scores (Ppilates training program has been found to have beneficial effect on static balance, flexibility, abdominal muscle endurance, abdominal and lumbar muscle activity. These parameters have no effect on balance.

  2. A Flexible Job Shop Scheduling Problem with Controllable Processing Times to Optimize Total Cost of Delay and Processing

    Directory of Open Access Journals (Sweden)

    Hadi Mokhtari

    2015-11-01

    Full Text Available In this paper, the flexible job shop scheduling problem with machine flexibility and controllable process times is studied. The main idea is that the processing times of operations may be controlled by consumptions of additional resources. The purpose of this paper to find the best trade-off between processing cost and delay cost in order to minimize the total costs. The proposed model, flexible job shop scheduling with controllable processing times (FJCPT, is formulated as an integer non-linear programming (INLP model and then it is converted into an integer linear programming (ILP model. Due to NP-hardness of FJCPT, conventional analytic optimization methods are not efficient. Hence, in order to solve the problem, a Scatter Search (SS, as an efficient metaheuristic method, is developed. To show the effectiveness of the proposed method, numerical experiments are conducted. The efficiency of the proposed algorithm is compared with that of a genetic algorithm (GA available in the literature for solving FJSP problem. The results showed that the proposed SS provide better solutions than the existing GA.

  3. Flight Dynamics Analysis Branch

    Science.gov (United States)

    Stengle, Tom; Flores-Amaya, Felipe

    2000-01-01

    This report summarizes the major activities and accomplishments carried out by the Flight Dynamics Analysis Branch (FDAB), Code 572, in support of flight projects and technology development initiatives in fiscal year 2000. The report is intended to serve as a summary of the type of support carried out by the FDAB, as well as a concise reference of key accomplishments and mission experience derived from the various mission support roles. The primary focus of the FDAB is to provide expertise in the disciplines of flight dynamics, spacecraft trajectory, attitude analysis, and attitude determination and control. The FDAB currently provides support for missions and technology development projects involving NASA, government, university, and private industry.

  4. Flexible nanovectors

    International Nuclear Information System (INIS)

    Pugno, Nicola M

    2008-01-01

    In this paper we show that the control of adhesion in highly flexible (a property that could be crucial for smart drug delivery but which is still ignored in the literature) nanovectors can help in smartly targeting and delivering the drug. The existence of and the conditions for activating and controlling a super-adhesive state are addressed. Even if such a state has never been observed in nanovectors, our calculations, as well as observations in spiders and geckos, suggest its existence and feasible control. Control of the competition between the drag and the adhesive force is exploited to improve the targeting ability and a hierarchical model is applied to describe a real vasculature. The high flexibility of the nanovector is used to smartly deliver the drug only during adhesion by nanopumping or, as a limiting case, by the new concept of 'adhesion induced nanovector implosion'; a liquid drop analogy is utilized for the calculations. Fast (pumping) and slow (diffusion) drug deliveries can thus be separately controlled by controlling the size and shape of the nanovector. Multiple stage nanovectors are also briefly discussed, mimicking aerospace vector strategies.

  5. Flexible nanovectors

    Science.gov (United States)

    Pugno, Nicola M.

    2008-11-01

    In this paper we show that the control of adhesion in highly flexible (a property that could be crucial for smart drug delivery but which is still ignored in the literature) nanovectors can help in smartly targeting and delivering the drug. The existence of and the conditions for activating and controlling a super-adhesive state are addressed. Even if such a state has never been observed in nanovectors, our calculations, as well as observations in spiders and geckos, suggest its existence and feasible control. Control of the competition between the drag and the adhesive force is exploited to improve the targeting ability and a hierarchical model is applied to describe a real vasculature. The high flexibility of the nanovector is used to smartly deliver the drug only during adhesion by nanopumping or, as a limiting case, by the new concept of 'adhesion induced nanovector implosion'; a liquid drop analogy is utilized for the calculations. Fast (pumping) and slow (diffusion) drug deliveries can thus be separately controlled by controlling the size and shape of the nanovector. Multiple stage nanovectors are also briefly discussed, mimicking aerospace vector strategies.

  6. Stochastic control and real options valuation of thermal storage-enabled demand response from flexible district energy systems

    International Nuclear Information System (INIS)

    Kitapbayev, Yerkin; Moriarty, John; Mancarella, Pierluigi

    2015-01-01

    Highlights: • We calculate the real option value of flexibility from CHP-thermal storage. • Stochastic optimal feedback control problem is solved under uncertain market prices. • Efficient real-time numerical solutions combine simulation, regression and recursion. • Clear, interpretable feedback control maps are produced for each hour of the day. • We give a realistic UK case study using projected market gas and electricity prices. - Abstract: In district energy systems powered by Combined Heat and Power (CHP) plants, thermal storage can significantly increase CHP flexibility to respond to real time market signals and therefore improve the business case of such demand response schemes in a Smart Grid environment. However, main challenges remain as to what is the optimal way to control inter-temporal storage operation in the presence of uncertain market prices, and then how to value the investment into storage as flexibility enabler. In this outlook, the aim of this paper is to propose a model for optimal and dynamic control and long term valuation of CHP-thermal storage in the presence of uncertain market prices. The proposed model is formulated as a stochastic control problem and numerically solved through Least Squares Monte Carlo regression analysis, with integrated investment and operational timescale analysis equivalent to real options valuation models encountered in finance. Outputs are represented by clear and interpretable feedback control strategy maps for each hour of the day, thus suitable for real time demand response under uncertainty. Numerical applications to a realistic UK case study with projected market gas and electricity prices exemplify the proposed approach and quantify the robustness of the selected storage solutions

  7. A New Approach to Control Single-Link Flexible Arms. Part 3. Adaptive Control of the Tip Position with Payload Changes

    Science.gov (United States)

    1989-07-01

    Universitaria Madrid -28040, Spain 2Visiting Professor, Department of Electrical Systems Engineering, Wright State University, Dayton, OH. 45435. ,-o -. -1 89...T.111989 iISBU Copyright @ 1989 Carnegie Mellon University ’Visiting Professor, Dpto Ingcniena Ehdctrica, Elec,r6nica y Control, UNED, Ciudad ...Robotics Research, 1985. [21 De Maria and Siciliano B. A Multilayer Approach to Control of a Flexible Arm. Proceedings 1987 IEEE International Conference on

  8. Multi-Objective Flight Control for Drag Minimization and Load Alleviation of High-Aspect Ratio Flexible Wing Aircraft

    Science.gov (United States)

    Nguyen, Nhan; Ting, Eric; Chaparro, Daniel; Drew, Michael; Swei, Sean

    2017-01-01

    As aircraft wings become much more flexible due to the use of light-weight composites material, adverse aerodynamics at off-design performance can result from changes in wing shapes due to aeroelastic deflections. Increased drag, hence increased fuel burn, is a potential consequence. Without means for aeroelastic compensation, the benefit of weight reduction from the use of light-weight material could be offset by less optimal aerodynamic performance at off-design flight conditions. Performance Adaptive Aeroelastic Wing (PAAW) technology can potentially address these technical challenges for future flexible wing transports. PAAW technology leverages multi-disciplinary solutions to maximize the aerodynamic performance payoff of future adaptive wing design, while addressing simultaneously operational constraints that can prevent the optimal aerodynamic performance from being realized. These operational constraints include reduced flutter margins, increased airframe responses to gust and maneuver loads, pilot handling qualities, and ride qualities. All of these constraints while seeking the optimal aerodynamic performance present themselves as a multi-objective flight control problem. The paper presents a multi-objective flight control approach based on a drag-cognizant optimal control method. A concept of virtual control, which was previously introduced, is implemented to address the pair-wise flap motion constraints imposed by the elastomer material. This method is shown to be able to satisfy the constraints. Real-time drag minimization control is considered to be an important consideration for PAAW technology. Drag minimization control has many technical challenges such as sensing and control. An initial outline of a real-time drag minimization control has already been developed and will be further investigated in the future. A simulation study of a multi-objective flight control for a flight path angle command with aeroelastic mode suppression and drag

  9. Repayment Flexibility Can Reduce Financial Stress: A Randomized Control Trial with Microfinance Clients in India

    Science.gov (United States)

    Field, Erica; Pande, Rohini; Papp, John; Park, Y. Jeanette

    2012-01-01

    Financial stress is widely believed to cause health problems. However, policies seeking to relieve financial stress by limiting debt levels of poor households may directly worsen their economic well-being. We evaluate an alternative policy – increasing the repayment flexibility of debt contracts. A field experiment randomly assigned microfinance clients to a monthly or a traditional weekly installment schedule (N = 200). We used cell phones to gather survey data on income, expenditure, and financial stress every 48 hours over seven weeks. Clients repaying monthly were 51 percent less likely to report feeling “worried, tense, or anxious” about repaying, were 54 percent more likely to report feeling confident about repaying, and reported spending less time thinking about their loan compared to weekly clients. Monthly clients also reported higher business investment and income, suggesting that the flexibility encouraged them to invest their loans more profitably, which ultimately reduced financial stress. PMID:23049836

  10. THE FLEXIBLE BUDGET– BASIC TOOL OF THE MANAGEMENT CONTROL IN THE ECONOMIC ENTITIES

    Directory of Open Access Journals (Sweden)

    Mariana RADU

    2015-06-01

    Full Text Available In the content of this article we emphasize the importance of flexible budgeting of expenses for an economic entity. We focused on indirect costs of production, since they include both variable costs and fixed costs, and the way of their budgeting is different. In the first part of the paper we illustrate how to prepare a flexible budget for more predictable levels of activity, and in the second part, we show how to recalculate budgeted expenses for the actual volume of activity. The budget recalculated for the actual volume of activity allows the comparison, in the correct way, of expenditure forecast to those actually incurred, expenses that relate to the same volume of activity.

  11. Flexible Stock Allocation and Trim Loss Control for Cutting Problem in the Industrial-Use Paper Production

    Directory of Open Access Journals (Sweden)

    Fu-Kwun Wang

    2014-01-01

    Full Text Available We consider a one-dimensional cutting stock problem (CSP in which the stock widths are not used to fulfill the order but kept for use in the future for the industrial-use paper production. We present a new model based on the flexible stock allocation and trim loss control to determine the production quantity. We evaluate our approach using a real data and show that we are able to solve industrial-size problems, while also addressing common cutting considerations such as aggregation of orders, multiple stock widths, and cutting different patterns on the same machine. In addition, we compare our model with others, including trim loss minimization problem (TLMP and cutting stock problem (CSP. The results show that the proposed model outperforms the other two models regarding total flexibility and trim loss ratio.

  12. Rigid dietary control, flexible dietary control, and intuitive eating: Evidence for their differential relationship to disordered eating and body image concerns.

    Science.gov (United States)

    Linardon, Jake; Mitchell, Sarah

    2017-08-01

    This study aimed to replicate and extend from Tylka, Calogero, and Daníelsdóttir (2015) findings by examining the relationship between rigid control, flexible control, and intuitive eating on various indices of disordered eating (i.e., binge eating, disinhibition) and body image concerns (i.e., shape and weight over-evaluation, body checking, and weight-related exercise motivations). This study also examined whether the relationship between intuitive eating and outcomes was mediated by dichotomous thinking and body appreciation. Analysing data from a sample of 372 men and women recruited through the community, this study found that, in contrast to rigid dietary control, intuitive eating uniquely and consistently predicted lower levels of disordered eating and body image concerns. This intuitive eating-disordered eating relationship was mediated by low levels of dichotomous thinking and the intuitive eating-body image relationship was mediated by high levels of body appreciation. Flexible control predicted higher levels of body image concerns and lower levels of disordered eating only when rigid control was accounted for. Findings suggest that until the adaptive properties of flexible control are further elucidated, it may be beneficial to promote intuitive eating within public health approaches to eating disorder prevention. In addition to this, particular emphasis should also be made toward promoting body acceptance and eradicating a dichotomous thinking style around food and eating. Copyright © 2017 Elsevier Ltd. All rights reserved.

  13. Flight Dynamics Simulation Modeling and Control of a Large Flexible Tiltrotor Aircraft

    Science.gov (United States)

    2014-09-01

    were always needed. Thanks go to Cal and John for being good friends in and out of school. Hopefully we remain close friends now that we live in...discuss seemingly random derivations with me over the past few years. In addition, I thank my friends from Johns Hopkins, who often spent their va...model used was derived by fitting structural coefficients to flight data [67]. A flexible model for this system was created and used in the NASA Dryden

  14. Dynamic/control interactions between flexible orbiting space-robot during grasping, docking and post-docking manoeuvres

    Science.gov (United States)

    Gasbarri, Paolo; Pisculli, Andrea

    2015-05-01

    Robotic systems are expected to play an increasingly important role in future space activities, such as repairing, upgrading, refuelling, and re-orbiting spacecraft. These technologies could potentially extend the life of satellites, enhance the capability of space systems, reduce the operation costs, and clean up the increasing space debris. Recent proposals for missions involving the use of space manipulators and/or automated transfer vehicles are presented as a solution for a lot of problems, which now affect the procedures and the performance of the in-orbit space systems. Other projects involving space manipulators have been developed by DARPA aiming to demonstrate several satellite servicing operations and technologies including rendez-vous, proximity operations and station-keeping, capture, docking, fluid transfer (specifically, "hydrazine"), and Orbit Replaceable Unit (ORU) transfer. Of course the dynamic coupling between the manipulator and its base mounting flexible solar arrays is very difficult to model. Furthermore, the motion planning of space robots is usually much more complicated than the motion planning of fixed-base manipulators. In this paper first of all the authors present a mixed NE/EL formulation suitable for synthesizing optimal control strategies during the deploying manoeuvres of robotic arms mounted on flexible orbiting platform (i.e. the chaser). Then two new control strategies able to compensate the flexibility excitations of the chaser satellite solar panels during the capturing of a flexible target spacecraft with the use of two robotic arms are presented and applied to a grasping manoeuvre. The mission is here divided into three main phases: the approaching, the docking and the post-grasping phase. Several numerical examples will complete the work.

  15. Finite-time state-dependent Riccati equation for time-varying nonaffine systems: rigid and flexible joint manipulator control.

    Science.gov (United States)

    Korayem, M H; Nekoo, S R

    2015-01-01

    This article investigates finite-time optimal and suboptimal controls for time-varying systems with state and control nonlinearities. The state-dependent Riccati equation (SDRE) controller was the main framework. A finite-time constraint imposed on the equation changes it to a differential equation, known as the state-dependent differential Riccati equation (SDDRE) and this equation was applied to the problem reported in this study that provides general formulation and stability analysis. The following four solution methods were developed for solving the SDDRE; backward integration, state transition matrix (STM) and the Lyapunov based method. In the Lyapunov approach, both positive and negative definite solutions to related SDRE were used to provide suboptimal gain for the SDDRE. Finite-time suboptimal control is applied for robotic manipulator, as finite-time constraint strongly decreases state error and operation time. General state-dependent coefficient (SDC) parameterizations for rigid and flexible joint arms (prismatic or revolute joints) are introduced. By including nonlinear control inputs in the formulation, the actuator׳s limits can be inserted directly to the state-space equation of a manipulator. A finite-time SDRE was implemented on a 6R manipulator both in theory and experimentally. And a reduced 3R arm was modeled and tested as a flexible joint robot (FJR). Evaluations of load carrying capacity and operation time were investigated to assess the capability of this approach, both of which showed significant improvement. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  16. F2AC: A Lightweight, Fine-Grained, and Flexible Access Control Scheme for File Storage in Mobile Cloud Computing

    Directory of Open Access Journals (Sweden)

    Wei Ren

    2016-01-01

    Full Text Available Current file storage service models for cloud servers assume that users either belong to single layer with different privileges or cannot authorize privileges iteratively. Thus, the access control is not fine-grained and flexible. Besides, most access control methods at cloud servers mainly rely on computationally intensive cryptographic algorithms and, especially, may not be able to support highly dynamic ad hoc groups with addition and removal of group members. In this paper, we propose a scheme called F2AC, which is a lightweight, fine-grained, and flexible access control scheme for file storage in mobile cloud computing. F2AC can not only achieve iterative authorization, authentication with tailored policies, and access control for dynamically changing accessing groups, but also provide access privilege transition and revocation. A new access control model called directed tree with linked leaf model is proposed for further implementations in data structures and algorithms. The extensive analysis is given for justifying the soundness and completeness of F2AC.

  17. On the relation of flexible and rigid control of eating to body mass index and overeating in patients with binge eating disorder.

    Science.gov (United States)

    Masheb, Robin M; Grilo, Carlos M

    2002-01-01

    To examine the relationship of flexible and rigid dimensions of restrained eating to body mass index (BMI) and overeating in outpatients with binge eating disorder (BED). Participants were 148 consecutive outpatients who met criteria for BED. The Three-Factor Eating Questionnaire (TFEQ) was administered to assess Cognitive Restraint, Hunger, and Disinhibition. The TFEQ also contains two Cognitive Restraint subscales--Flexible Control and Rigid Control. The Eating Disorder Examination-Questionnaire version (EDE-Q) was administered to assess frequency of different forms of overeating during the past 28 days and the attitudinal features of eating disorders. Flexible Control and Rigid Control were significantly correlated with each other. They were both negatively correlated with BMI, but neither was significantly correlated with the frequency of binge eating or other forms of overeating. In addition, Flexible Control and Rigid Control predicted almost the same amount of variance in BMI. BED patients exhibit flexible and rigid control of eating that is related to BMI, but not to the frequency of binge eating or other forms of overeating. Results of the present study provide preliminary evidence that flexible and rigid control of eating may not be a useful distinction in BED patients. However, increased restraint, regardless of type, may prove to be of benefit with regard to weight control and may not have adverse effects on binge eating in obese BED patients. Copyright 2002 John Wiley & Sons, Inc.

  18. A Flexible Component based Access Control Architecture for OPeNDAP Services

    Science.gov (United States)

    Kershaw, Philip; Ananthakrishnan, Rachana; Cinquini, Luca; Lawrence, Bryan; Pascoe, Stephen; Siebenlist, Frank

    2010-05-01

    Network data access services such as OPeNDAP enable widespread access to data across user communities. However, without ready means to restrict access to data for such services, data providers and data owners are constrained from making their data more widely available. Even with such capability, the range of different security technologies available can make interoperability between services and user client tools a challenge. OPeNDAP is a key data access service in the infrastructure under development to support the CMIP5 (Couple Model Intercomparison Project Phase 5). The work is being carried out as part of an international collaboration including the US Earth System Grid and Curator projects and the EU funded IS-ENES and Metafor projects. This infrastructure will bring together Petabytes of climate model data and associated metadata from over twenty modelling centres around the world in a federation with a core archive mirrored at three data centres. A security system is needed to meet the requirements of organisations responsible for model data including the ability to restrict data access to registered users, keep them up to date with changes to data and services, audit access and protect finite computing resources. Individual organisations have existing tools and services such as OPeNDAP with which users in the climate research community are already familiar. The security system should overlay access control in a way which maintains the usability and ease of access to these services. The BADC (British Atmospheric Data Centre) has been working in collaboration with the Earth System Grid development team and partner organisations to develop the security architecture. OpenID and MyProxy were selected at an early stage in the ESG project to provide single sign-on capability across the federation of participating organisations. Building on the existing OPeNDAP specification an architecture based on pluggable server side components has been developed at the BADC

  19. Branched polynomial covering maps

    DEFF Research Database (Denmark)

    Hansen, Vagn Lundsgaard

    2002-01-01

    A Weierstrass polynomial with multiple roots in certain points leads to a branched covering map. With this as the guiding example, we formally define and study the notion of a branched polynomial covering map. We shall prove that many finite covering maps are polynomial outside a discrete branch...... set. Particular studies are made of branched polynomial covering maps arising from Riemann surfaces and from knots in the 3-sphere. (C) 2001 Elsevier Science B.V. All rights reserved....

  20. Branched polynomial covering maps

    DEFF Research Database (Denmark)

    Hansen, Vagn Lundsgaard

    1999-01-01

    A Weierstrass polynomial with multiple roots in certain points leads to a branched covering map. With this as the guiding example, we formally define and study the notion of a branched polynomial covering map. We shall prove that many finite covering maps are polynomial outside a discrete branch...... set. Particular studies are made of branched polynomial covering maps arising from Riemann surfaces and from knots in the 3-sphere....

  1. Programación y Control de Sistemas de Fabricación Flexibles: un Enfoque Holónico

    Directory of Open Access Journals (Sweden)

    J.A. Araúzo

    2015-01-01

    Full Text Available Resumen: Los sistemas de fabricación holónicos constituyen un nuevo paradigma de producción. Incluidos dentro de las metodologías distribuidas, proponen nuevos esquemas de gestión de la fabricación que combinan auto-organización, jerarquías dinámicas y relaciones horizontales. Este enfoque es más cercano a la naturaleza de los sistemas de fabricación que las aproximaciones clásicas, centralizadas o estrictamente jerárquicas y permiten modelar los sistemas productivos de forma más realista, facilitando la implementación de sistemas más flexibles, escalables y robustos. En este artículo proponemos un sistema de programación y control para sistemas de fabricación flexibles desarrollado según el paradigma holónico. El sistema se basa en una nueva arquitectura que integra dos niveles de decisión: uno de programación basado en subastas, donde cada holón realiza su propio programa local; y otro de lanzamiento y control, a través del cual se coordinan las actividades de los holones. A diferencia de otros trabajos, donde los programas locales son integrados en un programa global que centraliza el sistema, en el sistema propuesto no ocurre así. Es el mecanismo de lanzamiento y control el que integra los programas locales. Además, el prototipo desarrollado puede funcionar con diferentes grados de descentralización, lo que permite valorar las ventajas que proporciona nuestra aproximación mediante simulación. Abstract: Holonic Manufacturing Systems are a new manufacturing paradigm. They are included into distributed methodologies and propose new manufacturing management schemes that combine self-organization, dynamic hierarchies and horizontal relationships. This approach is closer to manufacturing system nature than centralized or strictly traditional hierarchical approaches. It allows modeling manufacturing systems in a more realistic way. So, it make easier to implement more flexible, scalable, responsiveness, reconfigurable

  2. Biodegradable large compound vesicles with controlled size prepared via the self-assembly of branched polymers in nanodroplet templates.

    Science.gov (United States)

    Wang, Long-Hai; Xu, Xiao-Man; Hong, Chun-Yan; Wu, De-Cheng; Yu, Zhi-Qiang; You, Ye-Zi

    2014-09-04

    Generally, it is very difficult to control the size of large compound vesicles. Here, we introduce a novel method for the preparation of biodegradable large compound vesicles with controlled size and narrow size distribution by using aqueous nanodroplets as templates.

  3. Branched polynomial covering maps

    DEFF Research Database (Denmark)

    Hansen, Vagn Lundsgaard

    2002-01-01

    A Weierstrass polynomial with multiple roots in certain points leads to a branched covering map. With this as the guiding example, we formally define and study the notion of a branched polynomial covering map. We shall prove that many finite covering maps are polynomial outside a discrete branch ...

  4. Flexible Bronchoscopy.

    Science.gov (United States)

    Miller, Russell J; Casal, Roberto F; Lazarus, Donald R; Ost, David E; Eapen, George A

    2018-03-01

    Flexible bronchoscopy has changed the course of pulmonary medicine. As technology advances, the role of the flexible bronchoscope for both diagnostic and therapeutic indications is continually expanding. This article reviews the historical development of the flexible bronchoscopy, fundamental uses of the flexible bronchoscope as a tool to examine the central airways and obtain diagnostic tissue, and the indications, complications, and contraindications to flexible bronchoscopy. Copyright © 2017 Elsevier Inc. All rights reserved.

  5. Novel prescribed performance neural control of a flexible air-breathing hypersonic vehicle with unknown initial errors.

    Science.gov (United States)

    Bu, Xiangwei; Wu, Xiaoyan; Zhu, Fujing; Huang, Jiaqi; Ma, Zhen; Zhang, Rui

    2015-11-01

    A novel prescribed performance neural controller with unknown initial errors is addressed for the longitudinal dynamic model of a flexible air-breathing hypersonic vehicle (FAHV) subject to parametric uncertainties. Different from traditional prescribed performance control (PPC) requiring that the initial errors have to be known accurately, this paper investigates the tracking control without accurate initial errors via exploiting a new performance function. A combined neural back-stepping and minimal learning parameter (MLP) technology is employed for exploring a prescribed performance controller that provides robust tracking of velocity and altitude reference trajectories. The highlight is that the transient performance of velocity and altitude tracking errors is satisfactory and the computational load of neural approximation is low. Finally, numerical simulation results from a nonlinear FAHV model demonstrate the efficacy of the proposed strategy. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  6. Vibration Control of a Flexible Rotor Using Shape Memory Alloy Wires

    DEFF Research Database (Denmark)

    Alves, Marco Túlio Santana; Enemark, Søren; Steffen Jr, Valdar

    2015-01-01

    In the present contribution, a theoretical model of a test rig containing a flexible rotor is simulated considering pseudoelastic SMA (Shape Memory Alloy) wires connected to a bearing in order to dissipate energy and consequently reduce vibration. SMAs have characteristics of shape memory...... of rotor and SMA wires are coupled. The chosen constitutive model that governs the SMA behaviour is a modified version of the model by Brinson for the one-dimensional case. Both transient and steady-state tests arenumerically simulated. The first one, a run-up test, is performed only at room temperature...

  7. The potential regimen of target-controlled infusion of propofol in flexible bronchoscopy sedation: a randomized controlled trial.

    Directory of Open Access Journals (Sweden)

    Ting-Yu Lin

    Full Text Available Target-controlled infusion (TCI provides precise pharmacokinetic control of propofol concentration in the effect-site (Ce, eg. brain. This pilot study aims to evaluate the feasibility and optimal TCI regimen for flexible bronchoscopy (FB sedation.After alfentanil bolus, initial induction Ce of propofol was targeted at 2 μg/ml. Patients were randomized into three titration groups (i.e., by 0.5, 0.2 and 0.1 μg/ml, respectively to maintain stable sedation levels and vital signs. Adverse events, frequency of adjustments, drug doses, and induction and recovery times were recorded.The study was closed early due to significantly severe hypoxemia events (oxyhemoglobin saturation <70% in the group titrated at 0.5 μg/ml. Forty-nine, 49 and 46 patients were enrolled into the 3 respective groups before study closure. The proportion of patients with hypoxemia events differed significantly between groups (67.3 vs. 46.9 vs. 41.3%, p = 0.027. Hypotension events, induction and recovery time and propofol doses were not different. The Ce of induction differed significantly between groups (2.4±0.5 vs. 2.1±0.4 vs. 2.1±0.3 μg/ml, p = 0.005 and the Ce of procedures was higher at 0.5 μg/ml titration (2.4±0.5 vs. 2.1±0.4 vs. 2.2±0.3 μg/ml, p = 0.006. The adjustment frequency tended to be higher for titration at 0.1 μg/ml but was not statistically significant (2 (0∼6 vs. 3 (0∼6 vs. 3 (0∼11. Subgroup analysis revealed 14% of all patients required no further adjustment during the whole sedation. Comparing patients requiring at least one adjustment with those who did not, they were observed to have a shorter induction time (87.6±34.9 vs. 226.9±147.9 sec, p<0.001, a smaller induction dose and Ce (32.5±4.1 vs. 56.8±22.7 mg, p<0.001; 1.76±0.17 vs. 2.28 ±0.41, p<0.001, respectively, and less hypoxemia and hypotension (15.8 vs.56.9%, p = 0.001; 0 vs. 24.1%, p = 0.008, respectively.Titration at 0.5 μg/ml is risky for FB sedation. A

  8. Tunneling Horizontal IEC 61850 Traffic through Audio Video Bridging Streams for Flexible Microgrid Control and Protection

    Directory of Open Access Journals (Sweden)

    Michael Short

    2016-03-01

    Full Text Available In this paper, it is argued that some low-level aspects of the usual IEC 61850 mapping to Ethernet are not well suited to microgrids due to their dynamic nature and geographical distribution as compared to substations. It is proposed that the integration of IEEE time-sensitive networking (TSN concepts (which are currently implemented as audio video bridging (AVB technologies within an IEC 61850 / Manufacturing Message Specification framework provides a flexible and reconfigurable platform capable of overcoming such issues. A prototype test platform and bump-in-the-wire device for tunneling horizontal traffic through AVB are described. Experimental results are presented for sending IEC 61850 GOOSE (generic object oriented substation events and SV (sampled values messages through AVB tunnels. The obtained results verify that IEC 61850 event and sampled data may be reliably transported within the proposed framework with very low latency, even over a congested network. It is argued that since AVB streams can be flexibly configured from one or more central locations, and bandwidth reserved for their data ensuring predictability of delivery, this gives a solution which seems significantly more reliable than a pure MMS-based solution.

  9. A New Approach to Control Single-Link Flexible Arms. Part 1. Modelling and Identification in the Presence of Joint Friction

    Science.gov (United States)

    1989-03-01

    Dpto Ingenierfa Eldctrica, Electrdnica y Control, UNED, Ciudad Universitaria , Madrld-2040, Spain 2Viaiting Profeasor, Department of...Electr6nica y Control, UNED. Ciudad Universitauia Madrid -28040, Spain 2Visiting Professor, Department of Electrical Systems Engineering. Wright State...1987. [6] Ower, J. C. and Van de Vegte, J. Classical Control Design for a Flexible Manipulator: Modeling and Control System Design. IEEE Journal of

  10. Development of Flexible Active Power Control Strategies for Grid-Connected Photovoltaic Inverters by Modifying MPPT Algorithms

    DEFF Research Database (Denmark)

    Sangwongwanich, Ariya; Yang, Yongheng; Blaabjerg, Frede

    2017-01-01

    As the penetration level of grid-connected PV systems increases, more advanced control functionality is demanded. In order to ensure smooth and friendly grid integration as well as enable more PV installations, the power generated by PV systems needs to be flexible and capable of: 1) limiting...... strategies for grid-connected PV inverters by modifying maximum power point tracking algorithms, where the PV power is regulated by changing the operating point of the PV system. In this way, no extra equipment is needed, being a cost-effective solution. Experiments on a 3-kW grid-connected PV system have...

  11. Flexible Stock Allocation and Trim Loss Control for Cutting Problem in the Industrial-Use Paper Production

    OpenAIRE

    Wang, Fu-Kwun; Liu, Feng-Tai

    2014-01-01

    We consider a one-dimensional cutting stock problem (CSP) in which the stock widths are not used to fulfill the order but kept for use in the future for the industrial-use paper production. We present a new model based on the flexible stock allocation and trim loss control to determine the production quantity. We evaluate our approach using a real data and show that we are able to solve industrial-size problems, while also addressing common cutting considerations such as aggregation of orders...

  12. Diseño del programa de control para una celda de manufactura flexible didáctica

    Directory of Open Access Journals (Sweden)

    Luis Diego Murillo-Soto

    2014-09-01

    El presente trabajo describe la interpretación de la teoría ABM con la finalidad de implementarla en un PLC comercial. El programa de control diseñado se probó con tres políticas de producción, en una celda de manufactura flexible multireentrante (MRF ubicada en el Instituto Tecnológico de Costa Rica; el objeto de las pruebas fue observar el rendimiento de la celda de manufactura ante distintas políticas de despacho en la producción.

  13. Potential Energy Flexibility for a Hot-Water Based Heating System in Smart Buildings Via Economic Model Predictive Control

    DEFF Research Database (Denmark)

    Ahmed, Awadelrahman M. A.; Zong, Yi; Mihet-Popa, Lucian

    2017-01-01

    water tank as active thermal energy storage, where two optimization problems are integrated together to optimize both the heat pump electricity consumption and the building heating consumption. A sensitivity analysis for the system flexibility is examined. The results revealed that the proposed......This paper studies the potential of shifting the heating energy consumption in a residential building to low price periods based on varying electricity price signals suing Economic Model Predictive Control strategy. The investigated heating system consists of a heat pump incorporated with a hot...

  14. A Feed-Forward Control Realizing Fast Response for Three-Branch Interleaved DC-DC Converter in DC Microgrid

    DEFF Research Database (Denmark)

    Wang, Haojie; Han, Minxiao; Yan, Wenli

    2016-01-01

    for storage batteries in DC microgrids. The working principle of TIDC is analyzed, and the factors influencing the response rate based on the dual-loop constant voltage control for TIDC are discussed, and then the method of feed-forward control for TIDC is studied to improve the response rate for load...

  15. Study on control schemes of flexible steering system of a multi-axle all-wheel-steering robot

    Directory of Open Access Journals (Sweden)

    Pingxia Zhang

    2016-05-01

    Full Text Available It is well known that a multi-axle wheeled robot possesses larger load capability and also higher drive performance. However, its steering flexibility is degraded due to the large number of wheels. In order to solve this problem, in this article, we proposed three control schemes based on the center of rotation or the steering angles of both the first- and last-axle wheels. To release these control schemes, steering mode selection and also the left wheel’s steering angle in a specific axle are added approaching a practical application. Thereafter, the remaining wheels’ steering angles can be calculated with the Ackerman steering theorem. In order to verify the control effects, a five-axle all-wheel-steering wheeled robot has been developed with the Bluetooth wireless monitor system. Based on the newly designed robot, validation experiments are carried out, such as lateral movement, situ rotation, and multi-mode steering within a narrow space. The results indicate that the proposed design in this article can ensure a more flexible and faster movement within a narrow space. It shows large potential in obstacle avoidance compared with the conventional partial-wheel steering mode.

  16. Using Bond Graphs for Articulated, Flexible Multi-bodies, Sensors, Actuators, and Controllers with Application to the International Space Station

    Science.gov (United States)

    Montgomery, Raymond C.; Granda, Jose J.

    2003-01-01

    Conceptually, modeling of flexible, multi-body systems involves a formulation as a set of time-dependent partial differential equations. However, for practical, engineering purposes, this modeling is usually done using the method of Finite Elements, which approximates the set of partial differential equations, thus generalizing the approach to all continuous media. This research investigates the links between the Bond Graph method and the classical methods used to develop system models and advocates the Bond Graph Methodology and current bond graph tools as alternate approaches that will lead to a quick and precise understanding of a flexible multi-body system under automatic control. For long endurance, complex spacecraft, because of articulation and mission evolution the model of the physical system may change frequently. So a method of automatic generation and regeneration of system models that does not lead to implicit equations, as does the Lagrange equation approach, is desirable. The bond graph method has been shown to be amenable to automatic generation of equations with appropriate consideration of causality. Indeed human-interactive software now exists that automatically generates both symbolic and numeric system models and evaluates causality as the user develops the model, e.g. the CAMP-G software package. In this paper the CAMP-G package is used to generate a bond graph model of the International Space Station (ISS) at an early stage in its assembly, Zvezda. The ISS is an ideal example because it is a collection of bodies that are articulated, many of which are highly flexible. Also many reaction jets are used to control translation and attitude, and many electric motors are used to articulate appendages, which consist of photovoltaic arrays and composite assemblies. The Zvezda bond graph model is compared to an existing model, which was generated by the NASA Johnson Space Center during the Verification and Analysis Cycle of Zvezda.

  17. Flexible Microgrid Power Quality Enhancement Using Adaptive Hybrid Voltage and Current Controller

    DEFF Research Database (Denmark)

    He, Jinwei; Li, Yun Wei; Blaabjerg, Frede

    2014-01-01

    -pass/bandpass filters in the DG unit digital controller. Moreover, phase-locked loops are not necessary as the microgrid frequency deviation can be automatically identified by the power control loop. Consequently, the proposed control method provides opportunities to reduce DG control complexity, without affecting...

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

    DEFF Research Database (Denmark)

    Sossan, Fabrizio; Marinelli, Mattia

    2013-01-01

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

  19. Mixed H2/H-Infinity Control of a Flexible Space Structure

    Science.gov (United States)

    Whorton, Mark; Calise, Anthony J.

    1997-01-01

    As theory progresses for design and analysis of robust multivariable control laws, synthesis procedures and to a larger extent, experimental verification generally lags behind. Recent developments in robust control theory have extended the H-infinity and mu-synthesis methods to incorporate H2 properties in the control synthesis. A major difficulty in implementing robust controllers is the order of the compensator and associated complexity of the computation required for synthesis, especially when order constraints are imposed. This paper presents results of system identification and robust control design for the Controls/Structures Interaction Ground Test Facility at NASA/Marshall Space Flight Center.

  20. Aero-Effected Distributed Adaptive Control of Flexible Aircraft Using Active Bleed, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — The proposed research focuses on the development of a new adaptive control methodology for active control of wing aerodynamic shape to effect distributed aerodynamic...

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

    Directory of Open Access Journals (Sweden)

    Peng Fei Wang

    2016-10-01

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

  2. Flexible Ablators

    Science.gov (United States)

    Stackpoole, Margaret M. (Inventor); Ghandehari, Ehson M. (Inventor); Thornton, Jeremy J. (Inventor); Covington, Melmoth Alan (Inventor)

    2017-01-01

    A low-density article comprising a flexible substrate and a pyrolizable material impregnated therein, methods of preparing, and devices using the article are disclosed. The pyrolizable material pyrolizes above 350 C and does not flow at temperatures below the pyrolysis temperature. The low-density article remains flexible after impregnation and continues to remain flexible when the pyrolizable material is fully pyrolized.

  3. Branched multifunctional polyether polyketals: variation of ketal group structure enables unprecedented control over polymer degradation in solution and within cells.

    Science.gov (United States)

    Shenoi, Rajesh A; Narayanannair, Jayaprakash K; Hamilton, Jasmine L; Lai, Benjamin F L; Horte, Sonja; Kainthan, Rajesh K; Varghese, Jos P; Rajeev, Kallanthottathil G; Manoharan, Muthiah; Kizhakkedathu, Jayachandran N

    2012-09-12

    Multifunctional biocompatible and biodegradable nanomaterials incorporating specific degradable linkages that respond to various stimuli and with defined degradation profiles are critical to the advancement of targeted nanomedicine. Herein we report, for the first time, a new class of multifunctional dendritic polyether polyketals containing different ketal linkages in their backbone that exhibit unprecedented control over degradation in solution and within the cells. High-molecular-weight and highly compact poly(ketal hydroxyethers) (PKHEs) were synthesized from newly designed α-epoxy-ω-hydroxyl-functionalized AB(2)-type ketal monomers carrying structurally different ketal groups (both cyclic and acyclic) with good control over polymer properties by anionic ring-opening multibranching polymerization. Polymer functionalization with multiple azide and amine groups was achieved without degradation of the ketal group. The polymer degradation was controlled primarily by the differences in the structure and torsional strain of the substituted ketal groups in the main chain, while for polymers with linear (acyclic) ketal groups, the hydrophobicity of the polymer may play an additional role. This was supported by the log P values of the monomers and the hydrophobicity of the polymers determined by fluorescence spectroscopy using pyrene as the probe. A range of hydrolysis half-lives of the polymers at mild acidic pH values was achieved, from a few minutes to a few hundred days, directly correlating with the differences in ketal group structures. Confocal microscopy analyses demonstrated similar degradation profiles for PKHEs within live cells, as seen in solution and the delivery of fluorescent marker to the cytosol. The cell viability measured by MTS assay and blood compatibility determined by complement activation, platelet activation, and coagulation assays demonstrate that PKHEs and their degradation products are highly biocompatible. Taken together, these data

  4. Optimal control of stretching process of flexible solar arrays on spacecraft based on a hybrid optimization strategy

    Directory of Open Access Journals (Sweden)

    Qijia Yao

    2017-07-01

    Full Text Available The optimal control of multibody spacecraft during the stretching process of solar arrays is investigated, and a hybrid optimization strategy based on Gauss pseudospectral method (GPM and direct shooting method (DSM is presented. First, the elastic deformation of flexible solar arrays was described approximately by the assumed mode method, and a dynamic model was established by the second Lagrangian equation. Then, the nonholonomic motion planning problem is transformed into a nonlinear programming problem by using GPM. By giving fewer LG points, initial values of the state variables and control variables were obtained. A serial optimization framework was adopted to obtain the approximate optimal solution from a feasible solution. Finally, the control variables were discretized at LG points, and the precise optimal control inputs were obtained by DSM. The optimal trajectory of the system can be obtained through numerical integration. Through numerical simulation, the stretching process of solar arrays is stable with no detours, and the control inputs match the various constraints of actual conditions. The results indicate that the method is effective with good robustness. Keywords: Motion planning, Multibody spacecraft, Optimal control, Gauss pseudospectral method, Direct shooting method

  5. A livelock control policy for a flexible manufacturing system modeling with a subclass of generalized Petri nets

    Directory of Open Access Journals (Sweden)

    C.Q. Hou

    2014-12-01

    Full Text Available Livelocks, like deadlocks, can result in the serious problems in running process of flexible manufacturing systems (FMSs as well. Current deadlock control policies based on the approaches of siphon detection and control, cannot cope with livelocks in a system of sequential systems with shared resources (S4R, a typical subclass of Petri nets that can model FMSs. On the basis of the mixed integer programming method, this study proposes a livelock control policy (LCP that can not only solve the new smart siphons (NSSs associated with livelocks or deadlocks in an S4R system directly, but also make the solved NSSs max′-controlled by adding the corresponding control places (CPs. As a result, an original S4R system with livelocks or deadlocks can be turned into the live controlled one in which no NSSs can be found. The related theoretical analysis and several examples are given to demonstrate the proposed LCP. Compared with the existing methods in the literature, the proposed one is more general and powerful.

  6. A Cyber Physical Model Based on a Hybrid System for Flexible Load Control in an Active Distribution Network

    Directory of Open Access Journals (Sweden)

    Yun Wang

    2017-02-01

    Full Text Available To strengthen the integration of the primary and secondary systems, a concept of Cyber Physical Systems (CPS is introduced to construct a CPS in Power Systems (Power CPS. The most basic work of the Power CPS is to build an integration model which combines both a continuous process and a discrete process. The advanced form of smart grid, the Active Distribution Network (ADN is a typical example of Power CPS. After designing the Power CPS model architecture and its application in ADN, a Hybrid System based model and control method of Power CPS is proposed in this paper. As an application example, ADN flexible load is modeled and controlled with ADN feeder power control by a control strategy which includes the normal condition and the underpowered condition. In this model and strategy, some factors like load power consumption and load functional demand are considered and optimized. In order to make up some of the deficiencies of centralized control, a distributed control method is presented to reduce model complexity and improve calculation speed. The effectiveness of all the models and methods are demonstrated in the case study.

  7. Controlled branched-chain amino acids auxotrophy in Listeria monocytogenes allows isoleucine to serve as a host signal and virulence effector.

    Science.gov (United States)

    Brenner, Moran; Lobel, Lior; Borovok, Ilya; Sigal, Nadejda; Herskovits, Anat A

    2018-03-01

    Listeria monocytogenes (Lm) is a saprophyte and intracellular pathogen. Transition to the pathogenic state relies on sensing of host-derived metabolites, yet it remains unclear how these are recognized and how they mediate virulence gene regulation. We previously found that low availability of isoleucine signals Lm to activate the virulent state. This response is dependent on CodY, a global regulator and isoleucine sensor. Isoleucine-bound CodY represses metabolic pathways including branched-chain amino acids (BCAA) biosynthesis, however under BCAA depletion, as occurs during infection, BCAA biosynthesis is upregulated and isoleucine-unbound CodY activates virulence genes. While isoleucine was revealed as an important input signal, it was not identified how internal levels are controlled during infection. Here we show that Lm regulates BCAA biosynthesis via CodY and via a riboregulator located upstream to the BCAA biosynthesis genes, named Rli60. rli60 is transcribed when BCAA levels drop, forming a ribosome-mediated attenuator that cis-regulates the downstream genes according to BCAA supply. Notably, we found that Rli60 restricts BCAA production, essentially starving Lm, a mechanism that is directly linked to virulence, as it controls the internal isoleucine pool and thereby CodY activity. This controlled BCAA auxotrophy likely evolved to enable isoleucine to serve as a host signal and virulence effector.

  8. Creativity and Innovation in the Context of Team-work: an Evaluation in the Self-management Cells and Quality Control Circles of Ambev S.C. Branch

    Directory of Open Access Journals (Sweden)

    Valeska Nahas Guimarães

    2007-01-01

    Full Text Available This paper is about changes in the business world. The main goal is to study the implications related to people’s creativity expression owing to work organization in small groups in the Ambev S.C. branch. This is a qualitative study based on a case study. 21 self-management circles and 18 quality control circles in the organization were found. The self management circles are responsible for achieving the organizational main goals and the quality control circles to bring best practices and new ideas. The result shows that quality control circles are more powerful than the self management circles as a space to develop people creativity and organizational innovation. It is relevant to stress that in the CCQs there are more multidisciplinary and common purpose guided to a collective objective desired by all the members of the team. On the other hand, in the CGA´s there are more discipline to accept the common tactics to people reach the objectives of the group and the corporative aims. The conclusion is that the changes in the business environment make the small work group very important to a company’s creativity and a fundamental strategy differentiation in the process of work organization in the context of the business world.

  9. Generalized-Disturbance Rejection Control for Vibration Suppression of Piezoelectric Laminated Flexible Structures

    Directory of Open Access Journals (Sweden)

    Xiao-Yu Zhang

    2018-01-01

    Full Text Available In the framework of disturbance rejection (DR control, the paper proposes a generalized-disturbance rejection (GDR control with proportional-integral (PI observer for vibration suppression of smart structures under any unknown continuous disturbances. In the proposed GDR-PI control, a refined state space model is first constructed, and a generalized disturbance including the disturbance influence matrices, unknown physical disturbances, and state variables is defined. In the closed loop of GDR-PI control, physical disturbances can be counteracted indirectly by feeding back estimated generalized disturbances. By this means, the GDR-PI control remedies most of the defects in conventional DR control and has excellent performances especially in the following situations: (i the disturbances are completely unknown; (ii the number of sensor signals is less than the number of disturbances; (iii the unknown disturbances vary fast. Finally, the GDR-PI control is validated and compared with H∞ state feedback control and conventional DR control available in the literature for vibration suppression of smart beams.

  10. Variable stiffness control of a single-link flexible robotic arm

    Science.gov (United States)

    Warkentin, A.; Semercigil, S. E.

    1995-10-01

    A case study is presented to demonstrate the use of variable stiffness control to attenuate the excessive oscillations of a single-link robotic arm. This relatively simple control technique actively changes the system's stiffness to take advantage of strain energy storage capabilities for different stiffnesses. The stiffness changes required for vibration control can be accomplished with minimal effort and without adding energy to the system, ensuring the stability of control. Numerical simulations predicted significant suppression of both transient and random vibrations. Simple experiments were performed to test the validity of the numerical predictions.

  11. CO2 temperature-controlled laser soldering of pig trachea incisions in vitro using flexible albumin bands

    Science.gov (United States)

    Sharvit, Dan; Vasilyev, Tamar; Vasserman, Irena; Simhon, David; Kariv, Naam; DeRowe, Ari; Katzir, Abraham

    2005-04-01

    Resection of a segment of the trachea is a procedure applied for the removal of cervical tumors invading the trachea, or for the treatment of severe tracheal stenosis. The current method of anastomosis is based on multiple sutures. The main drawbacks of this method are: 1) A long procedure time, 2) An air leakage, and 3) An inflammatory response to the sutures. In this study we evaluated the feasibility and effectiveness of the use of temperature controlled CO2 laser soldering of incisions in pig tracheas in vitro. A transverse incision was made in a separated pig trachea. A flexible albumin band was prepared and was laser soldered with albumin solder to the outer surface of the trachea, covering the incision. The soldered trachea ends were sealed and the burst pressure was measured. In a series of in vitro experiments, the mean burst pressure was found to be 230 mm Hg. These preliminary results demonstrated that laser soldering using a flexible albumin band may be a useful method for sealing an incision in the trachea.

  12. Controllability and flexibility analysis of CO2 post-combustion capture using piperazine and MEA

    DEFF Research Database (Denmark)

    Gaspar, Jozsef; Ricardez-Sandoval, Luis; Jørgensen, John Bagterp

    2016-01-01

    In this study, we developed a decentralized control scheme and investigate the performance of the piperazine (PZ) and monoethanolamine (MEA) CO2 capture process for industrially-relevant operation scenarios. The base for the design of the control schemes is Relative Gain Array (RGA) analysis comb...

  13. Beyond Rigid Body: Integrated Structural Control of Extremely Lightweight Flexible Aircraft

    Science.gov (United States)

    Bosworth, John T.

    2013-01-01

    Integrated structural control of extremely lightweight vehicles will open a new paradigm and allow for performance increases. The X-56A Multi-Utility Technology Testbed (MUTT) vehicle will be used to evaluate and advance the state-of-the-art in modeling and control of this new class of aerospace vehicle.

  14. Flexible Conflict Management: Conflict Avoidance and Conflict Adjustment in Reactive Cognitive Control

    Science.gov (United States)

    Dignath, David; Kiesel, Andrea; Eder, Andreas B.

    2015-01-01

    Conflict processing is assumed to serve two crucial, yet distinct functions: Regarding task performance, control is adjusted to overcome the conflict. Regarding task choice, control is harnessed to bias decision making away from the source of conflict. Despite recent theoretical progress, until now two lines of research addressed these…

  15. Active vibration control of a cylindrical structure using flexible piezoactuators: experimental work in air and water environments

    Science.gov (United States)

    Sohn, Jung Woo; Choi, Seung-Bok

    2014-10-01

    In the present work, the modal characteristics and vibration control performance of a cylindrical structure in air and water are experimentally investigated, and the results are presented in time and frequency domains. In order to achieve this goal, an end-capped cylindrical shell structure is considered as a host structure, and MFC (macro fiber composite) actuators, which are flexible, are bonded on the surface of the structure. After manufacturing a cylindrical shell structure with aluminum, a modal test is carried out, and the natural frequencies of the proposed structure are obtained and analyzed. To verify the modal test results, a finite element analysis is also performed, and the results are compared with the modal test results. By using the experimentally obtained modal characteristics, a state space control model is established. An optimal controller is then designed in order to control the unwanted vibration and is experimentally realized. It has been shown that the structural vibration can be effectively decreased with the optimal control methodology in both air and water environmental conditions.

  16. A Distributed Model Predictive Control approach for the integration of flexible loads, storage and renewables

    DEFF Research Database (Denmark)

    Ferrarini, Luca; Mantovani, Giancarlo; Costanzo, Giuseppe Tommaso

    2014-01-01

    This paper presents an innovative solution based on distributed model predictive controllers to integrate the control and management of energy consumption, energy storage, PV and wind generation at customer side. The overall goal is to enable an advanced prosumer to autoproduce part of the energy...... he needs with renewable sources and, at the same time, to optimally exploit the thermal and electrical storages, to trade off its comfort requirements with different pricing schemes (including real-time pricing), and apply optimal control techniques rather than sub-optimal heuristics....

  17. Role of Tulipa gesneriana TEOSINTE BRANCHED1 (TgTB1) in the control of axillary bud outgrowth in bulbs.

    Science.gov (United States)

    Moreno-Pachon, Natalia M; Mutimawurugo, Marie-Chantal; Heynen, Eveline; Sergeeva, Lidiya; Benders, Anne; Blilou, Ikram; Hilhorst, Henk W M; Immink, Richard G H

    2017-12-07

    Tulip vegetative reproduction. Tulips reproduce asexually by the outgrowth of their axillary meristems located in the axil of each bulb scale. The number of axillary meristems in one bulb is low, and not all of them grow out during the yearly growth cycle of the bulb. Since the degree of axillary bud outgrowth in tulip determines the success of their vegetative propagation, this study aimed at understanding the mechanism controlling the differential axillary bud activity. We used a combined physiological and "bottom-up" molecular approach to shed light on this process and found that first two inner located buds do not seem to experience dormancy during the growth cycle, while mid-located buds enter dormancy by the end of the growing season. Dormancy was assessed by weight increase and TgTB1 expression levels, a conserved TCP transcription factor and well-known master integrator of environmental and endogenous signals influencing axillary meristem outgrowth in plants. We showed that TgTB1 expression in tulip bulbs can be modulated by sucrose, cytokinin and strigolactone, just as it has been reported for other species. However, the limited growth of mid-located buds, even when their TgTB1 expression is downregulated, points at other factors, probably physical, inhibiting their growth. We conclude that the time of axillary bud initiation determines the degree of dormancy and the sink strength of the bud. Thus, development, apical dominance, sink strength, hormonal cross-talk, expression of TgTB1 and other possibly physical but unidentified players, all converge to determine the growth capacity of tulip axillary buds.

  18. Improved State Feedback H∞ Control for Flexible Air-Breathing Hypersonic Vehicles on LMI Approach

    Directory of Open Access Journals (Sweden)

    Zhang Xue

    2017-01-01

    Full Text Available Focusing on a nonlinear longitudinal dynamical model for Air-breathing Hypersonic Flight Vehicles (AHFV, a linearized model on a nominal trim condition is proposed. To stabilize the flight of an AHFV in the presence of external disturbances and actuator uncertainties, a state feedback H∞ control is designed. With bounds on the uncertainties, a feedback stabilization problem is converted to an optimal control problem and the cost function is minimized by solving a set of linear matrix inequalities. Since uncertainties in the design of AHFV are inevitable, to make a comparison, a general H∞ robust controller is constructed by only considering the disturbances firstly. Then the results are extended by incorporating the actual existing uncertainties as well as the external disturbances in the AHFV system. Numerical simulation shows that the controller, which takes both disturbances and uncertainties into account, can effectively stabilize the AHFV system.

  19. Model Predictive Control for Flexible Power Consumption of Large-Scale Refrigeration Systems

    DEFF Research Database (Denmark)

    Shafiei, Seyed Ehsan; Stoustrup, Jakob; Rasmussen, Henrik

    2014-01-01

    A model predictive control (MPC) scheme is introduced to directly control the electrical power consumption of large-scale refrigeration systems. Deviation from the baseline of the consumption is corresponded to the storing and delivering of thermal energy. By virtue of such correspondence......, the control method can be employed for regulating power services in the smart grid. The proposed scheme contains the control of cooling capacity as well as optimizing the efficiency factor of the system, which is in general a nonconvex optimization problem. By introducing a fictitious manipulated variable......, and novel incorporation of the evaporation temperature set-point into optimization problem, the convex optimization problem is formulated within the MPC scheme. The method is applied to a simulation benchmark of large-scale refrigeration systems including several medium and low temperature cold reservoirs....

  20. IPbus A flexible Ethernet-based control system for xTCA hardware

    CERN Document Server

    Williams, Thomas Stephen

    2014-01-01

    The ATCA and uTCA standards include industry-standard data pathway technologies such as Gigabit Ethernet which can be used for control communication, but no specific hardware control protocol is defined. The IPbus suite of software and firmware implements a reliable high-performance control link for particle physics electronics, and has successfully replaced VME control in several large projects. In this paper, we outline the IPbus system architecture, and describe recent developments in the reliability, scalability and performance of IPbus systems, carried out in preparation for deployment of uTCA-based CMS upgrades before the LHC 2015 run. We also discuss plans for future development of the IPbus suite.SUMMARY IPbus will be used for controlling the uTCA electronics in the CMS HCAL, TCDS, Pixel and Level-1 trigger upgrades. IPbus control has already been extensively used in the work of these upgrade projects so far, and final uTCA systems will be deployed in the experiment starting from Autumn 2014. IPbus is...

  1. Length-controlled few-walled carbon nanotubes and their effect on the electrical property of flexible transparent conductive films

    Science.gov (United States)

    Lee, Byeong-Joo; Shin, Eui-Chul; Jeong, Goo-Hwan

    2012-06-01

    We investigated the effect of the length of carbon nanotubes (CNTs) on the electrical property of CNT-based flexible, transparent, and conductive films (TCFs). We grew vertically aligned CNTs with controlled lengths, dispersed them in ethanol by ultrasonication, and spray coated them onto polyethylene terephthalate (PET) sheets. We focused on the variation in the sheet resistance and transmittance of the above-mentioned films as a function of the CNT length, and we found that the optimum CNT length was 200 μm. We concluded that the CNT length should be carefully optimized because a shorter tube affords the advantage of efficient dispersion, while a longer tube helps in reducing the number of contact points between tubes along the electrical conduction path.

  2. Delaying Ambulation Mode Transition Decisions Improves Accuracy of a Flexible Control System for Powered Knee-Ankle Prosthesis.

    Science.gov (United States)

    Simon, Ann M; Ingraham, Kimberly A; Spanias, John A; Young, Aaron J; Finucane, Suzanne B; Halsne, Elizabeth G; Hargrove, Levi J

    2017-08-01

    Powered lower limb prostheses can assist users in a variety of ambulation modes by providing knee and/or ankle joint power. This study's goal was to develop a flexible control system to allow users to perform a variety of tasks in a natural, accurate, and reliable way. Six transfemoral amputees used a powered knee-ankle prosthesis to ascend/descend a ramp, climb a 3- and 4-step staircase, perform walking and standing transitions to and from the staircase, and ambulate at various speeds. A mode-specific classification architecture was developed to allow seamless transitions at four discrete gait events. Prosthesis mode transitions (i.e., the prosthesis' mechanical response) were delayed by 90 ms. Overall, users were not affected by this small delay. Offline classification results demonstrate significantly reduced error rates with the delayed system compared to the non-delayed system (p knee-ankle prosthesis.

  3. Fuel flexibility via real-time Raman fuel-gas analysis for turbine system control

    Science.gov (United States)

    Buric, M.; Woodruff, S.; Chorpening, B.; Tucker, D.

    2015-06-01

    The modern energy production base in the U.S. is increasingly incorporating opportunity fuels such as biogas, coalbed methane, coal syngas, solar-derived hydrogen, and others. In many cases, suppliers operate turbine-based generation systems to efficiently utilize these diverse fuels. Unfortunately, turbine engines are difficult to control given the varying energy content of these fuels, combined with the need for a backup natural gas supply to provide continuous operation. Here, we study the use of a specially designed Raman Gas Analyzer based on capillary waveguide technology with sub-second response time for turbine control applications. The NETL Raman Gas Analyzer utilizes a low-power visible pump laser, and a capillary waveguide gas-cell to integrate large spontaneous Raman signals, and fast gas-transfer piping to facilitate quick measurements of fuel-gas components. A U.S. Department of Energy turbine facility known as HYPER (hybrid performance system) serves as a platform for apriori fuel composition measurements for turbine speed or power control. A fuel-dilution system is used to simulate a compositional upset while simultaneously measuring the resultant fuel composition and turbine response functions in real-time. The feasibility and efficacy of system control using the spontaneous Raman-based measurement system is then explored with the goal of illustrating the ability to control a turbine system using available fuel composition as an input process variable.

  4. Intelligent Control of Flexible Loads for Improving Low Voltage Grids Utilization

    DEFF Research Database (Denmark)

    Bjerregaard, Peter Thais; Szczesny, Ireneusz Grzegorz; Diaz de Cerio Mendaza, Iker

    2013-01-01

    Denmark has a plan to increase the amount of renewable energy in the power system in the coming decades. The wind power penetration is scheduled to increase to more than 50% by 2020. To cope with the high amount of fluctuating production, large power system reinforcements would be desirable....... In order to limit the need for reinforcements the smart grid concept is getting a lot of attention. As a part of the whole concept, an active demand response is expected from end-consumer’s units like heat pumps and electric vehicles. This paper looks into the challenge of controlling these units...... in an intelligent manner. A centralized control strategy is developed at the secondary substation level in order to maximize the grid utilization thereby reducing the need for grid reinforcements. The simulation results show that the control strategy allows heat pumps and electric vehicles to charge in a time...

  5. Model-Based Control Design for Flexible Rotors Supported by Active Gas Bearings - Theory & Experiment

    DEFF Research Database (Denmark)

    Pierart Vásquez, Fabián Gonzalo

    work, the control signal design is based on a theoretical model. This approach enables easy modifications of any of the numerous physical parameters in the system if needed. The theoretical model used is based on a modifed version of Reynolds equation where an extra term is added in order to include...... the critical speeds. In order to overcome such limitations, a mechatronic device has been proposed as a possible solution. This device named "hybrid active radial gas bearing" or simply "active gas bearing", combines an aerodynamic gas journal bearing with piezoelectrically controlled injectors. In the present...... frequencies and damping ratios of the rotor-bearing system) is performed and finally to design controllers that allows improvement of the dynamic properties of the rotor-active gas bearings system and lets the systemto safely cross the critical speeds, using the theoretical model as a design tool. The results...

  6. Integration of system identification and robust controller designs for flexible structures in space

    Science.gov (United States)

    Juang, Jer-Nan; Lew, Jiann-Shiun

    1990-01-01

    A novel approach is developed using experimental data from the structural testing of a physical system to identify a reduced-order model and its error for a robust controller design. There are three steps involved in the approach. First, an approximately balanced model is identified using the eigensystem realization algorithm, which is an identification algorithm. Second, the model error is calculated and described in frequency domain in terms of the H(infinity) norm. Third, a pole-placement technique in combination with an H(infinity) control method is applied to design a controller for the system. A set of experimental data from an existing setup, namely the Mini-Mast system, is used to illustrate and verify the approach development in this paper.

  7. Studies on distributed sensing and processing for the control of large flexible spacecraft

    Science.gov (United States)

    Montgomery, Raymond C.; Ghosh, Dave

    1991-01-01

    Technology is being developed to process signals from distributed sensors using distributed computations. These distributed sensors provide a new feedback capability for vibration control that has not been exploited. Additionally, the sensors proposed are of an optical and distributed nature and could be employed with known techniques of distributed optical computation (Fourier optics, etc.) to accomplish the control system functions of filtering and regulation in a distributed computer. This paper reviews a procedure for the analytic design of control systems for this application. For illustration, the procedure is applied to the problem of suppressing the vibrations of a simply supported beam. A simulator has been developed to study the effects of sensor and processing errors. An extensive study of the effects of these errors on estimation and regulation performance is presented.

  8. Flexible Control Strategy for Grid-Connected Inverter under Unbalanced Grid Faults without PLL

    DEFF Research Database (Denmark)

    Guo, Xiaoqiang; Liu, W.; Zhang, X.

    2015-01-01

    Power oscillation and current quality are the important performance targets for the grid-connected inverter under unbalanced grid faults. Firstly, the inherent reason for the current harmonic and power oscillation of the inverter is discussed with a quantitative analysis. Secondly, a new control...... strategy is proposed to achieve the coordinate control of power and current quality without the need for a phase-locked loop or voltage/current positive/negative sequence extraction calculation. Finally, the experimental tests are conducted under unbalanced grid faults, and the results verify...

  9. The immediate effect of bilateral self myofascial release on the plantar surface of the feet on hamstring and lumbar spine flexibility: A pilot randomised controlled trial.

    Science.gov (United States)

    Grieve, Rob; Goodwin, Faye; Alfaki, Mostapha; Bourton, Amey-Jay; Jeffries, Caitlin; Scott, Harriet

    2015-07-01

    Self myofascial release (SMR) via a tennis ball to the plantar aspect of the foot is widely used and advocated to increase flexibility and range of movement further along the posterior muscles of a proposed "anatomy train". To date there is no evidence to support the effect of bilateral SMR on the plantar aspect of the feet to increase hamstring and lumbar spine flexibility. The primary aim was to investigate the immediate effect of a single application of SMR on the plantar aspect of the foot, on hamstring and lumbar spine flexibility. The secondary aim was to evaluate the method and propose improvements in future research. A pilot single blind randomised control trial. Twenty four healthy volunteers (8 men, 16 women; mean age 28 years ± 11.13). Participants underwent screening to exclude hypermobility and were randomly allocated to an intervention (SMR) or control group (no therapy). Baseline and post intervention flexibility was assessed by a sit-and-reach test (SRT). A one way between groups analysis of covariance (ANCOVA) was conducted to compare between group outcome SRT measurements. Baseline pre-intervention and control SRT measurements were used as the covariate in the analysis. There was a significant increase (p = 0.03) in the intervention SRT outcome measurements compared to the control group, with a large effect size. An immediate clinical benefit of SMR on the flexibility of the hamstrings and lumbar spine was indicated and suggestions for methodological improvements may inform future research. Copyright © 2015. Published by Elsevier Ltd.

  10. Development of a process control computer device for the adaptation of flexible wind tunnel walls

    Science.gov (United States)

    Barg, J.

    1982-01-01

    In wind tunnel tests, the problems arise of determining the wall pressure distribution, calculating the wall contour, and controlling adjustment of the walls. This report shows how these problems have been solved for the high speed wind tunnel of the Technical University of Berlin.

  11. Experimental bifurcation analysis for a driven nonlinear flexible pendulum using control-based continuation

    DEFF Research Database (Denmark)

    Bureau, Emil; Schilder, Frank; Santos, Ilmar

    2011-01-01

    We present a software toolbox that allows to apply continuation methods directly to a controlled lab experiment. This toolbox enables us to systematically explore how stable and unstable steady state periodic vibrations depend on parameters. The toolbox is implemented partly in MATLAB and partly ...

  12. Power control flexibilities for grid-connected multi-functional photovoltaic inverters

    DEFF Research Database (Denmark)

    Yang, Yongheng; Blaabjerg, Frede; Wang, Huai

    2014-01-01

    of ancillary and intelligent services, like Low Voltage Ride-Through (LVRT), reactive power compensation, and reliability-oriented thermal management/control by PV systems is a key to attain higher utilization of solar energy. Those essential functionalities for the future PV inverters can contribute...

  13. Transaction oriented minicomputer allows flexible design of the controlled materials information system

    International Nuclear Information System (INIS)

    Jessen, T.D.

    1976-01-01

    The design of business data processing applications utilizing minicomputers requires special considerations throughout the development of the systems project. Minicomputer features, capabilities, and limitations must be closely examined prior to the implementation of the design phase. The design requirements of an inventory control minicomputer system currently being installed by the Data Processing Services Department of Lawrence Livermore Laboratory are presented

  14. Flexible method for fabricating protein patterns on superhydrophobic platforms controlled by magnetic field.

    Science.gov (United States)

    Wang, Jian; Li, Hao; Zou, Haoyang; Wang, Chenmiao; Zhang, Hao; Mano, João F; Song, Wenlong

    2017-02-28

    Inspired by the rolling of water droplets on lotus leaves, we developed a novel, magnetic field-controlled patterning method for water-soluble proteins and other functional materials on superhydrophobic platforms. This simple method can be used to fabricate biochips and open micro-fluidic devices in a simple way.

  15. Pandemic controllability: a concept to guide a proportionate and flexible operational response to future influenza pandemics.

    Science.gov (United States)

    McCaw, J M; Glass, K; Mercer, G N; McVernon, J

    2014-03-01

    The 2009 H1N1 influenza pandemic posed challenges for governments worldwide. Strategies designed to limit community transmission, such as antiviral deployment, were largely ineffective due to both feasibility constraints and the generally mild nature of disease, resulting in incomplete case ascertainment. Reviews of national pandemic plans have identified pandemic impact, primarily linked to measures of transmissibility and severity, as a key concept to incorporate into the next generation of plans. While an assessment of impact provides the rationale under which interventions may be warranted, it does not directly provide an assessment on whether particular interventions may be effective. Such considerations motivate our introduction of the concept of pandemic controllability. For case-targeted interventions, such as antiviral treatment and post-exposure prophylaxis, we identify the visibility and transmissibility of a pandemic as the key drivers of controllability. Taking a case-study approach, we suggest that high-impact pandemics, for which control is most desirable, are likely uncontrollable with case-targeted interventions. Strategies that do not rely on the identification of cases may prove relatively more effective. By introducing a pragmatic framework for relating the assessment of impact to the ability to mitigate an epidemic (controllability), we hope to address a present omission identified in pandemic response plans.

  16. Poisson branching point processes

    International Nuclear Information System (INIS)

    Matsuo, K.; Teich, M.C.; Saleh, B.E.A.

    1984-01-01

    We investigate the statistical properties of a special branching point process. The initial process is assumed to be a homogeneous Poisson point process (HPP). The initiating events at each branching stage are carried forward to the following stage. In addition, each initiating event independently contributes a nonstationary Poisson point process (whose rate is a specified function) located at that point. The additional contributions from all points of a given stage constitute a doubly stochastic Poisson point process (DSPP) whose rate is a filtered version of the initiating point process at that stage. The process studied is a generalization of a Poisson branching process in which random time delays are permitted in the generation of events. Particular attention is given to the limit in which the number of branching stages is infinite while the average number of added events per event of the previous stage is infinitesimal. In the special case when the branching is instantaneous this limit of continuous branching corresponds to the well-known Yule--Furry process with an initial Poisson population. The Poisson branching point process provides a useful description for many problems in various scientific disciplines, such as the behavior of electron multipliers, neutron chain reactions, and cosmic ray showers

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

    Science.gov (United States)

    2014-03-27

    Aeronautics and Space Administration. “F/A-18 High Alpha Research Vehicle”. http://www.nasa.gov/centers/ dryden /multimedia/imagegallery/F-18HARV/ index.html...lowerAccordion-set1-slide10, April 1989. 18 February 2014. [2] John D. Anderson. Fundamentals of Aerodynamics. McGraw-Hill, New York, 5th edition, 2011...Krishnakumar, John Kaneshige, and Pascal Nespeca. “Dynamics and Adaptive Control for Stability Recovery of Damaged Asymmetric Aircraft”. Technical report

  18. Recent development for improving the PWR flexibility to load follow and frequency control operation

    International Nuclear Information System (INIS)

    Dubourg, M.

    1983-01-01

    The increasing production of nuclear electricity generated by PWR in the French network will modify the operating conditions of these plants for adjusting the electricity generation to the consumption. For assessing the adequacy of main components, FRAMATOME, in conjunction with Electricite de France and the Commissariat a l'Energie Atomique has undertaken a large R and D effort and initiated significant design changes for sustaining the new operating modes including. Daily load follow and frequency remote dispatch operation (+- 5% random fluctuation load around a present value). These new operating conditions generate additional mechanical and thermal sollicitations due to the frequent motion of control rod banks, consisting of: a) Mechanical fatigue cycling and wear at the level of control rod drive mechanisms (CRDM), control rods and guides tubes. b) Wear and thermal fatigue cycling at the level of fuel assemblies. This paper will present the various aspects of this program including: Identification of the most critical areas of components; Basic research in laboratories for resolving wear problems in PWR environment; Improvement of local hydraulics for reducing loads; Endurance testing of full scale components on testing facilities. (orig./GL)

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

    Directory of Open Access Journals (Sweden)

    Beibei Wang

    2017-01-01

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

  20. Measurements of intraperitoneal pressure and the development of a feedback control valve for regulating pressure during flexible transgastric surgery (NOTES).

    Science.gov (United States)

    Bergström, Maria; Swain, Paul; Park, Per-Ola

    2007-07-01

    High intraabdominal pressures during laparoscopy (greater than 15 mm Hg) are dangerous. Pressures developed during translumenal endosurgery when using flexible endoscopes without feed-back regulation are unknown. To measure and control intraabdominal pressures during transgastric endosurgery. In a blinded study, intraabdominal pressures during unregulated transgastric cholecystectomy and tubal ligation were measured by using Veress needles in 5 pigs (group 1). The accessory channel valve of a double-channel gastroscope was modified to allow measurement and control of intraabdominal pressures with a laparoscopic insufflator. This was tested prospectively in another blinded study in 5 pigs (group 2) that underwent identical procedures to those in group 1, with independent Veress needle pressure measurements. This ethically approved study was performed in an experimental surgical operating theater. Transgastric cholecystectomy (n=4) and tubal resection (n=6). Intraabdominal pressure measurements during transgastric endosurgery, with and without feed-back control. The mean (standard deviation) number of pressure measurements per procedure greater than 20 mm Hg was 11+/-1.41 in group 1 and 0+/-0 in group 2 (PFeedback pressure regulation through a modified valve prevented overinflation.

  1. Flexible sample environment for high resolution neutron imaging at high temperatures in controlled atmosphere

    DEFF Research Database (Denmark)

    Makowska, Malgorzata G.; Kuhn, Luise Theil; Cleemann, Lars Nilausen

    2015-01-01

    High material penetration by neutrons allows for experiments using sophisticated sample environments providing complex conditions. Thus, neutron imaging holds potential for performing in situ nondestructive measurements on large samples or even full technological systems, which are not possible...... with any other technique. This paper presents a new sample environment for in situ high resolution neutron imaging experiments at temperatures from room temperature up to 1100 ◦C and/or using controllable flow of reactive atmospheres. The design also offers the possibility to directly combine imaging...

  2. Vibration control of a flexible rotor on variable parameter squeeze film damper

    Science.gov (United States)

    Wang, Chuanfa; Zhang, Azhou; Huang, Taiping

    1993-03-01

    In this paper, the effectiveness of VPSFD (Variable Parameter Squeeze Film Damper) parameter change on control of resonant amplitude of a simple rotor system, which has one disk at the center of the span on one squirrel-cage elastic bearing with VPSFD, is investigated. On the basis of steady state tests, the vibration suppression of the rotor through the first two critical speeds has been done. The results show that the first two resonant amplitudes will be greatly decreased and the rotor system will run smoothly through the first two critical speeds.

  3. Bundle Branch Block

    Science.gov (United States)

    ... 2015. Bundle branch block Symptoms & causes Diagnosis & treatment Advertisement Mayo Clinic does not endorse companies or products. ... a Job Site Map About This Site Twitter Facebook Google YouTube Pinterest Mayo Clinic is a not- ...

  4. Branching processes in biology

    CERN Document Server

    Kimmel, Marek

    2015-01-01

    This book provides a theoretical background of branching processes and discusses their biological applications. Branching processes are a well-developed and powerful set of tools in the field of applied probability. The range of applications considered includes molecular biology, cellular biology, human evolution and medicine. The branching processes discussed include Galton-Watson, Markov, Bellman-Harris, Multitype, and General Processes. As an aid to understanding specific examples, two introductory chapters, and two glossaries are included that provide background material in mathematics and in biology. The book will be of interest to scientists who work in quantitative modeling of biological systems, particularly probabilists, mathematical biologists, biostatisticians, cell biologists, molecular biologists, and bioinformaticians. The authors are a mathematician and cell biologist who have collaborated for more than a decade in the field of branching processes in biology for this new edition. This second ex...

  5. Modeling branching in cereals

    NARCIS (Netherlands)

    Evers, J.B.; Vos, J.

    2013-01-01

    Cereals and grasses adapt their structural development to environmental conditions and the resources available. The primary adaptive response is a variable degree of branching, called tillering in cereals. Especially for heterogeneous plant configurations the degree of tillering varies per plant.

  6. Air cooling analysis and design of impacted flexible actuator’s servo controller based on PLECS

    Directory of Open Access Journals (Sweden)

    Zhu Mingjun

    2017-01-01

    Full Text Available At present, SUAV (small unmanned aerial vehicle is developing with small shape, high dynamic performance and distributed structure. Meanwhile the power by wire, which can replace traditional hydraulic system to lighten weight and improve reliability, is important developing direction of actuator technology in future. When a plane which applies power by wire is doing high-g routine, the power devices’ loss is giant because of the high power. Thus it is necessary to design cooling structure to carry out heat from controller inner. To avoid over design and analyze more exactly, this paper introduces a method based on MATLAB and PLECS union Simulink to calculate controller’s loss. By power devices’ thermal resistance and working temperature referred from products manual, it is possible to define cooler’s size. Then we can achieve wind pressure and flow characteristic curve, and select the cooling fan. Compared with theory calculation, this method can achieve exact controller loss in different working conditions and take effects which influenced by temperature in consideration, by what we can avoid cooling structure’s over design.

  7. A flexible and reusable software for real-time control applications at JET

    International Nuclear Information System (INIS)

    De Tommasi, G.; Piccolo, F.; Sartori, F.

    2005-01-01

    The fast growth of the JET real-time control network and the increasing demand for new systems have been the triggers that started the development of the JETRT software framework. This new architecture is designed for maximum reuse and is particularly suited for implementation of both real-time control and data acquisition systems in a complex experimental environment such as JET. Most of the software is the same in all applications independent of the platform. The varying part is the project specific algorithm, which is also compiled into a separate software component, in order to achieve a separation from the plant interface code. This design choice maximises the software reliability, reduces development costs and allows non-specialist programmers to contribute to the implementation of real-time projects. JETRT also provides an integrated set of debugging and testing tools, some of them well integrated with the Matlab environment. This feature besides the framework portability among different platforms allows to perform most of the test and validation phase on a desktop PC running Windows, significantly reducing the commissioning time of a new real-time system

  8. A flexible analog memory address list manager/controller for PHENIX

    International Nuclear Information System (INIS)

    Ericson, M.N.; Walker, J.W.; Britton, C.L.; Wintenberg, A.L.; Young, G.R.

    1995-01-01

    A programmable analog memory address list manager/controller has been developed for use with all analog memory-based detector subsystems of PHENIX. The unit provides simultaneous read/write control, cell write-over protection for both a Level-1 trigger decision delay and digitization latency, and re-ordering of AMU addresses following conversion, at a beam crossing rate of 112 ns. Addresses are handled such that up to 5 Level-1 events can be maintained in the AMU without write-over. Data tagging is implemented for handling overlapping and shared beam event data packets. Full usage in all PHENIX analog memory-based detector sub-systems is accomplished by the use of detector-specific programmable parameters -- the number of data samples per Level-1 trigger valid and the swnple spacing. Architectural candidates for the system are discussed with emphasis on implementation implications. Details of the design are presented including design simulations, timing information, and test results from a full implementation using programmable logic devices

  9. Conflicting flexibility

    NARCIS (Netherlands)

    De Jong, P.; Schaap, A.

    2011-01-01

    New buildings are designed for first users. For a sustainable approach there are many advantages in designing in flexibility and adjustability in order to enable and facilitate the other sequential users. For the first investor this flexibility is translated into improved exit values due to

  10. Branching trajectory continual integral

    International Nuclear Information System (INIS)

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

    1980-01-01

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

  11. Branch management into micropipeline joint dot

    OpenAIRE

    Dimitar Tyanev; Stefka Popova

    2011-01-01

    This paper considers problems related to hardware implementation of computational process with conditional jumps. Hardware refers to asynchronous pipeline organization at microoperational level. Exploration is dedicated to one of the tasks presented in (Tyanev, D., 2009) concerning to micropipeline controller design to control micropipeline stage into joint dot of branch algorithm. Joint dot is the point at which few preceding branches are combined. It appears inevitably into conditional jump...

  12. A Flexible VHDL Floating Point Module for Control Algorithm Implementation in Space Applications

    Science.gov (United States)

    Padierna, A.; Nicoleau, C.; Sanchez, J.; Hidalgo, I.; Elvira, S.

    2012-08-01

    The implementation of control loops for space applications is an area with great potential. However, the characteristics of this kind of systems, such as its wide dynamic range of numeric values, make inadequate the use of fixed-point algorithms.However, because the generic chips available for the treatment of floating point data are, in general, not qualified to operate in space environments and the possibility of using an IP module in a FPGA/ASIC qualified for space is not viable due to the low amount of logic cells available for these type of devices, it is necessary to find a viable alternative.For these reasons, in this paper a VHDL Floating Point Module is presented. This proposal allows the design and execution of floating point algorithms with acceptable occupancy to be implemented in FPGAs/ASICs qualified for space environments.

  13. Flexible sample environment for high resolution neutron imaging at high temperatures in controlled atmosphere.

    Science.gov (United States)

    Makowska, Małgorzata G; Theil Kuhn, Luise; Cleemann, Lars N; Lauridsen, Erik M; Bilheux, Hassina Z; Molaison, Jamie J; Santodonato, Louis J; Tremsin, Anton S; Grosse, Mirco; Morgano, Manuel; Kabra, Saurabh; Strobl, Markus

    2015-12-01

    High material penetration by neutrons allows for experiments using sophisticated sample environments providing complex conditions. Thus, neutron imaging holds potential for performing in situ nondestructive measurements on large samples or even full technological systems, which are not possible with any other technique. This paper presents a new sample environment for in situ high resolution neutron imaging experiments at temperatures from room temperature up to 1100 °C and/or using controllable flow of reactive atmospheres. The design also offers the possibility to directly combine imaging with diffraction measurements. Design, special features, and specification of the furnace are described. In addition, examples of experiments successfully performed at various neutron facilities with the furnace, as well as examples of possible applications are presented. This covers a broad field of research from fundamental to technological investigations of various types of materials and components.

  14. Beneficial effect of branched-chain amino acid supplementation on glycemic control in chronic hepatitis C patients with insulin resistance: implications for type 2 diabetes.

    Science.gov (United States)

    Takeshita, Yumie; Takamura, Toshinari; Kita, Yuki; Ando, Hitoshi; Ueda, Teruyuki; Kato, Kenichiro; Misu, Hirofumi; Sunagozaka, Hajime; Sakai, Yoshio; Yamashita, Tatsuya; Mizukoshi, Eishiro; Honda, Masao; Kaneko, Shuichi

    2012-10-01

    Branched-chain amino acids (BCAAs) improve disorders of albumin metabolism, quality of life, subjective symptoms, and prognosis in patients with chronic hepatitis. However, it remains unclear whether they improve insulin resistance. We examined the effects of BCAAs on glucose tolerance and insulin sensitivity in patients with chronic hepatitis C and insulin resistance. Individuals with a definitive diagnosis of chronic hepatitis C and insulin resistance were eligible for participation. Eligible participants were randomly assigned to the BCAA group or a control group. Participants were then crossed over to the other treatment for a further 12 weeks. Baseline clinical features, laboratory markers, fatty acid levels, and insulin sensitivity, assessed with oral glucose tolerance tests and a hyperinsulinemic euglycemic clamp, were also examined before and 12 and 24 weeks after the beginning of the study. Of the 27 patients who completed the study, 14 began in the BCAA group and 13 began as controls. There were no significant differences in glucose metabolism parameters or lipid profiles between the groups. HbA1c values were improved in 10 patients and worsened or remained unchanged in 17 patients. The only predictive variable for change in HbA1c was the baseline Matsuda index: the lower the index, the greater the improvement in HbA1c values. BCAA therapy did not have adverse effects on glucose tolerance or insulin sensitivity in patients with chronic hepatitis C and insulin resistance. Moreover, it had a therapeutic effect on HbA1c values in patients with marked peripheral (primarily muscle) insulin resistance. Copyright © 2012 Elsevier Inc. All rights reserved.

  15. An archetypal mechanism for branching organogenesis

    Science.gov (United States)

    Clément, Raphaël; Mauroy, Benjamin

    2014-02-01

    Branched structures are ubiquitous in nature, both in living and non-living systems. While the functional benefits of branching organogenesis are straightforward, the developmental mechanisms leading to the repeated branching of epithelia in surrounding mesoderm remain unclear. Both molecular and physical aspects of growth control seem to play a critical role in shape emergence and maintenance. On the molecular side, the existence of a gradient of growth-promoting ligand between epithelial tips and distal mesenchyme seems to be common to branched organs. On the physical side, the branching process seems to require a mechanism of real-time adaptation to local geometry, as suggested by the self-avoiding nature of branching events. In this paper, we investigate the outcomes of a general three-dimensional growth model, in which epithelial growth is implemented as a function of ligand income, while the mesenchyme is considered as a proliferating viscous medium. Our results suggest that the existence of a gradient of growth-promoting ligand between distal and proximal mesenchyme implies a growth instability of the epithelial sheet, resulting in spontaneous self-avoiding branching morphogenesis. While the general nature of the model prevents one from fitting the development of specific organs, it suggests that few ingredients are actually required to achieve branching organogenesis.

  16. Joint nonlinearity effects in the design of a flexible truss structure control system

    Science.gov (United States)

    Mercadal, Mathieu

    1986-01-01

    Nonlinear effects are introduced in the dynamics of large space truss structures by the connecting joints which are designed with rather important tolerances to facilitate the assembly of the structures in space. The purpose was to develop means to investigate the nonlinear dynamics of the structures, particularly the limit cycles that might occur when active control is applied to the structures. An analytical method was sought and derived to predict the occurrence of limit cycles and to determine their stability. This method is mainly based on the quasi-linearization of every joint using describing functions. This approach was proven successful when simple dynamical systems were tested. Its applicability to larger systems depends on the amount of computations it requires, and estimates of the computational task tend to indicate that the number of individual sources of nonlinearity should be limited. Alternate analytical approaches, which do not account for every single nonlinearity, or the simulation of a simplified model of the dynamical system should, therefore, be investigated to determine a more effective way to predict limit cycles in large dynamical systems with an important number of distributed nonlinearities.

  17. Improvement of balance control ability and flexibility in the elderly Tai Chi Chuan (TCC) practitioners: a systematic review and meta-analysis.

    Science.gov (United States)

    Huang, Yijun; Liu, Xuemei

    2015-01-01

    Falls are the main cause of accidental death in the elderly people, which is associated with balance control ability and flexibility of the older adults. The purpose of this study was to evaluate the effect of TCC on the balance control and flexibility of the older adults. We searched the PubMed, Embase and Cochrane library with the deadline of May 15th, 2014. This meta-analysis was performed using RevMan5.0 software. The overall weighted mean difference (WMD) and its 95% confidence interval (CI) were calculated. A total of 7 randomized controlled trials including 1088 participants (544 TCC practitioners and 544 participants with other interventions) were considered in this meta-analysis. The pooled estimate of Get up and Go test (WMD=1.04; 95%CI: 0.67-1.41; PTCC significantly shorten the completion time of Get up and Go test of the older adults, indicating flexibility of older adults was improved by practicing TCC. The overall estimates of the single-leg stand test (WMD=5.33; 95%CI: 3.35-7.32; PTCC could significantly prolong the time of single-leg stand and improve the balance control ability of older adults. In conclusion, TCC practice was beneficial to improve the balance control ability and flexibility of older adults, which may be the reason of preventing falls. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

  18. Cognitive Flexibility Training: A Large-Scale Multimodal Adaptive Active-Control Intervention Study in Healthy Older Adults

    Directory of Open Access Journals (Sweden)

    Jessika I. V. Buitenweg

    2017-11-01

    Full Text Available As aging is associated with cognitive decline, particularly in the executive functions, it is essential to effectively improve cognition in older adults. Online cognitive training is currently a popular, though controversial method. Although some changes seem possible in older adults through training, far transfer, and longitudinal maintenance are rarely seen. Based on previous literature we created a unique, state-of-the-art intervention study by incorporating frequent sessions and flexible, novel, adaptive training tasks, along with an active control group. We created a program called TAPASS (Training Project Amsterdam Seniors and Stroke, a randomized controlled trial. Healthy older adults (60–80 y.o. were assigned to a frequent- (FS or infrequent switching (IS experimental condition or to the active control group and performed 58 half-hour sessions over the course of 12 weeks. Effects on executive functioning, processing- and psychomotor speed, planning, verbal long term memory, verbal fluency, and reasoning were measured on four time points before, during and after the training. Additionally, we examined the explorative question which individual aspects added to training benefit. Besides improvements on the training, we found significant time effects on multiple transfer tasks in all three groups that likely reflected retest effects. No training-specific improvements were detected, and we did not find evidence of additional benefits of individual characteristics. Judging from these results, the therapeutic value of using commercially available training games to train the aging brain is modest, though any apparent effects should be ascribed more to expectancy and motivation than to the elements in our training protocol. Our results emphasize the importance of using parallel tests as outcome measures for transfer and including both active and passive control conditions. Further investigation into different training methods is advised

  19. LPV H-infinity Control for the Longitudinal Dynamics of a Flexible Air-Breathing Hypersonic Vehicle

    Science.gov (United States)

    Hughes, Hunter Douglas

    This dissertation establishes the method needed to synthesize and simulate an Hinfinity Linear Parameter-Varying (LPV) controller for a flexible air-breathing hypersonic vehicle model. A study was conducted to gain the understanding of the elastic effects on the open loop system. It was determined that three modes of vibration would be suitable for the hypersonic vehicle model. It was also discovered from the open loop study that there is strong coupling in the hypersonic vehicle states, especially between the angle of attack, pitch rate, pitch attitude, and the exible modes of the vehicle. This dissertation outlines the procedure for synthesizing a full state feedback Hinfinity LPV controller for the hypersonic vehicle. The full state feedback study looked at both velocity and altitude tracking for the exible vehicle. A parametric study was conducted on each of these controllers to see the effects of changing the number of gridding points in the parameter space and changing the parameter variation rate limits in the system on the robust performance of the controller. As a result of the parametric study, a 7 x 7 grid ranging from Mach 7 to Mach 9 in velocity and from 70,000 feet to 90,000 feet in altitude, and a parameter variation rate limit of [.5 200]T was used for both the velocity tracking and altitude tracking cases. The resulting Hinfinity robust performances were gamma = 2.2224 for the velocity tracking case and = 1:7582 for the altitude tracking case. A linear analysis was then conducted on five different selected trim points from the Hinfinity LPV controller. This was conducted for the velocity tracking and altitude tracking cases. The results of linear analysis show that there is a slight difference in the response of the Hinfinity LPV controller and the fixed point H infinity controller. For the tracking task, the Hinfinity controller responds more quickly, and has a lower Hinfinity performance value. Next, the H infinity LPV controller was simulated

  20. Reversibly Bistable Flexible Electronics

    KAUST Repository

    Alfaraj, Nasir

    2015-05-01

    Introducing the notion of transformational silicon electronics has paved the way for integrating various applications with silicon-based, modern, high-performance electronic circuits that are mechanically flexible and optically semitransparent. While maintaining large-scale production and prototyping rapidity, this flexible and translucent scheme demonstrates the potential to transform conventionally stiff electronic devices into thin and foldable ones without compromising long-term performance and reliability. In this work, we report on the fabrication and characterization of reversibly bistable flexible electronic switches that utilize flexible n-channel metal-oxide-semiconductor field-effect transistors. The transistors are fabricated initially on rigid (100) silicon substrates before they are peeled off. They can be used to control flexible batches of light-emitting diodes, demonstrating both the relative ease of scaling at minimum cost and maximum reliability and the feasibility of integration. The peeled-off silicon fabric is about 25 µm thick. The fabricated devices are transferred to a reversibly bistable flexible platform through which, for example, a flexible smartphone can be wrapped around a user’s wrist and can also be set back to its original mechanical position. Buckling and cyclic bending of such host platforms brings a completely new dimension to the development of flexible electronics, especially rollable displays.

  1. Flexible-dose fesoterodine in elderly adults with overactive bladder: results of the randomized, double-blind, placebo-controlled study of fesoterodine in an aging population trial

    NARCIS (Netherlands)

    Wagg, Adrian; Khullar, Vik; Marschall-Kehrel, Daniela; Michel, Martin C.; Oelke, Matthias; Darekar, Amanda; Bitoun, Caty E.; Weinstein, David; Osterloh, Ian

    2013-01-01

    To assess the efficacy and safety of flexible-dose fesoterodine in elderly adults with overactive bladder (OAB). Twelve-week, randomized, double-blind, placebo-controlled trial. Sixty-one outpatient clinics in Europe, Israel, and Turkey. Seven hundred ninety-four individuals aged 65 and older (47%

  2. Command and Data Handling Branch Internship

    Science.gov (United States)

    Billings, Rachel Mae

    2016-01-01

    Modular Integrated Stackable Layers (MISL) is a computer system designed for simple, fast, and cost effective flexible reconfiguration in space environments such as the ISS and Orion projects for various uses. Existing applications include wireless and wired communications, data acquisition and instrumentation, and camera systems, and potential applications include bus protocol converters and subsystem control. MISL is based on Texas Instruments (TI)' MSP430 16-bit ultra-low-power microcontroller device. The purpose of my project was to integrate the MISL system with a liquid crystal display (LCD) touchscreen. The LCD, manufactured by Crystalfontz and part number CFAF320240F-035T-TS, is a 320 by 240 RGB resistive color screen including an optional carrier board. The vast majority of the project was done with Altium Designer, a tool for printed circuit board (PCB) schematic capture, 3D design, and FPGA (Field Programmable Gate Array) development. The new PCB was to allow the LCD to directly stack to the rest of MISL. Research was done with datasheets for the TI microcontroller and touchscreen display in order to meet desired hardware specifications. Documentation on prior MISL projects was also utilized. The initial step was to create a schematic for the LCD, power bus, and data bus connections between components. A layout was then designed with the required physical dimensions, routed traces and vias, power and ground planes, layer stacks, and other specified design rules such as plane clearance and hole size. Multiple consultation sessions were held with Hester Yim, the technical discipline lead for the Command and Data Handling Branch, and Christy Herring, the lead PCB layout designer in the Electronic Design and Manufacturing Branch in order to ensure proper configuration. At the moment, the PCB is awaiting revision by the latter-mentioned branch. Afterwards, the board will begin to undergo the manufacturing and testing process. Throughout the internship at

  3. Energy : branch out now

    International Nuclear Information System (INIS)

    Lebel, J.; Pluvinage, S

    2008-01-01

    This articled proposed the use of renewable energy sources to address the challenge of increasing energy demand and concerns about greenhouse gas emissions and climate change. Hydrocarbon exploitation is expected to peak by 2030, and while coal is still abundant, pollution increases with its utilization. The authors discussed the feasibility of using waste heat from industry to heat buildings. Solutions for urban traffic control were also discussed with reference to high quality public transportation, bicycle and pedestrian paths, and car pooling. Plans are underway to have about 20 hydrogen buses in circulation during the 2010 Olympic games in Whistler, British Columbia. Windpower has also become a major contender as a viable energy source, particularly with new technologies that have helped to maintain the efficiency of wind turbines. This article also discussed the use of biofuels derived from living matter. Bioenergy can be exploited from agricultural, forest or aquatic biomass. This biomass can be used to produce fuels or electricity. On a short term basis, the objective is to improve the yield of biogas, such as methane, from organic matter. The viability of deep geothermal energy was also discussed along with solar energy. Ideally, solar energy combines 3 types of technologies, notably passive, thermal and photovoltaic energy. Flexibility and affordability of materials are needed to facilitate the widespread commercialization of solar energy. The article concluded with a review of nuclear energy, which has been touted as the solution to climate change because it emits very few greenhouse gases and other atmospheric pollutants. 15 figs

  4. Flexible Holographic Fabrication of 3D Photonic Crystal Templates with Polarization Control through a 3D Printed Reflective Optical Element

    Directory of Open Access Journals (Sweden)

    David Lowell

    2016-07-01

    Full Text Available In this paper, we have systematically studied the holographic fabrication of three-dimensional (3D structures using a single 3D printed reflective optical element (ROE, taking advantage of the ease of design and 3D printing of the ROE. The reflective surface was setup at non-Brewster angles to reflect both s- and p-polarized beams for the interference. The wide selection of reflective surface materials and interference angles allow control of the ratio of s- and p-polarizations, and intensity ratio of side-beam to central beam for interference lithography. Photonic bandgap simulations have also indicated that both s and p-polarized waves are sometimes needed in the reflected side beams for maximum photonic bandgap size and certain filling fractions of dielectric inside the photonic crystals. The flexibility of single ROE and single exposure based holographic fabrication of 3D structures was demonstrated with reflective surfaces of ROEs at non-Brewster angles, highlighting the capability of the ROE technique of producing umbrella configurations of side beams with arbitrary angles and polarizations and paving the way for the rapid throughput of various photonic crystal templates.

  5. Vibration control of a flexible transmission shaft by means of a squeeze-film damper: An experimental investigation

    Science.gov (United States)

    Roberts, J. B.; Kaya, F.

    1987-03-01

    The effectiveness of a sealed squeeze-film damper, as a means of suppressing the vibration response of a rotating flexible power transmission shaft, has been studied experimentally. With the damper at an intermediate span position, comparisons have been made between the measured vibration response and corresponding theoretical predictions. At low speeds, up to a speed just beyond the first critical speed, the results indicated that the squeeze-film damper behaved linearly, with a frequency independent damping coefficient. This coefficient was found to be about four times the value predicted from conventional short-bearing lubrication theory. At higher rotational speeds there was evidence that the damping coefficient tended to increase with increasing rotational speed and complex non-linear behaviour was observed when the speed was about three times the first critical speed. Althouth quantitative prediction of the experimental rotor-bearing system response could not be obtained, at high rotational speeds, it was evident that the squeeze-film device could very adequately control the vibration response over a wide speed range, covering the first three critical speeds.

  6. Dopaminergic control of attentional flexibility: inhibition of return is associated with the dopamine transporter gene (DAT1

    Directory of Open Access Journals (Sweden)

    Lorenza S Colzato

    2010-07-01

    Full Text Available Genetic variability related to the dopamine (DA transporter gene (DAT1 has received increasing attention as a possible modulator of human cognition. The 9-repeat allele of the DAT1 gene is presumably associated with higher striatal DA levels than the 10-repeat allele, which might support inhibitory control functions. We investigated the impact of the DAT1 gene on the inhibition of return (IOR effect, which refers to the fact that people are slower to detect a target if it appears in a previously attended location. 140 healthy adults, genotyped for the DAT1 gene, performed an IOR task with stimulus-onset asynchronies between attention cue and target of 150-1200 ms. 9-repeat carriers showed more pronounced IOR effect than 10/10 homozygous at short stimulus-onset asynchronies but both groups of subjects eventually reached the same magnitude of IOR. Our findings support the idea that striatal DA levels promote IOR, presumably by biasing the interplay between prefrontal and striatal networks towards greater cognitive flexibility.

  7. A Flexible Spatial Framework for Modeling Spread of Pathogens in Animals with Biosurveillance and Disease Control Applications

    Directory of Open Access Journals (Sweden)

    Montiago X. LaBute

    2014-05-01

    Full Text Available Biosurveillance activities focus on acquiring and analyzing epidemiological and biological data to interpret unfolding events and predict outcomes in infectious disease outbreaks. We describe a mathematical modeling framework based on geographically aligned data sources and with appropriate flexibility that partitions the modeling of disease spread into two distinct but coupled levels. A top-level stochastic simulation is defined on a network with nodes representing user-configurable geospatial “patches”. Intra-patch disease spread is treated with differential equations that assume uniform mixing within the patch. We use U.S. county-level aggregated data on animal populations and parameters from the literature to simulate epidemic spread of two strikingly different animal diseases agents: foot-and-mouth disease and highly pathogenic avian influenza. Results demonstrate the capability of this framework to leverage low-fidelity data while producing meaningful output to inform biosurveillance and disease control measures. For example, we show that the possible magnitude of an outbreak is sensitive to the starting location of the outbreak, highlighting the strong geographic dependence of livestock and poultry infectious disease epidemics and the usefulness of effective biosurveillance policy. The ability to compare different diseases and host populations across the geographic landscape is important for decision support applications and for assessing the impact of surveillance, detection, and mitigation protocols.

  8. Right bundle branch block

    DEFF Research Database (Denmark)

    Bussink, Barbara E; Holst, Anders Gaarsdal; Jespersen, Lasse

    2013-01-01

    AimsTo determine the prevalence, predictors of newly acquired, and the prognostic value of right bundle branch block (RBBB) and incomplete RBBB (IRBBB) on a resting 12-lead electrocardiogram in men and women from the general population.Methods and resultsWe followed 18 441 participants included.......5%/2.3% in women, P Right bundle branch block was associated with significantly...... increased all-cause and cardiovascular mortality in both genders with age-adjusted hazard ratios (HR) of 1.31 [95% confidence interval (CI), 1.11-1.54] and 1.87 (95% CI, 1.48-2.36) in the gender pooled analysis with little attenuation after multiple adjustment. Right bundle branch block was associated...

  9. Energy Flexibility in Retail Buildings

    DEFF Research Database (Denmark)

    Ma, Zheng; Billanes, Joy Dalmacio; Kjærgaard, Mikkel Baun

    2017-01-01

    Retail buildings has an important role for demand side energy flexibility because of their high energy consumption, variety of energy flexibility resources, and centralized control via building control systems. Energy flexibility requires agreements and collaborations among different actors....... However, the stakeholders’ reaction to energy flexibility have not been fully investigated. Therefore, this paper aims to investigate the stakeholder involvement in energy flexibility by applying the business ecosystem concept (including actors, relationships, value alliances, and influential factors......), with the discussion of the stakeholders’ roles and their interrelation in delivering energy flexibility with the influential factors to the actual implementation of energy flexible operation of their buildings. Based on a literature analysis, the results cover stakeholders’ types and roles, perceptions (drivers...

  10. Tracheobronchial Branching Anomalies

    International Nuclear Information System (INIS)

    Hong, Min Ji; Kim, Young Tong; Jou, Sung Shick; Park, A Young

    2010-01-01

    There are various congenital anomalies with respect to the number, length, diameter, and location of tracheobronchial branching patterns. The tracheobronchial anomalies are classified into two groups. The first one, anomalies of division, includes tracheal bronchus, cardiac bronchus, tracheal diverticulum, pulmonary isomerism, and minor variations. The second one, dysmorphic lung, includes lung agenesis-hypoplasia complex and lobar agenesis-aplasia complex

  11. Tracheobronchial Branching Anomalies

    Energy Technology Data Exchange (ETDEWEB)

    Hong, Min Ji; Kim, Young Tong; Jou, Sung Shick [Soonchunhyang University, Cheonan Hospital, Cheonan (Korea, Republic of); Park, A Young [Soonchunhyang University College of Medicine, Asan (Korea, Republic of)

    2010-04-15

    There are various congenital anomalies with respect to the number, length, diameter, and location of tracheobronchial branching patterns. The tracheobronchial anomalies are classified into two groups. The first one, anomalies of division, includes tracheal bronchus, cardiac bronchus, tracheal diverticulum, pulmonary isomerism, and minor variations. The second one, dysmorphic lung, includes lung agenesis-hypoplasia complex and lobar agenesis-aplasia complex

  12. Radioiodinated branched carbohydrates

    Science.gov (United States)

    Goodman, Mark M.; Knapp, Jr., Furn F.

    1989-01-01

    A radioiodinated branched carbohydrate for tissue imaging. Iodine-123 is stabilized in the compound by attaching it to a vinyl functional group that is on the carbohydrate. The compound exhibits good uptake and retention and is promising in the development of radiopharmaceuticals for brain, heart and tumor imaging.

  13. Radioiodinated branched carbohydrates

    International Nuclear Information System (INIS)

    Goodman, M.M.; Knapp, F.F. Jr.

    1989-01-01

    A radioiodinated branched carbohydrate for tissue imaging. Iodine-123 is stabilized in the compound by attaching it to a vinyl functional group that is on the carbohydrate. The compound exhibits good uptake and retention and is promising in the development of radiopharmaceuticals for brain, heart and tumor imaging

  14. Renal Branch Artery Stenosis

    DEFF Research Database (Denmark)

    Andersson, Zarah; Thisted, Ebbe; Andersen, Ulrik Bjørn

    2017-01-01

    Renovascular hypertension is a common cause of pediatric hypertension. In the fraction of cases that are unrelated to syndromes such as neurofibromatosis, patients with a solitary stenosis on a branch of the renal artery are common and can be diagnostically challenging. Imaging techniques...

  15. Attitude and vibration control of a satellite containing flexible solar arrays by using reaction wheels, and piezoelectric transducers as sensors and actuators

    Science.gov (United States)

    da Fonseca, Ijar M.; Rade, Domingos A.; Goes, Luiz C. S.; de Paula Sales, Thiago

    2017-10-01

    The primary purpose of this paper is to provide insight into control-structure interaction for satellites comprising flexible appendages and internal moving components. The physical model considered herein aiming to attend such purpose is a rigid-flexible satellite consisting of a rigid platform containing two rotating flexible solar panels. The solar panels rotation is assumed to be in a sun-synchronous configuration mode. The panels contain surface-bonded piezoelectric patches that can be used either as sensors for the elastic displacements or as actuators to counteract the vibration motion. It is assumed that in the normal mode operation the satellite platform points towards the Earth while the solar arrays rotate so as to follow the Sun. The vehicle moves in a low Earth polar orbit. The technique used to obtain the mathematical model combines the Lagrangian formulation with the Finite Elements Method used to describe the dynamics of the solar panel. The gravity-gradient torque as well as the torque due to the interaction of the Earth magnetic field and the satellite internal residual magnetic moment is included as environmental perturbations. The actuators are three reaction wheels for attitude control and piezoelectric actuators to control the flexible motion of the solar arrays. Computer simulations are performed using the MATLAB® software package. The following on-orbit satellite operating configurations are object of analysis: i) Satellite pointing towards the Earth (Earth acquisition maneuver) by considering the initial conditions in the elastic displacement equal to zero, aiming the assessment of the flexible modes excitation by the referred maneuver; ii) the satellite pointing towards the Earth with the assumption of an initial condition different from zero for the flexible motion such that the attitude alterations are checked against the elastic motion disturbance; and iii) attitude acquisition accomplished by taking into account initial conditions

  16. A flexible and testable software architecture: applying presenter first to a device server for the DOOCS accelerator control system of the European XFEL

    International Nuclear Information System (INIS)

    Beckmann, A.; Karabekyan, S.; Pflüger, J.

    2012-01-01

    Presenter First (PF) uses a variant of Model View Presenter design pattern to add implementation flexibility and to improve testability of complex event-driven applications. It has been introduced in the context of GUI applications, but can easily be adapted to server applications. This paper describes how Presenter First methodology is used to develop a device server for the Programmable Logic Controls (PLC) of the European XFEL undulator systems, which are Windows PCs running PLC software from Beckhoff. The server implements a ZeroMQ message interface to the PLC allowing the DOOCS accelerator control system of the European XFEL to exchange data with the PLC by sending messages over the network. Our challenge is to develop a well-tested device server with a flexible architecture that allows integrating the server into other accelerator control systems like EPICS. (author)

  17. Business Management Adjusting - an integrated method to optimize business workflow. Holistic, flexible control systems; Business Management Adjusting - ein integrierter Ansatz. Ganzheitliches, flexibles Steuerungssystem

    Energy Technology Data Exchange (ETDEWEB)

    Wiedmann, K.P. [Hannover Univ. (Germany). Fachbereich Wirtschaftswissenschaften; Schlichting, R. [Isuma Consulting GmbH, Mannheim (Germany)

    2002-04-08

    The fields associated with energy supply companies change much faster. Constant changes are required for successful participation in market events. With business management adjusting (BMA), service companies receive effective instruments for the constant optimisation of their commercial processes. BMA processes in several places in the organization simultaneously. By providing management objectives and numerous options for fine adjustment, upper level managements acquires an intelligent control system. Companies-specific needs and the experiences of the employees are constantly being considered. (orig.) [German] Das Umfeld der Energieversorgungsunternehmen aendert sich immer schneller. Fuer eine erfolgreiche Teilnahme am Marktgeschehen sind stetige Veraenderungen erforderlich. Mit business management adjusting (BMA) bekommen Dienstleistungsunternehmen ein wirksames Instrumentarium zur stetigen Optimierung ihrer Geschaeftsprozesse. Dabei setzt BMA an mehreren Stellen gleichzeitig an. Durch Zielsetzungen und zahlreiche Moeglichkeiten der Feinjustierung erhalten die Fuehrungsebenen ein >>sich selbst immer weiter schaerfendes Steuerungssystem<<. Unternehmensspezifische Besonderheiten und die Erfahrungen der Mitarbeiter werden konsequent beruecksichtigt. (orig.)

  18. A flexible fluorescence correlation spectroscopy based method for quantification of the DNA double labeling efficiency with precision control

    International Nuclear Information System (INIS)

    Hou, Sen; Tabaka, Marcin; Sun, Lili; Trochimczyk, Piotr; Kaminski, Tomasz S; Kalwarczyk, Tomasz; Zhang, Xuzhu; Holyst, Robert

    2014-01-01

    We developed a laser-based method to quantify the double labeling efficiency of double-stranded DNA (dsDNA) in a fluorescent dsDNA pool with fluorescence correlation spectroscopy (FCS). Though, for quantitative biochemistry, accurate measurement of this parameter is of critical importance, before our work it was almost impossible to quantify what percentage of DNA is doubly labeled with the same dye. The dsDNA is produced by annealing complementary single-stranded DNA (ssDNA) labeled with the same dye at 5′ end. Due to imperfect ssDNA labeling, the resulting dsDNA is a mixture of doubly labeled dsDNA, singly labeled dsDNA and unlabeled dsDNA. Our method allows the percentage of doubly labeled dsDNA in the total fluorescent dsDNA pool to be measured. In this method, we excite the imperfectly labeled dsDNA sample in a focal volume of <1 fL with a laser beam and correlate the fluctuations of the fluorescence signal to get the FCS autocorrelation curves; we express the amplitudes of the autocorrelation function as a function of the DNA labeling efficiency; we perform a comparative analysis of a dsDNA sample and a reference dsDNA sample, which is prepared by increasing the total dsDNA concentration c (c > 1) times by adding unlabeled ssDNA during the annealing process. The method is flexible in that it allows for the selection of the reference sample and the c value can be adjusted as needed for a specific study. We express the precision of the method as a function of the ssDNA labeling efficiency or the dsDNA double labeling efficiency. The measurement precision can be controlled by changing the c value. (letter)

  19. Cyclic Bis-porphyrin-Based Flexible Molecular Containers: Controlling Guest Arrangements and Supramolecular Catalysis by Tuning Cavity Size.

    Science.gov (United States)

    Mondal, Pritam; Sarkar, Sabyasachi; Rath, Sankar Prasad

    2017-05-23

    Three cyclic zinc(II) bis-porphyrins (CB) with highly flexible linkers are employed as artificial molecular containers that efficiently encapsulate/coordinate various aromatic aldehydes within their cavities. Interestingly, the arrangements of guests and their reactivity inside the molecular clefts are significantly influenced by the cavity size of the cyclic containers. In the presence of polycyclic aromatic aldehydes, such as 3-formylperylene, as a guest, the cyclic bis-porphyrin host with a smaller cavity (CB1) forms a 1:1 sandwich complex. Upon slightly increasing the spacer length and thereby the cavity size, the cyclic host (CB2) encapsulates two molecules of 3-formylperylene that are also stacked together due to strong π-π interactions between them and CH-π interactions with the porphyrin rings. However, in the cyclic host (CB3) with an even larger cavity, two metal centers of the bis-porphyrin axially coordinate two molecules of 3-formylperylene within its cavity. Different arrangements of guest inside the cyclic bis-porphyrin hosts are investigated by using UV/Vis, ESI-MS, and 1 H NMR spectroscopy, along with X-ray structure determination of the host-guest complexes. Moreover, strong binding of guests within the cyclic bis-porphyrin hosts support the robust nature of the host-guest assemblies in solution. Such preferential binding of the bis-porphyrinic cavity towards aromatic aldehydes through encapsulation/coordination has been employed successfully to catalyze the Knoevenagel condensation of a series of polycyclic aldehydes with active methylene compounds (such as Meldrum's acid and 1, 3-dimethylbarbituric acid) under ambient conditions. Interestingly, the yields of the condensed products significantly increase upon increasing spacer lengths of the cyclic bis-porphyrins because more substrates can then be encapsulated within the cavity. Such controllable cavity size of the cyclic containers has profound implications for constructing highly

  20. The effect of flexible acrylic resin on masticatory muscle activity in implant-supported mandibular overdentures: a controlled clinical trial.

    Science.gov (United States)

    Ibraheem, Eman Mostafa Ahmed; Nassani, Mohammad Zakaria

    2016-01-01

    It is not yet clear from the current literature to what extent masticatory muscle activity is affected by the use of flexible acrylic resin in the construction of implant-supported mandibular overdentures. To compare masticatory muscle activity between patients who were provided with implant-supported mandibular overdentures constructed from flexible acrylic resin and those who were provided with implant-supported mandibular overdentures constructed from heat-cured conventional acrylic resin. In this clinical trial, 12 completely edentulous patients were selected and randomly allocated into two equal treatment groups. Each patient in Group 1 received two implants to support a mandibular overdenture made of conventional acrylic resin. In Group 2, the patients received two implants to support mandibular overdentures constructed from "Versacryl" flexible acrylic resin. The maxillary edentulous arch for patients in both groups was restored by conventional complete dentures. For all patients, masseter and temporalis muscle activity was evaluated using surface electromyography (sEMG). The results showed a significant decrease in masticatory muscle activity among patients with implant-supported mandibular overdentures constructed from flexible acrylic resin. The use of "Versacryl" flexible acrylic resin in the construction of implant-supported mandibular overdentures resulted in decreased masticatory muscle activity.

  1. The effect of flexible acrylic resin on masticatory muscle activity in implant-supported mandibular overdentures: a controlled clinical trial

    Science.gov (United States)

    Ibraheem, Eman Mostafa Ahmed; Nassani, Mohammad Zakaria

    2016-01-01

    Background It is not yet clear from the current literature to what extent masticatory muscle activity is affected by the use of flexible acrylic resin in the construction of implant-supported mandibular overdentures. Objective To compare masticatory muscle activity between patients who were provided with implant-supported mandibular overdentures constructed from flexible acrylic resin and those who were provided with implant-supported mandibular overdentures constructed from heat-cured conventional acrylic resin. Methods In this clinical trial, 12 completely edentulous patients were selected and randomly allocated into two equal treatment groups. Each patient in Group 1 received two implants to support a mandibular overdenture made of conventional acrylic resin. In Group 2, the patients received two implants to support mandibular overdentures constructed from “Versacryl” flexible acrylic resin. The maxillary edentulous arch for patients in both groups was restored by conventional complete dentures. For all patients, masseter and temporalis muscle activity was evaluated using surface electromyography (sEMG). Results The results showed a significant decrease in masticatory muscle activity among patients with implant-supported mandibular overdentures constructed from flexible acrylic resin. Conclusion The use of “Versacryl” flexible acrylic resin in the construction of implant-supported mandibular overdentures resulted in decreased masticatory muscle activity. PMID:26955445

  2. Beneficial effect of branched-chain amino acid supplementation on glycemic control in chronic hepatitis C patients with insulin resistance: Implications for type 2 diabetes

    OpenAIRE

    Takeshita, Yumie; Takamura, Toshinari; Kita, Yuki; Ando, Hitoshi; Ueda, Teruyuki; Kato, Kenichiro; Misu, Hirofumi; Sunagozaka, Hajime; Sakai, Yoshio; Yamashita, Tatsuya; Mizukoshi, Eishiro; Honda, Masao; Kaneko, Shuichi

    2012-01-01

    Branched-chain amino acids (BCAAs) improve disorders of albumin metabolism, quality of life, subjective symptoms, and prognosis in patients with chronic hepatitis. However, it remains unclear whether they improve insulin resistance. We examined the effects of BCAAs on glucose tolerance and insulin sensitivity in patients with chronic hepatitis C and insulin resistance. Individuals with a definitive diagnosis of chronic hepatitis C and insulin resistance were eligible for participation. Eligib...

  3. The interaction between nitrogen availability and auxin, cytokinin, and strigolactone in the control of shoot branching in rice (Oryza sativa L.).

    Science.gov (United States)

    Xu, Junxu; Zha, Manrong; Li, Ye; Ding, Yanfeng; Chen, Lin; Ding, Chengqiang; Wang, Shaohua

    2015-09-01

    Nitrogen availability and cytokinin could promote shoot branching in rice, whereas auxin and strigolactone inhibited it. The interaction between nitrogen availability and the three hormones is discussed. Rice shoot branching is strongly affected by nitrogen availability and the plant hormones auxin, cytokinin, and strigolactone; however, the interaction of them in the regulation of rice shoot branching remains a subject of debate. In the present study, nitrogen and the three hormones were used to regulate rice tiller bud growth in the indica rice variety Yangdao 6. Both nitrogen and CK promoted shoot branching in rice, whereas auxin and SL inhibited it. We used HPLC to determine the amounts of endogenous IAA and CK, and we used quantitative real-time PCR analysis to quantify the expression levels of several genes. Nitrogen enhanced the amount of CK by promoting the expression levels of OsIPTs in nodes. In addition, both nitrogen and CK downregulated the expression of genes related to SL synthesis in root and nodes, implying that the inhibition of SL synthesis by nitrogen may occur at least partially through the CK pathway. SL did not significantly reduce the amount of CK or the expression levels of OsIPT genes, but it did significantly reduce the amount of auxin and the auxin transport capacity in nodes. Auxin itself inhibited CK synthesis and promoted SL synthesis in nodes rather than in roots. Furthermore, we found that CK and SL quickly reduced and increased the expression of FC1 in buds, respectively, implying that FC1 might be a common target for the CK and SL pathways. Nitrogen and auxin delayed expression change patterns of FC1, potentially by changing the downstream signals for CK and SL.

  4. Branching structure and strain hardening of branched metallocene polyethylenes

    International Nuclear Information System (INIS)

    Torres, Enrique; Li, Si-Wan; Costeux, Stéphane; Dealy, John M.

    2015-01-01

    There have been a number of studies of a series of branched metallocene polyethylenes (BMPs) made in a solution, continuous stirred tank reactor (CSTR) polymerization. The materials studied vary in branching level in a systematic way, and the most highly branched members of the series exhibit mild strain hardening. An outstanding question is which types of branched molecules are responsible for strain hardening in extension. This question is explored here by use of polymerization and rheological models along with new data on the extensional flow behavior of the most highly branched members of the set. After reviewing all that is known about the effects of various branching structures in homogeneous polymers and comparing this with the structures predicted to be present in BMPs, it is concluded that in spite of their very low concentration, treelike molecules with branch-on-branch structure provide a large number of deeply buried inner segments that are essential for strain hardening in these polymers

  5. Branching structure and strain hardening of branched metallocene polyethylenes

    Energy Technology Data Exchange (ETDEWEB)

    Torres, Enrique; Li, Si-Wan; Costeux, Stéphane; Dealy, John M., E-mail: john.dealy@mcgill.ca [Department of Chemical Engineering, McGill University, Montreal, Quebec H3A 0C4 (Canada)

    2015-09-15

    There have been a number of studies of a series of branched metallocene polyethylenes (BMPs) made in a solution, continuous stirred tank reactor (CSTR) polymerization. The materials studied vary in branching level in a systematic way, and the most highly branched members of the series exhibit mild strain hardening. An outstanding question is which types of branched molecules are responsible for strain hardening in extension. This question is explored here by use of polymerization and rheological models along with new data on the extensional flow behavior of the most highly branched members of the set. After reviewing all that is known about the effects of various branching structures in homogeneous polymers and comparing this with the structures predicted to be present in BMPs, it is concluded that in spite of their very low concentration, treelike molecules with branch-on-branch structure provide a large number of deeply buried inner segments that are essential for strain hardening in these polymers.

  6. The effect of different foot orthoses on pain and health related quality of life in painful flexible flat foot: a randomized controlled trial.

    Science.gov (United States)

    Yurt, Yasin; Şener, Gül; Yakut, Yavuz

    2018-03-16

    Foot orthoses are widely used in conservative treatment of painful flexible flatfoot however research is limited to choose the best option in orthotic treatment. We aimed to compare the effects of computer-aided design/computer-aided manufacturing (CAD-CAM) and conventional insole types in comparison with sham insole, on pain and health related quality of life in patients with painful flexible flatfoot. Randomized controlled trial. Outpatient rehabilitation clinic. Sixty-seven people with painful flexible flatfoot, aged between 18 and 45 years, were assigned to CAD-CAM (n=22), conventional (n=22) or sham (n=23) groups. In addition to insoles, a home-based exercise program was followed by all participants for eight weeks. Foot pain intensity and quality of life were assessed at the initial evaluation and at the end of two-month follow-up. Pain intensity (Mean±SD, mm on VAS) was significantly lower in CAD-CAM (27.84±18.41) and conventional (27.05±16.82) insole groups than sham group (46.39±20.18) after two months (p.05). All groups had significantly higher physical health scores at the second assessment (p.05). CAD-CAM and conventionally designed insoles are both more effective than having sham insole in alleviating pain in painful flexible flatfoot. CAD-CAM and conventionally designed semicustom insoles in conjunction with a home-based exercise program are both effective in controlling pain compared with sham insole and exercise in painful flexible flatfoot. Clinicians can prescribe both types of semicustom insoles as a part of conservative treatment instead of each other.

  7. Flexible Consumption

    DEFF Research Database (Denmark)

    Holm Jacobsen, Peter; Pallesen, Trine

    This report presents the first findings from our qualitative study of consumer behaviour vis-à-vis flexible consumption. The main of objective of this report is to present our first round of data from Bornholm, and to assist the design of products/services designed in WP6. In the report, we adopt...

  8. Flexibility conflict?

    NARCIS (Netherlands)

    Delsen, L.W.M.; Bauer, F.; Groß, H.; Sieglen, G.

    2002-01-01

    The chapter deals with the presupposed conflict of interests between employers and employees resulting from a decoupling of operating hours and working times. It starts from the notion that both long operating hours and flexibility are relative concepts. As there is some discretion, the ultimate

  9. State-set branching

    DEFF Research Database (Denmark)

    Jensen, Rune Møller; Veloso, Manuela M.; Bryant, Randal E.

    2008-01-01

    In this article, we present a framework called state-set branching that combines symbolic search based on reduced ordered Binary Decision Diagrams (BDDs) with best-first search, such as A* and greedy best-first search. The framework relies on an extension of these algorithms from expanding a single...... state in each iteration to expanding a set of states. We prove that it is generally sound and optimal for two A* implementations and show how a new BDD technique called branching partitioning can be used to efficiently expand sets of states. The framework is general. It applies to any heuristic function...... framework. The algorithms outperform the ordinary A* algorithm in almost all domains. In addition, they can improve the complexity of A* exponentially and often dominate both A* and blind BDD-based search by several orders of magnitude. Moreover, they have substantially better performance than BDDA...

  10. Bisexual branching diffusions

    Science.gov (United States)

    Mytnik, Leonid; Adler, Robert J.

    1993-12-01

    The limiting behavior of large systems of two types of Brownian particles undergoing bisexual branching is studied. Particles of each type generate individuals of both types, and the respective branching law is asymptotically critical for the two dimensional system, while being subcritical for each individual population. The main result of the paper is that the limiting behavior of suitably scaled sums and differences of the two populations is given by a pair of measure and distribution valued processes which, together, determine the limit behaviors of the individual populations. Proofs are based on the martingale problem approach to general state space processes. The fact that the limit involves both measure and distribution valued processes requires the development of some new methodologies of independent interest.

  11. Tau leptonic branching ratios

    CERN Document Server

    Buskulic, Damir; De Bonis, I; Décamp, D; Ghez, P; Goy, C; Lees, J P; Lucotte, A; Minard, M N; Odier, P; Pietrzyk, B; Ariztizabal, F; Chmeissani, M; Crespo, J M; Efthymiopoulos, I; Fernández, E; Fernández-Bosman, M; Gaitan, V; Garrido, L; Martínez, M; Orteu, S; Pacheco, A; Padilla, C; Palla, Fabrizio; Pascual, A; Perlas, J A; Sánchez, F; Teubert, F; Colaleo, A; Creanza, D; De Palma, M; Farilla, A; Gelao, G; Girone, M; Iaselli, Giuseppe; Maggi, G; Maggi, M; Marinelli, N; Natali, S; Nuzzo, S; Ranieri, A; Raso, G; Romano, F; Ruggieri, F; Selvaggi, G; Silvestris, L; Tempesta, P; Zito, G; Huang, X; Lin, J; Ouyang, Q; Wang, T; Xie, Y; Xu, R; Xue, S; Zhang, J; Zhang, L; Zhao, W; Bonvicini, G; Cattaneo, M; Comas, P; Coyle, P; Drevermann, H; Engelhardt, A; Forty, Roger W; Frank, M; Hagelberg, R; Harvey, J; Jacobsen, R; Janot, P; Jost, B; Kneringer, E; Knobloch, J; Lehraus, Ivan; Markou, C; Martin, E B; Mato, P; Minten, Adolf G; Miquel, R; Oest, T; Palazzi, P; Pater, J R; Pusztaszeri, J F; Ranjard, F; Rensing, P E; Rolandi, Luigi; Schlatter, W D; Schmelling, M; Schneider, O; Tejessy, W; Tomalin, I R; Venturi, A; Wachsmuth, H W; Wiedenmann, W; Wildish, T; Witzeling, W; Wotschack, J; Ajaltouni, Ziad J; Bardadin-Otwinowska, Maria; Barrès, A; Boyer, C; Falvard, A; Gay, P; Guicheney, C; Henrard, P; Jousset, J; Michel, B; Monteil, S; Montret, J C; Pallin, D; Perret, P; Podlyski, F; Proriol, J; Rossignol, J M; Saadi, F; Fearnley, Tom; Hansen, J B; Hansen, J D; Hansen, J R; Hansen, P H; Nilsson, B S; Kyriakis, A; Simopoulou, Errietta; Siotis, I; Vayaki, Anna; Zachariadou, K; Blondel, A; Bonneaud, G R; Brient, J C; Bourdon, P; Passalacqua, L; Rougé, A; Rumpf, M; Tanaka, R; Valassi, Andrea; Verderi, M; Videau, H L; Candlin, D J; Parsons, M I; Focardi, E; Parrini, G; Corden, M; Delfino, M C; Georgiopoulos, C H; Jaffe, D E; Antonelli, A; Bencivenni, G; Bologna, G; Bossi, F; Campana, P; Capon, G; Chiarella, V; Felici, G; Laurelli, P; Mannocchi, G; Murtas, F; Murtas, G P; Pepé-Altarelli, M; Dorris, S J; Halley, A W; ten Have, I; Knowles, I G; Lynch, J G; Morton, W T; O'Shea, V; Raine, C; Reeves, P; Scarr, J M; Smith, K; Smith, M G; Thompson, A S; Thomson, F; Thorn, S; Turnbull, R M; Becker, U; Braun, O; Geweniger, C; Graefe, G; Hanke, P; Hepp, V; Kluge, E E; Putzer, A; Rensch, B; Schmidt, M; Sommer, J; Stenzel, H; Tittel, K; Werner, S; Wunsch, M; Beuselinck, R; Binnie, David M; Cameron, W; Colling, D J; Dornan, Peter J; Konstantinidis, N P; Moneta, L; Moutoussi, A; Nash, J; San Martin, G; Sedgbeer, J K; Stacey, A M; Dissertori, G; Girtler, P; Kuhn, D; Rudolph, G; Bowdery, C K; Brodbeck, T J; Colrain, P; Crawford, G; Finch, A J; Foster, F; Hughes, G; Sloan, Terence; Whelan, E P; Williams, M I; Galla, A; Greene, A M; Kleinknecht, K; Quast, G; Raab, J; Renk, B; Sander, H G; Wanke, R; Van Gemmeren, P; Zeitnitz, C; Aubert, Jean-Jacques; Bencheikh, A M; Benchouk, C; Bonissent, A; Bujosa, G; Calvet, D; Carr, J; Diaconu, C A; Etienne, F; Thulasidas, M; Nicod, D; Payre, P; Rousseau, D; Talby, M; Abt, I; Assmann, R W; Bauer, C; Blum, Walter; Brown, D; Dietl, H; Dydak, Friedrich; Ganis, G; Gotzhein, C; Jakobs, K; Kroha, H; Lütjens, G; Lutz, Gerhard; Männer, W; Moser, H G; Richter, R H; Rosado-Schlosser, A; Schael, S; Settles, Ronald; Seywerd, H C J; Saint-Denis, R; Wolf, G; Alemany, R; Boucrot, J; Callot, O; Cordier, A; Courault, F; Davier, M; Duflot, L; Grivaz, J F; Heusse, P; Jacquet, M; Kim, D W; Le Diberder, F R; Lefrançois, J; Lutz, A M; Musolino, G; Nikolic, I A; Park, H J; Park, I C; Schune, M H; Simion, S; Veillet, J J; Videau, I; Abbaneo, D; Azzurri, P; Bagliesi, G; Batignani, G; Bettarini, S; Bozzi, C; Calderini, G; Carpinelli, M; Ciocci, M A; Ciulli, V; Dell'Orso, R; Fantechi, R; Ferrante, I; Foà, L; Forti, F; Giassi, A; Giorgi, M A; Gregorio, A; Ligabue, F; Lusiani, A; Marrocchesi, P S; Messineo, A; Rizzo, G; Sanguinetti, G; Sciabà, A; Spagnolo, P; Steinberger, Jack; Tenchini, Roberto; Tonelli, G; Triggiani, G; Vannini, C; Verdini, P G; Walsh, J; Betteridge, A P; Blair, G A; Bryant, L M; Cerutti, F; Gao, Y; Green, M G; Johnson, D L; Medcalf, T; Mir, L M; Perrodo, P; Strong, J A; Bertin, V; Botterill, David R; Clifft, R W; Edgecock, T R; Haywood, S; Edwards, M; Maley, P; Norton, P R; Thompson, J C; Bloch-Devaux, B; Colas, P; Emery, S; Kozanecki, Witold; Lançon, E; Lemaire, M C; Locci, E; Marx, B; Pérez, P; Rander, J; Renardy, J F; Roussarie, A; Schuller, J P; Schwindling, J; Trabelsi, A; Vallage, B; Johnson, R P; Kim, H Y; Litke, A M; McNeil, M A; Taylor, G; Beddall, A; Booth, C N; Boswell, R; Cartwright, S L; Combley, F; Dawson, I; Köksal, A; Letho, M; Newton, W M; Rankin, C; Thompson, L F; Böhrer, A; Brandt, S; Cowan, G D; Feigl, E; Grupen, Claus; Lutters, G; Minguet-Rodríguez, J A; Rivera, F; Saraiva, P; Smolik, L; Stephan, F; Apollonio, M; Bosisio, L; Della Marina, R; Giannini, G; Gobbo, B; Ragusa, F; Rothberg, J E; Wasserbaech, S R; Armstrong, S R; Bellantoni, L; Elmer, P; Feng, Z; Ferguson, D P S; Gao, Y S; González, S; Grahl, J; Harton, J L; Hayes, O J; Hu, H; McNamara, P A; Nachtman, J M; Orejudos, W; Pan, Y B; Saadi, Y; Schmitt, M; Scott, I J; Sharma, V; Turk, J; Walsh, A M; Wu Sau Lan; Wu, X; Yamartino, J M; Zheng, M; Zobernig, G

    1996-01-01

    A sample of 62249 \\tau-pair events is selected from data taken with the ALEPH detector in 1991, 1992 and 1993. The measurement of the branching fractions for \\tau decays into electrons and muons is presented with emphasis on the study of systematic effects from selection, particle identification and decay classification. Combined with the most recent ALEPH determination of the \\tau lifetime, these results provide a relative measurement of the leptonic couplings in the weak charged current for transverse W bosons.

  12. The Role of Thoracic Medial Branch Blocks in Managing Chronic Mid and Upper Back Pain: A Randomized, Double-Blind, Active-Control Trial with a 2-Year Followup

    Directory of Open Access Journals (Sweden)

    Laxmaiah Manchikanti

    2012-01-01

    Full Text Available Study Design. A randomized, double-blind, active-control trial. Objective. To determine the clinical effectiveness of therapeutic thoracic facet joint nerve blocks with or without steroids in managing chronic mid back and upper back pain. Summary of Background Data. The prevalence of thoracic facet joint pain has been established as 34% to 42%. Multiple therapeutic techniques utilized in managing chronic thoracic pain of facet joint origin include medial branch blocks, radiofrequency neurotomy, and intraarticular injections. Methods. This randomized double-blind active controlled trial was performed in 100 patients with 50 patients in each group who received medial branch blocks with local anesthetic alone or local anesthetic and steroids. Outcome measures included the numeric rating scale (NRS, Oswestry Disability Index (ODI, opioid intake, and work status, at baseline, 3, 6, 12, 18, and 24 months. Results. Significant improvement with significant pain relief and functional status improvement of 50% or more were observed in 80% of the patients in Group I and 84% of the patients in Group II at 2-year followup. Conclusions. Therapeutic medial branch blocks of thoracic facets with or without steroids may provide a management option for chronic function-limiting thoracic pain of facet joint origin.

  13. Induced chorioretinal venous anastomosis in experimental retinal branch vein occlusion.

    OpenAIRE

    McAllister, I L; Yu, D Y; Vijayasekaran, S; Barry, C; Constable, I

    1992-01-01

    Iatrogenic retinal vein to choroidal vein anastomoses were created using laser photocoagulation in six of seven dog eyes in which a partial branch retinal vein occlusion had previously been created photochemically. A similar attempt to create an anastomosis was made in six control eyes in which no branch vein occlusion was present. In the eyes in which a branch retinal vein had been created, a venous chorioretinal anastomosis appeared to be present by 3 to 6 weeks. In three control eyes simil...

  14. On using an array of fiber bragg grating sensors for closed-loop control of flexible minimally invasive surgical instruments

    NARCIS (Netherlands)

    Roesthuis, Roy; Janssen, Sander; Misra, Sarthak

    2013-01-01

    Flexible minimally invasive surgical instruments can be used to target difficult-to-reach locations within the human body. Accurately steering these instruments requires information about the three-dimensional shape of the instrument. In the current study, we use an array of Fiber Bragg Grating

  15. Feedback-Controlled Lubrication for Reducing the Lateral Vibration of Flexible Rotors supported by Tilting-Pad Journal Bearings

    DEFF Research Database (Denmark)

    Salazar, Jorge Andrés González; Santos, Ilmar

    2014-01-01

    to experimentally characterized multi-input multi-output systems is used to determine the stabilizing PD gain domain. The main contribution of this work is to demonstrate the enhancement of the dynamic response of a flexible rotor-bearing system supported by an active TPJB by means of the feedback...

  16. Controlling the enthalpy-entropy competition in supramolecular fullerene liquid crystals by tuning the flexible chain length.

    Science.gov (United States)

    Zhu, Tiantian; Zhang, Xiaoyan; Li, Zhikai; Hsu, Chih-Hao; Chen, Wei; Miyoshi, Toshikazu; Li, Xiaohong; Yang, Xiaoming; Tu, Yingfeng; Li, Christopher Y

    2017-07-20

    We present here that in two-dimensional (2D) fullerene supramolecular liquid crystals (SLCs), the phase diagram and lamella thickness of SLCs and 2D crystals can be tuned by the flexible alkyl tail and spacer length, due to their different effects on enthalpy and entropy changes during SLC formation.

  17. How Performance-Contingent Reward Prospect Modulates Cognitive Control: Increased Cue Maintenance at the Cost of Decreased Flexibility

    Science.gov (United States)

    Hefer, Carmen; Dreisbach, Gesine

    2017-01-01

    Growing evidence suggests that reward prospect promotes cognitive stability in terms of increased context or cue maintenance. In 3 Experiments, using different versions of the AX-continuous performance task, we investigated whether this reward effect comes at the cost of decreased cognitive flexibility. Experiment 1 shows that the reward induced…

  18. Feedback-controlled lubrication for reducing the lateral vibration of flexible rotors supported by tilting-pad journal bearings

    DEFF Research Database (Denmark)

    Salazar, Jorge Andrés González; Santos, Ilmar

    2015-01-01

    function is optimized in the stabilizing gain domain and then chosen from a subdomain imposed by servovalve restrictions. This work demonstrates enhancements of the dynamic response of flexible rotor-bearing systems supported by an active tilting-pad journal bearing by means of the feedback...

  19. Mid-season targeted selective anthelmintic treatment based on flexible weight gain threshold for nematode infection control in dairy calves.

    Science.gov (United States)

    Merlin, A; Ravinet, N; Madouasse, A; Bareille, N; Chauvin, A; Chartier, C

    2017-10-09

    The suitability of a single mid-season targeted selective treatment (TST) for gastrointestinal nematodes control, based on flexible average daily weight gain (ADWG) thresholds, was investigated in 23 groups of first grazing season calves. In each group, animals were weighed three times: before turnout, at mid-season and at housing. Just after the first weighing, each group was divided in two homogenous sub-groups in terms of age, breed and weight, and randomly allocated to one of two sub-groups intented for two different mid-season anthelmintic treatment strategies: (1) a treatment of all calves composing the sub-group (whole-group treatment (WT)) or (2) a targeted selective weight gain-based treatment (TST) of the animals showing an individual pre-treatment ADWG inferior to the mean pre-treatment ADWG of the corresponding WT sub-group. Anthelmintic treatment (levamisole 7.5 mg/kg BW) was performed 3 to 4 months after turnout. At housing, two parasitological parameters (the anti-Ostertagia ostertagi antibody level-Ostertagia optical density ratio (ODR) and the pepsinogen level) and a clinical parameter (the breech soiling score) were assessed at individual level in each group. Then, the high exposed groups to gastrointestinal nematode (GIN) were defined as groups for which untreated animals exhibited a mean Ostertagia ODR ⩾0.7 and among these groups, the ones characterized by high abomasal damage due to Ostertagia for which untreated animals exhibited a mean pepsinogen level ⩾2.5 U Tyr were also identified. Among TST sub-groups, the treatment ADWG thresholds varied from 338 to 941 g/day and the percentage of treated animals from 28% to 75%. Pre- and post-treatment ADWG as well as parasitological and clinical parameters measured at housing were similar between TST and WT sub-groups including the 17 high exposed groups to GIN. Within these 17 groups, the treatment allowed to significantly improve post-treatment ADWG compared with untreated animals. In the six

  20. Flexible Capitalism

    DEFF Research Database (Denmark)

    Approaching “work” as at heart a practice of exchange, this volume explores sociality in work environments marked by the kind of structural changes that have come to define contemporary “flexible” capitalism. It introduces anthropological exchange theory to a wider readership, and shows how...... the perspective offers new ways to enquire about the flexible capitalism’s social dimensions. The essays contribute to a trans-disciplinary scholarship on contemporary economic practice and change by documenting how, across diverse settings, “gift-like” socialities proliferate, and even sustain the intensified...... flexible commoditization that more commonly is touted as tearing social relations apart. By interrogating a keenly debated contemporary work regime through an approach to sociality rooted in a rich and distinct anthropological legacy, the volume also makes a novel contribution to the anthropological...

  1. Flexible licensing

    Directory of Open Access Journals (Sweden)

    Martyn Jansen

    2012-07-01

    Full Text Available The case is presented for a more flexible approach to licensing online library resources. Today's distributed education environment creates pressure for UK higher and further education institutions (HEI/FEIs to form partnerships and to develop educational products and roll them out across the globe. Online library resources are a key component of distributed education and yet existing licensing agreements struggle to keep pace with the increasing range of users and purposes for which they are required. This article describes the process of developing a flexible approach to licensing and proposes a new model licence for online library resources which has the adaptability needed in this new global educational landscape. These ideas have been presented and discussed at various workshops across Eduserv's and JISC Collections' higher education and publisher communities, and further consultation is ongoing.

  2. Flexible licensing

    OpenAIRE

    Martyn Jansen

    2012-01-01

    The case is presented for a more flexible approach to licensing online library resources. Today's distributed education environment creates pressure for UK higher and further education institutions (HEI/FEIs) to form partnerships and to develop educational products and roll them out across the globe. Online library resources are a key component of distributed education and yet existing licensing agreements struggle to keep pace with the increasing range of users and purposes for which they ar...

  3. Thermal Energy Conversion Branch

    Science.gov (United States)

    Bielozer, Matthew C.; Schreiber, Jeffrey, G.; Wilson, Scott D.

    2004-01-01

    The Thermal Energy Conversion Branch (5490) leads the way in designing, conducting, and implementing research for the newest thermal systems used in space applications at the NASA Glenn Research Center. Specifically some of the most advanced technologies developed in this branch can be broken down into four main areas: Dynamic Power Systems, Primary Solar Concentrators, Secondary Solar Concentrators, and Thermal Management. Work was performed in the Dynamic Power Systems area, specifically the Stirling Engine subdivision. Today, the main focus of the 5490 branch is free-piston Stirling cycle converters, Brayton cycle nuclear reactors, and heat rejection systems for long duration mission spacecraft. All space exploring devices need electricity to operate. In most space applications, heat energy from radioisotopes is converted to electrical power. The Radioisotope Thermoelectric Generator (RTG) already supplies electricity for missions such as the Cassini Spacecraft. The focus of today's Stirling research at GRC is aimed at creating an engine that can replace the RTG. The primary appeal of the Stirling engine is its high system efficiency. Because it is so efficient, the Stirling engine will significantly reduce the plutonium fuel mission requirements compared to the RTG. Stirling is also being considered for missions such as the lunar/Mars bases and rovers. This project has focused largely on Stirling Engines of all types, particularly the fluidyne liquid piston engine. The fluidyne was developed by Colin D. West. This engine uses the same concepts found in any type of Stirling engine, with the exception of missing mechanical components. All the working components are fluid. One goal was to develop and demonstrate a working Stirling Fluidyne Engine at the 2nd Annual International Energy Conversion Engineering Conference in Providence, Rhode Island.

  4. [Masquerading bundle branch block].

    Science.gov (United States)

    Kukla, Piotr; Baranchuk, Adrian; Jastrzębski, Marek; Bryniarski, Leszek

    2014-01-01

    We here describe a surface 12-lead electrocardiogram (ECG) of a 72-year-old female with a prior history of breast cancer and chemotherapy-induced cardiomyopathy. An echocardiogram revealed left ventricular dysfunction, ejection fraction of 23%, with mild enlarged left ventricle. The 12-lead ECG showed atrial fibrillation with a mean heart rate of about 100 bpm, QRS duration 160 ms, QT interval 400 ms, right bundle branch block (RBBB) and left anterior fascicular block (LAFB). The combination of RBBB features in the precordial leads and LAFB features in the limb leads is known as ''masquerading bundle branch block''. In most cases of RBBB and LAFB, the QRS axis deviation is located between - 80 to -120 degrees. Rarely, when predominant left ventricular forces are present, the QRS axis deviation is near about -90 degrees, turning the pattern into an atypical form. In a situation of RBBB associated with LAFB, the S wave can be absent or very small in lead I. Such a situation is the result of not only purely LAFB but also with left ventricular hypertrophy and/or focal block due to scar (extensive anterior myocardial infarction) or fibrosis (cardiomyopathy). Sometimes, this specific ECG pattern is mistaken for LBBB. RBBB with LAFB may imitate LBBB either in the limb leads (known as 'standard masquerading' - absence of S wave in lead I), or in the precordial leads (called 'precordial masquerading' - absence of S wave in leads V₅ and V₆). Our ECG showed both these types of masquerading bundle branch block - absence of S wave in lead I and in leads V₅ and V₆.

  5. The branch librarians' handbook

    CERN Document Server

    Rivers, Vickie

    2004-01-01

    ""Recommended""--Booklist; ""an excellent addition...highly recommended""--Public Libraries; ""clear...very sound advice...strongly recommend""--Catholic Library World; ""excellent resource...organized...well written""--Against the Grain; ""interesting...thoroughly practical...a very good book...well organized...clearly written""--ARBA. This handbook covers a wide variety of issues that the branch librarian must deal with every day. Chapters are devoted to mission statements (the Dallas Public Library and Dayton Metro Library mission statements are highlighted as examples), library systems,

  6. Narrative Control and Governmentality: Coherence Production in Identity Narratives. The Case of Young Adult Professionals Working under Flexible Employability in Chile

    Directory of Open Access Journals (Sweden)

    Vicente Sisto

    2009-05-01

    Full Text Available In this paper we analyse the narrative control mechanisms which generate coherence in the elaboration of personal stories presented by professional individuals working under flexible employment conditions. We also examine how these personal stories function to articulate constructions of self in relation to attributes demanded by the conditions associated with patterns of flexible working. A discourse analysis of 32 job interviews with male and female young adult professionals in flexible employment in Chile was undertaken. One of the main aspects of the narratives is a general tendency to present oneself as a successful and enterprising individual. However, the coherence of the image constructed in the account tends to show certain fissures that may refute that constitution. When the narrator realizes the latter, he/she quickly tries to repair the account in order to maintain this coherence. Focusing our attention on this narrative coherence mechanism, and drawing on BAKHTIN's dialogical theory and discursive psychology, we demonstrate how these self narrative constructions involve certain control practices that connect the different forms people use to refer to themselves with the governmental strategies of contemporary societies. Through this analysis we intend to contribute to current discussions of how to empirically deal with the complex relation observed among narrative, identity and social organization. URN: urn:nbn:de:0114-fqs0902292

  7. An infrastructure with a unified control plane to integrate IP into optical metro networks to provide flexible and intelligent bandwidth on demand for cloud computing

    Science.gov (United States)

    Yang, Wei; Hall, Trevor

    2012-12-01

    The Internet is entering an era of cloud computing to provide more cost effective, eco-friendly and reliable services to consumer and business users and the nature of the Internet traffic will undertake a fundamental transformation. Consequently, the current Internet will no longer suffice for serving cloud traffic in metro areas. This work proposes an infrastructure with a unified control plane that integrates simple packet aggregation technology with optical express through the interoperation between IP routers and electrical traffic controllers in optical metro networks. The proposed infrastructure provides flexible, intelligent, and eco-friendly bandwidth on demand for cloud computing in metro areas.

  8. Effects on muscle strength, maximal jump height, flexibility and postural sway after soccer and Zumba exercise among female hospital employees: A 9-month randomized controlled trial

    OpenAIRE

    Barene, Svein; Holtermann, Andreas; Oseland, Harald; Brekke, Ole Lars; Krustrup, Peter

    2016-01-01

    This 9-month randomised controlled workplace physical activity trial investigated the effects of soccer and Zumba exercise, respectively, on muscle strength, maximal jump height, sit-and-reach flexibility and postural sway among female workers. A total of 107 female hospital employees aged 25–63 were cluster-randomised to a soccer group, a Zumba group or a control group. Training was conducted outside working hours as two to three 1-h weekly sessions the first 3 months and once a week the las...

  9. Disparate Degrees of Hypervariable Loop Flexibility Control T-Cell Receptor Cross-Reactivity, Specificity, and Binding Mechanism

    Energy Technology Data Exchange (ETDEWEB)

    Scott, Daniel R.; Borbulevych, Oleg Y.; Piepenbrink, Kurt H.; Corcelli, Steven A.; Baker, Brian M. (Notre)

    2012-06-19

    {alpha}{beta} T-cell receptors (TCRs) recognize multiple antigenic peptides bound and presented by major histocompatibility complex molecules. TCR cross-reactivity has been attributed in part to the flexibility of TCR complementarity-determining region (CDR) loops, yet there have been limited direct studies of loop dynamics to determine the extent of its role. Here we studied the flexibility of the binding loops of the {alpha}{beta} TCR A6 using crystallographic, spectroscopic, and computational methods. A significant role for flexibility in binding and cross-reactivity was indicated only for the CDR3{alpha} and CDR3{beta} hypervariable loops. Examination of the energy landscapes of these two loops indicated that CDR3{beta} possesses a broad, smooth energy landscape, leading to rapid sampling in the free TCR of a range of conformations compatible with different ligands. The landscape for CDR3{alpha} is more rugged, resulting in more limited conformational sampling that leads to specificity for a reduced set of peptides as well as the major histocompatibility complex protein. In addition to informing on the mechanisms of cross-reactivity and specificity, the energy landscapes of the two loops indicate a complex mechanism for TCR binding, incorporating elements of both conformational selection and induced fit in a manner that blends features of popular models for TCR recognition.

  10. Porphyrin Binding to Gun4 Protein, Facilitated by a Flexible Loop, Controls Metabolite Flow through the Chlorophyll Biosynthetic Pathway.

    Science.gov (United States)

    Kopečná, Jana; Cabeza de Vaca, Israel; Adams, Nathan B P; Davison, Paul A; Brindley, Amanda A; Hunter, C Neil; Guallar, Victor; Sobotka, Roman

    2015-11-20

    In oxygenic phototrophs, chlorophylls, hemes, and bilins are synthesized by a common branched pathway. Given the phototoxic nature of tetrapyrroles, this pathway must be tightly regulated, and an important regulatory role is attributed to magnesium chelatase enzyme at the branching between the heme and chlorophyll pathway. Gun4 is a porphyrin-binding protein known to stimulate in vitro the magnesium chelatase activity, but how the Gun4-porphyrin complex acts in the cell was unknown. To address this issue, we first performed simulations to determine the porphyrin-docking mechanism to the cyanobacterial Gun4 structure. After correcting crystallographic loop contacts, we determined the binding site for magnesium protoporphyrin IX. Molecular modeling revealed that the orientation of α6/α7 loop is critical for the binding, and the magnesium ion held within the porphyrin is coordinated by Asn-211 residue. We also identified the basis for stronger binding in the Gun4-1 variant and for weaker binding in the W192A mutant. The W192A-Gun4 was further characterized in magnesium chelatase assay showing that tight porphyrin binding in Gun4 facilitates its interaction with the magnesium chelatase ChlH subunit. Finally, we introduced the W192A mutation into cells and show that the Gun4-porphyrin complex is important for the accumulation of ChlH and for channeling metabolites into the chlorophyll biosynthetic pathway. © 2015 by The American Society for Biochemistry and Molecular Biology, Inc.

  11. Porphyrin Binding to Gun4 Protein, Facilitated by a Flexible Loop, Controls Metabolite Flow through the Chlorophyll Biosynthetic Pathway*

    Science.gov (United States)

    Kopečná, Jana; Cabeza de Vaca, Israel; Adams, Nathan B. P.; Davison, Paul A.; Brindley, Amanda A.; Hunter, C. Neil; Guallar, Victor; Sobotka, Roman

    2015-01-01

    In oxygenic phototrophs, chlorophylls, hemes, and bilins are synthesized by a common branched pathway. Given the phototoxic nature of tetrapyrroles, this pathway must be tightly regulated, and an important regulatory role is attributed to magnesium chelatase enzyme at the branching between the heme and chlorophyll pathway. Gun4 is a porphyrin-binding protein known to stimulate in vitro the magnesium chelatase activity, but how the Gun4-porphyrin complex acts in the cell was unknown. To address this issue, we first performed simulations to determine the porphyrin-docking mechanism to the cyanobacterial Gun4 structure. After correcting crystallographic loop contacts, we determined the binding site for magnesium protoporphyrin IX. Molecular modeling revealed that the orientation of α6/α7 loop is critical for the binding, and the magnesium ion held within the porphyrin is coordinated by Asn-211 residue. We also identified the basis for stronger binding in the Gun4-1 variant and for weaker binding in the W192A mutant. The W192A-Gun4 was further characterized in magnesium chelatase assay showing that tight porphyrin binding in Gun4 facilitates its interaction with the magnesium chelatase ChlH subunit. Finally, we introduced the W192A mutation into cells and show that the Gun4-porphyrin complex is important for the accumulation of ChlH and for channeling metabolites into the chlorophyll biosynthetic pathway. PMID:26446792

  12. Activities of the Development Branch. 1978-1981

    International Nuclear Information System (INIS)

    Candame de Gallo, Rita; Marrapodi, M.R.E.; Baez, L.B.

    1982-01-01

    The activities carried out by the Development Branch from 1978 through 1981 are summarized. Subjects covered include: Metallurgy, Nuclear Fuels, Instrumentation and Control, Nuclear Reactors, as well as the various projects developed during this period and the administrative and technical activities of various groups belonging to this Branch. A list of publications by personnel of this Branch during the same period is also included. (C.A.K.) [es

  13. Flexible, Transparent, Thickness-Controllable SWCNT/PEDOT:PSS Hybrid Films Based on Coffee-Ring Lithography for Functional Noncontact Sensing Device

    KAUST Repository

    Tai, Yanlong

    2015-12-08

    Flexible transparent conductive films (FTCFs) as the essential components of the next generation of functional circuits and devices are presently attracting more attention. Here, a new strategy has been demonstrated to fabricate thickness-controllable FTCFs through coffee ring lithography (CRL) of single-wall carbon nanotube (SWCNT)/poly(3,4-ethylenedioxythiophene)-polystyrenesulfonate (PEDOT:PSS) hybrid ink. The influence of ink concentration and volume on the thickness and size of hybrid film has been investigated systematically. Results show that the final FTCFs present a high performance, including a homogeneous thickness of 60-65 nm, a sheet resistance of 1.8 kohm/sq, a visible/infrared-range transmittance (79%, PET = 90%), and a dynamic mechanical property (>1000 cycle, much better than ITO film), respectively, when SWCNT concentration is 0.2 mg/mL, ink volume is 0.4 μL, drying at room temperature. Moreover, the benefits of these kinds of FTCFs have been verified through a full transparent, flexible noncontact sensing panel (3 × 4 sensing pixels) and a flexible battery-free wireless sensor based on a humidity sensing mechanism, showing excellent human/machine interaction with high sensitivity, good stability, and fast response/recovery ability. © 2015 American Chemical Society.

  14. Sandwich-structured nanohybrid paper based on controllable growth of nanostructured MnO2 on ionic liquid functionalized graphene paper as a flexible supercapacitor electrode.

    Science.gov (United States)

    Sun, Yimin; Fang, Zheng; Wang, Chenxu; Ariyawansha, K R Rakhitha Malinga; Zhou, Aijun; Duan, Hongwei

    2015-05-07

    A sandwich-structured flexible supercapacitor electrode has been developed based on MnO2 nanonest (MNN) modified ionic liquid (IL) functionalized graphene paper (GP), which is fabricated by functionalizing graphene nanosheets with an amine-terminated IL (i.e., 1-(3-aminopropyl)-3-methylimidazolium bromide) to form freestanding IL functionalized GP (IL-GP), and then modifying IL-GP with a unique MNN structure via controllable template-free ultrasonic electrodeposition. The as-obtained MNN modified IL-GP (MNN/IL-GP) inherits the excellent pseudocapacity of the metal oxide, the high conductivity and electric double layer charging/discharging of IL-graphene composites, and therefore shows an enhanced supercapacitor performance. The maximum specific capacitance of 411 F g(-1) can be achieved by chronopotentiometry at a current density of 1 A g(-1). Meanwhile, the MNN/IL-GP electrode exhibits excellent rate capability and cycling stability, its specific capacitance is maintained at 70% as the current densities increase from 1 to 20 A g(-1) and 85% at a current density of 10 A g(-1) after 10 000 cycles. More importantly, the MNN/IL-GP displays distinguished mechanical stability and flexibility for device packaging, although its thickness is merely 8 μm. These features collectively demonstrate the potential of MNN/IL-GP as a high-performance paper electrode for flexible and lightweight and highly efficient electrochemical capacitor applications.

  15. Variable selection for confounder control, flexible modeling and Collaborative Targeted Minimum Loss-based Estimation in causal inference

    Science.gov (United States)

    Schnitzer, Mireille E.; Lok, Judith J.; Gruber, Susan

    2015-01-01

    This paper investigates the appropriateness of the integration of flexible propensity score modeling (nonparametric or machine learning approaches) in semiparametric models for the estimation of a causal quantity, such as the mean outcome under treatment. We begin with an overview of some of the issues involved in knowledge-based and statistical variable selection in causal inference and the potential pitfalls of automated selection based on the fit of the propensity score. Using a simple example, we directly show the consequences of adjusting for pure causes of the exposure when using inverse probability of treatment weighting (IPTW). Such variables are likely to be selected when using a naive approach to model selection for the propensity score. We describe how the method of Collaborative Targeted minimum loss-based estimation (C-TMLE; van der Laan and Gruber, 2010) capitalizes on the collaborative double robustness property of semiparametric efficient estimators to select covariates for the propensity score based on the error in the conditional outcome model. Finally, we compare several approaches to automated variable selection in low-and high-dimensional settings through a simulation study. From this simulation study, we conclude that using IPTW with flexible prediction for the propensity score can result in inferior estimation, while Targeted minimum loss-based estimation and C-TMLE may benefit from flexible prediction and remain robust to the presence of variables that are highly correlated with treatment. However, in our study, standard influence function-based methods for the variance underestimated the standard errors, resulting in poor coverage under certain data-generating scenarios. PMID:26226129

  16. Integrating over Higgs branches

    International Nuclear Information System (INIS)

    Moore, G.; Shatashvili, S.

    2000-01-01

    We develop some useful techniques for integrating over Higgs branches in supersymmetric theories with 4 and 8 supercharges. In particular, we define a regularized volume for hyperkaehler quotients. We evaluate this volume for certain ALE and ALF spaces in terms of the hyperkaehler periods. We also reduce these volumes for a large class of hyperkaehler quotients to simpler integrals. These quotients include complex coadjoint orbits, instanton moduli spaces on R 4 and ALE manifolds, Hitchin spaces, and moduli spaces of (parabolic) Higgs bundles on Riemann surfaces. In the case of Hitchin spaces the evaluation of the volume reduces to a summation over solutions of Bethe ansatz equations for the non-linear Schroedinger system. We discuss some applications of our results. (orig.)

  17. Critical evaluation of branch polarity and apical dominance as dictators of colony astogeny in a branching coral.

    Science.gov (United States)

    Shaish, Lee; Rinkevich, Baruch

    2009-01-01

    The high morphological resemblance between branching corals and trees, can lead to comparative studies on pattern formation traits, best exemplified in plants and in some cnidarians. Here, 81 branches of similar size of the hermatypic coral Stylophora pistillata were lopped of three different genets, their skeletons marked with alizarin red-S, and divided haphazardly into three morphometric treatment groups: (I) upright position; (II) horizontal position, intact tip; and (III) horizontal position, cut tip. After 1 y of in-situ growth, the 45 surviving ramets were brought to the laboratory, their tissues removed and their architectures analyzed by 22 morphological parameters (MPs). We found that within 1 y, isolated branches developed into small coral colonies by growing new branches from all branch termini, in all directions. No architectural dissimilarity was assigned among the three studied genets of treatment I colonies. However, a major architectural disparity between treatment I colonies and colonies of treatments II and III was documented as the development of mirror structures from both sides of treatments II and III settings as compared to tip-borne architectures in treatment I colonies. We did not observe apical dominance since fragments grew equally from all branch sides without documented dominant polarity along branch axis. In treatment II colonies, no MP for new branches originating either from tips or from branch bases differed significantly. In treatment III colonies, growth from the cut tip areas was significantly lower compared to the base, again, suggesting lack of apical dominance in this species. Changes in branch polarity revealed genet associated plasticity, which in one of the studied genets, led to enhanced growth. Different genets exhibited canalization flexibility of growth patterns towards either lateral growth, or branch axis extension (skeletal weight and not porosity was measured). This study revealed that colony astogeny in S

  18. Critical evaluation of branch polarity and apical dominance as dictators of colony astogeny in a branching coral.

    Directory of Open Access Journals (Sweden)

    Lee Shaish

    Full Text Available The high morphological resemblance between branching corals and trees, can lead to comparative studies on pattern formation traits, best exemplified in plants and in some cnidarians. Here, 81 branches of similar size of the hermatypic coral Stylophora pistillata were lopped of three different genets, their skeletons marked with alizarin red-S, and divided haphazardly into three morphometric treatment groups: (I upright position; (II horizontal position, intact tip; and (III horizontal position, cut tip. After 1 y of in-situ growth, the 45 surviving ramets were brought to the laboratory, their tissues removed and their architectures analyzed by 22 morphological parameters (MPs. We found that within 1 y, isolated branches developed into small coral colonies by growing new branches from all branch termini, in all directions. No architectural dissimilarity was assigned among the three studied genets of treatment I colonies. However, a major architectural disparity between treatment I colonies and colonies of treatments II and III was documented as the development of mirror structures from both sides of treatments II and III settings as compared to tip-borne architectures in treatment I colonies. We did not observe apical dominance since fragments grew equally from all branch sides without documented dominant polarity along branch axis. In treatment II colonies, no MP for new branches originating either from tips or from branch bases differed significantly. In treatment III colonies, growth from the cut tip areas was significantly lower compared to the base, again, suggesting lack of apical dominance in this species. Changes in branch polarity revealed genet associated plasticity, which in one of the studied genets, led to enhanced growth. Different genets exhibited canalization flexibility of growth patterns towards either lateral growth, or branch axis extension (skeletal weight and not porosity was measured. This study revealed that colony

  19. Tillering and panicle branching genes in rice.

    Science.gov (United States)

    Liang, Wei-hong; Shang, Fei; Lin, Qun-ting; Lou, Chen; Zhang, Jing

    2014-03-01

    Rice (Oryza sativa L.) is one of the most important staple food crops in the world, and rice tillering and panicle branching are important traits determining grain yield. Since the gene MONOCULM 1 (MOC 1) was first characterized as a key regulator in controlling rice tillering and branching, great progress has been achieved in identifying important genes associated with grain yield, elucidating the genetic basis of yield-related traits. Some of these important genes were shown to be applicable for molecular breeding of high-yielding rice. This review focuses on recent advances, with emphasis on rice tillering and panicle branching genes, and their regulatory networks. Copyright © 2013 Elsevier B.V. All rights reserved.

  20. Enhancing thermoelectric properties of Sb2Te3 flexible thin film through microstructure control and crystal preferential orientation engineering

    Science.gov (United States)

    Shen, Shengfei; Zhu, Wei; Deng, Yuan; Zhao, Huaizhou; Peng, Yuncheng; Wang, Chuanjun

    2017-08-01

    Preparation of high performance flexible thermoelectric thin films would promote applications of flexible thermoelectric device. In this work, antimony telluride (Sb2Te3) thin films were directly deposited on polyimide substrate. The crystalline structures and morphologies of the thin films were analyzed, and the mechanism of crystal growth influenced by sputtering pressure was discussed. We also investigated the effects of microstructure on their thermoelectric properties, where Hall effect measurement was conducted to provide further insight into the enhancement of thermoelectric properties. The mean free path of the carrier was calculated on the basis of carrier concentration and mobility. Our results showed that with (015) crystal preferential orientation, the electrical conductivity and Seebeck coefficient of Sb2Te3 thin films were simultaneously increased, and a maximum power factor of 6.0 μW cm-1 K-2 was achieved, which was increased by 75% compared with the ordinary thin film. Meanwhile, due to the reduced lattice thermal conductivity and increased power factor, the estimated figure of merit (ZT) value was largely enhanced to 0.42.

  1. Controllable growth of polyaniline nanowire arrays on hierarchical macro/mesoporous graphene foams for high-performance flexible supercapacitors

    Science.gov (United States)

    Yu, Pingping; Zhao, Xin; Li, Yingzhi; Zhang, Qinghua

    2017-01-01

    Free-standing hierarchical macro/mesoporous flexible graphene foam have been constructed by rational intergration ofwell dispersed graphene oxide sheets and amino-modified polystyrene (PS) spheres through a facile ;templating and embossing; technique. The three dimensional (3D) macro/mesoporous flexible graphene foam not only inherits the uniform porous structures of graphene foam, but also contains hierarchical macro/mesopores on the struts by sacrificing PS spheres and the activation of KOH, which could providing rapid pathways for ionic and electronic transport to high specific capacitance. Vertically polyaniline (PANI) nanowire arrays are then uniformly deposited onto the hierarchical macro/mesoporous graphene foam(fRGO-F/PANI) by a simple in situ polymerization, which show a high specific capacitance of 939 F g-1. Thanks to the synergistic function of 3D bicontinuous hierarchical porous structure of graphene foam and effective immobilization of PANI nanowires on the struts, the assembled symmetric supercapctior with fRGO-F/PANI as electrodes exhibits a maximum energy density and power density of 20.9 Wh kg-1 and 103.2 kW kg-1, respectively. Moreover, it also displays an excellent cyclic stability with a 88.7% retention after 5000 cycles.

  2. Guidance and control of MIR TDL radiation via flexible hollow metallic rectangular pipes and fibers for possible LHS and other optical system compaction and integration

    Science.gov (United States)

    Yu, C.

    1983-01-01

    Flexible hollow metallic rectangular pipes and infrared fibers are proposed as alternate media for collection, guidance and manipulation of mid-infrared tunable diode laser (TDL) radiation. Certain features of such media are found to be useful for control of TDL far field patterns, polarization and possibly intensity fluctuations. Such improvement in dimension compatibility may eventually lead to laser heterodyne spectroscopy (LHS) and optical communication system compaction and integration. Infrared optical fiber and the compound parabolic coupling of light into a hollow pipe waveguide are discussed as well as the design of the waveguide.

  3. A Flexible Power Control Method of VSC-HVDC Link for the Enhancement of Effective Short-Circuit Ratio in a Hybrid Multi-Infeed HVDC System

    DEFF Research Database (Denmark)

    Liu, Yan; Chen, Zhe

    2013-01-01

    With the emerging use of voltage source converter high voltage direct current (VSC-HVDC) links, the hybrid multi-infeed HVDC (HMIDC) system that includes the line commutated converter (LCC) HVDC and the VSC-HVDC links is becoming a promising power transmission structure in the modern power systems......, based on the calculation results, a flexible power control strategy for the VSC-HVDC link is developed to provide maximum reactive power support under grid faults. The theoretical analysis of the HMIDC system is based on the Danish transmission grid, evaluated through PSCAD simulations under different...... grid fault conditions. Simulation results are presented to validate the expected performance of the proposed method....

  4. Evaluation of Variable Refrigerant Flow Systems Performance and the Enhanced Control Algorithm on Oak Ridge National Laboratory s Flexible Research Platform

    Energy Technology Data Exchange (ETDEWEB)

    Im, Piljae [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Munk, Jeffrey D [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States); Gehl, Anthony C [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)

    2015-06-01

    A research project “Evaluation of Variable Refrigerant Flow (VRF) Systems Performance and the Enhanced Control Algorithm on Oak Ridge National Laboratory’s (ORNL’s) Flexible Research Platform” was performed to (1) install and validate the performance of Samsung VRF systems compared with the baseline rooftop unit (RTU) variable-air-volume (VAV) system and (2) evaluate the enhanced control algorithm for the VRF system on the two-story flexible research platform (FRP) in Oak Ridge, Tennessee. Based on the VRF system designed by Samsung and ORNL, the system was installed from February 18 through April 15, 2014. The final commissioning and system optimization were completed on June 2, 2014, and the initial test for system operation was started the following day, June 3, 2014. In addition, the enhanced control algorithm was implemented and updated on June 18. After a series of additional commissioning actions, the energy performance data from the RTU and the VRF system were monitored from July 7, 2014, through February 28, 2015. Data monitoring and analysis were performed for the cooling season and heating season separately, and the calibrated simulation model was developed and used to estimate the energy performance of the RTU and VRF systems. This final report includes discussion of the design and installation of the VRF system, the data monitoring and analysis plan, the cooling season and heating season data analysis, and the building energy modeling study

  5. The Meckel-Gruber syndrome protein TMEM67 controls basal body positioning and epithelial branching morphogenesis in mice via the non-canonical Wnt pathway

    Directory of Open Access Journals (Sweden)

    Zakia A. Abdelhamed

    2015-06-01

    Full Text Available Ciliopathies are a group of developmental disorders that manifest with multi-organ anomalies. Mutations in TMEM67 (MKS3 cause a range of human ciliopathies, including Meckel-Gruber and Joubert syndromes. In this study we describe multi-organ developmental abnormalities in the Tmem67tm1Dgen/H1 knockout mouse that closely resemble those seen in Wnt5a and Ror2 knockout mice. These include pulmonary hypoplasia, ventricular septal defects, shortening of the body longitudinal axis, limb abnormalities, and cochlear hair cell stereociliary bundle orientation and basal body/kinocilium positioning defects. The basal body/kinocilium complex was often uncoupled from the hair bundle, suggesting aberrant basal body migration, although planar cell polarity and apical planar asymmetry in the organ of Corti were normal. TMEM67 (meckelin is essential for phosphorylation of the non-canonical Wnt receptor ROR2 (receptor-tyrosine-kinase-like orphan receptor 2 upon stimulation with Wnt5a-conditioned medium. ROR2 also colocalises and interacts with TMEM67 at the ciliary transition zone. Additionally, the extracellular N-terminal domain of TMEM67 preferentially binds to Wnt5a in an in vitro binding assay. Cultured lungs of Tmem67 mutant mice failed to respond to stimulation of epithelial branching morphogenesis by Wnt5a. Wnt5a also inhibited both the Shh and canonical Wnt/β-catenin signalling pathways in wild-type embryonic lung. Pulmonary hypoplasia phenotypes, including loss of correct epithelial branching morphogenesis and cell polarity, were rescued by stimulating the non-canonical Wnt pathway downstream of the Wnt5a-TMEM67-ROR2 axis by activating RhoA. We propose that TMEM67 is a receptor that has a main role in non-canonical Wnt signalling, mediated by Wnt5a and ROR2, and normally represses Shh signalling. Downstream therapeutic targeting of the Wnt5a-TMEM67-ROR2 axis might, therefore, reduce or prevent pulmonary hypoplasia in ciliopathies and other congenital

  6. Can the branching exponent reliably relate the branching indexes?

    Czech Academy of Sciences Publication Activity Database

    Netopilík, Miloš

    2015-01-01

    Roč. 24, č. 2 (2015), s. 80-84 ISSN 1022-1344 R&D Projects: GA ČR(CZ) GA13-02938S Institutional support: RVO:61389013 Keywords : branching exponent * branching indexes * intrinsic viscosity Subject RIV: CD - Macromolecular Chemistry Impact factor: 2.294, year: 2015

  7. Power Flow Control through a Multi-Level H-Bridge-based Power Converter for Universal and Flexible Power Management in Future Electrical Grids

    DEFF Research Database (Denmark)

    Iov, Florin; Bifaretti, Steffano; Zanchetta, Pericle

    2008-01-01

    The paper proposes a novel power conversion system for Universal and Flexible Power Management (UNIFLEX-PM) in Future Electricity Network. The structure is based on three AC-DC converters each one connected to a different grid, (representing the main grid and/or various distributed generation...... systems) on the AC side, and linked together at DC side by suitable DC isolation modules. Each port of the UNIFLEX-PM system employs a conversion structure based on a three-phase 7-level AC-DC cascaded converter. Effective and accurate power flow control is demonstrated through simulation in Matlab...... and Simulink environment on a simplified model based on a two-port structure and using a Stationery Reference Frame based control solution. Control of different Power flow profiles has been successfully tested in numerous network conditions such as voltage unbalance, frequency excursions and harmonic...

  8. Controllable growth of polyaniline nanowire arrays on hierarchical macro/mesoporous graphene foams for high-performance flexible supercapacitors

    Energy Technology Data Exchange (ETDEWEB)

    Yu, Pingping [State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620 (China); Department of Materials Science, Fudan University, Shanghai 200433 (China); Zhao, Xin, E-mail: xzhao@dhu.edu.cn [State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620 (China); Li, Yingzhi [State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620 (China); Zhang, Qinghua, E-mail: qhzhang@dhu.edu.cn [State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620 (China)

    2017-01-30

    Highlights: • Hierarchical porous graphene foam prepared by templating and embossing method.. • Vertically PANI nanowires aligned on interconnected porous graphene sheets. • The fRGO-F/PANI device exhibited 939 F g{sup −1} at 1 A g{sup −1}. • ED and PD of fRGO-F/PANI device was 20.9 Wh kg{sup −1} and 103.2 kW kg{sup −1}. - Abstract: Free-standing hierarchical macro/mesoporous flexible graphene foam have been constructed by rational intergration ofwell dispersed graphene oxide sheets and amino-modified polystyrene (PS) spheres through a facile “templating and embossing” technique. The three dimensional (3D) macro/mesoporous flexible graphene foam not only inherits the uniform porous structures of graphene foam, but also contains hierarchical macro/mesopores on the struts by sacrificing PS spheres and the activation of KOH, which could providing rapid pathways for ionic and electronic transport to high specific capacitance. Vertically polyaniline (PANI) nanowire arrays are then uniformly deposited onto the hierarchical macro/mesoporous graphene foam(fRGO-F/PANI) by a simple in situ polymerization, which show a high specific capacitance of 939 F g{sup −1}. Thanks to the synergistic function of 3D bicontinuous hierarchical porous structure of graphene foam and effective immobilization of PANI nanowires on the struts, the assembled symmetric supercapctior with fRGO-F/PANI as electrodes exhibits a maximum energy density and power density of 20.9 Wh kg{sup −1} and 103.2 kW kg{sup −1}, respectively. Moreover, it also displays an excellent cyclic stability with a 88.7% retention after 5000 cycles.

  9. Demand flexibility from residential heat pump

    DEFF Research Database (Denmark)

    Bhattarai, Bishnu Prasad; Bak-Jensen, Birgitte; Pillai, Jayakrishnan Radhakrishna

    2014-01-01

    with high thermal time constant, heat pumps (HP) can offer a great deal of flexibility in the future intelligent grids especially to compensate fluctuating generation. However, the HP flexibility is highly dependent on thermal demand profile, namely hot water and space heating demand. This paper proposes...... price based scheduling followed by a demand dispatch based central control and a local voltage based adaptive control, to realize HP demand flexibility. Two-step control architecture, namely local primary control encompassed by the central coordinative control, is proposed to implement...... the aforementioned control techniques. Results show that HP flexibility can contribute significantly to both the local network and system level balancing....

  10. Correlation of (99m) Tc-DPD SPECT/CT Scan Findings and Diagnostic Blockades of Lumbar Medial Branches in Patients with Unspecific Low Back Pain in a Randomized-Controlled Trial.

    Science.gov (United States)

    Freiermuth, David; Kretzschmar, Martin; Bilecen, Denis; Schaeren, Stefan; Jacob, Augustinus Ludwig; Aeschbach, Armin; Ruppen, Wilhelm

    2015-10-01

    Zygapophyseal joints are the origin of pain in up to 30% of those with unspecific chronic low back pain. Until recently, no reliable clinical tests have been found to identify the patients who would benefit from denervation of the zygapophyseal joints by medial branch blockades. We performed a prospective randomized placebo-controlled trial to evaluate the value of high-resolution single-photon emission computed tomography (SPECT)/computed tomography (CT) of the lumbar spine prior to any diagnostic infiltration of the medial branches. Patients with suspected zygapophyseal joint-related pain were included in the study. After obtaining a SPECT/CT scan of the lumbar spine a set of infiltrations of the medial branches was done with local anesthetics and placebo on different days. Patients and anesthetists were blinded to the results of SPECT/CT and to the infiltrated agents. In a total of 29 study patients, 7 had positive and 22 negative infiltration tests, and 9 had positive and 20 negative SPECT/CT findings. Sensitivity of SPECT/CT for a positive response after diagnostic infiltration was 0.57 (95% confidence interval [CI] 0.18-0.90); specificity was 0.77 (CI 95% 0.55-0.92); odds ratio was 4.53 (CI 95% 0.75-27.40); and diagnostic accuracy was 0.72. Compared with diagnostic infiltrations SPECT/CT scans showed only a moderate sensitivity and specificity and, therefore, may not be recommended as a first line diagnostic tool prior to diagnostic infiltrations. Wiley Periodicals, Inc.

  11. Tau hadronic branching ratios

    CERN Document Server

    Buskulic, Damir; De Bonis, I; Décamp, D; Ghez, P; Goy, C; Lees, J P; Lucotte, A; Minard, M N; Odier, P; Pietrzyk, B; Ariztizabal, F; Chmeissani, M; Crespo, J M; Efthymiopoulos, I; Fernández, E; Fernández-Bosman, M; Gaitan, V; Martínez, M; Orteu, S; Pacheco, A; Padilla, C; Palla, Fabrizio; Pascual, A; Perlas, J A; Sánchez, F; Teubert, F; Colaleo, A; Creanza, D; De Palma, M; Farilla, A; Gelao, G; Girone, M; Iaselli, Giuseppe; Maggi, G; Maggi, M; Marinelli, N; Natali, S; Nuzzo, S; Ranieri, A; Raso, G; Romano, F; Ruggieri, F; Selvaggi, G; Silvestris, L; Tempesta, P; Zito, G; Huang, X; Lin, J; Ouyang, Q; Wang, T; Xie, Y; Xu, R; Xue, S; Zhang, J; Zhang, L; Zhao, W; Bonvicini, G; Cattaneo, M; Comas, P; Coyle, P; Drevermann, H; Engelhardt, A; Forty, Roger W; Frank, M; Hagelberg, R; Harvey, J; Jacobsen, R; Janot, P; Jost, B; Kneringer, E; Knobloch, J; Lehraus, Ivan; Markou, C; Martin, E B; Mato, P; Minten, Adolf G; Miquel, R; Oest, T; Palazzi, P; Pater, J R; Pusztaszeri, J F; Ranjard, F; Rensing, P E; Rolandi, Luigi; Schlatter, W D; Schmelling, M; Schneider, O; Tejessy, W; Tomalin, I R; Venturi, A; Wachsmuth, H W; Wiedenmann, W; Wildish, T; Witzeling, W; Wotschack, J; Ajaltouni, Ziad J; Bardadin-Otwinowska, Maria; Barrès, A; Boyer, C; Falvard, A; Gay, P; Guicheney, C; Henrard, P; Jousset, J; Michel, B; Monteil, S; Pallin, D; Perret, P; Podlyski, F; Proriol, J; Rossignol, J M; Saadi, F; Fearnley, Tom; Hansen, J B; Hansen, J D; Hansen, J R; Hansen, P H; Nilsson, B S; Kyriakis, A; Simopoulou, Errietta; Siotis, I; Vayaki, Anna; Zachariadou, K; Blondel, A; Bonneaud, G R; Brient, J C; Bourdon, P; Passalacqua, L; Rougé, A; Rumpf, M; Tanaka, R; Valassi, Andrea; Verderi, M; Videau, H L; Candlin, D J; Parsons, M I; Focardi, E; Parrini, G; Corden, M; Delfino, M C; Georgiopoulos, C H; Jaffe, D E; Antonelli, A; Bencivenni, G; Bologna, G; Bossi, F; Campana, P; Capon, G; Chiarella, V; Felici, G; Laurelli, P; Mannocchi, G; Murtas, F; Murtas, G P; Pepé-Altarelli, M; Dorris, S J; Halley, A W; ten Have, I; Knowles, I G; Lynch, J G; Morton, W T; O'Shea, V; Raine, C; Reeves, P; Scarr, J M; Smith, K; Smith, M G; Thompson, A S; Thomson, F; Thorn, S; Turnbull, R M; Becker, U; Braun, O; Geweniger, C; Graefe, G; Hanke, P; Hepp, V; Kluge, E E; Putzer, A; Rensch, B; Schmidt, M; Sommer, J; Stenzel, H; Tittel, K; Werner, S; Wunsch, M; Beuselinck, R; Binnie, David M; Cameron, W; Colling, D J; Dornan, Peter J; Konstantinidis, N P; Moneta, L; Moutoussi, A; Nash, J; San Martin, G; Sedgbeer, J K; Stacey, A M; Dissertori, G; Girtler, P; Kuhn, D; Rudolph, G; Bowdery, C K; Brodbeck, T J; Colrain, P; Crawford, G; Finch, A J; Foster, F; Hughes, G; Sloan, Terence; Whelan, E P; Williams, M I; Galla, A; Greene, A M; Kleinknecht, K; Quast, G; Raab, J; Renk, B; Sander, H G; Wanke, R; Van Gemmeren, P; Zeitnitz, C; Aubert, Jean-Jacques; Bencheikh, A M; Benchouk, C; Bonissent, A; Bujosa, G; Calvet, D; Carr, J; Diaconu, C A; Etienne, F; Thulasidas, M; Nicod, D; Payre, P; Rousseau, D; Talby, M; Abt, I; Assmann, R W; Bauer, C; Blum, Walter; Brown, D; Dietl, H; Dydak, Friedrich; Ganis, G; Gotzhein, C; Jakobs, K; Kroha, H; Lütjens, G; Lutz, Gerhard; Männer, W; Moser, H G; Richter, R H; Rosado-Schlosser, A; Schael, S; Settles, Ronald; Seywerd, H C J; Saint-Denis, R; Wolf, G; Alemany, R; Boucrot, J; Callot, O; Cordier, A; Courault, F; Davier, M; Duflot, L; Grivaz, J F; Heusse, P; Jacquet, M; Kim, D W; Le Diberder, F R; Lefrançois, J; Lutz, A M; Musolino, G; Nikolic, I A; Park, H J; Park, I C; Schune, M H; Simion, S; Veillet, J J; Videau, I; Abbaneo, D; Azzurri, P; Bagliesi, G; Batignani, G; Bettarini, S; Bozzi, C; Calderini, G; Carpinelli, M; Ciocci, M A; Ciulli, V; Dell'Orso, R; Fantechi, R; Ferrante, I; Foà, L; Forti, F; Giassi, A; Giorgi, M A; Gregorio, A; Ligabue, F; Lusiani, A; Marrocchesi, P S; Messineo, A; Rizzo, G; Sanguinetti, G; Sciabà, A; Spagnolo, P; Steinberger, Jack; Tenchini, Roberto; Tonelli, G; Triggiani, G; Vannini, C; Verdini, P G; Walsh, J; Betteridge, A P; Blair, G A; Bryant, L M; Cerutti, F; Gao, Y; Green, M G; Johnson, D L; Medcalf, T; Mir, L M; Perrodo, P; Strong, J A; Bertin, V; Botterill, David R; Clifft, R W; Edgecock, T R; Haywood, S; Edwards, M; Maley, P; Norton, P R; Thompson, J C; Bloch-Devaux, B; Colas, P; Emery, S; Kozanecki, Witold; Lançon, E; Lemaire, M C; Locci, E; Marx, B; Pérez, P; Rander, J; Renardy, J F; Roussarie, A; Schuller, J P; Schwindling, J; Trabelsi, A; Vallage, B; Johnson, R P; Kim, H Y; Litke, A M; McNeil, M A; Taylor, G; Beddall, A; Booth, C N; Boswell, R; Cartwright, S L; Combley, F; Dawson, I; Köksal, A; Letho, M; Newton, W M; Rankin, C; Thompson, L F; Böhrer, A; Brandt, S; Cowan, G D; Feigl, E; Grupen, Claus; Lutters, G; Minguet-Rodríguez, J A; Rivera, F; Saraiva, P; Smolik, L; Stephan, F; Apollonio, M; Bosisio, L; Della Marina, R; Giannini, G; Gobbo, B; Ragusa, F; Rothberg, J E; Wasserbaech, S R; Armstrong, S R; Bellantoni, L; Elmer, P; Feng, Z; Ferguson, D P S; Gao, Y S; González, S; Grahl, J; Harton, J L; Hayes, O J; Hu, H; McNamara, P A; Nachtman, J M; Orejudos, W; Pan, Y B; Saadi, Y; Schmitt, M; Scott, I J; Sharma, V; Turk, J; Walsh, A M; Wu Sau Lan; Wu, X; Yamartino, J M; Zheng, M; Zobernig, G

    1996-01-01

    From 64492 selected \\tau-pair events, produced at the Z^0 resonance, the measurement of the tau decays into hadrons from a global analysis using 1991, 1992 and 1993 ALEPH data is presented. Special emphasis is given to the reconstruction of photons and \\pi^0's, and the removal of fake photons. A detailed study of the systematics entering the \\pi^0 reconstruction is also given. A complete and consistent set of tau hadronic branching ratios is presented for 18 exclusive modes. Most measurements are more precise than the present world average. The new level of precision reached allows a stringent test of \\tau-\\mu universality in hadronic decays, g_\\tau/g_\\mu \\ = \\ 1.0013 \\ \\pm \\ 0.0095, and the first measurement of the vector and axial-vector contributions to the non-strange hadronic \\tau decay width: R_{\\tau ,V} \\ = \\ 1.788 \\ \\pm \\ 0.025 and R_{\\tau ,A} \\ = \\ 1.694 \\ \\pm \\ 0.027. The ratio (R_{\\tau ,V} - R_{\\tau ,A}) / (R_{\\tau ,V} + R_{\\tau ,A}), equal to (2.7 \\pm 1.3) \\ \\%, is a measure of the importance of Q...

  12. Searching for low percolation thresholds within amphiphilic polymer membranes: The effect of side chain branching

    Science.gov (United States)

    Dorenbos, G.

    2015-06-01

    Percolation thresholds for solvent diffusion within hydrated model polymeric membranes are derived from dissipative particle dynamics in combination with Monte Carlo (MC) tracer diffusion calculations. The polymer backbones are composed of hydrophobic A beads to which at regular intervals Y-shaped side chains are attached. Each side chain is composed of eight A beads and contains two identical branches that are each terminated with a pendant hydrophilic C bead. Four types of side chains are considered for which the two branches (each represented as [C], [AC], [AAC], or [AAAC]) are splitting off from the 8th, 6th, 4th, or 2nd A bead, respectively. Water diffusion through the phase separated water containing pore networks is deduced from MC tracer diffusion calculations. The percolation threshold for the architectures containing the [C] and [AC] branches is at a water volume fraction of ˜0.07 and 0.08, respectively. These are much lower than those derived earlier for linear architectures of various side chain length and side chain distributions. Control of side chain architecture is thus a very interesting design parameter to decrease the percolation threshold for solvent and proton transports within flexible amphiphilic polymer membranes.

  13. Flexible performance design for the H∞ loop-shaping control based on the linear matrix inequality approach: Application to the coaxial rotor helicopter

    Directory of Open Access Journals (Sweden)

    Zhiyan Dong

    2016-07-01

    Full Text Available This article introduces a new H ∞ loop-shaping control to decrease the complexity of the appropriate selection of the required performance for a coaxial rotor helicopter with unpredicted or unknown unstructured uncertainties. Uncertainty models are normally assumed that some knowledge of type is known. And to model a particular uncertainty as a separate model is necessary in the high-performance design of specified applications. But to model each particular uncertainty will increase the complexity of performance design for the extremely complex plant. H ∞ loop-shaping control provides a competitive and flexible choice to simultaneously represent a family of unpredicted and unconsidered unstructured uncertainty bounded by H ∞ norm. Many researches have been conducted to consider some aspects of this method, for example, the nominal stability, robustness to uncertainty, and implementation issues. However, to decrease the complexity of the appropriate selection of the required performance was not considered seriously. Therefore, a sufficient set of stable condition is derived using linear matrix inequality approach to provide the flexible performance design considering unpredicted and unknown unstructured uncertainties. Furthermore, the proposed method is applied to stabilize the attitude subsystem of a reconstructed coaxial rotor helicopter. Simulations indicate the effectiveness of the proposed method in the step response.

  14. Construction and experimental verification of a novel flexible thermal control system configuration for the autonomous on-orbit services of space missions

    International Nuclear Information System (INIS)

    Guo, Wei; Li, Yunhua; Li, Yun-Ze; Wang, Sheng-Nan; Zhong, Ming-Liang; Wang, Ji-Xiang; Zhang, Jia-Xun

    2017-01-01

    Highlights: • A novel flexible thermal control system (F-TCS) for spacecraft on-orbit services is proposed. • Systemic construction and reconfiguration operating mechanism are highlighted. • Thermal-hydraulic performances of the F-TCS are investigated both numerically and experimentally. • The F-TCS has the vast potential for spacecrafts autonomous thermal management. - Abstract: This paper proposed a novel flexible thermal control system (F-TCS) configuration for realizing thermal management for spacecrafts autonomous on-orbit service (A-OOS) demands. With a dual-ring topology which composes of a heat collecting bus, a heat dissipating bus, connection brunches and inter-platform service interfaces, the F-TCS may realize not only self-reconfiguration operations but also providing heat dissipation resources for other spacecrafts or cabins. The F-TCS hydraulic and thermal dynamics were modeled, a verification testbed was also established to validate the F-TCS thermal control performance. Focused on investigating the self-reconfiguration and thermal control cooperative operations, several typical A-OOS cases were imposed on the F-TCS, numerical simulations and experimental validations were respectively implemented. Both results demonstrated that the meticulously designed F-TCS is capable of offering self-topological reconfiguration with fast time response and robust temperature control performances, high systemic heat transfer efficiency is also recommended from the point of view of energy saving. The F-TCS is suggested as a promising solution for A-OOS owing to its higher reliability and promising autonomous maintenance potential which is suitable for future spacecrafts thermal management requirements.

  15. Exercise-induced muscle damage is reduced in resistance-trained males by branched chain amino acids: a randomized, double-blind, placebo controlled study

    Directory of Open Access Journals (Sweden)

    Howatson Glyn

    2012-07-01

    Full Text Available Abstract Background It is well documented that exercise-induced muscle damage (EIMD decreases muscle function and causes soreness and discomfort. Branched-chain amino acid (BCAA supplementation has been shown to increase protein synthesis and decrease muscle protein breakdown, however, the effects of BCAAs on recovery from damaging resistance training are unclear. Therefore, the aim of this study was to examine the effects of a BCAA supplementation on markers of muscle damage elicited via a sport specific bout of damaging exercise in trained volunteers. Methods Twelve males (mean ± SD age, 23 ± 2 y; stature, 178.3 ± 3.6 cm and body mass, 79.6 ± 8.4 kg were randomly assigned to a supplement (n = 6 or placebo (n = 6 group. The damaging exercise consisted of 100 consecutive drop-jumps. Creatine kinase (CK, maximal voluntary contraction (MVC, muscle soreness (DOMS, vertical jump (VJ, thigh circumference (TC and calf circumference (CC were measured as markers of muscle damage. All variables were measured immediately before the damaging exercise and at 24, 48, 72 and 96 h post-exercise. Results A significant time effect was seen for all variables. There were significant group effects showing a reduction in CK efflux and muscle soreness in the BCAA group compared to the placebo (P Conclusion The present study has shown that BCAA administered before and following damaging resistance exercise reduces indices of muscle damage and accelerates recovery in resistance-trained males. It seems likely that BCAA provided greater bioavailablity of substrate to improve protein synthesis and thereby the extent of secondary muscle damage associated with strenuous resistance exercise. Clinical Trial Registration Number: NCT01529281.

  16. A Flexible Maximum Power Point Tracking Control Strategy Considering Both Conversion Efficiency and Power Fluctuation for Large-inertia Wind Turbines

    Directory of Open Access Journals (Sweden)

    Hongmin Meng

    2017-07-01

    Full Text Available In wind turbine control, maximum power point tracking (MPPT control is the main control mode for partial-load regimes. Efficiency potentiation of energy conversion and power smoothing are both two important control objectives in partial-load regime. However, on the one hand, low power fluctuation signifies inefficiency of energy conversion. On the other hand, enhancing efficiency may increase output power fluctuation as well. Thus the two objectives are contradictory and difficult to balance. This paper proposes a flexible MPPT control framework to improve the performance of both conversion efficiency and power smoothing, by adaptively compensating the torque reference value. The compensation was determined by a proposed model predictive control (MPC method with dynamic weights in the cost function, which improved control performance. The computational burden of the MPC solver was reduced by transforming the cost function representation. Theoretical analysis proved the good stability and robustness. Simulation results showed that the proposed method not only kept efficiency at a high level, but also reduced power fluctuations as much as possible. Therefore, the proposed method could improve wind farm profits and power grid reliability.

  17. Hybrid PD and effective multi-mode positive position feedback control for slewing and vibration suppression of a smart flexible manipulator

    International Nuclear Information System (INIS)

    Lou, Jun-qiang; Wei, Yan-ding; Yang, Yi-ling; Xie, Feng-ran

    2015-01-01

    A hybrid control strategy for slewing and vibration suppression of a smart flexible manipulator is presented in this paper. It consists of a proportional derivative controller to realize motion control, and an effective multi-mode positive position feedback (EMPPF) controller to suppress the multi-mode vibration. Rather than treat each mode equally as the standard multi-mode PPF, the essence of the EMPPF is that control forces of different modes are applied according to the mode parameters of the respective modes, so the vibration modes with less vibration energy receive fewer control forces. Stability conditions for the close loop system are established through stability analysis. Optimal parameters of the EMPPF controller are obtained using the method of root locus analysis. The performance of the proposed strategy is demonstrated by simulation and experiments. Experimental results show that the first two vibration modes of the manipulator are effectively suppressed. The setting time of the setup descends approximately 55%, reaching 3.12 s from 5.67 s. (paper)

  18. A transparent conductive oxide electrode with highly enhanced flexibility achieved by controlled crystallinity by incorporating Ag nanoparticles on substrates

    Energy Technology Data Exchange (ETDEWEB)

    Triambulo, Ross E.; Cheong, Hahn-Gil [Department of Materials Science and Engineering, Yonsei University, Seoul (Korea, Republic of); Lee, Gun-Hwan [Advanced Thin Film Research Group, Korea Institute of Materials Science (KIMS), Changwon (Korea, Republic of); Yi, In-Sook [R and D Center, InkTec Co., Ltd., Ansan (Korea, Republic of); Park, Jin-Woo, E-mail: jwpark09@yonsei.ac.kr [Department of Materials Science and Engineering, Yonsei University, Seoul (Korea, Republic of)

    2015-01-25

    Highlights: • We developed a composite transparent electrode with Ag nanoparticles and indium-tin-oxide. • Transmittance of AgNPs was improved by formation of oxide layers by O{sub 2} plasma treatment. • Ag nanoparticles became crystalline seeds to grow strong ITO with a uniform growth orientation. • The hybrid electrode is highly more conductive and stable under bending than ITO. - Abstract: We report the synthesis of highly flexible indium tin oxide (ITO) on a polymer substrate whose surface was engineered by oxide-coated Ag nanoparticles (AgNPs) smaller than 20 nm in diameter. Polyimide (PI) substrates were spin coated with Ag ion ink and were subsequently heat treated to form AgNP coatings. The Ag oxide was formed by O{sub 2} plasma treatment to reduce the light absorbance by AgNPs. ITO was dc magnetron sputter-deposited atop the AgNPs. The ITO on the AgNPs was crystalline grown primarily with (2 2 2) growth orientation. This contrasts to the typical microstructure of ITO grown on the polymer, which is that growing c-ITO nucleates are embedded in an amorphous ITO (a-ITO) matrix like a particulate composite. The surface roughness of ITO on AgNPs was as small as the ITO on PI without AgNPs. The crystalline nature of the ITO on the AgNP-coated polymer resulted in the decrease of electric resistivity (ρ) by 65% compared to that of ITO on the bare PI. Furthermore, an electric resistivity change (Δρ) of the ITO on the AgNPs was only 8% at a bending radius (r{sub b}) down to 4 mm, whereas the ITO on the non-coated polymer became almost insulating at an r{sub b} of 10 mm, owing to a drastic increase in the number of cracks. To validate the potential application in the displays, flexible organic light emitting diodes (f-OLEDs) were fabricated on the ITO on AgNPs and the performances was compared with the f-OLED on ITO on the bare PI.

  19. Fault-Tolerant Control for a Flexible Group Battery Energy Storage System Based on Cascaded Multilevel Converters

    Directory of Open Access Journals (Sweden)

    Junhong Song

    2018-01-01

    Full Text Available A flexible group battery energy storage system (FGBESS based on cascaded multilevel converters is attractive for renewable power generation applications because of its high modularity and high power quality. However, reliability is one of the most important issues and the system may suffer from great financial loss after fault occurs. In this paper, based on conventional fundamental phase shift compensation and third harmonic injection, a hybrid compensation fault-tolerant method is proposed to improve the post-fault performance in the FGBESS. By adjusting initial phase offset and amplitude of injected component, the optimal third harmonic injection is generated in an asymmetric system under each faulty operation. Meanwhile, the optimal redundancy solution under each fault condition is also elaborated comprehensively with a comparison of the presented three fault-tolerant strategies. This takes full advantage of battery utilization and minimizes the loss of energy capacity. Finally, the effectiveness and feasibility of the proposed methods are verified by results obtained from simulations and a 10 kW experimental platform.

  20. Advanced power converters for universal and flexible power management in future electricity network -  Report on Control Strategies

    DEFF Research Database (Denmark)

    Ciobotaru, Mihai; Iov, Florin; Zanchetta, Pericle

    The present document summarizes the work that has been done in Work Package 5 (WP5) where the focus is on modelling and control of the Uniflex-PM system. The models used in the WP5 are described in detail. Since the grid synchronization and monitoring techniques play an important role...... in the control of the Uniflex-PM system, a special attention is paid to this topic. The events in the electrical networks are treated in detail in terms of definitions and classifications from standards, origins, and surveys in different countries. A summary of the grid synchronization and monitoring methods...... is also given with a special focus on Phase Locked Loop systems. The response of the single and three phase PLLs is analyzed under different grid events. Four control strategies are studied in the WP5, namely: synchronous reference frame control, predictive control stationary reference frame control...

  1. Medial branch neurotomy in low back pain

    Energy Technology Data Exchange (ETDEWEB)

    Masala, Salvatore; Mammucari, Matteo; Simonetti, Giovanni [Interventional Radiology and Radiotherapy University ' ' Tor Vergata' ' , Department of Diagnostic and Molecular Imaging, Rome (Italy); Nano, Giovanni [Interventional Radiology and Radiotherapy University ' ' Tor Vergata' ' , Department of Diagnostic and Molecular Imaging, Rome (Italy); University ' ' Tor Vergata' ' , Department of Radiology, Rome (Italy); Marcia, Stefano [S. Giovanni di Dio Hospital, Department of Diagnostic and Molecular Imaging, Cagliari (Italy)

    2012-07-15

    This study aimed to assess the effectiveness of pulsed radiofrequency medial branch dorsal ramus neurotomy in patients with facet joint syndrome. From January 2008 to April 2010, 92 patients with facet joint syndrome diagnosed by strict inclusion criteria and controlled diagnostic blocks undergone medial branch neurotomy. We did not exclude patients with failed back surgery syndrome (FBSS). Electrodes (20G) with 5-mm active tip were placed under fluoroscopy guide parallel to medial branch. Patients were followed up by physical examination and by Visual Analog Scale and Oswestry Disability Index at 1, 6, and 12 months. In all cases, pain improvement was statistically significant and so quality of life. Three non-FBSS patients had to undergo a second neurotomy because of non-satisfactory pain decrease. Complications were reported in no case. Medial branch radiofrequency neurotomy has confirmed its well-established effectiveness in pain and quality of life improvement as long as strict inclusion criteria be fulfilled and nerve ablation be accomplished by parallel electrode positioning. This statement can be extended also to FBSS patients. (orig.)

  2. Medial branch neurotomy in low back pain

    International Nuclear Information System (INIS)

    Masala, Salvatore; Mammucari, Matteo; Simonetti, Giovanni; Nano, Giovanni; Marcia, Stefano

    2012-01-01

    This study aimed to assess the effectiveness of pulsed radiofrequency medial branch dorsal ramus neurotomy in patients with facet joint syndrome. From January 2008 to April 2010, 92 patients with facet joint syndrome diagnosed by strict inclusion criteria and controlled diagnostic blocks undergone medial branch neurotomy. We did not exclude patients with failed back surgery syndrome (FBSS). Electrodes (20G) with 5-mm active tip were placed under fluoroscopy guide parallel to medial branch. Patients were followed up by physical examination and by Visual Analog Scale and Oswestry Disability Index at 1, 6, and 12 months. In all cases, pain improvement was statistically significant and so quality of life. Three non-FBSS patients had to undergo a second neurotomy because of non-satisfactory pain decrease. Complications were reported in no case. Medial branch radiofrequency neurotomy has confirmed its well-established effectiveness in pain and quality of life improvement as long as strict inclusion criteria be fulfilled and nerve ablation be accomplished by parallel electrode positioning. This statement can be extended also to FBSS patients. (orig.)

  3. Decentralized Voltage Control Coordination of On-Load Tap Changer Transformers, Distributed Generation Units and Flexible Loads

    DEFF Research Database (Denmark)

    Romani Dalmau, Aina; Martinez Perez, David; Diaz de Cerio Mendaza, Iker

    2015-01-01

    approach is introduced in order to coordinate the voltage control capability from different assets in medium voltage networks. In this sense, the on-load tap changer strategy of the primary substation and the power factor control of wind turbines and combined heat and power plants are combined...

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

    Science.gov (United States)

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

    2015-09-01

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

  5. Brain training improves recovery after stroke but waiting list improves equally: A multicenter randomized controlled trial of a computer-based cognitive flexibility training.

    Directory of Open Access Journals (Sweden)

    Renate M van de Ven

    Full Text Available Brain training is currently widely used in an attempt to improve cognitive functioning. Computer-based training can be performed at home and could therefore be an effective add-on to available rehabilitation programs aimed at improving cognitive functioning. Several studies have reported cognitive improvements after computer training, but most lacked proper active and passive control conditions.Our aim was to investigate whether computer-based cognitive flexibility training improves executive functioning after stroke. We also conducted within-group analyses similar to those used in previous studies, to assess inferences about transfer effects when comparisons to proper control groups are missing.We conducted a randomized controlled, double blind trial. Adults (30-80 years old who had suffered a stroke within the last 5 years were assigned to either an intervention group (n = 38, active control group (i.e., mock training; n = 35, or waiting list control group (n = 24. The intervention and mock training consisted of 58 half-hour sessions within a 12-week period. Cognitive functioning was assessed using several paper-and-pencil and computerized neuropsychological tasks before the training, immediately after training, and 4 weeks after training completion.Both training groups improved on training tasks, and all groups improved on several transfer tasks (three executive functioning tasks, attention, reasoning, and psychomotor speed. Improvements remained 4 weeks after training completion. However, the amount of improvement in executive and general cognitive functioning in the intervention group was similar to that of both control groups (active control and waiting list. Therefore, this improvement was likely due to training-unspecific effects. Our results stress the importance to include both active and passive control conditions in the study design and analyses. Results from studies without proper control conditions should be interpreted with care.

  6. Active tilting-pad journal bearings supporting flexible rotors: Part II–The model-based feedback-controlled lubrication

    DEFF Research Database (Denmark)

    Salazar, Jorge Andrés González; Santos, Ilmar

    2017-01-01

    This is part II of a twofold paper series dealing with the design and implementation of model-based controllers meant for assisting the hybrid and developing the feedback-controlled lubrication regimes in active tilting pad journal bearings (active TPJBs). In both papers theoretical and experimen...... derived in part I. Results show further suppression of resonant vibrations when using the feedback-controlled or active lubrication, overweighting the reduction already achieved with hybrid lubrication, thus improving the whole machine dynamic performance.......This is part II of a twofold paper series dealing with the design and implementation of model-based controllers meant for assisting the hybrid and developing the feedback-controlled lubrication regimes in active tilting pad journal bearings (active TPJBs). In both papers theoretical...... and experimental analyses are presented with focus on the reduction of rotor lateral vibration. This part is devoted to synthesising model-based LQG optimal controllers (LQR regulator + Kalman Filter) for the feedback-controlled lubrication and is based upon the mathematical model of the rotor-bearing system...

  7. Closed-loop-controlled vortex shedding and vibration of a flexibly supported square cylinder under different schemes

    Science.gov (United States)

    Zhang, M. M.; Cheng, L.; Zhou, Y.

    2004-05-01

    Different schemes were experimentally investigated of the closed-loop control of vortex shedding from a spring-supported square cylinder in cross flow. The control action was implemented through the perturbation of one cylinder surface, which was generated by three piezoelectric ceramic actuators, embedded underneath the surface and controlled by a proportional-integral-derivative controller. Three control schemes were investigated using different feedback signals, including the turbulent flow signal measured by a hot wire, flow-induced structural oscillation signal obtained by a laser vibrometer, and a combination of both signals. An investigation was conducted at the resonance condition, when the vortex-shedding frequency coincided with the natural frequency of the fluid-structure system. The flow and structural vibration were measured using particle image velocimetry, laser-induced fluorescence flow visualization, a laser Doppler anemometer, and a laser vibrometer. It was observed that the control scheme based on the feedback of both flow and structural oscillation led to the almost complete destruction of the Kármán vortex street and a reduction in the structural vibration, vortex shedding strength, and drag coefficient by 82%, 65%, and 35%, respectively, outperforming by far an open-loop control as well as the other two closed-loop schemes.

  8. Vector Control System Design for Four Degree-of-Freedom Dynamic Flexible Simulation of the Variable-Frequency Drive

    Directory of Open Access Journals (Sweden)

    Kladiev Sergey N.

    2017-01-01

    Full Text Available In the present work we investigate the control system development of the drive simulators to train driver/operator driving skills, taking into account the ever-changing terrain. In order to meet the required response of the four degree-of-freedom motion platform servomotor current studies have been focused on the vector control of the resistance motor angular velocity from the sensor being incremental encoder. In proposed system the standard security of the frequency converter is realized. It leads to overload capacity of two times within minutes determined by servomotor inertia. Further, we represent the algorithms: positional limitation, reliable acceleration and restraint, frequency break. As well as we demonstrate the position switches implement in software. As a result, the control system commands the control of the angular position of the platform in coordinates.

  9. Left bundle-branch block

    DEFF Research Database (Denmark)

    Risum, Niels; Strauss, David; Sogaard, Peter

    2013-01-01

    The relationship between myocardial electrical activation by electrocardiogram (ECG) and mechanical contraction by echocardiography in left bundle-branch block (LBBB) has never been clearly demonstrated. New strict criteria for LBBB based on a fundamental understanding of physiology have recently...

  10. Vapochromic luminescence and flexibility control of porous coordination polymers by substitution of luminescent multinuclear Cu(I) cluster nodes.

    Science.gov (United States)

    Hayashi, Takahiro; Kobayashi, Atsushi; Ohara, Hiroki; Yoshida, Masaki; Matsumoto, Takeshi; Chang, Ho-Chol; Kato, Masako

    2015-09-21

    Two luminescent porous coordination polymers (PCPs), i.e., [Cu2(μ2-I)2ctpyz]n and [Cu4(μ3-I)4ctpyz]n (Cu2 and Cu4, respectively; ctpyz = cis-1,3,5-cyclohexanetriyl-2,2',2″-tripyrazine), were successfully synthesized and characterized by single-crystal X-ray diffraction and luminescence spectroscopic measurements. Cu2 consists of rhombus-type dinuclear {Cu2I2} cores bridged by ctpyz ligands, while Cu4 is constructed of cubane-type tetranuclear {Cu4I4} cores bridged by ctpyz ligands. The void fraction of Cu4 is estimated to be 48.0%, which is significantly larger than that of Cu2 (19.9%). Under UV irradiation, both PCPs exhibit red luminescence at room temperature in the solid state (λem values of 660 and 614 nm for Cu2 and Cu4, respectively). Although the phosphorescence of Cu2 does not change upon removal and/or adsorption of EtOH solvent molecules in the porous channels, the solid-state emission maximum of Cu4 red-shifts by 36 nm (λem = 650 nm) upon the removal of the adsorbed benzonitrile (PhCN) molecules from the porous channels (and vice versa). This large difference in the vapochromic behavior of Cu2 and Cu4 is closely related to the framework flexibility. The framework of Cu2 is sufficiently rigid to retain the porous structure without solvated EtOH molecules, whereas the porous structure of Cu4 collapses easily after removal of the adsorbed PhCN molecules to form a nonporous amorphous phase. The original vapor-adsorbed porous structure of Cu4 is regenerated by exposure of the amorphous solid to not only PhCN vapor but also tetrahydrofuran, acetone, ethyl acetate, and N,N-dimethylformamide vapors. The Cu4 structures with the various adsorbed solvents showed almost the same emission maxima as the original PhCN-adsorbed Cu4, except for DMF-adsorbed Cu4, which showed no luminescence probably because of weak coordination of the DMF vapor molecules to the Cu(I) centers of the tetranuclear {Cu4I4} core.

  11. Development of a low-cost wireless controller for flexible sampling strategies based on real-time flow monitoring

    Science.gov (United States)

    Queloz, Pierre; Besuchet, Jonathan; Rao, P. Suresh C.; Rinaldo, Andrea

    2013-04-01

    GSM/GPRS shield coupled with the microcontroller allows the data upload (flow rates, sample time, state, number of bottles available, etc.) on a web-server and can inform the experimenter by SMS about the beginning of a sampling event, a water level alert or a technical issue. This technique provides a low-cost and very flexible solution for designing advanced sampling schemes.

  12. A new robotic-assisted flexible endoscope with single-hand control: endoscopic submucosal dissection in the ex vivo porcine stomach.

    Science.gov (United States)

    Iwasa, Tsutomu; Nakadate, Ryu; Onogi, Shinya; Okamoto, Yasuharu; Arata, Jumpei; Oguri, Susumu; Ogino, Haruei; Ihara, Eikichi; Ohuchida, Kenoki; Akahoshi, Tomohiko; Ikeda, Tetsuo; Ogawa, Yoshihiro; Hashizume, Makoto

    2018-04-17

    Difficulties in endoscopic operations and therapeutic procedures seem to occur due to the complexity of operating the endoscope dial as well as difficulty in performing synchronized movements with both hands. We developed a prototype robotic-assisted flexible endoscope that can be controlled with a single hand in order to simplify the operation of the endoscope. The aim of this study was to confirm the operability of the robotic-assisted flexible endoscope (RAFE) by performing endoscopic submucosal dissection (ESD). Study 1: ESD was performed manually or with RAFE by an expert endoscopist in ex vivo porcine stomachs; six operations manually and six were performed with RAFE. The procedure time per unit circumferential length/area was calculated, and the results were statistically analyzed. Study 2: We evaluated how smoothly a non-endoscopist can move a RAFE compared to a manual endoscope by assessing the designated movement of the endoscope. Study 1: En bloc resection was achieved by ESD using the RAFE. The procedure time was gradually shortened with increasing experience, and the procedure time of ESD performed with the RAFE was not significantly different from that of ESD performed with a manual endoscope. Study 2: The time for the designated movement of the endoscope was significantly shorter with a RAFE than that with a manual endoscope as for a non-endoscopist. The RAFE that we developed enabled an expert endoscopist to perform the ESD procedure without any problems and allowed a non-endoscopist to control the endoscope more easily and quickly than a manual endoscope. The RAFE is expected to undergo further development.

  13. Long chain branching of PLA

    Science.gov (United States)

    Gu, Liangliang; Xu, Yuewen; Fahnhorst, Grant; Macosko, Christopher W.

    2017-05-01

    A trifunctional aziridine linker, trimethylolpropane tris(2-methyl-1-aziridinepropionate) (TTMAP), was melt blended with linear polylactic acid (PLA) to make star branched PLA. Adding pyromellitic dianhydride (PMDA) led to long chain branched (LCB) PLA. Mixing torque evolution during melt processing revealed high reactivity of aziridine with the carboxyl end group on PLA and an incomplete reaction of PMDA with the hydroxyl end group. Star-shaped PLA exhibited higher viscosity but no strain hardening in extensional flow while LCB PLA showed significant extensional hardening. Excess TTMAP in the branching reaction resulted in gel formation, which led to failure at low strain in extension. PMDA conversion was estimated based on gelation theory. The strain rate dependence of extensional hardening indicated that the LCB PLA had a low concentration of long chain branched molecules with an H-shaped topology. Unlike current methods used to branch PLA, free radical chemistry or use of an epoxy functional oligomers, our branching strategy produced strain hardening with less increase in shear viscosity. This study provides guidelines for design of polymers with low shear viscosity, which reduces pressure drop in extrusion, combined with strong extensional hardening, which enhances performance in processes that involve melt stretching.

  14. Provision of Flexible Load Control by Multi-Flywheel-Energy-Storage System in Electrical Vehicle Charging Stations

    DEFF Research Database (Denmark)

    Sun, Bo; Dragicevic, Tomislav; Andrade, Fabio

    2015-01-01

    Electrical vehicle (EV) chargers are going to occupy a considerable portion of total energy consumption in the future smart grid. Fast charging stations (FCS), as the most demanding representatives of charging infrastructure, will be requested to provide some ancillary services to the power system...... in order to support basic electrical operation. This paper proposes a local implementation of a hysteresis-based aggregation algorithm for coordinated control of multiple stations that can provide functions such as peak shaving, spinning reserves, frequency control, regulation and load following. Local...

  15. Advanced power converters for universal and flexible power management in future electricity network -  Report on Control Strategies

    OpenAIRE

    Ciobotaru, Mihai; Iov, Florin; Zanchetta, Pericle; Biffarette, Steffano

    2008-01-01

    The present document summarizes the work that has been done in Work Package 5 (WP5) where the focus is on modelling and control of the Uniflex-PM system. The models used in the WP5 are described in detail. Since the grid synchronization and monitoring techniques play an important role in the control of the Uniflex-PM system, a special attention is paid to this topic. The events in the electrical networks are treated in detail in terms of definitions and classifications from standards, origins...

  16. Flexible and Lightweight Access Control for Online Healthcare Social Networks in the Context of the Internet of Things

    Directory of Open Access Journals (Sweden)

    Zhen Qin

    2017-01-01

    Full Text Available Online healthcare social networks (OHSNs play an essential role in sharing information among medical experts and patients who are equipped with similar experiences. To access other patients’ data or experts’ diagnosis anywhere and anytime, it is necessary to integrate the OHSN into the Internet as part of the Internet of Things (IoT. Therefore, it is crucial to design an efficient and versatile access control scheme that can grant and revoke a user to access the OHSN. In this paper, we propose novel attribute-based encryption (ABE features with user revocation and verifiable decryption outsourcing to control the access privilege of the users. The security of the proposed ABE scheme is given in the well-studied random oracle model. With the proposed ABE scheme, the malicious users can be excluded from the system and the user can offload most of the overhead in the decryption to an untrusted cloud server in a verifiable manner. An access control scheme for the OHSN has been given in the context of the IoT based on the proposed ABE scheme. The simulation demonstrates that our access control mechanism is practical.

  17. Consumer Central Energy Flexibility in Office Buildings

    DEFF Research Database (Denmark)

    Billanes, Joy Dalmacio; Ma, Zheng; Jørgensen, Bo Nørregaard

    2017-01-01

    Energy flexibility in buildings will play an important role in the smart energy system. Office buildings have more potentials to provide energy flexibility to the grid compared to other types of buildings, due to the existing building management, control systems and large energy consumption....... Consumers in office buildings (building owners/managers and occupants) take a main role for adopting and engaging in building energy flexibility. In this paper provides a systematic review of consumer central energy flexibility in office buildings with the discussion of social, technical and business...... can boost energy flexibility in the office buildings....

  18. Modeling, fabrication and plasma actuator coupling of flexible pressure sensors for flow separation detection and control in aeronautical applications

    International Nuclear Information System (INIS)

    Francioso, L; De Pascali, C; Siciliano, P; Pescini, E; De Giorgi, M G

    2016-01-01

    Preventing the flow separation could enhance the performance of propulsion systems and future civil aircraft. To this end, a fast detection of boundary layer separation is mandatory for a sustainable and successful application of active flow control devices, such as plasma actuators. The present work reports on the design, fabrication and functional tests of low-cost capacitive pressure sensors coupled with dielectric barrier discharge (DBD) plasma actuators to detect and then control flow separation. Finite element method (FEM) simulations were used to obtain information on the deflection and the stress distribution in different-shaped floating membranes. The sensor sensitivity as a function of the pressure load was also calculated by experimental tests. The results of the calibration of different capacitive pressure sensors are reported in this work, together with functional tests in a wind tunnel equipped with a curved wall plate on which a DBD plasma actuator was mounted to control the flow separation. The flow behavior was experimentally investigated by particle image velocimetry (PIV) measurements. Statistical and spectral analysis, applied to the output signals of the pressure sensor placed downstream of the profile leading edge, demonstrated that the sensor is able to discriminate different ionic wind velocity and turbulence conditions. The sensor sensitivity in the 0–100 Pa range was experimentally measured and it ranged between 0.0030 and 0.0046 pF Pa −1 for the best devices. (paper)

  19. Modeling, fabrication and plasma actuator coupling of flexible pressure sensors for flow separation detection and control in aeronautical applications

    Science.gov (United States)

    Francioso, L.; De Pascali, C.; Pescini, E.; De Giorgi, M. G.; Siciliano, P.

    2016-06-01

    Preventing the flow separation could enhance the performance of propulsion systems and future civil aircraft. To this end, a fast detection of boundary layer separation is mandatory for a sustainable and successful application of active flow control devices, such as plasma actuators. The present work reports on the design, fabrication and functional tests of low-cost capacitive pressure sensors coupled with dielectric barrier discharge (DBD) plasma actuators to detect and then control flow separation. Finite element method (FEM) simulations were used to obtain information on the deflection and the stress distribution in different-shaped floating membranes. The sensor sensitivity as a function of the pressure load was also calculated by experimental tests. The results of the calibration of different capacitive pressure sensors are reported in this work, together with functional tests in a wind tunnel equipped with a curved wall plate on which a DBD plasma actuator was mounted to control the flow separation. The flow behavior was experimentally investigated by particle image velocimetry (PIV) measurements. Statistical and spectral analysis, applied to the output signals of the pressure sensor placed downstream of the profile leading edge, demonstrated that the sensor is able to discriminate different ionic wind velocity and turbulence conditions. The sensor sensitivity in the 0-100 Pa range was experimentally measured and it ranged between 0.0030 and 0.0046 pF Pa-1 for the best devices.

  20. Effects on muscle strength, maximal jump height, flexibility and postural sway after soccer and Zumba exercise among female hospital employees: a 9-month randomised controlled trial.

    Science.gov (United States)

    Barene, Svein; Holtermann, Andreas; Oseland, Harald; Brekke, Ole-Lars; Krustrup, Peter

    2016-10-01

    This 9-month randomised controlled workplace physical activity trial investigated the effects of soccer and Zumba exercise, respectively, on muscle strength, maximal jump height, sit-and-reach flexibility and postural sway among female workers. A total of 107 female hospital employees aged 25-63 were cluster-randomised to a soccer group, a Zumba group or a control group. Training was conducted outside working hours as two to three 1-h weekly sessions the first 3 months and once a week the last 6 months. Tests were conducted at baseline, after 3 and 9 months. The soccer group improved maximal neck extension strength both after 3 (1.2 kg; P strength (3.1 kg; P = 0.04) after 3 months, with improvements in postural sway velocity moment (-9.2 mm(2)/s; P exercise may be beneficial for improvement of the neck and trunk strength, which may have preventive effects with regard to future perceived muscle pain in the respective body regions. Furthermore, the Zumba group revealed positive effects on lower limb lean mass and postural sway compared to the control group.